Work Vehicle Turning Route Generation for Headland Constraints

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Solution Overview

Problem

Conventional methods for generating target routes for work vehicles in agricultural fields fail to meet user demands, as they either require large turning regions or result in the vehicle stepping into worked areas, compromising efficiency and work quality.

Innovation Solution

A route generation method that allows users to select a turning mode for work vehicles in headland regions, generating specific turning routes based on user preferences to minimize turning region size and prevent entry into worked areas.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Object-affected harmful factors

If the first turning mode is used for work vehicle turning in headland region, then the work vehicle can turn without stepping into worked region, but the turning region required increases

Engineering Contradiction:

Improvestepping into worked regionVSAvoidturning region

Core Design Contradiction:

Object-affected harmful factorsVSArea of stationary object

Solution Approach 1:

The system dynamically selects between first turning mode and second turning mode based on real-time conditions such as headland region size, work vehicle position, and whether the outer peripheral region has been worked. This dynamic adaptation allows the system to choose the appropriate turning mode for each specific situation, resolving the contradiction between avoiding worked regions and minimizing turning region requirements.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the turning mode parameter (first mode or second mode) based on the state of the outer peripheral region. When the outer peripheral region has not been worked, the system switches to second turning mode to minimize turning region. When it has been worked, the system switches to first turning mode to avoid stepping into worked regions. This parameter change resolves the technical contradiction adaptively.

Inventive Principle:

Principle #35Parameter changes

2Area of stationary object

If the second turning mode is used for work vehicle turning in headland region, then the turning region can be reduced, but the work vehicle steps into worked region upon turning

Engineering Contradiction:

Improveturning regionVSAvoidstepping into worked region

Core Design Contradiction:

Area of stationary objectVSObject-affected harmful factors

Solution Approach 1:

The system dynamically adjusts turning mode selection based on the working state of the outer peripheral region. By continuously monitoring whether the outer peripheral region has been worked, the system can switch between second turning mode (for minimal turning region when safe) and first turning mode (for avoiding worked regions when necessary), thus resolving the contradiction dynamically.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes the turning mode parameter based on the condition of the outer peripheral region. When the outer peripheral region is unworked, the parameter switches to second turning mode to minimize turning region. When the outer peripheral region is worked, the parameter switches to first turning mode to avoid contamination, resolving the contradiction through parameter adaptation.

Inventive Principle:

Principle #35Parameter changes

3Ease of manufacture

If conventional technology generates target route by setting turning route near inner region, then the turning route is generated, but the work vehicle steps into worked region in outermost peripheral region

Engineering Contradiction:

Improveroute generationVSAvoidstepping into worked region

Core Design Contradiction:

Ease of manufactureVSObject-affected harmful factors

Solution Approach 1:

The system uses feedback from the working state of the outer peripheral region to determine the appropriate turning mode. By monitoring whether the outer peripheral region has been worked and using this feedback information, the system can select the turning mode that prevents stepping into worked regions, thus resolving the contradiction between route generation ease and avoiding worked regions.

Inventive Principle:

Principle #23Feedback

4Productivity

If conventional technology generates target route by setting turning route near boundary, then the work vehicle can work by automatic traveling to the vicinity of the boundary, but the work vehicle steps into worked region in outermost peripheral region

Engineering Contradiction:

Improveautomatic traveling to boundaryVSAvoidstepping into worked region

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The system uses feedback about the working state of the outer peripheral region to dynamically select turning modes. This feedback mechanism allows the system to maintain high productivity by using second turning mode when safe, while automatically switching to first turning mode when the outer peripheral region has been worked, thus preventing stepping into worked regions.

Inventive Principle:

Principle #23Feedback

Data Source

PatentUS20230255129A1Route Generation Method, Route Generation System, And Route Generation Program

Publication Date: 2023.08.17 YANMAR HLDG CO LTD

AI summary

A generation processing section generates an inner work route on which a work vehicle is caused to travel in an inner region of a field and a headland work route on which the work vehicle is caused to travel in a headland region around the inner region of the field. A decision processing section decides a turning mode of a turning route on which the work vehicle is caused to turn and travel in the headland region on the basis of an operator's selection operation. A generation processing section generates the turning route for the turning mode decided on the basis of the operator's selection operation in the headland region.