Work Machine Movement Control for Incomplete Map Navigation
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Solution Overview
Problem
Existing autonomous work machines face challenges in efficiently navigating and mapping work regions due to limitations in controlling movement based on map information completion levels and location estimation precision, leading to slow operation and incomplete mapping.
Innovation Solution
A control apparatus that adjusts the movement mode and speed of the work machine based on the completion level of map information and location estimation precision, allowing it to navigate efficiently and create map information even in areas with incomplete data, thereby reducing the time needed to complete mapping and enabling higher-speed operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work machine operates at high speed in areas with incomplete map information, then productivity is improved, but location estimation precision deteriorates leading to navigation errors
Solution Approach 1:
The control apparatus applies different movement control strategies to different regions of the work area based on map information completion levels. In regions with high completion levels (known safe areas), the machine operates at high speed. In regions with low completion levels (unknown areas), the machine reduces speed and follows boundary lines, ensuring location precision is maintained where it matters most.
Solution Approach 2:
The movement speed and navigation mode of the work machine are dynamically adjusted based on real-time location estimation precision and map information completion levels. The control apparatus continuously monitors these parameters and adapts the movement control accordingly, transitioning between high-speed operation in known areas and cautious boundary-following in unknown areas.
2Measurement precision
If the work machine follows boundary lines to maintain location precision, then measurement precision is improved, but productivity deteriorates due to slower operation
Solution Approach 1:
The work area is segmented into multiple regions based on map information completion levels. The control apparatus divides the navigation task into two modes: boundary-following mode for region delineation (prioritizing precision) and direct navigation mode for known areas (prioritizing speed). This segmentation allows the machine to apply appropriate strategies to appropriate regions.
Solution Approach 2:
The machine performs boundary-following action partially - only in regions where map information is incomplete or precision is critical. In regions where sufficient map information already exists, the machine skips the cautious boundary-following approach and operates more directly, performing just enough precision-critical navigation to maintain safety while maximizing overall productivity.
3Productivity
If the work machine operates in unknown areas with low map information completion, then productivity is improved by covering more ground, but reliability deteriorates due to navigation errors
Solution Approach 1:
The control apparatus performs preliminary boundary-following actions to establish known regions before attempting direct navigation. By first tracing boundary lines and establishing map information in unknown areas, the system creates a foundation of reliable navigation data that enables subsequent high-speed operation in those newly mapped regions.
Solution Approach 2:
The system continuously monitors map information completion levels and location estimation precision, using this feedback to dynamically adjust navigation strategy. When entering unknown areas, the machine initially follows boundaries to build reliable map data, then transitions to more direct navigation as map completion increases, with the control apparatus continuously adapting based on real-time feedback from sensors and positioning systems.
Data Source
AI summary
A moving efficiency of a work machine decreases if an obstacle, an entrance prohibiting region, and the like are arranged inside a region, if a positioning precision of the work machine is relatively low, and the like. A control apparatus includes a control section to control a movement of a moving object based on at least one of a completion level of map information indicating a region where a moving object is permitted to enter and a location estimation precision of a moving object.