Potential Field Control for Adaptive Work Vehicle Automation

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Solution Overview

Problem

Automation of work vehicle operations in changing environments, such as construction and agricultural sites, is challenging due to the need for precise navigation and material manipulation while avoiding obstacles.

Innovation Solution

A control system utilizing potential fields to determine the state of the work vehicle, select appropriate functions, calculate action vectors, and generate actuator commands for propulsion and implement control, enabling automated navigation and material handling.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Adaptability or versatility

If traditional automation methods are used in changing work environments, then automation can be achieved, but the system lacks adaptability to dynamic conditions and obstacles

Engineering Contradiction:

Improveadaptability to changing environmentVSAvoidautomation capability

Core Design Contradiction:

Adaptability or versatilityVSExtent of automation

Solution Approach 1:

The patent implements a dynamic control system that continuously updates potential field parameters based on real-time sensor data. The potential fields are not static but dynamically adjusted to reflect changing obstacles, terrain conditions, and task requirements, allowing the vehicle to adapt its navigation and implement control on-the-fly without reprogramming

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system changes parameters of the potential field functions dynamically. The potential field parameters (such as attraction strength, repulsion ranges, and field gradients) are modified in real-time based on sensor inputs and vehicle state, enabling the automated system to respond to environmental changes while maintaining high-level automation

Inventive Principle:

Principle #35Parameter changes

2Adaptability or versatility

If hard-coded rules are used for automation, then precise control can be achieved, but the system cannot adapt to changing conditions and obstacles

Engineering Contradiction:

Improveadaptability to changing conditionsVSAvoidcontrol precision

Core Design Contradiction:

Adaptability or versatilityVSManufacturing precision

Solution Approach 1:

The patent implements continuous feedback loops where sensor data from the work environment is fed back to the potential field calculation module. This feedback mechanism allows the system to detect changes in obstacles, terrain, and vehicle state, and automatically adjust the potential field parameters to maintain precise control while adapting to new conditions

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The patent replaces hard-coded rule-based control systems with a physics-inspired potential field approach. Instead of using rigid if-then rules, the system uses continuous mathematical field functions that naturally adapt to environmental variations while providing smooth, precise control through gradient-based decision making

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

3Productivity

If automated control is implemented in dynamic environments, then efficiency can be improved, but the system complexity increases

Engineering Contradiction:

Improveoperational efficiencyVSAvoidcontrol system complexity

Core Design Contradiction:

ProductivityVSDevice complexity

Solution Approach 1:

The patent employs a universal potential field framework that handles multiple functions through a single unified approach. The same potential field mathematics is used for navigation, obstacle avoidance, and implement control, reducing the need for separate specialized modules and simplifying the overall control architecture while maintaining high productivity

Inventive Principle:

Principle #6Universality (Multi-functionality)

Solution Approach 2:

The potential field system is self-regulating and requires minimal external intervention. The system automatically calculates optimal paths and control actions based on current sensor data and potential field parameters, enabling efficient automated operation with reduced complexity in monitoring and adjustment mechanisms

Inventive Principle:

Principle #25Self-service

Data Source

PatentUS11377820B2Automated work vehicle control system using potential fields

Publication Date: 2022.07.05 DEERE & CO

AI summary

An automated control system in a work vehicle for automating operation of a task is provided. The control system includes one or more electronic controllers having processing and memory architecture including a potential field module and an actuator control module. The potential field module includes a state determination unit configured to determine a state of the work vehicle based on input data; a potential field function selection unit configured to select at least one potential field function based on the determined state; vector calculation unit configured to calculate an action vector based on the at least one potential field function; and an action unit configured to generate an actuator command based on the action vector. The actuator control module is configured to receive the actuator command and to generate command signals for at least one actuator of the work vehicle to, at least in part, perform the task.