Autonomous Agricultural Machine Obstacle Mode Switching
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Solution Overview
Problem
Agricultural machines with autonomous travel capabilities may unnecessarily stop due to detecting crops or other non-obstacle objects, leading to inefficient operation in agricultural fields.
Innovation Solution
Incorporating a mode switcher and positionable obstacle detector that allows the agricultural machine to differentiate between effective and ineffective modes based on the presence of obstacles, enabling the machine to continue travel when the obstacle detector is retracted or the operator is present, and to stop when the detector is in the detection position or the operator is not present.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the autonomous travel controller stops travel based on obstacle detection, then safety is improved, but unnecessary stops occur when crops are detected as obstacles
Solution Approach 1:
The obstacle detector is made movable between a detection position and a retracted position, allowing the system to dynamically adjust its obstacle detection capability based on operational context. When the detector is in the detection position, the autonomous travel controller can stop for safety; when retracted, unnecessary stops are prevented while maintaining the ability to stop when truly needed
Solution Approach 2:
The system changes the operational parameter of the obstacle detector (its position between detection and retracted states) to control whether obstacle detection leads to travel stopping. This parameter change allows the same detector to serve different functions: preventing collisions when detected, and avoiding unnecessary stops when retracted
2Reliability
If the obstacle detector is positioned to detect obstacles, then collision avoidance is improved, but the machine stops unnecessarily in agricultural fields
Solution Approach 1:
The obstacle detector transitions between static detection position and retracted position dynamically, allowing the system to switch between collision avoidance mode (detector extended) and efficient operation mode (detector retracted) based on real-time operational needs
3Productivity
If autonomous travel is allowed without operator presence, then productivity is improved, but safety control is reduced
Solution Approach 1:
The seat-occupation detector provides feedback about operator presence to the autonomous travel controller, which then adjusts its obstacle response behavior accordingly. When no operator is detected, the system operates autonomously with full stopping capability; when an operator is present, the system adapts its control strategy
Data Source
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AI summary
To make it possible to change stopping of autonomous travel in accordance with the circumstances. An agricultural machine (1) includes: a vehicle body (3) that is capable of traveling; an obstacle detector (45) that is capable of detecting an obstacle; an autonomous travel controller (40A) that performs autonomous travel of the vehicle body (3) and that, when performing the autonomous travel, stops the vehicle body (3) based on detection information about an obstacle detected by the obstacle detector (45); and a mode switcher (40B) that switches a mode during the autonomous travel in an agricultural field (H1) between an effective mode in which the stopping of the vehicle body (3) is performed based on the detection information and an ineffective mode in which the stopping of the vehicle body (3) based on the detection information is not allowed.