Detection of unintended directional movement of an articulated implement of a machine
AssigneeCaterpillar Inc.
InventorAmit Sharma
Life of this patent
Estimating the term…
Abstract
A motor grader is disclosed. The motor grader may include an articulated implement. The motor grader may include an articulation control device. The articulation control device may be configured to determine that articulation motion of the articulated implement is occurring, for a threshold amount of time, in a second direction that is different from a first direction indicated by an articulation control command. The articulation control device may be configured to perform a response action based on determining that articulation motion of the articulated implement is occurring, for the threshold amount of time, in the second direction that is different from the first direction indicated by the articulation control command.
Claims18
An articulation control device of a machine, comprising:
- a memory;
- and
- one or more processors configured to:
- receive information identifying an articulation control command for an articulated implement of the machine to move in a first direction;
- set a counter to track a quantity of time intervals in which an instantaneous movement value satisfies a movement threshold and an accumulated movement value indicates movement of the articulated implement is occurring in a second direction that is different from the first direction;
- determine that the articulated implement of the machine is moving in an unintended direction based on the counter;
- perform a response action based on determining that the articulated implement of the machine is moving in the unintended direction;
- determine that the articulation control command is altered;
- and
- reset the counter.
A method, comprising:
- receiving, by a processor, first information identifying an articulation control command for an articulated implement of a machine to move;
- determining, by the processor, an instantaneous movement value and an accumulated movement value based on an articulation angle of the articulated implement relative to a body of the machine;
- determining, by the processor, that one or more decision criteria are satisfied by the instantaneous movement value and the accumulated movement value and that a counter value of a counter does not satisfy a counter value threshold;
- incrementing, by the processor, the counter value;
- resetting, by the processor, the instantaneous movement value;
- recalculating, by the processor, the instantaneous movement value and the accumulated movement value based on the articulation angle;
- determining, by the processor, that the one or more decision criteria are satisfied by the instantaneous movement value and the accumulated movement value, and that the counter satisfies the counter value threshold;
- triggering, by the processor, a response action relating to movement of the articulated implement in an unintended direction based on determining that the one or more decision criteria are satisfied and that the counter satisfies the counter value threshold;
- determining, by the processor, that the articulation control command is altered;
- and
- resetting, by the processor, the counter.
A motor grader, comprising:
- an articulated implement;
- and
- an articulation control device configured to:
- determine that a counter, to track a quantity of time intervals in which articulation motion of the articulated implement is occurring in a first direction that is different from a second direction indicated by an articulation control command, satisfies a counter threshold;
- perform a response action based on determining that the counter satisfies a counter threshold;
- detect that the articulation control command is altered;
- and
- reset the counter.
Dependencies are inferred from the claim text.