Autonomous Dump Truck Route Correction for Excavator-Aligned Loading
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Solution Overview
Problem
Autonomous dump trucks face challenges in stopping at loading specified positions in a direction that facilitates easy loading operations by excavators, as the vehicle's orientation may not align with the excavator's work device, leading to increased operational difficulty and fatigue for the operator.
Innovation Solution
A control system for autonomous dump trucks that adjusts the travelling route to align the dump truck's front-rear direction with the excavator's work device direction using a corrected route generation and obstacle detection, ensuring easy loading operations by correcting the vehicle's orientation and avoiding collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the autonomous dump truck stops at the loading specified position following the pre-correction travelling route, then the truck can reach the loading position, but the vehicle's front-rear direction may not align with the excavator's work device direction, making loading operations difficult and increasing operator fatigue
Solution Approach 1:
The system performs preliminary action by computing a post-correction travelling route that anticipates the need for orientation alignment. Before the dump truck reaches the loading position, the controller calculates the optimal approach angle and adjusts the route to ensure the vehicle's front-rear direction aligns with the excavator's work device direction upon arrival, thereby facilitating easier loading operations without extending cycle time
Solution Approach 2:
The system applies parameter changes by modifying the travelling route parameters (position coordinates, approach angle) to achieve optimal orientation. The controller computes adjusted route parameters that ensure the dump truck approaches the loading position at a specific angle that aligns with the excavator's work device, transforming the route from a simple path to a precisely oriented approach trajectory
2Adaptability or versatility
If the upper-level map generation system attempts to set the travelling route with changes in the surroundings of the loading field, then the route can be optimized, but it is difficult to recognize and set all changes in real-time
Solution Approach 1:
The system implements self-service by enabling the autonomous dump truck to independently compute and adjust its own travelling route based on real-time environmental changes. The controller on the dump truck itself performs the route correction calculations using data from perception devices, eliminating the need for complex real-time intervention from the upper-level map generation system and reducing overall system complexity while maintaining high adaptability
3Productivity
If the dump truck stops closer to the face to improve loading efficiency, then the excavator can easily carry out loading work, but there is a risk of colliding with the face
Solution Approach 1:
The system applies feedback by continuously monitoring the distance between the dump truck and the face using perception devices during approach. The controller receives real-time feedback on position and distance, compares it with safety thresholds, and dynamically adjusts the route and speed to maintain optimal proximity without collision risk, thereby achieving both high loading efficiency and reliable collision avoidance
Data Source
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AI summary
A controller that controls a dump truck in such a manner that the dump truck travels on a travelling route and stops at a loading specified position is provided in the dump truck. The controller computes, from travelling route data, a front-rear direction (a first stop direction) of the dump truck in a case in which the dump truck has travelled on the travelling route and stopped at the loading specified position, and corrects the travelling route to compute a post-correction travelling route including the loading specified position as an end point in such a manner that an excavator is located on an extension line of the front-rear direction (a second stop direction) of the dump truck in a case in which the dump truck has travelled on the post-correction travelling route and stopped at the loading specified position, on the basis of the computed first stop direction, position data of the loading specified position, and swing center position data of the excavator.