Combine Harvester Route Planning With Reference Line Thresholds
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Solution Overview
Problem
Conventional automatic traveling systems for work vehicles, such as combine harvesters, often create short automatic traveling routes when a relatively short side of the field or unworked region is selected as the reference line, leading to inefficient travel and reduced work efficiency.
Innovation Solution
The system sets a reference line based on a side of the field or unworked region only if it meets a predetermined side length threshold, ensuring that the automatic traveling route is parallel to the reference line and of sufficient length to facilitate smooth operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a relatively short side of the field or unworked region is selected as the reference line, then the automatic traveling route can be created, but the route length becomes short which prevents smooth automatic traveling and reduces work efficiency
Solution Approach 1:
The system changes the parameter of reference line selection by introducing a minimum length threshold. Instead of accepting any side as a reference line, the system filters out sides shorter than the predetermined threshold, thereby ensuring that only sufficiently long reference lines are used to generate automatic traveling routes that maintain smooth operation and high work efficiency.
2Area of stationary object
If the automatic traveling route connects straight routes and circles around the field, then the route can cover the entire field, but the straight route length becomes short when approaching the inner side which prevents smooth automatic traveling
Solution Approach 1:
The system applies a minimum length constraint parameter to the straight routes generated in the automatic traveling path. When generating routes that connect straight segments and circular arcs, the system evaluates each straight route segment and excludes or modifies segments that fall below the predetermined length threshold, ensuring that all straight routes maintain sufficient length for smooth automatic traveling while still achieving complete field coverage.
Data Source
AI summary
[Problem] To provide an automatic traveling method, a work vehicle, and an automatic traveling system that enable to proceed automatic traveling smoothly without creating a short automatic traveling route.[Solution] A combine harvester 1 includes a control device 30 and a portable terminal 40. The control device 30 functions as an automatic traveling control unit 35 that performs automatic traveling on the basis of a created automatic traveling route 64. The portable terminal 40 is provided with a control device 41, and the control device 41 functions as a route creation unit 53 that creates, when a field outline 60 or an outline of an unworked region 61 is set as a target outline and one side that constitutes the target outline is set as a reference line 63, the automatic traveling route 64 as a route that is parallel to the reference line 63. The control device 41 also functions as a reference line setting unit 52 that sets, when one side that constitutes the target outline is equal to or more than a predetermined side length threshold, the one side as the reference line 63.