WO2025029548A1 - Mobile machine actuation system - Google Patents

Abstract

A mobile machine, including a chassis, at least one tool displaceably connected to the chassis, at least one actuator connected to the at least one tool, and an actuation system, including a primary command signal source operatively arranged to send a primary command signal to the at least one actuator to displace the at least one tool, and a secondary modulation signal source operatively arranged to generate and impress a secondary modulation signal on the primary command signal to modulate the primary command signal and induce a vibration in the at least one tool.

Description

MOBILE MACHINE ACTUATION SYSTEM

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims the benefit under Articles 4 and 8 of the Stockholm Act of the Paris Convention for the Protection of Industrial Property of U.S. Patent Application No. 63/517,389, filed on August 3, 2023, which application is incorporated herein by reference in its entirety.

TECHNICAL FIELD

[0002] The present disclosed subject matter relates generally to the field of mobile machines, and more particularly to an improved mobile machine actuation system.

BACKGROUND ART

[0003] Mobile machines, movable machinery, heavy equipment, heavy machinery, or earthmover equipment refers to heavy-duty vehicles specially designed to execute construction tasks, most frequently involving earthwork operations or other large construction tasks. Some examples of movable machinery are bulldozers, agricultural tractors, excavators, cranes, backhoes, and loaders. Movable machinery usually comprises five equipment systems: implement, traction, structure, power train, and control.

BRIEF SUMMARY

[0004] With parenthetical reference to corresponding parts, portions or surfaces of the disclosed embodiment, merely for the purposes of illustration and not by way of limitation, the present disclosure provides a mobile machine (10), comprising a chassis (20), at least one tool (30) displaceably connected to the chassis (20), at least one actuator (50, 60) connected to the at least one tool (30), and an actuation system (110, 112, 114, 116, 118), including a primary command signal source (120, 160) operatively arranged to send a primary command signal (102 A, 106 A) to the at least one actuator (50, 60) to displace the at least one tool (30), and a secondary modulation signal source (150, 160) operatively arranged to generate and impress a secondary modulation signal (102B, 106B) on the primary command signal (102A, 106A) to modulate the primary command signal (102A, 106A) and induce a vibration in the at least one tool (30).

[0005] In an exemplary embodiment, the primary command signal (102A, 106A) may comprise a tilt component (124) and a lift component (122). In an exemplary embodiment, the primary command signal (102A, 106A) may comprise a first frequency, and the secondary modulation signal (102B, 106B) may comprise a second frequency higher than the first frequency. In an exemplary embodiment, the actuation system (110, 112, 114, 116, 118) may further comprise a signal conditioning module (130) arranged to manipulate the primary command signal (102A, 106A). In an exemplary embodiment, the signal conditioning module (130) may be arranged between the primary command signal source (120, 160) and the at least one actuator (50, 60). In an exemplary embodiment, the at least one actuator (50, 60) may be a hydraulic actuator, and the actuation system (110, 112, 114, 116, 118) may further comprise a hydraulic control valve (140), the hydraulic control valve (140) arranged to receive the primary command signal (102A, 106A) to control the hydraulic actuator (50, 60).

[0006] In an exemplary embodiment, the mobile machine (10) may further comprise at least one sensor (38, 40) arranged to communicate with the secondary modulation signal source (150, 160). In an exemplary embodiment, the secondary modulation signal source (150, 160) may be arranged to receive data from the at least one sensor (38, 40), and based on the data, generate the secondary modulation signal (102B, 106B). In an exemplary embodiment, the tool (30) may be a bucket and the data may comprise at least one of a parameter of material to be moved, a parameter of dampness of material to be moved, and a ground parameter. In an exemplary embodiment, the at least one sensor (38, 40) may comprise an optical sensor (38) operatively arranged to detect an amount of material in the bucket (30). In an exemplary embodiment, the at least one sensor (38, 40) may comprise a pressure sensor (40) arranged to detect a pressure of hydraulic fluid in the at least one actuator (50, 60). In an exemplary embodiment, the at least one sensor (38, 40) may comprise a current sensor (40) arranged to detect a current in the at least one actuator (50, 60). In an exemplary embodiment, the mobile machine may further comprise a sensor (56, 68) arranged to detect a position of the at least one actuator (50, 60).

[0007] With parenthetical reference to corresponding parts, portions or surfaces of the disclosed embodiment, merely for the purposes of illustration and not by way of limitation, the present disclosure provides a method for modulating an actuation system (110, 112, 114, 116, 118) of a mobile machine (10), comprising sending a primary command signal (102A, 106A) to at least one actuator (50, 60) of the mobile machine (10), generating a first modulation signal (102B, 106B), and impressing the first modulation signal (102B, 106B) on the primary command signal (102A, 106A) to create a vibration in a tool (30) of the mobile machine (10). [0008] In an exemplary embodiment, the step of generating the first modulation signal (102A, 106A) may comprise receiving data from one or more sensors (38, 40), and determining, based on the data, a first frequency and first amplitude of the first modulation signal (102B, 106B). In an exemplary embodiment, the method may further comprise determining that the tool (30) is not operating at full capacity, and generating a second modulation signal (102B, 106B) including a second frequency and a second amplitude. In an exemplary embodiment, the method may further comprise impressing the second modulation signal (102B, 106B) on the primary command signal (102A, 106A). In an exemplary embodiment, the method may further comprise filtering the first modulation signal (102B, 106B) using signal conditioning. In an exemplary embodiment, the method may further comprise detecting a force exerted on the tool (30). In an exemplary embodiment, the method may further comprise detecting an amount of material collected by the tool (30).

[0009] The following will describe embodiments of the present disclosure, but it should be appreciated that the present disclosure is not limited to the described embodiments and various modifications of the disclosure are possible without departing from the basic principles. The scope of the present disclosure is therefore to be determined solely by the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Various embodiments are disclosed, by way of example only, with reference to the accompanying schematic drawings below in which corresponding reference symbols indicate corresponding parts. The accompanying drawings are incorporated herein as part of the specification. The drawings described herein illustrate embodiments of the presently disclosed subject matter and are illustrative of selected principles and teachings of the present disclosure. However, the drawings do not illustrate all possible implementations of the presently disclosed subj ect matter and are not intended to limit the scope of the present disclosure in any way.

[0011] FIG. 1 is a side elevational view of a mobile machine including a mobile machine actuation system.

[0012] FIG. 2 is a side elevational view of the actuator shown in FIG. 1.

[0013] FIG. 3A is a side elevational view of a second embodiment of the actuator shown in FIG. 1.

[0014] FIG. 3B is a front elevational view of the actuator shown in FIG. 3A. [0015] FIG. 4 is a side elevational view of the mobile machine shown in FIG. 1 in different positions during normal operating activity.

[0016] FIG. 5A is a graph showing an example of a primary command signal sent to the lift actuator shown in FIG. 1.

[0017] FIG. 5B is a graph showing an example of a secondary modulation signal sent to the lift actuator shown in FIG. 1.

[0018] FIG. 5C is a graph showing an example of the modulated primary command signal sent to the lift actuator shown in FIG. 1.

[0019] FIG. 6A is a graph showing an example of a primary command signal sent to the tilt actuator shown in FIG. 1.

[0020] FIG. 6B is a graph showing an example of a secondary modulation signal sent to the tilt actuator shown in FIG. 1.

[0021] FIG. 6C is a graph showing an example of the modulated primary command signal sent to the tilt actuator shown in FIG. 1.

[0022] FIG. 7 is a functional block diagram illustrating a first embodiment of the mobile machine actuation system.

[0023] FIG. 8 is a functional block diagram illustrating a second embodiment of the mobile machine actuation system.

[0024] FIG. 9 is a functional block diagram illustrating a third embodiment of the mobile machine actuation system.

[0025] FIG. 10 is a functional block diagram illustrating a fourth embodiment of the mobile machine actuation system.

[0026] FIG. 11 is a functional block diagram illustrating a fifth embodiment of the mobile machine actuation system.

[0027] FIG. 12 is a flow chart depicting operational steps for modulating a mobile machine actuation system command signal.

[0028] FIG. 13 is a block diagram of internal and external components of a computer system, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

[0029] At the outset, it should be clearly understood that like reference numerals are intended to identify the same structural elements, portions, or surfaces consistently throughout the several drawing figures, as such elements, portions or surfaces may be further described or explained by the entire written specification, of which this detailed description is an integral part. Unless otherwise indicated, the drawings are intended to be read (e.g., cross-hatching, arrangement of parts, proportion, degree, etc.) together with the specification, and are to be considered a portion of the entire written description of this invention. As used in the following description, the terms “horizontal,” “vertical,” “left,” “right,” “up” and “down,” as well as adjectival and adverbial derivatives thereof (e.g., “horizontally,” “rightwardly,” “upwardly,” etc.), simply refer to the orientation of the illustrated structure as the particular drawing figure faces the reader. Similarly, the terms “inwardly” and “outwardly” generally refer to the orientation of a surface relative to its axis of elongation, or axis of rotation, as appropriate.

[0030] Furthermore, it is understood that this disclosure is not limited to the particular methodology, materials and modifications described and as such may, of course, vary. It is also understood that the terminology used herein is for the purpose of describing particular aspects only and is not intended to limit the scope of the claims.

[0031] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood to one of ordinary skill in the art to which this disclosure pertains. It should be understood that any methods, devices, or materials similar or equivalent to those described herein can be used in the practice or testing of the example embodiments.

[0032] It should be appreciated that the term “substantially” is synonymous with terms such as “nearly,” “very nearly,” “about,” “approximately,” “around,” “bordering on,” “close to,” “essentially,” “in the neighborhood of,” “in the vicinity of,” etc., and such terms may be used interchangeably as appearing in the specification and claims. It should be appreciated that the term “proximate” is synonymous with terms such as “nearby,” “close,” “adjacent,” “neighboring,” “immediate,” “adjoining,” etc., and such terms may be used interchangeably as appearing in the specification and claims. The term “approximately” is intended to mean values within ten percent of the specified value.

[0033] It should be understood that use of “or” in the present application is with respect to a “non-exclusive” arrangement, unless stated otherwise. For example, when saying that “item x is A or B,” it is understood that this can mean one of the following: (1) item x is only one or the other of A and B; (2) item x is both A and B. Alternately stated, the word “or” is not used to define an “exclusive or” arrangement. For example, an “exclusive or” arrangement for the statement “item x is A orB” would require that x can be only one of A and B. Furthermore, as used herein, “and/or” is intended to mean a grammatical conjunction used to indicate that one or more of the elements or conditions recited may be included or occur. For example, a device comprising a first element, a second element and/or a third element, is intended to be construed as any one of the following structural arrangements: a device comprising a first element; a device comprising a second element; a device comprising a third element; a device comprising a first element and a second element; a device comprising a first element and a third element; a device comprising a first element, a second element and a third element; or, a device comprising a second element and a third element.

[0034] Moreover, as used herein, the phrases “comprises at least one of’ and “comprising at least one of’ in combination with a system or element is intended to mean that the system or element includes one or more of the elements listed after the phrase. For example, a device comprising at least one of: a first element; a second element; and, a third element, is intended to be construed as any one of the following structural arrangements: a device comprising a first element; a device comprising a second element; a device comprising a third element; a device comprising a first element and a second element; a device comprising a first element and a third element; a device comprising a first element, a second element and a third element; or, a device comprising a second element and a third element. A similar interpretation is intended when the phrase “used in at least one of’ is used herein.

[0035] It is to be understood that the specific assemblies and systems illustrated in the attached drawings and described in the following specification are simply exemplary embodiments. Hence, specific dimensions, directions, or other physical characteristics relating to the embodiments disclosed are not to be considered as limiting, unless expressly stated otherwise. Also, although they may not be, like elements in various embodiments described herein may be commonly referred to with like reference numerals within this section of the application.

[0036] Where they are used herein, the terms “first,” “second,” and so forth, do not necessarily denote any ordinal, sequential or priority relation, but are simply used to distinguish one element or set of elements more clearly from another element or set of elements, unless specified otherwise.

[0037] “Non-rotatably connected” elements as used herein means that the elements are connected so that whenever one of the elements rotate, all the elements rotate and relative rotation between the elements is not possible. Radial and/or axial movement of non-rotatably connected elements with respect to each other is possible, but not required. “Rotatably connected” elements, as used herein means that the elements are rotatable with respect to each other.

[0038] Referring now to the drawings, FIG. l is a side elevational view of mobile machine 10 including mobile machine actuation system 110, 112, 114, 116, 118. Mobile machine 10 comprises chassis 20, power unit 22, and wheels 32. In an exemplary embodiment, mobile machine 10 comprises cab 34. Mobile machine 10 may be controlled by a user via joystick or controller 36. Mobile machine 10 may be further controlled by one or more pedals and/or one or more switches. It should be appreciated, however, that in exemplary embodiments mobile machine 10 may be controlled remotely by a user, or controlled automatically by a computing device and program, as will be described in greater detail below. Power unit 22 is used to drive wheels 32 and/or other components of mobile machine 10, and may include a combustion engine and/or battery. Mobile machine 10 comprises a plurality of active axes, for example, lift axis Al, tilt axis A2, and one or more traction axes A3. Wheels 32 provide traction to mobile machine and rotate about wheel axes A3 in circumferential direction CD1 (reverse) and circumferential direction CD2 (forward).

[0039] Mobile machine 10 further comprises an implement or work tool. In an exemplary embodiment, and as shown, mobile machine 10 comprises bucket 30. It should be appreciated, however, that in exemplary embodiments mobile machine 10 may comprise any work tool that may benefit from modulatory vibrations as will be described below, for example, an auger, bulldozer blade, shears, forks, hammer or ram, ripper, tiller, pile driver, etc. Bucket 30 is rotatably connected to arm 24. Bucket 30 is operatively arranged to displace in circumferential direction CD1 and circumferential direction CD2 about axis A2 with respect to arm 24. Arm 24 is rotatably connected to chassis 20. Arm 24 is operatively arranged to displace in circumferential direction CD1 and circumferential direction CD2 about axis Al with respect to chassis 20. Bucket 30 is further connected to arm 24 via one or more struts, for example, strut 26 and strut 28. Strut 28 comprises a first end rotatably connected to bucket 30 and a second end rotatably connected to strut 26. Strut 26 is rotatably connected to arm 24.

[0040] Mobile machine 10 further comprises one or more actuators 50, 60. In an exemplary embodiment, mobile machine 10 comprises a first lift actuator 50, 60 arranged to displace arm 24 with respect to chassis 20 and a second tilt actuator 50, 60 arranged to displace bucket 30 with respect to arm 24. Lift actuator 50, 60 is rotatably connected at a first end to chassis 20 and rotatably connected at a second end to arm 24. Lift actuator 50, 60 is operatively arranged to displace arm 24 and bucket 30 circumferentially with respect to chassis 20, thereby providing the lift axis displacement of bucket 30 (i.e., about axis Al). Tilt actuator 50, 60 is rotatably connected at a first end to chassis 20 and rotatably connected at a second end to strut 26. Tilt actuator 50, 60 is operatively arranged to displace bucket 30 circumferentially with respect to arm 24, thereby providing the tilt axis displacement of bucket 30 (i.e., about axis A2). Actuators 50, 60 may be a hydraulic actuator, an electro-hydraulic actuator (EHA), or an electro-mechanical actuator (EMA). Actuators 50, 60 may be linear actuators or rotary actuators.

[0041] In an exemplary embodiment, active axes Al -A3 are generally velocity controlled, meaning, the operator displaces joystick 36 to set the speed of motion of mobile machine 10 about the axis (i.e., the further joystick 36 is displaced the faster the mobile machine 10 component moves about the axis). The operator uses vision (i.e., eyes) to determine the position of tool or bucket 30 and coordinates the movement of joystick 36 to manipulate the geometry of the workgroup (i.e., actuators, arms, tools, etc.) to achieve the desired position and orientation of tool or bucket 30.

[0042] It should be appreciated that joystick 36 may be direct hydraulic, pilot hydraulic, or electronic (analogue or digital). Direct hydraulic means that joystick 36 directly moves the spool in the control valve for each axis. Pilot hydraulic means that joystick 36 moves the position of an intermediate or pilot valve(s) that directs a typically lower oil pressure to the control valves to shift the spool. Electronic means that the movement of joystick 36 creates electrical signals that direct the movement of electrically-driven pilot or control valves. Electronic joystick output could be a voltage, an electrical current, or a electronic digital signal that is proportional to the desired response of the tool. In an exemplary embodiment, the desired response of the tool is tool velocity. In an exemplary embodiment, the desired response of the tool is tool position or tool force (or tool torque). In an exemplary embodiment, the desired response for direct or pilot operated joysticks is tool or actuator velocity.

[0043] FIG. 2 is a side elevational view of actuator 50. Actuator 50 is a linear actuator and may be electric or hydraulic. Actuator 50 comprises housing 52 and piston rod or arm 54. Piston rod 54 is displaceable in axial direction ADI and axial direction AD2 with respect to housing 52. In an exemplary embodiment, and referring to the lift actuator 50 shown in FIG. 1, as piston rod 54 is displaced in axial direction ADI with respect to housing 52, arm 24 and bucket 30 are displaced in circumferential direction CD1 with respect to chassis 20. As piston rod 54 is displaced in axial direction AD2 with respect to housing 52, arm 24 and bucket 30 are displaced in circumferential direction CD2 with respect to chassis 20. Referring to the tilt actuator 50 shown in FIG. 1, as piston rod 54 is displaced in axial direction ADI with respect to housing 52, bucket 30 is displaced in circumferential direction CD2 with respect to arm 24. As piston rod 54 is displaced in axial direction AD2 with respect to housing 52, bucket 30 is displaced in circumferential direction CD1 with respect to arm 24. In an exemplary embodiment, actuator 50 further comprises position sensor 56. Position sensor 56 may be arranged on or in housing 52 of actuator 50. In an exemplary embodiment, position sensor 56 is arranged proximate to actuator 50. Position sensor 56 is operatively arranged to detect a position of piston rod 54 with respect to housing 52 and communicate that position, for example, to bucket fdl control program 162 as will be described in greater detail below.

[0044] FIG. 3A is a side elevational view of actuator 60. FIG. 3B is a front elevational view of actuator 60. Actuator 60 is a rotary actuator and may be electric or hydraulic. Actuator 60 comprises motor 62 and shaft 66. Actuator 60 may further comprise gear box 64. Shaft 66 is displaceable in circumferential direction CD1 and circumferential direction CD2. In an exemplary embodiment, and referring to the lift actuator 60 shown in FIG. 1, as shaft 66 is displaced in a first circumferential direction, arm 24 and bucket 30 are displaced in circumferential direction CD1 with respect to chassis 20. As shaft is displaced in a second circumferential direction, arm 24 and bucket 30 are displaced in circumferential direction CD2 with respect to chassis 20. Referring to the tilt actuator 60 shown in FIG. 1, as shaft 66 is displaced in a first circumferential direction, bucket 30 is displaced in circumferential direction CD2 with respect to arm 24. As shaft 66 is displaced in a second circumferential direction, bucket 30 is displaced in circumferential direction CD1 with respect to arm 24. In an exemplary embodiment, actuator 60 further comprises position sensor 68. Position sensor 68 may be arranged on or in the body of actuator 60. In an exemplary embodiment, position sensor 68 is arranged proximate to actuator 60. Position sensor 68 is operatively arranged to detect a position of shaft and communicate that position, for example, to bucket fill control program 162 or the operator, as will be described in greater detail below.

[0045] Mobile machine 10 may comprise additional sensors, for example, optical sensor 38 and/or pressure/current sensors 40 (see FIG. 8). Optical sensor 38 is operatively arranged on mobile machine 10 to detect the quality of the bucket fill and communicate such data, for example, to bucket fill control program 162 or the operator, as will be described in greater detail below. The quality of the bucket fill refers to how much material is in bucket 30 after a scoop. For example, when the operator scoops up material, if less than half of bucket 30 is filled with material, the quality of the bucket fill would be poor. If bucket 30 is 90% filled with material, the quality of the bucket fill would be very good. Optical sensor 38 is shown mounted on chassis 20, specifically cab 34, in FIG. 1; however, it should be appreciated that optical sensor 38 may be mounted to mobile machine at any location suitable for detecting material in bucket 30, for example, inside of bucket 30.

[0046] Pressure or current sensors 40 are operatively arranged to detect a status of actuators 50, 60 and communicate such status, for example, to bucket fill control program 162 or the operator, as will be described in greater detail below. For example, pressure sensors 40 detect the hydraulic pressure of electro-hydraulic or hydraulic actuators and communicate the hydraulic pressure to bucket fill control program 162. Bucket fill control program 162 may then utilize the hydraulic pressure in the actuator to calculate the actuator force and/or torque. Similarly, current sensors 40 detect the motor or actuator drive current of electro-mechanical actuators and communicate the current to bucket fill control program 162. Bucket fill control program 162 may then utilize the current in the actuator to calculate the actuator force and/or torque. The actuator force and/or torque, along with the machine kinematics allows the bucket load to be estimated (i.e., the quality of the bucket fill). Mobile machine 10 may comprise additional sensors for detecting movement of components about the various axes thereof.

[0047] FIG. 4 is a side elevational view of mobile machine 10 shown in different positions during normal operating activity. Position Pl shows mobile machine 10 approaching pile 4 with bucket 30 raised from ground surface 2. Position P2 shows mobile machine 10 approaching pile 4 with bucket 30 lowered to ground surface 2. Position P3 shows mobile machine 10 driving bucket 30 into pile 4. In position P3, command signals to actuators 50, 60 are modulated, which generally provides vibratory displacement of arm 24 and bucket 30, to optimize bucket filling. In position P4, bucket 30 is rotated upward. In position P4, command signals to actuators 50, 60 are modulated to optimize bucket filling. In position P5, mobile machine 10 reverses away from pile 4.

[0048] FIGS. 5A-5C include graphs showing an example of signal modulation applied to actuators 50, 60. FIG. 5 A includes graph 100A showing an example of primary command signal 102A sent to lift actuator 50, 60. During operation of mobile machine 10, a primary command or carrier signal is sent to actuators 50, 60. For example, if the operator wants to lift bucket 30 via arm 24, a primary command signal is sent to lift actuator 50, 60 to displace arm 24 in circumferential direction CD1 with respect to chassis 20 (see FIG. 1). If the operator wants to lower bucket 30 via arm 24, a primary command signal is sent to lift actuator 50, 60 to displace arm 24 in circumferential direction CD2 with respect to chassis 20 (see FIG. 1). The primary command signal could originate from a number of sources. For example, the primary command signal may be in the form of a voltage, an electric current, or an electronic digital signal. The form of the primary command signal will depend on the drive requirements of the hydraulic valve or the electric motor drive electronics. In an exemplary embodiment, primary command signal 102A is what the desired extension of actuator 50, 60 should be (i.e., typically what the operator is commanding).

[0049] FIG. 5B includes graph 100B showing an example of secondary modulation signal 102B sent to lift actuator 50, 60. Actuation system 110, 112, 114, 116, 118 imposes/superimposes secondary modulation signal 102B on top of primary command signal 102A for the lift movements of mobile machine 10. It should be appreciated that a primary command signal may also be sent to the traction system to displace wheels 32, to drive mobile machine 10 forward and backward, as well as the tilt actuators, as will be described in greater detail below. Secondary modulation signal 102B modulates primary command signal 102A, or alters the amplitude or frequency of primary command signal 102A in accordance with the variations of secondary command signal 102B. Secondary command signal 102B may be an arbitrary signal generated by signal modulation module 120 and/or a custom signal generated by bucket fdl control program 162. In an exemplary embodiment, secondary modulation signal 102B is generated by a control computer. Secondary modulation signal 102B may be digital (e.g., transmitted on a data bus to the controlling valve), or an electric current or a voltage (depending on the requirements of the control valve or electric motor drive electronics). As shown in FIGS. 5A-5B, secondary modulation signal 102B has a higher frequency than primary command signal 102A. In an exemplary embodiment, secondary modulation signal 102B has a lower amplitude than primary modulation signal 102A. In an exemplary embodiment, secondary modulation signal 102B is determined by prior testing and may be optimized by further machine learning artificial intelligence (Al).

[0050] FIG. 5C includes graph 100C showing an example of modulated primary command signal 102C sent to lift actuator 50, 60. In an exemplary embodiment, the result of the application of secondary modulation signal 102B to primary command signal 102A is small, quick movements similar to that of vibrations.

[0051] FIGS. 6A-6C include graphs showing an example of signal modulation applied to actuators 50, 60. FIG. 6A includes graph 104A showing an example of primary command signal 106A sent to tilt actuator 50, 60. During operation of mobile machine 10, a primary command or carrier signal is sent to actuators 50, 60. For example, if the operator wants to displace bucket 30 with respect to arm 24, primary command signal 106A is sent to tilt actuator 50, 60 to displace bucket 30 in circumferential direction CD1 and circumferential direction CD2 with respect to arm 24. The primary command signal could originate from a number of sources. For example, the primary command signal may be in the form of a voltage, an electric current, or an electronic digital signal. The form of the primary command signal will depend on the drive requirements of the hydraulic valve or the electric motor drive electronics. In an exemplary embodiment, primary command signal is what the desired extension of actuator 50, 60 should be (i.e., typically what the operator is commanding).

[0052] FIG. 6B includes graph 104B showing an example of secondary modulation signal 106B sent to tilt actuator 50, 60. Actuation system 110, 112, 114, 116, 118 imposes/superimposes secondary modulation signal 106B on top of primary command signal 106A for the tilt movements of mobile machine 10. Secondary modulation signal 106B modulates primary command signal 106 A, or alters the amplitude or frequency of primary command signal 106 A in accordance with the variations of secondary command signal 106B. Secondary command signal 106B may be an arbitrary signal generated by signal modulation module 120 and/or a custom signal generated by bucket fill control program 162. In an exemplary embodiment, secondary modulation signal 106B is generated by a control computer. Secondary modulation signal 106B may be digital (e.g., transmitted on a data bus to the controlling valve), or an electric current or a voltage (depending on the requirements of the control valve or electric motor drive electronics). As shown in FIGS. 6A-6B, secondary modulation signal 102B has a higher frequency than primary command signal 106A. In an exemplary embodiment, secondary modulation signal 106B has a lower amplitude than primary modulation signal 106A. In an exemplary embodiment, secondary modulation signal 106B is determined by prior testing and may be optimized by further machine learning artificial intelligence (Al). [0053] FIG. 6C includes graph 104C showing an example of modulated primary command signal 106C sent to tilt actuator 50, 60. In an exemplary embodiment, the result of the application of secondary modulation signal 106B to primary command signal 106A is small, quick movements similar to that of vibrations.

[0054] In an exemplary embodiment, the primary command signal is the physical movement of joystick 36 (either direct or pilot type). This will cause the axis to move and the secondary signal could be superimposed on this movement by driving an electrically operated, second valve, to vary the actual motion of the actuator. Such exemplary embodiment would be an open-loop implementation. In an exemplary embodiment, the primary command signal may be generated from an electronic signal, wherein the physical motion of the operator is turned directly into an electric/electronic signal. In an exemplary embodiment, the primary command signal may be generated by a computer-based system. The computer-based system may be vehicle mounted, communicate via remote tele-operation, or some other autonomy -based system. It should be appreciated that the primary command signal may take any form, such as voltage, current, or digital electronic. It should be further appreciated that the system may comprise different types of command signals (i.e., a mixed system), wherein various signal forms are converted to other signal forms. For example, the system may produce a voltage from a current by running the current through a resistor, or generating a digital signal using an analogue-to-digital interface.

[0055] In an exemplary embodiment, the primary command signal commands actuator velocity and the operator uses vision (eyesight) to close a position loop. In an exemplary embodiment, the control system is electronically based. In such exemplary embodiment, it is possible to retain velocity control such that the operator can decide the end-point position of the tool. In an exemplary embodiment, it is possible to embed the machine kinematics within the control software and allow the operator to drive the tool-point position directly, without having to worry about the interaction between the various actuators driving that work-group. This is known as tool-point control. In an exemplary embodiment, it is possible to switch between velocity control of single actuators and the tool -point (of the combined work-group) control. In an exemplary embodiment, it is possible to switch from controlling the position of the tool-point to controlling the force or torque exerted by the tool-point. In an exemplary embodiment, the system and method could be automated allowing a high fidelity mix of high force, high speed, precision positioning, and delicate “touch.” [0056] The secondary modulation signal can be sine wave, square wave, ramps, or any other waveform that is possible within the band-width limitations of actuators 50, 60. The frequency of the secondary modulation signal may be fixed, or may vary within any limits that are possible within the band-width limitations of the actuators. The secondary modulation signal may be applied at any time during the bucket filling or emptying phase of the machine activity. For example, applying the secondary signal during bucket filling will allow bucket 30 to more easily cut through material, requiring less energy to fill bucket 30. Similarly, applying the secondary signal during bucket emptying allows material to be removed from bucket 30 with greater ease and with less rotation of bucket 30 with respect to arm 24 (i.e., less tilt is required). As such, the frequency, amplitude, and/or timing of the secondary signals are optimized to ensure efficient bucket filling and emptying. In an exemplary embodiment, the secondary signals may be optimized in real time (i.e., real-time machine learning) in order to adapt to local conditions, for example via machine learning module 170, as will be described in greater detail below.

[0057] FIG. 7 is a functional block diagram illustrating mobile machine actuation system 110. Mobile machine actuation system 110 is implemented on mobile machine 10 and generally comprises primary command signal module 120 arranged to send primary command signals to actuators 50, 60 and signal modulation module 150. Primary command signal module 120 generates signals for lift component 122 and tilt component 124. In an exemplary embodiment, primary command signal module 120 is controlled by an operator using joystick 36, switches, buttons, and/or pedals. FIG. 7 shows a first actuator 50, 60 for lift and a second actuator 50, 60 for tilt.

[0058] For hydraulic actuators, as shown in FIG. 7, primary command signal module 120 sends primary command signals to hydraulic control valves 140 for lift and tilt actuators 50, 60. Hydraulic control valves 140 control the flow of hydraulic fluid from hydraulic fluid supply 142 to actuator 50, 60 and from actuator 50, 60 to hydraulic fluid return 144. The hydraulic fluid flows between control valve 140 and actuator 50, 60 via conduit 70. Conduit 70 may include extend flow conduit and retract flow conduit. In an exemplary embodiment, when fluid flows into actuator 50 via extend conduit 72, piston rod 54 displaces in axial direction ADI with respect to housing 56. When fluid flows into actuator via retract conduit 74, piston rod 54 displaces in axial direction AD2 with respect to housing 56. In an exemplary embodiment, such primary command signals first pass through signal conditioning module 130. Signal conditioning module 130 is operatively arranged to manipulate the primary command signal (e.g., an analog signal) in such a way that it meets the requirements of the next stage for further processing (i.e., processing by hydraulic control valve, actuator 50, 60, one or more sensors or transducers). For example, signal conditioning module 130 may include a voltage or current limiting and anti-aliasing filtering (i.e., in an analog to digital converter application), or a signal amplification element.

[0059] For electro-mechanical actuators, primary command signal module 120 sends primary command signals to lift and tilt actuators 50, 60 directly. The primary command signal may be sent from primary command signal module 120 directly to actuator 50, 60 via conduit 70. In an exemplary embodiment, such primary command signals may first pass through a signal conditioning module 130.

[0060] Signal modulation module 150 generates the secondary modulation signal that is applied to the primary command signal to create the vibrational effect on arm 24 and/or bucket 30. In an exemplary embodiment, signal modulation module 150 comprises an electronic vehicle control module. In an exemplary embodiment, signal modulation module 150 comprises an ARDUINO® microcontroller or computing device or circuit or circuit board. In an exemplary embodiment, signal modulation module 150 comprises a modulator that impresses the secondary modulation signal (e.g., an analog signal) on the primary command signal which results in amplitude modulation, in which the amplitude (strength) of the primary command signal wave is varied by the secondary modulation signal, and/or frequency modulation, in which the frequency of the primary command signal is varied by the secondary modulation signal. In an exemplary embodiment, signal modulation module 150 impresses a secondary modulation signal (e.g., a digital signal) consisting of a sequency of binary digits (bits), a bistream, on the primary command signal, by means of mapping bits to elements from a discrete alphabet to be transmitted. This alphabet can comprise a set of real or complex numbers, or sequences, like oscillations of different frequencies, so-called frequency-shift keying (FSK) modulation. It should be appreciated that any method of signal modulation suitable for creating the modulatory vibrations described herein may be used.

[0061] Signal modulation module 150 generates a pre-programmed secondary modulation signal. The pre-programmed secondary modulation signal comprises a series of higher frequency /lower amplitude velocity command signals that are super-imposed on top of the primary command signal intended to achieve better bucket filling efficiency. For example, the pre- programmed secondary modulation signal may include the modulation signals shown in FIGS. 5B and 6B. In an exemplary embodiment, signal modulation module 150 generates the secondary modulation signal in response to an input by an operator. For example, the operator may activate manual input 126 (e.g., a button, switch, microphone, pedal, etc.) resulting in signal modulation module 150 imposing the secondary modulation signal onto the primary command signal. In an exemplary embodiment, manual input 126 may be arranged on joystick 36. The modulated primary command signal results in the agitation/vibration, or dithering of bucket 30 and/or arm 24. The operator may activate and deactivate signal modulation module 150 as needed to improve bucket filling and emptying, for example using visual inspection of bucket 30 and/or input from sensors. The vibration caused by the modulated primary command signal breaks material out and fills bucket 30 with greater efficiency.

[0062] FIG. 8 is a functional block diagram illustrating mobile machine actuation system 112. Mobile machine actuation system 112 is substantially the same as mobile machine actuation system 110, with the addition of computing device 160 and one or more sensors, for example, optical sensor(s) or optical sensor system 38 and/or pressure/current sensors 40. FIG. 8 is shown having only one actuator 50, 60 in order to simplify the view; however, it should be appreciated that mobile machine actuation system 112 may comprise a second actuator 50, 60 and corresponding components (e.g., signal conditioning module 130, hydraulic control valve, signal modulation module, computing device 160, and sensors), similar to that of FIG. 7, connected to tilt component 124.

[0063] Computing device 160 may be a hardware device that receives input from one or more sensors and generates a secondary modulation signal and/or causes signal modulation module 150 to generate a secondary modulation signal using bucket fill control program 162. Bucket fill control program 162 receives input from optical sensor 38 and/or current/pressure sensor 40 in order to detect when bucket agitation is required. If bucket fill control program 162 detects that bucket agitation is required, bucket fill control program 162: 1) generates a secondary modulation signal to impress over the primary command signal, for example via signal modifier 164; and 2) communicates to signal modulation module 150 to generate a predetermined secondary modulation signal as previously described.

[0064] In an exemplary embodiment, bucket fill control program 162 is operatively arranged to automate and/or optimize bucket filling on mobile machine 10. Bucket fill control program 162 controls the axes of motion of mobile machine 10, including inducing vibration, to automate the process of filling bucket 30 while optimizing the energy use and impact loading on mobile machine 10. The combination of vibration and controlled movement, for example of the machine tool, is optimized for reduced impact and energy. It should be appreciated that bucket fill control program 162 may be implemented on any mobile machine, for example a wheel loader, track loader, excavator, backhoe, etc. In an exemplary embodiment, bucket fill control program 162 is parametrized such that it adjusts for machine type and material type. For example, the modulation of command signals for crushed stone may be less than the modulation of command signals for dense clay. Such preset modulations reduces the operator skill-level required to do optimal material movement.

[0065] Computing device 160 is capable of communicating with signal conditioning module 130, hydraulic control valve 140, signal modulation module 150, and/or actuators 50, 60, for example, via wired connection or over a network. In some embodiments, computing device 160 may include a computer. In some embodiments, computing device 160 may include internal and external hardware components, as depicted and described in further detail with respect to computing device 300 in FIG. 13. In some embodiments, bucket fdl control program 162 is implemented on a web server, which may be a management server, a web server, or any other electronic device or computing system capable of receiving and sending data. The web server can represent a computing system utilizing clustered computers and components to act as a single pool of seamless resources when accessed through a network. The web server may include internal and external hardware components, as depicted and described in further detail with respect to FIG. 13. [0066] In an exemplary embodiment, bucket fill control program 162 generates predetermined secondary modulation signals. Bucket fill control program 162 determines when bucket agitation is required, and automatically initiates primary command signal modulation without the need for the operator to initiate modulation via manual input 126. However, it should be appreciated, that in an exemplary embodiment the operator may still initiate manual modulation via signal modulation module 150.

[0067] In an exemplary embodiment, bucket fill control program 162 further controls arm 24 and/or bucket 30. For example, when bucket fill control program 162 detects that bucket 30 is properly filled, for example via sensors 38, 40, bucket fill control program 162 automatically sends a primary command signal to actuators 50, 60 to lift bucket 30 out of the pile, thus preventing spillage or overloading.

[0068] FIG. 9 is a functional block diagram illustrating mobile machine actuation system 114. Mobile machine actuation system 114 is substantially the same as mobile machine actuation system 112, with the addition of machine learning module 170. FIG. 9 is shown having only one actuator 50, 60 in order to simplify the view; however, it should be appreciated that mobile machine actuation system 114 may comprise a second actuator 50, 60 and corresponding components (e.g., signal conditioning module 130, hydraulic control valve, signal modulation module, computing device 160, and sensors), similar to that of FIG. 7, connected to tilt component 124.

[0069] Machine learning module 170 works in conjunction with bucket fill control program 162 such that mobile machine actuation system 114 is capable of generating a customized secondary modulation signal or series of signals based on feedback from sensors. For example, bucket fill control program 162 may detect, via sensors 38, 40 that the material is very dense and the quality of the bucket fill is very poor and mobile machine 10 is utilizing a large amount of energy during bucket fill operations. In this case, bucket fill control program 162 may generate a secondary modulation signal with a higher frequency and amplitude than the predetermined secondary modulation signal generated by signal modulation module 150. In an exemplary embodiment, machine learning module 170 utilizes Al.

[0070] Machine learning module 170 gathers data from sensors 38, 40 to determine bucket filling efficiency from one cycle to another (and over a number of consecutive cycles). Machine learning module 170 attempts to optimize the best sequence of motions and agitations to fill bucket 30 most efficiently (i.e., the largest fill using the least amount of energy). For example, if the previous secondary modulation signal did not create enough bucket vibration to get through the material and fill the bucket, bucket fill control program 162 may alter the frequency and/or amplitude of the secondary modulation signal for the subsequent cycle. Bucket fill control program 162 may consider the type of material being moved, material dampness, frost in the material, ground profile (e.g., inclines such as forward sloping or side sloping), textures, size, composition, smoothness of the underlying ground, and other factors when determining the frequency, amplitude, and shape of the secondary modulation signal. Bucket fill control program 162 may further consider control of/feedback from sensors measuring velocity, position, force, toque, current, vision or stereo camera, or a combination thereof. Bucket fill control program 162 may communicate with sensing elements such as light detecting and ranging (LIDAR).

[0071] In the embodiment shown in FIG. 9, bucket fill control program 162 determines when bucket agitation is required, and automatically initiates primary command signal modulation without the need for the operator to initiate modulation via manual input 126. However, it should be appreciated, that in an exemplary embodiment the operator may still initiate manual modulation via signal modulation module 150.

[0072] FIG. 10 is a functional block diagram illustrating mobile machine actuation system 116. Mobile machine actuation system 116 is substantially the same as mobile machine actuation system 114, except with the addition of movement control program 166. In such exemplary embodiment, mobile machine 10 is operated automatically by movement control program 166. Movement control program 166 may be implemented on a computing device, for example, computing device 160. As such, an operator is not needed. Total control of mobile machine 10 is coordinated by movement control program 166, for example using a kinematic model of the workgroup and a state model of the overall machine. Movement control program 166 thus sends the primary command signals to actuators 50, 60, for example in place of command signal module 120. In an exemplary embodiment, mobile machine actuation system 116 may comprise one or more additional sensing and safety systems, for example, proximity sensors for control of the traction system.

[0073] FIG. 11 is a functional block diagram illustrating mobile machine actuation system 118. Mobile machine actuation system 118 is substantially the same as mobile machine actuation system 110, except with the addition of work-group kinematic model 180. Work-group kinematic model 180 controls all kinematic movement of mobile machine 10. Work-group kinematic model 180 is similar to tool -point control in that the operator drives the bucket or tool position and orientation without having to worry about the individual axes kinematics. As such, the movement of all actuators 50, 60 within work-group 190 can be coordinated, including modulation of the primary command signal from command signal module 120. Work-group kinematic model 180 may be implemented on a computing device.

[0074] In an exemplary embodiment work-group 190 comprises lift actuators 50, 60, bucket 30, and the mechanism for tilting bucket 30, for example tilt actuators 50, 60 (i.e., just two active axes). The actuators on each axis can change in length but the rest of the mechanism is then constrained by the geometry of the parts and the positions of the pivot pins. This means that, if the controller understands the kinematics it can use the known extensions of the two actuators to calculate the position and orientation of the tool (e.g., bucket 30), in space, which is known as a kinematic model. By using such a kinematic model, namely work-group kinematic model 180, mobile machine actuation system 118 ensures that efficient and safe motions of the tool are always achieved. For example, work-group kinematic model can assure that the bucket does not dig into the road surface as the bucket is being filled by intervening and preventing the secondary signal from producing a damaging event. Likewise, the work-group kinematic model 180 allows toolpoint control or geo-fencing of work-group 190, for example, to not allow a digger arm to hit a building.

[0075] For machines with many axes and the ability to swing (e.g., an excavator), the internal kinematic model becomes much more important. In terms of the signal modulation technique described herein, work-group kinematic model 180 ensures that bucket 30 does not enter an unsafe position or orientation, and also will allow better optimization of the bucket fdling process. For example, work-group kinematic model 180 enables the machine controller to overrule the operator (within prescribed limits) and, for example, tilt bucket 30 back to an optimum orientation, and then hold that orientation as the machine completes the next phase of its task.

[0076] FIG. 12 shows flow chart 200 depicting operational steps for modulating a mobile machine actuation system command signal, in accordance with some embodiments of the present disclosure.

[0077] In step 202, a primary command signal is sent to one or more actuators 50, 60. The primary command signal may comprise a tilt component, a lift component, and/or a traction component. In an exemplary embodiment, the primary command signal may be sent by command signal module 120, for example, manually by an operator either locally within mobile machine 10 or remotely through wireless connection. In an exemplary embodiment, the primary command signal may be sent by movement control program 166, as described with respect to FIG. 10.

[0078] In step 204, bucket fill control program 162 receives a request for modulation. In an exemplary embodiment, the request for modulation may be received from manual input 126. In an exemplary embodiment, the request for modulation may be generated automatically by bucket fill control program 162 based on feedback from sensors 38, 40. [0079] In step 206, a first modulation signal is generated. In an exemplary embodiment, the first modulation signal is generated by signal modulation module 150, which is generates a predetermined secondary modulation signal. In an exemplary embodiment, the first modulation signal is generated by bucket fill control program 162, for example using signal modifier 164, which may generate a predetermined secondary modulation signal or a custom secondary modulation signal, as previously described.

[0080] In step 208, the first modulation signal is impressed on the primary command signal to create the agitation or vibration in the tool (e.g., bucket 30 and/or arm 24) of mobile machine.

[0081] In step 210, bucket fill control program 162 receives input from sensor 38, 40. For example, bucket fill control program 162 may receive input from optical sensor 38 indicating the level of fill of bucket 30. Bucket fill control program 162 may receive input from sensors 40 indicating the pressure or current supplied to actuators 50, 60, in order to determine the estimated force and/or torque exerted on bucket 30.

[0082] In step 212, bucket fill control program 162 determines if the bucket filling and emptying is sufficient. Bucket fill control program 162 uses the data received in step 210 to determine if the bucket filling/emptying operation is efficient, for example, by determining how full the bucket is, how much force and energy was required to scoop material, the density of the material, the amount of moisture in the material, how long it takes to empty the bucket, how much tilt is required to empty the bucket, etc.

[0083] If, in step 212, bucket fill control program 162 determines that the bucket filling and emptying is not sufficient, then in step 214 bucket fill control program 162 generates a second modulation signal that differs from the first modulation signal. For example, the second modulation signal may have a different amplitude, frequency, or shape than that of the first modulation signal. The program then continues to step 208 wherein the second modulation signal is impressed on the primary command signal.

[0084] If. in step 212, bucket fill control program 162 determines that the bucket filling and emptying is sufficient, then the program ends. Alternatively, bucket fill control program 162 can restart from step 206 in order to generate the same modulation signal over and over again. In an exemplary embodiment, the sufficient modulation signal characteristics are stored in a database so as to access them in the future. For example, if conditions are similar at a later jobsite, bucket fill control program 162 can consult the database and generate a modulation signal having an amplitude, a frequency, and a shape that was sufficient for bucket filling and emptying at the previous jobsite.

[0085] FIG. 13 is a block diagram of internal and external components of computing device 300, in accordance with an embodiment of the present disclosure. It should be appreciated that FIG. 13 provides only an illustration of one implementation and does not imply any limitations with regard to the environments in which different embodiments may be implemented. In general, the components illustrated in FIG. 13 are representative of any electronic device capable of executing machine-readable program instructions. Examples of computer systems, environments, and/or configurations that may be represented by the components illustrated in FIG. 13 include, but are not limited to, personal computer systems, server computer systems, thin clients, thick clients, laptop computer systems, tablet computer systems, cellular telephones (i.e., smart phones), multiprocessor systems, microprocessor-based systems, network PCs, minicomputer systems, mainframe computer systems, and distributed cloud computing environments that include any of the above systems or devices.

[0086] Computing device 300 includes communications fabric 302, which provides for communications between one or more processing units 304, memory 306, persistent storage 308, communications unit 310, and one or more input/output (VO) interfaces 312. Communications fabric 302 can be implemented with any architecture designed for passing data and/or control information between processors (such as microprocessors, communications and network processors, etc ), system memory, peripheral devices, and any other hardware components within a system. For example, communications fabric 302 can be implemented with one or more buses.

[0087] Memory 306 and persistent storage 308 are computer readable storage media. In this embodiment, memory 306 includes random access memory (RAM) 316 and cache memory 318. In general, memory 306 can include any suitable volatile or non-volatile computer readable storage media. Software is stored in persistent storage 308 for execution and/or access by one or more of the respective processors 304 via one or more memories of memory 306.

[0088] Persistent storage 308 may include, for example, a plurality of magnetic hard disk drives. Alternatively, or in addition to magnetic hard disk drives, persistent storage 308 can include one or more solid state hard drives, semiconductor storage devices, read-only memories (ROM), erasable programmable read-only memories (EPROM), flash memories, or any other computer readable storage media that is capable of storing program instructions or digital information. [0089] The media used by persistent storage 308 can also be removable. For example, a removable hard drive can be used for persistent storage 308. Other examples include optical and magnetic disks, thumb drives, and smart cards that are inserted into a drive for transfer onto another computer readable storage medium that is also part of persistent storage 308.

[0090] Communications unit 310 provides for communications with other computer systems or devices via a network. In this exemplary embodiment, communications unit 310 includes network adapters or interfaces such as a TCP/IP adapter cards, wireless Wi-Fi interface cards, or 3G, 4G, or 5G wireless interface cards or other wired or wireless communications links. The network can comprise, for example, copper wires, optical fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. Software and data used to practice embodiments of the present disclosure can be downloaded to computing device 300 through communications unit 310 (i.e., via the Internet, a local area network, or other wide area network). From communications unit 310, the software and data can be loaded onto persistent storage 308.

[0091] One or more I/O interfaces 312 allow for input and output of data with other devices that may be connected to computing device 300. For example, VO interface 312 can provide a connection to one or more external devices 320 such as a keyboard, computer mouse, touch screen, virtual keyboard, touch pad, pointing device, or other human interface devices. External devices 320 can also include portable computer readable storage media such as, for example, thumb drives, portable optical or magnetic disks, and memory cards. VO interface 312 also connects to display 322.

[0092] Display 322 provides a mechanism to display data to a user and can be, for example, a computer monitor. Display 322 can also be an incorporated display and may function as a touch screen, such as a built-in display of a tablet computer.

[0093] The present disclosure may be a system, a method, and/or a computer program product. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present disclosure.

[0094] The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

[0095] Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device.

[0096] Computer readable program instructions for carrying out operations of the present disclosure may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++ or the like, and conventional procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user’s computer, partly on the user’s computer, as a stand-alone software package, partly on the user’s computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user’ s computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present disclosure.

[0097] Aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

[0098] These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.

[0099] The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

[0100] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

[0101] This disclosure has been described in detail with particular reference to an embodiment, but it will be understood that variations and modifications can be effected within the spirit and scope of the disclosure. The presently disclosed embodiments are therefore considered in all respects to be illustrative and not restrictive. The scope of the disclosure is indicated by the appended claims, and all changes that come within the meaning and range of equivalents thereof are intended to be embraced therein.

Claims

CLAIMS What is claimed is:

1. A mobile machine, comprising: a chassis; at least one tool displaceably connected to the chassis; at least one actuator connected to the at least one tool; and an actuation system, including: a primary command signal source operatively arranged to send a primary command signal to the at least one actuator to displace the at least one tool; and a secondary modulation signal source operatively arranged to generate and impress a secondary modulation signal on the primary command signal to modulate the primary command signal and induce a vibration in the at least one tool.

2. The mobile machine as recited in claim 1, wherein the primary command signal comprises a tilt component and a lift component.

3. The mobile machine as recited in claim 1, wherein: the primary command signal comprises a first frequency; and the secondary modulation signal comprises a second frequency higher than the first frequency.

4. The mobile machine as recited in claim 1, wherein the actuation system further comprises a signal conditioning module arranged to manipulate the primary command signal.

5. The mobile machine as recited in claim 4, wherein the signal conditioning module is arranged between the primary command signal source and the at least one actuator.

6. The mobile machine as recited in claim 1, wherein: the at least one actuator is a hydraulic actuator; and the actuation system further comprises a hydraulic control valve, the hydraulic control valve arranged to receive the primary command signal to control the hydraulic actuator.

7. The mobile machine as recited in claim 1, further comprises at least one sensor arranged to communicate with the secondary modulation signal source.

8. The mobile machine as recited in claim 7, wherein the secondary modulation signal source is arranged to: receive data from the at least one sensor; and based on the data, generate the secondary modulation signal.

9. The mobile machine as recited in claim 8, wherein the tool is a bucket and the data comprises at least one of a parameter of material to be moved, a parameter of dampness of material to be moved, and a ground parameter.

10. The mobile machine as recited in claim 9, wherein the at least one sensor comprises an optical sensor operatively arranged to detect an amount of material in the bucket.

11. The mobile machine as recited in claim 8, wherein the at least one sensor comprises a pressure sensor arranged to detect a pressure of hydraulic fluid in the at least one actuator.

12. The mobile machine as recited in claim 8, wherein the at least one sensor comprises a current sensor arranged to detect a current in the at least one actuator.

13. The mobile machine as recited in claim 1, further comprising a sensor arranged to detect a position of the at least one actuator.

14. A method for modulating an actuation system of a mobile machine, comprising: sending a primary command signal to at least one actuator of the mobile machine; generating a first modulation signal; and impressing the first modulation signal on the primary command signal to create a vibration in a tool of the mobile machine.

15. The method as recited in claim 14, wherein the step of generating the first modulation signal comprises: receiving data from one or more sensors; and determining, based on the data, a first frequency and first amplitude of the first modulation signal.

16. The method as recited in claim 15, further comprising: determining that the tool is not operating at full capacity; and generating a second modulation signal including a second frequency and a second amplitude.

17. The method as recited in claim 16, further comprising: impressing the second modulation signal on the primary command signal.

18. The method as recited in claim 14, further comprising: filtering the first modulation signal using signal conditioning.

19. The method as recited in claim 14, further comprising: detecting a force exerted on the tool.

20. The method as recited in claim 14, further comprising: detecting an amount of material collected by the tool.