Methods and systems for detecting unbalanced payload condition in machines

• US 10,401,249 B2
• Filed: 10/11/2016
• Issued: 09/03/2019
• Est. Priority Date: 10/11/2016
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Steinlage, Justin Lee, Bell, Jason, Wulf, Stefan Jacob
• Primary Examiner(s): Caputo, Lisa M
• Assistant Examiner(s): Morello, Jean F
• Application Number:
  US15/290,437
• Publication Number:
  US 20180100779A1
• Time in Patent Office: 1,057 Days
• Field of Search: 73 6501
• CPC Class Codes: B60W 2040/1315 Location of the centre of gravity
• CPC Class Codes: B60W 40/13 Load or weight
• CPC Class Codes: G01M 1/122 Determining position of centre of gravity
• CPC Class Codes: G01M 1/14 Determining imbalance G01M1/30 takes precedence
• CPC Class Codes: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C

Abstract

A method for detecting an unbalanced payload condition in a machine is disclosed. The method includes detecting, by a first sensor, a pressure exerted on each of one or more struts in the machine by a payload. The method further includes detecting, by a second sensor, one or more operational parameters associated with machine. Furthermore, method includes determining, by a controller, a center of gravity of the payload based on detected pressure, the one or more operational parameters, and one or more dimensions of the machine. Additionally, the method includes determining, by the controller, a force being exerted, by the payload, on each traction member of the machine based on the center of gravity of the payload. The method further includes detecting, by the controller, the unbalanced payload condition when the force, being exerted on at least one traction member of the plurality of traction members, exceeds a threshold value.

Claims

1. A method for detecting an unbalanced payload condition in a machine, the method comprising:

detecting, by a first sensor of the machine, a pressure exerted on each of one or more struts in the machine by a payload on the machine,

wherein the one or more struts are configured to support the payload;

detecting, by a second sensor of the machine, one or more operational parameters associated with the machine,

wherein the one or more operational parameters comprise an orientation of the machine;

determining, by a controller of the machine, a center of gravity of the payload based on the pressure exerted on each of the one or more struts, the one or more operational parameters, and one or more dimensions of the machine;

determining, by the controller, a force being exerted, by the payload, on each traction member of a plurality of traction members of the machine based on the center of gravity of the payload; and

detecting, by the controller, the unbalanced payload condition when the force, being exerted on at least one traction member of the plurality of traction members, exceeds a threshold value,

wherein the machine is operated or loaded based on detecting the unbalanced payload condition.

2. The method of claim 1,

wherein the center of gravity is a first center of gravity,

wherein the method further comprises:

determining, by the controller, a second center of gravity of the payload based on the pressure exerted on each of the one or more struts and the one or more dimensions of the machine, and

wherein the first center of gravity is determined based on the second center of gravity and the one or more operational parameters.

3. The method of claim 1, wherein the one or more operational parameters further comprise at least one of:

a lateral acceleration of the machine,

a forward acceleration of the machine,

a reverse acceleration of the machine,

a speed of the machine,

a grade of an operational path of the machine, or

a location of the machine.

4. The method of claim 1, further comprising:

modifying, by the controller, a speed of the machine based on detecting the unbalanced payload condition.

5. The method of claim 1, further comprising:

transmitting, by the controller, a notification indicative of the unbalanced payload condition to an operator of the machine.

6. The method of claim 5, wherein the notification comprises information pertaining to at least one of the center of gravity of the payload or the one or more operational parameters.

7. The method of claim 1,

wherein the machine is a first machine,

wherein the method further comprises:

transmitting a notification, indicative of the unbalanced payload condition, to a second machine that is configured to load the payload, and

wherein the second machine is configured to load the payload on another machine such that the unbalanced payload condition is avoided.

8. The method of claim 1, further comprising:

transmitting a notification, indicative of the unbalanced payload condition, to an application server,

wherein the application server updates historical data based on the notification, and

wherein the historical data comprises information regarding a plurality of notifications received from other machines over a time period.

9. The method of claim 8,

wherein the machine is a first machine,

wherein a second machine, configured to load the payload, is trained based on the historical data to load the payload such that the unbalanced payload condition is avoided, and

wherein the second machine is an autonomous machine.

10. A machine comprising:

a plurality of traction members;

a payload carrier supported by the plurality of traction members through one or more struts,

wherein the payload carrier is configured to receive a payload;

a first sensor configured to detect a pressure exerted on each of the one or more struts by the payload;

a second sensor configured to detect one or more operational parameters associated with the machine,

wherein the one or more operational parameters comprise an orientation of the machine; and

a controller, communicatively coupled to the first sensor and the second sensor, configured to;

determine a center of gravity of the payload based on the pressure exerted on each of the one or more struts, the one or more operational parameters, and one or more dimensions of the machine, determine a force being exerted on each traction member, of the plurality of traction members, based on the center of gravity of the payload, and

detect an unbalanced payload condition when the force, being exerted on at least one traction member of the plurality of traction members, exceeds a threshold value, wherein the machine is operated or loaded based on detecting the unbalanced payload condition.

11. The machine of claim 10, further comprising:

an output device configured to provide a notification to an operator of the machine,

wherein the notification is indicative of the unbalanced payload condition.

12. The machine of claim 10,

wherein the controller is further configured to:

transmit a notification, indicative of the unbalanced payload condition, to a loader machine that is configured to load the payload, and

wherein the loader machine is configured to load the payload on another machine, based on the notification, such that the unbalanced payload condition in the other machine is avoided.

13. The machine of claim 10,

wherein the controller is further configured to:

transmit a notification, indicative of the unbalanced payload condition, to an application server,

wherein the application server updates historical data based on the notification, and

wherein the historical data comprises information regarding a plurality of notifications received from other machines over a time period.

14. The machine of claim 13, wherein a loader machine is trained, based on the historical data, to load payload such that the unbalanced payload condition is avoided.

15. The machine of claim 10, wherein the controller is further configured to:

modify a speed of the machine based on detecting the unbalanced payload condition.

16. The machine of claim 10,

wherein the center of gravity is a first center of gravity, and

wherein the controller is further configured to:

determine a second center of gravity of the payload based on the pressure exerted on each of the one or more struts and the one or more dimensions of the machine.

17. The machine of claim 16, wherein, when determining the center of gravity, the controller is configured to:

determine the first center of gravity based on the second center of gravity and the one or more operational parameters.

18. A system for detecting an unbalanced payload condition in a machine, the system comprises:

one or more sensors configured to;

detect a pressure exerted on one or more struts by a payload on the machine, and

detect one or more operational parameters associated with the machine; and

a controller, communicatively coupled to the one or more sensors, configured to;

determine a center of gravity of the payload based on the pressure exerted on the one or more struts and the one or more operational parameters,

determine a force being exerted, by the payload, on each traction member of a plurality of traction members based on the center of gravity of the payload,

wherein the plurality of traction members are configured to support the payload through the one or more struts, and

detect the unbalanced payload condition when the force, being exerted on at least one traction member of the plurality of traction members, satisfies a threshold value,

wherein the machine is operated or loaded based on detecting the unbalanced payload condition.

19. The system of claim 18, wherein the one or more operational parameters further comprise:

an orientation of the machine,

a lateral acceleration of the machine,

a forward acceleration of the machine,

a reverse acceleration of the machine,

a speed of the machine,

a grade of an operational path of the machine, and

a location of the machine.

20. The system of claim 18,

wherein the center of gravity is a first center of gravity,

wherein the controller is further configured to:

determine a second center of gravity of the payload based on the pressure exerted the one or more struts and one or more dimensions of the machine, and wherein, when determining the center of gravity, the controller is configured to;

determine the first center of gravity based on the second center of gravity and the one or more operational parameters.