System and method for monitoring tension in track of work machine

Abstract

A system for monitoring tension in a track of a work machine includes one or more sensors coupled to the work machine. A sensor of the one or more sensors is configured to obtain distance information related to a distance between the sensor and the track of the work machine. The sensor includes a pulsed radio detection and ranging (RADAR) sensor. The system includes a controller including at least one memory and at least one processor. The memory is configured to store an expected distance between the sensor and the track of the work machine. The processor is configured to determine an actual distance between the sensor and the track of the work machine based on the distance information obtained from the sensor, and determine that the tension in the track is below a tension threshold based on the actual distance being greater than the expected distance.

Description

Technical Field

[0001] This disclosure relates to systems and methods for monitoring tension in the tracks of operating machinery. Background Technology

[0002] Various types of machinery, particularly those used in the mining and construction industries, include chassis systems for moving machinery on the ground. These chassis systems consist of a pair of tracks. Each track encircles two or more wheels or rollers, and the surface area of ​​the tracks helps distribute the weight of the machine.

[0003] Track performance is significantly affected by the tension within the tracks. Optimal track tension connects the tracks to the machine, preventing wear on undercarriage system components and promoting longer track life. In some cases, track tension may decrease, potentially leading to wear on track components and possibly limiting the full value of the undercarriage system. However, it can be difficult for machine users to know whether the tension in one or both tracks has decreased.

[0004] JP5384228B2 describes a tracked traction device capable of detecting and notifying any abnormalities in the tracked traction mechanism. The profile of the rubber tracked traction mechanism is detected by a camera assembly mounted on a vehicle traveling over the tracked traction mechanism. Furthermore, a control unit mounted on the vehicle determines whether the rubber tracked traction mechanism is abnormal based on detected profile data obtained from input from the camera housing and reference profile data read from an IC mark on the tracked traction mechanism by a signal receiver mounted on the vehicle. When an abnormality is determined, an alarm is generated by a display or speaker mounted on the vehicle. Summary of the Invention

[0005] In one aspect of this disclosure, a system for monitoring tension in the track of a working machine is provided. The system includes one or more sensors coupled to the working machine. One of the sensors is configured to acquire distance information relating to the distance between the sensor and the track of the working machine. The sensor includes a pulse radio detection and ranging (RADAR) sensor. The system also includes a controller comprising: at least one memory; and at least one processor communicatively coupled to the memory and the sensor. The memory is configured to store a predicted distance between the sensor and the track of the working machine. The processor is configured to determine an actual distance between the sensor and the track of the working machine based on the distance information acquired from the sensor. The processor is further configured to determine that the tension in the track is below a tension threshold based on the actual distance being greater than the predicted distance.

[0006] In another aspect of this disclosure, a system for monitoring tension in the track of a working machine is disclosed. The system includes one or more sensors coupled to the working machine. One of the sensors is configured to acquire information related to a decrease in tension in the track. The sensors include laser displacement sensors, ultrasonic sensors, imaging devices, inductive positioning sensors, or linear positioning sensors associated with actuators adapted to adjust the tension in the track. The system also includes a controller comprising: at least one memory; and at least one processor communicatively coupled to the memory and the sensors. The processor is configured to analyze the information related to the decrease in tension in the track obtained from the sensors. The processor is further configured to determine, based on the analysis of the information obtained from the sensors, that the tension in the track is below a tension threshold.

[0007] In another aspect of this disclosure, a method for monitoring tension in the track of a working machine is provided. The method includes obtaining information related to a decrease in the tension in the track from sensors coupled to the working machine. The sensors include pulse radio detection and ranging (RADAR) sensors, laser displacement sensors, ultrasonic sensors, imaging devices, inductive positioning sensors, or linear positioning sensors associated with actuators adapted to adjust the tension in the track. The method further includes analyzing the information related to the decrease in the tension in the track obtained from the sensors by at least one processor of a controller. The method also includes determining, based on the analysis of the information obtained from the sensors, that the tension in the track is below a tension threshold.

[0008] Other features and aspects of this disclosure will be apparent from the following description and accompanying drawings. Attached Figure Description

[0009] Figure 1 An exemplary working machine with a pair of tracks is shown;

[0010] Figure 2 Based on the examples in this disclosure, it is used for monitoring Figure 1 A block diagram of the tension system in the tracks of a working machine;

[0011] Figure 3 For tracks and Figure 2 A schematic diagram of the system's sensors;

[0012] Figure 4 is used Figure 2 System monitoring Figure 1 A flowchart illustrating the tension process in the tracks of a working machine;

[0013] Figure 5 This is another example based on this disclosure for monitoring Figure 1 A block diagram of the tension system in the tracks of a working machine;

[0014] Figure 6 For tracks and Figure 5 A schematic diagram of the system's sensors;

[0015] Figure 7 This is an example Figure 5 A side view of the system's sensor, which is connected to... Figure 1 The chassis system of the operating machine;

[0016] Figure 8 is used Figure 5 System monitoring Figure 1 A flowchart illustrating the tension process in the tracks of a working machine;

[0017] Figure 9 This is yet another example based on this disclosure, used for monitoring Figure 1 A block diagram of the tension system in the tracks of a working machine;

[0018] Figure 10 Is with Figure 1 A schematic cross-sectional view of the actuators associated with the chassis system of the working machine;

[0019] Figure 11 is used Figure 9 System monitoring Figure 1 A flowchart illustrating the tension process in the tracks of a working machine; and

[0020] Figure 12 Based on the examples in this disclosure, monitoring Figure 1 A flowchart of a method for tensioning the tracks of a work machine. Detailed Implementation

[0021] In all the accompanying drawings, use the same reference numerals to denote the same or similar parts whenever possible.

[0022] Figure 1 This is a side view of the work machine 100 according to an example of this disclosure. Figure 1 In the illustrated example, the work machine 100 is implemented as a tracked tractor. In alternative examples, the work machine 100 may include an excavator, bulldozer, harvester, or any other type of machine known in the art that has tracks for movement on the ground. The work machine 100 may perform one or more machine operations associated with industries such as mining, construction, farming, transportation, or any other industry known in the art. The work machine 100 may be implemented as a manual, automatic, or semi-automatic machine without any limitations.

[0023] The work machine 100 includes a frame 102 that supports various work machine components located on the frame. An operator's cab 104 is mounted on the frame 102. When the work machine 100 is implemented as a manual or semi-automatic machine, the operator of the work machine 100 sits in the operator's cab 104 to perform machine operation. The work machine 100 also includes a work implement 106, which is attached to the front end 108 of the work machine 100. The work implement 106 is implemented as a blade. Additionally, the work machine 100 includes another work implement 110, which is implemented as a ripper, attached to the rear end 112 of the work machine 100.

[0024] The working machine 100 also includes a power source (not shown) for generating power. This power source may be an engine, battery system, or fuel cell, etc. The power source is mounted on the frame 102 and provides propulsion power to the working machine 100. More specifically, the power source is mounted within a housing 114 formed in the frame 102.

[0025] The working machine 100 also includes a chassis system 116. A frame 102 supports the chassis system 116. The chassis system 116 includes a pair of tracks 118, which are positioned on either side of the working machine 100. Only one track 118 is present. Figure 1 As can be seen, the tracks 118 rotate to propel the work machine 100 across the ground. Furthermore, each track 118 includes a chain assembly 120 and a traction assembly 122. The traction assembly 122 includes a plurality of track plates fixed to the chain assembly 120.

[0026] The chassis system 116 also includes a drive sprocket 126 and a drive mechanism 128 coupled to the drive sprocket 126. Tracks 118 are operatively coupled to the drive mechanism 128 via the drive sprocket 126. The chassis system 116 also includes a pair of idler pulleys 130 and rollers 132.

[0027] The chain assembly 120 forms a continuous chain connected around the outer portions of the drive sprocket 126, idler 130, and roller 132. The traction assembly 122 is connected to the outer portions of the chain assembly 120 and engages the ground beneath the working machine 100. In use, rotation of the drive sprocket 126 causes the chain assembly 120 to move around the drive sprocket 126, idler 130, and roller 132, engaging the traction assembly 122 with the ground, thereby propelling the working machine 100 in a manner known in the art. The chassis system 116 also includes an actuator 134 (in... Figure 10 (As shown in the diagram). The tension in the track 118 is maintained by the actuator 134. To tension the track 118, the actuator 134 forces the idler pulleys 130 away from each other. The actuator 134 includes a piston 136 (in... Figure 10(as shown in the image).

[0028] refer to Figure 2 This disclosure relates to a monitoring machine 100 (see [link]). Figure 1 Track 118 (see) Figure 1 System 200 for monitoring tension in each track 118 of the working machine 100. It should be noted that system 200 can be used to monitor tension in each track 118 of the working machine 100. For illustrative purposes, reference will now be made to monitoring... Figure 1 The tension in the visible track 118 is used to explain system 200.

[0029] System 200 includes one or more sensors 202, 204, which are coupled to the working machine 100. Sensor 202, 204 obtains distances D1, D2 between itself and the track 118 of the working machine 100. Figure 3 (As shown in the diagram) Related distance information I1, I2. Sensors 202, 204 include the pulse radio detection and ranging (RADAR) sensor described herein. This pulse RADAR sensor uses pulse timing technology to determine the range / distance to a target / part and includes a transmitter and a receiver. Sensors 202, 204 are coupled to the frame 102 of the working machine 100 (see...). Figure 1 It should be noted that Figure 1 The positioning of sensors 202 and 204 depicted is exemplary. Sensors 202 and 204 could also be positioned at locations L1 and L2, instead of... Figure 1 The location is currently illustrated. This disclosure is not limited to the location of sensors 202 and 204 on the machine 100.

[0030] refer to Figure 2 and Figure 3 Sensors 202 and 204 may include: a first sensor 202 that obtains first distance information I1 related to a first distance D1 between the first sensor 202 and a first portion 138 of the track 118 of the working machine 100; and / or a second sensor 204 that obtains second distance information I2 related to a second distance D2 between the second sensor 204 and a second portion 140 of the track 118 of the working machine 100. The first portion 138 and the second portion 140 are spaced apart. Figure 2In the illustrated example, one or more sensors 202, 204 include a first sensor 202 and a second sensor 204. Alternatively, one or more sensors 202, 204 may include either the first sensor 202 or the second sensor 204. In this disclosure, sensor 202 is interchangeably referred to as the first sensor 202, sensor 204 is interchangeably referred to as the second sensor 204, distance D1 is interchangeably referred to as the first distance D1, distance D2 is interchangeably referred to as the second distance D2, distance information I1 is interchangeably referred to as the first distance information I1, and distance information I2 is interchangeably referred to as the second distance information I2.

[0031] System 200 also includes a controller 206. Controller 206 includes one or more memories 208 and one or more processors 210 communicatively coupled to the memories 208 and sensors 202, 204. The memories 208 store anticipated distances D3, D4 between the sensors 202, 204 and the track 118 of the machine 100. The one or more memories 208 may include any component for storing information, including hard disks, optical disks, floppy disks, ROM (read-only memory), RAM (random access memory), PROM (programmable ROM), EEPROM (electrically erasable PROM), or other computer-readable storage media.

[0032] It should be noted that one or more processors 210 may be implemented as a single microprocessor or multiple microprocessors for receiving various input signals and generating output signals. Many commercially available microprocessors can perform the functions of one or more processors 210. Each processor 210 may further include a general-purpose processor, a central processing unit, an application-specific integrated circuit (ASIC), a digital signal processor, a field-programmable gate array (FPGA), digital circuitry, analog circuitry, a microcontroller, any other type of processor, or any combination thereof. Each processor 210 may include one or more components that may be operable for executing computer-executable instructions or computer code, which may be stored in and retrieved from one or more memories 208.

[0033] refer to Figure 2 The processor 210 obtains distance information I1 and I2 from sensors 202 and 204. Furthermore, based on the distance information I1 and I2 obtained from sensors 202 and 204, the processor 210 determines the actual distances D5, D6, and D7 between sensors 202 and 204 and the tracks 118 of the operating machine 100. The processor 210 also determines the actual distances D5, D6, and D7 based on the fact that they are greater than the expected distances D3 and D4 (see [link to relevant documentation]). Figure 3The processor 210 determines that the tension in track 118 is below a tension threshold. Specifically, the processor 210 retrieves the values ​​of expected distances D3 and D4 from memory 208. Furthermore, the processor 210 compares the actual distances D5, D6, and D7 with the expected distances D3 and D4. If the actual distances D5, D6, and D7 are greater than the expected distances D3 and D4, the processor 210 determines that the tension in track 118 is below the tension threshold.

[0034] In the example, when sensors 202 and 204 include a first sensor 202 and a second sensor 204, processor 210 determines a first actual distance D6 between the first sensor 202 and a first portion 138 of the track 118 of the working machine 100 based on first distance information I1. Furthermore, processor 210 determines a second actual distance D7 between the second sensor 204 and a second portion 140 of the track 118 of the working machine 100 based on second distance information I2. In this disclosure, actual distance D6 will be interchangeably referred to as the first actual distance D6, and actual distance D7 will be interchangeably referred to as the first actual distance D7.

[0035] Furthermore, the processor 210 determines that the tension in the track 118 is below a tension threshold based on the fact that a first actual distance D6 is greater than a first expected distance D3 between the sensor 202 and the track 118 of the working machine 100 and / or a second actual distance D7 is greater than a second expected distance D4 between the sensor 204 and the track 118 of the working machine 100. In this disclosure, the expected distance D3 can be interchangeably referred to as the first expected distance D3, and the expected distance D4 can be interchangeably referred to as the second expected distance D4. The first expected distance D3 is the expected distance that is desired to be maintained between the sensor 202 and the first portion 138 of the track 118 of the working machine 100. Furthermore, the second expected distance D4 is the expected distance that is desired to be maintained between the sensor 204 and the second portion 140 of the track 118 of the working machine 100. As described above, the first expected distance D3 and the second expected distance D4 are pre-stored in the memory 208 of the controller 206.

[0036] In another example, when sensors 202 and 204 include a first sensor 202 and a second sensor 204, processor 210 determines the actual distance D5 by averaging the first actual distance D6 and the second actual distance D7. Furthermore, if the actual distance D5 obtained by averaging the first actual distance D6 and the second actual distance D7 is lower than the expected distances D3 and D4, processor 210 determines that the tension in the track 118 is below a tension threshold.

[0037] Processor 210 also generates notification N1 to alert the operator that the tension in track 118 is below a tension threshold. Processor 210 sends notification N1 to user interface 212 to alert the operator that the tension in track 118 has decreased. User interface 212 may be located within the work machine 100 or in a remote location, such as a back office.

[0038] In some examples, processor 210 also determines the amount of tension in track 118 based on the deviation between actual distances D5, D6, D7 and expected distances D3, D4. Processor 210 can display the amount of tension in track 118 on user interface 212.

[0039] Figure 4 A flowchart 400 illustrates a process (or algorithm) for monitoring the tension in the tracks 118 of a working machine 100. Process 400 describes... Figure 2 The specific implementation of the illustrated system 200. (See reference) Figures 1 to 4 The process 400 can be stored in the memory 208 of the controller 206 and retrieved for execution by the processor 210 of the controller 206.

[0040] At block 402, processor 210 obtains first distance information I1 related to a first distance D1 between first sensor 202 and a first portion 138 of track 118 of working machine 100, and second distance information I2 related to a second distance D2 between second sensor 204 and a second portion 140 of track 118 of working machine 100. At block 404, processor 210 determines a first actual distance D6 between first sensor 202 and the first portion 138 of track 118 of working machine 100 based on the first distance information I1, and determines a second actual distance D7 between second sensor 204 and the second portion 140 of track 118 of working machine 100 based on the second distance information I2.

[0041] At box 406, processor 210 compares a first actual distance D6 with a first expected distance D3, and compares a second actual distance D7 with a second expected distance D4. If the first actual distance D6 is greater than the first expected distance D3 and / or the second actual distance D7 is greater than the second expected distance D4, processor 210 determines that the tension in track 118 is below a tension threshold. If processor 210 determines that the tension in track 118 is below the tension threshold, process 400 moves to box 408, where processor 210 generates notification N1.

[0042] Figure 5 An example is shown for monitoring machine 100 (see Figure 1 Track 118 (see) Figure 1A block diagram of system 500 with tension in ( ). System 500 is functionally similar to the reference. Figure 2 and Figure 3 The system 200 described herein. The same reference numerals will be used to refer to the same components. System 500 includes a controller 206. Controller 206 includes a memory 208 and a processor 210. System 500 also includes one or more sensors 502, 504, which are coupled to the working machine 100. Sensors 502, 504 acquire information I3, I4 related to a decrease in tension in the track 118. Sensors 502, 504 include actuators 134 of the working machine 100 (see [link to relevant documentation]). Figure 10 The actuator adjusts the tension in the track 118 via an associated laser displacement sensor, ultrasonic sensor, imaging device, inductive positioning sensor, or linear positioning sensor.

[0043] Processor 210 obtains information I3 and I4 related to the decrease in tension in track 118 from sensors 502 and 504. Furthermore, processor 210 analyzes the information I3 and I4 related to the decrease in tension in track 118 obtained from sensors 502 and 504. Additionally, based on the analysis of the information I3 and I4 obtained from sensors 502 and 504, processor 210 determines that the tension in track 118 is below a tension threshold.

[0044] In one example, when sensors 502 and 504 include laser displacement sensors, ultrasonic sensors, imaging devices, or inductive positioning sensors, the information I3 and I4 obtained from sensors 502 and 504 pertains to the distances E1 and E2 between sensors 502 and 504 and the tracks 118 of the working machine 100. Figure 6 (as shown in the figure). In such an example, the processor 210 determines the actual distances E5, E6, and E7 between the sensors 502 and 504 and the tracks 118 of the working machine 100 based on information I3 and I4 obtained from the sensors 502 and 504.

[0045] Furthermore, when sensors 502 and 504 include laser displacement sensors, they use triangulation procedures known in the art to obtain information I3 and I4 related to distances E1 and E2. Additionally, when sensors 502 and 504 include ultrasonic sensors, the type of ultrasonic sensor can be an air-coupled transducer. In such examples, sensors 502 and 504 may include a transmitter and a receiver. In ultrasonic sensors, a signal can pass through the interface between two materials, and only a portion of the signal is transmitted, while the remainder is reflected. By analyzing these reflections, the distances E1 and E2 between sensors 502 and 504 and the track 118 of the working machine 100 can be measured. The ultrasonic sensors can be used to transmit and receive signals in pulse-echo mode.

[0046] Furthermore, the processor 210 bases the actual distances E5, E6, E7 on the expected distances E3, E4 between the sensors 502, 504 and the tracks 118 of the working machine 100 (e.g., E5, E6, E7). Figure 6 The processor 210 determines that the tension in track 118 is below a tension threshold, as shown in the diagram. The memory 208 is configured to store expected distances E3 and E4 between sensors 502 and 504 and the track 118 of the working machine 100. The processor 210 compares the actual distances E5, E6, and E7 with the expected distances E3 and E4 to determine that the tension in track 118 is below the tension threshold. It should be noted that when sensors 502 and 504 include laser displacement sensors, ultrasonic sensors, or imaging devices, the processor 210 determines that the tension in track 118 is below the tension threshold based on the actual distances E5, E6, and E7 being greater than the expected distances E3 and E4.

[0047] refer to Figure 5 and Figure 6 When sensors 502 and 504 include laser displacement sensors, ultrasonic sensors, imaging devices, or inductive positioning sensors, sensors 502 and 504 may include: a first sensor 502, which obtains first distance information I3 related to a first distance E1 between the first sensor 502 and a first portion 138 of the track 118 of the working machine 100; and / or a second sensor 504, which obtains second distance information I4 related to a second distance E2 between the second sensor 504 and a second portion 140 of the track 118 of the working machine 100. Figure 2In the illustrated example, one or more sensors 502, 504 include a first sensor 502 and a second sensor 504. Alternatively, one or more sensors 502, 504 may include either the first sensor 502 or the second sensor 504. In this disclosure, sensor 502 is interchangeably referred to as the first sensor 502, sensor 504 is interchangeably referred to as the second sensor 504, distance E1 is interchangeably referred to as the first distance E1, distance E2 is interchangeably referred to as the second distance E2, distance information I3 is interchangeably referred to as the first distance information I3, and distance information I4 is interchangeably referred to as the second distance information I4.

[0048] When sensors 502 and 504 include laser displacement sensors, ultrasonic sensors, imaging devices, or inductive positioning sensors, processor 210 determines a first actual distance E6 between the first sensor 502 and the first portion 138 of the track 118 of the working machine 100 based on first distance information I3. Furthermore, processor 210 determines a second actual distance E7 between the second sensor 504 and the second portion 140 of the track 118 of the working machine 100 based on second distance information I4. In this disclosure, actual distance E6 will be interchangeably referred to as the first actual distance E6, and actual distance E7 will be interchangeably referred to as the first actual distance E7.

[0049] Furthermore, the processor 210 determines that the tension in the track 118 is below a tension threshold based on the difference between the first actual distance E6 and the first expected distance E3 between the sensor 502 and the track 118 of the working machine 100, and / or the difference between the second actual distance E7 and the second expected distance E4 between the sensor 504 and the track 118 of the working machine 100. In this disclosure, the expected distance E3 may be interchangeably referred to as the first expected distance E3, and the expected distance E4 may be interchangeably referred to as the second expected distance E4. The first expected distance E3 is the expected distance that is desired to be maintained between the sensor 502 and the first portion 138 of the track 118 of the working machine 100. Furthermore, the second expected distance E4 is the expected distance that is desired to be maintained between the sensor 504 and the second portion 140 of the track 118 of the working machine 100. As described above, the first expected distance E3 and the second expected distance E4 are pre-stored in the memory 208 of the controller 206.

[0050] In the example, when sensors 502 and 504 include a laser displacement sensor, an ultrasonic sensor, or an imaging device, processor 210 determines that the tension in track 118 is below a tension threshold based on a first actual distance E6 being greater than a first expected distance E3 between sensor 502 and track 118 of working machine 100 and / or a second actual distance E7 being greater than a second expected distance E4 between sensor 504 and track 118 of working machine 100.

[0051] In another example, when sensors 502 and 504 include a first sensor 502 and a second sensor 504, processor 210 determines the actual distance E5 by averaging the first actual distance E6 and the second actual distance E7. Furthermore, if the actual distance E5 obtained by averaging the first actual distance E6 and the second actual distance E7 is greater than the expected distances E3 and E4, processor 210 determines that the tension in the track 118 is below a tension threshold.

[0052] It should be noted that when sensors 502 and 504 include laser displacement sensors and ultrasonic sensors, sensors 502 and 504 are connected to the frame 102 of the working machine 100 (see...). Figure 1 It should be noted that the positioning of sensors 502 and 504 can be set relative to... Figure 1 The sensors 202 and 204 are depicted at similar locations. Sensors 502 and 504 may also be alternatively located at locations L1 and L2. This disclosure is not limited to the location of sensors 502 and 504 on the machine 100.

[0053] like Figure 5 and Figure 6 As shown, processor 210 generates notification N2 to alert the operator of track 118 (see...). Figure 1 If the tension in track 118 is below a tension threshold, processor 210 will send a notification N2 to user interface 212 to alert the operator that the tension in track 118 has decreased. In some examples, processor 210 also determines the amount of tension in track 118 based on the deviation between actual distances E5, E6, E7 and expected distances E3, E4. Processor 210 may display the amount of tension in track 118 on user interface 212.

[0054] Now for reference Figure 7 When sensors 502 and 504 include inductive positioning sensors, sensors 502 and 504 are disposed in the chassis system 116 of the working machine 100, such that sensors 502 and 504 face the track 118. Specifically, two sensors 502 and 504 are disposed in the chassis system 116 of the working machine 100. Sensors 502 and 504 are spaced apart from each other. Sensors 502 and 504 measure the distances E1 and E2 between sensors 502 and 504 and the track 118 (see...). Figure 6 Furthermore, when the tension in track 118 decreases, the distances E1 and E2 between sensors 502 and 504 and track 118 will decrease.

[0055] Now for reference Figures 5 to 7In the example, when sensors 502 and 504 include inductive positioning sensors, processor 210 determines that the tension in track 118 is below a tension threshold based on a first actual distance E6 being less than a first expected distance E3 between sensor 502 and track 118 of working machine 100 and / or a second actual distance E7 being less than a second expected distance E4 between sensor 504 and track 118 of working machine 100.

[0056] In another example, when sensors 502 and 504 include inductive positioning sensors and when sensors 502 and 504 include a first sensor 502 and a second sensor 504, processor 210 determines the actual distance E5 by averaging the first actual distance E6 and the second actual distance E7. Furthermore, if the actual distance E5 obtained by averaging the first actual distance E6 and the second actual distance E7 is less than the expected distances E3 and E4, processor 210 determines that the tension in the track 118 is below a tension threshold.

[0057] Figure 8 A flowchart 800 illustrates a process (or algorithm) for monitoring the tension in the tracks 118 of a working machine 100. Process 800 describes... Figure 2 The specific implementation of the illustrated system 500. (See reference) Figures 5 to 8 The process 800 can be stored in the memory 208 of the controller 206 and retrieved for execution by the processor 210 of the controller 206.

[0058] At block 802, processor 210 obtains first distance information I3 related to a first distance E1 between first sensor 502 and a first portion 138 of track 118 of working machine 100, and second distance information I4 related to a second distance E2 between second sensor 504 and a second portion 140 of track 118 of working machine 100. At block 804, processor 210 determines a first actual distance E6 between first sensor 502 and the first portion 138 of track 118 of working machine 100 based on the first distance information I3, and determines a second actual distance E7 between second sensor 504 and the second portion 140 of track 118 of working machine 100 based on the second distance information I4.

[0059] At box 806, processor 210 compares a first actual distance E6 with a first expected distance E3, and compares a second actual distance E7 with a second expected distance E4. If the first actual distance E6 differs from the first expected distance E3 and / or the second actual distance E7 differs from the second expected distance E4, processor 210 determines that the tension in track 118 is below a tension threshold. If processor 210 determines that the tension in track 118 is below the tension threshold, process 800 moves to box 808, where processor 210 generates notification N2.

[0060] Now for reference Figure 9 and Figure 10 When sensor 502 includes a linear positioning sensor, sensor 502 is communicatively coupled to actuator 134. In one example, sensor 502 may be disposed within actuator 134. In another example, sensor 502 may be coupled to frame 102 (see [reference]). Figure 1 The sensor is located in the chassis system 116, enabling it to sense the positioning / movement of the piston 136. Only a single sensor 502 is illustrated herein. However, the system 500 may include two sensors instead of a single sensor 502. Furthermore, the linear positioning sensor may be implemented as an in-cylinder positioning sensor.

[0061] When sensor 502 includes a linear positioning sensor, the information I3 obtained from sensor 502 is related to the movement of piston 136 relative to its previous position. In this example, information I3 provides the current position of piston 136 relative to sensor 502.

[0062] Furthermore, when sensor 502 includes a linear positioning sensor, processor 210 determines that the tension in track 118 is below a tension threshold based on the movement of piston 136 relative to its previous position. Piston 136 can be moved in the event of a leak in chassis system 116 or based on manual adjustment of the amount of grease / oil in actuator 134. Processor 210 can obtain the current position of piston 136 from sensor 502. Furthermore, processor 210 can retrieve information I5 related to the previous position of piston 136 from memory 208. Additionally, processor 210 can determine the movement of piston 136 based on a comparison between the current position and the previous position.

[0063] It should be noted that data from linear positioning sensors can be compared with data from other sensors, such as pulsed RADAR sensors (i.e., Figure 2Sensors 202, 204), laser displacement sensors, ultrasonic sensors, imaging devices, or inductive positioning sensors are used in combination to determine whether the tension in track 118 has decreased. For example, if any of the pulsed RADAR sensor, laser displacement sensor, ultrasonic sensor, imaging device, or inductive positioning sensor determines that the tension in track 118 is low and piston 136 moves backward due to the discharge oil from actuator 134, the low tension in track 118 can be further confirmed. Therefore, movement of piston 136 can indicate a decrease in tension in track 118. In one example, the number of hours elapsed since the last adjustment of piston 136 can also be used to determine that the tension in track 118 is below a tension threshold, as this tension may have decreased due to wear of one or more components of chassis system 116.

[0064] Furthermore, when sensor 502 includes a linear positioning sensor, processor 210 can determine the amount of tension reduction based on the distance piston 136 has moved from its previous position. It should be noted that processor 210 can determine the distance piston 136 has moved from its previous position based on a comparison between the current position and the previous position.

[0065] Figure 11 A flowchart 1100 illustrates a process (or algorithm) for monitoring the tension in the tracks 118 of a working machine 100. Process 1100 describes... Figure 9 The specific implementation of the illustrated system 500. (See reference) Figures 9 to 11 Process 1100 may be stored in memory 208 of controller 206 and retrieved for execution by processor 210 of controller 206.

[0066] At block 1102, processor 210 obtains the current position of piston 136 from sensor 502. At block 1104, processor 210 retrieves the previous position of piston 136 from memory 208. At block 1106, processor 210 compares the current position of piston 136 with the previous position of piston 136. If the current position of piston 136 differs from the previous position of piston 136, processor 210 determines that the tension in track 118 is below a tension threshold. If processor 210 determines that the tension in track 118 is below the tension threshold, processor 210 moves to block 1108 to generate notification N2.

[0067] It should be understood that a single feature shown or described for one embodiment may be combined with a single feature shown or described for another embodiment. The above specific embodiments do not limit the scope of this disclosure in any way. Therefore, it should be understood that although some features have been shown or described to illustrate the use of this disclosure in the context of a functional section, such features may be omitted from the scope of this disclosure without departing from the spirit of this disclosure as defined in the appended claims.

[0068] Industrial applicability

[0069] This disclosure describes systems 200 and 500 for monitoring the tension in the track 118 of a working machine 100. The systems 200 and 500 described herein ensure that the track 118 is positioned at optimal track tension, which in turn reduces wear on the track 118 and / or other chassis components and extends track life. Furthermore, the systems 200 and 500 ensure that the track 118 operates at its optimal capacity. When the tension in the track 118 decreases, the systems 200 and 500 provide notifications N1 and N2 to the operator. Therefore, the operator can perform maintenance on the track 118 to restore it to optimal track tension.

[0070] Systems 200 and 500 can be retrofitted onto existing work machines with minimal modifications. In some examples, sensors 202, 204, 502, and 504 can be selected so that, despite the accumulation of mud in the chassis system 116, sensors 202, 204, 502, and 504 can detect a decrease in tension in the tracks 118. Furthermore, sensors 202, 204, 502, and 504 are implemented as non-invasive sensors and do not affect the operation of the tracks 118.

[0071] Figure 12 This is a flowchart of a method 1200 for monitoring the tension in the tracks 118 of a working machine 100. (See reference) Figures 1 to 12 At step 1202, sensors 202, 204, 502, and 504 connected to the working machine 100 acquire information I1, I2, I3, and I4 related to a decrease in tension in the track 118. Sensors 202, 204, 502, and 504 include pulsed RADAR sensors, laser displacement sensors, ultrasonic sensors, imaging devices, inductive positioning sensors, or linear positioning sensors associated with actuator 134 of the working machine 100, which adjusts the tension in the track 118.

[0072] At step 1204, one or more processors 210 of controller 206 analyze information I1, I2, I3, I4 related to the reduction in tension in track 118 obtained from sensors 202, 204, 502, 504.

[0073] At step 1206, the processor 210 determines, based on the analysis of information I1, I2, I3, and I4 obtained from sensors 202, 204, 502, and 504, that the tension in the track 118 is below a tension threshold.

[0074] In the example, when sensors 202, 204, 502, 504 include pulsed RADAR sensors, laser displacement sensors, ultrasonic sensors, imaging devices, or inductive positioning sensors, the information I1, I2, I3, I4 obtained from sensors 202, 204, 502, 504 is related to the distances D1, D2, E1, E2 between sensors 202, 204, 502, 504 and the tracks 118 of the working machine 100. Furthermore, method 1200 includes a step in which processor 210 determines the actual distances D5, E5 between sensors 202, 204, 502, 504 and the tracks 118 of the working machine 100 based on the information I1, I2, I3, I4 obtained from sensors 202, 204, 502, 504. Furthermore, method 1200 includes a step in which processor 210 determines that the tension in track 118 is below a tension threshold based on the difference between actual distances D5, E5 and expected distances D3, D4, E3, E4 between sensors 202, 204, 502, 504 and track 118 of working machine 100. Memory 208 stores the expected distances D3, D4, E3, E4 between sensors 202, 204, 502, 504 and track 118 of working machine 100.

[0075] In another example, when sensor 502 includes a linear positioning sensor, sensor 502 is communicatively coupled to actuator 134. Actuator 134 includes piston 136. Furthermore, when sensor 502 includes a linear positioning sensor, information I3 obtained from sensor 502 is related to the movement of piston 136 relative to its previous positioning. Additionally, method 1200 includes a step in which processor 210 determines, based on the movement of piston 136 relative to its previous positioning, that the tension in track 118 is below a tension threshold.

[0076] While various aspects of this disclosure have been specifically shown and described with reference to the foregoing embodiments, those skilled in the art will understand that various additional embodiments can be contemplated by modifications to the disclosed machines, systems, and methods without departing from the spirit and scope of this disclosure. Such embodiments should be understood to fall within the scope of this disclosure as defined by the claims and any equivalents.

Claims

1. A system for monitoring the tension in the tracks of a working machine, the system comprising: One or more sensors are coupled to the working machine, wherein one of the sensors is configured to obtain distance information related to the distance between the sensor and the track of the working machine, and wherein the sensor includes a pulse radio detection and ranging (RADAR) sensor. and A controller includes at least one memory and at least one processor, the at least one processor being communicatively coupled to the memory and the sensor, wherein the memory is configured to store a projected distance between the sensor and the track of the working machine, and wherein the processor is configured to: The actual distance between the sensor and the track of the working machine is determined based on the distance information obtained from the sensor; and Based on the fact that the actual distance is greater than the expected distance, it is determined that the tension in the track is below the tension threshold.

2. The system of claim 1, wherein the sensor is coupled to the frame of the working machine.

3. The system of claim 1, wherein the sensor comprises at least one of the following: A first sensor, configured to obtain first distance information relating to a first distance between the first sensor and a first portion of the track of the working machine; and A second sensor is configured to obtain second distance information relating to a second distance between the second sensor and a second portion (140) of the track of the working machine, wherein the first portion is spaced apart from the second portion.

4. The system of claim 3, wherein the processor is configured to: Based on the first distance information, a first actual distance is determined between the first sensor and the first portion of the track of the working machine; Based on the second distance information, a second actual distance is determined between the second sensor and the second portion of the track of the working machine; and The tension in the track is determined to be below the tension threshold based on at least one of the following: The first actual distance is greater than the first expected distance between the sensor and the track of the working machine; and The second actual distance is greater than the second expected distance between the sensor and the track of the working machine.

5. The system of claim 4, wherein the processor is configured to determine the actual distance by taking the average of the first actual distance and the second actual distance.

6. The system of claim 1, wherein the processor is configured to generate a notification to alert an operator that the tension in the track is below the tension threshold.

7. The system of claim 1, wherein the processor is configured to determine the amount of tension in the track based on a deviation between the actual distance and the expected distance.

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