Method for controlled loading with a self-propelled work vehicle and self-propelled work vehicle

Abstract

This invention relates to a method for controlled loading using a self-propelled work vehicle and to the self-propelled work vehicle itself. The self-propelled work vehicle includes at least one work attachment and a grounding unit supporting a main frame. The at least one work attachment is movable relative to the main frame for loading and unloading materials in a loading area outside the work vehicle. Position input of the loading area relative to the main frame and / or the at least one work attachment is detected using at least one detector (e.g., a camera and / or a vehicle motion sensor). A trigger input associated with a transition of the work vehicle from a first operating state to an automated second operating state is detected. In this second operating state, at least the movement of the main frame and / or the at least one work attachment is automatically controlled relative to a defined reference associated with the loading area. Such a system and method facilitate loading operations and thus improve productivity regardless of operator experience.

Description

Technical Field

[0001] This disclosure generally relates to self-propelled work vehicles, and more specifically to systems and methods for selectively automating vehicle movement and / or work attachment movement during designated portions of a loading operation. Background Technology

[0002] For illustrative purposes, the term "self-propelled work vehicle" as discussed herein may specifically refer to wheeled loaders, but may also include, for example, excavators, forestry machinery, and other equipment that alters the terrain or equivalent working environment in some way. These work vehicles may have tracked or wheeled grounding units that support a ground-supported underframe, and may also include one or more work attachments for transporting material from one location to an unloading area, for example, associated with a truck or hopper.

[0003] Those skilled in the art will recognize the ongoing challenges in finding experienced operators for certain conventional self-propelled work vehicles. With wheel loaders, an example of such work vehicles, a particularly challenging part of the operating cycle for novice operators is approaching and loading the loading area, for example, associated with a truck or hopper. Novice operators can typically learn the “digging” part of the operating cycle relatively quickly, but often hesitate for some time when approaching the truck or hopper.

[0004] As an example, an operation to unload bulk material from an attachment (e.g., a bucket) of a work vehicle may include pivoting movement of the attachment relative to the main frame and loading area of ​​the work vehicle, and also includes movement of the work vehicle itself relative to the ground and loading area. Therefore, it is important to note that the attachment and / or other parts of the work vehicle do not collide with the loading area during the unloading operation, which may include not only the attachment approaching the loading area but also the attachment's retraction after the unloading of the bulk material is complete.

[0005] Furthermore, operators of work vehicles often fail to accurately estimate the appropriate weight of bulk material for a specific loading area (e.g., associated with a transport vehicle) or the appropriate bulk material arrangement / height relative to the loading area. Excessive loading can, for example, affect traffic safety, while insufficient loading is economically disadvantageous. Therefore, it would be desirable to pay closer attention to arranging the unloading of bulk material and / or correcting its distribution within the loading area to achieve maximum load without adversely affecting traffic safety. Summary of the Invention

[0006] This disclosure provides improvements over conventional systems, at least in part, by introducing novel systems and methods for selectively loading auxiliary features.

[0007] An exemplary purpose of this loading assistance feature could be to add value to customers by automating multiple aspects of truck loading operations, which relate to the movement of control attachments (e.g., boom) and the stopping distance of the work vehicle relative to the truck. For illustrative purposes, referring to wheel loader applications, the systems and methods disclosed herein can, for example, use a stereo camera to identify and measure the distance from the wheel loader to the truck or bucket. When the operator triggers the feature using, for example, an existing interface tool (e.g., a boom height extension pawl), the feature automatically engages and subsequently synchronizes the movements of the boom and wheels, ensuring that the boom reaches the correct height when the loader arrives at the truck.

[0008] The systems and methods disclosed in this paper can also limit the movement of the drivetrain, so that the loader stops smoothly at exactly the correct distance to dump the load into the truck.

[0009] Once the approach to the truck has been completed, other aspects of the dumping cycle, as further disclosed herein, can also be automated to gain added value.

[0010] Therefore, the systems and methods disclosed herein can provide site owners with increased confidence that even new operators will not allow truck beds or hoppers to come into contact with loader buckets when loading them.

[0011] The systems and methods disclosed herein can also facilitate loading operations for novice operators who may only need to drive to the truck, where linkages and parking distances are automated for novice operators.

[0012] Site owners can further expect to experience higher and more consistent productivity, regardless of the experience level of the equipment operators.

[0013] In one embodiment, a computer-implemented method as disclosed herein is provided for controlled loading using a self-propelled work vehicle including at least one work attachment and a plurality of grounding units supporting a main frame. The at least one work attachment is movable relative to the main frame and configured to load and unload material in a loading area outside the work vehicle. One or more position inputs of the loading area relative to the main frame and / or the at least one work attachment are detected via at least one detector associated with the work vehicle. A trigger input associated with a transition of the work vehicle from a first operating state to an automated second operating state is detected. In the second operating state, at least the movement of the main frame and / or the at least one work attachment relative to a defined reference associated with the loading area is automatically controlled.

[0014] In one exemplary aspect of the above embodiments, detecting one or more location inputs may include capturing an image via an imaging device and detecting loading region parameters from the captured image.

[0015] The detected loading area parameters may also include one or more outlines of the loading area and any one or more objects corresponding to the material currently loaded in the loading area.

[0016] The detected loading area parameters may also include the material distribution currently loaded in the loading area. In the second working state, the method further includes automatically controlling the movement of the main frame and / or the at least one working attachment to unload materials into the loading area according to the detected material distribution.

[0017] In another exemplary aspect of the above embodiments, the method may further include, in the second operating state: comparing the detected material distribution with a target loading profile; and based on the comparison, at least selectively controlling the movement of the main frame and / or the at least one working attachment in a trajectory passing through a reference plane associated with the loading area.

[0018] In another exemplary aspect of the above embodiments, the loading area may be associated with a loading vehicle. The target loading distribution may be further determined in association with the identified locations of one or more load vehicle tires and / or load vehicle axles.

[0019] In another exemplary aspect of the above embodiments, the at least one detector may further include a vehicle motion sensor.

[0020] In another exemplary aspect of the above embodiments, the method may further include: determining that new input from the imaging device is unavailable; and estimating the current position of the loading area relative to the main frame and / or at least one working attachment, based at least on input from the vehicle motion sensor and the last input from the imaging device.

[0021] In another exemplary aspect of the above embodiments, the position input of the loading area may correspond to one or more of the following: the distance between the loading area and the main frame; the distance between the loading area and the at least one working attachment; the height of the material receiving portion of the loading area; and the orientation of the loading area relative to the main frame and / or the at least one working attachment.

[0022] In another exemplary aspect of the above embodiments, the trigger input may include a signal that is manually activated via a user interface.

[0023] In another exemplary aspect of the above embodiments, the trigger input may be automatically detected based on an identified threshold condition corresponding to one or more of the following: the position of the at least one work attachment relative to the main frame; the distance between the loading area and the main frame; and the distance between the loading area and the at least one work attachment.

[0024] In another exemplary aspect of the above embodiments, the method may further include, in the second operating state: determining a first trajectory for moving the plurality of grounding units from the current operating vehicle speed to a stopped operating vehicle speed, the first trajectory being associated with the defining reference associated with the loading area; determining a second trajectory for moving one or more of the at least one operating attachments from a current operating attachment position to an unloading position at the stopped operating vehicle speed; and automatically controlling the movement of the plurality of grounding units according to the first trajectory and automatically controlling the movement of the one or more operating attachments according to the second trajectory.

[0025] The second trajectory may be determined in part based on the height of the detected loading area.

[0026] Further or alternatively, the second trajectory may be determined based on the detected profile of material previously loaded in the loading area.

[0027] In another exemplary aspect of the above embodiments, the method may further include: detecting a second trigger input associated with the completion of the second working state and the transition of the work vehicle to an automated third working state. In the third working state, movement of at least the main frame and / or the at least one work attachment may be automatically controlled to move away from the loading area and avoid contact with the loading area.

[0028] The method may further include: in the third working state, controlling the movement of at least one of the at least one work attachment to further transition to the first working state.

[0029] In another embodiment disclosed herein, the self-propelled work vehicle includes: a plurality of grounding units supporting a main frame; at least one work attachment movable relative to the main frame and configured to load material and unload squirrel material in a loading area outside the work vehicle; and at least one detector configured to detect one or more position inputs of the loading area relative to the main frame and / or at least one work attachment.

[0030] A controller is also provided, which is configured to detect trigger inputs associated with a transition of the work vehicle from a first working state to an automated second working state, and in the second working state, the controller is configured to at least automatically control the movement of the main frame and / or the at least one work attachment relative to a defined reference associated with the loading area.

[0031] The controller may further optionally be configured to guide the execution of some or all of the steps in the associated exemplary aspects.

[0032] Many objects, features, and advantages of the embodiments set forth herein will be apparent to those skilled in the art when the following disclosure is read in conjunction with the accompanying drawings. Attached Figure Description

[0033] Figure 1 This is a side view of an exemplary embodiment of the self-propelled work vehicle and loading area according to the present disclosure.

[0034] Figure 2 Approaching the loading area from the side Figure 1 A top view of a self-propelled work vehicle.

[0035] Figure 3 yes Figure 1 A top view of a self-propelled work vehicle, showing the material being loaded in different parts of the loading area.

[0036] Figure 4 yes Figure 1 A side view of an exemplary embodiment of a self-propelled work vehicle and a loading area, but in which an illustrative stockpile of material extends above a threshold plane associated with the loading area.

[0037] Figure 5 This is a block diagram illustrating a control system according to an embodiment of the present disclosure.

[0038] Figure 6 This is a flowchart illustrating an exemplary method according to an embodiment of the present disclosure. Detailed Implementation

[0039] Now for reference Figures 1 to 6 Various embodiments of the systems and methods of the present invention can now be described.

[0040] The specific embodiments disclosed herein Figures 1 to 4A representative self-propelled work vehicle 100, for example in the form of a loader, is shown, which has a forward working attachment 120 for modifying adjacent terrain. Within the scope of this disclosure, the work vehicle 100 can be in the form of any other self-propelled vehicle that uses the working attachment to modify adjacent terrain and carry material from the terrain for loading into a loading area 10, and is generally designed for off-highway environments, such as construction or forestry vehicles. In the illustrated embodiment, the loading area 10 is associated with a truck and typically includes a loading surface 15 surrounded by a plurality of walls 60 and an opening area opposite the base to accommodate the unloading of material 16 into the loading area.

[0041] The work vehicle 100 shown includes a main frame 132 supported by a first pair of wheels as a left grounding unit 122 and a second pair of wheels as a right grounding unit 124, and at least one travel motor (not shown) for driving the grounding units.

[0042] The working attachment 120 for the illustrated self-propelled work vehicle 100 includes a front-mounted loader bucket 120 coupled to a boom assembly 102. The loader bucket 120 is generally oriented away from the operator of the loader 100 and is movably coupled to a main frame 132 via the boom assembly 102 for shoveling, transporting, and dumping, for example, dust and other materials, into a loading area 10, for example, associated with an articulated dump truck. In an alternative embodiment where the self-propelled work vehicle is, for example, a tracked excavator, the boom assembly 102 may be defined as including at least a boom and an arm pivotally connected to the boom. In this example, the boom is pivotally attached to the main frame 132 to pivot relative to the main frame 132 about a generally horizontal axis. A coupling mechanism may be located at the end of the boom assembly 102 and configured for coupling to the working attachment 120, which may also be characterized as a working tool, and in various embodiments, the boom assembly 102 may be configured for engaging and securing attachments 120 of various types and / or sizes.

[0043] In other embodiments, depending on the type of, for example, self-propelled work vehicle 100, work attachment 120 may take other suitable forms as understood by those skilled in the art, but for the purposes of this disclosure, work attachment 120 will be included for transporting material from a first location to unload or otherwise unload it into a second location which is a loading area (e.g., a truck or hopper).

[0044] The cab can be located on the main frame 132. Both the cab and boom assembly 102 (or directly the work attachment 120, depending on the type of work vehicle 100) can be mounted on the main frame 132 such that the cab faces the working direction of the work attachment 120. A console including a user interface 116 can be located in the cab. As used herein, the orientation relative to the work vehicle 100 can be referenced from the perspective of the operator seated in the cab; the left side of the work vehicle is the operator's left side, the right side of the work vehicle is the operator's right side, the front (or front) portion of the work vehicle is the direction the operator is facing, the rear (or rear) portion of the work vehicle is behind the operator, the top of the work vehicle is above the operator, and the bottom of the work vehicle is below the operator.

[0045] The user interface 116 described herein may be provided as part of a display unit configured to graphically display markers, data, and other information, and in some embodiments may further provide additional outputs from the system, such as indicator lights, audible alarms, etc. The user interface may further or optionally include various controls or user inputs (e.g., steering wheel, joystick, lever, buttons) 208 for operating the work vehicle 100, including the operation of the engine, hydraulic cylinders, etc. Such an onboard user interface may be coupled to the vehicle control system via, for example, a CAN bus arrangement or other equivalent forms of electrical and / or electromechanical signal transmission. Another form of user interface (not shown) may take the form of a display unit generated on a remote (i.e., offboard) computing device, which may display outputs such as status indications and / or otherwise enable user interaction, such as providing input to the system. In the context of a remote user interface, data transmission between, for example, the vehicle control system and the user interface may take the form of wireless communication systems and related components conventionally known in the art.

[0046] like Figure 5 As shown, the work vehicle 100 includes a control system 200, which includes a controller 112. The controller 112 may be part of the work vehicle's machine control system, or it may be a separate control module. The controller 112 may include a user interface 116 and may optionally be mounted on a control panel in the cab.

[0047] The controller 112 is configured to receive some or all of the inputs from various sources such as the camera system 202, the work vehicle motion sensor 204, and the machine parameters 206, for example from the user interface and / or the machine control system for the work vehicle (if the machine control system is defined separately from the controller).

[0048] In appropriate embodiments, the camera system 202 may include one or more imaging devices, such as a camera 202 mounted on the self-propelled work vehicle 100 and arranged to capture images corresponding to the area around the self-propelled work vehicle 100. The camera system 202 may include a camera configured to record a raw image stream and send corresponding data to the controller 112. Alternatively or additionally, the camera system 202 may include one or more of an infrared camera, a stereo camera, a PMD camera, etc. The number and orientation of the cameras may vary depending on the type of work vehicle and the associated application, but they may be provided at least relative to an area in the direction of travel of the work vehicle and are configured to capture images associated with the loading area 10 (to which the work vehicle is traveling). The location and size of the image area recorded by the respective camera 202 may depend on the arrangement and orientation of the cameras and the camera lens system, particularly the focal length of the camera lenses, but may ideally be configured to capture substantially the entire loading area 10 during the approach and retraction of the work vehicle and associated attachments during loading operations.

[0049] An exemplary work vehicle motion sensing system 204 may include an inertial measurement unit (IMU) mounted to a corresponding component of the work attachment 120 and / or boom assembly 102 and / or main frame 132, a sensor coupled to a piston-cylinder unit to detect the relative hydraulic actuation extension of the unit, or any known alternatives known to those skilled in the art.

[0050] In various embodiments, additional sensors may be provided to detect machine operating conditions or positioning, including, for example, orientation sensors, global positioning system (GPS) sensors, vehicle speed sensors, vehicle and implement positioning sensors, etc., and one or more of these sensors may be discrete in nature, and the sensor system may also reference signals provided from the machine control system.

[0051] In one embodiment, one or more radio frequency identification (RFID) devices or equivalent wireless transceivers on attachment, loading areas, etc., may be used to supplement any of the aforementioned sensors. Such devices may, for example, be implemented to determine and / or confirm the distance and / or orientation between them.

[0052] Other sensors (not shown) may individually or in combination with one or more of the aforementioned sensors to collectively define the obstacle detection system for improving data collection. Various examples of these sensors may include ultrasonic sensors, laser scanners, radar wave transmitters and receivers, thermal sensors, imaging devices, structured light sensors, other optical sensors, etc. The type and combination of sensors used for obstacle detection may vary depending on the type of work vehicle, work area, and / or application, but are generally provided and configured to optimize the identification of objects adjacent to or otherwise associated with a defined work area and / or associated loading area of ​​the vehicle for a given application.

[0053] Controller 112 can typically cooperate with the aforementioned user interface 116 to display various markings to the operator. The controller can also generate control signals for controlling the operation of corresponding actuators, or signals for indirect control via intermediate control units associated with the machine steering control system 224, machine accessory control system 226, and / or machine travel control system 228. Controller 112 can, for example, generate control signals for controlling the operation of various actuators such as hydraulic motors or hydraulic piston-cylinder units, and the electronic control signals from controller 112 can actually be received by electro-hydraulic control valves associated with the actuators, such that the electro-hydraulic control valves will control the flow of hydraulic fluid to and from the respective hydraulic actuators in response to the control signals from controller 112, thereby controlling the actuation of the hydraulic actuators. Controller 112 can also be communicatively connected to a hydraulic system as a machine accessory control system 226, which can be correspondingly configured to operate the work vehicle 100 and operate accessories 120 connected to the work vehicle 100. These accessories include, but are not limited to, lifting mechanisms, tilting mechanisms, rolling mechanisms, pitching mechanisms, and / or auxiliary mechanisms, and are associated with a given type of accessory or work vehicle application. Controller 202 can also be communicatively connected to a hydraulic system as a machine steering control system 224 and / or a machine travel control system 228, which can be configured to move the work vehicle in forward and reverse directions, move the work vehicle left and right, control the travel speed of the work vehicle, etc.

[0054] The controller 112 includes or may be associated with the following components: a processor 212; a computer-readable medium 214; a communication unit 216; a data storage device 218 such as a database network; and the aforementioned user interface 116 or control panel having a display 210. Input / output devices 208, such as a keyboard, joystick, or other user interface tools, are provided to allow an operator to input commands to the controller 112. It should be understood that the controller 112 described herein may be a single controller having all the described functions, or it may comprise multiple controllers, with the described functions distributed among the multiple controllers.

[0055] The various operations, steps, or algorithms described in conjunction with controller 112 can be embodied directly in hardware, in a computer program product such as a software module executed by processor 212, or in a combination of both. The computer program product can reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or any other form of computer-readable medium 214 known in the art. An exemplary computer-readable medium 214 can be coupled to processor 212, enabling processor 212 to read information from and write information to the memory / storage medium 214. Alternatively, medium 214 can be integrated with processor 212. Processor 212 and medium 214 can reside in an application-specific integrated circuit (ASIC). The ASIC can reside in a user terminal. Alternatively, processor 212 and medium 214 can reside as discrete components in a user terminal.

[0056] As used herein, the term "processor" 212 may refer to at least general-purpose or special-purpose processing controllers and / or logic that can be understood by those skilled in the art, including but not limited to microprocessors, microcontrollers, state machines, etc. Processor 212 may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

[0057] Communication unit 216 may support or provide communication between controller 112 and external systems or devices, and / or support or provide communication interfaces regarding internal components of the self-propelled work vehicle 100. The communication unit may include wireless communication system components (e.g., via a cellular modem, WiFi, Bluetooth, etc.) and / or may include one or more wired communication terminals, such as a Universal Serial Bus port.

[0058] Unless otherwise stated, the data storage 218 discussed herein may typically include hardware (such as volatile or non-volatile storage devices, drives, memory or other storage media) and one or more databases residing on that hardware.

[0059] Next reference Figure 6 The method 300 of the embodiment will now be described. The method 300 of the embodiment is exemplary and does not limit the scope of this disclosure unless specifically indicated otherwise. Those skilled in the art will understand that alternative embodiments may include fewer or additional steps, and some of the disclosed steps may be performed, for example, in a different time order or simultaneously.

[0060] In the initial exemplary steps, method 300 includes: collecting location input (step 310), said location input being, for example, a captured image 312 of loading area 10 and optionally supplemented with sensed motion 314 of work vehicle 100, and further processing said location input 310 and other optional inputs (e.g., user input 316 via a user interface and / or work vehicle operating parameters 318) to detect whether to enter automated operation. This may require, for example, detecting a trigger associated with a desired transition from a first operating state (e.g., manual approach of the work vehicle and associated attachments) to a second operating state (e.g., automation of one or more work vehicle operations including movement of attachments and / or the work vehicle) (step 320). For example, sensor fusion techniques may be implemented to combine image data (e.g., stereo camera measurements) and local vehicle motion measurements to estimate the position of loading area 10.

[0061] In one embodiment, the trigger for initiating or otherwise engaging the automated portion of the method may be a user-provided input, such as using boom height to push out a ratchet interface tool or other equivalent trigger representing proximity to the loading area 10. The trigger can be predetermined based on actions typically taken by the operator as part of the loading and unloading process. Alternatively, the trigger itself may be automatically provided by monitoring the relationship between the location of the loading area and the movement of the work vehicle, such as a threshold distance between the component in the loading area and the work vehicle, a distance further determined considering the component's orientation and / or movement speed, etc.

[0062] In one embodiment, the image processing aspect of method 300 may include processing stereo camera parallax measurement results and stored or otherwise developed models to segment the corresponding measurement results into a floor plane, for example, associated with the loading surface 15 and one or more objects (e.g., material 16 residing on the loading surface and / or loading area wall 60), wherein the processing may take into account the camera's position, orientation, movement speed, etc. In some embodiments, the segmentation may be further improved by known markings (e.g., printed text, barcodes, etc.) associated with the loading area, attachments, or other objects within the image frame. In embodiments where multiple imaging devices may be utilized, the known relative positions and orientations of the imaging devices may be further used to determine the object's position, for example, through triangulation techniques. In short, the controller 112 and / or discrete image processing units (not shown) may, for example, utilize conventional image recognition and processing techniques, floor plane modeling, machine learning algorithms, stored loading area data, etc., to analyze the shape and size of objects, measure the distance from the stereo camera to the object, identify or predict the extent of objects in the image frame, measure the orientation of objects in the image frame, and convert the measurement results from the image frame into a work vehicle frame.

[0063] As an example, an object (e.g., a component of a loading area) can be extracted from various images via two or more captured images in a stereo camera unit, and the distance between the object and the work vehicle 100 can be determined based on triangulation and / or parallax between the objects in the captured images, and the distance can be further converted into coordinates in the work vehicle frame to determine or estimate the relative position and / or orientation of the object relative to the work vehicle 100.

[0064] In some embodiments, the controller 112 may classify detected objects based on, for example, features of the detected objects, image matching, and / or based on a stored model or machine learning classifier that may probabilistically analyze potential object types or features based on the collected images.

[0065] In some embodiments, image processing aspects may be configured and utilized to determine the material distribution in the loading area (step 330).

[0066] In one embodiment, the motion sensing aspect of method 300 may include any one or more of the various techniques further discussed herein, such as implementing a sensor fusion algorithm or an equivalent for combining the various inputs. For example, motion sensing input may be provided by tracking the local motion of the work vehicle 100 using a numerical integral of the vehicle's ground speed. The work vehicle model can be used to predict the turning radius. Sensor input may be implemented from a device associated with an inertial navigation (INS) and / or global positioning camera (GPS), utilizing techniques such as monocular camera technology for visual navigation.

[0067] Figure 6 An embodiment of method 300 shown further includes: upon triggering an autoloading feature, generating a signal (step 340) for at least controlling the approach of the work vehicle 100 and attachments 120 to the loading area 10, the approach being associated with the desired unloading of material 16. This may include, for example: calculating and implementing a trajectory of drivetrain 342 that begins at the current work vehicle position and speed and ends at an appropriate location corresponding to the loading area having zero ground speed; generating and implementing a steering trajectory 344 using visual measurements of the position and orientation of the loading area 10 relative to the work vehicle 100, and dynamically adjusting the steering angle of the work vehicle to follow the trajectory as the work vehicle approaches the loading area; and further calculating and implementing a trajectory of one or more attachments (e.g., via boom cylinders) 346 that begins at the current height and terminates at a loading height substantially synchronized with the arrival of the work vehicle relative to the loading area; and / or applying closed-loop control to ensure that the boom and drivetrain follow the calculated trajectory.

[0068] In one embodiment, the automatic loading feature may include calculating a trajectory based on visual measurements of the height of the loading area (e.g., truck bed) 10 to automatically adjust the height of attachments (e.g., boom lifting height).

[0069] In one embodiment, the method may further include identifying when the camera view is completely or partially obstructed by the current position of, for example, an attachment (e.g., a loader bucket) and / or material piled up in the attachment, based on link attitude or stereo measurement results. In this case, controller 112 may be configured to estimate the position of the loading area based on, for example, vehicle motion since the last valid camera measurement, using only alternative inputs (e.g., vehicle motion measurements).

[0070] The illustrated embodiment of method 300 further includes: upon completion of the trajectory to the loading area, either abandoning the command to the operator or automatically triggering an automatic dumping routine. If manual unloading is suitable for a particular application, method 300 may continue: monitoring any one of one of inputs 312, 314, 316, 318 to obtain triggers from the operator, operation of the work vehicle, etc., associated with the transition from the unloading working state to a subsequent working state, such as the withdrawal of the work vehicle and accessories from the loading area (step 360). If automatic unloading is to be performed in response to the query in step 350, the trigger in step 360 may be automatically detected accordingly in light of the completion of the unloading routine.

[0071] An automatic unloading routine may include (using the context of a loader bucket for illustrative purposes): shifting the work vehicle 100 to neutral; automatically dumping the bucket while raising the boom to prevent it from contacting the loading area; and instructing the operator that dumping is complete and the work vehicle should be shifted to reverse.

[0072] The loading area includes, for example Figures 1 to 4 In the case of the truck bed shown, the controller 112 may be configured with an automatic unloading program to include, for example, visually recognizing the position of the wheels and axles along the truck; and using a load distribution algorithm to modify the position of the loader tipping in the truck so as to evenly distribute the unloaded material from the continuous loader buckets on the truck axles.

[0073] In one embodiment, method 300 may further include a subroutine that automatically detects an imbalance or otherwise inappropriate distribution of bulk material 16 in the loading area 10, and selectively performs one or more functions to level the material in the loading area using, for example, the cutting edge of a loader bucket (step 370) as the operator backs out of the loading area. For example, controller 112 may be configured to compare the detected material distribution with a target loading profile and, based on the comparison, selectively control at least one movement of the main frame and / or at least one working attachment in a trajectory traversing a reference plane 160 associated with the loading area.

[0074] refer to Figures 2 to 4 In one embodiment, the subroutine may include a reference plane 160 or an alternative reference as a threshold relating to the height of the bulk material relative to the wall 60 of the loading area, wherein a violation of the threshold triggers a smooth material movement before the loader bucket retracts. In one embodiment, the subroutine may include detecting imbalances in the bulk material distribution based on, for example, a comparison of the current distribution with a target distribution of the material, without a threshold. The target distribution of the material may be established using a loading routine that includes a predetermined sequence of loading points within the loading area, with a first exemplary point of the loading point in… Figure 3 As shown in the diagram. In this case, the controller 112 may expect to detect bulk material from the previous dumping stage in a designated portion of the loading area, but instead determines that the bulk material is distributed in a different manner and thus performs a smoothing function to correct this imbalance.

[0075] exist Figure 6In the illustrated embodiment, method 300 continues: once a trigger, such as an operator shifting gears to reverse, is detected, a control signal associated with withdrawing the work vehicle and attachments from the loading area is generated (step 380). Such a control signal may be provided, for example, to: control the ground speed (step 382) or steering (step 384) of the loader when it is reversing to prevent the bucket from contacting the loading area 10; control the boom and bucket (step 386) when the loader is reversing from the loading area to prevent the bucket from contacting the loading area 10 (e.g., a truck bed); and return the attachments to a predetermined position based on system settings. For example, during an illustrative and non-limiting withdrawal operation, the bucket may be guided to a digging or transporting position, while the boom may be guided to a transporting position.

[0076] As used in this article, the phrase "one or more" when used with a list of items means that different combinations of one or more items may be used, and it may be necessary to have only one of each item in the list. For example, "one or more" in items A, B, and C may include, but is not limited to, item A or items A and B. The example may also include items A, B, and C, or items B and C.

[0077] Those skilled in the art will understand that when an element is referred to herein as being “connected” to another element, it may be directly connected to the other element, or there may be an intermediate element present.

[0078] Therefore, it can be seen that the apparatus and methods of this disclosure readily achieve the mentioned and inherent purposes and advantages. Although certain preferred embodiments of this disclosure have been shown and described for this purpose, many changes can be made by those skilled in the art to the arrangement and configuration of components and steps, which are included within the scope and spirit of this disclosure as defined by the appended claims. Each feature or embodiment of the disclosure may be combined with any other feature or embodiment of the disclosure.

Claims

1. A method for controlled loading with a self-propelled work vehicle, the method being computer-implemented, the work vehicle comprising: Multiple grounding units supporting the main frame; The method includes at least one working attachment, movable relative to the main frame and configured to load and unload material in a loading area outside the work vehicle, the loading area comprising a loading surface surrounded by a plurality of walls. One or more images of the loading area relative to the main frame and / or the at least one working attachment are captured via at least one imaging device associated with the work vehicle; Autonomously detect one or more visual parameters of the loading region from the captured image; Detect trigger inputs associated with the transition of the work vehicle from a first working state to an automatic second working state; In the second operating state, the position of the loading area relative to the main frame or the at least one working attachment is determined autonomously by using the one or more visual parameters of the loading area, and at least the movement of the main frame relative to a defining reference associated with the loading area and / or the position of the at least one working attachment relative to a defining reference associated with the loading area are automatically controlled.

2. The method of claim 1, wherein, The detected visual parameters include one or more outlines of the loading area and any one or more objects corresponding to the material currently loaded in the loading area.

3. The method of claim 2, wherein, The detected visual parameters include the material distribution currently loaded in the loading area, and the method, in the second working state, further includes at least automatically controlling the movement of the main frame and / or the at least one working attachment to unload material in the loading area according to the detected material distribution.

4. The method of claim 3, the method further comprising, in the second operating state: The detected material distribution is compared with the target loading profile; Based on the comparison, the movement of the main frame and / or at least one working attachment in a trajectory passing through a reference plane associated with the loading area is controlled, at least selectively.

5. The method according to claim 4, wherein: The loading area is associated with the loading vehicle; The target loading profile is determined in association with the identification locations of one or more loading vehicle tires and / or loading vehicle axles.

6. The method of claim 1, wherein, The work vehicle further includes a vehicle motion sensor.

7. The method according to claim 6, further comprising the following steps: It was determined that new input from the imaging device was unavailable; and The current position of the loading area relative to the main frame and / or the at least one working attachment is estimated based at least on inputs from the vehicle motion sensor and the last input from the imaging device.

8. The method of claim 1, wherein, The location of the loading area corresponds to one or more of the following: The distance between the loading area and the main frame; The distance between the loading area and the at least one working attachment; The height of the material receiving portion of the loading area; and The orientation of the loading area relative to the main frame and / or the at least one working attachment.

9. The method of claim 1, wherein, The trigger input includes signals that are manually activated via the user interface.

10. The method of claim 1, wherein, The trigger input is automatically detected based on a recognized threshold condition corresponding to one or more of the following: The position of the at least one work attachment relative to the main frame; The distance between the loading area and the main frame; and The distance between the loading area and the at least one working attachment.

11. The method according to claim 1, wherein the method in the second operating state includes: A first trajectory is determined for moving the plurality of grounding units from the current operating vehicle speed to the stopped operating vehicle speed, the first trajectory being associated with the defined reference associated with the loading area; Determine a second trajectory for moving one or more of the at least one work attachments from their current work attachment position to an unloading position at the speed of the stopped work vehicle; and The movement of the plurality of grounding units is automatically controlled according to the first trajectory, and the movement of one or more of the at least one working attachments is automatically controlled according to the second trajectory.

12. The method of claim 11, wherein, The second trajectory is determined in part based on the height of the detected loading area.

13. The method of claim 12, wherein, The second trajectory is further determined based on the detected profile of material previously loaded in the loading area.

14. The method according to claim 1, wherein the method comprises: Detect a second trigger input associated with the completion of the second working state and the transition of the work vehicle to an automated third working state; In the third working state, at least the movement of the main frame and / or the movement of at least one working attachment are automatically controlled to move away from the loading area and avoid contact with the loading area.

15. The method of claim 14, wherein the method further comprises, in the third working state, at least controlling the movement of the at least one work attachment to further transition to the first working state.

16. A self-propelled work vehicle, comprising: Multiple grounding units supporting the main frame; At least one working attachment is movable relative to the main frame and configured to load and unload material in a loading area outside the working vehicle, the loading area comprising a loading surface surrounded by a plurality of walls; At least one imaging device is configured to detect one or more visual parameters of the loading area relative to the main frame and / or the at least one working attachment; as well as The controller is configured to: Detect trigger inputs associated with the transition of the work vehicle from a first operating state to an automatic second operating state; and In the second operating state, the position of the loading area relative to the main frame or the at least one working attachment is determined autonomously by using the one or more visual parameters of the loading area, and at least the movement of the main frame relative to a defining reference associated with the loading area and / or the position of the at least one working attachment relative to a defining reference associated with the loading area are automatically controlled.

17. The self-propelled work vehicle of claim 16 wherein, The work vehicle further includes a vehicle motion sensor, and the controller is further configured to: It was determined that new input from the imaging device was unavailable; and The current position of the loading area relative to the main frame and / or the at least one working attachment is estimated based at least on inputs from the vehicle motion sensor and the last input from the imaging device.

18. The self-propelled work vehicle according to claim 16, wherein: The controller is configured to operate in the second state: A first trajectory is determined for moving the plurality of grounding units from the current operating vehicle speed to the stopped operating vehicle speed, the first trajectory being associated with the defined reference associated with the loading area; Determine a second trajectory for moving one or more of the at least one work attachments from their current work attachment position to an unloading position at the speed of the stopped work vehicle; and The movement of the plurality of grounding units is automatically controlled according to the first trajectory, and the movement of one or more of the at least one working attachments is automatically controlled according to the second trajectory; and The second trajectory is determined in part based on the height of the detected loading area and / or the profile of the material previously loaded in the loading area.

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