Autonomous Excavation Control with 2.5D Terrain Mapping
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Solution Overview
Problem
Unmanned ground vehicles (UGVs) face inaccuracies in GPS tracking, particularly in vertical positioning, leading to potential collisions with obstacles or entering non-traversable areas during excavation tasks, as existing navigation systems are insufficient for precise obstacle avoidance and terrain mapping.
Innovation Solution
The implementation of a combination of inertial navigation systems with real-time scanning using devices like LIDAR or cameras to generate 2.5-dimensional maps, allowing UGVs to create and update topographical information, enabling precise obstacle detection and path planning for safe excavation operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS tracking is used for UGV navigation, then the system is simple and low-cost, but the positioning accuracy is insufficient leading to collisions and inability to perform precise excavation
Solution Approach 1:
The patent combines multiple navigation systems (GPS, INS, LIDAR, cameras) into an integrated navigation system. The GPS provides coarse positioning, while INS provides continuous attitude and position data, and LIDAR/cameras provide real-time environmental mapping. This fusion of multiple systems achieves high positioning accuracy without relying on a single complex system.
Solution Approach 2:
The patent introduces an intermediary processing system that fuses data from multiple sensors (GPS, INS, LIDAR, cameras) to generate accurate position and terrain information. This intermediary layer processes and integrates data from simpler individual components to achieve the accuracy of a complex system while maintaining modularity.
2Measurement precision
If GPS tracking is used, then the system is simple, but vertical positioning accuracy is insufficient preventing safe obstacle avoidance
Solution Approach 1:
The patent merges INS (which provides accurate vertical positioning through accelerometer and gyroscope data) with LIDAR (which provides precise vertical distance measurements to obstacles). This combination achieves high vertical positioning accuracy by combining inertial measurement with active scanning, resolving the contradiction between simplicity and precision.
Solution Approach 2:
The patent transitions from 2D GPS horizontal positioning to 3D spatial awareness by incorporating LIDAR and camera scanning that provides vertical dimension data. This enables the UGV to perceive height, depth, and vertical obstacle positions, achieving accurate vertical positioning through multi-dimensional sensing.
3Measurement precision
If real-time scanning with LIDAR or cameras is implemented, then 2.5-dimensional mapping accuracy is improved, but the device complexity and computational requirements increase
Solution Approach 1:
The patent makes the scanning system multi-functional: LIDAR and cameras serve both for obstacle detection (safety function) and terrain mapping (excavation function). This universal use of scanning devices reduces overall system complexity by eliminating dedicated separate systems for different functions.
Solution Approach 2:
The patent performs preliminary terrain mapping and obstacle detection before excavation operations begin. By pre-scanning and creating 2.5D maps, the system reduces real-time computational requirements during excavation, as the heavy mapping work is done in advance while maintaining updated models during operation.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enhances the accuracy of UGV navigation and excavation by providing real-time, 2.5-dimensional mapping, allowing for safe obstacle avoidance and efficient excavation operations, reducing the risk of collisions and improving the overall precision of terrain manipulation.
Implementation Method 1
real-time scanning - as disclosed in 'METHOD OF NAVIGATING AN UNMANNED VEHICLE AND SYSTEM THEREOF' (Israeli patent application 250762, filed 29/06/2017)
Implementation Method 2
use of an Inertial Navigation System (INS) which calculates the position of the UGV upon readings received from an Inertial Measurement Unit (IMU)
Data Source
Figure 1a~1b
Figure 2a~2b
Figure 3a~3c
AI summary
A computer-implemented method for controlling an excavation task by an autonomous excavation vehicle comprising a scanning device, the excavation task being described by a target map, the method comprising using an excavation vehicle control system for: a) according to data from the scanning device, maintaining a map representing current terrain; b) moving a sensor-equipped digging implement for executing an excavation operation; c) receiving data indicative of current terrain topography from the sensor; d) updating the maintained map according to the data indicative of current terrain topography; and e) calculating an excavation operation according to the difference between the maintained map and the target map.