Loading Machine 3D Target Detection for Precise Bucket Control
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Solution Overview
Problem
Current loading machines lack an effective technology to accurately measure the distance between the machine and the loading target, hindering automated loading operations.
Innovation Solution
A control device for loading machines that includes a measurement data acquisition unit, a target calculation unit, and a working equipment control unit, which acquires and processes data from a three-dimensional measurement device to calculate the height and distance to the loading target, allowing precise control of the working equipment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If a measurement device is mounted on the loading machine to obtain distance and height data, then the automation capability is improved, but the measurement precision deteriorates because the bucket obstructs the measurement device's view of the loading target
Solution Approach 1:
The patent extracts and removes the obstructing element (bucket) from the measurement path by using a point cloud extraction process that identifies and excludes points belonging to the bucket, thereby eliminating the obstruction problem while maintaining the mounted measurement device configuration
Solution Approach 2:
The patent transitions from traditional 2D camera imaging to 3D point cloud measurement, enabling the system to differentiate between the bucket and loading target in three-dimensional space and accurately extract the loading target's spatial coordinates even when the bucket is in the foreground
2Measurement precision
If the measurement device is positioned to measure the loading target, then the distance measurement is obtained, but the bucket position interferes with the measurement data
Solution Approach 1:
The patent extracts only the relevant measurement information (loading target points) from the complete point cloud data by using spatial position relationships, thereby separating the useful measurement data from the interfering bucket data
Solution Approach 2:
The patent creates a virtual model of the bucket's spatial position based on the working equipment's operational data, and uses this virtual model to filter and extract the loading target points from the actual measurement point cloud
Data Source
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Figure 3(A)~3(C)
AI summary
A control device for a loading machine includes a measurement data acquisition unit that acquires measurement data of a measurement device mounted on the loading machine that includes working equipment, a target calculation unit that extracts, from the measurement data, loading target data being measurement data on a loading target on which excavated material excavated by the working equipment is loaded and calculates, based on the loading target data, height data indicating a height of an upper end portion of the loading target and distance data indicating a distance from the loading machine to the loading target, and a working equipment control unit that controls the working equipment based on the height data and the distance data.