Shovel Obstacle Detection Control for Collision-Free Excavation
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Solution Overview
Problem
At work sites, operators of shovels must contend with obstacles like utility poles and power lines, which reduces work efficiency due to the need for constant attention and manual avoidance.
Innovation Solution
A shovel equipped with a drive control system and machine guidance device that uses sensors and cameras to detect obstacles and automatically adjust movement to prevent collisions, allowing operators to focus on excavation tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the operator manually monitors and avoids obstacles during shovel operation, then collision avoidance capability is maintained, but work efficiency deteriorates due to constant attention required
Solution Approach 1:
The shovel system performs self-monitoring for obstacles using onboard sensors (cameras, LIDAR, ultrasonic sensors) and automatically executes avoidance maneuvers without operator intervention. The drive control system independently processes sensor data to detect obstacles and control the shovel to avoid collisions, freeing the operator to focus on excavation tasks.
Solution Approach 2:
The manual mechanical monitoring and avoidance system is replaced with an automated sensor-based detection and control system. Cameras, LIDAR, and ultrasonic sensors substitute for human visual monitoring, while the drive control system with processor replaces manual decision-making and control inputs for obstacle avoidance.
2Productivity
If the operator focuses on excavation tasks without monitoring obstacles, then work efficiency improves, but collision risk increases
Solution Approach 1:
The system continuously receives feedback from multiple sensors (cameras, LIDAR, ultrasonic sensors) about the operational environment and obstacles. The processor analyzes this real-time feedback data and automatically adjusts the shovel's movement to avoid obstacles, enabling the operator to focus on excavation while maintaining collision avoidance capability.
Solution Approach 2:
The drive control system acts as an intermediary between the sensor array and the shovel's movement control. It processes sensor data about obstacles and translates this information into automated avoidance maneuvers, mediating between environmental perception and physical action without requiring operator involvement.
3Productivity
If automated obstacle detection and avoidance systems are implemented, then work efficiency improves by reducing operator workload, but device complexity increases
Solution Approach 1:
The automated obstacle detection and avoidance system is segmented into distinct functional modules: sensor array (cameras, LIDAR, ultrasonic sensors), processing unit, and drive control system. Each module performs a specific function, making the overall complex system manageable through modular architecture and independent optimization of each component.
Solution Approach 2:
The drive control system is designed with multi-functionality, serving both as the obstacle detection processor and the movement control system. This universal component handles multiple tasks (sensor data processing, obstacle identification, avoidance maneuver execution), reducing the need for separate dedicated systems and managing complexity through functional integration.
Data Source
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Figure 1C
AI summary
A shovel includes a lower traveling body, an upper turning body turnably attached to the lower traveling body, an actuator mounted on the lower traveling body or the upper turning body, and a controller configured to restrict movement of the actuator. The controller determines whether the shovel has entered a prohibited area that is set for an obstacle located in a work area, and slows or stops movement of the shovel in response to determining that the shovel enters the prohibited area.