US20160298314A1 - System and method for machine control - Google Patents
System and method for machine control Download PDFInfo
- Publication number
- US20160298314A1 US20160298314A1 US15/188,591 US201615188591A US2016298314A1 US 20160298314 A1 US20160298314 A1 US 20160298314A1 US 201615188591 A US201615188591 A US 201615188591A US 2016298314 A1 US2016298314 A1 US 2016298314A1
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- US
- United States
- Prior art keywords
- machine
- signal indicative
- sensor module
- control module
- command
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
- E02F9/2029—Controlling the position of implements in function of its load, e.g. modifying the attitude of implements in accordance to vehicle speed
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/36—Component parts
- E02F3/42—Drives for dippers, buckets, dipper-arms or bucket-arms
- E02F3/422—Drive systems for bucket-arms, front-end loaders, dumpers or the like
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2004—Control mechanisms, e.g. control levers
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/2025—Particular purposes of control systems not otherwise provided for
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
- E02F9/20—Drives; Control devices
- E02F9/22—Hydraulic or pneumatic drives
- E02F9/2221—Control of flow rate; Load sensing arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
-
- E—FIXED CONSTRUCTIONS
- E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
- E02F—DREDGING; SOIL-SHIFTING
- E02F3/00—Dredgers; Soil-shifting machines
- E02F3/04—Dredgers; Soil-shifting machines mechanically-driven
- E02F3/28—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets
- E02F3/34—Dredgers; Soil-shifting machines mechanically-driven with digging tools mounted on a dipper- or bucket-arm, i.e. there is either one arm or a pair of arms, e.g. dippers, buckets with bucket-arms, i.e. a pair of arms, e.g. manufacturing processes, form, geometry, material of bucket-arms directly pivoted on the frames of tractors or self-propelled machines
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01G—WEIGHING
- G01G19/00—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups
- G01G19/08—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles
- G01G19/083—Weighing apparatus or methods adapted for special purposes not provided for in the preceding groups for incorporation in vehicles lift truck scale
Definitions
- the present disclosure relates to controlling an operation of a machine.
- Machines are employed for a variety of tasks in construction, mining and/or other applications. These machines include, but are not limited to, skid steer loaders, wheel loaders, backhoe loaders, forklifts, and compact track loaders.
- the wheel loader includes a work tool that may be raised and lowered based on inputs from an operator.
- the work tool is connected to a stick and boom assembly for loading and unloading materials, such as dirt, sand, or gravel and moving the material from one place to another.
- the machine may experience dynamic events.
- the dynamic events may occur when the machine is operated beyond its operating capability or conditions where the machine is subjected to rapid change in material loads or sudden movement.
- Conventional techniques for improving stability of the machine are based on a static center-of-gravity (CG) analysis.
- CG center-of-gravity
- Such techniques may not efficiently stabilize the machine, when the loaded material is particularly heavy. As a consequence, there are chances of strain or stress on various components, such as a frame of the machine. As a result, the machine suffers from increased down-time and maintenance costs.
- U.S. Published Application Number 2010/0204891 describes a control system for a vehicle having a loader arm, such as a skid steer loader, telescopic handler, wheel loader, backhoe loader or forklift.
- the vehicle may include an electronic control system capable of electronically monitoring the skid steer loader's load, the height of that load, and of responsively derating or reducing the drive system's response to operator commands.
- the electronic control system combines these sensor signals and, by dynamically and continuously calculating if the drive system needs derating and a magnitude by which this control may need to be exercised.
- the electronic control system generates a signal to limit the acceleration of the vehicle to less than the dynamically calculated acceleration necessary to cause the dynamic center of gravity of the combined vehicle and load to extend exterior of an edge of the stability polygon for the vehicle.
- a system for controlling operations of a machine includes a first sensor module, a second sensor module, and a control module.
- the first sensor module is configured to generate a signal indicative of an operator command.
- the second sensor module is configured to generate a signal indicative of a current loading ratio associated with a load arm assembly of the machine.
- the control module is communicably coupled to the first sensor module and the second sensor module.
- the control module is configured to receive a signal indicative of a current operating mode of the machine.
- the control module is configured to receive the signal indicative of the operator command and the signal indicative of the current loading ratio associated with the load arm assembly of the machine.
- the control module is configured to compare the current loading ratio with a pre-determined load rating of the machine.
- the control module is configured to selectively limit an action associated with the operator command based on the comparison and the current operating mode of the machine.
- FIG. 1 is a perspective view of an exemplary machine, in accordance with the concepts of the present disclosure.
- FIG. 2 is a block diagram of a system for controlling an operation of the machine.
- the machine 10 shown in FIG. 1 is a wheel loader.
- the machine 10 is used for loading and unloading of various types of materials, such as stones, marble in block form and also earthen material.
- the machine 10 includes a load arm assembly 12 that further includes a work tool 14 utilized for carrying the materials.
- the work tool 14 maybe a bucket, a fork, a material handling arm, or any other handling equipments.
- the load arm assembly 12 is mounted to a frame 16 of the machine 10 , and further includes booms 18 coupled to the work tool 14 .
- the booms 18 are used to lift the work tool 14 to carry out various operations.
- the machine 10 further includes a hydraulic cylinder 20 coupled to a bellcrank 22 .
- the bellcrank 22 is further coupled to the booms 18 using a connecting member 24 and a linkage 26 .
- the bellcrank 22 is also coupled to a bellcrank bar 28 , disposed between the booms 18 , via a pivot joint (not shown).
- the bellcrank bar 28 couples the work tool 14 to the bellcrank 22 , thus enabling an orientation of the work tool 14 to be varied by retracting and expanding the hydraulic cylinder 20 .
- structure of the load arm assembly 12 of the machine 10 may vary from one machine to another, and therefore, number of hydraulic cylinders and other components may vary depending on type of the machine 10 .
- the machine 10 further includes an operator cabin 30 and a seat 32 .
- An operator sits on the seat 32 in the operator cabin 30 for controlling various operations of the machine 10 such as loading and unloading of various types of materials.
- the machine 10 includes an engine 34 and a number of wheels 36 .
- the engine 34 provides power to the machine 10 for carrying out various operations.
- the operator controls and monitors operating parameters of the machine 10 via input and/or output modules.
- the input and/or output modules may include a display device, a camera, a steering wheel, a speaker, a joystick or other input and/or output devices.
- the machine 10 is used for various operations such as, but not limited to, grading of land, or loading, or transportation of materials, among others.
- the machine 10 may be any other wheeled machine including, but not limited to, a track loader, a wheel dozer, an excavator, or any other suitable machine, without departing from the scope of the disclosure.
- the system 38 includes a first sensor module 40 and a second sensor module 42 .
- the first sensor module 40 is configured to generate a signal indicative of an operator command.
- the first sensor module 40 may be a joystick position sensor that uses a rotary potentiometer to produce an electrical signal in response to a pivotal position of a control lever as operated by the operator. When the operator moves the control lever, the electrical signal is generated that is indicative of the operator command.
- the operator command is associated with operations performed on or using the load arm assembly 12 of the machine 10 . These operations are related to loading and unloading of the material from the machine 10 .
- Examples of the operator command may include, but are not limited to, a lift command and a tilt command.
- the lift command is used to raise or lower the work tool 14 .
- the tilt command is used for tilting the work tool 14 for the racking/dumping operations.
- the first sensor module 40 may be an eddy-current sensor, a hall-effect sensor or a proximity sensor, among others.
- the first sensor module 40 may include various sensors, such as sensors located on a steering, a joystick, or any other components of the machine 10 .
- the operator command is associated with other activities of the machine 10 , such as speed, heading, etc.
- the second sensor module 42 is configured to generate a signal indicative of a current loading ratio associated with the load arm assembly 12 of the machine 10 .
- the loading ratio is indicative of a current load present on the machine 10 with respect to a total load that the machine 10 is capable of handling.
- the loading ratio is calculated from operating values received from a head end (not shown) and a rod end (not shown) of the hydraulic cylinder 20 .
- the loading ratio may also he calculated using strain gauges, other instruments or any other mechanism without departing from the disclosure.
- the second sensor module 42 may include strain gauges, pressure sensors, or any other sensor.
- the second sensor module 42 may include various other sensors, such as sensors located on the hydraulic cylinder 20 , the load arm assembly 12 , or any other components within the machine 10 .
- a control module 44 is communicably coupled with the first sensor module 40 and the second sensor module 42 .
- the control module 44 is configured to receive a signal indicative of a current operating mode of the machine 10 .
- the operating modes may be a “dig state” or any other operating mode hereinafter referred as a “non-dig state”.
- dig state refers to a state in which the machine 10 is performing a digging operation.
- non-dig state refers to a state in which the machine 10 is performing operations other than digging operation, such as material handling and transportation, etc.
- the signal indicative of the current operating mode may be received from a third sensor module (not shown). Alternatively, the signal indicative of the current operating mode may he input by the operator.
- the control module 44 receives the signal indicative of the operator command from the first sensor module 40 . Further, the control module 44 receives the signal indicative of the current loading ratio associated with the load arm assembly 12 of the machine 10 .
- the control module 44 is communicably coupled with a database 46 that stores a pre-determined load rating of the machine 10 . The control module 44 compares the current loading ratio with the pre-determined load rating.
- the control module 44 may further limit an action associated with the operator commands based on the comparison and the current operating mode of the machine 10 . Based on the comparison between the current loading ratio with the pre-determined load rating, the control module 44 limits the action associated with the operator command, such as the lift command and the tilt command. As an example, the control module 44 may variably limit an action associated with the operator command, for example the action may include movements of the load aim assembly 12 of the machine 10 . The control module 44 may control the operating parameters of the machine 10 within the permissible range. For example, if the current loading ratio is less than the pre-determined load rating, then the command and parameters associated with the lift command are unaltered. Else, if the current loading ratio is more than the pre-determined load rating, then the control module 44 is configured to limit the command and parameters associated with the lift command.
- a low pass filter or any other logic may he used for limiting the action of the operator command.
- the control module 44 is configured to limit a magnitude and/or rate of application of the action of the operator command.
- the control module 44 may be configured to change a pressure of the hydraulic cylinder 20 from 100% to 60% to limit an action associated with the lift command of the work tool 14 .
- the control module 44 may also be configured to change the rate of application by increasing a time for executing the command from 0.25 seconds to 4.0 seconds for limiting the action associated with the lift command of the work tool 14 .
- the control module 44 may also he configured to change the magnitude as well as rate of application in other possible combinations to limit the action associated with the lift command.
- the signals from the first sensor module 40 and the second sensor module 42 may be received or interpreted by the control module 44 only when the control module 44 has determined that the machine 10 is operating in the non-dig state.
- the signals from the first sensor module 40 and the second sensor module 42 may be continuously received, but the comparison of the loading ratio with the pre-determined load rating may take place after the control module 44 has determined that the machine 10 is operating in the non-dig state.
- the database 46 includes a memory for storing the pre-determined load rating.
- the pre-determined load rating may be calculated on the basis of historical data and defines a range of operating the machine 10 within permissible limit.
- the pre-determined load rating may contain readings of pre-estimated load values during various operating conditions associated with the machine 10 .
- the database 46 includes look-up tables for storing the pre-determined load rating of the machine 10 .
- the database 46 may be any conventional or non-conventional database known in the art. In one embodiment, the database 46 may be extrinsic to the machine 10 and located at a remote location away from the machine 10 . Alternatively, the database 46 may be intrinsic to the machine 10 .
- the control module 44 is an electronic controller that is remotely coupled with an engine control module (ECM) of the engine 34 for carrying out various operations.
- ECM engine control module
- the control module 44 may be a logic unit using any one or more of a processor, a microprocessor, and a microcontroller.
- the control module 44 may be based on an integrated circuitry, discrete components, or a combination of the two. Further, other peripheral circuitry, such as buffers, latches, switches, and the like may be implemented within the control module 44 or separately connected to the control module 44 . It will be apparent to one skilled in the art that the control module 44 mentioned above may be an individual component which is in communication with other circuitries of the system 38 .
- the control module 44 may be networked over a serial communication bus such as a controller area network (CAN) bus (not shown). Other arrangements of microcontrollers and microprocessors may be used. There may be several sensors connected to the control module 44 that provide the electronic controller with data for various operating conditions.
- CAN controller area network
- the system 38 controls dynamic events in the machine 10 by limiting operator action by magnitude control or rate of change control.
- the dynamic events may occur when the machine 10 is operated beyond its operating capability or conditions where the machine 10 is subjected to rapid change in material loads or sudden movement.
- the control module 44 may variably limit the action associated with the operator command, for example, the action may include movements of the load arm assembly 12 of the machine 10 .
- the control module 44 may control the operating parameters of the machine 10 within the permissible range.
- the system 38 is also applicable to the control other implements used on other machines, such as wheel type loaders, track type loaders, hydraulic excavators, backhoes, and similar vehicles having hydraulically operated implements.
- the system 38 controls the operation of the machine 10 by restricting the operator commands on the basis of loading ratio.
- the system 38 offers reliable operations, controls the machine 10 and also extends service life of components of the machine 10 .
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Abstract
A system for controlling operations of a machine is provided. A first sensor module generates a signal indicative of an operator command and a second sensor module is configured to generate a signal indicative of a current loading ratio associated with a load arm assembly of the machine. A control module is communicably coupled to the first sensor module and the second sensor module to receive a signal indicative of a current operating mode of the machine, and further to receive the signal indicative of the operator command and the signal indicative of the current loading ratio associated with the load arm assembly of the machine. Further, the control module compares the current loading ratio with a pre-determined load rating of the machine, and selectively limits an action associated with the operator command based on the comparison and the current operating mode of the machine.
Description
- The present disclosure relates to controlling an operation of a machine.
- Machines are employed for a variety of tasks in construction, mining and/or other applications. These machines include, but are not limited to, skid steer loaders, wheel loaders, backhoe loaders, forklifts, and compact track loaders. For example, the wheel loader includes a work tool that may be raised and lowered based on inputs from an operator. The work tool is connected to a stick and boom assembly for loading and unloading materials, such as dirt, sand, or gravel and moving the material from one place to another.
- During operations, the machine may experience dynamic events. The dynamic events may occur when the machine is operated beyond its operating capability or conditions where the machine is subjected to rapid change in material loads or sudden movement. Conventional techniques for improving stability of the machine are based on a static center-of-gravity (CG) analysis. However, such techniques may not efficiently stabilize the machine, when the loaded material is particularly heavy. As a consequence, there are chances of strain or stress on various components, such as a frame of the machine. As a result, the machine suffers from increased down-time and maintenance costs.
- U.S. Published Application Number 2010/0204891 describes a control system for a vehicle having a loader arm, such as a skid steer loader, telescopic handler, wheel loader, backhoe loader or forklift. The vehicle may include an electronic control system capable of electronically monitoring the skid steer loader's load, the height of that load, and of responsively derating or reducing the drive system's response to operator commands. The electronic control system combines these sensor signals and, by dynamically and continuously calculating if the drive system needs derating and a magnitude by which this control may need to be exercised. The electronic control system generates a signal to limit the acceleration of the vehicle to less than the dynamically calculated acceleration necessary to cause the dynamic center of gravity of the combined vehicle and load to extend exterior of an edge of the stability polygon for the vehicle.
- In one aspect of the present disclosure, a system for controlling operations of a machine is provided. The system includes a first sensor module, a second sensor module, and a control module. The first sensor module is configured to generate a signal indicative of an operator command. The second sensor module is configured to generate a signal indicative of a current loading ratio associated with a load arm assembly of the machine. The control module is communicably coupled to the first sensor module and the second sensor module. The control module is configured to receive a signal indicative of a current operating mode of the machine. The control module is configured to receive the signal indicative of the operator command and the signal indicative of the current loading ratio associated with the load arm assembly of the machine. The control module is configured to compare the current loading ratio with a pre-determined load rating of the machine. The control module is configured to selectively limit an action associated with the operator command based on the comparison and the current operating mode of the machine.
- Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings.
-
FIG. 1 is a perspective view of an exemplary machine, in accordance with the concepts of the present disclosure; and -
FIG. 2 is a block diagram of a system for controlling an operation of the machine. - Referring to
FIG. 1 , anexemplary machine 10 is illustrated. Themachine 10 shown inFIG. 1 is a wheel loader. Themachine 10 is used for loading and unloading of various types of materials, such as stones, marble in block form and also earthen material. Themachine 10 includes aload arm assembly 12 that further includes awork tool 14 utilized for carrying the materials. Thework tool 14 maybe a bucket, a fork, a material handling arm, or any other handling equipments. Theload arm assembly 12 is mounted to aframe 16 of themachine 10, and further includesbooms 18 coupled to thework tool 14. Thebooms 18 are used to lift thework tool 14 to carry out various operations. Themachine 10 further includes ahydraulic cylinder 20 coupled to abellcrank 22. Thebellcrank 22 is further coupled to thebooms 18 using a connectingmember 24 and alinkage 26. Thebellcrank 22 is also coupled to abellcrank bar 28, disposed between thebooms 18, via a pivot joint (not shown). Thebellcrank bar 28 couples thework tool 14 to thebellcrank 22, thus enabling an orientation of thework tool 14 to be varied by retracting and expanding thehydraulic cylinder 20. Alternatively, structure of theload arm assembly 12 of themachine 10 may vary from one machine to another, and therefore, number of hydraulic cylinders and other components may vary depending on type of themachine 10. - The
machine 10 further includes anoperator cabin 30 and aseat 32. An operator sits on theseat 32 in theoperator cabin 30 for controlling various operations of themachine 10 such as loading and unloading of various types of materials. Further, themachine 10 includes anengine 34 and a number ofwheels 36. Theengine 34 provides power to themachine 10 for carrying out various operations. The operator controls and monitors operating parameters of themachine 10 via input and/or output modules. The input and/or output modules may include a display device, a camera, a steering wheel, a speaker, a joystick or other input and/or output devices. Themachine 10 is used for various operations such as, but not limited to, grading of land, or loading, or transportation of materials, among others. Themachine 10 may be any other wheeled machine including, but not limited to, a track loader, a wheel dozer, an excavator, or any other suitable machine, without departing from the scope of the disclosure. - Referring to
FIG. 2 , asystem 38 for controlling operations of themachine 10 is illustrated. Thesystem 38 includes afirst sensor module 40 and asecond sensor module 42. Thefirst sensor module 40 is configured to generate a signal indicative of an operator command. In an exemplary embodiment, thefirst sensor module 40 may be a joystick position sensor that uses a rotary potentiometer to produce an electrical signal in response to a pivotal position of a control lever as operated by the operator. When the operator moves the control lever, the electrical signal is generated that is indicative of the operator command. - In one example, the operator command is associated with operations performed on or using the
load arm assembly 12 of themachine 10. These operations are related to loading and unloading of the material from themachine 10. Examples of the operator command may include, but are not limited to, a lift command and a tilt command. The lift command is used to raise or lower thework tool 14. The tilt command is used for tilting thework tool 14 for the racking/dumping operations. Thefirst sensor module 40 may be an eddy-current sensor, a hall-effect sensor or a proximity sensor, among others. Also, thefirst sensor module 40 may include various sensors, such as sensors located on a steering, a joystick, or any other components of themachine 10. In another example, the operator command is associated with other activities of themachine 10, such as speed, heading, etc. - The
second sensor module 42 is configured to generate a signal indicative of a current loading ratio associated with theload arm assembly 12 of themachine 10. The loading ratio is indicative of a current load present on themachine 10 with respect to a total load that themachine 10 is capable of handling. The loading ratio is calculated from operating values received from a head end (not shown) and a rod end (not shown) of thehydraulic cylinder 20. Alternatively, the loading ratio may also he calculated using strain gauges, other instruments or any other mechanism without departing from the disclosure. Thesecond sensor module 42 may include strain gauges, pressure sensors, or any other sensor. Also, thesecond sensor module 42 may include various other sensors, such as sensors located on thehydraulic cylinder 20, theload arm assembly 12, or any other components within themachine 10. - Referring to
FIG. 2 , acontrol module 44 is communicably coupled with thefirst sensor module 40 and thesecond sensor module 42. Thecontrol module 44 is configured to receive a signal indicative of a current operating mode of themachine 10. The operating modes may be a “dig state” or any other operating mode hereinafter referred as a “non-dig state”. The term “dig state” refers to a state in which themachine 10 is performing a digging operation. Alternatively, the term “non-dig state” refers to a state in which themachine 10 is performing operations other than digging operation, such as material handling and transportation, etc. The signal indicative of the current operating mode may be received from a third sensor module (not shown). Alternatively, the signal indicative of the current operating mode may he input by the operator. - The
control module 44 receives the signal indicative of the operator command from thefirst sensor module 40. Further, thecontrol module 44 receives the signal indicative of the current loading ratio associated with theload arm assembly 12 of themachine 10. Thecontrol module 44 is communicably coupled with adatabase 46 that stores a pre-determined load rating of themachine 10. Thecontrol module 44 compares the current loading ratio with the pre-determined load rating. - The
control module 44 may further limit an action associated with the operator commands based on the comparison and the current operating mode of themachine 10. Based on the comparison between the current loading ratio with the pre-determined load rating, thecontrol module 44 limits the action associated with the operator command, such as the lift command and the tilt command. As an example, thecontrol module 44 may variably limit an action associated with the operator command, for example the action may include movements of the load aimassembly 12 of themachine 10. Thecontrol module 44 may control the operating parameters of themachine 10 within the permissible range. For example, if the current loading ratio is less than the pre-determined load rating, then the command and parameters associated with the lift command are unaltered. Else, if the current loading ratio is more than the pre-determined load rating, then thecontrol module 44 is configured to limit the command and parameters associated with the lift command. - As an example, a low pass filter (LPF) or any other logic may he used for limiting the action of the operator command. The
control module 44 is configured to limit a magnitude and/or rate of application of the action of the operator command. For example, thecontrol module 44 may be configured to change a pressure of thehydraulic cylinder 20 from 100% to 60% to limit an action associated with the lift command of thework tool 14. Further, thecontrol module 44 may also be configured to change the rate of application by increasing a time for executing the command from 0.25 seconds to 4.0 seconds for limiting the action associated with the lift command of thework tool 14. Alternatively, thecontrol module 44 may also he configured to change the magnitude as well as rate of application in other possible combinations to limit the action associated with the lift command. - In other embodiments, the signals from the
first sensor module 40 and thesecond sensor module 42 may be received or interpreted by thecontrol module 44 only when thecontrol module 44 has determined that themachine 10 is operating in the non-dig state. In another embodiment, the signals from thefirst sensor module 40 and thesecond sensor module 42 may be continuously received, but the comparison of the loading ratio with the pre-determined load rating may take place after thecontrol module 44 has determined that themachine 10 is operating in the non-dig state. - The
database 46 includes a memory for storing the pre-determined load rating. The pre-determined load rating may be calculated on the basis of historical data and defines a range of operating themachine 10 within permissible limit. The pre-determined load rating may contain readings of pre-estimated load values during various operating conditions associated with themachine 10. Thedatabase 46 includes look-up tables for storing the pre-determined load rating of themachine 10. Thedatabase 46 may be any conventional or non-conventional database known in the art. In one embodiment, thedatabase 46 may be extrinsic to themachine 10 and located at a remote location away from themachine 10. Alternatively, thedatabase 46 may be intrinsic to themachine 10. - The
control module 44 is an electronic controller that is remotely coupled with an engine control module (ECM) of theengine 34 for carrying out various operations. Thecontrol module 44 may be a logic unit using any one or more of a processor, a microprocessor, and a microcontroller. Thecontrol module 44 may be based on an integrated circuitry, discrete components, or a combination of the two. Further, other peripheral circuitry, such as buffers, latches, switches, and the like may be implemented within thecontrol module 44 or separately connected to thecontrol module 44. It will be apparent to one skilled in the art that thecontrol module 44 mentioned above may be an individual component which is in communication with other circuitries of thesystem 38. Thecontrol module 44 may be networked over a serial communication bus such as a controller area network (CAN) bus (not shown). Other arrangements of microcontrollers and microprocessors may be used. There may be several sensors connected to thecontrol module 44 that provide the electronic controller with data for various operating conditions. - The
system 38 controls dynamic events in themachine 10 by limiting operator action by magnitude control or rate of change control. The dynamic events may occur when themachine 10 is operated beyond its operating capability or conditions where themachine 10 is subjected to rapid change in material loads or sudden movement. Thecontrol module 44 may variably limit the action associated with the operator command, for example, the action may include movements of theload arm assembly 12 of themachine 10. Thecontrol module 44 may control the operating parameters of themachine 10 within the permissible range. - The
system 38 is also applicable to the control other implements used on other machines, such as wheel type loaders, track type loaders, hydraulic excavators, backhoes, and similar vehicles having hydraulically operated implements. Thesystem 38 controls the operation of themachine 10 by restricting the operator commands on the basis of loading ratio. Thesystem 38 offers reliable operations, controls themachine 10 and also extends service life of components of themachine 10. - While aspects of the present disclosure have been particularly shown and described with reference to the embodiments above, it will be understood by those skilled in the art that various additional embodiments may be contemplated by the modification of the disclosed machines, systems and methods without departing from the spirit and scope of what is disclosed. Such embodiments should be understood to fall within the scope of the present disclosure as determined based upon the claims and any equivalents thereof.
Claims (2)
1. A system for controlling operations of a machine, the system comprising:
a first sensor module configured to generate a signal indicative of an operator command;
a second sensor module configured to generate a signal indicative of a current loading ratio associated with a load arm assembly of the machine; and
a control module communicably coupled to the first sensor module and the second sensor module, the control module configured to:
receive a signal indicative of a current operating mode of the machine;
receive the signal indicative of the operator command and the signal indicative of the current loading ratio associated with the load arm assembly of the machine;
compare the current loading ratio with a pre-determined load rating of the machine; and
selectively limit an action associated with the operator command based on the comparison and the current operating mode of the machine.
2. The system of claim 1 , wherein the operator command includes at least one of a lift command, and a tilt command.
Priority Applications (1)
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US15/188,591 US20160298314A1 (en) | 2016-06-21 | 2016-06-21 | System and method for machine control |
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US15/188,591 US20160298314A1 (en) | 2016-06-21 | 2016-06-21 | System and method for machine control |
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US20160298314A1 true US20160298314A1 (en) | 2016-10-13 |
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US15/188,591 Abandoned US20160298314A1 (en) | 2016-06-21 | 2016-06-21 | System and method for machine control |
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US20040200644A1 (en) * | 2003-04-08 | 2004-10-14 | Alan Paine | Safe load lifting measurement device |
US20100204891A1 (en) * | 2009-02-12 | 2010-08-12 | Cnh America Llc | Acceleration control for vehicles having a loader arm |
US20140121840A1 (en) * | 2011-06-10 | 2014-05-01 | Mariko Mizuochi | Work machine |
US9163383B2 (en) * | 2008-06-03 | 2015-10-20 | Volvo Construction Equipment Ab | Method for controlling a power source |
US9206026B2 (en) * | 2010-11-12 | 2015-12-08 | Jlg Industries, Inc. | Longitudinal stability monitoring system |
US20170113591A1 (en) * | 2015-10-27 | 2017-04-27 | Caterpillar Inc. | System and method for controlling movement of implement |
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Publication number | Priority date | Publication date | Assignee | Title |
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US20040200644A1 (en) * | 2003-04-08 | 2004-10-14 | Alan Paine | Safe load lifting measurement device |
US9163383B2 (en) * | 2008-06-03 | 2015-10-20 | Volvo Construction Equipment Ab | Method for controlling a power source |
US20100204891A1 (en) * | 2009-02-12 | 2010-08-12 | Cnh America Llc | Acceleration control for vehicles having a loader arm |
US9206026B2 (en) * | 2010-11-12 | 2015-12-08 | Jlg Industries, Inc. | Longitudinal stability monitoring system |
US20140121840A1 (en) * | 2011-06-10 | 2014-05-01 | Mariko Mizuochi | Work machine |
US20170113591A1 (en) * | 2015-10-27 | 2017-04-27 | Caterpillar Inc. | System and method for controlling movement of implement |
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