Excavator Motion Sensing Using Visual Odometry and IMU
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Hydraulic excavators face challenges in precise operation and safety due to limitations in motion sensing, particularly during slow or low-acceleration movements, where inertial measurement unit signals become less reliable, and existing systems lack the precision needed for efficient and safe operation without significant cost additions.
Innovation Solution
Integration of a backup camera with machine vision or computer vision algorithms to provide supplemental movement information, combining signals with inertial measurement unit data using visual odometry, allowing for enhanced positional accuracy and automatic updating of electronic fences.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If inertial measurement unit (IMU) is used for motion sensing, then the excavator can provide basic motion detection capability, but the measurement precision deteriorates during slow or low-acceleration movements
Solution Approach 1:
The patent combines IMU data with backup camera video signals to create a hybrid sensing system. The controller processes both IMU signals and visual odometry data together, merging the reliable acceleration detection of IMU with the precise positional tracking of visual odometry, especially effective during slow movements where IMU alone fails
Solution Approach 2:
The backup camera acts as an intermediary sensing mechanism that provides visual odometry data to supplement IMU measurements. The camera captures video signals that are processed to extract positional information, serving as a mediator that bridges the gap in precision during low-acceleration phases
2Measurement precision
If visual odometry is added to improve measurement precision, then positional accuracy improves during slow movements, but device complexity increases
Solution Approach 1:
The backup camera, originally designed for a single function of providing rear-view visibility, is repurposed to perform dual functions: operator assistance and motion sensing. By extracting visual odometry data from the existing camera system, the patent avoids adding dedicated sensing hardware, thereby improving precision without proportionally increasing complexity
Solution Approach 2:
The existing backup camera system serves itself by providing both its primary function of rear-view monitoring and the additional function of visual odometry for motion sensing. The same hardware infrastructure supports multiple purposes, eliminating the need for separate dedicated sensing equipment
3Ease of operation
If manual resetting of electronic fences is required after movement, then operational simplicity is maintained, but productivity decreases due to time loss
Solution Approach 1:
The system implements automatic feedback by continuously monitoring excavator position through the combined IMU and visual odometry system. When the excavator moves, the controller automatically detects the position change and updates the electronic fence coordinates accordingly, eliminating the need for manual resetting and maintaining continuous operational efficiency
Solution Approach 2:
The system performs preliminary action by proactively updating electronic fence positions based on detected excavator movement. Rather than waiting for manual intervention, the controller anticipates the need for fence adjustment and automatically recalculates and applies new fence coordinates in advance, ensuring continuous operational readiness
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 precision of excavator motion sensing and control, ensuring safe operation by providing accurate positional information even during slow movements and reducing the need for manual resetting of electronic fences, thus improving operational efficiency and safety without significant additional cost.
Implementation Method 1
An inertial measurement unit (IMU) is operably coupled to the excavator and is configured to provide at least one IMU signal indicative of rotation of the house
Implementation Method 2
A backup camera is disposed to provide a video signal relative to an area behind the excavator
Data Source
AI summary
An excavator includes a rotatable house and a bucket operably coupled to the house. An inertial measurement unit (IMU) is operably coupled to the excavator and is configured to provide at least one IMU signal indicative of rotation of the house. A backup camera is disposed to provide a video signal relative to an area behind the excavator. A controller is coupled to the IMU and operably coupled to the backup camera. The controller is configured to receive the at least one IMU signal from the IMU and to generate a position output based on the at least one IMU signal and the video signal from the backup camera.