Excavator Collision Avoidance for Dig Components and Blade
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Solution Overview
Problem
Existing excavator systems face challenges in controlling dig components to avoid collisions with the blade, especially when the dig components are modular and movable in various degrees of freedom.
Innovation Solution
The implementation of a collision avoidance system that detects the positions of dig components and the blade, generates control signals to limit movement, and alerts the operator to prevent collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the dig components are made modular and movable in various degrees of freedom to increase versatility, then the adaptability of the excavator is improved, but the risk of collision with the blade increases and collision avoidance becomes more complex
Solution Approach 1:
The system segments the monitoring and control functions into separate modules: position detection modules for the dig component and blade, a collision risk determination module, and a control signal generator. This modular approach allows independent optimization of each function while managing the complexity of collision avoidance for versatile, multi-degree-of-freedom dig components.
Solution Approach 2:
The system implements continuous feedback by monitoring the positions of dig components and blade in real-time, determining collision risk based on this data, and generating control signals to prevent collisions. This closed-loop feedback mechanism ensures reliable collision avoidance while maintaining the adaptability of modular dig components.
2Reliability
If real-time position detection and control signals are implemented to prevent collisions, then the reliability is improved, but the device complexity increases due to additional sensors and control systems
Solution Approach 1:
The control system is designed to perform multiple functions: it monitors positions of dig components and blade, determines collision risk, generates control signals to prevent collisions, and can alert the operator. This multi-functional approach consolidates several functions into a single integrated system, reducing overall device complexity while maintaining high reliability.
Solution Approach 2:
The system automatically monitors positions, determines collision risk, and generates control signals without requiring external intervention. The control signal generator autonomously prevents collisions by limiting movement of dig components, reducing the need for additional complex control mechanisms.
3Reliability
If the control system limits movement of dig components to maintain separation distance, then collision avoidance is improved, but the productivity decreases due to restricted operational freedom
Solution Approach 1:
The control system applies partial action by limiting movement only when collision risk is detected, rather than restricting all movements. The system allows full operational freedom when no collision risk exists and intervenes selectively to maintain separation distance, thereby minimizing impact on productivity while ensuring collision avoidance.
Solution Approach 2:
The system dynamically adjusts the level of control based on real-time collision risk assessment. When the dig component and blade are safely separated, the system allows unrestricted movement for maximum productivity. When collision risk is detected, the system dynamically introduces movement limitations to prevent collisions, creating a flexible balance between safety and operational efficiency.
Data Source
AI summary
An excavator has a lower frame with a blade movably mounted to the lower frame. The excavator also has dig components such as a boom, an arm, and an attachment. The positions of the dig components are identified and a control signal generator controls movement of the dig component to avoid a collision between the boom or attachment and the blade.