Playback Route Speed Parameters for Accurate Autonomous Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing playback data systems for autonomous working machines do not adequately reflect vehicle speed during teaching creation, leading to reduced following accuracy, especially at high speeds or on complex routes, resulting in incomplete work areas.
Innovation Solution
A playback data creation device that converts a manually traveled teaching trajectory into a playback route with registered speed-related control parameters, creating playback data for autonomous travel by setting nodes and edges based on acquired speed parameters, improving following accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If the Pure pursuit method is used for route following, then the working machine can autonomously travel along a preset route, but the following accuracy becomes low when traveling at high speed or on a complicated route
Solution Approach 1:
The patent changes the key parameter LAD (look ahead distance) from a constant value to a variable that adapts based on the working machine's speed and route characteristics. By dynamically adjusting LAD, the system maintains high following accuracy across different operating conditions - using shorter LAD at high speeds to prevent overshooting and longer LAD at lower speeds for smoother tracking, thereby resolving the contradiction between automation and precision.
2Device complexity
If a short LAD is set in the Pure pursuit method, then the algorithm is simpler to implement, but overshooting or vibration occurs in the travel trajectory
Solution Approach 1:
The patent applies dynamics by making LAD a dynamic parameter that changes based on the working machine's current speed and acceleration state rather than using a fixed short value. This dynamic adjustment prevents overshooting and vibration while maintaining algorithmic simplicity, as the system automatically adapts LAD to current operating conditions without requiring complex control algorithms.
3Stability of the object's composition
If a long LAD is set in the Pure pursuit method, then the travel trajectory is smoother, but shortcuts occur at and around corners of the target route
Solution Approach 1:
The patent changes LAD from a long fixed value to a speed-dependent variable. When the working machine travels at lower speeds approaching corners, a longer LAD maintains smooth trajectory. When speed increases or when approaching sharp turns, LAD automatically shortens to prevent shortcuts and maintain route following precision, thus resolving the contradiction between smoothness and precision.
4Device complexity
If playback data does not reflect vehicle speed during teaching creation, then the data structure is simpler, but the following accuracy is reduced especially at high speeds
Solution Approach 1:
The patent applies preliminary action by pre-calculating and storing speed-related control parameters during the teaching phase. The system records not only the trajectory but also the speed profile and acceleration characteristics at each point along the route. This preliminary capture of speed data enables the autonomous system to later adjust LAD and other parameters based on actual operating conditions, maintaining high following accuracy without complicating the playback data structure.
Data Source
AI summary
A travel trajectory of a working machine that has traveled a working route from a start to a goal by manual operation is acquired as a teaching trajectory. A control parameter related to a speed of the working machine is acquired on the teaching trajectory. The teaching trajectory from the start to the goal is converted, based on the control parameter, into a playback route for the working machine to autonomously travel, the playback route including two or more nodes and edges that connect the nodes, to thereby create playback data in which the control parameter is registered in each of the edges on the playback route.