Hydraulic Excavator Work Planning for Autonomous Abnormal-Object Response
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Solution Overview
Problem
Existing automated construction systems face productivity loss when abnormal objects, such as buried obstacles, hinder the operation of construction machines, requiring manual intervention by operators.
Innovation Solution
An automated work system with a surrounding environment measuring device and automated operation controlling device that detects abnormal objects and adjusts the work plan to continue operations without operator intervention.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automated operation is implemented to reduce task burden and improve safeness, then operator safety and workload are improved, but productivity decreases when abnormal objects are detected requiring manual intervention
Solution Approach 1:
The automated operation controlling device performs self-service by detecting abnormal objects and autonomously selecting alternative work content without requiring operator intervention. The system monitors its own operation status, detects obstacles through the surrounding environment measuring device, and automatically adjusts the work plan to maintain continuous operation.
Solution Approach 2:
The system implements feedback by continuously monitoring the work environment through the surrounding environment measuring device, comparing detected objects against the work plan, and automatically adjusting operations based on the detection results. This closed-loop control enables the system to respond to abnormal conditions and maintain productivity.
2Difficulty of detecting and measuring
If operator visual observation is used to detect abnormal situations, then detection capability is improved, but productivity decreases due to manual handling requirements
Solution Approach 1:
The patent replaces the mechanical system of visual observation with an automated detection system using the surrounding environment measuring device. This substitution enables continuous, objective detection of abnormal objects without the limitations of human observation, and automatically triggers work plan adjustments without manual intervention.
Solution Approach 2:
The automated operation controlling device acts as an intermediary between the surrounding environment measuring device and the work machine. It processes detection data, determines whether abnormal objects hinder work execution, and automatically selects alternative work content, eliminating the need for direct operator involvement in detection and decision-making.
3Productivity
If continuous automated operation is maintained without manual intervention, then productivity is improved, but the system complexity increases requiring autonomous decision-making capabilities
Solution Approach 1:
The control system is segmented into distinct functional modules: the surrounding environment measuring device for detection, the abnormal object detection section for analysis, the work status management section for decision-making, and the automated operation controlling device for execution. This segmentation manages complexity by dividing the autonomous decision-making process into specialized, manageable components.
Data Source
AI summary
An automated operation controller 45 of an automated work system 10 includes: a work status management section 452 that selects a work content according to a work DB 456 that records a work plan for a hydraulic excavator 1 and a work order in the work plan, creates an operation plan based on the selected work content and information on the surrounding environment measured by laser scanners 34, and outputs a control signal to a vehicle body controller 41 based on the operation plan; and an abnormal object detection section 454 that detects an abnormal object present on a work site based on the information on the surrounding environment measured by the laser scanners 34. When the execution of the operation plan is determined to be hindered by the presence of the abnormal object, the work status management section 452 selects another work content from the work plan.