Tool Tracking Control System for Real-Time Terrain Mapping
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Solution Overview
Problem
Existing autonomous machine control systems for excavation applications face inefficiencies due to the need for continuous terrain surveys and updates, which interrupt the excavation process and result in decreased productivity and efficiency, particularly because they handle large amounts of data that can slow down processing and require significant storage.
Innovation Solution
A control system that includes a sensor associated with a work tool to generate position signals, an onboard controller to track movement based on operator input, and an offboard controller to update a terrain map in real-time, with the ability to selectively track and process only the necessary portions of the work tool's movement to reduce data handling and resource usage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If continuous terrain surveys and updates are performed using three-dimensional implement position data, then real-time terrain knowledge is improved, but productivity and efficiency deteriorate due to interruptions in the excavation process
Solution Approach 1:
The system tracks only the portion of the work tool that is relevant to terrain mapping (e.g., the cutting edge or contact point) rather than the entire tool assembly. This partial tracking approach provides sufficient terrain information while significantly reducing data volume and processing requirements, allowing continuous operation without productivity interruptions
Solution Approach 2:
The patent extracts and separates the essential terrain mapping function from the complete work tool tracking system. By identifying and tracking only the specific portion of the work tool that interacts with the terrain, the system eliminates unnecessary data collection while maintaining accurate terrain model updates in real-time
2Measurement precision
If three-dimensional implement position data is collected continuously, then real-time terrain map accuracy is improved, but data processing speed deteriorates due to large data volumes
Solution Approach 1:
The system extracts only the essential position data from the three-dimensional implement position signals - specifically the coordinates of the work tool portion that contacts the terrain. This extraction eliminates redundant data while preserving the information needed for accurate terrain mapping, thereby maintaining processing speed
Solution Approach 2:
Rather than processing complete three-dimensional position data for the entire work tool, the system processes only the partial data set corresponding to the terrain-contacting portion of the tool. This partial processing approach maintains terrain map accuracy while significantly reducing computational load and improving processing speed
3Loss of information
If complete work tool position data is tracked, then comprehensive terrain information is improved, but storage requirements deteriorate due to large data volumes
Solution Approach 1:
The system extracts and stores only the position data of the work tool portion relevant to terrain mapping, rather than storing complete work tool position data. This extraction maintains terrain information completeness while dramatically reducing the storage volume required for the terrain model database
Data Source
AI summary
A control system is disclosed for use with a machine having a work tool and operating at a work site. The control system may have a sensor associated with the work tool and configured to generate a signal indicative of a position of the work tool, an offboard worksite controller, and an onboard controller in communication with the sensor and the offboard worksite controller. The onboard controller may be configured to receive from an operator an input indicative of a current task being performed by the machine, and track movement of a portion of the work tool corresponding with the operator input. The onboard controller may also be configured to communicate the tracked movement to the offboard worksite controller.