Work Machine Implement Travel Prediction to Avoid Stop Collisions
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Solution Overview
Problem
Operators of work machines often cause implements to hit stop positions, leading to damage and vibrations, as existing solutions like Japanese Patent Application Publication No. JP2019052499 only decelerate the cylinder without preventing it from reaching the stroke end, failing to address the issue of implement collision without speed reduction.
Innovation Solution
A method and system that identify a command to move an implement, determine its estimated velocity, calculate a predicted travel distance, and adjust the implement's movement to avoid hitting a stop position by resetting its position before executing the command, using a controller to manage the implement's movement and update a calibration map with maximum velocity data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the operator moves the implement quickly to complete operations faster, then productivity increases, but the implement may hit the stop position causing damage and vibrations
Solution Approach 1:
The system performs preliminary action by predicting the implement's travel distance based on current velocity and command duration before executing the move command. If the predicted position exceeds the stop position, the system proactively adjusts the command duration to reduce travel distance, preventing the collision before it occurs. This allows the implement to move at high speed while maintaining safety margins.
Solution Approach 2:
The system implements feedback by continuously monitoring the implement's actual position and comparing it with the predicted position. The actual position data is fed back to update velocity estimates and refine future predictions, creating a closed-loop control system that maintains both high speed operation and collision prevention.
2Reliability
If the cylinder is decelerated before reaching stroke end, then the risk of hitting stop position is reduced, but the operation time increases and productivity decreases
Solution Approach 1:
Instead of changing velocity (deceleration), the system changes the time parameter of the move command. By adjusting the command duration based on predicted travel distance, the implement maintains its high velocity throughout the operation while the reduced time parameter ensures it reaches a safe position before the stop, eliminating the need for speed reduction.
Solution Approach 2:
The system replaces the mechanical approach of decelerating the cylinder with a control system approach. Rather than physically reducing speed through mechanical means, the controller predicts the trajectory and adjusts the command parameters, substituting mechanical deceleration with intelligent control that maintains speed while preventing collision.
3Reliability
If the implement is moved to a reset position before executing the command, then collision with stop position is prevented, but the total movement distance increases
Solution Approach 1:
The system implements dynamic adjustment of the move command based on real-time conditions. Rather than always moving to a fixed reset position, the system dynamically calculates the appropriate command duration to achieve a safe final position. This dynamic approach ensures the implement travels the minimum necessary distance to prevent collision while adapting to varying velocities and operational contexts.
Data Source
AI summary
A controller may identify a command to move an implement in a particular direction and an amount of time for the implement to move in the particular direction. The controller may determine an estimated velocity of the implement moving in the particular direction. The controller may determine a predicted travel distance of the implement in the particular direction. The controller may cause, based on a stop position associated with the particular direction and the predicted travel distance of the implement in the particular direction, the implement to move from a current position to a reset position. The controller may cause the command to be executed to cause the implement to move, in the particular direction and for the amount of time, from the reset position to another position without hitting the stop position associated with the particular direction.