System and method of preventing articulated machine roll-over

• US 9,114,705 B2
• Filed: 11/06/2013
• Issued: 08/25/2015
• Est. Priority Date: 11/06/2013
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Goraya, Fazal A., Wisley, David R., Anderson, Ryan T., Schwartz, Timothy D.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): NGUYEN, ROBERT T
• Application Number:
  US14/072,839
• Publication Number:
  US 20150127229A1
• Time in Patent Office: 657 Days
• US Class Current: 1/1
• CPC Class Codes: B60G 2800/012 Rolling condition
• CPC Class Codes: B60G 2800/0124 Roll-over conditions
• CPC Class Codes: B60K 2023/046 Axle differential locking means
• CPC Class Codes: B60K 2023/0841 for locking a central differential, e.g. by using a lock-up clutch
• CPC Class Codes: B60K 23/04 for differential gearing
• 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: B60R 21/013 including means for detecting collisions, impending collisions or roll-over
• CPC Class Codes: B60W 2710/125 Locking status
• CPC Class Codes: B60W 2720/403 between front and rear axle
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60Y 2200/417 Articulated frame vehicles
• CPC Class Codes: B62D 53/026 With all wheels powered

Abstract

An articulated machine having a first frame and a second frame supported by first and second wheel assemblies respectively is provided. The machine includes a first sensor and a second sensor to provide position information of the first frame and the second frame respectively. The machine includes a drive train to couple the front and rear wheel assembly, and having an inter axle differential to facilitate the front and the rear wheel assembly to move at different speeds. The machine includes a controller to compare position of the first frame with position of the second frame to determine relative position of the second frame with respect to the first frame. The controller compares the relative position of the second frame with a predefined position limit. The controller selectively locks the inter axle differential when the determined relative position of the second frame is greater than the predefined position limit.

Claims

1. A method of preventing an articulated machine from rolling over, the articulated machine having a first frame and a second frame, the method comprising:

receiving a position of the first frame from a first sensor provided on the first frame and a position of the second frame from a second sensor provided on the second frame;

determining a relative position of the second frame with respect to the first frame by comparing the position of the first frame and the position of the second frame received from the first sensor and the second sensor;

comparing the determined position of the second frame with a predefined position limit; and

automatically locking an inter axle differential between the first frame and the second frame when the determined position of the second frame is greater than the predefined position limit.

2. The method of claim 1, wherein receiving the position of the first frame and the second frame further comprises receiving multi-axis position information of the first frame from the first sensor and the second frame from the second sensor.

3. The method of claim 1, wherein the first sensor and the second sensor are multi-axis inertia sensors.

4. The method of claim 1, wherein automatically locking the inter axle differential further includes selectively engaging a clutch assembly associated with the differential.

5. The method of claim 1, wherein selectively engaging the clutch assembly further includes selectively controlling a valve associated with the clutch assembly.

6. The method of claim 1, wherein determining the relative position of the second frame with respect to the first frame further comprises determining at least one of a relative pitch angle and a roll angle of the second frame with respect to the first frame.

7. The method of claim 1 further comprising alerting an operator of the machine when the determined position of the second frame is greater than the predefined position limit.

8. The method of claim 1 further comprising displaying a warning on a display device provided on an operator station of the machine, the warning indicative of a possible roll-over event when the determined position of the second frame is greater than the predefined position limit.

9. The method of claim 1 further comprising storing the position of the first frame and the second frame, and the determined position of the second frame with respect to the first frame in a database.

10. The method of claim 1 further comprising detecting and storing information associated with a roll-over event of the machine.

11. An articulated machine comprising:

a first frame supported by a front wheel assembly;

a second frame supported by a rear wheel assembly;

a first sensor provided on the first frame and configured to provide a position of the first frame;

a second sensor provided on the second frame and configured to provide position information of the second frame;

a drive train configured to couple the front and the rear wheel assembly, the drivetrain having an inter axle differential configured to facilitate the front and the rear wheel assembly to move at different speeds; and

a controller operatively coupled to the sensors and the inter axle differential, the controller being configured to;

compare the position of the first frame received from the first sensor with the position of the second frame received from the second sensor to determine a relative position of the second frame with respect to the first frame;

compare the determined relative position of the second frame with a predefined position limit; and

selectively lock the inter axle differential when the determined relative position of the second frame is greater than the predefined position limit.

12. The articulated machine of claim 11, wherein the first and the second sensors are multi-axis inertia sensors.

13. The articulated machine of claim 12, wherein the first and the second multi-axis inertia sensors are configured to determine multi-axis position of the first and the second frames respectively.

14. The articulated machine of claim 11, wherein the determined relative position of the second frame with respect to the first frame is at least one of a pitch angle and a roll angle of the second frame with respect to the first frame.

15. The articulated machine of claim 11, wherein the inter axle differential includes a clutch assembly configured to be selectively engaged and disengaged to lock and unlock the inter axle differential respectively.

16. The articulated machine of claim 15, wherein the controller is configured to selectively engage and disengage the clutch assembly by controlling a valve associated with the clutch assembly.

17. The articulated machine of claim 11, wherein the controller is further configured to send an alert to an operator of the machine when the determined position of the second frame is greater than the predefined position.

18. The articulated machine of claim 17, wherein the controller is further configured to display a warning on a display device provided on an operator station of the machine, the warning indicative of a possible roll-over event when the determined position of the second frame is greater than the predefined position.

19. The articulated machine of claim 11, wherein the controller is operatively coupled to a database, and wherein the database stores the position of the first frame received from the first sensor and the position of the second frame received from the second sensor.

20. The articulated machine of claim 11, wherein the controller is further configured to detect and store a roll-over event of the machine.