Work Vehicle Route Control on Slopes Using Dynamic Deviation Thresholds
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Solution Overview
Problem
Conventional automatic traveling systems for work vehicles in sloped farm fields experience increased position deviation, leading to frequent deceleration and stopping, which reduces work efficiency due to a fixed threshold value that is not adaptable to varying terrain conditions.
Innovation Solution
The system dynamically adjusts the position threshold value based on the slope angle of the farm field, using travel history information to set a new threshold value that allows for greater deviation in sloped areas, reducing unnecessary deceleration and correction operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a fixed threshold value is used for position deviation, then the control system is simple and easy to operate, but the work vehicle frequently decelerates and stops in sloped regions, reducing work efficiency
Solution Approach 1:
The patent applies the dynamics principle by transitioning from a fixed threshold value to a dynamic threshold value that automatically adjusts based on the slope angle of the travel region. The control unit calculates the slope angle from position information and dynamically sets the threshold value accordingly, allowing the system to adapt to varying terrain conditions without manual intervention, thus improving work efficiency while maintaining system simplicity
Solution Approach 2:
The patent implements parameter changes by modifying the threshold value parameter based on the slope angle parameter. When the slope angle increases, the threshold value is automatically increased to accommodate greater position deviation in sloped regions, preventing unnecessary deceleration and stopping operations while maintaining appropriate control in flat regions
2Ease of operation
If a fixed threshold value is used for position deviation, then the system is easy to operate, but unnecessary deceleration and stopping operations occur in sloped regions, reducing work efficiency
Solution Approach 1:
The patent applies the self-service principle by enabling the control unit to automatically calculate the slope angle and determine the appropriate threshold value without requiring manual input or adjustment by the operator. The system serves itself by using its own position information to adapt the control parameters, thereby maintaining ease of operation while eliminating unnecessary stopping operations that reduce productivity
Solution Approach 2:
The system automatically changes the threshold value parameter based on the calculated slope angle parameter, allowing the control system to adapt to different terrain conditions without manual intervention. This automatic parameter adjustment maintains ease of operation while preventing unnecessary deceleration and stopping, thereby improving work efficiency
Data Source
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AI summary
[Problem] Provided are an automatic traveling method, an automatic traveling system, and an automatic traveling program, by which it is possible to improve the work efficiency of a work with a work vehicle traveling automatically in a sloped travel region. [Solution] The automatic traveling method includes causing a work vehicle 10 to automatically travel according to a target route R in a farm field F, causing, if a position deviation of the work vehicle 10 with respect to the target route R exceeds a threshold value, the work vehicle 10 to travel slowly, and setting the threshold value, based on a slope angle θf in a left-right direction with respect to a movement direction of the work vehicle 10 in the farm field F.