Excavator Object Detection for Directional Motion Control

The motion restriction control is segmented by direction. The control device determines whether to restrict motion based on the direction of movement relative to the detected object. Motion in directions away from the detected object is allowed, while motion toward the object is restricted. This directional segmentation resolves the contradiction by maintaining safety for potentially dangerous directions while preserving operational flexibility for safe directions.

Different quality of motion control is applied to different spatial zones. The control device creates a restricted zone toward the detected object where motion is limited, while allowing free motion in other zones. This local differentiation enables the system to be safety-critical only where necessary (toward the object) and flexible elsewhere, resolving the uniform restriction problem.

The motion restriction control is dynamic and adaptive rather than static and uniform. The control device continuously monitors the detected object's position and dynamically adjusts which directions are restricted based on current operational context. This allows the system to prevent collisions when necessary while maintaining productivity by allowing motion in safe directions, resolving the contradiction between safety and efficiency.

The system changes the parameter of motion restriction from a binary all-or-nothing approach to a directional gradient approach. By varying the restriction level based on direction relative to the detected object, the system maintains collision prevention for threatening directions while preserving productivity-enabling motion for non-threatening directions.