Compaction state incorporating tire variables

Abstract

A system for determining a compaction state of a work material during a compaction operation includes a roller associated with a machine for engaging and compacting the work material; a power loss sensor for generating a power loss signal indicative of a power loss of the machine; a speed sensor for generating a speed signal indicative of a speed of the machine; at least one deflectable tire associated with the machine for engaging the working material, the at least one deflectable tire having tire characteristic data associated therewith; a tire pressure sensor for generating a tire pressure signal indicative of a tire pressure of the at least one deflectable tire; and the controller is used for receiving the power loss signal from the power loss sensor and receiving the speed signal from the speed sensor.

Description

Technical Field

[0001] The present invention generally relates to machines for compacting materials, and more specifically to systems, methods and controllers for determining the compaction state of working materials on a working surface. Background Technology

[0002] Compaction machines, or compactors, are commonly used to compact work materials (such as soil, gravel, and asphalt) to a desired density during the construction of buildings, roads, parking lots, and other structures. Additionally, compactors are frequently used to compact recently moved and / or relatively soft materials at mining sites and landfills. The compaction process typically requires multiple passes over the work material to achieve the desired density.

[0003] Determining whether the desired degree of compaction has been achieved is typically estimated in various ways. In some cases, compaction can be approximated by measuring the state of the compaction system, which is determined by measuring the amount of power required to move the compactor along the work site surface. The state of the compaction system can be determined relative to an absolute scale or maximum compaction volume. However, many variables can affect the resulting state of the compaction system, including whether a vibration system is used with the compactor, the composition of the material to be compacted, the thickness of the material to be compacted, the width of the compaction surface, the rolling resistance of the compactor, and the condition of the compactor's tires.

[0004] US 9,207,157 describes a method and apparatus for using with a compactor having a vibration system to determine the compaction properties of a material. The compaction properties can be determined as a function of the compactor's inclination and speed, power losses from the compaction operation, and a vibration compensation factor based on the vibration characteristics of the vibration system. US 9,207,157 does not consider the condition of the compactor's tires when determining the compaction properties. Summary of the Invention

[0005] One aspect of the invention relates to a system for determining the compaction state of work material during a compaction operation, the system comprising: a roller associated with and configured to engage and compact the work material; a power loss sensor configured to generate a power loss signal indicating power loss of the machine; a speed sensor configured to generate a speed signal indicating speed of the machine; at least one deflectable tire associated with and configured to engage the work material, the at least one deflectable tire having tire characteristic data associated therewith; a tire pressure sensor configured to generate a tire pressure signal indicating tire pressure of the at least one deflectable tire; and a controller configured to: receive the power loss signal from the power loss sensor, receive the speed signal from the speed sensor, receive at least one of the tire pressure signal from the tire pressure sensor and the tire characteristic data, determine the total power of the machine based on the power loss signal, determine the frictional loss power of the machine based on the speed signal and the tire pressure signal and the tire characteristic data, and determine the actual drive power of the machine based on the total power and the frictional loss power, the actual drive power corresponding to the compaction state of the work material.

[0006] Another aspect of the invention relates to a method for determining the compaction state of work material on a work surface during a compaction operation, the method comprising: operating a machine on the work surface, the machine including rollers configured to engage and compact the work material; receiving a power loss signal indicating power loss of the machine; receiving a speed signal indicating the speed of the machine; receiving a tire pressure signal indicating tire pressure of at least one deflectable tire of the machine, the at least one deflectable tire having associated tire characteristic data; determining the total power of the machine based on the power loss signal; determining the frictional loss power of the machine based on at least one of the speed signal, the tire pressure signal, and the tire characteristic data; and determining the actual drive power of the machine based on the total power and the frictional loss power, the actual drive power corresponding to the compaction state of the work material.

[0007] Another aspect of the invention relates to a controller for determining the compaction state of work material during a compaction operation of a machine having rollers for engaging and compacting the work material and at least one deflectable tire having associated tire characteristic data. The controller is configured to: receive a power loss signal indicating power loss of the machine; receive a speed signal indicating the speed of the machine; receive a tire pressure signal indicating tire pressure of the at least one deflectable tire and at least one of the tire characteristic data; determine the total power of the machine based on the power loss signal; determine the frictional loss power of the machine based on at least one of the speed signal, the tire pressure signal, and the tire characteristic data; and determine the actual drive power of the machine based on the total power and the frictional loss power, the actual drive power corresponding to the compaction state of the work material. Attached Figure Description

[0008] Figure 1 A schematic diagram of the machine according to the present invention is shown;

[0009] Figure 2 It shows the relationship with Figure 1 A schematic diagram of an exemplary drive system, vibration system, and operator station used in conjunction with the machine;

[0010] Figure 3 A block diagram showing the state of the compaction system according to the present invention is shown; and

[0011] Figure 4 A flowchart is shown for the process of determining the compaction state of the working surface during a compaction operation. Detailed Implementation

[0012] The system, method, and controller described in this paper overcome the problems of the prior art by incorporating consideration of one or more variables associated with one or more tires of a compactor to determine compaction performance. By incorporating such variables, compaction performance can be determined more accurately.

[0013] The systems, methods, and controllers described herein can be applied to machines 10 such as compactors, which engage with a working surface 102 above the work material 101 to compact the work material 101 and prepare it for subsequent use or otherwise reduce its volume. Such systems, methods, and controllers can be used at construction sites, road construction sites, mining sites, landfills, or any other area where compaction of the work material 101 is desired. The work material 101 can include any material, such as asphalt, gravel, soil, sand, landfill waste, and other types of materials.

[0014] Figure 1 A schematic diagram of machine 10 is depicted, which is, for example, a self-propelled single-drum compactor having a single cylindrical drum or roller 11 for compacting work material 101 at a work site 100. Machine 10 includes a frame 12 and a prime mover such as an engine 13. Engine 13 is the drive system 14 ( Figure 2 As part of the machine, drive system 14 propels machine 10 as desired. The systems, methods, and controllers described herein can be used with any machine propulsion and drivetrain mechanism applicable in the art, including hydrostatic, electric, or mechanical drives. Drive system 14 can be operated to drive roller 11 and / or one or more deflectable tires 15.

[0015] In one embodiment, the drive system 14 may be a hydrostatic system, wherein the engine 13 is operatively connected to the first pump 16 and the second pump 17, such as... Figure 2As shown. Although a dual-pump system has been shown and discussed, it is conceivable that the invention is equally applicable to systems having multiple pumps in addition to two (e.g., a single-pump system).

[0016] Each of the first pump 16 and the second pump 17 can be operably hydraulically connected to a first power motor 20 and a second motor 21 via a first hydraulic line 22 and a second hydraulic line 23, respectively. The first motor 20 can be driven by pressurized hydraulic fluid from the first pump 16 to rotate the roller 11, and the second motor 21 can be driven by pressurized hydraulic fluid from the second pump 17 to rotate the deflectable tire 15.

[0017] Each of the first pump 16 and the second pump 17 can be a variable displacement pump with a displacement controlled by the controller 51. In an embodiment, signals from the controller 51 can be used to control or adjust the displacement of the first pump 16 and the second pump 17. The first pump 16 and the second pump 17 can each direct pressurized hydraulic fluid into and out of their respective motors in two different directions to operate the motors in forward and backward directions. The first pump 16 and the second pump 17 can each include a stroke adjustment mechanism, such as a swashplate, the position of which is hydraulically or electromechanically adjusted to change the pump output (e.g., discharge pressure or rate). The displacement of each of the first pump 16 and the second pump 17 can be adjusted from a zero displacement position to a maximum displacement position, where there is essentially no fluid discharged from the pump, and where fluid is discharged from the pump at a maximum rate. The displacement of each of the first pump 16 and the second pump 17 can be adjusted such that fluid flows into its first hydraulic line 22 or its second hydraulic line 23, allowing the pump to drive its respective motor in both forward and reverse directions depending on the direction of fluid flow. Each of the first pump 16 and the second pump 17 can be operatively connected to the engine 13 of the machine 10 by, for example, a shaft, belt or any other suitable means.

[0018] Each of the first motor 20 and the second motor 21 can be driven to rotate by a pressure differential of fluid generated by its respective pump and supplied through a first hydraulic line 22 and a second hydraulic line 23. More specifically, each motor may include a first chamber and a second chamber located on opposite sides of a pumping mechanism, such as an impeller, plunger, or a series of pistons. When the first chamber is filled via the first hydraulic line 22 with pressurized fluid from the pump and the second chamber is discharged via the second hydraulic line 23 with fluid returned to the pump, the pumping mechanism is actuated to move or rotate in a first direction (e.g., in the forward travel direction). Conversely, when the first chamber is discharged and the second chamber is filled with pressurized fluid, the pumping mechanism is actuated to move or rotate in the opposite direction (e.g., in the backward travel direction). The flow rates of the fluid flowing into and out of the first and second chambers determine the output speed of the motor, while the pressure differential across the pumping mechanism determines the output torque.

[0019] Each of the first motor 20 and the second motor 21 can be a variable displacement motor with a displacement controlled by the controller 51. In this configuration, each motor has an unlimited number of configurations or displacements. In another embodiment, each of the first motor 20 and the second motor 21 can be a fixed and / or multi-speed motor. In this configuration, each motor has a limited number of configurations or displacements (e.g., two), and the motor can move between these configurations or displacements. Thus, each motor can operate as a fixed displacement motor with multiple different displacements.

[0020] Machine 10 may also include typically 30 ( Figure 1 The vibration or vibration system indicated herein, associated with roller 11, applies compressive force to work material 101. More specifically, in addition to the weight of roller 11 and machine 10 being applied to work material 101 to apply compressive force, vibration system 30 within roller 11 can be operated to apply additional force to work material 101. As used herein, vibration system 30 includes any type of system that applies vibration, oscillation, or other repetitive forces to work material 101 via roller 11.

[0021] The vibration system 30 can take any desired form. In an embodiment, the vibration system 30 may utilize a hydraulic drive system 31, which includes a vibration system engine 32, distinct from the engine 13, operably connected to a vibration system pump 33, such as... Figure 2 As shown. The vibration system pump 33 can be operatively connected to provide power to the vibration system motor 34 via a first vibration system hydraulic line 35 and a second vibration system hydraulic line 36. The vibration system motor 34 can drive one or more rotatable vibration system shafts 37, which cause one or more eccentrically mounted mass blocks 38 within the roller 11 to rotate, thereby generating a vibrational or oscillating force within the roller 11, which is applied to the working material 101.

[0022] Other configurations of the vibration system 30 are also possible. For example, the vibration system motor 32 may be omitted if desired, and the vibration system pump 33 may be operatively connected to the motor 13. Furthermore, in other embodiments, the mass block 38 may be moved by a mechanical, electrical, or electromagnetic system. Additionally, in some embodiments, the mass block 38 may move linearly rather than eccentrically as part of a rotating system.

[0023] Back Figure 1Machine 10 may include an operator station 40 from which an operator can control machine 10. Operator station 40 may include an operator interface 41 located near operator seat 42, through which the operator can issue commands to control the propulsion and steering systems of machine 10, as well as operate other systems and implements associated with machine 10. Operator interface 41 may include multiple input devices, including throttle input 43, transmission input 44, speed input 45, vibration frequency input 46, and vibration amplitude input 47, such as... Figure 2 As shown. Each input device may take the form of a joystick, pedal, button, knob, switch, or other device. The operator can manipulate the input devices to perform corresponding operations on machine 10. Operator interface 41 may further include display 48 on which various types of information useful or necessary for the operation of machine 10 can be displayed. Additional operator input devices and displays may be included if desired.

[0024] Throttle input 43 is depicted as a lever tiltable from neutral to one or more maximum displacement positions to generate one or more corresponding throttle input signals indicating a desired percentage of the maximum speed of the machine 10 in a particular direction. Throttle input 43 can tilt from neutral to maximum displacement in a first direction (e.g., forward) to generate a corresponding first throttle signal. Similarly, throttle input 43 can tilt from neutral to maximum displacement in a second direction (e.g., rearward) to generate a second throttle signal. The values ​​of the first and second throttle signals can correspond, respectively, to desired percentages of the maximum speed of the machine 10 in the forward and rearward directions of travel. In other words, the displacement of throttle input 43 can be proportional to a percentage of the maximum speed of the machine 10 based on a setting or command from an operator or other person, or otherwise set within the machine 10.

[0025] The transmission input 44 and speed input 45 can be used by the operator to select different operating modes. More specifically, the transmission input 44 can be a plurality of buttons that, when pressed by the operator of the machine 10, select one of any number of available transmission control settings (e.g., virtual gears or portions of a continuous range of transmission speed-torque ratios). For example, the operator can press the first button to select the first gear, where the drive system 14 can operate within the highest torque output range and the corresponding lowest travel speed range. Similarly, the operator can press the second button to select the second or higher gear, where the drive system 14 can operate within a lower torque output range and the corresponding higher travel speed range.

[0026] Speed ​​input 45 can also be multiple buttons that, when pressed by the operator of machine 10, select one of any number of maximum permissible speeds or available machine travel speed limits corresponding to the maximum displacement position of throttle input 43.

[0027] Vibration frequency input 46 and vibration amplitude input 47 can form part of vibration system 30. Vibration frequency input 46 can be multiple buttons for determining the vibration frequency applied to the working material 101 by roller 11. More specifically, vibration frequency input 46 can be used to set the rate of movement of mass block 38, thereby setting the frequency at which roller 11 impacts working surface 102.

[0028] The vibration amplitude input 47 can also be multiple buttons used to establish the vibration amplitude applied by the roller 11 to the working material 101. More specifically, the vibration amplitude input 47 can be used to set the stroke of the mass block 38, thereby establishing an impact force between the roller 11 and the working surface 102.

[0029] The vibration system 30 can allow for an unlimited number of adjustments to the vibration frequency and amplitude, or it can have a predetermined number of preset values ​​for either or both of the vibration frequency and amplitude. In one example, the vibration frequency can be set to low, medium, or high based on the characteristics of the work material 101 on which the machine 10 operates. Similarly, the vibration amplitude can be set to low, medium, or high based on the characteristics of the work material 101. In other cases, the vibration frequency and / or amplitude can be set to specific values ​​based on the characteristics of the work material 101.

[0030] Machine 10 may include control system 50, such as Figure 1 The symbols are typically indicated by arrows, which indicate their association with machine 10. Control system 50 may include an electronic control module or controller 51, various input devices for controlling machine 10, and multiple sensors associated with machine 10, which provide data and input signals representing various operating parameters of machine 10. The term "sensor" is intended to be used in its broadest sense to include one or more sensors and associated components that may be associated with machine 10 and can cooperate to sense various functions, operations, and operational characteristics of machine 10.

[0031] Controller 51 may be an electronic controller that operates logically to perform operations, execute control algorithms, store and retrieve data, and perform other desired operations. Controller 51 may include or access memory, auxiliary storage devices, a processor, and any other components for running application programs. Memory and auxiliary storage devices may be in the form of read-only memory (ROM) or random access memory (RAM) or integrated circuits accessible by controller 51. Various other circuits may be associated with each controller 51, such as power supply circuits, signal conditioning circuits, driver circuits, and other types of circuits.

[0032] Controller 51 may be a single controller, or may include more than one controller configured to control various functions and / or features of machine 10. The term "controller" is intended to be used in its broadest sense to include one or more controllers and / or microprocessors that may be associated with and cooperate with machine 10 to control various functions and operations of machine 10. The functionality of controller 51 may be implemented in hardware and / or software, without regard to the functionality itself. Controller 51 may rely on one or more data maps relating to the operating conditions of machine 10 that may be stored in the memory of controller 51. Each of these data maps may include a set of data in tabular, graphical, and / or equation form.

[0033] The control system 50 may be located on the machine 10, and may also include components located remotely from the machine 10, such as at the command center 105. Figure 1 As shown. The functionality of the control system 50 can be distributed, such that some functions are performed at machine 10, while others are performed remotely (e.g., at command center 105). In this case, the control system 50 may include a communication system, such as a wireless network system 106, for transmitting signals between machine 10 and systems located remotely from machine 10 (e.g., at command center 105).

[0034] Typically, such as Figure 1As indicated by the arrows, the position sensing system 56 associated with machine 10 may include position sensor 57 to sense the position of machine 10 relative to work site 100. Position sensor 57 may include multiple individual sensors that cooperate to provide signals to controller 51 indicating the position of machine 10. In one example, position sensor 57 may include one or more sensors that interact with a positioning system such as a Global Navigation Satellite System or Global Positioning System to function as position sensor 57. Controller 51 may determine the position of machine 10 within work site 100, as well as the orientation of machine 10, such as the direction of travel, pitch, and roll of machine 10. In other examples, position sensor 57 may be an odometer or another wheel rotation sensing sensor, a perception-based system, or other systems such as laser, sonar, or radar may be used to determine the position of machine 10.

[0035] Machine 10 may also include a drive speed sensing system 58, such as Figure 1 The arrows indicating the association with machine 10 are typically shown. The drive speed sensing system 58 may include a speed sensor 59 for generating a speed signal indicating the speed of machine 10. The controller 51 may use the speed signal to determine the speed of machine 10 relative to the work surface 102. In one example, the speed sensor 59 may be a magnetic sensor associated with a second motor 21 for driving deflectable tires 15. In another embodiment, the controller 51 may use data from a position sensing system 56 to determine the speed of machine 10.

[0036] Machine 10 may also include a tilt sensing system 60, such as Figure 1 As typically indicated by the arrows, the tilt sensing system 60 is associated with the machine 10 for determining the tilt or pitch angle of the machine 10 relative to a horizontal ground reference (i.e., perpendicular to the direction of gravity). The tilt sensing system 60 may include a tilt or pitch angle sensor 61 for generating a tilt signal, which the controller 51 uses to determine the tilt of the machine 10. In some embodiments, in addition to or instead of the pitch angle sensor 61, the tilt sensing system 60 may use a pitch rate sensor 62 to determine the pitch angle of the machine 10.

[0037] Machine 10 may also include various systems and / or sensors associated with drive system 14, deflectable tires 15, and vibration system 30. For example, machine 10 may include a power loss measurement system 63 for determining the amount of power lost or used (i.e., total power) during the compaction operation of machine 10. Power loss measurement system 63 may include a power loss sensor 64 for generating a signal indicating the power loss of machine 10 during the compaction operation. In an embodiment, power loss sensor 64 may be embodied as a motor hydraulic sensor 65 (…). Figure 2 The method measures the difference between the hydraulic pressures in the first hydraulic line 22 and the second hydraulic line 23 at the input and output of each of the first motor 20 and the second motor 21. The amount of power used to compact the work material 101 during the compaction operation can be calculated based on the change in hydraulic pressure between the input and output of each of the first motor 20 and the second motor 21.

[0038] In another embodiment, the power loss sensor 64 can be a pump hydraulic sensor 66. Figure 2 The difference between the hydraulic pressures in the first hydraulic lines 22 and the second hydraulic lines 23 at the input and output of each of the first pump 16 and the second pump 17 is measured. The amount of power used to compact the work material 101 during the compaction operation can be calculated based on the hydraulic pressure variations between the input and output of each of the first pump 16 and the second pump 17, and an estimate of the line losses that occur due to the pumping of hydraulic fluid through or along the first hydraulic lines 22 and the second hydraulic lines 23 between each pump and its corresponding motor.

[0039] In another embodiment, the drive system 14 may include a mechanical drive with a torque converter. In this case, the power loss sensor 64 may include a sensor for determining the input speed (or the output speed of the engine 13) and the output speed of the torque converter. The amount of power used to compact the work material 101 during the compaction operation can be calculated based on the speed change between the input and output of the torque converter.

[0040] Machine 10 may also include a tire sensing system 53 for providing one or more variables associated with the deflectable tires 15 of machine 10. For example, tire sensing system 53 may include one or more tire pressure sensors 54 to measure the tire pressure of each deflectable tire 15 and / or the change in tire pressure of each deflectable tire 15. As an example, tire pressure sensor 54 may be a tire pressure monitoring sensor (TPMS) known in the art. However, tire pressure sensor 54 may be any type of sensor used to monitor tire pressure. Typically, each deflectable tire 15 has its own associated tire pressure sensor 54 to monitor the tire pressure in that particular deflectable tire 15.

[0041] Tire pressure affects the rolling resistance of the deflectable tire 15. For example, if its tire pressure is too low, the deflectable tire 15 will experience greater tire deflection, making it more difficult to roll (i.e., increasing the rolling resistance of the deflectable tire 15). However, if the deflectable tire 15 is overinflated, it will experience less deflection and therefore roll more easily (i.e., due to the lower rolling resistance of the deflectable tire 15).

[0042] The tire sensing system 53 can also facilitate the provision of tire characteristic data 55 for each deflectable tire 15 equipped on the machine 10. Specifically, more than one type of deflectable tire 15 can be mounted on the machine 10, wherein different deflectable tires 15 have different tire characteristics (e.g., rubber compound, tread type, bias ply, radial ply, ply grade, tire width, rolling radius, circumference, suitable wheel size, etc.). Variations in tire characteristics, in turn, affect the rolling resistance of the deflectable tire 15, just as tire pressure of the deflectable tire 15 can affect rolling resistance.

[0043] In an embodiment, tire characteristic data 55 of each deflectable tire 15 equipped on machine 10 can be used to determine a standard value for the nominal tire pressure of each deflectable tire 15. For example, the tire characteristic data 55 itself can indicate the nominal tire pressure of the selected deflectable tire 15 to be mounted on machine 10. The tire characteristic data 55 can also be used to invoke a standard value (e.g., from a lookup table stored in the memory of controller 51) that indicates the nominal tire pressure of the selected deflectable tire 15.

[0044] As described above, the vibration system 30 may include a hydraulic drive system 31 to apply additional force to the work material 101. A hydraulic sensor 67 may be operatively associated with either the first vibration system hydraulic line 35 or the second vibration system hydraulic line 36 to determine the pressure within or in the relevant hydraulic line. The pressure within the hydraulic lines 35, 36 will increase as the work material 101 is compacted and its stiffness increases, even when the configurations of the vibration system engine 32, vibration system pump 33, and vibration system motor 34 remain identical.

[0045] The control system 50 may include the state of the compaction system 52 for determining the compaction level or state of the work material 101 as the machine 10 moves along the work surface 102. Power is used to compact the work material 101, move the machine 10, and overcome frictional losses as the machine 10 moves along the work surface 102, and the power gained or lost depends on whether the machine 10 is traveling downhill or uphill. The state of the compaction system 52 is generally operated based on the concept that less power is required to move the machine 10 on a harder or more compacted work material 101 compared to a softer or less compacted work material 101. (P) 实际 The relative compaction state of the work material can be determined by determining the actual driving power used by the machine 10 when it moves along the work surface 102 and compacts the work material 101.

[0046] Actual drive power (P) 实际It can usually be represented by the following equation:

[0047] P 实际 =P 总 -P 坡度 -P 摩擦 (1)

[0048] Where P 总 It is the total power used to advance the machine 10 along the working surface 102 (i.e., the power lost or used during the compaction operation of the machine 10), P 坡度 The power change is caused by the change in the height or slope of machine 10, and P 摩擦 This is due to power loss caused by friction associated with machine 10 during its movement. Actual drive power P 实际 This corresponds to the amount of energy required to overcome the rolling resistance and other losses caused by friction within the machine 10.

[0049] Both the tire pressure and the tire characteristic data 55 of the deflectable tire 15 will be affected. 摩擦 For example, as discussed herein, if the tire pressure of one or more of the deflectable tires 15 of machine 10 is low, the rolling resistance of the deflectable tires 15 increases, which in turn increases P. 摩擦 This is because more power is lost due to friction associated with machine 10 as it moves. If the tire pressure of one or more of the deflectable tires 15 of machine 10 is high, the rolling resistance of the deflectable tires 15 decreases, which in turn reduces P. 摩擦 Because when machine 10 moves, less power is lost due to friction associated with machine 10.

[0050] Similarly, tire characteristic data 55 will also affect P. 摩擦 For example, if tire characteristic data 55 indicates that the rubber compound of the deflectable tire 15 is soft, then the rolling resistance of the deflectable tire 15 will be higher than if the rubber compound were hard. Therefore, the higher rolling resistance P due to the softer rubber compound of the deflectable tire 15 is due to this. 摩擦 This is because more power is lost due to friction associated with machine 10 as it moves. As another example, if the width of the deflectable tire 15 is greater, the rolling resistance will be higher compared to a narrower tire width. Therefore, a larger tire width will result in higher rolling resistance, which in turn increases P. 摩擦 Other components of tire characteristic data 55 (e.g., tread type, bias ply, radial ply, ply rating, rolling radius, circumference, applicable wheel size, etc.) can also affect P. 摩擦 As is known in the art, including reducing P 摩擦.

[0051] By combining one or both of the tire pressure and tire characteristic data 55 of the deflectable tire 15, P 摩擦 The calculations become more precise and involve fewer variables. Instead, due to P... 摩擦 The accuracy of equation (1) can be improved by taking into account one or both of the tire pressure of the deflectable tire 15 and the tire characteristic data 55.

[0052] Under certain operating conditions, when machine 10 operates together with vibration system 30, the accuracy of equation (1) may also decrease due to the influence of vibration system 30 on the work material 101. For example, in some cases, the operation of machine 10 with vibration system 30 has already reduced the actual drive power (P) 实际 The calculation of ) is reduced. As a result, equation (1) can provide a first result when the vibration system 30 is operating, and a second result for the same physical location and working material characteristics when the vibration system 30 is shut down. As a result, the vibration compensation factor (P) 振动 ) can be added to equation (1) to compensate for any changes caused by the operation of the vibration system 30, as follows:

[0053] P 实际 =P 总 -P 坡度 -P 摩擦 +P 振动 (2)

[0054] like Figure 3 As depicted, controller 51 receives and processes information. Controller 51 may receive a tire pressure signal from tire pressure sensor 54 at a first node, tire characteristic data 55 at a second node, a position signal from position sensor 57 at a third node, a speed signal from speed sensor 59 at a fourth node, and a tilt signal from pitch angle signal 61 at a fifth node. If pitch rate sensor 62 is included, controller 51 may receive a pitch rate signal from pitch rate sensor 62 at a sixth node. At a seventh node, controller 51 may receive a signal from power loss sensor 64 indicating power loss occurring during compaction. As described herein, power loss sensor 64 may take any of various forms, and examples of such sensors are indicated at nodes eight through ten. Different power loss sensors are not typically used together, but rather... Figure 3 The example is depicted in the middle.

[0055] The controller 51 can generate various output signals based on the operation of the compaction system 52. For example, at the first output node, the controller 51 can generate an indication for operation along the working surface 102 (P).总 The controller 51 can generate a signal indicating the total power of the propulsion machine 10 at the second output node. 坡度 The signal indicates the power change caused by changes in the height or slope of the machine 10. At the third output node, the controller 51 can generate a signal indicating the power change due to changes in the height or slope of the machine 10 during movement (P). 摩擦 The signal associated with the power loss due to friction in machine 10. As discussed herein, P 摩擦 This can reflect one or both of the tire pressure and tire characteristic data 55 from the deflectable tire 15 of machine 10. At the fourth output node, the controller 51 can generate an indication of the vibration compensation factor (P). 振动 The signal, the vibration compensation factor, is used to compensate for any changes in the state of the compaction system 52 caused by the operation of the vibration system 30. Therefore, the controller 51 can determine the total amount of power (P) used to propel the machine 10 over the calibration surface. 总 The power change (P) due to the change in altitude 坡度 Frictional power loss (P) 摩擦 ) and / or vibration compensation factor (P 振动 ), to generate an indication of the actual drive power (P) used for compaction at the fifth output node. 实际 The signal is used to determine and display the compaction status of the work material 101 (e.g., on display 48 and / or at command center 105).

[0056] Figure 4 The operation combining the state of the compaction system 52 with the operation of the machine 10 is described, which can begin from the calibration process 69. At stage 70 of the calibration process 69, the frictional loss characteristics of the machine 10 can be determined. For this purpose, the machine 10 is operated at various speeds on a flat, hard calibration surface without operating the vibration system 30, and the amount of power used when moving the machine 10 at different speeds is recorded. More specifically, the machine 10 is positioned on a hard surface that will not deflect or compress under the weight of the machine 10, which is possible with compressible working material 101. Furthermore, the surface on which the machine 10 is positioned is flat, so that the machine 10 does not have an ascending or descending slope.

[0057] In stage 70, the compaction system 52 and its controller 51 may also incorporate the nominal tire pressure of the deflectable tire 15 of the machine 10 (e.g., the tire pressure recommended by the manufacturer of the deflectable tire 15) to address any resulting frictional losses. As a result, the power required to move the machine 10 along the calibration surface does not include any deviation from the nominal tire pressure of the deflectable tire 15. Alternatively or additionally, in stage 70, the compaction system 52 and its controller 51 may incorporate tire characteristic data 55 of the deflectable tire 15, which can be used to determine the nominal tire pressure of the deflectable tire 15, as discussed herein.

[0058] The power (i.e., P) used to compact the work material 101 is measured by operating the machine 10 on a flat, hard calibration surface without operating the vibration system 30, and with the tire pressure of the deflectable tires 15 at the nominal tire pressure. 振动 ) becomes zero, and because machine 10 tilts up or down (i.e., P) 坡度 The generated power also becomes zero. Therefore, equation (2) simplifies to:

[0059] P 实际 =P 总 -P 摩擦 (3)

[0060] Accordingly, when machine 10 is aligned with the calibration surface (i.e., P) 实际 The power used by machine 10 during movement accurately reflects the nominal power lost due to friction during the movement of machine 10 (i.e., P). 摩擦 Such as rolling resistance caused by the deflectable tire 15 being inflated to the nominal tire pressure and / or rolling resistance indicated by the tire characteristic data 55, as well as other losses caused by friction within the machine 10.

[0061] In one example, the movement of machine 10 at each of these speeds (i.e., P) can be determined by operating machine 10 at a series of different speeds (e.g., 1 m.ph, 2 m.ph, 3 m.ph, 4 m.ph, etc.) while using power loss measurement system 63. 总 The required power amount, and the power loss due to friction (i.e., P) are determined. 摩擦Frictional losses can be extrapolated between test data points. This process can be repeated, if desired, for different combinations of settings for the first pump 16 and the first motor 20, and the second pump 17 and the second motor 21, and / or for different tire pressures and tire characteristic data 55 (e.g., by changing tire pressure and / or the type of deflectable tire 15 mounted to machine 10). Calibration process 69 can be performed at any desired location, such as at the factory where machine 10 is manufactured. Due to the friction generated at stage 70 (i.e., P... 摩擦 The power loss can be stored in the controller 51 at stage 71.

[0062] If desired, instead of calibrating each machine 10 in the optional calibration process 69, it is possible to develop a calibration method based on friction (i.e., P). 摩擦 The standard or generalized value of the power loss can be obtained by averaging data from multiple machines 10 using certain deflectable tires 15, and such a standard value can be stored in the controller 51.

[0063] Next, the machine operator or other personnel can determine the expected actual drive power (P) of the work material 101. 实际 The actual drive power (P) is set or read (e.g., at the test area of ​​work site 100, at the factory of manufacturing machine 10, etc.). 实际 This corresponds to the desired compaction state of the work material 101.

[0064] In one example, at stage 72, the operator can operate machine 10 in a test area or physical location where, based on measurements required by engineering, industry, and / or management reports or standards, the known compaction condition meets the desired compaction level. As machine 10 moves over the known compacted area, the status of the compaction system 52 can be displayed on display 48 and / or at command center 105, showing the actual drive power (P). 实际 Then, at stage 73, the operator can output the actual drive power (P). 实际 The input is fed into controller 51 as the desired actual drive power for operating machine 10. In other cases, the characteristics of the work material 101 may not be stored in controller 51.

[0065] In another example, machine 10 can repeatedly move at a specific location, and the actual drive power (P) 实际 The actual drive power (P) is displayed on monitor 48 and / or at command center 105. 实际 If the actual driving power (P) becomes relatively constant, then the actual driving power (P) 实际 The value of ) can be used as the desired actual drive power.

[0066] When the expected actual driving power (P) 实际 When it is known, the mobile machine 10 (i.e., P) 总 To achieve this actual drive power (P) 实际 The required amount of power can be determined using equation (3), because the power lost due to friction (i.e., P) 摩擦 This is also known. Then, calibration process 69 can be completed.

[0067] At stage 74, machine 10 can begin compaction operations at work site 100. While machine 10 is operating, controller 51 can receive data from various sensors at stage 75. More specifically, controller 51 can determine tire pressure and / or tire characteristic data 55 of the deflectable tire 15 from tire sensing system 53. Controller 51 can also determine the position of machine 10 based on position signals from position sensing system 56, and the operating speed of machine 10 based on speed signals from drive speed sensing system 58. Furthermore, controller 51 can determine the pitch angle or tilt and / or pitch rate of machine 10 based on tilt signals from tilt sensing system 60. If desired, controller 51 can also determine the pressure of hydraulic fluid within vibration system 30 based on signals from hydraulic sensor 67.

[0068] At stage 77, controller 51 can determine when machine 10 is orbiting work site 100 (P) 总 The total amount of power used to propel the machine 10 along the working surface 102 during movement. In doing so, the controller 51 can utilize the power loss measurement system 63 as described above. In one example, the power loss measurement system 63 can measure the difference between the hydraulic pressures between the input and output of each of the first motor 20 and the second motor 21. In another example, the power loss measurement system 63 can measure the difference between the hydraulic pressures between the input and output of each of the first pump 16 and the second pump 17, as well as an estimate of the line losses between each pump and its respective motor. In yet another embodiment, the power loss measurement system 63 can measure the difference between the input and output of the torque converter used to drive the machine 10.

[0069] At optional stage 78, the pitch or tilt of machine 10 can be used to determine the power change caused by a change in the height or slope of machine 10, the change in height or slope being caused by the tilt of machine 10 operating thereon (P 坡度 More specifically, by tilt (P) 坡度 The resulting change in power can be determined as follows:

[0070] P 坡度 =m*g*V*sin (α), (4)

[0071] Where m is the mass of machine 10, g is gravity, V is the velocity of machine 10, and α is the angle of machine 10 relative to gravity. The tire pressure and / or tire characteristic data 55 of the deflectable tire 15 can also be incorporated into P. 坡度 The determination is underway.

[0072] The friction (P) caused by the motion of machine 10 can be determined at stage 79 based on the friction loss characteristics generated at stage 70. 摩擦 The power loss is caused by changes in tire pressure and / or tire characteristic data 55. More specifically, the speed of machine 10 can be used to determine the power loss (P) that overcomes frictional losses as machine 10 moves along working surface 102. 摩擦 The corresponding power required. Furthermore, any variation in tire pressure of the deflectable tire 15 (e.g., due to the working material 101 on the working surface 102 on which the machine 10 is operating and how the working material 101 can cause different deflections in the deflectable tire 15, temperature variations of the deflectable tire 15 due to the environment of the work site 100 (solar gain, exposure to heat dissipation from the machine, etc.)) can also be combined with the friction (P 摩擦 The power loss is determined in this way. In this way, the deviation between the tire pressure of the deflectable tire 15 on the working surface 102 and the nominal tire pressure of the deflectable tire 15 during the calibration process 69 can be taken into account, thus helping to determine P more accurately. 摩擦 And correspondingly P 实际 .

[0073] In some cases, when machine 10 moves, friction (P) associated with machine 10 occurs. 摩擦 The power loss may not be specifically calculated as part of equation (1) or equation (2). In this case, the friction loss characteristics determined in stage 70 do not need to be stored in controller 51, nor do they need to be calculated. Using such an alternative procedure, when the desired actual drive power (P) is determined at stage 72... 实际 When operating the machine 10 at the work site 100, if the machine 10 moves at the same speed as the machine 10 operating during the calibration process 69, the desired actual drive power (P) is determined. 实际 If the tire pressure of the deflectable tire 15 is equal to the nominal tire pressure, then the friction loss characteristics will be the same in the process of determining the desired actual drive power and the actual drive power at the work site 100. Accordingly, as long as the speed of the machine 10 is within the range of determining the actual drive power (P... 实际If the condition remains unchanged, the state of the compaction system 52 will achieve a consistent result. In other words, due to friction (P... 摩擦 The power loss caused by this is a function of the speed of machine 10, so when determining the desired actual drive power (P) 实际 If machine 10 operates at a consistent speed both at the time of operation and at the work site 100, the frictional wear characteristics will be the same. In this case, P 摩擦 It becomes zero, and equation (2) simplifies to:

[0074] P 实际 =P 总 -P 坡度 +P 振动 (5)

[0075] Vibration compensation factor (P) 振动 The vibration compensation factor (P) can optionally be determined at stage 80. As described herein, the vibration compensation factor (P) 振动 The vibration system 30 can be used to adjust the state of the compaction system 52 to adjust its operation. For example, under certain operating conditions, the operation of the vibration system 30 can reduce the actual drive power (P) determined by equation (1) and displayed on the display 48 and / or at the command center 105. 实际 Therefore, the vibration compensation factor (P) 振动 It can be used to increase actual drive power (P) 实际 The accuracy of the calculation, regardless of whether the vibration system 30 is operating.

[0076] In one example, various vibration compensation factors (P) can be generated by operating machine 10 on a specific area or location of working surface 102. 振动 The mapping of the actual driving power (P) is stored in the controller 51, regardless of whether the vibration system 30 is operating or not. 实际 The vibration compensation factor (P) can be recorded along with the frequency and amplitude of the vibration system 30. This process can be repeated for multiple different frequencies and amplitudes. Other factors, such as the type of working material 101, the speed of the machine 10, and the compaction state of the working material 101, can also affect the vibration compensation factor (P). 振动 ), and can be used as a vibration compensation factor (P) 振动 Part of the data mapping is stored. It can be assumed that other factors can also affect the vibration compensation factor (P). 振动 During operation, at stage 80, controller 51 can use the parameters to generate the vibration compensation factor (P). 振动 The mapping of all factors determines the relevant vibration compensation factor.

[0077] In an alternative embodiment, the vibration compensation factor (P) can be determined based on the pressure within the vibration system 30.振动 More specifically, as the work material 101 is compacted and becomes harder, the pressure within the first vibration system hydraulic line 35 and the second vibration system hydraulic line 36 can increase. A hydraulic sensor 67 can be operatively associated with the vibration system 30 to determine the pressure in the relevant hydraulic lines. It is believed that the hydraulic pressure and vibration compensation factor (P) can be determined. 振动 The correlation between them. Therefore, the vibration compensation factor (P) corresponding to different hydraulic pressures within the vibration system 30. 振动 The data mapping can also be generated and stored within the controller 51 in a similar manner to that described above. It is believed that pressure changes can be used in conjunction with the frequency and amplitude of the vibration system 30 to further enhance the actual driving power (P). 实际 The accuracy of the calculation.

[0078] At stage 81, controller 51 can determine the actual drive power (P) according to equations (3), (1), (5) or (2). 实际 ), where the total power (P) is determined at stage 77. 总 At stage 78, the slope power (P) was determined. 坡度 The frictional loss power (P) was determined at stage 79. 摩擦 ), and determine the vibration compensation factor (P) at stage 80. 振动 ).

[0079] It should be noted that, although the difference due to height (P) was subtracted in equations (1), (5) and (2), 坡度 The power change is caused by the change in the slope of the machine 10, but the power change is added to or subtracted from the slope of whether the machine 10 is moving upward or downward. Furthermore, although the vibration compensation factor (P) 振动 ) is indicated to be added to equation (1) to establish equation (2), but there may be a vibration compensation factor that is negative in equations (2) and / or (5) and reduces the actual driving power (P). 实际 (The situation is as follows.)

[0080] Actual drive power (P) 实际 The actual drive power (P) can be stored at stage 82 and displayed on display 48 and / or on command center 105 at stage 83. Optionally, at determination stage 84, controller 51 can determine the actual drive power (P). 实际 Is the actual drive power equal to the expected actual drive power determined in stage 72? 实际 If the actual drive power at stage 84 is not equal to the expected actual drive power, the operator can continue operating machine 10 at stage 74 and can repeat the compaction operation that started at stage 74. If the actual drive power (P) at stage 84 is not equal to the expected actual drive power, the operator can continue operating machine 10 at stage 74 and can repeat the compaction operation that started at stage 74. 实际If the actual driving power is equal to the desired power, the operator can move machine 10 to a new location (e.g., at work site 100) and, if desired, begin a new compaction process.

[0081] Other variations of the aforementioned stages are also possible and are within the scope of this invention. For example, stages may be omitted and / or rearranged without departing from the scope of this invention.

[0082] While the invention has been detailed and described in the accompanying drawings and the foregoing description, such description should be considered illustrative or exemplary, not restrictive. It should be understood that changes and modifications can be made by those skilled in the art within the scope of the appended claims. In particular, the invention covers further embodiments having any combination of features from the different embodiments described above and below. Additionally, the statements made herein regarding the features of the invention relate to embodiments of the invention, and not necessarily all embodiments.

[0083] The terms used in the claims should be interpreted as having the broadest reasonable interpretation consistent with the foregoing description. For example, the use of the articles “a” or “the” in introducing an element should not be interpreted as excluding multiple elements. Similarly, the expression “or” should be interpreted as inclusive, such that the expression “A or B” does not exclude “A and B” unless it is clear from the context or the foregoing description that only one of A and B is intended. Furthermore, the expression “at least one of A, B, and C” should be interpreted as one or more of a set of elements consisting of A, B, and C, and should not be interpreted as requiring at least one of each of the listed elements A, B, and C, regardless of whether A, B, and C are related as a category or otherwise. In addition, the expressions “A, B, and / or C” or “at least one of A, B, or C” should be interpreted as including any singular entity from the listed elements, such as A, any subset from the listed elements, such as A and B, or the entire list of elements A, B, and C.

[0084] Industrial applicability

[0085] In general, the systems, methods, and controllers of the present invention provide the ability to determine the compaction state of working materials by incorporating consideration of tire pressure and / or tire characteristic data of at least one deflectable tire of a machine, such as a compactor. The state of the compaction system can be operatively determined using data from sensors and machine characteristics to determine the compaction state of the working material. In this way, the state of the compaction system can generate consistent data independent of variations in tire pressure and / or tire characteristic data of at least one deflectable tire of the machine, thereby improving the more accurate compaction of the working material.

Claims

1. A system for determining the compaction state of work material during a compaction operation, the system comprising: Rollers, which are associated with and configured to engage and compact the work material; A power loss sensor configured to generate a power loss signal indicating the power loss of the machine; A speed sensor configured to generate a speed signal indicating the speed of the machine; At least one deflectable tire associated with and configured to engage the work material, the at least one deflectable tire having tire characteristic data associated therewith; A tire pressure sensor configured to generate a tire pressure signal indicating the tire pressure of the at least one deflectable tire; as well as The controller, which is configured as follows: Receive the power loss signal from the power loss sensor. Receive the speed signal from the speed sensor. Receive at least one of the tire pressure signal and the tire characteristic data from the tire pressure sensor. The total power of the machine is determined based on the power loss signal. Based on the speed signal, the tire pressure signal, and at least one of the tire characteristic data, the friction loss power of the machine is determined, and The actual driving power of the machine is determined based on the total power and the friction loss power, and the actual driving power corresponds to the compaction state of the working material.

2. The system according to claim 1, wherein at least one of the tire pressure signal and the tire characteristic data includes the tire pressure signal.

3. The system according to claim 2, wherein the tire pressure sensor includes a tire pressure monitoring sensor.

4. The system of claim 1, wherein at least one of the tire pressure signal and the tire feature data includes the tire feature data, and The tire feature data mentioned above includes at least one of the following: The rubber compound of the at least one deflectable tire The tread type of the at least one deflectable tire The at least one bias-ply cord layer of the deflectable tire The at least one radial ply of the deflectable tire The at least one deflectable tire ply grade The tire width of the at least one deflectable tire, The rolling radius of the at least one deflectable tire The circumference of the at least one deflectable tire, The at least one deflectable tire is adapted to the wheel size.

5. The system of claim 1, wherein at least one of the tire pressure signal and the tire feature data includes the tire pressure signal and the tire feature data.

6. The system of claim 5, wherein the tire feature data includes at least one of the following: The rubber compound of the at least one deflectable tire The tread type of the at least one deflectable tire The at least one bias-ply cord layer of the deflectable tire The at least one radial ply of the deflectable tire The at least one deflectable tire ply grade The tire width of the at least one deflectable tire, The rolling radius of the at least one deflectable tire The circumference of the at least one deflectable tire, The at least one deflectable tire is adapted to the wheel size.

7. The system according to claim 1, further comprising: A pitch angle sensor, which is associated with the machine and configured to generate a tilt signal indicating the tilt of the machine.

8. The system of claim 7, wherein the controller is configured to: Receive tilt signals from the pitch angle sensor. The slope power of the machine is determined based on the tilt signal, and The actual driving power of the machine is determined based on the total power, the friction loss power, and the slope power.

9. The system according to claim 1, further comprising: A vibration system associated with the roller.

10. The system of claim 9, wherein the controller is configured to: The vibration compensation factor is determined based on the vibration characteristics of the vibration system, and The actual driving power of the machine is determined based on the total power, the friction loss power, and the vibration compensation factor.

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