Optimizing the trajectory of a wheel loader working in short loading cycles
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A study into alternative trajectories for wheel loaders working in short loading cycles has been conducted, examining other patterns than the traditional V- or Y-cycle. Depending on workplace setup and target function of the optimisation other trajectories can indeed prove beneficial. The results of this study can be used in operator models for offline simulations as well as for operator assistance or even in controllers for autonomous machines or energy management systems for non-conventional machines like hybrids.
Optimizing the trajectory of a wheel loader working in short loading cycles
- 1. Optimizing the trajectory of a wheel loader working in short loading cycles Reno Filla, PhD, Specialist Operability & Adaptive Automation Emerging Technologies, Volvo Construction Equipment
- 2. Reno Filla, PhD, Specialist Operability & Adaptive Automation Emerging Technologies, Volvo Construction Equipment Agenda • Why? • How? • And now?
- 3. 3. understanding the cooperation between several machines & their operators 4. understanding the national and international transport systems’ role in our society 1. understanding the machine as one system 2. understanding the interaction between machine, operator and working environment Making construction machines more energy-efficient and easier to operate
- 5. Extension from V- to Y-cycle 1 Bucket filling 2 Leaving bank 3 Retardation 4 Reversing 5 Towards load receiver 6 Bucket emptying 7 Leaving load receiver 8 Retardation and reversing 9 Towards bank 10 Retardation at bank
- 8. • Optimisation of cycle trajectories for a specific load receiver coordinate and angle • Meta-optimisation of load receiver positioning • Robustness of optimality of cycle trajectories
- 9. Optimal <what>? • Driving distance • Perhaps rough conclusions possible on energy consumption • Driving time • Acceleration, constant speed (if possible) and retardation phase • Driving time incl. steering • Acceleration, constant speed (if possible) and retardation phase • Added time penalty for steering effort (Simplified: circular arcs, no clothoids) • Productivity • Requires inclusion of bucket filling • Energy efficiency • Requires high-quality models of all systems and the environment • Operator workload • How to model and quantify? • Driving time incl. steering
- 10. All cycle types Complete workplace area
- 11. Cycle type Complete workplace area A
- 12. Cycle type Complete workplace area B
- 13. Cycle type Complete workplace area C
- 14. Cycle type Complete workplace area D
- 15. Cycle type Complete workplace area E
- 16. Cycle type Complete workplace area F
- 17. Cycle type Complete workplace area G
- 18. Cycle type Complete workplace area H
- 19. Cycle type Complete workplace area I
- 20. • Off-line • Improved dynamic simulations: operator models with added planning capabilities • Site planning • Operator education • On-line • Operator assistance functions • Path planning for autonomous machines • Improved energy management in advanced systems Some applications