Work Vehicle Coordination Turn Path Calculation
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Solution Overview
Problem
Existing work vehicle coordinating systems struggle to effectively manage ground work in areas with both forward and reverse path traveling and turn traveling, particularly in small, complex work grounds like agricultural fields, due to the lack of consideration for turn traveling in their control modes.
Innovation Solution
A work vehicle coordinating system that includes modules for detecting and calculating the positions and paths of both main and sub work vehicles, with specific units for detecting turns and calculating target positions and paths to ensure efficient unmanned control of the sub work vehicle, taking into account the working widths and paths of both vehicles, and allowing for wireless data transmission to facilitate precise ground work without increasing the depth of the turning area unnecessarily.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If existing follow-up control modes are used for ground work, then work coverage is improved, but turn traveling cannot be properly handled in small work grounds with boundaries
Solution Approach 1:
The system dynamically switches between work traveling mode and turn traveling mode based on the main work vehicle's state. The control mode changes from maintaining offset distances to calculating specific turn traveling target positions, allowing the sub work vehicle to adapt its following behavior to the current operational context.
Solution Approach 2:
The system pre-calculates turn traveling target positions and turn traveling paths before the sub work vehicle needs to execute them. By anticipating the main work vehicle's turn actions and computing the corresponding follow-up path in advance, the system ensures smooth transition and accurate positioning during turns.
2Device complexity
If the sub work vehicle follows the main work vehicle with fixed offset distances, then follow-up control is simplified, but accurate positioning during turns becomes difficult
Solution Approach 1:
The control system dynamically adjusts the follow-up strategy based on operational mode. During work traveling, fixed offset distances are maintained for simplicity. During turn traveling, the system transitions to dynamic path calculation that computes specific target positions based on the turn geometry and vehicle dimensions, ensuring accurate positioning without excessive complexity.
3Device complexity
If turn traveling is not considered in the follow-up mode, then control algorithm is simpler, but follow-up during turns becomes impossible
Solution Approach 1:
The follow-up control is segmented into distinct modes: work traveling mode and turn traveling mode. Each mode has its own control algorithm optimized for that specific operation. The system detects which mode the main work vehicle is in and applies the corresponding algorithm, ensuring reliable turn follow-up while keeping each individual algorithm relatively simple.
Solution Approach 2:
The control algorithm dynamically adapts its complexity based on the operational context. During straight work traveling, a simple offset-based control is used. When turn traveling is detected or anticipated, the system transitions to a more complex path calculation algorithm that accounts for turn geometry, ensuring reliable follow-up during turns while maintaining simplicity during normal operation.
Data Source
AI summary
A work vehicle coordinating system is configured to carry out a ground work by a main work vehicle (P) and an un-manned controlled sub work vehicle (C) that follows up the main work vehicle (P). This system includes a main-vehicle position detection module (61) detecting a position of the main work vehicle (P), a sub-vehicle position detection module (71) detecting a position of the sub work vehicle (C), a main-vehicle traveling path calculation section (62) calculating a traveling path of the main work vehicle (P) from the position of this main work vehicle (P), a work traveling target calculation section (82) calculating a target traveling position at time of a work traveling of the sub work vehicle (C), based on a ground working width of the main work vehicle (P), a ground working width of the sub work vehicle (C), a work traveling path of the main work vehicle (P) and a position of the sub work vehicle (C), and a steering control section (72) for un-manned controlling the sub work vehicle (C) based on the target traveling position. The system further includes a turning detection unit (64) detecting a turn traveling of the main work vehicle (P) in a turning area to shift from one work traveling to another work traveling, and a turn traveling target calculation section (83) calculating a turn traveling path of the sub work vehicle (C) in the turning area based on the ground working width of the main work vehicle (P), the ground working width of the sub work vehicle (C), a turn traveling start position and a turn traveling end position of the main work vehicle (P) and calculating also a turn traveling target position at the time of a turn traveling based on the turn traveling path.