METHOD FOR UNLOADING A PAYLOAD

Abstract

A method for unloading a payload at a loading station includes selecting the payload to be unloaded from different payloads and registering a total target quantity of the selected payload to be unloaded at the loading station as a target quantity unit, a current total quantity of the selected payload that has already been unloaded at the loading station as an actual quantity unit, a number of already performed unloading procedures corresponding to a quantity of the selected payload that has already been unloaded at the loading station, or a difference between the target quantity unit and the actual quantity unit.

Claims

1. A method for unloading a payload at a loading station, comprising: selecting the payload to be unloaded from different payloads; and registering a total target quantity of the selected payload to be unloaded at the loading station as a target quantity unit, a current total quantity of the selected payload that has already been unloaded at the loading station as an actual quantity unit, a number of already performed unloading procedures corresponding to a quantity of the selected payload that has already been unloaded at the loading station, or a difference between the target quantity unit and the actual quantity unit.

2. The method according to claim 1, wherein the actual quantity unit and the target quantity unit are each a natural number.

3. The method according to claim 1, wherein the actual quantity unit and the target quantity unit are each a unit of weight or mass.

4. The method according to claim 1, further comprising signalling the registered information by a display unit.

5. The method according to claim 1, further comprising disposing the payload in or on a picking unit of a work machine.

6. The method according to claim 5, further comprising shaking the payload out of the picking unit.

7. The method according to claim 6, further comprising unloading the payload out of the picking unit during the shaking step.

8. The method according to claim 6, further comprising partially shaking the payload out of the picking unit during at least one unloading procedure.

9. The method according to claim 8, further comprising terminating at least one unloading procedure depending on at least one of the detection of a predetermined residual mass of the payload remaining in the picking unit, the detection of a predetermined mass shaken out during the at least one unloading procedure.

10. The method according to claim 5, further comprising determining a mass of the payload in or on the picking unit and registering the mass.

11. The method according to claim 10, wherein the determining step comprises determining the mass of the payload as a starting mass of the payload located in or on the picking unit before the unloading procedure, or as a current mass of the payload located in or on the picking unit during the unloading procedure.

12. The method according to claim 11, further comprising defining a residual mass depending on the determined starting mass.

13. The method according to 11, further comprising defining a residual mass depending on the predetermined payload mass.

14. The method according to claim 11, further comprising comparing the current mass of the payload in the picking unit with the predetermined residual mass before the end of the unloading process.

15. The method according to claim 5, further comprising varying a tilt angle of the picking unit relative to a straight reference line in a tipping out direction during the unloading procedure.

16. The method according to claim 15, further comprising carrying out the determination of the mass of the payload or the change in the tilt angle during the unloading procedure after an expiration of a defined time interval.

17. The method according to claim 15, further comprising detecting the predetermined residual mass or the predetermined load mass depending on a target value of the tilt angle reached during the unloading procedure.

18. The method according to claim 17, further comprising deriving the target value of the tilt angle from predefined calibration data.

19. The method according to claim 18, wherein the calibration data is defined as a ratio between a mass of the payload and a tilt angle of the picking unit.

20. The method according to claim 18, further comprising tilting the picking unit in an opposite direction to terminate the unloading procedure.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0048] The above-mentioned aspects of the present disclosure and the manner of obtaining them will become more apparent and the disclosure itself will be better understood by reference to the following description of the embodiments of the disclosure, taken in conjunction with the accompanying drawings, wherein:

[0049] FIG. 1 shows a schematic block diagram type representation of a work machine with a control unit for carrying out the method,

[0050] FIG. 2 shows a schematic representation of the lifting device,

[0051] FIG. 3 shows a flow diagram of the method according to the present disclosure in a first embodiment,

[0052] FIG. 4 shows a flow diagram of the method according to the present disclosure in a further embodiment, and

[0053] FIG. 5 shows a flow diagram with further method steps for use in the methods according to FIG. 3 and FIG. 4.

[0054] Corresponding reference numerals are used to indicate corresponding parts throughout the several views.

DETAILED DESCRIPTION

[0055] The embodiments of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed in the following detailed description. Rather, the embodiments are chosen and described so that others skilled in the art may appreciate and understand the principles and practices of the present disclosure.

[0056] FIG. 1 shows schematically individual components of a work machine 10 in the form of a tractor or a towing machine with a lifting device 12 disposed thereon in the form of a front loader. The work machine 10 comprises a suitable sensor system 14 and a weighing device 16. The weighing device 16 can weigh a selected payload L(spez_L) that is located in a picking unit 18 embodied as a shovel. In another embodiment, the picking unit 18 is, for example, embodied as a loading fork (especially for bales).

[0057] The sensor system 14 includes, for example, various accelerometers, pressure sensors or strain gauges, which can be disposed on the lifting device 12 or on a supporting structure 20 of the work machine 10. The sensor system 14 can be embodied as the type of sensor device according to DE 10 2013 203 826 A1. In one embodiment, the weighing device 16 can also be embodied and functionally effective as the type of weighing device according to DE 10 2013 203 826 A1.

[0058] Signals or data from the sensor system 14 and the weighing device 16 are sent to an electronic control unit 22 of the work machine 10. In a further embodiment that is not represented here, the weighing device 16 is part of the control unit 22. The control unit 22 controls the lifting device 12 or the picking unit 18 thereof in order to enable unloading of the selected payload L(spez_L) from the picking unit 18 in a way that is yet to be described.

[0059] In the case of a shovel as the picking unit 18, unloading the payload L(spez_L) usually means tipping the payload L(spez_L) out. Accordingly, the unloading procedure can then also be referred to as a tipping procedure.

[0060] An input unit 24 is connected to the control unit 22. The input unit 24 is, for example, embodied as a keyboard or a display and is used for entering data (e.g., manually, by voice) by a user, e.g., a user or operator of the work machine 10. The input unit 24 sends the entered data to the control unit 22 as signals sig_1. Furthermore, the control unit 22 can receive signals sig_2. The signals sig_2 represent data from an information system (e.g., CAN bus, CANFD bus, Ethernet, EtherCAT, LIN bus, FlexRay bus, IIC, UART) of the work machine 10 and, if necessary, other data that are available regardless of the individual data input of the user or the operator of the work machine 10.

[0061] For example, the user chooses a payload L(spez_L) from at least two different possible payloads L(i), i.e., i2. The selection will be made depending on the planned loading work. The index spez_L represents any specific feature by which the selected payload L(spez_L) differs from other selectable payloads L(i). The selection of the respective payload L(spez_L) is communicated by the signal sig_1 to the control unit 22 and is registered there.

[0062] For example, the control unit 22 receives information by the signals sig_1 about the type of selected payload L(spez_L), e.g., a specific type of bale (hay, straw, etc.) or bale size, soil, gravel, specific liquid, etc.

[0063] Furthermore, the user can use the signals sig_1 to the control unit 22 to communicate a total target quantity m_sum_ziel of the payload L(spez_L) that is to be unloaded at a loading station 26. The total target quantity m_sum_ziel may also depend on a maximum allowable load, which is communicated to the control unit 22 by the signals sig_1 or sig_2.

[0064] Furthermore, the control unit 22 provides registered information or data to a display unit 28. The display unit 28 allows the user or operator of the work machine 10 to be informed about the progress of the loading activity at the loading station 26. In principle, the display unit 28 can be used to signal all the information that is registered in the control unit 22 or in a memory unit. For example, the display unit 28 signals the following registered information: [0065] the selected payload L(spez_L) or a specific feature spez_L differentiating between different payloads L(i), [0066] a current mass m_akt of the payload L(spez_L) that is currently in the picking unit 18, [0067] a current total quantity m_sum_akt of the payload L spez_L) already unloaded at the loading station 26, [0068] the total target quantity m_sum_ziel of the selected payload L(spez_L) to be unloaded at the loading station 26, [0069] a difference m_sum between the total target quantity m_sum_ziel and the current total quantity m_sum_akt, and [0070] a number n_KV of already performed loading operations in the current loading work, wherein this number n_KV is the current total quantity m_sum_akt of the selected payload L(spez_L) already unloaded at the loading station 26.

[0071] The current total quantity of the selected payload L(spez_L) already unloaded at the loading station 26 is indicated schematically as a current total mass m_sum_akt with a solid line in FIG. 2. The associated total target quantity is indicated as a total target mass m_sum_ziel with a dotted line.

[0072] If the current loading work at the loading station 26 for the selected payload L(spez_L) requires multiple successive unloading procedures, the difference m_sum in the last unloading procedure corresponds to a payload mass m_zul that is predetermined by this difference. This predetermined payload quantity m_zul of the payload L(spez_L) should be tipped out in the last unloading procedure or tipping procedure as accurately as possible to avoid exceeding the target total mass m_sum_ziel at the loading station 26. The same applies if only a single tipping operation is needed. Then this single tilting operation is also the last tipping procedure at the same time.

[0073] In one embodiment of the display unit 28, the mentioned payload mass m_zul, a yet to be described starting mass m_st in the picking unit 18 and a residual mass m_r in the picking unit 18, which is also still to be described, can also be signalled.

[0074] FIG. 2 shows schematically the lifting device 12 disposed on the work machine 10. The lifting device 12 comprises a cantilever 30 that is pivotably supported about a first swivel axis A1 relative to the work machine 10. The picking unit 18 is pivotably supported about a second swivel axis A2 relative to the cantilever 30.

[0075] Various physical features of the cantilever 30 and the picking unit 18 can be used to determine a mass of the payload L(spez_L) in the picking unit 18. The starting mass m_st or the current mass m_akt can be determined, for example, by the sensor system 14 and provided algorithms (e.g., based on DE 10 2013 203 826 A1) depending on the following variables including a mass m_AL of the cantilever 30 and its center of gravity S_AL relative to the first swivel axis A1, a mass m_AE of the picking unit 18 and its center of gravity S_AE relative to the second swivel axis A2, a torque M1 about the first swivel axis A1 and a torque M2 about the second swivel axis A2.

[0076] The movable swivel support of the picking unit 18 about the swivel axis A2 allows different tilt angles w_k of the picking unit 18 relative to a vertical 32, which forms a straight reference line for a varying tilt angle w_k. The straight reference line corresponds to the y-axis of the indicated x/y coordinate system. Other straight reference lines are conceivable, e.g., a horizontal that would correspond to the x-axis of the aforementioned coordinate system.

[0077] During a tipping procedure, the tilt angle w_k is varied in a tilting direction 34 and thus becomes gradually larger. The tilt angle w_k is gradually reset after the expiry of a defined time interval, as represented by way of example using the time intervals t1 and t2, the angle changes w and the changed tilt angles w_k1 and w_k2 in the x/y coordinate system. At the beginning of the tipping procedure, the tilt angle w_k is adjusted and defined as a starting angle w_k_st relative to the straight reference line used (i.e., the vertical y-axis). This adjustment can be done automatically by the control unit 22 by registered data. Starting from the starting angle w_k_st, a maximum angle change is defined to trigger automated termination of the tipping procedure. At the selected straight reference line in FIG. 2 it is a maximum tilt angle w_k_max, the detection of reaching or falling below which triggers termination of the tipping procedure. At the maximum tilt angle w_k_max, the picking unit 18 is opened wide down towards the loading station 26. Nevertheless, the maximum tilt angle w_k_max is set in particular in such a way that there is still room for movement between it and the mechanical end stop of the picking unit 18.

[0078] In another embodiment of the method, the control unit 22 accesses stored calibration data representing a ratio between a mass of the payload L(spez_L) in the picking unit 18 and a corresponding tilt angle w_k of the picking unit 18. In particular, the stored calibration data are the current mass m_akt of a specific payload L(spez_L) in the picking unit 18 as a function of the tilt angle w_k, thus m_akt=f(w_k). The calibration data are provided as a characteristic curve K or a table. Different characteristic curves K or tables are usually provided for different payloads L(i) with different specific characteristics spez_L.

[0079] The calibration data can be stored in the control unit 22 of the work machine 10 or can be communicated to the control unit 22 by the signal sig_2, for example.

[0080] The control unit 22 is designed in such a way that it receives and sends all the data, signals, etc. that are required to carry out a tilting procedure. In particular, the control unit 22 controls the lifting device 12 and the picking unit 18 thereof. For this purpose, hydraulic cylinders on the lifting device 12 are operated.

[0081] FIG. 3 shows significant steps of the method in a first embodiment. At the beginning of loading work, different possible payloads L(i) are offered to the user, e.g., in a selection menu of a display (step 88). The user selects the payload L(spez_L) provided for the current loading work (step 90).

[0082] After step 90, one or more procedure steps that are not specified here can be carried out (e.g., picking and transporting the selected payload L(spez_L), registering information, at least one tipping procedure already performed during this loading work) before a starting step 100 is carried out.

[0083] After the starting step 100, the current mass m_akt of the payload L(spez_L) in the picking unit 18 is determined in step 102. This mass of the payload L(spez_L) corresponds to the starting mass m_st thereof immediately before the start of a tilting operation. Step 104 compares the starting mass m_st with the difference m_sum between the target total mass m_sum_ziel and the current total mass m_sum_akt. If the starting mass m_st is no larger than the difference m_sum, the payload L(spez_L) can be completely tipped out of the picking unit 18 (step 106) during the current unloading procedure. After that, further procedural steps, e.g., in particular a step 308 and a step 306 according to FIG. 5, can be taken to change the tilt angle w_k towards the starting angle w_k_st and to end the tipping procedure.

[0084] If the starting mass m_st is larger than the difference m_sum, the payload L(spez_L) should only be tipped out proportionately, namely as precisely as possible as the quantity of the mass corresponding to this difference m_sum. Thus, the payload mass m_zul to be tipped out during this tipping procedure is predetermined to be the difference _sum (step 108). This tipping procedure is the last tipping procedure of a loading activity in which, in contrast to the previous tipping procedures with full tipping, only a pro rata tipping of the payload L(spez_L) from the picking unit 18 is to be made in order to achieve the total target mass m_sum_ziel at the loading station 26 as accurately as possible.

[0085] Also, in step 108, the residual mass m_re remaining in the picking unit 18 is predetermined by the equation m_re=m_stm_zul. From the stored calibration data or the characteristic curve K, the target value w_soll of the tilt angle w_k can be predetermined, which corresponds to the remaining mass m_re in the picking unit 18 (step 108).

[0086] By the control unit 22, the tilt angle w_k of the picking unit 18 is adjusted until the predetermined target value w_soll is reached or exceeded (step 110). If reaching or exceeding the target value w_soll is determined or detected, this corresponds to the indirect detection of the predetermined residual mass m_re.

[0087] After the expiry of a defined holding time t_h for the set target value w soll (step 112), in a variant of the method the tilt angle w_k can be returned towards the starting angle w_k_st to complete the tipping procedure. This variant is indicated after step 112 as a dashed arrow in the direction of step 308.

[0088] In the case of an alternative variant of the method, after the holding time t_h has expired a check is carried out in a step 304 in accordance with FIG. 5 as to whether the predetermined residual mass m_re in the picking unit 18 has been reached or fallen below with a tolerance taken into account in the form of a tolerance mass m_tol (e.g., 20 kg). If so, the tilt angle w_k is returned towards the starting angle w_k_st and the tipping procedure is terminated (steps 306, 308, 310).

[0089] If in step 304 the predetermined residual mass m_re in the picking unit 18 has not yet been reached, including taking the tolerance into account, a shaking operation will be carried out in a step 312 during a defined shaking time t_rue. During this, the picking unit 18 is movedonce or several times depending on the shaking time t_rueoppositely to the tilting direction 34 and in the tilting direction 34 in order to tip out a further mass of the payload L from the picking unit 18. In a following step 314, the shaking mass m_rue that was tipped out by the shaking procedure is compared with a defined mass limit value of m_gr.

[0090] If step 314 shows that the shaking mass m_rue has reached or exceeded the mass limit m_gr, it can be checked again when passing through steps 302 and 304 whether even more mass of the payload L should be tipped out of the picking unit 18 or whether the tilting procedure can be terminated (steps 306, 308, 310). If in step 314 the shaking mass m_rue has exceeded the mass limit value m_gr, further measures are initiated in step 316, namely the shaking time t_rue is changed or the tilt angle w_k is increased. Which measure is carried out with which physical parameters can be affected by the determined difference between the two values shaking mass m_rue and mass limit value m_gr. After that, if the maximum tilt angle w_k_max is not yet reached, steps 302 and 304 will be repeated. This checks again whether further payload L mass should be tipped out of the picking unit 18 or whether the tilting procedure can be terminated (steps 306, 308, 310).

[0091] Especially with a payload L(spez_L) with complex properties (e.g., sticky, too-fluid) with tilting behavior that is not exactly reproducible, it can be advantageous to increase the accuracy of the tipping procedure to not detect reaching the predetermined residual mass m_re or the completed tipping of the predetermined payload mass m_zul indirectly, as described on the basis of steps 108, 110 according to FIG. 3.

[0092] Rather, alternatively to the procedure in accordance with FIG. 3, calibration data or characteristic curves K can be dispensed with. Reaching the predetermined residual mass m_re or the complete tipping of the predetermined payload mass m_zul during a tipping procedure is detected directly by determining the current mass m_akt of the payload L(spez_L) in the picking unit 18 during this tipping procedure. The current mass m_akt is determined several times during the tipping procedure, especially continuously after the expiry of certain time intervals. For example, the time intervals t1 and t2 can be used for the gradual adjustment of the tilt angle w_k.

[0093] FIG. 4 shows significant steps of the procedure in a further embodiment. In this case, in FIG. 4 the sequence of a tipping procedure is shown in which reaching the predetermined residual mass m_re is detected directly, i.e., without calibration data or characteristic curves K. At the beginning of loading work, the user is (similarly to in FIG. 3) offered different possible payloads L(i), e.g., in a selection menu of a display (step 188). The user selects the payload L(spez_L) provided for the current loading work (step 190).

[0094] After step 190, one or more procedure steps that are not specified here can be carried out (e.g., picking and transporting the selected payload L(spez_L), registering information, at least one already performed tilting procedure during this loading work) before a starting step 200 is carried out.

[0095] After the starting step 200, the current mass m_akt of the payload L(spez_L) in the picking unit 18 is determined in step 202. This mass of the payload L(spez_L) corresponds to the starting mass m_st thereof immediately before the start of the tilting procedure. Step 204 compares the starting mass m_st with the difference m_sum between the target total mass m_sum_ziel and the current total mass m_sum_akt. If the starting mass m_st is no larger than the difference m_sum, the payload L(spez_L) can be completely tipped out of the picking unit 18 during the current tipping procedure (step 206). After that, further method steps (in particular steps 308 and 306 according to FIG. 5) can be taken to change the tilt angle w_k towards the starting angle w_k_st and to terminate the tipping procedure.

[0096] If the starting mass m_st is greater than the difference m_sum, the payload L(spez_L) should only be tipped out proportionately, namely as precisely as possible as the quantity of the mass corresponding to this difference m_sum. Thus, the payload mass m_zul that can be tipped out during this tilting procedure is predetermined to be the difference m_sum (step 208). This tipping procedure is the last tipping procedure of a loading activity in which, in contrast to the previous tipping procedures with full tipping out, only a pro rata tipping of the payload L(spez_L) out of the picking unit 18 is to be carried out in order to reach the target total mass m_sum_ziel at the loading station 26 as accurately as possible.

[0097] Also in step 208, the residual mass m_re that is to remain in the picking unit 18 is predetermined by the equation

m_re=m_stm_zul.

[0098] Immediately before the tipping out, the determined current mass m_akt in the picking unit 18 corresponds to the starting mass m_st (steps 202, 208).

[0099] Until a predetermination of the payload mass m_zul to be tipped out or a predetermination of the residual mass m_re to be left in the picking unit 18, the procedure in the embodiment according to FIG. 4 is basically the same as the variant according to FIG. 3. In the method according to FIG. 4, however, a predetermined target value w_soll of the tilt angle w_k is not approached. Rather, the tilt angle w_k of the picking unit 18 is initially adjusted to the defined starting angle w_k_st (step 300). Based on this, the current tilt angle w_k will be gradually increased depending on the steps taken and already explained 302, 304, 312, 314, 316. The current tilt angle w_k of the picking unit 18 is changed in the tilting direction 34 (step 316), so that a further proportion of the payload L(spez_L) can be tipped out from the picking unit 18. With the selected straight reference line (vertical 32) and the xy coordinate system used according to FIG. 2, this means that the current tilt angle w_k is increased by a defined angle w and then equals w_k1 or w_k2 for example, For differently selected reference systems, the method step may at this point require a reduction in the current tilt angle w_k by a defined angle w.

[0100] Due to steps 304, 312, 314, 316, the current mass m_akt in the picking unit 18 that is continuously determined during the tilting (e.g., after each expiry of a time interval 1, 2) becomes increasingly smaller until in step 304 it is found that the current mass m_akt is less than or equal to the predetermined residual mass m_re including the tolerance mass m_tol. Then the tilting procedure is to be terminated. For this purpose, in step 308 the picking unit 18 is tilted opposite to the tilting direction 34. If an increase of the current tilt angle w_k had taken place in step 316, this means that in step 308 the last current tilt angle w_k is reduced by a defined angle w. The angles in steps 316 and 308 may be identical or different.

[0101] Regardless of whether the tipping procedure according to FIG. 3, FIG. 4 or any other embodiment occurs, trouble-free tipping out of the payload L (spez_L) from the picking unit 18 can be supported by performing at least one shaking procedure during the tipping out, during which the picking unit 18 is tilted at least once opposite to the tilting direction 34 and is then tilted in the tilting direction 34 again.

[0102] Regardless of the input unit 24 and display unit 28 separately represented in FIG. 1, in a further embodiment these two units may be grouped together in a single device. The schematic, block type representation of the input unit 24, the control unit 22 and the display unit 28 does not preclude such a unit from being able to consist of multiple component parts that are physically separated from each other.

[0103] It should be noted that individual details of the features presented in the drawings are at least partly not to scale.

[0104] While exemplary embodiments incorporating the principles of the present disclosure have been disclosed hereinabove, the present disclosure is not limited to the disclosed embodiments. Instead, this application is intended to cover any variations, uses, or adaptations of the disclosure using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this disclosure pertains and which fall within the limits of the appended claims.