Work Machine Path Generation with Minimum Clearance for Excavation Loading

Resolve Bottlenecks,
Find Innovative SolutionsGenerate Solutions

Solution Overview

Problem

Conventional wheel loaders require improved automation in setting paths for excavation and loading work to enhance efficiency and precision.

Innovation Solution

A system comprising a work machine, a controller, and a path generation method that utilizes sensors to recognize excavation and loading targets, calculate optimal travel paths, and control the work machine's movements to separate excavation and loading positions by a minimum distance.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the work machine performs excavation and loading work in close proximity to maximize productivity, then the productivity is improved, but the work machine may collide with the loading target or fail to complete the work properly

Engineering Contradiction:

Improveexcavation and loading work efficiencyVSAvoidwork completion reliability

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The controller calculates the minimum distance between the excavation position and loading position in advance, before the work machine executes the work cycle. This preliminary calculation ensures that the work machine maintains a safe separation distance, preventing collisions while maintaining efficient productivity.

Inventive Principle:

Principle #10Preliminary action

2Productivity

If the work machine operates automatically without human intervention to improve productivity, then the productivity is improved, but the path setting accuracy may be insufficient without precise distance calculations

Engineering Contradiction:

Improveautomatic work execution efficiencyVSAvoidpath setting accuracy

Core Design Contradiction:

ProductivityVSManufacturing precision

Solution Approach 1:

The patent replaces manual path setting with an automated controller that uses sensor detection results to calculate the minimum distance between excavation and loading positions. This substitution of mechanical/manual operations with automated computational methods ensures both high productivity and precise path setting accuracy.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Productivity

If the work machine travels a shorter distance between excavation and loading positions to reduce cycle time, then the productivity is improved, but the risk of collision with the loading target increases

Engineering Contradiction:

Improvework cycle speedVSAvoidcollision risk with loading target

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The controller performs preliminary calculation of the minimum distance required to prevent collision between the work machine and loading target. By establishing this safety constraint before the work cycle begins, the system can optimize travel paths to minimize cycle time while guaranteeing collision-free operation.

Inventive Principle:

Principle #9Preliminary anti-action

Data Source

PatentEP4644621A1Work machine-including system, work machine controller, and work machine path generation method

Publication Date: 2025.11.05 KOMATSU LTD

Figure 1
Figure 2
Figure 3(A)~3(F)

AI summary

A path of traveling in a case where excavation and loading work is automatically controlled is appropriately set. An object around the work machine main body includes an excavation target (200) that is a heap of material excavated by a work implement and a loading target (300) onto which the material is loaded. A controller that generates a travel path of a travel body recognizes the loading target (300) on the basis of a detection result of a sensor, recognizes a loading position (A1) in a case where the material is loaded on the loading target (300), and calculates a minimum distance (x1) by which an excavation position (B 1) at which a work machine excavates the excavation target (200) is to be separated from the loading position (A1) by a dimension of the work machine.