CN115516172A

CN115516172A - Autonomous loading operation of mining machine

Info

Publication number: CN115516172A
Application number: CN202180030198.6A
Authority: CN
Inventors: 萨穆利·韦尔霍; 哈里·瓦塔宁
Original assignee: Sandvik Mining and Construction Oy
Current assignee: Sandvik Mining and Construction Oy
Priority date: 2020-05-06
Filing date: 2021-05-06
Publication date: 2022-12-23
Also published as: PL3907335T3; MX2022013862A; CA3177113A1; WO2021224373A1; US20230175232A1; AU2021269094A1; FI3907335T3; EP3907335A1; PE20221839A1; CL2022003038A1; EP3907335B1

Abstract

According to an example aspect of the invention, there is provided a method comprising: receiving drive train information of at least one drive train component of a work machine (10) equipped with a boom (14) and a bucket (16) connected thereto during a first action of an automatic adaptive loading procedure by the work machine (10); defining a set of control parameters based on the received driveline information; and controlling the position of the boom, the position of the bucket, and the speed of the work machine based on the defined set of control parameters during a second action of the automatic adaptive loading procedure.

Description

Autonomous loading operation of mining machine

Technical Field

The present invention relates to loading work machines, and in particular to controlling autonomous loading operations by such vehicles.

Background

A mining or construction excavation site (e.g., a hard or soft rock mine) may include an area for automated operation of a mobile work machine (which may also be referred to as a mining vehicle). Such a working machine may be an unmanned mining vehicle, e.g. remotely controlled from a control cabin, or a manned mining vehicle, i.e. operated by an operator in the cabin of a mobile vehicle. A work machine may be configured to autonomously perform at least some tasks. Automated work machines operating in an automatic mode may operate independently without external control, but may operate under external control in certain operating areas or conditions (e.g., during an emergency).

The loading device may be used to load excavated material (e.g. ore, rock or sand) and transport the excavated material from one location to another, for example from an underground mine loading location to the outside of a mine or to a conveyor transport device or a site reserved for unloading material after excavation. Due to the dynamic and unpredictable nature of bucket-rock interactions, it is very challenging to develop automated bucket filling that will work efficiently under a variety of conditions. The loader controller needs to manage not only the movement of the digging arm (e.g., boom and bucket positions), but also the penetration rate based on the movement of the loader platform. For example, the forces acting on the dipper when the dipper is actuated to penetrate the rock pile may vary significantly depending on the nature of the rock media in the rock pile, the geometry of the rock pile, and the distribution of particle sizes and geometries.

Patent publication EP 3207187 discloses a method of controlling automatic bucket loading. A bucket control curve is selected from a set of bucket control curves that includes an indication of a boom position of the work machine as a function of a distance traveled by the work machine relative to a reference position. There is a need for further improvements in automated bucket loading that accommodates varying loading conditions.

Disclosure of Invention

The invention is defined by the features of the independent claims. Specific embodiments are defined in the dependent claims.

According to a first aspect, there is provided an apparatus configured to perform or comprising means configured to perform at least the following: receiving drive train information of at least one drive train component of a work machine during a first action of an automatic adaptive loading program by the work machine equipped with a boom and a bucket connected to the boom; defining a set of control parameters based on the received drive train information; and controlling the position of the boom, the position of the bucket and the speed of the work machine based on the defined set of control parameters during a second action of the automatic adaptive loading procedure. The apparatus may comprise at least one processor and at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processor, cause the above-described execution of the device.

According to a second aspect, there is provided a method for controlling an autonomous loading operation, comprising: receiving drive train information of at least one drive train component of a work machine during a first action of an automatic adaptive loading program by the work machine equipped with a boom and a bucket connected to the boom; defining a set of control parameters based on the received drive train information; and controlling the position of the boom, the position of the bucket and the speed of the work machine based on the defined set of control parameters during a second action of the automatic adaptive loading procedure.

According to a third aspect, there is provided an apparatus comprising at least one processing core, at least one memory including computer program code, the at least one memory and the computer program code configured to, with the at least one processing core, cause the apparatus at least to perform the method or an embodiment of the method.

According to a fourth aspect, a computer program product or a (non-tangible) computer-readable medium is provided, comprising computer program code for causing a data processing apparatus to perform the method or an embodiment of the method, when executed in the apparatus.

According to an embodiment of any aspect, the termination condition of the automatic adaptive loading procedure is determined in response to receiving a signal from a bucket limit switch.

According to an embodiment of any aspect, the drive train of the work machine comprises an electric motor driven by an inverter unit, and the apparatus is configured to send control signals to the inverter unit to control the rotational speed and/or torque of the drive train in accordance with the defined set of control parameters. In another embodiment, the drive train of the work machine comprises a combustion engine controlled based on the defined set of control parameters.

According to an embodiment of any of the aspects, the set of control parameters defines a time relation between at least some of the plurality of control parameters of the set, and said at least some of the plurality of control parameters are applied for controlling the position of the boom, the position of the bucket and/or the speed of the work machine according to said time relation.

An embodiment according to any of the aspects, the parameters in the group are applied for a predefined period of time identified by the group.

According to an embodiment of any of the aspects, the timing of at least some of the control parameters of the group relative to one or more other parameters of the group is defined by the group.

Drawings

Fig. 1 shows an example of a working machine equipped with a bucket;

FIG. 2 illustrates a method in accordance with at least some embodiments;

FIG. 3 illustrates an arrangement for controlling automatic loading of a work machine;

FIG. 4 illustrates an adaptive automatic bucket loading method according to some embodiments; and is

FIG. 5 illustrates an example device capable of supporting at least some embodiments.

Detailed Description

The presently disclosed embodiments are particularly applicable to various work machines used in the mining industry, construction sites, etc., which are adapted to load, transport and unload excavated material or other bulk material. A specific example of such a work machine comprises a loading apparatus or loader comprising a bucket attached to a boom. For example, the excavated material can be rock excavated in an earth surface or subterranean operation region. In this context, the term "rock" should be understood broadly to also cover boulders, rock material, hard shells, and other relatively hard materials.

Fig. 1 shows an example of a work machine 10, which work machine 10 comprises a (mobile) carrier 12, one or more booms 14 and a bucket 16 pivotably or otherwise movably attached to said one or more booms 14. For example, the bucket 16 may be coupled to two booms 14. The attachment may include at least one pivot 22 and the bucket 16 may rotate relative to the pivot. Work machine 10 may be an articulated vehicle including two sections connected by a joint 32. The work machine may be a Load and Haul (LHD) facility, or a facility primarily intended for loading.

The work machine 10 also includes a first actuator 18 for moving the boom 14 up and down and a second actuator 20 for rotating the bucket 16 about a pivot 22. The

actuators

18, 20 may be hydraulically and/or electrically operable actuators, or may be operated by some other source of energy. It should also be noted that fig. 1 is simplified and that, for example, first actuator 18 and/or second actuator 20 may in practice include more than one actuator. For example, a lever arm arrangement may be employed to connect the cylinder to the bucket 16.

Work machine 10 generally includes a pump system 24 for generating hydraulic pressure to operate various components of the machine, such as lifting boom 14, turning bucket 16, etc. Work machine 10 may include one or more other energy sources, such as a battery, a hydrogen reservoir, a fuel tank, etc.

Work machine 10 may include a motor 26, and motor 26 may be driven by a hydraulic pump (system) 24, or it may be, for example, an internal combustion engine or an electric motor. Power from the motor 26 may be provided by a crankshaft (not shown) to the front and/or rear wheels 28, either directly or through a gearbox (not shown).

Work machine 10 includes at least one control unit 30, which control unit 30 may include one or more processors and memory configured to control at least some functions and/or actuators of the work machine. In some embodiments, control unit 30 is configured to control at least autonomous loading control related operations, and there may be one or more other control units in the work machine for controlling other operations. It should be understood that the control unit 30 may be configured to perform at least some of the features shown below, or multiple control units or controllers may be employed to perform these features. There may also be other operational modules or functions performed by the control unit, such as an automatic bucket loading module, at least one positioning unit/module, an autonomous drive control module and/or an obstacle detection module.

The work machine 10 may be an automated engineering machine that is independently operable/drivable in their autonomous operating modes without continuous user control, but which may be subject to external control during emergency situations, for example.

Work machine 10 may include a wireless data transfer unit 34, through which wireless data transfer unit 34 control unit 30 may establish a data transfer connection with another (second) control system 40 external to work machine 10 by utilizing a wireless connection provided by a base station or access node 42. The data transmission unit 34 may thus be connected to a communication system of the worksite, such as a wireless access system including a Wireless Local Area Network (WLAN) and/or a cellular communication network (e.g., a 4G, 5G, or another generation cellular network).

The system 40 may include or be connected to additional networks and/or data processing systems, such as worksite management systems, cloud services, data analysis devices/systems, intermediate communication networks (such as the internet), and so forth. The system may include or be connected to additional devices or control units, such as handheld user units, vehicle units, worksite management devices/systems, remote control and/or monitoring devices/systems, data analysis devices/systems, sensor systems/devices, and the like.

For example, the server of the system 40 may be configured to manage at least some operations at the worksite, such as providing a UI for an operator to remotely monitor and control automated operation of the work machine and/or assign work tasks to a fleet of vehicles as needed and to update and/or monitor task performance and status. Thus, work machine 10 may be unmanned, the user interface may be remote from the work machine, and the work machine may be remotely monitored or controlled over a communications network by an operator located near the work machine (e.g., in a tunnel) or at a control room at the worksite or even a significant distance from the worksite. It is noted, however, that the features described below may also be applied in manually operated machines to assist bucket filling.

Work machine 10 may include a positioning system or unit. At surface operated work machines, satellite based navigation (e.g. GPS systems) may be used to determine the position and orientation of the mine vehicle with sufficient accuracy. At a construction machine operating underground, instead of satellite-based positioning information, a position fix based on dead reckoning and/or scanning the tunnel surface may be used.

Work machine 10 may include one or more scanning units or scanners 36, where the scanning units or scanners 36 are configured to scan the environment of the work machine. In an embodiment, the scanner 36 may be a 2D or 3D scanner configured to monitor the tunnel pit wall. The control unit 30 may compare the operational scanned tunnel profile data with reference profile data stored in the environment model and position the work machine based on finding a match in the environment model and/or correct the positioning by dead reckoning. In some embodiments, the scan results are applied to detect the position and orientation of the work machine and one or more other components thereof (e.g., the scanner 36 or the bucket 16).

The driving plan or route plan may define a route to be driven by the work machine 10 and may be used as an input for automatic control of the work machine. The plan may define a start point, an end point, and a set of waypoints for autonomous driving. The driving plan may include information for loading regions or points and may include data for controlling the loading of the bucket 16. Automatic loading may be initiated in response to a location or waypoint of the work machine entering a loading area in the driving plane. The driving plan may be sent to the memory of the work machine via a wired or wireless connection to the work machine or otherwise loaded into the work machine for access by the control unit 30.

During bucket loading, the work machine 10 is driven adjacent a stack of excavated material or materials 50 (e.g., ore, rock, or sand). The bucket 16, and also the boom 14, may be lowered downwardly so that the bucket is on or near the ground surface. The work machine may be driven forward so that the bucket contacts the pile of material. Bucket loading involves many phases and actions and is a difficult task, especially for less experienced operators. If the work machine stops due to too high a resistance of the pile, the bucket may lift upwards, which may enable the work machine 10 to be driven a bit further, and so on.

The bucket loading procedure for the work machine 10 may be automated, i.e., the machine may autonomously perform a series of appropriate motions controlled by the controller unit 30 to load the bucket 16 and complete the loading by positioning the bucket in a position suitable for leaving the pile 50 and carrying the load to an unloading position.

There is a need to improve existing automatic bucket filling solutions that do not always work well under varying rock pile conditions (e.g., in situations where rock size varies widely). This results in the bucket being only partially filled.

An adaptive automatic bucket loading system is now provided that is based on an adaptive set of control parameters that are adjusted based on drive train information to further improve bucket loading efficiency under varying conditions.

Fig. 2 illustrates a method according to some embodiments. The method may be performed by a work machine and its control equipment, such as work machine 10 and its control unit 30.

A method for controlling autonomous loading may include receiving 200 drive train information for at least one drive train component during a first action of an automatic adaptive loading program by a work machine equipped with a boom and a bucket connected to the boom. Based on the received drive train information, a set of control parameters (for controlling the boom position, the bucket position and the speed of the work machine) is defined 210. During a second action of the automatic adaptive loading procedure, the position of the boom, the position of the bucket and the speed of the work machine are controlled 220 based on the defined set of control parameters.

Drive train information generally refers to information indicative of a state or parameter of a drive train component or system. The drive train components of a work machine typically include a motor, a gearbox and a transmission. The drive train information may be received from a drive train component or a control system or unit thereof. For example, the driveline information may be received from an inverter unit or another type of (drive control) unit that drives or controls the motor. The drive train information may be generated based on signals from drive train components. In some embodiments, the driveline information indicates driveline rotational speed and/or torque state. It should also be noted that the speed of the work machine controlled in block 220 should be understood broadly as a speed control in the work machine, such as commanding a motor controller with information that affects ground speed or motor speed.

When multiple sets of control parameters are preconfigured in a memory of work machine 10 (e.g., a memory accessible by control unit 30), the set of control parameters may be selected among the stored multiple sets of control parameters based on the received drive train information in block 210. The work machine may also be configured to dynamically generate some or all of the values in the set of parameters based on pre-configured control logic.

The first and second motions may be considered successive stages of an adaptive bucket loading procedure. Based on the driveline information, a set of actions and associated control parameters may be selected and entered to react to the detected trigger condition.

A temporal relationship may be defined between at least some of the plurality of control parameters in the set, and the parameters may be applied in block 220 according to the temporal relationship. Such time relation information, e.g. timing information of the parameters in the set, may be stored as part of the set of parameters. The set of control parameters may be a series of control parameters. The timing of at least some of the parameters may be defined in the group. The timing may be defined relative to one or more other parameters of the set or another reference, such as the beginning of block 220.

The control parameters in the set may define target values for the controlled entities, and a control action is initiated in block 220 to approach the target values. The set of parameters may include a plurality of subsequent values for the given parameter. For example, a plurality of different speed values may be applied in the set. Different values may have different durations, i.e. the time periods for which they are applied. In addition to the elapsed time or the time threshold for changing the value, there may be another criterion, some further examples of which are described below.

Fig. 3 illustrates an arrangement and elements of a work machine (e.g., work machine 10) for controlling automated adaptive loading by applying the method of fig. 2 and at least some embodiments thereof. In this example, a drive train 300 of a work machine includes an electric motor 304 driven by an inverter unit (INU) 302. The INU 302 includes an inverter, which may also be referred to as a frequency converter, an Alternating Current (AC) drive, a Variable Speed Drive (VSD), or a Variable Frequency Drive (VFD) at least in some cases, to control the voltage and frequency of the power supplied to the AC motor to control the torque and rotational speed of the motor 304.

Wheels 28, such as the front and rear wheels of work machine 10, are rotated via a transmission 308. The drive mechanism 308 is rotated by a gearbox (or reducer) assembly 306. The gearbox is driven by an electric motor 304. The INU 302 is powered by electrical energy from a power source (not shown) of the work machine.

Control system or unit 310, such as control unit 30, may be configured to perform the method of fig. 2 and receive (200) information from drive train system 300. The control unit 310 may comprise one or more computing units/processors executing computer program code stored in a memory. In some embodiments, the control unit may be connected to one or more other control units of a control system of the work machine via a Controller Area Network (CAN) bus. Control unit 310 may thus obtain drive train information from the bus system (e.g., provided to the bus by INU 302).

The INU 302 is controlled by the control unit 310 based on the parameters in the defined group to control the motor 304 of the work machine. The control unit 310 may be configured to transmit control signals to the INU 302 in accordance with the defined set of control parameters to control the rotational speed and/or torque of the driveline.

In certain embodiments, the control unit 310 may also be directly or indirectly connected to other elements of the transmission system (such as the motor 304 or another controller thereof) or sensors in the transmission system. For example, the RPM of the front wheels may be measured by an RPM sensor. Control unit 310 may obtain RPM information from the driveline and process it through algorithms to detect wheel slip or spin (in the presence of a differential lock). The algorithm may be configured to maintain the RPM within a predetermined range. The transmission RPM and hence the RPM of the wheels can be readily obtained.

The control unit 310 may be connected to an actuator control unit or (sub) system 320, which may be connected to a boom actuator (BoA) 322 and a bucket actuator (BuA) 324. In block 220, the control unit 310 may issue control signals based on or including the defined set of control parameters to the actuator control system 320, which actuator control system 320 controls the BoA 322 and BuA 324 to control the boom 14 and bucket 16 accordingly. It is noted that the boom and the bucket may have separate actuator controls, which may be directly connected to the control unit 310. The actuator control (sub) system may include or be connected to a hydraulic circuit having lift and tilt actuator control valves for controlling the rate at which pressurized hydraulic fluid flows to the respective lift and tilt hydraulic actuators in proportion to the control signal.

A User Interface (UI) 330 may be connected to the control unit 310 and include, for example, a joystick, touch screen or other input device by which input signals from a user may be provided to the control unit to affect the adaptive loading procedure.

The control unit 310 may be connected to other units in the work machine, such as further sensors or

sensor systems

340 and 350 providing input to the control unit 310. Examples of such sensors include boom or bucket limit sensors, boom or bucket position detection sensors, hydraulic pressure sensors for hydraulic load sensing pump pressure, and bucket pressure measurements. Sensor 350 may be a wheel rotation sensor.

The work machine 10 of FIG. 1 and the system of FIG. 3 are disclosed herein merely as examples for implementing embodiments disclosed herein. These embodiments are applicable to various other types and configurations of work machines and control units. Some further example embodiments are shown below, at least some of which may be performed by, for example, the control unit 30, 310.

Work machine 10 may define whether to trigger a redefinition or a change in an applied set of control parameters and/or an auto-loading action based on the drive train information and one or more threshold conditions. This may be an additional block that continues during or after block 220 and repeats during the adaptive loading procedure.

During the second action of the auto-adaptive loader, the work machine 10 may determine whether a change condition for changing the set of control parameters, the defined parameters of the set of control parameters, or the auto-adaptive loader action is satisfied. In an example embodiment, the need to adjust one or more parameters in the defined set is detected and may be dynamically adjusted during application of the set. In response to a change condition being fulfilled, the set of control parameters, the defined parameters in said set or said action is (re-) defined and changed.

The change condition may include at least one driveline information threshold, wheel slip condition or related threshold and/or time threshold.

Examples of driveline information thresholds include at least one threshold of driveline or motor rotational speed or RPM, a threshold of torque, and/or power.

In some embodiments, only some of the control parameters of the set or of the set applied are defined or changed during the automatic adaptive loading procedure based on wheel slip condition information indicative of wheel slip. In the exemplary embodiment, sensors 350 are disposed at the right and left front wheels 28 for determining the speed of the front wheels. Control unit 310 may determine a speed differential for the front wheels based on signals from the sensors and detect a slip condition in response to the speed differential exceeding a traction control threshold preconfigured for the loading procedure. Thus, a parameter set with reduced traction can be entered, thereby enabling a reduction in tire wear.

The time at which the set of control parameters defined by the application is applied may be monitored. In response to the time for which the set defined by the application exceeds a threshold value, a change of a set of control parameters may be controlled to control the position of the boom, the position of the bucket and the speed of the work machine. This enables to ensure that the set of parameters (and the associated auto-loading action) does not apply for an unnecessarily long time. In an example embodiment, as already indicated, the parameters in the group are applied for a predefined period of time identified by the group, i.e. some parameters of the group may only be applied for a part of the application time of the loading action and the set of parameters.

Block 220 may be performed without boom position measurement and/or bucket position measurement. In addition, auto loading does not require an external camera or other environmental measurement or scanning equipment. This simplifies the system and can avoid problems due to, for example, position sensor failure. The bucket 16 and/or the boom 14 may be equipped with a bucket limit switch or detector configured to indicate when the bucket reaches an end or limit position, such as an uppermost position. Work machine 10 may determine an end condition for the automatic adaptive loading process in response to receiving a signal from the bucket limit switch. It should be noted, however, that the termination condition may be set and detected without a switch or sensor, for example, based on analyzing hydraulic pressure information.

Furthermore, the adaptive loading system of the present invention may be configured without bucket pressure measurements and/or boom bucket pressure measurements. However, in example embodiments, hydraulic load sensing pump pressure measurements may be used as support or auxiliary information. Its control unit 30, 310 may receive hydraulic pressure information indicative of the current pressure of the hydraulic pump system of the work machine 10, e.g. from a sensor 340 or its controller. The set of control parameters may be defined in block 210 and/or further redefined based on the received hydraulic pressure information.

Work machine 10 and its control units 30, 310 may record historical information for the plurality of sets of control parameters that have been used. The set of control parameters may be further defined (210) based on the historical information. In a simple example, if a given set of parameters has been applied four times in succession, it is no longer selected. Another example is that the system stores application information for the sequence of sets of parameters that have caused the error condition and applies that information to avoid similar sequences and problems. The automatic adaptive loading system may be configured to learn during bucket loading based on historical information and past behavior. The system may be configured to teach an automatic adaptive loading procedure and adjust the set of parameters and/or adjust the definition of the set of parameters based on historical information.

Fig. 4 illustrates an exemplary adaptive loading method that may be performed by, for example, work machine 30 and control unit 30, 310. In response to initiating the auto-load mode or routine, block 400 may be entered, including, for example, lowering the boom arm from the drive position. In block 410, (the front of) the bucket is lowered against the ground. During block 410, relevant Load Sense (LS) information (e.g., hydraulic pump pressure) may be monitored and the bucket lowered until an LS threshold is reached or exceeded. Block 420 includes driving the work machine forward until a threshold is met; in an embodiment, the threshold is a traction control activation time threshold (i.e., traction control has been activated for a predetermined period of time in response to detection of wheel slip).

Block 430 includes defining the set of control parameters based on the driveline information by applying at least some of the presently disclosed features. Blocks 400 through 420 are examples of an auto-load start-up phase or action, which may be considered a first action of block 200, during which drive train information may be received. Thus, block 430 need not follow block 420. Alternatively, the set of parameters may be defined based on the transmission information as received after block 420.

Block 440 includes controlling the position of the boom, the position of the bucket, and the speed of the work machine based on the defined set of parameters. This may be considered to comprise the second auto-adaptive loader stage or action of block 220.

In some example embodiments, the set of control parameters is configured to cause at least one of:

maintaining the current position of the boom, lifting the bucket and driving forward,

-lifting the boom, maintaining the current position of the bucket and driving forward,

lifting the boom, lowering the bucket and driving forward, or

Lowering the boom, lifting the bucket and driving forward.

However, it should be understood that these are just some examples of control action combinations, and that a variety of other control action combinations may be configured with different sets of control parameters.

Block 450 includes checking whether a change condition (for redefining the set of parameters to apply to the adaptive loading) is satisfied, such as one or more of the change conditions described above. If so, block 430 is again entered, whereby a new set of parameters is defined that is more suitable for the current loading situation, and the work machine is controlled with the new set of parameters.

Block 460 includes checking whether the termination condition of the adaptive loader is met. For example, the termination condition may include receiving a signal from a bucket limit switch, a bucket load threshold, a hydraulic pressure threshold, and/or a programmed time limit. If the termination condition is not met, the routine may return to block 440.

If the termination condition is met, the program may enter an auto-load complete or end phase or action, such as example blocks 470 through 490. Block 470 includes driving the work machine backwards and lifting the boom. Block 480 includes shaking the bucket. Block 490 includes driving backwards, lifting the bucket, and lowering the boom (e.g., to a drive position). It is noted that for the example of fig. 4, there may be some further blocks and modifications.

The adaptive system of the invention helps to improve the bucket filling efficiency and to obtain a full bucket under different rock pile conditions. The drive train information may well reflect the loading. Based on an algorithm suitably configured to apply the driveline information, it is possible to know exactly what is currently occurring during the loading process and define an appropriate set of control parameters, even better than an experienced operator can do. The system has been tested and, due to its high degree of adaptability, can consistently achieve high bucket fill levels under a variety of stack conditions. In the tests performed, the adaptive system was able to achieve an average weight of 15.1 tons, while an experienced operator was able to achieve an average weight of 15.9 tons on the same different stack.

When combined with automated driving and unloading, the mining operation of the LHD may be fully automated using the presently disclosed adaptive loading system. The presently disclosed automated adaptive loading procedure may also be well applied in conjunction with manual operations and automates the most difficult phase of LHD operations, thereby facilitating less experienced operators to operate the machine.

Moreover, a very important advantage is that there is no need to teach or otherwise define a curve of the bucket and/or boom (indicating the position of the bucket/boom relative to the distance travelled by the work machine) in advance. Dynamically adjusted loading procedures can be fully provided without the need for predefined curves and associated boom/bucket position and distance measurements.

It is to be understood that various additional features may supplement or distinguish at least some of the above-described embodiments. For example, there may be further user interaction and/or automation functions to further facilitate an operator monitoring the work machine during the adaptive auto-loading procedure, entering appropriate actions through the UI330 to overcome problems detected during the procedure (e.g., by selecting a set of control parameters to overcome the problem).

The electronic device comprising the electronic circuitry may be a device for implementing at least some of the above embodiments, for example implementing the features shown for the control unit 30, 310 in connection with the method shown in fig. 2 and 4. The device may be comprised in at least one computing device connected to or integrated into a control system of the work machine. Such a control system may be an intelligent on-board control system (e.g., hydraulic system, motors, etc.) that controls the operation of various subsystems of the work machine, which in one example are shown in FIG. 3. Such control systems are typically distributed and comprise a number of individual modules connected by a bus system, e.g. Controller Area Network (CAN) nodes.

FIG. 5 illustrates a simplified example device capable of supporting at least some embodiments of the present inventions. There is shown an apparatus 500 that may be configured to perform at least some of the embodiments described above in connection with adaptive auto-loading related operations. In some embodiments, the apparatus 500 includes or implements the control unit 30 or other modules, functions and/or units for performing at least some of the above-described embodiments.

Included in device 500 is a processor 510, where processor 510 may comprise, for example, a single-core or multi-core processor. Processor 510 may include more than one processor. The processor may comprise at least one application specific integrated circuit ASIC. The processor may comprise at least one field programmable gate array FPGA. The processor may be configured, at least in part, by computer instructions to perform actions.

The device 500 may include a memory 520. The memory may include random access memory and/or persistent memory. The memory may be at least partially accessible by the processor 510. The memory may be at least partially contained within the processor 510. The memory may be at least partially external to device 500, but accessible by the device. The memory 520 may be a means for storing information such as parameters 522 that affect the operation of the device. In particular, the parameter information may comprise parameter information affecting the automatic adaptive loading related feature, such as a threshold value.

The memory 520 may be a non-transitory computer-readable medium that includes computer program code 524, the computer program code 524 including computer instructions configured for execution by the processor 510. When computer instructions configured to cause a processor to perform certain actions are stored in a memory, and the device as a whole is configured to run under the direction of the processor using the computer instructions from the memory, the processor and/or at least one processing core thereof may be considered to be configured to perform the certain actions. The processor may form, together with the memory and the computer program code, means for performing at least some of the above-described method steps in the apparatus.

The device 500 may comprise a communication unit 530, the communication unit 530 comprising a transmitter and/or a receiver. The transmitter and receiver may be configured to transmit and receive data and control commands, respectively, internal or external to the work machine. For example, the transmitter and/or receiver may be configured to operate in accordance with global system for mobile communications, GSM, wideband code division multiple access, WCDMA, long term evolution, LTE, 3GPP new radio access technology (N-RAT), wireless local area network, WLAN, and/or ethernet standards.

The device 500 may include or be connected to a UI. The UI may include at least one of a display 540, a speaker, an input device 550 (such as a keyboard, joystick, touch screen), and/or a microphone. The UI may be configured to display views based on the embodiments shown above. The user may operate the device and control at least some of the above features. In some embodiments, a user may control work machine 10 via the UI, such as to manually steer the vehicle, operate the boom, initiate auto-loading, change modes, change parameter sets, change display views, modify parameters 522, and the like.

The device 500 may also include and/or be connected to additional units, devices, and systems, such as one or more sensor devices 560, the sensor devices 560 being configured to detect an environment of the device 500 or a characteristic of the work machine (e.g., wheel rotation or hydraulic pressure).

The processor 510, memory 520, communication unit 530, and UI may be interconnected in a number of different ways by electrical leads internal to the device 500. For example, each of the above devices may be individually connected to a main bus internal to the device to allow the devices to exchange information. However, as will be understood by those skilled in the art, this is only one example and various ways of interconnecting at least two of the above-described devices may be chosen according to the embodiments without departing from the scope of the invention.

It is to be understood that the disclosed embodiments of the invention are not limited to the particular structures, process steps, or materials disclosed herein, but extend to equivalents thereof as would be recognized by those ordinarily skilled in the relevant arts. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting.

Reference in the specification to one embodiment or an embodiment means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Where a numerical value is referred to using a term such as, for example, about or substantially, the exact numerical value is also disclosed.

As used herein, a plurality of items, structural elements, compositional elements, and/or materials may be presented in a common list for convenience. However, these lists should be construed as though each member of the list is individually identified as a separate and unique member. Thus, no single member of such list should be construed as a de facto equivalent of any other member of the same list solely based on their presentation in a common group without indications to the contrary. Furthermore, various embodiments and examples of the invention may be referred to herein, along with alternatives for the various components thereof. It should be understood that such embodiments, examples, and alternatives are not to be construed as actual equivalents to each other, but are to be considered as separate and autonomous representations of the invention.

Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the previous descriptions, numerous specific details are provided (e.g., examples of lengths, widths, shapes, etc.) to provide a thorough understanding of embodiments of the invention. One skilled in the relevant art will recognize, however, that the invention can be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention.

While the foregoing examples illustrate the principles of the invention in one or more specific applications, it will be apparent to those of ordinary skill in the art that numerous modifications in form, usage and implementation details may be made without the exercise of inventive faculty, and without departing from the principles and concepts of the invention. Accordingly, it is not intended that the invention be limited, except as by the claims set forth below.

The verbs "comprise" and "comprise" are used in this document as open-ended limitations that neither exclude nor require the presence of features that have not yet been enumerated. The features recited in the dependent claims are freely combinable with each other, unless explicitly stated otherwise. Furthermore, it should be understood that the use of "a" or "an" (i.e., singular forms) throughout this document does not exclude a plurality.

Claims

1. An apparatus comprising means configured to:

-receiving (200), during a first action of an automatic adaptive loading procedure by a work machine (10) equipped with a boom (14) and a bucket (16) connected to the boom, transmission system information of at least one transmission system component of the work machine, wherein the transmission system information is information generated based on signals from the at least one component of an electric transmission system, and wherein the at least one component of the electric transmission system is an inverter unit, an electric motor, a gearbox or a transmission,

-defining (210) a set of control parameters based on the received drive train information of the at least one drive train component of the work machine, and

-controlling (220) the position of the boom, the position of the bucket and the speed of the work machine based on the defined set of control parameters during a second action of the automatic adaptive loading procedure.

2. The apparatus of claim 1, wherein the drive train information indicates at least one of a drive train rotational speed and a torque state.

3. The apparatus of claim 1 or 2, wherein the apparatus is configured to determine, during the second action of the auto-adaptive loader, whether a change condition for changing at least one of the set of control parameters, parameters of the defined set of control parameters, or an auto-adaptive loader action is met, and the apparatus is configured to change at least one of the set of control parameters, parameters of the defined set of control parameters, or an auto-adaptive loader action in response to the change condition being met.

4. The apparatus of claim 3, wherein the change condition comprises at least one driveline information threshold, a wheel slip condition threshold, and/or a time threshold.

5. An apparatus according to any preceding claim, wherein the apparatus is configured to define or change the set of control parameters based on wheel slip condition information indicative of wheel slip during the automatic adaptive loading procedure.

6. An apparatus according to any preceding claim, wherein the apparatus is further configured to monitor the time at which the defined set of control parameters is applied and to control the change in the set of control parameters in response to the time at which the defined set is applied exceeding a threshold value to control the position of the boom (14), the position of the bucket (16) and the speed of the work machine (10).

7. The apparatus of any preceding claim, wherein the set of control parameters is configured to cause:

-maintaining the current position of the boom (14), lifting the bucket (16) and driving it forward,

-lifting the boom, lowering the bucket and driving forward, or

-lowering the boom, lifting the bucket and driving forward.

8. The apparatus according to any preceding claim, wherein the apparatus is configured to record historical information for a set of control parameters used, and to define the set of control parameters based on the historical information.

9. An apparatus according to any preceding claim, wherein the apparatus is configured to control the position of the boom (14), the position of the bucket (16) and the speed of the work machine (10) without one or more of: no pressure measurement of the bucket and/or the boom, no position measurement of the bucket and/or the boom, and/or no predetermined curve indicating the position of the boom of the work machine in relation to the distance travelled by the work machine is required.

10. An apparatus according to any preceding claim, wherein the apparatus is further configured to receive hydraulic pressure information indicative of a current pressure of a hydraulic pump system (24) of the work machine (10), and to define the set of control parameters further based on the received hydraulic pressure information.

11. A work machine (10) comprising an apparatus as claimed in any preceding claim.

12. A method for controlling loading of a work machine (10), comprising:

-receiving (200) transmission system information of at least one transmission system component of the work machine during a first action of an automatic adaptive loading procedure by the work machine equipped with a boom (14) and a bucket (16) connected to the boom, wherein the transmission system information is information generated based on signals from the at least one component of an electric transmission system, and wherein the at least one component of the electric transmission system is an inverter unit, an electric motor, a gearbox or a transmission,

13. The method of claim 12, further comprising:

-during the second action of the auto-adaptive loader, determining (450) whether a change condition for changing at least one of the set of control parameters, a defined parameter of the set of control parameters or an auto-adaptive loader action is fulfilled, and

-in response to said change condition being fulfilled, changing at least one of said set of control parameters, a defined parameter of said set of control parameters or an automatic adaptive loader action.

14. A method according to claim 12 or 13, wherein said set of control parameters is defined or changed during said automatic adaptive loading procedure based on wheel slip condition information indicative of wheel slip.

15. A computer program comprising code for causing the method according to claims 12 to 14 to be performed when executed in a data processing device (500).