Autonomous Field Route Rotation for Constant Straight-Path Spacing

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Solution Overview

Problem

Existing route generation methods for autonomous work vehicles fail to maintain appropriate interval spacing between straight routes when the orientation of the target route changes, leading to improper travel and work performance.

Innovation Solution

A route generation method that maintains equal interval spacing between straight routes by rotating the entire set of routes as a whole when the orientation of the target route changes, ensuring consistent spacing regardless of orientation adjustments.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If the orientation of the target route is changed to adapt to field conditions, then the adaptability of the work vehicle is improved, but the interval spacing between straight routes changes and no longer matches the work width

Engineering Contradiction:

Improveadaptability to field conditionsVSAvoidinterval spacing between straight routes

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent merges the reference line and multiple straight routes into a single integrated route group that is rotated as one unit. When orientation change is required, the entire group (reference line plus all straight routes) is rotated together, ensuring that the interval spacing between straight routes remains constant and matches the work vehicle's width, thus resolving the contradiction between adaptability and spacing precision.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent implements dynamic orientation adjustment by allowing the target route to be rotated based on field conditions and work vehicle status. The system can change the orientation angle of the entire route group while maintaining the fixed interval spacing, enabling the work vehicle to adapt to different field conditions without compromising the precision of route spacing.

Inventive Principle:

Principle #15Dynamics

2Ease of operation

If the orientation of straight routes is changed to match field conditions, then the work vehicle's alignment with the field is improved, but the interval spacing between routes is distorted

Engineering Contradiction:

Improvealignment with field conditionsVSAvoidequal interval spacing

Core Design Contradiction:

Ease of operationVSManufacturing precision

Solution Approach 1:

The patent combines the reference line and all straight routes into a unified route group that maintains fixed relative positions. When orientation adjustment is needed, the entire group is rotated together, preserving the equal interval spacing between straight routes while achieving proper alignment with field conditions, thus resolving the contradiction between ease of operation and manufacturing precision.

Inventive Principle:

Principle #5Merging (Combining)

Solution Approach 2:

The patent changes the orientation angle parameter of the entire route group while keeping the interval spacing parameter constant. This allows the system to adjust the orientation to match field conditions without altering the critical interval spacing between straight routes, maintaining both operational ease and precision.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS12524012B2Route generation method, route generation system, and route generation program

Publication Date: 2026.01.13 YANMAR HLDG CO LTD

AI summary

The generation processing part generates the target route including a plurality of straight routes arranged at equal interval spacing, based on the reference line which passes through point A and point in the field. In a case of changing the orientation of the target route, the change processing part maintains the interval spacing of each of the plurality of straight routes.