Patent Description:
Japanese Patent Document <CIT> ("the JP '<NUM> Publication") describes a work amount monitoring apparatus for a hydraulic excavator capable of automatically and accurately measuring the load of a transported object during loading work. More specifically, the JP '<NUM> Publication describes a load computing means which computes a load inside a bucket during a swiveling operation used to scoop up and transport the object to be transported and which computes a load inside a bucket during a swiveling operation after the object to be transported is discharged is installed. The JP '<NUM> Publication also describes bucket-dumping-operation detection means which output a load measuring command when the load difference between the loads during the two swiveling operations is at a prescribed value or higher and when a bucket dumping operation is executed in a range of a prescribed angle in a swiveling direction are installed. And the JP '<NUM> Publication further describes a load measuring means by which a load immediately before the bucket dumping operation is measured as the load of the object, to be transported, when the load measuring command is output is installed.

However, application of methodologies for handling payload (e.g., load capacity, load calculation, load measurement, etc.) in hydraulic excavators with conventional buckets having associated therewith a rotational sensor (e.g., an anisotropic magneto-resistive (AMR) sensor) to sense when the bucket articulates to dump its payload may not be applicable to excavators with working implements in the form of either grapples or clamshells or without such rotational sensor to sense when the bucket articulates to dump its payload. For instance, miscounts may occur in a case where the operator performs a re-grab of the material in the event that the material falls from the working implement before reaching the desired dump or discharge point or area. That is, conventional systems may count a drop and re-grab of material as two deposits of different material, even though the same material is eventually discharged to the initially intended position.

<CIT> discloses a system for controlling operation of a first material engaging work implement. The system includes a first machine, a second machine, and a controller.

The present invention provides a working machine according to appended claim <NUM>, as well as a method according to appended independent claim <NUM> for accurately determining proper payload transfer from a working machine having a grapple or a clamshell as a working implement.

Other features and aspects of this disclosure will be apparent from the following description and the accompanying drawings.

Embodiments of the disclosed subject matter can involve accurately determining or identifying proper payload transfer from a working implement of a working machine. Additionally or alternatively, embodiments of the disclosed subject matter can involve accurately determining or identifying improper payload transfer from the working implement.

<FIG> is a diagram of a system <NUM> according to one or more embodiments of the disclosed subject matter. The system <NUM> can include a working or work machine <NUM> and optionally a back office system <NUM>.

The working machine <NUM>, which may be a forest grapple, can be mobile or non-mobile. In one embodiment, the working machine <NUM> may include, but is not limited to, machines (e.g., vehicles) that perform some type of operation associated with a particular industry, such as mining, construction, farming, transportation, forestry, etc. and operate between or within work environments, e.g., construction sites, mine sites, forests, power plants, on-highway applications, marine applications, demolition applications (e.g., grabbing and dumping or demolishing vehicles), etc..

The working machine <NUM> can include a frame or chassis <NUM>, a working implement system <NUM>, a drive system <NUM>, and a power system <NUM> that provides power to the working implement system <NUM> and the drive system <NUM>. The working machine <NUM> can also include a control system <NUM>.

The power system <NUM> can include an engine <NUM>, for example, an internal combustion engine. In alternative embodiments the power system <NUM> may include additional or other power sources, such as electric motors, fuel cells, batteries, ultra-capacitors, electric generators, etc..

The drive system <NUM> may include a transmission and ground propelling devices (in a case where the working machine <NUM> is mobile). The transmission may include any device or group of devices that can transfer force between the power system <NUM> and the ground propelling devices. The transmission may include one or more of a mechanical transmission, gearing, belts, pulleys, discs, chains, pumps, motors, clutches, brakes, torque converters, fluid couplings, etc. According to one or more embodiments, the propelling device can include tracks <NUM>. In alternative embodiments the propelling devices may additionally or alternatively include wheels.

Optionally, an operator station <NUM> may be provided on or otherwise supported by the chassis <NUM>. An operator interface <NUM> and a manual control device <NUM> to control the working machine <NUM> can be provided in the operator station <NUM>. The operator interface <NUM> and the manual control device <NUM> can be operatively coupled to the control system <NUM>. Optionally, one or both of the operator interface <NUM> and the manual control device <NUM> may be considered part of the control system <NUM>.

The operator interface <NUM> may be a control panel, for instance, implemented on or as a display device operative to display, for instance, a graphical user interface (GUI) providing some or all of the operator interface <NUM>. Such operator interface <NUM>, according to embodiments of the disclosed subject matter, may be implemented using multiple display devices. A non-limiting example of the manual control device <NUM> is or includes one or more joysticks, though embodiments of the disclosed subject matter are not so limited. Alternatively, the operator station <NUM> (and thus the operator interface <NUM> and the manual control device <NUM>) may be provided offboard the working machine <NUM>, for instance, at the back office system <NUM>.

The manual control device <NUM> can control rotation of the chassis <NUM>, the operator station <NUM>, and the working implement system <NUM>, for instance, relative to the drive system <NUM>. Discussed in more detail below, such rotation may be about an axis in an overhead plan view of the working machine <NUM>. Moreover, such rotation may be referred to or characterized as swing, particularly, swing of the working implement system <NUM>.

The manual control device <NUM> may also control movement of the working implement system <NUM> relative to the chassis <NUM> (and the drive system <NUM>). For instance, the manual control device <NUM> may be operated to move the working implement system <NUM> to an outermost or most extended position, i.e., as far away from the chassis <NUM> and/or operator station <NUM> as possible. Likewise, the manual control device <NUM> can be operated to move the working implement system <NUM> to an innermost or least extended position, i.e., as close to the chassis <NUM> and/or the operator station <NUM> as limitations allow. Such movement of the working implement system <NUM> may be characterized as or considered to be in a radial direction. Thus, the working implement system <NUM> can be radially extendable and retractable to and from outermost and innermost positions, respectively.

The working implement system <NUM> can include a working implement <NUM>, which may perform work at a worksite. The working implement system <NUM> may include any members and linkages, as well as any systems and controls to actuate the members and linkages as a function of operator, autonomous system, or other inputs, to maneuver the working implement <NUM> to perform work at the worksite. In one or more embodiments, the working implement system <NUM> can include or otherwise be operatively coupled to a boom <NUM>, a stick <NUM>, a connector coupling <NUM>, at least one boom cylinder assembly <NUM>, a hydraulic cylinder pair assembly <NUM>, a linkage pair <NUM>, and a pair of grapple tongs <NUM> pivotable at respective pivoting points. The working implement system <NUM>, thus, can be supported by the chassis <NUM> either directly or indirectly (if the boom <NUM>, stick <NUM>, etc. are not considered part of the working implement system <NUM>).

The working implement <NUM> may be or include a clamshell or a grapple, such as shown in <FIG>. In the case of the grapple or the clamshell as the working implement <NUM>, optionally, the working implement system <NUM> may be without a position sensor to sense opening of the grapple tongs <NUM> (or shells) to dump or discharge its payload. Alternatively, according to embodiments of the disclosed subject matter, the working implement <NUM> may be a bucket, so long as the working implement system <NUM> or the working machine <NUM> does not include or is otherwise without a position sensor (e.g., an angular rotation sensor, such as anisotropic magneto-resistive (AMR) sensor) or the like, for instance, between the stick <NUM> and the bucket, to determine when the bucket is tilted or rotated to dump or discharge its load. And even if such position sensor (such as the AMR sensor) is provided the operator may access a setting using the operator interface <NUM> to invalidate any signals from such position sensor. According to one or more embodiments, the setting may be a so-called "Free" state setting, which can negate any signaling from the AMR sensor or the like.

Incidentally, the payload for the working implement <NUM> according to one or more embodiments of the disclosed subject matter can be timber, a vehicle to demolish, or an already demolished vehicle, as examples. Optionally, according to embodiments of the disclosed subject matter, dirt or soil or the like (e.g., other fine or granular material) may not constitute the payload for the working implement <NUM>.

Optionally, the working machine <NUM> can have a communication system <NUM>. The communication system <NUM> can communicate, for instance, wirelessly, with the back office system <NUM> and/or other machines or vehicles at the work site, such as one or more haul trucks at the work site. The communication system <NUM> can be implemented in or using circuitry. Among other information or data, load or payload data may be transmitted from the working machine <NUM>, for instance, to the back office system <NUM>, via the communication system <NUM>.

Turning now to <FIG> is a block diagram of the control system <NUM>, according to one or more embodiments of the disclosed subject matter. The control system <NUM> can include a controller <NUM>, which may be implemented in or using control circuitry, one or more operator inputs <NUM>, a communication unit <NUM>, memory <NUM>, one or more displays <NUM>, and one or more sensors <NUM>. The control system <NUM> may also include an audio system or unit <NUM>.

The memory <NUM> may be operatively coupled to the controller <NUM> and may reside outside of the controller <NUM>, such as shown in <FIG>, and/or within the controller <NUM>, i.e., as part of the controller <NUM>. Generally, the memory <NUM> can receive and save therein data or information regarding operation of the working machine <NUM>. As an example, the memory <NUM> can receive and save therein a total or tally of material payload discharged or dumped from the working implement <NUM> at one or more proper discharge or dump locations.

The communication unit <NUM> may be (or may be part of) the communication system <NUM>. In this regard, the communication unit <NUM> can include transmit circuitry to transmit information or data, such as load or payload data, to the back office system <NUM>. Optionally, the communication unit <NUM> can have receive circuitry to receive information or data from the back office system <NUM>, for instance. The communication unit <NUM> can communicate, for instance, wirelessly, with the back office system <NUM> and/or other machines or vehicles at the work site, such as one or more haul trucks at the work site. Optionally, according to one or more embodiments, a total or tally of material payload discharged or dumped from the working implement <NUM> at one or more proper discharge or dump locations, for instance, retrieved from the memory <NUM>, may be transmitted to the back office system <NUM> via the communication unit <NUM> and saved at the back office system <NUM>. The communication unit <NUM> may also receive data or information (including instructions), for instance, from the back office system <NUM> and/or other machines or vehicles at the work site.

The audio unit <NUM> may be comprised of one or more audio speakers, for instance, provided in the operator station <NUM>, to output audible information, such as alerts, to the operator of the working machine <NUM>. As an example, the audio unit <NUM> can output an audible alert that a haul truck being filled by the working machine <NUM> has become full.

The one or more sensors <NUM> can include a position sensor associated with rotation or swing of the working implement system <NUM> (and the chassis <NUM>) about an axis; a position sensor associated with articulation of the working implement system <NUM>, i.e., extending or retracting the working implement system <NUM>, particularly to identify a position of the working implement <NUM>, for instance, relative to the chassis <NUM>; and a load sensing sensor to sense a payload or added load on the working implement <NUM>. The load sensing sensor may also be used to sense a reduction in the payload, for instance, down to an initial load value to signify that a discharge or dump event has occurred. Optionally, the discharge or dump event may be verified by the cotemporaneous occurrence of a grapple release command initiated by the operator, for instance, using the manual control device <NUM> or the operator interface <NUM>. As noted above, the one or more sensors <NUM> may not include - effectively or in fact - a position sensor (e.g., an angular rotation sensor) or the like between the edge of the stick <NUM> and the working implement <NUM> to determine when the working implement <NUM> is tilted or rotated to dump or discharge its payload. Outputs from the one or more sensors <NUM> may be fed back to the controller <NUM>. Optionally, information from at least one of the one or more sensors <NUM> may be displayed on the display <NUM>.

The operator input(s) <NUM> can be (or can be part of) the operator interface <NUM> and/or the manual control device <NUM>. Operator input to the operator interface <NUM> can be to set or define a working area and a dumping or discharge area proximate the working machine <NUM>. This may involve setting one or more boundaries between the working area and the discharge area using the operator interface <NUM>. Operator input to the operator interface <NUM> can also be to enable or activate accurate payload transfer control operations for the working machine <NUM> according to embodiments of the disclosed subject matter. Operator input to the manual control device <NUM> can be to control operations of the working machine <NUM>. For instance, operator input to the manual control device <NUM> can control rotation or swing of the working implement system <NUM> (and the chassis <NUM>) about the axis, articulation of the working implement system <NUM>, i.e., extending or retracting the working implement system <NUM> relative to the chassis <NUM>, and grasping and releasing by the working implement <NUM>. The controller <NUM> can output control signaling to various system components (e.g., hydraulic systems, electrical systems, etc.) to control movement of the working machine <NUM> responsive to operator inputs to the manual control device <NUM>.

According to one or more embodiments, at least one of the one or more of the displays <NUM> devices may constitute or be part of the operator interface <NUM>. In this regard, such at least one display <NUM> may be implemented on a display device operative to display a graphical user interface (GUI). Optionally, the one or more displays <NUM> may output an alert, for instance, an alert indicating that a haul truck being filled by the working machine <NUM> is full.

<FIG> show exemplary operator interfaces <NUM>, which may be provided on at least one display <NUM>, and which may be implemented on a display device operative to display a graphical user interface (GUI), according to one or more embodiments of the disclosed subject matter.

As shown in <FIG>, the display <NUM> may display a menu <NUM>. Generally, the menu <NUM> may be referred to or characterized as a function menu or list. Among other features, the menu <NUM> can display an option <NUM> to enable or activate a dump or discharge border swing angle feature according to embodiments of the disclosed subject matter. The option <NUM> may be displayed on the menu <NUM> in a case where a particular type of working implement <NUM> is used. As noted above, such particular type of working implement <NUM> may be a grapple, a clamshell, or a bucket in a case without a position sensor (e.g., an angular rotation sensor) or the like between edge of the stick <NUM> and the bucket to determine when the bucket is tilted or rotated to dump or discharge its load. In this example, the option <NUM> shows a status of the dump or discharge border swing angle feature. The operator may provide an input to the menu <NUM> to change the status of the dump or discharge border swing angle feature, for instance, toggling from ON to OFF or vice versa.

The operator may also provide an input to option <NUM> to access more information regarding the dump or discharge border swing angle feature and to even set (or set again) one or more swing angles of the working implement <NUM> to define a discharge or dump area (and by default a working area), or at least a transition or border between the discharge or dump area from the working area (in the case of only one swing angle being set). For instance, <FIG> shows the display <NUM> displaying the setting of one swing angle set upon accessing option <NUM>, whereas <FIG> shows the display <NUM> displaying the setting of two swing angles upon accessing option <NUM>. Swing angle may also be referred to as turn or turning angle of the working implement <NUM>.

The swing angle or angles may be set via inputs to the display <NUM>. For instance, the operator may control the swing position of the working implement <NUM> to be positioned relative to an edge of a desired dumping or discharging area, for instance, an area where a haul truck is or will be to receive the payload from the working implement <NUM>. Once the working implement <NUM> is at the position, the operator can select either a Swing Left Angle icon <NUM> or a Swing Right Angle icon <NUM>, depending upon whether the desired boundary needs to swing left or right once inside the discharge area to reach the set angle, to set the particular swing angle. Optionally, only one of the left swing angle or the right swing angle may be set, such as shown in <FIG>. Alternatively, after setting one of the left swing angle or the right swing angle, the operator may control the working implement <NUM> to swing to another angle to set the other of the left swing angle or the right swing angle, such as shown in <FIG>.

Also shown in <FIG> and <FIG>, the set swing angle(s) may appear on a working machine icon <NUM> on the display <NUM>. For the setting of a single swing angle, a single swing angle marking SA, which may be in the form of a circle or dot, may appear on the working machine icon <NUM> at the set swing angle. The numerical angle value shown on the display <NUM> in association with Swing Left Angle icon <NUM> or a Swing Right Angle icon <NUM> may be a value that is relative to a base or starting angle of the working implement <NUM> of the working machine <NUM>. The base or starting angle may be normalized to a zero angle. Of course, the forty degrees setting is merely an example. The set swing angle, whether the left or the right, can define entry into the discharge area (from the working or grab area).

Here, in the example shown in <FIG>, the zero angle is at a twelve o'clock position, though embodiments of the disclosed subject matter are not so limited. Thus, in this example, the left swing angle is set at forty degrees (clockwise) from the twelve o'clock position.

In the case of setting two swing angles, such as shown in <FIG>, a swing angle range marking SAR, which may be in the form of an arc, may appear on the working machine icon <NUM> at the set swing angle range between the two set swing angles. The swing angle range marking SAR can indicate the swing angle range of the discharge or dump area (the working area can be defined as the remaining angles outside of the arc).

In the example shown in <FIG>, the left swing angle is set at forty degrees (clockwise) from the twelve o'clock position and the right swing angle is set at one hundred degrees (clockwise) from the twelve o'clock position. Thus, the discharge area can be set between the swing angles of forty degrees and one hundred degrees.

In some respects, the swing left angle may be referred to or characterized as a first swing angle the working implement <NUM> will reach when traveling clockwise from the working area and the swing right angle may be referred to or characterized as a second swing angle the working implement <NUM> will reach when traveling clockwise. The reverse may be true when the working implement <NUM> is swung in the opposite direction.

Referring now to <FIG> and <FIG>, the menu <NUM> of display <NUM> may also display an option <NUM> to enable or activate a dump or discharge border forward distance feature according to embodiments of the disclosed subject matter. The forward distance can refer to an amount by which the working implement <NUM> needs to be radially articulated or extended to reach a dump or discharge area. Such option <NUM> may be displayed on the menu <NUM> in a case where a particular type of working implement <NUM> is used. As noted above, the particular type of working implement <NUM> may be a grapple, a clamshell, or a bucket in a case without a position sensor (e.g., an angular rotation sensor) or the like between an edge of the stick <NUM> and the bucket to determine when the bucket is tilted or rotated to dump or discharge its load. In this example, the option <NUM> can show a status of the dump or discharge border forward distance feature. The operator may provide an input to the menu <NUM> to change the status of the dump or discharge border forward distance feature, for instance, toggling from ON to OFF or vice versa.

The operator may also provide an input to option <NUM> of the menu <NUM> to access more information regarding the dump or discharge border forward distance feature and to even set (or set again) the dump or discharge border to define a discharge or dump area (and by default a working area) around the working machine <NUM>. Accessing option <NUM>, at least initially, can show a current setting for the dump or discharge border forward distance. In the example shown in <FIG> the distance is set at <NUM> from an axis A about which the working implement system <NUM> rotates. In this example, the axis A is shown on the working machine icon <NUM>.

The dump or discharge border forward distance may be set via inputs to the display <NUM>. For instance, the operator may control amount by which the working implement <NUM> is radially extended relative to an edge of a desired dumping or discharging area, for instance, an area where a haul truck is or will be to receive the pay load from the working implement <NUM>. Once the working implement <NUM> is at the position, the operator can select a Dump Area Border icon <NUM> to set the dump or discharge border forward distance value. The distance may be set around an entirely of the working machine <NUM>. Thus, a circle having a radius of the dump or discharge border forward distance value may be defined around the working machine <NUM> to delineate the working area inside the circumference of the circle and the dumping area outside the circumference of the circle.

Also shown in <FIG>, the set dump or discharge border forward distance value may appear on the working machine icon <NUM> on the display <NUM>. In the example shown in <FIG>, a forward distance marking FD provided entirely around the working machine icon <NUM> can be displayed on the display <NUM>.

Though <FIG> and <FIG> and corresponding description discuss embodiments to set swing angle(s) and <FIG> and corresponding description discuss embodiments to set forward distance, embodiments of the disclosed subject matter are not limited to either one or the other. Rather, the two methodologies may be combined. In particular, the operator can set both the dump or discharge border forward distance in combination with one or both of the swing angles. Thus, the borders of the dump or discharge area set by the user may be defined based on swing angle and radius/circumference. In an example, the dump or discharge area may be a rainbow shape, depending upon the selected swing angles.

As noted above, embodiments of the disclosed subject matter can involve accurately determining or identifying proper payload transfer from a working implement of a working machine. Additionally or alternatively, embodiments of the disclosed subject matter can involve accurately determining or identifying improper payload transfer from the working implement. Embodiments of the disclosed subject matter can separate a working or grabbing area where a working machine, such as working machine <NUM>, can pick up payload from a discharging or dumping area where the working machine <NUM> can dump the payload. Counting discharge of the payload only when the working implement <NUM> of the working machine <NUM> is determined to be in the discharging area can prevent miscounting of discharges, particularly those made outside of the discharging area. However, even if the working machine <NUM> is determined to be in the discharging area, the payload may not be counted in a case that the working machine <NUM> grabs the payload and lifts it up in the discharging area. This is to prevent the payload that has already been counted from being double- counted when the payload that have been dumped (e.g., loaded on the truck or the like) are rearranged and reloaded in the discharging area. In this case, dump material payload count may increase by leaving the discharging area and reentering the discharging area again.

A working machine, such as the working machine <NUM>, according to embodiments of the disclosed subject matter, can have the operator station <NUM>. The operator interface <NUM> and the manual control device <NUM> to control the working machine <NUM> can be provided in the operator station <NUM>. The operator interface <NUM> and the manual control device <NUM> can be operatively coupled to the control system <NUM>. The operator interface <NUM> may be a control panel, for instance, implemented on a display device operative to display a graphical user interface (GUI) providing some or all of the operator interface <NUM>. Such operator interface may be implemented using multiple display devices. Alternatively, the operator station <NUM> (and thus the operator interface <NUM> and the manual control device <NUM>) may be provided offboard the working machine <NUM>, for instance, at the back office system <NUM>.

The manual control device <NUM> can control rotation of the chassis <NUM>, the operator station <NUM>, and the working implement system <NUM>, for instance, relative to the drive system <NUM>. Such rotation may be about an axis in an overhead plan view of the working machine <NUM>. The manual control device <NUM> may also control movement of the working implement system <NUM> relative to the chassis <NUM>. For instance, the manual control device <NUM> may be operated to move the working implement system <NUM> to an outermost or most extended position (i.e., as far away from the chassis <NUM> and/or operator station <NUM> as possible) and to move the working implement system <NUM> to an innermost or least extended position (i.e., as close to the chassis <NUM> and/or the operator station <NUM> as allowed). Such movement may be characterized as or considered to be in a radial direction. Thus, the working implement system <NUM> can be radially extendable and retractable to and from outermost and innermost positions, respectively.

As noted above, a working area and a discharge or dumping area around the working machine <NUM> can be set using the operator interface <NUM>, for instance. The working area may be referred to or characterized as a grab area where the working machine <NUM> picks up or re-grabs payload, such as timber, to be discharged or dumped into another area, for instance, into a haul truck. The area where the payload is supposed to be discharged or dumped may be referred to as the discharge or dumping area. Moreover, in that the operator can specifically set the boundaries for the discharge or dumping area, such area may be referred to as a proper discharge or dumping area. Generally, the grab area and the dump area can be separated by one or more swing angles and/or by a radial distance from the working machine <NUM>. In that the discharge or dumping area can be set in advance, at least with respect to some payload transport, the working area and the discharge or dumping area can be referred to or characterized as present areas, defined by preset boundaries.

<FIG> is a block diagram of a method <NUM> according to one or more embodiments of the disclosed subject matter. Generally, method <NUM> may be representative of setting the discharge or dump area, and hence the working or grabbing area, for the working machine <NUM>, as discussed above. At <NUM>, the method can receive inputs to an operator interface, such as operator interface <NUM>, to set the swing angle(s) and/or the dump or discharge border forward distance. At <NUM> the border(s) between the discharge or dump area and the working or grabbing area can be set responsive to the inputs to the operator interface. The discharge/dump area may be displayed on a display, such as display <NUM>. Some or all of the method <NUM> can be performed via a non-transitory computer-readable storage medium having stored thereon instructions that, when executed by one or more processors, causes the one or more processors to perform the method <NUM>.

<FIG> is a block diagram of a method <NUM> according to one or more embodiments of the disclosed subject matter. Regarding operation, the method <NUM> may involve, at <NUM>, determining the working area and the discharge or dumping area. As an example, the controller <NUM> may refer to or retrieve such information from the memory <NUM>.

With the working implement <NUM> in the preset working area, the working machine <NUM> can identify a grab or pick up event whereby the working implement <NUM> grabs material in the working area for transport to a discharge or dump area. As an example, the controller <NUM> can receive load signals indicative of an increase in load on the working implement <NUM> as the working implement picks up or grabs the payload. The load (or weight) signals may be provided from corresponding sensors of the working implement system <NUM>.

With the payload, the working implement <NUM> can be moved toward a predetermined discharge or dump area, set as discussed above. Such movement of the working implement <NUM> may be by way of swinging or turning the working implement <NUM> about the axis A of the working machine <NUM> and/or by way of radially extending the working implement away from the axis A of the working machine <NUM>.

As the working implement <NUM> with the payload is moving toward the discharge area, a load discharge event may occur. Such load discharge event may also be referred to as a candidate dumping event. The load discharge event may be detected by the controller <NUM> based on signals from the load (or weight) sensors of the working implement system <NUM>. According to one or more embodiments, reduction of the load on the working implement system <NUM> by a predetermined amount, or an event that the load is less than a minimum payload value which may be preset on a product model basis, may be determined by the controller <NUM> to constitute the load discharge event (or candidate dumping event). For instance, the load discharge event may be detected when the measurement target weight of the load changes below a preset threshold value (i.e., when the load becomes lighter) and optionally by looking at opening and closing of a thumb wheel. Optionally, presence of a grapple release command, for instance, issued via the operator interface <NUM> or the manual control device <NUM>, may be factored in by the controller <NUM> to determine or confirm the load discharge event. Incidentally, the grapple release command can be representative of whether or not a release event has been detected.

At <NUM>, the method <NUM> can include detecting or determining, for instance, using one or more position sensors of the working machine <NUM> (e.g., of the working implement system <NUM>), a position of the working implement <NUM> at a time of detection of the load discharge event (or the candidate dumping event). As an example, the controller <NUM> can receive position signaling from the one or more position sensors of the working machine <NUM> (e.g., of the working implement system <NUM>) regarding the position of the working implement <NUM> at the time of detection of the load discharge event (or the candidate dumping event).

At <NUM>, the method <NUM> can include determining whether the detected position of the working implement <NUM> at the time of detection of the load discharge event (or the candidate dumping event) is in the working area or in the discharge area. As an example, the controller <NUM> may compare the position information of the working implement with the preset boundaries of the discharge area.

In a case where the load discharge event is determined to have occurred in the working area, i.e., not in the discharging area, the load discharge event (or the candidate dumping event) may be invalidated as a proper discharge. That is, it may be identified that the load discharge event did not occur where it was supposed to occur, for instance, outside a haul truck. Therefore, a dump material payload count or tally may not be increased by the controller <NUM>. Rather, the dump material payload count or tally can be maintained or omitted from registration. The dump material payload count or tall may be stored in the memory <NUM> and may not be updated.

In a case where the load discharge event is determined to have occurred in the discharging area, the load discharge event (or the candidate dumping event) may be validated as a proper discharge. That is, it may be identified that the load discharge event did occur where it was supposed to occur, for instance, inside the haul truck. Therefore, the dump material payload count or tally, at <NUM> of the method <NUM>, may be increased by the controller <NUM>. The dump material payload count or tally may be increased by the specific amount of the particular payload, as measured from load/weight sensor(s) of the working implement system <NUM>. The updated dump material payload count or tally may be saved in the memory <NUM>. Optionally, the dump material payload count or tally, as updated, may be sent offboard the working machine <NUM>, for instance, to the back office system <NUM>. Optionally, according to one or more embodiments, such increase, i.e., counting the valid discharge, can be performed when the working implement <NUM> is still in the discharge area. That is, the dump material payload amount may be determined without the need for the working implement <NUM> to return to the working area. Such counting of the dump material payload may be performed automatically. Incidentally, an icon or alert on the operator interface <NUM>, for instance, may activate to indicate to the operator that t the dump material payload may be increased in case that the working implement <NUM> discharges the load in the discharge area.

Optionally, the controller <NUM> can keep track, based on the running tally of the dump material payload count, how much material has been discharged in the discharge area. Hence, the controller <NUM> may know and identify when a particular vehicle, such as a haul truck, has become filled due to proper discharge of payload from the working implement <NUM>.

Turning now to <FIG>, these figures are diagrams of exemplary operations of the working machine <NUM> according to one or more embodiments of the disclosed subject matter.

<FIG> shows an example regarding a set swing angle SA. Notably, the working implement <NUM> can grab material with the intent of swinging the material to be discharged in the haul truck. Before reaching the haul truck the material may fall from the working implement <NUM> and need to be picked up. The operator may know that the material did not reach the haul truck. However, due to the reduction of load on the working implement <NUM>, the system may otherwise add the amount of the payload to the tally of dump material payload count. Instead, because the candidate discharge event occurs outside of the discharge area, as defined by the swing angle SA border, the system can know not to add the amount of the payload to the tally of the dump material payload count. Rather, only after the discharge event is determined to occur within the discharge area will the payload amount be added to the tally of the dump material payload count.

The operation shown in <FIG> is similar to that shown in <FIG>, however, the operation in <FIG> pertains to a set forward distance shown by the forward distance marking FD around the working machine <NUM>. Notably, discharge events occurring inside the forward distance shown by the forward distance marking FD may not be added to the tally of the dump material payload count, whereas discharge events occurring outside the forward distance shown by the forward distance marking FD, i.e., in the discharge area, may be added to the tally of the dump material payload count.

As will be appreciated by one skilled in the art, aspects of the present disclosure may be embodied as a system, method, or computer program product. Accordingly, aspects of the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," "circuitry," or "system. " Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer readable medium(s) having computer readable program code embodied thereon.

Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, radiofrequency, and the like, or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language and conventional procedural programming languages.

Aspects of the present disclosure have been described above with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the present disclosure. In this regard, the flowchart and block diagrams in the Figures illustrate the architecture, functionality, and/or operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. For instance, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).

It also 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 program instructions.

Thus, the functionality of the elements disclosed herein may be implemented using circuitry or processing circuitry which can include general purpose processors, special purpose processors, integrated circuits, ASICs ("Application Specific Integrated Circuits"), conventional circuitry and/or combinations thereof which are configured or programmed to perform the disclosed functionality. Processors can be considered processing circuitry or circuitry as they include transistors and other circuitry therein. The processor may be a programmed processor which executes a program stored in a memory. In the disclosure, the circuitry, units, or means are hardware that carry out or are programmed to perform the recited functionality. The hardware may be any hardware disclosed herein or otherwise known which is programmed or configured to carry out the recited functionality. When the hardware is a processor which may be considered a type of circuitry, the circuitry, means, or units are a combination of hardware and software, the software being used to configure the hardware and/or processor.

As used herein, the term "circuitry" can refer to any or all of the following: (a) hardware-only circuit implementations (such as implementations in only analog and/or digital circuitry); (b) to combinations of circuits and software (and/or firmware), such as (as applicable): (i) a combination of processor(s) or (ii) portions of processor(s)/software (including digital signal processor(s)), software and memory(ies) that work together to cause an apparatus, such as a mobile phone or server, to perform various functions); and (c) to circuits, such as a microprocessor(s) or a portion of a microprocessor(s), that require software or firmware for operation, even if the software or firmware is not physically present. Controller, as used herein, may be implemented in or using circuitry.

This interpretation of "circuitry" can apply to all uses of this term in this application, including in any claims. The term "circuitry" would also cover, for example and if applicable to the particular claim element, a baseband integrated circuit or applications processor integrated circuit for a network device.

Claim 1:
A working machine (<NUM>) comprising:
a chassis (<NUM>);
an operator station (<NUM>) supported by the chassis (<NUM>), the operator station (<NUM>) including an operator interface (<NUM>) and a manual control device (<NUM>) to control the working machine (<NUM>);
a working implement (<NUM>) supported by the chassis (<NUM>), the working implement (<NUM>) and the operator station (<NUM>) being rotatable about an axis in an overhead plan view of the working machine (<NUM>), and the grapple (<NUM>) being radially extendable and retractable to and from outermost and innermost positions, respectively; and
a controller (<NUM>) configured to:
control movement of the working implement (<NUM>) responsive to operator input using the manual control device (<NUM>),
determine a position of the working implement (<NUM>) relative to predetermined working and dumping areas for the working machine (<NUM>) defined by at least one preset boundary between the working area and the dumping area,
characterized in that the working implement (<NUM>) is in the form of a grapple (<NUM>) and that the controller is further configured to:
identify a candidate dumping event for the grapple (<NUM>) based on a decrease in a load on the grapple (<NUM>),
determine whether the determined position of the grapple (<NUM>) is in the working area or the dumping area responsive to the identification of the candidate dumping event,
characterize the candidate dumping event as an invalid dumping event and maintain a dump material payload count in a first case where the determined position of the grapple (<NUM>) is in the working area upon the identification of the candidate dumping event, and
characterize the candidate dumping event as a valid dumping event and increase the dump material payload count in a second case where the determined position of the grapple (<NUM>) is in the dumping area upon the identification of the candidate dumping event.