Work Machine Landmark Sensing for GNSS-Independent Travel Control
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Solution Overview
Problem
Individual differences in detection error of non-contact sensors in work machines lead to decreased productivity at work sites, particularly when the accuracy of global navigation satellite systems deteriorates.
Innovation Solution
A work machine control system that includes a non-contact sensor to detect landmarks, a unit to acquire and store landmark positions, and a system to calculate and apply correction values for relative distances, allowing for accurate position correction and maintaining productivity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If non-contact sensor detection is used to calculate position when GNSS accuracy deteriorates, then position detection capability is maintained, but individual detection errors reduce measurement precision
Solution Approach 1:
The system calculates detection errors by comparing multiple landmark detection results and feeds back correction values to improve subsequent position calculations. The error calculation unit computes detection errors based on the relationship between detection positions and registration positions, then applies these corrections to maintain high measurement precision while using non-contact sensor detection.
Solution Approach 2:
The system changes the parameter of relative distance by calculating correction values that compensate for individual detection errors. By adjusting the relative distance parameter between the non-contact sensor and landmark based on detected errors, the system maintains accurate position calculation even when using non-contact sensor detection under deteriorated GNSS conditions.
2Measurement precision
If sensor correction is performed to improve detection accuracy, then measurement precision improves, but system complexity and operation time increase
Solution Approach 1:
The system performs self-correction by automatically calculating detection errors and applying correction values without external intervention. The error calculation unit and correction value application operate autonomously using data from the existing landmark detection system, improving measurement precision while avoiding additional complex correction mechanisms.
Solution Approach 2:
The correction system uses the existing landmark detection infrastructure for multiple purposes: both for obtaining position information and for calculating correction values. The same non-contact sensor and landmark registration system serve dual functions, reducing overall system complexity while improving detection accuracy through error correction.
3Measurement precision
If traditional sensor correction methods are used, then detection error is reduced, but productivity decreases due to operation interruptions
Solution Approach 1:
The system continuously performs error correction during normal operation without interruptions. The correction value calculation and application occur in real-time as the work machine operates, maintaining both high detection accuracy and continuous productivity. The correction process is integrated into the ongoing landmark detection operations rather than being a separate corrective action.
Solution Approach 2:
The system pre-calculates correction values based on the relationship between detection positions and registration positions before they are needed for critical position calculations. By preparing correction data in advance during routine operations, the system ensures accurate position detection is ready when needed without causing operational delays.
Data Source
AI summary
A work machine control method includes: acquiring a detection position of a landmark detected by a non-contact sensor provided in a work machine in traveling of the work machine traveling on a traveling path; calculating a first relative distance between the non-contact sensor and the landmark on a basis of the detection position of the landmark; calculating a second relative distance between the non-contact sensor and the landmark on a basis of a registration position of the landmark; calculating a correction value relating to a relative distance between the non-contact sensor and the landmark on a basis of the first relative distance and the second relative distance; correcting the first relative distance on a basis of the correction value to calculate a corrected relative distance between the non-contact sensor and the landmark; and controlling a traveling state of the work machine on a basis of the corrected relative distance.