Work Machine Path Generation for Sensor-Guided Excavation and Loading
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Solution Overview
Problem
Conventional wheel loaders require improved automation for setting appropriate paths during 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 targets, select optimal positions, and calculate minimum distances for loading, enabling automated path planning and execution.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If automated control is implemented for excavation and loading work, then operational efficiency and precision are improved, but the complexity of path planning and control systems increases
Solution Approach 1:
The travel path is segmented into distinct operational segments: excavation position, loading position, and transfer position. Each segment is independently planned and executed, allowing the system to manage complexity through modular path planning while achieving automated operational efficiency
Solution Approach 2:
The work machine autonomously determines its own path by automatically recognizing the excavation target, selecting optimal positions, and calculating minimum distances without external intervention. This self-service capability enables automated control while the machine manages its own operational complexity
2Productivity
If the loading position is placed close to the excavation position to reduce travel distance, then productivity increases, but the risk of collision with the excavation target increases
Solution Approach 1:
The system preliminarily calculates the minimum safe distance between the loading position and excavation target based on the work machine's dimensions before path generation. This advance safety assessment allows the loading position to be optimally positioned close to the excavation area while preventing collision risks
Solution Approach 2:
The controller continuously monitors the work machine's position, the excavation target location, and the calculated minimum distance during operation. This feedback mechanism ensures the machine maintains safe clearance while operating efficiently, dynamically adjusting the path if conditions change
Data Source
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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. A controller that generates a travel path of a travel body recognizes the excavation target (200) on the basis of a detection result of a sensor, selects an excavation position (B2) at which a work machine excavates the excavation target (200), and calculates a minimum distance (x2) by which the loading position (A2) in a case where the material loaded on the work implement is loaded onto a loading target (300) onto which the material is loaded is to be separated from the excavation position (B2) by a dimension of the work machine.