MACHINES, SYSTEMS AND METHODS FOR AUTOMATED POWER MANAGEMENT
Example control systems for automated power management of a machine are described herein. In some examples, the control system can be used with a motive machine. The features are described with reference to a hybrid powered sweeper-scrubber machine, but is not limited as such. The machine can include a main machine controller (MMC) operably coupled to an engine, and a power module operably coupled to the MMC by a controller area network (CAN) bus. A sub-system, including a sub-system having motors, can be operably coupled to the power module by the CAN bus. To provide automated power control, the power module can monitor a load of the sub-system, and using the monitored load of the sub-system, the power module can communicate sub-system load information to the MMC. The MMC can automatically adjust an engine speed based on the sub-system load information and the selected functional mode of the machine.
This document pertains generally, but not by way of limitation, to controlling a machine, such as a motive machine that can be a hybrid machine having both fuel-powered and battery-powered modes. More specifically, the disclosure can be applied to an industrial floor cleaning machine, such as a hybrid sweeper-scrubber machine. However, aspects of the disclosure can be applied to machines other than hybrid machines and machines other than industrial floor cleaning machines.
BACKGROUNDHybrid machines that use both fuel-powered modes (e.g., gas engines) and battery-powered modes have been introduced to replace machines that previously were solely fuel-powered machines. Control modules can be used to control the function of the machine and to switch between the fuel-powered and electric powered modes. One area where hybrid machines have been introduced is in floor cleaning machines.
Industrial and commercial floors can be cleaned on a regular basis for aesthetic and sanitary purposes. There are many types of industrial and commercial floors ranging from hard surfaces, such as concrete, terrazzo, wood, and the like, which can be found in factories, schools, hospitals, and the like, to softer surfaces, such as carpeted floors found in restaurants and offices. Different types of floor cleaning equipment, such as scrubbers, sweepers, and extractors, have been developed to properly clean and maintain these different floor surfaces.
A typical scrubber is a walk-behind or drivable, self-propelled, wet process machine that applies a liquid cleaning solution from an onboard cleaning solution tank onto the floor through nozzles fixed to a forward portion of the scrubber. Rotating brushes forming part of the scrubber rearward of the nozzles agitate the solution to loosen dirt and grime adhering to the floor. The dirt and grime become suspended in the solution, which is collected by a vacuum squeegee fixed to a rearward portion of the scrubber and deposited into an onboard recovery tank.
Scrubbers are very effective for cleaning hard surfaces. Unfortunately, debris on the floor can clog the vacuum squeegee, and thus, the floor should be swept prior to using the scrubber. Thus, sweepers are commonly used to sweep a floor prior to using a scrubber. A typical sweeper is a self-propelled, walk-behind, or drivable dry process machine which picks debris off a hard or soft floor surface without the use of liquids. The typical sweeper has rotating brushes which sweep debris into a hopper or “catch bin.”
Combination sweeper-scrubber machines have been developed that provide the sweeping and scrubbing functionality in a single unit and are available in both fuel powered and battery powered designs. More recently, “hybrid” type sweeper-scrubber machines that are capable of operating in fuel or battery powered modes have also been developed.
In the drawings, which are not necessarily drawn to scale, like numerals can describe similar components in different views. Like numerals having different letter suffixes can represent different instances of similar components. The drawings illustrate generally, by way of example, but not by way of limitation, various examples discussed in the present document.
The present disclosure relates generally to machines, such as motive machines that have a movable or transport aspect. In some examples, the machine can be a hybrid machine that can be operated in a fuel-powered or battery-powered mode. However, this disclosure includes features that can be applied to machines that do not necessarily have a hybrid power system (e.g., fuel only or electric only).
In some examples, the machine can include a cleaning apparatus such as a sweeper-scrubber machine. For the purposes of illustration, a hybrid sweeper-scrubber machine is described herein. Again, the disclosure can be applied to other types of machines, including other types of vehicles and machines that do not have a cleaning aspect.
Conventional machines such as motive machines can have challenges including how to manage power control and distribution. One challenge is that in order for a machine to control power across all electrical components in the machine, many individual current sensors need to be provided for each electrical component, and each electrical component provides feedback to the main controller (MMC). This disclosure includes aspects related to engine speed control to compensate for additional loads being placed on components of the machine and to prevent overloading of various motors of the machine.
Hybrid Sweeper-Scrubber OverviewOne illustrative but non-limiting example of the hybrid sweeper-scrubber machine of the present invention is illustrated in
The present control method and system for the hybrid sweeper-scrubber can include an internal combustion engine and electrical system battery pack to power the hybrid sweeper-scrubber and operate a number of accessories and cleaning functions. The present control method and system can include common components between the engine and electrical systems. Benefits of such embodiments can include reduced material costs, reduced component maintenance, reduced overall size of the hybrid sweeper-scrubber, elimination of a number of hydraulic components, lower emissions, or less fuel consumption.
Providing a floor cleaning system having both a sweeper system 32 and a scrubber system 34 can allow the operator to perform both “dry” and “wet” cleaning with the same system. These sweeping and scrubbing modes can be operated either separately or simultaneously depending upon the type of cleaning required.
As further illustrated in
A driver seat 50 can be supported by the machine body 37 rearward of the steering wheel 48 for use by an operator of the sweeper-scrubber 30. The operator can sit on the driver seat 50 to operate the steering wheel 48 and foot operated control pedals 52, such as a brake and an accelerator, supported above a chassis top surface 54 The accelerator can be included in a speed control system (e.g., 564,
In operation, a spray nozzle can spray a liquid cleaning solution from an onboard cleaning solution tank onto the floor being cleaned. The cleaning solution can be gravity fed through the spray nozzle, or alternatively pumped out of the cleaning solution tank through the spray nozzle. The spray nozzle can be integrated into a scrub sub-system (e.g., 578,
As illustrated in
The squeegee assembly 58 can be coupled to a squeegee support bracket 60 pivotally attached relative to the chassis 36, and can be moved between an operating position and a stored position (when not in use). The squeegee assembly 58, which can be operable to dry the floor being cleaned by the sweeper-scrubber 30, can include a forward arcuate squeegee blade 62 nested within a rearward arcuate squeegee blade 64. In an example, the nested squeegee blades 62 and 64 can extend substantially across the width of the sweeper-scrubber 30 and can define a crescent shaped vacuum zone 66. The squeegee blades 62 and 64 can be formed from any flexible material that can sealingly engage the floor, including elastomeric materials such as rubber, plastic, or the like.
The forward squeegee blade 62 can be configured to collect the cleaning solution on the floor, and can include notches in its floor engaging edge which allows the cleaning solution to enter the vacuum zone 66. The rearward squeegee blade 64 can include a continuous floor engaging edge in order to prevent the escape of the cleaning solution rearwardly from the vacuum zone 66.
As illustrated in
In an example, the electrical system battery pack 356 can include a number of 36V batteries. The main controller 362, speed controller, and steering controller are also coupled to the electrical system battery pack 352. The hybrid sweeper-scrubber can provide steering such as a wire steering system. A traction drive motor/system can be controlled by the speed controller. As described herein, engine speed can be controlled through the main controller 362, so as to adjust the engine operation to account for whichever cleaning functions are operating.
Control Method 430Now that an example of a floor cleaning system has been described that can utilize the control method of the present patent application, the method and structure of an illustrative control method 430 will be described in detail with reference to
At 434, an operational load can be monitored, including an operational state of the at least one cleaning function of the self-propelled hybrid vehicle. Operational load can include an engine power output threshold for the at least one cleaning functional to be operational. Operational state can include on/off or a percentage of full operational speed, power, torque, and the like.
Running State of EngineAt 436, a running state of the internal combustion engine (e.g., 352,
The running speed can include an idle speed, so as to provide power output sufficient to charge the electrical system battery pack or operate an operational accessory. A threshold engine speed can be maintained for a number of cleaning functions to operate during a manual adjustment of the running speed of the engine, such as by an operator of the hybrid sweeper-scrubber. For example, the operator is able to increase and decrease the engine speed at will, but the main controller will not allow the engine to run slower than a power output needed for the operational cleaning functions.
Regulating Engine SpeedIn some examples, the control method and control system can regulate engine speed or revolutions per minute (RPM) at a number of settings based on the number of operational cleaning functions, such as by monitoring the active cleaning functions that are in operation. The RPMs can be set at distinct values. For example, if only the sweep sub-system (e.g., 376,
The control method and system can regulate the engine speed based on a number of modes, including but not limited to: optional high pressure washer option can cause the engine to run at a lower RPM mode (RPM Setting #1); if the engine is in idle (RPM Setting Idle), the engine can run at a lower RPM mode (RPM Setting #1) when sweeping only or vacuuming only; if the engine is in idle or run, the engine can run in a higher RPM mode (RPM Setting #2) when scrubbing only or scrubbing and sweeping; if an operator override is activated, the operator can change between a higher RPM mode (RPM Setting #2) and a lower RPM mode (RPM Setting #1) at the operator's discretion; or, if the operator override condition goes away (e.g. sweep sub-system turns off) and the operator has not changed the engine mode, the engine can be returned to the mode before the forced override.
Threshold ChargeAt 438, a threshold charge can be maintained, via the electrical system alternator (e.g., 154,
The electric mode can include monitoring the electrical system alternator for an occurrence of an electrical component fault, such as a voltage below a threshold voltage or an indication of a belt failure. The electrical system alternator can be monitored per a set time interval or continuously. Protective measures can be taken if the occurrence of an electrical component fault is detected, such as providing a warning to an operator, shutting down the self-propelled hybrid vehicle, or the like.
Hybrid Mode FaultThe hybrid mode can include monitoring the self-propelled hybrid vehicle for an occurrence of an engine component fault, such as the engine runs out of fuel, if the engine fails, if the engine generator fails, if the belt from the engine to engine alternator fails, etc. The running mode can be shifted to the electric mode if the occurrence of an engine component fault is detected. As described herein, the running mode can be altered by an operator if an override mode is activated.
If the machine is operating from the electrical system battery pack only, such as due to a failure in the engine or engine alternator as discussed herein or by operator override, the control system can monitor battery voltage of the electrical system battery pack until a threshold voltage condition is met. At such point, the control system can protect the hybrid sweeper-scrubber by shutting off machine cleaning functions and shutting down the hybrid sweeper-scrubber.
Example Electrical Control System SchematicThe internal combustion engine 552 can be operably coupled to an electrical system alternator 554, such as via a belt 553. The electrical system alternator 554 can be configured to charge an electrical system battery pack 556 and operably coupled to a number of controllers 562, 564, 566. In an example the electrical system alternator 554 can be operably coupled to or through a fuse box 560. The number of controllers 562, 564, 566 can be operably coupled to the electrical system battery pack 556. Controller 564 can include a speed controller operably coupled to a drive system 570, so as to control the speed of the hybrid sweeper-scrubber. Controller 566 can include a steering control operably coupled to a steering system 572, so as to steer or provide directional capabilities to the hybrid sweeper-scrubber. Controller 562 can include a machine main controller (MMC) that is operably coupled to the internal combustion engine and configured to control a running state of the engine 552 of the self-propelled hybrid vehicle based on a monitored operational load. The main controller 562 can be operably coupled to any of a user interface 568, an accessory 574, or a number of sub-systems 576, 578, 580, 582, directly or indirectly. The user interface 568 can be configured so as to indicate a status of a sub-system, a measurement, an alarm, a time, or the like. The MMC 562 can be configured to monitor the electrical system alternator 554 to detect failures, as described herein.
The sub-systems can include any of a sweep sub-system 576, a scrub sub-system 578, or a recovery sub-system 580, as described herein. Further, the control method and system can include an engine system 552, such as an engine controller controlled by the MCM 562 or a computer processing unit associate with control logic for operation of the engine 552 (e.g., engine 352,
An engine alternator 558 can be operably coupled to an engine battery 360, so as to start the internal combustion engine 552, as described herein.
A switching component can also be provided that can be configured to alternate the self-propelled hybrid vehicle between a number of running modes, the number of running modes including at least an electric mode and a hybrid mode, as described herein. A running state override switching component can be configured to override an operator initiated running state if the operator running initiated state is below a threshold run state based on the monitored operational load, as described herein.
In an example, the hybrid sweeper-scrubber can include a regenerative braking method or system to improve fuel efficiency, such as providing charge to the electrical system battery pack. The hybrid sweeper-scrubber control method and system can include a data acquisition system, so as to provide a number of measurements used in charge algorithms, running speed algorithms, failure mode detections, and the like.
The main alternator in the hybrid sweeper-scrubber can be sized to provide power to all of the cleaning functions of the machine, with the exception of the engine system, and for maintaining a charge on the main system battery pack during operation. The main system battery pack provides a “buffer” to handle the inrush currents and heavy load currents that exceed the capacity of the main alternator. Such “heavy loads” can be caused by sweeping/scrubbing up inclines, etc. Additionally, the main system battery pack is not merely a “back-up” source of power. Rather, the sweeper-scrubber is fully operational in the battery operated mode for an extended period of time, such as the duration of the charge.
Example Control System for Automated Power ControlThe one or more power modules 610, 620 can be used with a machine such as, but not limited to, the hybrid sweeper-scrubber machine 30 of
The power modules 610, 620 can receive logic power from an alternator (e.g., 558,
In the example of
A benefit of the control system of
Another feature of the control system 600 is that the power modules 610, 620 can communicate information to the MMC 662, and the MMC 662 can then automatically increase or decrease the engine revolutions per minute (RPM) based on the overall load (e.g., current draw) in addition to considering the current functional mode (e.g., operational state) of the machine 30. This can improve the overall functionality of a sweeper-scrubber machine 30 as compared to a conventional machine that only sets an engine RPM default value based solely on the selected functional mode of the machine 30 or manual override, without consideration of other power demands, including environmental demands that can affect the machine 30.
The control system of
In addition to the power modules 610, 620, other modules can be operably connected to the MMC 662, such as a wheel drive module 670 and a steering module 680. The wheel drive module 670 can control a drive motor of the machine based on commands from the operator foot pedal, the MMC 662 and feedback from the drive motor itself. The steering module 680 can control a steering motor based on commands from the operator steering wheel (e.g., a sensor) and feedback from the steering motor and one or more steering limit switches. The steering module can also enable or disable the drive function if the steering system is not ready to move the machine.
An engine control module can monitor engine functions and communicate with the MMC to provide engine status to the MMC. In some cases an engine controller can be integral to the engine and can operate and monitor engine functions semi-autonomously. Control of the engine speed will be further described with respect to the method 800 of
As previously described, the power modules 610, 620 can be connected to the MMC 662 via one or more CAN bus networks 650, 660. The MMC (e.g., 662,
A general description of CAN bus networks 700 will now be described with reference to
The CAN bus is a twisted-pair of wires 740, 750 running between the distributed modules 710, 720, 730 (and such as the modules of
Because none of the distributed modules 710, 720, 730 represent the master of the CAN bus network 700, any of the distributed modules 710, 720, 730 can initiate a CAN bus transmission any time there is not already traffic on the CAN bus 700. When the module detects inactivity on the CAN bus 700, it transmits a dominate bit, and begins sending the message priority level bits. But at the same time, it is also monitoring the bus itself to detect if a higher priority message was being initiated at the same time. The message with the higher priority level will have the bus high for the longest period, and therefore, that module knows that it is sending the highest priority message. The other module ceases its transmission and waits until the CAN bus is available again.
Generally, most CAN bus 700 messages originate from the main controller (e.g., MMC 662,
According to the method 800, the MMC (e.g., 662,
Operation 810 of the method 800 can include controlling, based on a selected functional mode of the machine 30, an engine RPM to a default engine RPM.
Operation 820 can include the MMC 662 receiving, from the power module 610, load information corresponding to a load of a sub-system having motors 630A-C that are operably coupled to the power module 610. The power module 610 can communicate load information to the MMC 662 via the first CAN bus 650.
In some examples, as shown in
Operation 830 can include automatically adjusting the engine speed (e.g., rpm) not based solely on the selected functional mode of the machine 30, but also based on the sub-system (e.g., motors 630A-C) load information received from the power module 610. In a method having two power modules, the load information from the second power module 620 can be added to the load information from the first power module 610 in determining the automatic adjustment.
One benefit of increasing or decreasing the engine speed based on sub-system load information received from a power module 610, is that engine speed control becomes more automated, which improves the user's experience by simplifying use and improving performance When engine speed is automatically controlled, the user does not have to manually modify the engine speed. This means the user does not have to have as much knowledge about operation of the machine, increasing ease of use and improving performance In addition to improving the user's experience, by using the power modules, the method 800 is able to do so without external current sensors for each electrical component, resulting in decreased manufacturing cost.
Some example automatic adjustments in engine speed according to the method 800 will now be described. For example, a machine operating in the transport, sweep or recovery functional mode can operate at a default RMP of 2500. If, while monitoring the load of the various sub-systems (e.g., motors 630A-C,
In another similar example, a machine operating in the transport mode at a default of 1700 RPM experiences a load greater than 60 Amperes. To compensate, the RPM could be automatically increased to 2500 RPM, and then gradually reduce back to 1700 rpm as the load drops.
Method of Improving Motor LifeIn the control system of
As shown in
The method 900 of
Operation 910 of the method 900 can include the power module 610 receiving an indication to provide power to one or more of the scrub motors 630A-C (
In response to receiving an indication to provide power, operation 920 can include the power module 610 providing power to the scrub motors 56A-C.
Operation 930 can include monitoring a load (e.g., current load) on one or more of the scrub motors 56A-C with the power module 610. Based on the monitoring conducted in operation 930, operation 940 can include the MMC determining that one or more of the scrub motors 630A-C is overloaded such that the current load on the scrub motor has transgressed a threshold (e.g., exceeding a specified current or voltage).
If in operation 940, the MMC determines that a motor is overloaded, then in operation 950, the power module 610 can actuate an actuator 1010 (
In an example, an actuator can be provided with any of the electrical components in order to move the electrical component to prevent overloading on a motor. The actuator can move individual motors and other electrical components such as a scrub motor as previously described, but an actuator can also be used with, for example, a sweeping motor, a vacuum motor, a vacuum squeegee, a deck, a steering element, a traction element, a fan, a dust collector or a broom. An actuator can be provided with any suitable electrical component that can be prevented from overloading by a lifting action. In some examples, one actuator can move a plurality of electrical components together, such as moving a plurality of scrub elements.
In addition to the method 900 of reducing a load on a scrub motor 630A by lifting the scrub element 56A with an actuator 1010 as depicted in
PWM can be applied to other components besides motors. PWM can be used to control the output voltage for any of the electrical components irrespective of the input voltage from the battery. Using PWM, the life of motors, including scrub motors and vacuum motors, can be improved in less demanding applications, as they can be operated at a lesser voltage when the application does not require it. A second benefit of using PWM is that it can help modularize manufacturing by allowing the same motors to be used across different machines that have different batteries (e.g., different voltage power packs).
For example, as shown in
Operation 1110 of the method 1100 can include a power module 610 receiving an indication to power one or more motors of a set of motors 630A-C from the MMC 662.
Operation 1120 can include the MMC 662, via a power module 610, providing power to at least one of the one or motors 630A-C that are operably coupled to the power module 610.
Operation 1130 can include the power module monitoring a load on at least one of the one or more motors.
Operation 1140 can include the MMC determining, based on the monitored load received from the power module 610, that the load on one of the monitored motors has transgressed a load threshold (e.g. overloaded). The load threshold can be measured as a current load.
Operation 1150 can include that if the load threshold has been transgressed by any one of the one or more motors, adjusting the PWM power provided to the overloaded motor to reduce an output thereof.
Although not required, in the example control system of
For example, the method 1100 can be applied not just to a power module 610 (e.g., first power module), but also a second power module 620 can receive an indication to power one or more motors of a second set of motors 630A-C that are operably coupled to the second power module 620. Method 1100 can further include providing power, with the second power module 620 by PWM to the one or more motors 640A-C of the second set of motors, as shown in the control system 600 of
If the second power module 620 communicating to the MMC, while monitoring a load on one or more motors 640A-C of the second set of motors, results in the MMC determining that any of the one or more motors of the second set of motors has transgressed a second load threshold, the second power module, via communication from the MMC, can adjust the power provided to the motor that transgressed the second load threshold. Adjusting the power by PWM can reduce the output of the motor that transgressed the second load threshold to reduce the output thereof.
The control system of
The control system and method described herein can be executed by at least one non-transitory machine readable medium including instructions for a main machine controller (MMC) to operate the control system for the motive machine. The motive machine having a power module and a sub-system (e.g., power module 610, motors 630A-C,
The instructions, when executed by a processor, can cause the processor to: 1) control, based on a selected function mode of the machine, an engine speed of an engine to a default engine speed; 2) receive, from the power module via the CAN bus, load information corresponding to a load of the sub-system; and 3) automatically adjust the engine speed based on the sub-system load information and the selected functional mode of the machine.
The machine readable medium can further cause the processor to monitor, with the power module, a current load on the scrub motor, and if the MMC determines that the current load on the scrub motor has transgressed a threshold, cause the actuator to be actuated to lift the scrub element to reduce the load on the motor by decreasing the force on the scrub element.
The machine readable medium can further cause the processor to: 1) receive, from the power module via the CAN bus, an indication to power one or more motors of a first set of motors that are operably coupled to the power module; 2) provide power, with the power module, by pulse width modulation (PWM) to the one or more motors; 3) monitor, with the power module, a load on the one or more motors; 4) determine, with MMC, if any of the one or more motors transgressed a load threshold; and 5) if the load threshold has been transgressed by any of the one or more motors, adjust, with the power module, the power provided to the motor that transgressed the load threshold to reduce an output thereof.
The processor can also apply similar instructions to the second power module operably coupled to the MMC by the second CAN bus. The processor caused to: 1) receive an indication, at a second power module, to power one or more motors of a second set of motors that are operably coupled to the second power module; 2) provide power, with the second power module, by pulse width modulation (PWM) to the one or more motors of the second set of motors; 3) monitor, with the second power module, a load on one or more motors of the second set of motors; 4) determine, with the MMC, if any of the one or more motors of the second set of motors has transgressed a second load threshold; and 5) if the second load threshold has been transgressed by any of the one or more motors of the second set of motors, adjust, with the second power module, the power provided to the motor that transgressed the second load threshold to reduce an output thereof.
The instructions, when executed by a processor, can also cause the processor to perform at least two of: sweeping, scrubbing, recovering, idling and transporting, depending on the functional mode of the machine selected by the user.
Solenoid Fail-SafeTo protect the machine 30 (
In the example of
To better illustrate the devices and methods disclosed herein, a non-limiting list of embodiments is provided herein.
Example 1 is a motive machine that is selectively operable in a plurality of functional modes, the machine comprising: an engine; a main machine controller (MMC) operably coupled to the engine; a power module operably coupled to the MMC by a controller area network (CAN) bus; and a sub-system operably coupled to the power module by the CAN bus, wherein the power module monitors a load of the sub-system, and using the monitored load of the sub-system, the power module communicates sub-system load information to the MMC, and wherein the MMC automatically adjusts an engine speed based on the sub-system load information and the selected functional mode of the machine.
In Example 2, the subject matter of Example 1 includes, a scrub motor that is operably coupled to the power module, the scrub motor having a scrub element that is movable by an actuator, wherein the power module monitors a current load on the scrub motor and communicates the current load to the MMC, and if the MMC determines that the current load on the scrub motor has transgressed a threshold, the MMC, through the power module, actuates the actuator to lift the scrub element to reduce the load on the scrub motor.
In Example 3, the subject matter of Examples 1-2 includes, a plurality of individual scrub motors that are operably coupled to the power module, and one or more of the individual scrub motors has a scrub element that is movable by an actuator, and wherein the power module monitors a current load on the individual scrub motors and communicates the current load to the MMC, and if the MMC determines that the current load on one of the individual scrub motors that has an actuator has transgressed a threshold, the MMC, through power module, actuates the actuator for that scrub element to lift the scrub element to reduce the load on the scrub motor.
In Example 4, the subject matter of Examples 1-3 includes, wherein the machine is a sweeper-scrubber machine, and the functional modes include at least two of: sweeping, scrubbing, recovering, idling and transporting.
In Example 5, the subject matter of Examples 1-4 includes, wherein the machine is a hybrid machine having both fuel-powered and battery-powered modes.
In Example 6, the subject matter of Examples 1-5 includes, a second sub-system, and wherein the power module monitors the load across the first and second sub-systems without individual current sensors operably coupled to each of the first and second sub-systems.
In Example 7, the subject matter of Examples 1-6 includes, wherein the first sub-system is a steering module and the second sub-system is a drive module.
In Example 8, the subject matter of Examples 1-7 includes, wherein the monitored load is a measured current level.
In Example 9, the subject matter of Examples 1-8 includes, a first set of motors that are operably coupled to the power module, wherein power provided to the first set of motors is adjustable by pulse width modulation (PWM), wherein the power module monitors a load on at least some of the motors of the first set of motors, and communicates the load to the MMC, and if the MMC determines that the load on one of the monitored motors has transgressed a load threshold, the PWM is adjusted to reduce an output of the motor that transgressed the load threshold.
In Example 10, the subject matter of Example 9 includes, a second power module operably coupled to the MMC by a second CAN bus, the second power module operably coupled to a second set of motors, wherein power to the second set of motors is adjustable by pulse width modulation (PWM), and wherein the second power module monitors a load on at least one of the motors of the second set of motors, and communicates the load to the MMC, and if the MMC determines that the load on one of the monitored motors has transgressed a second threshold, the PWM is adjusted to reduce an output of that motor.
Example 11 is a method for controlling a motive machine having a main machine controller (MMC) operably coupled to a power module by a CAN bus, the method comprising: controlling, based on a functional mode of the machine, an engine revolutions per minute (RPM) of an engine to a default engine RPM; receiving, from the power module, load information corresponding to a load of a sub-system operably coupled to the power module; and automatically adjusting the engine RPM based on the sub-system load information and the functional mode of the machine.
In Example 12, the subject matter of Example 11 includes, wherein the power module is operably coupled to a scrub motor having a scrub element that is movable by an actuator, the method further comprising: monitoring, with the power module, a current load on the scrub motor; communicating, from the power module to the MMC, the current load on the scrub motor; and determining, with the MMC, if the current load has transgressed a threshold, and if the threshold has been transgressed, causing the actuator to be actuated to lift the scrub element to reduce the load on the motor by decreasing a force on the scrub element.
In Example 13, the subject matter of Examples 11-12 includes, wherein the method further comprises: receiving an indication from the MMC, at the power module, to power one or more motors of a set of motors that are operably coupled to the power module; providing power, with the power module, by pulse width modulation (PWM) to the one or more motors; monitoring, with the power module, a load on the one or more motors; determining, with the MMC using the monitored load from the power module, if any of the one or more motors has transgressed a load threshold; and if the load threshold has been transgressed by any of the one or more motors, adjusting, with the power module, the power provided to the one or more motors that transgressed the load threshold to reduce an output thereof.
In Example 14, the subject matter of Example 13 includes, the motive machine further including a second power module operably coupled to the MMC by a second CAN bus, the method further comprising: receiving an indication from the MMC, at a second power module, to power one or more motors of a second set of motors that are operably coupled to the second power module; providing power, with the second power module, by pulse width modulation (PWM) to the one or more motors of the second set of motors; monitoring, with the second power module, a load on the one or more motors of the second set of motors; determining, with the MMC using the monitored load from the second power module, if any of the one or more motors of the second set of motors has transgressed a second load threshold; and if the second load threshold has been transgressed by any of the one or more motors of the second set of motors, adjusting, with the second power module, the power provided to the motor that transgressed the second load threshold to reduce the output thereof.
Example 15 is at least one machine-readable medium including instructions for a main machine controller (MMC) to operate a control system for a motive machine, the motive machine having a power module and a sub-system operably coupled to the MMC by a CAN bus, and the instructions, when executed by a processor, cause the processor to: control, based on a selected functional mode of the machine, an engine speed of an engine to a default engine speed; receive, from the power module via the CAN bus, load information corresponding to a load of the sub-system; and automatically adjust the engine speed based on the sub-system load information and the selected functional mode of the machine.
In Example 16, the subject matter of Example 15 includes, wherein the power module is operably coupled to a scrub motor having a scrub element that is movable by an actuator, the instructions, when executed by a processor, further cause the processor to: monitor, with the power module, a current load on the scrub motor; and communicate to the MMC the current load; and determine, with the MMC, if the current load on the scrub motor has transgressed a threshold, and if the threshold has been transgressed, cause the actuator to be actuated to lift the scrub element to reduce the load on the motor by decreasing a force on the scrub element.
In Example 17, the subject matter of Examples 15-16 includes, the instructions, when executed by a processor, further cause the processor to: receive, from a user input, an indication to power one or more motors of a first set of motors that are operably coupled to the power module; provide power, with the power module, by pulse width modulation (PWM) to the one or more motors; monitor, with the power module, a load on the one or more motors; determine, with the power module, if any of the one or more motors transgressed a load threshold; and if the load threshold has been transgressed by any of the one or more motors, adjust, with the power module, the power provided to the motor that transgressed the load threshold to reduce an output thereof.
In Example 18, the subject matter of Examples 15-17 includes, the motive machine further having a second power module operably coupled to the MMC by a second CAN bus, the instructions, when executed by a processor, further cause the processor to: receive, from a user input, an indication, t, to power one or more motors of a second set of motors that are operably coupled to the second power module; provide power, with the second power module, by pulse width modulation (PWM) to the one or more motors of the second set of motors; monitor, with the second power module, a load on one or more motors of the second set of motors; determine, with the second power module, if any of the one or more motors of the second set of motors has transgressed a second load threshold; and if the second load threshold has been transgressed by any of the one or more motors of the second set of motors, adjust, with the second power module, the power provided to the motor that transgressed the second load threshold to reduce an output thereof.
In Example 19, the subject matter of Examples 15-18 includes, wherein the instructions when executed by a processor, further cause the processor to perform at least two of: sweeping, scrubbing, recovering, idling and transporting, depending on a functional mode of the machine selected by a user.
Example 20 is a motive machine that is selectively operable in a plurality of functional modes, the machine comprising: an engine; a main machine controller (MMC) operably coupled to the engine; a power module operably coupled to the MMC by a controller area network (CAN) bus; a sub-system operably coupled to the power module by the CAN bus, wherein the power module monitors a load of the sub-system, and using the monitored load of the sub-system, the power module communicates sub-system load information to the MMC; and a solenoid associated with the power module, wherein the solenoid protects the machine in case of a short, and wherein the output from the power module is switched on when a high side current switch of the solenoid closes, and wherein the solenoid closes after power on self-tests of the machine have been successfully completed and no shorts or errors have been identified.
Example 21 is at least one machine-readable medium including instructions that, when executed by processing circuitry, cause the processing circuitry to perform operations to implement of any of Examples 1-20.
Example 22 is an apparatus comprising means to implement of any of Examples 1-20.
Example 23 is a system to implement of any of Examples 1-20.
Example 24 is a method to implement of any of Examples 1-20.
The above detailed description includes references to the accompanying drawings, which form a part of the detailed description. The drawings show, by way of illustration, specific embodiments in which the invention can be practiced. These embodiments are also referred to herein as “examples.” Such examples can include elements in addition to those shown or described. However, the present inventors also contemplate examples in which only those elements shown or described are provided. Moreover, the present inventors also contemplate examples using any combination or permutation of those elements shown or described (or one or more aspects thereof), either with respect to a particular example (or one or more aspects thereof), or with respect to other examples (or one or more aspects thereof) shown or described herein.
In the event of inconsistent usages between this document and any documents so incorporated by reference, the usage in this document controls.
In this document, the terms “a” or “an” are used, as is common in patent documents, to include one or more than one, independent of any other instances or usages of “at least one” or “one or more.” In this document, the term “or” is used to refer to a nonexclusive or, such that “A or B” includes “A but not B,” “B but not A,” and “A and B,” unless otherwise indicated. In this document, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein.” Also, in the following claims, the terms “including” and “comprising” are open-ended, that is, a system, device, article, composition, formulation, or process that includes elements in addition to those listed after such a term in a claim are still deemed to fall within the scope of that claim. Moreover, in the following claims, the terms “first,” “second,” and “third,” etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.
The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more aspects thereof) can be used in combination with each other. Other embodiments can be used, such as by one of ordinary skill in the art upon reviewing the above description. The Abstract is provided to comply with 37 C.F.R. § 1.72(b), to allow the reader to quickly ascertain the nature of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope or meaning of the claims. Also, in the above Detailed Description, various features can be grouped together to streamline the disclosure. This should not be interpreted as intending that an unclaimed disclosed feature is essential to any claim. Rather, inventive subject matter can lie in less than all features of a particular disclosed embodiment. Thus, the following claims are hereby incorporated into the Detailed Description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that such embodiments can be combined with each other in various combinations or permutations. The scope of the invention should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.
Claims
1. A motive machine that is selectively operable in a plurality of functional modes, the machine comprising:
- an engine;
- a main machine controller (MMC) operably coupled to the engine;
- a power module operably coupled to the MMC by a controller area network (CAN) bus; and
- a sub-system operably coupled to the power module by the CAN bus, wherein the power module monitors a load of the sub-system, and using the monitored load of the sub-system, the power module communicates sub-system load information to the MMC, and wherein the MMC automatically adjusts an engine speed based on the sub-system load information and the selected functional mode of the machine.
2. The machine of claim 1, further comprising a scrub motor that is operably coupled to the power module, the scrub motor having a scrub element that is movable by an actuator, wherein the power module monitors a current load on the scrub motor and communicates the current load to the MMC, and if the MMC determines that the current load on the scrub motor has transgressed a threshold, the MMC, through the power module, actuates the actuator to lift the scrub element to reduce the load on the scrub motor.
3. The machine of claim 1, further comprising a plurality of individual scrub motors that are operably coupled to the power module, and one or more of the individual scrub motors has a scrub element that is movable by an actuator, and wherein the power module monitors a current load on the individual scrub motors and communicates the current load to the MMC, and if the MMC determines that the current load on one of the individual scrub motors that has an actuator has transgressed a threshold, the MMC, through power module, actuates the actuator for that scrub element to lift the scrub element to reduce the load on the scrub motor.
4. The machine of claim 1, wherein the machine is a surface cleaning machine, and the functional modes include at least two of sweeping, scrubbing, recovering, idling and transporting.
5. The machine of claim 1, wherein the machine is a hybrid machine having both fuel-powered and battery-powered modes.
6. The machine of claim 1, further comprising a second sub-system, and wherein the power module monitors the load across the first and second sub-systems without individual current sensors operably coupled to each of the first and second sub-systems.
7. The machine of claim 1, wherein the first sub-system is a steering module and the second sub-system is a drive module.
8. The machine of claim 1, wherein the monitored load is a measured current level.
9. The machine of claim 1, further comprising a first set of motors that are operably coupled to the power module, wherein power provided to the first set of motors is adjustable by pulse width modulation (PWM), wherein the power module monitors a load on at least some of the motors of the first set of motors, and communicates the load to the MMC, and if the MMC determines that the load on one of the monitored motors has transgressed a load threshold, the PWM is adjusted to reduce an output of the motor that transgressed the load threshold.
10. The machine of claim 9, further comprising a second power module operably coupled to the MMC by a second CAN bus, the second power module operably coupled to a second set of motors, wherein power to the second set of motors is adjustable by pulse width modulation (PWM), and wherein the second power module monitors a load on at least one of the motors of the second set of motors, and communicates the load to the MMC, and if the MMC determines that the load on one of the monitored motors has transgressed a second threshold, the PWM is adjusted to reduce an output of that motor.
11. A method for controlling a motive machine having a main machine controller (MMC) operably coupled to a power module by a CAN bus, the method comprising:
- controlling, based on a functional mode of the machine, an engine revolutions per minute (RPM) of an engine to a default engine RPM;
- receiving, from the power module, load information corresponding to a load of a sub-system operably coupled to the power module; and
- automatically adjusting the engine RPM based on the sub-system load information and the functional mode of the machine.
12. The method of claim 11, wherein the power module is operably coupled to a scrub motor having a scrub element that is movable by an actuator, the method further comprising:
- monitoring, with the power module, a current load on the scrub motor;
- communicating, from the power module to the MMC, the current load on the scrub motor; and
- determining, with the MMC, if the current load has transgressed a threshold, and if the threshold has been transgressed, causing the actuator to be actuated to lift the scrub element to reduce the load on the motor by decreasing a force on the scrub element.
13. The method of claim 11, wherein the method further comprises:
- receiving an indication from the MMC, at the power module, to power one or more motors of a set of motors that are operably coupled to the power module;
- providing power, with the power module, by pulse width modulation (PWM) to the one or more motors;
- monitoring, with the power module, a load on the one or more motors;
- determining, with the MMC using the monitored load from the power module, if any of the one or more motors has transgressed a load threshold; and
- if the load threshold has been transgressed by any of the one or more motors, adjusting, with the power module, the power provided to the one or more motors that transgressed the load threshold to reduce an output thereof.
14. The method of claim 13, the motive machine further including a second power module operably coupled to the MMC by a second CAN bus, the method further comprising:
- receiving an indication from the MMC, at a second power module, to power one or more motors of a second set of motors that are operably coupled to the second power module;
- providing power, with the second power module, by pulse width modulation (PWM) to the one or more motors of the second set of motors;
- monitoring, with the second power module, a load on the one or more motors of the second set of motors;
- determining, with the MMC using the monitored load from the second power module, if any of the one or more motors of the second set of motors has transgressed a second load threshold; and
- if the second load threshold has been transgressed by any of the one or more motors of the second set of motors, adjusting, with the second power module, the power provided to the motor that transgressed the second load threshold to reduce the output thereof.
15. At least one machine-readable medium including instructions for a main machine controller (MMC) to operate a control system for a motive machine, the motive machine having a power module and a sub-system operably coupled to the MMC by a CAN bus, and the instructions, when executed by a processor, cause the processor to:
- control, based on a selected functional mode of the machine, an engine speed of an engine to a default engine speed;
- receive, from the power module via the CAN bus, load information corresponding to a load of the sub-system; and
- automatically adjust the engine speed based on the sub-system load information and the selected functional mode of the machine.
16. The at least one machine-readable medium of claim 15, wherein the power module is operably coupled to a scrub motor having a scrub element that is movable by an actuator, the instructions, when executed by a processor, further cause the processor to:
- monitor, with the power module, a current load on the scrub motor; and communicate to the MMC the current load; and
- determine, with the MMC, if the current load on the scrub motor has transgressed a threshold, and if the threshold has been transgressed, cause the actuator to be actuated to lift the scrub element to reduce the load on the motor by decreasing a force on the scrub element.
17. The at least one machine-readable medium of claim 15, the instructions, when executed by a processor, further cause the processor to:
- receive, from a user input, an indication to power one or more motors of a first set of that are operably coupled to the power module;
- provide power, with the power module, by pulse width modulation (PWM) to the one or more motors;
- monitor, with the power module, a load on the one or more motors;
- determine, with the power module, if any of the one or more motors transgressed a load threshold; and
- if the load threshold has been transgressed by any of the one or more motors, adjust, with the power module, the power provided to the motor that transgressed the load threshold to reduce an output thereof.
18. The at least one machine-readable medium of claim 15, the motive machine further having a second power module operably coupled to the MMC by a second CAN bus, the instructions, when executed by a processor, further cause the processor to:
- receive, from a user input, an indication, t, to power one or more motors of a second set of motors that are operably coupled to the second power module;
- provide power, with the second power module, by pulse width modulation (PWM) to the one or more motors of the second set of motors;
- monitor, with the second power module, a load on one or more motors of the second set of motors;
- determine, with the second power module, if any of the one or more motors of the second set of motors has transgressed a second load threshold; and
- if the second load threshold has been transgressed by any of the one or more motors of the second set of motors, adjust, with the second power module, the power provided to the motor that transgressed the second load threshold to reduce an output thereof.
19. The at least one machine-readable medium of claim 15, wherein the instructions when executed by a processor, further cause the processor to perform at least two of: sweeping, scrubbing, recovering, idling and transporting, depending on a functional mode of the machine selected by a user.
20. A motive machine that is selectively operable in a plurality of functional modes, the machine comprising:
- an engine;
- a main machine controller (MMC) operably coupled to the engine;
- a power module operably coupled to the MMC by a controller area network (CAN) bus;
- a sub-system operably coupled to the power module by the CAN bus, wherein the power module monitors a load of the sub-system, and using the monitored load of the sub-system, the power module communicates sub-system load information to the MMC; and a solenoid associated with the power module, wherein the solenoid protects the machine in case of a short, and wherein the output from the power module is switched on when a high side current switch of the solenoid closes, and wherein the solenoid closes after power on self-tests of the machine have been successfully completed and no shorts or errors have been identified.
Type: Application
Filed: Jun 20, 2017
Publication Date: Dec 20, 2018
Inventors: Hanafi Habbas (Blaine, MN), Ganesh Borra (Plymouth, MN), Chris Parker (Plymouth, MN)
Application Number: 15/628,283