Loader Control System Using Laser Triangulation for Implement Position
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Solution Overview
Problem
Loaders, such as skid steer and multi-terrain loaders, face challenges in providing accurate guidance and control for interchangeable implements due to their wide range of movement and frequent implement changes, making traditional position sensing impractical.
Innovation Solution
A control system for loaders that includes a position sensor mounted on the body, an inclinometer to measure lift arm inclination, and an angle sensor to determine the implement's orientation, allowing for monitoring and control of implement position without sensors on the implement, using technologies like GNSS, total stations, or laser receivers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional position sensors are mounted on machine blades for guidance and control, then measurement precision is improved, but device complexity increases and adaptability decreases due to frequent implement changes
Solution Approach 1:
The patent uses optical copying techniques where laser receivers detect laser beams to create virtual position references. Instead of mounting physical sensors on each implement, the system creates optical copies of position information through laser triangulation, allowing the same measurement capability to be applied across different implements without physical attachment
Solution Approach 2:
The patent replaces mechanical position sensors with an optical measurement system. Laser transmitters project beams that are detected by receivers, using optical triangulation to calculate positions. This substitution eliminates the need for mechanical sensor mounting on implements while maintaining measurement precision
2Measurement precision
If position sensors are mounted on implements to track implement position, then measurement precision is improved, but device complexity increases due to additional sensors and mounting hardware
Solution Approach 1:
The patent extracts the measurement function from the implement itself and places it in the fixed environment. Laser transmitters are mounted on stable structures like towers or poles, and receivers are positioned on the loader body. This extraction eliminates the need for complex sensor mounting on implements while maintaining measurement capability
Solution Approach 2:
The patent introduces laser beams as an intermediary medium between the fixed measurement infrastructure and the moving implements. The laser beams carry position information without requiring physical contact or mounting on the implements, simplifying the overall system while enabling precise tracking
3Measurement precision
If multiple sensors are mounted on implements to track position and orientation, then measurement precision is improved, but ease of operation decreases due to frequent sensor reinstallation during implement changes
Solution Approach 1:
The system provides self-service measurement capability where the fixed laser transmitters and body-mounted receivers automatically continue tracking implements without requiring any action during implement changes. The optical field continuously provides measurement data, making the system self-adapting to implement changes without operator intervention for sensor reinstallation
4Ease of operation
If traditional blade control systems are used with loaders, then ease of operation is improved for standard operations, but adaptability decreases for different implement types with wide movement ranges
Solution Approach 1:
The patent creates a universal measurement system that can track any implement type regardless of its movement characteristics. The laser-based optical field provides a common reference framework that works for buckets, blades, grapples, and other implements with different ranges of motion, eliminating the need for implement-specific control systems
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate monitoring and control of implement position and orientation, facilitating precise operation and automation, even with frequent implement changes, by providing the operator with real-time position data and allowing for automated height adjustments.
Implementation Method 1
An inclinometer is movable with the left and right interconnected lift arm assemblies to provide an indication of the inclination of the lift arm assemblies along the straight reference line
Implementation Method 2
A position sensor is mounted on the body in fixed relation to the lift arm pivot points
Implementation Method 3
using technologies like GNSS, total stations, or laser receivers
Implementation Method 4
using technologies like GNSS, total stations, or laser receivers
Data Source
AI summary
A loader and a control system for a loader provide for monitoring the position of a part of the implement carried by the loader. The loader has a body with left and right upright tower portions, and a loader drive system including ground engaging drive elements. Left and right interconnected lift arm assemblies each have an implement lift arm pivotally connected with a corresponding tower portion of the body at a lift arm pivot point. A lift actuator is connected between the body and the lift arm. The implement is pivotally connected with the lift arm assemblies about an implement pivot axis. The lift arm pivot point and the implement pivot axis in side elevation define a straight reference line. At least one implement tilt actuator is connected between at least one of the lift arm assemblies and the implement. A position sensor is mounted on the body at the level of, or above, the lift arm pivot points. An inclinometer is movable with the left and right interconnected lift arm assemblies to provide an indication of the inclination of the lift arm assemblies along the straight reference line. An angle sensor provides an indication of the orientation of said implement with respect to said left and right interconnected lift arm assemblies. The control is responsive to the position sensor, the inclinometer, and the angle sensor. The control determines the position of the position sensor and the position of a part of the implement with respect to the position sensor.