US 12,139,216 B2
System and method for controlling a track system for traction of a vehicle
Etienne Poulin, Sherbrooke (CA); and Alain Lussier, St-Francois Xavier de Brompton (CA)
Assigned to Camso Inc., Magog (CA)
Appl. No. 16/645,340
Filed by Camso Inc., Magog (CA)
PCT Filed Aug. 28, 2018, PCT No. PCT/CA2018/051036
§ 371(c)(1), (2) Date Mar. 6, 2020,
PCT Pub. No. WO2019/046929, PCT Pub. Date Mar. 14, 2019.
Claims priority of provisional application 62/556,101, filed on Sep. 8, 2017.
Prior Publication US 2021/0031844 A1, Feb. 4, 2021
Int. Cl. B62D 55/065 (2006.01); B62D 11/20 (2006.01); B62D 55/084 (2006.01); B62D 55/104 (2006.01); B62D 55/24 (2006.01); G05D 1/00 (2024.01)
CPC B62D 55/065 (2013.01) [B62D 11/20 (2013.01); B62D 55/084 (2013.01); B62D 55/104 (2013.01); B62D 55/244 (2013.01); G05D 1/0016 (2013.01); B62D 55/0655 (2013.01)] 45 Claims
OG exemplary drawing
 
1. A control system for a vehicle, the vehicle comprising a frame extending in a longitudinal direction of the vehicle and a track system for traction of the vehicle, the track system comprising:
a track comprising a ground-engaging outer side and an inner side opposite to the ground-engaging outer side; and
a track-engaging assembly for driving and guiding the track around the track-engaging assembly, the track-engaging assembly comprising:
a frame; and
a drive wheel for imparting motion to the track;
the track system being pivotable relative to the frame of the vehicle about a steering axis by a steering mechanism of the vehicle to vary a steering angle of the track system in order to steer the vehicle, the track system being pivotable about a pivot axis relative to the frame of the vehicle such that longitudinal ends of the track system move vertically, wherein an angle of attack is defined between a bottom run of the ground-engaging outer side of the track and the frame, the control system comprising:
an actuator connectable to the track system; and
a processing entity comprising one or more processors and one or more memories, the one or more memories storing relationships between one or more system values of:
a speed of the vehicle,
a direction of motion of the vehicle,
the steering angle,
loading on the track system, and
a characteristic of the ground, with:
a value of the angle of attack,
the processing entity configured to control the actuator as a function of the one or more system values while the vehicle travels forward for controlling a pivoting movement of the track system about the pivot axis relative to the frame of the vehicle to adjust the angle of attack while the vehicle travels forward.