Dynamic LIDAR Scan Control Around Obstructing Implements
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Solution Overview
Problem
LIDAR sensors on machines like wheel loaders face reduced accuracy due to obstructions and positioning issues, particularly when the implement blocks the field of view, leading to incomplete data capture and reduced detection capabilities.
Innovation Solution
A LIDAR controller determines the position of the implement relative to the sensor's field of view and adjusts the scan area to increase point density, masking the implement and redistributing LIDAR points to focus on areas of interest, thereby improving data accuracy and processing efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the LIDAR sensor uses a fixed field of view, then the device complexity is reduced, but the measurement precision deteriorates when the implement blocks the field of view
Solution Approach 1:
The patent applies the dynamics principle by making the LIDAR scan area adjustable and reconfigurable based on implement position. Instead of a fixed field of view, the system dynamically modifies the scan area to exclude regions blocked by the implement, allowing the detection accuracy to adapt to changing operational conditions while keeping the physical sensor mounting simple
2Area of stationary object
If the LIDAR sensor scans the entire field of view, then the coverage area is maximized, but the point density in critical areas decreases
Solution Approach 1:
The patent applies local quality by implementing variable point density across different regions of the scan area. Critical areas that are not blocked by the implement receive higher point density for improved detection accuracy, while areas blocked by the implement are excluded from scanning. This creates a non-uniform point distribution optimized for the actual detection needs
3Loss of information
If the LIDAR sensor captures data from the entire field of view, then the data completeness is improved, but the processing time increases
Solution Approach 1:
The patent applies the extraction principle by removing blocked regions from the scan area based on implement position data. By excluding areas that are blocked by the implement from the LIDAR scanning process, the system reduces the total data volume that needs to be processed while maintaining completeness of useful information in unblocked areas, thereby reducing processing time without sacrificing detection accuracy
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 detecting objects and environments by increasing point density in critical areas, conserving resources, and improving collision avoidance and autonomous control capabilities.
Implementation Method 1
The LIDAR sensor provides LIDAR data that is based on differences in pulse transmission and return times (e.g., time of flight) and/or differences in pulse wavelengths associated with the points of the target
Implementation Method 2
a LIDAR sensor, mounted in a fixed or variable positions, can detect, analyze, and/or measure a distance to a target by illuminating the target with pulsed laser light and analyzing reflected pulses
Data Source
AI summary
A light detection and ranging (LIDAR) controller is disclosed. The LIDAR controller may determine, based on a position of an implement, a scan area of the LIDAR sensor, wherein the scan area has an increased point density relative to another area of a field of view, of the LIDAR sensor, that includes the implement. The LIDAR controller may cause the LIDAR sensor to capture, with the increased point density, LIDAR data associated with the scan area. The LIDAR controller may process the LIDAR data to determine whether an object of interest is in an environment of the machine that is associated with the scan area. The LIDAR controller may perform an action based on the environment of the machine.