Combined Occupancy Grid for Accurate Machine Visible Space Mapping
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing systems inaccurately represent visible space around a machine due to sensors being mounted at varying positions, leading to inconsistencies in sensor data integration and poor visibility mapping.
Innovation Solution
A system and method using a previously determined combined occupancy grid to integrate sensor data from multiple sensors, accounting for sensor positions and movements, and dynamically updating the representation of visible space based on sensor data at different times to control machine movement accurately.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If sensor data from multiple sensors at different positions is integrated, then the representation of visible space becomes more accurate, but the complexity of data integration increases
Solution Approach 1:
The patent introduces a combined occupancy grid as an intermediary data structure that integrates sensor data from multiple sensors. The grid serves as a mediator that combines information from sensors at different positions and times, resolving the complexity of direct multi-sensor integration while maintaining accurate visible space representation.
Solution Approach 2:
The patent transforms sensor data into a two-dimensional grid representation, adding a spatial dimension to the data integration process. By mapping sensor readings onto grid cells with occupancy probabilities, the system handles multi-sensor data from different positions and times in a unified spatial framework, simplifying the integration complexity.
2Measurement precision
If sensor positions and movements are accounted for in the representation, then the accuracy of visible space mapping improves, but the computational requirements increase
Solution Approach 1:
The patent performs preliminary actions by pre-establishing the combined occupancy grid structure and pre-calculating occupancy probabilities for grid cells. By preparing the grid framework in advance and using it to organize sensor data, the system reduces computational energy requirements during runtime while maintaining accurate visible space mapping.
3Stability of the object's composition
If a previously determined combined occupancy grid is used, then the consistency of visible space representation improves, but the time delay in updating the representation increases
Solution Approach 1:
The patent maintains continuity by continuously updating the combined occupancy grid with new sensor data while preserving the existing grid structure. The system continuously refines occupancy probabilities in the grid based on incoming sensor measurements, ensuring both consistency through the persistent grid framework and timeliness through continuous updates rather than periodic reprocessing.
Data Source
AI summary
A system for creating a representation of visible space around a machine using a previously determined combined occupancy grid. The system includes a plurality of sensors and an electronic processor. The electronic processor is configured to determine a combined occupancy grid associated with a first time, wherein the combined occupancy grid is determined based on sensor data associated with the first time and received from the plurality of sensors. The electronic processor is also configured to receive, from the plurality of sensors, sensor data associated with a second time and determine a representation of visible space associated with the second time based on the combined occupancy grid associated with the first time and the sensor data associated with the second time. The electronic processor is further configured to control a movement of the machine based on the representation of visible space associated with the second time.