Obstacle Mapping for Ground Tool Avoidance in Field Machines
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Solution Overview
Problem
Agricultural machines face efficiency reductions and potential damage due to undetected objects on or beneath the ground, leading to yield loss and safety hazards, as existing detection systems fail to effectively map and avoid obstacles in real-time.
Innovation Solution
A control system with integrated obstacle detection systems that use multiple sensors and a location system to create a visual obstacle map, distinguishing between objects on the surface, partially below, and entirely below the ground, and adjust a spotlight system to illuminate detected obstacles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If ground engagement tools are used to engage the ground, then agricultural work can be performed, but the tools may be damaged by contact with objects on or beneath the ground surface
Solution Approach 1:
The obstacle detection system performs preliminary detection of objects on and beneath the ground surface before the ground engagement tools contact them. The system maps obstacle locations in advance and can alert the operator or automatically adjust tool positions to avoid damage, allowing agricultural work to continue without interruption while preventing tool damage
Solution Approach 2:
The obstacle detection and mapping system acts as an intermediary between the ground engagement tools and actual ground contact. It provides advance information about obstacles through visual indicators on a display, enabling the operator to take corrective action before the tools encounter damaging objects
2Measurement precision
If multiple detection systems are used to detect obstacles on and beneath the ground, then obstacle detection accuracy is improved, but system complexity increases
Solution Approach 1:
The detection system is segmented into multiple specialized sensors, each optimized for detecting obstacles at different depths and positions. Surface obstacles are detected by one type of sensor while subsurface obstacles are detected by another type, allowing each sensor to be simpler and more effective at its specific function rather than requiring a single complex sensor to handle all detection tasks
Solution Approach 2:
The control system integrates multiple detection inputs and processes them through a unified obstacle mapping and visualization system. The same control system that manages ground engagement tools also handles obstacle detection, mapping, and display control, eliminating the need for separate complex systems and reducing overall system complexity
Data Source
AI summary
Work machines, control systems for work machines, and methods of operating work machines are disclosed herein. A work machine can include a control system and a work implement that includes a ground engagement tool. The control system includes an object detection system having a first detection system to detect objects located on a surface of a field, a second detection system to detect objects partially located beneath the surface, and a third detection system to locate objects buried beneath the surface. An obstacle map can be generated that includes characteristics regarding the detected objects, including location relative to the surface, size, and/or rigidity. An adjustable spotlight system can be coupled to the work machine that can selectively emit light toward a target object, including as the position of the work machine relative to the target object changes.