Work Machine Position Control Using Noise-Filtered Map Data
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Solution Overview
Problem
Map data created for work machines at sites like mines can include noise from non-contact sensors, leading to inaccuracies in position measurement due to erroneous detections, which decreases productivity when detection accuracy is low.
Innovation Solution
A work machine control system that includes a position sensor, a non-contact sensor, and a map data creation unit that creates map data only from detection points satisfying a defined matching condition, reducing noise and enhancing accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If map data is created using all detection data from non-contact sensors, then the quantity of map data is increased, but the accuracy of position measurement decreases due to noise from erroneous detections
Solution Approach 1:
The patent extracts and removes erroneous detection data (noise) from the detection data obtained by non-contact sensors. The map data creation unit identifies and excludes detection points that do not match existing map data within a predetermined distance threshold, thereby extracting only reliable detection data for map data creation. This resolves the contradiction by maintaining quantity of valid data while eliminating noise that degrades measurement precision.
Solution Approach 2:
The patent changes the parameter of detection data quality by introducing a distance threshold criterion for matching detection points with existing map data. By adjusting this threshold parameter, the system optimizes the balance between incorporating sufficient detection data (quantity) and filtering out erroneous detections (precision). This parameter-based filtering resolves the contradiction between data quantity and measurement accuracy.
2Reliability
If detection accuracy of global navigation satellite system decreases, then the work machine may stop operating, but productivity at the work site decreases
Solution Approach 1:
The patent introduces map data as an intermediary reference system that mediates between the unreliable global navigation satellite system and the work machine's position determination. When GNSS detection accuracy decreases, the system uses the pre-created map data (which incorporates filtered, reliable detection points) as a reference to calculate the work machine's position through collation, thereby maintaining both reliability and productivity without stopping operation.
Solution Approach 2:
The patent performs preliminary action by creating and storing map data in advance using filtered detection data before GNSS accuracy deteriorates. This pre-created map data serves as a reliable reference that can be used immediately when satellite detection accuracy decreases, preventing work machine stoppage and maintaining productivity. The preliminary creation of clean map data resolves the contradiction by preparing a backup reference system ahead of time.
3Loss of information
If non-contact sensor detects objects around work machine, then position information is obtained, but noise from erroneous detection causes deviation from actual object shape and position
Solution Approach 1:
The patent implements feedback by comparing newly obtained detection points from non-contact sensors against existing map data. The system uses the predetermined distance threshold as a feedback criterion: detection points that fall within the threshold distance of existing map features are validated, while those that do not match are identified as erroneous. This feedback mechanism maintains complete position information while filtering out noise, resolving the contradiction between information completeness and measurement precision.
Data Source
AI summary
A work machine control system includes: a position sensor that detects the position of a work machine travelling on a traveling path; a non-contact sensor that detects the position of an object around the work machine; and a map data creation unit that creates map data on the basis of a detection point of the object and detection data of the position sensor, the detection point being detected by the non-contact sensor and satisfying a defined matching condition.