Slip determining system and methods for a machine
AssigneeCaterpillar Inc.
InventorsNolan A. Graves, Nicholas R. Vogel
Life of this patent
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Abstract
A system for determining movement characteristics of a mobile machine may comprise: a sensor coupled to the machine and configured to communicate a signal indicative of a velocity of the machine, wherein the sensor is coupled to a portion of the machine that is disparate from a rear axle of the machine; an inertial measurement unit coupled to the machine and configured to communicate a signal indicative of an acceleration and an angular velocity of the machine; and a controller configured to: receive (a) the velocity signal and (b) the acceleration and angular velocity signal; and using (a) the velocity signal and (b) the acceleration and angular velocity signal, determine a lateral velocity of the rear axle of the machine.
Claims20
A system for determining movement characteristics of a mobile machine, comprising:
- a sensor coupled to the machine and configured to communicate a signal indicative of a velocity of the machine, wherein the sensor is coupled to a portion of the machine that is disparate from a rear axle of the machine;
- an inertial measurement unit coupled to the machine and configured to communicate a signal indicative of an acceleration and an angular velocity of the machine;
- and
- a controller configured to:
- receive (a) the velocity signal and (b) the acceleration and angular velocity signal;
- and
- using (a) the velocity signal and (b) the acceleration and angular velocity signal, determine a lateral velocity of the rear axle of the machine.
A method for determining movement characteristics of a mobile machine, comprising:
- receiving a signal from a sensor coupled to the machine, wherein the sensor is coupled to the machine at a location disparate from a rear axle of the machine;
- receiving a signal from an inertial measurement unit coupled to the machine;
- using at least one of the sensor signal and the inertial measurement unit signal to determine a longitudinal velocity of the machine;
- using at least one of the sensor signal and the inertial measurement unit signal to determine an acceleration of the machine;
- and
- using the determined longitudinal velocity and the determined acceleration to determine a lateral velocity of the rear axle of the machine.
A method for characterizing movement of a machine, comprising:
- receiving signals from only:
- (a) a sensor coupled to a front portion of the machine;
- and
- (b) an inertial measurement unit coupled to the machine, wherein the signal includes an angular velocity of the machine;
- and
- using the sensor signal and the inertial measurement unit signal to determine a lateral velocity of a rear axle of the machine.
Dependencies are inferred from the claim text.