Slope Route Generation With Preplanned Speed for Autonomous Work Vehicles

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Solution Overview

Problem

Conventional autonomous work vehicles traveling on slope lands face challenges in determining travel speed in advance, making it difficult for users to accurately plan work schedules and grasp required work time.

Innovation Solution

A route generation method and device that acquires the inclination angle of the travel area and sets travel speed based on this angle, generating a target route with included speed information to enable pre-planning of travel speed on slope lands.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If the work vehicle detects inclination angle during autonomous traveling and controls traveling based on detected angle, then the work vehicle can safely travel on slope land, but the user cannot know in advance the travel speed and accurately grasp work schedule

Engineering Contradiction:

Improvesafe traveling on slope landVSAvoiduser cannot know travel speed in advance

Core Design Contradiction:

ReliabilityVSLoss of information

Solution Approach 1:

The system performs preliminary action by acquiring inclination angle data and calculating travel speed information before the autonomous traveling starts. The route generation device creates a target route with embedded speed information based on pre-acquired inclination angle data, allowing users to know travel speed in advance while maintaining safe traveling control during actual operation

Inventive Principle:

Principle #10Preliminary action

2Adaptability or versatility

If the work vehicle changes travel speed or stops based on inclination angle detected during traveling, then the work vehicle adapts to slope conditions, but the work schedule planning becomes inaccurate

Engineering Contradiction:

Improveadaptation to slope conditionsVSAvoidinaccurate work schedule

Core Design Contradiction:

Adaptability or versatilityVSLoss of time

Solution Approach 1:

The system calculates appropriate travel speeds for different inclination angles before autonomous traveling begins. By pre-determining speed adjustments based on pre-acquired inclination angle data, the system enables accurate work schedule planning while maintaining the ability to adapt to actual slope conditions during traveling

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The system creates a virtual model of the travel route with inclination angle data and corresponding speed information. This copied representation allows users to plan work schedules accurately by simulating the actual traveling conditions and speed variations before execution

Inventive Principle:

Principle #26Copying

Data Source

PatentEP4099123A1Route generation method, route generation device, and route generation program

Publication Date: 2022.12.07 YANMAR HLDG CO LTD

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AI summary

[Problem]To provide a route generation method, a route generation device, and a route generation program capable of grasping the travel speed of a work vehicle autonomously traveling on a slope land before starting the autonomous traveling. [Solution]A route generation method is a method for generating a target route R for a work vehicle 10 autonomously traveling in a travel area, and executes acquiring an inclination angle of the travel area, setting a travel speed of the work vehicle 10 for the travel area on a basis of the inclination angle of the travel area, and generating the target route R including speed information of the travel speed set for the travel area.