Autonomous Wheel Loader Slip Control During Bucket Excavation
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Solution Overview
Problem
Autonomous wheel loaders experience tire slip during excavation, leading to reduced tire life and decreased productivity due to varying load conditions and inhomogeneous materials.
Innovation Solution
A control system for wheel loaders that uses sensors to detect tire slip, applies prediction algorithms like neural networks to determine slip occurrence, and adjusts engine speed and bucket position to maintain equal tire and breakout forces, preventing excessive slippage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the wheel loader performs autonomous excavation work with high engine power, then productivity is improved, but tire slip occurs leading to reduced tire life
Solution Approach 1:
The control apparatus continuously monitors signals from sensors detecting tire slip conditions and feeds this information back to the engine control device and work control device. When tire slip is detected, the system automatically adjusts engine power output and bucket excavation force to eliminate slip, thereby protecting tire life while maintaining productivity through real-time closed-loop control
Solution Approach 2:
The system dynamically changes operating parameters including engine rotational speed, transmission gear selection, and bucket excavation force based on real-time tire slip detection. By adjusting these parameters, the control system optimizes the balance between excavation productivity and tire protection, reducing slip-induced tire wear while maintaining high productivity during normal operation
2Extent of automation
If the wheel loader increases engine speed to perform excavation without operator input, then autonomous productivity is improved, but tire slip occurs reducing tire life
Solution Approach 1:
The autonomous wheel loader performs self-monitoring and self-correction regarding tire slip conditions. The control apparatus automatically detects tire slip through sensor signals and independently adjusts engine power and bucket force without operator intervention, enabling the system to protect its own tires while maintaining autonomous excavation productivity
Solution Approach 2:
The system implements automatic feedback control where sensor data on tire slip conditions is continuously monitored and fed back to the control apparatus, which then automatically adjusts operating parameters to prevent tire damage while maintaining autonomous operation and productivity
3Reliability
If the wheel loader uses prediction algorithms to detect tire slip, then tire life is protected, but system complexity increases
Solution Approach 1:
The patent replaces complex mechanical tire slip prevention mechanisms with electronic sensor-based detection and software-based prediction algorithms. The control apparatus uses neural network algorithms to analyze sensor signals and predict tire slip conditions, substituting mechanical complexity with electronic and computational systems that achieve more precise and adaptive tire protection
Data Source
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AI summary
In a method of controlling a wheel loader, the wheel loader is moved forwards such that a bucket penetrates into an aggregate to perform an excavation work. Signals able to be used to determine tire slip of the wheel loader are obtained during the excavation work. Prediction algorithms obtained through training are performed to determine whether or not the tire slip occurs. In case of the tire slip, an engine speed is decreased and the bucket is lifted to remove the tire slip. The bucket is moved along a predetermined autonomous excavation trajectory when the tire slip is removed.