Autonomous Combine Turning Speed Control Near Field Edges
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Solution Overview
Problem
Conventional autonomous travel systems for work vehicles face inefficiencies when traveling near the edges of a field, as they often stop and require manual intervention to prevent going out of the field, leading to decreased work efficiency.
Innovation Solution
An autonomous travel method and system that adjusts the vehicle speed based on the distance from a reference point to the edge of the work area, setting a slower speed for routes where the distance is within a predetermined limit to prevent the vehicle from leaving the field, while maintaining autonomous operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work vehicle maintains a constant vehicle speed during autonomous travel near field edges, then the work efficiency is improved, but the vehicle may go out of the field boundary
Solution Approach 1:
The patent applies dynamics by making the vehicle speed variable rather than constant. The autonomous travel control device dynamically adjusts the vehicle speed based on the distance to the field boundary, using a speed reduction ratio that increases as the vehicle approaches the edge. This allows the vehicle to maintain higher speeds when safely distant from boundaries while automatically slowing down near edges, thus improving both work efficiency and boundary compliance.
Solution Approach 2:
The patent changes the speed parameter dynamically based on spatial conditions. By calculating the distance from the vehicle to the field boundary and using this to determine an appropriate speed reduction ratio, the system adjusts the vehicle speed parameter in real-time. This parameter change strategy enables the vehicle to optimize its speed according to its position relative to field edges, resolving the contradiction between maintaining high speed for efficiency and reducing speed for safety.
2Reliability
If the work vehicle reduces vehicle speed when near field edges, then the field boundary compliance is improved, but the work efficiency decreases
Solution Approach 1:
The patent applies local quality by implementing different speed control strategies for different spatial locations within the field. Instead of uniformly reducing speed across the entire field, the system selectively applies speed reduction only in local areas near the field boundaries. The speed reduction ratio is calculated based on the local distance to the boundary, allowing the vehicle to maintain optimal speed in safe zones while applying caution only where necessary near edges.
Solution Approach 2:
The system dynamically adjusts the speed reduction ratio based on real-time distance measurements to field boundaries. When the vehicle is far from edges, the speed reduction ratio is minimal or zero, maintaining high work efficiency. As the vehicle approaches boundaries, the speed reduction ratio increases dynamically, ensuring boundary compliance only when necessary. This dynamic adjustment minimizes the overall impact on work efficiency while maintaining safety.
3Reliability
If the work vehicle stops autonomously when approaching field edges, then the field boundary compliance is improved, but the autonomous travel continuity is interrupted
Solution Approach 1:
The patent implements continuity of useful action by maintaining continuous autonomous travel without stopping at field edges. Instead of halting the vehicle when approaching boundaries, the system continuously adjusts the vehicle speed to an appropriate reduced level, allowing the autonomous travel to proceed uninterrupted. This eliminates the time loss associated with stopping and restarting while still ensuring the vehicle maintains proper distance from field boundaries.
Solution Approach 2:
The system uses dynamic speed adjustment as a continuous control mechanism rather than discrete stop-start commands. The autonomous travel control device continuously calculates the distance to field boundaries and dynamically modifies the vehicle speed accordingly, creating a smooth, continuous deceleration and acceleration pattern that maintains both boundary compliance and travel continuity, thereby eliminating unnecessary travel interruptions.
Data Source
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AI summary
[Problem] To provide an autonomous travel system, method, and program capable of preventing the work vehicle traveling autonomously near the edge of the work area from going out of the field. [Solution] A traveling processor 111 causes a combine 1 to perform an autonomous travel following a target route including a turning route in a field. An acquisition processor 113 acquires a distance from a turning center point of the turning route to an edge of the field. A setting processor 112 sets a speed of the combine 1 on a turning route Rb2 where the distance from the turning center point to the edge of the field is not more than a predetermined distance to a predetermined speed smaller than a speed of the combine 1 on a turning route Rb1 where the distance from the turning center point to the edge of the field exceeds the predetermined distance.