Autonomous Worksite Machine Control With Dynamic Sensor-Based Path Updates
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Solution Overview
Problem
Current methods for controlling the working scheme of autonomous working machines at construction sites are inefficient in adapting to changing site conditions and complex environments, such as moving obstacles and varying topography, which can lead to suboptimal path planning and increased energy consumption.
Innovation Solution
A method that uses position sensors distributed across the site to determine the absolute positions of locations of interest, allowing for the generation and execution of a dynamic working scheme by the autonomous machine, which can be updated in response to changes in site conditions and processes, incorporating path adjustments and auxiliary actions based on real-time data from sensors like GPS, LIDAR, and interference sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a fixed working scheme is used for autonomous working machines, then the control system is simple and easy to implement, but the system cannot adapt to changing site conditions and complex environments
Solution Approach 1:
The working scheme transitions from a fixed static plan to a dynamic adaptive system that continuously adjusts based on real-time sensor data. The control system dynamically modifies path planning, working parameters, and operational sequences in response to changing site conditions, obstacles, and environmental factors detected by position sensors, cameras, and other detection devices.
Solution Approach 2:
The system implements continuous feedback loops where sensor data from the worksite environment is fed back to the control system, which then adjusts the working scheme accordingly. Position sensors, cameras, and other detection devices provide real-time information about site conditions, and the control system uses this feedback to optimize path planning, avoid obstacles, and adapt to changing terrain and operational requirements.
2Measurement precision
If manual positioning of landmarks is used, then the system can achieve accurate position determination, but the time and labor required for setup increases
Solution Approach 1:
The system automatically determines positions of landmarks and working machine using sensor data and computational algorithms without requiring manual measurement or positioning. The autonomous working machine uses its own sensors, cameras, and onboard computers to self-determine positions, paths, and working parameters, eliminating the need for manual surveying and setup by operators.
Solution Approach 2:
Manual mechanical positioning methods are replaced with electronic and optical sensing systems. Instead of physically measuring and marking positions, the system uses cameras, LIDAR, GPS, and other electronic sensors to automatically detect and determine positions of landmarks and the working machine, significantly reducing setup time while maintaining or improving accuracy.
3Productivity
If the working scheme is updated frequently to adapt to changing conditions, then the system remains efficient and safe, but the computational load and processing time increase
Solution Approach 1:
The control system updates only the necessary portions of the working scheme rather than completely reprocessing all parameters. When site conditions change, the system selectively adjusts path segments, working parameters, or operational sequences that are affected by the changes, leaving unchanged portions intact. This partial updating approach reduces computational load and energy consumption while maintaining productivity and safety.
Data Source
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AI summary
The invention relates to a method of controlling the working scheme (30, 32) of an autonomous working machine (100) at a work site (1). The method comprises the steps of: determining (S10) the absolute position of a plurality of locations (10) of interest at the work site based on position data from a plurality of position sensors (19) distributed at the work site; generating (S20), by means of a computer, a set working scheme (30) based on the position data; and executing (S30) the set working scheme by the working machine.