Attachment Trajectory Correction for Predictable Work Machine Motion
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Solution Overview
Problem
Existing trajectory correction systems for work machine attachments can cause anxiety to workers due to unpredictable movements after correcting a target point, as they do not adequately address the series of operations beyond the target point.
Innovation Solution
A trajectory generating system that includes a target trajectory setting unit and a correcting unit to set and adjust a target path by omitting specific points and adjusting time parameters, ensuring consistent movement speeds before and after correction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the target trajectory is corrected by changing target points, then the work efficiency is improved, but the movement becomes unpredictable causing anxiety to workers
Solution Approach 1:
The system changes the parameter of target points in the trajectory by omitting specific points based on work conditions. The control unit determines whether to omit target points by evaluating work efficiency parameters, and when omission is decided, it calculates new trajectory parameters (position and time) to maintain smooth attachment movement. This parameter change approach improves work efficiency while keeping movement predictable through proper parameter selection.
Solution Approach 2:
The system implements feedback by continuously monitoring work conditions and attachment state to determine optimal target point omission. The control unit receives feedback about current work efficiency, calculates the effect of omitting target points, and adjusts the trajectory accordingly. This feedback mechanism ensures that trajectory correction maintains predictability while improving productivity, as the system adapts based on actual work conditions rather than making arbitrary changes.
2Productivity
If target points are omitted to improve efficiency, then the number of operations is reduced, but the movement speed and timing become inconsistent
Solution Approach 1:
The system applies dynamics by making the trajectory parameters adaptive rather than fixed. When target points are omitted, the control unit dynamically calculates new position and time parameters based on the attachment's current state and work conditions. This dynamic adjustment ensures that movement speed remains consistent and natural even when the number of operations is reduced, as the system continuously adapts the trajectory to maintain smooth motion characteristics.
3Productivity
If the attachment moves quickly to complete work faster, then productivity increases, but workers feel anxious due to unpredictable rapid movements
Solution Approach 1:
The system carefully selects which parameters to change when correcting the trajectory. Instead of arbitrarily changing target points, the control unit evaluates work conditions and selectively omits target points only when it determines this will improve efficiency without causing abrupt movements. The new trajectory parameters are calculated to maintain smooth acceleration and deceleration profiles, ensuring rapid work completion while keeping movements predictable and safe for workers.
Data Source
AI summary
A target trajectory of an attachment is corrected while an operation of the attachment is prevented from giving a feeling of anxiety to a worker around a work machine. A target trajectory correcting unit sets a target path of a post-correction target trajectory (TRb) that is obtained by omitting a target point between an omission start point and an omission end point from a plurality of target points on a pre-correction target trajectory. The target trajectory correcting unit sets time information from the omission start point to the omission end point on the post-correction target trajectory TRb based on at least any one of a movement distance and a movement time of a specific portion from the omission start point to the omission end point on the pre-correction target trajectory.