Patent Application
20180040228
The present disclosure generally relates to presence monitoring systems for machine components and, more particularly, to presence monitoring systems configured to determine presence of a ground-engaging tool, relative to the machine.
Work machines, such as excavators and tele-handlers, are often used to control an implement, such as a bucket, to perform a given task at a construction and/or mining worksite. For example, such implements may be used for a variety of tasks in which the implement engages with the ground. These tasks may include digging, hauling, excavating, or any other task in which the implement, or an associated component, engages the ground. Accordingly, such implements often include, or are coupled with, ground-engaging tools. Ground-engaging tools may be utilized to protect the implement from undue wear and/or to perform additional, ground-engaging functions.
For example, a bucket operatively associated with a machine (e.g., an excavator) may include a plurality of ground-engaging tools that are affixed to the bucket such as, but not limited to, teeth, shrouds, adapters, and the like. Because such ground-engaging tools may be exposed to greater contact and friction than the bucket itself, ground-engaging tools are typically removable from the bucket and may be replaced multiple times over the course of the life of the machine and/or bucket.
However, because ground-engaging tools may be removable, during operation of the machine, the ground-engaging tools may accidentally disengage from the bucket. Disengaged ground-engaging tools may cause a variety of worksite issues, such as, but not limited to, decreased productivity and excessive wear on other, bucket-attached ground-engaging tools. Further, loose ground-engaging tools on the worksite may cause damage to downstream, operating machines. For example, if a disengaged ground-engaging tool lands in a load of materials, which is then hauled to a crusher, the disengaged ground-engaging tool may enter the crusher with the load of materials. If a ground-engaging tool is caught in a crusher, the tool may cause a jam or otherwise damage the crusher, which can lead to time-consuming repairs and/or a loss of productivity.
In some example systems for monitoring components of implements of machines, sensors are used to detect or confirm presence of such components, relative to the implement and/or the machine. For example, the systems and methods of U.S. Patent Application Publication No. 2015/0149049 (“Wear Part Monitoring”) utilize a visual sensor affixed to the bucket of an excavator to visualize the location of a wear part and determine if it is missing from the implement.
However, while the systems of the '049 application may, generally, determine presence relative to the bucket, they do not address proximity of a fallen part, relative to the machine and/or bucket, upon falling from the bucket, nor do the systems account for location-based faults associated with position of the disengaged tool. Therefore, improved presence monitoring systems configured to determine presence of a ground-engaging tool, relative to the machine, are desired.
In accordance with one aspect of the disclosure, a system for monitoring presence of a ground-engaging tool relative to a machine, on a worksite, is disclosed. The system may include a sensor operatively coupled to the ground-engaging tool, a first signal receiver at a first location proximate to the machine, and a controller, which includes a processor. The sensor may be configured to transmit an identifying wireless signal, the identifying wireless signal recognizable as being associated with the ground-engaging tool and having a transmission power upon transmission. The first signal receiver may be configured to detect and receive wireless signals from the sensor. The controller may be configured to receive a first received signal from the first signal receiver; the first received signal based on the identifying wireless signal, recognizable as being associated with the ground-engaging tool, and having a first signal power. The controller may further be configured to determine a first signal attenuation power of the first received signal based on the first signal power relative to the transmission power and determine a relative location of the ground-engaging tool, relative to the machine, based on the first signal attenuation power. The controller may further be configured to determine existence of one or more fault conditions associated with the ground-engaging tool based on the first signal attenuation power and determine if the ground-engaging tool is connected to the machine based on the relative location of the ground-engaging tool and the existence of one or more fault conditions.
In accordance with another aspect of the disclosure, a method for monitoring positioning of a ground-engaging tool, relative to a machine on a worksite, is disclosed. The method may include receiving information associated with an identifying wireless signal, the identifying wireless signal transmitted by a sensor operatively coupled to the ground-engaging tool and recognizable as being associated with the ground-engaging tool, the information associated with the wireless signal including a transmission power of the identifying wireless signal. The method may further include receiving a first received signal at a first location, the first received signal based on the identifying wireless signal, recognizable as being associated with the ground-engaging tool, and having a first signal power. The method may further include determining a first signal attenuation power of the first received signal based on the first signal power relative to the transmission power and determining a relative location of the ground-engaging tool, relative to the machine, based on the first signal attenuation power. The method may further include determining existence of one or more fault conditions associated with the ground-engaging tool, based on the first signal attenuation power, and determining if the ground-engaging tool is connected to the machine based on the relative location of the ground-engaging tool and the existence of one or more faults.
In accordance with yet another aspect of the disclosure, a machine is disclosed. The machine may include a machine body, a crane operatively associated with the machine body, an implement operatively associated with the crane, and a ground-engaging tool connective with the implement. The machine may further include a sensor operatively coupled to the ground-engaging tool, a first signal receiver at a first location proximate to the machine, and a controller, which includes a processor. The sensor may be configured to transmit an identifying wireless signal, the identifying wireless signal recognizable as being associated with the ground-engaging tool and having a transmission power upon transmission. The first signal receiver may be configured to detect and receive wireless signals from the sensor. The controller may be configured to receive a first received signal from the first signal receiver; the first received signal based on the identifying wireless signal, recognizable as being associated with the ground-engaging tool, and having a first signal power. The controller may further be configured to determine a first signal attenuation power of the first received signal based on the first signal power relative to the transmission power and determine a relative location of the ground-engaging tool, relative to the machine, based on the first signal attenuation power. The controller may further be configured to determine existence of one or more fault conditions associated with the ground-engaging tool based on the first signal attenuation power and determine if the ground-engaging tool is connected to the machine based on the relative location of the ground-engaging tool and the existence of one or more fault conditions.
These and other aspects and features of the present disclosure will be better understood when read in conjunction with the accompanying drawings.
While the following detailed description will be given with respect to certain illustrative embodiments, it should be understood that the drawings are not necessarily to scale and the disclosed embodiments are sometimes illustrated diagrammatically and in partial views. In addition, in certain instances, details which are not necessary for an understanding of the disclosed subject matter or which render other details too difficult to perceive may have been omitted. It should therefore be understood that this disclosure is not limited to the particular embodiments disclosed and illustrated herein, but rather to a fair reading of the entire disclosure and claims, as well as any equivalents thereto.
Turning now to the drawings and with specific reference to
As depicted in
For controlling movements the implement 12, the machine 10 may further include a crane 22, which may include a boom 24 operatively coupled with a stick 26. The implement 12 may be attached to the crane 22 at, for example, a distal end 28 of the stick 26. In some examples, positioning of the implement 12, the crane 22 and, as associated elements, the boom 24 and stick 26, may be controlled by a control system (not shown).
In some examples, such as the illustrated embodiment, the implement 12 may be a bucket 30, which is shown in greater detail in
The lip 46 may be configured as a digging and/or ground engaging portion of the bucket 30. Accordingly, the lip 46 may be the portion of the bucket 30 which leads contact with ground on a worksite, such as the worksite 13 of
An example of one of the ground-engaging tools 50, more specifically one of the teeth 52, is illustrated in greater detail in
Because the ground-engaging tools 50 may be connectable and removable from the bucket 30, the ground-engaging tools 50 may accidentally disengage from the bucket 30 during operation of the machine 10. A disengaged ground-engaging tool 50 may cause harm to downstream machines on the worksite 13 and/or may lead to decreases in productivity, as discussed above. Accordingly, a system 100, for monitoring presence of one or more of the ground-engaging tools 50, relative to the machine 10, at the worksite 13 may be used to determine if said one or more ground engaging-tools 50 is connected or disengaged from the bucket 30. The system 100 is depicted schematically in
The system 100 may include a sensor 102, which is coupled to one of the ground-engaging tools 50 and configured to transmit an identifying wireless signal 104 that is identifying of the ground-engaging tool 50, to which it is coupled. Accordingly, the identifying wireless signal 104 is recognizable to other elements of the system 100 as being associated with the ground-engaging tool 50, with which it is associated, and the identifying wireless signal 104 has an initial transmission power, which is the power of the identifying wireless signal 104 upon transmission by the sensor 102. In the present example and as illustrated in
The sensor 102 may be any sensor capable of transmitting wireless signals that are identifiable as transmitted from the sensor 102 and receivable by a wireless signal receiver. For example, the sensor 102 may be any sensor capable of transmitting a Bluetooth signal, a radio frequency (RF) signal, a Wi-Fi signal, or any other wireless propagating signal having a defined power upon transmission. For example, the sensor 102 may be a Bluetooth low energy (BLE) tag that transmits a low energy, wireless signal about a given range, the low energy, wireless signal being receivable by a receiver configured to detect such low energy signals.
For detecting and receiving wireless signals transmitted by the sensor 102, the system 100 may include one or more signal receivers, such as a first signal receiver 106, a second signal receiver 108, a third signal receiver 110, and any additional signal receivers, up to an nth signal receiver 112. One or more of the signal receivers 106, 108, 110, 112 may be positioned at a location proximate to the machine 10. In the non-limiting example of
To utilize the wireless signals transmitted by the sensor 102 and received by the signal receivers 106, 108, 110, 112, the system 100 may further include a controller 120, which includes, at least, a processor 122. The controller 120 may be any electronic controller or computing system including a processor which operates to perform operations, execute control algorithms, store data, retrieve data, gather data, and/or any other computing or monitoring task desired. The controller 120 may be a single controller or may include more than one controller disposed to interact with one or more of the sensor 102, the signal receivers 106, 108, 110, 112, and, optionally, an output device 124. Functionality of the controller 120 may be implemented in hardware and/or software and may rely on one or more data maps. To that end, the controller 120 may include internal memory 126 and/or the controller 120 may be otherwise connected to external memory 128, such as a database or server. The internal memory 126 and/or external memory 128 may include, but are not limited to including, one or more of read only memory (ROM), random access memory (RAM), a portable memory, and the like. Such memory media are examples of nontransitory memory media.
The controller 120 may be configured to execute instructions which, when executed, monitor presence of one of the ground-engaging devices 50, relative to the machine 10, on the worksite 13. As shown in the example embodiments that illustrate presence monitoring scenarios in
Accordingly, the controller 120 may be configured to receive a first received signal 131 from the first signal receiver 106. The first received signal may have similar signal characteristics as the identifying wireless signal 104; however, the first received signal 131 will have a different power than the transmission power of the identifying wireless signal 104, because wireless signals attenuate, albeit sometimes only in minor magnitudes of attenuation, as they propagate through an environment. As the first received signal 131 is based on the identifying wireless signal 104, it too is recognizable as being associated with the ground-engaging tool 50, to which the sensor 102 and, in turn, the identifying wireless signal 104 are coupled. While the first received signal 131 will carry the same identifying information as the identifying wireless signal 104, the signal will have a first signal power, which is generally less than the transmission power due to attenuation during signal flight within the propagating environment.
The controller 120 may be further configured to determine a first signal attenuation power based on the first signal power of the first received signal 131, relative to the transmission power of the identifying wireless signal 104. As mentioned above, the first received signal 131 may be an attenuated version of the identifying wireless signal 104 and, therefore, the first signal power may be less than the transmission power. In some examples, the controller 120 may determine the first signal attenuation power by taking a difference of the transmission power and the first signal power. The first signal attenuation power may be indicative of one or more of the following conditions: distance between the sensor 102 and the first signal receiver 106, signal pass-thru of objects and/or obstacles between the sensor 102 and the first signal receiver 106, environmental conditions within the signal propagation environment, and/or any other conditions existing within the worksite 13.
By utilizing, at least, the first signal attenuation power, the controller 120 may determine a relative location of the tooth 52 based on the first signal attenuation power. The first signal attenuation power may be indicative of the distance between the sensor 102 and the first signal receiver 106. Because the sensor 102 is affixed to or otherwise associated with the tooth 52 and the first signal receiver 106 is located proximate to the machine 10, the relative location of the tooth 52 may be indicative of a distance between the tooth 52 and the machine 10. However, other locational data derived from the first signal attenuation power may also be included with the relative location, such as relative angular locations, elevation location, location changes over time, and the like.
Further, the first signal attenuation power may be used by the controller 120 to determine if one or more fault conditions associated with the tooth 52 exist. A “fault condition,” as defined herein, is any condition which may alter a relative location determination based on signal attenuation. Accordingly, fault conditions may include the existence of barriers between the sensor 102 and the first signal receiver 106 which may alter the signal power of the first received signal 131. For example, if the tooth 52 is disengaged and has fallen into a pile of materials, the materials surrounding the tooth 52 and, by association, the sensor 102 may alter the signal power of the first received signal 131; such alterations to the signal power may be indicative of the fault condition of being surrounded by materials. Additionally, fault conditions may be indicative of signal faults, such as if a received wireless signal is reflected from a reflective surface on the worksite 13. While the above examples illustrate examples of fault conditions, the system 100 is certainly not limited to detecting said example fault conditions and the fault conditions detected may include any barriers between the sensor 102 and the first signal receiver 106 which may alter the signal power of the first received signal 131. Accordingly, additional examples of fault conditions will be described below, with reference to
In some examples, one or both of the relative location and the existence of one or more fault conditions may be determined by the controller 120 by comparing the first signal attenuation power with existing signal attenuation data accessed by the controller 120. Such data may be stored on one or both of the internal memory 126 and the external memory 128. In some examples, the signal attenuation data may be based on experimental results. For example, the signal attenuation data may include data tables correlating signal attenuation levels with distances, which may be configured by testing signal attenuation when the sensor 102 is different distances from the first signal receiver 106. Similarly, in some examples, the signal attenuation data may include data tables correlating various fault conditions with corresponding signal attenuation levels and/or rates of change in signal attenuation. The signal attenuation data may be any look-up tables, data tables, and/or memory stores, which may be used to determine one or both of the relative location of the tooth 52 and existence of one or more of the fault conditions associated with the tooth 52. Accordingly, such look-up tables, data tables, and/or memory stores may be used to determine materials-based fault conditions (e.g., a ground-engaging tool fallen into and lying amongst a load of materials) by including information relating signal attenuation to material properties.
Based on the relative location of the tooth 52 and the determined existence, or lack thereof, of one or more fault conditions, the controller 120 may determine if the tooth 52 is connected to the bucket 30 and, in turn, connected to the machine 10. In some examples, the controller 120 may further transmit an output signal to the output device 124, the output signal instructing the output device 124 to output an alert to the operator, if the controller 120 has determined that the tooth 52 is not connected to bucket 30 and/or the machine 10. The output device 124 may be any visual, audio, or tactile output device suitable for presenting an alert to an operator or monitoring party associated with the machine 10. By determining if the tooth 52 is connected to the machine 10, the system 100 may prevent productivity loss for the machine 10 and/or the system 100 may be beneficial in preventing loss of productivity and/or damage to other machines at the worksite 13.
To illustrate practical, example implementations of the system 100, example monitoring scenarios involving, at least, the machine 10 and the associated tooth 52 are illustrated in
Beginning with
In such examples, the controller 120 may utilize both the first signal attenuation power and the second signal attenuation power when determining the relative location of the tooth 52, which is a location relative to the machine 10. As the controller 120 may receive or have stored information relating to the first and second locations of the first and second signal receivers 106, 108, the signal attenuation powers may, therefore, be indicative of the distances of the tooth 52 from said first and second locations. For example, determining the relative location of the tooth 52 by the controller 120 may be based on a comparison of the first signal attenuation power and the second signal attenuation power. By comparing the first and second signal attenuation powers, the determination and/or estimation of the relative distance may provide additional information relevant to determining presence of the tooth 52.
Further, in the example depicted in
To illustrate detection of a different fault condition that may be present when monitoring presence of the tooth 52 by the system 100,
In some examples, such as the example illustration in
In some such examples, the third signal receiver 110 may be located at a third location, which is proximate to the second machine 140. In such examples, the controller 120 may be configured to receive a third received signal 133 from the third signal receiver 110, wherein the third received signal 133 is based on the identifying wireless signal 104 and, therefore, is recognizable as being associated with the tooth 52. The third received signal may have a third signal power and the controller 120 may determine a third signal attenuation power of the third received signal 133 based on the third signal attenuation power relative to the transmission power of the identifying wireless signal 104. In such examples, determining the relative location of the tooth 52, by the controller 120, may be based on one or more of the first, second, and/or third signal attenuation powers and determining existence of one or more fault conditions associated with the tooth 52 may be based on one or more of the first, second, and/or third signal attenuation powers. Further, proximity of the tooth 52 to the second machine 140 may be based on the third signal attenuation power and one or more of the relative location of the tooth 52, the existence of the one or more fault conditions, and combinations thereof.
In some examples, such as the illustration of
While the example illustrated scenarios of
In general, the foregoing disclosure finds utility in various industries, employing machines, in which presence monitoring systems for machine components and, more particularly, presence monitoring systems configured to determine presence of a ground-engaging tool or wear part are desirable. Maintaining knowledge of presence of ground-engaging tools, relative to a machine, is useful in improving productivity of the machine and, in general, a working operation at a worksite. If a ground-engaging tool is disengaged from the machine, it could hinder the quality and/or efficiency of operation of said machine. Furthermore, disengaged ground-engaging tools may become mixed within materials and/or may lie in movement paths of the machine and/or other machines in the worksite. In such scenarios, the disengaged ground-engaging tool may adversely affect productivity and/or functions of the machine and/or other, downstream machines on the worksite. For example, if materials are hauled to a crusher on the worksite and the hauled materials include a disengaged ground-engaging tool, then the ground-engaging tool may be entered into the crusher with the materials. When a foreign object, such as a disengaged ground-engaging tool, enters a machine it is not intended to enter, like the crusher, it may damage or slow operations of said machine, which the foreign object has entered.
In order to prevent such potential productivity loses and/or equipment issues, the system 100 for monitoring presence of ground-engaging tools, discussed above, may be employed. The system 100 may be utilized in addition to or in conjunction with a method 200 for monitoring positioning of a ground-engaging tool 50 relative to a machine on a worksite, which is exemplified by the flowchart of
The method 200 begins at block 210, wherein information associated with the identifying wireless signal 104 is received by, for example, the controller 120. The identifying wireless signal 104 is transmitted by the sensor 102, which, as detailed above, is operatively coupled to a ground-engaging tool 50 such as, but not limited to, the tooth 52. The identifying wireless signal 104 is recognizable by, for example, one of the signal receivers 106, 108, 110, 112 as being associated with the ground-engaging tool 50 with which the sensor 102 is coupled. Further, the information associated with the identifying wireless signal 104 includes a transmission power for the identifying wireless signal 104.
The method 200 may include one or more steps related to receiving wireless signals that are based upon the transmitted, identifying wireless signal 104 from the sensor 102. For example, the method 200 may include receiving the first received signal 131 at the first location (e.g., proximate to the housing 14 of the machine 10), as shown in block 220. The first received signal is based on the identifying wireless signal 104, recognizable as being associated with the ground-engaging tool 50, and having a first signal power. In some examples, the method 200 may include receiving the second received signal 132 at the second location (e.g., proximate to the crane 22 of the machine 10), as shown in block 222. The second received signal 132 is based on the identifying wireless signal 104, recognizable as being associated with the ground-engaging tool 50, and having a second signal power. Further, in some examples, the method 200 may include receiving the third received signal 133 at the third location (e.g., proximate to the second machine 140), as shown in block 223. The third received signal 133 is based on the identifying wireless signal 104, recognizable as being associated with the ground-engaging tool 50, and having a third signal power. In some examples, the first, second, and third received signals 131, 132, 133 may each be received, respectively, by the first, second, and third signal receivers 106, 108, 110. Further, any number of received signals may be received from the sensor 102 during execution of the method 200. Accordingly, the method 200 is depicted in
Based on the first received signal 131 from block 220 relative to the transmission power, the method 200 may determine a first signal attenuation power of the first received signal 131, as shown in block 230. In some examples, the method 200 may include determining a second signal attenuation power of the second received signal 132 of block 222, based on the second received signal 132 relative to the transmission power, as depicted in block 232. Additionally or alternatively, some other examples may include block 233, wherein the method 200 may include determining a third signal attenuation power of the third received signal 133 of block 223, based on the third received signal 133 relative to the transmission power. As discussed above, the method 200 may receive n wireless signals; therefore, as depicted in block 235, the method 200 may be configured to determine n signal attenuation powers based on n received wireless signals.
By utilizing one or more of the first, second, and third signal attenuation powers, the method 200 may determine a relative location of the ground-engaging tool 50, which is a location relative to the machine 10, as shown in block 240. In some examples, determining the relative location of the ground-engaging tool 50 includes making a comparison of, for example, the first signal attenuation power and the second signal attenuation power, wherein the first signal attenuation power is indicative of distance between the sensor 102 and the first location and the second signal attenuation power is indicative of distance between the sensor 102 and the second location. Of course, a comparison of any of the first, second, third, and nth signal attenuation powers may be used in determining relative location of the ground-engaging tool 50.
Additionally, the method 200 may include determining existence of one or more fault conditions, associated with the ground-engaging tool 50, based on one or more of the first, second, third, and nth signal attenuation powers, as shown in block 250. As discussed above, a fault condition may any condition which may alter a relative location determination based on signal attenuation. Block 250 includes sub-blocks 252, 254, and 256, each describing an example fault condition which may be determined at block 250 by the method 200. For example, determining existence of one or more fault conditions may be based on a comparison of the two or more of the first, second, third, and nth signal attenuation powers, as depicted in sub-block 252. Further, in some examples wherein the implement 12 is configured to haul the load 135, determining existence of one or more fault conditions associated with the ground-engaging tool 50 based on one or more of the first, second, third, and nth signal attenuation powers includes determining, based on said one or more signal attenuation powers, if the ground-engaging tool 50 is within the load 135, as depicted in sub-block 254. Additionally, in some examples wherein the second machine 140 is on the worksite 13 and includes the bed 142 hauling the bed load 144, determining existence of one or more fault conditions associated with the ground-engaging tool 50 includes determining if the ground-engaging tool 50 is within the bed load 144, based on one or more of the first, second, third, and nth signal attenuation powers, as depicted in sub-block 256.
In some examples wherein the second machine 140 exists on the worksite 13, the method 200 may further include determining proximity of the ground-engaging tool 50 to the second machine 140 based on, at least, one or both of the relative location of the ground-engaging tool 50, the existence of one or more faults, and any combinations thereof, as depicted in block 255. The proximity of the ground-engaging tool 50, in some examples, may be useful in determining if the ground-engaging tool 50 is connected to the machine 10.
By utilizing the relative location of the ground-engaging tool 50 and the knowledge of existence of the one or more faults, the method 200 may determine if the ground-engaging tool 50 is connected to the machine 10, as depicted in the decision block 260. In some examples, if the ground-engaging tool 50 is determined to not be connected to the machine 10, the method 200 may further include alerting the operator that the ground-engaging tool 50 is not connected via, for example, the output device 124, as depicted in block 270. Otherwise, the method 200 may return to blocks 220, 222, 223, 225 to continue presence monitoring operations. By utilizing the method 200, productivity loss and/or equipment damage caused by disengaged ground-engaging tools 50 may be prevented.
It will be appreciated that the present disclosure provides control systems for implements of machines, which utilize orientation leveling systems. While only certain embodiments have been set forth, alternatives and modifications will be apparent from the above description to those skilled in the art. These and other alternatives are considered equivalents and within the spirit and scope of this disclosure and the appended claims.
