Parallel Travel Path Planning for Autonomous Work Vehicles
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Solution Overview
Problem
Existing methods for setting a travel path for unmanned work vehicles are limited to rectangular agricultural fields and cannot operate efficiently in odd-shaped fields or fields with obstacles.
Innovation Solution
A method using a satellite positioning system to determine vehicle positions, set a work area, and create a travel path by inputting vehicle dimensions and implement widths, allowing the vehicle to operate autonomously by setting headlands and overlapping amounts, ensuring efficient operation without unworked areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a teaching run method is used to set a travel path, then the vehicle can operate in rectangular agricultural fields, but the vehicle cannot operate in odd-shaped agricultural fields or fields with obstacles
Solution Approach 1:
The travel path is segmented into multiple straight line sections connected by turning sections. The working area is divided into regions that can be systematically covered by the vehicle moving back and forth. This segmentation allows the vehicle to handle odd-shaped fields by breaking them down into manageable geometric components rather than requiring the entire field to be rectangular.
Solution Approach 2:
The system dynamically adjusts the travel path based on the actual field geometry detected during operation. The control unit modifies turning radii, section lengths, and path configurations in real-time to adapt to obstacles and irregular field boundaries, transforming a static rectangular-path method into a dynamic system that conforms to any field shape.
2Reliability
If the vehicle operates autonomously in odd-shaped fields, then complete coverage without unworked areas is achieved, but the system complexity increases
Solution Approach 1:
The vehicle performs self-positioning using GPS satellite signals and automatically determines its location relative to the travel path. The control unit autonomously calculates adjustments to the path based on detected obstacles and field boundaries, eliminating the need for manual path reconfiguration and ensuring complete coverage without requiring complex external intervention systems.
Solution Approach 2:
The patent replaces complex mechanical path-setting mechanisms with electronic and computational systems. GPS satellite positioning, electronic sensors for obstacle detection, and software-based path calculation algorithms substitute for physical measuring devices and manual path marking systems, reducing mechanical complexity while improving reliability of coverage.
3Ease of operation
If headlands are set with width larger than minimum turning radius, then the vehicle can turn smoothly, but the headland area occupies more space
Solution Approach 1:
The system dynamically adjusts headland width parameters based on the specific turning requirements of each section. Rather than using a fixed headland width, the control unit calculates optimal turning radii for each location considering the vehicle dimensions, implement width, and local field geometry, minimizing headland area while ensuring smooth turning capability.
Solution Approach 2:
Different sections of the field have different headland width requirements. The system applies local quality by setting wider headlands only where necessary for smooth turning based on the vehicle's minimum turning radius, while using narrower transitions in areas where the field geometry allows. This localized optimization reduces overall headland area occupation while maintaining turning smoothness where critical.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables autonomous travel and efficient operation in odd-shaped agricultural fields by creating a travel path that avoids obstacles and ensures complete coverage, improving operational efficiency.
Implementation Method 1
determining positions of the autonomous travel work vehicle with the use of a satellite positioning system
Data Source
AI summary
A parallel travel work system for an autonomous travel work vehicle, an accompanying travel work vehicle accompanying the autonomous travel work vehicle, and a remote controller for communicating with the autonomous travel work vehicle. The remote controller creates a first preset travel path for the autonomous travel work vehicle and a second preset travel path for the accompanying travel work vehicle travels. The autonomous travel work vehicle is equipped with: a position calculator for calculating a position of the autonomous travel work vehicle using a satellite positioning system, a steering actuator for operating a steering device of the autonomous travel work vehicle, a transceiver for communicating with the remote controller, and a control device for controlling the position calculator, the steering actuator and the transceiver. With the control device, the autonomous travelling of the autonomous travel work vehicle is carried out along the first preset travel path.