Work Vehicle Route Regeneration From Completed Path Feedback
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Solution Overview
Problem
Conventional automatic traveling systems for work vehicles face issues when setting information such as work width and lap width is changed, leading to unworked areas or excessive overlap between work areas, as they regenerate target routes based on a reference line, causing inaccuracies in path adjustment.
Innovation Solution
The system generates a new target route by referencing the previously completed work route when setting information changes, allowing the work vehicle to adjust its path accordingly and maintain accurate area coverage.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the target route is regenerated based on the reference line when setting information is changed, then the system can adapt to new parameters, but unworked areas are generated or overlap amount becomes larger than the set lap width
Solution Approach 1:
Instead of generating the target route from the reference line (conventional approach), the patent inverts the approach by generating the target route from the work-completed route. This inversion ensures that the new target route is based on actual work progress rather than a fixed reference, preventing unworked areas and excessive overlap when setting information changes.
Solution Approach 2:
The system uses feedback from the work-completed route (actual work progress) to regenerate the target route. By continuously referencing the actual work completed rather than a predetermined reference line, the system adjusts the target route to match real-world conditions, ensuring accurate path following and proper overlap control.
2Adaptability or versatility
If the target route is regenerated using the conventional reference line method, then the system can respond to parameter changes, but the work coverage accuracy deteriorates
Solution Approach 1:
The patent inverts the conventional approach by using the work-completed route as the basis for regeneration instead of the reference line. This ensures that the regenerated target route maintains reliability in work coverage accuracy while still adapting to parameter changes.
Solution Approach 2:
The system performs preliminary registration of the work-completed route during the work process. This preliminary action ensures that when parameter changes occur, the regeneration can immediately reference accurate work progress data, maintaining work coverage accuracy without requiring re-surveying or re-positioning.
3Adaptability or versatility
If the target route is regenerated based on the reference line, then the system can handle setting changes, but the overlap control becomes inaccurate
Solution Approach 1:
The system uses feedback from the actual work-completed route to control overlap. By continuously monitoring where work has actually been completed and using this information to regenerate the target route, the system maintains accurate overlap control that reflects real-world conditions rather than theoretical reference line calculations.
Solution Approach 2:
The patent dynamically adjusts the target route parameters based on changes in work width and lap width settings. By combining these parameter changes with reference to the work-completed route, the system maintains accurate overlap measurement even as operational parameters are modified during work.
Data Source
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Figure 5A~5B
AI summary
[Problem] To provide an automatic traveling method, an automatic traveling system, and an automatic traveling program capable of causing a work vehicle to automatically travel in an appropriate manner even when setting information related to automatic traveling is changed. [Solution] A vehicle control device 11 causes a work vehicle 10 to automatically travel in accordance with a target route R1 set in advance. The generation processing unit 713 generates, in a case where setting information related to automatic traveling is changed after the work vehicle 10 starts automatic traveling corresponding to the target route R1, a target route R2 with reference to a work-completed route along which the work vehicle 10 has performed work immediately before. The vehicle control device 11 causes the work vehicle 10 to automatically travel in accordance with the target route R2.