Autonomous loading operations for mining machinery

Abstract

According to an exemplary aspect of the present invention, a method is provided, comprising: during a first action of an automatic adaptive loading procedure performed by a construction machine (10) equipped with a boom (14) and a bucket (16) connected to the boom, receiving driveline information of at least one driveline component of the construction machine (10); defining a set of control parameters based on the received driveline information; and during a second action of the automatic adaptive loading procedure, controlling a position of the boom, a position of the bucket, and a speed of the construction machine based on the defined set of control parameters.

Description

Technical Field

[0001] The present invention relates to loading engineering machines and, in particular, to controlling autonomous loading operations performed by such vehicles. Background Art

[0002] A mining or construction excavation site (e.g., a hard rock or soft rock mine) may include an area for automated operation of a mobile construction machine (which may also be referred to as a mining vehicle). Such a construction machine may be an unmanned mining vehicle, for example, remotely controlled from a control room, or a manned mining vehicle, i.e., operated by an operator in the cab of the mobile vehicle. The construction machine may be configured to perform at least some tasks autonomously. An automated construction machine operating in an automatic mode may operate independently without external control, but may be operated under external control in certain operating areas or conditions (e.g., during an emergency).

[0003] Loading equipment can be used to load excavated material (e.g., ore, rock, or sand) and transport the excavated material from one location to another, such as from an underground mine loading location to outside the mine after excavation or to a conveyor transport device or a location reserved for unloading the material. Due to the dynamic and unpredictable nature of the bucket-rock interaction, it is very challenging to develop automated bucket loading that will work efficiently under a variety of conditions. The loading controller not only needs to manage the motion of the excavating arm (e.g., boom and bucket position), but also needs to manage the penetration rate based on the motion of the loading equipment platform. For example, the forces acting on the bucket when it is actuated to penetrate a rock pile may vary significantly depending on the properties of the rock medium in the rock pile, the geometry of the rock pile, and the distribution of particle size and geometry.

[0004] Patent publication EP 3207187 discloses a method for controlling automatic bucket loading. A bucket control curve is selected from a set of bucket control curves, each of which includes an indication of the boom position of a construction machine as a function of the distance traveled by the construction machine relative to a reference position. Further improvements are needed to automatic bucket loading that adapts to changing loading conditions. Summary of the Invention

[0005] The present invention is defined by the following features.

[0006] According to a first aspect, an apparatus is provided that is configured to perform at least the following operations or includes means configured to perform at least the following operations: during a first act of an automatic adaptive loading procedure performed by a work machine equipped with a boom and a bucket connected to the boom, receive driveline information of at least one driveline component of the work machine; define a set of control parameters based on the received driveline information; and during a second act of the automatic adaptive loading procedure, control the position of the boom, the position of the bucket, and the speed of the work machine based on the defined set of control parameters. The apparatus may include at least one processor and at least one memory including computer program code, the at least one memory and the computer program code being configured to, together with the at least one processor, cause the apparatus to perform the operations described above.

[0007] According to a second aspect, a method for controlling an autonomous loading operation is provided, comprising: during a first action of an automatic adaptive loading procedure performed by a construction machine equipped with a boom and a bucket connected to the boom, receiving transmission system information of at least one transmission system component of the construction machine; based on the received transmission system information, defining a set of control parameters; and during a second action of the automatic adaptive loading procedure, controlling the position of the boom, the position of the bucket and the speed of the construction machine based on the defined set of control parameters.

[0008] According to a third aspect, a device is provided, comprising at least one processing core, at least one memory comprising computer program code, the at least one memory and the computer program code being configured to, together with the at least one processing core, cause the device to at least perform the method or an embodiment of the method.

[0009] According to a fourth aspect, a computer program, a computer program product or a (non-tangible) computer readable medium is provided, comprising computer program code for, when executed in a data processing apparatus, causing the apparatus to perform the method or an embodiment of the method.

[0010] According to an embodiment of either aspect, a termination condition for the automatic adaptive loading procedure is determined in response to receiving a signal from a bucket limit switch.

[0011] According to an embodiment of any aspect, the transmission system of the construction machine includes an electric motor driven by an inverter unit, and the device is configured to send a control signal to the inverter unit according to the defined set of control parameters to control the rotational speed and / or torque of the transmission system. In another embodiment, the transmission system of the construction machine includes a combustion engine controlled based on the defined set of control parameters.

[0012] According to an embodiment of any aspect, the group of control parameters defines a time relationship between at least some of the multiple control parameters in the group, and at least some of the multiple control parameters are applied to control the position of the boom, the position of the bucket and / or the speed of the construction machine according to the time relationship.

[0013] According to embodiments of either aspect, the parameters in the set are applied for a predefined time period identified by the set.

[0014] According to embodiments of either aspect, the timing of at least some of the control parameters of the set in relation to one or more other parameters of the set is defined by the set. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 An example of a construction machine equipped with a bucket is shown;

[0016] Figure 2 Methods according to at least some embodiments are shown;

[0017] Figure 3 An arrangement for controlling automatic loading of a construction machine is shown;

[0018] Figure 4 An adaptive automatic bucket filling method according to some embodiments is shown;

[0019] Figure 5 An example device is shown that can support at least some embodiments. DETAILED DESCRIPTION

[0020] The presently disclosed embodiments are particularly suitable for use with various construction machines used in the mining industry, construction sites, and the like, which are adapted to load, transport, and unload excavated or other bulk materials. A specific example of such a construction machine includes a loading device or loader comprising a bucket attached to a boom. For example, the excavated material may be rock excavated from a surface or underground operating area. As used herein, the term "rock" should be broadly interpreted to encompass boulders, rocky material, hard crust, and other relatively hard materials.

[0021] Figure 1An example of a construction machine 10 is shown, which includes a (mobile) carrier 12, one or more booms 14, and a bucket 16 pivotably or otherwise movably attached to the one or more booms 14. For example, the bucket 16 can be coupled to two booms 14. The attachment can include at least one pivot 22, and the bucket 16 can rotate relative to the pivot. The construction machine 10 can be an articulated vehicle, including two sections connected by a joint 32. The construction machine can be a load and haul (LHD) device, or a device primarily used for loading.

[0022] The construction machine 10 also includes a first actuator 18 for moving the boom 14 upward and downward and a second actuator 20 for rotating the bucket 16 relative to a pivot 22. The actuators 18, 20 may be hydraulically and / or electrically operable actuators, or may be operated by some other energy source. It should also be noted that Figure 1 The embodiment is simplified and, for example, the first actuator 18 and / or the second actuator 20 may in practice comprise more than one actuator. For example, a lever arm arrangement may be applied to connect the cylinder to the bucket 16.

[0023] Work machine 10 typically includes a pump system 24 for generating hydraulic pressure to operate various components of the machine, such as raising boom 14, rotating bucket 16, etc. Work machine 10 may include one or more other energy sources, such as batteries, hydrogen tanks, fuel tanks, etc.

[0024] The construction machine 10 may include a motor 26 that may be driven by the hydraulic pump (system) 24 or may be, for example, an internal combustion engine or an electric motor. Power from the motor 26 may be provided to the front and / or rear wheels 28 directly by a crankshaft (not shown) or through a gearbox (not shown).

[0025] The construction machine 10 includes at least one control unit 30, which may include one or more processors and memories, and is configured to control at least some functions and / or actuators of the construction machine. In some embodiments, the control unit 30 is configured to control at least operations related to autonomous loading control, and there may be one or more other control units in the construction machine for controlling other operations. It should be understood that the control unit 30 can be configured to perform at least some of the features shown below, or that multiple control units or controllers can be used to perform these features. There may also be other operating modules or functions performed by the control unit, such as an automatic bucket loading module, at least one positioning unit / module, an autonomous drive control module, and / or an obstacle detection module.

[0026] The work machines 10 may be automated work machines that are independently operable / driven in their autonomous operating mode without constant user control, but which may accept external control, such as during an emergency.

[0027] The construction machine 10 may include a wireless data transmission unit 34, by means of which the control unit 30 may establish a data transmission connection with another (second) control system 40 external to the construction machine 10 by utilizing a wireless connection provided by a base station or access node 42. The data transmission unit 34 may thus be connected to a communication system of the construction site, such as a wireless access system including a wireless local area network (WLAN) and / or a cellular communication network (e.g., 4G, 5G, or another generation of cellular networks).

[0028] The system 40 may include or be connected to additional networks and / or data processing systems, such as a worksite management system, a cloud service, a data analysis device / system, an intermediate communication network (such as the Internet), etc. The system may include or be connected to additional devices or control units, such as a handheld user unit, a vehicle unit, a worksite management device / system, a remote control and / or monitoring device / system, a data analysis device / system, a sensor system / device, etc.

[0029] For example, the server of the system 40 can be configured to manage at least some operations on the worksite, such as providing a UI for an operator to remotely monitor and, when necessary, control the automated operation of the work machine and / or assign work tasks to a fleet of vehicles, and update and / or monitor task execution and status. Thus, the work machine 10 can be unmanned, the user interface can be remotely located from the work machine, and the work machine can be remotely monitored or controlled via a communication network by an operator located near the work machine (e.g., in a tunnel), in a control room at the worksite, or even a significant distance away from the worksite. However, it should be noted that the features described below can also be applied to manually operated machines to assist in bucket filling.

[0030] The work machine 10 may include a positioning system or unit. At work machines operating on the surface, satellite-based navigation (e.g., a GPS system) may be used to determine the position and orientation of the mining vehicle with sufficient accuracy. At work machines operating underground, positioning based on dead reckoning and / or scanning the tunnel surface may be used instead of satellite-based positioning information.

[0031] The work machine 10 may include one or more scanning units or scanners 36 configured to scan the work machine's environment. In one embodiment, the scanner 36 may be a 2D or 3D scanner configured to monitor tunnel walls. The control unit 30 may compare the scanned tunnel profile data with reference profile data stored in an environment model and locate the work machine based on a match found in the environment model and / or locate the work machine by correcting the positioning using dead reckoning. In some embodiments, the scan results are used to detect the position and orientation of the work machine and one or more other components thereof (e.g., the scanner 36 or the bucket 16).

[0032] A driving plan or route plan may define a route to be driven by the construction machine 10 and may be used as input for automatic control of the construction machine. The plan may define a starting point, an end point, and a set of route points for automatic driving. The driving plan may include information about a loading area or point and may include data for controlling the loading of the bucket 16. Automatic loading may be initiated in response to the construction machine entering the position of a loading area or route point in the driving plane. The driving plan may be transmitted to the construction machine's memory via a wired or wireless connection to the construction machine or otherwise loaded into the construction machine for access by the control unit 30.

[0033] During bucket loading, the construction machine 10 is driven close to a pile or heap 50 of excavated material (e.g., ore, rock, or sand). The bucket 16 and, consequently, the boom 14 can be lowered downward so that the bucket is on or near the ground surface. The construction machine can be driven forward so that the bucket contacts the material pile. Bucket loading involves many stages and movements and is a difficult task, especially for less experienced operators. If the construction machine stops due to excessive resistance in the material pile, the bucket can be raised upward, which allows the construction machine 10 to be driven a little further, etc.

[0034] The bucket loading procedure of work machine 10 may be automated, ie, the machine may autonomously execute a series of appropriate movements controlled by controller unit 30 to fill bucket 16 and complete the loading by positioning the bucket to exit material pile 50 and deliver the load to a discharge location.

[0035] There is a need to improve existing automatic bucket filling solutions which do not always work well under varying rock pile conditions, for example where the rock sizes vary widely. This results in the bucket being only partially filled.

[0036] Now, an adaptive automatic bucket loading system based on an adaptive control parameter set adjustment according to transmission system information is provided, thereby being able to further improve bucket filling efficiency under varying conditions.

[0037] Figure 2 1 and 2 illustrate a method according to some embodiments. The method may be executed by a construction machine and its control device (eg, the construction machine 10 and its control unit 30).

[0038] A method for controlling autonomous loading may include receiving 200 driveline information of at least one driveline component during a first act of an automated adaptive loading procedure performed by a work machine equipped with a boom and a bucket connected to the boom. Based on the received driveline information, a set of control parameters (for controlling a boom position, a bucket position, and a speed of the work machine) is defined 210. During a second act of the automated adaptive loading procedure, the position of the boom, the position of the bucket, and the speed of the work machine are controlled 220 based on the defined set of control parameters.

[0039] Transmission system information generally refers to information indicating the status or parameters of a transmission system component or system. The transmission system components of a construction machine generally include a motor, a gearbox, and a transmission mechanism. The transmission system information can be received from the transmission system component or its control system or unit. For example, the transmission system information can be received from an inverter unit or another type of (drive control) unit that drives or controls the motor. The transmission system information can be generated based on signals from the transmission system component. In some embodiments, the transmission system information indicates the transmission system rotational speed and / or torque state. It should also be noted that the speed of the construction machine controlled in box 220 should be broadly understood as speed control in the construction machine, for example, using information that affects the ground speed or motor speed to instruct the motor controller.

[0040] When multiple sets of control parameters are preconfigured in a memory of the work machine 10 (e.g., a memory accessible by the control unit 30), the set of control parameters may be selected from the stored multiple sets of control parameters based on the received driveline information in block 210. The work machine may also be configured to dynamically generate some or all of the values ​​in the set of parameters based on preconfigured control logic.

[0041] The first action and the second action may be considered as successive phases of an adaptive bucket loading procedure.Based on the driveline information, an action and an associated set of control parameters may be selected and input to react to a detected trigger condition.

[0042] A temporal relationship between at least some of the plurality of control parameters in the set may be defined, and the parameters may be applied in block 220 based on the temporal relationship. This temporal relationship information (e.g., timing information for the parameters in the set) may be stored as part of the parameter set. The set of control parameters may be a series of control parameters. The timing of at least some of the parameters may be defined in the set. The timing may be defined relative to one or more other parameters in the set or another reference, such as the start of block 220.

[0043] The control parameters in this set may define target values ​​for the controlled entity, and control actions are initiated in block 220 to approach the target values. The set of parameters may include multiple subsequent values ​​for a given parameter. For example, multiple different speed values ​​may be applied in this set. Different values ​​may have different durations, i.e., the time period during which they are applied. In addition to the elapsed time or time threshold for changing the value, there may also be another criterion, some further examples of which are described below.

[0044] Figure 3 The arrangement and components of a construction machine, such as construction machine 10, are shown for use in Figure 2 The present invention provides a method and at least some embodiments thereof for controlling automatic adaptive loading. In this example, a drive train 300 of a construction machine includes an electric motor 304 driven by an inverter unit (INU) 302. The INU 302 includes an inverter, which may also be referred to as a frequency converter, an alternating current (AC) drive, a variable speed drive (VSD), or a variable frequency drive (VFD), to control the voltage and frequency of the power supplied to the AC motor to control the torque and rotational speed of the motor 304.

[0045] Wheels 28 (e.g., the front and rear wheels of the work machine 10) are rotated by a transmission 308. The transmission 308 is rotated by a gearbox (or speed reducer) assembly 306. The gearbox is driven by an electric motor 304. The INU 302 is powered by electrical energy from a power source (not shown) of the work machine.

[0046] The control system or unit 310 (such as the control unit 30) may be configured to perform Figure 2 The control unit 310 may include one or more computing units / processors that execute computer program code stored in a memory. In some embodiments, the control unit may be connected to one or more other control units of a control system of the construction machine via a controller area network (CAN) bus. The control unit 310 may thus obtain the transmission system information (e.g., provided to the bus by the INU 302) from the bus system.

[0047] The INU 302 is controlled by the control unit 310 based on the defined set of parameters to control the motor 304 of the working machine. The control unit 310 may be configured to transmit a control signal to the INU 302 based on the defined set of control parameters to control the rotational speed and / or torque of the transmission system.

[0048] In certain embodiments, the control unit 310 may also be directly or indirectly connected to other elements of the transmission system (such as the motor 304 or its additional controller) or sensors in the transmission system. For example, the RPM (revolutions per minute) of the front wheels may be measured by an RPM sensor. The control unit 310 may obtain RPM information from the transmission system and process it through an algorithm to detect wheel slip or idling (in the presence of a differential lock). The algorithm may be configured to maintain the RPM within a predetermined range. The transmission system RPM can be easily obtained and the wheel RPM calculated from it.

[0049] The control unit 310 may be connected to an actuator control unit or (sub)system 320, which may be connected to a boom actuator (BoA) 322 and a bucket actuator (BuA) 324. In block 220, the control unit 310 may issue a control signal based on or including the control parameters from the defined set to the actuator control system 320, which controls the BoA 322 and the BuA 324, thereby controlling the boom 14 and bucket 16 accordingly. It should be noted that the boom and bucket may have separate actuator controls that may be directly connected to the control unit 310. The actuator control (sub)system may include or be connected to a hydraulic circuit having lift and tilt actuator control valves for controlling the rate at which pressurized hydraulic fluid flows to the respective lift and tilt hydraulic actuators in proportion to the control signals.

[0050] A user interface (UI) 330 may be connected to the control unit 310 and include, for example, a joystick, touch screen, or other input device through which input signals from a user may be provided to the control unit to affect the adaptive loading procedure.

[0051] The control unit 310 may be connected to other units in the construction machine, such as additional sensors or sensor systems 340 and 350 that provide input to the control unit 310. Examples of such sensors include boom or bucket limit sensors, boom or bucket position detection sensors, hydraulic pressure sensors for hydraulic load sensing pump pressure, and bucket pressure measurement. Sensor 350 may be a wheel rotation sensor.

[0052] Figure 1Construction Machinery 10 and Figure 3 The systems are disclosed herein merely as examples of implementing the embodiments disclosed herein. These embodiments are applicable to various other types and configurations of construction machinery and control units. Further example embodiments are described below, at least some of which may be implemented, for example, by control units 30, 310.

[0053] The work machine 10 may determine whether to trigger a redefinition or change of the set of control parameters and / or automatic loading actions applied based on the driveline information and one or more threshold conditions. This may be an additional block that continues during or after block 220 and is repeated during the adaptive loading procedure.

[0054] During the second action of the automatic adaptive loader procedure, the work machine 10 may determine whether a change condition for changing the set of control parameters, a parameter within the defined set of control parameters, or an action of the automatic adaptive loader procedure is satisfied. In an exemplary embodiment, the need to adjust one or more parameters within the defined set is detected and can be dynamically adjusted during application of the set. In response to the change condition being satisfied, the set of control parameters, the parameter within the defined set, or the action is (re)defined and changed.

[0055] The change condition may include at least one of a powertrain information threshold, a wheel slip condition or related threshold and / or a time threshold.

[0056] Examples of driveline information thresholds include at least one threshold of driveline or motor rotational speed or RPM, a threshold of torque, and / or power.

[0057] In some embodiments, during an automatic adaptive loading procedure, the set of control parameters, or only some of the applied set, is limited or changed based on wheel slip condition information indicating wheel slip. In an example embodiment, sensors 350 are positioned at the right and left front wheels 28 for determining the speeds of the front wheels. Control unit 310 can determine a speed difference between the front wheels based on signals from the sensors and detect a slip condition in response to the speed difference exceeding a traction control threshold preconfigured for the loading procedure. Consequently, a parameter set with reduced traction can be input, thereby enabling reduced tire wear.

[0058] The time over which the defined set of control parameters is applied can be monitored. In response to the time over which the defined set is applied exceeding a threshold, a change in the set of control parameters can be controlled to control the position of the boom, the position of the bucket, and the speed of the working machine. This ensures that the parameter set (and the associated automatic loading action) is not applied for an unnecessarily long time. In the exemplary embodiment, as already indicated, the parameters of the set are applied for a predefined time period identified by the set, i.e., some parameters of the set may only be applied for a portion of the loading action and the application time of the parameter set.

[0059] Block 220 may be performed without boom position measurement and / or bucket position measurement. Furthermore, no external camera or other environmental measurement or scanning equipment is required for automatic loading. This simplifies the system and can avoid problems, for example, due to failure of a position sensor. The bucket 16 and / or boom 14 may be equipped with a bucket limit switch or detector configured to indicate when the bucket has reached an end or limit position, such as an uppermost position. The construction machine 10 may determine a termination condition for the automatic adaptive loading procedure in response to receiving a signal from the bucket limit switch. However, it should be noted that the termination condition may be set and detected without a switch or sensor, for example based on analyzing hydraulic pressure information.

[0060] Furthermore, the adaptive loading system of the present invention can be configured without bucket pressure measurement and / or boom bucket pressure measurement. However, in exemplary embodiments, hydraulic load sensing pump pressure measurements can be used as supporting or auxiliary information. Its control unit 30, 310 can receive hydraulic pressure information indicating the current pressure of the hydraulic pump system of the work machine 10, for example, from a sensor 340 or its controller. The set of control parameters can be defined in block 210 and / or further redefined based on the received hydraulic pressure information.

[0061] The construction machine 10 and its control unit 30, 310 can record historical information of multiple sets of control parameters that have been used. The set of control parameters can be further limited (210) based on the historical information. In a simple example, if a given parameter set has been applied four times in a row, it is no longer selected. Another example is that the system stores information on the application of parameter set sequences that have led to an error state and applies this information to avoid similar sequences and problems. The automatic adaptive loading system can be configured to learn based on historical information and past behavior during bucket loading. The system can be configured to teach the automatic adaptive loading program and adjust the parameter set and / or adjust the definition of the parameter set based on the historical information.

[0062] Figure 4An exemplary adaptive loading method is shown that may be performed by, for example, the construction machine 10 and the control unit 30, 310. In response to initiating an automatic loading mode or program, box 400 may be entered, including, for example, lowering the boom from a drive position. In box 410, the (front portion of) the bucket is lowered against the ground. During box 410, relevant load sensing (LS) information (e.g., hydraulic pump pressure) may be monitored and the bucket lowered until an LS threshold is reached or exceeded. Box 420 includes driving the construction machine forward until a threshold is met; in an embodiment, the threshold is a traction control activation time threshold (i.e., traction control has been activated for a predetermined period of time in response to detecting wheel slip).

[0063] Block 430 includes defining the control parameter set based on the transmission system information by applying at least some of the features disclosed herein. Blocks 400 to 420 are examples of an automatic loading startup phase or action, which can be considered the first action of block 200, during which transmission system information can be received. Therefore, block 430 does not necessarily follow block 420. Alternatively, the parameter set can be defined based on the transmission system information received after block 420.

[0064] Box 440 includes controlling the position of the boom, the position of the bucket, and the speed of the work machine based on the defined set of parameters. This may be considered to include the second automatic adaptive loading procedure phase or action of box 220 .

[0065] In some example embodiments, the set of control parameters is configured to cause at least one of:

[0066] - Maintain the current position of the boom, raise the bucket and drive it forward,

[0067] - Raise the boom, maintain the bucket's current position and drive it forward,

[0068] - Raise the boom, lower the bucket and drive forward, or

[0069] -Lower the boom, raise the bucket and drive forward.

[0070] However, it should be understood that these are only some examples of control action combinations, and that a variety of other control action combinations may be configured through different sets of control parameters.

[0071] Block 450 includes a check to see if a change condition (for redefining the parameter set to be applied to the adaptive loading) is satisfied, such as one or more of the change conditions described above. If so, block 430 is entered again to define a new parameter set more suitable for the current loading situation and to control the construction machine using the new parameter set.

[0072] Block 460 includes a check to see if a termination condition for the adaptive loading procedure has been met. For example, the termination condition may include receiving a signal from a bucket limit switch, a bucket load threshold, a hydraulic pressure threshold, and / or a time limit for the procedure. If the termination condition is not met, the procedure may return to block 440.

[0073] If the termination condition is met, the program may proceed to the automatic loading completion or end phase or actions, such as example blocks 470 to 490. Block 470 includes driving the work machine backward and raising the boom. Block 480 includes rocking the bucket. Block 490 includes driving backward, raising the bucket, and lowering the boom (e.g., to the drive position). Note that for Figure 4 The example may have some further blocks and modifications.

[0074] The adaptive system of the present invention helps improve bucket filling efficiency and achieve full buckets in various rock pile conditions. Drivetrain information provides a good indicator of the loading situation. Based on an algorithm appropriately configured to utilize drivetrain information, it is possible to accurately understand what is currently occurring during the loading process and define an appropriate set of control parameters, even better than an experienced operator could achieve. The system has been tested and, due to its high degree of adaptability, consistently achieved high bucket filling levels in a variety of pile conditions. In conducted tests, the adaptive system was able to achieve an average weight of 15.1 tons, while an experienced operator was able to achieve an average weight of 15.9 tons on the same different piles.

[0075] When combined with automatic steering and unloading, the presently disclosed adaptive loading system allows LHD mining operations to be fully automated. The presently disclosed automated adaptive loading procedure can also be used in conjunction with manual operation and automates the most difficult stages of LHD operation, thereby facilitating the operation of the machine by less experienced operators.

[0076] Furthermore, a very important advantage is that no pre-taught or otherwise defined bucket and / or boom curves (indicating the position of the bucket / boom relative to the distance traveled by the work machine) are required. A fully dynamically adjusted loading program can be provided without the need for pre-defined curves and the associated boom / bucket position and distance measurements.

[0077] It will be appreciated that various additional features may supplement or differentiate at least some of the above-described embodiments. For example, further user interaction and / or automation functionality may be provided to further facilitate an operator in monitoring the work machine during the adaptive automatic loading procedure and in inputting appropriate actions through the UI 330 to overcome problems detected during the procedure (e.g., by selecting a control parameter set to overcome the problem).

[0078] An electronic device including an electronic circuit may be a device for implementing at least some of the above embodiments, for example, a device for implementing a method of combining Figure 2 and Figure 4 The method and features shown for the control unit 30, 310. The device may be included in at least one computing device connected to or integrated into the control system of the construction machine. Such a control system may be an intelligent onboard control system that controls the operation of various subsystems of the construction machine (e.g., hydraulic system, motor, etc.), in one example, the subsystems in Figure 3 Such control systems are typically distributed and comprise many independent modules connected by a bus system such as Controller Area Network (CAN) nodes.

[0079] Figure 5 A simplified example device capable of supporting at least some embodiments of the present invention is shown. Device 500 is shown, which can be configured to perform at least some of the embodiments related to the adaptive automatic loading-related operations described above. In some embodiments, device 500 includes or implements control unit 30 or other modules, functions, and / or units for performing at least some of the embodiments described above.

[0080] Device 500 includes a processor 510, which may include, for example, a single-core or multi-core processor. Processor 510 may include more than one processor. The processor may include at least one application-specific integrated circuit (ASIC). The processor may include at least one field-programmable gate array (FPGA). The processor may be configured, at least in part, by computer instructions to perform actions.

[0081] Device 500 may include memory 520. The memory may include random access memory and / or permanent memory. The memory may be at least partially accessible by processor 510. The memory may be at least partially contained within processor 510. The memory may be at least partially external to device 500 but accessible to the device. Memory 520 may be a device for storing information, such as parameters 522 that affect device operation. Specifically, the parameter information may include parameter information that affects features related to automatic adaptive loading, such as thresholds.

[0082] Memory 520 may be a non-transitory computer-readable medium that includes computer program code 524, which includes computer instructions that processor 510 is configured to execute. When computer instructions configured to cause the processor to perform certain actions are stored in the memory, and the device as a whole is configured to operate under the direction of the processor using the computer instructions from the memory, the processor and / or at least one of its processing cores may be considered to be configured to perform the certain actions. The processor, together with the memory and the computer program code, may form a means for performing at least some of the steps of the above-described method in the device.

[0083] The device 500 may include a communication unit 530, which includes a transmitter and / or a receiver. The transmitter and receiver may be configured to transmit and receive data and control commands, respectively, within or outside the construction machine. For example, the transmitter and / or receiver may be configured to operate in accordance with Global System for Mobile Communications (GSM), Wideband Code Division Multiple Access (WCDMA), Long Term Evolution (LTE), 3GPP New Radio Access Technology (N-RAT), Wireless Local Area Network (WLAN), and / or Ethernet standards.

[0084] The device 500 may include a UI or be connected to a UI. The UI may include at least one of a display 540, a speaker, an input device 550 (such as a keyboard, a joystick, a touch screen), and / or a microphone. The UI may be configured to display views based on the embodiments shown above. A user may operate the device and control at least some of the features described above. In some embodiments, a user may control the construction machine 10 through the UI, such as manually driving the vehicle, operating the boom, starting automatic loading, changing modes, changing parameter groups, changing display views, modifying parameters 522, and the like.

[0085] The device 500 may also include and / or be connected to additional units, devices and systems, such as one or more sensor devices 560 configured to detect the environment of the device 500 or characteristics of the working machine (such as wheel rotation or hydraulic pressure).

[0086] The processor 510, memory 520, communication unit 530, and UI can be interconnected in a variety of different ways via electrical conductors within the device 500. For example, each of the above devices can be individually connected to a main bus within the device to allow the devices to exchange information. However, as will be understood by those skilled in the art, this is merely an example, and various methods of interconnecting at least two of the above devices can be selected according to the embodiment without departing from the scope of the present invention.

[0087] It should be understood that the embodiments of the present invention disclosed herein are not limited to the specific structures, process steps or materials disclosed herein, but extend to their equivalents as will be recognized by those skilled in the relevant art. It should also be understood that the terminology employed herein is only used for the purpose of describing specific embodiments and is not intended to be limiting.

[0088] Reference throughout this specification to an embodiment or an embodiment means that a particular feature, structure, or characteristic described in connection with that embodiment is included in at least one embodiment of the present invention. Thus, appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. When a value is referenced using terms such as, for example, approximately or substantially, the precise value is also disclosed.

[0089] As used herein, for convenience, multiple items, structural elements, constituent elements and / or materials may appear in a common list. However, these lists should be interpreted as if each member in the list is individually identified as a separate and unique member. Therefore, in the absence of contrary instructions, any single member in the list should not be interpreted as a de facto equivalent of any other member in the same list based solely on their appearance in a common group. In addition, various embodiments and examples of the present invention can be mentioned here together with alternatives to its various components. It should be understood that such embodiments, examples and alternatives should not be interpreted as de facto equivalents to each other, but should be considered as separate and autonomous representations of the present invention.

[0090] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the foregoing description, many specific details (such as examples of length, width, shape, etc.) are provided to provide a comprehensive understanding of embodiments of the present invention. However, those skilled in the relevant art will recognize that the present invention can be implemented without one or more specific details, or implemented using other methods, components, materials, etc. In other cases, well-known structures, materials or operations are not shown or described in detail to avoid blurring various aspects of the present invention.

[0091] While the foregoing examples illustrate the principles of the present invention in one or more specific applications, it will be apparent to those skilled in the art that various modifications may be made in form, use, and implementation details without the exercise of inventive skill and without departing from the principles and concepts of the present invention. Therefore, it is not intended to limit the present invention except as set forth in the claims below.

[0092] The verbs "to comprise" and "to include" are used in this document as open limitations that neither exclude nor require the presence of features not already recited. The features recited in the dependent claims are freely combinable with each other unless expressly stated otherwise. Furthermore, it should be understood that the use of "a" or "an" (i.e., the singular) throughout this document does not exclude a plurality.

Claims

1. An apparatus comprising means configured to: - during a first action of an automatic adaptive loading procedure performed by a construction machine (10) equipped with a boom (14) and a bucket (16) connected to the boom, receiving (200) driveline information of at least one driveline component of an electric driveline of the construction machine, wherein the driveline information is information generated based on a signal from the at least one component of the electric driveline, and wherein the at least one component of the electric driveline is an inverter unit, an electric motor, a gearbox or a transmission, - defining (210) a set of control parameters based on the received transmission system information of the at least one transmission system component of the construction machine, and - during a second act of the automatic adaptive loading procedure, controlling (220) the position of the boom, the position of the bucket and the speed of the working machine based on the defined set of control parameters, The device is further configured to monitor the time during which the defined set of control parameters are applied, and to control changes in the defined set of control parameters in response to the time during which the defined set of control parameters are applied exceeding a threshold value, so as to control the position of the boom (14), the position of the bucket (16) and the speed of the construction machine (10). 2 . The apparatus of claim 1 , wherein the transmission system information indicates at least one of a transmission system rotational speed and a torque state.

3. A device according to claim 1 or 2, wherein the device is configured to determine whether a change condition for changing the set of control parameters, the parameters in the defined set of control parameters, or at least one of the automatic adaptive loader actions is met during the second action of the automatic adaptive loader, and the device is configured to change the defined set of control parameters, the parameters in the defined set of control parameters, or at least one of the automatic adaptive loader actions in response to meeting the change condition. 4 . The apparatus according to claim 3 , wherein the change condition comprises at least one of a powertrain information threshold, a wheel slip condition threshold, and / or a time threshold.

5. The apparatus according to claim 1 or 2, wherein the apparatus is configured to define or change the defined set of control parameters based on wheel slip condition information indicative of wheel slip during the automatic adaptive loading procedure.

6. The apparatus according to claim 1 or 2, wherein the defined set of control parameters is configured to cause: - Maintaining the current position of the boom (14), raising the bucket (16) and driving it forward, - Raise the boom, maintain the bucket's current position and drive it forward, - Raise the boom, lower the bucket and drive forward, or - Lower the boom, raise the bucket and drive forward.

7. The device according to claim 1 or 2, wherein the device is configured to record historical information of a used control parameter set, and to define the set of control parameters based on the historical information.

8. An apparatus according to claim 1 or 2, wherein the apparatus is configured to control the position of the boom (14), the position of the bucket (16) and the speed of the construction machine (10) without one or more of: without pressure measurement of the bucket and / or boom, without position measurement of the bucket and / or boom, and / or without a predetermined curve indicating the position of the boom of the construction machine relative to the distance traveled by the construction machine.

9. The apparatus according to claim 1 or 2, wherein the apparatus is further configured to receive hydraulic pressure information indicating a current pressure of a hydraulic pump system (24) of the construction machine (10), and further define the set of control parameters based on the received hydraulic pressure information.

10. A construction machine (10) comprising the apparatus of any preceding claim.

11. A method for controlling the loading of a construction machine (10), comprising: - receiving (200) drive train information of at least one drive train component of an electric drive train of the construction machine during a first action of an automatic adaptive loading procedure performed by the construction machine equipped with a boom (14) and a bucket (16) connected to the boom, wherein the drive train information is information generated based on a signal from the at least one component of the electric drive train, and wherein the at least one component of the electric drive train is an inverter unit, an electric motor, a gearbox or a transmission, - defining (210) a set of control parameters based on the received driveline information of the at least one driveline component of the construction machine, and - During a second act of the automatic adaptive loading procedure, controlling (220) the position of the boom, the position of the bucket and the speed of the working machine based on the defined set of control parameters.

12. The method according to claim 11, further comprising: - during said second action of said automatic adaptive loader, determining (450) whether a change condition for changing at least one of said defined set of control parameters, a parameter of said defined set of control parameters or an automatic adaptive loader action is met, and - in response to fulfillment of said change condition, changing at least one of said defined set of control parameters, said parameter of said defined set of control parameters or said automatic adaptive loader action.

13. The method according to claim 11 or 12, wherein during the automatic adaptive loading procedure, the set of control parameters of the limited pair is limited or changed based on wheel slip condition information indicative of wheel slip.

14. A computer readable medium comprising computer program code for causing the method according to any one of claims 11 to 13 to be performed when executed in a data processing device (500).

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