Loader Trajectory Prediction for Transporter Collision Avoidance
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Solution Overview
Problem
Existing loading work support systems struggle to reliably support the operation of construction machines like excavators when loading cargo onto transporters, particularly when the positional relationship between the loader and transporter does not allow for a swing operation, leading to difficulties in avoiding contact between the work machine and the transporter.
Innovation Solution
A loading work support system that includes a first position calculator, a posture detector, and a control device to predict the trajectory of the work device, set a target position and prohibited areas, and calculate control inputs to ensure the work device avoids collisions, using dynamic characteristics to adjust operations based on the calculated inputs.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a swing operation is used to transport the excavation object to the loading table, then the loading work can be performed, but the work machine may contact the transporter when the positional relationship does not allow for safe operation
Solution Approach 1:
The system performs preliminary trajectory prediction calculation before executing the loading operation. The control device calculates the predicted trajectory of the work machine based on current position, speed, acceleration, and dynamic characteristics, and determines in advance whether the trajectory intersects with the transporter area. This preliminary assessment allows the system to prevent contact by adjusting the operation before the dangerous situation occurs.
Solution Approach 2:
The system continuously monitors the actual position and trajectory of the work machine during operation and compares it with the predicted trajectory. Based on this feedback, the control device can adjust control signals to decrease swing speed or increase rising speed of the front work device when intersection with the transporter area is detected, ensuring safe operation while maintaining productivity.
2Reliability
If the trajectory of the work machine is adjusted to avoid the transporter, then contact is prevented, but the loading work time increases
Solution Approach 1:
The system applies avoidance control only when necessary - specifically when the predicted trajectory intersects with the transporter area. In normal situations where no intersection is predicted, the system executes the standard loading operation without additional time loss. This selective application of avoidance measures minimizes time loss while maintaining reliability when needed.
Solution Approach 2:
When avoidance is required, the system dynamically changes operational parameters such as swing speed and rising speed of the front work device. By optimizing these parameter changes to achieve the minimum necessary adjustment for avoidance, the system reduces the time penalty while ensuring contact prevention. The control device calculates precise parameter adjustments based on the degree of trajectory intersection.
3Productivity
If the rising speed of the front work device is increased to complete loading faster, then productivity improves, but the risk of contacting the transporter increases
Solution Approach 1:
The system calculates the predicted trajectory and assesses intersection risk with the transporter before executing the rising motion at high speed. This preliminary trajectory prediction allows the system to safely increase rising speed only when the path is clear, maximizing productivity without increasing contact risk.
Solution Approach 2:
The system continuously monitors the actual trajectory during the rising operation and compares it with the predicted safe trajectory. If the actual position approaches the transporter area, the control device provides feedback signals to adjust or reduce the rising speed, preventing contact while allowing high-speed operation during safe portions of the movement.
Data Source
AI summary
Upon determining that the work apparatus will not enter a prohibited area set on the basis of output of a second position calculator of a carrier, the system computes, on the basis of the result of a prediction computation, first input of the dynamic characteristic with which a distal end of the work apparatus approaches a target position set on the basis of the output of the second position calculator. Upon determining that the work apparatus will enter the prohibited area, the system computes second input of the dynamic characteristic with which the distal end targets and approaches a position that is closer to the target position than the position of the distal end of the work apparatus at a position different from the target position outside the prohibited area, and the system computes control input for controlling the operation of the loader.