VEHICLE AND METHOD OF CONTROLLING A LOAD DISTRIBUTION OF A VEHICLE

Abstract

The present disclosure relates to a vehicle, in particular an off-highway vehicle, comprising a first axle and a second axle and a sensor unit comprising at least one load sensor configured to produce a load sensor signal indicative of a load on at least one of the first axle and the second axle. The vehicle further comprises a movable weight configured to be moved relative to the first axle and to the second axle, an actuator system configured to move the movable weight relative to the first axle and to the second axle, and a control unit configured to control the actuator system based at least on the load sensor signal.

Claims

1. A vehicle, comprising: a first axle and a second axle; a sensor unit comprising at least one load sensor configured to produce a load sensor signal indicative of a load on at least one of the first axle and the second axle; a movable weight configured to be moved relative to the first axle and to the second axle; an actuator system configured to move the movable weight relative to the first axle and to the second axle; and a control unit configured to control the actuator system based at least on the load sensor signal.

2. The vehicle according to claim 1, wherein the movable weight is disposed on or configured to be disposed on a side of the first axle facing away from the second axle.

3. The vehicle according to claim 1, wherein the movable weight is configured to be moved in a lateral direction in parallel to the first axle and/or in parallel to the second axle.

4. The vehicle according to claim 1, wherein the movable weight is configured to be moved in a longitudinal direction perpendicular to the first axle and/or perpendicular to the second axle.

5. The vehicle according to claim 1, wherein the actuator system includes at least one of a hydraulic actuator, a pneumatic actuator, and an electromagnetic actuator.

6. The vehicle according to claim 1, wherein the actuator system includes at least one hydraulic cylinder and at least one valve for controlling the at least one hydraulic cylinder.

7. The vehicle according to claim 1, further comprising a vehicle frame, wherein the actuator system includes at least one actuator mounted on the vehicle frame and at least one slide guide mounted on the vehicle frame, wherein the movable weight is slidably arranged on the at least one slide guide.

8. The vehicle according to claim 7, wherein the at least one slide guide includes at least one of a longitudinal slide guide configured to guide the movable weight along a longitudinal direction perpendicular to the first axle and/or perpendicular to the second axle, and a lateral slide guide configured to guide the movable weight along a lateral direction in parallel to the first axle and/or in parallel to the second axle.

9. The vehicle according to claim 8, wherein the at least one slide guide includes the longitudinal slide guide and the lateral slide guide.

10. The vehicle according to claim 7, wherein at least one of the at least one actuator is rotatably mounted on the vehicle frame with respect to a rotation axis in parallel to a yaw axis of the vehicle.

11. The vehicle according to claim 10, wherein the actuator system includes a further actuator rotatably mounted on the vehicle frame with respect to a further rotation axis in parallel to the yaw axis of the vehicle.

12. The vehicle according to claim 10, wherein the sensor unit comprises a first load sensor configured to produce a load sensor signal indicative of a load on the first axle, and a second load sensor configured to produce a load sensor signal indicative of a load on the second axle, wherein the control unit is configured to control the actuator system based on the first load sensor signal and based on the second load sensor signal.

13. The vehicle according to claim 10, wherein the sensor unit comprises an attitude sensor configured to produce an attitude sensor signal indicative of an attitude of the vehicle, wherein the control unit is configured to control the actuator system based on the attitude sensor signal.

14. The vehicle according to claim 13, wherein the attitude sensor includes at least one of a roll angle sensor configured to produce a roll angle sensor signal indicative of a roll angle of the vehicle, and a pitch angle sensor configured to produce a pitch angle sensor signal indicative of a pitch angle of the vehicle, wherein the control unit is configured to control the actuator system based on at least one of the roll angle sensor signal and the pitch angle sensor signal.

15. The vehicle according to claim 13, wherein the sensor unit comprises an acceleration sensor configured to produce an acceleration sensor signal indicative of an acceleration of the vehicle, wherein the control unit is configured to control the actuator system based on the acceleration sensor signal.

16. A method of controlling a load distribution on a first axle and on a second axle of a vehicle, the method comprising the steps: producing a load sensor signal indicative of a load on at least one of the first axle and the second axle; and displacing a movable weight relative to the first axle and to the second axle based on the load sensor signal.

17. The method according to claim 16, wherein the movable weight is moved on a side of the first axle facing away from the second axle, and/or the movable weight is moved in a lateral direction in parallel to at least one of the first axle and the second axle.

Description

BRIEF DESCRIPTION OF THE FIGURES

[0028] Embodiments of the presently proposed vehicle and method of controlling a load distribution of a vehicle are described in the following detailed description and are depicted in the figures in which

[0029] FIG. 1 schematically shows an embodiment of the presently proposed vehicle in a lateral view;

[0030] FIG. 2 schematically shows the vehicle of FIG. 1 in a top view;

[0031] FIG. 3 shows a block scheme of the vehicle of FIG. 1;

[0032] FIG. 4 schematically shows an axle bearing support including a sensor unit;

[0033] FIG. 5 schematically shows an actuator system and a movable weight of the vehicle of FIG. 1 in a lateral view;

[0034] FIG. 6 schematically shows a further embodiment of an actuator system and a movable weight of the presently proposed vehicle in a top view; and

[0035] FIG. 7 schematically shows a block diagram of a method of controlling a load distribution of a vehicle.

DETAILED DESCRIPTION

[0036] FIGS. 1 and 2 show schematically an embodiment of the presently proposed vehicle 100 in the lateral view and in the top view, respectively. The vehicle 100 is depicted as a tractor but may also be any other off-highway vehicle, in particular an agriculture or forestry vehicle such as a forage harvester, a combine harvester, a forestry machine, or the like. The vehicle 100 comprises a first axle 1 and a second axle 2 and a sensor unit 3 comprising a first load sensor configured to produce a load sensor signal indicative of a load on the first axle 1 and a second load sensor configured to produce a load sensor signal indicative of a load on the second axle 2. The two load sensors of the sensor unit 3 are configured to produce real time signals indicative of the vertical force and the horizontal force exerted on the first axle 1 and the second axle 2, respectively. The load sensors may be a force sensor or a strain sensor. The vertical force is a force in a vertical direction perpendicular to the first axle 1 and the second axle 2. The vertical force is parallel to the direction of the gravitational force. The horizontal force is a force in a lateral direction in parallel to the direction of the first axle 1 and the second axle 2 of the vehicle 100. The first axle 1 and the second axle 2 are the front axle and the rear axle of the tractor, respectively. The first axle 1 and the second axle 2 are coupled to two wheels 10, respectively. The first load sensor and the second load sensor are arranged on the first axle 1 and the second axle 2, respectively. The obtained load sensor signals are used to determine a load distribution of the vehicle 100 in real time. The determined load distribution is necessary to gain information about the current traction force of the vehicle 100.

[0037] The sensor unit 3 may also comprise at least one of an attitude sensor configured to produce an attitude sensor signal indicative of an attitude of the vehicle 100 and an acceleration sensor configured to produce an acceleration sensor signal indicative of an acceleration of the vehicle 100. The attitude sensor may comprise a roll angle sensor configured to produce a roll angle sensor signal indicative of a roll angle of the vehicle 100 and/or a pitch angle sensor configured to produce a pitch angle sensor signal indicative of a pitch angle of the vehicle 100. The additionally obtained sensor signals may be used for reducing a difference between the determined load distribution of the vehicle 100 and the actual load distribution of the vehicle 100.

[0038] Furthermore, the vehicle 100 comprises a movable weight 4 configured to be moved relative to the first axle 1 and to the second axle 2 and an actuator system 5 configured to move the movable weight 4 relative to the first axle 1 and to the second axle 2. The actuator system 5 may include at least one of a hydraulic actuator, a pneumatic actuator, and an electromagnetic actuator. When the actuator system 5 includes a hydraulic actuator, the actuator system 5 may include at least one hydraulic cylinder 15 and at least one valve 16 for controlling the at least one hydraulic cylinder 15. The valve 16 may be a proportional valve. The movable weight 4 is disposed on a side of the first axle 1 facing away from the second axle 2. The movable weight 4 which is arranged away from the center of mass of the vehicle 100 exploits leverage. Thus, the distance to be covered by the movable weight 4 and the overall weight of the movable weight 4 can be reduced. Alternatively, the movable weight 4 or an additional movable weight 4 may also be disposed on a side of the second axle 2 facing away from the first axle 1 and/or between the first axle 1 and the second axle 2.

[0039] Furthermore, the movable weight 4 can be moved in a lateral direction 11 in parallel to the first axle 1 and in parallel to the second axle 2 and in a longitudinal direction 12 perpendicular to the first axle 1 and perpendicular to the second axle 2 by the actuator system 5. In this way, the load distribution of the vehicle 100 can be adjusted in the lateral direction 11 and the longitudinal direction 12 by moving the movable weight 4 in the lateral direction 11 and the longitudinal direction 12, respectively, to optimize the traction force of the vehicle 100. Moreover, the roll behavior and the pitch behavior of the vehicle 100 can be controlled by moving the movable weight 4.

[0040] The vehicle 100 further comprises a vehicle frame 8 and two slide guides 9. The two slide guides 9 are a longitudinal slide guide configured to guide the movable weight 4 along a longitudinal direction 12 and a lateral slide guide configured to guide the movable weight 4 along a lateral direction 11. The movable weight 4 is slidably arranged on the slide guides 9. The two actuators of the actuator system 5 (only one actuator is shown) and the two slide guides 9 are mounted on the vehicle frame 8. The slide guides 9 are coupled to the actuators of the actuator system 5.

[0041] The vehicle 100 additionally comprises a control unit 6 configured to control the actuator system 5 based on the load sensor signals. The control unit 6 processes the acquired load sensor signals to determine the current load distribution of the vehicle 100. The control unit 6 compares the determined load distribution data with stored data. In case the determined load distribution of the vehicle 100 differs from an optimal load distribution given by the stored data, the control unit 6 calculates a target location of the movable weight 4 in order to balance the load distribution and transmits the target location signal to the actuator system 5. The actuator system 5 includes two actuators which move the movable weight 4 to the calculated target location based on the target location signal received from the control unit 6. The control unit 6 may further be configured to control the actuator system 5 based on at least one of the attitude sensor signal indicative of an attitude of the vehicle 100 and the acceleration sensor signal indicative of an acceleration of the vehicle 100. The attitude sensor signal may be a roll angle sensor signal indicative of a roll angle of the vehicle 100 and/or a pitch angle sensor signal indicative of a pitch angle of the vehicle 100.

[0042] The forces exerted on the first axle 1 and the second axle 2, in particular, the vertical force and the horizontal force, vary from one individual task to another and from one off-highway condition to another. As shown in FIG. 1 on an exemplary basis, the vehicle 100 is coupled to an implement 7 to perform the exemplary agriculture task plowing. The implement 7 touches the soil and causes resistance when the vehicle 100 starts moving the implement 7 along the soil. It may be clear that there are different types of agriculture or forestry tasks such as planting, harvesting, towing trailers, agriculture machinery, agriculture implements, or the like. The off-highway conditions may be, for example, soil density, soil topology, inclination, and/or the like.

[0043] FIG. 3 illustrates a block scheme of the presently proposed vehicle 100 shown in FIGS. 1 and 2. The vehicle 100 comprises the sensor unit 3, the movable weight 4, the actuator system 5, the control unit 6 and the wheels 10. The vehicle 100 is coupled with the implement 7. The accelerated wheels 10 provide traction force in order to perform the agriculture or forestry task. The sensor unit 3 detects the load sensor signals indicative of the current load on each wheel 10, the first axle 1 and/or the second axle 2. The control unit 6 receives the detected load sensor signals from the sensor unit 3 and transmits a processed signal based on the load sensor signals to the actuator system 5. The actuator system 5 moves the movable weight 4 according to the received processed signal from the control unit 6.

[0044] FIG. 4 schematically shows a trunnion bearing support for at least one of the first axle 1 and the second axle 2 which may be used in the vehicle 100 shown in FIGS. 1 and 2. The trunnion bearing support comprises a hollow cylinder with two mounting arms extending away from each other in parallel to the first axle 1 and the second axle 2. The sensor unit 3 is arranged between the mounting arms of the trunnion bearing support. The sensor unit 3 may comprise a strain sensor and/or a force sensor. The sensors of the sensor unit 3 may be configured to produce real time signals indicative of the vertical force and the horizontal force exerted on the first axle 1 and the second axle 2, respectively.

[0045] FIG. 5 illustrates a close-up view of the actuator system 5 and the movable weight 4 of the vehicle 100 shown in FIG. 1 in a lateral view. The movable weight 4 is coupled to the slide guide 9. The vertical position of the movable weight 4 is supported by an upper slide guide shell arm 13 which are coupled with the slide guide 9 and a vertically upper portion of the vehicle frame 8 and a lower slide guide shell arm 13 which are coupled with the slide guide 9 and a vertically lower portion of the vehicle frame 8. The actuator system 5 couples with the movable weight 4 and is configured to displace the movable weight 4 in the longitudinal direction 12.

[0046] FIG. 6 illustrates a further embodiment of an actuator system 5 and a movable weight 4 of the presently proposed vehicle 100 in a top view. The actuator system 5 comprises a longitudinal actuator configured to move the movable weight along a longitudinal slide guide and a lateral actuator configured to move the movable weight along a lateral slide guide. As depicted in FIG. 6, the vehicle 100 comprises, for instance, a bedplate and two lateral slide guides and two longitudinal slide guides. The two lateral slide guides and the two longitudinal slide guides are mounted on the bedplate. The lateral actuator is arranged on a lateral side of the bed plate and extends in the lateral direction 11. The lateral actuator is coupled to one of the two lateral slide guides. The longitudinal actuator is arranged on a longitudinal side of the bed plate opposite to the side of the movable weight 4. The longitudinal actuator extends in the longitudinal direction 12 and is coupled to the longitudinal slide guide which is arranged at the side of the bed plate opposite to the movable weight 4.

[0047] The longitudinal actuator and the lateral actuator are rotatably mounted on the vehicle frame 8 (not shown) with respect to a rotation axis 14 in parallel to a yaw axis of the vehicle 100. The rotatably mounted actuators are necessary when the vehicle 100 comprises two or more actuators and/or two or more slide guides 9 in different directions. For example, when the first actuator pushes the movable weight 4 in a longitudinal direction 12, it may be necessary that the second actuator rotatably follows the position of the movable weight 4. Instead of pushing at nothing, for instance, when the movable weight 4 would have been pushed too far by the first actuator, the rotatably mounted second actuator is still capable of pushing the movable weight 4 in the lateral direction 11 by rotatably following the position of the movable weight 4.

[0048] FIG. 7 illustrates a block diagram of a method of controlling a load distribution of a vehicle 100, in particular of the presently proposed vehicle 100. The method comprises the steps of producing a load sensor signal indicative of a load on at least one of the first axle 1 and the second axle 2 of the vehicle 100 and displacing the movable weight 4 of the vehicle 100 relative to the first axle 1 and the second axle 2 based on the load sensor signal.

[0049] Sensor signals such as load sensor signals, attitude sensor signals and/or acceleration sensor signals may be produced by a sensor unit 3 and transmitted as a feedback signal 18 to the control unit 6. The control unit 6 may be coupled to a power supply 17 and may be configured to process the feedback signals 18 into a command signal 19 by determining a current load distribution of the vehicle 100 and comparing the determined load distribution with stored data. When the determined load distribution corresponds to an optimal load distribution given by the stored data, the command signal 19 may be transmitted to a valve 16 of the actuator system 5, for example, a proportional valve, in order to keep the state of the valve 16 unchanged. When the determined load distribution does not correspond to the optimal load distribution given by the stored data, the control unit 6 calculates a target location of the movable weight 4 in order to achieve that the load distribution of the vehicle 100 corresponds to the optimal load distribution given by the stored data and transmits the command signal 19 based on the calculated target location to the valve 16 in order to control the state of the valve 16. When two or more actuators are used to move the movable weight 4, it may be clear, that a at least one single valve 16 for each actuator is necessary and that the control unit 6 transmits at least one command signal 19 for each valve 16.

[0050] As also shown in FIG. 7, the actuator system 5 may be a hydraulic actuator including the valve 16 and a hydraulic cylinder 15 which hydraulic cylinder 15 can be controlled by the valve 16. The actuator system 5 may also be another type of a hydraulic actuator or a pneumatic or an electromagnetic actuator. The valve 16 is configured to control the hydraulic cylinder 15 based on the command signal 19 from the control unit 6.