System for detecting a failure of an ackerman steering mechanism

Abstract

A machine (100) includes a frame (104), a first steering arm (120), a second steering arm (122), a first hydraulic actuator (116) coupled to the frame (104) and the first steering arm (120), and a second hydraulic actuator (118) coupled to the frame (104) and the second steering arm (122). A first angle sensor (400) measures a first rotational displacement of the first hydraulic actuator (116) relative to the first steering arm (120). A first linkage (500) couples the first hydraulic actuator (116) and the first sensor (400) and isolates movement other than the first rotational displacement. A second angle sensor (400) measures a second rotational displacement of the second hydraulic actuator (118) relative to the second steering arm (122). A second linkage (500) couples the second hydraulic actuator (118) and the second sensor (400) and isolates movement other than the second rotational displacement.

Description

Technical Field

[0001] This disclosure relates to a system sensor for measuring the steering angle of a machine. More particularly, this disclosure relates to a system for measuring the steering angle for determining a fault in the steering assembly of the machine. Background Technology

[0002] Machines such as mining trucks, loaders, bulldozers, or other construction and mining equipment are frequently used in construction, building, mining, and other activities. For example, mining trucks are often used to haul mined materials from mines. These machines have steering assemblies that include tie rods, booms, hydraulic cylinders, mechanical linkages, etc. While steering assemblies are designed to avoid failure, in heavy-duty applications, prolonged wear, lack of maintenance, and / or misuse can cause malfunctions.

[0003] To detect faults, steering assemblies or their components may include sensors. In some cases, sensors can measure the machine's steering angle to determine if it is within a certain range. Steering angles outside this range can indicate a fault. However, typically, sensors are located inside components of the steering assembly, such as hydraulic cylinders. This location makes replacing the sensor and / or hydraulic cylinder difficult and time-consuming. Furthermore, sensors located within the hydraulic cylinder increase manufacturing and maintenance costs.

[0004] A mechanism for measuring steering angle is described in U.S. Patent No. 10,266,200 (hereinafter referred to as the "'200 Reference"). The '200 Reference describes a steering cylinder having cylinder stroke sensors, each for detecting the cylinder's stroke. Sensed values ​​from these cylinder stroke sensors can be used to determine the steering angle. However, the cylinder stroke sensors described in the '200 Reference' are integrated with the steering cylinder. This increases workload and downtime when servicing the sensors, and / or necessitates replacing the entire steering cylinder.

[0005] The purpose of this disclosure is to overcome one or more of the aforementioned defects. Summary of the Invention

[0006] According to a first aspect, the machine may include a first steering arm coupled to a first wheel of the machine, a second steering arm coupled to a second wheel of the machine, a first cylinder extending between the first steering arm and a frame of the machine, and a second cylinder extending between the second steering arm and the frame. Actuation of the first cylinder may cause a first rotation of the first cylinder relative to the frame about a first axis of rotation, and actuation of the second cylinder may cause a second rotation of the second cylinder relative to the frame about a second axis of rotation. The machine may further include: a first angle sensor configured to sense a first angular displacement corresponding to the first rotation; and a second angle sensor configured to sense a second angular displacement corresponding to the second rotation.

[0007] According to another aspect, the steering assembly may include a frame, a first steering arm, a second steering arm, a first hydraulic actuator connected to the frame and the first steering arm, and a second hydraulic actuator connected to the frame and the second steering arm. Actuation of the first hydraulic actuator causes the first steering arm to pivot relative to the frame and relative to the first steering arm, and actuation of the second hydraulic actuator causes the second steering arm to pivot relative to the frame and relative to the second steering arm. The steering assembly may further include: a first angle sensor configured to measure a first rotational displacement of the first hydraulic actuator relative to the first steering arm; a first link connected at a first end to the first hydraulic actuator and at a second end to the first angle sensor, wherein the first end of the first link is movable relative to the second end of the first link to isolate movement other than the first rotational displacement. The steering assembly may further include: a second angle sensor configured to measure a second rotational displacement of the second hydraulic actuator relative to the second steering arm; a second link connected at a third end to the second hydraulic actuator and at a fourth end to the second angle sensor, wherein the third end of the second link is movable relative to the fourth end of the second link to isolate movement other than the second rotational displacement.

[0008] According to another aspect, the machine may include a frame, a first steering arm coupled to a first wheel of the machine, a second steering arm coupled to a second wheel of the machine, a first actuator coupled to a first side of the frame and the first steering arm, and a second actuator coupled to a second side of the frame and the second steering arm. The machine may further include: a first sensor configured to sense a first angular displacement associated with the first actuator; and a first isolation mechanism coupled to the first actuator and configured to rotate in response to actuation of the first actuator. Rotation of the first isolation mechanism may be sensed as the first angular displacement by the first sensor. The machine may further include: a second sensor configured to sense a second angular displacement associated with the second actuator; and a second isolation mechanism coupled to the second actuator and configured to rotate in response to actuation of the second actuator. Rotation of the second isolation mechanism may be sensed as the second angular displacement by the second sensor. Attached Figure Description

[0009] This disclosure is illustrated with reference to the accompanying drawings. In the drawings, the leftmost (one or more) numerals of the reference numerals identify the figure in which the reference numerals first appear. The same reference numerals are used in different figures to indicate similar or identical items. Furthermore, the drawings can be considered as providing an approximate depiction of the relative dimensions of individual parts within a single figure. However, the depictions within the drawings are not to scale, and the relative dimensions of individual parts may differ from the depicted situation, both within a single figure and between different figures. In particular, some figures may depict parts as a certain size or shape, while other figures may depict the same parts at a larger scale or differently shaped for clarity.

[0010] Figure 1 An exemplary machine is shown, according to an embodiment of the present disclosure, including an exemplary steering component for determining the machine's steering angle.

[0011] Figure 2 An embodiment according to this disclosure is shown. Figure 1 A detailed perspective view of the steering component.

[0012] Figure 3 An embodiment according to this disclosure is shown. Figure 1 A detailed perspective view of the steering component.

[0013] Figure 4 An embodiment according to this disclosure is shown. Figure 1 A detailed perspective view of an exemplary isolated component of the machine.

[0014] Figure 5 An embodiment according to this disclosure is shown. Figure 4 Detailed plan view of the isolation component.

[0015] Figure 6 An embodiment according to this disclosure is shown. Figure 1 A partial perspective view of the steering component.

[0016] Figure 7 An exemplary process for determining the steering angle of a machine in order to determine a fault in the machine's steering component, according to an embodiment of the present disclosure, is shown. Detailed Implementation

[0017] Figure 1 This is a schematic diagram of an exemplary machine 100 having an exemplary steering assembly 102, according to an example of this disclosure. Although machine 100 is depicted as a type of hauling truck, machine 100 may include any suitable machine, such as any type of loader, bulldozer, dump truck, compactor, backhoe, combine harvester, scraper, trencher, tractor, combination thereof, etc. In some cases, machine 100 is configured, for example, for moving (e.g., asphalt) paving materials, quarried materials, soil, topsoil, heavy building materials and / or for road construction, building construction, other mining, paving and / or construction applications. For example, machine 100 may be used where materials such as mineral ores, loose stones, gravel, soil, sand, concrete and / or other materials at the work site need to be transported at the work site.

[0018] Machine 100 includes a frame 104 and wheels 106. The frame 104 is made of any suitable material, such as iron, steel, aluminum, or other metals. In some cases, the frame 104 has a monolithic construction, and in others it is constructed by connecting two or more separate body parts. The parts or components of the frame 104 are connected by any suitable means of various means, including, for example, welding, bolts, screws, fasteners, etc.

[0019] Wheel 106 is mechanically coupled to a transmission system (not shown) to propel machine 100. Machine 100 includes an engine of any suitable type, size, power output, etc. In some cases, the engine may be gas-powered (e.g., a diesel engine), natural gas-powered, solar-powered, or battery-powered. When powered, the engine rotates wheel 106 via the transmission system, enabling machine 100 to traverse the environment. Thus, the engine is mechanically coupled to various transmission system components (such as drive shafts and / or axles) to rotate wheel 106 and propel machine 100. In some cases, the transmission system includes various other components, including but not limited to differentials, one or more couplings, constant speed (CV) joints, etc.

[0020] As shown, machine 100 can be configured to carry materials in dump box 108 or other movable elements(s) configured to move, lift, transport, and / or dump materials. Dump box 108 is actuated by one or more hydraulic systems or any other suitable mechanical system of machine 100. In some cases, the hydraulic system is powered by an engine, such as by powering one or more hydraulic pumps(s) (not shown) for the hydraulic system. However, it should be noted that in other types of machines (e.g., machines other than mining trucks), the hydraulic system may have different characteristics than... Figure 1 The different configurations shown can be used to operate one or more components other than the dump box 108, and / or can be omitted.

[0021] In some cases, machine 100 may include a cab or other such operator station. The operator station is configured to seat an operator (not shown). The operator, seated in the operator station, interacts with various control interfaces and / or actuators (e.g., steering wheel, joystick, buttons, levers, etc.) within the operator station to control the movement of machine 100 and / or various components of machine 100, such as raising and lowering the dump box 108. Additionally or alternatively, in some cases, and as described herein, machine 100 may be remotely or autonomously controlled by a remote operator. For example, machine 100 may operate autonomously along a predetermined path or route within the environment. In such cases, machine 100 may include an operator station, or the operator station may be omitted. Furthermore, machine 100 can be remotely controlled even when the operator is located within the operator station.

[0022] Steering assembly 102 may include components for allowing the machine 100 to steer. Figure 1 The diagram shows a detailed view of the steering assembly 102. In some cases, the steering assembly 102 may include a center link 110, a first link 112, a second link 114, a first cylinder rod 116, and a second cylinder rod 118. The first link 112 and the second link 114 may include ends (e.g., ball joints, steering knuckle joints, etc.) pivotally coupled to the center link 110. For example, the first link 112 and the second link 114 may be pivotally coupled to the center link 110 via pins configured to pass through the first link 112 and the center link 110, and the second link 114 and the center link 110. Bearings, steering knuckles, or other joints may also be included to allow pivotal movement of the first link 112 and the second link 114 relative to the center link 110 (e.g., when the machine 100 crosses the ground, turns, etc.). However, although steering assembly 102 is shown to include certain components, Ackermann-type steering assemblies may include additional or different components compared to those shown and discussed herein.

[0023] The opposite ends of the first link 112 and the second link 114, which are not connected to the central link 110, are connected to the steering arms of the machine 100. For example, the machine 100 may include a first steering arm 120 located on a first side (e.g., the right-hand side) and a second steering arm 122 located on a second side (e.g., the left-hand side). The first link 112 and the second link 114 may be connected to the first steering arm 120 and the second steering arm 122, respectively (e.g., via pins). The pins may allow the first link 112 and the second link 114 to pivot or rotate relative to the first steering arm 120 and the second steering arm 122, respectively. When the first steering arm 120 and the second steering arm 122 rotate, or when the machine 100 crosses the ground, turns, etc., bearings, steering knuckles, or other joints may allow the pivotal movement of the first link 112 and the second link 114. The first steering arm 120 may also be connected to the first wheel of the wheel 106 located on the first side of the machine 100 (e.g., at the hub), and the second steering arm 122 may be connected to the second wheel of the wheel 106 located on the second side of the machine 100 (e.g., at the hub).

[0024] A first cylinder rod 116 may be pivotally coupled to a first steering arm 120, and a second cylinder rod 118 may be pivotally coupled to a second steering arm 122. The first cylinder rod 116 and the second cylinder rod 118 may be coupled to the first steering arm 120 and the second steering arm 122 respectively via pins and bearings (e.g., steering knuckles). In some cases, the first cylinder rod 116 and the second cylinder rod 118 may represent linear actuators that extend and retract to various lengths when actuating the steering mechanism of the machine 100. For example, when the steering mechanism, such as a steering wheel (not shown), is actuated (e.g., turned) by the operator (or remote operator) of the machine 100 to indicate a desired movement of the machine 100, a controller may generate an associated control signal and transmit it to the first cylinder rod 116 and the second cylinder rod 118. In response, the first cylinder rod 116 and the second cylinder rod 118 may be actuated to steer the machine 100. In some cases, arms, shafts, gears, etc., may operatively couple the steering wheel to the steering assembly 102 for steering the machine 100.

[0025] In some cases, the first rod 116 and the second rod 118 can be actuated pneumatically or hydraulically. The machine 100 may include a reservoir for accommodating the different extension lengths of the first rod 116 and the second rod 118, and for supplying or receiving fluid. In some cases, the steering assembly 102 may represent an electro-hydraulic steering system or a component of an electro-hydraulic steering system. For example, in electro-hydraulic power steering, an electric motor may drive a pump to supply the pressure necessary for power steering. Therefore, the steering assembly 102 can be electronically controlled. Here, as described above, the machine 100 may include a controller (e.g., a steering controller) that generates control signals and transmits these signals to the first rod 116 and the second rod 118 for steering the machine 100. The control signals may be generated in response to operator movement of the steering wheel or a remote operator electronically providing a desired amount of steering. In such cases, the control signals may be associated with a desired level of steering. For example, in response to operator movement of the steering wheel, a control signal may be provided to the first rod 116 (or a controller coupled thereto). This control signal can be associated with an indicated steering angle (e.g., ten degrees, thirty degrees, etc.) of the machine 100. The first cylinder rod 116 can extend or retract in response to the control signal and based on the desired steering level. Depending on the steering level, corresponding control signals can be sent to the first cylinder rod 116 and the second cylinder rod 118.

[0026] The ends of the first rod 116 and the second rod 118, which are not connected to the first steering arm 120 and the second steering arm 122, may be connected to the frame 104 (or subframe) of the machine 100. As shown, the center link 110 may be additionally connected to the frame 104. In some cases, the center link 110, the first rod 116, and / or the second rod 118 may be pivotally connected to the frame 104. Due to the arrangement shown, when the first rod 116 and the second rod 118 are actuated (e.g., extended or retracted), the first steering arm 120 and the second steering arm 122 are moved, causing the wheel 106 to rotate. Also due to actuation, the first tie rod 112 and the second tie rod 114, via their attachments to the first steering arm 120 and the second steering arm 122 respectively, pivot the center link 110 relative to the frame 104.

[0027] The first cylinder rod 116 and the second cylinder rod 118 are shown as including a cylinder portion and a rod portion. The rod portion can be received by the cylinder portion such that the rod portion can extend from the cylinder portion by a varying length. In other words, the rod portion can extend from or retract into the cylinder portion. Depending on the direction of rotation of the machine 100, the rod portion can extend from or retract into the cylinder portion. Furthermore, given as... Figure 1The steering assembly 102 is configured such that, when the machine 100 turns left or right, one rod portion of the first rod 116 or the second rod 118 extends from its cylinder portion, while the other rod portion retracts into its cylinder portion. The cylinder portions of the first rod 116 and the second rod 118 are shown connected to the frame 104, while the rod portions of the first rod 116 and the second rod 118 are connected to the first steering arm 120 and the second steering arm 122, respectively. However, in some cases, the cylinder portions of the first rod 116 and the second rod 118 may be connected to the first steering arm 120 and the second steering arm 122, respectively. In such cases, the rod portions of the first rod 116 and the second rod 118 may be connected to the frame 104.

[0028] In some cases, steering assembly 102 may represent an Ackermann steering geometry. In an Ackermann steering geometry, wheel 106 can rotate uniformly via known kinematic relationships. This can be achieved in part by a first steering arm 120 and a second steering arm 122 operably connected via a center link 110, a first tie rod 112, and a second tie rod 114. In other words, the first steering arm 120 and the second steering arm 122 can be steering synchronously and in accordance with the relevant quantities described by the kinematic relationships defined by the linkage design. Although steering assembly 102 is shown as including certain components, the steering assembly may include additional components such as a pivot pin, CV joint, connecting rod, etc.

[0029] Machine 100 is shown as including a fault detection system 124. Typically, the fault detection system 124 can be used to determine a fault in steering assembly 102 or its components. For example, the first tie rod 112, the second tie rod 114, the first cylinder rod 116, and / or the second cylinder rod 118 may sometimes malfunction (e.g., cracking, bending, breaking, etc.). Additionally, the indicated steering angle (or steering amount) may differ from the measured steering angle. This may cause machine 100 to steer unintended. Upon detecting a fault, the operation of machine 100 can be controlled. In the case of a linked fault, the operator will notice the change in steering behavior and bring machine 100 to a safe stop. However, as described herein, in cases where machine 100 is remotely controlled, the remote operator may not be able to detect changes in steering behavior to understand a fault in steering assembly 102. In these cases, the fault detection system 124 can be used to determine the health, integrity, or fault of steering assembly 102 for outputting a notification or bringing machine 100 to a safe stop to prevent further damage.

[0030] The fault detection system 124 may include a fault detection controller 126 that determines whether a fault has been detected within the steering assembly 102. One or more sensors 128 may generate, capture, or collect sensor data 130 associated with the steering assembly 102. In some cases, the sensor data 130 may indicate measured steering angles associated with the first steering arm 120 and the second steering arm 122. In some cases, a first sensor may be located on the first steering arm 120, and a second sensor may be located on the second steering arm 122. In such cases, the first sensor may measure (or data generated by the first sensor may be used to determine) a first steering angle 132 associated with the first steering arm 120 (or the first wheel), and the second sensor may measure (or data generated by the second sensor may be used to determine) a second steering angle 134 associated with the second steering arm 122 (or the second wheel).

[0031] As described herein, the first steering angle 132 may represent the angle between: an axis configured to pass through a point of rotation (e.g., a pin) where the first cylinder rod 116 is coupled to the first steering arm 120 and a first wheel pivot pin associated with the first steering arm 120; and a first longitudinal axis configured along and passing through the center of the first cylinder rod 116. Similarly, the second steering angle 134 may represent the angle between: an axis configured to pass through a point of rotation (e.g., a pin) where the second cylinder rod 118 is coupled to the second steering arm 122 and a second wheel pivot pin associated with the second steering arm 122; and a second longitudinal axis configured along and passing through the center of the second cylinder rod 118. More generally, steering angles (i.e., the first steering angle 132 and the second steering angle 134) may be measured between the axes of the first steering arm 120 and the first cylinder rod 116, and between the second steering arm 122 and the second cylinder rod 118. Of course, because the steering assembly 102 has a known geometry (which can be represented by kinematic relationships as described herein), angles other than the specific angles just described can be determined and used to determine the health status of the steering assembly 102, according to the techniques described herein. Without limitation, such angles can include angles associated with steering arms, actuators, tie rods, frames, and / or other components and / or axes.

[0032] When the machine 100 is operated, the steering angle can be adjusted. Furthermore, assuming the steering assembly 102 can be an Ackerman steering system, the steering angle can include a defined kinematic relationship. That is, the steering angle can be limited by the steering assembly 102 and includes a defined kinematic relationship. Since the sensor 128 is located on the opposite side of the machine 100, or determines the steering angle on the opposite side of the machine 100, if the steering angle does not correspond to or is not associated with a kinematic relationship, this can indicate a malfunction of the steering assembly 102. Therefore, the fault detection controller 126 can receive sensor data 130 to determine a fault. In some cases, the fault detection controller 126 may receive sensor data 130 according to a predetermined schedule and / or in response to certain operating conditions of the machine 100 (e.g., during cornering, braking, certain accelerations, etc.).

[0033] To determine kinematic relationships, the fault detection controller 126 can access kinematic data 136. Kinematic data 136 may include associations or orientations between components of the steering assembly 102. For example, in some cases, the steering angle can be determined by the known dimensions, length, orientation, etc., of the first cylinder rod 116 and / or the second cylinder rod 118. That is, given the connections of the first cylinder rod 116 and the second cylinder rod 118 to the frame 104, the first steering arm 120, and the second steering arm 122, respectively, the fault detection controller 126 can use kinematic data 136 to determine the kinematic relationship between the steering angle sensed by the first sensor and the steering angle sensed by the second sensor. Given a limited range of motion of the steering assembly 102, the first steering angle 132 and the second steering angle 134 can be correlated with each other using kinematic data 136. Additionally, kinematic data 136 may include associations or orientations between the first steering arm 120 and the second steering arm 122 or between components of the steering assembly 102. For example, in some cases, the steering angles of the first steering arm 120 and the second steering arm 122 can be determined by the known dimensions, lengths, orientations, etc., of the first tie rod 112, the second tie rod 114, the first rod 116, and / or the second rod 118. In other cases, the first steering angle 132 of the first steering arm 120 can be associated with or related to the second steering angle 134 of the second steering arm 122 by the dimensions, lengths, etc., of the first tie rod 112 and the second tie rod 114. Therefore, the kinematic data 136 may include the known movement characteristics of the first tie rod 112, the second tie rod 114, the first rod 116, the second rod 118, the maximum extension or range of the first tie rod 112, the second tie rod 114, the first rod 116, the second rod 118, etc. For example, kinematic data 136 may also indicate the connection or coupling between the first tie rod 112 and the center link 110 and the first steering arm 120, the second tie rod 114 and the center link 110 and the second steering arm 122, the first cylinder rod 116 and the frame 104 and the first steering arm 120, and / or the second cylinder rod 118 and the frame 104 and the second steering arm 122.

[0034] As a simplified example, the fault detection controller 126 may receive first sensor data from a first sensor coupled to the first cylinder rod 116 and second sensor data from a second sensor coupled to the second cylinder rod 118 (or the second steering arm 122). The fault detection controller 126 may determine a first steering angle from the first sensor data and a second steering angle from the second sensor data. Using the first steering angle and kinematic data 136, the fault detection controller 126 may determine a predicted or expected steering angle associated with the second cylinder rod 118. This expected steering angle may be compared with an actual second steering angle 134, as measured (i.e., via the second sensor data). If the expected steering angle and (as measured) the second steering angle 134 are within a certain threshold, this may indicate that the steering assembly 102 is operating normally. However, if the expected steering angle and the second steering angle 134 are not within a certain threshold, this may indicate that the steering assembly 102 is not operating normally. Alternatively, in some cases, using the second steering angle 134 and kinematic data 136, the fault detection controller 126 can determine a predicted or expected steering angle associated with the first cylinder rod 116 (or the first steering arm 120). This expected steering angle can be compared with the actual first steering angle 132, as measured (i.e., via data from the first sensor). If the expected steering angle and the first steering angle 132 are within a certain threshold, this can indicate that the steering assembly 102 is operating normally. However, if the expected steering angle and the first steering angle 132 are not within a certain threshold, this can indicate that the steering assembly 102 is not operating normally.

[0035] In some cases, the fault detection controller 126 can also compare the measured steering angle with the indicated steering level. For example, during steering operations, the operator can provide commands associated with the desired amount of steering. These commands can be provided as signals that control the actuation of the first cylinder rod 116 and the second cylinder rod 118. Furthermore, the signals can be associated with certain steering angles of the machine 100. In some cases, the steering angle can be determined or associated with machine direction, speed, weight balance, load, and / or braking. The fault detection controller 126 can compare the indicated steering angle (or amount of steering) with the measured steering angle. For example, if the first cylinder rod 116 actuates to a length associated with the indicated steering angle, this angle can be compared with the measured first steering angle. If a threshold difference exists between them, this can indicate a faulty steering assembly 102.

[0036] In some cases, one or more sensors 128 may include capacitive sensors, Hall effect sensors, eddy current sensors, piezoelectric sensors, photodiodes, or any combination thereof. One or more sensors 128 may be environmentally robust to resist liquid ingress and withstand the environment of machine 100, such as mud, dirt, rocks, dust, ice, snow, etc. One or more sensors 128 may include seals, gaskets, or bushings to seal the sensor 128 from environmental conditions. As described herein, one or more sensors 128 may isolate the roll and pitch movements of machine 100 to measure steering angles. Additionally, in some cases, one or more sensors 128 may include a steering resolution of 0.035 degrees rotation per bit or better. Furthermore, the sensor data 130 reported by one or more sensors 128 may be monotonic. Thus, the measured steering angle may be incremental or decremental.

[0037] As described herein, one or more sensors 134 sense the relative rotation of the steering components. Sensor data can be used in many applications. For example, and as detailed herein, sensor outputs can be used to identify steering system malfunctions, provide feedback (e.g., in a steering feedback loop), and / or implement haptic feedback systems (e.g., by providing vibration or resistance as control assistance, warnings, guidance, etc.). For example, precise angle measurements may be required to achieve some or all of these functions, and in some cases, a resolution of 0.035 degrees rotation per bit or better may be required. For example, but not limited to, haptic feedback systems may require sensor data with a rotational fidelity of 0.035 degrees per bit to provide the operator with a continuous series of haptic feedbacks and eliminate abrupt changes experienced in the feedback.

[0038] One or more sensors 128 may be located outside the first cylinder rod 116 and the second cylinder rod 118, respectively, to reduce maintenance time and costs. As described herein, one or more sensors 128 may be mounted vertically above the point of rotation where the first cylinder rod 116 and the second cylinder rod 118 are respectively connected to the first steering arm 120 and the second steering arm 122. In some cases, one or more sensors 128 may be mounted above a pin that connects the first cylinder rod 116 and the second cylinder rod 118 to the first steering arm 120 and the second steering arm 122, respectively.

[0039] The mounting of one or more sensors 128 may include mechanisms configured to isolate undesirable effects on the steering angle, such as isolation mechanisms described further below. For example, rolling of the first cylinder rod 116 and the second cylinder rod 118 (around the ball joints that connect the first cylinder rod 116 and the second cylinder rod 118 to the first steering arm 120 and the second steering arm 122, respectively) can exert an undesirable effect on the steering angle. Additionally, pitch of the first cylinder rod 116 and the second cylinder rod 118 (due to compression and expansion of the suspension system) can exert an undesirable effect on the steering angle. The mechanisms can isolate these movements so that the steering angle can be accurately determined for fault detection, steering control, and tactile feedback. In some cases, this can be achieved in part by positioning one or more sensors 128 above the ends of the first cylinder rod 116 and the second cylinder rod 118 at the first steering arm 120 and the second steering arm 122, respectively, and by coupling one or more sensors 128 to the ends of the first cylinder rod 116 and the second cylinder rod 118.

[0040] In some cases, one or more sensors 128 can measure the stroke lengths of the first cylinder rod 116 and the second cylinder rod 118, respectively, to determine the steering angle through motion transformation. That is, the kinematic data 136 or the kinematic relationship between the stroke lengths of the first cylinder rod 116 and the second cylinder rod 118 can be used to measure the steering angles of the first steering arm 120 and the second steering arm 122. Furthermore, the first tie rod 112 and the second tie rod 114 can physically limit the lengths of the first cylinder rod 116 and the second cylinder rod 118. Therefore, the stroke lengths of the first cylinder rod 116 and the second cylinder rod 118 can be correlated with the steering angle.

[0041] Fault detection system 124 may include alarm controller 138 for outputting notifications, indications, or other alarms 140. For example, fault detection controller 126 may communicate with alarm controller 138, and in response, alarm controller 138 may output one or more alarms 140. Alarm 140 may indicate the detection of a fault within steering assembly 102 and / or a specific component of steering assembly 102 (e.g., first tie rod 112). For example, if first tie rod 116 breaks, the expected steering angle and the measured steering angle of first tie rod 116 may differ (or threshold difference). This may trigger alarm 140 indicating the fault, and in response, the operator may stop machine 100. In cases where machine 100 is remotely controlled, alarm 140 may trigger one or more automatic actions (e.g., stop) or be used to notify a remote operator to take one or more actions. In some cases, alarm 140 may be audible (e.g., a series of beeps), visual (e.g., light, display, etc.), tactile (e.g., vibration), etc. Alarm 140 can also be an information output on the user interface (UI) within the operator station. For example, alarm 140 can be an indication output on the UI that indicates a failure of one or more components of steering assembly 102, thereby scheduling maintenance of steering assembly 102, etc.

[0042] The fault detection system 124 may additionally include a movement controller 142. In some instances, movement of machine 100 may be restricted or otherwise controlled based on the detection of a fault at steering assembly 102. Movement controller 142 may be configured to restrain, brake, or prevent movement of machine 100. For example, in the event that fault detection controller 126 determines a fault, movement controller 142 may apply brakes to machine 100 and / or stop a component of machine 100 (e.g., engine). In some cases, fault detection controller 126 may instruct movement controller 142 to restrain or limit movement of machine 100 to prevent further damage to steering assembly 102 (or a component of machine 100). Additionally or alternatively, movement controller 142 may be triggered to restrain or limit movement of machine 100 based on alarm 140 output by alarm controller 138.

[0043] In some cases, machine 100 may be communicatively coupled to a remote computing device or a remote system 144. Machine 100 may communicate with the remote system 144 via a network 146. Network 146 may be a local area network (“LAN”), a larger network (such as a wide area network (“WAN”)), or a collection of networks (such as the Internet). Protocols used for network communication (e.g., wireless machine-to-machine communication protocols), such as TCP / IP, may be used to implement network 146.

[0044] Network interface 148 enables machine 100 to communicate with remote system 144 via network 146. Network interface 148 may include a combination of hardware, software, and / or firmware, and may include software drivers for implementing any variety of protocol-based communications, as well as any variety of wired and / or wireless ports / antennas. For example, network interface 148 may include WiFi, cellular radio, wireless (e.g., IEEE 802.1x based) interfaces, One or more of the following: interfaces, etc.

[0045] In some cases, remote system 144 may be implemented as one or more servers, and in others, it may form part of a network-accessible computing platform implemented as computing infrastructure such as processors, storage devices, software, data access, etc., which is maintained and accessible via a network 146 (such as the Internet). Cloud-based systems may not require end-users to know the physical location and configuration of the system providing the service. For example, remote system 144 may be located in the environment of machine 100 (e.g., a workplace) and / or may be located remotely. Common expressions associated with remote system 144 include “on-demand computing,” “Software as a Service (SaaS),” “platform computing,” “network-accessible platform,” “cloud service,” “data center,” etc.

[0046] In any of the examples described herein, the functionality of the fault detection system 124 can be distributed, such that some operations are performed by machine 100 and others by remote system 144. For example, assuming that remote system 144 may have significantly greater computing power than machine 100, remote system 144 can determine a pattern from sensor data 130 to accurately determine a fault at steering assembly 102. In this case, one or more sensors 128 can generate sensor data 130 indicating the steering angle, and sensor data 130 can be transmitted to remote system 144. In response, remote system 144 can analyze sensor data 130, comparing the steering angle, to determine a fault in steering assembly 102. Where remote system 144 determines a fault, remote system 144 can transmit an alarm 140 back to machine 100 for output. Alternatively or additionally, remote system 144 can communicate with a remote operator to output alarm 140. Furthermore, remote system 144 can instruct machine 100 to constrain or stop movement via motion controller 142. Therefore, the remote system 144 can control the operation of the machine 100 and / or determine the failure of the steering assembly 102.

[0047] Although shown as including certain components, machine 100 may also include any number of other components within the operator station, such as one or more of a position sensor (e.g., a Global Positioning System (GPS)), an air conditioning system, a heating system, a collision avoidance system, a camera, etc. These components and / or systems are powered by any suitable means, such as by using direct current (DC) power supplied by an engine together with a generator (not shown) and / or an inverter (not shown), or alternating current (AC) power supplied by the engine and generator and / or via mechanical coupling to the engine. Machine 100 may include a controller communicatively coupled to the components and / or systems for controlling their operation.

[0048] Machine 100, and its controller or module (e.g., fault detection controller 126), may include one or more processors and / or memory. The processors may perform operations stored in the memory. Where present, the processors may include multiple processors and / or processors with multiple cores. Furthermore, the processors may include one or more cores of different types. For example, the processors may include application processor units, graphics processing units, etc. In one embodiment, the processors may include microcontrollers and / or microprocessors. The processors may include graphics processing units (GPUs), microprocessors, digital signal processors, or other processing units or components known in the art. Alternatively or additionally, the functions described herein may be performed at least in part by one or more hardware logic components. For example, but not limited to, illustrative types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SOCs), complex programmable logic devices (CPLDs), etc. Additionally, each processor in the processors may have its own local memory, which may also store program components, program data, and / or one or more operating systems.

[0049] Memory can include volatile and non-volatile memory, removable and non-removable media implemented in any way or by any technology for storing information such as computer-readable instructions, data structures, program components, or other data. Such memory includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical storage devices, magnetic tape cassettes, magnetic tape, disk storage devices or other magnetic storage devices, RAID storage systems, or any other medium that can be used to store desired information and is accessible by a computing device. Memory can be implemented as a computer-readable storage medium (“CRSM”), which can be any available physical medium accessible to one or more processors to execute instructions stored on the memory. In one basic implementation, the CRSM can include random access memory (“RAM”) and flash memory. In other implementations, the CRSM can include, but is not limited to, read-only memory (“ROM”), electrically erasable programmable read-only memory (“EEPROM”), or any other tangible medium that can be used to store desired information and is accessible by one or more processors.

[0050] Machine 100 and / or remote system 144 may include components for determining a fault in steering assembly 102. Machine 100 and remote system 144 may be communicatively coupled to allow remote control of the machine and data transmission. In the event of a fault detection, an alarm 140 may be output and / or movement of machine 100 may be restricted. Sensor 128 for determining the fault may be located externally to the cylinder rod to reduce maintenance costs, time, and workload. Consequently, machine 100 may have increased availability.

[0051] Figure 2 A partial detailed view of the steering assembly 102 is shown. Specifically, Figure 2 One side of the steering assembly 102 is shown, including the first tie rod 112, the first cylinder rod 116, and the first steering arm 120. However, although the discussion herein refers to one side of the steering assembly 102, it should be understood that the second tie rod 114, the second cylinder rod 118, and the second steering arm 122 can function similarly. Additionally, Figure 2 The frame 104 to which the central connecting rod 110 and the first cylinder rod 116 are connected is omitted.

[0052] The first tie rod 112 is shown as including a first end 200 connected to the center link 110 and a second end 202 connected to the first steering arm 120. In some cases, the first end 200 may be connected to the center link 110 via a pin configured to pass through corresponding channels or passages (e.g., pole eye) in the center link 110 and the first tie rod 112. Additionally, bearings (e.g., ball bearings, steering knuckles, joints, etc.) may facilitate pivotable movement of the first tie rod 112. Similarly, the second end 202 may be connected to the first steering arm 120 via a pin configured to pass through corresponding channels or passages (e.g., pole eye) in the first steering arm 120 and the first tie rod 112. Bearings may facilitate pivotable movement of the first tie rod 112. In some cases, the first tie rod 112 may be adjustable in length.

[0053] The first cylinder rod 116 includes components configured to be coupled to the frame 104. Figure 2 The first end 204 (not shown) and the second end 206 are connected to the first steering arm 120. In some cases, the first end 204 may be connected to the frame 104 via a pin configured to pass through a corresponding channel or passage in the frame 104 and the first cylinder rod 116. Additionally, bearings (e.g., ball bearings) may facilitate pivotal movement of the first cylinder rod 116 about or relative to the frame 104. Similarly, the second end 206 may be connected to the first steering arm 120 via a pin configured to pass through a corresponding channel or passage in the first steering arm 120 and the first cylinder rod 116. Bearings may facilitate pivotal movement of the first cylinder rod 116. Furthermore, as mentioned above regarding... Figure 1 As discussed, the first cylinder rod 116 may include a cylinder portion and a rod portion. The rod portion may extend from the cylinder portion in various lengths for steering the machine 100 using pneumatic or hydraulic methods. In some cases, the cylinder portion may be coupled to the frame 104 or the first steering arm 120, and the rod portion may be coupled to the frame 104 or the first steering arm 120.

[0054] The first cylinder rod 116 is shown as including a longitudinal axis 208 that extends centrally through the first cylinder rod 116 between a first end 204 and a second end 206 along its length. In some cases, the first cylinder rod 116 may undergo rotation (e.g., rolling, torsion, etc.) about the longitudinal axis 208 when the machine 100 is operated or when the first cylinder rod 116 is actuated to steer the machine 100. In some cases, the cylinder portion and / or rod portion of the first cylinder rod 116 may undergo rotational movement. Bearings connecting the first cylinder rod 116 to the frame 104 and the first steering arm 120 may facilitate or allow such rotational movement. This rotational movement may occur in part due to the machine 100 traveling on uneven ground or when the first cylinder rod 116 is actuated to extend or retract.

[0055] The first steering arm 120 can be coupled to a suspension component 210 of the machine 100, such as a spring, strut, or damper. The suspension component 210 can provide comfort to the operator of the machine 100 and / or assist in maintaining control of the machine 100 during operation. The suspension component 210 can allow vertical displacement (Y direction) relative to the machine 100. As shown, the suspension component 210 can be coupled to the first steering arm 120 at a position offset from where the first tie rod 112 and the first rod 116 are coupled to the first steering arm 120. The suspension component 210 can transmit pitch movement (e.g., in the Y direction) to the first rod 116. For example, the first rod 116 can move up and down as the machine 100 moves during the extension and compression of the suspension component. In such cases, the first rod 116 can extend or retract.

[0056] In some cases, the first steering arm 120 may include a pivot pin 216, which represents a primary pivot point on the first steering arm 120. The pivot pin 216 may serve as an axis of rotation about which a wheel or a wheel coupled to the first steering arm 120 rotates.

[0057] Bracket 212 is shown attached to the first steering arm 120. A sensor is disposed on bracket 212 relative to the second end 206 of the first cylinder rod 116, and the sensor is configured to measure the angular displacement of the first cylinder rod relative to the first steering arm 120. For example, bracket 212 is shown including multiple sides or surfaces that can generally form a U-shape. See below for reference. Figure 3 In more detail, bracket 212 may include a first surface coupled to the bottom of the first steering arm 120, a second surface extending from the first surface (e.g., in the Y direction), and a third surface extending from the second surface. The third surface may position the sensor in sensor 128 vertically above the second end 206 of the first cylinder rod 116. For example, the sensor may be positioned vertically above a pin configured to pass through the second end 206 of the first cylinder rod 116 and the first steering arm 120. As described herein, portions of the sensor may also be coupled to the first cylinder rod 116 for measuring the angular displacement of the first cylinder rod 116 relative to the first steering arm 120 (e.g., to determine a first steering angle 132). Furthermore, as shown, the sensor may be located external to or not integral with the first cylinder rod 116. This may allow for sensor replacement in less time and / or at a lower cost.

[0058] In some cases, the sensor can be aligned with the longitudinal axis 208 of the first cylinder rod 116. This allows for precise measurement of the first steering angle 132. Furthermore, the sensor can be aligned with the axis 214 of the first steering arm 120. In some cases, the axis 214 can extend along the center of the first steering arm 120 and can be configured to pass through the point where the first cylinder rod 116 is coupled to the first steering arm 120. In other words, the axis 214 can be configured to pass through a first point of rotation (e.g., a pin) around which the first cylinder rod 116 is coupled to the first steering arm 120, and a second point associated with the pivot pin 216 of the first steering arm 120 (passing through the axis of rotation defined by the pivot pin 216). That is, the axis 214 can extend through the center of the pivot pin 216 to the center of the pin that couples the first cylinder rod 116 to the first steering arm 120.

[0059] The sensor can measure a first steering angle 132, positioned between longitudinal axis 208 and axis 214. Figure 2 In this diagram, a first steering angle 132 is shown extending between longitudinal axis 208 and axis 214. During machine 100 operation and as the first cylinder rod 116 extends or retracts, the first steering angle 132 can increase or decrease, and sensors can measure the first steering angle 132. Extending the first cylinder rod 116 produces an angle with a monotonic relationship. As described herein, the bracket 212 and sensor arrangement can isolate movement of suspension components (e.g., vertical in the Y direction) and / or rotation of the first cylinder rod 116 (e.g., about the X-axis) to measure only angular displacement, such as rotation about the y-axis, for determining the first steering angle 132. In doing so, the sensors can accurately measure the first steering angle 132 for use by the fault detection controller 126 to determine a fault in the steering assembly 102.

[0060] Although a particular shape or design of bracket 212 is shown, other brackets may be included for positioning the sensor on the longitudinal axis 208 of the first cylinder rod 116. For example, other brackets may position the sensor on the longitudinal axis 208, with a portion of the sensor remaining stationary relative to the first steering arm 120 and another portion of the sensor tracking the rotation of the first cylinder rod 116 (as described herein).

[0061] Figure 3 A detailed view of the steering assembly 102 is shown, with wheel 106 omitted to show the components of the steering assembly 102. As discussed above, the first tie rod 112 and the first cylinder rod 116 can be coupled to the first steering arm 120 (e.g., via a pin configured to pass through a ball bearing).

[0062] The bracket 212 may include multiple sides or surfaces for positioning a sensor vertically above (e.g., in the Y direction) the second end 206 of the first cylinder rod 116. For example, a first surface 300 (e.g., bottom) of the bracket 212 may be coupled to the bottom surface 302 of the first steering arm 120. A second surface 304 (e.g., side) may extend from the first surface 300 and around the exterior (or side) of the first steering arm 120. For example, as shown, the second surface 304 may extend from the first surface 300 and in a direction toward the top surface 306 of the first steering arm 120 (e.g., the Y direction). Additionally, as shown, the first tie rod 112 and the first cylinder rod 116 may be coupled to the first steering arm 120 along or at the top surface 306. Furthermore, the bracket 212 includes a third surface 308 that extends above the second surface 304 (in the X direction) of the first steering arm 120. Positioning the third surface 308 above the first steering arm 120 or above the top surface 306 allows the sensor to be positioned vertically above the first cylinder rod 116.

[0063] In some cases, the sensor can be coupled to the third surface 308 such that the sensor and the second end 206 of the first cylinder rod 116 are concentric with respect to the pin or pivot point of the first steering arm 120. In some cases, a plate or flange can be coupled to the third surface 308 (e.g., via fasteners, welding, etc.). Here, the sensor can be coupled to the flange such that the sensor is above the second end 206 of the first cylinder rod 116, between the flange and the second end 206 of the first cylinder rod 116. Furthermore, as described herein, since the first cylinder rod 116 can move up and down (e.g., in the Y direction) or rotate (e.g., about its longitudinal axis), the position of the sensor allows the determination of the rotational displacement of the first cylinder rod 116 (e.g., about the Y axis) without being affected by these effects. In doing so, the sensor can accurately measure the first steering angle 132 for use by the fault detection controller 126 (and / or steering controller) to detect faults.

[0064] Figure 4 A detailed view is shown, which shows the sensor 400 positioned above the second end 206 of the first cylinder rod 116. Figure 4 Some components are shown with dashed lines to indicate their position in front of or behind other components. Figure 4 A partial view of components of the steering assembly 102 is shown, such as the first tie rod 112, the first piston rod 116, and / or the first steering arm 120. Additionally, in Figure 4 In the image, certain portions of bracket 212 are shown as transparent to show additional components of sensor 400 or steering assembly 102.

[0065] As discussed above, bracket 212 can be connected to the first steering arm 120 to position the third surface 308 above the second end 206 of the first cylinder rod 116. For example, in Figure 4 In the diagram, the second surface 304 is shown extending along the side of the first steering arm 120, and the third surface 308 extends above the second end 206 of the first cylinder rod 116. Additionally, Figure 4 A flange 402 is shown (e.g., via fasteners) attached to a bracket 212 (e.g., at a third surface 308). As shown, a sensor 400 can be attached to the flange 402. However, in some cases, the third surface 308 may be sized sufficiently to receive the sensor 400, in which case the flange 402 may be omitted.

[0066] Sensor 400 can be positioned vertically above (e.g., in the Y direction) the second end 206 of the first cylinder rod 116. In some cases, the center of sensor 400 can be aligned, or sensor 400 can be vertically aligned with the rotation center 404 of the second end 206 of the first cylinder rod 116. For example, during steering of machine 100, the first cylinder rod 116 can rotate about the rotation center 404. In some cases, the rotation center 404 can be associated with the point where the first cylinder rod 116 is connected to the pin of the first steering arm 120. In this way, sensor 400 can measure a first steering angle 132. At this location, sensor 400 can detect the angle used to determine a break or malfunction of a component within steering assembly 102.

[0067] Sensor 400 may include or be operatively coupled to arm 406. Arm 406 may be coupled to crank connecting rod (in Figure 5(Shown in more detail below and discussed below). The crank connecting rod can be coupled to the first cylinder rod 116 at a second end 206. In doing so, the crank connecting rod can move accordingly as the first cylinder rod 116 rotates. This movement can be transmitted to the arm 406, and subsequently, the sensor 400 can measure the displacement of the arm 406 for measuring the first steering angle 132 (e.g., about the Y-axis). Thus, the arm 406 can move with the movement or rotation of the first cylinder rod 116 by being coupled to the first cylinder rod 116 at the second end 206. Furthermore, the sensor 400 can be isolated from the rotational movement of the first cylinder rod 116 (about the X-axis) or the vertical movement of the first steering arm 120 (in the Y direction). These movements, if measured, could affect the first steering angle 132 and lead to an inappropriate measurement of the first steering angle 132. However, by isolating the sensor 400, the first steering angle 132 can be measured accurately. In other words, because the bracket 212 is connected to the first steering arm 120, the sensor 400 can translate vertically with the displacement of the suspension component 210. Additionally, the sensor 400 is located outside the first cylinder rod 116 to avoid detecting rotational movement (around the X-axis) that could affect the first steering angle 132. In some cases, the sensor 400, bracket 212, and / or flange 402 may include an adjustment mechanism to substantially align the sensor 400 above the rotation center 404 or above the pin.

[0068] Sensor 400 may include a low profile for placement between bracket 212 (or flange 402) and first cylinder rod 116. In some cases, sensor 400 may include a sufficient amount of angular rotation. For example, sensor 400 may measure 110 degrees of angular rotation. Sensor 400 may include a steering resolution of 0.035 degrees of rotation per bit or better. This level of resolution allows for controllable tactile feedback without the operator experiencing unwanted torque fluctuations or vibration input from the steering wheel or lever.

[0069] Figure 5 yes Figure 4 The top view of the components shown includes a sensor 400 and a first cylinder rod 116. Figure 5 In the image, bracket 212 is shown in dashed lines to better illustrate the components of steering assembly 102 including sensor 400.

[0070] As mentioned above Figure 4As described, sensor 400 can be coupled to the third surface 308 of flange 402 or bracket 212. Additionally, arm 406 is coupled to sensor 400 and extends in a direction remote from the rotation center 404 or radially outward from arm 406. Arm 406 is coupled to crank connecting rod 500. Crank connecting rod 500 includes a proximal end 508 pivotally coupled to arm 406 (e.g., via a joint and fastener) and a distal end 510 pivotally coupled to first cylinder rod 116 (e.g., via a joint and fastener). More specifically, crank connecting rod 500 may include a first portion 502 coupled to arm 406 and a second portion 504 coupled to a second end 206 of first cylinder rod 116. First portion 502 and second portion 504 can be operatively coupled to each other. More specifically, first portion 502 and second portion 504 can be configured to move relative to each other while maintaining attachment. Furthermore, as shown, the second portion 504 can be coupled to the second end 206 of the first cylinder rod 116 via a fastener 506. In some cases, the second portion 504 may include a ball end or connector (e.g., a ball joint), through which the fastener 506 is provided to allow pivotable movement of the second portion 504 relative to the first cylinder rod 116. (Refer to below...) Figure 6 Describe additional details and features of the crankshaft and connecting rod.

[0071] Although referred to as a "crank-connecting rod," the term "crank-connecting rod" can be used more generally to refer to a connecting rod. Additionally, while crank-connecting rod 500 is shown as comprising two parts, crank-connecting rod 500 or other connecting rods may include more or fewer parts to isolate rotation about the Y-axis from other pitch / roll movements.

[0072] Connecting the crankshaft connecting rod 500 to the arm 406 allows rotational movement of the first cylinder rod 116 to be sensed by the sensor 400. That is, as the second end 206 of the first cylinder rod 116 rotates, the crankshaft connecting rod 500 moves correspondingly through the connection between the crankshaft connecting rod 500 and the second end 206 of the first cylinder rod 116. The sensor 400 can associate this movement with a first steering angle 132, such as that measured between the longitudinal axis 208 and axis 214. Furthermore, in some cases, the fastener 506 can be aligned with the longitudinal axis 208 of the first cylinder rod 116. This allows the crankshaft connecting rod 500 to move correspondingly with the first cylinder rod 116 and allows the first steering angle 132 to be accurately measured by the sensor 400.

[0073] The crank-connecting rod 500 can isolate the roll and pitch movements of the first cylinder rod 116. For example, without the crank-connecting rod 500, the sensor 400 could detect misleading or inaccurate steering angles. In other words, the position of the sensor 400 and the connection of the crank-connecting rod 500 to the sensor 400 via the arm 406 can prevent interference from other degrees of freedom unrelated to the first steering angle 132 (e.g., vertical displacement of the suspension component 210 and / or roll and pitch of the first cylinder rod 116). Therefore, the sensor 400 can be operatively coupled to the second end 206 of the first cylinder rod 116 to reduce the effects exerted by the roll of the first cylinder rod 116.

[0074] Figure 6 A partial view of the steering component 102 is shown. Figure 6 In the middle, bracket 212 is removed to show the position and orientation of crank connecting rod 500 and the connection between crank connecting rod 500, arm 406 and first cylinder rod 116.

[0075] As described above, the second end 206 of the first cylinder rod 116 can be pivotally coupled to the first steering arm 120. For example, the second end 206 may include a rod eye 600 passing through its mounting pin 602. The rod eye 600 may also include a bearing for facilitating rotational movement of the first cylinder rod 116 about the pin 602. For example, in addition to rotational movement of the first cylinder rod 116, a ball bearing may allow rolling and pitching movement of the first cylinder rod 116. Fasteners 604 (e.g., nuts) secure the pin 602 to the first steering arm 120. In doing so, the second end 206 of the first cylinder rod 116 can be pivotally coupled to the first steering arm 120. The rod eye 600 (e.g., spherical) provides rotational movement of the second end 206 about the pin 602.

[0076] Sensor 400 is coupled to flange 402 so as to be positioned between flange 402 and pin 602. Sensor 400 may include or be coupled to arm 406. As shown, arm 406 may extend from a position positioned vertically above pin 602 (or at the top of eyelet 600) to a position along one side of pin 602 (or one side of eyelet 600). A first portion 502 of crank connecting rod 500 is coupled to an end of arm 406 opposite the position where arm 406 is coupled to sensor 400. In some cases, first portion 502 may include a ball end or connector (e.g., ball joint) through which fasteners are provided for coupling crank connecting rod 500 to arm 406. This connector may allow rotational or pivotal movement of first portion 502 relative to arm 406.

[0077] The second part 504 is connected to the rod eye 600 at a position along the longitudinal axis 208 of the first cylinder rod 116. For example, fastener 506 ( Figure 6(Not shown) A ball bearing 606 may be configured to pass through the second portion 504. The fastener 506 may be aligned with the longitudinal axis 208 of the first cylinder rod 116. More generally, the crank connecting rod 500 may pivot freely about a position or point coinciding with the longitudinal axis 208 of the first cylinder rod 116. The rod eye 600 may include a receiving portion (e.g., a step) for receiving the fastener 506.

[0078] The first portion 502 and the second portion 504 of the crank connecting rod 500 can be operatively coupled to each other to allow movement of the rod eye 600 to be measured by the sensor 400. That is, as the first cylinder rod 116 extends and retracts, thereby steering the machine 100, the coupling of the crank connecting rod 500 to the first cylinder rod 116 can transmit movement to the arm 406. The movement of the arm 406 and its coupling to the sensor 400 can be sensed to determine a first steering angle 132. In some cases, the sensor 400 can output a monotonic value indicating whether the first steering angle 132 increases or decreases relative to a reference position as the first cylinder rod 116 travels.

[0079] In some cases, sensor 400 may refer to a sensor system or assembly including sensor 400, arm 406, and / or crank connecting rod 500 for measuring the first steering angle 132. Furthermore, although the foregoing discussion pertains to the first steering arm 120 or components disposed on or coupled to the first steering arm 120, similar and related components may be disposed on or coupled to the second steering arm 122. Therefore, machine 100 may include sensor 128, which may not be located in the same position or may be located on separate components of machine 100, such as on a first side and a second side (i.e., opposite each other).

[0080] Figure 7A process 700 for determining the steering angle of machine 100 is illustrated, the process being used to determine the steering angle of machine 100 and / or a fault in one or more components of steering assembly 102. The process 700 described herein is illustrated as a collection of blocks in a logic flowchart, representing a series of operations, some or all of which may be implemented in hardware, software, or a combination thereof. In the case of software, blocks may represent computer-executable instructions stored on one or more computer-readable storage media, which, when executed by one or more processors, program the processor to perform the operations described herein. Typically, computer-executable instructions include routines, programs, objects, components, data structures, etc., that perform a particular function or implement a particular data type. Unless specifically indicated, the order in which the blocks are described herein should not be construed as limiting. Any number of described blocks may be combined in any order and / or in parallel to implement process 700 or alternative processes, and not all blocks need to be executed. For discussion purposes, reference is made to the environments, machines, architectures, and systems described in the examples herein (such as, for example, references to...). Figure 1-6 The process 700 is described using those terms, although process 700 can be implemented in a variety of other environments, machines, architectures and systems.

[0081] In some cases, process 700 may be performed by machine 100 and / or remote system 144. For example, fault detection system 124 may be implemented at remote system 144 to determine faults in one or more components of steering assembly 102.

[0082] At 702, the fault detection controller 126 can determine a first steering angle 132 associated with the steering machine 100. For example, in response to the operator steering the machine 100, command signals associated with extending and retracting the first cylinder rod 116 and the second cylinder rod 118, respectively, can be provided to actuators, controllers, etc. These command signals can also be associated with certain steering angles required by the machine 100. For example, a first actuation of the first cylinder rod 116 can be associated with a first steering angle, and a second actuation of the second cylinder rod 118 can be associated with a second steering angle. In some cases, the steering controller can receive input from the operator of the machine 100 and instruct the steering assembly 102 to steer by a varying amount.

[0083] At 704, the fault detection controller 126 can receive first data corresponding to the first steering angle 132 of the machine 100 from the first sensor. In some cases, the first sensor may be located on a first side of the machine 100 or may be associated with the first cylinder rod 116. The first sensor may be arranged to measure the steering angle at a first side of the machine 100 (such as the right-hand side). In some cases, the first sensor may correspond to an angle sensor that measures the rotational movement of the first cylinder rod 116.

[0084] At 706, the fault detection controller 126 can determine a first measured steering angle 132 of the machine 100 at a first side of the machine 100. In some cases, the first measured steering angle 132 can be measured between the longitudinal axis 208 and axis 214 of the first cylinder rod 116. For example, the first measured steering angle 132 can be measured as 30 degrees.

[0085] At 708, the fault detection controller 126 can determine the difference between the first steering angle and the first measured steering angle 132. That is, the difference between the indicated and measured steering angles can be determined. In some cases, this difference can be used to monitor the health of the steering assembly 102 and / or for a feedback loop. For example, from 708, process 700 can loop back to 702 to determine an additional steering angle.

[0086] At 710, the fault detection controller 126 can determine the expected second steering angle based at least in part on the first measured steering angle and kinematic data. For example, the fault detection controller 126 can use the first measured steering angle 132 and kinematic data 136 to determine the predicted or expected steering angle associated with the second cylinder rod 118. In other words, in proper operation, the first and second steering angles can be correlated with each other and certain steering angles can be expected throughout the steering range. If the first measured steering angle 132 has a given angle, then the second steering angle 134 should have a known angle if the steering assembly 102 is functioning properly (i.e., not broken). If a difference is determined, this can indicate that the steering assembly 102 is not functioning properly. The kinematic data 136 can indicate the expected second steering angle based on a given input of the first measured steering angle 132.

[0087] At 712, the fault detection controller 126 can receive second data corresponding to the steering angle of the machine 100 from the second sensor. In some cases, the second sensor may be located on a second side of the machine 100 or may be associated with the second cylinder rod 118. The second sensor may be arranged to measure the steering angle at a second side of the machine 100 (such as the left-hand side). In some cases, the second sensor may correspond to an angle sensor that measures the rotational movement of the end of the second cylinder rod 118.

[0088] At 714, the fault detection controller 126 can determine a second measured steering angle 134 of the machine 100 at the second side of the machine 100. For example, based on second data, the fault detection controller 126 can determine the second measured steering angle 134. In some cases, the second steering angle 134 can be measured between the second longitudinal axis of the second cylinder rod 118 and the second axis along the second steering arm 122 (which corresponds to the first axis 214).

[0089] At 716, the fault detection controller 126 can determine whether the expected second steering angle differs from the second measured steering angle 134. For example, as determined at 714, the fault detection controller 126 can compare the second steering angle 134 with the expected second steering angle. For example, if the expected second steering angle and the second measured steering angle 134 are within a certain threshold, this can indicate that the steering assembly 102 is operating normally. However, if the second expected steering angle and the second measured steering angle 134 are not within a certain threshold, this can indicate that the steering assembly 102 is not operating normally. Therefore, determining whether the expected second steering angle and the second measured steering angle 134 are different may include comparing the difference with a threshold. If the difference is greater than the threshold amount, process 700 may follow the "yes" route and proceed to 718.

[0090] At 718, the fault detection controller 126 can cause one or more actions to be performed. For example, since it is determined that the second measured steering angle 134 and the expected second steering angle are different, the fault detection controller 126 can cause one or more actions to be performed. The one or more actions may be associated with preventing damage to the steering assembly 102 and / or notifying the operator of a potential fault in the steering assembly 102.

[0091] As shown at 718, sub-operations 720 and / or 722 can be performed. For example, at 714, the fault detection controller 126 can cause an alarm associated with the steering assembly to be output. The fault detection controller 126 can communicate with the alarm controller 138 to cause the output of alarm 140. Alarm 140 can be visual, tactile, audible, and / or any combination thereof. For example, alarm 140 can be output on the user interface of machine 100, warning of a potentially faulty component of steering assembly 102. Thus, alarm 140 can alert the operator of a potentially faulty steering assembly 102, which in turn can cause the operator to shut down machine 100 to prevent further damage.

[0092] Alternatively or concurrently, at 722, the fault detection controller 126 may cause modifications to the movement of machine 100. For example, the fault detection controller 126 may communicate with the movement controller 142 to constrain or limit the movement of machine 100. For example, the movement controller 142 may apply brakes to stop the movement of machine 100 and / or may shut off the engine of machine 100. The constraints provided by the movement controller 142 may prevent further damage to machine 100 and / or steering assembly 102.

[0093] Alternatively, if the difference at 716 is less than a threshold amount, process 700 can follow the "No" route and proceed to 724. At 724, the fault detection controller 126 can avoid outputting an alarm associated with the steering assembly. For example, if the fault detection controller 126 determines that the difference between the second measured steering angle 134 and the expected second steering angle is less than a threshold difference, the fault detection controller 126 can determine that the steering assembly 102 is functioning normally. Therefore, the fault detection controller 126 can avoid warning the operator and / or controlling the movement of the machine 100. From 724, process 700 can proceed to 702, whereby the fault detection controller 126 can receive additional sensor data to determine the steering angle of the machine 100 and potential faults in the steering assembly 102.

[0094] Although process 700 describes certain scenarios in which actions are performed in the event of a malfunction, these actions can be performed by alternative procedures. For example, if sensor 128 reports an unstable or intermittent steering angle, sensor 128 may be malfunctioning. This could indicate that sensor 128 and / or steering assembly 102 have malfunctioned. Additionally, if the signal from sensor 128 is not received by fault detection controller 126, or if a constant output is received, this could also indicate that sensor 128 and / or steering assembly 102 have malfunctioned. Furthermore, although process 700 shows a comparison of a second measured steering angle 134 with an expected second steering angle, process 700 can be repeated to compare a first measured steering angle 132 with an expected first steering angle.

[0095] In cases where process 700 is performed by remote system 144 or where remote system 144 determines a malfunction in steering assembly 102, remote system 144 can communicate with machine 100 to instruct or otherwise control machine 100. In other words, machine 100 can be remotely controlled by remote system 144 (or other systems or devices). In this case, remote system 144 can transmit signals to machine 100 to perform various operations, such as raising and lowering dump box 108, steering, accelerating machine 100, etc. When it involves immediate applications, remote system 144 can transmit signals associated with braking machine 100 or restraining the movement of machine 100 in the event of a malfunction in steering assembly 102. Furthermore, remote system 144 can transmit alarms to other third parties associated with the malfunctioning steering assembly 102. Thus, remote system 144 can communicatively couple to machine 100 to receive sensor data 130 and determine the health status of steering assembly 102.

[0096] Industrial applicability

[0097] This disclosure describes the use of a steering angle sensor system and a method for steering control and determining faults, or more generally, the health status of the steering components of machine 100, such as a mining machine (e.g., a mining truck). Machine 100 can be controlled locally (e.g., by an onboard operator) and / or remotely (e.g., by a remote operator). Determining faults in the steering components offers several advantages, such as reducing maintenance time, costs, and / or causing additional damage to machine 100.

[0098] The systems and methods disclosed herein allow for the determination of the health of the steering assembly on a continuous basis by comparing the steering angle of machine 100. For example, one or more sensors may be positioned on or around the steering assembly, outside the cylinder rod. However, one or more sensors (e.g., angle sensors) may be operatively coupled to the end of the cylinder rod, for example, to determine the steering angle. Positioning one or more sensors outside the cylinder rod reduces maintenance time and costs, as well as manufacturing costs. For example, in cases where a sensor fails or breaks and needs replacement, replacing only the sensor may be more cost-effective than replacing the cylinder rod. Furthermore, one or more sensors may include components that isolate unwanted vertical and / or rotational movement. For example, one or more sensors may isolate vertical or roll movement of the cylinder rod transmitted by the suspension system of machine 100. By isolating these movements, the sensors can accurately measure the steering angle of machine 100 for fault detection.

[0099] Although the systems and methods of Machine 100 are discussed in the context of mining trucks, it should be understood that the systems and methods discussed herein are applicable to a wide range of machines and vehicles across various industries, such as construction, mining, agriculture, transportation, military, and combinations thereof. For example, the systems or methods discussed herein can be implemented in any vehicle, machine, or wheeled equipment, such as a combine harvester.

[0100] While the foregoing invention has been described with reference to specific examples, it should be understood that the scope of the invention is not limited to these specific examples. Since other modifications and variations will be apparent to those skilled in the art as they may be adapted to specific operational requirements and environments, the invention is not to be considered limited to the examples chosen for purposes of disclosure, and covers all modifications and variations that do not constitute a departure from the true spirit and scope of the invention.

[0101] Although this application describes embodiments with specific structural features and / or methodological behaviors, it should be understood that the claims are not necessarily limited to the specific features or behaviors described. Rather, the specific features and behaviors are merely illustrative of some embodiments that fall within the scope of the claims of this application.

Claims

1. A steering assembly (102) comprising: Frame (104); First steering arm (120); Second steering arm (122); A first hydraulic actuator (116) is coupled to the frame (104) and the first steering arm (120), wherein actuation of the first hydraulic actuator (116) causes the first steering arm (120) to pivot relative to the frame (104) and relative to the first steering arm (120). A second hydraulic actuator (118) is coupled to the frame (104) and the second steering arm (122), wherein actuation of the second hydraulic actuator (118) causes the second steering arm (122) to pivot relative to the frame (104) and relative to the second steering arm (122); A first angle sensor (400) is configured to measure a first rotational displacement (132) of the first hydraulic actuator (116) relative to the first steering arm (120). A first link (500) is connected at a first end (508) to the first hydraulic actuator (116) and at a second end (510) to the first angle sensor (400). The first end (508) of the first link (500) is movable relative to the second end (510) of the first link (500) to isolate movement other than the first rotational displacement (132). A second angle sensor (400) is configured to measure a second rotational displacement (134) of the second hydraulic actuator (118) relative to the second steering arm (122). and The second link (500) is connected to the second hydraulic actuator (118) at its third end (508) and to the second angle sensor (400) at its fourth end (510). The third end (508) of the second link (500) is movable relative to the fourth end (510) of the second link (500) to isolate movement other than the second rotational displacement (134).

2. The steering assembly (102) according to claim 1, wherein: The first hydraulic actuator (116) extends along the first longitudinal axis (208); The second hydraulic actuator (118) extends along the second longitudinal axis (208); The first link (500) is connected to the first hydraulic actuator (116) at a point along the first longitudinal axis (208); and The second link (500) is connected to the second hydraulic actuator (118) at a point along the second longitudinal axis (208).

3. The steering assembly (102) according to claim 1 further includes: The first arm (406) connects the first angle sensor (400) to the first link (500). as well as The second arm (406) connects the second angle sensor (400) to the second link (500).

4. The steering assembly (102) according to claim 1, wherein: The first link (500) includes a first portion (502) having a first end (508) and a second portion (504) having a second end (510), the first portion (502) and the second portion (504) being pivotally connected together; and The second link (500) includes a third portion (502) having the third end (508) and a fourth portion (504) having the fourth end (510), the third portion (502) and the fourth portion (504) being pivotally connected together.

5. The steering assembly (102) according to claim 1, further comprising: The first bracket (212) positions the first angle sensor (400) above the top surface (306) of the first steering arm (120); as well as The second bracket (212) positions the second angle sensor (400) above the top surface (306) of the second steering arm (122).

6. A machine (100) comprising: Frame (104); First steering arm (120), the first steering arm is connected to the first wheel (106) of the machine (100); The second steering arm (122) is connected to the second wheel (106) of the machine (100). A first actuator (116) is connected to a first side of the frame (104) and the first steering arm (120). The second actuator (118) is connected to the second side of the frame (104) and the second steering arm (122). A first sensor (400) is configured to sense a first angular displacement (132) associated with the first actuator (116). A first isolation mechanism (500) is coupled to the first actuator (116) and configured to rotate in response to actuation of the first actuator (116), the rotation of the first isolation mechanism (500) being sensed by the first sensor (400) as the first angular displacement (132). A second sensor (400) is configured to sense a second angular displacement (134) associated with the second actuator (118). as well as A second isolation mechanism (500) is coupled to the second actuator (118) and configured to rotate in response to actuation of the second actuator (118), the rotation of the second isolation mechanism (500) being sensed by the second sensor (400) as the second angular displacement (134).

7. The machine (100) according to claim 6, wherein: The first isolation mechanism (500) includes a first crank connecting rod, the first crank connecting rod including a first portion (502) connected to the first sensor (400) and a second portion (504) connected to the first actuator (116), the first portion (502) being movable relative to the second portion (504) to isolate movement of the first actuator (116) relative to the first sensor (400); and The second isolation mechanism (500) includes a second crank connecting rod, which includes a third portion (502) connected to the second sensor (400) and a fourth portion (504) connected to the second actuator (118), the third portion (502) being movable relative to the fourth portion (504) to isolate the movement of the second actuator (118) relative to the second sensor (400).

8. The machine (100) according to claim 7 further comprises: A first arm (406) is coupled to the first sensor (400), and a first portion (502) is coupled to the first sensor (400) via the first arm (406), wherein the first arm (406) pivots about a first axis and the first sensor (400) is configured to measure the pivoting to determine a first angular displacement (132). and The second arm (406) is coupled to the second sensor (400), and the third part (502) is coupled to the second sensor (400) via the second arm (406), wherein the second arm (406) pivots about a second axis and the second sensor (400) is configured to measure the pivoting to determine a second angular displacement (134).

9. The machine (100) according to claim 6, wherein: The first actuator (116) extends along the first longitudinal axis (208); The second actuator (118) extends along the second longitudinal axis (208); The first isolation mechanism (500) is coupled to the first actuator (116) at a position along the first longitudinal axis (208); and The second isolation mechanism (500) is coupled to the second actuator (118) at a position along the second longitudinal axis (208).

10. The machine (100) according to claim 6, wherein: The first bracket (212) is connected to the first steering arm (120) and the first sensor (400) is positioned above the top surface (306) of the first steering arm (120); and The second bracket (212) is connected to the second steering arm (122) and the second sensor (400) is positioned above the top surface (306) of the second steering arm (122).

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