Method and apparatus for controlling a mobile machine during start-up

• US 6,266,596 B1
• Filed: 06/13/2000
• Issued: 07/24/2001
• Est. Priority Date: 06/13/2000
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Krellner, James A., Huang, Kevin X., Hartman, Darren A., Krone, John J.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/592,622
• Time in Patent Office: 406 Days
• Field of Search: 701/50, 701/41, 701/113, 701/54, 701/97, 180/418, 180/419, 180/421, 180/422, 180/446
• US Class Current: 701/50
• CPC Class Codes: B60G 2300/09 Construction vehicles, e.g. graders, excavators
• CPC Class Codes: B60G 2400/41 Steering angle
• CPC Class Codes: B60G 2600/02 Retarders, delaying means, dead zones, threshold values, cut-off frequency, timer interruption
• CPC Class Codes: B60G 2600/124 Error signal
• CPC Class Codes: B60G 2800/18 Starting, accelerating
• CPC Class Codes: B60G 2800/96 ASC - Assisted or power Steering control
• CPC Class Codes: B60G 2800/97 Engine Management System [EMS]
• CPC Class Codes: B60K 25/00 Auxiliary drives B60K16/00 takes precedence; arrangements of tyre-inflating pumps mounted on vehicles B60C23/10; driving tyre-inflating pumps B60C; driving engine auxiliaries F02B
• CPC Class Codes: B60K 28/10 responsive to conditions relating to the vehicle
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 30/18027 Drive off, accelerating from standstill
• CPC Class Codes: B60Y 2200/415 Wheel loaders
• CPC Class Codes: B62D 12/00 Steering specially adapted for vehicles operating in tandem or having pivotally connected frames steering endless tracks or the like B62D11/00; steering specially adapted for trailers B62D13/00
• CPC Class Codes: E02F 9/2045 Guiding machines along a predetermined path for graders E02F3/841; machines for construction of roads E01C19/004
• CPC Class Codes: E02F 9/2087 Control of vehicle steering for steering with hydraulic or pneumatic drives E02F9/225

Abstract

A method and apparatus for controlling a mobile machine during start-up. The mobile machine has a prime power source, a means for transport, and at least one auxiliary system; the means for transport and the at least one auxiliary system are controllably driven by the prime power source. The method and apparatus includes determining an actual angle of steering of the mobile machine, comparing the actual angle of steering with a desired angle of steering, starting the prime power source, enabling engagement of the at least one auxiliary system, and disabling engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.

Claims

1. A computer-based method for controlling a mobile machine during start-up, the mobile machine having a prime power source, a means for transport, and at least one auxiliary system;

the means for transport and the at least one auxiliary system being controllably driven by the prime power source, including the steps of;

determining an actual angle of steering of the mobile machine;

comparing the actual angle of steering with a desired angle of steering;

starting the prime power source;

enabling engagement of the at least one auxiliary system; and

disabling engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.

2. A method, as set forth in claim 1, further including the step of enabling engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being less than a predetermined threshold value.

3. A method, as set forth in claim 2, further including the step of displaying the difference between the actual angle of steering and the desired angle of steering to an operator of the mobile machine.

4. A computer-based method for controlling a mobile machine during start-up, the mobile machine having an engine, a drive train, and at least one auxiliary system;

the drive train and the at least one auxiliary system being controllably driven by the engine, including the steps of;

determining an actual angle of steering of the mobile machine;

comparing the actual angle of steering with a desired angle of steering;

starting the engine;

enabling engagement of the at least one auxiliary system; and

disabling engagement of the drive train in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.

5. A method, as set forth in claim 4, further including the step of enabling engagement of the drive train in response to the difference between the actual angle of steering and the desired angle of steering being less than a predetermined threshold value.

6. A method, as set forth in claim 5, further including the step of displaying the actual angle of steering with respect to the desired angle of steering to an operator of the mobile machine.

7. A computer-based method for controlling an articulated mobile machine during start-up, the articulated mobile machine having a prime power source, a means for transport, an articulating actuator system, and at least one auxiliary system;

the means for transport, the articulating actuator system, and the at least one auxiliary system being controllably driven by the prime power source, including the steps of;

determining a steering control angle of a steering control mechanism located on the articulated mobile machine;

determining an articulation angle of the articulated mobile machine as a function of the articulating actuator system;

comparing the steering control angle with the articulation angle;

starting the prime power source;

enabling engagement of the at least one auxiliary system;

disabling engagement of the articulating actuator system in response to the steering control angle being greater than a predetermined difference in value from the articulation angle; and

enabling engagement of the articulating actuator system in response to the steering control angle being less than a predetermined difference in value from the articulation angle.

8. A method, as set forth in claim 7, further including the steps of:

disabling engagement of the means for transport in response to the steering control angle being greater than a predetermined difference in value from the articulation angle; and

enabling engagement of the means for transport in response to the steering control angle being less than a predetermined difference in value from the articulation angle.

9. A method, as set forth in claim 8, further including the step of displaying the difference between the steering control angle and the articulation angle.

10. An apparatus for controlling a mobile machine during start-up, the mobile machine having a prime power source, a means for transport, and at least one auxiliary system;

the means for transport and the at least one auxiliary system being controllably driven by the prime power source, comprising;

a steering angle sensor located on the mobile machine; and

a controller adapted to determine an actual angle of steering of the mobile machine, compare the actual angle of steering with a desired angle of steering, start the prime power source, enable engagement of the at least one auxiliary system, and disable engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.

11. An apparatus, as set forth in claim 10, wherein the controller is further adapted to enable engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being less than a predetermined threshold.

12. An apparatus, as set forth in claim 11, further including a display located on the mobile machine and adapted to display the difference between the actual angle of steering and the desired angle of steering.

13. An apparatus, as set forth in claim 11, wherein the means for transport is a drive train.

14. An apparatus, as set forth in claim 11, wherein the controller is located on the mobile machine, and the controller is computer-based.

15. An apparatus, as set forth in claim 10, wherein the prime power source is an engine.

16. An apparatus for controlling an articulated mobile machine during start-up, the articulated mobile machine having a prime power source, a means for transport, an articulating actuator system, and at least one auxiliary system;

the means for transport, the articulating actuator system, and the at least one auxiliary system being controllably driven by the prime power source, comprising;

a steering control mechanism located on the articulated mobile machine;

a steering control angle sensor for sensing a steering control angle of the steering control mechanism;

an articulation angle sensor for sensing an articulation angle of the articulated mobile machine as a function of the articulating actuator system; and

a controller adapted to compare the steering control angle with the articulation angle, start the prime power source, enable engagement of the at least one auxiliary system, disable engagement of the articulating actuator system in response to the steering control angle being greater than a predetermined difference in value from the articulation angle, and enable engagement of the articulating actuator system in response to the steering control angle being less than a predetermined difference in value from the articulation angle.

17. An apparatus, as set forth in claim 16, wherein the controller is further adapted to:

disable engagement of the means for transport in response to the steering control angle being greater than a predetermined difference in value from the articulation angle; and

enable engagement of the means for transport in response to the steering control angle being less than a predetermined difference in value from the articulation angle.

18. An apparatus, as set forth in claim 17, further including a display located on the articulated mobile machine and adapted to display the difference between the steering control angle and the articulation angle.

19. An apparatus, as set forth in claim 17, wherein the means for transport is a drive train.

20. An apparatus, as set forth in claim 17, wherein the controller is located on the articulated mobile machine, and the controller is computer-based.

21. An apparatus, as set forth in claim 16, wherein the prime power source is an engine.

22. An apparatus, as set forth in claim 16, wherein the steering control mechanism is a steering wheel.

23. An apparatus for controlling a mobile machine during start-up, the mobile machine having a prime power source, a means for transport, and at least one auxiliary system;

the means for transport and the at least one auxiliary system being controllably driven by the prime power source, comprising;

means for determining an actual angle of steering of the mobile machine;

means for comparing the actual angle of steering with a desired angle of steering;

means for starting the prime power source;

means for enabling engagement of the at least one auxiliary system;

means for disabling engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value; and

means for enabling engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being less than a predetermined threshold value.