Work Machine Automatic Braking for Collision Avoidance and Rollover Control
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Solution Overview
Problem
Work machines, such as wheel loaders, often operate in unstable conditions and can become even more unstable with sudden braking, increasing the risk of collisions.
Innovation Solution
A work machine equipped with an object detecting section, state detecting section, and control section that sets deceleration using automatic braking based on the relationship between a stable range in the lateral direction and the center of gravity position, considering vehicle body inclination, articulation, and work implement state.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sudden braking is performed to stop the work machine quickly, then collision with obstacles can be prevented, but the work machine becomes more unstable and may enter a rollover state
Solution Approach 1:
The braking force is dynamically adjusted based on real-time detection of vehicle body inclination, articulation angle, and work implement position. The control section modifies the deceleration magnitude according to the detected stable range, enabling the braking force to adapt to changing stability conditions rather than applying fixed sudden braking
Solution Approach 2:
The system changes the braking parameter (deceleration magnitude) based on detected vehicle state parameters. When the vehicle body inclination or articulation angle indicates reduced stability, the control section reduces the braking force magnitude to maintain stability while still achieving collision avoidance
2Loss of time
If automatic braking is applied without considering vehicle stability, then stopping distance is reduced, but the risk of rollover increases
Solution Approach 1:
The state detecting section performs preliminary detection of vehicle body inclination, articulation angle, and work implement position before automatic braking is applied. This preliminary assessment of the stable range allows the control section to pre-calculate appropriate deceleration values that will achieve stopping without causing rollover
Solution Approach 2:
The system continuously monitors vehicle state parameters during braking and uses this feedback to adjust the deceleration magnitude. The control section receives real-time data on vehicle body inclination and articulation, and modifies the braking force accordingly to maintain stability throughout the stopping process
Data Source
AI summary
A work machine includes a vehicle body, an object detecting section, a state detecting section, and a control section. The vehicle body includes a traveling unit and a work implement disposed on the traveling unit. The object detecting section detects an object in a periphery of the vehicle body. The state detecting section detects at least one state of an inclination of the vehicle body, an articulation of the vehicle body and the work implement. The control section sets a deceleration using automatic braking when the object is detected, based on a relationship, with which the vehicle body is stoppable, between a stable range in a lateral direction and a center of gravity position. The relationship is obtained from detection information of the state detecting section.