Working Machine Assist Control With Worksite-Adaptive Map Referencing
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Solution Overview
Problem
Autonomous traveling systems for working machines face accuracy issues in position estimation due to changes in the environment, such as agricultural fields, leading to deviations between the actual worksite and environmental map information.
Innovation Solution
An assist system for working machines that includes sensors to sense the surrounding area, a position estimator to estimate the machine's position based on environmental map information, and a selector to modify the map information based on work status, allowing for accurate position estimation and work assistance.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the map is updated by sequentially rewriting reference point cloud data while regarding input point cloud data at a machine body position as reference point cloud data, then the position estimation accuracy is improved through scan matching, but the accuracy decreases when the environment changes before map update
Solution Approach 1:
The system dynamically adjusts the map update strategy by detecting environmental changes and selectively updating only the necessary portions of the map. The position estimator modifies the area in the environmental map information to be referenced based on work status, making the system adaptive to environmental changes rather than using a fixed update approach.
Solution Approach 2:
The system changes the parameters of the environmental map information by modifying the area to be referenced based on work status. When environmental changes are detected, the system updates the map parameters selectively rather than进行全面更新, thereby maintaining position estimation accuracy while adapting to environmental changes.
2Adaptability or versatility
If the environmental map information is continuously updated to reflect current environment, then the adaptability to environmental changes is improved, but the complexity of the system increases
Solution Approach 1:
The system applies local quality by modifying only the specific area in the environmental map information that is relevant to the current work status and environmental changes. Instead of updating the entire map, the position estimator selectively updates local regions, reducing computational complexity while maintaining adaptability to environmental changes.
Solution Approach 2:
The environmental map information is segmented into different areas, and the system updates only the necessary segments based on work status and environmental changes. This segmentation approach allows the system to adapt to environmental changes efficiently without the complexity of updating the entire map continuously.
3Measurement precision
If the map information is modified based on work status to exclude certain areas, then the position estimation accuracy in changed environments is improved, but the loss of information about excluded areas occurs
Solution Approach 1:
The system performs preliminary actions by maintaining the original environmental map information as a reference before modification. When areas are excluded from the referenced map information based on work status, the system has already preserved the complete original data, preventing permanent information loss and allowing for future updates or corrections.
Solution Approach 2:
The system creates a copy of the environmental map information before modifying it based on work status. The original map data is preserved as a reference, and the modified version is used for position estimation. This copying approach ensures that no information is permanently lost, as the original data remains available for future use.
Data Source
AI summary
An assist system for a working machine includes sensor(s) provided in/on the working machine to sense a surrounding area of the working machine, a position estimator configured or programmed to estimate a position of the working machine based on a sensing result from the sensor(s) and environmental map information including piece(s) of map information relating to worksite(s). The position estimator is configured or programmed to modify, based on a work status in each worksite, an area in the environmental map information to be referenced thereby and estimate the position by referencing a modified area. The assist system may include a selector configured or programmed to select worksite(s) in which the work status satisfies a predetermined condition. The position estimator may be configured or programmed to exclude the piece(s) of map information corresponding to a selected worksite(s) from the environmental map information to modify the area to be referenced thereby.