Autonomous Work Vehicle Load-Adaptive Implement Control
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Solution Overview
Problem
Existing autonomous work vehicles, such as those described in Patent Document 1, cannot adjust their operation based on varying working environments, leading to excessive load on the electric motor and potential stalling, especially when dealing with different grass densities and lengths, which hinders continuous operation.
Innovation Solution
A work vehicle equipped with an implement unit, a work subject information acquisition section, a load calculation section, a storage section, and a driving section that adjusts the driving conditions based on calculated loads and environmental data, ensuring suitable operation without excessive load on the motor, using sensors and image acquisition to gather accurate information about the work environment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the work vehicle operates with constant working conditions using a fixed driving condition, then the device complexity is reduced, but the reliability deteriorates due to motor stalling in varying environments
Solution Approach 1:
The patent applies dynamics by transitioning from fixed constant working conditions to dynamic adaptive control. The work subject information acquisition section detects real-time environmental parameters (grass density, length), the load calculation section computes required motor load based on detected conditions, and the driving section adjusts driving conditions dynamically. This dynamic adaptation prevents motor stalling across varying environments while maintaining reasonable system complexity through modular functional sections.
Solution Approach 2:
The patent implements feedback control by creating a closed-loop system where work subject information acquisition section continuously monitors environmental conditions, load calculation section processes this information to determine required load, and driving section adjusts motor output accordingly. This feedback mechanism ensures the motor operates within safe load limits under varying conditions, preventing stalling and ensuring continuous reliable operation.
2Ease of operation
If the work vehicle uses simple constant working conditions, then the ease of operation is improved, but the adaptability deteriorates to varying work environments
Solution Approach 1:
The patent applies self-service by enabling the work vehicle to automatically adapt to varying environments without manual intervention. The work subject information acquisition section autonomously detects environmental conditions, the load calculation section automatically computes appropriate load parameters, and the driving section self-adjusts driving conditions based on calculated loads. This self-service capability provides environmental adaptability while maintaining ease of operation, as the system handles all adjustments automatically.
Solution Approach 2:
The patent implements parameter changes by modifying motor driving parameters (voltage, current, speed) based on detected work environment conditions. The load calculation section determines appropriate load parameters from work subject information, and the driving section adjusts motor operating parameters accordingly. This parameter adaptation enables the vehicle to handle varying grass densities and lengths while maintaining simple automated operation.
3Productivity
If the work vehicle applies excessive load to handle dense or long grass, then the productivity is improved by maintaining constant speed, but the reliability deteriorates due to motor stalling
Solution Approach 1:
The patent applies dynamics by enabling the driving section to adjust motor speed and power output dynamically based on real-time load calculations. When dense or long grass is detected, the system automatically reduces speed and adjusts power delivery to match actual load requirements, preventing excessive load application. This dynamic adjustment maintains productivity by optimizing speed for each condition while preventing motor stalling through load-appropriate operation.
Solution Approach 2:
The patent implements feedback control where the load calculation section continuously monitors work conditions and provides feedback to the driving section. When environmental sensors detect dense or long grass, the system calculates the increased load requirement and adjusts motor parameters accordingly through feedback. This prevents excessive load application that would cause stalling while maintaining appropriate work speed for productivity.
Data Source
AI summary
A work vehicle configured to carry out a utility work while traveling autonomously includes an implement unit mounted on a vehicle body for carrying out the work, a work subject information acquisition section for accruing work subject information indicative of information on a work subject, a load calculation section for calculating a load of the work based on the work subject information, a storage section for storing driving conditions of the implement unit in advance, and a driving section configured to retrieve a driving condition stored in the storage section according to the load calculated by the load calculation section and to drive the implement unit based on the retrieved driving condition.