Detection of Sprocket Segment Wear Based on Machine Drivetrain Data

Abstract

Detection of Sprocket Segment Wear Based on Machine Drivetrain Data The controller (140) may receive machine drivetrain data from the sensor device (120) of the machine (100) indicative of a load on the drivetrain of the machine over a period of time. The controller (140) may detect that one or more occurrences of reduced load have occurred during a period of time based on the machine drivetrain data. The controller (140) may determine that the one or more occurrences of reduced load are unexpected. The controller (140) may detect wear on a component of an undercarriage of the machine (100) based on determining that the one or more occurrences of reduced load are unexpected. The controller may cause an action to be performed based on determining the wear on the component.

Description

[Technical field]

[0001] FIELD OF THE DISCLOSURE This disclosure relates generally to detecting sprocket segment wear, for example, detecting sprocket segment wear based on mechanical drive train data. [Background technology]

[0002] Components of the undercarriage of the machine wear over time. Components may include sprocket segments, track links, bushings, and / or track link pins of a sprocket. With respect to sprocket segments of a sprocket, as the sprocket segments wear, the width of the tips of the sprocket segments narrows. As the tips of the sprocket segments narrow, the frequency of track indexing events increases. A "track indexing event" may refer to a bushing (of a track link) engaged by a sprocket segment moving to another sprocket segment of the sprocket due to wear of the sprocket segment (e.g., wear of the tips of the sprocket segments). A track indexing event may cause damage to the undercarriage of the machine and / or damage to one or more other components associated with the machine. Additionally, a track indexing event may cause a decrease in the productivity measurements of the machine.

[0003] One approach to detecting wear on a part is to manually measure a dimension of such part. The manual measurement may be compared to a specified dimension of the part. Performing the manual measurement requires that a machine at the work site is stopped from performing work. Performing the manual measurement may negatively impact productivity at the work site because it requires that a machine is stopped from performing work, which is a time consuming process (e.g., due to travel time to perform the manual measurement and / or time to perform the manual measurement). In this regard, work (to be performed or being performed by the machine) may be interrupted for an extended period of time (e.g., to perform the manual measurement).

[0004] Moreover, such manual measurements may be inaccurate. Inaccurate measurements of part dimensions may, in turn, result in inaccurate predictions regarding the amount of wear on the part. Such inaccurate predictions may result in premature failure of the part or premature repair or replacement (e.g., because the part may not have worn enough to require replacement or repair). Such premature failure of the part or premature replacement or repair of the part may also have an adverse effect on the productivity of the work site.

[0005] U.S. Patent Application Publication No. 20210173399 (the '399 publication) discloses a vehicle (e.g., an agricultural vehicle or other off-road vehicle) with a track system that can be monitored to obtain information about the vehicle. The '399 publication further discloses that the information about the vehicle includes information about the track system, such as one or more parameters of the track system (e.g., temperature, pressure, acceleration, identifier, etc.) that can be used for various purposes and / or one or more characteristics of the environment of the track system (e.g., compliance, profile, soil moisture level, etc. of the ground below the track system).

[0006] Although the '399 publication discloses that the track system can be monitored to obtain information about the vehicle, the '399 publication does not disclose detecting wear on the sprocket segments of a sprocket or detecting track index events caused by wear on the sprocket segments.

[0007] The controller of the present disclosure solves one or more of the above problems and / or other problems in the art. Summary of the Invention [Means for solving the problem]

[0008] The machine includes a drivetrain, an undercarriage including a track link and one or more components associated with the drivetrain, a sensor device configured to generate machine drivetrain data indicative of a load on the drivetrain over a period of time based on the machine drivetrain data, determine that the one or more occurrences of reduced load are unexpected, detect wear in one or more components of the undercarriage based on determining that the one or more occurrences of reduced load are unexpected, and perform an action based on detection of wear in the one or more components.

[0009] A method performed by the controller includes receiving machine drivetrain data from a sensor device of the machine indicative of a load on the machine drivetrain over a period of time, detecting one or more occurrences of reduced load over a period of time based on the machine drivetrain data, determining that the one or more occurrences of reduced load are unexpected, detecting wear on a component of the undercarriage of the machine based on determining that the one or more occurrences of reduced load are unexpected, and performing an action based on determining the wear on the component.

[0010] The system includes a sensor device configured to generate machine drivetrain data indicative of a load on the machine drivetrain over a period of time, and a controller, the controller configured to detect one or more occurrences of reduced load over a period of time based on the machine drivetrain data, determine that the one or more occurrences of reduced load are unexpected, detect wear on a component of the machine's undercarriage based on determining that the one or more occurrences of reduced load are unexpected, and perform an action based on the detection of wear on the component. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram of an example of an implementation described herein. [Diagram 2] FIG. 1 is a diagram of an example of a system described herein. [Diagram 3] 1 is a flowchart of an example of a process associated with detecting sprocket segment wear based on machine drivetrain data. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Implementations described herein relate to detecting wear on tips of sprocket segments of a sprocket based on a frequency of track index events. For example, a controller can obtain mechanical drivetrain data indicative of load on the drivetrain over a period of time. The controller can analyze the mechanical drivetrain data to detect an occurrence of an unexpected load reduction (e.g., an occurrence of a sudden load reduction). In some circumstances, the controller can determine that the occurrence is unexpected based on determining that no steering command and / or gear change was detected during the load reduction occurrence.

[0013] In some examples, the controller may obtain machine speed data indicative of the speed of the machine over a period of time. The controller may analyze the machine speed data to detect the occurrence of an unexpected speed increase (e.g., the occurrence of a sudden increase in speed). The occurrence of a speed increase may be determined in a manner similar to that described above in connection with determining the occurrence of a load reduction. Based on detecting the occurrence of an unexpected load reduction and / or the occurrence of an unexpected speed increase, the controller may determine that a track index event is occurring.

[0014] In some examples, the controller can determine a number of occurrences of unexpected load decreases and / or a number of occurrences of unexpected speed increases. The controller can detect a frequency of track index events based on one or more of the numbers. The controller can detect wear of sprocket segments of the sprocket (e.g., wear of tips of the sprocket segments) based on the frequency of the track index events. For example, the controller can determine that the frequency of track index events is increasing and, in response, detect wear of sprocket segments of the sprocket. In some circumstances, the controller can determine the frequency of track index events in real time or near real time.

[0015] The term "machine" may refer to a device that performs an operation associated with an industry, such as, for example, mining, construction, agriculture, transportation, or other industries. Additionally, one or more implements may be coupled to the machine. By way of example, the machine may include a construction vehicle, a work vehicle, or a similar vehicle associated with the aforementioned industries.

[0016] Figure 1 is a diagram of an example of a machine 100 as described herein. As shown in Figure 1, machine 100 is depicted as an earth moving machine, such as a dozer. Alternatively, machine 100 may be another type of track-type machine, such as an excavator.

[0017] As shown in FIG. 1, machine 100 includes an engine 110, a sensor system 120, an operator cabin 130, operator controls 132, a controller 140, a rear attachment 150, a front attachment 160, ground engaging members 170, a sprocket 180, one or more idlers 190, and one or more rollers 192.

[0018] Engine 110 may include an internal combustion engine, such as a compression ignition engine, a spark ignition engine, a laser ignition engine, a plasma ignition engine, etc. Engine 110 provides power to machine 100 and / or a set of loads (e.g., components that absorb and / or use power to operate) associated with machine 100. For example, engine 110 may provide power to one or more control systems (e.g., controller 140), sensor system 120, operator cabin 130, and / or ground engaging members 170.

[0019] Engine 110 may power implements of machine 100, such as implements used in mining, construction, agriculture, transportation, or other industries. For example, engine 110 may power components (e.g., one or more fluid pumps, one or more actuators, and / or one or more electric motors) to facilitate control of rear attachment 150 and / or front attachment 160 of machine 100.

[0020] The sensor system 120 may include sensor devices capable of generating signals related to the operation of the machine 100. The sensor devices of the sensor system 120 may include load sensor devices, speed sensor devices, torque sensor devices, vibration sensor devices, motion sensor devices, among others. As an example, the sensor devices may include one or more inertial measurement units (IMUs).

[0021] Operator cabin 130 includes an integrated display (not shown) and operator controls 132. Operator controls 132 may include one or more input components (e.g., an integrated joystick, push buttons, control levers, and / or a steering wheel) for controlling the operation of machine 100. For example, operator controls 132 may be used to control the operation of one or more implements (e.g., rear attachment 150 and / or front attachment 160) of machine 100 and / or to control the operation of ground engaging members 170.

[0022] In the case of an autonomous machine, operator controls 132 may not be designed for use by an operator, but rather may be designed to operate independently of an operator, for example, in which case operator controls 132 may include one or more input components that provide input signals for use by other components without operator input.

[0023] A controller 140 (e.g., an electronic control module (ECM)) may control and / or monitor the operation of the machine 100. For example, the controller 140 may control and / or monitor the operation of the machine 100 based on signals from the operator controls 132 and / or from the sensor system 120. The controller 140 may determine the amount of wear on one or more components of the machine 100 based on signals from the sensor system 120 and / or the operator controls 132, as described in more detail below.

[0024] The rear attachment 150 may include a digging assembly, a hoisting assembly, and / or a tow bar assembly. The front attachment 160 may include a blade assembly. The ground engaging members 170 may be configured to propel the machine 100. The ground engaging members 170 may include wheels, tracks, rollers, and / or similar components for propelling the machine 100. The ground engaging members 170 may include an undercarriage including a track (as shown in FIG. 1 ). The track may include a track link. In some circumstances, the track link may include a track link bushing and a track link pin. As an example, the track may include a first track link 172 and a second track link 174. The first track link 172 includes a first track link bushing 176 and a first track link pin 178.

[0025] Sprocket 180 may include one or more sprocket segments 182 (individually referred to herein as “sprocket segment 182” and collectively referred to herein as “sprocket segments 182”). Sprocket 180 may be configured to engage and drive ground engaging member 170. For example, sprocket segment 182 may be configured to engage a track link bushing (e.g., of a track of ground engaging member 170) and rotate to propel the track to propel machine 100. Sprocket 180 may be included in a drive train of machine 100.

[0026] In some circumstances, the sprocket segment 182 may wear. For example, as shown in FIG. 1, as the sprocket segment 182 wears, the width of the tip 184 of the sprocket segment 182 may decrease. When the width of the tip 184 of the sprocket segment 182 decreases, a track index event may occur. For example, as shown in FIG. 1, a track index event may occur when a bushing that is engaged with the sprocket segment 182 moves to another sprocket segment 182 due to wear of the sprocket segment 182. As the width of the tip 184 of the sprocket segment 182 continues to decrease, the frequency of track index events may increase over time. The controller 140 may determine the frequency of the track index events and accordingly detect wear of the sprocket segment 182, as described in more detail below.

[0027] In some examples, one or more idlers 190 and / or one or more rollers 192 may guide the tracks as they rotate to propel the machine 100. In some examples, the ground engaging members 170, the sprockets 180, the one or more idlers 190, and the one or more rollers 192 may be components of an undercarriage. The undercarriage may further include one or more track pads and / or one or more track shoes.

[0028] As noted above, Figure 1 is provided as an example. Other examples may differ from the example described in connection with Figure 1.

[0029] FIG. 2 is a diagram of an example system 200 described herein. As shown in FIG. 2, the system 200 includes a sensor system 120, an operator control 132, and a controller 140. In some circumstances, the controller 140 may be included in the machine 100. Alternatively, the controller 140 may be included in an apparatus that is part of a site management system (e.g., a work site associated with the machine 100). In some implementations, the apparatus may be implemented by one or more computing resources of a cloud computing environment. For example, the apparatus may be hosted in a cloud computing environment. Alternatively, the apparatus may not be cloud-based or may be partially cloud-based. Instead of including the controller 140 in an apparatus of a site management system, the controller 140 may also be included in an apparatus that is part of a back office system.

[0030] Sensor system 120 may include sensor devices that generate sensor data that can be used to detect wear and / or the amount of wear on one or more components of the undercarriage. The one or more components may include one or more sprockets 180, one or more sprocket segments 182, one or more tracks, one or more track links, such as first track link 172 and / or second track link 174, one or more track link bushings, such as first track link bushing 176, one or more track link pins, such as first track link pin 178, and / or one or more idlers 190.

[0031] The sensor data may include data indicative of a load on a drive train of machine 100, data indicative of an amount of torque produced by a drive train of machine 100, and / or data indicative of a speed of machine 100, as described below. The sensor data may be used (e.g., by controller 140) to detect track index events and determine wear on one or more components based on the frequency of the track index events. In some cases, the sensor data may include a timestamp associated with the sensor data (e.g., information identifying the time and / or date the sensor data was generated).

[0032] The sensor system 120 can provide sensor data to the controller 140 to detect wear and / or the amount of wear on one or more components of the undercarriage, as described in more detail below. In some examples, the sensor system 120 can provide the sensor data to the controller 140 periodically (e.g., hourly, every other hour, and / or per work shift). Additionally or alternatively, the sensor system 120 can provide the sensor data to the controller 140 based on a trigger event (e.g., based on a request from the controller 140 and / or based on a request from an operator of the machine 100 (e.g., via an integrated display and / or operator controls)).

[0033] The sensor devices of sensor system 120 may include load sensor devices, torque sensor devices, speed sensor devices, vibration sensor devices, among other examples of sensor devices that provide sensor data that can be used to detect wear of one or more components. The load sensor devices may include one or more devices that sense a load on a drive train of machine 100 and generate mechanical drive train data indicative of the load on the drive train measured at various times over a period of time. The torque sensor devices may include one or more devices that sense an amount of torque produced by the drive train and generate mechanical torque data indicative of the amount of torque produced by the drive train measured at various times over a period of time. In some cases, a torque sensor device may be included in the load sensor device and the mechanical drive train data may include mechanical torque data.

[0034] The speed sensor device may include one or more devices that sense the speed of the machine 100 and generate machine speed data indicative of the speed of the machine 100 measured at various times over a period of time. The speed sensor device may sense the engine speed of the engine 110, the truck speed of the undercarriage, and the acceleration of the machine 100, among others. The vibration sensor device may include one or more devices that sense vibrations of the machine 100 and generate machine vibration data based on the vibrations. As an example, the vibration sensor device may include one or more inertial measurement units (IMUs). The machine vibration data may indicate a measurement of vibrations of the machine 100 over a period of time.

[0035] Operator controls 132 may include one or more devices capable of generating operator control data used to control the operation of machine 100. For example, operator controls 132 may be used to control the operation of one or more implements of machine 100 (e.g., rear attachment 150 and / or front attachment 160) and / or to control the operation of ground engaging members 170 (e.g., to change gear of machine 100, to change direction of machine 100, among other things).

[0036] The operator control data may include implement command data identifying commands for controlling one or more implements, may include steering command data identifying steering commands for the machine 100, and / or may include gear setting data identifying a gear setting and / or gear changes for the machine 100. The operator controls 132 may provide the operator control data (e.g., to the controller 140) periodically and / or based on a trigger event in a manner similar to that described above in connection with the sensor system 120.

[0037] 2, the controller 140 may include one or more processors 220 (individually referred to herein as “processor 220” and collectively referred to herein as “processors 220”) and one or more memories 230 (individually referred to herein as “memory 230” and collectively referred to herein as “memory 230”). The processor 220 may be implemented in hardware, firmware, and / or a combination of hardware and software. The processor 220 may include a central processing unit (CPU), a graphics processing unit (GPU), an accelerated processing unit (APU), a microprocessor, a microcontroller, a digital signal processor (DPS), a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), or other types of processing components. The processor 220 may be programmed to perform functions.

[0038] Memory 230 may include random-access memory (RAM), read only memory (ROM), and / or other types of dynamic or static storage devices (e.g., flash memory, magnetic memory, and / or optical memory) that store information and / or instructions used by processor 220 to perform functions. For example, in performing functions, controller 140 may detect a track index event and, based on the track index event, detect wear and / or amount of wear of one or more components of the undercarriage.

[0039] 2, the controller 140 can receive sensor data from the sensor system 120 and / or operator control data from the operator controls 132. The sensor data can include machine drive train data generated by a load sensor device and / or machine speed data generated by a speed sensor device. The controller 140 can receive the sensor data and analyze the sensor data.

[0040] The controller 140 may detect that one or more occurrences of a load reduction occurred during a period of time (e.g., one or more sudden occurrences of a load reduction occurred) based on an analysis of the machine drivetrain data. The controller 140 may determine whether the one or more occurrences of a load reduction were unexpected. In some circumstances, the controller 140 may determine whether the one or more occurrences of a load reduction were unexpected based on the operator control data. For example, the controller 140 may identify a time interval during which one or more occurrences (of a load reduction) occurred (during a period of time) and determine whether operator control data was generated during the time interval.

[0041] For example, the controller 140 may determine whether steering command data was generated during the time interval, whether gear setting data was generated during the time interval, and / or whether implement control data was generated during the time interval. In other words, the controller 140 may determine, among other things, whether one or more steering commands were detected during the time interval, whether one or more gear changes were detected during the time interval, whether one or more commands (to control one or more implements) were detected during the time interval.

[0042] The controller 140 may determine that one or more occurrences of a reduction in load are unexpected based on the controller 140 determining that no steering command was detected during a time interval, determining that no gear change was detected during a time interval, and / or determining that no command (to control one or more implements) was detected during a time interval. The controller 140 may perform similar operations to determine that one or more occurrences of a reduction in torque generated by the drivetrain are unexpected. For example, the controller 140 may analyze machine torque data and operator control data to determine that one or more occurrences of a reduction in torque generated by the drivetrain are unexpected.

[0043] In addition to analyzing the machine drivetrain data, the controller 140 may also analyze the machine speed data. In some implementations, based on the analysis of the machine speed data, the controller 140 may detect one or more occurrences of an increase in speed (e.g., one or more sudden increases in speed have occurred) during the time interval. The controller 140 may determine that one or more occurrences of an increase in speed are unexpected, similar to determining that one or more occurrences of a decrease in load are unexpected. One or more occurrences of an unexpected decrease in load, one or more occurrences of an unexpected decrease in torque, and / or one or more occurrences of an unexpected increase in speed may collectively be referred to as "unexpected occurrences." The controller 140 may detect one or more track index events based on the one or more unexpected occurrences. That is, one or more unexpected occurrences may indicate that one or more track index events have occurred.

[0044] The controller 140 may determine a frequency of the track index event based on the number of unexpected occurrences. For example, the controller 140 may determine whether a first number of unexpected occurrences during a period of time exceeds a second number of unexpected occurrences during a previous period preceding the period of time. The controller 140 may determine that the frequency of the track index event is increasing based on the first number exceeding the second number. The controller 140 may detect wear of one or more components based on determining that the frequency of the one or more track index events is increasing. In other words, the controller 140 may detect wear of one or more components based on the first number exceeding the second number.

[0045] In some circumstances, the controller 140 can detect an amount of wear on one or more components based on one or more unexpected number of occurrences. For example, the controller 140 can detect a first amount of wear on one or more components based on one or more third unexpected number of occurrences, detect a second amount of wear on one or more components based on one or more fourth unexpected number of occurrences, etc. The second amount of wear can exceed the first amount of wear based on the fourth number exceeding the third number.

[0046] The controller 140 may cause an action to be taken based on detecting wear of one or more components. In some examples, the controller 140 may determine whether a number of one or more unexpected occurrences meets a number threshold before causing the action to be taken. For example, the controller 140 may cause an action to be taken based on a determination that a number of one or more unexpected occurrences meets a number threshold.

[0047] In some circumstances, the actions may include causing controller 140 to adjust the operation of machine 100 based on the wear of one or more components (e.g., if the amount of wear meets a wear threshold). For example, controller 140 may change the speed of machine 100, change the acceleration of machine 100, change the direction of travel of machine 100, change implement commands, change steering commands, change gear settings, and / or perform other actions that may reduce the rate of wear of one or more components and extend the time until one or more components must be repaired or replaced.

[0048] Controller 140 may cause machine 100 to move to a different work site and perform one or more tasks at the different work site to extend the life of one or more components. For example, the different work site may be associated with a lower wear rate (of one or more components) than a wear rate (of one or more components) associated with the work site where machine 100 is currently located. Additionally or alternatively, controller 140 may cause machine 100 to perform a different task to extend the life of one or more components. For example, the different task may be associated with a lower wear rate (of one or more components) than a wear rate (of one or more components) associated with a task currently being performed by machine 100.

[0049] This operation may include the controller 140 providing a notification indicating that wear on a part has been detected. In some cases, providing a notification may include transmitting the wear information to one or more devices that monitor the amount of wear on a part of a plurality of machines (e.g., including the machine 100). In some examples, the controller 140 may transmit the wear information if the amount of wear (on one or more parts) meets a wear threshold. The wear information may indicate the amount of wear on one or more parts, indicate a rate of wear on one or more parts, and / or indicate a suggestion associated with repair and / or replacement of one or more parts. In some implementations, the wear rate may be based on a change in the frequency of the unexpected occurrence. For example, the wear rate may increase with a higher frequency and decrease with a lower frequency. The one or more devices may include devices of a site management system, devices of a back office system, devices associated with an operator of the machine 100, devices associated with a technician, and / or a controller of the machine 100 if the controller 140 is external to the machine 100.

[0050] The controller 140 may transmit the wear information to cause one or more devices to fulfill an order for one or more replacement parts. In some cases, the wear information may include information identifying one or more parts and / or one or more replacement parts.

[0051] Controller 140 may send the wear information to cause one or more devices to autonomously move machine 100 to a repair facility. Additionally or alternatively, controller 140 may send the wear information to cause one or more devices to add a calendar event to a technician's calendar to inspect and / or repair one or more parts. Additionally or alternatively, controller 140 may send the wear information to cause one or more devices to activate an alarm. The alarm may indicate repair or replacement of one or more parts.

[0052] In some cases, the controller 140 may transmit the wear information to cause one or more devices to generate a service request to repair and / or replace one or more parts. As part of generating a service request, the one or more devices may perform one or more of the operations described herein.

[0053] In some examples, the operations may include controller 140 causing the first autonomous device to deliver one or more replacement parts to a location associated with machine 100. The location may include a current location of machine 100, a location at a work site where machine 100 performs multiple tasks, a location where machine 100 is located when machine 100 is not performing tasks, and / or a location where machine 100 is located when machine 100 is undergoing repair and / or replacement, etc. In some cases, the wear information may include information identifying a location associated with machine 100.

[0054] In some examples, the operations may include controller 140 moving a second autonomous device to a location associated with machine 100 to verify the amount of wear identified by the wear information. The second autonomous device may generate validation information based on the verification of the wear information and transmit the validation information to controller 140. Controller 140 may use the validation information to retrain the machine learning model.

[0055] In some cases, the controller 140 can determine whether failure of one or more components is imminent (e.g., based on the amount of wear). If the controller 140 determines that failure is imminent, it can perform one or more of the actions described above. If the controller 140 determines that failure is not imminent, it can avoid performing an action.

[0056] The number and arrangement of devices and networks shown in Figure 2 are provided as an example. In practice, there may be additional, fewer, different, or different arrangements of devices than those shown in Figure 2. Furthermore, two or more of the devices shown in Figure 2 may be implemented within a single device, or one device shown in Figure 2 may be implemented as multiple distributed devices. Additionally or alternatively, a set of devices (e.g., one or more devices) of system 200 may perform one or more functions that are described as being performed by other sets of devices of system 200.

[0057] 3 is a flow chart of an example of a process 300 associated with detecting sprocket segment wear based on machine drive train data. One or more process blocks of FIG. 3 may be executed by a controller (e.g., controller 140).

[0058] 3, process 300 may include receiving machine drivetrain data from a sensor device of the machine indicative of a load on the machine drivetrain over a period of time (block 310). For example, the controller may receive machine drivetrain data from a sensor device of the machine indicative of a load on the machine drivetrain over a period of time, as described above.

[0059] 3, the process 300 may include detecting that one or more load reductions have occurred during a period of time based on the machine drivetrain data (block 320). For example, the controller may detect that one or more load reductions have occurred during a period of time based on the machine drivetrain data, as described above.

[0060] 3, the process 300 can include determining that one or more occurrences of a reduced load are unexpected (block 330). For example, the controller can determine that one or more occurrences of a reduced load are unexpected, as described above.

[0061] In some implementations, detecting the one or more occurrences includes detecting one or more occurrences of a load reduction during one or more portions of a period of time, and process 300 includes receiving operator control data regarding steering commands associated with operation of the machine during a period of time, determining based on the operator control data that a steering command was not detected during the one or more portions of the period of time, and determining that the one or more occurrences of a load reduction are unexpected based on determining that a steering command was not detected during the one or more portions of the period of time.

[0062] In some implementations, detecting the one or more occurrences includes detecting one or more occurrences of a load reduction during one or more portions of a period of time, and process 300 includes receiving operator control data related to gear changes associated with operation of the machine during a period of time, determining that a gear change was detected during one or more portions of the period of time based on the operator control data, and determining that the one or more occurrences of a load reduction are unexpected based on determining that a gear change was detected during the portion of the period of time.

[0063] 3, the process 300 may include detecting wear on a component of the undercarriage of the machine based on determining that one or more occurrences of the load reduction are unexpected (block 340). For example, the controller may detect wear on a component of the undercarriage of the machine based on determining that one or more occurrences of the load reduction are unexpected, as described above. In some implementations, detecting wear on a component includes detecting wear on a sprocket of the undercarriage.

[0064] 3, the process 300 can include causing an action to be taken based on determining wear on the part (block 350). For example, the controller can cause an action to be taken based on determining wear on the part, as described above.

[0065] In some implementations, causing an action to be performed includes at least one of: causing a device associated with the machine to provide a notification indicating that wear of the part has been detected, adjusting operation of the machine to prevent further wear of the part, providing instructions for adjusting operation of the machine, or providing a service request to at least one of repair or replacement of the part.

[0066] In some implementations, causing the action to be performed includes determining that the one or more occurrences satisfy a number threshold, and causing the action to be performed based on determining that the one or more occurrences satisfy the number threshold.

[0067] In some implementations, the sensor device is a first sensor device, and detecting the one or more occurrences includes detecting one or more occurrences of a decrease in load during one or more portions of a period of time, and process 300 includes receiving machine speed data from a second sensor device of the machine indicative of a speed of the machine over a period of time, detecting one or more occurrences of an increase in speed during one or more portions of a period of time based on the machine speed data, and determining that the one or more occurrences of the increase in speed are unexpected, and detecting wear of the part includes detecting wear of the part further based on determining that the one or more occurrences of the increase in speed are unexpected.

[0068] Although Figure 3 illustrates example blocks of process 300, in some implementations, process 300 may include additional, fewer, different, or differently arranged blocks than those illustrated in Figure 3. Additionally, or alternatively, two or more blocks of process 300 may be performed in parallel. [Industrial Applicability]

[0069] Implementations described herein relate to detecting wear on the tips of sprocket segments of a sprocket based on a frequency of track index events. For example, a controller can obtain machine drivetrain data indicative of load on the drivetrain over a period of time. The controller can analyze the machine drivetrain data to detect an occurrence of an unexpected load reduction (e.g., an occurrence of a sudden load reduction). In some circumstances, the controller can determine that the occurrence is unexpected based on determining that no steering command and / or gear change was detected during the load reduction occurrence. The controller can determine that an unexpected increase in the speed of the machine occurred.

[0070] Based on detecting the occurrence of the unexpected load reduction and / or the occurrence of the unexpected speed increase, the controller can determine that a track index event is occurring. In some examples, the controller can determine a number of occurrences of the unexpected load reduction and / or a number of occurrences of the unexpected speed increase. The controller can detect a frequency of the track index event based on one or more of the numbers. The controller can detect wear of a sprocket segment of a sprocket (e.g., wear of a tip of a sprocket segment) based on the frequency of the track index event.

[0071] Manual measurement of the sprocket segment tips can result in wasted machine resources that are used to prevent machine movement while the manual measurements are made. Additionally, inaccurate manual measurements of the tracks and / or inaccurate predictions of the amount of wear on the sprocket segment tips can result in wasted computing resources that are used to solve problems associated with inaccurate manual measurements and / or inaccurate predictions of the amount of wear on the sprocket segment tips (e.g., premature failure of the sprocket segment and / or sprocket, premature repair of the sprocket segment and / or sprocket, and / or premature replacement of the sprocket segment and / or sprocket).

[0072] As described herein, by detecting wear on the sprocket segments of the sprocket, the controller can prevent damage to the undercarriage of the machine and / or one or more other components associated with the undercarriage of the machine. Further, by detecting wear on the sprocket segments of the sprocket in this manner, the controller can prevent a decrease in a measure of productivity of the machine.

[0073] The foregoing disclosure provides illustration and description, but is not intended to be exhaustive or to limit the implementations to the precise forms disclosed. Modifications and variations may be made in light of the above disclosure or acquired from practice of the implementations. Furthermore, any of the implementations described herein may be combined unless a reason why one or more implementations cannot be combined is explicitly provided in the foregoing disclosure. Although particular combinations of features are recited in the claims and / or disclosed herein, these combinations are not intended to limit the disclosure of the various implementations. Each dependent claim listed below may depend directly on only one claim, but the disclosure of the various implementations includes each dependent claim in combination with each of the other claims in the claim group.

[0074] As used herein, "a," "an," and "set" are intended to include one or more and can be used interchangeably with "one or more." Additionally, as used herein, the article "the" is intended to include one or more of the things referenced in connection with the article "the" and can be used interchangeably with "one or more." Additionally, the phrase "based on" is intended to mean "based at least in part on," unless otherwise specified. Additionally, as used herein, the term "or" is intended to be inclusive when used in a series and can be used interchangeably with "and / or" unless otherwise specified (e.g., when used in combination with "any" or "only one of"). Additionally, for ease of description, spatially relative terms, such as "below," "below," "above," "above," and the like, may be used herein to describe the relationship of one element or feature to another element or feature, as illustrated. Spatially relative terms are intended to include different orientations of the devices, apparatus, and / or elements during use or operation in addition to the orientation depicted in the figures. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein may be interpreted accordingly.

Claims

1. A method performed by a controller (140), the method comprising: receiving machine drivetrain data from a sensor device (120) of the machine (100) indicative of a load on a drivetrain of the machine (100) over a period of time; detecting one or more occurrences of the load reduction during the period of time based on the mechanical drivetrain data; determining that the one or more occurrences of the decrease in the load are unexpected; and detecting wear of a component of an undercarriage of the machine (100) based on determining that the one or more occurrences of the reduction in the load are unexpected; and and performing an action based on determining the wear on the component.

2. Detecting the one or more occurrences includes: detecting the one or more occurrences of the reduction in the load during a time interval of a period; The method comprises: receiving operator control data relating to steering commands associated with operating the machine (100) during the period of time; determining, based on the operator control data, that no steering command has been detected during the time interval of the period; 2. The method of claim 1, further comprising determining that the one or more occurrences of the decrease in the load are unexpected based on determining that no steering command was detected during the period of time.

3. Detecting the one or more occurrences includes: detecting the one or more occurrences of the reduction in the load during the time interval of the period; The method comprises: receiving operator control data regarding gear changes associated with operating the machine (100) during the period of time; determining, based on the operator control data, that a gear change has been detected during the time interval of the period; 3. The method of claim 1, further comprising determining that the one or more occurrences of the reduction in the load are unexpected based on determining that a gear change was detected during the portion of the period of time.

4. The sensor device (120) is a first sensor device (120), Detecting the one or more occurrences includes: detecting the one or more occurrences of the reduction in the load during the time interval of the period; The method comprises: receiving machine speed data from a second sensor device (120) of the machine (100) indicative of a speed of the machine (100) over the period of time; detecting one or more occurrences of the speed increase during the time interval of the period based on the machine speed data; determining that the one or more occurrences of the increase in the velocity are unexpected; 3. The method of claim 1, wherein detecting the wear of the part further comprises detecting the wear of the part based on determining that the one or more occurrences of the increase in the speed are unexpected.

5. The performing of the operation includes: determining that the one or more occurrences satisfy a number threshold; and performing the action based on determining that the one or more occurrences meet the number threshold.

6. a sensor device (120) configured to generate machine drivetrain data indicative of loads on the drivetrain of the machine (100) over a period of time; detecting one or more occurrences of the load reduction during the period based on the mechanical drivetrain data; determining that the one or more occurrences of the decrease in the load are unexpected; detecting wear of a component of an undercarriage of the machine (100) based on determining that the one or more occurrences of the reduction in the load are unexpected; a controller (140) configured to cause an action to be taken based on detecting the wear on the component.

7. The controller (140) detects the wear of the component by: The system of claim 6 configured to detect wear on a sprocket of the undercarriage.

8. The controller (140) executes the operation by: notifying a device associated with the machine (100) that the wear on the part has been detected; adjusting operation of the machine (100) based on the detection of the wear on the component; The part is repaired; or 8. The system of claim 6 or 7, wherein the part is replaced.

9. The controller (140) detects the wear of the component by: determining a first amount of wear on the component based on a first number of the one or more occurrences; and detecting a second amount of wear on the component based on a second number of the one or more occurrences; the second number exceeds the first number; The system of claim 6 or 7, wherein the second amount of wear exceeds the first amount of wear.

10. the one or more occurrences are detected during the period of time; The controller (140) receiving, from one or more operator controls, operator control data associated with controlling the operation of the machine; determining that the operator control data was not generated during the period of time; 8. The system of claim 6 or 7, further configured to determine that the one or more occurrences of the reduction in the load are unexpected based on determining that the operator control data was not generated during the period of time.

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