Work Machine Route Nodes for Accurate Turning Coverage
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Solution Overview
Problem
The existing route data creation systems for autonomous working machines often result in incomplete work regions near turning positions due to inefficient route planning.
Innovation Solution
A route data creation device that classifies nodes on the travel route into special and normal nodes based on stopping conditions, using speed-related control parameters to determine arrival at non-stopping and stopping positions, thereby reducing incomplete work regions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If a normal node with a first determination region is used for turning positions, then the route following is simplified, but uncompleted work regions are generated in the vicinity of the turning position
Solution Approach 1:
The patent segments nodes into two types: normal nodes for ordinary positions and special nodes for turning positions. This segmentation allows different determination methods to be applied to different node types, enabling precise control at turning positions while maintaining simple route following at ordinary positions.
Solution Approach 2:
The patent applies different determination region characteristics to different locations: normal nodes use a first determination region (circle, ellipse, or rectangle centered on the node), while special nodes use a second determination region defined by an imaginary arrival determination line. This local differentiation ensures that turning positions receive enhanced precision treatment without complicating the entire route following system.
2Manufacturing precision
If the working machine stops at turning positions, then uncompleted work regions are reduced, but the working efficiency decreases
Solution Approach 1:
The patent dynamically adjusts the determination method based on the node type. At special nodes (turning positions), the system uses the imaginary arrival determination line method which allows the machine to continue moving while determining arrival, eliminating unnecessary stops and maintaining working efficiency while ensuring complete coverage.
3Device complexity
If a first determination region with constant radial distance is used, then the arrival determination is simple, but the coverage area is insufficient at turning positions
Solution Approach 1:
The patent divides the determination region into two types based on position characteristics. The first determination region (constant radial distance) is used for normal positions where simplicity is adequate, while the second determination region (imaginary arrival determination line) is used for turning positions where extended coverage is needed to prevent uncompleted work areas.
Data Source
AI summary
Nodes on a travel route are classified into a special node and a normal node, depending on whether or not stopping occurs on the travel route, and are set. The special node includes a stopping position where a working machine comes to a stop on the travel route and a control parameter is changed, and further includes an imaginary arrival determination line in order to determine that the working machine has arrived at the second determination region, the imaginary arrival determination line passing through the stopping position.