Work Machine Bucket Control for Continuous Forward Loading
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Wheel loaders performing excavation and loading tasks face challenges in reducing cycle time to improve workability.
Innovation Solution
A work machine equipped with a travel unit, work implement, sensors, and a controller that enables automatic control of the work implement actuator to operate the bucket in a dump direction while traveling forward, allowing precise loading into a target without contact, based on object detection and positional data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the wheel loader performs traditional loading operations where the bucket contacts the loading target, then the loading accuracy is improved, but the cycle time increases due to stopping and positioning requirements
Solution Approach 1:
The system performs preliminary actions by calculating the optimal dump start position in advance using detected object information, and initiates the dump operation before reaching the final loading position. This allows the bucket to be positioned and dumped during the forward travel motion, eliminating the need to stop and manually position the bucket at the loading target, thereby reducing cycle time while maintaining loading accuracy
Solution Approach 2:
The invention enables continuous forward travel during the entire loading operation. The wheel loader maintains forward motion while the bucket performs the dump operation, eliminating idle stopping time. The control system coordinates the dump operation to occur during the continuous approach to the loading target, ensuring the useful action of loading continues without interruption, thus reducing cycle time
2Measurement precision
If the wheel loader reduces travel speed to maintain precise positioning during loading, then the loading precision is improved, but the productivity decreases
Solution Approach 1:
The system replaces manual mechanical positioning control with an automated control system that uses detected object information to calculate optimal dump positions and control the dump operation. This substitution allows the wheel loader to maintain higher travel speeds while the control system ensures precise loading by automatically determining when and where to initiate the dump, thereby maintaining loading precision without sacrificing productivity
Solution Approach 2:
The control system dynamically changes operational parameters based on detected object information. It calculates the optimal dump start position and dump amount according to the object's location, size, and shape characteristics. This parameter optimization allows the system to achieve precise loading at higher travel speeds by adjusting the dump initiation point and dump rate, thus improving productivity while maintaining loading precision
Data Source
AI summary
A controller provides a command to drive a work implement actuator based on detection values from a travel sensor that detects a state of travel of a travel unit, a work implement posture sensor that detects a posture of a work implement, and a object sensor that detects an object around a main body. The controller recognizes a loading target into which loads in a bucket are to be loaded, based on detection of the object. The controller starts drive of the work implement actuator to operate the bucket in a dump direction while forward travel of the travel unit continues, at a time point when a feature point of the bucket reaches a first target position in front of the loading target and higher than the loading target while the work implement approaches the loading target by forward travel of the travel unit.