System and method for controlling a work vehicle based on a monitored tip condition of the vehicle

Patent metadata

Field	Value
Publication number	US-9593469-B2
Application number	US-201414521544-A
Country	US
Kind code	B2
Filing date	Oct 23, 2014
Priority date	Dec 20, 2013
Publication date	Mar 14, 2017
Grant date	Mar 14, 2017

Abstract

A method for controlling a work vehicle based on a monitored tip condition of the work vehicle may generally include determining, with a computing device, a combined center of gravity for the work vehicle based at least in part on an external load applied to a loader arm of the work vehicle, determining a tip-related state of the work vehicle based on a location of the combined center of gravity relative to a pivot point defined between a tire of the work vehicle and a driving surface for the work vehicle and automatically performing a corrective action to counteract vehicle tipping when it is determined that the work vehicle is in a tipping state.

First claim

What is claimed is:

1. A method for controlling a work vehicle based on a monitored tip condition of the work vehicle, the method comprising:
determining, with a computing device, a location of a combined center of gravity for the work vehicle based at least in part on an external load applied to a loader arm of the work vehicle;
determining a tip-related state of the work vehicle based on the location of the combined center of gravity relative to a pivot point defined between a tire of the work vehicle and a driving surface for the work vehicle, wherein the work vehicle is in a non-tipping state when the combined center of gravity is located on a vehicle side of the pivot point and in a tipping state when the combined center of gravity is located on a non-vehicle side of the pivot point; and
controlling a drive motor of the work vehicle such that a speed or an acceleration of the work vehicle is increased in a tipping direction of the work vehicle when it is determined that the work vehicle is in the tipping state.

2. The method of claim 1 , wherein determining a location of a combined center of gravity for the work vehicle comprises:
determining a load moment arm for the external load; and
determining the location of the combined center of gravity based on the load moment arm and a vehicle moment arm for the work vehicle.

3. The method of claim 2 , wherein determining a load moment arm for the external load comprises:
monitoring, with a load sensor coupled to the computing device, a load weight of the external load;
monitoring, with a position sensor coupled to the computing device, a position of the external load; and
determining the load moment arm based on the load weight and the position of the external load.

4. The method of claim 1 , further comprising monitoring an angle of inclination of the work vehicle.

5. The method of claim 4 , further comprising adjusting the location of the combined center of gravity based on the angle of inclination.

6. The method of claim 1 , wherein automatically performing a correction action to counteract vehicle tipping comprises controlling a hydraulic cylinder of the work vehicle to lower the external load when it is determined that the work vehicle is in the tipping state.

7. The method of claim 1 , further comprising providing a tip indicator associated with the tip-related state of the work vehicle.

8. The method of claim 1 , wherein the tip indicator comprises at least one of an operator warning or a visual readout of a tip percentage of the work vehicle.

9. The method of claim 8 , wherein the tip percentage provides an indication of the likelihood of the work vehicle transitioning from the non-tipping state to the tipping state.

10. A system for controlling a work vehicle based on a monitored tip condition of the work vehicle, the system comprising:
a computing device including a processor and associated memory, the memory storing computer-readable instructions that, when implemented by the processor, configure the computing device to:
determine a location of a combined center of gravity for the work vehicle based at least in part on an external load applied to a loader arm of the work vehicle;
determine a tip-related state of the work vehicle based on the location of the combined center of gravity relative to a pivot point defined between a tire of the work vehicle and a driving surface for the work vehicle, wherein the work vehicle is in a non-tipping state when the combined center of gravity is located on a vehicle side of the pivot point and in a tipping state when the combined center of gravity is located on a non-vehicle side of the pivot point; and
control a drive motor of the work vehicle such that a speed or an acceleration of the work vehicle is increased in a tipping direction of the work vehicle when it is determined that the work vehicle is in the tipping state.

11. The system of claim 10 , wherein the computing device is further configured to determine a load moment arm for the external load, wherein the location of the combined center of gravity is determined by the computing device based on the load moment arm and a vehicle moment arm for the work vehicle.

12. The system of claim 11 , further comprising a load sensor coupled to the computing device for monitoring a load weight of the external load and a position sensor coupled to the computing device for monitoring a position of the external load, wherein the computing device is configured to determine the load moment arm based on the load weight and the position of the external load.

13. The system of claim 10 , further comprising an inclination sensor coupled to the computing device for monitoring an angle of inclination of the work vehicle, the computing device being configured to adjust the location of the combined center of gravity based on the angle of inclination.

14. The system of claim 10 , wherein the corrective action comprises controlling a hydraulic cylinder of the work vehicle to lower the external load.

15. The system of claim 10 , wherein the computing device is further configured to provide a tip indicator associated with the tip-related state of the work vehicle.

16. The system of claim 15 , wherein the tip indicator comprises at least one of an operator warning or a visual readout of a tip percentage of the work vehicle.

Assignees

• Cnh Ind America Llc
• Cnh Ind America Llc

Inventors

• Taylor Lance
• Newlin Timothy

Classifications

• E02F3/3417

  Buckets emptying by tilting (E02F3/342, E02F3/345 take precedence) · CPC title

• E02F9/24

  Safety devices {, e.g. for preventing overload (E02F9/226 takes precedence)} · CPC title

• E02F9/2025

  Particular purposes of control systems not otherwise provided for (E02F3/16, E02F3/26, sub-groups of E02F3/43, E02F3/651, sub-groups of E02F3/84, E02F3/907, E02F5/145 take precedence) · CPC title

• E02F9/265 Primary

  with follow-up actions (e.g. control signals sent to actuate the work tool) · CPC title

• B66F17/003

  for fork-lift trucks · CPC title