System and method for truck loading assistance for work machines

Abstract

The present disclosure relates to systems and methods for truck loading assistance for work machines. A system and method for evenly distributing a material load in a loading container of a transport vehicle (e.g., an articulated dump truck) by a work machine (e.g., an excavator) is provided. At least one sensor mounted on the work machine generates data corresponding to at least a portion of the loading container. The captured data is processed to determine a current profile of the material loaded in the loading container, wherein an output signal is generated corresponding to a difference between the current profile of the material loaded in the loading container and a predetermined target profile. In certain embodiments, the output signal is used to assist a driver of the work machine in a manual loading by way of a vehicle-mounted display unit and an overlay image associated with the current and / or target profile. In other embodiments, the output signal automatically controls at least a portion of the loading process.

Description

Technical Field

[0001] This disclosure generally relates to working machinery for loading materials onto transport vehicles (such as articulated dump trucks), and more specifically to systems and methods for assisting in the real-time distribution of material load during loading. Background Technology

[0002] The working machinery discussed in this article may specifically refer to excavators for illustrative purposes, but may also include, for example, various other self-propelled or other machinery and equipment that alter the terrain or equivalent working environment in some way and are further responsible for loading materials from adjacent terrain into transport vehicles for delivery to individual dumping sites. Tracked or wheeled ground engagement units support a chassis from the ground, and the chassis may typically further support one or more working implements (also referred to in some contexts or otherwise as attachments or linkage assemblies) for digging or otherwise extracting materials from the terrain and selectively discharging the materials into a loading area associated with a transport vehicle, such as the container of an articulated dump truck.

[0003] One common technique to facilitate the loading process is to load the transport vehicle from an elevated position; this is known as platform loading. However, such an arrangement is impractical most of the time. Therefore, when the operating machinery is required to load the transport vehicle from an equivalent position (e.g., both on flat ground), the visibility of the loading container (e.g., the truck bed) to the driver of the operating machinery is essentially limited.

[0004] In this arrangement, an expert driver is still typically able to distribute the load, thus substantially balancing the material distribution across the loading container from front to back and from side to side during the loading process. However, few conventional systems are available to assist this process, a problem that is particularly relevant when relatively inexperienced drivers are used to perform the loading. Payload weighing systems are well known in the art for transport vehicles such as articulated dump trucks, but these systems provide only single-point measurements and cannot effectively represent variations in weight distribution across the entire loading container. Summary of the Invention

[0005] This disclosure enhances conventional systems, at least in part, by introducing novel systems and methods for scanning the contents of loading containers and providing driver assistance (e.g., showing the driver which side of the loading container is relatively light or heavy). Therefore, various embodiments of such systems and methods disclosed herein ensure that the transport vehicle is full and the material is uniformly distributed, thereby addressing known deficiencies in visibility and real-time feedback in conventional applications.

[0006] In one embodiment, a method as disclosed herein is provided to assist a work machine (e.g., an excavator) having at least one material loading implement in distributing material loads into a loading container of a transport vehicle (e.g., an articulated dump truck). For example, the implement may be configured to rotate about a vertical axis relative to the chassis of the work machine. At least one sensor mounted on the work machine generates data corresponding to at least a portion of the loading container. Exemplary data from such sensors may include digital images generated from a suitably positioned stereo camera, and in some embodiments may include, for example, data for generating point clouds from a high-resolution mapping radar sensor, etc. The captured data is used at least to determine the current contour of the material loaded in the loading container, and an output signal corresponding to the difference between the current contour of the material loaded in the loading container and a predetermined target contour is generated.

[0007] In one exemplary aspect of the above embodiments, an output signal may be generated to the display unit to display markers corresponding to the current contour and the predetermined target contour. The image displayed on the display unit may, for example, include a first image layer corresponding to an image of the loading container captured by one or more of at least one sensor, and further include a second image layer superimposed relative to the first image layer, the second image layer including markers corresponding to the current contour and the predetermined target contour. Depending on the relative positions of the sensors, the displayed image may include one-dimensional markers and / or, for example, a two-dimensional topographic map.

[0008] In another exemplary aspect of the above embodiments, an output signal may be generated to a display unit to display a marker indicating the recommended material discharge location or trajectory in the loading container. The recommended discharge location or trajectory in the loading container may, for example, be determined at least in part based on a stored loading program.

[0009] In another exemplary aspect of the above embodiments, the method may include: dynamically highlighting multiple portions of an image displayed on the unit based on the recommended discharge location or trajectory in the loading container and further based on the detected current position of at least a portion of the working implement.

[0010] In another exemplary aspect of the above embodiments, the stored loading program for loading operations can be selectively retrieved based on one or more parameters detected that are associated with the loading container, the transport vehicle, and the material being loaded.

[0011] In another exemplary aspect of the embodiments described above, an output signal can be generated to automatically control at least a portion of the loading process. Control data for at least a portion of the loading process can be selectively retrieved from a data storage device, for example, based on detected parameters associated with one or more of the loading container, transport vehicle, and the material being loaded.

[0012] In another exemplary aspect of the above embodiments, the method may include: detecting a relative position and / or distance relative to one or more points of the loading container based on signals received from the transport vehicle; and implementing the detected relative position and / or distance to determine the current profile of the material loaded in the loading container.

[0013] In another embodiment disclosed herein, a system is provided for assisting material loading according to the above method embodiments and optionally further exemplary aspects.

[0014] The system may include, for example, a controller associated with the working machinery, which receives data from the sensors and guides the execution of operations according to embodiments and optional aspects of the method.

[0015] Alternatively, the system may include a remote computing device, either independently or functionally in communication with the onboard controller of the working machinery, which receives data from sensors and guides the execution of operations according to the method embodiments and optional aspects.

[0016] 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

[0017] Figure 1 This is a side view showing an exemplary operating machine according to the present disclosure.

[0018] Figure 2 This is a side view showing an exemplary transport vehicle according to this disclosure.

[0019] Figure 3 This indicates that the sensor is located Figure 1 A 3D view of the operating machinery, the sensor scans the equipment mounted on... Figure 2 The outline of the materials on the transport vehicle.

[0020] Figure 4 This is a block diagram illustrating a control system for a work machine according to an embodiment of the present disclosure.

[0021] Figure 5 yes Figure 3 The perspective view further illustrates an exemplary visual model for displaying the outline of the loaded material.

[0022] Figure 6 This is a flowchart illustrating an exemplary method according to an embodiment of the present disclosure. Detailed Implementation

[0023] Now for reference Figures 1 to 6 Various embodiments of the systems and methods of the present invention can now be described.

[0024] Figure 1 A representative work machine 20 is shown, which, in a particular embodiment disclosed herein, is, for example, in the form of a tracked excavator. The work machine 20 includes a chassis 22 having first and second ground engagement units 24 driven by first and second travel motors (not shown), respectively.

[0025] The main frame 32 is supported from the chassis 22 by a slewing bearing 34, allowing the main frame 32 to pivot relative to the chassis 22 about a pivot axis 36. The pivot axis 36 is substantially vertical when the ground 38, engaged by the ground engagement unit 24, is substantially horizontal. A slewing motor (not shown) is configured to pivot the main frame 32 on the slewing bearing 34 relative to the chassis 22 about the pivot axis 36.

[0026] In the context of working machinery 20, working implement 42 includes a boom assembly having: a boom 44; a boom 46 pivotally connected to the boom 44; and a tool 48. The term "implementation" may be used herein to collectively describe the boom assembly (or its equivalents) or to describe individual elements of the boom assembly or its equivalents. The boom 44 is pivotally attached to the main frame 32 to pivot relative to the main frame 32 about a generally horizontal axis. The tool in this embodiment is an excavator shovel (or bucket) 48 pivotally connected to the boom 46. The boom assembly extends from the main frame 32 along the working direction of the boom assembly 42. The working direction may also be described as the working direction of the boom 44. As described herein, control of the working implement 42 may involve control of any one or more associated components (e.g., boom 44, boom 46, tool 48).

[0027] Within the scope of this disclosure, the working machinery 20 can take various alternative forms and further utilize alternative working implements 42 to modify the adjacent terrain.

[0028] exist Figure 1In this embodiment, the first and second ground engagement units 24 are tracked ground engagement units, although various alternative embodiments of the work machinery 20 are contemplated, wherein the ground engagement unit 24 may be a wheeled ground engagement unit. Each tracked ground engagement unit 24 includes a guide wheel 52, a drive sprocket 54, and a track chain 56 extending around the guide wheel 52 and the drive sprocket 54. A travel motor of each tracked ground engagement unit 24 drives its respective drive sprocket 54. Each tracked ground engagement unit 24 is shown having a forward travel direction 58 defined from the drive sprocket 54 toward the guide wheel 52. The forward travel direction 58 of the tracked ground engagement unit 24 also defines a forward travel direction 58 of the chassis 22, and thus defines a forward travel direction 58 of the work machinery 20. In some applications (including uphill driving, which will be discussed further below), the orientation of chassis 22 can be reversed, such that the direction of travel of work machinery 20 is limited from guide wheel 52 toward its corresponding drive sprocket 54, while work implement 42 remains in front of chassis 22 in the direction of travel.

[0029] Although the excavator as working machinery 20 is self-propelled according to the above-mentioned components, other forms of working machinery 20 that are not self-propelled can be conceived within the scope of this disclosure, unless otherwise specifically indicated.

[0030] The cab 60 may be located on the main frame 32. Both the cab 60 and the working implement 42 (e.g., boom assembly) may be mounted on the main frame 32 such that the cab 60 faces the working direction 58 of the boom assembly. A control console (not shown) may be located in the cab 60. The control console may include or be associated with a user interface further described below. As used herein, the orientation of the working implement 20 may be referenced from the perspective of the driver seated in the cab 60; the left side of the working implement is the driver's left side, the right side of the working implement is the driver's right side, the front end (or front end) of the working implement is the direction the driver is facing, the rear end (or rear end) of the working implement is behind the driver, the top of the working implement is above the driver, and the bottom of the working implement is below the driver.

[0031] An engine 64, which powers the work machinery 20, is also mounted on the main frame 32. The engine 64 may be a diesel internal combustion engine, but is not limited to this, and within the scope of this disclosure, the work machinery 20 may alternatively be driven by a non-combustion power source (not shown). The engine 64 may drive a hydraulic pump to provide hydraulic power to various operating systems of the work machinery 20.

[0032] Shown as Figure 2The articulated dump truck 10 may include multiple wheels and associated axles, as well as a frame 12 supporting a loading container 14 (e.g., a cargo box), which has a loading surface at the bottom of an interior area surrounded by sidewalls and a top edge, at least a portion of which may generally be parallel to the ground. A hydraulic piston-cylinder unit 16 may be coupled between the frame 12 and the loading container 14 and configured to selectively extend and raise / pivot the loading container 14 rearward to a tilting position, and to retract and lower / pivot the loading container 14 forward from the tilting position to a driving and loading position (as shown). The driver's cab 18 of the transport vehicle 10 can be located on the frame 12. The orientation of the transport vehicle 10 can be referenced from the perspective of the driver sitting in the driver's cab 18. The left side of the transport vehicle is the driver's left side, the right side of the transport vehicle is the driver's right side, the front part (or front end) of the transport vehicle is the direction the driver is facing, the rear part (or rear end) of the transport vehicle is behind the driver, the top of the transport vehicle is above the driver, and the bottom of the transport vehicle is below the driver.

[0033] Next reference Figure 3 Sensor 104 ( Figure 1 A sensor 104 (not shown) (e.g., but not limited to a stereo camera) can be mounted on the work machinery 20 according to this disclosure. The position of the sensor 104 can be selected such that, during at least a portion of a material loading operation as a first working state, the field of view 106 surrounds the loading container 14 of the transport vehicle 10, in which the surface of the loading container 14 retracts to a substantially horizontal orientation as shown, and the position of the sensor 104 can preferably be selected such that the field of view 106 surrounds all four top edges of the loading container 14. Figure 3 As shown, the operating machinery 20 is at the same level relative to the transport vehicle 10; however, it will be understood that in various loading applications, the operating machinery 20 may be in an elevated position relative to the transport vehicle 10 and / or in various corresponding orientations relative to each other. In some embodiments, multiple sensors 104 or positionally movable or reconfigurable sensors 104 may be provided to address potential differences in relative height, position, and orientation relative to the transport vehicle during loading.

[0034] like Figure 4 As shown, the operating machinery 20 includes a control system with a controller 112. The controller 112 may be part of the mechanical control system of the operating machinery 20, or it may be a separate control module.

[0035] As described above, the controller 112 is configured to receive input signals from some or all of a variety of sensors 104, which may be, for example, cameras that collectively define the imaging system. Sensors 104 may include cameras configured to record raw image streams and transmit corresponding data to the controller 112. Alternatively or additionally, sensors 104 may include one or more of an infrared camera, a stereo camera, a PMD camera, etc. Those skilled in the art will understand that, within the scope of this disclosure, high-resolution light detection and ranging (LiDAR) scanners, radar detectors, laser scanners, etc., can be implemented as sensors 104. The number and orientation of the sensors 104 may vary depending on the type of work machinery 20 and the associated application, but they may be provided at least in an area relative to the direction of travel of the work machinery 20 and are configured to capture data (e.g., images, point clouds, etc.) associated with a loading area (e.g., loading container 14) near the work machinery 20.

[0036] The location and size of the image area recorded by the corresponding camera, which is sensor 104, may depend on the arrangement and orientation of the camera and camera lens system (particularly the focal length of the camera lens), but can be desirously configured to capture, for example, the substantially entire loading area associated with loading container 14 throughout the loading operation. Those skilled in the art will also understand that, if a given sensor 104 is properly configured, image data processing functions can be performed separately at that given sensor 104, and these image data processing functions can typically also include, or otherwise include, at least some image data processing performed by a controller or other downstream data processor. For example, by using image data processing tools known in the art in conjunction with the disclosed objectives, image data from any one or more sensors 104 can be provided for 3D point cloud generation, image segmentation, object depiction, and classification, etc.

[0037] The controller 112 of the operating machinery 20 can be configured to generate output (as further described below) to a user interface 114 associated with a display unit 118 for display to the operator. The controller 112 can be configured to receive input from the user interface 114, such as user input provided via the user interface 114. Figure 4Not specifically shown herein, in some embodiments, the controller 112 of the work machinery 20 may also receive input from a remote device associated with a user via a corresponding user interface (e.g., a display unit with a touchscreen interface) and generate output to the remote device. Data transmission between, for example, the vehicle control user interface and the remote user interface may take the form of a wireless communication system and related components, as is well known in the art. In some embodiments, the remote user interface and the vehicle control system for the corresponding work machinery 20 may further coordinate or otherwise interact with a remote server or other computing device to perform operations as disclosed herein.

[0038] In various embodiments, controller 112 may be configured to generate control signals for controlling the operation of a corresponding actuator or for indirect control via an intermediate control unit associated with mechanical steering control system 126, mechanical implement control system 128, and engine speed control system 130. Control systems 126, 128, and 130 may be independent or otherwise integrated together or as part of a mechanical control unit in various ways known in the art. Controller 112 may, for example, generate control signals for controlling the operation of various actuators such as hydraulic motors or hydraulic piston-cylinder units (not shown), and the electronic control signals from controller 112 may actually be received by an electro-hydraulic control valve associated with the actuator, such that the electro-hydraulic control valve controls the flow of hydraulic fluid to and from the corresponding hydraulic actuator in response to the control signals from controller 112, thereby controlling the actuation of the corresponding hydraulic actuator.

[0039] Alternatively, a reading device 132 (e.g., an RFID device, a barcode scanner, etc.) conventionally known in the art can be provided, and the reading device 132 can be communicatively connected to the controller 112 to obtain readable information associated with a particular transport vehicle 10.

[0040] Controller 112 includes or may be associated with processor 150, computer-readable medium 152, communication unit 154, and data storage 156 (e.g., a database network). It should be understood that controller 112 described herein may be a single controller having some or all of the described functions, or it may include multiple controllers, wherein some or all of the described functions are distributed among the multiple controllers.

[0041] 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 150), or in a combination of both. The computer program product may 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 152 known in the art. An exemplary computer-readable medium 152 may be coupled to processor 150 such that processor 150 can read information from and write information to memory / storage medium 156. Alternatively, medium 152 may be integrated with processor 150. Processor 150 and medium 152 may reside in an application-specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, processor 150 and medium 152 may reside as discrete components in a user terminal.

[0042] As used herein, the term "processor" 150 may refer to at least general-purpose or special-purpose processing devices and / or logic that are understood by those skilled in the art, including but not limited to microprocessors, microcontrollers, state machines, etc. Processor 150 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.

[0043] Communication unit 154 may support or provide communication between controller 112 and external communication units, systems, or devices, and / or support or provide communication interfaces regarding internal components of the working machinery 20. 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 universal serial bus ports.

[0044] Unless otherwise stated, the data storage 156 further described below may generally include hardware (such as volatile or non-volatile storage devices, drives, electronic memory, and optical or other storage media) and one or more databases residing on the hardware in some embodiments.

[0045] Next reference Figure 6 And further reference Figures 1 to 5Embodiments of method 300 are now described. Method 300 is exemplary but 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 disclosed steps may be performed, for example, in a different temporal order or simultaneously. Unless specifically indicated otherwise, the operations, steps, functions, processes, etc., disclosed in association with method 300 may be performed or directed by a single computing device, or via multiple computing devices operatively communicating via a communication network. Exemplary such computing devices may include vehicle controllers or mechanical control systems, remote servers, mobile user devices, etc.

[0046] Method 300 may begin when the work machinery 20 transitions from the excavation phase to the loading phase, or at the start of the loading phase when the correct positioning of the transport vehicle 10 relative to the work machinery 20 is determined (step 310). In some embodiments, this may include user input to initiate subsequent steps, or automatic detection of the surrounding environment using sensors mounted on the work machinery, but this step may be omitted in other embodiments.

[0047] Method 300 may continue in step 320: capturing image data including the material loaded in the loading container 14 via a sensor 104 mounted on the working machinery 20. In one embodiment, the sensor 104 is preferably mounted on the side or underside of the boom (or equivalent working implement 42) to provide the desired field of view 106 relative to the loading container 14 during the loading process itself (see, for example...). Figure 3 However, alternative or additional locations for sensor 104 are conceivable within the scope of this invention. For example, in some embodiments, sensor 104 (or an additional sensor of a set of such data sources) may be mounted on the boom connected to the boom or on the bucket near the distal end of the boom assembly.

[0048] In various embodiments, scanned image data can be analyzed using image data processing tools known in the art to detect the outline of the loaded material (step 330), such as using, for example, 3D point cloud generation, image segmentation, object delineation, and classification. Further optional consideration may be given to a confirmation input (step 315), which can be provided to assist image processing and recognition. For example, user input can be provided via a user interface in response to a system startup prompt to confirm one or more elements of the captured image, or to proactively identify one or more elements of the captured image as a relevant portion of the loading container 14 or the loaded material. In another example, a radio frequency identification (RFID) system associated with the operating machinery 20 and the transport vehicle 10 can provide a signal corresponding to the relative distance between two defined points, thereby also providing confirmation input to the image processing system as needed.

[0049] Image processing techniques conceivable within the scope of this disclosure may further utilize a stored reference profile corresponding to a predetermined profile of the loading container 14. The profile of the loading container 14 may be dynamically determined using sensors, or the reference profile may be predetermined and retrieved from a data storage device when identifying a specific transport vehicle or type of transport vehicle, or the reference profile may be directly input from a user interface, etc.

[0050] Upon detecting the outline of the loaded material, method 300 may selectively generate an output signal corresponding to the detected outline relative to or based on a comparison with a predetermined target outline of the loaded material (step 340). In some embodiments, the controller 112 of the operating machinery 20 may be configured to selectively retrieve control data or stored information from the loading procedure, for example, in view of current parameters (e.g., positive, type of loaded material, configuration of loading container 14, type of transport vehicle, etc.), any one or more of which may affect the target outline or the desired loading sequence for obtaining the target outline.

[0051] In one embodiment, an output signal may be provided for automatically loading at least a portion of the loading process (step 342). For example, stored control data may be retrieved and implemented to guide the movement of boom 44 relative to the loading container 14 and the desired impact point of the dumped material, and / or to guide the movement of tool 48 (e.g., bucket) so that the material carried in tool 48 is dumped in association with the desired impact point. The stored control data may be predetermined relative to, for example, a given type of transport vehicle, or it may be specific to a particular combination of work machinery / implementation and evolve / learn over time with different parameters, including, for example, the type of material being loaded, the configuration of loading container 14, the type of transport vehicle, etc., any one or more of which may affect the target profile or the loading sequence desired to achieve the target profile. In some embodiments, in addition to or in contrast to the automatic control of the dumping step itself, an output signal for automatic distributed control may allow the tool (e.g., bucket) to simply smooth the existing profile of the loaded material after dumping.

[0052] In one embodiment, the output signal can be provided for visual driver assistance during manual loading (step 344), for example, to generate a displayed image on an in-vehicle user interface with a display unit. This displayed image can include various forms of visual markers (e.g., text, images, colors) to indicate a recommended loading procedure, a recommended impact point for the material to be dumped, etc. For example, the output signal can cause dynamic highlighting of a portion of the displayed image on the display unit based on the recommended material discharge location or trajectory in the loading container 14 and further based on the detected current position of at least a portion of the work implement. This displayed image can include a first image layer corresponding to a captured image of the loading container 14 and a second image layer overlapping or superimposed relative to the loading container 14, the second image layer also representing the current contour of the loaded material and / or the target contour of the loaded material. For example, as... Figure 5 As shown, the superimposed image 160 typically represents the current outline of the loaded material, but also includes its colored portions to distinguish relatively heavy and relatively light portions.

[0053] The scope of this disclosure is not limited to the examples described above and shown in the accompanying drawings, as multiple portions of the display unit may individually display a captured image of the loading container 14 and / or present markers associated with the current outline of the loaded material and / or the target outline of the loaded material. The display unit may be configured to create a single image layer comprising a graphical representation 160 of the loading container 14 and associated markers.

[0054] The generated markers are not limited to one-dimensional indexes, but may further include, within the scope of this disclosure, further examples of graphical representations 160, including heatmaps, multi-dimensional terrain features, or contour representations, etc. The generated markers may include overlaid augmented reality layers 160, as previously described, but may further or alternatively include a single virtual reality layer 160 corresponding to the loading container region and the current and / or target contours, or may involve separate equalizer bars, heatmaps, or other simple icons 160 to represent either or both of the corresponding current and target contours.

[0055] In some embodiments, the display format may depend on one or more conditions, such as the view from the working machinery 20 relative to the loading container 14. For example, in this context, the system may determine that the top-down view of the loading container 14 is preferably thermally correlated with the difference between the current profile of the material being loaded and the target profile of the material being loaded, as drawn therein. Figure 1The system can determine that a perspective view of the loading container 14 is preferably displayed together with a terrain representation of the current outline of the loaded material and / or the target outline of the loaded material. Such determination can be made, for example, dynamically by the system and automatically based on current conditions (such as viewing angle), or it can be manually selected by the driver using user interface tools.

[0056] In one embodiment, the output signal may be provided for alternative forms of driver assistance during manual loading (step 346), such as audibly, visually, or audibly-visually indicating the desired dumping trajectory or individual impact point corresponding to the loading procedure or a detected area in the loading container 14 (where the current profile of the loaded material is relatively heavy or relatively light). This assistance may take the form of an alarm to indicate whether the dumping process is proceeding according to the loading procedure or other distribution parameters, or may include one or more lights that selectively engage based on, for example, the position of the bucket relative to the heavy or light portion of the current material profile.

[0057] After the material has been dumped into the loading container 14, method 300 may optionally pause the acquisition and processing of image data (step 350) while the work implement 42 returns to the excavation stage, and method 300 restarts in step 310 when the work implement 42 is ready to approach the transport vehicle 10 with another load.

[0058] 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 could include, for example, but not limited to (item A) or (items A and B). The example could also include (items A, B, and C) or (items B and C).

[0059] Those skilled in the art will understand that when an element is referred to herein as being “connected” to another element, it can be directly connected to the other element, or there may be an intermediate element present.

[0060] 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 construction of the 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 (300) for distributing material loading in a loading container (14) of a transport vehicle (10) by means of a work machine (20) having at least one material loading work implement (42), the method comprising: Data (320) corresponding to at least a portion of the loading container is captured via at least one sensor (104) mounted on the operating machinery, the at least one sensor having a field of view oriented at least partially away from the operating machinery; The current profile (330) of the material loaded in the loading container is determined by data captured by at least one of the sensors. An output signal (340) is generated corresponding to the difference between the current profile of the material loaded in the loading container and the predetermined target profile. The output signal further includes an output signal (344) generated to the display units (114, 118) for displaying a mark corresponding to the current contour and the predetermined target contour, and The image displayed on the display unit includes a first image layer corresponding to an image of the loading container captured by one or more of the at least one sensor, and also includes a second image layer (160) superimposed on the first image layer, the second image layer including the markers corresponding to the current contour and the predetermined target contour.

2. The method according to claim 1, wherein, The markers corresponding to the current contour and the predetermined target contour include multi-dimensional graphical representations.

3. The method according to claim 1, wherein, The output signal also includes an output signal generated to the display unit (114, 118) for displaying a marker indicating the recommended material discharge location or trajectory in the loading container.

4. The method according to claim 3, wherein, The recommended material discharge location or trajectory in the loading container is determined at least in part based on the stored loading procedure.

5. The method according to claim 3 or 4, further comprising: Based on the recommended material discharge location or trajectory in the loading container, multiple portions of the image displayed on the display unit are dynamically highlighted.

6. The method according to claim 5, wherein the method comprises: Furthermore, based on the detected current position of at least a portion of the material loading machine, multiple portions of the image displayed on the display unit are dynamically highlighted.

7. The method according to claim 4, wherein, Based on one or more parameters detected that are associated with the loading container, the transport vehicle, and the material being loaded, the stored loading program is selectively retrieved for the loading operation.

8. The method according to claim 1, wherein, The output signal also includes an output signal generated for at least a portion (342) of the automatic control loading process.

9. The method according to claim 8, wherein, Based on the detected parameters associated with one or more of the loading container, the transport vehicle, and the material being loaded, control data for at least a portion of the loading process is selectively retrieved from the data storage (156).

10. The method according to claim 1, further comprising: Based on signals received from the transport vehicle, the relative position and / or distance with respect to one or more points of the loading container is detected.

11. The method according to claim 10, further comprising: The detected relative position and / or distance are used to determine the current profile of the material loaded in the loading container.

12. A type of work machinery (20), the work machinery comprising: The chassis (22) is supported by a plurality of ground engagement units (24); At least one working implement (42), said at least one working implement being supported by the chassis; At least one sensor (104) is mounted on the working machine and has a field of view oriented at least partially away from the working machine, wherein the at least one sensor is configured to generate a signal corresponding to at least a portion of the loading container (14) during the loading state of the working machine; Display units (114, 118); and A controller (112) that communicates with the at least one sensor and is configured to direct the execution of steps in the method according to any one of claims 1 to 11.

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