Dynamic Obstruction Detection Area for Automatic Work Vehicles
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Solution Overview
Problem
Automatic travelling work vehicles lack the ability to dynamically adjust their obstruction detection areas based on the state of the work device and vehicle body, leading to inadequate obstruction detection during work travel.
Innovation Solution
Incorporating a work travel state detection system that includes sensors to detect the state of the work device and vehicle body, allowing for real-time adjustment of the obstruction detection area, which considers the lateral width of the work device, vehicle speed, orientation, and proximity to the work field boundaries to optimize obstruction detection.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the obstruction detection area is predetermined based only on positional relation to work field, then the detection area is simple to set, but it cannot appropriately change in accordance with the state of the work device and vehicle body
Solution Approach 1:
The obstruction detection area determination section dynamically adjusts the obstruction detection area based on real-time work travel state information including work device state and vehicle body state. This makes the detection area adaptive to changing conditions rather than fixed, resolving the contradiction between adaptability and complexity by implementing dynamic adjustment through software control rather than complex hardware changes
Solution Approach 2:
The system changes the parameters of the obstruction detection area (such as detection range and sensitivity) in accordance with the work travel state detected by sensors. By modifying detection parameters based on work device state and vehicle body state, the system achieves adaptability without requiring complex structural changes to the detection hardware itself
2Reliability
If the obstruction detection area is fixed, then the system is simple to control, but it leads to inadequate obstruction detection during work travel when work device state or vehicle body state changes
Solution Approach 1:
The work travel state detection sensors continuously monitor the work device state and vehicle body state, providing feedback to the obstruction detection area determination section. This feedback loop enables the system to automatically adjust the obstruction detection area based on current operational conditions, improving detection reliability while maintaining relatively simple control architecture through sensor-based automatic adjustment
3Measurement precision
If the obstruction detection area is enlarged to detect all possible obstructions, then detection coverage is improved, but false detection of non-obstruction objects increases
Solution Approach 1:
The system applies different detection characteristics to different spatial regions by adjusting the obstruction detection area according to work travel state. Instead of uniformly enlarging the detection area, the system locally adapts the detection range to match the actual work zone and vehicle state, improving detection accuracy while avoiding false detection of objects outside the relevant work area
Data Source
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AI summary
An automatic travelling work vehicle configured to execute work travel along a travel route is provided, the automatic travelling work vehicle includes a work travel control section (50) configured to control work travel, work travel state detection sensors (80) configured to detect a work travel state, at least one obstruction sensor configured to detect an obstruction disturbing travel, an obstruction detection section (43) configured to detect an obstruction positioned within an obstruction detection area in accordance with a sensor signal from the obstruction sensor, and an obstruction detection area determination section (41) configured to determine the obstruction detection area in accordance with the work travel state detected by the work travel state detection sensors (80). Further, a method for executing work travel of an automatic travelling work vehicle along a travel route is provided. (Fig. 4)