Tractor Obstacle Detection with Implement-Mounted Sensors
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Solution Overview
Problem
Conventional working vehicles often have significant blind areas in their obstacle detection zones due to suboptimal sensor arrangements, leading to erroneous detections.
Innovation Solution
A tractor design featuring strategically placed obstacle sensors with distinct detection ranges, including a rear first sensor with a horizontal detection axis, a rear second sensor with a vertical detection axis, and a side sensor between the front and rear wheels, along with a rear camera and obstacle sensors positioned to minimize blind spots and erroneous detections.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If obstacle sensors are arranged on the vehicle body, then obstacle detection is enabled, but blind areas are created in the detection coverage
Solution Approach 1:
The patent transitions from mounting sensors on the vehicle body to mounting them on the implement, changing the spatial reference frame. This dimensional shift allows sensors to detect obstacles in areas previously blind to body-mounted sensors, particularly behind and around the vehicle body where the implement extends.
Solution Approach 2:
The implement acts as an intermediary carrier for the obstacle sensors. By using the implement as the mounting platform rather than the vehicle body, the system gains detection coverage in previously inaccessible zones, with the implement serving as the mediating structure between the sensors and the detection space.
2Area of stationary object
If sensors are placed to cover wide areas, then detection range increases, but erroneous detection of attached implements increases
Solution Approach 1:
The detection system is segmented into multiple sensors with different detection ranges and orientations. The first sensor detects obstacles at longer distances with a wider field of view, while the second sensor detects obstacles at shorter distances with a focused beam, allowing the system to distinguish between implements and actual obstacles through spatial and temporal pattern recognition.
Solution Approach 2:
Different regions of the detection space are assigned different sensing qualities. The first sensor provides broad coverage for distant obstacles, while the second sensor provides precise detection for near obstacles. This local differentiation in detection quality allows the system to maintain wide coverage while reducing false positives from implements.
3Reliability
If multiple sensors are added to reduce blind areas, then detection coverage improves, but device complexity increases
Solution Approach 1:
The implement serves multiple functions: it is both the working tool and the mounting platform for the obstacle sensors. This multi-functionality eliminates the need for separate sensor mounting structures on the vehicle body, reducing overall system complexity while achieving improved detection coverage.
Data Source
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AI summary
[Object] To provide a working vehicle that detects obstacles around the self-traveling tractor in a wide range, with reduced erroneous detection. [Solution] A tractor comprises: a vehicle body (100) including a front wheel (6) and a rear wheel (7); a rear wheel fender (17) covering the front and top of the rear wheel (7); a rear stay (111) in a shape that extends along the rear wheel fender (17), a rear first obstacle sensor (109b) provided at the front of the rear stay (111); and a rear second obstacle sensor (109c) provided at the rear of the rear stay (111).