Obstacle Detection Using Remote Sensor Intermediary
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Solution Overview
Problem
The effectiveness of obstacle detection systems in autonomous work vehicles is reduced when a movable object blocks the field of view of sensors, as existing systems rely solely on local sensor data and lack remote sensing capabilities to accurately detect obstacles.
Innovation Solution
The system employs a controller with a processor and memory to receive signals from both a local and remote sensor assembly, determining the presence of obstacles within the field of view by using the remote sensor's data to account for movable objects that obstruct the local sensor's view, and outputs signals to control systems to avoid or operate on detected obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a movable object (implement, tool) is coupled to the autonomous work vehicle to perform work operations, then the work capability is improved, but the movable object blocks the field of view of the sensor assembly, reducing obstacle detection effectiveness
Solution Approach 1:
A remote sensor assembly is introduced as an intermediary device to detect obstacles that are blocked from the primary sensor's view by movable objects. The remote sensor is positioned at a location where it can detect obstacles without being obstructed by implements or tools, and the controller integrates data from both sensors to maintain reliable obstacle detection while the movable object performs work operations.
2Measurement precision
If the sensor assembly field of view is kept clear for obstacle detection, then detection accuracy is improved, but the movable object cannot be positioned in the field of view to perform work operations
Solution Approach 1:
The sensing system is segmented into multiple sensor assemblies with different fields of view. The primary sensor assembly maintains a clear view for accurate obstacle detection, while the remote sensor assembly covers areas that may be blocked by movable objects. The controller integrates information from both segmented sensing zones to achieve comprehensive obstacle detection without compromising work operation capability.
3Device complexity
If the autonomous work vehicle uses a single sensor assembly for obstacle detection, then the system complexity is reduced, but the obstacle detection coverage is insufficient when movable objects are present
Solution Approach 1:
The system merges data from multiple sensor assemblies (primary and remote sensors) through the controller to achieve comprehensive obstacle detection coverage. By combining information from both sensor sources, the system maintains reliable detection coverage even when movable objects block portions of the field of view, while avoiding the need for complex mechanical adjustments or single-sensor solutions.
Data Source
AI summary
An obstacle detection system includes a controller configured to receive a first signal from a first sensor assembly indicative of presence of an obstacle within a field of view of the first sensor assembly. The controller is configured to receive a second signal from a second sensor assembly indicative of a position of the obstacle within a field of view of the second sensor assembly in response to presence of a movable object coupled to the work vehicle within the field of view of the first sensor assembly. The controller is configured to determine presence of the obstacle within the field of view of the first sensor assembly based on the position of the obstacle, and the controller is configured to output a third signal indicative of detection of the obstacle in response to presence of the obstacle within the field of view of the first sensor assembly.