Work Machine Tip-Over Detection via Load Momentum Analysis
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Solution Overview
Problem
Articulated work machines operating on uneven terrain face challenges in detecting an impending tip-over, as existing methods only provide insufficient warnings based on frame angles, failing to account for changes in load distribution and momentum, which can lead to unsafe roll angles and potential tipping.
Innovation Solution
The method involves using first and second load sensing means attached to support arrangements to detect loads, generate signals, and a controller to alert the operator when the work machine is approaching a tip-over point by calculating velocity and momentum based on changes in load over time, providing timely warnings to prevent tipping.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If frame angle measurement is used to detect tip-over risk, then the system can provide basic orientation information, but the warning provided is insufficient and does not account for load distribution changes and momentum
Solution Approach 1:
The patent combines frame angle measurement with load cell measurements to create a comprehensive tip-over detection system. The load cells are integrated into the support arrangements (legs) of the work machine, allowing simultaneous measurement of both orientation and load distribution. This merging of measurement methods provides complete information about the machine's stability state, including momentum changes, thereby resolving the insufficiency of angle-only measurement.
Solution Approach 2:
The load cells act as intermediary devices that measure the reaction forces at the support arrangements. These measurements serve as intermediate variables that, when combined with frame angle data, provide indirect information about momentum and load distribution. The load cells mediate between the physical state of the machine and the control system, enabling detection of tip-over conditions that angle measurement alone cannot detect.
2Measurement precision
If load sensing means are added to detect load distribution, then tip-over detection accuracy is improved, but device complexity increases
Solution Approach 1:
The load cells are designed to serve multiple functions: they measure vertical loads, detect lateral load distribution, and provide data for momentum calculation. By making the sensing system multi-functional, the patent reduces the need for separate sensors for each measurement type, thereby improving measurement precision without proportionally increasing device complexity. The same load sensing infrastructure supports multiple detection objectives.
Solution Approach 2:
The patent utilizes changes in load parameters (magnitude and distribution) as the machine approaches tip-over. Instead of adding complex sensors, the system monitors natural variations in existing load parameters that occur during tipping. By detecting parameter changes in the load signals over time, the system achieves high detection accuracy using the same sensing infrastructure, avoiding excessive complexity.
3Loss of time
If the system monitors load changes over time to calculate velocity and momentum, then warning time is increased, but processing requirements and system complexity increase
Solution Approach 1:
The system continuously monitors load signals and calculates rates of change in real-time, maintaining a ready state for tip-over detection. By performing preliminary calculations of load velocity and momentum continuously rather than waiting for threshold breaches, the system provides advance warning before actual tip-over occurs. This preliminary action allows the control system to prepare warnings and take preventive measures ahead of time.
Solution Approach 2:
The patent implements a feedback loop where load cell measurements are continuously fed to the control system, which calculates momentum and velocity, then compares these against threshold values. The system provides feedback warnings to the operator based on this continuous monitoring. This closed-loop feedback mechanism increases warning time by constantly assessing stability conditions and alerting operators before critical thresholds are reached, while using straightforward computational feedback rather than complex processing.
Data Source
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AI summary
The present disclosure relates to a method of determining whether a frame (11) of a work machine (10) is approaching a tip over point. The frame (11) includes first and second support arrangements (20) each supporting a portion of the load of the frame (11) on a surface. A first load upon the first support arrangement is detected using first sensing means (34) and a second load upon the second support arrangement is detected using second sensing means. Signals are generated indicative of the first and second loads. The signals are communicated to a controller. The controller is configured to generate an alert based upon the first and second loads when the first and/or second load signals indicate that the orientation of the work machine is approaching a tip over point.