Autonomous Tractor Guidance with Drift-Updated Reference Orientation
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Solution Overview
Problem
Existing work vehicles experience deviations in position information over time due to satellite positioning systems, leading to misalignment of reference orientations during autonomous travel, resulting in non-parallel travel routes and uneven work trajectories.
Innovation Solution
An autonomous traveling method and system that updates the first and second reference positions and corresponding orientations during travel, using a reference information updating unit to maintain accurate alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If position information is acquired by a satellite positioning system, then the work vehicle can determine reference positions and orientations for autonomous travel, but the position information deviates over time causing reference orientation misalignment
Solution Approach 1:
The system performs preliminary action by acquiring and storing position information for reference positions at the start of autonomous travel. This pre-acquired data serves as a baseline for calculating reference orientations before any drift occurs, allowing the system to maintain accurate reference frames throughout the travel process.
Solution Approach 2:
The system implements feedback by continuously monitoring the relationship between acquired position information and actual vehicle position. When deviations are detected, the system adjusts the reference orientation calculations to compensate for drift, ensuring that travel routes remain parallel to the intended reference orientation despite position information degradation over time.
2Extent of automation
If the work vehicle performs autonomous travel based on initially set reference positions, then the travel can be automated, but the travel route may not be parallel to the reference orientation due to position drift
Solution Approach 1:
The system applies dynamics by making the reference orientation adaptive rather than static. Instead of using fixed reference positions from the beginning, the system dynamically updates reference orientations based on currently acquired position information, allowing the autonomous travel system to maintain alignment even as position data drifts over time.
Solution Approach 2:
The system changes parameters by adjusting the reference orientation calculation based on the age and quality of position information. When position drift is detected, the system modifies the reference orientation parameters to compensate, ensuring that travel routes remain parallel to the intended reference orientation throughout the autonomous travel process.
3Ease of operation
If reference positions are set manually before autonomous travel, then the initial reference orientation can be established, but the reference orientation becomes inaccurate over time due to position information drift
Solution Approach 1:
The system performs preliminary action by acquiring position information for reference positions in advance during manual setup. This pre-acquired data enables easy initial configuration while the system subsequently uses this baseline to calculate and maintain accurate reference orientations throughout autonomous travel, compensating for any drift that occurs.
Solution Approach 2:
The system implements feedback by continuously comparing acquired position information against the initially set reference positions. When deviations are detected, the system adjusts the reference orientation calculations to maintain accuracy, thus preserving both the ease of initial manual setup and the precision of reference orientation throughout the travel process.
Data Source
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AI summary
[Problem] To provide an autonomous traveling method, a work vehicle, and an autonomous traveling system capable of performing appropriate autonomous travel based on an appropriate reference orientation without being affected by a deviation in position information with a lapse of time. [Solution] A tractor 1 that performs autonomous straight travel according to a reference orientation 103 set based on a first reference position 101 and a second reference position 102, and includes a reference information updating unit 38 that updates the first reference position 101 and the second reference position 102 when the autonomous straight travel is performed, and updates the reference orientation 103 based on the updated first reference position 101 and second reference position 102.