Work Vehicle Excavation Path Planning With Precomputed Route Selection
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing excavation plan creation devices face increased calculation load due to the need for estimating soil quality based on time-series data of bucket position and equipment load, particularly when soil is modeled as a particle model.
Innovation Solution
A work vehicle path plan generation system that includes a position detection unit, information storage unit, and path plan generation unit to efficiently generate path plans for work vehicles by integrating topographic and design surface information, using reinforcement learning to optimize movement and travel paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If soil quality is estimated based on time-series data of bucket position and equipment load using particle model, then excavation plan accuracy is improved, but calculation load is increased
Solution Approach 1:
The system performs preliminary actions by pre-calculating and storing multiple types of path plans (first path plan based on start position, second path plan based on topographic information, third path plan combining both) before actual excavation execution. This allows the system to quickly select and execute appropriate pre-computed paths without performing complex real-time calculations during operation, thereby reducing calculation load while maintaining accurate soil quality consideration.
Solution Approach 2:
The path planning is segmented into multiple independent path plans: a first path plan based on start position and work equipment type, a second path plan based on topographic information and design surface, and a third path plan that combines both. This segmentation allows the system to handle different planning scenarios separately and select the most appropriate pre-computed path, avoiding the need for complex integrated real-time calculation.
2Speed
If multiple types of path plans are prepared in advance, then path plan generation speed is improved, but information storage requirements are increased
Solution Approach 1:
The system dynamically selects which pre-computed path plan to execute based on actual working conditions (start position, topographic information, design surface requirements). Rather than storing all possible path plans, the system maintains multiple types of path plans and chooses the most appropriate one at runtime, achieving fast path generation while optimizing storage usage through conditional selection.
Data Source
AI summary
An aspect of the present disclosure provides a work vehicle path plan generation system that generates a path plan in order for a work vehicle including work equipment to perform an excavation work on a ground of a construction target area. The work vehicle path plan generation system includes a position detection unit configured to detect a position of the work vehicle, an information storage unit configured to store topographic shape information indicating a shape of a topography in the construction target area, a position of the work vehicle, and design surface information indicating a shape required to be excavated of the ground in the construction target area, and a path plan generation unit configured to generate a work equipment path plan indicating a movement path of the work equipment and a travel path plan indicating a travel path of the work vehicle, based on the topographic shape information, the position of the work vehicle, and the design surface information.