Virtual Wall Control for Swing-Body Work Machine Boundaries
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Work machines lack the necessary configuration to utilize global coordinate systems for setting virtual walls, leading to difficulties in maintaining virtual walls in a plane configuration, especially when the work machine has a swing body, as the virtual walls set in a vehicle body coordinate system follow the swing body's motion, making it challenging to define boundaries relative to structures like buildings.
Innovation Solution
A control system and method that generates a virtual wall defined by a plane on a vehicle body coordinate system with an origin at the swing body's representative point, allowing rotational conversion with the swing body's motion to prevent contact with the work machine's outer shell, without relying on global coordinate systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a virtual wall is set in a global coordinate system, then the virtual wall can maintain a fixed plane configuration relative to external structures, but the work machine requires additional configuration (GNSS) to acquire position information
Solution Approach 1:
The patent introduces a coordinate transformation mechanism as an intermediary between the global coordinate system (where the virtual wall is defined) and the vehicle body coordinate system (where the work machine operates). This mediator converts global coordinates to vehicle body coordinates, allowing the work machine to perceive the virtual wall without requiring direct GNSS integration for virtual wall operations.
2Device complexity
If a virtual wall is set in a vehicle body coordinate system, then the work machine can operate without additional GNSS configuration, but the virtual wall follows the swing body's motion and cannot maintain a fixed plane configuration
Solution Approach 1:
The patent implements a dynamic coordinate transformation system that continuously updates the virtual wall's representation in the vehicle body coordinate system based on the swing body's real-time motion state. As the swing body moves, the system dynamically recalculates and transforms the virtual wall coordinates to maintain its fixed plane configuration relative to the external structures, rather than allowing it to statically follow the swing body.
3Ease of operation
If the virtual wall follows the swing body's motion, then the work machine can operate with simplified configuration, but it becomes difficult to set a planar virtual wall along buildings or structures
Solution Approach 1:
The patent replaces the mechanical coupling between the swing body and virtual wall with a computational coordinate transformation system. Instead of the virtual wall mechanically following the swing body's motion, the system uses mathematical transformation to maintain the virtual wall's fixed plane configuration while adapting its representation to the swing body's current orientation and position, enabling both ease of operation and adaptability to various work scenarios.
Data Source
AI summary
A generation unit generates a virtual wall that is defined by a plane on a vehicle body coordinate system of which origin is a representative point of a swing body. A rotation conversion unit rotationally converts the virtual wall around the origin of the vehicle body coordinate system in association with a swing of the swing body. A position specifying unit specifies a position of an outer shell of a work machine in the vehicle body coordinate system. An intervention control unit controls the work machine such that the outer shell does not come into contact with the virtual wall.