Excavator Motion Control Using Worker Behavior Classification
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Solution Overview
Problem
Existing work machine control systems do not distinguish between cooperating and non-cooperating workers, leading to inefficient cooperative work and increased risk of contact between workers and machines.
Innovation Solution
A work machine control system that includes a monitoring apparatus to detect the position and actions of nearby workers and a controller to determine whether the worker is cooperating or non-cooperating, adjusting the allowable velocity of the work machine accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If action limitation is activated uniformly for all persons wearing protective equipment, then safety of non-cooperating workers is improved, but efficiency of cooperative work deteriorates
Solution Approach 1:
The monitoring apparatus segments persons in the monitored area into different categories (cooperating worker, non-cooperating worker, uninvolved person) based on their actions and characteristics. This segmentation allows the control system to apply different control strategies to different groups, enabling safety measures for non-cooperating workers while maintaining operational efficiency for cooperating workers.
Solution Approach 2:
The control system dynamically adjusts the action limitation of the work machine based on the detected person's category and the current work situation. For cooperating workers, the system allows more flexible movement and operation; for non-cooperating workers, stricter limitations are applied. This dynamic adjustment resolves the contradiction by adapting safety measures to the specific context rather than applying uniform restrictions.
2Reliability
If distance for action limitation is set based on non-cooperating worker, then safety of non-cooperating worker is improved, but movable area of cooperating worker is undesirably limited
Solution Approach 1:
The control system applies different spatial restrictions (local quality) to different categories of persons. Cooperating workers are allowed to operate within a larger movable area closer to the work machine, while non-cooperating workers are restricted to a smaller safe distance. This local differentiation of spatial access rights enables both safety and operational efficiency.
3Device complexity
If monitoring apparatus detects only position of person, then system complexity is reduced, but ability to distinguish cooperating and non-cooperating workers deteriorates
Solution Approach 1:
The monitoring apparatus combines multiple detection functions (position detection, action detection, and classification) into a single integrated system. By merging these functions, the system achieves precise worker classification without requiring separate complex devices for each function, thus maintaining relatively simple system architecture while improving measurement precision.
Data Source
AI summary
A work machine control system includes: a monitoring apparatus that detects a position and an action of a person in a monitored area set around a hydraulic excavator; and a controller that generates a control signal for limiting an action of the hydraulic excavator on the basis of a positional relation between the hydraulic excavator and a detected person detected by the monitoring apparatus, and controls the hydraulic excavator on the basis of the control signal. The controller determines which of a cooperating worker and a non-cooperating worker the detected person is, on the basis of an action of the detected person; and changes an allowable velocity of the work machine at a time of limiting an action of the work machine on the basis of a result of the determination or on the basis of the result of the determination and the action of the work machine.