Work Vehicle Route Switching to Suppress Position-Deviation Stops
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Solution Overview
Problem
When work vehicles travel in areas with and without crops, position deviations from the target or crop row routes can lead to reduced accuracy and interrupted work, resulting in reduced efficiency.
Innovation Solution
An automatic traveling method that switches between two travel modes: one following a pre-set target route and another following a crop row route. If position deviations exceed allowable values in either mode, the vehicle stops. The method also adjusts allowable values when switching modes to prevent unnecessary stops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the work vehicle uses GNSS signal to travel along a target route in a region without crops, then the vehicle can maintain automatic travel capability, but the position deviation exceeds allowable values causing the vehicle to stop and work efficiency to be reduced
Solution Approach 1:
The system dynamically switches between two travel modes (first travel mode for regions without crops using target route, second travel mode for regions with crops using crop row route) based on the detection of crops. This dynamic adaptation allows the vehicle to maintain reliable position accuracy by selecting the appropriate travel mode and route type for the current environment, preventing unnecessary stops and maintaining work efficiency.
Solution Approach 2:
The system changes the allowable position deviation parameter based on the travel mode. When switching from the first travel mode to the second travel mode, the allowable value is adjusted from a first allowable value to a second allowable value. This parameter adjustment accommodates the different position accuracy requirements of different travel modes, allowing the vehicle to continue traveling without stopping when position deviation exceeds the original threshold but remains within the adjusted threshold.
2Measurement precision
If the work vehicle switches from first travel mode to second travel mode when crops are detected, then the vehicle can follow crop row route for better positioning, but the position deviation may exceed the allowable value for the new mode causing unnecessary stops
Solution Approach 1:
The system dynamically adjusts the allowable position deviation parameter when switching between travel modes. When switching from the first travel mode to the second travel mode, the allowable value is changed from a first allowable value to a second allowable value. This dynamic parameter adjustment ensures that the position accuracy requirement is appropriately matched to the travel mode being used, preventing unnecessary stops that would reduce work efficiency.
Data Source
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AI summary
[Problem] Provided are an automatic traveling method, an automatic traveling system, and an automatic traveling program, by which a stop operation of a work vehicle due to a position deviation of the work vehicle is suppressed, so that it is possible to prevent the work efficiency from being reduced. [Solution] The automatic traveling method includes causing a work vehicle 10 to travel in a target route travel mode M1, causing the work vehicle 10 to travel in a crop row route travel mode M2, causing the work vehicle 10 to stop if the position deviation is equal to or more than an allowable value in the target route travel mode M1 and causing the work vehicle 10 to stop if the position deviation is equal to or more than an allowable value in the crop row route travel mode M2, and changing, if one travel mode of the target route travel mode M1 and the crop row route travel mode M2 is switched to the other travel mode, the allowable value for the other travel mode to a second allowable value larger than a first allowable value set for the other travel mode before the travel mode is switched.