Body Swing Collision Avoidance for Steerable Loader Maneuvering

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Solution Overview

Problem

Machines, such as compact track loaders or skid steers, often swing into obstacles during maneuvering due to limited visibility and differential steering, making automatic collision avoidance challenging.

Innovation Solution

A body swing collision avoidance system that uses sensors to detect obstacles and adjusts operator steering commands to prevent or mitigate collisions by modifying the machine's path, either by slowing down or changing the steer component, based on the operator's intent and the time-to-collision analysis.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the machine maneuvers close to obstacles to work efficiently, then productivity is improved, but the risk of collision with obstacles increases

Engineering Contradiction:

Improvework efficiencyVSAvoidcollision risk

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system performs preliminary detection of obstacles in the body swing path before the machine actually swings into them. By calculating the predicted body swing path based on current steering commands and comparing it with detected obstacles, the system takes preventive action by modifying steering commands before collision occurs, enabling safe close maneuvering.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system continuously monitors operator steering commands, calculates the resulting body swing path, detects obstacles in that path using sensors, and feeds this information back by automatically adjusting the steering commands. This closed-loop feedback enables the machine to maneuver close to obstacles while maintaining collision avoidance.

Inventive Principle:

Principle #23Feedback

2Reliability

If automatic collision avoidance is implemented to prevent collisions, then safety is improved, but the machine's ability to get close to obstacles is reduced

Engineering Contradiction:

Improvecollision avoidanceVSAvoidmaneuverability near obstacles

Core Design Contradiction:

ReliabilityVSEase of operation

Solution Approach 1:

The system dynamically adjusts the body swing path based on real-time conditions. Rather than using a fixed safety margin that would limit maneuverability, the system calculates the actual predicted swing path and only modifies commands when obstacles are detected in that specific path, allowing maximum maneuverability while maintaining safety.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the steering command parameters dynamically based on obstacle detection. When no obstacles are present, the full operator-commanded path is executed. When obstacles are detected in the predicted path, the system modifies the steer component of the command to alter the swing path, allowing the machine to maintain close proximity to obstacles while avoiding collision.

Inventive Principle:

Principle #35Parameter changes

3Measurement precision

If the operator focuses attention on the direction of motion to steer accurately, then steering precision is improved, but the opposite end of the machine may swing into unnoticed obstacles

Engineering Contradiction:

Improvesteering accuracyVSAvoidunnoticed obstacle collision

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The system introduces an intermediary automated monitoring function that detects obstacles in the body swing path. This intermediary sensor-based detection system compensates for the operator's limited visibility of the swinging end, allowing the operator to focus on steering while the system monitors for obstacles that the operator cannot see.

Inventive Principle:

Principle #24Intermediary (Mediator)

4Adaptability or versatility

If the machine swings one end to steer or articulate, then steering capability is improved, but the other end may swing into obstacles

Engineering Contradiction:

Improvesteering capabilityVSAvoidopposite end collision

Core Design Contradiction:

Adaptability or versatilityVSObject-affected harmful factors

Solution Approach 1:

The system calculates the predicted body swing path that accounts for the swinging motion of the opposite end during steering and articulation. By detecting obstacles in this predicted path before the swing occurs, the system can preemptively modify the steering command to prevent the opposite end from contacting obstacles, preserving full steering capability while preventing collision.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12427974B2Multiple mode body swing collision avoidance system and method

Publication Date: 2025.09.30 DEERE & CO

AI summary

A body swing collision avoidance system and method for a machine with steerable traction devices for moving the machine. Sensors monitor obstacles around the machine. A commanded body swing path is calculated based on operator steering commands. If an obstacle is in the commanded body swing path, the system automatically adjusts the steering commands to avoid collision with the obstacle. A time to collision can be calculated, and the steering commands adjusted only when it is below a threshold. Adjusting the steering commands to avoid collision can include determining propel and steer components based on the steering commands; and if propel is greater than a threshold then adjusting the steering commands to adjust the swing path to avoid collision; and if propel is less than the threshold then adjusting the steering commands to slow the machine to avoid collision.