Field Route Generation for Narrow Headland Turns
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Autonomous work vehicles face challenges in generating appropriate target routes in fields with narrow headland areas, where insufficient turning space causes deviation from the field during turns.
Innovation Solution
A route generation method that includes generating multiple straight work routes within the crop area and continuous movement routes in adjacent non-work areas, allowing the vehicle to navigate through the field without requiring a 180-degree turn in the headland, by creating alternative routes that guide the vehicle to each work route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the work vehicle makes a 180-degree turn in the headland area to finish work of the first crop row and enter the next second crop row, then the work vehicle can complete the work transition, but the work vehicle may deviate out of the field when the headland area is narrow and sufficient turning area cannot be secured
Solution Approach 1:
The patent segments the traditional single 180-degree turn operation into multiple smaller turning segments distributed across non-work areas surrounding the field. Instead of requiring one large turn in the headland area, the vehicle performs sequential turns at different locations in the non-work areas, completing the directional change while maintaining position within the field boundaries.
Solution Approach 2:
The patent extends the turning operation from the two-dimensional headland area into the third spatial dimension by utilizing the surrounding non-work areas. The vehicle performs turns in a expanded spatial context around the field rather than being constrained to the limited headland area, effectively using additional space to resolve the turning conflict.
2Device complexity
If conventional route generation techniques are used in fields with narrow headland areas, then the route generation process is simple, but it is difficult to generate an appropriate target route that prevents deviation
Solution Approach 1:
The patent implements a dynamic route generation approach that adapts to different field geometries and headland area conditions. The system automatically determines whether the headland area is sufficient for traditional turns and switches between different turning strategies (single 180-degree turn vs. multiple segmented turns) based on the available space, making the route generation process adaptable to various field configurations.
Solution Approach 2:
The patent changes key parameters of the route generation process, including turning radius, turn location, and number of turns, based on the headland area dimensions. When the headland area is narrow, the system modifies these parameters to perform multiple smaller turns in surrounding non-work areas rather than one large turn, thereby adapting the route to fit constrained spaces.
3Reliability
If the work vehicle performs multiple turns in narrow headland areas, then the vehicle can remain within the field, but the work time and travel distance increase
Solution Approach 1:
The patent performs preliminary route planning that pre-calculates the optimal sequence of turns and travel paths through non-work areas. By planning the multi-segment turn route in advance rather than executing ad-hoc turns, the system minimizes unnecessary travel distance and optimizes the sequence of operations, reducing the time penalty associated with multiple turns.
Data Source
Figure 1
Figure 2
Figure 3
AI summary
[Problem] To provide a route generation method, a route generation device, and a route generation program capable of appropriately generating a target route in a field where a sufficient turning area cannot be secured. [Solution] A route generation method executes generating a plurality of work routes R1 where a work vehicle 10 travels straight in a first direction Da that is a travel direction of the work vehicle 10, in a work area F1 where a crop V is arranged, generating a movement route R3 that is a route continuous with the work route R1 and that includes a straight route R3b where the work vehicle 10 travels straight, in a headland area Fa adjacent to the work area F1 in the first direction Da, in non-work areas surrounding the work area F1, where the crop V is not arranged, and generating a movement route R4 that is a single route continuous with the movement route R3 and that guides the work vehicle 10 to each of the plurality of work routes R1.