Solid-State Range Finder on Movable Earth Moving Machine Element
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Solution Overview
Problem
Current earth moving machines lack an efficient and cost-effective method for 3D scanning and position determination, particularly in providing an expanded angle of view and accurate 3D positioning of range finder devices for enhanced scanning capabilities.
Innovation Solution
A durable and inexpensive range finder device integrated with a movable machine element, utilizing a control unit to determine 3D position and orientation, combined with a LiDAR or radar instrument for time-of-flight measurements, and an array of single photon detectors for wide-angle scanning, along with a kinematic model and satellite-based or SLAM positioning systems for precise data collection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the range finder device is mounted on a fixed location, then the device structure is simple, but the angle of view is limited and scanning capability is reduced
Solution Approach 1:
The patent applies the dynamics principle by mounting the range finder device on a movable machine element (such as a boom or blade) instead of a fixed location. This allows the device to move dynamically with the machine element, thereby enlarging the degree of freedom and expanding the angle of view without requiring complex additional mounting structures.
Solution Approach 2:
The movable machine element serves multiple functions: it is both a working component of the earth moving machine and a mounting platform for the range finder device. This multi-functionality allows the range finder to achieve expanded scanning capability while avoiding additional structural complexity.
2Measurement precision
If conventional positioning methods are used, then the system is simple, but accurate 3D positioning and orientation determination is difficult
Solution Approach 1:
The patent introduces a control unit as an intermediary that receives data from multiple sensing devices (GPS, IMU, encoders) and processes this information to calculate the 3D position and orientation of the range finder device. This intermediary processing approach enables accurate positioning without requiring each individual sensor to be overly complex.
Solution Approach 2:
The positioning system merges multiple sensing devices (GPS receiver, IMU, encoder sensors) into an integrated positioning solution. By combining data from these different sensors through the control unit, the system achieves accurate 3D positioning and orientation determination while keeping individual components relatively simple.
3Area of stationary object
If a single detector element is used, then the device is inexpensive, but the scanning coverage is limited
Solution Approach 1:
The patent applies dynamics by moving the range finder device itself (which may use a single or few detector elements) through various positions and orientations as it moves with the movable machine element. This dynamic movement compensates for having fewer detector elements by physically sweeping the scanning beam across a wider area, thereby achieving extensive scanning coverage without requiring a large array of detectors.
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
Enables expanded scanning angles, accurate 3D point cloud generation, and real-time monitoring of terrain changes, allowing for efficient volume calculations, obstacle detection, and condition monitoring of machine components, enhancing operational efficiency and safety.
Implementation Method 1
The transmitting unit (11) transmits time-of-flight signals and the receiving unit (12) receives reflecting signals
Implementation Method 2
The laser range finder comprises at least one laser light sources for producing a laser beam
Implementation Method 3
The receiving unit of the range finder device comprises at least one single photon detector for receiving the reflecting signals
Data Source
Figure 1
Figure 2
AI summary
The invention relates to a mobile earth moving machine comprising a carrier, at least one machine element movable relative to the carrier, a positioning system for determining 3D position and orientation data of the earth moving machine, at least one sensing device for determining position and orientation data of the movable machine element, at least one range finder device for detecting at least one object in a field of the range finder device and providing point cloud output of the object, and at least one control unit configured to receive and process the produced data. The range finder device is a solid-state device without internal movable mechanical elements, whereby the device is without internal scanning equipment. The range finder device is arranged on the movable machine element and is configured to be moved together with the movable machine element.