Devices, systems, and methods for controlling a braking system

• US 20070233351A1
• Filed: 02/23/2007
• Published: 10/04/2007
• Est. Priority Date: 02/23/2006
• Status: Active Grant

• Current Assignee: Siemens Large Drives LLC (Siemens AG)
• Original Assignee: Siemens Industry Incorporated (Siemens AG)
• Inventors: Wang, Xiaobin
• Granted Patent: US 7,853,388 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 7/122 for locking of reverse movement

Abstract

Certain exemplary embodiments comprise a method, which can comprise automatically setting a service brake of a mining haulage vehicle. The service brake can be set responsive to a determination that a wheel comprising a wheel motor is rotating at a rotational speed that is above a predetermined rotational speed. In certain exemplary embodiments, the service brake can be automatically released.

Claims

1. A method comprising a plurality of activities, comprising:

for a mining haulage vehicle comprising a wheel drive system, obtaining a rotational speed for each wheel comprising a wheel motor;

via an inclinometer, obtaining an incline of a terrain being traversed by said mining haulage vehicle;

determining a desired direction of travel for said mining haulage vehicle;

automatically determining that at least one wheel of said mining haulage vehicle is rotating in an undesired direction;

automatically determining that said mining haulage vehicle is traveling in an opposing direction to said desired direction of travel at a translational velocity that is less than a predetermined translational velocity threshold;

automatically setting a service brake of said mining haulage vehicle responsive to said determination that said at least one wheel comprising said wheel motor is rotating in said undesired direction at a rotational speed that is above a predetermined rotational speed threshold and said determination that said mining haulage vehicle is traveling in said opposing direction to said desired direction of travel at said translational velocity that is less than said predetermined translational velocity threshold;

obtaining a gross vehicle weight for said mining haulage vehicle;

obtaining a gear ratio associated with said mining haulage vehicle;

estimating a rolling resistance of said mining haulage vehicle;

obtaining a rolling radius of a tire of said mining haulage vehicle;

automatically determining a threshold propel torque for said mining haulage vehicle, said threshold propel torque determined based upon said gross vehicle weight, said terrain incline, said rolling resistance, said rolling radius, and said gear ratio;

automatically monitoring a throttle position of said mining haulage vehicle;

automatically determining an actual propel torque for said mining haulage vehicle based upon said throttle position; and

automatically releasing said service brake responsive to a determination that said actual propel torque of said mining haulage vehicle exceeds said threshold propel torque.

2. A method comprising a plurality of activities, comprising:

responsive to a determination that an actual propel torque of a mining haulage vehicle exceeds a threshold propel torque, automatically releasing a service brake of said mining haulage vehicle, said service brake automatically set responsive to a determination that a wheel comprising a wheel motor is rotating in an undesired direction at a rotational speed that is above a predetermined rotational speed threshold and a determination that said mining haulage vehicle is traveling in an opposing direction to a desired direction of travel at a translational velocity that is less than a predetermined translational velocity threshold.

3. The method of claim 2, further comprising:

automatically determining said threshold propel torque for said mining haulage vehicle, said threshold propel torque determined based upon a gross vehicle weight, a terrain incline, a rolling resistance, a tire radius, and a gear ratio of said mining haulage vehicle.

4. The method of claim 2, further comprising:

automatically determining said actual propel torque based upon a throttle position of said mining haulage vehicle.

5. The method of claim 2, further comprising:

obtaining said rotational speed for said wheel of said mining haulage vehicle that comprises said wheel motor.

6. The method of claim 2, further comprising:

via an inclinometer, obtaining an incline of a terrain being traversed by said mining haulage vehicle, said threshold propel torque determined based upon said incline.

7. The method of claim 2, further comprising:

obtaining a gross vehicle weight for said mining haulage vehicle, said threshold propel torque determined based upon said gross vehicle weight.

8. The method of claim 2, further comprising:

determining said desired direction of travel for said mining haulage vehicle.

9. The method of claim 2, further comprising:

automatically determining that said wheel of said mining haulage vehicle is rotating in said undesired direction.

10. The method of claim 2, further comprising:

automatically determining that said mining haulage vehicle is traveling in said opposing direction at said translational velocity.

11. The method of claim 2, further comprising:

automatically monitoring a throttle position of said mining haulage vehicle, said actual propel torque determined based upon said throttle position.

12. The method of claim 2, further comprising:

obtaining a gear ratio associated with said mining haulage vehicle, said threshold propel torque determined based upon said gear ratio.

13. The method of claim 2, further comprising:

estimating a rolling resistance of said mining haulage vehicle, said threshold propel torque determined based upon said rolling resistance.

14. The method of claim 2, further comprising:

obtaining a rolling radius of a tire of said mining haulage vehicle, said threshold propel torque determined based upon said rolling radius.

15. The method of claim 2, further comprising:

automatically determining said threshold propel torque.

16. The method of claim 2, further comprising:

automatically setting said service brake of said mining haulage vehicle.

17. A method comprising a plurality of activities, comprising:

responsive to a determination that a wheel comprising a wheel motor is rotating in an undesired direction at a rotational speed that is above a predetermined rotational speed threshold and a determination that said mining haulage vehicle is traveling in an opposing direction to a desired direction of travel at a translational velocity that is less than a translational velocity threshold, automatically setting a service brake, said service brake adapted to be automatically released responsive to a determination that an actual propel torque of a mining haulage vehicle exceeds a threshold propel torque.

18. The method of claim 17, further comprising:

automatically determining said threshold propel torque for said mining haulage vehicle, said threshold propel torque determined based upon a gross vehicle weight, a terrain incline, a rolling resistance, a tire radius, and a gear ratio of said mining haulage vehicle.

19. A system comprising:

a mining haulage vehicle; and

a service brake controller adapted to, responsive to a determination that an actual propel torque of a mining haulage vehicle exceeds a threshold propel torque, automatically release a service brake of said mining haulage vehicle, said service brake automatically set responsive to a determination that at least one wheel comprising a wheel motor is rotating in an undesired direction at a rotational speed that is above a predetermined rotational speed threshold and a determination that said mining haulage vehicle is traveling in an opposing direction to a desired direction of travel at a translational velocity that is less than a predetermined translational velocity threshold.

20. A machine-readable medium comprising stored instructions for:

responsive to a determination that an actual propel torque of a mining haulage vehicle exceeds a threshold propel torque, automatically releasing a service brake of said mining haulage vehicle, said service brake automatically set responsive to a determination that at least one wheel comprising a wheel motor is rotating in an undesired direction at a rotational speed that is above a predetermined rotational speed threshold and a determination that said mining haulage vehicle is traveling in an opposing direction to a desired direction of travel at a translational velocity that is less than a predetermined translational velocity threshold.