A system for detecting malfunctions in the Ackermann steering mechanism.

Abstract

The machine (100) includes a frame (104), a first steering arm (120), a second steering arm (122), a first hydraulic actuator (116) coupled to the frame (104) and the first steering arm (120), and a second hydraulic actuator (118) coupled to the frame (104) and the second steering arm (122). A first angle sensor (400) measures a rotational displacement of the first hydraulic actuator (116) relative to the first steering arm (120). A first link (500) couples the first hydraulic actuator (116) to the first sensor (400) and isolates motion other than the first rotational displacement. A second angle sensor (400) measures a second rotational displacement of the second hydraulic actuator (118) relative to the second steering arm (122). A second link (500) couples the second hydraulic actuator (118) and the second sensor (400) and isolates motion other than the second rotational displacement.

Description

【Technical Field】 【0001】 The present disclosure relates to a system sensor for measuring the steering angle of a machine. More particularly, the present disclosure relates to a system for measuring the steering angle for use in determining a failure of a steering assembly of a machine. 【Background Art】 【0002】 Machines such as mining trucks, loaders, dozers, or other construction and mining equipment are frequently used in construction, building, mining, and other activities. For example, mining trucks are often used to transport materials mined from a mining site. These machines have a steering assembly that includes tie rods, arms, hydraulic cylinders, mechanical linkages, and the like. The steering assembly is designed to avoid failures, but in heavy-duty applications, wear due to long-term service, lack of maintenance, and / or abuse of use can cause failures. 【0003】 To detect a malfunction, the steering assembly or its components may include a sensor. In some examples, the sensor can measure the steering angle of the machine and determine whether the steering angle is within a specific range. A steering angle outside the range may indicate a failure. However, conventionally, the sensor is located inside a component of the steering assembly, such as a hydraulic cylinder. The location of the sensor makes it difficult and time-consuming to replace the sensor and / or the hydraulic cylinder. Further, a sensor located within a hydraulic cylinder increases manufacturing and repair costs. 【0004】 One mechanism for measuring steering angle is described in U.S. Patent No. 10,266,200 (hereinafter referred to as 'Reference 200'). Reference 200 describes a steering cylinder having cylinder stroke sensors for detecting the stroke of each cylinder. The steering angle can be determined using the values ​​sensed from these cylinder stroke sensors. However, the cylinder stroke sensors described in Reference 200 are integrated into the steering cylinder. This increases the effort and downtime required to repair the sensors and / or necessitates the replacement of the entire steering cylinder. 【0005】 The examples in this disclosure are intended to overcome one or more of the aforementioned defects. [Overview of the Initiative] 【0006】 According to a first embodiment, the machine may include a first steering arm coupled to a first wheel of the machine, a second steering arm coupled to a second wheel of the machine, a first cylinder extending between the first steering arm and the frame of the machine, and a second cylinder extending between the second steering arm and the frame. The action of the first cylinder may cause a first rotation of the first cylinder relative to the frame around a first axis of rotation, and the action of the second cylinder may cause a second rotation of the second cylinder relative to the frame around a second axis of rotation. The machine may further include a first angle sensor configured to sense a first angular displacement corresponding to the first rotation, and a second angle sensor configured to sense a second angular displacement corresponding to the second rotation. 【0007】 In a further embodiment, the steering assembly may include a frame, a first steering arm, a second steering arm, a first hydraulic actuator coupled to the frame and the first steering arm, and a second hydraulic actuator coupled to the frame and the second steering arm. The operation of the first hydraulic actuator causes the first steering arm to pivot relative to the frame and the first steering arm, and the operation of the second hydraulic actuator causes the second steering arm to pivot relative to the frame and the second steering arm. The steering assembly may further include a first angle sensor positioned to measure a first rotational displacement of the first hydraulic actuator relative to the first steering arm, and a first link coupled to the first hydraulic actuator at a first end and to the first angle sensor at a second end, wherein the first end of the first link is movable relative to the second end of the first link to isolate movement other than the first rotational displacement. The steering assembly may further include a second angle sensor positioned to measure a second rotational displacement of a second hydraulic actuator relative to a second steering arm, and a second link coupled to the second hydraulic actuator at a third end and to the second angle sensor at a fourth end, wherein the third end of the second link is movable relative to the fourth end of the second link to isolate movement other than the second rotational displacement. 【0008】 In a further embodiment, the machine may include a frame, a first steering arm coupled to a first wheel of the machine, a second steering arm coupled to a second wheel of the machine, a first actuator coupled to a first side of the frame and the first steering arm, and a second actuator coupled to a second side of the frame and the second steering arm. The machine may further include a first sensor configured to sense a first angular displacement associated with the first actuator, and a first isolation mechanism coupled to the first actuator and configured to rotate in response to the operation of the first actuator. The rotation of the first isolation mechanism may be sensed by the first sensor as a first angular displacement. The machine may further include a second sensor configured to sense a second angular displacement associated with a second actuator, and a second isolation mechanism coupled to the second actuator and configured to rotate in response to the operation of the second actuator. The rotation of the second isolation mechanism may be sensed by the second sensor as a second angular displacement. [Brief explanation of the drawing] 【0009】 This disclosure is described with reference to the accompanying drawings. In the drawings, the leftmost digit of the reference number identifies the drawing in which the reference number first appears. The use of the same reference number in different drawings indicates similar or identical items. Furthermore, the drawings may be considered to provide an approximate depiction of the relative sizes of individual components within each drawing. However, the representations in the drawings are not to exact scale, and the relative sizes of individual components within each drawing and between different drawings may differ from those depicted. Specifically, some drawings may depict components as a particular size or shape, while other drawings may depict the same components at a larger scale or in a different shape for clarity. 【0010】 [Figure 1] Figure 1 shows an exemplary machine, including an exemplary steering assembly for determining the steering angle of the machine, according to an embodiment of the present disclosure. [Figure 2]Figure 2 shows a partial perspective detail view of the steering assembly of Figure 1 according to an embodiment of the present disclosure. [Figure 3] Figure 3 shows a partial perspective detail view of the steering assembly of Figure 1 according to an embodiment of the present disclosure. [Figure 4] Figure 4 shows a perspective detail view of an exemplary isolation component of the machine of Figure 1 according to an embodiment of the present disclosure. [Figure 5] Figure 5 shows a plan view detail of the isolation component of Figure 4 according to an embodiment of the present disclosure. [Figure 6] Figure 6 shows a partial perspective view of the steering assembly of Figure 1 according to an embodiment of the present disclosure. [Figure 7] Figure 7 shows an exemplary process for determining the steering angle of a machine for use in determining a failure of the machine's steering assembly, according to an embodiment of the present disclosure. [Modes for carrying out the invention] 【0011】 Figure 1 is a schematic diagram of an exemplary machine 100 having an exemplary steering assembly 102 according to an example of the present disclosure. Although machine 100 is depicted as a type of transport truck, machine 100 may include any suitable machine such as any type of loader, dozer, dump truck, paving machine, backhoe, combine, scraper, trench, tractor, or combination thereof. In some examples, machine 100 is configured to move, for example, paving materials (e.g., asphalt), mining raw materials, soil, topsoil, heavy construction materials, and / or equipment for road construction, building construction, and other mining, paving and / or construction applications. For example, machine 100 may be used when materials such as ore, loose, gravel, soil, sand, concrete, and / or other materials at a work site need to be transported at a work site. 【0012】 The machine 100 includes a frame 104 and wheels 106. The frame 104 is constructed from any suitable material such as iron, steel, aluminum, or other metals. In some cases, the frame 104 is a single-piece structure, and in other cases, it is constructed by joining two or more separate body pieces. The parts or components of the frame 104 are joined by any suitable mechanism, including, for example, welding, bolts, screws, fasteners, or links. 【0013】 Wheel 106 is mechanically coupled to a drivetrain (not shown) to propel machine 100. Machine 100 includes an engine of any appropriate type, size, power, etc. In some examples, the engine may be gasoline-driven (e.g., diesel), natural gas-driven, solar-driven, or battery-driven. When the engine is driven, it rotates wheel 106 via the drivetrain, allowing machine 100 to traverse the environment. Thus, the engine is mechanically coupled to various drivetrain components such as drive shafts and / or axles to rotate wheel 106 and propel machine 100. In some examples, the drivetrain includes any various other components, including, but not limited to, differentials, connectors, constant velocity (CV) joints, etc. 【0014】 As shown, machine 100 may be configured to transport material in the dump box 108 or other movable elements configured to move, lift, and carry, and / or dump material. The dump box 108 is started by one or more hydraulic systems or any other suitable mechanical systems of machine 100. In some examples, the hydraulic system is driven by an engine, for example, by supplying power to a hydraulic pump (not shown) of the hydraulic system. However, it should be noted that in other types of machinery (e.g., machinery other than mining trucks), the hydraulic system may be configured differently from that shown in Figure 1, may be used to operate elements other than the dump box 108, and / or may be omitted. 【0015】 In some examples, machine 100 may include a cabin or other such operator station. The operator station is configured to seat an operator (not shown) within it. The operator seated in the operator station interacts with various control interfaces and / or actuators (e.g., handles, levers, buttons, joysticks, etc.) within the operator station to control the movement of machine 100 and / or various components of machine 100, such as raising and lowering the dump box 108. Additionally or alternatively, in some examples and as discussed herein, machine 100 may be remotely controlled by a remote operator or autonomously controlled. For example, machine 100 may operate autonomously along a predetermined path or route in the environment. In such examples, machine 100 may include an operator station or may omit an operator station. Furthermore, machine 100 may be remotely controlled even if the operator is located within the operator station. 【0016】 The steering assembly 102 may include components that enable the steering of the machine 100. Figure 1 shows a detailed view of the steering assembly 102. In some examples, the steering assembly 102 may include a central link 110, a first tie rod 112, a second tie rod 114, a first cylinder rod 116, and a second cylinder rod 118. The first tie rod 112 and the second tie rod 114 may include ends that are swivelably coupled to the central link 110 (e.g., a ball joint, a knuckle joint). For example, the first tie rod 112 and the second tie rod 114 may be swivelably coupled to the central link 110 via pins positioned through the first tie rod 112 and the central link 110, as well as via the second tie rod 114 and the central link 110. Bearings, knuckles, or other joints may also be included to allow pivotable movement of the first tie rod 112 and the second tie rod 114 relative to the central link 110 (for example, for the machine 100 to traverse terrain and steer). However, while the steering assembly 102 is shown to include certain components, the Ackermann steering assembly may include additional or different components than those illustrated and discussed herein. 【0017】 The opposing ends of the first tie rod 112 and the second tie rod 114, which are not connected to the central link 110, are connected to the steering arms of the machine 100. For example, the machine 100 may include a first steering arm 120 located on a first side of the machine 100 (e.g., the right side) and a second steering arm 122 located on a second side of the machine 100 (e.g., the left side). The first tie rod 112 and the second tie rod 114 may be connected to the first steering arm 120 and the second steering arm 122, respectively (e.g., via a pin). The pin may allow the first tie rod 112 and the second tie rod 114 to pivot or rotate relative to the first steering arm 120 and the second steering arm 122, respectively. Bearings, knuckles, or other joints may allow the first tie rod 112 and the second tie rod 114 to pivot as the first steering arm 120 and the second steering arm 122 rotate, or as the machine 100 traverses terrain, or is directed. The first steering arm 120 may also be coupled to the first wheel (e.g., at the hub) of the wheel 106 located on the first side of the machine 100, and the second steering arm 122 may be coupled to the second wheel (e.g., at the hub) of the wheel 106 located on the second side of the machine 100. 【0018】 The first cylinder rod 116 may be rotatably coupled to the first steering arm 120, and the second cylinder rod 118 may be rotatably coupled to the second steering arm 122. The first cylinder rod 116 and the second cylinder rod 118 may be coupled to the first steering arm 120 and the second steering arm 122, respectively, via pins and bearings (e.g., knuckles). In some examples, the first cylinder rod 116 and the second cylinder rod 118 may represent linear actuators that extend and retract to various lengths when the steering mechanism of the machine 100 is operated. For example, when a steering mechanism (not shown), such as a steering wheel, is operated (e.g., rotated) by an operator (or remote operator) of the machine 100 to exhibit a desired movement of the machine 100, the controller may generate and transmit relevant control signals to the first cylinder rod 116 and the second cylinder rod 118. In response, the first cylinder rod 116 and the second cylinder rod 118 may act to direct the machine 100. In some examples, arms, shafts, gears, etc., may be operably coupled to the steering assembly 102 to direct the machine 100. 【0019】 In some examples, the first cylinder rod 116 and the second cylinder rod 118 may be actuated using air or hydraulics. The machine 100 may include a reservoir for supplying or receiving fluid, accommodating different extended lengths of the first cylinder rod 116 and the second cylinder rod 118. In some examples, the steering assembly 102 may represent or be a component of an electro-hydraulic steering system. For example, in electro-hydraulic power steering, an electric motor may drive a pump that supplies the pressure required for power steering. Thus, the steering assembly 102 may be electronically controlled. Here, as described above, the machine 100 may include a controller (e.g., a steering controller) that generates and transmits control signals to the first cylinder rod 116 and the second cylinder rod 118 to orient the machine 100. The control signals may be generated in response to an operator moving the steering wheel or a remote operator electronically providing a desired amount of steering. In such examples, the control signals may be associated with a desired level of steering. For example, in response to an operator moving the steering wheel, a control signal may be provided to the first cylinder rod 116 (or a controller coupled thereto). This control signal may be associated with a specified steering angle of the machine 100 (e.g., 10 degrees, 30 degrees, etc.). The first cylinder rod 116 may extend or retract in response to the control signal, based on the desired level of steering. Each control signal may be transmitted to the first cylinder rod 116 and the second cylinder rod 118, depending on the level of steering. 【0020】 The ends of the first cylinder rod 116 and the second cylinder rod 118 are not coupled to the first steering arm 120, and the second steering arm 122 may be coupled to the frame 104 (or subframe) of the machine 100. As shown, the central link 110 may also be coupled to the frame 104. In some examples, the central link 110, the first cylinder rod 116, and / or the second cylinder rod 118 may be pivotably coupled to the frame 104. As a result of the illustrated arrangement, when the first cylinder rod 116 and the second cylinder rod 118 are actuated (e.g., extended or retracted), the first steering arm 120 and the second steering arm 122 are moved, causing the wheel 106 to rotate. Also as a result of the actuation, the first tie rod 112 and the second tie rod 114 pivot the central link 110 relative to the frame 104, respectively, via their attachments to the first steering arm 120 and the second steering arm 122. 【0021】 The first cylinder rod 116 and the second cylinder rod 118 are shown including a cylinder portion and a rod portion. The rod portion may be supported by the cylinder portion so that the rod portion can extend from the cylinder portion by different lengths. In other words, the rod portion may extend from the cylinder portion or retract into the cylinder portion. Depending on the steering of the machine 100, the rod portion may either extend from the cylinder portion or retract into the cylinder portion. Furthermore, considering the configuration of the steering assembly 102 as shown in Figure 1, when the machine 100 turns left or right, one of the rod portions of the first cylinder rod 116 or the second cylinder rod 118 extends from the cylinder portion, while the other of the rod portions of the first cylinder rod 116 or the second cylinder rod 118 retracts into the cylinder portion. The cylinder portions of the first cylinder rod 116 and the second cylinder rod 118 are shown coupled to the frame 104, whereas the rod portions of the first cylinder rod 116 and the second cylinder rod 118 are coupled to the first steering arm 120 and the second steering arm 122, respectively. However, in some examples, the cylinder portions of the first cylinder rod 116 and the second cylinder rod 118 may be coupled to the first steering arm 120 and the second steering arm 122, respectively. In such examples, the rod portions of the first cylinder rod 116 and the second cylinder rod 118 may be coupled to the frame 104. 【0022】 In some examples, the steering assembly 102 may represent Ackermann steering geometry. In Ackermann steering geometry, the wheels 106 can rotate in one direction via known kinematic relationships. This can be achieved, at least in part, by the first steering arm 120 and the second steering arm 122 that are operatively coupled via the center link 110, the first tie rod 112, and the second tie rod 114. In other words, the first steering arm 120 and the second steering arm 122 may be synchronized and oriented only by the amount related by the kinematic relationships defined by the linkage design. Although a steering assembly 102 including specific components is shown, the steering assembly may include additional components such as king pins, CV joints, connecting rods, and the like. 【0023】 A machine 100 is shown that includes a fault detection system 124. Generally, the fault detection system 124 can function to determine a fault in the steering assembly 102 or its components. For example, at any time, the first tie rod 112, the second tie rod 114, the first cylinder rod 116, and / or the second cylinder rod 118 can fail (e.g., crack, bend, break, etc.). Additionally, the commanded steering angle (or amount of steering) may be different from the measured steering angle. As a result, the machine 100 may not proceed as expected. When a fault is detected, the operation of the machine 100 may be controlled. In the case of a linkage fault, an operator may notice a change in the steering behavior and put the machine 100 in a safe stop state. However, as discussed herein, when the machine 100 is remotely controlled, a remote operator may not be able to detect a change in the steering behavior to understand a fault in the steering assembly 102. In these examples, the fault detection system 124 can function to determine the soundness, integrity, or fault of the steering assembly 102 to output a notification or put the machine 100 in a safe stop to avoid further damage. 【0024】 The fault detection system 124 may include a fault detection controller 126 that determines whether a fault has been detected within the steering assembly 102. The sensor 128 may generate, capture, or collect sensor data 130 associated with the steering assembly 102. In some examples, the sensor data 130 may indicate the measured steering angles associated with the first steering arm 120 and the second steering arm 122. In some examples, the first sensor may be disposed on the first steering arm 120, and the second sensor may be disposed on the second steering arm 122. In such examples, the first sensor may measure (or may determine using data generated by the first sensor) a first steering angle 132 associated with the first steering arm 120 (or the first wheel), and the second sensor may measure (or may determine using data generated by the second sensor) a second steering angle 134 associated with the second steering arm 122 (or the second wheel). 【0025】 As discussed herein, the first steering angle 132 may represent the angle between an axis located through a point of rotation (e.g., a pin) connecting the first cylinder rod 116 to the first steering arm 120 and the first wheel kingpin associated with the first steering arm 120, and a first longitudinal axis located along and through the center of the first cylinder rod 116. Similarly, the second steering angle 134 may represent the angle between an axis located through a point of rotation (e.g., a pin) connecting the second cylinder rod 118 to the second steering arm 122 and the second wheel kingpin associated with the second steering arm 122, and a second longitudinal axis located along and through the center of the second cylinder rod 118. More generally, the steering angles (i.e., the first steering angle 132 and the second steering angle 134) may be measured between the axis of the first steering arm 120 and the first cylinder rod 116, and between the second steering arm 122 and the second cylinder rod 118. Of course, since the steering assembly 102 has known geometric shapes that can be represented by kinematic relationships as described herein, angles other than the specific angles described herein can be determined according to the techniques described herein and used to verify the integrity of the steering assembly 102. Such angles may include, but are not limited to, angles related to the steering arms, actuators, tie rods, frames, and / or other components and / or axes. 【0026】 As machine 100 moves, the steering angle may be adjusted. Furthermore, given that the steering assembly 102 may be Ackermann steering, the steering angle may include a defined kinematic relationship. That is, the steering angle may be constrained by the steering assembly 102 and may include a defined kinematic relationship. When the sensor 128 is located on the opposite side of machine 100, or when determining the steering angle on the opposite side of machine 100, if the steering angle does not correspond to or is unrelated to the kinematic relationship, this may indicate a failure of the steering assembly 102. Thus, the fault detection controller 126 may receive sensor data 130 to determine the fault. In some examples, the fault detection controller 126 may receive sensor data 130 according to a predetermined schedule and / or in response to specific operating conditions of machine 100 (e.g., during rotation, braking, or specific acceleration). 【0027】 To determine kinematic relationships, the fault detection controller 126 may have access to kinematic data 136. The kinematic data 136 may include associations or orientations between components of the steering assembly 102. For example, in some examples, the steering angle may be determined through known dimensions, lengths, orientations, etc., of the first cylinder rod 116 and / or the second cylinder rod 118. That is, considering the couplings of the first cylinder rod 116 and the second cylinder rod 118 to the frame 104, the first steering arm 120, and the second steering arm 122, respectively, the fault detection controller 126 may use the kinematic data 136 to determine the kinematic relationship between the steering angle sensed by the first sensor and the steering angle sensed by the second sensor. Using the kinematic data 136, the first steering angle 132 and the second steering angle 134 may be associated with each other, taking into account the limited range of motion of the steering assembly 102. Furthermore, the kinematic data 136 may include correlations or orientations between the first steering arm 120 and the second steering arm 122, or between components of the steering assembly 102. For example, in some examples, the steering angles of the first steering arm 120 and the second steering arm 122 may be determined through known dimensions, lengths, orientations, etc., of the first tie rod 112, the second tie rod 114, the first cylinder rod 116, and / or the second cylinder rod 118. In other examples, the first steering angle 132 of the first steering arm 120 may be correlated or associated with the second steering angle 134 of the second steering arm 122 using the dimensions, lengths, etc., of the first tie rod 112 and the second tie rod 114. Thus, the kinematic data 136 may include known movement characteristics of the first tie rod 112, the second tie rod 114, the first cylinder rod 116, and the second cylinder rod 118, as well as the maximum extension or range of the first tie rod 112, the second tie rod 114, the first cylinder rod 116, and the second cylinder rod 118.The kinematic data 136 may also show, for example, connections or couplings between a first tie rod 112 having a central link 110 and a first steering arm 120, between a second tie rod 114 having a central link 110 and a second steering arm 122, between a first cylinder rod 116 having a frame 104 and a first steering arm 120, and / or between a second cylinder rod 118 having a frame 104 and a second steering arm 122. 【0028】 As a simple example, the fault detection controller 126 may receive first sensor data from a first sensor coupled to a first cylinder rod 116 and second sensor data from a second sensor coupled to a second cylinder rod 118 (or second steering arm 122). The fault detection controller 126 may determine a first steering angle from the first sensor data and a second steering angle from the second sensor data. Using the first steering angle and kinematic data 136, the fault detection controller 126 may determine a predicted or expected steering angle associated with the second cylinder rod 118. This expected steering angle may be compared to the actual second steering angle 134 when measured (i.e., via the second sensor data). If the expected steering angle and the second steering angle 134 (when measured) are within a certain threshold, this may indicate that the steering assembly 102 is functioning correctly. However, if the expected steering angle and the second steering angle 134 are not within a certain threshold, this may indicate that the steering assembly 102 is not functioning correctly. Additionally, or alternatively, depending on the circumstances, the fault detection controller 126 may use a second steering angle 134 and kinematic data 136 to determine a predicted or expected steering angle associated with the first cylinder rod 116 (or first steering arm 120). This predicted steering angle may be compared to the actual first steering angle 132 when measured (i.e., via the first sensor data). If the predicted steering angle and the first steering angle 132 are within a certain threshold, this may indicate that the steering assembly 102 is functioning correctly. However, if the predicted steering angle and the first steering angle 132 are not within a certain threshold, this may indicate that the steering assembly 102 is not functioning correctly. 【0029】 In some examples, the fault detection controller 126 may also compare the measured steering angle to a specified level of steering. For example, during steering, the operator may provide commands associated with a desired amount of steering. These commands may be provided as signals that control the operation of the first cylinder rod 116 and the second cylinder rod 118. Furthermore, the signals may correlate with a specific steering angle of the machine 100. In some examples, the steering angle may be determined together with, or associated with, the direction, speed, weight balance, load, and / or braking of the machine. The fault detection controller 126 may compare the specified steering angle (or amount of steering) to the measured steering angle. For example, if the first cylinder rod 116 acts to a specific length associated with a specified steering angle, this angle may be compared to the measured first steering angle. If a threshold difference exists between them, this may indicate a faulty steering assembly 102. 【0030】 In some examples, the sensor 128 may include a capacitive sensor, a Hall effect sensor, an eddy current sensor, a piezoelectric sensor, a photodiode, or any combination thereof. The sensor 128 is environmentally robust to withstand liquid ingress and can withstand the environment of the machine 100, such as mud, dust, rocks, dirt, ice, and snow. The sensor 128 may include seals, gaskets, or bushings to seal the sensor 128 from environmental conditions. As discussed herein, the sensor 128 can measure the steering angle by isolating the roll and pitch movements of the machine 100. Furthermore, in some examples, the sensor 128 may include a steering resolution of 0.035 degrees or more per bit. In addition, the sensor 128, or the sensor data 130 reported by the sensor 128, may be monotonic. Thus, the measured steering angle may be either increasing or decreasing. 【0031】 As described herein, sensor 134 senses the relative rotation of the steering components. Sensor data can be used in many applications. For example, as detailed herein, the sensor output may be considered to identify faults in the steering system, provide feedback in a steering feedback loop, and / or implement a haptic feedback system (for example, by providing vibration or resistance as control assistance, warning, coaching, or similar). For example, accurate angular measurement may be required to implement some or all of these functions, and in some cases, a rotation resolution of 0.035 degrees per bit or higher may be required. For example, a haptic feedback system may require sensor data with a rotation fidelity of 0.035 degrees per bit to provide the operator with a continuous range of haptic feedback and to eliminate abrupt movements experienced in the feedback. 【0032】 The sensors 128 may be located outside the first cylinder rod 116 and the second cylinder rod 118, respectively, to reduce repair time and cost. As discussed herein, the sensors 128 may be mounted perpendicularly above the point of rotation where the first cylinder rod 116 and the second cylinder rod 118 are coupled to the first steering arm 120 and the second steering arm 122, respectively. In some examples, the sensors 128 may be mounted above the pins that connect the first cylinder rod 116 and the second cylinder rod 118 to the first steering arm 120 and the second steering arm 122, respectively. 【0033】 The mounting of sensor 128 may include a mechanism configured to isolate undesirable effects on the steering angle, such as an isolation mechanism, which will be further described below. For example, the roll of the first cylinder rod 116 and the second cylinder rod 118 (around the ball joints connecting the first cylinder rod 116 and the second cylinder rod 118 to the first steering arm 120 and the second steering arm 122, respectively) can have an undesirable effect on the steering angle. Furthermore, the pitch of the first cylinder rod 116 and the second cylinder rod 118 (due to compression and extension of the suspension system) can also have an undesirable effect on the steering angle. The mechanism may isolate these movements so that the steering angle can be accurately determined for use in fault detection, steering control, and haptic feedback. In some examples, this can be partially achieved by placing sensors 128 above the ends of the first cylinder rod 116 and the second cylinder rod 118 on the first steering arm 120 and the second steering arm 122, respectively, and coupling the sensors 128 to the ends of the first cylinder rod 116 and the second cylinder rod 118. 【0034】 In some examples, the sensor 128 may measure the stroke lengths of the first cylinder rod 116 and the second cylinder rod 118, respectively, and determine the steering angle through kinematic deformation. That is, kinematic data 136, or the kinematic relationship, between the stroke length of the first cylinder rod 116 and the stroke length of the second cylinder rod 118 can be used to measure the steering angles of the first steering arm 120 and the second steering arm 122. Furthermore, the first tie rod 112 and the second tie rod 114 may physically limit the lengths of the first cylinder rod 116 and the second cylinder rod 118. Therefore, the stroke lengths of the first cylinder rod 116 and the second cylinder rod 118 may correlate with the steering angle. 【0035】 The fault detection system 124 may include an alarm controller 138 that functions to output notifications, displays, or other alarms 140. For example, the fault detection controller 126 may communicate with the alarm controller 138, in which case the alarm controller 138 may output one or more alarms 140. An alert 140 may indicate the detection of a fault in the steering assembly 102 and / or in a particular component of the steering assembly 102 (e.g., a first tie rod 112). For example, if the first cylinder rod 116 is broken, the expected steering angle of the first cylinder rod 116 may differ from the measured steering angle (or may be a threshold difference). This may trigger an alarm 140 indicating a fault, in which case the operator may stop the machine 100. If the machine 100 is remotely controlled, the alarm 140 may function to trigger one or more automatic actions (e.g., stop) or to notify a remote operator to take one or more actions. In some examples, the alarm 140 may be audible (e.g., a series of beeps), visual (e.g., light, display, etc.), or tactile (e.g., vibration). Alternatively, the alarm 140 may be information output on the user interface (UI) within the operator station. For example, the alarm 140 may be a display output on the UI indicating a malfunction of one or more components of the steering assembly 102 and scheduling maintenance of the steering assembly 102. 【0036】 The fault detection system 124 may further include a movement controller 142. In some examples, based on the detection of a fault in the steering assembly 102, the movement of the machine 100 and / or may be restricted or otherwise controlled. The movement controller 142 may be configured to suppress, brake, or prevent the movement of the machine 100. For example, if the fault detection controller 126 determines a fault, the movement controller 142 may apply braking to the machine 100 and / or cut off power to a component of the machine 100 (e.g., the engine). In some examples, the fault detection controller 126 may instruct the movement controller 142 to suppress or restrict the movement of the machine 100 to prevent further damage to the steering assembly 102 (or a component of the machine 100). Additionally or alternatively, the movement controller 142 may be triggered to suppress or restrict the movement of the machine 100 based on an alarm 140 output by the alarm controller 138. 【0037】 In some examples, machine 100 may be communicatively coupled to a remote computing device or remote system 144. Machine 100 may communicate with the remote system 144 via a network 146. Network 146 can be a larger network such as a local area network ("LAN"), a wide area network ("WAN"), or a collection of networks such as the Internet. Network 146 may be implemented using a protocol for network communication (e.g., wireless device-to-device communication protocol) such as TCP / IP. 【0038】 The network interface 148 may enable the machine 100 to communicate with the remote system 144 via the network 146. The network interface 148 may include a combination of hardware, software, and / or firmware, and may include software drivers to enable any various protocol-based communications, as well as any various wired and / or wireless ports / antennas. For example, the network interface 148 may include one or more of the following: WiFi, cellular wireless, wireless (e.g., IEEE 802.1x based) interface, Bluetooth® interface, and similar. 【0039】 In some examples, the remote system 144 may be implemented as one or more servers, and in some examples, it may form part of a network-accessible computing platform implemented as computing infrastructure such as processors, storage, software, and data access, which is maintained and accessible over a network 146 such as the Internet. Cloud-based systems may not require end-user knowledge of the physical location and configuration of the system providing the service. For example, the remote system 144 may be located within the environment of machine 100 (e.g., a work site) and / or remotely from the environment. Common expressions related to the remote system 144 include “on-demand computing,” “Software as a Service (SaaS),” “platform computing,” “network-accessible platform,” “cloud service,” and “data center.” 【0040】 In any of the examples described herein, the functions of the fault detection system 124 may be distributed such that certain operations are performed by the machine 100 and other operations are performed by the remote system 144. For example, given that the remote system 144 may have computing power far exceeding that of the machine 100, the remote system 144 may determine a pattern from sensor data 130 to accurately determine a fault in the steering assembly 102. In such an example, the sensor 128 may generate sensor data 130 indicating the steering angle, and the sensor data 130 may be transmitted to the remote system 144. In response, the remote system 144 may analyze the sensor data 130 by comparing the steering angle for use in determining a fault in the steering assembly 102. If the remote system 144 determines a fault, it may send an alarm 140 back to the machine 100 for output. Additionally or alternatively, the remote system 144 may communicate with a remote operator to output the alarm 140. Furthermore, the remote system 144 may instruct the machine 100 to suppress or stop its movement via the movement controller 142. Thus, the remote system 144 may control the operation of the machine 100 and / or determine any malfunctions in the steering assembly 102. 【0041】 Although illustrated as including specific components, machine 100 may further include any number of other components within the operator station, such as one or more of the following: position sensors (e.g., Global Positioning System (GPS)), air conditioning systems, heating systems, collision avoidance systems, cameras, etc. These components and / or systems are driven by any suitable mechanism, such as using a direct current (DC) power supply and / or inverter (not shown) driven by the engine together with a generator (not shown), or an alternating current (AC) power supply driven by the engine and generator, and / or by a mechanical coupling to the engine. Machine 100 may include controllers that are communicatively coupled to the components and / or systems to control their operation. 【0042】 Machine 100, a controller or module of machine 100 (e.g., fault detection controller 126) may include a processor and / or memory. The processor may perform operations stored in memory. Where present, the processor may include a multiprocessor and / or multicore processor. Furthermore, the processor may have one or more cores of different types. For example, the processor may include an application processor unit, a graphics processing unit, and so on. In one implementation, the processor may include a microcontroller and / or a microprocessor. The processor may include a graphics processing unit (GPU), a microprocessor, a digital signal processor, or other processing units or components known in the art. Alternatively or additionally, anything functionally described herein may be implemented, at least in part, by one or more hardware logic components. For example, but not limited to, exemplary types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), system-on-chip systems (SOCs), complex programmable logic devices (CPLDs), and so on. Furthermore, each processor may have its own local memory capable of storing program components, program data, and / or one or more operating systems. 【0043】 Memory may include volatile and non-volatile memory, removable and non-removable media, implemented in any way or technique for storing information such as computer-readable instructions, data structures, program components, or other data. Such memory may include, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disk (DVD) or other optical storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device, RAID storage systems, or any other media that can be used to store desired information and can be accessed by a computing device. Memory may be implemented as computer-readable storage medium (CRSM), which may be any available physical medium accessible by a processor that executes instructions stored in memory. In one basic implementation, CRSM may include random access memory (RAM) and flash memory. In other implementations, CRSM may include, but is not limited to, read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), or any other tangible media that can be used to store desired information and can be accessed by a processor. 【0044】 The machine 100 and / or the remote system 144 may include components for determining a failure in the steering assembly 102. The machine 100 and the remote system 144 may be coupled communicatively to each other to enable remote control of the machine and transmission of data. If a failure is detected, an alarm 140 may be output and / or the movement of the machine 100 may be restricted. The sensor 128 used for fault determination may be located outside the cylinder rod to reduce repair costs, time, and effort. The machine 100 may then have increased availability. 【0045】 Figure 2 shows a partial detail view of the steering assembly 102. Specifically, Figure 2 shows one side of the steering assembly 102, including the first tie rod 112, the first cylinder rod 116, and the first steering arm 120. However, while the discussion herein concerns one side of the steering assembly 102, it should be understood that the second tie rod 114, the second cylinder rod 118, and the second steering arm 122 can function similarly. Furthermore, Figure 2 omits the frame 104 to which the central link 110 and the first cylinder rod 116 are connected. 【0046】 The first tie rod 112 is shown to include a first end 200 connected to the central link 110 and a second end 202 connected to the first steering arm 120. In some examples, the first end 200 may be connected to the central link 110 and the first tie rod 112 (e.g., a rod eye) via pins positioned through respective channels or passages in the central link 110. Furthermore, bearings (e.g., spherical bearings, knuckles, joints, etc.) may assist the swivel movement of the first tie rod 112. Similarly, the second end 202 may be connected to the first steering arm 120 and the first tie rod 112 (e.g., a rod eye) via pins positioned through respective channels or passages in the first steering arm 120. Bearings may assist the swivel movement of the first tie rod 112. In some examples, the first tie rod 112 may be adjustable in length. 【0047】 The first cylinder rod 116 includes a first end 204 configured to be coupled to the frame 104 (not shown in Figure 2) and a second end 206 coupled to the first steering arm 120. In some examples, the first end 204 may be coupled to the frame 104 and the first cylinder rod 116 via pins positioned through respective channels or passages in the frame 104. Furthermore, bearings (e.g., spherical bearings) may assist the swivel movement of the first cylinder rod 116 around or relative to the frame 104. Similarly, the second end 206 may be coupled to the first steering arm 120 and the first cylinder rod 116 via pins positioned through respective channels or passages in the first steering arm 120. Bearings may assist the swivel movement of the first cylinder rod 116. Furthermore, as described above in relation to Figure 1, the first cylinder rod 116 may include a cylinder portion and a rod portion. The rod portion may extend from the cylinder portion for steering the machine 100 using air or hydraulics, at varying lengths. In some examples, the cylinder portion may be coupled to the frame 104 or the first steering arm 120, and the rod portion may be coupled to the frame 104 or the first steering arm 120. 【0048】 The first cylinder rod 116 is shown to include a longitudinal axis 208 that passes through the first cylinder rod 116, centered on the first cylinder rod 116, along the length of the first cylinder rod 116, between a first end 204 and a second end 206. In some examples, as the machine 100 moves, or as the first cylinder rod 116 acts to orient the machine 100, the first cylinder rod 116 may experience rotation (e.g., rolling, twisting, etc.) around the longitudinal axis 208. In some examples, the cylinder portion and / or rod portion of the first cylinder rod 116 may experience rotational movement. Bearings connecting the first cylinder rod 116 to the frame 104 and the first steering arm 120 may assist or allow this rotational movement. Partially, rotational movement may be experienced as a result of the machine 100 traveling over uneven terrain, or when the first cylinder rod 116 acts to extend or retract. 【0049】 The first steering arm 120 may be coupled to a suspension component 210 of the machine 100, such as a spring, strut, or damper. The suspension component 210 may provide comfort to the operator of the machine 100 and / or help maintain control of the machine 100 during operation. The suspension component 210 may allow vertical displacement (in the Y direction) of the machine 100. As shown, the suspension component 210 may be coupled to the first steering arm 120 at a position offset from the position where the first tie rod 112 and the first cylinder rod 116 are coupled to the first steering arm 120. The suspension component 210 may impart pitch movement (e.g., in the Y direction) to the first cylinder rod 116. For example, when the suspension component extends and retracts, the first cylinder rod 116 may move up and down with the movement of the machine 100. In such examples, the first cylinder rod 116 may extend or retract. 【0050】 In some examples, the first steering arm 120 may include a kingpin 216 that represents the main pivot point on the first steering arm 120. The kingpin 216 may function as the axis on which the wheel, or a wheel coupled to the first steering arm 120, rotates. 【0051】 Bracket 212 is shown coupled to the first steering arm 120. Bracket 212 positions a sensor relative to the second end 206 of the first cylinder rod 116, and the sensor is configured to measure the angular displacement of the first cylinder rod relative to the first steering arm 120. For example, bracket 212 is shown including multiple sides or surfaces, which may generally form a U-shape. As will be discussed in more detail below with reference to Figure 3, bracket 212 may include a first surface coupled to the bottom of the first steering arm 120, a second surface extending from the first surface (e.g., in the Y direction), and a third surface extending from the second surface. The third surface may position the sensor within sensor 128 perpendicularly above the second end 206 of the first cylinder rod 116. For example, the sensor may be positioned perpendicularly above the second end 206 of the first cylinder rod 116 and a pin positioned through the first steering arm 120. As discussed herein, a portion of the sensor may also be coupled to the first cylinder rod 116 to measure the angular displacement of the first cylinder rod 116 relative to the first steering arm 120 (for example, to determine the first steering angle 132). Furthermore, as shown, the sensor may be located outside the first cylinder rod 116, i.e., non-integrally. This may allow for sensor replacement in less time and / or at a reduced cost. 【0052】 In some examples, the sensor may be aligned with the longitudinal axis 208 of the first cylinder rod 116. This may allow for accurate measurement of the first steering angle 132. Furthermore, the sensor may be aligned with the axis 214 of the first steering arm 120. In some examples, the axis 214 may extend along the center of the first steering arm 120 and may be positioned through the point where the first cylinder rod 116 connects to the first steering arm 120. In other words, the axis 214 may be positioned through a first point of rotation where the first cylinder rod 116 connects to the first steering arm 120 (e.g., a pin), and a second point associated with the kingpin 216 of the first steering arm 120 (through the axis of rotation defined by the kingpin 216). That is, the axis 214 extends through the center of the kingpin 216 to the center of the pin that connects the first cylinder rod 116 to the first steering arm 120. 【0053】 The sensor can measure a first steering angle 132 positioned between the longitudinal axis 208 and axis 214. In Figure 2, the first steering angle 132 is shown extending between the longitudinal axis 208 and axis 214. As the machine 100 operates and the first cylinder rod 116 extends or retracts, the first steering angle 132 may increase or decrease, and the sensor can measure the first steering angle 132. Extending the first cylinder rod 116 results in angles with a monotonic relationship. As discussed herein, the bracket 212 and sensor arrangement can isolate angular displacements only, for example, the movement of the suspension components (e.g., perpendicular to the Y direction) and / or the rotation of the first cylinder rod 116 (e.g., around the X axis) to measure rotation around the Y-axis, for example, to determine the first steering angle 132. In this case, the sensor can accurately measure the first steering angle 132 for use by the fault detection controller 126 for determining faults in the steering assembly 102. 【0054】 While a specific shape or design of bracket 212 is shown, other brackets may be included for mounting the sensor on the longitudinal axis 208 of the first cylinder rod 116. For example, other brackets may mount the sensor on the longitudinal axis 208, with one portion of the sensor remaining stationary with respect to the first steering arm 120 and the other portion of the sensor tracking the rotation of the first cylinder rod 116 (as discussed herein). 【0055】 Figure 3 shows a detailed view of the steering assembly 102, with the wheel 106 omitted to show the components of the steering assembly 102. As described above, the first tie rod 112 and the first cylinder rod 116 may be coupled to the first steering arm 120 (for example, via a pin arranged through a ball bearing). 【0056】 The bracket 212 may include a plurality of sides or surfaces for positioning the sensor vertically above (e.g., in the Y direction) the second end 206 of the first cylinder rod 116. For example, the first surface 300 (e.g., bottom) of the bracket 212 may be coupled to the bottom surface 302 of the first steering arm 120. The second surface 304 (e.g., side) may extend from the first surface 300 around the outside (or side) of the first steering arm 120. For example, as shown, the second surface 304 may extend from the first surface 300 toward the top surface 306 of the first steering arm 120 (e.g., in the Y direction). Furthermore, as shown, the first tie rod 112 and the first cylinder rod 116 may be coupled to the first steering arm 120 along or on the top surface 306. Furthermore, the bracket 212 includes a third surface 308 extending from the second surface 304 onto the first steering arm 120 (in the X direction). By positioning the third surface 308 on the first steering arm 120 or above the upper surface 306, the sensor can be positioned vertically above the first cylinder rod 116. 【0057】 In some examples, the sensor may be coupled to a pin on the second end 206 of the first cylinder rod 116 relative to the first steering arm 120, or to a third surface 308 such that the sensor is concentric with the point of rotation. In some examples, a plate or flange may be coupled to the third surface 308 (e.g., via fasteners, welding, etc.). Here, the sensor may be coupled to a flange such that the sensor is on the second end 206 of the first cylinder rod 116, or between the flange and the second end 206 of the first cylinder rod 116. Furthermore, as discussed herein, the first cylinder rod 116 may move up and down (e.g., in the Y direction) or rotate (e.g., around its longitudinal axis), so that the position of the sensor can determine the rotational displacement of the first cylinder rod 116 (e.g., around the Y axis) without being affected by these influences. In this way, the sensor can accurately measure the first steering angle 132 for use by a fault detection controller 126 (and / or steering controller) for detecting faults. 【0058】 Figure 4 shows a detail view of the sensor 400 positioned above the second end 206 of the first cylinder rod 116. Some of the components in Figure 4 are shown with dashed lines to indicate their position in front of or behind other components. Figure 4 shows a partial view of the components of the steering assembly 102, including the first tie rod 112, the first cylinder rod 116, and / or the first steering arm 120. Furthermore, in Figure 4, a portion of the bracket 212 is shown as transparent to indicate the sensor 400, or additional components of the steering assembly 102. 【0059】 As described above, the bracket 212 may be coupled to the first steering arm 120, and the third surface 308 may be positioned above the second end 206 of the first cylinder rod 116. For example, in Figure 4, the second surface 304 is shown extending along the side of the first steering arm 120, and the third surface 308 extends over the second end 206 of the first cylinder rod 116. Furthermore, Figure 4 shows a flange 402 coupled to the bracket 212 (for example, at the third surface 308) (for example, via a fastener). As shown, the sensor 400 may be coupled to the flange 402. However, in some examples, the third surface 308 may be large enough to receive the sensor 400, and in such examples, the flange 402 may be omitted. 【0060】 The sensor 400 may be positioned perpendicularly above (for example, in the Y direction) the second end 206 of the first cylinder rod 116. In some examples, the center of the sensor 400 may be aligned, or the sensor 400 may be aligned perpendicularly to the rotation center 404 of the second end 206 of the first cylinder rod 116. For example, the first cylinder rod 116 may rotate around the rotation center 404 during steering of the machine 100. In some examples, the rotation center 404 may be associated with the point of a pin connecting the first cylinder rod 116 to the first steering arm 120. In this way, the sensor 400 can measure the first steering angle 132. At this position, the sensor 400 can detect an angle to be used when determining damage or failure of components in the steering assembly 102. 【0061】 The sensor 400 may include an arm 406, or may be operably coupled to the arm 406. The arm 406 may be coupled to a toggle link (shown in detail in Figure 5 and discussed below). The toggle link may be coupled to the first cylinder rod 116 at a second end 206. In this way, as the first cylinder rod 116 rotates, the toggle link can move in response. This movement may be imparted to the arm 406, and the sensor 400 can then measure the displacement of the arm 406 to measure a first steering angle 132 (e.g., around the Y-axis). Thus, the arm 406 can move along with the movement or rotation of the first cylinder rod 116 by being coupled to the first cylinder rod 116 at a second end 206. Furthermore, the sensor 400 may be isolated from the rotational movement (around the X-axis) of the first cylinder rod 116 or the vertical movement (in the Y-direction) of the first steering arm 120. These movements, if measured, can affect the first steering angle 132, potentially leading to an inaccurate measurement of the first steering angle 132. However, by isolating the sensor 400, the first steering angle 132 can be accurately measured. That is, since the bracket 212 is coupled to the first steering arm 120, the sensor 400 may translate vertically along with the displacement of the suspension component 210. Furthermore, the sensor 400 is located outside the first cylinder rod 116 to avoid detecting rotational movement (around the X-axis) that could affect the first steering angle 132. In some examples, the sensor 400, bracket 212, and / or flange 402 may include adjustment mechanisms that substantially align the sensor 400 above the rotation center 404 or above a pin. 【0062】 The sensor 400 may have a low profile because it is positioned between the bracket 212 (or flange 402) and the first cylinder rod 116. In some examples, the sensor 400 may include a sufficient amount of angular rotation. For example, the sensor 400 may measure an angular rotation of 110 degrees. The sensor 400 may include a steering resolution of 0.035 degrees or more per bit. This level of resolution allows the operator to control tactile feedback without experiencing unwanted torque ripple or vibration input from the steering wheel or joystick. 【0063】 Figure 5 is a top view of the components shown in Figure 4, including the sensor 400 and the first cylinder rod 116. In Figure 5, the bracket 212 is shown by a hidden line to better illustrate the components of the steering assembly 102 including the sensor 400. 【0064】 As described above in Figure 4, the sensor 400 may be coupled to the flange 402 or the third surface 308 of the bracket 212. Furthermore, the arm 406 is coupled to the sensor 400 and extends away from the rotation center 404 or radially outward from the arm 406. The arm 406 is coupled to a toggle link 500. The toggle link 500 includes a proximal end 508 pivotably coupled to the arm 406 (e.g., via joints and fasteners) and a distal end 510 pivotably coupled to the first cylinder rod 116 (e.g., via joints and fasteners). More specifically, the toggle link 500 may include a first portion 502 coupled to the arm 406 and a second portion 504 coupled to the second end 206 of the first cylinder rod 116. The first portion 502 and the second portion 504 may be operably coupled to each other. More specifically, the first portion 502 and the second portion 504 may be configured to move relative to each other while maintaining the mounting. Furthermore, as shown, the second portion 504 may be coupled to the second end 206 of the first cylinder rod 116 via a fastener 506. In some examples, the second portion 504 may include a spherical end or joint (e.g., a ball joint) through which the fastener 506 is positioned to allow the second portion 504 to pivot relative to the first cylinder rod 116. Additional details and features of the toggle link are described below with reference to Figure 6. 【0065】 Although it is called a "toggle link," the term "toggle link" can more generally refer to a link. Furthermore, while the toggle link 500 is shown as containing two parts, the toggle link 500 or other links may contain more or fewer parts to isolate the rotation around the Y-axis from other pitch / roll movements. 【0066】 By coupling the toggle link 500 to the arm 406, rotational movement of the first cylinder rod 116, which is sensed by the sensor 400, is enabled. That is, as the second end 206 of the first cylinder rod 116 rotates, the toggle link 500 can move through the coupling of the toggle link 500 to correspond to the second end 206 of the first cylinder rod 116. The sensor 400 can associate the movement with the first steering angle 132, so as to be measured between the longitudinal axis 208 and axis 214. Furthermore, in some examples, the fastener 506 may be aligned with the longitudinal axis 208 of the first cylinder rod 116. This allows the toggle link 500 to move in correspondence with the first cylinder rod 116, and the first steering angle 132 to be accurately measured by the sensor 400. 【0067】 The toggle link 500 can isolate the roll and pitch movements of the first cylinder rod 116. For example, without the toggle link 500, the sensor 400 may detect a misleading or inaccurate steering angle. In other words, the position of the sensor 400 and the coupling of the toggle link 500 to the sensor 400 can avoid interference from other degrees of freedom unrelated to the first steering angle 132 (e.g., vertical displacement of the suspension components 210 and / or roll and pitch of the first cylinder rod 116) via the arm 406. Thus, the sensor 400 may be operably coupled to the second end 206 of the first cylinder rod 116 to reduce the influence given by the roll of the first cylinder rod 116. 【0068】 Figure 6 shows a partial view of the steering assembly 102. In Figure 6, the bracket 212 is removed to show the position and orientation of the toggle link 500, as well as the connection between the toggle link 500, the arm 406, and the first cylinder rod 116. 【0069】 As described above, the second end 206 of the first cylinder rod 116 may be swivelably coupled to the first steering arm 120. For example, the second end 206 may include a rod eye 600 through which a pin 602 is positioned. The rod eye 600 may also include a bearing to assist the rotational movement of the first cylinder rod 116 around the pin 602. For example, a spherical bearing may allow for roll and pitch movement of the first cylinder rod 116 in addition to its rotational movement. A fastener 604 (e.g., a nut) may secure the pin 602 to the first steering arm 120. In this case, the second end 206 of the first cylinder rod 116 may be swivelably coupled to the first steering arm 120. The rod eye 600 (e.g., spherical) may provide rotational movement of the second end 206 around the pin 602. 【0070】 The sensor 400 is coupled to the flange 402 so as to be sandwiched between the flange 402 and the pin 602. The sensor 400 may include an arm 406, or may be coupled to the arm 406. As shown, the arm 406 may extend from a position perpendicular to the pin 602 (or the top of the rod eye 600) to a position along the side of the pin 602 (or the side of the rod eye 600). The first portion 502 of the toggle link 500 is coupled to the end of the arm 406 on the opposite side of where the arm 406 is coupled to the sensor 400. In some examples, the first portion 502 may include a spherical end or joint (e.g., a ball joint) on which a clamp is positioned to couple the toggle link 500 to the arm 406. The joint may allow rotational or pivotable movement of the first portion 502 relative to the arm 406. 【0071】 The second part 504 is coupled to the rod eye 600 at a position along the longitudinal axis 208 of the first cylinder rod 116. For example, a fastener 506 (not shown in Figure 6) may be positioned through a spherical bearing 606 of the second part 504. The fastener 506 may be aligned with the longitudinal axis 208 of the first cylinder rod 116. More generally, the toggle link 500 can freely pivot around a position or point that coincides with the longitudinal axis 208 of the first cylinder rod 116. The rod eye 600 may include a receptacle (e.g., a groove) for receiving the fastener 506. 【0072】 The first portion 502 and the second portion 504 of the toggle link 500 may be operably coupled to each other, allowing the sensor 400 to measure the movement of the rod eye 600. That is, when the first cylinder rod 116 extends and retracts, thereby orienting the machine 100, the coupling of the toggle link 500 to the first cylinder rod 116 may impart movement to the arm 406. The movement of the arm 406, and the coupling of the arm 406 to the sensor 400, may be sensed to determine the first steering angle 132. In some examples, the sensor 400 may output a monotonic value representing whether the first steering angle 132 is increasing or decreasing with the stroke of the first cylinder rod 116 relative to a reference position. 【0073】 In some examples, sensor 400 may represent a sensor system or assembly including sensor 400, arm 406, and / or toggle link 500 for measuring a first steering angle 132. Furthermore, while the above considerations relate to a first steering arm 120, or components located on or coupled to the first steering arm 120, similar and analogous components may be located on or coupled to a second steering arm 122. Thus, machine 100 may include sensors 128 located on separate components of machine 100, such as on a first side and a second side (i.e., opposite sides of each other). 【0074】 Figure 7 shows a process 700 for determining the steering angle of machine 100, and / or a failure of one of the more components of the steering assembly 102, for use in determining the steering angle of machine 100. Process 700 as described herein is illustrated as a set of blocks in a logical flow diagram, representing a set of operations, some or all of which may be implemented in hardware, software, or a combination thereof. In a software context, a block represents a computer executable instruction stored on one or more computer-readable storage media that, when executed by one or more processors, programs the processors to perform the enumerated operations. Generally, computer executable instructions include routines, programs, objects, components, data structures, etc., that perform a particular function or implement a particular data type. The order in which the blocks are described should not be interpreted as a restriction unless otherwise specified. Any number of the described blocks can be combined in any order and / or in parallel to perform process 700, or an alternative process, and it is not necessary to execute all blocks. For the purposes of this discussion, Process 700 will be described with reference to the environments, machines, architectures, and systems described in the examples of this specification, such as those related to Figures 1-6, but Process 700 may be implemented in a variety of other environments, machines, architectures, and systems. 【0075】 In some examples, process 700 may be performed by machine 100 and / or remote system 144. For example, fault detection system 124 may be implemented in remote system 144 to determine the failure of one of the many components of steering assembly 102. 【0076】 In 702, the fault detection controller 126 may determine a first steering angle 132 associated with the orientation of the machine 100. For example, command signals may be provided to actuators, controllers, etc., relating to extending and retracting the first cylinder rod 116 and the second cylinder rod 118, respectively, in response to an operator orienting the machine 100. These command signals may also be associated with a specific steering angle desired for the machine 100. For example, a first actuation of the first cylinder rod 116 may be associated with a first steering angle, and a second actuation of the second cylinder rod 118 may be associated with a second steering angle. In some examples, the steering controller may receive input from the operator of the machine 100 and instruct the steering assembly 102 to orient by a variety of amounts. 【0077】 In 704, the fault detection controller 126 may receive first data from the first sensor corresponding to a first steering angle 132 of the machine 100. In some examples, the first sensor may be located on a first side of the machine 100 or associated with a first cylinder rod 116. The first sensor may be positioned to measure the steering angle on a first side of the machine 100, such as the right side. In some examples, the first sensor may correspond to an angle sensor that measures the rotational movement of the first cylinder rod 116. 【0078】 In 706, the fault detection controller 126 may determine a first measured steering angle 132 of the machine 100 at a first side of the machine 100. In some examples, the first measured steering angle 132 may be measured between the longitudinal axis 208 and axis 214 of the first cylinder rod 116. For example, the first measured steering angle 132 may be measured to be 30 degrees. 【0079】 In step 708, the fault detection controller 126 may determine the difference between a first steering angle and a first measured steering angle 132. That is, the difference between steering angles may be determined as instructed and as measured. In some examples, this difference may be used to monitor the health of the steering assembly 102 and / or for a feedback loop. For example, from step 708, process 700 may loop back to 702 to determine an additional steering angle. 【0080】 In 710, the fault detection controller 126 may determine an expected second steering angle based at least in part on the first measured steering angle and kinematic data. For example, the fault detection controller 126 may use the first measured steering angle 132 and kinematic data 136 to determine the predicted or expected steering angle associated with the second cylinder rod 118. In other words, in proper operation, the first and second steering angles may be related to each other across the entire range of steering, and a particular steering angle may be expected. If the first measured steering angle 132 has a predetermined angle, the second steering angle 134 should have a known angle if the steering assembly 102 is functioning properly (i.e., not broken). If a difference is detected, this may indicate that the steering assembly 102 is not functioning properly. The kinematic data 136 may indicate an expected second steering angle based on a given input of the first measured steering angle 132. 【0081】 In 712, the fault detection controller 126 may receive second data from the second sensor corresponding to the steering angle of the machine 100. In some examples, the second sensor may be located on a second side of the machine 100 or associated with a second cylinder rod 118. The second sensor may be positioned to measure the steering angle on a second side of the machine 100, such as the left side. In some examples, the second sensor may correspond to an angle sensor that measures the rotational movement of the end of the second cylinder rod 118. 【0082】 In 714, the fault detection controller 126 may determine a second measured steering angle 134 of the machine 100 on a second side of the machine 100. For example, based on the second data, the fault detection controller 126 may determine a second measured steering angle 134. In some examples, the second steering angle 134 may be measured between a second longitudinal axis of the second cylinder rod 118 and a second axis along the second steering arm 122 (corresponding to the first axis 214). 【0083】 In step 716, the fault detection controller 126 may determine whether the expected second steering angle differs from the second measured steering angle 134. For example, the fault detection controller 126 may compare the second steering angle 134 to the expected second steering angle, as determined in step 714. For example, if the expected second steering angle and the second measured steering angle 134 are within a certain threshold, this may indicate that the steering assembly 102 is functioning correctly. However, if the second expected steering angle and the second measured steering angle 134 are not within a certain threshold, this may indicate that the steering assembly 102 is not functioning correctly. Thus, the determination of whether the expected second steering angle and the second measured steering angle 134 differ may involve comparing the difference to a threshold. If the difference is greater than the threshold amount, process 700 may follow the "yes" path and proceed to step 718. 【0084】 In 718, the fault detection controller 126 may perform one or more actions. For example, if it determines that a second measured steering angle 134 is different from an expected second steering angle, the fault detection controller 126 may perform one or more actions. One or more actions may be associated with preventing damage to the steering assembly 102 and / or notifying the operator of a potentially faulty steering assembly 102. 【0085】 Sub-operations 720 and / or 722 can be performed as shown in 718. For example, in 714, the fault detection controller 126 may output an alarm associated with the steering assembly. The fault detection controller 126 may communicate with the alarm controller 138 to trigger the output of an alarm 140. The alarm 140 may be visual, tactile, audible, and / or any combination thereof. For example, the alarm 140 may be output on the user interface of the machine 100 and may be a warning of a potentially faulty component of the steering assembly 102. Thus, the alarm 140 may warn the operator of a potentially faulty steering assembly 102, which may then prompt the operator to shut off the power to the machine 100 to avoid further damage. 【0086】 Additionally, or alternatively, in 722, the fault detection controller 126 may cause the movement of the machine 100 to be modified. For example, the fault detection controller 126 may communicate with the movement controller 142 to suppress or limit the movement of the machine 100. For example, the movement controller 142 may apply braking to stop the movement of the machine 100 and / or cut off power to the engine of the machine 100. The suppression provided by the movement controller 142 may prevent further damage to the machine 100 and / or the steering assembly 102. 【0087】 Alternatively, if the difference is smaller than a threshold amount at 716, process 700 may proceed to 724 following the "no" path. At 724, the fault detection controller 126 may refrain from generating an alarm output associated with the steering assembly. For example, if the fault detection controller 126 determines that the difference between a second measured steering angle 134 and an expected second steering angle is smaller than a threshold difference, the fault detection controller 126 may determine that the steering assembly 102 is functioning properly. As a result, the fault detection controller 126 may refrain from warning the operator and / or controlling the movement of the machine 100. From 724, process 700 proceeds to 702, by which the fault detection controller 126 may receive additional sensor data to determine the steering angle of the machine 100 and the possibility of a fault in the steering assembly 102. 【0088】 Process 700 describes specific scenarios in which an action is performed in the event of a failure, although the action may be performed by additional actions. For example, if sensor 128 reports a steering angle that is irregular or intermittent, sensor 128 may be faulty. This may indicate that sensor 128 and / or steering assembly 102 have failed. Furthermore, if no signal from sensor 128 is received by fault detection controller 126, or if a constant output is received, this may indicate that sensor 128 and / or steering assembly 102 have failed. Furthermore, process 700 shows a comparison of a second measured steering angle 134 with that of an expected second steering angle, although process 700 may repeat this to compare a first measured steering angle 132 with that of an expected first steering angle. 【0089】 If process 700 is performed by the remote system 144, or if the remote system 144 determines that the steering assembly 102 is faulty, the remote system 144 may communicate with the machine 100 to instruct or otherwise control the machine 100. In other words, the machine 100 may be remotely controlled by the remote system 144 (or another system or device). In such an example, the remote system 144 may send signals to the machine 100 to perform various actions such as raising or lowering the dump box 108, or directing or accelerating the machine 100. For immediate application, the remote system 144 may send signals related to braking the machine 100 or suppressing the movement of the machine 100 if the steering assembly 102 is faulty. Furthermore, the remote system 144 may send an alert to any other third party associated with the faulty steering assembly 102. Thus, the remote system 144 may be communicably coupled to the machine 100 to receive sensor data 130 and make a determination regarding the health of the steering assembly 102. [Industrial applicability] 【0090】 This disclosure describes the use and method of a steering angle sensor system for steering control and fault detection, or more generally, for the health of a steering assembly in a machine 100 such as a mining machine (e.g., a mining truck). The machine 100 may be controlled locally (e.g., by an onboard operator) and / or remotely (e.g., by a remote operator). Determining a fault in the steering assembly offers several advantages, including reducing repair time, cost, and / or additional damage inflicted on the machine 100. 【0091】 The systems and methods disclosed herein enable the continuous determination of the integrity of the steering assembly by comparing the steering angle of machine 100. For example, the sensor may be located on or around the steering assembly, outside the cylinder rod. However, the sensor (e.g., an angle sensor) may be operably coupled to the end of the cylinder rod, for example, to determine the steering angle. Placing the sensor outside the cylinder rod reduces repair time and cost, as well as manufacturing costs. For example, if the sensor malfunctions or breaks and needs to be replaced, replacing only the sensor may be more cost-effective than replacing the cylinder rod. Furthermore, the sensor may include components that isolate undesirable vertical and / or rotational movements. For example, the sensor may isolate vertical or roll movements of the cylinder rod provided by the suspension system of machine 100. By isolating these movements, the sensor can accurately measure the steering angle of machine 100 for use in detecting faults. 【0092】 While the system and method of machine 100 are discussed in the context of mining trucks, it should be understood that the system and method discussed herein can be applied to a wide range of machines and vehicles across various industries, including construction, mining, agriculture, transportation, military, and combinations thereof. For example, the system or method discussed herein can be implemented in any wheeled vehicle, machine, or equipment, such as a combine harvester. 【0093】 While the invention described above relates to specific examples, it should be understood that the scope of the invention is not limited to these specific examples. Since other modifications and changes to suit specific operating requirements and environments will be obvious to those skilled in the art, the invention is not limited to the examples selected for disclosure purposes and encompasses all changes and modifications that do not deviate from the true spirit and scope of the invention. 【0094】 While this application describes embodiments having specific structural features and / or methodological effects, it should be understood that the claims are not necessarily limited to the specific features or effects described. Rather, the specific features and effects are merely illustrative of some embodiments included in the claims of this application.

Claims

[Claim 1] A steering assembly (102), Frame (104) and, The first steering arm (120) and, The second steering arm (122), A first hydraulic actuator (116) is coupled to the frame (104) and the first steering arm (120), wherein the operation of the first hydraulic actuator (116) causes the first steering arm (120) to pivot relative to the frame (104), A second hydraulic actuator (118) is coupled to the frame (104) on the second steering arm (122), wherein the operation of the second hydraulic actuator (118) causes the second steering arm (122) to pivot relative to the frame (104), and A first angle sensor (400) is positioned to measure the first angular displacement (132) of the first hydraulic actuator (116) relative to the first steering arm (120), A first link (500) is pivotably coupled to the first angle sensor (400) at a first end (508) and pivotably coupled to the first hydraulic actuator (116) at a second end (510), wherein the first end (508) of the first link (500) is movable relative to the second end (510) of the first link (500) in order to isolate movement other than the first angular displacement (132), A second angle sensor (400) is positioned relative to the second steering arm (122) to measure the second angular displacement (134) of the second hydraulic actuator (118), A steering assembly (102) comprising: a second link (500) pivotably coupled at a third end (508) to the second angle sensor (400) and pivotably coupled at a fourth end (510) to the second hydraulic actuator (118), wherein the third end (508) of the second link (500) is movable relative to the fourth end (510) of the second link (500) in order to isolate movement other than the second angular displacement (134). [Claim 2] The first hydraulic actuator (116) extends along the first longitudinal axis (208), The second hydraulic actuator (118) extends along the second longitudinal axis (208), The first link (500) is connected to the first hydraulic actuator (116) at a point along the first longitudinal axis (208), The steering assembly (102) according to claim 1, wherein the second link (500) is coupled to the second hydraulic actuator (118) at a point along the second longitudinal axis (208). [Claim 3] A first arm (406) connects the first angle sensor (400) to the first link (500), The steering assembly (102) according to claim 1, further comprising a second arm (406) that connects the second angle sensor (400) to the second link (500). [Claim 4] The first link (500) includes a first portion (502) having a first end (508) and a second portion (504) having a second end (510), wherein the first portion (502) and the second portion (504) are operably coupled to each other. The steering assembly (102) according to claim 1, wherein the second link (500) includes a third portion (502) having the third end (508) and a fourth portion (504) having the fourth end (510), and the third portion (502) and the fourth portion (504) are operably coupled to each other. [Claim 5] The first angle sensor (400) is positioned above the upper surface (306) of the first steering arm (120), and its main body is fixed to a first bracket (212) which is fixed to the first steering arm (120). The steering assembly (102) according to claim 1, wherein the second angle sensor (400) is positioned above the upper surface (306) of the second steering arm (122), and its body is fixed to a second bracket (212) which is fixed to the second steering arm (122). [Claim 6] A machine (100), Frame (104) and, A first steering arm (120) is coupled to the first wheel (106) of the machine (100), A second steering arm (122) is coupled to the second wheel (106) of the machine (100), A first hydraulic actuator (116) is coupled to the first side of the frame (104) and the first steering arm (120), A second hydraulic actuator (118) is coupled to the second side of the frame (104) and the second steering arm (122), A first angle sensor (400) configured to sense a first angular displacement (132) associated with the first hydraulic actuator (116), A first link (500) coupled to the first hydraulic actuator (116) and configured to pivot about the rotation center (404) of the second end (206) of the first hydraulic actuator (116) in response to the operation of the first hydraulic actuator (116), wherein the pivot of the first link (500) is sensed as the first angular displacement (132) by the first angle sensor (400), A second angle sensor (400) configured to sense a second angular displacement (134) associated with the second hydraulic actuator (118), A machine (100) comprising: a second link (500) coupled to the second hydraulic actuator (118) and configured to pivot about the center of rotation (404) of the second end (206) of the second hydraulic actuator (118) in response to the operation of the second hydraulic actuator (118), wherein the pivot of the second link (500) is sensed as the second angular displacement (134) by the second angle sensor (400). [Claim 7] The first link (500) comprises a first toggle link including a first portion (502) coupled to the first angle sensor (400) and a second portion (504) coupled to the first hydraulic actuator (116), wherein the first portion (502) is movable relative to the second portion (504) so ​​as not to transmit any movement of the first hydraulic actuator (116) other than the first angular displacement (132) to the first angle sensor (400), The machine (100) according to claim 6, wherein the second link (500) comprises a second toggle link including a third portion (502) coupled to the second angle sensor (400) and a fourth portion (504) coupled to the second hydraulic actuator (118), and the third portion (502) is movable relative to the fourth portion (504) so ​​as not to transmit any movement of the second hydraulic actuator (118) other than the second angular displacement (134) to the second angle sensor (400). [Claim 8] A first arm (406) coupled to the first angle sensor (400), wherein the first portion (502) is coupled to the first angle sensor (400) via the first arm (406), the first arm (406) rotates around a first axis, and the first angle sensor (400) is configured to measure the rotation in order to determine the first angular displacement (132), The machine (100) according to claim 7, further comprising: a second arm (406) coupled to the first angle sensor (400), wherein the third portion (502) is coupled to the second angle sensor (400) via the second arm (406), the second arm (406) pivots around a second axis, and the second angle sensor (400) measures the pivot to determine the second angular displacement (134). [Claim 9] The first hydraulic actuator (116) extends along the first longitudinal axis (208), The second hydraulic actuator (118) extends along the second longitudinal axis (208), The first link (500) is connected to the first hydraulic actuator (116) at a position along the first longitudinal axis (208), The machine (100) according to claim 6, wherein the second link (500) is coupled to the second hydraulic actuator (118) at a position along the second longitudinal axis (208). [Claim 10] The first bracket (212) is connected to the first steering arm (120), and the first angle sensor (400) is positioned above the upper surface (306) of the first steering arm (120). The machine (100) according to claim 6, wherein a second bracket (212) is connected to the second steering arm (122), and the second angle sensor (400) is positioned above the upper surface (306) of the second steering arm (122).

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