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US 11,131,076 B2Granted
Controlling a work machine based on in-rubber tire/track sensor
AssigneeDeere & Company
InventorsMark J. Cherney, Michael G. Kean
Life of this patent
Estimating the term…
Abstract
A stability control system identifies an actionable condition, such as instability, in an off-road mobile machine, based upon an in-rubber tire sensor. A remedial action is identified, and a control signal is generated to control the mobile machine to take the remedial action.
Claims20
A mobile work machine, comprising:
- a set of controllable subsystems;
- a set of ground engaging elements;
- a propulsion system configured to drive movement of the ground engaging elements to propel the mobile work machine over a surface;
- an in-rubber sensing system, in each of the ground engaging elements, configured to sense a set of variables indicative of characteristics of a contact patch for each corresponding ground engaging element and generate sensor signals, indicative of a contact patch value for each corresponding ground engaging element, each contact patch value comprising a value of the characteristics of the contact patch for each corresponding ground engaging element;
- a control criteria extraction system configured to identify a decrease in the contact patch value for one or more of the corresponding ground engaging element based on the set of sensor signals;
- and
- a control system configured to generate a control signal to control at least one of the controllable subsystems based on the identified decrease in the contact patch value for the one or more of the ground engaging element.
4 more elements
A computer implemented method of controlling an off-road mobile work machine, the method comprising:
- sensing, with an in-rubber sensing system, a set of variables indicative of characteristics of a contact patch of a corresponding ground engaging element for one or more of a plurality of ground engaging elements that are driven by an engine in the off-road mobile work machine to propel the off-road mobile work machine in a direction of travel over an off-road surface;
- generating a set of sensor signals, for each of the plurality of ground engaging elements, indicative of a contact patch value comprising the characteristics of the contact patch of the corresponding ground engaging element while the off-road mobile work machine is traveling over the off-road surface;
- identifying a decrease in the contact patch value, based on the set of sensor signals, for one or more of the ground engaging elements while the off-road mobile work machine is traveling over the off-road surface;
- and
- generating a control signal to control at least one of a plurality of controllable subsystems in the off-road mobile work machine, based on the decrease in the contact patch value, while the off-road mobile work machine is traveling over the off-road surface.
2 more elements
A mobile work machine, comprising:
- a set of controllable subsystems;
- a set of ground engaging elements;
- a propulsion system that drives movement of the ground engaging elements to propel the mobile work machine over a surface;
- an in-rubber sensing system, in each of the ground engaging elements, that senses a set of variables indicative of characteristics of a contact patch for each of the ground engaging elements and generates a contact patch value, as a set of sensor signals, indicative of the characteristics of the contact patch for each of the ground engaging elements;
- a control criteria extraction system configured to determine a decrease in a size of the contact patch for one or more of the ground engaging elements;
- an instability detector configured to identify a tipping condition indicative of the at least one ground engaging element being about to lift off the surface, based on the determined decrease in size of the contact patch for the one or more ground engaging element;
- and
- a control system configured to generate a control signal to control at least one of the controllable subsystems based on the tipping condition.
5 more elements
Dependencies are inferred from the claim text.