Working Machine Surrounding Monitoring Using Terrain-Based Proximity
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing surrounding monitoring technologies for working machines do not adequately consider the relationship between the machine, obstacles, and terrain, leading to unnecessary alarms and control actions even when the probability of contact is low.
Innovation Solution
A surrounding monitoring system for working machines that classifies proximity distances to obstacles based on terrain features, using a vehicle-body coordinate system and sensors to determine warning levels and control actions, thereby optimizing work efficiency by reducing excessive warnings and control interventions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the distance between the working machine and obstacle is used as the sole criterion for alarm and avoidance control, then the monitoring coverage is comprehensive, but unnecessary alarms and control actions occur when the probability of contact is low
Solution Approach 1:
The system changes the monitoring parameters from simple distance measurement to multi-dimensional assessment including terrain data (height, slope, material), machine working state (boom angle, arm angle, bucket angle), and obstacle characteristics. This transforms the single parameter distance criterion into a comprehensive risk assessment model that calculates actual contact probability, thereby improving reliability without reducing productivity
Solution Approach 2:
The system introduces terrain data and machine working state as intermediary factors between the machine and obstacle. These intermediaries modify the direct distance-based assessment by providing context about the actual contact risk, allowing the system to distinguish between situations where contact is likely versus unlikely even at similar distances
2Reliability
If avoidance control is performed based on short distance to obstacle, then safety is improved, but work efficiency deteriorates due to excessive control interventions
Solution Approach 1:
The system applies different control strategies to different risk levels rather than using a uniform avoidance control. High-risk situations (steep slopes, unstable terrain, direct collision paths) trigger immediate avoidance control, while low-risk situations (stable terrain, indirect paths, low machine speed) generate only alerts or no control action. This localized differentiation maintains safety where needed while preserving work efficiency elsewhere
Solution Approach 2:
The system performs partial avoidance control by selectively applying control actions only to specific risk scenarios rather than universally. The control intensity is adjusted based on the calculated contact probability, applying full avoidance control only when necessary and using milder alerts or no control for lower-risk situations, thereby maintaining safety while minimizing interference with productive work
3Measurement precision
If terrain information is integrated into the monitoring system, then the accuracy of risk assessment is improved, but the system complexity increases
Solution Approach 1:
The control device performs multiple functions: it monitors obstacle distance, acquires and processes terrain data, determines machine working states, calculates contact probability, and executes appropriate control actions. By making the control device universal and multi-functional, the system integrates terrain information without requiring separate dedicated systems for each function, thereby improving measurement precision while limiting the increase in overall system complexity
Data Source
Figure 1
Figure 2
Figure 3
AI summary
Work efficiency is improved while necessary and sufficient monitoring on the surroundings of a working machine is performed. A working machine includes an undercarriage 132 on which an upperstructure 131 including a front working device is mounted in a swingable manner, and includes a surrounding monitoring device 200 that monitors surroundings. The surrounding monitoring device 200 has an information controller 161 that: sets a working region by use of terrain data and work states received from sensors detecting work states of the front working device of the working machine; calculates proximity for each of the obstacles around the working machine by use of the working regions and relative positions of each of obstacles and the working machine, the obstacles being detected by an obstacle sensor that detects obstacles around the working machine; and outputs a control instruction in accordance with the proximity.