Excavator Autonomous Parking Using Space and Orientation Sensing
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Solution Overview
Problem
Conventional shovels can only automatically change the posture of an attachment but are unable to move to a parking location autonomously.
Innovation Solution
A shovel equipped with a lower-part traveling body, an upper-part swing body, a traveling actuator, a space recognition device, an orientation detection device, and a control device that operates the traveling actuator based on inputs from these devices to facilitate autonomous movement to a parking location.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the shovel is equipped with only attachment posture adjustment capability, then the device complexity is low, but the extent of automation is insufficient for full autonomous parking
Solution Approach 1:
The patent combines multiple independent systems (space recognition device, orientation detection device, traveling actuator, and control device) into an integrated autonomous parking system. The control device receives inputs from both the space recognition device and orientation detection device, processes this information, and automatically controls the traveling actuator to execute parking maneuvers, merging these components into a cohesive autonomous operation system.
Solution Approach 2:
The shovel system performs self-parking autonomously without requiring external guidance or manual intervention. The control device uses data from the space recognition device and orientation detection device to automatically determine the parking position and control the traveling actuator, enabling the system to serve itself in the parking operation.
2Extent of automation
If the shovel adds space recognition and orientation detection devices, then the autonomous parking capability is improved, but the device complexity increases
Solution Approach 1:
The control device serves multiple functions: it processes spatial information from the space recognition device, integrates orientation data from the orientation detection device, calculates the optimal parking trajectory, and controls the traveling actuator. This multi-functional approach consolidates control logic into a single device, reducing overall system complexity despite adding sensing capabilities.
Solution Approach 2:
The control device acts as an intermediary that integrates information from the space recognition device and orientation detection device, processes this combined data, and translates it into actionable commands for the traveling actuator. This intermediary role simplifies the system architecture by providing a centralized processing node rather than requiring direct communication between all components.
Data Source
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AI summary
A shovel (100) according to an embodiment of the present invention includes a lower-part traveling body (1), an upper-part swing body (3) that is turnably mounted on the lower-part traveling body (1), a hydraulic traveling motor (2M) as a traveling actuator that drives the lower-part traveling body (1), a space recognition device (70) that is provided in the upper-part swinging body (3), an orientation detection device (71) that detects information related to a relative relation between an orientation of the upper-part swing body (3) and an orientation of the lower-part traveling body (1), and a controller (30) as a control device that is provided in the upper-part swing body (3).