Automatic articulation failure mode protection

• US 9,290,910 B2
• Filed: 03/17/2014
• Issued: 03/22/2016
• Est. Priority Date: 03/17/2014
• Status: Active Grant

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Sharma, Amit, Budde, Steven C., De Veer, Brad Van
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US14/216,543
• Publication Number:
  US 20150259880A1
• Time in Patent Office: 736 Days
• Field of Search: 701/41, 112/470.06
• US Class Current: 1/1
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence
• CPC Class Codes: E01C 23/088 Rotary tools, e.g. milling drums for forming recesses to receive marking materials E01C23/0946
• CPC Class Codes: E02F 3/764 with the scraper blade being pivotable about a vertical axis
• CPC Class Codes: E02F 9/0841 Articulated frame, i.e. having at least one pivot point between two travelling gear units tractor-trailer combinations B62D53/00
• CPC Class Codes: E02F 9/2025 Particular purposes of control systems not otherwise provided for E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence
• CPC Class Codes: E02F 9/2087 Control of vehicle steering for steering with hydraulic or pneumatic drives E02F9/225
• CPC Class Codes: E02F 9/265 with follow-up actions (e.g. control signals sent to actuate the work tool)

Abstract

Activation of an automatic articulation control function in an articulated machine is delayed until error conditions are cleared or a steering angle to alignment angle mismatch is corrected. A controller monitors a selector setting indicating a desire to activate the automatic articulation control function. The controller also evaluates whether conditions such as low ground speed, loss of signal from needed sensors, or articulation misalignment are present. If so, the conditions are monitored and when corrected, the automatic articulation control function is activated. An indicator may be set to inform an operator that the automatic articulation control function is pending activation.

Claims

1. A method of managing articulation in an articulated machine, the method comprising:

identifying, at an electronic controller, operating conditions that are incompatible with automatic articulation control, wherein the operating condition is a difference between an actual articulation angle and a desired articulation angle being outside a preset range;

receiving a signal requesting activation of an automatic articulation control function;

pending activation of the automatic articulation control function when an operating condition exists that is incompatible with operation of the automatic articulation control function;

determining that the operating condition has cleared including evaluating whether the difference between the actual and the desired articulation angle are within the preset range;

when the operating condition is clear, activating the automatic articulation control function; and

changing an articulation angle of the articulated machine responsive to changes in a steering angle of the articulated machine after activating the automatic articulation control function.

2. The method of claim 1, further comprising:

after determining that the operating condition has cleared and before activating the automatic articulation control function, determining that no other conditions exist that preclude activation of the automatic articulation control function.

3. The method of claim 1, wherein receiving the signal requesting activation of the automatic articulation control function is a signal from a mode selector.

4. The method of claim 3, further comprising:

after receiving the signal, providing a notification at an operator station that the automatic articulation control function is pending activation.

5. The method of claim 2, wherein the notification is illumination of an indicator at an operator station.

6. A controller that manages articulation in an articulated machine, the controller comprising:

a processor;

at least one sensor input that receives information used to determine an actual articulation angle;

at least one sensor input that receives information used to determine a steering angle for use in determining a desired articulation angle; and

a memory storing computer-executable instructions that when executed by the processor cause the controller to;

receive a signal requesting activation of an automatic articulation control function;

evaluate whether the actual articulation angle and the desired articulation angle are within a preset range;

activate the automatic articulation control function only when the actual articulation angle and the desired articulation angle are within the preset range; and

provide a signal that causes a change in the actual articulation angle of the articulated machine responsive to changes in the steering angle after activating the automatic articulation control function.

7. The controller of claim 6, wherein the memory stores further instructions that when executed by the processor cause the controller to determine that no other conditions adverse to operation of the automatic articulation control function are present prior to activating the automatic articulation control function.

8. The controller of claim 6, wherein conditions adverse to operation of the automatic articulation control function includes a ground speed of the articulated machine being over a predetermined speed.

9. The controller of claim 6, wherein conditions adverse to operation of the automatic articulation control function includes no input signal from a ground speed sensor coupled to the controller.

10. The controller of claim 6, wherein conditions adverse to operation of the automatic articulation control function includes an invalid signal at the at least one sensor input that receives information used to determine the actual articulation angle.

11. The controller of claim 6, wherein conditions adverse to operation of the automatic articulation control function includes an invalid signal at the at least one sensor input that receives information used to determine the steering angle.

12. The controller of claim 6, wherein the preset range is from about plus one degree to about negative one degree of difference between the actual articulation angle and the desired articulation angle.

13. A method of managing an automatic articulation control function using an electronic controller in an articulated machine having front wheels that are steerable, the front wheels attached to a front frame, the front frame and a rear frame pivotally connected at an articulation joint, the method comprising:

determining that the automatic articulation control function is pending activation;

determining that a condition exists that contravenes the automatic articulation control function from being activated comprising;

calculating, at the electronic controller, a desired articulation angle based on operating conditions at the articulated machine,

determining, at the electronic controller, an actual articulation angle, and

determining, at the electronic controller, that a difference between the actual articulation angle and the desired articulation angle is outside an alignment value range;

continue pending activation of the automatic articulation control function until determining that all conditions that contravene activation of the automatic articulation control function have been cleared;

activating, at the electronic controller, the automatic articulation control function; and

operating the articulated machine using the automatic articulation control function.

14. The method of claim 13, wherein determining that all conditions that contravene activation of the automatic articulation control function have cleared comprises:

monitoring, at the electronic controller, the actual articulation angle and re-calculating the desired articulation angle during operation of the articulated machine;

determining that the difference between the actual articulation angle and the desired articulation angle is within the alignment value range.

15. The method of claim 13, further comprising providing an indication in an operator station of the articulated machine that the automatic articulation control function is pending activation.

16. The method of claim 15, wherein providing the indication further comprises providing the indication that no other condition adverse to activation of the automatic articulation control function is present other than articulation angle alignment.