Wheel Loader Rear Detection Control for Ground False Alarms
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Solution Overview
Problem
Conventional automatic stop systems in wheel loaders erroneously detect the ground as an obstacle during scooping-up work, leading to unnecessary alarms and hindering efficient operation.
Innovation Solution
A work machine with a rear detection system that distinguishes between obstacles and ground detection based on the scooping-up work state, employing automatic braking control and notification mechanisms to suppress or stop unnecessary braking and alarms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an automatic stop system with rear detection is implemented, then safety is improved by detecting obstacles, but false detection of ground as obstacle causes unnecessary alarms and braking
Solution Approach 1:
The system changes the detection parameters dynamically based on the work state. When scooping-up work is detected (through work implement position sensors and travel direction sensors), the system adjusts the detection sensitivity and threshold parameters to prevent ground from being misidentified as an obstacle, while maintaining high sensitivity for actual obstacles during normal travel
Solution Approach 2:
The automatic braking control is made dynamic by continuously monitoring work implement position, travel direction, and terrain conditions. The system adaptively adjusts the braking control based on the current work state, suppressing braking when scooping-up work is detected and the detected object is ground, while maintaining active braking control when actual obstacles are detected during normal travel
2Reliability
If automatic braking is activated during rearward travel, then safety is improved, but unnecessary braking occurs during scooping-up work reducing productivity
Solution Approach 1:
The system uses feedback from work implement position sensors, travel direction sensors, and detection sensors to continuously monitor the work state. This feedback loop enables the control section to distinguish between actual obstacles and ground during scooping-up work, providing appropriate braking control that ensures safety while preventing unnecessary interruptions to productive work
Solution Approach 2:
The braking control parameters are dynamically adjusted based on detected work state. During scooping-up work identified by specific sensor patterns, the system modifies braking threshold parameters and control gain to suppress unnecessary braking, while maintaining appropriate braking response for actual obstacles during normal travel operations
3Area of stationary object
If the detection range is increased to cover more area, then obstacle detection capability is improved, but false detection of ground increases
Solution Approach 1:
The system applies different detection quality standards to different spatial zones. In areas where scooping-up work is detected (identified by work implement position and travel direction), the system adjusts detection thresholds and processing to prevent ground from being misidentified, while maintaining high detection sensitivity in other areas where actual obstacles are more likely
Data Source
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AI summary
The wheel loader (10) includes a vehicle main body (1), a rear detection section (71), a vehicle main body angle sensor (72), and a controller (26). The rear detection section (71) detects an obstacle (S) in the rear of the vehicle main body (1). The vehicle main body angle sensor (72) detects the inclination state of the vehicle main body (1). The controller (26) determines the control corresponding to the detection by the rear detection section (71), based on the inclination state of the vehicle main body (1) detected by the vehicle body angle sensor (72).