Working Vehicle Border Crossing Control for Remote Operation Safety
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Solution Overview
Problem
Existing agricultural machines lack the capability to prevent border crossing during automatic operation while ensuring safety during remote operation, leading to potential unsafe behavior due to erroneous remote control.
Innovation Solution
A working vehicle equipped with a border-crossing prevention controller, a determiner, a border-crossing permitter, and a limiter, which prohibits border crossing during automatic operation but allows it during remote operation under specific safety conditions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the border-crossing permitter permits the cross-border state during remote operation, then the working vehicle can cross the borderline and travel near a path, but if a user performs an erroneous or inappropriate remote control, the behavior of the agricultural machine and a working device may become unusual
Solution Approach 1:
The system changes operational parameters (speed, acceleration, working device operations) when in cross-border state to ensure safety. The controller detects cross-border position and automatically adjusts vehicle parameters to prevent unsafe behavior even during remote operation
Solution Approach 2:
The border-crossing permitter continuously monitors the working vehicle's position relative to the borderline and provides feedback control. When the vehicle is detected to be in cross-border state, the system activates limitation measures and continues monitoring to ensure safe operation throughout the cross-border movement
2Reliability
If the border-crossing prevention controller prohibits the working vehicle from traveling beyond the borderline, then the working vehicle cannot cross the borderline during automatic operation, but the working vehicle cannot travel near a path even when remote control is available
Solution Approach 1:
The system dynamically switches between prevention mode and permission mode based on operational context. The border-crossing permitter detects whether the vehicle is in automatic or remote operation mode and automatically adjusts the control strategy, allowing cross-border movement only when appropriate safety conditions are met
3Reliability
If the limiter limits content of operation of the working vehicle in the cross-border state, then unsafe behavior is prevented, but the operation flexibility is reduced
Solution Approach 1:
The system applies different operation limitations based on the specific location and context. The limiter activates only when the vehicle is detected to be in cross-border state, applying targeted limitations to speed, acceleration, and working device operations only in the cross-border zone, while maintaining full operation flexibility in normal zones
Data Source
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AI summary
A working vehicle (1) is a working vehicle (1) to perform automatic operation including doing work at an agricultural field (H) using a working device (2), including a border-crossing prevention controller (61a) to prohibit the working vehicle (1) from traveling beyond a borderline (BD) of the agricultural field (H), a determiner (61b) to determine whether or not to permit a cross-border state in which the working vehicle (1) remotely operated by a remote controller (90) crosses the borderline (BD), a border-crossing permitter (61c) to permit the cross-border state if the determiner (61b) determines to permit the cross-border state, and a limiter (61d) to limit content of an operation of the working vehicle (1) in the cross-border state.