Autonomous Field Route Changes for Oriented Stop Positions
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing autonomous traveling systems for agricultural work vehicles do not consider the orientation of the vehicles when moving to replenishment or retreat positions, leading to decreased work efficiency due to inefficient route changes.
Innovation Solution
A route setting method and device that includes a status confirmation part and a change route setting part to create a change route for the vehicle to move to a stop position, ensuring the direction of travel aligns with a set stop direction, thereby improving work efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work vehicle moves to the replenishment position or retreat region without considering orientation, then the route change can be made quickly, but the work efficiency of the worker decreases due to improper vehicle orientation
Solution Approach 1:
The system preliminarily determines the optimal stop position and orientation for the work vehicle before the actual route change occurs. By calculating in advance where the vehicle should stop and what orientation it should have, the system ensures that when the vehicle arrives at the replenishment position or retreat region, it is already properly oriented for efficient operation, thus improving work efficiency without adding significant complexity to the route planning process
Solution Approach 2:
The route setting device integrates multiple functions into a single system: it not only plans the route from the current position to the destination but also simultaneously determines the optimal stop position and vehicle orientation. This multi-functional approach consolidates what would otherwise be separate planning tasks into one unified process, improving productivity while managing complexity through integration
2Speed
If the route is changed from the work route to the replenishment route immediately upon receiving an instruction, then the response time is reduced, but the processing time for creating the change route increases the delay
Solution Approach 1:
The system performs preliminary calculations to determine the optimal stop position and orientation along the change route before the vehicle actually begins traveling. By pre-computing these parameters based on the current position and destination, the system reduces the processing delay during actual route execution while maintaining quick response to instructions
Solution Approach 2:
The system continuously updates the change route information as the vehicle moves along the work route, maintaining ready-to-use route data without interrupting the vehicle's continuous movement. This ensures that when the vehicle needs to change to the replenishment route, the transition is smooth and rapid, minimizing both response time and processing delay
3Device complexity
If the work vehicle stops immediately when the route changes from the work route to the change route, then the route transition is simplified, but the work efficiency of the work vehicle decreases
Solution Approach 1:
The system preliminarily determines the optimal stop position along the change route where the vehicle should pause before proceeding to the final destination. This pre-planned stopping point allows the vehicle to maintain momentum and continue moving rather than stopping immediately, thereby simplifying the route transition while preserving work vehicle efficiency
Solution Approach 2:
The system dynamically adjusts the route transition by incorporating an optional stop position that adapts to the vehicle's current state and the task requirements. Rather than a fixed immediate stop or continuous movement, the dynamic approach allows the vehicle to stop at the optimally determined position if needed, balancing route transition simplicity with work vehicle efficiency
Data Source
AI summary
A route setting device is provided with a status confirmation part and a change route setting part. The status confirmation part receives, with respect to a work vehicle that is moving along a preset work route in a field, an instruction by which the work vehicle moves to a stop position not included in the work route, and acquires the position of the work vehicle. The change route setting part creates a change route along which the work vehicle moves to the stop position on the basis of the instruction. The starting point of the change route represents the position of the work vehicle at a time when a waiting time for change equaling or exceeding a delay time set on the basis of the processing time for creating the change route has elapsed after receiving the instruction.