Data processing: vehicles – navigation – and relative location – Vehicle control – guidance – operation – or indication – Construction or agricultural-type vehicle
Reexamination Certificate
2000-06-13
2001-07-24
Nguyen, Tan (Department: 3661)
Data processing: vehicles, navigation, and relative location
Vehicle control, guidance, operation, or indication
Construction or agricultural-type vehicle
C701S041000, C701S113000, C180S419000
Reexamination Certificate
active
06266596
ABSTRACT:
TECHNICAL FIELD
This invention relates generally to a method and apparatus for controlling a mobile machine during a start-up operation and, more particularly, to a method and apparatus for controllably preventing undesired movement of the mobile machine during start-up.
BACKGROUND ART
Mobile machine, for example, earthworking machines, construction machines, transport machines, and the like, are used for a wide variety of purposes. During these uses, it is common to periodically shut down the prime power source, e.g., an engine, either deliberately or inadvertently. For example, it may be necessary to power down the engine if the operator must leave the mobile machine frequently. As another example, the load demands on a mobile machine, such as an earthworking or construction machine, may result in periodic stalling of the engine.
In the above cases, it logically becomes necessary to engage a start-up process to start the engine after each shut down. These start-up sequences, however, may result in a problem if, for some reason, operator control of the steering of the mobile machine is not in synchronization with the actual steering angle of the mobile machine. This lack of synchronization may cause the mobile machine to suddenly move, i.e., “lurch”, in an undesired direction during the start-up process. For example, the steering wheel of the mobile machine may appear to the operator to be set for straight ahead travel, but the actual steering angle of the mobile machine may be set for either a right or left direction, thus causing the mobile machine to suddenly move either to the right or the left to the surprise of the operator.
Attempts in the past have been made to resolve this problem. For example, in U.S. Pat. No. 3,795,285, Scholl et al. (Scholl) discloses a steering system for an articulated mobile machine which determines if the actual angle of steering differs from the desired angle of steering beyond a threshold value during the start-up process. The system prevents the engine from starting in response to the threshold being exceeded.
However, many auxiliary systems on a mobile machine, for example, hydraulic systems on a work machine, receive power from the engine. Therefore, if the engine is not allowed to start, these auxiliary systems will not function. In some circumstances, it may be desired to provide power to the auxiliary systems even though the mobile machine is not aligned for steering. Thus, it may be desired to allow the engine to start, yet still prevent the mobile machine from moving until the steering is aligned. For example, a wheel loader engine may stall while a fully loaded bucket is in a raised position. It would be desirable to have control of the hydraulic system to finish dumping and lowering the bucket even though the wheel loader is not allowed to move so that any potential problems from an offset center of gravity of the wheel loader are avoided when movement is allowed.
The present invention is directed to overcoming one or more of the problems as set forth above.
DISCLOSURE OF THE INVENTION
In one aspect of the present invention a method for controlling a mobile machine during start-up is disclosed. The mobile machine has a prime power source, a means for transport, and at least one auxiliary system; the means for transport and the at least one auxiliary system are controllably driven by the prime power source. The method includes the steps of determining an actual angle of steering of the mobile machine, comparing the actual angle of steering with a desired angle of steering, starting the prime power source, enabling engagement of the at least one auxiliary system, and disabling engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.
In another aspect of the present invention a method for controlling a mobile machine during start-up is disclosed. The mobile machine has an engine, a drive train, and at least one auxiliary system; the drive train and the at least one auxiliary system are controllably driven by the engine. The method includes the steps of determining an actual angle of steering of the mobile machine, comparing the actual angle of steering with a desired angle of steering, starting the engine, enabling engagement of the at least one auxiliary system, and disabling engagement of the drive train in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.
In another aspect of the present invention a method for controlling an articulated mobile machine during start-up is disclosed. The articulated mobile machine has a prime power source, a means for transport, an articulating actuator system, and at least one auxiliary system; the means for transport, the articulating actuator system, and the at least one auxiliary system are controllably driven by the prime power source. The method includes the steps of determining a steering control angle of a steering control mechanism located on the articulated mobile machine, determining an articulation angle of the articulated mobile machine as a function of the articulating actuator system, comparing the steering control angle with the articulation angle, starting the prime power source, enabling engagement of the at least one auxiliary system, disabling engagement of the articulating actuator system in response to the steering control angle being greater than a predetermined difference in value from the articulation angle, and enabling engagement of the articulating actuator system in response to the steering control angle being less than a predetermined difference in value from the articulation angle.
In yet another aspect of the present invention an apparatus for controlling a mobile machine during start-up is disclosed. The mobile machine has a prime power source, a means for transport, and at least one auxiliary system; the means for transport and the at least one auxiliary system are controllably driven by the prime power source. The apparatus includes a steering angle sensor, and a controller adapted to determine an actual angle of steering of the mobile machine, compare the actual angle of steering with a desired angle of steering, start the prime power source, enable engagement of the at least one auxiliary system, and disable engagement of the means for transport in response to the difference between the actual angle of steering and the desired angle of steering being greater than a predetermined threshold value.
In yet another aspect of the present invention an apparatus for controlling an articulated mobile machine during start-up is disclosed. The articulated mobile machine has a prime power source, a means for transport, an articulating actuator system, and at least one auxiliary system; the means for transport, the articulating actuator system, and the at least one auxiliary system are controllably driven by the prime power source. The apparatus includes a steering control mechanism, a steering control angle sensor for sensing a steering control angle of the steering control mechanism, an articulation angle sensor for sensing an articulation angle of the articulated mobile machine as a function of the articulating actuator system, and a controller adapted to compare the steering control angle with the articulation angle, start the prime power source, enable engagement of the at least one auxiliary system, disable engagement of the articulating actuator system in response to the steering control angle being greater than a predetermined difference in value from the articulation angle, and enable engagement of the articulating actuator system in response to the steering control angle being less than a predetermined difference in value from the articulation angle.
In yet another aspect of the present invention an apparatus for controlling a mobile machine during start-up is disclosed. The mobile machine has a prime power source, a means for transport,
Hartman Darren A.
Huang Kevin X.
Krellner James A.
Krone John J.
Caterpillar Inc.
Lundquist Steve D.
Nguyen Tan
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