Mobile Machine Robotic Positioning and Calibration System
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Solution Overview
Problem
Existing mobile machines require specific and expensive robotic attachments for precise worksite operations, limiting their versatility and precision, and there is a need for accurate monitoring and control of end effector positions to ensure precise task execution.
Innovation Solution
A robotic positioning and calibration system that automatically generates a control model for any mobile machine, allowing the attachment to be controlled in both feed-forward and feedback manners, enabling precise positioning and operation of the end effector regardless of the machine's make and model.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If specific robotic attachments are used for precise worksite operations, then positioning precision is improved, but device complexity and cost increase
Solution Approach 1:
The system enables a single robotic attachment to work with multiple different mobile machines (excavators, wheel loaders, articulated dump trucks) by dynamically generating machine-specific control models. This universal attachment replaces the need for multiple specialized attachments designed for specific machine types, thereby reducing device complexity while maintaining positioning precision through adaptive control mapping.
Solution Approach 2:
The system changes the control parameters dynamically by generating unique control models for each mobile machine type. The control mapping parameters are adjusted based on the specific machine's characteristics, allowing the same attachment to achieve precise positioning across different platforms without hardware modifications, thus avoiding increased device complexity.
2Measurement precision
If multiple specialized robotic attachments are manufactured for different machine types, then positioning precision is improved, but manufacturing cost and device complexity increase
Solution Approach 1:
A single universal robotic attachment design can be manufactured to work with multiple mobile machine types. The system generates different control models software-wise rather than requiring different hardware attachments, significantly reducing manufacturing costs while maintaining end effector positioning accuracy through adaptive control mapping for each machine type.
Solution Approach 2:
Instead of manufacturing multiple physical attachments for different machines, the system creates virtual copies or control models of machine-specific behaviors. The control system replicates the desired positioning performance across different machines through software-based control mapping, eliminating the need for expensive custom manufacturing while preserving positioning accuracy.
3Adaptability or versatility
If a universal robotic attachment is used across different mobile machines, then adaptability is improved, but positioning precision may deteriorate without machine-specific calibration
Solution Approach 1:
The system performs preliminary action by automatically generating machine-specific control models before actual operation begins. During an initial calibration phase, the system learns the specific characteristics of each mobile machine and creates customized control mappings, ensuring that positioning precision is maintained from the start of operations without requiring manual machine-specific calibration.
Solution Approach 2:
The system employs feedback mechanisms to continuously refine positioning accuracy across different machine types. By monitoring actual end effector positions and comparing them with desired positions, the control system adjusts the control models adaptively, maintaining high positioning precision while preserving versatility across multiple mobile machine platforms.
Data Source
AI summary
A computing system includes actuator control logic configured to generate and send control signals to an actuator of a mobile machine configured to drive direction and speed movement of a linkage on the mobile machine. The computing system also includes a control map generator system configured to receive sensor signals indicative of the direction and speed movement of the linkage on the mobile machine, and, based on the received sensor signals, generate a control mapping that maps the control signals to the direction and speed movement of the linkage of the mobile machine.