Work Machine Position Control During GNSS Failure
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
When excavating a target based on a construction surface, calculating the position and azimuth angle of a work machine becomes challenging due to GNSS positioning failures, which affect the machine's accuracy and ability to operate effectively.
Innovation Solution
A control system for a work machine that includes a position/azimuth calculation unit, which calculates the position and azimuth angle using images of targets installed outside the machine and the inclination angle of the turning body, allowing for alternative calculation modes when GNSS fails.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GNSS positioning is used to calculate the position and azimuth angle of the work machine, then the machine can operate with machine guidance and control technologies, but the system fails when GNSS positioning fails
Solution Approach 1:
The system changes the positioning method parameter from GNSS-based calculation to vision-based calculation using imaging devices and target markers. When GNSS positioning fails, the system switches to capturing images of target markers, detecting their positions in the image coordinates, and calculating the work machine's position and azimuth angle through coordinate transformation and geometric relationships, thereby maintaining operational reliability.
Solution Approach 2:
The system introduces target markers as intermediary objects between the imaging device and the position calculation process. These markers serve as reference points that can be reliably detected in images, enabling the calculation of the work machine's position and orientation without relying on GNSS signals. The markers act as a mediator that bridges the gap when primary positioning fails.
2Reliability
If only GNSS positioning is used for calculating position and azimuth angle, then the system structure remains simple, but the system cannot operate when GNSS positioning fails
Solution Approach 1:
The imaging device serves multiple functions: it captures images for position calculation, detects target marker positions, and provides visual information for both GNSS-based and vision-based positioning methods. This multi-functionality allows the system to maintain operation continuity by switching between positioning methods without requiring completely separate hardware systems.
3Adaptability or versatility
If vision-based positioning is implemented as backup, then the system can operate during GNSS failures, but the device complexity increases
Solution Approach 1:
The system maintains continuous position calculation capability by having the imaging device continuously capture images and the control device continuously process these images to calculate position and azimuth angle. This continuous action ensures that the vision-based positioning method is ready to take over immediately when GNSS fails, providing adaptability without requiring complex manual intervention or system reconfiguration.
Data Source
AI summary
A control system of a work machine including a traveling body and a turning body includes a position/azimuth calculation unit that calculates a position and an azimuth angle of the turning body based on an image of a plurality of targets installed on the outside of the work machine and an inclination angle of the turning body.