Control system for a compactor with blades

Abstract

A soil compactor includes a frame, a compactor drum rotatably mounted on the frame, a drive mechanism for rotating the compactor drum, a blade mounted to the frame to push or level a load, a first sensor configured to monitor operation of the blade, a controller configured to receive an output of the first sensor, and an output system connected to the controller and configured to generate an output signal indicative of an operating condition of the blade based on the output of the first sensor. A soil compactor includes a frame, a compactor drum rotatably mounted on the frame, a drive mechanism for rotating the compactor drum, a plurality of vibration isolation mounts connecting the drive mechanism to the compactor drum, a monitoring system configured to monitor wear on the plurality of vibration isolation mounts, and an output system configured to generate an output signal related to use of the plurality of vibration isolation mounts.

Description

Technical Field

[0001] This invention generally relates to (but is not limited to) construction equipment, such as compactors including soil compactors. More specifically, but not in a limiting way, this invention relates to vibratory compactors with vibration-damping supports to reduce vibration transmission to the machine frame. Background Technology

[0002] A compactor is a machine used to compact initially loose materials, such as bitumen, soil, gravel, etc., into a denser, harder block or surface. For example, soil compactors are used in construction sites and landscaping projects to compact soil to form foundations upon which other buildings can be constructed. Most soil compactors include rotating rollers that roll over a surface to compress the material underneath. In addition to using the weight of the rollers to provide compressive force to the material, some compactors are also configured to generate vibrational forces on the surface.

[0003] The rotatable roller can be connected to the rest of the machine via vibration-damping supports. These supports can be configured to suppress the transmission of roller vibrations to the machine frame. Vibration-damping supports may comprise a resilient material body. Vibration-damping supports typically have a limited service life and therefore require periodic replacement.

[0004] Soil compactors may or may not have blades. As the compactor moves forward, the blades can be used to push soil in front of it. Additionally, the blades can be used to move other obstacles, such as tree stumps and rocks. The operation of the blades affects the operation, maintenance, and safety of the soil compactor.

[0005] Patent No. 2022 / 0334581 A1, granted to Doy, describes an example of a compactor and is entitled "Method and System for Automated Control of Implements"; Patent No. 2020 / 0019192A1, granted to O'Donnell, is entitled "Object Detection and Implement Position Detection System"; and Patent No. 11,868,114 B2, granted to McGee et al, is entitled "Switching Between Manned and Unmanned Control Modes Based on Assigned Priorities". Summary of the Invention

[0006] In the example, a soil compactor includes a frame, a compaction roller rotatably mounted on the frame, a drive mechanism for rotating the compaction roller, blades mounted on the frame and configured to push or level loads, a first sensor configured to monitor the operation of the blades, a controller configured to receive the output of the first sensor, and an output system connected to the controller and configured to generate an output signal indicating the operating state of the blades based on the output of the first sensor.

[0007] In another example, a soil compactor includes a frame, a compaction roller rotatably mounted on the frame, a drive mechanism for rotating the compaction roller, a plurality of vibration isolation supports connecting the drive mechanism to the compaction roller, a monitoring system configured to monitor wear on the plurality of vibration isolation supports, and an output system configured to generate output signals related to the use of the plurality of vibration isolation supports. Attached Figure Description

[0008] Figure 1 This is a schematic side view of a compactor according to various embodiments of the present invention, the compactor having a monitoring and control system for blades and vibration isolation supports.

[0009] Figure 2 This is a perspective side view of a compaction roller mounted on a drive plate via multiple vibration-damping supports and load-engaging blades.

[0010] Figure 3 yes Figure 2 A partial sectional front view of the compaction roller shows the vibration isolation support.

[0011] Figure 4 A schematic diagram of the monitoring, reporting, and feedback system for the compactor used in this invention is shown.

[0012] Figure 5 This is a block diagram illustrating a method for monitoring and controlling the operation of a compactor with blade implements, the method being configured to determine the wear of the vibration isolation supports of the compaction roller.

[0013] Figure 6 This is a block diagram illustrating a method for monitoring and controlling the operation of a compactor with blade implements, the method being configured to determine whether the blade implements are improperly positioned.

[0014] In drawings that are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with different letter suffixes may indicate different instances of similar parts. The drawings generally illustrate, by way of example and not limitation, the various embodiments discussed in this document. Detailed Implementation

[0015] Figure 1 This is a schematic side view of the compactor 110 of the present invention, which includes a monitoring, reporting, and control system, such as... Figure 4 The system 200 in the compactor 110 may include a frame 112, blades 114, compaction rollers 116, operator station 118, and traction device 120.

[0016] The frame 112 can be supported relative to the ground 160 by means of the compaction roller 116 and the traction device 120. The traction device 120 may include one or more wheels or tracks that can engage and rotate with the ground or working surface to power the compactor 110. Similarly, the compaction roller 116 may additionally power the compactor 110. In this example, the frame 112 may include a pivot point 121 between the compaction roller 116 and the traction device 120 to allow the compactor 110 to articulate. The portion of the frame 112 connected to the compaction roller 116 may include roller supports 122A and 122B. Figure 2 ).

[0017] Blade 114 can be connected to roller support 122A and roller support 122B via support arm 123A and another support arm (not visible) on the other side of compaction roller 116. Figure 2 The outrigger 123A can be pivotally attached to the frame 112 at pivot connection 124. The blade 114 can be connected to a hydraulic cylinder 126, which can be connected to the frame 112 via a blade mount 128. The hydraulic cylinder 126 can be used to raise and lower the blade 114 as needed or desired by the operator.

[0018] The hydraulic system 130 of the compactor 110 can supply hydraulic fluid to the hydraulic cylinder 126 via one or more hydraulic valves and one or more pumps (not shown) to controllably change the position of the blade 114. The hydraulic system 130 can additionally supply hydraulic fluid to a hydraulic motor 134, which can be used to rotate the compaction drum 116. In an additional example, the compactor 110 may also include a propulsion unit 154, such as an internal combustion engine or an electric motor. In this example, the propulsion unit 154 can be operated using the hydraulic system 130.

[0019] The compactor 110 can be controlled by a machine control unit such as a controller 170. The controller 170 may include, for example, an electronic control module (ECM). The controller 170 may include one or more computer-readable storage devices and one or more processors, and can enable the compactor 110 to switch between manned control mode, remote control mode, and autonomous control mode. The controller 170 may be additionally connected to various sensors, monitoring devices, and observation devices described herein to provide feedback to the compactor 110 and control its operation.

[0020] The compaction roller 116 can be connected to the input plate 136. The compaction roller 116 can also be connected to the hydraulic motor 134 via the drive plate 138. The drive plate 138 can be connected to the compaction roller 116 via vibration isolation supports 180A to 180D. Figure 2 and Figure 3In the illustrated example, compactor 110 may have a compaction roller 116 that includes a vibration mechanism, as described herein. However, compactor 110 may include other types of compaction rollers, such as compaction rollers without a vibration mechanism. In the example, compactor 110 may include multiple rollers similar to compaction roller 116, which may or may not have a vibration function, smooth rollers (e.g., Figure 1 The compaction roller 116 in the middle includes the roller of the compaction foot ( Figure 2 (e.g., compactor 110). Although the invention is described with reference to compactor 110, the monitoring system can be used with respect to bulldozers, excavators, mining trucks and / or similar devices, and other construction or work machines with implements (such as blades) that can be moved to multiple locations.

[0021] Seat 139 can be positioned in operator station 118. From seat 139, the operator of compactor 110 can operate various control devices to operate hydraulic motor 134 and hydraulic cylinder 126, as well as other systems and components of compactor 110, including blade 114.

[0022] The compactor 110 may include a sensing device 140, which may include one or more cameras, laser scanning and / or LiDAR devices, and radar devices. The compactor 110 may also include a positioning device 142, such as a Global Positioning System (GPS) receiver and / or a Global Navigation Satellite System (e.g., GLONASS) receiver. The sensing device 140 and positioning device 142 may be configured to facilitate autonomous or remote operation of the compactor 110.

[0023] The compactor 110 may also include one or more devices for monitoring various operations of the compactor 110. For example, the compactor 110 may include a linear position sensor 144 and a rotary position sensor 146 for detecting the vertical and rotary positions of the blade 114, respectively. The compactor 110 may include an acceleration sensor 147 (such as an inertial measurement unit), one or more hydraulic pressure sensors 148 (configured to detect the pressure of hydraulic fluid associated with the hydraulic system 130), and / or other devices. The compactor 110 may additionally include a presence sensor 150 connected to the seat 139 to determine whether an operator (e.g., a person) is positioned in the operator station 118. The presence sensor 150 may include a weight sensor, a switch, a proximity sensor, etc. The compactor 110 may also include a parking brake sensor 151 that can determine whether the parking brake has been activated to prevent rotation of the traction device 120 or has been deactivated to allow the traction device 120 to rotate freely.

[0024] The compactor 110 may also include one or more means for receiving remote commands and for facilitating autonomous operation of the compactor 110. For example, the compactor 110 may include a network communication device 152 for communicating with one or more instances of a remote system 172 via a network 174 (such as the Internet). The network communication device 152 may be configured to receive autonomous operation commands for the compactor 110 generated by the remote system 172 and may provide the remote system with information about the current operating status of the compactor 110, including the geographical location of the compactor 110 (e.g., which may be determined by the positioning device 142), the operating status of the hydraulic system 130, the status of the compactor 110's blades 114 and compaction rollers 116, the speed, orientation, and / or acceleration of the compactor 110, and other appropriate information. The output of any device used to monitor the compactor 110 (such as sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151) can be transmitted to the remote system 172 via network 174 through network communication device 152.

[0025] The compactor 110 can be configured for fully autonomous operation, semi-autonomous operation, and / or remote operation. As used herein, “autonomous” refers to both fully autonomous and semi-autonomous operation modes. Semi-autonomous operation involves the independent operation of at least one component of the compactor 110 (e.g., propulsion and steering or the position of the blade 114) while an operator within the compactor 110 or at a remote location supervises the operation of the compactor 110. During this operation, the supervising operator may also control one or more aspects of the compactor 110 (e.g., vibration of the compaction roller 116, the position of the blade 114) and may override autonomous commands. Fully autonomous operation may not require supervision; therefore, upon receiving a request initiated by the operator, the compactor 110 can perform operations within the desired work area, such as compacting at least a portion of that area, without further operator intervention or input.

[0026] like Figure 1As shown, blade 114 can be selectively positioned in a ground engagement or working position where blade 114 can contact ground 160, which may include soil or other materials in the work area. This position can be used to engage the material to change its slope or inclination, spread the material during compaction, or prevent material from accumulating under compaction roller 116. However, blade 114 can be raised to a fully raised position or to a position in between (where blade 114 is not in contact with ground 160). The raised position allows compactor 110 to compact soil or other materials without significantly changing the slope of the material. Blade 114 can be driven by hydraulic cylinder 126 along direction 162 (… Figure 1 The load 164 can be raised or lowered by driving the hydraulic cylinder 126 in the opposite direction. In the example, the blade 114 can engage the load 164 at the raised or lowered position depending on the type of load (e.g., a mound of earth, a tree stump, a rock, etc.).

[0027] Devices for monitoring and measuring various operational aspects of the compactor 110, such as sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151, can communicate with controller 170. In some examples, only one or more sub-combinations of sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151 may be used. Sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151 can be used to determine the operating state of blade 114, such as the position of blade 114, or whether blade 114 is actively or previously pushing a load.

[0028] In the example, if blade 114 is in an improper position, feedback regarding blade 114 can be used to enable or disable movement of compactor 110. For instance, if it is determined that blade 114 has descended and the operator attempts to move compactor 110, controller 170 can temporarily disable propulsion unit 154 from applying power to traction device 120 until blade 114 is raised or the user confirms the status of blade 114 and compactor 110. If it is determined that blade 114 has risen and the operator attempts to leave compactor 110, controller 170 can provide an alarm or warning to the user prompting them to lower blade 114 to stop compactor 110, or for the user to confirm the status of blade 114 and compactor 110.

[0029] In an additional example, feedback regarding blade 114 can be used to determine or assess the wear of the vibration isolation bearing, for example, Figure 2 Vibration isolation supports 180A to 180D are used for the compaction roller 116. For example, the position of the blade 114 can be correlated with the hydraulic pressure level to determine if the vibration isolation support has been affected by an impact or excessive or abnormal wear event. Additionally, the speed and tilt angle of the compactor 110 can be correlated with the hydraulic pressure to determine or cross-check whether the compactor is operating under normal or typical conditions. The controller 170 can determine if an impact or excessive wear event has occurred and record such events for use in assessing the remaining service life of the vibration isolation support. Additionally, the controller 170 can provide feedback to the user regarding improper use of the blade 114 or disable the operation of the compactor 110 to prevent or limit further impact or excessive wear events.

[0030] Figure 2 yes Figure 1 A perspective side view of the compaction roller 116 shows vibration isolation supports 180A, 180B, 180C, and 180D. Figure 2 The blade 114 is shown engaged with the load 164. Figure 3 yes Figure 2 A partial sectional front view of the compaction roller 116 shows vibration isolation supports 180A and 180C. Figure 2 and Figure 3 The discussion will take place simultaneously.

[0031] Roller support 122A can be connected to bracket 184 on which hydraulic motor 134 is mounted. Hydraulic motor 134 can be connected to gearbox 186, which can be connected to drive plate 138. Hydraulic fluid line 135 can be used to deliver hydraulic fluid from hydraulic system 130 to hydraulic motor 134. Drive plate 138 can be connected via vibration isolation supports 180A to vibration isolation supports 180D to flanges 187A and 187C extending from compaction roller 116. Compaction roller 116 may include cylinder 188, which may have an inner surface from which flanges 187A and 187C extend radially inward.

[0032] Vibration isolation support 180A may include blocks 190A and 192A. Block 190A may include pin 194A, and block 192A may include pin 196A. Blocks 190A and 192A may include elastic material configured to suppress vibrations originating from cylinder 188 from moving to drive plate 138 and to frame 112.

[0033] Vibration isolation support 180C may include blocks 190C and 192C. Block 190C may include pin 194C, and block 192C may include pin 196C. Blocks 190C and 192C may include elastic material configured to suppress vibrations originating from cylinder 188 from moving to drive plate 138 and to frame 112.

[0034] In the example, blocks 190A, 192A, 190C, and 192C may be made of rubber. Blocks 190A, 192A, 190C, and 192C may include dumbbell-shaped bodies through which guides 197 may pass when the compaction roller 116 rotates.

[0035] Vibration isolation bearings 180B and 180D can be configured similarly to vibration isolation bearings 180A and 180C. For example, vibration isolation bearing 180D may include blocks 190D and 192D.

[0036] Vibration can be transmitted to cylinder 188 via vibration assembly 198. In the example, vibration assembly 198 can be configured according to conventional vibration assemblies, such as by high-speed rotation of an eccentric weight within cylinder 188. In the example, vibration assembly 198 can be configured as described in US Patent No. 8,967,910 B2, entitled "Eccentric Hammer Shaft for Vibratory Compactor," the entire contents of which are incorporated herein by reference. In the example, vibration assembly 198 can be configured as described in US Patent No. 2020 / 0087870 A1, entitled "Eccentric Counterweight System with Reduced Moment of Inertia for Vibratory Compactor," the entire contents of which are incorporated herein by reference.

[0037] During operation of the compactor 110, the compaction roller 116 can be rotated by a hydraulic motor 134. More specifically, the hydraulic motor 134 provides a rotational input to a gearbox 186. The gearbox 186 can transmit the rotational output to a drive plate 138. The drive plate 138 can transmit force to flanges 187A and 187C via vibration isolation supports 180A and 180C, respectively. Flanges 187A and 187C can transmit rotation to the cylinder 188. Thus, the compaction roller 116 can be rotatably driven, thereby providing power to the compactor 110.

[0038] Additionally, the compaction roller 116 can be vibrated by operating the vibration assembly 198. Therefore, in addition to the weight of the compaction roller 116, other factors can also be considered. Figures 1 to 3 The compaction roller 116 moves up and down, thereby compacting the ground at an angle of 160°. Figure 1This provides a downward force to compact the soil. As previously mentioned, vibration isolation supports 180A, 180B, 180C, and 180D can be configured to prevent or limit the transmission of vibrations originating from the compaction roller 116 to the outside of the compaction roller 116, such as to the gearbox 186, hydraulic motor 134, frame 112, etc. Blocks 190A to 192D may have a limited service life. In other words, after being subjected to a certain degree of vibration, the vibration damping effect of blocks 190A to 192D may decrease, and they may be replaced during maintenance operations. Blocks 190A to 192D may have the longest service life when subjected only to typical vibrations from the vibration assembly 198 (e.g., normal load). However, during the operation of the compactor 110, the vibration isolation supports 180A, 180B, 180C and 180D may be subjected to increased and / or additional loads, such as abnormal loads.

[0039] Vibration isolation bearings 180A, 180B, 180C, and 180D may be subjected to various additional loads, which may be considered overloads, abnormal loads, or additional loads to typical or normal loads. In the example, the operator of compactor 110 may use blade 114 to perform operations, resulting in vibration isolation bearings 180A, 180B, 180C, and 180D being subjected to additional, undesirable loads. As previously mentioned, blade 114 can be used to move soil in front of compactor 110. However, sometimes the operator may use blade 114 to attempt to move large objects, such as large tree stumps or large rocks. When driving compactor 110 to push blade 114 into large or heavy objects (such as load 164), the operator may have a tendency to increase the propulsion of compactor 110 generated by hydraulic motor 134. Therefore, the hydraulic motor 134 can transmit an increased amount of torque to the compaction roller 116, thereby increasing the load on the vibration isolation supports 180A, 180B, 180C, and 180D. Furthermore, the impact (regardless of magnitude) of the blade 114 on the load 164 during high-speed movement can cause impact loads on the hydraulic system, generating hydraulic pressure spikes. These loads may cause the vibration isolation supports 180A, 180B, 180C, and 180D to transmit greater deformation, thus reducing their service life.

[0040] In this invention, the compactor 110 may include a monitoring, feedback, and control system (e.g., Figure 4The system 200, such as that operated by controller 170, can use various inputs (such as inputs from sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151) to assess the use and wear of compactor 110 and vibration isolation supports 180A to 180D, and to provide instructions to the operator and compactor 110.

[0041] Hydraulic pressure sensor 148 can be used to monitor elevated hydraulic pressure levels, indicating increased pressure on vibration isolation supports 180A, 180B, 180C, and 180D. Specifically, an increase in hydraulic pressure may indicate malfunction or improper use of blade 114. In this example, hydraulic pressure sensor 148 can be used to sense increased pressure from hydraulic motor 134 and hydraulic cylinder 126. In this example, an additional pressure sensor may be included on the hydraulic lines of hydraulic cylinder 126.

[0042] However, the compactor 110 may experience an increase in hydraulic pressure during normal or non-improper operation. For example, an increase in hydraulic pressure may occur when the blades 114 are used to push a pile of material. Additionally, the compactor 110 may be operated while traversing a slope, which may result in an increase in hydraulic pressure levels.

[0043] To verify or cross-check whether an increase in pressure levels in the hydraulic system is due to malfunction or improper use of blade 114, additional input data can be collected from the compactor 110 during operation.

[0044] In this example, the outputs of linear position sensor 144 and rotary position sensor 146 can be used to determine the position of blade 114. Specifically, linear position sensor 144 and rotary position sensor 146 can be used to determine whether blade 114 is in a position that may be in use or may not be in use. For example, the output of linear position sensor 144 can be used to determine whether blade 114 is in an elevated position above ground 160, which may indicate that blade 114 is not being used to push a load; while if blade 114 is in a lowered position, it may indicate that blade 114 is being used to push a load. Rotary position sensor 146 can additionally be used to determine the height of blade 114 above ground 160.

[0045] The output of sensing device 140 can be used to determine the position and orientation of blade 114. Therefore, sensing device 140 can also be used independently to determine whether blade 114 is in a position that may be in use (e.g., in a descending position) or a position that may not be in use (e.g., in an ascending position). Additionally, the video output of sensing device 140 can be used to directly determine whether blade 114 is being used in a high-wear application. In other words, the video output of sensing device 140 can be used to observe blade 114 being impacted onto an object. The output of sensing device 140 can also be used to verify the outputs of linear position sensor 144 and rotary position sensor 146. In this example, sensing device 140 may include a video camera or still image camera, such as a photosensor including a charge-coupled device (“CCD” sensor) or a complementary metal-oxide-semiconductor (“CMOS”) sensor.

[0046] The output of acceleration sensor 147 can be used to determine the speed and acceleration of compactor 110. The output of acceleration sensor 147 can be used to verify the output of hydraulic pressure sensor 148. For example, if acceleration sensor 147 determines that compactor 110 is operating at high speed while hydraulic pressure peaks, it may indicate that blade 114 is impacting a large or heavy load. In this example, acceleration sensor 147 may include an accelerometer. In this example, acceleration sensor 147 may additionally be used to determine the speed of compactor 110. In this example, acceleration sensor 147 may sense the rotational rate of compaction roller 116.

[0047] The output of positioning device 142 can be additionally used to determine the speed and acceleration of compactor 110. The output of positioning device 142 can be used as an alternative to the output of acceleration sensor 147. The output of positioning device 142 can be used to verify the output of acceleration sensor 147. The output of positioning device 142 can additionally be used to determine the orientation of the frame 112 of compactor 110, such as the tilt angle of compactor 110 when it traverses an uphill or downhill slope. In this example, one or more tilt or angle sensors can be used to directly sense the orientation (e.g., tilt) of frame 112 without using satellite signals. In this example, the tilt sensor may include a tilt sensor, a pendulum sensor, or a similar sensor.

[0048] For reference Figure 4In more detail, the controller 170 can provide feedback to the user of the compactor 110, such as via outputs from the sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, and hydraulic pressure sensor 148, through the operator station 118 or via the network communication device 152. The outputs can be used to record events and create histograms of the compactor 110's operation, which can then be used to modify operator behavior, troubleshoot, and predict when replacement of vibration isolation bearing 180A to vibration isolation bearing 180D may be necessary or expected. The outputs can be stored in the compactor 110's memory (e.g., ...). Figure 4 In memory 177), and via network 174 Figure 1 The data is transmitted to the backend system. Real-time monitoring of the output allows for indication of when the autonomous compactor may need to be stopped if obstacles are encountered in the work area.

[0049] Additionally, the controller 170 may use the linear position sensor 144 and the rotary position sensor 146 to monitor the position of the blade 114, as well as outputs from the presence sensor 150 and the parking brake sensor 151, to determine whether the blade 114 is in an undesirable or potentially unsafe position. For example, the controller 170 may provide outputs to the user in the operator station 118 to move the blade 114 to the lowered position before leaving the seat 139, or to move the blade 114 to the raised position before moving the compactor 110, or to disable movement of the compactor 110 if the blade 114 has not risen to the raised position before being moved.

[0050] Figure 4 A schematic diagram of a system 200 configured for monitoring, controlling, reporting, and providing feedback to a compactor 110 according to the present invention is shown. System 200 may include a sensing device 140, a positioning device 142, a linear position sensor 144, a rotary position sensor 146, an acceleration sensor 147, a hydraulic pressure sensor 148, a presence sensor 150, and a parking brake sensor 151, as well as a controller 170 and a feedback device 176. Feedback device 176 may include an audio output device 178A, a mechanical dial 178B, a tactile feedback device 178C, and a visual indicator 178D.

[0051] The outputs of sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151 can be provided to controller 170. Controller 170 can record such outputs into memory 177. Memory 177 may additionally include instructions for processing outputs, instructions for generating reports based on outputs, and instructions for generating instructions for operating the components of compactor 110.

[0052] Memory 177 may include a machine-readable medium. The term "machine-readable medium" can include any medium capable of storing, encoding, or carrying instructions for execution by controller 170 and causing controller 170 to perform any one or more techniques of the present invention, or any medium capable of storing, encoding, or carrying data structures used by or associated with such instructions. Examples of non-limiting machine-readable media may include solid-state memory, as well as optical and magnetic media. In examples, a mass-based machine-readable medium includes a machine-readable medium having a plurality of particles having invariant (e.g., rest) masses. Therefore, a mass-based machine-readable medium is not a transient propagating signal. Specific examples of a mass-based machine-readable medium may include: non-volatile memory, such as semiconductor memory devices (e.g., electrically programmable read-only memory, electrically erasable programmable read-only memory (EPSOM)) and flash memory devices; magnetic disks, such as internal hard disks and removable hard disks; magneto-optical disks; and CD-ROM and DVD-ROM disks.

[0053] The controller 170 can output pressure level signals from the hydraulic pressure sensor 148 over a time scale. The controller 170 can additionally plot outputs from the sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, presence sensor 150, and parking brake sensor 151 over the same time scale. Accordingly, the controller 170 can identify outputs from multiple sensor inputs that occur simultaneously or within the same time period. The controller 170 can identify changes in sensor outputs and the rate of change of such outputs to determine and evaluate the behavior of the compactor 110, such as operating conditions. Specifically, the controller 170 can identify the operation of the blades 114 used with the compactor 110 to determine how the blades 114 are used, positioned, or stored, thereby providing feedback to the user of the compactor 110, selectively temporarily disabling certain operations of the compactor 110, and generating reports related to predicted or estimated remaining service life of worn components of the compactor 110, such as roller vibration isolation supports.

[0054] In this example, controller 170 may receive an output from hydraulic pressure sensor 148 indicating that compactor 110 is operating at increased hydraulic pressure. In this example, hydraulic pressure sensor 148 may be used to sense the hydraulic drive pressure of compactor 110. Therefore, hydraulic pressure sensor 148 may be positioned on hydraulic fluid line 135 connected to hydraulic motor 134. Thus, when hydraulic motor 134 operates more vigorously, for example, outputting greater torque, hydraulic pressure sensor 148 may output a signal indicating a higher hydraulic pressure level.

[0055] As described herein, controller 170 can cross-reference the output of hydraulic pressure sensor 148 without requiring the outputs of other sensors and devices to determine the operating state of blade 114 and / or compactor 110. Specifically, controller 170 can cross-reference the output of hydraulic pressure sensor 148 with the outputs of linear position sensor 144 and rotary position sensor 146 to determine whether blade 114 is in the rising or falling position and in contact with or near ground 160. Figure 1 If blade 114 descends and hydraulic pressure rises, this may indicate that blade 114 is pushing a large or heavy load, thus placing additional load on the drive system (e.g., hydraulic system 130, hydraulic motor 134, and / or propulsion unit 154). Controller 170 may additionally reference other inputs to provide additional reference points. For example, controller 170 may determine whether the compactor is operating on leveled or sloping terrain by using the output of positioning device 142 and / or tilt sensors, tilt sensors, or angle sensors.

[0056] If the output of positioning device 142 and / or tilt sensor, inclination sensor, or angle sensor indicates that compactor 110 is operating on sloping terrain, while hydraulic pressure increases and blade 114 descends, controller 170 can determine that compactor 110 may be operating under normal conditions or under conditions where typical loads and wear are applied to vibration isolation supports 180A to 180D. For example, compactor 110 may be using blade 114 to level a small mound of soil while traversing a slope in the terrain.

[0057] If the output of positioning device 142 and / or tilt sensor, inclination sensor, or angle sensor indicates that compactor 110 is operating on leveled terrain, and hydraulic pressure increases while blade 114 descends, controller 170 can determine that blade 114 may be operating under abnormal conditions, or under conditions where additional loads and wear are placed on vibration isolation supports 180A to 180D. For example, controller 170 can determine that blade 114 is being used to push a large or heavy object or load that blade 114 should not be moving.

[0058] Additionally, the outputs of sensing device 140 and positioning device 142 can be used to cross-check the outputs of the hydraulic pressure sensor. As previously mentioned, sensing device 140 can provide an alternative to linear position sensor 144 and rotary position sensor 146 to determine the position of blade 114, or can directly verify the operation of blade 114 by providing an image of the impact load 164 on blade 114. Similarly, positioning device 142 can be used as an alternative to acceleration sensor 147 and tilt sensor.

[0059] The duration of the hydraulic pressure increase can be additionally used to determine or verify whether the blade 114 has been misused or used improperly, or in a manner that may lead to increased wear on the vibration isolation supports 180A to 180D. For example, when the compactor 110 is on level ground and the blade 114 is descending, the acceleration sensor 147 senses a sudden increase in hydraulic pressure correlated with a sudden decrease in speed. This can confirm or determine whether the blade 114 has been used improperly, thereby impacting the load and causing wear events on the vibration isolation supports 180A to 180D. A sudden increase in hydraulic pressure may occur in the propulsion hydraulic pressure or the pressure line of the hydraulic cylinder 126. In other words, the controller 170 can cross-reference the concurrently occurring speed data and hydraulic pressure data to determine if the operating speed of the compactor 110 is higher than the speed typically used for compaction operations, and a concurrent peak in hydraulic pressure indicates that the blade 114 has impacted a heavy load on the compactor 110 that may be unable to move or may not be able to move without additional work output.

[0060] In response to the determination that blade 114 is currently or may be performing an improper task, or a task that would overload vibration isolation supports 180A to 180D, controller 170 may instruct feedback device 176 to provide an alarm or warning to the user, indicating that controller 170 has detected potential misuse of blade 114. In an example, feedback device 176 may include a display monitor, such as a touchscreen, LCD, or LED screen, on which text information can be provided to the user so that the user is aware of the event detected by controller 170. Additionally, controller 170 may instruct components of compactor 110 to prevent or stop the use of the detected blade 114. For example, controller 170 may instruct hydraulic system 130, hydraulic motor 134, and propulsion unit 154 to prevent compactor 110 from advancing. In an example, controller 170 may instruct hydraulic cylinder 126 to move blade 114 to a position where blade 114 cannot be used. For example, controller 170 may be raised to a high position to prevent engagement with objects near ground 160. Additionally, controller 170 can activate the parking brake, connected to parking brake sensor 151, to suppress operation of traction device 120 until corrective action is taken by the user. The disabling of compactor 110 advance, activation of the parking brake, or movement of blade 114 to a safe position can continue until the user confirms a warning displayed on feedback device 176. For example, feedback device 176 could warn that blade 114 impacting a heavy object could damage vibration isolation supports 180A to 180D, and the user must confirm the suppression of such operation by pressing a button or touchscreen on feedback device 176 to allow further operation of compactor 110.

[0061] Additionally, controller 170 can store sensor data recorded by system 200 in memory 177. Controller 170 can be configured to record data continuously or only when an event of concern occurs, such as when blade 114 is deemed to be misused, or when excessive wear is suspected to occur on vibration isolation supports 180A to 180D. In this example, controller 170 can analyze the output of system 200's sensors in real time to identify events of concern, thereby providing the necessary feedback to the operator of compactor 110. In this example, sensor data from system 200 can be provided in real time to remote system 172 for off-vehicle analysis. In this example, sensor data from system 200 can be transmitted at intervals via network 174, such as after use of compactor 110, for example, after compactor 110 or propulsion unit 154 is shut down. Reports generated by controller 170 or remote system 172 can be used to predict the remaining service life of worn components of compactor 110, such as blade 114 and vibration isolation supports 180A to 180D. For example, memory 177 may include formulas and graphs or charts relating the output of hydraulic motor 134 (e.g., the torque output of hydraulic motor 134) to the expected service life of vibration isolation bearings 180A to 180D. Therefore, when an increase in the output of hydraulic motor 134 is detected and confirmed or cross-checked to be related to a load event on vibration isolation bearings 180A to 180D, controller 170 can deduct time, such as usage time, from the remaining service life of vibration isolation bearings 180A to 180D. Thus, controller 170 or remote system 172 can generate a computer-readable file listing the usage history, impact events, and remaining service life of vibration isolation bearings 180A to 180D. In this example, a user of compactor 110 could take corrective action to replace vibration isolation bearings 180A to 180D.

[0062] For reference Figure 6 The outputs of the presence sensor 150 and the parking brake sensor 151 discussed herein can be used to provide feedback to the user and to change the operation of the compactor 110 based on the state or position of the blade 114.

[0063] Figure 5 This is a block diagram illustrating a method 300 for monitoring and controlling the operation of a compactor 110 having blades 114. In this example, method 300 may be configured to determine the wear of vibration isolation supports 180A to 180D of the compaction roller 116. Although references are made to compactor 110 and system 200, Figures 1 to 4While discussed, method 300 can encompass the use of any compactor and monitoring system consistent with the present invention. Method 300 may additionally include fewer or more operations in addition to operations 302 through 324. Additionally, in other examples, operations 302 through 324 may be performed in a different order.

[0064] At operation 302, the hydraulic pressure of the compactor 110 can be sensed. For example, a hydraulic pressure sensor 148 can be used to sense the driving pressure of the hydraulic system 130. The hydraulic pressure sensor 148 can continuously record its output over a certain time scale for comparison with other data at the same time scale. The output of the hydraulic pressure sensor can be stored in memory 177.

[0065] At operation 304, the position of the blade 114 can be sensed. For example, a linear position sensor 144 and a rotary position sensor 146 can be used to sense the position of the blade 114. The linear position sensor 144 can directly sense the rising or falling position of the blade 114 through the position of the hydraulic cylinder 126. The rotary position sensor 146 can indirectly sense the rising or falling position of the blade 114 through the position of the support arm 123A. The outputs of the linear position sensor 144 and the rotary position sensor 146 can be recorded in the memory 177 along with the output of the hydraulic pressure sensor 148, according to a common time scale.

[0066] At operation 306, the speed and / or acceleration of the compactor 110 can be sensed. For example, the speed and acceleration of the compactor 110 can be determined using an accelerometer 147 or a positioning device 142. Similarly, the output of the positioning device 142 can be used to determine the speed and acceleration of the compactor 110. The outputs of the accelerometer 147 and the positioning device 142 can be recorded together with the output of the hydraulic pressure sensor 148 in memory 177 on a common time scale.

[0067] At operation 308, the tilt angle of the compactor 110 can be sensed. For example, the tilt or descent of the frame 112 of the compactor 110 can be sensed using the positioning device 142 or a tilt sensor. The outputs of the positioning device 142 and the tilt sensor can be recorded in the memory 177 along with the output of the hydraulic pressure sensor 148, on a common time scale.

[0068] At operation 310, it can be determined whether a load event has occurred. If an increase in the push pressure of the compactor 110 or other hydraulic pressure is sensed, method 300 can proceed to operation 316. For example, controller 170 can determine that hydraulic pressure sensor 148 has sensed an increase in hydraulic pressure. If no increase in the push pressure of the compactor 110 is sensed, method 300 can proceed to operation 324.

[0069] At operation 312, the sensed hydraulic pressure indicated by the thrust provided by the hydraulic motor 134 can be compared with the output of other sensed parameters of the compactor 110 to verify or cross-check the causes that may lead to an increase in hydraulic thrust pressure. For example, the position of the blade 114, the tilt angle of the frame 112, and the speed and acceleration of the compactor 110, as determined in operations 304, 306, and 308, can be used.

[0070] At operation 314, controller 170 can determine whether the increase in hydraulic pressure causes a load event on vibration isolation supports 180A to 180D. If a load event is determined to have occurred, method 300 can proceed to operation 316. For example, the controller can determine that cross-check information from operation 312 indicates that the increase in hydraulic pressure is caused by a load on blade 114. If it is determined that no load event has occurred, method 300 can proceed to operation 324. For example, the controller can determine that cross-check information from operation 312 does not indicate that the increase in hydraulic pressure is caused by a load on blade 114.

[0071] At operation 316, load events can be recorded in a log. For example, the outputs of sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151 can be recorded in memory 177.

[0072] At operation 317, the remaining service life of the worn parts of the compactor 110 can be determined. Wearing parts may include the blade 114 itself or its attached blades, and vibration isolation supports 180A to 180D. The controller 170 or remote system 172 can use predetermined formulas, equations, and / or lookup tables to correlate the total accumulated operating time and hydraulic pressure with the service life of the vibration isolation supports 180A to 180D. If it is determined that the service life of the vibration isolation supports 180A to 180D has exceeded or is nearing its end, the controller 170 can output a warning using feedback device 176, and / or the operator of the compactor 110 can perform maintenance operations to replace the vibration isolation supports 180A to 180D.

[0073] At operation 318, a warning or instruction can be provided to the user of the compactor. The warning or instruction can be displayed on or transmitted via feedback device 176. In this example, the warning or instruction can be transmitted to the user that a load event has occurred and that the user should avoid operating the compactor 110 in a manner that would lead to a load event in the future. Examples of load events include the blade 114 striking a heavy object at a speed higher than the normal operating speed for compacting soil, or causing the blade 114 to engage a heavy object and continuously increasing the torque output of the hydraulic motor 134 for a period of time. Additionally, the controller 170 can disable the operation of the compactor 110 or a portion thereof (such as the blade 114, by disabling the linear position sensor 144 and / or the rotary position sensor 146) or the traction device 120 (by activating the parking brake or disabling the hydraulic motor 134).

[0074] At operation 320, it can be determined whether the user has taken corrective action. For example, controller 170 can determine that the user has acknowledged the occurrence of the load event, such as by contacting or engaging controller 170 or feedback device 176. If it is determined that no corrective action has been taken, method 300 can move back to operation 318. If corrective action has been taken, method 300 can move to operation 322.

[0075] At operation 322, further operation of the compactor 110 is permitted. Any disabled portion of the compactor 110 can be reactivated. For example, the parking brake can be released to release the traction device 120, or the hydraulic motor 134 can be re-engaged.

[0076] At operation 324, the compactor 110 can operate the roller 116 for compaction and the blade 114 for leveling. During the use of the compactor 110, the outputs of the sensing device 140, positioning device 142, linear position sensor 144, rotary position sensor 146, acceleration sensor 147, hydraulic pressure sensor 148, presence sensor 150, and parking brake sensor 151 can be monitored, and method 300 can return to operation 310.

[0077] Figure 6 This is a block diagram illustrating a method 400 for operating a compactor 110 to determine, verify, and move the position of the blade 114. Method 400 can determine whether the blade 114 is in an improper position in the current state of the compactor 110. An improper position of the blade 114 may include the blade 114 being in an elevated position when the compactor 110 is in a parked state, and the blade 114 being in a lowered position when the compactor 110 is moving.

[0078] Although it is based on compactor 110 and system 200 and Figures 1 to 4While discussed, method 400 can encompass the use of any compactor and monitoring system consistent with the present invention. Method 400 may additionally include fewer or more operations in addition to operations 402 through 430. Additionally, in other examples, operations 402 through 430 may be performed in a different order.

[0079] Method 400 can be initiated when the compactor 110 is in use (e.g., moving) or not in use (e.g., parked). If the blade 114 is in the lowered position, method 400 can be initiated at operation 402. If the blade 114 is in the raised position, method 400 can be initiated at operation 404. The position of the blade 114 can be determined by the output of the linear position sensor 144 and / or the rotary position sensor 146, as well as the sensing device 140.

[0080] From operation 402, method 400 can move to operation 406, where controller 170 can determine whether the operator is in operator station 118. Controller 170 can use the output of presence sensor 150 to determine whether the operator is in operator station 118, specifically whether they are sitting in seat 139. If no operator is detected in operator station 118, method 400 can terminate because blade 114 has correctly descended due to the absence of an operator in seat 139. If an operator is sensed in seat 139, method 400 can move to operation 408.

[0081] At operation 408, controller 170 can determine whether parking brake sensor 151 is engaged or whether its state has changed. If parking brake sensor 151 determines that the parking brake is engaged or has changed from disengaged to engaged, it may indicate to the user that they intend to park compactor 110, and method 400 can end because blade 114 has descended. If parking brake sensor 151 indicates that the parking brake has disengaged or has changed from engaged to disengaged, controller 170 can determine that there is a potential conflict with the desired operating state of compactor 110, i.e., the parking brake is disengaged, but blade 114 has descended.

[0082] At operation 410, controller 170 can verify whether blade 114 has descended. As previously described, the outputs of linear position sensor 144, rotary position sensor 146, and / or sensing device 140 can be used to determine the ascending or descending state of blade 114. Descending can include engagement with ground 160, and ascending can include disengagement from ground 160. Additionally, ascending and descending can include situations where the hydraulic cylinder is in its extreme positions, such as fully extended or fully retracted.

[0083] At operation 412, controller 170 can receive a user request to start compactor 110. For example, a user seated in seat 139 can request propulsion unit 154 to provide driving force to traction device 120. The user can start traction device 120 by pressing a button, pressing a joystick, stepping on a pedal, engaging the user interface device, or issuing a voice command.

[0084] At operation 414, controller 170 can determine that compactor 110 may not be ready to advance. Specifically, controller 170 can determine that compactor 110 cannot move, such as contacting the ground 160, when blade 114 is in the descending position. For example, if compactor 110 and blade 114 move downward, blade 114 may potentially damage the shaped surface, such as a paved surface, or may potentially disturb previously compacted soil or other materials. Furthermore, downward movement of compactor 110 and blade 114 may potentially damage blade 114, especially when engaging hard surfaces such as concrete. Therefore, controller 170 can temporarily disable or prevent the propulsion unit 154 from applying driving force to traction device 120. For example, controller 170 can prevent commands issued by operator station 118 from reaching propulsion unit 154, or can activate parking brake.

[0085] At operation 416, controller 170 can provide a notification to the user at operator station 118. The notification can inform the user that blade 114 has descended and request the user's confirmation as to whether they expect the compactor 110 to continue moving while blade 114 has descended. For example, the display unit can provide text or graphic output that the user can read or view, conveying the position of blade 114 in the descending position.

[0086] At operation 418, the user can issue commands or input data to controller 170 to change the position of blade 114, such as raising blade 114. Blade 114 can be raised to a degree sufficient to allow movement, such as raising it to a position separate from the ground 160, or raised to a minimum position, such as four to twelve inches. Afterward, controller 170 can determine that compactor 110 is ready to move and can reactivate operation of propulsion unit 154.

[0087] At operation 420, the user can determine the desired movement of the compactor 110 as the blade 114 descends. For example, the user might intend to level a pile of soil in front of the compactor 110 when it begins to move. Therefore, the user can override the instructions of the controller 170 to disable the propulsion unit 154.

[0088] After operation 418 or operation 420, method 400 can complete and can return to the beginning of method 400.

[0089] As previously stated, if blade 114 has been lowered, method 400 can begin at operation 404. From operation 404, method 400 can move to operation 422.

[0090] At operation 422, controller 170 can determine whether parking brake sensor 151 is disengaged or whether its state has changed. If parking brake sensor 151 indicates that the parking brake has disengaged or changed from engaged to disengaged, it may indicate that the user intends to move compactor 110, and method 400 can end because blade 114 has been raised. If parking brake sensor 151 determines that the parking brake is engaged or changed from disengaged to engaged, controller 170 can determine that there is a potential conflict in the desired operating state of compactor 110, i.e., the parking brake is engaged, but blade 114 has been raised.

[0091] At operation 424, controller 170 can determine whether the operator is in operator station 118. Controller 170 can use the output of presence sensor 150 to determine whether the operator is in operator station 118, specifically whether they are sitting in seat 139. If an operator is sensed in operator station 118, method 400 can end because blade 114 may be in operation in the raised position. If no operator is sensed in seat 139, method 400 can proceed to operation 426.

[0092] At operation 426, controller 170 can verify whether blade 114 has risen. As previously described, the outputs of linear position sensor 144, rotary position sensor 146, and / or sensing device 140 can be used to determine the rising or falling state of blade 114. Falling can include engagement with ground 160, and rising can include disengagement from ground 160. Additionally, rising and falling can include situations where the hydraulic cylinder is in its extreme positions, such as fully extended or fully retracted.

[0093] At operation 428, controller 170 can provide a notification to the user at operator station 118. The notification can inform the user that the blade 114 has risen when the compactor 110 is in the parked position, and request the user to confirm whether they expect the compactor 110 to be parked with the blade 114 raised. For example, the display unit can provide text or graphic output that the user can read or view, conveying to the user that the blade 114 is in the raised position.

[0094] At operation 430, the user can issue commands or input data to the controller 170 to change the position of the blade 114, such as lowering the blade 114. The blade 114 can be lowered to engage with the ground 160. Afterward, the controller 170 can determine that the compactor 110 is ready to be parked and can be shut down, etc.

[0095] Starting from operation 428, method 400 can move to operation 420. At operation 420, the user can determine that the compactor 110 is expected to be in a parked state while the blades 114 are raised. For example, the user may intend to temporarily leave the compactor 110 while raising the blades 114 for maintenance. Therefore, the user can override the instruction from controller 170 to issue a warning to the user, thereby clearing the warning and allowing the compactor to park and shut down.

[0096] After operation 430 or operation 420, method 400 can complete and can return to the beginning of method 400.

[0097] Industrial applicability

[0098] The front leveling blade can be used on vibratory soil compactors (SCOM). Optional leveling blades on certain models can be used to level small piles of material or to help remove rocks or other obstructions from the area to be compacted.

[0099] The blades on the SCOM are configured as leveling blades, functioning differently from those on a bulldozer. Leveling blades are typically used to level piles of soil left by bulldozers or graders and remove debris (such as stones typically no larger than two inches and other similarly sized debris) brought into the compaction zone by the backfill. Excessive or abusive use of leveling blades beyond the scope of application described herein can negatively impact the compactor. For example, an operator might drive the compactor at higher speeds to impact large and heavy objects in an attempt to move them. This operation can negatively affect the lifespan of the compaction roller isolation bearings and structures such as the blades, front frame, and traction device. Compaction roller isolation bearings are typically made of flexible rubber material or components and are used to isolate the roller's vibrations from the front frame. The SCOM may be equipped with a drive roller so that the roller helps pull the SCOM across the soil. Due to excessive or abusive use of leveling blades, high levels of torque are transmitted through the roller. This torque is transmitted through the roller isolation bearings, which can cause damage to the input and output flanges of the isolation bearings (e.g., Figure 3 Large deformation occurs between flanges 187A and 187C. This leads to a shortened component lifespan. Roller vibration isolation bearings include wear parts, as they typically require replacement after a certain number of uses. Therefore, it would be beneficial for customers to be able to predict and plan when these parts will need to be replaced. Overloading of the vibration isolation bearings can lead to unpredictable performance.

[0100] When the leveling blades are under heavy load, they will increase the drive torque as needed until they reach the maximum capacity of the machine to move large, heavy objects. The pressure within the hydraulic motor will increase accordingly. This results in more torque entering the roller drive gearbox, thus increasing the output torque transmitted through the drive plate to the roller vibration isolation supports. The increased resistance to machine movement and the increased torque acting on the roller vibration isolation supports lead to greater deformation. This shortens the service life of the vibration isolation supports. High-speed impacts of the leveling blades on objects can also cause similar overloads and shorten the service life of the vibration isolation supports. Furthermore, structural damage to the compactor may also occur.

[0101] Onboard machine data can be used to monitor the usage of leveling blades. Using various inputs such as feed pressure, blade cylinder pressure, blade position, machine angle, machine speed, and machine acceleration, overuse, overload, and abuse of the blades can be recorded.

[0102] Drive pressure can be sensed using pressure sensors in the machine's drive power system, indicating the load on the transmission system and its rate of change. Blade cylinder pressure can be measured, providing load feedback on the entry of the leveling blade, its passage through the cylinder, and its return to the front frame. Using position-sensing cylinders or camera systems to measure blade position indicates the blade's height relative to the ground or object. Angle sensors can be used to indicate whether the compactor is operating on a slope, allowing us to understand whether an increase in drive pressure is due to blade use or operation on an inclined ramp. During these situations, machine speed sensors can be used to monitor speed changes. Onboard accelerometers can be used alone or in combination with other sensors to understand the rate of change of machine acceleration. Additional sensors can also be used to measure parameters characterizing blade use.

[0103] When the blade is descending and the machine is on level ground, excessively high drive pressure may indicate the use of heavy-duty blades. On level ground, a sudden increase in drive pressure and a sudden decrease in machine speed during blade descent indicate blade abuse. This information can be used to log events and create histograms of machine operation, which can then be used to modify operator behavior, troubleshoot, and predict vibration damping bracket replacement. Information can be stored on the machine and transmitted to a back-end system. Real-time monitoring can also serve as an indication for the autonomous machine to stop when encountering obstacles in the work area.

[0104] Another issue relates to the positioning of leveling blades on soil compactors. Leveling blades can be mounted at the front of a vibratory soil compactor. The operator's view of the front-mounted blades is often obstructed by the rollers and the front frame. Furthermore, operators do not always know or think to check whether the blades are in the up or down position before issuing a machine movement command. When starting the machine, the operator may not realize the blades are in the down position, potentially causing damage to the blades, the machine, or other nearby objects and people, as the blades may impact various objects. Additionally, when stopping or leaving the machine, the operator may leave the blades in the up position. The blades may be unmechanically locked suspension loads and could fall to the ground due to mis-commands from the cab or other system malfunctions.

[0105] This invention provides a solution to these and other problems by providing a machine position indicator and machine interlocking device for soil compactors. The machine position indicator system can indicate to the operator that the blade is detected in the lowered position, request machine movement after detecting the operator's presence in the seat, and change the parking brake status from engaged to disengaged. In this case, machine movement can be prevented to avoid damage caused by the blade being in the lowered position. The operator confirms this by inputting information such as selecting a prompt on the display screen, or by raising the blade and then lowering it again. Furthermore, if it is determined that the blade is in the raised position, no machine movement is detected, the parking brake status changes from disengaged to engaged, and the operator is not detected in the seat, an alarm can be provided to the operator. Blade position can be determined using devices such as position-sensing hydraulic cylinders, electrical switches, pressure sensors in the blade hydraulic circuit, or cameras, and various methods can be used to determine the parking brake switch status, speed sensors on the rollers / wheels, and whether the operator is in the seat. In addition, operator information can be recorded and reported to a back-end system to guide operator behavior.

[0106] Various examples are illustrated in the accompanying drawings and the foregoing description. One or more features from one or more of these examples can be combined to form other examples.

[0107] The detailed description above is illustrative, not restrictive. Therefore, the scope of the invention should be determined by referring to the appended claims and the full scope of their authorized equivalents.

[0108] The foregoing general description and the following detailed description are merely exemplary and illustrative and do not limit the claimed features. As used herein, the terms “comprises,” “comprising,” “having,” “including,” or other variations thereof are intended to cover non-exclusive inclusions, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but may also include other elements not expressly listed or inherent to such process, method, article, or apparatus. Furthermore, in this invention, relative terms (such as “about,” “substantially,” “usually,” and “approximately,” etc.) are used to indicate possible deviations of ±10% from the stated values.

Claims

1. A soil compactor, comprising: frame; A compaction roller rotatably mounted on the frame; Drive mechanism for rotating the compaction roller; The blades are mounted on the frame and configured to push or level the load; A first sensor is configured to monitor the operation of the blade; A controller configured to receive the output of the first sensor; as well as An output system connected to the controller and configured to generate an output signal indicating the operating state of the blade based on the output of the first sensor, wherein the output signal includes an audio signal, a visual signal, a tactile feedback output, or a report stored on a machine-readable medium.

2. The soil compactor according to claim 1, wherein: The first sensor includes a position sensor for the blade; The controller is configured to determine whether the blade is in the rising or falling position; as well as The output system is configured to provide a first warning if the blade is in the raised position and the soil compactor is in a stationary state, and a second warning if the blade is in the lowered position and the soil compactor is about to move.

3. The soil compactor according to claim 2, further comprising: A presence sensor is provided to determine whether the operator is seated in the operator's cabin of the soil compactor, wherein a first warning is issued when the presence sensor is not activated, and a second warning is issued when the presence sensor is activated; as well as A parking brake sensor is used to determine whether the parking brake is engaged or disengaged, wherein a first warning is issued when the parking brake sensor is engaged and a second warning is issued when the parking brake sensor is disengaged, wherein the controller is configured to prevent operation of the drive mechanism if the blade is in the lowered position and the operator requests movement of the soil compactor; The controller includes an operator interface, and the controller is configured to request confirmation of the blade's status to clear either the first or the second warning.

4. The soil compactor according to claim 1, wherein: The drive mechanism includes a hydraulic motor; The first sensor includes a pressure sensor; and The compaction roller further includes a plurality of vibration isolation supports for connecting the drive mechanism to the compaction roller, wherein the output signal indicates wear events on the plurality of vibration isolation supports caused by the blade.

5. The soil compactor according to claim 4, further comprising: The second sensor is selected from a combination of a velocity or acceleration sensor and a tilt sensor; The controller is configured to cross-check the output of the second sensor before activating the output system to provide the output signal.

6. A soil compactor, comprising: frame; A compaction roller rotatably mounted on the frame; Drive mechanism for rotating the compaction roller; The drive mechanism is connected to multiple vibration isolation supports of the compaction roller; A monitoring system configured to monitor wear on the multiple vibration isolation supports; as well as An output system configured to generate output signals related to the use of the plurality of vibration isolation bearings, wherein the output signals include audio signals, visual signals, or tactile feedback outputs.

7. The soil compactor according to claim 6, wherein: The drive mechanism includes a hydraulic motor connected to a hydraulic system; and The monitoring system includes a pressure sensor for the hydraulic system.

8. The soil compactor according to claim 7, further comprising: Blade tools are mounted on the frame, wherein the monitoring system is configured to determine pressure increases in the hydraulic system caused by the blade tools; as well as A vibration mechanism configured to apply vibrational motion to the compaction roller, wherein the plurality of vibration isolation supports are configured to suppress vibration transmission from the compaction roller to the frame.

9. The soil compactor of claim 7, further comprising an operator interface configured to receive input from a user to clear the output signal from the output system.

10. The soil compactor of claim 6, wherein the monitoring system is configured to determine the remaining service life of the plurality of vibration isolation bearings, wherein the output signal includes a report stored on a machine-readable medium.

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