Pallet Drop Terrain Verification Using Multi-Sensor Ground Mapping
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Solution Overview
Problem
Existing work machines, such as compact track loaders and fork lifts, face challenges in determining whether a drop site is safe for delivering materials due to uneven terrain, which can lead to damage of the material when releasing the load onto uneven or obstructed surfaces.
Innovation Solution
A work machine equipped with a terrain verification system that combines an image sensor, range sensor, and inertial sensor to generate data for creating a ground map, detecting obstructions, and assessing the roughness of the terrain, ensuring a smooth surface for payload delivery.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If an autonomous or semi-autonomous work machine delivers material to a drop site without terrain verification, then delivery efficiency is improved, but material damage risk increases due to uneven terrain
Solution Approach 1:
The system performs preliminary terrain verification at the drop site before material delivery by using a range sensor to generate ground map data and an image sensor to capture visual information. The processor analyzes this data to determine if the terrain is suitable for delivery, preventing material damage by identifying unsuitable drop sites in advance while maintaining delivery efficiency through automated assessment
2Measurement precision
If multiple sensors are used to verify terrain conditions, then measurement accuracy is improved, but device complexity increases
Solution Approach 1:
The system merges data from multiple sensors including a range sensor for ground map generation, an image sensor for visual terrain information, and an inertial sensor for orientation data. The processor integrates these diverse data sources to comprehensively assess terrain suitability, achieving high measurement precision through multi-sensor fusion while managing complexity through unified data processing
3Measurement precision
If the work machine traverses the drop site to verify terrain, then terrain verification accuracy is improved, but delivery time increases
Solution Approach 1:
The system performs preliminary terrain verification by generating ground map data using a range sensor and capturing images with an image sensor before the work machine traverses the drop site. The processor analyzes this pre-collected data to determine terrain suitability, enabling accurate assessment without requiring physical traversal and thus maintaining quick delivery timing
Solution Approach 2:
The system replaces mechanical traversal with optical and electromagnetic sensing methods. Instead of physically moving the work machine over the terrain to assess it, the system uses range sensors to generate ground maps and image sensors to capture visual data, allowing remote terrain verification that maintains accuracy while eliminating time loss from traversal
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
The system effectively verifies the terrain, preventing material damage by ensuring the work machine delivers payloads only to suitable surfaces, enhancing safety and reliability in autonomous or semi-autonomous operations.
Implementation Method 1
a range sensor...configured to generate range data indicative of topology of the land surface at a destination of the movable work machine
Implementation Method 2
an image sensor...configured to generate image data indicative of the topology
Implementation Method 3
an inertial sensor...configured to generate orientation data for the movable work machine during traversal of the land surface
Data Source
AI summary
A work machine includes a terrain verification system for dropping a pallet on a land surface at a destination. Operating autonomously or semi-autonomously, the work machine includes a range sensor, an image sensor, and an inertial sensor to assess the slope and roughness of the land surface on approach to the destination. The terrain verification system generates a ground map of the destination from range data received by the range sensor and generates a roughness metric indicative of the surface. Image data received by the image sensor is used to verify the roughness metric and, when obstructions are found from the image data, the system moves the work machine over the land surface and evaluates pitch and roll data from the inertial sensor to determine the condition of the destination for dropping the pallet.