Terrain Mapping Sensor Data Filtering
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Solution Overview
Problem
Accurate mapping of work sites is challenging due to issues where machine components fall within the field of view of sensors, leading to inaccurate data reflection of the work surface rather than the actual terrain, especially when using onboard sensors.
Innovation Solution
A system comprising a pose sensor and a mapping sensor on a machine generates pose and raw data points, with a controller filtering out machine points to produce filtered data points that accurately define the work surface, updating a database to create a precise terrain map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If sensors are positioned on the machine for mapping, then the mapping system can operate autonomously with the machine, but portions of the machine fall within the sensor field of view causing inaccurate data
Solution Approach 1:
The sensor data is segmented into two categories: machine portion data and work surface data. The system divides the field of view into regions, identifying which portions correspond to the machine and which correspond to the work surface, allowing selective processing of only the relevant work surface data points.
Solution Approach 2:
The system extracts and removes data points corresponding to machine portions from the sensor data stream. By identifying and taking out the harmful machine-related data points, the system preserves only the clean work surface data needed for accurate mapping.
2Measurement precision
If sensors are positioned offboard the machines, then machine components do not block the field of view, but the system complexity and setup requirements increase
Solution Approach 1:
The mapping system uses the machine's own onboard sensors and processing capabilities to eliminate the problem of machine blockage. Rather than requiring external sensor positioning infrastructure, the machine serves itself by autonomously identifying and filtering its own portions from the sensor data.
3Ease of operation
If the sensor field of view includes machine portions, then the system can maintain a fixed sensor position on the machine, but the mapped data includes false terrain information
Solution Approach 1:
The system uses feedback from the sensor data itself to identify and distinguish machine portions from work surface portions. By continuously analyzing the returned data points and comparing them against expected machine geometry, the system automatically adjusts which data points to accept or reject, maintaining accuracy without requiring complex sensor positioning.
Data Source
AI summary
A mapping system includes a pose sensor, a mapping sensor, a database defining a work surface, and a controller. The controller is configured to receive pose signals and determine the position and the orientation of the machine and receive mapping signals and determine a plurality of raw data points. The controller further determines a plurality of machine points defining a position of a portion of the machine and filters the plurality of raw data points based upon the plurality of machine points to define a plurality of filtered data points. The database may be updated with the plurality of filtered data points.