Control system for compaction machines with leveling blade

Abstract

A soil compactor comprises a frame, a compaction roller rotatably mounted on the frame, a drive mechanism for rotating the compaction roller, a dozer blade attached to the frame for pushing or leveling loads, a first sensor configured to monitor the operation of the dozer blade, a control unit configured to receive the output of the first sensor, and an output system connected to the control unit configured to generate an output signal indicating an operating state of the dozer blade based on the output of the first sensor.A soil compactor comprises a frame, a compaction roller rotatably mounted on the frame, a drive mechanism for rotating the compaction roller, several isolation bearings connecting the drive mechanism to the compaction roller, a monitoring system configured to monitor the wear of the multiple isolation bearings, and an output system configured to generate an output signal relating to the use of the multiple isolation bearings.

Description

Technical field

[0001] The present disclosure relates generally, but not exclusively, to construction machinery such as compaction machines, including soil compactors. More specifically, but not exclusively, the present disclosure relates to vibratory compactors with isolation bearings to reduce the transmission of vibrations to the machine frame. State of the art

[0002] Compactors are machines used to compact loose materials such as asphalt, soil, gravel, and similar substances into a denser, firmer mass or surface. For example, soil compactors are used to compact soil on construction sites and landscaping projects, creating a foundation upon which other structures can be built. Most soil compactors have a rotating drum that rolls across the surface to compact the underlying material. In addition to using the weight of the drum to generate the compressive forces that compact the material, some compactors are configured to also apply a vibration force to the surface.

[0003] The rotating roller drum can be connected to the rest of the machine via isolation bearings. Isolation bearings can be configured to dampen the transmission of vibrations from the roller drum to the machine frame. Isolation bearings can be made of elastic material. Isolation bearings typically have a limited service life and therefore need to be replaced at regular intervals.

[0004] Soil compactors can be equipped with or without a dozer blade. A dozer blade can be used to push soil away from the compactor as it moves forward. Additionally, the dozer blade can be used to move other obstacles such as tree stumps, rocks, and similar debris. The operation of the dozer blade can affect the operation, maintenance, and safety of the soil compactor.

[0005] Examples of compaction machines are described in publications US 2022 / 0334581 A1 to Doy entitled "Method and System for Automated Tool Control"; publication US 2020 / 0019192 A1 to O'Donnell entitled "System for Object Detection and Position Detection of Working Equipment"; and patent US 11,868,114 B2 to McGee et al. entitled "Switching Between Manned and Unmanned Control Modes Based on Assigned Priorities". Summary

[0006] In one example, a soil compactor comprises a frame structure, a compaction roller rotatably attached to the frame structure, a drive mechanism for rotating the compaction roller, a dozer blade attached to the frame structure designed for pushing or leveling loads, a first sensor for monitoring the operation of the dozer blade, a control unit for receiving the output signals from the first sensor, and an output system connected to the control unit designed to generate an output signal indicating the operating state of the dozer blade based on the output signals from the first sensor.

[0007] In another example, a soil compactor comprises a frame structure, a compaction roller rotatably mounted on the frame structure, a drive mechanism for rotating the compaction roller, several isolation bearings connecting the drive mechanism to the compaction roller, a monitoring system configured to monitor the wear of the several isolation bearings, and an output system configured to generate an output signal relating to the use of the several isolation bearings. Brief description of the drawings Fig. Figure 1 is a schematic side view of a compaction machine with a monitoring and control system for a blade and isolation bearings according to various embodiments of the present disclosure. Fig. Figure 2 is a perspective side view of a compaction roller attached via a multitude of isolation bearings to a drive plate and a dozer blade engaged with a load. Fig. 3 is a partially cut-down front view of the compaction roller made of Fig. 2, which shows the isolation storage. Fig. Figure 4 shows a schematic view of a monitoring, reporting and feedback system for a compaction machine of the present disclosure. Fig. Figure 5 is a block diagram that depicts methods for monitoring and controlling the operation of a compaction machine with a dozer blade tool, wherein the methods are configured to determine the wear on isolation bearings for a compaction roller. Fig. Figure 6 is a block diagram illustrating procedures for monitoring and controlling the operation of a compaction machine with a dozer blade tool, wherein the procedures are configured to detect if the dozer blade tool is incorrectly positioned.

[0008] In the drawings, which are not necessarily to scale, the same numbers may denote similar components in different views. The same digits with different letter suffixes may represent different instances of similar components. The drawings illustrate, generally by way of example but not exclusively, various embodiments discussed in this description. Detailed description

[0009] Fig. Figure 1 is a schematic side view of the compaction machine 110 of the present disclosure, which includes a monitoring, reporting and control system, such as the system 200 from Fig. 4. The compaction machine 110 can include a frame 112, a dozer blade 114, a compaction roller 116, an operator station 118 and traction devices 120.

[0010] The frame 112 can be supported relative to the ground 160 by the compaction roller 116 and the traction devices 120. The traction devices 120 can comprise one or more wheels or tracks that engage with the ground or a working surface and can rotate to provide motive power to the compaction machine 110. Likewise, the compaction roller 116 can also provide motive power to the compaction machine 110. In examples, the frame 112 can have a pivot point 121 between the compaction roller 116 and the traction devices 120 to allow articulated movement of the compaction machine 110. The part of the frame 112 connected to the compaction roller 116 can include a roller bracket 122A and a roller bracket 122B ( Fig. 2).

[0011] The dozer blade 114 can be connected via the arm 123A and another arm (not visible) on the opposite side of the compaction roller 116 with the roller bracket 122A and the roller bracket 122B ( Fig. 2) be connected. The arm 123A can be pivotally attached to the frame 112 at the pivot connection 124. The dozer blade 114 can be connected to the hydraulic cylinder 126, which can be connected to the frame 112 via the dozer blade bracket 128. The hydraulic cylinder 126 can be used to raise and lower the dozer blade 114 as needed or as desired by the operator.

[0012] The hydraulic system 130 of the compaction machine 110 can supply the hydraulic cylinder 126 with hydraulic fluid via one or more hydraulic valves and one or more pumps (not shown) to control the position of the dozer blade 114. The hydraulic system 130 can also supply the hydraulic motor 134 with hydraulic fluid, which can be used to rotate the compaction roller 116. In other examples, the compaction machine 110 can also include a drive unit 154, such as an internal combustion engine or an electric motor. In some examples, the drive unit 154 can be operated using the hydraulic system 130.

[0013] The compaction machine 110 can be controlled by a machine control unit, such as the control unit 170. The control unit 170 can, for example, include an electronic control module (ECM). The control unit 170 can include one or more computer-readable memory devices and one or more processors, and enables the compaction machine 110 to switch between a manned control mode, a remote control mode, and an autonomous control mode. The control unit 170 can also be connected to the various sensors, monitoring devices, and observation devices described herein to provide feedback and control the operations of the compaction machine 110.

[0014] 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 via the isolation bearings 180A to 180D ( Fig. 2 and Fig. 3) be connected to the compaction roller 116. In the illustrated example, the compaction machine 110 may have a compaction roller 116 that includes a vibration mechanism, as described herein. However, the compaction machine 110 may also include other types of compaction rollers, for example, those without vibration mechanisms. In examples, the compaction machine 110 may include a variety of drums similar to the compaction roller 116, which may or may not have a vibration function, a smooth drum (e.g., the compaction roller 116 made of Fig. 1) a drum with stamping feet ( Fig. 2) etc. Although the present application is described with reference to the compaction machine 110, the monitoring systems can be used in relation to a bulldozer, an excavator, a dump truck and / or the like and other construction or working machines equipped with attachments, such as dozer blades, which can be moved into several positions.

[0015] The seat 139 can be located in the operator station 118. From seat 139, an operator of the compaction machine 110 can operate various controls to operate the hydraulic motor 134 and the hydraulic cylinder 126, as well as other systems and components of the compaction machine 110, including the dozer blade 114.

[0016] The compaction machine 110 may include a sensing device 140, which may contain one or more of the following components: a camera, a laser scanning and / or LiDAR device, and a radar device. The compaction machine 110 may also include a tracking device 142, for example, a GPS (Global Positioning System) receiver and / or a receiver for a global navigation satellite system (e.g., GLONASS). The sensing device 140 and the tracking device 142 may be configured to facilitate the autonomous or remotely controlled operation of the compaction machine 110.

[0017] The compaction machine 110 may also include one or more devices for monitoring various operations of the compaction machine 110. For example, the compaction machine 110 may include a linear position sensor 144 and a rotary position sensor 146, each detecting the vertical position and the rotary position of the dozer blades 114, respectively. The compaction machine 110 may include an accelerometer 147, for example, an inertial measurement unit, one or more hydraulic pressure sensors 148 configured to detect the pressure of a hydraulic fluid connected to the hydraulic system 130, and / or other devices. The compaction machine 110 may additionally include a presence sensor 150 connected to the seat 139 to determine whether an operator, for example, a person, is present in the operator station 118.The presence sensor 150 can include a weight sensor, a switch, a proximity sensor, and the like. The compaction machine 110 can also include a parking brake sensor 151, which can detect whether a parking brake is engaged to prevent the rotation of the traction devices 120, or disengaged to allow free rotation of the traction devices 120.

[0018] The compaction machine 110 may also include one or more devices for receiving remote commands and facilitating the autonomous operation of the compaction machine 110. For example, the compaction machine 110 may include a network communication device 152 to communicate with one or more instances of the remote system 172 via a network 174, such as the Internet.Network communication devices 152 can be configured to receive commands for the autonomous operation of the compaction machine 110 generated by remote systems 172 and to provide the remote system with information about the current operating status of the compaction machine 110, including a geographical location of the compaction machine 110 as determined by the locating device 142, an operating status of the hydraulic system 130, a status of the dozer blade 114 and the compaction roller 116 of the compaction machine 110, the speed, orientation and / or acceleration of the compaction machine 110, and other suitable information.The output of one of the devices for monitoring the compaction machine 110, such as the sensing device 140, the locating 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 via the network 174 through the network communication device 152 to the remote system 172.

[0019] The compaction machine 110 can be configured for fully autonomous, semi-autonomous, and / or remote operation. As used here, "autonomous" refers to both fully autonomous and semi-autonomous operating modes. Semi-autonomous operation involves the independent operation of at least one component of the compaction machine 110 (e.g., drive and steering or the position of the dozer blade 114), while an operator inside the compaction machine 110 or at a remote location monitors its operation. During this process, the monitoring operator can also control one or more aspects of the compaction machine 110 (e.g., vibration of the compaction roller 116, position of the dozer blade 114) and override autonomous commands.The fully autonomous operation may not require monitoring, so that the compaction machine 110 can, in response to receiving a request initiated by an operator, perform a task in a desired work area, for example, compacting at least part of that area, without requiring any further intervention or input from the operator.

[0020] As in Fig. As shown in Figure 1, the dozer blade 114 can be selectively positioned in a ground-contacting or working position, in which the dozer blade 114 can touch the ground 160, which may consist of soil or other material in a work area. This position can be useful for working this material, for changing the slope or gradient of the material, for distributing material during compaction, or for preventing material from accumulating under the compaction roller 116. However, the dozer blade 114 can be raised to a fully raised position and to positions in between, in which the dozer blade 114 has no contact with the ground 160. The raised positions can allow the compaction machine 110 to compact soil or other material without significantly changing the slope of this material. The dozer blade 114 can be raised by actuating the hydraulic cylinder 126 along direction 162 ( Fig. 1) can be raised and lowered in the opposite direction by actuating the hydraulic cylinder 126. In examples, the dozer blade 114 can be used to pick up the load 164 in the raised or lowered position depending on the type of load, e.g., pile of earth, tree stump, boulder, etc.

[0021] The devices for monitoring and measuring the various operational aspects of the compaction machine 110, such as the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the acceleration sensor 147, the hydraulic pressure sensor 148, the presence sensor 150, and the parking brake sensor 151, can be connected to the control unit 170. In some examples, only one or several sub-combinations of the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the acceleration sensor 147, the hydraulic pressure sensor 148, the presence sensor 150, and the parking brake sensor 151 can be used.The sensing device 140, locating 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 the dozer blade 114, e.g. the position of the dozer blade 114 or whether the dozer blade 114 is active or has previously pushed a load.

[0022] In some examples, feedback regarding the dozer blade 114 can be used to activate or deactivate the movement of the compaction machine 110 if the dozer blade 114 is in an unsuitable position. For example, if it is detected that the dozer blade 114 is in the lowered position and an operator attempts to move the compaction machine 110, the control unit 170 can temporarily prevent the drive unit 154 from exerting a driving force on the traction devices 120 until the dozer blade 114 is raised or a user confirms the status of the dozer blade 114 and the compaction machine 110.If it is detected that the dozer blade 114 is in the upper position and an operator attempts to leave the compaction machine 110, the control unit 170 can issue a warning to the user to request that they lower the dozer blade 114 and stop the compaction machine 110, or the user can confirm the status of the dozer blade 114 and the compaction machine 110.

[0023] In further examples, the feedback regarding the dozer blade 114 can be used to monitor the wear on the isolation bearings, e.g., the isolation bearings 180A to 180D in Fig. 2. To determine or evaluate the remaining service life of the compaction roller 116. For example, the position of the dozer blade 114 can be correlated with the hydraulic pressure values ​​to determine whether the isolation bearings have been subjected to shocks or excessive or abnormal wear. Additionally, the speed and inclination of the compaction machine 110 can be correlated with the hydraulic pressure to determine or verify whether the compaction machine was operated under normal or typical conditions. The control unit 170 can detect whether shocks or excessive wear have occurred and log such events so that they can be used to assess the remaining service life of the isolation bearings.In addition, the control unit 170 can provide feedback to the user about an undesirable use of the dozer blade 114 or deactivate certain functions of the compaction machine 110 to prevent or limit further shocks or excessive wear.

[0024] Fig. Figure 2 is a perspective side view of the compaction roller 116. Fig. 1, which shows the isolation bearings 180A, isolation bearing 180B, isolation bearing 180C and isolation bearing 180D. Fig. Figure 2 shows the dozer blade 114 engaged with the load 164. Fig. Figure 3 is a partially cut-away front view of the compaction roller 116 made of Fig. 2, which shows the 180A isolation bearings and the 180C isolation bearings. Fig. 2 and Fig. 3 will be explained simultaneously.

[0025] The roller support 122A can be connected to the support 184, on which the hydraulic motor 134 is mounted. The hydraulic motor 134 can be connected to the gearbox 186, which can be connected to the drive plate 138. Hydraulic fluid lines 135 can be used to supply hydraulic fluid from the hydraulic system 130 to the hydraulic motor 134. The drive plate 138 can be connected via isolation bearings 180A to 180D to the flange 187A and the flange 187C, which extend from the compaction roller 116. The compaction roller 116 can comprise a cylindrical body 188, which may have an inner surface from which the flange 187A and the flange 187C can extend radially inward.

[0026] The isolation bearings 180A can include block 190A and block 192A. Block 190A can include pin 194A, and block 192A can include pin 196A. Block 190A and block 192A can include an elastic material configured to dampen vibrations emanating from the cylindrical body 188 before they are transmitted to the drive plate 138 and further to the frame 112.

[0027] The isolation bearings 180C can include block 190C and block 192C. Block 190C can include pin 194C, and block 192C can include pin 196C. Block 190C and block 192C can include an elastic material configured to dampen vibrations emanating from the cylindrical body 188 before they are transmitted to the drive plate 138 and further to the frame 112.

[0028] For example, blocks 190A, 192A, 190C, and 192C can be made of rubber. Blocks 190A, 192A, 190C, and 192C can comprise dumbbell-shaped bodies between which guides 197 can pass as the compaction roller 116 rotates.

[0029] The 180B and 180D isolation bearings can be configured similarly to the 180A and 180C isolation bearings. For example, the 180D isolation bearings can include the 190D block and the 192D block.

[0030] The cylindrical body 188 can be supplied with vibrations by the vibratory assembly 198. In examples, the vibratory assembly 198 can be configured according to conventional vibratory assemblies, for example, by rotating an eccentric weight within the cylindrical body 188 at high speeds. In examples, the vibratory assembly 198 can be configured as in Patent No. US 8,967,910 B2 by Hansen et al. entitled "Eccentric Weight Shaft for Vibratory Compactors," the contents of which are included here in full. In examples, the vibratory assembly 198 can be configured as in Publication No. US 2020 / 0087870 A1 by Stern et al. entitled "Eccentric Weight System with Reduced Rotational Inertia for Vibratory Compactors," the contents of which are included here in full.

[0031] During operation of the compaction machine 110, the compaction roller 116 can be rotated by the hydraulic motor 134. More precisely, the hydraulic motor 134 can transmit a rotary motion to the gearbox 186. The gearbox 186 can transmit the rotary motion to the drive plate 138. The drive plate 138 can transmit power via the isolation bearings 180A and 180C to the flanges 187A and 187C, respectively. The flanges 187A and 187C can transmit rotation to the cylindrical body 188. Thus, the compaction roller 116 can be driven to rotate, supplying the compaction machine 110 with drive power.

[0032] Additionally, the compaction roller 116 can be set into vibration by actuating the vibration assembly 198. Thus, the compaction roller 116 can be adjusted with respect to Fig. 1, Fig. 2 to Fig. 3 are moved up and down to exert a downward force on the ground 160 in addition to the weight of the compaction roller 116 ( Fig. 1) to exert and thus cause soil compaction. As already mentioned, the isolation bearings 180A, 180B, 180C, and 180D can be configured to prevent or limit the transmission of vibrations originating from the compaction roller 116, so that these do not propagate outside the compaction roller 116, for example, to the gearbox 186, the hydraulic motor 134, the frame 112, etc. The blocks 190A to 192D may have a limited service life. That is, after being subjected to a certain vibration load, the blocks 190A to 192D may be less effective and dampen vibrations less well, and may need to be replaced during maintenance. The service life of the blocks 190A to 192D may be longest if they are only subjected to the typical vibrations of the vibratory assembly 198, e.g., B. under normal load.However, during the operation of the compaction machine 110, the isolation bearings 180A, 180B, 180C and 180D may be subjected to increased and / or additional stress, e.g., unusual stress.

[0033] The isolation bearings 180A, 180B, 180C, and 180D can be subjected to a variety of additional loads that may be considered excessive, abnormal, or in addition to typical or normal loads. For example, an operator of the compaction machine 110 may use the dozer blade 114 to perform operations that result in additional, undesirable stress on the isolation bearings 180A, 180B, 180C, and 180D. As mentioned earlier, the dozer blade 114 can be used to move soil in front of the compaction machine 110. However, sometimes an operator may use the dozer blade 114 to attempt to move large objects, such as large tree stumps or large rocks. If the compaction machine 110 is driven in such a way that the dozer blade 114 is driven into a large or heavy object, such as a tree stumps, the operator may be forced into the ground.When the load 164 is being pressed, the operator may tend to increase the drive of the compaction machine 110 generated by the hydraulic motor 134. This allows the hydraulic motor 134 to exert increased torque on the compaction roller 116, which increases the load on the isolation bearings 180A, 180B, 180C, and 180D. Furthermore, the impact of the dozer blade 114 on the load 164, whether large or small, at high speed can cause a shock load on the hydraulic system, thereby generating an increase in hydraulic pressure. These loads can lead to greater deformation of the insulation bearings 180A, 180B, 180C and 180D, which can reduce the service life of the insulation bearings 180A, 180B, 180C and 180D.

[0034] According to the present disclosure, the compaction machine 110 can incorporate a monitoring, feedback and control system (e.g., the system 200 in Fig. 4) include, for example, a device that can be operated by the control unit 170 and can use various inputs, for example, from the sensing device 140, the locating device 142, linear position sensor 144, rotary position sensor 146, accelerometer 147, hydraulic pressure sensor 148, presence sensor 150 and parking brake sensor 151, to evaluate the use and wear of the compaction machine 110 and the isolation bearings 180A to 180D and to give instructions to an operator and to the compaction machine 110.

[0035] The hydraulic pressure sensor 148 can be used to monitor elevated hydraulic pressure values, which indicate increased stress on the isolation bearings 180A, 180B, 180C, and 180D. In particular, elevated hydraulic pressure may indicate undesired or improper use of the dozer blade 114. For example, the hydraulic pressure sensor 148 can be used to detect increased pressure from the hydraulic motor 134 and the hydraulic cylinder 126. In some examples, an additional pressure sensor may be provided in a hydraulic line for the hydraulic cylinder 126.

[0036] However, during normal or proper operation of the compaction machine 110, the hydraulic pressure may increase. For example, the hydraulic pressure may rise when the dozer blade 114 is used to push piles of material. Furthermore, the compaction machine 110 may be operated while driving uphill, which can lead to increased hydraulic pressure readings.

[0037] To check or verify whether increased pressure values ​​in the hydraulic system are due to an undesirable or improper use of the dozer blade 114, data from other inputs of the compaction machine 110 can be recorded during operation.

[0038] In examples, the output signals of the linear position sensor 144 and the rotary position sensor 146 can be used to determine the position of the dozer blade 114. Specifically, the linear position sensor 144 and the rotary position sensor 146 can be used to determine whether the dozer blade 114 is in a position where it is likely to be used or likely not. For example, the output of the linear position sensor 144 can be used to determine whether the dozer blade 114 is in a raised position above the ground 160, which may indicate that the dozer blade 114 is not being used to push a load, while a lowered position of the dozer blade 114 may indicate that the dozer blade 114 is being used to push a load. The rotary position sensor 146 can also be used to determine the height of the dozer blade 114 above the ground 160.

[0039] The output of the sensing device 140 can be used to determine the position and orientation of the dozer blade 114. Thus, the sensing device 140 can also be used independently to determine whether the dozer blade 114 is in a position where it is likely to be used (e.g., in a lower position) or likely not to be used (e.g., in an upper position). Additionally, the video output of the sensing device 140 can be used to directly determine whether the dozer blade 114 is being used in a high-wear application. That is, the video output of the sensing device 140 can be used to observe the dozer blade 114 striking an object. The output of the sensing device 140 can also be used to verify the output of the linear position sensor 144 and the rotary position sensor 146.In examples, the sensing device 140 can comprise a video camera or a still camera, for example a light-sensitive element, including a charge-coupled device (“CCD” sensor) or a complementary metal-oxide-semiconductor sensor (“CMOS” sensor).

[0040] The output of the accelerometer 147 can be used to determine the speed and acceleration of the compaction machine 110. The output of the accelerometer 147 can also be used to verify the output of the hydraulic pressure sensor 148. For example, if the accelerometer 147 detects that the compaction machine 110 is operating at high speed while there is an increase in hydraulic pressure, this could indicate an event in which the dozer blade 114 has struck a large or heavy load. In some examples, the accelerometer 147 may include an accelerometer. Additionally, the accelerometer 147 may be used to determine the speed of the compaction machine 110. Furthermore, the accelerometer 147 may detect the rotational speed of the compaction roller 116.

[0041] The output of the locating device 142 can additionally be used to determine the speed and acceleration of the compaction machine 110. The output of the locating device 142 can be used as an alternative to the output of the accelerometer 147. The output of the locating device 142 can be used to verify the output of the accelerometer 147. The output of the locating device 142 can also be used to determine the orientation of the frame 112 of the compaction machine 110, for example, the inclination of the compaction machine 110 when the compaction machine 110 is traveling uphill or downhill. In some examples, one or more tilt or angle sensors can be used to directly detect the orientation, e.g., the inclination, of the frame 112 without using satellite signals.Examples of tilt sensors include a tilt sensor, a pendulum sensor, and the like.

[0042] As in relation to Fig. As explained in more detail in section 4, the control unit 170 can use the output of the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the accelerometer 147, and the hydraulic pressure sensor 148 to provide feedback to a user of the compaction machine 110, for example, via the output within the operator station 118 or the output via the network communication device 152. The output can be used to log events and create histograms of the operation of the compaction machine 110, which can be used to modify the operator's behavior, troubleshoot errors, and predict when a replacement of the isolation bearings 180A to 180D might be necessary or desirable. The output can be stored in memory (e.g., memory 177, Fig. 4) the compaction machine 110 stored and via the network 174 ( Fig. 1) be transmitted to a back-office facility. Real-time monitoring of the output can be performed to provide an indication of when it might be desirable to stop the operation of an autonomous compaction machine if it encounters an obstacle in the work area.

[0043] Additionally, the control unit 170 can monitor the position of the dozer blade 114 using the linear position sensor 144 and the rotary position sensor 146, as well as the output from the presence sensor 150 and the parking brake sensor 151, to determine whether the dozer blade 114 has been left in an undesirable or potentially unsafe position. For example, the control unit 170 can provide an output to a user at the operator station 118 to move the dozer blade 114 to a lower position before leaving the seat 139, or to move the dozer blade 114 to an upper position before moving the compaction machine 110, or it can deactivate the movement of the compaction machine 110 if the dozer blade 114 is not moved upwards before the movement.

[0044] Fig. Figure 4 shows a schematic view of the system 200, which is configured for monitoring, control, reporting, and feedback to the compaction machine 110 of this disclosure. The system 200 may include a sensing device 140, a locating device 142, a linear position sensor 144, a rotary position sensor 146, an accelerometer 147, a hydraulic pressure sensor 148, a presence sensor 150, and a parking brake sensor 151, as well as a control unit 170 and a feedback device 176. The feedback device 176 may include an audio output device 178A, a mechanical rotary knob 178B, a haptic feedback device 178C, and a visual display 178D.

[0045] The output from the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the acceleration sensor 147, the hydraulic pressure sensor 148, the presence sensor 150, and the parking brake sensor 151 can be forwarded to the control unit 170. The control unit 170 can record this output in a memory 177. The memory 177 can additionally contain instructions for processing the output, for generating reports based on the output, and for generating instructions for operating elements of the compaction machine 110.

[0046] Memory 177 can comprise a machine-readable medium. The term "machine-readable medium" can include any medium capable of storing, encoding, or transmitting instructions for execution by the control unit 170, and causing the control unit 170 to execute one or more of the techniques of this disclosure, or capable of storing, encoding, or transmitting data structures used by or associated with such instructions. Examples of non-restrictive machine-readable media can include solid-state storage media as well as optical and magnetic media. In one example, a massed machine-readable medium comprises a machine-readable medium with a plurality of particles having an unchanging (e.g., rest) mass. Accordingly, massed machine-readable media are not transient propagation signals.Specific examples of machine-readable mass media may include: non-volatile memory, such as semiconductor devices (e.g., electrically programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EPSOM)) and flash memory devices; magnetic disks, such as internal hard disks and removable media; magneto-optical disks; and CD-ROM and DVD-ROM disks.

[0047] The control unit 170 can output pressure signals from the hydraulic pressure sensor 148 along a timescale. The control unit 170 can additionally display the output of the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the acceleration sensor 147, the presence sensor 150, and the parking brake sensor 151 along the same timescale. Thus, the control unit 170 can search for outputs from multiple sensor inputs that occur simultaneously or within the same timeframe. The control unit 170 can search for changes in the sensor output as well as the rate of change of this output in order to determine and evaluate the behavior, e.g., the operating conditions, of the compaction machine 110.In particular, the control unit 170 can identify the operation of the dozer blade 114 in conjunction with the compaction machine 110 in order to determine how the dozer blade 114 is used, positioned or stored, to give feedback to a user of the compaction machine 110, to selectively and temporarily disable the operation of parts of the compaction machine 110 and to generate reports on the predicted or estimated remaining service life of wear components of the compaction machine 110, such as roller isolation bearings.

[0048] In one example, the control unit 170 can receive an output signal from the hydraulic pressure sensor 148, indicating that the compaction machine 110 is operating at increased hydraulic pressure. The hydraulic pressure sensor 148 can also be used to detect the hydraulic drive pressure of the compaction machine 110. Therefore, the hydraulic pressure sensor 148 can be positioned on the hydraulic fluid lines 135 connected to the hydraulic motor 134. Thus, if the hydraulic motor 134 operates at a higher load, e.g., delivering more torque, the hydraulic pressure sensor 148 can output a signal indicating higher hydraulic pressure values.

[0049] As explained herein, the control unit 170 can compare the output of the hydraulic pressure sensor 148 without the output of other sensors and devices to determine an operating state of the dozer blade 114 and / or the compaction machine 110. In particular, the control unit 170 can compare the output of the hydraulic pressure sensor 148 with the output of the linear position sensor 144 and the rotary position sensor 146 to determine whether the dozer blade 114 is in an up position or a down position in which it is touching the ground 160 or is in its immediate vicinity ( Fig. 1) If the dozer blade 114 is in the lowered position and the hydraulic pressure is high, this may indicate that the dozer blade 114 is being used to push a large or heavy load, which places an additional load on the drivetrain, e.g., on the hydraulic system 130, the hydraulic motor 134, and / or the drive unit 154. The control unit 170 can also take other inputs into account to provide further reference points. For example, the control unit 170 can use the output of the locating device 142 and / or a tilt sensor, inclination sensor, or angle sensor to determine whether the compaction machine is operating on level or sloping terrain.

[0050] If the output of the locating device 142 and / or a tilt sensor, inclination sensor, or angle sensor indicates that the compaction machine 110 is operating on sloping terrain while the hydraulic pressure is increased and the dozer blade 114 is lowered, the control unit 170 can determine that the compaction machine 110 is operating under normal conditions or under conditions that cause typical stress and wear on the isolation bearings 180A to 180D. For example, the compaction machine 110 may use the dozer blade 114 to level a small mound of earth while traversing a slope in the terrain.

[0051] If the output of the locating device 142 and / or a tilt sensor, inclination sensor, or angle sensor indicates that the compaction machine 110 is operating on level ground while the hydraulic pressure is increased and the dozer blade 114 is lowered, the control unit 170 may detect that the dozer blade 114 is operating under abnormal conditions or conditions that cause additional stress and wear on the isolation bearings 180A to 180D. For example, the control unit 170 may detect that the dozer blade 114 is being used to push a large or heavy object or load for which the dozer blade 114 is not designed.

[0052] Additionally, the output signals of the sensing device 140 and the locating device 142 can be used to verify the output signals of the hydraulic pressure sensor. As mentioned earlier, the sensing device 140 can be an alternative to the linear position sensor 144 and the rotary position sensor 146 for determining the position of the dozer blade 114, or it can be used to directly verify the operation of the dozer blade 114 by providing images of the dozer blade 114 upon impact with the load 164. Similarly, the locating device 142 can be used as an alternative to the accelerometer 147 and an inclinometer.

[0053] The duration of the hydraulic pressure increase can also be used to determine or verify whether the dozer blade 114 is being misused, used in an undesirable manner, or used in a way that could lead to increased wear on the isolation bearings 180A to 180D. For example, a sudden increase in hydraulic pressure combined with a sudden decrease in speed, such as that detected by the accelerometer 147, on a compaction machine 110 on level ground while the dozer blade 114 is lowered, can confirm or determine the likelihood that the dozer blade 114 has been used in an undesirable manner to act upon a load and cause wear on the isolation bearings 180A to 180D. The sudden increase in hydraulic pressure can occur in the drive hydraulic pressure or in the pressure line for the hydraulic cylinder 126.This means that the control unit 170 can compare speed data and hydraulic pressure data that occur simultaneously to determine that the compaction machine 110 was operated at a speed above the speed typically used for compaction operations, while at the same time there was an increase in hydraulic pressure, indicating that the dozer blade 114 encountered a heavy load that the compaction machine 110 might not be able to move, or could only move with additional work.

[0054] In response to the detection that the dozer blade 114 is performing, or could perform, an undesirable task or a task that would cause excessive stress on the isolation bearings 180A to 180D, the control unit 170 can issue instructions to the feedback device 176 to provide the user with a warning or alarm that the control unit 170 has detected potential misuse of the dozer blade 114. For example, the feedback device 176 can include a display monitor, such as a touchscreen, LCD, or LED screen, on which the user can receive a text message to inform them about the event detected by the control unit 170. Additionally, the control unit 170 can issue an instruction to a component of the compaction machine 110 to prevent or stop the detected use of the blade 114.For example, the control unit 170 can issue an instruction to the hydraulic system 130, the hydraulic motor 134, and the drive unit 154 to prevent the compaction machine 110 from operating. In other examples, the control unit 170 can issue an instruction to the hydraulic cylinder 126 to move the dozer blade 114 into a position where it cannot be used. For example, the control unit 170 can be raised to a position to prevent it from coming into contact with objects near the ground 160. Additionally, the control unit 170 can activate a parking brake connected to the parking brake sensor 151 to prevent the traction devices 120 from operating until the user takes corrective action.The deactivation of the drive of the compaction machine 110, the activation of the parking brake, or the movement of the dozer blade 114 into a safe position can continue until a user acknowledges the warning displayed on the feedback device 176. For example, the feedback device 176 may issue a warning that impact of the dozer blade 114 against heavy objects could damage the insulating bearings 180A to 180D, and that the user must acknowledge the inadvisability of such use by pressing a button or touching the touchscreen of the feedback device 176 in order to allow further operation of the compaction machine 110.

[0055] Additionally, the control unit 170 can log data from the sensors of the system 200 to memory 177. The control unit 170 can be configured to record data continuously or only when an event of interest occurs, such as an event suggesting improper use of the dozer blade 114 or an event indicating potential excessive wear of the isolation bearings 180A to 180D. For example, the control unit 170 can analyze the output of the sensors of the system 200 in real time to identify events of interest and provide the operator of the compaction machine 110 with the desired feedback. For example, data from the sensors of the system 200 can be transmitted in real time to the remote system 172 for external analysis.For example, data from the sensors of system 200 can be sent at intervals via network 174, for instance, after use of the compaction machine 110, e.g., after the compaction machine 110 or the drive unit 154 has been switched off. Reports generated by the control unit 170 or the remote system 172 can be used to predict the remaining service life of wear parts of the compaction machine 110, such as the dozer blade 114 and the isolation bearings 180A to 180D.

[0056] For example, memory 177 can contain formulas and graphs or diagrams that relate the performance of the hydraulic motor 134, e.g., the torque of the hydraulic motor 134, to the expected service life of the isolation bearings 180A to 180D. Thus, if an increase in the performance of the hydraulic motor 134 is detected, which has been confirmed or verified to be related to a load event on the isolation bearings 180A to 180D, the control unit 170 can subtract time, e.g., usage time, from the remaining service life of the isolation bearings 180A to 180D. In this way, the control unit 170 or the remote system 172 can create computer-readable files that list the usage history, the impact events, and the remaining service life of the isolation bearings 180A to 180D. For example, a user of the compaction machine 110 can take corrective measures to replace the isolation bearings 180A to 180D.

[0057] As in relation to Fig. As explained in section 6, the output signals of the presence sensor 150 and the parking brake sensor 151 can be used to give feedback to a user and to change the operation of the compaction machine 110 based on the condition or position of the dozer blade 114.

[0058] Fig. Figure 5 is a block diagram illustrating the procedure 300 for monitoring and controlling the operation of a compaction machine 110 with a dozer blade 114. In examples, the procedure 300 can be configured to determine the wear on the isolation bearings 180A to 180D for the compaction roller 116. Although with reference to the compaction machine 110 and the system 200, as well as the Fig. 1, Fig. 2, Fig. 3 to Fig. As explained in section 4, method 300 may involve the use of any compaction machine and monitoring system compatible with the present disclosure. Method 300 may additionally include fewer or more operations than those described in processes 302 to 324. Furthermore, in other examples, processes 302 to 324 may be performed in a different order.

[0059] In process 302, the hydraulic pressure of the compaction machine 110 can be recorded. For example, the hydraulic pressure sensor 148 can be used to record the drive pressure of the hydraulic system 130. The hydraulic pressure sensor 148 can continuously record its output over a timescale to compare it with other data on a common timescale. The output of the hydraulic pressure sensor can be recorded in memory 177.

[0060] In process 304, the position of the dozer blade 114 can be detected. For example, the linear position sensor 144 and the rotary position sensor 146 can be used to detect the position of the dozer blade 114. The linear position sensor 144 can detect the up or down position of the dozer blade 114 directly via the position of the hydraulic cylinder 126. The rotary position sensor 146 can detect the up or down position of the dozer blade 114 indirectly via the position of the arm 123A. The output signals of the linear position sensor 144 and the rotary position sensor 146, together with the output signal of the hydraulic pressure sensor 148, can be recorded in memory 177 at a common time scale.

[0061] In process 306, the speed and / or acceleration of the compaction machine 110 can be recorded. For example, the accelerometer 147 or the locating device 142 can be used to determine the speed and acceleration of the compaction machine 110. Likewise, the output of the locating device 142 can be used to determine the speed and acceleration of the compaction machine 110. The output of the accelerometer 147 and the locating device 142, together with the output of the hydraulic pressure sensor 148, can be recorded on the common timescale in memory 177.

[0062] In process 308, the inclination of the compaction machine 110 can be detected. For example, the locating device 142 or an inclination sensor can be used to detect the inclination or slope of the frame 112 of the compaction machine 110. The output of the locating device 142 and an inclination sensor can be recorded together with the output of the hydraulic pressure sensor 148 in memory 177 on a common timescale.

[0063] In step 310, it can be determined whether a load event has occurred. If an increase in the drive pressure or any other hydraulic pressure of the compaction machine 110 has been detected, step 300 can proceed to step 316. For example, the control unit 170 can determine that an increase in hydraulic pressure has been detected by the hydraulic pressure sensor 148. If no increase in the drive pressure of the compaction machine 110 has been detected, step 300 can proceed to step 324.

[0064] In operation 312, the measured hydraulic pressure, which can be indicated by the drive force provided by the hydraulic motor 134, can be compared with the output values ​​of other measured parameters of the compaction machine 110 to verify or cross-check what might have caused the increase in hydraulic drive pressure. For example, the position of the dozer blade 114, the inclination of the frame 112, and the speed and acceleration of the compaction machine 110, as determined in operations 304, 306, and 308, can be used.

[0065] In step 314, the control unit 170 can determine whether the increase in hydraulic pressure caused a load event at the isolation bearings 180A to 180D. If it is determined that a load event occurred, the procedure 300 can proceed to step 316. For example, the control unit can determine that the information checked in step 312 indicates that the increase in hydraulic pressure was caused by the load on the dozer blade 114. If it is determined that no load event occurred, the procedure 300 can proceed to step 324. For example, the control unit can determine that the cross-checked information from step 312 does not indicate that the increase in hydraulic pressure was caused by the load on the dozer blade 114.

[0066] In process 316, the load event can be recorded in a log. For example, the outputs of the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the accelerometer 147, the hydraulic pressure sensor 148, the presence sensor 150, and the parking brake sensor 151 can be recorded in memory 177.

[0067] In operation 317, the remaining service life of a wear part of the compaction machine 110 can be determined. Wear components can include the bucket 114 itself or a bucket edge attached to it, as well as the isolation bearings 180A to 180D. The control unit 170 or the remote system 172 can use predefined formulas, equations, and / or lookup tables that relate the total accumulated operating time and hydraulic pressure to the service life of the isolation bearings 180A to 180D. If it is determined that the service life of the isolation bearings 180A to 180D has been exceeded or is about to be exceeded, the control unit 170 can issue a warning via the feedback device 176 and / or an operator of the compaction machine 110 can perform a maintenance action to replace the isolation bearings 180A to 180D.

[0068] During operation 318, a warning or instruction can be given to the operator of the compaction machine. The warning or instruction can be displayed on or transmitted from the feedback device 176. For example, the warning or instruction might inform the operator that a stress event has occurred and that the operator should avoid operating the compaction machine 110 in a manner that caused the stress event in the future. Examples of a stress event could be the dozer blade 114 striking a heavy object at a speed exceeding the normal operating speeds for soil compaction, or the dozer blade 114 engaging a heavy object and the torque of the hydraulic motor 134 being increased for an extended period.Additionally, the control unit 170 can deactivate the operation of the compaction machine 110 or a part thereof, such as the dozer blade 114 (by deactivating the linear position sensor 144 and / or the rotary position sensor 146) or the traction devices 120 (by activating a parking brake or deactivating the hydraulic motor 134).

[0069] In process 320, it can be determined whether the user has taken a corrective action. For example, the control unit 170 can determine that a user has acknowledged the occurrence of the load event, for example, by touching or actuating the control unit 170 or the feedback device 176. If it is determined that no corrective action has yet been taken, process 300 can return to process 318. If a corrective action has been taken, process 300 can proceed to process 322.

[0070] In process 322, the continued operation of the compaction machine 110 can be permitted. Any part of the compaction machine 110 that was deactivated can be reactivated.

[0071] For example, a parking brake can be released to free the traction device 120, or the hydraulic motor 134 can be switched on again.

[0072] In process 324, the compaction machine 110 can be operated to perform compaction operations with the compaction roller 116 and leveling operations with the dozer blade 114. During the use of the compaction machine 110, the output of the sensing device 140, the locating device 142, the linear position sensor 144, the rotary position sensor 146, the acceleration sensor 147, the hydraulic pressure sensor 148, the presence sensor 150, and the parking brake sensor 151 can be monitored, and process 300 can return to process 310.

[0073] Fig. Figure 6 is a block diagram illustrating the procedure 400 for operating the compaction machine 110 to determine, check, and move the position of the dozer blade 114. Procedure 400 can determine whether the dozer blade 114 is in an unsuitable position for the current state of the compaction machine 110. Unsuitable positions for the dozer blade 114 may include the dozer blade 114 being raised when the compaction machine 110 is parked, and the dozer blade 114 being lowered when the compaction machine 110 is moving.

[0074] Although with reference to the compaction machine 110 and the system 200 as well as the Fig. 1, Fig. 2, Fig. 3 to Fig. As explained in Section 4, Method 400 may involve the use of any compaction machine and monitoring system compatible with the present disclosure. Method 400 may additionally include fewer or more operations than those described in Operations 402 to 430. Furthermore, in other examples, Operations 402 to 430 may be performed in a different order.

[0075] Procedure 400 can begin while the compaction machine 110 is actively in use, e.g., being actively moved, or while it is not actively in use, e.g., parked. Procedure 400 can begin at operation 402 if the dozer blade 114 is in a lower position. Procedure 400 can begin at operation 404 if the dozer blade 114 is in an upper position. The position of the dozer blade 114 can be determined by the output of the linear position sensor 144 and / or the rotary position sensor 146, as well as by the sensing device 140.

[0076] From operation 402, procedure 400 can proceed to operation 406, where the control unit 170 can determine whether an operator is present at operator station 118. The control unit 170 can use the output of the presence sensor 150 to determine whether an operator is present at operator station 118 and, in particular, at seat 139. If no operator is detected at operator station 118, procedure 400 can be terminated because the dozer blade 114 is correctly lowered, as there is no operator at seat 139. If an operator is detected at seat 139, procedure 400 can continue with operation 408.

[0077] In process 408, the control unit 170 can determine whether the parking brake sensor 151 is engaged or changing its state. If the parking brake sensor 151 detects that the parking brake is engaged or changing from disengaged to engaged, this may indicate that the user intends to park the compactor 110, and process 400 can be terminated because the dozer blade 114 is already lowered. If the parking brake sensor 151 indicates that the parking brake is released or changing from engaged to released, the control unit 170 may detect a potential conflict in the desired operating state of the compactor 110 because the parking brake is released, but the dozer blade 114 is lowered.

[0078] In operation 410, the control unit 170 can check whether the dozer blade 114 is lowered. As mentioned earlier, the output of the linear position sensor 144, the rotary position sensor 146, and / or the sensing device 140 can be used to determine the upward or downward state of the dozer blades 114. "Downward" can include engagement with the ground 160, and "upward" can include disengagement from the ground 160. Additionally, "upward" and "downward" can include the state in which the hydraulic cylinder is at its outermost ends, e.g., either fully extended or fully retracted.

[0079] In operation 412, the control unit 170 can receive a request from a user to set the compaction machine 110 in motion. For example, a user sitting in seat 139 can request that the drive unit 154 supply power to the traction devices 120. The user can press a button, operate a lever, press a pedal, activate a user interface device, give a voice command, or similar actions to initiate the activation of the traction devices 120.

[0080] During operation 414, the control unit 170 may detect that the compaction machine 110 may not be ready for operation. Specifically, the control unit 170 may detect that the compaction machine 110 is not ready to be moved with the dozer blade 114 in a lowered position, for example, in contact with the ground 160. For instance, if the compaction machine 110 were moved with the dozer blade 114 lowered, the dozer blade 114 could potentially damage a finished surface, such as a paved area, or dislodge previously compacted soil or other material. Furthermore, moving the compaction machine 110 with the dozer blade 114 lowered could potentially damage the dozer blade 114, particularly if it comes into contact with a hard surface, such as concrete.Therefore, the control unit 170 can temporarily deactivate the drive unit 154 or prevent it from exerting a driving effect on the traction devices 120. For example, the control unit 170 can prevent a command from the operator station 118 from reaching the drive unit 154, or it can activate a parking brake.

[0081] In operation 416, the control unit 170 can send a notification to a user at the operator station 118. The notification can inform the user that the dozer blade 114 is lowered and prompt the user to confirm that the movement of the compaction machine 110 with the dozer blade 114 lowered is desired. For example, a display unit can provide textual or graphical output that the user can read or view, informing the user that the dozer blade 114 is in a lowered position.

[0082] In operation 418, the user can issue a command or input a command into the control unit 170 to change the position of the dozer blade 114, for example, to raise the dozer blade 114. The dozer blade 114 can be raised by a sufficient amount to allow movement, for example, by raising it to lift off the ground 160, or by raising it by a minimum amount, for example, four to twelve inches. Subsequently, the control unit 170 can determine that the compaction machine 110 is ready to move and reactivate the operation of the drive unit 154.

[0083] In operation 420, the user may find it desirable to move the compaction machine 110 while the dozer blade 114 is lowered. For example, a user might intend to level a pile of earth in front of the compaction machine 110 at the start of its movement. In this case, the user can override the instruction from the control unit 170 to deactivate the drive unit 154.

[0084] After process 418 or process 420, process 400 can be completed and the process can return to the beginning of process 400.

[0085] As mentioned previously, procedure 400 can begin at operation 404 when the dozer blade 114 is down. From operation 404, procedure 400 can transition to operation 422.

[0086] During operation 422, the control unit 170 can determine whether the parking brake sensor 151 is released or changing its state. If the parking brake sensor 151 indicates that the parking brake is released or changing from engaged to released, this may indicate that the user intends to move the compactor 110, and procedure 400 can be terminated because the dozer blade 114 is already raised. If the parking brake sensor 151 detects that the parking brake is released or changing from disengaged to released, the control unit 170 may determine that there is a potential conflict in the desired operating state of the compactor 110 because the parking brake is engaged, but the dozer blade 114 is raised.

[0087] In process 424, the control unit 170 can determine whether an operator is present at the operator station 118. The control unit 170 can use the output of the presence sensor 150 to determine whether an operator is present at the operator station 118, and specifically, whether they are seated at the operator seat 139. If an operator is detected at the operator station 118, process 400 can be terminated, as the use of the dozer blade 114 may be initiated in its raised position. If no operator is detected at the operator seat 139, process 400 can proceed to process 426.

[0088] In operation 426, the control unit 170 can check whether the dozer blade 114 is in the upper position. As mentioned earlier, the output of the linear position sensor 144, the rotary position sensor 146, and / or the sensing device 140 can be used to determine the upward or downward state of the dozer blades 114. "Downward" can include engagement with the ground 160, and "upward" can include disengagement from the ground 160. Additionally, "upward" and "downward" can include the state in which the hydraulic cylinder is at its outermost ends, e.g., either fully extended or fully retracted.

[0089] In operation 428, the control unit 170 can send a notification to a user at the operator station 118. The notification can inform the user that the dozer blade 114 is in the raised position while the compaction machine 110 is parked, and prompt the user to confirm that parking the compaction machine 110 with the dozer blade 114 in the raised position is desired. For example, a display unit can provide a textual or graphical output that the user can read or view, informing them that the dozer blade 114 is in the raised position.

[0090] In operation 430, the user can issue a command or input a command into the control unit 170 to change the position of the dozer blade 114, for example, to lower the dozer blade 114. The dozer blade 114 can be lowered to engage with the soil 160. Afterwards, the control unit 170 can determine that the compaction machine 110 is ready to be shut down, and it can switch off, etc.

[0091] From operation 428, procedure 400 can proceed to operation 420. In operation 420, the user may determine that it is desirable to park the compaction machine 110 with the dozer blade 114 raised. For example, a user may intend to temporarily leave the compaction machine 110 while the dozer blade 114 is raised, perhaps to allow maintenance work to be carried out. Therefore, the user can override the instruction from control unit 170 to issue a warning to the user, thereby clearing the warning and allowing the compaction machine to be parked and shut down.

[0092] After process 430 or process 420, process 400 can be completed and the process can return to the beginning of process 400. Industrial applicability

[0093] The front leveling blades can be used on vibratory compactors (SCOM). The leveling blade, available as an option on certain models, can be used to remove small piles of material or to clear stones or other obstacles from the area to be compacted.

[0094] The blade of an SCOM compactor is configured as a dozer blade and does not have the same performance capabilities as the blade of a bulldozer. Dozer blades are typically used to remove mounds of earth left behind by bulldozers or motor graders and to clear objects from the compaction area that have been brought in with the fill, such as rocks usually no more than two inches in size and other similarly sized debris. Excessive and improper use of the dozer blade beyond the applications mentioned here can adversely affect the compactor. For example, an operator might drive the compactor at high speed into large and heavy objects in an attempt to move them. This can negatively affect the service life of the compactor's isolation bearings and components such as the blade, front frame, and hitch.Isolation bearings for compaction rollers are typically made of a flexible rubber material or a component that isolates the roller's vibrations from the front frame. SCOMs can be equipped with rollers driven in such a way that the rollers assist in pulling the SCOM through the ground. Excessive and improper use of the dozer blade transmits high torque to the roller. This torque is transmitted through the roller isolation bearings, resulting in significant deflection between the inlet flange and the outlet flange (e.g., flange 187A and flange 187C in [reference missing]). Fig.3) of the isolation bearings. This can lead to a shortened service life of the components. Roller isolation bearings contain wear parts that typically need to be replaced after a certain period of use. Therefore, it can be advantageous for a customer to be able to predict and plan when these parts will need to be replaced. Excessive stress on the isolation bearings can make this predictability more difficult.

[0095] When a dozer blade is subjected to heavy loads, it increases the drive torque as needed, up to the point where the machine is capable of moving the large, heavy object. The pressure in the hydraulic motor increases accordingly. This results in higher torque in the drum drive gearbox, which in turn increases the output torque transmitted via the drive plate to the roller isolation bearings. The resistance to machine movement and the increased torque acting on the roller isolation bearings can lead to greater deformation. This can reduce the service life of the isolation bearings. Impact of the leveling blade against objects at high speed can also lead to similar overloading and a reduction in the service life of the isolation bearings. Furthermore, it can also cause structural damage to the compaction machine.

[0096] The integrated machine data allows for monitoring the use of the leveling blade. By using various inputs, such as drive pressure, blade cylinder pressure, blade position, machine angle, machine speed, machine acceleration, and others, excessive, heavy, and abusive use of the leveling blade can be detected.

[0097] Drive pressure can be measured using pressure sensors from the machine's drive system to provide an indication of the drivetrain load and its rate of change. The cylinder pressure of the leveling blade can be measured to provide feedback on the load on the leveling blade, cylinder, and rear frame. The blade position can be measured with a position sensor cylinder or a camera system to indicate the blade's height relative to the ground or an object. An angle sensor can be used to indicate whether the compaction machine is operating on a slope, helping to determine whether an increase in drive pressure is due to blade use or working on an inclined surface. Machine speed sensors can be used to monitor speed changes under the aforementioned conditions.Accelerometers mounted on the machine can be used separately or in conjunction with other sensors to record the machine's acceleration rates. Additional sensors can be used to measure parameters for characterizing dozer blade usage.

[0098] High drive pressure with the dozer blade lowered and on level ground can indicate heavy dozer blade use. A sudden increase in drive pressure and a sudden drop in machine speed on level ground with the dozer blade lowered indicates excessive dozer blade use. This information can be used to log events and create histograms of machine operation, which can be used to modify operator behavior, troubleshoot problems, and predict the replacement of ISO brackets. The information can be stored on the machine and transmitted to a back office. Real-time monitoring can provide an indication to stop the operation of an autonomous machine if it encounters an obstacle in the work area.

[0099] Another problem concerns the positioning of the leveling blade on a vibratory compactor. The leveling blade can be mounted on the front of the compactor. The operator's view of the front-mounted blade is usually obstructed by the drum and front frame. Furthermore, the operator doesn't always know or remember to check whether the blade is in the up or down position before initiating a machine movement. When starting a machine movement, the operator might not notice that the blade is in the down position, which can lead to damage to the blade, the machine, or other objects and people in the vicinity, as the blade can strike various objects. Additionally, the operator might leave the blade in the raised position when shutting down or leaving the machine.The dozer blade can be a suspended load that is not mechanically secured and can fall to the ground due to accidental cab control or other system malfunction.

[0100] The present disclosure offers a solution to these and other problems by providing an implement position indicator and a machine interlock for a soil compactor. The implement position indicator system can show an operator that the dozer blade is detected in the lowered position, that machine movement is requested after the operator's presence in the seat is detected, and that the parking brake status changes from "engaged" to "released." In this case, machine movement can be prevented to avoid damage from the dozer blade in the lowered position, and the operator is confirmed by an input, such as selecting a prompt on a display or moving the dozer blade up and then back down.Furthermore, if it is determined that the dozer blade is in the raised position, no machine movement is detected, the parking brake status changes from released to engaged, and the operator's presence in the seat is not detected, a warning can be issued to the operator. Devices such as a position-sensitive hydraulic cylinder, an electrical switch, a pressure sensor in the dozer blade's hydraulic circuit, or a camera can be used to determine the dozer blade's position, and procedures can be employed to determine the parking brake switch status, the speed sensors on the roller / wheels, and the operator's presence in the seat. Additionally, operator messages can be logged and reported to the control center to indicate operator behavior.

[0101] Several examples are shown in the figures and the preceding description. One or more features from one or more of these examples can be combined to form other examples.

[0102] The foregoing detailed description serves for illustration and is not limiting. The scope of disclosure should therefore be determined with reference to the attached claims and the entire scope of the equivalents to which those claims relate.

[0103] Both the foregoing general description and the following detailed description serve only for illustration and explanation and do not limit the claimed features. As used herein, the terms "comprises," "comprising," "having," "incorporating," or other variations thereof are intended to cover non-exclusive inclusion such that a process, method, article, or device comprising a list of elements may contain not only those elements but may also contain other elements not expressly listed or belonging to such process, method, article, or device. Furthermore, relative terms such as "about," "essentially," "generally," and "approximately" are used in this disclosure to indicate a possible deviation of ±10% of the stated value. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] US 2022 / 0334581 A1

[0005] US 2020 / 0019192 A1

[0005] US 11,868,114 B2

[0005] US 8.967.910 B2

[0030] US 2020 / 0087870 A1

[0030]

Claims

[1] Soil compactors (110), comprising: a frame (112); a compaction roller (116) which is rotatably mounted on the frame; a drive mechanism (134) for rotating the compaction roller; a dozer blade (114) attached to the frame, configured for pushing or leveling loads; a first sensor (144, 146, 148) configured to monitor the operation of the dozer blade; a control unit (170) configured to receive the output of the first sensor; and an output system (176) connected to the control unit and configured to produce an output signal indicating an operating state of the dozer blade based on the output of the first sensor, wherein the output signal includes an audio signal, a visual signal, a haptic feedback output, or a report stored on a computer-readable medium. [2] Soil compactor according to claim 1, wherein: the first sensor includes a position sensor (144, 146) for the dozer blade; the control unit is configured to detect whether the dozer blade is in an upper or lower position; and The output system is configured to issue a first warning when the dozer blade is in an upper position and the soil compactors are parked, or a second warning when the dozer blade is in a lower position and the soil compactors are about to start moving. [3] Soil compactor according to claim 2, further comprising: a presence sensor (150) to determine whether an operator is seated in an operator compartment of the soil compactor, wherein the first warning is issued when the presence sensor is not activated, and the second warning is issued when the presence sensor is activated; and a parking brake sensor (151) for determining whether a parking brake is engaged or disengaged, wherein the first warning is issued when the parking brake sensor is engaged and the second warning is issued when the parking brake sensor is disengaged, wherein the control unit is configured to prevent operation of the drive mechanism when the dozer blade is in a lowered position and an operator requests movement of the soil compactor; wherein the control unit includes an operator interface and the control unit is configured to request confirmation of the blade status in order to clear the first or second warning. [4] Soil compactor according to claim 1, wherein: the drive mechanism includes a hydraulic motor; the first sensor comprises a pressure sensor (148); and The compaction roller further comprises a plurality of isolation bearings (180A, 180B, 180C, 180D) connecting the drive mechanism to the compaction roller, the output signal indicating a wear event at the plurality of isolation bearings caused by the dozer blade. [5] Soil compactor according to claim 4, further comprising: a second sensor selected from the group consisting of a speed or acceleration sensor (147) and an inclination sensor (142); the control unit is configured to check the output of the second sensor before activating the output system to provide the output signal. [6] Soil compactors, including: a frame (112); a compaction roller (116) which is rotatably mounted on the frame; a drive mechanism (134) for rotating the compaction roller; a variety of isolation bearings (180A, 180B, 180C, 180D) that connect the drive mechanism to the compaction roller; a monitoring system (200) configured to monitor the wear of the plurality of isolation bearings; and an output system (176) configured to produce an output signal relating to the use of the plurality of isolation bearings, wherein the output signal includes an audio signal, a visual signal or a haptic feedback output. [7] Soil compactor according to claim 6, wherein: the drive mechanism comprises a hydraulic motor connected to a hydraulic system (130); and The monitoring system includes a pressure sensor (148) for the hydraulic system. [8] Soil compactor according to claim 7, further comprising: a dozer blade tool (114) mounted on the frame, wherein the monitoring system is configured to detect pressure increases in the hydraulic system caused by the dozer blade tool; and a vibration mechanism (198) configured to impart a vibratory motion to the compaction roller, wherein the multiple isolation bearings are configured to dampen the transmission of vibrations from the compaction roller to the frame. [9] Soil compactor according to claim 7, further comprising an operator interface configured to receive input from a user to clear the output signal from the output system. [10] Soil compactor according to claim 6, wherein the monitoring system is configured to determine the remaining service life of the plurality of isolation bearings, the output signal comprising a report stored on a computer-readable medium.

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