Work Area Obstruction Mapping for Ground-Engaging Machines
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Solution Overview
Problem
Existing work machines face challenges in detecting and addressing underground or surface obstructions during ground disturbing operations, which can lead to damage and improper operation, such as misalignment and incorrect planting depth.
Innovation Solution
A system and method for mapping obstructions in a work area using sensors to detect and georeference obstacles, both on the surface and below ground, and updating a shared data structure in real time, allowing for automated control and intervention based on obstruction characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If ground disturbing operations are performed in work areas with rocks or hard/dense objects, then work operations can be conducted, but the work machines may be damaged or malfunction
Solution Approach 1:
The system performs preliminary detection of obstructions using sensors (vibration sensors, perception sensors) before the work implement contacts them. The controller identifies obstruction locations and maps them to a data structure in advance, allowing the work machine to take preventive actions such as adjusting implement depth or alerting the operator before damage occurs.
Solution Approach 2:
The system continuously monitors vibration signals from sensors during operation and provides feedback to the controller. When obstruction characteristics are detected in the vibration patterns, the system responds by updating the obstruction map and can trigger automated control actions or operator alerts, creating a closed-loop feedback system that prevents damage.
2Measurement precision
If vibration sensors are used to detect obstructions, then real-time detection is achieved, but false detections may occur due to normal operational vibrations
Solution Approach 1:
The system analyzes multiple parameters from vibration signals simultaneously, including frequency, amplitude, and temporal patterns. By examining changes in these parameters rather than relying on a single threshold, the controller can distinguish between normal operational vibrations and obstruction-related vibrations, reducing false detections while maintaining detection accuracy.
Solution Approach 2:
The controller acts as an intermediary that processes raw vibration sensor data and interprets it in the context of current work operations. It compares detected vibration patterns against expected operational patterns and only triggers obstruction detection when the patterns significantly deviate, serving as a mediator between the sensor and the detection decision.
3Measurement precision
If multiple sensors are deployed for comprehensive obstruction detection, then detection coverage is improved, but system complexity increases
Solution Approach 1:
The system employs sensors that serve multiple functions: vibration sensors detect both surface and subsurface obstructions through vibration analysis, and perception sensors can identify both above-ground and below-ground objects. This multi-functionality allows comprehensive detection coverage without proportionally increasing system complexity, as the same sensor hardware performs multiple detection tasks.
Solution Approach 2:
The controller merges data from multiple sensor types (vibration sensors, perception sensors, position sensors) into a unified obstruction detection system. By combining sensor inputs and processing them through a single control algorithm, the system achieves comprehensive detection coverage while avoiding the complexity of separate processing systems for each sensor type.
4Reliability
If real-time obstruction mapping is implemented, then operational safety is improved, but data processing requirements increase
Solution Approach 1:
The system extracts only the essential obstruction-related information from sensor data for real-time mapping, rather than processing all raw sensor data. The controller identifies and extracts key parameters such as obstruction location, depth, and type, storing only this critical information in the data structure while discarding redundant data, thereby reducing processing energy requirements.
Solution Approach 2:
The system performs partial processing of sensor data by focusing computational resources on analyzing only those vibration patterns and sensor inputs that indicate potential obstructions. Rather than continuously processing all sensor data at full resolution, the system activates intensive processing only when obstruction indicators are detected, reducing overall energy consumption while maintaining safety.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables real-time detection and mapping of obstructions, preventing damage and ensuring accurate operations by allowing for automated control and sharing of obstruction data across multiple work machines.
Implementation Method 1
one or more sensors may comprise a vibration sensor, wherein at least one of the one or more obstructions is detected via output signals from the vibration sensor
Data Source
AI summary
A system and method are provided for mapping obstructions in a work area traversed by a work machine such as a sprayer, combine or other machine having a ground-engaging work implement. While the work machine traverses the work area, and via output signals from sensors associated with the work machine, obstructions are detected at (e.g., using perception sensing on a combine, etc.) and/or below (e.g., using vibration sensing on a planter, dozer, etc.) a ground surface. A mapped data structure associated with the work area is accordingly modified, wherein a sensed location and one or more identified characteristics for each respective one of the detected obstructions are mapped to corresponding locations in the mapped data structure. The sensors may include vibration sensors or implement actuator position sensors to detect an obstruction contacted by the work machine, and/or perception sensors to detect obstructions on the surface/within a field of view.