Autonomous Field Routing for Non-Parallel Boundary Coverage
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Solution Overview
Problem
In irregularly shaped farm fields, overlapping work paths between inner and outer peripheral regions reduce work efficiency due to overlapping work paths, especially when opposing sides of the field are not parallel.
Innovation Solution
An autonomous travel system that sets first and second work regions in the farm field, determines a work direction, and generates a travel route for the work vehicle to minimize overlapping paths by aligning the vehicle's direction with parallel sides of the field, using a work vehicle with a positioning system and operation terminal to set and generate efficient travel routes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a work vehicle travels in an irregularly shaped farm field using conventional route generation, then the vehicle can complete work in the field, but overlapping work paths are generated between inner and outer peripheral regions, reducing work efficiency
Solution Approach 1:
The patent divides the farm field into multiple work regions (first work region, second work region, third work region) based on the vehicle's travel direction and field geometry. By segmenting the field into regions that the vehicle processes sequentially in different directions, the system prevents overlapping work paths and ensures complete coverage without redundancy, thereby improving work efficiency.
2Adaptability or versatility
If the farm field has irregular shape with non-parallel opposing sides, then the field can accommodate diverse agricultural layouts, but overlapping regions are generated between inner and outer peripheral work regions
Solution Approach 1:
The patent dynamically adjusts the work region boundaries and vehicle travel directions based on the actual geometry of the irregular field. The system determines multiple work regions and alternates travel directions (first direction, second direction, third direction) according to each region's specific shape and position, allowing the vehicle to adapt to non-parallel sides and irregular layouts while preventing overlapping work paths.
3Device complexity
If conventional route generation is used in irregular fields, then simple routing logic is maintained, but overlapping work paths occur between adjacent regions
Solution Approach 1:
The patent performs preliminary determination of multiple work regions and their boundaries before generating the actual travel route. By pre-establishing the first work region, second work region, and third work region with defined boundaries based on field geometry, the system creates a structured framework that guides subsequent route generation, preventing overlapping paths while maintaining manageable routing logic.
Data Source
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AI summary
A farm field setting processing unit (212) sets an inner peripheral work region (F2) and an outer peripheral work region (F1) in a farm field (F) having a shape where a right side (F2b) and a left side (F2d) that face each other are not parallel to each other. A work-direction setting processing unit (214) sets a work direction for a work vehicle (10) within the inner peripheral work region (F2). A path setting processing unit (216) sets, within the inner peripheral work region (F2), a travel path (Rb1) as a work initiating path at a location adjacent to the right side (F2b) that is parallel to said work direction, from among a plurality of sides that define the inner peripheral work region (F2). On the basis of the work direction and the travel path (Rb1), a path generation processing unit (218) generates a travel path (Rb) for the work vehicle (10) within the inner peripheral work region (F2).