Work Machine Route Planning for Target Posture Alignment
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Solution Overview
Problem
Existing route generation algorithms for work machines, such as lawn mowers, do not account for the posture of the machine, leading to potential orientation mismatches at the target start position, which can hinder smooth work initiation and cause damage to the travel surface.
Innovation Solution
A route planning device and method that combines forward and backward routes to generate a movement path for the work machine, ensuring it reaches the target start position in the correct posture by using a route generation algorithm like RRT, setting sub-start and sub-goal positions, and adjusting orientation without pivot turns.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a conventional route generation algorithm is used to move the work machine to the target position, then the machine can reach the target position, but the machine may arrive in an incorrect orientation that hinders smooth work initiation
Solution Approach 1:
The route is segmented into a forward route and a backward route, allowing the work machine to approach the target position from different directions. This segmentation enables precise control over the final orientation of the machine at the target position, ensuring it arrives in the correct posture for work initiation while maintaining operational smoothness.
2Measurement precision
If the work machine makes pivot turns to adjust orientation, then the correct posture can be achieved, but damage to the travel surface occurs
Solution Approach 1:
Instead of using pivot turns at the target position to adjust orientation, the invention inverts the approach by planning the route in reverse - determining the forward and backward movement paths that naturally lead the machine to the target position in the correct orientation. This eliminates the need for damaging pivot turns while achieving precise posture control.
Data Source
AI summary
A route planning device according to the present disclosure acquires target work start position information, target work start posture information, current position information, and current posture information, and generates a movement route for causing a work machine to reach a target work start position in a target work start posture, by combining a forward route along which the work machine moves forward and a backward route along which the work machine moves backward, based on the target work start position information, the target work start posture information, the current position information, and the current posture information.