Working Machine Self-Localization via Design Data Coordinate Mapping
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Solution Overview
Problem
Current methods for managing 3D finished work at construction sites require manual localization using GNSS and TS, which is time-consuming and labor-intensive, as they necessitate placing markers and measuring their coordinates in the geographic coordinate system to transform data into the construction-site coordinate system.
Innovation Solution
A working machine equipped with a traveling body, a swing body, a topography measuring device, and a controller that processes design data and current topography data to estimate self-position and posture in the construction-site coordinate system, using a coordinate transformation matrix to minimize coordinate differences between design and current data, thereby reducing manual localization efforts.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If manual localization using GNSS and TS is performed to transform data into construction-site coordinate system, then measurement precision is improved, but loss of time increases due to marker placement and coordinate measurement requirements
Solution Approach 1:
The patent uses design data (a digital copy of the planned construction) to create a virtual coordinate system that corresponds to the physical construction site. By copying the construction-site coordinate system into the working machine's control system through design data, the need for manual physical localization is eliminated while maintaining measurement precision.
Solution Approach 2:
The patent replaces the mechanical manual localization process (physical marker placement and coordinate measurement using GNSS/TS) with an automated computational system. The controller automatically establishes the coordinate system transformation using design data, substituting manual mechanical operations with automated information processing.
2Manufacturing precision
If manual localization operations are performed to establish coordinate transformation parameters, then manufacturing precision is improved, but productivity decreases due to increased man-hours required
Solution Approach 1:
The working machine performs self-localization by automatically acquiring design data and establishing its own coordinate system transformation parameters without external manual intervention. The controller processes design data to automatically determine the coordinate system correspondence, enabling the machine to service itself rather than requiring operator localization efforts.
Solution Approach 2:
The patent performs preliminary action by pre-establishing the coordinate system transformation through design data before actual construction measurements begin. The design data already contains the constructed environment information, so the coordinate system correspondence is determined in advance, eliminating the need for time-consuming on-site localization operations.
3Measurement precision
If GNSS antenna is used to measure working machine coordinates in construction-site coordinate system, then measurement precision is improved, but device complexity increases due to requirement of coordinate transformation parameters
Solution Approach 1:
The patent makes the design data serve multiple functions: it acts as both the construction plan and the coordinate system reference. The same design data that defines the construction geometry also establishes the coordinate system correspondence, eliminating the need for separate localization equipment and reducing system complexity.
Solution Approach 2:
The patent introduces design data as an intermediary between the working machine's sensor coordinate system and the construction-site coordinate system. Instead of directly measuring and transforming physical coordinates, the system uses design data as a mediating reference that naturally bridges the two coordinate systems through their shared geometric relationships.
Data Source
AI summary
A working machine 1 includes a design data obtainment unit 29, a topography measuring device 30, and a controller 21. The controller 21 extracts peripheral area shape data from the design data in the construction-site coordinate system, maps similar shape portions between the extracted peripheral area shape data and the current topography data in the current topography coordinate system, calculates a coordinate transformation matrix to transform from the current topography coordinate system to the construction-site coordinate system so that a difference in coordinate values of the mapped shape portions is minimized, and transforms the self-position and posture of the working machine 1 and the current topography data from coordinates in the current topography coordinate system to coordinates in the construction-site coordinate system using the calculated coordinate transformation matrix.