3D Grid Mapping for Cross Member Avoidance During Unloading
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Solution Overview
Problem
Existing agricultural and construction vehicles face challenges in accurately controlling the unloading process into receiving vehicles, particularly when cross members or fixtures are present, leading to material spillage and damage, due to environmental obscurants affecting image processing and vehicle positioning accuracy.
Innovation Solution
A system that generates a three-dimensional grid map during calibration to identify the location of cross members on receiving vehicles, using calibrated offset values and dynamic models to track vehicle positions without real-time image processing, ensuring accurate unloading control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If real-time image processing is used to locate cross members during unloading, then the system can adapt to different receiving vehicle configurations, but the measurement precision deteriorates due to environmental obscurants like dust
Solution Approach 1:
The system performs calibration operations before actual unloading to pre-determine the locations of cross members and other fixtures on the receiving vehicle. These calibration results are stored and reused during subsequent unloading operations, eliminating the need for real-time image processing during dusty operations while maintaining high precision.
Solution Approach 2:
The system creates a three-dimensional grid map that is a digital copy of the receiving vehicle's interior structure, including cross members and fixtures. This virtual model is used during unloading operations to guide material deposition without requiring real-time visual feedback, thus avoiding the precision problems caused by environmental obscurants.
2Device complexity
If the operator manually controls the unloading spout position to avoid cross members, then the system complexity remains low, but the productivity decreases due to the operator's divided attention
Solution Approach 1:
The system automatically controls the unloading spout position and material deposition based on the pre-stored three-dimensional grid map data. The automated control system independently manages spout positioning, elevation, and depression without requiring continuous operator intervention, allowing the operator to focus on harvesting operations and maintaining high productivity.
Solution Approach 2:
The system replaces manual mechanical control of the unloading spout with an automated control system that uses pre-calibrated spatial data. This substitution eliminates the need for continuous operator attention while maintaining simple overall system architecture, as the automation relies on pre-computed rather than real-time complex processing.
3Productivity
If the unloading spout deposits material directly without considering cross member locations, then the unloading speed is high, but harmful factors increase due to material spillage on cross members
Solution Approach 1:
The system pre-identifies the locations of cross members and other fixtures during calibration and stores this information in a three-dimensional grid map. During unloading, the control system uses this pre-acquired spatial data to proactively adjust material deposition paths, preventing material from contacting cross members before spillage can occur, thus eliminating harmful effects while maintaining high unloading speed.
Data Source
AI summary
A three dimensional grid map is generated to locate a cross member on a receiving vehicle which is coupled to a following vehicle. The location of the cross member is tracked during an unloading operation so the leading vehicle avoids the cross member when unloading material into the receiving vehicle, and so the fill level is more accurately identified.