Harvester Route Control for Unworked Area Reference Lines
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Solution Overview
Problem
Current harvesters require skilled manual teaching traveling to create reference lines for automated traveling, and calculating traveling routes for unworked areas in large fields is time-consuming and requires high-performance computers.
Innovation Solution
A harvester that calculates an initial reference line parallel to the unworked area's side, allowing automated traveling without teaching traveling, and includes manual turning transition traveling to switch between reference lines, with features for automatic detection of borderline approaches and alarm systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If manual teaching traveling is used to create reference lines for automated traveling, then automated traveling can be achieved, but it requires good skill and experience and increases operational complexity
Solution Approach 1:
The harvester automatically creates reference lines using its own traveling trajectory data stored in the storage unit. The reference line creation unit generates reference lines based on the machine's actual path through the field, eliminating the need for manual teaching operations and reducing skill requirements while maintaining automated traveling capability
Solution Approach 2:
The system performs preliminary traveling to collect trajectory data before automated harvesting begins. The storage unit stores this preliminary trajectory information, which is then used by the reference line creation unit to establish reference lines for subsequent automated operations, preparing the system in advance to reduce operational complexity
2Area of stationary object
If traveling routes for unworked areas are calculated in large fields, then complete coverage is achieved, but calculation time becomes excessive and requires high-performance computers
Solution Approach 1:
The field is divided into worked areas and unworked areas, with reference lines created only for the unworked areas that need to be harvested. The system segments the reference line creation process by focusing computational resources on generating reference lines specifically for unworked regions rather than calculating routes for the entire field, reducing calculation time while ensuring complete coverage of areas requiring harvesting
Solution Approach 2:
The system creates simplified reference line representations based on the actual traveling trajectory data. Instead of performing complex route calculations for the entire field, the reference line creation unit generates simplified reference lines that replicate the essential path information from stored trajectory data, reducing computational requirements while maintaining effective coverage of unworked areas
Data Source
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AI summary
A harvester includes an inner side map creating section 422b creating inner side map data indicative of a polygonal shape of an unworked area located inside an outer circumference area, the outer circumference area being created in an outer circumference of a field with a circumference reaping work traveling, an initial reference line calculating section 411 calculating from the inner side map data an initial reference line which lies parallel with one side of the unworked area, a subsequent reference line calculating section 412 calculating a subsequent reference line subsequent to the initial reference line, an automated traveling control section 512 executing the automated traveling based on a traveling route comprised of the initial reference line and the subsequent reference line, and a manual traveling control section 511 executing, based on a manual operation signal, a turning transition traveling for transition from automated traveling using the foregoing traveling route to automated traveling using subsequent traveling route.