Work Vehicle Cooperation Control for Loop Field Navigation
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing systems fail to effectively implement work vehicle cooperation control for slave vehicles to follow master vehicles in agricultural fields with small, bounded work areas, which require different navigation algorithms for central and loop traveling patterns.
Innovation Solution
A work vehicle cooperation system that includes modules for detecting and calculating positions, traveling tracks, and navigation control units to enable efficient loop traveling by determining redirection and loop work traveling targets based on the work widths of both master and slave vehicles, allowing the slave vehicle to follow the master vehicle's track while maintaining a predetermined overlap.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a slave work vehicle follows a master work vehicle in loop traveling areas using existing vehicle control systems, then the slave vehicle can maintain offset amounts or translate traveling tracks, but the system cannot properly handle redirection traveling and loop work traveling in bounded agricultural fields
Solution Approach 1:
The patent segments loop traveling into two distinct phases: redirection traveling (from work area end to loop area start) and loop work traveling (within the loop area). Each phase has dedicated calculation units that apply appropriate algorithms, avoiding the need for a single complex navigation system to handle all scenarios.
Solution Approach 2:
The redirection traveling target calculation unit pre-calculates the optimal path and target points before the slave vehicle enters the loop area. This preliminary action prepares the navigation parameters in advance, allowing smooth transition to loop work traveling without real-time computational complexity.
2Manufacturing precision
If the slave work vehicle uses standard following control algorithms, then the control system remains simple, but the system fails to account for different ground work widths between master and slave vehicles in loop traveling
Solution Approach 1:
The patent applies different calculation strategies for different phases of loop traveling. The redirection traveling target calculation unit uses one algorithm considering work width differences, while the loop work traveling target calculation unit uses another algorithm optimized for maintaining coverage within the loop area. Each phase gets the quality appropriate to its specific requirements.
Solution Approach 2:
The system dynamically adjusts navigation parameters based on the phase of travel. During redirection traveling, the target calculation considers the full work width difference between master and slave vehicles. During loop work traveling, the parameters are adjusted to maintain optimal coverage patterns, ensuring precise work execution throughout the loop area.
3Measurement precision
If the work area is divided into U-turn work area and loop work area with different algorithms, then the navigation becomes more accurate, but the overall system complexity increases significantly
Solution Approach 1:
The patent divides the work area into U-turn work area and loop work area, with each area having dedicated detection units and calculation units. This segmentation allows precise position detection and navigation within each zone while keeping the overall system manageable through modular architecture.
Solution Approach 2:
The master position detection module and slave position detection module serve multiple functions: they detect positions for both U-turn traveling and loop traveling, and their data is used by different calculation units. This multi-functionality reduces the need for separate detection systems for each travel mode, balancing precision with system complexity.
Data Source
Figure 1(a)~1(c)
Figure 2
Figure 3
AI summary
A work vehicle cooperation system includes: a master traveling track calculation unit that calculates a traveling track of a master work vehicle (1P) based on a position of the master work vehicle (1P); a loop traveling detection unit that detects loop traveling in a loop work area (B), which is defined as the perimeter of a U-turn work area (A), the U-turn work area (A) being an area in which work is performed by repeating straight work traveling and U-turns; a redirection traveling target calculation unit that calculates a redirection traveling start point and a redirection traveling end point (Pc3) of a slave work vehicle (1C) based on a redirection traveling track including a redirection traveling start point (Pp1) and a redirection traveling end point of redirection traveling of the master work vehicle (1P); and a loop work traveling target calculation unit that calculates a target traveling position in loop work traveling of the slave work vehicle (1C) from the redirection traveling end point (Pc3) to a next redirection traveling start point (Pc1), based on the work widths of the master work vehicle (1P) and the slave work vehicle (1C), and a loop work traveling track of the master work vehicle (1P).