Working Machine Position Estimation With Worksite Map Selection
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Solution Overview
Problem
Autonomous traveling systems 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 modify environmental map information based on work status, and a selector to update and prioritize relevant map information for accurate position estimation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the map is updated by sequentially rewriting reference point cloud data every time the machine body position is calculated, then the position estimation accuracy is improved, but the deviation between actual worksite and environmental map information increases when the environment changes
Solution Approach 1:
The system performs preliminary actions by detecting environmental changes before they cause significant deviation. The environmental change detector proactively identifies changes in the worksite, and the map information updater pre-adjusts the map data accordingly, preventing the accumulation of positional errors rather than merely correcting them after they occur.
Solution Approach 2:
The system implements a feedback mechanism where the environmental change detector continuously monitors the worksite conditions, and when changes are detected, this information feeds back to the map information updater which then adjusts the environmental map. This closed-loop feedback ensures the map remains synchronized with the actual environment, resolving the contradiction between continuous updates and maintaining accuracy.
2Adaptability or versatility
If environmental map information from multiple worksites is referenced, then the adaptability to different environments is improved, but the complexity of selecting and managing map information increases
Solution Approach 1:
The system extracts and references only the specific map information relevant to the current worksite where the working machine is operating. The environmental change detector identifies which worksite the machine is in, and the map information updater selectively references only that worksite's map data, eliminating the need to manage and process all possible worksite information simultaneously.
Solution Approach 2:
The system applies local quality by tailoring the map information reference to the specific location. Instead of using a uniform approach for all worksites, the system dynamically selects and references map information localized to the current worksite, optimizing accuracy for each specific environment while simplifying overall management.
Data Source
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AI summary
An assist system (S) for a working machine (1) includes one or more sensors (25) provided in or on the working machine (1) to sense a surrounding area of the working machine (1), a position estimator (20a) configured or programmed to estimate a position of the working machine (1) based on a sensing result from the one or more sensors (25) and based on environmental map information. The environmental map information includes one or more pieces of map information relating to one or more worksites. The position estimator (20a) is configured or programmed to modify, based on a work status in each of the one or more worksites, an area in the environmental map information to be referenced by the position estimator (20a) and estimate the position by referencing the modified area. The assist system (S) may further include a selector (41b) configured or programmed to select at least one worksite in which the work status satisfies a predetermined condition from the one or more worksites of the environmental map information. The position estimator (20a) may be configured or programmed to exclude the corresponding at least one piece of map information relating to the at least one worksite selected by the selector (41b) from the environmental map information to modify the area in the environmental map information to be referenced by the position estimator (20a).