Adaptive Bucket Loading Control for Variable Rock Piles
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing automated bucket loading systems face challenges in efficiently adapting to varying rock pile conditions, leading to partially filled buckets due to dynamic and unpredictable bucket-rock interactions.
Innovation Solution
An adaptive automatic bucket loading system that adjusts control parameters based on driveline information, including motor speed and torque, to optimize boom, bucket, and vehicle position and speed, with the ability to dynamically change parameters in response to changing conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If automated bucket loading uses fixed control profiles, then the system is simple to operate, but it cannot adapt to varying rock pile conditions resulting in partially filled buckets
Solution Approach 1:
The control system transitions from static pre-programmed profiles to dynamic adaptive control that continuously adjusts boom and bucket positions based on real-time driveline information. The system monitors motor speed and torque dynamically during operation and modifies control parameters on-the-fly to optimize bucket filling for varying rock pile conditions.
Solution Approach 2:
The system implements feedback control by monitoring driveline information (motor speed and torque) during bucket filling operations. This feedback is used to determine when to change control parameters and to adjust the loading sequence adaptively, ensuring optimal performance across different loading conditions without requiring complex external sensors.
2Productivity
If the system monitors and adjusts control parameters in real-time, then bucket filling efficiency improves, but the computational load and system complexity increase
Solution Approach 1:
The control system uses the work machine's own driveline information (motor speed and torque already being generated during operation) as the sensing mechanism, eliminating the need for separate sensors and complex external monitoring systems. The system serves itself by utilizing existing operational data for adaptive control decisions.
Solution Approach 2:
The system changes control parameters (boom position, bucket position, loading speed) based on monitored driveline information. When motor speed or torque indicates changing loading conditions, the controller automatically adjusts the control sequence and parameters to maintain optimal bucket filling performance.
3Adaptability or versatility
If the system uses pre-programmed loading sequences, then the operation is reliable and predictable, but it cannot respond to dynamic changes in rock pile properties
Solution Approach 1:
The system maintains operational reliability by using feedback from driveline information to detect when loading conditions change. The feedback mechanism triggers adaptive responses that maintain consistent bucket filling performance across varying conditions, combining the predictability of structured control sequences with the flexibility of real-time adjustment.
Solution Approach 2:
The control system maintains a structured loading sequence framework for reliability while incorporating dynamic parameter adjustments within that framework. The overall sequence remains predictable and organized, but specific parameters (boom position, bucket angle, penetration rate) are dynamically adjusted based on real-time driveline feedback to adapt to changing conditions.
Data Source
Figure 1~2
Figure 3
Figure 4
AI summary
According to an example aspect of the present invention, there is provided a method, comprising: receiving, during a first action of an automatic adaptive loading procedure by a work machine equipped with a boom and a bucket connected to the boom, driveline information of at least one driveline component of the work machine, defining a set of control parameters on the basis of the received driveline information, and controlling position of the boom, position of the bucket, and speed of the work machine on the basis of the defined set of control parameters during a second action of the automatic adaptive loading procedure.