Work Machine Route Planning Using Terrain Gradient Distribution
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Solution Overview
Problem
Work machines, such as lawn mowers, face challenges in determining optimal traveling routes that account for undulations in their work regions, leading to potential slipping issues.
Innovation Solution
A traveling route determination apparatus that utilizes geographical information to evaluate gradient distributions and determine routes that minimize undulations, incorporating a system with obtaining, evaluating, and determining means to adjust the route based on gradient data.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work machine travels at a predetermined vehicle speed in a work region with undulations, then the work can be performed efficiently, but the traveling unit may slip due to the undulations
Solution Approach 1:
The system performs preliminary evaluation of the gradient distribution in the work region before determining the traveling route. By obtaining geographical information and evaluating gradients in advance, the system can plan a route that avoids undulations beforehand, preventing slipping issues before they occur while maintaining efficient work performance
Solution Approach 2:
The system changes the route determination parameters by incorporating gradient information into the path planning. Instead of using only distance or time as parameters, the system uses gradient distribution data to select routes with minimal undulation, thereby reducing slipping risk while maintaining productivity
2Device complexity
If the traveling route is determined without considering undulations, then the route determination is simple, but the traveling unit slips on undulated surfaces
Solution Approach 1:
The system performs preliminary evaluation of the gradient distribution in the work region before determining the traveling route. By obtaining geographical information and evaluating gradients in advance, the system can plan a route that avoids undulations beforehand, preventing slipping issues before they occur while maintaining efficient work performance
Solution Approach 2:
The system introduces gradient distribution evaluation as an intermediary step between obtaining geographical information and determining the traveling route. This intermediary process analyzes the terrain characteristics and provides insights that guide route selection, enabling the system to balance simplicity with reliability
3Reliability
If the traveling route avoids undulations by evaluating gradient distribution, then slipping is reduced, but the route determination becomes more complex
Solution Approach 1:
The system segments the work region into multiple evaluation units, each with its own gradient characteristics. By dividing the terrain into manageable segments and evaluating each independently, the system can process gradient information efficiently without overwhelming computational complexity, while still achieving reliable slip-free routing
Solution Approach 2:
The system changes the route determination parameters by incorporating gradient information into the path planning. Instead of using only distance or time as parameters, the system uses gradient distribution data to select routes with minimal undulation, thereby reducing slipping risk while maintaining productivity
Data Source
Figure 1A~1B
Figure 1C
Figure 2A
AI summary
A traveling route determination apparatus for determining a traveling route of a work machine in a work region, characterized by comprising obtaining means for obtaining geographical information of the work region, evaluating means for evaluating a gradient distribution of the work region based on the geographical information, and determining means for determining a traveling route of the work machine from a current position to a destination in the work region based on the gradient distribution, such that an undulation in the traveling route decreases.