Work Machine Obstacle Map Deletion Based on Object Movement
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Solution Overview
Problem
Conventional work machines struggle to properly process information about obstacles that have moved out of the sensing range, leading to potential collisions and excessive route planning adjustments.
Innovation Solution
A work machine equipped with an object sensor and a controller that determines the type and movement direction of an object, allowing for the proper deletion of object information from the environment map based on these factors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If obstacle information is deleted from the environment map according to time and sensing frequency, then the environment map can be kept updated, but the risk of collision increases when obstacles move into blind areas
Solution Approach 1:
The patent changes the deletion parameters from fixed time-based to dynamic cause-based. When an obstacle moves into a blind area, the system identifies this specific cause and adjusts the deletion timing accordingly, rather than using uniform time intervals for all obstacles
Solution Approach 2:
The system continuously monitors obstacle positions and sensing status, providing feedback on whether obstacles have moved into blind areas. This feedback loop allows the system to adjust obstacle information retention based on real-time sensing conditions and obstacle behavior
2Reliability
If obstacle information is retained in the environment map for longer periods, then collision avoidance is improved, but route planning becomes excessive and less efficient
Solution Approach 1:
The patent changes the obstacle information retention parameter from a fixed long duration to a dynamic duration based on the cause of sensing loss. When an obstacle moves into a blind area, information is retained longer; when it moves permanently out of range, information is deleted sooner, optimizing route planning efficiency
3Device complexity
If the system cannot identify the cause of obstacles getting out of sensing range, then processing is simplified, but the movement route planning becomes excessive
Solution Approach 1:
The system performs preliminary analysis to identify the cause of obstacles getting out of sensing range before making deletion decisions. By determining whether the obstacle moved into a blind area or permanently left the sensing range, the system avoids excessive route planning adjustments
Data Source
AI summary
A type of an object is determined and the movement direction of the object is predicted on the basis of a sensing result of the object sensed by an on-machine obstacle sensor. Information relating to the object that is the object sensed by the on-machine obstacle sensor and has been determined to have moved to the outside of a sensing range of the on-machine obstacle sensor is immediately deleted from an environment map on the basis of the type and the movement direction of the object. This can properly process information on the object that has gotten out of the sensing range, according to the cause of the object getting out of the sensing range.