Autonomous Work Vehicle Obstacle Avoidance on Planned Travel Paths
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing work vehicles only notify the operator of obstacles but do not actively avoid them, which can lead to inefficient and unsafe operation, especially when encountering previously unknown obstacles.
Innovation Solution
A work vehicle equipped with a positioning device, obstacle detection sensors, and a control unit that autonomously adjusts the travel path to avoid expected obstacles and stops when encountering unexpected ones, taking into account the vehicle and implement profiles to ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the vehicle autonomously travels on a planned path without avoidance driving, then the device complexity is reduced, but the reliability deteriorates due to potential contact with obstacles
Solution Approach 1:
The system performs preliminary actions by storing obstacle position information in advance and calculating the work vehicle profile information before autonomous travel begins. During travel, the control unit simply compares detected obstacles against pre-stored information and pre-calculated profiles, avoiding the need for complex real-time avoidance calculations while maintaining high reliability
Solution Approach 2:
The obstacle avoidance function is segmented into distinct components: obstacle detection by sensors, position matching against stored information, profile calculation separate from travel control, and simple binary decisions (avoidance needed or not). This segmentation reduces overall system complexity while maintaining reliability
2Reliability
If the vehicle stops when encountering any unknown obstacle, then the reliability is improved by avoiding unexpected obstacles, but the productivity deteriorates due to work interruption
Solution Approach 1:
The system uses feedback by continuously detecting obstacles during travel and comparing their positions against pre-stored obstacle information. This feedback mechanism allows the vehicle to distinguish between expected obstacles (already in database) and unexpected obstacles (not in database), enabling selective response that maintains both safety and productivity
Solution Approach 2:
The system dynamically adjusts its response based on the type of obstacle detected. For expected obstacles, the vehicle continues work with possible path adjustments. For unexpected obstacles, the vehicle stops. This dynamic behavior optimizes both reliability and productivity based on real-time conditions
3Adaptability or versatility
If the vehicle uses a fixed travel path without path changes, then the device complexity is reduced, but the adaptability deteriorates when obstacles are present
Solution Approach 1:
The system performs preliminary path planning by calculating the work vehicle profile information and storing obstacle position information before travel begins. This allows the vehicle to adapt to obstacles using pre-calculated data rather than requiring complex real-time path recalculation, maintaining adaptability while reducing device complexity
Solution Approach 2:
The system adapts to obstacles by changing travel path parameters (position, direction) based on the calculated work vehicle profile and detected obstacle positions. Rather than redesigning the entire path planning system, it dynamically adjusts specific path parameters to avoid obstacles while maintaining overall mission objectives
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The vehicle efficiently and safely performs tasks by actively avoiding obstacles, ensuring continuous operation and preventing contact with both expected and unexpected obstacles.
Implementation Method 1
a positioning device (174) measuring the vehicle body's own position by receiving positional signals (31) sent from a plurality of satellites (30)
Implementation Method 2
an ultrasonic-wave sensor detecting the distance to an obstacle in the front
Data Source
Figure 1
Figure 2
Figure 3
AI summary
[Object] To provide a work vehicle in the autonomous traveling of which contact with obstacles is avoided, and work is efficiently and safely performed. [Solution] The invention comprises: a positioning device 174 measuring the vehicle body's own position; an obstacle recognition means 105 recognizing an obstacle P, E, U; and a control unit having the vehicle autonomously travel on a planned travel path R1 preliminarily set; wherein the control unit 150 includes obstacle position information D4 preliminarily stored; while traveling on the planned travel path R1, when an obstacle P, E is recognized by the obstacle recognition means 105, at a position stored in the obstacle position information D4, avoidance driving is performed to avoid contact with the obstacle P, E; and when the position of an obstacle U recognized by the obstacle recognition means 105 is different from the stored obstacle position information D4, the traveling is stopped.