MACHINE LOSS-OF-CONTROL DETECTOR AND SHUTDOWN SYSTEM
First Claim
1. A method of machine loss of control detection comprising:
- detecting operator intended motion of the machine or a part of it;
detecting actual motion of the machine or the part of it; and
determining machine loss of control in response to whether actual motion is materially different from operator intended motion;
wherein the step of detecting actual motion is responsive to angular motion signals from a gyroscopic angular sensor and, optionally, linear motion signals from at least one accelerometer.
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Abstract
A method and system are described for machine loss of control detection. In one aspect, the method and system detect operator intended motion of the machine or a part of it and actual motion of the machine or a part of it; and determine machine loss of control in response to whether actual motion is materially different from operator intended motion. Actual motion is determined from angular motion signals from a gyroscopic angular sensor and, optionally, linear motion signals (e.g. acceleration via one or more accelerometers). Machine loss of control determination may be used to stop the actual motion (e.g. stopping power or fuel an engine, bypassing hydraulic fluid flow, etc). The method and system are adaptable to machines having one or more driving and actuating systems capable of malfunctioning in such a way as to cause the machine to move uncontrollably.
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Citations
24 Claims
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1. A method of machine loss of control detection comprising:
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detecting operator intended motion of the machine or a part of it; detecting actual motion of the machine or the part of it; and determining machine loss of control in response to whether actual motion is materially different from operator intended motion; wherein the step of detecting actual motion is responsive to angular motion signals from a gyroscopic angular sensor and, optionally, linear motion signals from at least one accelerometer. - View Dependent Claims (2, 3, 10)
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4. A system for determining machine loss of control comprising:
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a controller having a plurality of inputs for receiving indications of operator intended motion of the machine or a part of it and actual motion of the machine or a part of it and at least one output, said controller configured to detect said operator intended motion and actual motion and determine machine loss of control in response to whether actual motion is materially different from operator intended motion; wherein, for detecting the actual motion, at least one of said inputs receives angular motion signals from a gyroscopic angular sensor and, optionally, at least one of said inputs receives linear motion signals from at least one accelerometer. - View Dependent Claims (5, 6, 7, 8, 9)
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11. A method of machine loss of control detection for a machine, the method comprising:
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detecting operator intended speed and at least one of actual angular speed and, optionally, actual acceleration; for each one of actual angular speed and actual acceleration detected; computing respectively operator intended angular speed and operator intended acceleration; and determining machine loss of control in response to whether actual angular speed and actual acceleration are respectively materially different from operator intended angular speed and operator intended acceleration; and wherein said machine comprises at least one of; a pair of drives on opposite sides of the machine driven by independent speed controls; a plurality of drives on opposite sides of the machine driven by independent speed and steering controls; and one or more movable linkages driven by independent speed controls; and wherein said steps of detecting, computing and determining are performed for a respective drive or linkage. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 24)
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20. A system for machine loss of control detection, the system comprising:
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at least one of;
a gyroscopic angular sensor for detecting the angular motion of the machine or a part of it; and
at least one accelerometer for detecting acceleration of the machine or a part of it; anda controller adapted to receive speed control inputs for the machine or the part of it and sensor signals of the at least one gyroscopic angular sensor and accelerometer, said controller further adapted to; determine operator intended speed and at least one of actual angular speed and actual acceleration; for each one of actual angular speed and actual acceleration determined; compute operator intended angular speed and operator intended acceleration; and determine machine loss of control in response to whether actual angular speed and actual acceleration are respectively materially different from operator intended angular speed and operator intended acceleration; and wherein the machine comprises one of;
a pair of drives on opposite sides of the machine driven by independent speed controls;
a plurality of drives on opposite sides of the machine driven by independent speed and steering controls; and
one or more movable linkages driven by independent speed controls. - View Dependent Claims (21, 22, 23)
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Specification