Work Vehicle Path Transition Control for Turn-to-Row Posture
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Solution Overview
Problem
In conventional automated driving systems for work vehicles, the transition from turning paths to work paths often results in an inappropriate vehicle posture, leading to longer non-work paths and increased fuel consumption, especially in environments with adjacent obstacles like fruit tree rows.
Innovation Solution
The system sets control target positions on extensions of work paths when near turning paths and on work paths when near boundaries, ensuring a suitable posture for work path driving from the initial shift.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If the control target position is set on the turning path or its extension when the work vehicle is located on the turning path, then the automated driving control is simplified, but the vehicle posture at the end of turning becomes inappropriate for work path driving
Solution Approach 1:
The system performs preliminary action by setting the control target position on the work path in advance before the vehicle completes its turn. When the vehicle is located on the turning path in the vicinity of a boundary to the work path, the control target position is set on the work path itself rather than on the turning path extension. This preliminary positioning ensures that the vehicle transitions into a posture suitable for work path driving before actually reaching the work path, thus resolving the contradiction between simplified control and appropriate posture.
2Reliability
If the connection point of work path and turning path is set far from the end point of adjacent fruit tree rows or crop rows, then collision with adjacent obstacles is prevented, but the non-work paths become longer
Solution Approach 1:
The system applies dynamics by making the control target position adjustable and dynamic rather than fixed. The position of the control target is changed based on the vehicle's location: when on the work path near a turning path boundary, it is set on the extension of the work path; when on the turning path near a work path boundary, it is set on the work path itself. This dynamic adjustment allows the vehicle to maintain safe distances from obstacles while optimizing the turning path length, thus resolving the contradiction between collision prevention and productivity.
Data Source
AI summary
This automatic travel system for a work vehicle is provided with: a position information obtaining unit; and an automatic travel control unit that causes a work vehicle to automatically travel along a target path. The automatic travel control unit sets a control target position on the target path including a plurality of work paths arranged in parallel with each other and a plurality of turning paths that connect the work paths in an order of travel of the work vehicle, to enable automatic travel of the work vehicle along the target path. The automatic travel control unit, when the work vehicle is positioned on a work path in the vicinity of a boundary with a turning path, sets the control target position on an extension of the work path. The automatic travel control unit, when the work vehicle is positioned on a turning path in the vicinity of a boundary with a work path, sets the control target position on the work path.