WORK MACHINE WITH DIFFERENTIAL PROTECTION SYSTEM AND METHOD

Abstract

A machine equipped with a differential protection system includes an electronic differential lock, a control unit, and a knock sensor to convert detected vibrations into electrical signals. The control unit is programmed to receive and process the electrical signals generated by the knock sensor and to determine the risk of differential wear based on these signals. The program instructions include responding to signals indicating a risk of differential wear by preventing the differential lock from engaging for a defined period and by instructing the differential lock to engage once that period has elapsed. The control unit can also be programmed to instruct the differential lock to engage in response to a request to engage the differential lock and the fulfillment of certain engagement conditions.The existence of a risk of differential wear is derived from the frequency and amplitude of the processed signals.

Description

TECHNICAL AREA

[0001] The present disclosure relates generally to a working machine with a differential protection system for controlling the locking and unlocking of the differential depending on a danger to the integrity of the differential in order to prevent material damage to the differential. STATE OF THE ART

[0002] The integrity of differentials can significantly impact the performance of a work machine. For example, an articulated dump truck relies on its differential locks to distribute power evenly between the wheels and maintain traction on varying terrain and under different payloads. Worn differentials can affect the degree of engagement, potentially leading to power imbalance and reduced traction if their locking mechanism is insufficiently engaged. This can pose a significant challenge when navigating uneven and slippery surfaces, especially when driving uphill or downhill. Differential wear can also affect the stability and maneuverability of the work machine, particularly under heavy payloads.This engagement of automatic differential locks is typically based on predefined conditions, including slip detection. However, the disengagement of the differential lock(s) after engagement may not be optimal because slippage is no longer detectable after the differential has been mechanically locked, and therefore, it can no longer be reliably disengaged to prevent premature wear. According to the industry standard, a preset timer is included to automatically disengage the differential locks.

[0003] However, the variability of ground conditions, surface materials, and road surfaces can lead to scenarios where the differentials can be damaged or prematurely worn by even slight rotation with the differentials locked. Rotation of the vehicle with locked differentials on non-slip surfaces can cause damage even if the system functions as intended. That is, a preset timer can result in periods when the differential is locked during non-slip conditions, causing both wheels to rotate at the same speed regardless of traction, resistance, or angle of rotation. This presents an opportunity to improve how and when differential locks engage and disengage. SUMMARY

[0004] According to one aspect of the present disclosure, a working machine with a differential protection system and a method are disclosed. The working machine includes a knock sensor, an electronic locking differential, and a control unit. The knock sensor is designed to convert detected vibrations into electrical signals. The control unit is programmed to receive and process the electrical signals generated by the knock sensor and to determine the existence or severity of a risk of differential wear based on the processed signals indicating such a risk. The program instructions also include responding to the processed signals indicating a risk of differential wear by preventing the differential from locking for a defined period.The control system can also be programmed to instruct the differential to lock after a defined period of time has elapsed. The control system can also be programmed to instruct the differential to lock in response to a request to lock the differential, provided that certain engagement conditions are met. The control system can also be programmed to instruct the differential to lock in response to a request to lock the differential, provided that certain engagement conditions are met, and after a defined period of time has elapsed. Engagement conditions can include the steering angle and speed of the driven machine being below a steering angle threshold and a speed threshold, respectively. The risk of differential wear is derived from the frequency and amplitude of the processed signals.The controller can also be programmed to store information about the processed signals indicating detected vibration anomalies and to provide a warning if the processed signals indicating detected vibration anomalies exceed a threshold. The risk of differential wear is derived from the frequency and amplitude of the processed signals. The controller can also store information about the processed signals indicating detected vibration anomalies and provide a warning if the processed signals indicating detected vibration anomalies exceed a threshold.

[0005] In another embodiment, an articulated working machine comprises a front chassis, a front knock sensor coupled to the front chassis, the front knock sensor being configured to convert detected vibration into electrical signals, and a front electronic differential lock. The articulated working machine further comprises a rear chassis, a rear knock sensor coupled to the rear chassis, the rear knock sensor being configured to convert detected vibration into electrical signals, and a rear electronic differential lock. An articulation joint is arranged between the front chassis and the rear chassis, the articulation joint enabling a relative pivoting motion between the front chassis and the rear chassis along a vertical axis, the articulation joint assisting in the steering of the working machine.The control unit is programmed to engage and lock one of the front and rear electronic differential locks in response to a machine speed and steering angle falling below a threshold. The control unit then receives and processes the electrical signals generated by the front and rear knock sensors. Based on these processed signals, the control unit is programmed to determine the risk of differential wear and, upon receiving signals indicating worn differential locks, engage and disengage one of the front and rear differentials. In response to signals indicating a risk of differential wear, the control unit is programmed to prevent the differential from locking for a defined period.

[0006] The control unit can also be programmed to instruct the differential to lock in response to the expiration of the defined period.

[0007] The control system can also be programmed to instruct the differential to lock in response to a request to lock the differential and to ensure that engagement conditions are met.

[0008] The control system can also be programmed to instruct the differential in response to a request to lock the differential, when certain engagement conditions are met, and after a defined period of time. One of the engagement conditions is that the machine speed and steering angle are below a certain threshold.

[0009] A method for implementing predictive differential control on a machine includes, in a first step, receiving and processing a waveform data element of an electrical signal generated by a knock sensor and associated with the presence or severity of a detected vibration of a differential lock. The method then includes extracting one or more features from the processed waveform data element of the electrical signal, where the one or more features are associated with the wear of the differential track. In a subsequent step, the method includes training a predictive model using the one or more features and a labeled dataset with respect to differential lock integrity information.Next, the method involves applying the predictive model to one or more features to generate a prediction of the differential lock integrity information. In a subsequent step, the method includes unlocking the differential in response to a processed electrical signal indicating a risk of differential wear, and preventing the differential from locking for a defined period that begins as a result of unlocking. This defined period is based on the differential lock integrity information. One feature from the history data element of an electrical signal includes one or more of a steering angle and a speed of the driven machine.The method further includes storing information about the processed signals indicating detected vibration anomalies and providing a warning when the processed signals indicating detected vibration anomalies exceed a threshold. The method also includes instructing the differential to lock in response to the elapsed time of a defined period. The method is applicable to one or more front electronic differentials coupled to a front chassis and one rear electronic differential coupled to a rear chassis. The feature from the historical data element of an electrical signal includes one or more frequencies and amplitudes of the processed signals.

[0010] Further features and aspects become apparent when considering the detailed description, the claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The detailed description of the drawings refers to the attached figures. Fig. Figure 1 is a side view of an exemplary embodiment of a working machine with a differential protection system, shown as an articulated dump truck. Fig. Figure 2 is a schematic representation of a working machine, including a control and a differential, according to one or more embodiments of this disclosure. Fig. Figure 3 is a flowchart illustrating an algorithm for controlling a differential. Fig. 4 is a method for performing predictive differential control on a working machine. Fig. Figure 5 is a diagram for a predictive differential protection system.

[0012] Matching reference symbols are used across different figures to indicate matching elements. DETAILED DESCRIPTION

[0013] Fig. Figure 1 illustrates an exemplary embodiment of an articulated work machine 100, shown as an articulated dump truck, which includes a cab section 106 and a trailer section 104. The cab section 106 includes a first frame 107, and the trailer section 104 includes a second frame 105. The first frame 107 is connected to the second frame 105 by a coupling arrangement 110. In the illustrated embodiment, the coupling arrangement 110 includes a pivoting frame coupling 112 and a slewing frame coupling 114. The pivoting frame coupling 112 supports an articulated movement or pivoting of the second frame 105 relative to the first frame 107 about a vertical axis 116. The slewing frame coupling 114 supports a rotational movement of the second frame 105 relative to the first frame 107 about a longitudinal axis 118.In one embodiment, the working machine 100 can include one or more hydraulic actuators for controlling the angle between the first frame 107 and the second frame 105 for steering the working machine 100.

[0014] The first frame 107 supports, for illustrative purposes, a cabin section 106 and a motor or battery power source for driving the working machine 100. A first or front wheel assembly 122 includes a pair of wheels to provide rolling support to the cabin section 106. A tipper body or container 126 for receiving a load is supported by the second frame 105. An actuator, such as a hydraulic cylinder, can be coupled to the container for lifting it at an angle relative to the second frame 105.

[0015] A second or rear wheel assembly 128 is coupled to the second frame 105 for the purpose of supporting the trailer section 104. Referring to Fig. 2 with continued reference to Fig. Figure 1 illustrates the rear wheel assembly 128 by including a first rear wheel assembly 124 and a second rear wheel assembly 130. The first and second rear wheel assemblies each include, for illustrative purposes, a left wheel and a right wheel. In the illustrated embodiment, each of the first rear wheel assembly 124 and the second rear wheel assembly is rotatably coupled to a tandem or rigid axle. The working machine 100 may include alternative wheel assembly configurations. For example, fewer or more wheels and / or axles may support the trailer section 104 and / or the cabin section 106.

[0016] Now, referring to Fig. 2 with continued reference to Fig. 1 The front wheel assembly 122 includes a front axle 132 coupled between the wheels and a differential 134 coupled to the front axle 132. Alternatively, the first rear wheel assembly 124 and the second rear wheel assembly can function like a bogie axle, with the first rear axle 138 including a first differential 142 and the second rear axle 140 including a second differential 144.

[0017] The differential locks (146a, 146b, 146c, collectively referred to as 146) selectively disengage or lock the differential (134, 142, 144). When a differential lock 146 is engaged, it essentially makes the differential a solid shaft and forces both wheels on an axle to rotate at the same speed. In an exemplary embodiment, the differential locks (146a, 146b, 146c) can include a clutch arrangement. In particular, when the lock 146 is engaged or closed, the differential (134, 142, 144) is in a locked state, and a first section (not shown) of the drive shaft is locked to a second section (not shown) to rotate with it. One or more of the differentials (134, 142, 144) can be locked.When the lock 146 is disengaged or open, the differential is in an unlocked and operable state, allowing the first section (not shown) and the second section (not shown) to rotate at different speeds. The differential lock 146 can be configured to fully lock or partially lock the differential. For example, the lock 146 can limit the rotation of the front section of the drive shaft relative to the second section without fully locking the front section to the second. Furthermore, not all differential locks (146a, 146b, and 146c) need to be engaged simultaneously, because the locking arrangement relies on the individual state of each respective differential (132, 142, 144) and slip conditions.

[0018] In one embodiment, the differential lock (146a, 146b, and 146c) includes an electronic differential lock 150, which communicates with the controller 148. The differential lock (146a, 146b, and 146c) includes an electronically actuated lock which, when engaged, is designed to lock the left and right half-shafts relative to each other and, when disengaged, to allow relative rotation between the half-shafts. The differential locks 146 communicate with the controller 148 and lock the differential 150 in response to a command from their respective controllers (148a, 148b) by means of an electronically actuated mechanism, such as a differential lock solenoid valve.

[0019] The electronic differential lock 150 has an unlocked state (disengaged), in which the half-shafts can rotate independently of each other, and a locked state (engaged), in which the half-shafts are rotationally fixed to each other. The differential 150 can be brought into the locked state by coupling the half-shafts via an electronically actuated mechanism, such as a differential lock solenoid valve.

[0020] Working machines equipped with electronic differential locks 150 may include controls for monitoring the working machine speed 178 and the steering angle 176, so that the differential lock 150 is not engaged when the working machine speed 178 or the drivetrain torque exceeds a threshold. That is, a differential lock (146a, 146b and 146c) should generally not be engaged at high speeds and during sharp turns. However, monitoring the working machine speed 178 and the steering angle 176 alone may not be sufficient to prevent ratcheting, and this creates a risk of differential wear under all operating conditions without slippage of the working machine 100.

[0021] In the present embodiment, the working machine 100 includes a differential protection system 500 and a knock sensor 160 adapted to convert detected vibrations 167 into electrical signals 169. The knock sensor can advantageously anticipate an undesirable and potentially damaging phenomenon caused by worn differential locks 146 by detecting ratchet-like noises. Each respective knock sensor (146a, 146b, 146c) is typically mounted near its respective differential lock (134, 142, 144) and is designed to detect the vibrations and noises associated with sudden changes caused by worn differential locks.

[0022] The threshold at which a knock sensor detects engine knock can vary depending on the specific design and calibration of the sensor. Generally, knock sensors are sensitive to the small vibrations and low noise levels characteristic of engine knock. They are designed to detect these abnormal combustion events and send a signal to the engine control unit (ECU) to adjust the ignition timing or fuel mixture to prevent further knocking and protect the engine from damage.

[0023] The differential protection system 500 controls the locking and unlocking of the differential lock (146a, 146b and 146c) depending on the integrity of components (i.e. wear) to prevent hardware damage to the differential 134.

[0024] As shown in the flowchart of a differential protection system by Fig. As shown in Figure 3, a detected slip event automatically initiates the application of a differential lock (146a, 146b, and 146c) in a first step 310, provided certain engagement conditions 174 are met. This initiation leads to step 320, when the automatic differential lock 146 is applied. Once this occurs, three features (steps 332, 334, and 330) are monitored simultaneously, whereby one or more of these features (332, 334, 330) may lead to the disengagement of the automatic differential lock (146a, 146b, and 146c) (i.e., unlocking of the electronic differential lock 150) in step 350 in response to the electrical signals 169 received and processed by the knock sensor 160 indicating a risk of differential wear.In step 355, the controller 148 further specifies instructions to continue preventing the electronic differential lock 150 from locking for a defined period in response to the risk of differential wear. For example, the differential lock 150 remains locked until no ratcheting is detected. Now returning to step 330, the controller 148 is programmed to receive the electrical signals 169 generated by the knock sensor 160, which are derived from detected vibrations 167, and to determine a risk of differential wear based on these processed signals 170. A processor 87 in the controller 148 can use a filtering mechanism adapted to filter out noise and irrelevant vibrations in order to further process the electrical signals 169 generated by the knock sensor 160.The signal processor 87 can also determine the frequency and amplitude of knock vibrations and thereby enable the control 148 to react to indications of the risk of differential wear based on the severity and characteristics of the detected knock events, as derived from the processed signals 170.

[0025] The controller 148 is further programmed to include unlocking the differential 134 in step 350 in response to detected processed signals 170 from step 340 indicating worn differential locks. Differential wear can manifest as a grinding, rattling, or whining noise. These noises can be caused by lack of lubrication, worn differentials, or simply differential locking under slip conditions. The identification of the processed signals 170 indicating a risk of differential wear can include electrical signals 169 from a domain, either a machine learning data element using and analyzing historical data, or simply a predetermined threshold.This diagnostic mechanism integrated into the control unit 148 is adapted to store information about the detected knocking events and to provide warnings or notifications to the machine operator or maintenance personnel for further investigation when knocking events exceed a certain threshold and / or to disengage the differential lock (146a, 146b, and 146c). Another means of determining when to disengage a differential lock (146a, 146b, and 146c) involves monitoring the engagement conditions 174 as described in step 334, where the disengagement condition 174 may include the steering angle 176 or a machine speed 178. Current industry standards typically include the use of a timer, as shown in step 332, where the respective differential lock 146 is disengaged after a timed period, as shown in step 342.Each axle (122, 124, 128) can act independently for the engagement and disengagement of the automatic differential lock 146. In the present embodiment of the articulated dump truck, the front differential lock 146a, coupled to the front axle 132, can respond to a control signal from the front frame 148a and a front knock sensor 160a. The center differential lock 146b, coupled to a first rear axle 138, and the rear differential lock 146c, coupled to a second rear axle 140, can respond to a control signal from the rear frame 148b.

[0026] Finally, in response to the processed signals 170 indicating worn differential locks, the program instructions disengage the differential 134 for a defined period or until the processed signals 170 indicating a risk of differential wear cease (i.e., return to normal operating conditions). The disengagement of the automatic differential locks (146a, 146b, and 146c), as shown in step 350, can be counteracted by a maintenance event in which the system is reset or the processed signals 170 from the knock sensor(s) fall below a threshold or within a predetermined range. This threshold can vary depending on the machine type, the placement of the knock sensor 160, site attributes, and the type of differential lock, to name a few.

[0027] Preemptive disengagement of the differential locks 146 using input from the knock sensor 160, instead of relying solely on the disengagement timer, advantageously reduces instances where the differential(s) are damaged or prematurely worn due to changing ground conditions and terrain, and are further worn by (even slight) turning with the differentials locked, thus extending the service life of the differential. The conditional state for disengaging the automatic differential lock can also be removed when the conditions for an automatic differential lock are no longer met. This condition can include, but is not limited to, a change in the steering angle 176 from turning to straight-ahead driving or a reduction in speed.

[0028] The control 148 can further be programmed to instruct the locking of the differential 134, as shown in step 350, in response to a request to lock the differential (i.e. override the differential lock status based on the processed signals 170 from the knock sensor(s) and on the fact that the engagement conditions 174 are met).

[0029] The control unit 148 can also be programmed to instruct the locking of the differential in response to a request to lock the differential, to the fact that the engagement conditions 174 are met, and to expiry the defined period as shown in step 342.

[0030] The intervention conditions 174 include one or more of the following: that a steering angle 176 and a speed 178 are lower than a threshold.

[0031] The risk of differential wear is derived from a frequency 182 and an amplitude 184 of the processed signals 170.

[0032] The controller 148 can also be programmed to store information 190 of the processed signals 170 indicating detected vibration anomalies 186, and to provide a warning 188 when the processed signals 170 indicating detected vibration anomalies 186 exceed a threshold.

[0033] In an articulated work machine 100, the front chassis 102 includes a front knock sensor 160a for converting a detected vibration 167 into electrical signals 169 for the front electronic differential lock 146a, and a rear knock sensor 160b coupled to the trailer section 104, the rear knock sensor 160b being designed to convert the detected vibrations 167 into electrical signals 169. A control unit 148 is programmed to excite a lock to engage one of the front differential locks and the rear differential lock in response to a work machine speed 178 and a steering angle 176 being lower than a threshold.

[0034] The control unit 148 is programmed to receive and process the electrical signals 169 generated by the front knock sensor and the rear knock sensor, to determine the risk of differential wear based on the processed signals 170, and to determine the risk of differential wear based on the processed signals 170. The control unit 148 is further programmed to disengage the lock to unlock one of the front and rear differentials in response to signals indicating worn differential locks, and to prevent the differential from locking for a defined period. The prevention of locking can be achieved by preventing the differential lock from being engaged.

[0035] The control unit 148 can also be programmed to instruct the locking of the differential in response to the expiration of a defined period of time.

[0036] The control unit 148 is further programmed to instruct the locking of the differential in response to a request to lock the differential, to the fact that the intervention conditions 174 are met, and to the expiry of the defined period.

[0037] The engagement condition 174 includes one of the following: that the working machine speed 178 and the steering angle 176 are lower than a threshold. The working machine speed 178 and the steering angle can affect the locking of a differential. At higher speeds, the differential is more likely to remain unlocked to allow for smooth turning and good maneuverability. Locking differentials can contribute to tire scuffing and wheel lock-up. When the working machine is moving slowly, or when there is a high demand for traction, such as when driving off-road or on slippery surfaces, the differential may lock automatically to provide better traction to both wheels. The steering angle can also influence the engagement of the differential lock.On some work vehicles, the differential lock can be disengaged in sharp turns to improve maneuverability. Overall, the engagement of the differential lock is limited by the vehicle's speed (178°) and turning angle to balance traction and maneuverability.

[0038] The existence and severity of a differential wear hazard are derived from the frequency and amplitude of the processed signals 170. The controller analyzes the processed signals 170 with defined thresholds and patterns to identify rattling, shaking, or other vibration that could prevent wear on a differential. The controller 148 continuously monitors the processed signals 170. If an abnormal vibration persists, a trigger warning light can notify the operator, and the differential can be locked before the timer-initiated period.

[0039] The controller 148 also stores information of the processed signals 170, which indicate detected vibration anomalies, and provides a warning if the processed signals 170, which indicate detected vibration anomalies, exceed a frequency threshold.

[0040] In another embodiment, a method 400 for carrying out a predictive differential control on a working machine 100 is described. Fig. Figure 4 shows and includes the following steps. In step 410, the method 400 includes receiving and processing historical data elements of an electrical signal 196 generated by the sensor (e.g., a knock sensor) and associated with the presence or severity of a detected vibration 167 when the differential 134 is locked.

[0041] In step 420, the procedure 400 includes extracting one or more features from the processed history data element of an electrical signal 196, wherein the one or more features are associated with the wear of the differential 134.

[0042] In step 430, the procedure includes training a predictive model using one or more features and a labeled data set with respect to integrity information of the differential lock.

[0043] In step 440, the procedure includes applying the predictive model to one or more features to generate a prediction of the integrity information of the differential lock.

[0044] In step 450, the method includes unlocking the differential in response to a processed electrical signal 170 indicating a risk of differential wear, and in step 460, preventing the differential from locking for a defined period that begins in response to the differential unlocking, the defined period being based on the integrity information. A feature from the history data element of an electrical signal 196 includes one or more of a steering angle 176 and a speed 178 of the driven machine 100. In step 470, the method 400 may further include storing information from the processed signals 170 indicating detected vibration anomalies and providing a warning when the processed signals 170 indicating detected vibration anomalies exceed a threshold.The controller 148 is further programmed to instruct the locking of the differential in response to the elapsed duration of a defined period. The method 400 is applicable to a front electronic differential coupled to a front chassis and a rear electronic differential coupled to a rear chassis. The waveform data element of an electrical signal 196 comprises one or more frequencies and amplitudes of the processed signals 170. Therefore, a method 400 can be implemented as a program or algorithm that is executable on a controller 148. It is understood that the controller 148 can include any device capable of analyzing data from various sensors, comparing data, making decisions, and performing the necessary tasks.

[0045] By continuously monitoring and adjusting the differential lock conditions, the sensor advantageously contributes to maintaining optimal performance and fuel efficiency, while preventing damage due to ratcheting.

[0046] As used here, “controller” shall be understood as the term is understood by a person skilled in the art and refers to a computing component with processing, storage, and communication capabilities used to execute instructions (i.e., those stored in memory or received via the communication capabilities) to control or communicate with one or more other components. In certain embodiments, the controller 148 may be designed to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals) and to output command or communication signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).

[0047] The controller 148 can communicate with other components on the working machine, such as hydraulic components, electrical components, and operator inputs within an operator station of an associated working machine. The controller 148 can be electrically connected to these other components via a wiring harness or wirelessly, allowing messages, commands, and electrical power to be transmitted between the controller 148 and the other components. Although the controller 148 is referred to in the singular, in alternative embodiments the configuration and functionality described herein can be distributed among several devices using techniques known to a person skilled in the art. The controller 148 includes the tangible, non-volatile memory in which computer-executable instructions, including a predictive maintenance algorithm for a tracked undercarriage, are stored.The processor of the controller 148 is designed to execute the predictive differential control algorithm.

[0048] The controller 148 can be implemented as one or more digital computers or host machines, each with one or more processors, read-only memory (ROM), random access memory (RAM), electrically programmable read-only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, an analog / digital circuit arrangement (A / D circuit arrangement), a digital / analog circuit arrangement (D / A circuit arrangement), and any required input / output circuit arrangements (I / O circuit arrangements), I / O devices and communication interfaces, as well as signal conditioning and buffer electronics.

[0049] The one or more processors 87 train a predictive model 420 using the one or more features 410, the history inspection data 430, and a labeled data set 480 stored in memory 85 regarding actual maintenance needs or integrity information of the tracked undercarriage 20. The features 410 and the labeled data sets 480, referred to here collectively as training data 420, can be received, for example, from multiple secondary users 401. In some embodiments, the processors 87 generate the models using machine learning functions. Machine learning functions are generally functions that enable a computer application to learn without being explicitly programmed. In particular, a computer application performing machine learning functions is designed to develop an algorithm based on training data 420.To perform supervised learning, for example, training a predictive model includes 420 exemplary inputs and corresponding desired outputs, and the processor incrementally develops a model that maps inputs to outputs 470 included in the training data 420. Machine learning can be performed using various types of procedures and mechanisms, including, but not limited to, decision tree learning, mapping rule learning, artificial neural networks, inductive logic programming, carrier-vector machines, clustering, Bayesian networks, reinforcement learning, representational learning, similarity learning, metric learning, sparse dictionary learning, and generic algorithms.

[0050] Accordingly, in this example, processor 87 performs machine learning using the received training data (420, 480) to train and develop a predictive model 420 that outputs a prediction or integrity information. Additionally, maintenance planning suggestions can change depending on the type of retrofit component used and the operator's maintenance habits. The predictive model(s) 420 created by processor(s) 87 can be stored in a model database 485 in memory 85. In some embodiments, the model database 485 is stored and transferred from a cloud via a communication network or an external server. The model database 485 can be stored on a separate device specific to a construction site, an operator, or a piece of machinery, to name a few.Alternatively or additionally, the models generated by the processor 87 can be copied to another separate device, such as databases outside the server. Secondary sources 401 of data from other machines can also serve as a predictive model 420.

[0051] As used here, "e.g." is used to provide non-exhaustive examples and has the same meaning as alternative illustrative phrases such as "including," "including but not limited to," and "including without limitation." Enumerations with items separated by conjunctions (e.g., "and") and further preceded by the phrase "one or more of" or "at least one of" indicate, unless otherwise restricted or modified, configurations or arrangements that may include individual items in the enumeration or any combination thereof. For example, "at least one of A, B, and C" or "one or more of A, B, and C" each indicate the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

[0052] The average person skilled in the art will recognize that terms such as "above," "below," "upwards," "downwards," "upper," "lower," etc., are used descriptively for the figures and do not represent any limitations on the scope of protection of the disclosure as defined by the accompanying claims. Furthermore, the teachings can be described here with respect to functional and / or logical block components and / or various processing steps. It is understood that such block components can be formed from any number of hardware, software, and / or firmware components configured to perform the specified functions.

[0053] Terms relating to a degree, such as "general", "essentially" or "approximately", refer, according to the understanding of the person skilled in the art, to reasonable ranges outside a given value or orientation, for example, general tolerances or positional relationships associated with the manufacture, assembly and use of the described embodiments.

[0054] Although the foregoing describes exemplary embodiments of the present disclosure, these descriptions are not to be construed as limitations. Rather, other variations and modifications may be made without deviating from the scope of protection and essence of the present disclosure, as defined in the appended claims.

Claims

[1] Articulated working machine comprising: a front chassis; a front knock sensor coupled to the front chassis, wherein the front knock sensor is designed to convert a detected vibration into electrical signals; a front electronic differential lock; a rear chassis; a rear knock sensor coupled to the rear chassis and designed to convert detected vibrations into electrical signals; a rear electronic locking differential; an articulated joint arranged between the front chassis and the rear chassis, wherein the articulated joint enables a relative pivoting movement between the front chassis and the rear chassis along a vertical axis, thereby assisting in the steering of the working machine; and a control system programmed to Exciting a lock to lock one of the front differential locks and the rear differential lock in response to a slip condition and an engagement condition, Receiving and processing the electrical signals generated by the front knock sensor and the rear knock sensor; Determining the existence or severity of a risk of differential wear based on the processed electrical signals; Reversing the lock to unlock one of the front electronic differential locks and the rear electronic differential lock in response to processed electrical signals indicating a risk of differential wear; and Preventing the electronic differential from locking for a defined period in response to processed electrical signals indicating a risk of differential wear. [2] Working machine according to claim 1, wherein the control is further programmed to remove the prevention of locking the front electronic differential lock and the rear electronic differential lock in response to the expiry of the defined period of time. [3] Working machine according to claim 1 or 2, wherein the control is further programmed to instruct a locking of the electronic differential lock in response to a request to lock the electronic differential lock and to the fact that engagement conditions are met. [4] Working machine according to claim 1 or 2, wherein the control is further programmed to instruct a locking of the electronic differential lock in response to a request to lock the electronic differential lock, to the fact that engagement conditions are met, and to the expiry of the defined period. [5] Working machine according to claim 3 or 4, wherein the engagement condition of one of them includes that a working machine speed and a steering angle are lower than a threshold. [6] Working machine according to one of the preceding claims, wherein the existence and severity of a risk of differential wear are derived from a frequency and an amplitude of the processed signals. [7] Working machine according to one of the preceding claims, wherein the control further stores information of the processed signals indicating detected vibration anomalies and provides a warning when the processed signals indicating detected anomalies exceed an anomaly threshold. [8] Method for performing a predictive differential control on a working machine, comprising: Receiving and processing a historical data element of an electrical signal generated by a knock sensor and associated with a detected vibration of a differential lock; Extracting one or more features from the processed history data element of an electrical signal, wherein the one or more features are associated with the wear of the differential lock; Training a predictive model using one or more features and a labeled dataset with respect to differential lock integrity information; Applying the predictive model to one or more features to generate a prediction of the integrity information of the differential lock; Unlocking the differential lock when in a locked state, in response to a processed electrical signal indicating a risk of differential wear; and Preventing the differential lock from locking for a defined period of time that begins in response to the unlocking of the differential lock, where the defined period is based on the integrity information. [9] Method according to claim 8, wherein a feature of the trend data element of an electrical signal comprises one or more of: a steering angle and a speed of the working machine. [10] Method according to claim 8 or 9, further comprising: Storing information on the processed electrical signals that indicate detected vibration anomalies; and Providing a warning when the processed electrical signals indicating detected anomalies exceed a threshold. [11] Method according to any one of claims 8 to 10, further comprising: Instructing the differential lock to engage in response to the expiration of a defined period. [12] Method according to one of claims 8 to 11, wherein the method is applicable to a front electronic differential lock coupled to a front chassis and a rear electronic differential lock coupled to a rear chassis. [13] Method according to any one of claims 8 to 12, wherein a feature of the trend data element of an electrical signal comprises one or more of: a frequency of the processed signals and an amplitude of the processed signals.

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