Autonomous Machine Tracking Problem Detection via Frequency Analysis
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Solution Overview
Problem
Machines used for tasks at a worksite often deviate from their defined travel routes, leading to inefficiencies, increased downtime, and maintenance issues due to undetected tracking problems such as swerving, which existing autonomous ground vehicle control systems fail to address.
Innovation Solution
A tracking problem detection system that includes a tracking diagnostic module with processors to receive location and path signals, determine tracking differences, and detect issues based on frequency analysis of signals associated with the machine's yaw rate and maneuvering, enabling the identification of tracking problems like swerving and constant bias.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If frequency analysis is applied to tracking difference and yaw rate signals to detect tracking problems, then tracking problem detection capability is improved, but system complexity increases
Solution Approach 1:
The patent replaces complex mechanical diagnostic systems with signal processing-based detection. By analyzing frequency components of tracking difference and yaw rate signals through spectral analysis, the system detects tracking problems (swerving, constant bias) without requiring additional mechanical sensors or complex hardware modifications, thus improving reliability while controlling complexity.
Solution Approach 2:
The patent transforms the tracking problem detection task from spatial domain analysis to frequency domain analysis. By applying frequency analysis to the tracking difference and yaw rate signals, the system changes the parameter domain from position/time to frequency, enabling more effective detection of periodic tracking deviations and instability patterns that are difficult to identify in the time domain.
2Productivity
If tracking problem detection system is implemented, then operational efficiency is improved, but device complexity increases
Solution Approach 1:
The patent makes the existing control system multi-functional by enabling it to perform both control functions and diagnostic functions using the same hardware components. The tracking difference and yaw rate signals, already generated for control purposes, are reused for diagnostic analysis, eliminating the need for separate dedicated diagnostic hardware and reducing overall device complexity while improving operational efficiency.
Solution Approach 2:
The system performs self-diagnosis by analyzing its own operational signals (tracking difference and yaw rate) to detect its own tracking problems. This self-service capability allows the system to monitor its own performance and identify issues without requiring external diagnostic equipment, thereby improving productivity while minimizing additional device complexity.
Data Source
AI summary
A tracking problem detection system for a machine may include tracking diagnostic circuitry including one or more tracking diagnostic processors configured to receive a location signal indicative of a location of a machine and a path signal indicative of a path location associated with at least a portion of a path for the machine to follow while maneuvering. The tracking diagnostic processors may also be configured to determine a tracking difference between the path location and the location of the machine, and determine a frequency of a signal associated with the tracking difference and/or a frequency of a signal associated with a yaw rate associated with the maneuvering. The tracking diagnostic processors may also be configured to detect, based at least in part on the frequencies of the signals associated with the tracking difference and/or the yaw rate, a tracking problem associated with maneuvering the machine.