Brake system with enhanced reverse modulation brake control

Abstract

A braking system of a machine may receive stability data associated with a plurality of wheels of the machine. The brake system may initiate an automatic electro-hydraulic brake operation associated with a brake operably connected to one of the plurality of wheels based on the stability data. The brake is movable from a de-application position to an application position to apply a braking force to the wheel. Based on initiating the automatic electro-hydraulic brake operation, the brake system may prevent operator input to control brake pressure supplied to the brake via a valve configuration of the brake system. Based on the electro-hydraulic input, the brake system may reduce brake pressure supplied to the brake via the valve arrangement to move the brake from a de-application position to an application position to apply braking force to the wheels.

Description

Technical Field

[0001] The present disclosure relates generally to a braking system for a machine, and, for example, to a braking system for a machine with enhanced back-modulated braking control. Background Art

[0002] A brake system is used to control the braking of a machine (e.g., a work machine associated with a work site). In some cases, the machine is equipped with a reverse-modulating brake that is controlled by a reverse-modulating brake system. A reverse-modulating brake is a brake that is de-applied (e.g., does not provide braking force) when the brake receives pressurized hydraulic fluid (e.g., from a brake system) and is applied (e.g., provides braking force) when no pressure is supplied to the reverse-modulating brake. In a typical reverse-modulating brake system, each wheel (or other traction device) of the machine is operably connected to a reverse-modulating brake, each reverse-modulating brake is operably connected to a single hydro-mechanical control valve (e.g., a brake pedal valve of the machine), and the single hydro-mechanical control valve is operably connected to a single electro-hydraulic control valve (e.g., a single solenoid valve) via a single circuit.

[0003] Therefore, in order to implement the braking operation, the typical reverse modulating brake system uses a single hydraulic mechanical control valve or a single electro-hydraulic control valve to simultaneously provide brake pressure to all reverse modulating brakes, which causes all reverse modulating brakes to apply braking force to all wheels of the machine at the same time. Because the reverse modulating brake system provides brake pressure to all reverse modulating brakes at the same time, the reverse modulating brake system cannot independently control the brake pressure supplied to the reverse modulating brakes.

[0004] In turn, the reverse-modulating brake system is not capable of independently controlling (e.g., via the reverse-modulating brakes) the braking force applied to the wheels (or other traction devices) of the machine. Thus, the reverse-modulating brake system is not capable of providing electro-hydraulic braking operations that require independent control of the braking force applied to the wheels (e.g., via the reverse-modulating brakes), such as traction control system braking operations and dynamic stability control braking operations.

[0005] In addition, a typical reverse modulating brake system cannot cover the hydro-mechanical braking operation performed by the brake system (e.g., braking operation controlled via a control valve and based on operator input). For example, if the reverse modulating brake system uses a hydro-mechanical control valve to provide brake pressure to all reverse modulating brakes simultaneously based on operator input, the reverse modulating brake system cannot use an electro-hydraulic control valve to provide brake pressure to all reverse modulating brakes simultaneously (e.g., based on electro-hydraulic input) because the operator input cannot be blocked. Therefore, the reverse modulating brake system cannot provide electro-hydraulic braking operation that requires blocking the operator input to implement the electro-hydraulic braking operation, such as an anti-lock braking system (ABS) braking operation.

[0006] U.S. Patent No. 3,880,473 ("the '473 patent") describes a brake control system for a towed vehicle, such as a trailer towed by a tractor. The '473 patent describes a brake control system that includes an emergency control valve that senses air pressure in an emergency line connected between the trailer and the tractor. If the air pressure in the emergency line drops below a predetermined level, the emergency control valve applies brakes to the trailer. Summary of the invention

[0007] Some embodiments described herein relate to a braking system of a machine having enhanced reverse modulation brake control of the machine. The braking system may include a reverse modulation brake operably connected to a wheel of the machine; a relay valve in fluid communication with the reverse modulation brake for supplying at least one of a de-apply pressure to the reverse modulation brake to put the reverse modulation brake in a de-apply position or an apply pressure to the reverse modulation brake to put the reverse modulation brake in an applied position, wherein the apply pressure is based on at least one of a hydraulic-mechanical pressure signal or an electro-hydraulic pressure signal, and wherein the apply pressure is lower than the de-apply pressure; and a hydraulic logic element in fluid communication with the relay valve for supplying the hydraulic-mechanical pressure signal or the electro-hydraulic pressure signal to the relay valve. At least one of the signals, wherein the hydraulic logic element includes a first inlet and a second inlet; a hydraulic mechanical valve, which is fluidly connected to the first inlet and is used to output a hydraulic mechanical pressure signal to the first inlet; an electro-hydraulic valve, which is fluidly connected to the second inlet and is used to output an electro-hydraulic pressure signal to the second inlet; and a blocking valve, which is fluidly connected to the hydraulic logic element and the hydraulic mechanical valve, and the blocking valve can be moved between a closed position and an open position, wherein when the blocking valve is in the closed position, the hydraulic mechanical valve is not fluidly connected to the first inlet, and wherein the first inlet is fluidly connected to a tank associated with the braking system.

[0008] Some embodiments herein relate to a method for enhanced reverse modulation brake control of a machine, comprising: receiving stability data associated with multiple wheels of the machine through a braking system of the machine; initiating, through the braking system and based on the stability data, an automatic electro-hydraulic braking operation associated with a brake operably connected to one of the multiple wheels, wherein the brake is movable from an unapplied position to an applied position to apply a braking force to the wheel; preventing, through the braking system and based on initiating the automatic electro-hydraulic braking operation, operator input from controlling a brake pressure supplied to the brake via a relay valve of the braking system; and reducing, through the braking system and based on the electro-hydraulic input, the brake pressure supplied to the brake via the relay valve to move the brake from the unapplied position to the applied position, thereby applying a braking force to the wheel.

[0009] Some embodiments herein relate to a machine having one or more wheels, the machine including a braking system, the braking system including: a relay valve in fluid communication with a brake operably connected to one of the one or more wheels, wherein the relay valve is associated with providing to the brake at least one of: a release brake pressure associated with maintaining the brake in an unapplied position, or a modulated brake pressure less than the release brake pressure associated with moving the brake from the unapplied position to an applied position to apply a braking force to the wheel, and wherein the modulated pressure is based on at least one of a hydraulic-mechanical pressure signal or an electro-hydraulic pressure signal; a hydraulic-mechanical valve, the hydraulic-mechanical valve being associated with providing to the brake at least one of: a release brake pressure associated with maintaining the brake in an unapplied position, or a modulated brake pressure less than the release brake pressure associated with moving the brake from the unapplied position to an applied position to apply a braking force to the wheel; a hydraulic-mechanical valve in fluid communication with the relay valve, wherein the hydraulic-mechanical valve provides a hydraulic-mechanical pressure signal in response to receiving a hydraulic-mechanical input, and the relay valve receives the hydraulic-mechanical pressure signal; an electro-hydraulic valve in fluid communication with the relay valve, wherein the electro-hydraulic valve provides an electro-hydraulic pressure signal in response to receiving an electronic input, and the relay valve receives the electro-hydraulic pressure signal; and a blocking valve positioned to fluidly communicate between the hydraulic-mechanical valve and the relay valve, wherein the blocking valve is movable between a closed position, wherein the closed position prevents the relay valve from receiving the hydraulic-mechanical pressure signal from the hydraulic-mechanical valve, and an open position enabling the relay valve to receive the hydraulic-mechanical pressure signal from the hydraulic-mechanical valve. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a diagram of an example machine described herein.

[0011] Figures 2 to 4 is a diagram of an example braking system having enhanced reverse modulation braking control as described herein.

[0012] Figure 5 is a flow chart of an example process involving enhanced reverse modulation braking control. DETAILED DESCRIPTION

[0013] The following detailed description of example embodiments refers to the accompanying drawings.The same reference numbers in different drawings may identify the same or similar elements.

[0014] Figure 1 is a diagram of an example machine 100 having a braking system with enhanced reverse modulation brake control, as described in greater detail elsewhere herein. Figure 1 As shown, the machine 100 is embodied as an underground articulated truck (UAT) (e.g., which may be used on a worksite as well as in other instances). Figure 1The machine 100 is shown and described as a UAT, but the machine 100 can be any suitable machine (e.g., a wheel loader, a dump truck, a backhoe loader, and / or a skid steer loader, among other examples) that can be used at any suitable worksite (e.g., a construction site, a landfill, and / or a quarry, among other examples).

[0015] like Figure 1 As further shown, the machine 100 includes a front frame 102, a rear frame 104, an operator station 106 (eg, an operator cab), a tractor 108, and a dump body 110. Although the tractor 108 is Figure 1 The front frame 102 and the rear frame 104 are operably connected (eg, pivotally connected) to each other via an articulated joint 112 .

[0016] like Figure 1 As further shown, the operator station 106 is supported by the front frame 102. In some embodiments, the operator station 106 may include one or more operator interfaces (e.g., one or more proportional controllers, pedals, steering wheels, multi-axis joysticks, knobs, push-pull devices and / or switches, among other examples), as described in more detail elsewhere herein. As an example, an operator (not shown) of the machine 100 may interact with the one or more operator interfaces to provide one or more operator inputs (e.g., one or more brake operation inputs and / or one or more steering operation inputs, among other examples). For example, the operator may depress a brake pedal causing a brake pedal sensor to generate an operator brake input (e.g., based on displacement of the brake pedal).

[0017] like Figure 1 As further shown, traction devices 108 are rotatably supported by front frame 102 and rear frame 104 (e.g., a set of front wheels may be rotatably supported by front frame 102 and a set of rear wheels may be rotatably supported by rear frame 104). In some embodiments, traction devices 108 may each be operably connected to a reverse modulating brake, as described in greater detail elsewhere herein.

[0018] like Figure 1 As further shown, the dump body 110 is supported by the rear frame 104. In some embodiments, the dump body 110 may include an actuator (e.g., Figure 1The machine 100 may include a hydraulic cylinder 110a (shown in FIG. 1 ) to raise and / or lower the dump body. The dump body 110 may be configured to receive a payload (e.g., ore, minerals, coal, rock, waste material, and / or backfill material, among other examples). The machine 100 may receive a payload from a loading location and transport the payload to a dump location (e.g., release at the dump location).

[0019] like Figure 1 As further shown, the machine 100 includes a controller 114 (e.g., an electronic control module (ECM), among other examples) that is communicatively coupled to one or more sensors 116 (e.g., one or more sensor devices of the machine 100 and / or a braking system of the machine 100). In some embodiments, the controller 114 may include one or more memories (e.g., one or more non-transitory computer-readable media) and one or more processors communicatively coupled to the one or more memories. The communicative coupling between the one or more processors and the one or more memories may enable the one or more processors to read and / or process information stored in the one or more memories and / or store information in the one or more memories.

[0020] In some embodiments, one or more memories may include one or more volatile and / or non-volatile memories. For example, one or more memories may include one or more random access memories (RAM), read-only memories (ROM), hard drives, and / or other types of memories (e.g., flash memory, magnetic storage, and / or optical storage). One or more memories may include one or more internal memories (e.g., one or more RAM, ROM, or hard drives) and / or one or more removable memories (e.g., removable via a universal serial bus connection). One or more memories may store information, one or more instructions, and / or software (e.g., one or more software applications) related to the operation of the controller 114.

[0021] The controller 114 may include input components that enable the controller 114 to receive inputs (such as operator inputs and / or sensed inputs). For example, the input components may include a touch screen, a keyboard, a keypad, a mouse, a button, a microphone, a switch, a sensor, a global positioning system sensor, an accelerometer, a gyroscope, and / or an actuator.

[0022] The controller 114 may include output components that enable the controller 114 to provide outputs, such as via a display, a speaker, and / or a light emitting diode. The controller 114 may include communication components that enable the controller 114 to communicate with other devices via a wired connection and / or a wireless connection. For example, the communication components may include a receiver, a transmitter, a transceiver, a modem, a network interface card, and / or an antenna.

[0023] The controller 114 may perform one or more operations or processes as described in more detail elsewhere herein. In some embodiments, the controller 114 may include a non-transitory computer-readable medium (e.g., one or more memories) storing a set of instructions (e.g., one or more instructions or codes) for execution by one or more processors. One or more processors may execute the set of instructions to perform one or more operations or processes described herein. In some embodiments, execution of the set of instructions by one or more processors causes the one or more processors and / or controller 114 to perform one or more operations or processes described herein. In some embodiments, hard-wired circuits may be used in place of instructions or in combination with instructions to perform one or more operations or processes described herein. Therefore, the embodiments described herein are not limited to any particular combination of hardware circuits and software.

[0024] In some embodiments, one or more sensors 116 may be used to monitor information associated with machine 100 (e.g., stability data associated with machine 100 and / or dynamic parameter information associated with machine 100, among other examples) (e.g., via a braking system). Thus, for example, one or more sensors 116 may include one or more accelerometers (e.g., for measuring linear acceleration associated with machine 100), gyroscopes (e.g., for measuring angular velocity and / or rotational rate associated with machine 100), yaw rate sensors (e.g., for measuring angular velocity associated with machine 100), steering wheel angle sensors (e.g., for measuring the angle of a steering wheel of machine 100), wheel speed sensors (e.g., for measuring the rotational speed of a wheel or other traction device of machine 100), brake pressure sensors (e.g., for measuring brake pressure associated with a reverse modulation brake of machine 100), suspension position sensors (e.g., for measuring displacement of a suspension component of machine 100), and brake pressure sensors (e.g., for measuring brake pressure associated with a reverse modulation brake of machine 100). traction), wheel pressure sensors (e.g., for measuring air pressure at a wheel or other traction device of machine 100), magnetometers (e.g., for measuring an orientation associated with machine 100), lateral acceleration sensors (e.g., for measuring a lateral acceleration associated with machine 100), roll angle sensors (e.g., for measuring a roll angle associated with machine 100), pitch angle sensors (e.g., for measuring a pitch angle associated with machine 100), wheel slip sensors (e.g., for measuring a difference between a rotational speed of a wheel of machine 100 and / or a speed of machine 100), and / or brake pedal sensors (e.g., for measuring one or more brake pedal displacements of a brake pedal of machine 100), among other examples.

[0025] In some implementations, one or more sensors 116 may transmit information associated with machine 100 (e.g., dynamic parameter information associated with machine 100), and controller 114 may receive the information associated with machine 100. Controller 114 may process the information associated with machine 100, as described in greater detail elsewhere herein.

[0026] In some implementations, the controller 114 may detect one or more stability events (e.g., associated with the stability of the machine 100) based on information associated with the machine 100. As an example, the controller 114 may detect an anti-lock braking system (ABS) event (e.g., associated with one or more wheels of the machine 100 locking during a braking operation), a traction control system (TCS) event (e.g., associated with one or more wheels of the machine 100 losing traction during an acceleration operation), and / or a dynamic stability control (DSC) event (e.g., associated with a decrease in the stability of the machine 100 during a maneuvering operation). As another example, the one or more stability events may be associated with at least one of a wheel slip event, a wheel spin event, an oversteer event, an understeer event, and / or an anti-rollover event.

[0027] In some embodiments, the controller 114 may set an electronic stability brake control mode (e.g., an electro-hydraulic brake control mode) to an active state based on detecting the one or more stability events. As examples, the electronic stability control modes may include an ABS mode (e.g., associated with preventing one or more wheels of the machine 100 from locking during a braking operation), a TCS mode (e.g., associated with improving traction at one or more wheels of the machine 100 during an acceleration operation), and / or a DSC mode (e.g., associated with enhancing stability of the machine 100 during a maneuvering operation). In some embodiments, in the electronic stability brake control mode (e.g., when the state of the electronic stability brake control mode is an active state), the controller 114 may determine a corrected brake pressure and / or may transmit one or more signals to adjust the brake pressure of the wheels of the machine 100, as described in more detail elsewhere herein.

[0028] Figure 2 is a diagram of an example braking system 200 with enhanced reverse modulation brake control. The term "reverse modulation brake control" is associated with the braking system 200 selectively and independently controlling the reverse modulation brake by increasing (e.g., de-applying the reverse modulation brake) or decreasing (e.g., applying the reverse modulation brake) the brake pressure supplied to and received by the reverse modulation brake, as described in more detail elsewhere herein. For example, the braking system 200 can control the reverse modulation of a brake operatively connected to one or more traction devices (e.g., a traction device) via reverse modulation of a pressurized hydraulic fluid. Figure 1 As an example, the brake system 200 may control a reverse modulating brake (e.g., one or more wheels, tracks, and / or rollers associated with the machine 100). Figure 1 The reverse modulation brake may be configured to move a wheel of the machine 100) between a de-applied position (e.g., in the de-applied position, the reverse modulation brake is not engaged with the wheel and no braking force is applied to the wheel) and an applied position (e.g., in the applied position, the reverse modulation brake is engaged with the wheel and a braking force is applied to the wheel), as described in more detail elsewhere herein.

[0029] like Figure 2 As shown, the braking system 200 includes a controller 114, one or more sensors 116, a first reverse modulation braking circuit 202, a second reverse modulation braking circuit 204, a third reverse modulation braking circuit 206, a fourth reverse modulation braking circuit 208, a blocking valve 210, a hydraulic mechanical valve 212, a parking brake valve 214, a pressurized hydraulic fluid source 216, an accumulator 218 and a tank 220 (e.g., a fluid storage tank).

[0030] The first reverse modulation brake circuit 202 includes a first reverse modulation brake 202a, a first relay valve 202b, a first hydraulic logic element 202c (e.g., a first shuttle valve), and a first electro-hydraulic valve 202d (e.g., a first electronic pressure reducing valve (ePRV)). The first reverse modulation brake 202a is operably connected to the first relay valve 202b. The first relay valve 202b is operably connected to the first hydraulic logic element 202c. The first hydraulic logic element 202c is operably connected to the first electro-hydraulic valve 202d and the blocking valve 210.

[0031] The second reverse modulation brake circuit 204 includes a second reverse modulation brake 204a, a second relay valve 204b, a second hydraulic logic element 204c (e.g., a second shuttle valve), and a second electro-hydraulic valve 204d (e.g., a second ePRV). The second reverse modulation brake 204a is operably connected to the second relay valve 204b. The second relay valve 204b is operably connected to the second hydraulic logic element 204c. The second hydraulic logic element 204c is operably connected to the second electro-hydraulic valve 204d and the blocking valve 210.

[0032] The third reverse modulation brake circuit 206 includes a third reverse modulation brake 206a, a third relay valve 206b, a third hydraulic logic element 206c (e.g., a third shuttle valve), and a third electro-hydraulic valve 206d (e.g., a third ePRV). The third reverse modulation brake 206a is operably connected to the third relay valve 206b. The third relay valve 206b is operably connected to the third hydraulic logic element 206c. The third hydraulic logic element 206c is operably connected to the third electro-hydraulic valve 206d and the blocking valve 210.

[0033] The fourth reverse modulation brake circuit 208 includes a fourth reverse modulation brake 208a, a fourth relay valve 208b, a fourth hydraulic logic element 208c (e.g., a fourth shuttle valve), and a fourth electro-hydraulic valve 208d (e.g., a fourth ePRV). The fourth reverse modulation brake 208a is operably connected to the fourth relay valve 208b. The fourth relay valve 208b is operably connected to the fourth hydraulic logic element 208c. The fourth hydraulic logic element 208c is operably connected to the fourth electro-hydraulic valve 208d and the blocking valve 210.

[0034] like Figure 2 As further shown, the blocking valve 210 is operably connected to the hydraulic machine valve 212 and the tank 220. Thus, the blocking valve 210 is in fluid communication with the first reverse modulating braking circuit 202 (e.g., via the first hydraulic logic element 202c), the second reverse modulating braking circuit 204 (e.g., via the second hydraulic logic element 204c), the third reverse modulating braking circuit 206 (e.g., via the third hydraulic logic element 206c), the fourth reverse modulating braking circuit 208 (e.g., via the first hydraulic logic element 208c), the hydraulic machine 212, and the tank 220, as described in more detail elsewhere herein.

[0035] The hydraulic mechanical valve 212 is operably connected to the parking brake valve 214 and the tank 220. The pressurized hydraulic fluid source 216 is operably connected to the parking brake valve 214 and the accumulator 218. The accumulator 218 is operably connected to the first relay valve 202b, the second relay valve 204b, the third relay valve 206b, the fourth relay valve 208b, the first electro-hydraulic valve 202d, the second electro-hydraulic valve 204d, the third electro-hydraulic valve 206d, and the fourth electro-hydraulic valve 208d.

[0036] In some embodiments, the pressurized hydraulic fluid source 216 charges the accumulator 218 (e.g., the accumulator 218 stores pressurized hydraulic fluid and potential energy that can be used by one or more components of the brake system 200). As an example, the pressurized hydraulic fluid and potential energy stored by the accumulator 218 can be used by the first relay valve 202a, the second relay valve 204a, the third relay valve 206a, the fourth relay valve 208a, the first electro-hydraulic valve 202c, the second electro-hydraulic valve 204c, the third electro-hydraulic valve 206c, and the fourth electro-hydraulic valve 208c, as well as other examples, as described in more detail elsewhere herein.

[0037] like Figure 2 As further shown, the first reverse modulation brake 202a is operably connected to the first wheel 222a (eg, Figure 1 a first wheel of the machine 100); a second reverse modulation brake 204a is operably connected to a second wheel 222b (eg, Figure 1 a second wheel of the machine 100); a third reverse modulation brake 206a is operably connected to a third wheel 222c (eg, Figure 1 and a fourth reverse modulation brake 208a operably connected to a fourth wheel 222d (e.g., Figure 1 In some embodiments, the braking system 200 can selectively and independently control braking torque associated with the first wheel 222a (e.g., by using the first reverse-modulation braking circuit 202), the second wheel 222b (e.g., by using the second reverse-modulation braking circuit 204), the third wheel 222c (e.g., by using the third reverse-modulation braking circuit 206), and / or the fourth wheel 222d (e.g., by using the fourth reverse-modulation braking circuit 208), as described in more detail elsewhere herein.

[0038] In some embodiments, the braking system 200 can be operated in a first mode, a second mode, and a third mode (e.g., to control the first reverse modulating brake 202a). For example, the braking system 200 can be operated in a first mode to maintain the first reverse modulating brake 202a in an unapplied position, can be operated in a second mode to move the first reverse modulating brake 202a from the unapplied position to an applied position (e.g., based on a hydraulic-mechanical pressure signal), and / or can be operated in a third mode to move the first reverse modulating brake 202a from the unapplied position to an applied position (e.g., based on an electro-hydraulic pressure signal), as described in more detail elsewhere herein.

[0039] In some embodiments, when the brake system 200 is operated in the first mode, the parking brake valve 214 can be in a normally open position, the hydraulic mechanical valve 212 can be in a normally open position, and the blocking valve 210 can be in a normally open position, which enables the pressurized hydraulic fluid source 216 to be in fluid communication with the first hydraulic logic element 202c (e.g., to the first inlet of the first hydraulic logic element 202c). The pressurized hydraulic fluid source 216 can output a de-apply pressure signal (or a release pressure signal) (e.g., which indicates a de-apply pressure or a release pressure associated with the pressurized hydraulic fluid provided by the pressurized hydraulic fluid source 216), and the first hydraulic logic element 202c can receive the de-apply pressure signal (or the release pressure signal).

[0040] The de-apply pressure signal may indicate a brake pressure associated with moving the first reverse modulation brake 202a to the de-applied position and / or maintaining the first reverse modulation brake 202a in the de-applied position. In some embodiments, the de-applied position of the first reverse modulation brake 202a may be a fully released position in which the first reverse modulation brake 202a does not apply a braking force to the first wheel 222a, as described in greater detail elsewhere herein.

[0041] In some embodiments, when the brake system 200 is operated in the first mode, the first electro-hydraulic valve 202d can be in fluid communication with the second inlet of the first hydraulic logic element 202c and can be in a de-energized state. In the de-energized state, the first electro-hydraulic valve 202d does not output electro-hydraulic pressure (e.g., this causes the first hydraulic logic element 202c to receive a pressure signal indicating zero pressure). Therefore, the first hydraulic logic element 206c enables the de-apply pressure signal to be received by the first relay valve 202b. The first relay valve 202b outputs a de-apply brake pressure based on the de-apply pressure signal, and the first reverse modulation brake 202a receives the de-apply brake pressure, which moves the first reverse modulation brake 202a to a de-apply position (e.g., a fully released position). In this way, when the brake system is operated in the first mode, the first reverse modulation brake 202a does not apply a braking force to the first wheel 222a. Although this document describes the braking system 200 as operating in a first mode using a first reverse modulation braking circuit 202 to control operation of a first reverse modulation brake 202a, the braking system may operate in the same or similar manner in the first mode and / or as described in more detail elsewhere herein: using a second reverse modulation braking circuit 204 to control a second reverse modulation brake 204a, using a third reverse modulation braking circuit 206 to control a third reverse modulation brake 206a, and using a fourth reverse modulation braking circuit 208 to control a fourth reverse modulation brake 208a.

[0042] In some embodiments, the brake system 200 can be operated in a second mode to move the first reverse modulating brake 202a from the de-applied position to the applied position based on the hydro-mechanical pressure signal. In other words, the brake system 200 can be operated in a second mode to apply a braking force (or braking torque) to the first wheel 222a based on the hydro-mechanical pressure signal (e.g., which is based on an operator input). As an example, the brake system 200 can be switched from operating in the first mode to operating in the second mode based on an operator input. For example, an operator (not shown) can communicate with an operator interface (e.g., in Figure 2 The operator interface 202a (shown as a brake pedal 224) interacts with the hydraulic mechanical valve 212 (e.g., a brake pedal valve) to move the hydraulic mechanical valve 212 (e.g., a brake pedal valve) from an open position to a closed position based on the operator input. The hydraulic mechanical valve 212 modulates the de-apply pressure to a hydraulic mechanical modulating pressure based on the operator input (e.g., the brake pedal valve increases with movement of the brake pedal 224 and modulates a lower pressure based on the fluid connection between the hydraulic mechanical valve 212 and the tank 220). The hydraulic mechanical valve 212 outputs a hydraulic mechanical pressure signal (e.g., which indicates the hydraulic mechanical modulating pressure) based on the operator input, and the first hydraulic logic element 202c receives the hydraulic mechanical pressure signal.

[0043] In some embodiments, when the braking system 200 operates in the second mode, the first electro-hydraulic valve 202d can be in a de-energized state in which the first electro-hydraulic valve 202d does not output electro-hydraulic pressure. Therefore, the first hydraulic logic element 206c enables the hydraulic mechanical pressure signal to be received by the first relay valve 202b. The first relay valve 202b outputs an applied pressure based on the hydraulic mechanical pressure signal, and the first reverse modulation brake 202a receives the applied pressure, which moves the first reverse modulation brake 202a from the de-applied position to the applied position (e.g., in the applied position, the first reverse modulation brake 202a applies a braking force to the first wheel 222a based on the applied pressure). In this way, when the braking system operates in the second mode, the first reverse modulation brake 202a applies a braking force to the first wheel 222a. Although this document describes the braking system 200 as operating in the second mode using the first reverse modulation braking circuit 202 to control the operation of the first reverse modulation brake 202a, the braking system may operate in the second mode in the same or similar manner and / or as described in more detail elsewhere herein: using the second reverse modulation braking circuit 204 to control the second reverse modulation brake 204a, using the third reverse modulation braking circuit 206 to control the third reverse modulation brake 206a, and using the fourth reverse modulation braking circuit 208 to control the fourth reverse modulation brake 208a.

[0044] In some embodiments, the brake system 200 can be operated in a third mode to move the first reverse modulating brake 202a from the de-applied position to the applied position based on the electro-hydraulic pressure signal. In other words, the brake system 200 can be operated in a third mode to control the braking force (or braking torque) applied to the first wheel 222a based on the electro-hydraulic pressure signal.

[0045] In some embodiments, one or more sensors 116 (e.g., Figure 1 The one or more sensor devices of the machine may transmit stability data associated with the first wheel 222a, the second wheel 222b, the third wheel 222c, and / or the fourth wheel 222d and the controller 114 may receive the stability data. As an example, the one or more sensors 116 may transmit stability data associated with the first wheel 222a, the second wheel 222b, the third wheel 222c, and / or the fourth wheel 222d and the controller 114 may receive the stability data. The controller 114 may detect a stability event associated with the first wheel 222a, the second wheel 222b, the third wheel 222c, and / or the fourth wheel 222d based on the stability data.

[0046] In some embodiments, the controller 114 may set an electronic stability control braking mode (e.g., an automatic electro-hydraulic braking mode) to an active state based on detecting a stability event. The controller 114 may move the blocking valve 210 to a closed position based on the active state. For example, the controller 114 may send a control signal (e.g., a blocking signal), and the blocking valve 210 may receive the control signal, which actuates the blocking valve 210 to move from an open position to a closed position. When the blocking valve 210 is closed, the pressurized fluid from the hydraulic mechanical valve 212 is blocked and isolated from the first hydraulic logic element 202c (e.g., the first inlet of the first hydraulic logic element 202c does not receive the pressurized fluid from the hydraulic mechanical valve 212), and the blocking valve 210 enables the first hydraulic logic element 202c to be in fluid communication with the tank 220 (e.g., the first inlet of the first hydraulic logic element 202c is in fluid communication with the tank 220). In other words, when the blocking valve 210 is in the closed position, the hydromechanical valve 212 is not in fluid communication with the first hydraulic logic element 202c, and the first hydraulic logic element 202c is in fluid communication with the tank 220. In this way, the blocking valve 210 prevents the first hydraulic logic element 206c from receiving pressurized hydraulic fluid from the hydromechanical valve 212.

[0047] In some embodiments, the controller 114 may determine a corrected application pressure based on a stability event. The controller 114 may cause the first electro-hydraulic valve 202d to output an electro-hydraulic pressure signal based on the corrected application pressure, which is received by the first hydraulic logic element 202c. The first hydraulic logic element 206c enables the electro-hydraulic pressure signal to be received by the first relay valve 202b (e.g., because the pressure indicated by the electro-hydraulic valve 202d is higher than the pressure indicated by the hydraulic mechanical pressure signal). The first relay valve 202b outputs an application pressure based on the electro-hydraulic pressure signal, and the first reverse modulation brake 202a receives the application pressure, which moves the first reverse modulation brake 202a from the first application position to the second application position (e.g., at the second application position, the first reverse modulation brake 202a applies a braking force to the first wheel 222a based on the application pressure). Therefore, in some embodiments, the first hydraulic logic element 202c may include: a first inlet, which is fluidly connected to the blocking valve 210 for receiving a hydraulic mechanical pressure signal; a second inlet, which is fluidly connected to the first electro-hydraulic valve 202d for receiving an electro-hydraulic pressure signal; and an outlet, which is fluidly connected to the first relay valve 202b for outputting a higher pressure signal of the hydraulic mechanical pressure signal and the electro-hydraulic pressure signal, as described in more detail elsewhere herein.

[0048] Thus, when the braking system 200 is operated in the third mode, the first reverse modulation brake 202a applies a braking force to the first wheel 222a. Although the braking system 200 is described herein as operating in the third mode using the first reverse modulation brake circuit 202 to control the first reverse modulation brake 202a, the braking system can operate in the third mode in the same or similar manner and / or as described in more detail elsewhere herein: using the second reverse modulation brake circuit 204 to control the second reverse modulation brake 204a, using the third reverse modulation brake circuit 206 to control the third reverse modulation brake 206a, and using the fourth reverse modulation brake circuit 208 to control the fourth reverse modulation brake 208a.

[0049] As indicated above, provide Figure 2 As an example. Other examples can be related to Figure 2 Different than described. Figure 2 The number and arrangement of devices shown in are provided as examples. Figure 2 There may be additional devices, fewer devices, different devices, or differently arranged devices than those shown. Figure 2 Two or more of the devices shown may be implemented in a single device, or Figure 2 The single device shown may be implemented as multiple distributed devices. Additionally or alternatively, Figure 2The illustrated set of devices (e.g., one or more devices) may perform the operations described as being performed by Figure 2 Another group of devices is shown performing one or more functions.

[0050] Figure 3 is a diagram of an example braking system 300 with enhanced reverse modulation braking control. Figure 3 As shown, the braking system 300 includes a controller 114, one or more sensors 116, a first reverse modulation braking circuit 302, a second reverse modulation braking circuit 304, a third reverse modulation braking circuit 306, a fourth reverse modulation braking circuit 308, a hydraulic mechanical valve 310, a parking brake valve 312, a pressurized hydraulic fluid source 314, an accumulator 316 and a tank 318.

[0051] The first reverse modulation brake circuit 302 includes a first reverse modulation brake 302a, a first selector valve 302b, and a first electro-hydraulic valve 302c (e.g., a first ePRV). The first reverse modulation brake 302a is operably connected to the first selector valve 302b. The first selector valve 302b is operably connected to the first electro-hydraulic valve 302c and the hydraulic mechanical valve 310.

[0052] The second reverse modulation brake circuit 304 includes a second reverse modulation brake 304a, a second selector valve 304b, and a second electro-hydraulic valve 304c (e.g., a second ePRV). The second reverse modulation brake 304a is operably connected to the second selector valve 304b. The second selector valve 304b is operably connected to the second electro-hydraulic valve 304c and the hydraulic mechanical valve 310.

[0053] The third reverse modulation brake circuit 306 includes a third reverse modulation brake 306a, a third selector valve 306b, and a third electro-hydraulic valve 306c (e.g., a third ePRV). The third reverse modulation brake 306a is operably connected to the third selector valve 306b. The third selector valve 306b is operably connected to the third electro-hydraulic valve 306c and the hydraulic mechanical valve 310.

[0054] The fourth reverse modulation brake circuit 308 includes a fourth reverse modulation brake 308a, a fourth selector valve 308b, and a fourth electro-hydraulic valve 308c (e.g., a fourth ePRV). The fourth reverse modulation brake 308a is operably connected to the fourth selector valve 308b. The fourth selector valve 308b is operably connected to the fourth electro-hydraulic valve 308c and the hydraulic mechanical valve 310. Therefore, the hydraulic mechanical valve 310 is in fluid communication with the first reverse modulation brake circuit 302 (e.g., via the first selector valve 302b), the second reverse modulation brake circuit 304 (e.g., via the second selector valve 304b), the third reverse modulation brake circuit 306 (e.g., via the third selector valve 306b), and the fourth reverse modulation brake circuit 308 (e.g., via the fourth selector valve 308b).

[0055] The hydraulic mechanical valve 310 is operably connected to the parking brake valve 312 and the tank 318. The pressurized hydraulic fluid source 314 is operably connected to the parking brake valve 312 and the accumulator 316. The accumulator 316 is operably connected to the first electro-hydraulic valve 302c, the second electro-hydraulic valve 304c, the third electro-hydraulic valve 306c, and the fourth electro-hydraulic valve 308c. In some embodiments, the pressurized hydraulic fluid source 314 fills the accumulator 316 (e.g., the accumulator 316 stores pressurized hydraulic fluid and potential energy that can be used by one or more components of the braking system 300). As an example, the pressurized hydraulic fluid and potential energy stored by the accumulator 316 can be used by the first electro-hydraulic valve 302c, the second electro-hydraulic valve 304c, the third electro-hydraulic valve 306c, and the fourth electro-hydraulic valve 308c, as well as other examples, as described in more detail elsewhere herein.

[0056] like Figure 3 As further shown, the first reverse modulation brake 302a is operably connected to the first wheel 320a (eg, Figure 1 a first wheel of the machine 100); a second reverse modulation brake 304a is operably connected to a second wheel 320b (eg, Figure 1 a second wheel of the machine 100); a third reverse modulation brake 306a is operably connected to a third wheel 320c (eg, Figure 1 and a fourth reverse modulating brake 308a operably connected to a fourth wheel 320d (eg, Figure 1In some embodiments, the braking system 300 can selectively and independently control braking torque associated with the first wheel 320a (e.g., by using the first reverse-modulation braking circuit 302), the second wheel 320b (e.g., by using the second reverse-modulation braking circuit 304), the third wheel 320c (e.g., by using the third reverse-modulation braking circuit 306), and / or the fourth wheel 320d (e.g., by using the fourth reverse-modulation braking circuit 308), as described in more detail elsewhere herein.

[0057] In some embodiments, the brake system 300 can be operated in a first mode, a second mode, and a third mode to control the first reverse modulating brake 302a. For example, the brake system 300 can be operated in a first mode to maintain the first reverse modulating brake 302a in an unapplied position, can be operated in a second mode to move the first reverse modulating brake 302a from the unapplied position to the applied position based on a hydraulic-mechanical pressure signal, and / or can be operated in a third mode to move the first reverse modulating brake 302a from the unapplied position to the applied position based on an electro-hydraulic pressure signal.

[0058] In some embodiments, the first selector valve 302b can be moved between a first position and a second position. When the first selector valve 302b is in the first position, the first selector valve 302b enables the first reverse modulation brake 302a to be in fluid communication with the hydraulic mechanical valve 310. When the first selector valve 302b is in the second position, the first selector valve 302b enables the first reverse modulation brake 302a to be in fluid communication with the first electro-hydraulic valve 302c.

[0059] In some embodiments, when the braking system 300 is operated in the first mode, the parking brake valve 312 can be in a normally open position, the hydraulic mechanical valve 310 (e.g., a brake pedal valve) can be in a normally open position, and the first selector valve 302b can be in a first position, which enables the accumulator 314 to be in fluid communication with the first reverse modulation brake 302a. Thus, for example, the accumulator 314 can output a de-apply pressure signal (e.g., in a manner similar or identical to the accumulator 218 outputting a de-apply pressure signal, such as in conjunction with Figure 2The de-apply pressure signal flows through the parking brake valve 312, through the hydraulic mechanical valve 310, and through the first selector valve 302b to be received by the first reverse modulation brake 302a. The first reverse modulation brake 302a receives a de-apply brake pressure based on the de-apply pressure signal, which moves the first reverse modulation brake 302a to a de-apply position (e.g., a fully released position). In this way, when the braking system 300 is operated in the first mode, the first reverse modulation brake 302a does not apply a braking force to the first wheel 320a. Although this document describes the braking system 300 as operating in a first mode using a first reverse modulation braking circuit 302 to control operation of a first reverse modulation brake 302a, the braking system 300 may operate in the first mode in the same or similar manner and / or as described in more detail elsewhere herein: using a second reverse modulation braking circuit 304 to control a second reverse modulation brake 304a, using a third reverse modulation braking circuit 306 to control a third reverse modulation brake 306a, and using a fourth reverse modulation braking circuit 308 to control a fourth reverse modulation brake 308a.

[0060] In some embodiments, the braking system 300 can be operated in a second mode to move the first reverse modulating brake 302a from the de-applied position to the applied position based on the hydro-mechanical pressure signal. In other words, the braking system 300 can be operated in a second mode to apply a braking force (or braking torque) to the first wheel 320a based on the hydro-mechanical pressure signal (e.g., which is based on an operator input). As an example, the braking system 300 can be switched from operating in the first mode to operating in the second mode based on the operator input. For example, an operator (not shown) can communicate with an operator interface (e.g., in Figure 3 The operator interface 310 (shown as a brake pedal 322) interacts with a hydraulic mechanical valve 310 (e.g., a brake pedal valve) from an open position to a closed position based on the operator input. The hydraulic mechanical valve 310 modulates the de-apply pressure to a hydraulic mechanical modulating pressure based on the operator input (e.g., the brake pedal valve increases with movement of the brake pedal 322 and modulates a lower pressure based on the fluid connection between the hydraulic mechanical valve 310 and the tank 318). The hydraulic mechanical valve 310 outputs a hydraulic mechanical pressure signal (e.g., indicating the hydraulic mechanical modulating pressure) flowing through the first selector valve 302b (e.g., to be received by the first reverse modulation brake assembly 302a) based on the operator input.

[0061] The first reverse modulation brake 302a receives an application pressure based on the hydraulic mechanical pressure signal, which moves the first reverse modulation brake 302a from the de-application position to the application position (e.g., at the application position, the first reverse modulation brake 302a applies a braking force to the first wheel 320a based on the application pressure). In this way, when the braking system 300 operates in the second mode, the first reverse modulation brake 302a applies a braking force to the first wheel 320a. Although this document describes the braking system 300 using the first reverse modulation brake circuit 302 to control the operation of the first reverse modulation brake 302a in the second mode, the braking system 300 can operate in the second mode in the same or similar manner and / or as described in more detail elsewhere herein: using the second reverse modulation brake circuit 304 to control the second reverse modulation brake 304a, using the third reverse modulation brake circuit 306 to control the third reverse modulation brake 306a, and using the fourth reverse modulation brake circuit 308 to control the fourth reverse modulation brake 308a.

[0062] In some embodiments, the braking system 300 can be operated in a third mode to move the first reverse modulating brake 302a from the de-applied position to the applied position based on the electro-hydraulic pressure signal. In other words, the braking system 300 can be operated in a third mode to control the braking force (or braking torque) applied to the first wheel 320a based on the electro-hydraulic pressure signal.

[0063] In some embodiments, the controller 114 can set the electronic stability control braking mode to an active state based on detecting a stability event, as described in more detail elsewhere herein. The controller 114 can send a brake application command (e.g., an electro-hydraulic brake application command) based on the active state, and the first electro-hydraulic valve 302c can receive the brake application command. The first electro-hydraulic valve 302c can output a brake pressure based on the brake application command, which moves (e.g., shifts) the first selector valve 302b to a second position. As an example, when in the second position, the first selector valve 302b prevents the hydraulic mechanical valve 310 from being fluidly connected to the first reverse modulation brake 302a, and enables the first electro-hydraulic valve 302c to be fluidly connected to the first reverse modulation brake 302a (e.g., this enables the electro-hydraulic brake application command to override the brake application command based on the operator input). In this way, the first selector valve 302b prevents the first reverse modulation brake 302a from receiving pressurized hydraulic fluid from the hydraulic mechanical valve 310, and enables the first reverse modulation brake 302a to receive pressurized hydraulic fluid from the first electro-hydraulic valve 302c. Thus, in some embodiments, the electro-hydraulic brake apply command will override the brake apply command based on operator input.

[0064] In some embodiments, the controller 114 can determine the corrected application pressure based on the stability event, as described in more detail elsewhere herein. The first electro-hydraulic valve 302c outputs an application pressure (e.g., based on an electro-hydraulic pressure signal), and the first reverse modulation brake 302a receives the application pressure, which moves the first reverse modulation brake 302a from the first application position to the second application position (e.g., at the second application position, the first reverse modulation brake 302a applies a braking force to the first wheel 320a based on the application pressure). In this way, when the braking system 300 is operated in the third mode, the first reverse modulation brake 302a applies a braking force to the first wheel 320a. Although this document describes the operation of the braking system 300 in the third mode using the first reverse modulation braking circuit 302 to control the first reverse modulation brake 302a, the braking system 300 can operate in the third mode in the same or similar manner and / or as described in more detail elsewhere herein: using the second reverse modulation braking circuit 304 to control the second reverse modulation brake 304a, using the third reverse modulation braking circuit 306 to control the third reverse modulation brake 306a, and using the fourth reverse modulation braking circuit 308 to control the fourth reverse modulation brake 308a.

[0065] As indicated above, provide Figure 3 As an example. Other examples can be related to Figure 3 Different than described. Figure 3 The number and arrangement of devices shown in are provided as examples. Figure 3 There may be additional devices, fewer devices, different devices, or differently arranged devices than those shown. Figure 3 Two or more of the devices shown may be implemented in a single device, or Figure 3 The single device shown may be implemented as multiple distributed devices. Additionally or alternatively, Figure 3 The illustrated set of devices (e.g., one or more devices) may perform the operations described as being performed by Figure 3 Another group of devices is shown performing one or more functions.

[0066] Figure 4 is a diagram of an example braking system 400 with enhanced reverse modulation braking control. Figure 4 As shown, the braking system 400 includes a controller 114, one or more sensors 116, a first reverse modulation braking circuit 402, a second reverse modulation braking circuit 404, a third reverse modulation braking circuit 406, a fourth reverse modulation braking circuit 408, a hydraulic mechanical valve 410, a parking brake valve 412, a pressurized hydraulic fluid source 414, an accumulator 416, a pressure reducing valve 418, a blocking valve 420 and a tank 422.

[0067] The first reverse modulation brake circuit 402 includes a first reverse modulation brake 402a, a first electro-hydraulic pressure relief valve 402b (e.g., a first electronic pressure relief valve (eRV)), and a first isolation valve 402c. The first reverse modulation brake 402a is operably connected to the first electro-hydraulic pressure relief valve 402b, the first isolation valve 402c, and the blocking valve 420. The first isolation valve 402c is operably connected to the hydraulic mechanical valve 410 and the blocking valve 420.

[0068] The second reverse modulation brake circuit 404 includes a second reverse modulation brake 404a, a second electro-hydraulic pressure relief valve 404b (e.g., a second eRV), and a second isolation valve 404c. The second reverse modulation brake 404a is operably connected to the second electro-hydraulic pressure relief valve 404b, the second isolation valve 404c, and the blocking valve 420. The second isolation valve 404c is operably connected to the hydraulic mechanical valve 410 and the blocking valve 420.

[0069] The third reverse modulation brake circuit 406 includes a third reverse modulation brake 406a, a third electro-hydraulic pressure relief valve 406b (e.g., a third eRV), and a third isolation valve 406c. The third reverse modulation brake 406a is operably connected to the third electro-hydraulic pressure relief valve 406b, the third isolation valve 406c, and the blocking valve 420. The third isolation valve 406c is operably connected to the hydraulic mechanical valve 410 and the blocking valve 420.

[0070] The fourth reverse modulation brake circuit 408 includes a fourth reverse modulation brake 408a, a fourth electro-hydraulic pressure relief valve 408b (e.g., a fourth eRV), and a fourth isolation valve 408c. The fourth reverse modulation brake 408a is operably connected to the fourth electro-hydraulic pressure relief valve 408b, the fourth isolation valve 408c, and the blocking valve 420. The fourth isolation valve 408c is operably connected to the hydraulic mechanical valve 410 and the blocking valve 420.

[0071] Therefore, the hydraulic mechanical valve 410 is fluidly connected to the first reverse modulation braking circuit 402 (e.g., via the first isolation valve 402c), the second reverse modulation braking circuit 404 (e.g., via the second isolation valve 404c), the third reverse modulation braking circuit 406 (e.g., via the third isolation valve 406c) and the fourth reverse modulation braking circuit 408 (e.g., via the fourth isolation valve 408c).

[0072] The hydraulic mechanical valve 410 is operably connected to the parking brake valve 412. The pressurized hydraulic fluid source 414 is operably connected to the parking brake valve 412 and the accumulator 416. In some embodiments, the pressurized hydraulic fluid source 414 charges the accumulator 416 (e.g., the accumulator 416 stores pressurized hydraulic fluid and potential energy that can be used by one or more components of the braking system 400). The accumulator 416 is operably connected to the pressure reducing valve 418. The pressure reducing valve 418 is operably connected to the blocking valve 420. Therefore, the pressurized hydraulic fluid provided from the accumulator can flow through the pressure reducing valve 418, which enables the pressure reducing valve 418 to adjust the pressure of the pressurized hydraulic fluid received by the blocking valve 420.

[0073] In some embodiments, the pressurized hydraulic fluid and potential energy stored by the accumulator 416 can be used by the first electro-hydraulic pressure relief valve 402b, the second electro-hydraulic pressure relief valve 404b, the third electro-hydraulic pressure relief valve 406b, the fourth electro-hydraulic pressure relief valve 408b and / or the blocking valve 420, as well as other examples, as described in more detail elsewhere herein.

[0074] like Figure 4 As further shown, the first reverse modulation brake 402a is operably connected to the first wheel 424a (eg, Figure 1 a first wheel of the machine 100); a second reverse modulation brake 404a is operably connected to a second wheel 424b (eg, Figure 1 a second wheel of the machine 100); a third reverse modulation brake 406a is operably connected to a third wheel 424c (eg, Figure 1 and a fourth reverse modulating brake 408a operably connected to a fourth wheel 424d (eg, Figure 1 In some embodiments, the braking system 400 can selectively and independently control braking torque associated with the first wheel 424a (e.g., by using the first reverse-modulation braking circuit 402), the second wheel 424b (e.g., by using the second reverse-modulation braking circuit 404), the third wheel 424c (e.g., by using the third reverse-modulation braking circuit 406), and / or the fourth wheel 424d (e.g., by using the fourth reverse-modulation braking circuit 408), as described in more detail elsewhere herein.

[0075] In some embodiments, the brake system 400 can be operated in a first mode, a second mode, and a third mode to control the first reverse modulating brake 402a. For example, the brake system 400 can be operated in a first mode to maintain the first reverse modulating brake 402a in an unapplied position, can be operated in a second mode to move the first reverse modulating brake 402a from the unapplied position to the applied position based on a hydraulic-mechanical pressure signal, and / or can be operated in a third mode to move the first reverse modulating brake 402a from the unapplied position to the applied position based on an electro-hydraulic pressure signal.

[0076] In some embodiments, the first isolation valve 402c can be movable between a first position and a second position, and the blocking valve 420 can be movable between an open position and a closed position. When the first isolation valve 402c is in the first position and the blocking valve 420 is in the closed position, the first reverse modulation brake 402a can be in fluid communication with the hydraulic mechanical valve 410. When the first isolation valve 402c is in the second position and the blocking valve 420 is in the open position, the first reverse modulation brake 402a is in fluid communication with the pressure reducing valve 418 and the first electro-hydraulic pressure relief valve 402b.

[0077] Thus, for example, the pressurized hydraulic fluid source 414 can output a de-apply pressure signal that flows through the parking brake valve 412, through the hydraulic mechanical valve 410, and through the first isolation valve 402c to be received by the first reverse modulation brake 402a. The first reverse modulation brake 402a receives a de-apply brake pressure based on the de-apply pressure signal, which moves the first reverse modulation brake 402a to a de-apply position (e.g., a fully released position). Thus, when the brake system 400 is operated in the first mode, the first reverse modulation brake 402a does not apply a braking force to the first wheel 424a. Although this document describes the braking system 400 as operating in a first mode using a first reverse modulation braking circuit 402 to control operation of a first reverse modulation brake 402a, the braking system 400 may operate in the first mode in the same or similar manner and / or as described in more detail elsewhere herein: using a second reverse modulation braking circuit 404 to control a second reverse modulation brake 404a, using a third reverse modulation braking circuit 406 to control a third reverse modulation brake 406a, and using a fourth reverse modulation braking circuit 408 to control a fourth reverse modulation brake 408a.

[0078] In some embodiments, the braking system 400 can be operated in a second mode to move the first reverse modulating brake 402a from the de-applied position to the applied position based on the hydraulic-mechanical pressure signal. In other words, the braking system 400 can be operated in the second mode to apply a braking force (or braking torque) to the first wheel 424a based on the hydraulic-mechanical pressure signal. As an example, the braking system 400 can be switched from operating in the first mode to operating in the second mode based on an operator input. For example, an operator (not shown) can communicate with an operator interface (e.g., in Figure 4 The operator interface 426 (shown as brake pedal 426) interacts with the hydraulic mechanical valve 410 (e.g., brake pedal valve) based on the operator input, which moves the hydraulic mechanical valve 410 (e.g., brake pedal valve) from an open position to a closed position. The hydraulic mechanical valve 410 modulates the de-apply pressure to a hydraulic mechanical modulated pressure based on the operator input (e.g., the brake pedal valve increases with the movement of the brake pedal 426 and modulates a lower pressure based on the fluid connection between the hydraulic mechanical valve 410 and the tank 422). The hydraulic mechanical valve 410 outputs a hydraulic mechanical pressure signal based on the operator input (e.g., which indicates the hydraulic mechanical modulated pressure).

[0079] The hydraulic mechanical pressure signal flows through the first isolation valve 402c and is received by the first reverse modulation brake 402a, which moves the first reverse modulation brake 402a from the de-applied position to the applied position (e.g., in the applied position, the first reverse modulation brake 402a applies a braking force to the first wheel 424a based on the applied pressure). In this way, when the braking system 400 operates in the second mode, the first reverse modulation brake 402a applies a braking force to the first wheel 424a. Although this document describes the braking system 400 using the first reverse modulation brake circuit 402 to control the operation of the first reverse modulation brake 402a in the second mode, the braking system 400 can operate in the second mode in the same or similar manner and / or as described in more detail elsewhere herein: using the second reverse modulation brake circuit 404 to control the second reverse modulation brake 404a, using the third reverse modulation brake circuit 406 to control the third reverse modulation brake 406a, and using the fourth reverse modulation brake circuit 408 to control the fourth reverse modulation brake 408a.

[0080] In some embodiments, the braking system 400 can be operated in a third mode to move the first reverse modulating brake 402a from the de-applied position to the applied position based on the electro-hydraulic pressure signal. In other words, the braking system 400 can be operated in a third mode to control the braking force (or braking torque) applied to the first wheel 424a based on the electro-hydraulic pressure signal (e.g., which is based on the electro-hydraulic input).

[0081] In some embodiments, the controller 114 can set the electronic stability control braking mode to an active state based on detecting a stability event, as described in more detail elsewhere herein. The controller 114 can maintain an electro-hydraulic pressure supply provided by the pressurized hydraulic fluid provided by the accumulator 416 (e.g., through the pressure reducing valve 418 and the blocking valve 420) at the first electro-hydraulic pressure relief valve 402b based on the active state.

[0082] In some embodiments, the controller 114 may cause the first electro-hydraulic pressure relief valve 402b to maintain an electro-hydraulic pressure signal. For example, the controller 114 may send a control signal, and the first electro-hydraulic pressure relief valve 402b may receive the control signal, which causes the first electro-hydraulic pressure relief valve 402b to maintain an electro-hydraulic pressure signal.

[0083] In some embodiments, the controller 114 can move the blocking valve 420 from a closed position to an open position. For example, the controller 114 can send a control signal, and the blocking valve 420 can receive the control signal, which moves the blocking valve 420 from an open position to a closed position, which prevents the hydraulic mechanical valve 410 from fluidly communicating with the first isolation valve 402c.

[0084] In some embodiments, the controller 114 can move the first isolation valve 402c from the first position to the second position. For example, the controller 114 can send a control signal, and the blocking valve 420 can receive the control signal, which causes the blocking valve 420 to move (e.g., shift) to the closed position. When in the closed position, the blocking valve 420 prevents the hydraulic mechanical valve 410 from sending a pressure signal (e.g., based on operator input) to the first reverse modulation brake 402a. In addition, when the blocking valve 420 is in the closed position, the pressure reducing valve 418 is operably connected to the first isolation valve 402c (e.g., the pressure reducing valve 418 is in fluid communication with the first isolation valve 402c). The first isolation valve 402c moves (e.g., shifts) to the closed position in response to receiving pressure from the pressure reducing valve 418.

[0085] When in a closed position, the first isolation valve 402c prevents the hydraulic mechanical valve 410 from sending a pressure signal to the first reverse modulation brake 402a (e.g., based on operator input), and prevents the reverse modulation brake 402a from receiving pressure signals from the second reverse modulation brake circuit 404, the third reverse modulation brake circuit 406, and the fourth reverse modulation brake circuit 408 (e.g., because the pressure associated with each of the first reverse modulation brake circuit 402, the second reverse modulation brake circuit 404, the third reverse modulation brake circuit 406, and / or the fourth reverse modulation brake circuit 408 may be associated with different pressures).

[0086] In other words, for example, the first isolation valve 402c prevents the first reverse modulation brake 402a from being in fluid communication with the hydraulic mechanical valve 410, and enables the first reverse modulation brake 402a to be in fluid communication with the blocking valve 420 and the first electro-hydraulic pressure relief valve 402b. In this way, the blocking valve 420 provides pressurized hydraulic fluid at a pressure based on the electro-hydraulic signal maintained by the first electro-hydraulic valve (e.g., when the pressurized hydraulic fluid flows from the blocking valve 420 to the first reverse modulation brake 402a, the first electro-hydraulic pressure relief valve 402b discharges excess pressure).

[0087] This enables the hydraulic mechanical pressure signal to be blocked and the electro-hydraulic pressure to be received by the first reverse modulation brake 402a. The first reverse modulation brake 402a receives an application pressure (e.g., based on the electro-hydraulic pressure signal), which moves the first reverse modulation brake 402a from a first de-applied position to a second applied position (e.g., at the second applied position, the first reverse modulation brake 402a applies a braking force to the first wheel 424a based on the application pressure). In this way, when the brake system 400 is operated in the third mode, the first reverse modulation brake 402a applies a braking force to the first wheel 424a. Although this document describes the braking system 400 as operating in a third mode using a first reverse modulation braking circuit 402 to control operation of a first reverse modulation brake 402a, the braking system 400 may operate in the third mode in the same or similar manner and / or as described in more detail elsewhere herein: using a second reverse modulation braking circuit 404 to control a second reverse modulation brake 404a, using a third reverse modulation braking circuit 406 to control a third reverse modulation brake 406a, and using a fourth reverse modulation braking circuit 408 to control a fourth reverse modulation brake 408a.

[0088] As indicated above, provide Figure 4 As an example. Other examples can be related to Figure 4 Different than described. Figure 4 The number and arrangement of devices shown in are provided as examples. Figure 4 There may be additional devices, fewer devices, different devices, or differently arranged devices than those shown. Figure 4 Two or more of the devices shown may be implemented in a single device, or Figure 4 The single device shown may be implemented as multiple distributed devices. Additionally or alternatively, Figure 4 The illustrated set of devices (e.g., one or more devices) may perform the operations described as being performed by Figure 4 Another group of devices is shown performing one or more functions.

[0089] Industrial Applicability

[0090] As indicated above, the disclosed subject matter relates to a braking system with enhanced reverse modulation brake control. The braking system can be used with any machine such as a UAT. Generally, the braking system can be used to control a reverse modulation brake between a de-apply position and an apply position. The braking system can provide a braking pressure, and the reverse modulation brake can receive the braking pressure, which is based on at least one of a hydraulic mechanical pressure signal or an electro-hydraulic pressure signal, as described in more detail elsewhere herein. Thus, for example, the braking system can selectively and independently control the braking pressure supplied to the reverse modulation brake. As an example, the braking system can prevent the hydraulic mechanical pressure signal from controlling the braking pressure supplied to the reverse modulation brake, and can enable the electro-hydraulic pressure signal to control the braking pressure supplied to the reverse modulation brake.

[0091] Thus, in some embodiments, the braking system may include a reverse modulation brake (e.g., the reverse modulation brake is operably connected to the wheels of the machine); a relay valve, the relay valve is in fluid communication with the reverse modulation brake, and is used to supply the reverse modulation brake with at least one of a de-apply pressure that places the reverse modulation brake in a de-apply position or an application pressure that places the reverse modulation brake in an applied position. The application pressure may be based on at least one of a hydraulic mechanical pressure signal or an electro-hydraulic pressure signal. For example, the application pressure may be lower than the de-apply pressure. The braking system may also include a hydraulic mechanical valve and an electro-hydraulic valve, the hydraulic mechanical valve being in fluid communication with the relay valve for outputting a hydraulic mechanical pressure signal, the electro-hydraulic valve being in fluid communication with the relay valve for outputting an electro-hydraulic pressure signal. The braking system may also include a blocking valve, the blocking valve being in fluid communication with the relay valve and the hydraulic mechanical valve, and the blocking valve being movable between a closed position and an open position. When the blocking valve is in an open position, the blocking valve may enable the hydraulic mechanical valve to be in fluid communication with the relay valve, and when the blocking valve is in a closed position, the blocking valve may prevent the hydraulic mechanical valve from being in fluid communication with the relay valve.

[0092] Figure 5 is a flow chart of an example process 500 associated with enhanced reverse modulation braking control. In some embodiments, Figure 5 One or more process blocks of may be performed by a braking system (eg, braking system 200, braking system 300, and / or braking system 400). In some embodiments, Figure 5 One or more of the process blocks of may be performed by another device or group of devices, such as a controller (eg, controller 114 ), separate from or including the braking system.

[0093] like Figure 5As shown, process 500 may include receiving stability data associated with a plurality of wheels of a machine (block 510). For example, as described above, a braking system may receive stability data associated with a plurality of wheels of a machine. In some embodiments, the stability data may be associated with at least one of a wheel slip event, a wheel spin event, an oversteer event, an understeer event, and / or an anti-rollover event.

[0094] like Figure 5 As further shown, process 500 may include initiating an automatic electro-hydraulic braking operation associated with a brake operably connected to one of the plurality of wheels based on the stability data (block 520). For example, as described above, the braking system may initiate an automatic electro-hydraulic braking operation associated with a brake operably connected to the wheel based on the stability data. In some embodiments, the brake may be moved from a de-applied position to an applied position to apply a braking force to the wheel. In some embodiments, the automatic electro-hydraulic braking operation is associated with at least one of an anti-lock braking system, a traction control system, and / or a dynamic stability control system.

[0095] like Figure 5 As further shown in FIG. 5 , process 500 may include preventing an operator input from controlling a brake pressure supplied to the brake via a valve configuration of a brake system (e.g., a valve configuration of brake system 200, brake system 300, and / or brake system 400) based on initiating the automatic electro-hydraulic braking operation (block 530). For example, as described above, based on initiating the automatic electro-hydraulic braking operation, the brake system may prevent an operator input from controlling a brake pressure supplied to the brake via a valve configuration (e.g., associated with brake system 200, brake system 300, and / or brake system 400). In some embodiments, preventing the operator input from controlling the brake pressure supplied to the brake via the valve configuration by the brake system includes closing, by the brake system, a blocking valve that causes a pressure associated with the operator input to be lower than a pressure associated with the electro-hydraulic pressure signal.

[0096] like Figure 5 As further shown, process 500 may include reducing the brake pressure supplied to the brake via the valve configuration to move the brake from the de-applied position to the applied position to apply a braking force to the wheel (block 540). For example, as described above, the braking system may reduce the brake pressure supplied to the brake via the valve configuration to move the brake from the de-applied position to the applied position to apply a braking force to the wheel. In some embodiments, the braking force is provided via a mechanical spring of the brake. In some embodiments, process 500 also includes stopping the automatic electro-hydraulic braking operation and enabling operator input to control the brake pressure supplied to the brake via the valve configuration.

[0097] Although Figure 5An example block diagram of process 500 is shown, but in some implementations, process 500 may include Figure 5 Additional blocks, fewer blocks, different blocks, or differently arranged blocks than those depicted in process 500. Additionally or alternatively, two or more of the blocks of process 500 may be executed in parallel.

[0098] Thus, because the braking system can selectively and independently control the reverse modulating brakes of the machine, the braking system can provide electro-hydraulic braking operations that require independent control of the braking force applied to the wheels of the machine (e.g., via the reverse modulating brakes). For example, the braking system can be used to provide ABS braking operations, TCS braking operations, and / or DSC braking operations, among other examples. In addition, the braking system can provide electro-hydraulic braking operations that require blocking of operator input to implement the electro-hydraulic braking operations (e.g., because the braking system can override operator input to provide automatic electro-hydraulic braking operations).

[0099] For example, the brake system can use one or more valves described in more detail elsewhere herein to prevent the reverse modulating brake from receiving brake pressure based on a hydro-mechanical pressure signal, and can enable the reverse modulating brake to receive brake pressure based on an electro-hydraulic pressure signal (e.g., which is based on an electronic input). In this way, the brake system can provide an automatic electro-hydraulic brake operation that requires blocking an operator input to implement the automatic electro-hydraulic brake operation, such as an ABS brake operation.

[0100] Embodiments of the disclosed subject matter can also be described according to the following bracketed content.

[0101] (1) A braking system for a machine, the braking system comprising: a reverse modulation brake, the reverse modulation brake being operably connected to a wheel of the machine; a relay valve, the relay valve being in fluid communication with the reverse modulation brake, for supplying at least one of a de-application pressure for placing the reverse modulation brake in a de-application position or an application pressure for placing the reverse modulation brake in an application position to the reverse modulation brake, wherein the application pressure is based on at least one of a hydraulic mechanical pressure signal or an electro-hydraulic pressure signal, and wherein the application pressure is lower than the de-application pressure; and a hydraulic logic element, the hydraulic logic element being in fluid communication with the relay valve, for supplying the hydraulic mechanical pressure signal or the electro-hydraulic pressure signal to the relay valve. at least one of the electro-hydraulic pressure signals, wherein the hydraulic logic element includes a first inlet and a second inlet; a hydraulic mechanical valve, the hydraulic mechanical valve is fluidly connected to the first inlet for outputting the hydraulic mechanical pressure signal to the first inlet; an electro-hydraulic valve, the electro-hydraulic valve is fluidly connected to the second inlet for outputting the electro-hydraulic pressure signal to the second inlet; and a blocking valve, the blocking valve is fluidly connected to the hydraulic logic element and the hydraulic mechanical valve, the blocking valve is movable between a closed position and an open position, wherein when the blocking valve is in the closed position, the hydraulic mechanical valve is not fluidly connected to the first inlet, and wherein the first inlet is fluidly connected to a tank associated with the braking system.

[0102] (2) The brake system according to (1), wherein the hydraulic logic element is a shuttle valve that outputs a higher pressure signal of the hydraulic mechanical pressure signal and the electro-hydraulic pressure signal.

[0103] (3) The braking system according to any one of (1) to (2) further includes: a controller, which is configured to: receive stability data associated with the wheels of the machine from a sensor device of the machine; set the electronic stability braking mode to an active state; move the blocking valve to the closed position based on the active state; determine a corrected applied pressure; and cause the electro-hydraulic valve to output the electro-hydraulic pressure signal based on the corrected applied pressure.

[0104] (4) The brake system according to any one of (1) to (3), wherein the electro-hydraulic valve is an electronic pressure reducing valve (ePRV).

[0105] (5) The brake system according to any one of (1) to (4), wherein the electro-hydraulic valve is associated with at least one of: an anti-lock brake system, a traction control system, or a dynamic stability control system.

[0106] (6) The brake system according to any one of (1) to (5), further comprising:

[0107] An accumulator operably connected to at least one of: the relay valve or the electro-hydraulic valve.

[0108] (7) The brake system of any one of (1) to (6), wherein the reverse modulation brake is a spring applied and hydraulically released brake.

[0109] (8) A method for enhanced reverse modulation brake control of a machine, comprising: receiving stability data associated with a plurality of wheels of the machine through a braking system of the machine; initiating an automatic electro-hydraulic braking operation associated with a brake operably connected to one of the plurality of wheels through the braking system and based on the stability data, wherein the brake is capable of moving from an unapplied position to an applied position to apply a braking force to the wheel; preventing operator input from controlling a braking pressure supplied to the brake through a relay valve of the braking system through the braking system and based on initiating the automatic electro-hydraulic braking operation; and reducing the braking pressure supplied to the brake through the relay valve through the braking system and based on an electro-hydraulic pressure signal to move the brake from the unapplied position to the applied position to apply the braking force to the wheel.

[0110] (9) The method according to (8), wherein the electro-hydraulic pressure signal is provided by an electro-hydraulic pressure reducing valve (ePRV).

[0111] (10) A method according to any one of (8) to (9), wherein preventing the operator input from controlling the brake pressure supplied to the brake via the relay valve through the brake system includes: closing a blocking valve through the brake system, wherein the blocking valve causes the pressure associated with the operator input to be lower than the pressure associated with the electro-hydraulic pressure signal.

[0112] (11) The method of any one of (8) to (10), further comprising: stopping the automatic electro-hydraulic braking operation; and enabling the operator input to control the brake pressure supplied to the brake via the relay valve.

[0113] (12) The method of any one of (8) to (11), wherein the automatic electro-hydraulic braking operation is associated with at least one of: an anti-lock braking system, a traction control system, or a dynamic stability control system.

[0114] (13) A method according to any one of (8) to (12), wherein the stability data is associated with at least one of: a wheel slip event, a wheel spin event, an oversteer event, an understeer event and / or an anti-rollover event.

[0115] (14) The method according to any one of (8) to (13), wherein the braking force is provided via a mechanical spring of the brake.

[0116] (15) A machine having one or more wheels, comprising: a braking system, the braking system comprising: a relay valve in fluid communication with a brake operably connected to one of the one or more wheels, wherein the relay valve is associated with providing to the brake at least one of: a release brake pressure associated with maintaining the brake in an unapplied position, or a modulated brake pressure less than the release brake pressure associated with moving the brake from the unapplied position to an applied position to apply a braking force to the wheel, and wherein the modulated pressure is based on at least one of a hydraulic-mechanical pressure signal or an electro-hydraulic pressure signal; a hydraulic-mechanical valve in fluid communication with the relay valve, wherein The hydraulic mechanical valve provides the hydraulic mechanical pressure signal in response to receiving a hydraulic mechanical input, and the relay valve receives the hydraulic mechanical pressure signal; an electro-hydraulic valve, which is fluidly connected to the relay valve, wherein the electro-hydraulic valve provides the electro-hydraulic pressure signal in response to receiving an electronic input, and the relay valve receives the electro-hydraulic pressure signal; and a blocking valve, which is positioned to be fluidly connected between the hydraulic mechanical valve and the relay valve, wherein the blocking valve is capable of moving between a closed position and an open position, wherein the closed position prevents the relay valve from receiving the hydraulic mechanical pressure signal from the hydraulic mechanical valve, and the open position enables the relay valve to receive the hydraulic mechanical pressure signal from the hydraulic mechanical valve.

[0117] (16) The machine according to (15), wherein the electrohydraulic valve is an electronic pressure reducing valve (ePRV).

[0118] (17) The machine of any one of (15) to (16), wherein the electronic input is associated with automatic electro-hydraulic brake operation.

[0119] (18) The machine of any one of (15) to (17), wherein the electronic input is received from at least one of: an anti-lock braking system, a traction control system, or a dynamic stability control system.

[0120] (19) The machine of any one of (15) to (18), wherein the brake is a spring applied and hydraulically released brake.

[0121] (20) The machine of any one of (15) to (19), wherein the machine is an underground articulated truck.

[0122] As used herein, the term "component" is intended to be broadly interpreted as hardware, firmware, or a combination of hardware and software. Obviously, the systems and / or methods described herein can be implemented in different forms of hardware, firmware, and / or a combination of hardware and software. The actual dedicated control hardware or software code used to implement these systems and / or methods does not limit the implementation method. Therefore, the operation and behavior of the systems and / or methods are described herein without reference to specific software code, and it should be understood that based on the description herein, software and hardware can be used to implement the systems and / or methods.

[0123] As used herein, satisfying a threshold may refer to a value greater than a threshold, greater than or equal to a threshold, less than a threshold, less than or equal to a threshold, equal to a threshold, not equal to a threshold, etc., depending on the context.

[0124] To the extent that the above-described embodiments collect, store, or use personal information of an individual, it should be understood that such information should be used in accordance with all applicable laws regarding the protection of personal information. Additionally, the collection, storage, and use of such information may be subject to the individual's consent to such activities, for example, through well-known "opt-in" or "opt-out" processes, which may be appropriate to the circumstances and type of information. The storage and use of personal information may be in an appropriately secure manner reflecting the type of information, for example, through various encryption and anonymization techniques for particularly sensitive information.

[0125] Even though particular combinations of features are recited in the claims and / or disclosed in the specification, these combinations are not intended to limit the disclosure of the various embodiments. In fact, many of these features may be combined in ways that are not specifically recited in the claims and / or disclosed in the specification. Although each dependent claim listed below may be directly dependent on only one claim, the disclosure of the various embodiments includes each dependent claim in combination with all other claims in the claim set. As used herein, a phrase referring to "at least one" in a list of items refers to any combination of these items, including single members. As an example, "at least one of: a, b, or c" is intended to cover a, b, c, ab, ac, bc, and abc, as well as any combination of multiple identical items.

[0126] When a "processor" or "one or more processors" (or another device or component, such as a "controller" or "one or more controllers") is described or claimed (either within a single claim or across multiple claims) as performing or being configured to perform multiple operations, the language is intended to broadly cover a variety of processor architectures and environments. For example, unless otherwise expressly stated (e.g., via the use of "a first processor" and "a second processor" or other language that distinguishes the processors in the claims), the language is intended to cover a single processor that performs or is configured to perform all operations, a group of processors that collectively perform or are configured to perform all operations, a first processor that performs or is configured to perform a first operation and a second processor that performs or is configured to perform a second operation, or any combination of processors that perform or are configured to perform these operations. For example, when a claim has the following form: "One or more processors are configured to: perform X; perform Y; and perform Z," the claim should be interpreted to mean "one or more processors are configured to perform X; one or more (possibly different) processors are configured to perform Y; and one or more (again potentially different) processors are configured to perform Z."

[0127] Elements, actions or instructions used herein should not be interpreted as critical or necessary, unless explicitly described in this way. In addition, as used herein, the articles "a" and "an" are intended to include one or more projects, and can be used interchangeably with "one or more". In addition, as used herein, the article "the" is intended to include one or more projects quoted in conjunction with the article "the", and can be used interchangeably with "the one or more". In addition, as used herein, the term "set" is intended to include one or more projects (for example, related projects, unrelated projects, or a combination of related and unrelated projects), and can be used interchangeably with "one or more". In the case of only wanting a project, phrases "only one" or similar language are used. In addition, as used herein, the terms "has", "have", "having" etc. are intended to be open terms. In addition, the phrase "based on" is intended to represent "based at least in part on", unless otherwise explicitly stated. Furthermore, as used herein, the term "or" when used in series is intended to be inclusive and may be used interchangeably with "and / or" unless expressly stated otherwise (eg, if used in combination with "either" or "only one").

[0128] In the foregoing description, various exemplary embodiments have been described with reference to the accompanying drawings. However, it will be apparent that various modifications and changes may be made thereto, and additional embodiments may be implemented, without departing from the broader scope of the invention as set forth in the appended claims. Accordingly, the description and drawings are to be regarded in an illustrative rather than a restrictive sense.

Claims

1. A braking system for a machine, the braking system comprising: a reverse modulating brake operatively connected to a wheel of the machine; a relay valve in fluid communication with the reverse modulation brake for supplying at least one of a de-apply pressure to the reverse modulation brake to place the reverse modulation brake in an de-apply position or an apply pressure to the reverse modulation brake to place the reverse modulation brake in an applied position, wherein the applied pressure is based on at least one of a hydraulic mechanical pressure signal or an electro-hydraulic pressure signal, and wherein the applied pressure is lower than the de-applied pressure; a hydraulic logic element in fluid communication with the relay valve for supplying the at least one of the hydraulic-mechanical pressure signal or the electro-hydraulic pressure signal to the relay valve, wherein the hydraulic logic element comprises a first inlet and a second inlet; a hydraulic mechanical valve in fluid communication with the first inlet for outputting the hydraulic mechanical pressure signal to the first inlet; an electro-hydraulic valve, the electro-hydraulic valve being in fluid communication with the second inlet and configured to output the electro-hydraulic pressure signal to the second inlet; as well as a blocking valve in fluid communication with the hydraulic logic element and the hydraulic mechanical valve, the blocking valve being movable between a closed position and an open position, wherein when the blocking valve is in the closed position, the hydraulic mechanical valve is not in fluid communication with the first inlet, and Wherein the first inlet is in fluid communication with a tank associated with the braking system. 2 . The brake system according to claim 1 , wherein the hydraulic logic element is a shuttle valve that outputs a higher pressure signal of the hydraulic mechanical pressure signal and the electro-hydraulic pressure signal.

3. The braking system according to claim 1, further comprising: A controller, the controller being configured to: receiving stability data associated with the wheel of the machine from a sensor device of the machine; Set the Electronic Stability Braking mode to active; moving the blocking valve to the closed position based on the active state; Determine the corrected applied pressure; as well as The electro-hydraulic valve is caused to output the electro-hydraulic pressure signal based on the corrected applied pressure.

4. The brake system of claim 1, wherein the electro-hydraulic valve is an electronic pressure reducing valve (ePRV).

5. The brake system of claim 1 , wherein the electro-hydraulic valve is associated with at least one of: Anti-lock braking system, Traction control system, or Dynamic Stability Control.

6. The braking system according to claim 1, further comprising: An accumulator operably connected to at least one of: The relay valve, or The electro-hydraulic valve.

7. The braking system of claim 1 wherein the reverse modulating brake is a spring applied and hydraulically released brake.

8. A method for enhanced reverse modulation brake control of a machine, comprising: receiving stability data associated with a plurality of wheels of the machine via a braking system of the machine; initiating, by the brake system and based on the stability data, an automatic electro-hydraulic braking operation associated with a brake operatively connected to one of the plurality of wheels, wherein the brake is movable from an unapply position to an apply position to apply a braking force to the wheel; preventing, by the brake system and based on initiating the automatic electro-hydraulic brake operation, operator input from controlling brake pressure supplied to the brake via a relay valve of the brake system; as well as The brake pressure supplied to the brake via the relay valve is reduced by the brake system and based on an electro-hydraulic pressure signal to move the brake from the de-applied position to the applied position, thereby applying the braking force to the wheel.

9. The method of claim 8, wherein the electro-hydraulic pressure signal is provided by an electro-hydraulic pressure reducing valve (ePRV).

10. The method of claim 8, wherein preventing, by the brake system, the operator input from controlling the brake pressure supplied to the brake via the relay valve comprises: A blocking valve is closed by the brake system, the blocking valve causing a pressure associated with the operator input to be lower than a pressure associated with the electro-hydraulic pressure signal.

11. The method according to claim 8, further comprising: stopping the automatic electro-hydraulic brake operation; as well as The operator input is enabled to control the brake pressure supplied to the brake via the relay valve.

12. The method of claim 8, wherein the automatic electro-hydraulic brake operation is associated with at least one of: Anti-lock braking system, Traction control system, or Dynamic Stability Control.

13. The method of claim 8, wherein the stability data is associated with at least one of: Wheel slip events, Wheel slip events, Oversteering events, Understeer event, or Prevent tip-over events.

14. The method of claim 8, wherein the braking force is provided via a mechanical spring of the brake.

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