WARNING SYSTEM AND PROCEDURE FOR EXCESSIVELY STEEP PARKING OF A MACHINE

Abstract

System for warning that a slope is too steep for the safe parking of a machine, the system comprising: at least one inclinometer designed to: Arranging on the machine, wherein the machine is arranged on the slope; and Measuring an inclination of the machine; a controller comprising a processor and configured to: Operative connection with the at least one inclinometer; and Determining that the machine cannot be parked safely if the slope exceeds a predetermined threshold slope; and a warning generator, trained to: Active connections with the control system; and Warn at least one machine operator that the machine cannot be parked safely if the control system determines this, wherein the controller is configured to update a slope threshold to the slope when the controller detects movement of the machine after a parking brake is applied and the slope is less than the slope threshold.

Description

Technical field

[0001] This disclosure generally relates to determining whether a machine is on a slope that exceeds a threshold for safely parking the machine using a parking brake and, if the threshold is exceeded, generating a warning at least to the operator of the machine. State of the art

[0002] When a machine is parked, and especially when no operator is present, it is important that the machine is parked securely without the risk of unexpected movement. If a vehicle is unable to maintain its parked position, there is a risk of damage to the vehicle, other property, personal injury, and even loss of life. Therefore, when an operator parks a machine, they must be confident that the machine will not move.

[0003] Gravity can provide the force necessary to unexpectedly move a parked machine or cause a parking brake to fail to engage if the machine is parked on a sufficiently steep slope. To assist the operator in determining how to safely park a machine on a slope, it may be useful to provide the operator with an additional warning or cue.

[0004] Chinese Patent No. CN108860119B discloses an electric parking brake used for a motor vehicle and a method for controlling the electric parking brake. The electric parking brake includes a locking mechanism and a deceleration mechanism. A tilt sensor detects the incline at which the motor vehicle is parked, and a force is applied based on the sensor reading. If the incline at which the vehicle is parked is greater than a preset incline value, a red brake alarm light illuminates, indicating that the vehicle cannot be parked.

[0005] The foregoing background description is intended solely to assist the reader. It is not intended to limit the innovations described herein, nor is it intended to limit or extend the described prior art. Thus, the foregoing description is not intended to indicate that any particular element of a prior system is unsuitable for use with the innovations described herein, nor is it intended to indicate that any element is essential to implementing the innovations described herein. The implementations and applications of the innovations described herein are defined by the appended claims.

[0006] US 2017 / 0 066 425 A1 discloses a system and method for controlling parking and includes measuring a friction coefficient or an inclination angle of a road surface and detecting a parking brake force by a parking motor of a parking system. US 2015 / 0 266 459 A1 discloses a system for improving the slope of an earthmoving machine using a first and a second parking brake.

[0007] DE 10 2013 218 401 A1 discloses a driver assistance system with increased reliability and availability. Short summary

[0008] One or more embodiments of the present disclosure provide a system for warning that an incline is too steep for safe parking of a machine. The system comprises: at least one inclinometer configured to be disposed on the machine, the machine being on an incline, and to measure an incline of the machine; a controller comprising a processor and configured to be operatively connected to the at least one inclinometer and to determine, using the incline, whether safe parking of the machine is not possible; and a warning generator configured to be operatively connected to a controller and to warn at least one operator of the machine that the machine cannot be safely parked when the controller so determines.The controller is designed to update a slope threshold to the slope when the controller detects machine movement after a parking brake is applied and the slope is less than the slope threshold.

[0009] One or more embodiments of the present disclosure provide a method for warning that a slope is too steep for safely parking a machine. The method includes: measuring a slope of a machine using at least one inclinometer disposed on the machine; receiving the slope of the machine from the at least one inclinometer; determining, using a controller operatively connected to the at least one inclinometer, whether the slope exceeds a threshold slope; and warning an operator of the machine that the machine cannot be safely parked using a warning generator operatively connected to the controller if the controller so determines.The controller is configured to determine that the machine cannot be safely parked if the slope exceeds a predetermined threshold slope; and to update a slope threshold to the current slope if the controller detects movement of the machine after application of a parking brake and the current slope is less than the slope threshold.

[0010] One or more unclaimed embodiments provide a machine comprising: a motor configured to drive the machine; at least one inclinometer disposed on the machine and configured to measure at least one inclination of the machine; a controller operatively connected to the at least one inclinometer and configured to receive the at least one inclination from the at least one inclinometer and to determine, using the at least one inclination, when the machine cannot be safely parked; and a warning generator operatively connected to the controller and configured to warn at least one operator of the machine that the machine cannot be safely parked when the controller so determines. Short description of the drawings Fig. 1 illustrates a side view of an articulated machine according to one or more embodiments. Fig. 2 illustrates a plan view of a drive system of an articulated machine according to one or more embodiments. Fig. Figure 3 schematically shows a system for detecting and warning when the inclination of the machine is too great for safe and secure parking. Fig. 4 shows a flowchart of a method for providing a warning when an incline is too steep for safe and secure parking, according to one or more embodiments. Detailed description

[0011] The present disclosure is directed to systems, methods, and devices related to machines. Examples of machines include bulldozers, motor graders, wheel loaders, excavators, trenchers, loaders, trucks, and various other machines. These machines may be used, for example, to move material within a work area. Examples of work areas include a mine, landfill, quarry, construction site, roadworks, forest, farm, or any other area where material needs to be moved. To perform tasks, the machines may operate in an autonomous, semi-autonomous, or manual manner in response to commands generated as part of a work plan for the machines. The operations performed by the machines may include digging, loosening, moving, etc.various materials in the work area, such as mining, earthworks and other industrial activities.

[0012] With reference to Fig. 1, an articulated machine 100 is shown having a tractor 102 (a first portion of the articulated machine 100) and a trailer 104 (a second portion of the articulated machine) in combination for transporting material on the bed 106. In this illustration, the trailer 104 also includes a frame 108 to which the bed 106 is mounted. The machine may include a tailgate 110 hingedly attached to the rear edge 112 of the bed 106. The tractor 102 may include an internal combustion engine 114, although other means of motive power may be provided, such as one or more electric motors connected to one or more batteries, fuel cells, or other means for powering the machine.

[0013] In some embodiments, the machine may not be articulated. In other cases, it may be articulated in more than one location.

[0014] With further reference to Fig. 1, three mutually perpendicular axes relative to the tractor 102 of the machine 100 can be defined: a longitudinal axis 121 pointing generally in the direction of travel of the machine (shown here as pointing to the right), a transverse axis 131 generally parallel to the axles of the vehicle (shown here as pointing from the side), and a vertical axis 141 generally perpendicular to the surface on which the machine 100 rests (shown here as pointing upward). If the machine 100 is an articulated machine (as shown), this coordinate system is used with respect to the tractor 102. The trailer 104 has a similar, albeit independent, coordinate system including the mutually orthogonal second longitudinal axis 122, second transverse axis 132, and second vertical axis 142, which are similarly defined but relative to the trailer 104.

[0015] Rotation about a transverse axis 131, 132 of the machine 100 may be referred to as pitch, while rotation about a longitudinal axis 121, 122 may be referred to as roll. These two rotations, pitch and roll, are measurements that reflect the inclination of the machine 100 and are measured with respect to a horizontal plane. Rotation about a vertical axis 141, 142 may be referred to as yaw and may be measured with respect to any ray whose origin lies on the normal axis 141, 142. For example, yaw may be measured with respect to a positive longitudinal axis 121, 122. For land-based machines, yaw can be largely ignored because the medium against which propulsion occurs is immobile, unlike watercraft and aircraft, which are propelled by force against a fluid medium (i.e., water and air, respectively).

[0016] The machine 100 may include an engine control module (ECM) 116, also referred to as an engine control unit (ECU). The ECM may be located anywhere in or on the machine 100. For example, the ECM may be located in the tractor 102. The ECM may operate as a computer that controls and regulates various performance parameters of the machine's internal combustion engine. The ECM may control a number of actuators on the engine to maintain optimal engine performance. The ECM may accomplish this by reading values from a variety of sensors within the engine compartment, including one or more engine speed sensors, interpreting the data, and adjusting the engine's actuators. The ECM may control, among other things, the fuel-air mixture, ignition timing, and idle speed.A failure of the ECM can lead to a reduction in the efficiency of the machine's engine, and in extreme cases, the engine may even fail completely.

[0017] In some machines, the ECM may use lookup tables to interpret data from sensors. The ECM may map data to the nearest value in a lookup table or perform linear or nonlinear interpolation between lookup table values. The interpolation may be performed successively for one sensor or sensor type at a time, or the ECM may perform multivariate interpolation using data from multiple sensors or sensor types simultaneously. In other cases, the ECM may apply one or more algorithms to the sensor data to provide useful output to a machine operator.

[0018] The machine 100 may include or have one or more inclinometers disposed within or on it. An inclinometer (also known as a clinometer) is used to measure an angle of inclination relative to a horizontal surface. The horizontal surface is defined as a surface perpendicular to the direction of gravity. A plurality of inclinometers may provide redundancy in the event of an inclinometer failure or the transmission of inclination measurements for processing. A plurality of inclinometers may also enable data averaging and the identification of anomalous values and potential errors by the ECM or one or more other processors. Further, in an articulated machine 100, each section of the articulated machine 100, for example, the tractor 102 and the trailer 104, may be equipped with one or more inclinometers to provide inclination measurements for each section.

[0019] The machine 100 may also include a cab 150 for an operator. The cab 150 may include controls for the machine 100, as well as displays, indicators, and warnings for providing the necessary information to the operator.

[0020] With reference now to Fig. Figure 2 shows a top view of a power system 200 of an articulated machine 100. The engine 114 drives the front wheels 202 and the rear wheels 204. The hitch 205 serves as an articulation point (or pivot point) between the tractor (shown to the left of the hitch 205) and the trailer (shown to the right of the hitch 205).

[0021] The machine 100 may also include sensors for determining the load on each axle or wheel 202, 204. These load sensors may measure pressure, strain, force, and the like. Other sensors may measure brake package wear and usage, which may be stored as time since the brakes were installed, number of brake applications, cumulative duration of brake use, deceleration during braking, change in speed during braking, and the like. One or more of these data can be used to calculate the ability of the brakes to hold the machine stationary against a force attempting to move the machine. For example, on a slope, a component of gravity parallel to the surface on which the machine is resting will create a force attempting to move the machine.More specifically, the force of gravity acting parallel to the longitudinal axis of inclination of one or more sections of the machine may affect the ability of a machine to park safely and securely.

[0022] Machine 100 may include multiple brake sets. For example, tractor 102 and trailer 104 may each include one or more brake sets. Each of the brakes and / or brake sets may be equipped with brake sensors.

[0023] A steering sensor located on the hitch 205 can be used to measure the articulation angle of the articulated machine 100. During articulated operation, the brakes of the machine 100 may be subjected to varying degrees of load and braking performance. Measurements from the steering sensor and the front and rear brake sensors can serve as inputs to determine whether the machine 100 is in a position that is unsafe for parking.

[0024] In one or more embodiments of the present disclosure, a system for warning that a slope is too steep for safe parking may include one or more sensors, a controller, a data store, and a warning generator.

[0025] With reference to Fig. 3, a warning system 300 may include one or more sensors 302. The sensors may be operatively connected to a controller 304 and a data storage device 306 via wired or wireless technology. The sensors include an inclinometer 308 for measuring the inclination of a machine. In the case of an articulated machine, the inclinometer 308 may be located in one section of the machine, such as the tractor or trailer. Machines may have one or more additional inclinometers 310 to provide a plurality of inclination measurements for averaging, redundancy in the event of a measurement error or sensor or communication failure, and / or for location on additional sections of an articulated machine. The inclinometers 308, 310 may be unidirectional (e.g., measuring only inclination) or multidirectional.Inclinometers can be accelerometers, liquid capacitive, electrolytic gas bubbles in liquid, pendulums and the like.

[0026] Other sensors 302 may include one or more brake pack wear sensors 312 and one or more machine load sensors 314. Machine load sensors may provide load measurements for one or more axles and / or one or more wheels of the machine.

[0027] The controller 304 may be located on the machine, such as an engine control module, or it may be located off-board but within the work area or at a remote location. Communication between components of the system 300 may be wireless or wired. The system may utilize communication channels such as the Internet, Bluetooth, and other means.

[0028] The controller 304 may include one or more processors that communicate with the sensors 302, including receiving data from the sensors, performing operations on the received data, storing the received data, processed data, and other outputs in the data store 306. The controller 304 may determine whether the grade of a slope on which the machine is located is too steep for safe parking. The controller may determine whether the grade of at least one inclinometer 308, 310 exceeds a predetermined safe parking threshold. In this case, a warning generator 316 generates at least one warning for an operator of the machine. The grade may be a positive or negative value (or zero). The absolute value of the grade may be used in the determination. There may be different predetermined thresholds for positive and negative grades.Different predefined thresholds can be used for each section of an articulated machine (for example, a tractor and a trailer). Multiple thresholds can be stored in the controller and / or data storage. The thresholds can be updated based on the machine's history. An alert can be generated if at least one predefined threshold is exceeded.

[0029] In other cases, a different determination, perhaps involving more complex analysis, may be used. For example, the controller may detect motion after the parking brake is applied based on one or more accelerometers, gyroscopes, engine speed sensors, or the like. In such a case, the controller may update one or more slope thresholds to the current slope to warn against parking on a slope that exceeds the new slope threshold(s). For example, if a current slope threshold is set to 20 degrees (20°), but a controller detects machine motion, perhaps with data from an engine speed sensor, when the machine applies the parking brake at a 15-degree slope, the controller may update the slope threshold to 15 degrees.

[0030] In one or more embodiments, measurements from brake pack wear sensors 312, machine load sensors 314, and other data relevant to brake wear may be incorporated into determining a safe grade. These additional measurements and data may be used to adjust the threshold using one or more lookup tables. A lookup table may use a single-variable input or a multi-variable input. Interpolation may be used between values in a lookup table. The interpolation may be linear or nonlinear.

[0031] If an unsafe parking condition is detected, the warning generator 316 generates a warning for at least one machine operator. A warning may also be generated for other relevant parties, including supervisors and managers in the work area, supervisors and managers off-site, manufacturers of machines, brakes, and other related equipment, owners and / or lessors of machines, lessees of machines, and the like. The warnings may be transmitted wired and / or wirelessly.

[0032] In one or more embodiments, system 300 may include wireless communication between the machine and one or more remote locations. A remote location may be located within the work area or anywhere in the world. Remote locations may provide data storage for sensor data collected from the machine. The sensor data may originate from a plurality of machines. A remote location may include one or more processors, which may or may not be located in or on a controller. The external processors may be used to determine, based on the sensor data received from the machine, whether a machine can be safely and securely parked.The remote site can then arrange for a warning to be sent to the machine operator as well as to other persons such as on-site or off-site supervisors, managers, the machine manufacturer, the machine owner, the company using the machine, a machine maintenance company, and the like.

[0033] A warning can be delivered to an operator and / or other relevant parties in several ways. A warning generator, operatively connected to the controller or a remote location, which determines when a warning is required to indicate that a slope is too steep for safe and secure parking, can alert an operator and other relevant parties through a visual, audible, or tactile warning signal, or a combination of warnings.

[0034] Visual warnings include a constant, flashing, or stroboscopic light, and the like. The light may be colored and located on an operator's control panel. The strobe light may be located in the operator's cab. Visual warnings may include a written message. Visual warnings may be displayed on an operator display, including a head-up display, within the operator's line of sight or field of view while operating the equipment. Audible warnings include a siren, horn, bugle, buzzer, bell, tone, tone sequence, and a spoken warning. For example, a spoken warning may state, "Danger! The grade is too steep for safe parking."

[0035] Tactile alarms may include a vibrating joystick, a vibrating seat, and / or a vibrating pedal. The vibrations may be steady or follow a pulsating pattern.

[0036] An alarm or warning may also prevent the machine from being turned off and / or a key from being removed.

[0037] Warnings can be issued whenever a machine is on a slope where the slope exceeds a threshold, or the warning can be issued only when an operator attempts to park and the slope exceeds the threshold.

[0038] The threshold may be a single, fixed value, perhaps preset and specified by the machine or brake manufacturer. In other cases, the threshold may vary based on other conditions. These conditions may include the wear of the brake assemblies, the load carried by the machine at the time of the parking attempt, and the like. Brake assembly wear can be determined by a number of factors, including the time since the last brake change, the number of brake applications, the duration of the brake application, the deceleration curve during braking, the change in speed during braking, and the like.

[0039] With reference to Fig.4, a method 400 is described for alerting one or more parties when a machine is on an incline that is too steep for safe and secure parking. The method includes measuring at least one incline of a machine using at least one inclinometer attached to the machine at operation S405. Sensor measurements, including measurements from the inclinometer, are received by a controller at operation S410. The measurements may be used by the controller to determine whether a slope measured by the at least one inclinometer exceeds a threshold at operation S415. The threshold may be predetermined or may vary based on a variety of inputs, including measurements from other sensors.Other sensor measurements that can optionally be included are machine brake wear, including brake pack wear, measured in operation S420, and machine load measurement in operation S425. If the controller determines at operation S415 that a slope exceeds a threshold, an alert is generated at operation S430 for at least one machine operator and, if desired, other relevant parties. Generated alerts can be audible, visual, tactile, or a combination of these. Alerts can be transmitted wired or wirelessly. Commercial applicability

[0040] The industrial applicability of the systems, devices, and methods described herein will be readily apparent from the foregoing description. The above explanations apply to systems, devices, and methods for at least industrial work areas and the machines used therein, particularly when inclines of varying degrees are present. The ability to park a machine safely and securely and to warn at least one operator when parking on a particular incline is unsafe is very important for the protection of the machine, the operator, the structures in the work area, and other persons present in the work area.

[0041] It is understood that the foregoing description provides examples of the disclosed system and technology. All references to the disclosure or to examples thereof are intended to refer to the particular example described at that point and are not intended to imply any limitation on the general scope of the disclosure. Any expression of distinction or disparagement with respect to particular features is intended to indicate no preference for those features, but is not intended to exclude them entirely from the scope of the disclosure unless otherwise indicated.

[0042] The specification of ranges of values is intended merely as a shorthand for referring to each individual value falling within the range, unless otherwise specified herein, and each individual value may be included in any suitable order in the methods described herein, unless otherwise specified herein or the context clearly contradicts it.

[0043] Accordingly, to the extent permitted by law, this disclosure includes all modifications and equivalents of the subject matter recited in the claims appended hereto. Furthermore, any combination of the elements described above, in all possible variations thereof, is encompassed by this disclosure, unless otherwise stated herein or the context clearly dictates otherwise.

[0044] All references, including publications, patent applications, and patents cited herein, are hereby incorporated by reference to the same extent as if each reference were individually and expressly indicated to be incorporated by reference and set forth herein in its entirety.

[0045] The use of the terms "a", "an", "an", "another", "the", "the", "at least one" and similar references in the context of describing the invention (particularly in the context of the following claims) are to be construed to cover both the singular and the plural, unless otherwise stated herein or clearly contradicted by the context. The use of the term "at least one" followed by a list of one or more elements (for example, "at least one of A and B") is to be construed to mean the selection of one element from the listed elements (A or B) or a combination of two or more of the listed elements (A and B), unless otherwise stated herein or clearly contradicted by the context. The terms "comprising", "having", "including", and "containing" are to be understood as open-ended terms unless otherwise stated (i.e.in the sense of "including, but not limited to"). The inclusion of ranges of values is intended merely as a shorthand for referring to each individual value falling within the range, unless otherwise stated herein, and each individual value is included in the description as if listed individually. All of the methods described herein may be performed in any suitable order unless otherwise stated or the context clearly indicates otherwise. The use of any examples or exemplary phrases (e.g., "such as") provided herein is merely to better illustrate the invention and is not intended to limit the scope of the invention unless otherwise claimed.No language in the description should be construed to indicate any unclaimed element as essential to the practice of the invention.

[0046] Described herein are preferred embodiments of the invention, including the best mode known to the inventors for carrying out the invention. Variations of these preferred embodiments will become apparent to those of ordinary skill in the art upon reading the foregoing description. The inventors expect that those skilled in the art will appropriately employ such variations, and the inventors wish the invention to be practiced otherwise than as specifically described herein. Accordingly, to the extent permitted by law, this invention includes all modifications and equivalents of the subject matter recited in the claims appended hereto. Furthermore, any combination of the elements described above in all possible variations thereof is encompassed by the invention unless otherwise stated herein or the context clearly dictates otherwise.

Claims

[1] System for warning that a slope is too steep for the safe parking of a machine, the system comprising: at least one inclinometer designed to: Arranging on the machine, wherein the machine is arranged on the slope; and Measuring an inclination of the machine; a controller comprising a processor and configured to: Operative connection with the at least one inclinometer; and Determining that the machine cannot be parked safely if the slope exceeds a predetermined threshold slope; and a warning generator, trained to: Active connections with the control system; and Warn at least one machine operator that the machine cannot be parked safely if the control system determines this, wherein the controller is configured to update a slope threshold to the slope when the controller detects movement of the machine after a parking brake is applied and the slope is less than the slope threshold. [2] The system of claim 1, wherein the warning comprises at least one of an audible, visual and tactile warning. [3] The system of claim 1, further comprising at least one sensor configured to measure brake wear of the machine and to provide brake wear data, wherein the controller is further configured to: Active connection with the at least one brake wear sensor; and Determine, using the incline and the brake wear data from the at least one brake wear sensor, whether safe parking of the machine is not possible. [4] The system of claim 3, wherein the controller is further configured to: Active connection with at least one load sensor of the machine; and Determine, using the inclination and brake wear data from the at least one load sensor, whether safe parking of the machine is not possible. [5] The system of claim 1, wherein: the machine is articulated and comprises at least a first section and a second section with at least one articulation point between the first section and the second section, the at least one inclinometer comprises at least a first inclinometer and a second inclinometer, which are designed to be arranged on at least the first section and the second section of the machine, respectively, and to measure a first inclination of the first section and a second inclination of the second section, respectively, and the control is further designed to: Operatively connecting at least the first inclinometer and the second inclinometer, and Determine, using at least the first slope and the second slope, whether the machine cannot be safely parked. [6] The system of claim 5, wherein the controller determines that the machine cannot be safely parked if either the first slope exceeds a first predetermined threshold or the second slope exceeds a second predetermined threshold. [7] The system of claim 5, wherein the controller is further configured to receive brake pack wear data and to determine when the machine cannot be safely parked using at least the first slope, the second slope, and the brake pack wear data. [8] The system of claim 7, wherein the system further comprises at least one load sensor configured to measure an axle load or a wheel load of the machine and to provide load data, wherein the controller is further configured to: Active connection with the at least one load sensor; and Determining, using at least the first incline, the second incline, the brake pack wear data, and the load data from the at least one load sensor, when the machine cannot be safely parked. [9] A method of warning that a slope is too steep for the safe parking of a machine, comprising: Measuring the inclination of a machine using at least one inclinometer attached to the machine; Receiving the inclination of the machine from the at least one inclinometer; Determining, using a controller operatively connected to the at least one inclinometer, whether the inclination exceeds a threshold inclination; and Warning an operator of the machine using a warning generator operatively connected to the control system that the machine cannot be parked safely if the control system determines this, wherein the control is designed - to determine that the machine cannot be parked safely if the slope exceeds a predetermined threshold slope; and - to update a slope threshold to the current slope when the controller detects machine movement after a parking brake is applied and the current slope is less than the slope threshold.

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