Bucket Target Locus Generation with Reduced Calculation Load
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Solution Overview
Problem
Existing technologies fail to generate a target locus for an attachment in a working machine with adequate precision while minimizing calculation load.
Innovation Solution
A target locus generation system for a working machine comprising a posture detector, contour detector, and contact detector, which uses a controller to determine the target locus of an attachment by detecting the posture, contour, and contact with the excavation object, setting positions based on intersection angles and offset amounts to minimize calculation load.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If detailed target locus generation is implemented, then precision of excavation operation is improved, but calculation load increases
Solution Approach 1:
The patent segments the target locus generation into two distinct parts: arm distal end target locus and bucket target locus. The arm distal end target locus is generated first using simplified parameters (intersection angle and offset amount), and then the bucket target locus is generated based on this intermediate result. This segmentation allows each part to be calculated with appropriate detail level, reducing overall calculation load while maintaining precision where needed.
Solution Approach 2:
The patent performs preliminary generation of the arm distal end target locus before generating the bucket target locus. By first determining the arm distal end target locus using contour information, intersection angles, and offset amounts, the system prepares intermediate results that simplify subsequent bucket target locus calculation. This preliminary action reduces the computational complexity of the final target locus generation.
2Speed
If real-time contact detection is implemented, then responsiveness of excavation control is improved, but processing time increases
Solution Approach 1:
The system performs preliminary detection of the start point by monitoring when the bucket distal end first contacts the excavation object. This preliminary detection establishes a reference point before full target locus generation begins, enabling real-time responsiveness while minimizing processing time by having critical detection already completed when excavation starts.
Solution Approach 2:
The contact detector automatically detects the start point without requiring manual intervention or complex processing. The system uses simple contact state changes (from non-contact to contact) to trigger target locus generation, making the detection process efficient and responsive while minimizing processing overhead.
Data Source
AI summary
A target locus of an attachment is determined while a calculation load for generating the target locus of the attachment is suppressed. A controller is configured to set a position of an arm distal end at a time when a contact detector detects contact of a bucket distal end with an excavation object at a start point of an arm distal end target locus. The controller is configured to receive information about a form of the arm distal end target locus in advance. The controller is configured to set a position for a finish point on the basis of an angle of a surface of the excavation object, an intersection angle between the arm distal end target locus and the surface of the excavation object, information about the form of the arm distal end target locus, and an offset amount about the finish point of the arm distal end target locus.