Wheel Loader Implement Trace Control Using Container Reference Points

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Solution Overview

Problem

Wheel loaders repeatedly perform excavation and loading works, requiring the automation of the loading process while ensuring the trace of the work implement is appropriately set.

Innovation Solution

A system comprising a work machine with a work implement, a posture sensor, an object sensor, and a controller that detects a reference point and extracts a feature point to define the trace of the work implement during operation.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If automation control is implemented for the loading work, then productivity is improved, but the trace setting becomes complex and difficult

Engineering Contradiction:

Improveloading work efficiencyVSAvoidtrace setting complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The system records the actual operation trace of the work implement during manual operation and creates a digital model of this trace. This recorded trace is then reused for automatic control, eliminating the need to manually set complex trace parameters for each automatic operation cycle

Inventive Principle:

Principle #26Copying

Solution Approach 2:

The system automatically extracts feature points from the recorded trace and generates control parameters without requiring manual intervention. The automatic control unit itself performs the trace setting by processing the recorded data, making the system self-sufficient in configuring automatic operation parameters

Inventive Principle:

Principle #25Self-service

2Measurement precision

If manual operation trace recording is used, then trace accuracy is improved, but loss of time occurs during trace setting

Engineering Contradiction:

Improvetrace accuracyVSAvoidtrace setting time

Core Design Contradiction:

Measurement precisionVSLoss of time

Solution Approach 1:

The system records the work implement trace during a preliminary manual operation phase. This pre-recorded trace data is then stored and automatically reused for subsequent automatic control operations, eliminating the need to重新 record or set traces for each operation

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system creates a digital copy of the manually operated trace and reuses it for automatic control. This copy contains the precise trace information from skilled operation while eliminating the time-consuming process of manual trace setting for each subsequent operation

Inventive Principle:

Principle #26Copying

3Ease of operation

If feature point extraction is automated, then ease of operation is improved, but measurement precision may deteriorate

Engineering Contradiction:

Improvetrace setting easeVSAvoidfeature point position accuracy

Core Design Contradiction:

Ease of operationVSMeasurement precision

Solution Approach 1:

The system uses sensors to detect the actual position and posture of the work implement during operation, providing feedback data that is used to accurately determine feature point positions. This feedback mechanism ensures that automatic extraction maintains high precision by continuously referencing actual operational data

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The system replaces manual feature point identification with automatic detection using sensors and computational algorithms. The object sensor and posture sensor automatically capture position data, and the control unit computationally identifies feature points, substituting human judgment with precise electronic measurement and processing

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Data Source

PatentUS20260015818A1System including work machine, work machine controller, and method of controlling work machine

Publication Date: 2026.01.15 KOMATSU LTD

AI summary

A trace of an automatically controlled work implement is appropriately set. A controller of a work machine obtains a reference point of a container detected by an object sensor, obtains the trace of the work implement while the work machine is operated, and extracts a position of a feature point that defines the trace with the reference point being defined as a reference.