Combine Harvester Turning Route Validation Near Field Boundaries
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Solution Overview
Problem
Work vehicles, such as combine harvesters, may come too close to the field outline or move out of the field during autonomous turning, necessitating stops or route corrections, reducing efficiency.
Innovation Solution
A route creation method and system that determines and recreates autonomous travel routes to ensure a predetermined positional relationship between the work vehicle and field outline, using route creation and determination units to adjust turning routes as needed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the autonomous travel route is created without considering the positional relationship during turning, then the route creation is simple and fast, but the work vehicle may come too close to the field outline or move out of the field during autonomous turning, requiring stops or corrections
Solution Approach 1:
The patent applies preliminary action by performing route determination before autonomous travel execution. The control unit determines whether the work vehicle can maintain the predetermined positional relationship with the field outline during turning along the autonomous travel route. If the determination fails, the route is corrected in advance, preventing the need for stops or corrections during actual travel, thus maintaining high productivity while ensuring reliability.
2Device complexity
If the autonomous travel route is created without considering the positional relationship during turning, then the route creation process is simple, but the work vehicle may come too close to the field outline or move out of the field during autonomous turning
Solution Approach 1:
The control unit performs preliminary determination of the positional relationship between the work vehicle and field outline during turning. This additional determination step is executed before route execution, ensuring positioning accuracy without significantly complicating the overall route creation process. The determination is integrated into the existing control flow, adding minimal complexity while greatly improving reliability.
3Reliability
If stops or corrections are made during autonomous travel to maintain positional relationship, then positioning accuracy is maintained, but work efficiency is reduced
Solution Approach 1:
The patent eliminates the need for stops or corrections during autonomous travel by performing preliminary determination and route correction before travel begins. The control unit determines positioning feasibility during turning and corrects the route in advance, allowing continuous autonomous travel without interruptions, thus maintaining both high positioning accuracy and work efficiency.
Solution Approach 2:
The control unit uses feedback from the determination process to adjust and correct the autonomous travel route before execution. By incorporating feedback on whether the predetermined positional relationship can be maintained during turning, the system optimizes the route in advance, ensuring both positioning accuracy and continuous operation without stops or corrections during travel.
Data Source
AI summary
In a combine harvester, a terminal-side control device of a portable terminal functions as a route creation unit and a route determination unit. The route creation unit creates an autonomous travel route including a plurality of work routes for performing work in an unworked region of the field and a turning route connecting the two work routes. The route determination unit determines whether the position of the combine harvester during traveling of the combine harvester on the turning route and the position of the field outline satisfy a predetermined positional relationship with regard to the autonomous travel route, confirms the autonomous travel route when it is determined that the predetermined positional relationship is satisfied, and recreates the autonomous travel route to satisfy the predetermined positional relationship when it is determined that the predetermined positional relationship is not satisfied.