LOAD MOMENT INDICATOR SYSTEM AND METHOD

• US 20190033158A1
• Filed: 11/17/2017
• Published: 01/31/2019
• Est. Priority Date: 07/28/2017
• Status: Active Grant

• Current Assignee: Brandt Industries Canada Ltd.
• Original Assignee: Brandt Equipment Solutions, Ltd.
• Inventors: Bonnet, Dan, Stilborn, Mitch, Semple, Chris, Klassen, Daniel
• Granted Patent: US 10,782,202 B2
• Time in Patent Office: Days
• CPC Class Codes: B60K 2360/168 Target or limit values
• CPC Class Codes: B60K 2360/172 Driving mode indication
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/22 Display screens
• CPC Class Codes: B60K 35/28 characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
• CPC Class Codes: B60K 35/65 Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive
• CPC Class Codes: B60P 1/04 with a tipping movement of load-transporting element dredgers or soil-shifting machines E02F3/00
• CPC Class Codes: B60P 1/045 Levelling or stabilising systems for tippers suspensions with levelling or stabilising means for vehicles in general B60G17/00, B60G21/00, using ground-engaging vehicle fittings B60S9/00
• CPC Class Codes: B66C 23/44 Jib-cranes adapted for attachment to standard vehicles, e.g. agricultural tractors
• CPC Class Codes: B66C 23/76 and movable to take account of variations of load or of variations of length of jib
• CPC Class Codes: B66C 23/905 electrical
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: E02F 3/52 Cableway excavators cable cranes B66C
• CPC Class Codes: E02F 3/54 Cable scrapers E02F3/48, E02F3/52 take precedence
• CPC Class Codes: E02F 3/58 Component parts E02F9/14, E02F3/905 take precedence
• CPC Class Codes: E02F 9/2033 Limiting the movement of frames or implements, e.g. to avoid collision between implements and the cabin sub-groups of E02F3/431 of E02F3/435 take precedence; for turntables E02F9/123
• CPC Class Codes: E02F 9/264 Sensors and their calibration for indicating the position of the work tool
• CPC Class Codes: F16L 1/06 Accessories therefor, e.g. anchors
• CPC Class Codes: G01L 5/0061 Force sensors associated with industrial machines or actuators for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21
• CPC Class Codes: G01L 5/16 : for measuring several components of force
• CPC Class Codes: G01M 1/14 : Determining imbalance G01M1/30 takes precedence
• CPC Class Codes: G01M 1/36 : by adjusting position of masses built-in the body to be tested
• CPC Class Codes: G01M 17/00 : Testing of vehicles testing fluid tightness G01M3/00; testing elastic properties of bodies or chassis, e.g. torsion-testing, G01M5/00; testing alignment of vehicle headlight devices G01M11/06; testing of engines G01M15/00
• CPC Class Codes: G01P 15/0802 : Details

Abstract

A method for determining stability of a vehicle having a load suspended from the vehicle is provided. The method can include obtaining measurements from a plurality of sensors positioned on the vehicle, obtaining a measurement from a vehicle accelerometer operative to determine an inclination of the vehicle, determining a position of the load suspended from the vehicle, determining a slung load of the load suspended from the vehicle, using the determined slung load and the determined position of the load suspended from the vehicle, determining tipping moments acting on the vehicle, determining righting moments acting on the vehicle and determining a tipping stability based on the determined tipping moments and determined righting moments.

Claims

1. A method for determining stability of a vehicle having a load suspended from the vehicle, the method comprising:

obtaining measurements from a plurality of sensors positioned on the vehicle;

obtaining a measurement from a vehicle accelerometer operative to determine an inclination of the vehicle;

determining a position of the load suspended from the vehicle;

determining a slung load of the load suspended from the vehicle;

using the determined slung load and the determined position of the load suspended from the vehicle, determining tipping moments acting on the vehicle;

determining righting moments acting on the vehicle; and

determining a tipping stability based on the determined tipping moments and determined righting moments.

2. The method of claim 1 wherein the measurements from the plurality of sensors comprises:

position information related to the position of the load suspended from the vehicle; and

force information related to the slung load.

3. The method of claim 2 wherein the position information is a measurement of the position of an attachment point of the slung load.

4. The method of claim 2 wherein the force information is a measurement of the slung load.

5. The method of claim 2 wherein the position information is indirectly related to the position of an attachment point on the slung load.

6. The method of claim 2 wherein the force information is indirectly related to the slung load.

7. The method of claim 1 wherein the position of the load suspended from the vehicle is a distance from a tipping fulcrum of the vehicle to the load.

8. The method of claim 1 wherein the slung load is determined using the measurement obtained from the vehicle accelerometer.

9. The method of claim 1 wherein the tipping moments are determined using the measurement obtained from the vehicle accelerometer.

10. The method of claim 1 wherein the righting moments are determined using the measurement obtained from the vehicle accelerometer.

11. The method of claim 1 wherein the measurement from the vehicle accelerometer is expressed as a gravitational vector indicating a direction of gravity.

12. The method of claim 1 wherein the measurement from the vehicle accelerometer is used to determine an angle between a direction of gravity and a horizontal plane of a vehicle coordinate system based on the vehicle.

13. The method of claim 12 wherein the when the direction of gravity is not acting directly vertical to the vehicle, the slung load is determined by determining the portion of the gravitational vector projected into each of the principal planes of the vehicle coordinate system and multiplying by the vector perpendicular to the slung load.

14. The method of claim 1 wherein the position of the load suspended from the vehicle is determined using the position information obtained from the sensors and the measurement from the vehicle accelerometer.

15. The method of claim 1 wherein the position of the load suspended from the vehicle is determined using a front-to-back inclination of the vehicle measured by the vehicle accelerometer.

16. The method of claim 1 wherein the position of the load suspended from the vehicle is determined using a side-to-side inclination of the vehicle measured by the vehicle accelerometer.

17. The method of claim 1 wherein the position of the load suspended from the vehicle is determined using combination of a front-to-back inclination of the vehicle measured by the vehicle accelerometer and a side-to-side inclination of the vehicle measured by the vehicle accelerometer.

18. The method of claim 12 wherein a three-dimensional coordinate system is created for the vehicle where a ground contact footprint of the vehicle lies in a plane parallel to the horizontal axes of the vehicle coordinate system.

19. The method of claim 18 wherein a slung load vector and a righting load vector are projected into the vehicle coordinate system.

20. The method of claim 12 wherein the vehicle coordinate system is rotated into a global coordinate system, wherein a direction of gravity is parallel with a vertical axis of the global coordinate system.

21. The method of claim 1 wherein determining the tipping moments acting on the vehicle comprises determining lateral tipping moments and determining fore-aft tipping moments.

22. The method of claim 1 further comprising displaying the tipping stability in a cab of the vehicle.

23. The method of claim 1 wherein the tipping stability is a tipping factor and is displayed as a number and 1 indicates the vehicle has reached its exact tipping point.

24. The method of claim 1 wherein the tipping stability is a tipping factor and is displayed as a number and 100 indicates the vehicle has reached its exact tipping point.

25. The method of claim 1 wherein the vehicle is a pipelayer machine.

26. The method of claim 25 wherein obtaining measurements from a plurality of sensors positioned on the vehicle comprise:

obtaining a force measurement from a load pin;

obtaining of a position measurement of a luff block using a luff accelerometer positioned on the luff; and

obtaining a measurement from a boom winch encoder positioned on the boom winch.

27. The method of claim 26 wherein the position measurement measured by the luff accelerometer is used to determine an angle of the luff block.

28. The method of claim 27 further comprising altering the angle of the luff block based on the measurement from the boom winch encoder.

29. The method of claim 28 wherein the angle of the luff block is increased if the measurement from the boom winch encoder indicates the boom winch is winding.

30. The method of claim 28 wherein the angle of the luff block is decreased if the measurement from the boom winch encoder indicates the boom winch is unwinding.

31. The method of claim 26 wherein a force measurement is obtained from a load pin and the force measurement is used to determine the slung load.

32. The method of claim 29 wherein the force measurement is an indication of the tension in a boom cable running between a boom winch and a distal end of a boom.

33. The method of claim 27 wherein a distal end of a boom of the pipelayer machine is determined using the angle of the angle of the luff block and a length of a boom to determine where the angle of the luff block indicates the distal end of the boom intersects an arc followed by the distal end of boom as it pivots around a proximal end of the boom.

34. The method of claim 33 wherein an angle of inclination of the pipelayer machine is subtracted from the angle of luff block to convert the angle of the luff block to a vehicle coordinate system.

35. The method of claim 34 wherein an angle of the boom is determined using the angle position of the distal end of the boom and a position of the proximal end of the boom.

36. The method of claim 23 wherein the slung load is determined by calculating torques acting on the boom and summing the torques to zero.

37. The method of claim 1 wherein the vehicle is a telehandler.

38. The method of claim 1 wherein the vehicle is a dragline boom.

39. The method of claim 1 wherein the vehicle is an articulating forklift.

40. The method of claim 1 wherein the vehicle is a rail mounted crane.

41. The method of claim 1 wherein the vehicle is a haul truck.

42. A controller for determining stability of a vehicle having a load suspended from the vehicle, the controller comprising:

at least one processing unit;

an input interface operatively connectable to a plurality of sensors provided on the vehicle and a vehicle accelerometer operative to determine an inclination of the vehicle; and

at least one memory containing program instructions, the at least one processing unit responsive to the program instructions and operative to;

obtain measurements from the plurality of sensors positioned on the vehicle;

obtain a measurement from the vehicle accelerometer operative to determine an inclination of the vehicle;

determine a position of the load suspended from the vehicle;

determine a slung load of the load suspended from the vehicle;

using the determined slung load and the determined position of the load suspended from the vehicle, determining tipping moments acting on the vehicle;

determining righting moments acting on the vehicle; and

determining a tipping stability based on the determined tipping moments and determined righting moments.

43. The controller of claim 42 wherein the measurements from the plurality of sensors comprises:

position information related to the position of the load suspended from the vehicle; and

force information related to the slung load.

44. The controller of claim 43 wherein the position information is a measurement of the position of an attachment point of the slung load.

45. The controller of claim 43 wherein the force information is a measurement of the slung load.

46. The controller of claim 43 wherein the position information is indirectly related to the position of an attachment point on the slung load.

47. The controller of claim 43 wherein the force information is indirectly related to the slung load.

48. The controller of claim 42 wherein the position of the load suspended from the vehicle is a distance from a tipping fulcrum of the vehicle to the load.

49. The controller of claim 42 wherein the slung load is determined using the measurement obtained from the vehicle accelerometer.

50. The controller of claim 42 wherein the tipping moments are determined using the measurement obtained from the vehicle accelerometer.

51. The controller of claim 42 wherein the righting moments are determined using the measurement obtained from the vehicle accelerometer.

52. The controller of claim 42 wherein the measurement from the vehicle accelerometer is expressed as a gravitational vector indicating a direction of gravity.

53. The controller of claim 42 wherein the measurement from the vehicle accelerometer is used to determine an angle between a direction of gravity and a horizontal plane of a vehicle coordinate system based on the vehicle.

54. The controller of claim 53 wherein when the direction of gravity is not acting directly vertical to the vehicle, the slung load is determined by determining the portion of the gravitational vector projected into each of the principal planes of the vehicle coordinate system and multiplying by the vector perpendicular to the slung load.

55. The controller of claim 42 wherein the position of the load suspended from the vehicle is determined using the position information obtained from the sensors and the measurement from the vehicle accelerometer.

56. The controller of claim 42 wherein the position of the load suspended from the vehicle is determined using a front-to-back inclination of the vehicle measured by the vehicle accelerometer.

57. The controller of claim 42 wherein the position of the load suspended from the vehicle is determined using a side-to-side inclination of the vehicle measured by the vehicle accelerometer.

58. The controller of claim 42 wherein the position of the load suspended from the vehicle is determined using combination of a front-to-back inclination of the vehicle measured by the vehicle accelerometer and a side-to-side inclination of the vehicle measured by the vehicle accelerometer.

59. The controller of claim 53 wherein a three-dimensional coordinate system is created for the vehicle where a ground contact footprint of the vehicle lies in a plane parallel to the horizontal axes of the vehicle coordinate system.

60. The controller of claim 59 wherein a slung load vector and a righting load vector are projected into the vehicle coordinate system.

61. The controller of claim 53 wherein the vehicle coordinate system is rotated into a global coordinate system, wherein a direction of gravity is parallel with a vertical axis of the global coordinate system.

62. The controller of claim 42 wherein determining the tipping moments acting on the vehicle comprises determining lateral tipping moments and determining fore-aft tipping moments.

63. The controller of claim 42 further comprising displaying the tipping stability in a cab of the vehicle.

64. The controller of claim 63 wherein the tipping stability is a tipping factor and is displayed as a number and 1 indicates the vehicle has reached its exact tipping point.

65. The controller of claim 63 wherein the tipping stability is a tipping factor and is displayed as a number and 100 indicates the vehicle has reached its exact tipping point.

66. The controller of claim 42 wherein the vehicle is a pipelayer machine.

67. The controller of claim 66 wherein obtaining measurements from a plurality of sensors positioned on the vehicle comprise:

obtaining a force measurement from a load pin;

obtaining of a position measurement of a luff block using a luff accelerometer positioned on the luff; and

obtaining a measurement from a boom winch encoder positioned on the boom winch.

68. The controller of claim 67 wherein the position measurement measured by the luff accelerometer is used to determine an angle of the luff block.

69. The controller of claim 68 further comprising altering the angle of the luff block based on the measurement from the boom winch encoder.

70. The controller of claim 69 wherein the angle of the luff block is increased if the measurement from the boom winch encoder indicates the boom winch is winding.

71. The controller of claim 69 wherein the angle of the luff block is decreased if the measurement from the boom winch encoder indicates the boom winch is unwinding.

72. The controller of claim 66 wherein a force measurement is obtained from a load pin and the force measurement is used to determine the slung load.

73. The controller of claim 72 wherein the force measurement is an indication of tension in a boom cable running between a boom winch and a distal end of a boom.

74. The controller of claim 68 wherein a distal end of a boom of the pipelayer machine is determined using the angle of the angle of the luff block and a length of a boom to determine where the angle of the luff block indicates the distal end of the boom intersects an arc followed by the distal end of boom as it pivots around a proximal end of the boom.

75. The controller of claim 74 wherein an angle of inclination of the pipelayer machine is subtracted from the angle of luff block to convert the angle of the luff block to a vehicle coordinate system.

76. The controller of claim 75 wherein an angle of the boom is determined using the angle position of the distal end of the boom and a position of the proximal end of the boom.

77. The controller of claim 66 wherein the slung load is determined by calculating torques acting on the boom and summing the torques to zero.

78. The controller of claim 42 wherein the vehicle is a telehandler.

79. The controller of claim 42 wherein the vehicle is a dragline boom.

80. The controller of claim 42 wherein the vehicle is an articulating forklift.

81. The controller of claim 42 wherein the vehicle is a rail mounted crane.

82. The controller of claim 42 wherein the vehicle is a haul truck.

83. A pipelayer machine comprising:

a main body;

a side boom pivotally connected to the main body;

a boom winch connected to the boom by a boom cable;

a luff block attached to the main body near the boom winch and the boom cable running through the luff block;

a hook winch; and

a sensor array comprising;

a load pin pivotally connecting the luff block to the main body of the pipelifter machine;

a luff accelerometer positioned on a luff block and operative to measure a position of the luff block;

a boom winch encoder operative to measure the direction of the boom winch and the speed of winding/unwinding;

a hook winch encoder operative to measure the direction of the hook winch and the speed of winding/unwinding; and

a vehicle accelerometer operative to measure the inclination of the vehicle.

84. The pipelayer machine of claim 83 wherein the sensor array is used to measure position information related to the position of the load suspended from the vehicle and force information related to the slung load

85. The pipelayer of claim 84 wherein the boom winch encoder is used to more accurately approximate an angel of a line passing between the luff block and the distal end of the boom.

86. The pipelayer of claim 85 wherein a reading from the boom winch indicating that the boom cable is winding adding an amount to the measured angle from the luff accelerometer.

87. The pipelayer claim of 85 wherein a reading from the boom winch indicating that the boom cable is unwinding subtracting an amount from the measured angle from the luff accelerometer.

88. The pipelayer of claim 83 wherein the vehicle accelerometer measures at least one of:

a side to side incline; and

a front to back incline.