Autonomous Handling Machine Sensor Placement to Limit Particle Interference
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Solution Overview
Problem
Autonomous handling machines with pivotally mounted booms and tools face challenges in maintaining effective spatial detection due to obstacles and particle deposition, which hinder perception and increase deformation risks.
Innovation Solution
Positioning spatial detection sensors on a projecting portion between the lifting arms of the boom, combined with a compact design and kinematic arrangements that absorb transverse forces and limit longitudinal displacement of the center of gravity, ensuring clear perception and reducing deformation risks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the spatial detection sensor is positioned on the boom or near the tool, then the field of perception is improved, but the sensor is exposed to particle deposition and dust
Solution Approach 1:
The spatial detection sensor is extracted from the boom structure and repositioned on a projecting portion of the chassis that extends between the lifting arms. This separation removes the sensor from the harmful environment of particle deposition while maintaining its perception capabilities, as the projecting portion provides an elevated position that clears the sensor above the boom and tool when in extreme lowered position.
2Productivity
If the boom and tool are positioned to maximize handling capability, then the machine's operational effectiveness is improved, but they become obstacles to the perception of objects in the environment
Solution Approach 1:
The sensor positioning utilizes the vertical dimension by placing it on a projecting portion that extends upward between the lifting arms. This vertical displacement allows the sensor to surmount the boom and tool structures, achieving an unobstructed field of perception while the boom and tool maintain their full handling capability in the horizontal plane.
3Volume of moving object
If the machine is designed to be compact by removing the driver's cabin, then the overall size is reduced, but the structural complexity increases to maintain stability
Solution Approach 1:
The projecting portion of the chassis serves multiple functions simultaneously: it positions the spatial detection sensor above the boom and tool for clear perception, provides structural support to absorb transverse forces on the boom, and maintains machine stability without requiring a driver's cabin. This multi-functionality achieves compactness while managing structural complexity through design efficiency.
Data Source
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AI summary
The invention relates to an autonomous handling machine (1) comprising: - a chassis (2); and - a boom (3) which is intended to receive a tool (5) and which is mounted articulated on the chassis (2) of the machine (1) between an extreme lowered position and an extreme raised position, the boom (3) comprising two lifting arms (12, 13) extending on either side of a longitudinal axis of the machine (1), in which the chassis (2) has a projecting portion (11) which projects upwards between the two lifting arms (12, 13), said projecting portion (11) projecting beyond the two lifting arms (12, 13) when the boom (3) is in the extreme lowered position; and in which the machine (1) has a spatial detection sensor (10) which is fixed to a vertex of the projecting portion (11).