Harvester Obstacle Detection Using Height-Selected Multi-Level Sensors
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Solution Overview
Problem
Existing harvesting machines with a swinging harvesting unit face challenges in accurately detecting obstacles forward due to varying height positions, and agricultural work machines with imaging devices struggle with low obstacle detection accuracy in foggy or dusty conditions.
Innovation Solution
Implementing multiple sensors at different vertical positions, selecting detection information based on the harvesting unit's height, and combining imaging with alternative sensors to enhance obstacle detection accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a single sensor is used for obstacle detection, then the device complexity is low, but the obstacle detection accuracy deteriorates when the harvesting unit height varies
Solution Approach 1:
The obstacle detection function is segmented across multiple sensors positioned at different heights. The detection area is divided into multiple regions, with each sensor responsible for a specific height zone. This segmentation allows accurate obstacle detection regardless of the harvesting unit's height position, as at least one sensor will always have an unobstructed view of the detection area.
Solution Approach 2:
The patent transitions from a single-point detection approach to a multi-level detection system by adding the vertical dimension. Sensors are arranged at different heights (first sensor at higher position, second sensor at lower position), creating a three-dimensional detection network that covers various harvesting unit positions, thereby resolving the limitation of single-height detection.
2Measurement precision
If imaging devices are used for obstacle detection, then the detection range is wide, but the detection accuracy deteriorates in foggy or dusty conditions
Solution Approach 1:
The patent introduces ultrasonic sensors as intermediary detection devices that operate independently of optical conditions. While imaging devices provide wide detection range, the ultrasonic sensors serve as intermediaries that can detect obstacles through fog and dust by emitting and receiving sound waves, which are not blocked by atmospheric conditions in the same way light is.
Solution Approach 2:
The system changes the detection parameter from optical (imaging) to acoustic (ultrasonic) under adverse weather conditions. By switching between different detection modalities based on environmental conditions, the system maintains accurate obstacle detection regardless of fog or dust presence.
3Measurement precision
If multiple sensors at different heights are used, then the obstacle detection accuracy improves, but the device complexity increases
Solution Approach 1:
The system dynamically selects which sensor data to use based on the harvesting unit's current height position. The control unit determines the harvesting unit's position and automatically switches between first sensor and second sensor data accordingly. This dynamic adaptation allows the system to maintain high detection accuracy while managing complexity through intelligent, condition-based sensor selection.
Solution Approach 2:
The system implements feedback control by continuously monitoring the harvesting unit's height position and using this information to select the appropriate sensor data. The control unit receives position feedback, processes this information, and adjusts the detection strategy by selecting data from the sensor whose detection area is not occupied by the harvesting unit, thereby optimizing detection accuracy.
Data Source
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AI summary
A harvesting machine includes: a machine main body 1; a harvesting unit 15 that is provided forward of the machine main body 1 and is capable of swinging upward and downward relative to the machine main body 1; a height detection unit that is capable of detecting a height position H at which the harvesting unit 15 is located; and an obstacle detection unit that is capable of detecting an obstacle that is located forward thereof in a travel direction. The obstacle detection unit includes: a first sensor 21 and a second sensor 22 that are provided at different positions in a vertical direction, and output detection information regarding a detection area that is located forward thereof in the travel direction; a selection unit that selects at least either the detection information from the first sensor 21 or the detection information from the second sensor 22 based on the height position H of the harvesting unit 15; and a determination unit that determines the obstacle based on the detection information selected by the selection unit.