Attachment Trajectory Correction With Speed-Consistent Timing
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Solution Overview
Problem
Existing trajectory correction systems for work machines can cause anxiety among workers due to rapid changes in attachment movement speeds when target trajectories are adjusted, leading to insecure feelings.
Innovation Solution
A trajectory generating system that includes a target trajectory setting unit and a correcting unit, which adjusts both the path and time parameters of the target trajectory to maintain consistent attachment speeds before and after corrections, preventing worker anxiety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the target trajectory is corrected to improve work accuracy, then the attachment movement speed changes rapidly, but this causes anxiety and insecure feelings among workers
Solution Approach 1:
The system changes the time parameter of the target trajectory dynamically based on the attachment's current speed and position. When trajectory correction is needed, the system adjusts the time information to maintain consistent movement speed, preventing sudden speed changes that would cause worker anxiety while still achieving the corrected work accuracy
Solution Approach 2:
The system continuously monitors the attachment's actual movement speed and position, then uses this feedback to dynamically adjust the time parameter in the target trajectory. This closed-loop control ensures that corrections are made smoothly without causing abrupt speed changes that would alarm workers
2Productivity
If the attachment moves quickly to maintain productivity, then work efficiency is improved, but this increases the risk of giving anxiety to workers around the machine
Solution Approach 1:
The system dynamically adjusts the time parameter based on real-time speed conditions. When the attachment needs to move quickly for productivity, the system allows higher speeds, but when correcting trajectory or operating near workers, it automatically reduces speed to maintain safety and comfort, thus balancing productivity with worker security
Data Source
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AI summary
A trajectory generating system includes a target trajectory setting unit and a target trajectory correcting unit. The target trajectory setting unit sets a reference target trajectory that is a target for a movement of a specific portion of an attachment and includes a reference target path including a plurality of target points and time information that is information about a time for a movement of the specific portion along the plurality of target points. The target trajectory correcting unit specifies a pre-correction modification point on the reference target trajectory, sets a corrected target path including a post-correction modification point obtained by modifying the pre-correction modification point, and sets the time information in the corrected target path based on at least one of information about a speed of the attachment on the reference target trajectory and information about a preset upper limit of the speed of the attachment.