Loading analysis system and method

• US 8,833,861 B2
• Filed: 12/03/2010
• Issued: 09/16/2014
• Est. Priority Date: 12/03/2010
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Donnelli, Aaron, Whitten, Andrew
• Primary Examiner(s): To, Tuan C.
• Assistant Examiner(s): Kan, Yuri
• Application Number:
  US12/959,534
• Publication Number:
  US 20120143434A1
• Time in Patent Office: 1,383 Days
• Field of Search: 701/50, 701/2, 701/29.4, 701/33.4, 701/37, 701/41, 701/472, 702/173, 348/142, 177/1, 296/190.07, 298/19.R, 382/104, 371/97, 414/809
• US Class Current: 298/20.R
• 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: E02F 9/24 Safety devices , e.g. for preventing overload E02F9/226 takes precedence
• CPC Class Codes: G01P 15/00 Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration

Abstract

A machine includes a frame and a dump body. An electronic controller is operably connected to the machine. At least one accelerometer is disposed to measure an acceleration of the frame and/or the dump body, and to provide an acceleration signal to the electronic controller. The electronic controller is disposed to receive and analyze the acceleration signal and provide a loading signal indicative of a severe loading condition to a remote control station and/or a loading machine performing the loading.

Claims

1. A machine, comprising:

a frame;

a dump body connected to the frame;

an electronic controller operably connected to the machine;

an inertial measuring unit (IMU) including at least one accelerometer disposed to measure an acceleration of at least one of the frame and the dump body and to provide an acceleration signal to the electronic controller, and at least one gyroscope disposed to measure a rotation of the frame and the dump body and to provide a rotation signal to the electronic controller;

a global position system (GPS) unit disposed to determine a position of the machine and to provide a position signal to the electronic controller;

wherein the electronic controller is disposed to receive and analyze the acceleration signal, the rotation signal and the position signal, to determine whether the machine is stationary and being loaded with cargo based on the position signal, and to provide a loading signal indicative of vibration based on the acceleration signal and rotational motion based on the rotation signal of the dump body only when the electronic controller determines that the machine is stationary and being loaded;

wherein the loading signal indicates that the vibration and rotational motion of the machine each exceeds a respective predetermined threshold when a force with which a load is dropped onto the dump body and/or a rate of deposition of material into the dump body are excessive while the machine is stationary and the dump body is being loaded with cargo, said loading signal being provided by the electronic controller to at least one of a remote control station and a loading machine, the loading machine performing the loading, such that the vibration and rotational motion of the dump body can be controlled by controlling a loading process of the machine.

2. The machine of claim 1, further comprising a wireless communication device disposed on the machine and operably associated with the electronic controller, wherein the wireless communication device is configured to receive the loading signal from the electronic controller and send the loading signal to the at least one of the remote control station and the loading machine.

3. The machine of claim 1, further including two additional accelerometers for a total of three accelerometers, each of the three accelerometers being configured to measure a corresponding acceleration along one of three axes, the three axes being disposed in orthogonal relation to one another.

4. The machine of claim 3, wherein the electronic controller is disposed to receive two additional acceleration signals.

5. The machine of claim 3, further comprising two additional gyroscopes for a total of three gyroscopes, each gyroscope being configured to measure a rotational motion along a corresponding one of the three axes and provide a signal indicative of a rotational displacement to the electronic controller.

6. The machine of claim 5, wherein the electronic controller is disposed to provide the loading signal based on a combination of more than one acceleration signal.

7. A loading analysis system for a vehicle adapted for loading of aggregate material by a loader machine, the vehicle including an autonomous navigation and control system that is in wireless communication with a control station and/or the loader, the loading analysis system comprising:

a vehicle controller operably connected to the vehicle;

a loader controller operably connected to the loader;

at least one accelerometer disposed to measure an acceleration of the vehicle and to provide an acceleration signal to the vehicle controller;

at least one gyroscope disposed to measure a rotation of the vehicle and to provide a rotation signal to the vehicle controller;

a global position system (GPS) unit disposed to determine a position of the vehicle and to provide a position signal to the vehicle controller;

wherein the vehicle controller is disposed to receive and analyze the acceleration signal, the rotation signal and the position signal, to determine whether the vehicle stationary and being loaded with cargo based on the position signal, and to provide a loading signal indicative of vibration based on the acceleration signal and rotational motion based on the rotation signal of the vehicle only when the vehicle controller determines that the vehicle is stationary and being loaded;

wherein the loading signal indicates that the vibration and rotational motion of the machine each exceeds a respective predetermined threshold when a force with which a load is dropped onto the vehicle and/or a rate of deposition of material into the vehicle are excessive while the vehicle is stationary and being loaded with cargo, and wherein the loader controller is disposed to provide a notification to the operator of the loader that a severe loading condition has occurred in response to receipt of the loading signal such that a severity of the loading process can be controlled.

8. The loading analysis system of claim 7, further comprising:

a vehicle communication device disposed on the vehicle and operably associated with the vehicle controller;

a loader communication device disposed on the loader and operably associated with the loader controller;

wherein the loading signal is communicated wirelessly between the vehicle and loader communication devices.

9. The loading analysis system of claim 7, further including two additional accelerometers for a total of three accelerometers disposed on the vehicle, each of the three accelerometers being configured to measure a corresponding acceleration along one of three axes, the three axes being disposed in orthogonal relation to one another.

10. The loading analysis system of claim 7, wherein the vehicle controller is disposed to receive two additional acceleration signals.

11. The loading analysis system of claim 9, further comprising two additional gyroscopes for a total of three gyroscopes, each gyroscope being configured to measure a rotational motion along a corresponding one of the three axes and provide a signal indicative of a rotational displacement to the vehicle controller.

12. The loading analysis system of claim 11, wherein the vehicle controller is disposed to provide the loading signal based on a combination of more than one acceleration signal and more than one rotation signal.

13. A method of analyzing a loading condition of an autonomous haul truck, the method comprising:

using an electronic controller to determine whether the autonomous haul truck is stationary and in a loading position where the autonomous haul truck is being loaded based at least in part on information indicative of a location of the autonomous haul truck;

monitoring with the electronic controller an acceleration, a rotational motion, and a position of the autonomous haul truck while the autonomous haul truck is stationary and being loaded to determine a vibration and/or a rotational motion of the haul truck, which vibration and/or rotational motion result from a force with which a load is dropped into the autonomous haul truck and/or a rate of deposition of material onto the haul truck while the truck is stationary and being loaded;

providing via the electronic controller a loading signal based on the acceleration, position, and rotational motion when the autonomous haul truck is being loaded and the monitored acceleration and rotational motion together indicate that an excessive vibration and/or an excessive rotational motion is/are present while the vehicle is stationary and in the loading position;

communicating the loading signal from the electronic controller to a loader performing the loading; and

providing a notification to an operator of the loader that the excessive vibration and/or the excessive rotational motion is/are present as an indication of a severe loading condition.

14. The method of analyzing a loading condition of claim 13, wherein communicating the loading signal to the loader is accomplished by providing the loading signal from the autonomous haul truck to a remote control station, and relaying the loading signal from the remote control station to the loader.