Attachment Trajectory Correction for Smooth 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 movement of the attachment at other points.
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, ensuring consistent movement times and speeds before and after correction, thereby maintaining a smooth and efficient operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the target point of the attachment is corrected, then the positioning accuracy is improved, but the movement smoothness deteriorates causing anxiety to workers
Solution Approach 1:
The system performs preliminary calculation of the corrected trajectory before executing the movement. The control device computes the entire corrected path from the current position to the new target position, ensuring that the attachment follows a pre-planned smooth trajectory rather than making abrupt corrections, thereby maintaining movement smoothness while achieving accurate positioning.
Solution Approach 2:
The system dynamically adjusts the trajectory by calculating a new path that connects the current position to the corrected target position. The control device modifies the trajectory in real-time based on the position correction amount, ensuring continuous and smooth movement throughout the correction process, which prevents worker anxiety while achieving accurate positioning.
2Productivity
If the attachment moves quickly to the target point, then the productivity is improved, but the movement smoothness deteriorates causing anxiety to workers
Solution Approach 1:
The system calculates the corrected trajectory in advance before movement begins. By pre-computing the entire path including speed and position information, the attachment can move efficiently along the predetermined corrected trajectory without abrupt changes, maintaining both productivity and movement smoothness.
Solution Approach 2:
The control device changes the trajectory parameters (position, speed, time) to create a corrected path that maintains smooth movement characteristics. The system adjusts speed and position parameters along the corrected trajectory to ensure the attachment moves smoothly while achieving the corrected target position, balancing productivity with worker comfort.
Data Source
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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 (43) sets a target path of a post-correction target trajectory (TRb) that is obtained by omitting a target point (P) between an omission start point (Ps) and an omission end point (Pe) from a plurality of target points (P) on a pre-correction target trajectory (TRa). The target trajectory correcting unit (43) sets time information from the omission start point (Ps) to the omission end point (Pe) 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 (15e) from the omission start point (Ps) to the omission end point (Pe) on the pre-correction target trajectory (TRa).