Granted Patent B2

US 12,306,031 · App. 17/759,715 · Granted May 20, 2025

Inventors: Krister Vernersson (Stenungsund, SE); Assar Martinsson (Braås, SE); Mikael Fransson (Eskilstuna, SE)

Assignee: VOLVO AUTONOMOUS SOLUTIONS AB

G01G19/083E02F9/264G01G23/01

Abstract

Claims (49)

1. A control system for assisting an operator of a working machine, the working machine comprising a bucket arranged to receive a load to be unloaded to a load receiving vessel, the control system comprising processing circuitry arranged in communication with an operator interface, wherein the processing circuitry is adapted to:

estimate a difference between a desired payload for the load receiving vessel and an accumulated weight of buckets of loads already unloaded to the load receiving vessel using the bucket,

determine if the difference corresponds to an estimated weight for a fully loaded bucket or to an estimated weight for a half-loaded bucket, and

instruct, using the operator interface and based on the determination, an operator of the working machine to unload a fully loaded bucket or a half-loaded bucket to the load receiving vessel, wherein

the estimated weight for a fully loaded bucket corresponds to the heaviest bucket load of a plurality of consecutive bucket loads, or

the estimated weight for a fully loaded bucket corresponds to an average of a plurality of consecutive bucket loads.

2. The control system according to claim 1 , wherein the processing circuitry only determines the difference if the accumulated weight of buckets of loads already unloaded to the load receiving vessel exceeds a predetermined threshold.

3. The control system according to claim 2 , wherein the predetermined threshold is at least more than 80% of the desired payload for the load receiving vessel.

4. The control system according to claim 1 , wherein the processing circuitry is further adapted to:

determine if the difference corresponds to an estimated weight for a quarter-loaded bucket or to an estimated weight for a three quarter-loaded bucket, and

instruct, using the operator interface and based on the determination, an operator of the working machine to unload a quarter-loaded bucket or a three quarter-loaded bucket to the load receiving vessel.

5. The control system according to claim 1 , wherein the processing circuitry is further adapted to:

receive an indication of a weight of the load currently within the bucket, and

receive an indication of a weight of the load currently received at the load receiving vessel.

6. The control system according to claim 1 , further comprising the operator interface.

7. The control system according to claim 1 , wherein the operator interface is adapted to provide at least one of a visual, audio and haptic-based indication to the operator.

8. The control system according to claim 1 , wherein the operator interface comprises a first and a second light source, the first light source provided for indicating a fully loaded bucket and the second light source provided for indicating a half-loaded bucket.

9. A working machine, comprising:

a control system according to claim 1 , and

means for determining a weight of the load currently within the bucket.

10. The working machine according to claim 9 , wherein the working machine is a loader.

11. A load receiving vessel, comprising:

a control system according to- claim 1 ,

load receiving means, and

means for determining a weight of the load currently received at the load receiving means.

12. The load receiving vessel according to claim 11 wherein the load receiving vessel is a hauler.

13. A loading station, comprising:

a control system according to claim 1 , and

a weighing arrangement for receiving the load receiving vessel, weighing arrangement communicatively coupled to the processing circuitry,

wherein the processing circuitry is further adapted to determine a weight of the load currently received at the load receiving vessel.

14. A method for operating a control system arranged to assist an operator of a working machine, the working machine comprising a bucket arranged to receive a load to be unloaded to a load receiving vessel, the control system comprising processing circuitry arranged in communication with an operator interface, wherein the method comprises the steps of:

estimating, using the processing circuitry, a difference between a desired payload for the load receiving vessel and an accumulated weight of buckets of loads already unloaded to the load receiving vessel using the bucket,

determining, using the processing circuitry, if the difference corresponds to an estimated weight for a fully loaded bucket or to an estimated weight for a half-loaded bucket, and

instructing, using the operator interface and based on the determination, an operator of the working machine to unload a fully loaded bucket or a half-loaded bucket to the load receiving vessel, wherein

the estimated the weight for a fully loaded bucket corresponds to the heaviest bucket load of a plurality of consecutive bucket loads, or

the estimated the weight for a fully loaded bucket corresponds to an average of a plurality of consecutive bucket loads.

15. The method according to claim 14 , further comprising the step of:

comparing the estimated difference with a predetermined threshold,

wherein the steps of determining and instructing are only performed if the estimated difference is above the predetermined threshold.

16. The method according to claim 14 , wherein the estimated difference is at least more than 80% of the desired payload for the load receiving vessel.

17. The method according to claim 14 , further comprising the steps of:

receiving, at the processing circuitry, an indication of a weight of the load currently within the bucket, and

receive, at the processing circuitry, an indication of a weight of the load currently received at the load receiving vessel.

18. A computer program product comprising a non-transitory computer readable medium having stored thereon computer program means for operating a control system arranged to assist an operator of a working machine, the working machine comprising a bucket arranged to receive a load to be unloaded to a load receiving vessel, the control system comprising processing circuitry arranged in communication with an operator interface, wherein the computer program product comprises:

code for estimating, using the processing circuitry, a difference between a desired payload for the load receiving vessel and an accumulated weight of buckets of loads already unloaded to the load receiving vessel using the bucket,

code for determining, using the processing circuitry, if the difference corresponds to an estimated weight for a fully loaded bucket or to an estimated weight for a half-loaded bucket, and

code for instructing, using the operator interface and based on the determination, an operator of the working machine to unload a fully loaded bucket or a half-loaded bucket to the load receiving vessel, wherein

the estimated the weight for a fully loaded bucket corresponds to the heaviest bucket load of a plurality of consecutive bucket loads, or

the estimated the weight for a fully loaded bucket corresponds to an average of a plurality of consecutive bucket loads.

Assignments (1)

Continuity (1)

References Cited (18)