Construction Machine LiDAR Scanning for Real-Time 3D Obstacle Detection
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Solution Overview
Problem
Existing construction machine measuring systems face challenges with slow and inaccurate environmental detection, which compromises construction site safety and autonomous operation capabilities.
Innovation Solution
A construction machine equipped with a measuring system that includes a LiDAR scanner capable of rotating at high speeds around multiple axes, combined with cameras, to generate detailed 3D models and detect obstacles or personnel, with a computer system for real-time control and data processing, including angle correction and integration with GNSS, IMU, and wireless communication for enhanced accuracy and safety.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional camera system or single-axis LiDAR scanner is used, then the device complexity is lower, but the detection speed and accuracy are insufficient for high safety demands
Solution Approach 1:
The patent combines multiple measurement technologies (LiDAR scanning, camera imaging, GNSS positioning, IMU inertial measurement) into an integrated measuring system. The LiDAR scanner and camera are co-located and synchronized, with their data fused in real-time to create comprehensive environmental models that simultaneously improve detection reliability while managing system complexity through unified processing architecture
Solution Approach 2:
The system employs dynamic multi-axis rotation of the LiDAR scanner to actively adapt the detection range and focus areas in real-time based on operational requirements. The scanner can dynamically adjust its rotation speed and angular positions, allowing the system to prioritize detection in critical zones while maintaining overall situational awareness, thus improving safety without requiring static omnidirectional coverage
2Productivity
If the LiDAR scanner rotates faster to improve detection speed, then the detection accuracy may be compromised due to motion blur or insufficient sampling
Solution Approach 1:
The system maintains continuous rotation of the LiDAR scanner without interruption, ensuring that environmental detection is an ongoing process rather than periodic snapshots. This continuous scanning, combined with synchronized camera operation and real-time data fusion, allows the system to process information continuously at high speed while maintaining accuracy through constant updates and redundancy in the measurement stream
Solution Approach 2:
The system incorporates feedback mechanisms where detected features and environmental models are continuously refined based on incoming measurement data. The IMU provides feedback on scanner orientation and motion, allowing real-time correction of measurement coordinates. This feedback loop ensures that even at high rotation speeds, the system can compensate for motion effects and maintain measurement precision through dynamic calibration and correction
3Measurement precision
If multiple measuring units are integrated to improve detection coverage and accuracy, then the data processing complexity and system coordination become more difficult
Solution Approach 1:
The system employs a universal coordinate reference framework that all measuring units (LiDAR, camera, GNSS, IMU) share and reference to the same spatial coordinate system. This universal reference system allows different sensor types with different measurement modalities to be integrated and processed together, managing the complexity of multi-unit coordination through a common mathematical and computational framework that handles transformations and fusions automatically
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
The solution enables faster and more accurate detection of the construction machine's surroundings, improving safety and autonomous operation by generating precise 3D models and enabling real-time control of the machine's movements, thus enhancing operational efficiency and safety.
Implementation Method 1
a first LiDAR scanner, the first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis
Implementation Method 2
a deflector for deflecting the first measuring beam and returning parts of the measurement beam, the deflector being mounted on the support and being rotatable relative to the support
Data Source
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Figure 5~6
AI summary
The invention relates to a construction machine, in particular a grader, a dozer, or an excavator, the construction machine comprising a chassis, a steering, and a powertrain for driving the construction machine by the chassis, an earth-moving tool for working a terrain, and a measuring system having a first measuring unit that is configured for generating first measuring data in a first detection range and comprising at least a first camera and a first LiDAR scanner, the first LiDAR scanner configured for rotating a first measuring beam around a first axis and around a second axis non-parallel to the first axis with a rotating speed of at least 0.5 Hz with respect to each axis, an interface connecting the first measuring unit to a computer, wherein the computer is configured for, based on the first measuring data, at least one of generating a three-dimensional model of the terrain within the first detection range, identifying an obstacle or a person within the first detection range, and controlling at least one of the steering, the powertrain, and the earth-moving tool. The invention also relates to a construction site measuring system.