Implement Positioning via 3D Camera Vision and IMU
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Solution Overview
Problem
Existing control systems for work machines, such as bulldozers and motor graders, face challenges in precision and reliability due to the need for mounting sensors and components on the implement, which are affected by shock and vibration, leading to degradation in quality and equipment failure.
Innovation Solution
A non-contact system using a 3D camera, global positioning system, and inertial measurement unit to determine the position and orientation of the implement, integrated with a computing system for precise calculations without requiring significant changes to the work machine's configuration or complex integration with existing control systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensors and measurement devices are mounted on the implement body, then position and orientation can be determined, but the shock and vibration cause sensor degradation and equipment failure
Solution Approach 1:
The patent introduces markers as intermediary objects attached to the implement. Instead of mounting sensitive sensors directly on the implement, the system uses these visual markers as mediators that can be observed by the 3D camera mounted on the vehicle body. The markers transmit position information without being subjected to the same shock and vibration issues as electronic sensors would be.
Solution Approach 2:
The patent replaces mechanical/electronic sensing systems with an optical vision-based system. Instead of using physical sensors that are vulnerable to shock and vibration, the system uses a 3D camera to capture images of markers and compute position and orientation through image processing and coordinate transformation algorithms.
2Measurement precision
If multiple sensors are installed on the blade, then position and orientation data can be obtained, but the system becomes complex and difficult to integrate
Solution Approach 1:
The patent merges multiple measurement functions into a single integrated system. Instead of using separate sensors for position and orientation, the system uses a single 3D camera to capture all necessary visual information, and a single computing system to perform all calculations for both position and orientation determination.
Solution Approach 2:
The 3D camera serves multiple functions: it captures images for position determination, orientation calculation, and can potentially track multiple markers simultaneously. The computing system performs multiple tasks including coordinate transformation, position calculation, and orientation determination, replacing what would otherwise require multiple specialized devices.
3Productivity
If sensors are mounted on the implement, then real-time control is possible, but the shock and vibration lead to equipment failure and reduced quality
Solution Approach 1:
The markers serve as intermediaries that enable real-time control without requiring sensitive electronic sensors on the implement. The 3D camera captures marker positions in real-time, and the computing system processes this data to provide real-time position and orientation information for control applications, all while keeping electronic components on the more stable vehicle body.
Solution Approach 2:
The patent replaces the mechanical sensor mounting approach with an optical measurement approach. By using vision-based measurement instead of physical sensors, the system achieves real-time control capability while eliminating the reliability issues associated with mounting electronic sensors on vibrating implements.
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 enables precise control of the implement with improved reliability and reduced equipment failure, allowing for more accurate and efficient operation by using machine vision to calculate the position and orientation of the implement in real-time, even in challenging environments.
Implementation Method 1
determines a local three-dimensional position in a local coordinate system of each of the plurality of components (features)
Implementation Method 2
The global positioning system and IMU, which are also mounted to the same structure as the 3D camera, are configured to determine a global three-dimensional position and orientation of the 3D camera in the global coordinate system
Implementation Method 3
The global positioning system and IMU, which are also mounted to the same structure as the 3D camera, are configured to determine a global three-dimensional position and orientation of the 3D camera
Data Source
AI summary
A system and method are provided for determining the position and orientation of an implement on a work machine in a non-contact manner using machine vision. A 3D camera, which is mounted on the vehicle with a field of view that includes components on the implement (e.g., markers in some examples), determines a three-dimensional position in a local coordinate system of each of the components. A global positioning system in cooperation with an inertial measurement unit determines a three-dimensional position and orientation of the 3D camera in a global coordinate system. A computing system calculates a three-dimensional position in the global coordinate system for the components using the local three-dimensional positions of the components and the global three-dimensional position and orientation of the 3D camera. The position and orientation of the implement can then be calculated based on the calculated global three-dimensional positions of the components.