Work Vehicle Obstacle Sensing Across Blind Detection Zones
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Solution Overview
Problem
Conventional automatic traveling systems for work vehicles experience instability due to blind areas between detection zones, leading to unpredictable deceleration and acceleration when obstacles cross these zones, compromising safety and efficiency.
Innovation Solution
An automatic traveling system that acquires and processes detection information from multiple sensors to continuously restrict travel when an obstacle is detected within a first area and determines if it will enter a second detection area from a non-detection area, maintaining deceleration or stopping as necessary to prevent state changes in vehicle operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If multiple detection areas are set around the work vehicle to detect obstacles, then the detection coverage is improved, but blind areas are created between detection areas causing unstable traveling
Solution Approach 1:
The determination processing part performs preliminary assessment by predicting whether an obstacle will enter the second detection area from the non-detection area. This predictive action allows the system to maintain travel restriction proactively before the obstacle actually enters the detection area, preventing unstable traveling transitions.
Solution Approach 2:
The determination processing part acts as an intermediary between the detection processing part and the traveling processing part. It receives detection information, analyzes the obstacle's trajectory relative to non-detection areas, and makes decisions about continuing travel restriction, thereby bridging the gap created by blind areas between detection zones.
2Reliability
If the work vehicle transitions to deceleration travel upon detecting an obstacle, then safety is improved, but unstable transitions between deceleration and normal travel occur when obstacles pass through non-detection areas
Solution Approach 1:
The system implements feedback by continuously monitoring the obstacle's position and predicting its future movement. The determination processing part uses real-time detection information to assess whether the obstacle will enter the second detection area, and this feedback loop allows the traveling processing part to maintain deceleration travel restriction consistently, preventing oscillating transitions between travel states.
3Device complexity
If detection areas are positioned at fixed locations around the work vehicle, then the system complexity is reduced, but non-detection areas are created causing unpredictable vehicle behavior
Solution Approach 1:
Instead of adding more sensors to eliminate blind areas, the system performs preliminary computational analysis to predict obstacle trajectories. The determination processing part calculates whether obstacles will enter future detection areas based on current position and movement trends, allowing fixed sensor positions to effectively cover dynamic threat zones.
Data Source
AI summary
An acquisition processing part acquires detection information from a first obstacle sensor which detects an obstacle in a first detection area, and a second obstacle sensor which detects an obstacle in a second detection area. When an obstacle is detected in the first detection area, a traveling processing part executes travel restriction of a work vehicle. When the obstacle enters a non-detection area from the first detection area in a state in which the work vehicle is under the travel restriction, a determination processing part determines whether or not the obstacle further enters the second detection area from the non-detection area. When it is determined that the obstacle enters the second detection area from the non-detection area, the traveling processing part continues the travel restriction of the work vehicle.