Work Vehicle Path Entry Correction Using Reverse Travel
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Solution Overview
Problem
In automatic travel systems for work vehicles, positional and orientational displacements during turning paths can lead to unworked areas due to inaccurate starting positions on subsequent work paths.
Innovation Solution
An automatic travel method that includes causing a work vehicle to travel along multiple work paths and turning paths, with correction travel, including reverse travel, when positional or orientational displacements occur relative to the target start position of the next work path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the work vehicle turns and travels in the turning path to enter the next work path, then the work vehicle can transition between work paths, but positional displacement and orientational displacement occur with respect to the target start position
Solution Approach 1:
The system continuously monitors the work vehicle's position and orientation during turning path travel, compares actual position with target position, and provides feedback signals to the control unit. This feedback mechanism enables real-time detection of positional and orientational displacements, allowing the system to maintain accuracy despite the complexity of turning maneuvers between work paths.
Solution Approach 2:
The control unit dynamically adjusts travel parameters such as speed, steering angle, and trajectory during the turning path based on detected displacement. By changing these parameters in real-time, the system compensates for positional and orientational deviations and ensures accurate arrival at the target start position of the next work path.
2Productivity
If the work vehicle starts work with the occurrence of positional displacement or orientational displacement, then work can continue without stopping, but unworked areas are created
Solution Approach 1:
The system performs preliminary correction of positional and orientational displacements during the turning path travel, before the work vehicle enters the next work path. By correcting the position in advance, the system ensures that work starts from the correct position, preventing unworked areas while maintaining work continuity.
Solution Approach 2:
The continuous feedback mechanism detects displacements and triggers correction actions that adjust the work vehicle's position and orientation before work begins on the next path. This feedback-driven correction ensures both work continuity and precise alignment, eliminating unworked areas.
3Measurement precision
If correction travel including reverse travel is performed when displacement occurs, then the work vehicle can accurately enter the next work path, but additional time is required
Solution Approach 1:
The system performs correction travel efficiently by skipping unnecessary intermediate steps and directly navigating to the target position. When displacement is detected, the control unit calculates the optimal correction path and executes it rapidly, minimizing the time lost during correction while ensuring accurate arrival at the target start position.
Solution Approach 2:
The system dynamically changes travel parameters including speed, acceleration, and trajectory during correction travel. By optimizing these parameters, the system achieves accurate positioning while minimizing correction time, balancing precision requirements with productivity concerns.
Data Source
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AI summary
[Problem] Provided are an automatic travel method, an automatic travel program and an automatic travel system which allow a work vehicle to appropriately enter a work path which follows a turning path. [Solution] A travel process part 111 causes a work vehicle 10 to travel along a plurality of work paths which are included in a target path and which cause the work vehicle 10 to perform predetermined work, and a plurality of turning paths connecting between the work paths. In a case where the work vehicle 10 travels in the turning path, when a correction process part 112 decides that at least one of a predetermined positional displacement and a predetermined orientational displacement occurs with respect to a target start position of the work path which follows the turning path, it causes the work vehicle 10 to perform correction travel including reverse travel.