Rear Obstacle Detection Control for Wheel Loaders on Piles
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Solution Overview
Problem
Existing rear detection systems in working machines, such as wheel loaders, frequently generate false positives when driving up piles, leading to unnecessary alarms and potential automatic braking, which is ergonomically challenging and unsafe for drivers.
Innovation Solution
A method that monitors the detection region behind the working machine using a rear detection device and determines the machine's travel direction, disregarding non-obstructive surface detections when traveling forward or reversing, and triggering countermeasures only for confirmed obstacles, thereby improving the reliability of collision avoidance systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the rear detection device continuously monitors the detection region behind the working machine, then obstacle detection capability is improved, but false positive detections occur when the machine drives up on a pile causing the device to face the ground
Solution Approach 1:
The system dynamically adjusts detection behavior based on the working machine's operational state. When the machine is stationary or moving forward, the rear detection device actively monitors the detection region. When the machine drives up on a pile causing the device to face the ground, the system automatically suspends detection in that direction, preventing false positives while maintaining detection accuracy for actual obstacles.
Solution Approach 2:
The system changes the detection parameters based on the machine's position and orientation. By detecting when the rear detection device faces the ground (indicating the machine is on a pile), the system modifies the detection zone or disables detection temporarily, thereby resolving the contradiction between continuous monitoring and avoiding false detections during pile operations.
2Reliability
If countermeasures such as alarms and automatic braking are triggered frequently to ensure safety, then collision avoidance is improved, but driver ergonomics deteriorate due to frequent unnecessary alarms and braking during normal operations
Solution Approach 1:
The system incorporates feedback from multiple sensors including travel direction sensors and position detectors that monitor when the machine is on a pile. This feedback loop allows the system to distinguish between genuine obstacles requiring countermeasures and ground surfaces detected during normal pile operations, thereby reducing false alarms and unnecessary braking while maintaining reliable collision avoidance.
Solution Approach 2:
The countermeasure triggering mechanism dynamically adjusts based on operational context. The system evaluates both the detected object and the machine's current state (whether on a pile, traveling direction, etc.) before activating alarms or braking. This dynamic response reduces unnecessary driver alerts during normal operations while maintaining safety responsiveness to actual obstacles.
3Reliability
If the rear detection device monitors the detection region at all times, then safety is improved, but unnecessary safety actions are triggered when the device detects the ground during pile operations
Solution Approach 1:
The system performs preliminary detection of the machine's position and orientation before activating the rear detection function. By detecting whether the machine is on a pile (using travel direction sensors or position detectors) before the rear detection device scans the ground, the system prevents false positive detections from occurring in the first place, maintaining safety reliability without unnecessary alarm.
Solution Approach 2:
The system extracts or removes the ground surface from the detection zone when the machine is identified to be on a pile. By suspending or adjusting the detection function specifically when the rear detection device would face the ground, the system eliminates false positive detections while maintaining continuous monitoring for actual obstacles in other directions.
Data Source
AI summary
The invention relates to a method of controlling a working machine. The method includes monitoring a detection region behind the working machine by means of a rear detection device; and determining whether the working machine is traveling forward or in reverse. The method further includes disregarding an object in the detection region detected by the rear detection device when the working machine is traveling forward. The invention also relates to a control system for controlling a working machine having a rear detection device arranged to monitor a detection region behind the working machine. The invention also relates to a working machine.