Work Vehicle Route Generation Excluding Entrance Passages
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Solution Overview
Problem
Existing travel route generation methods for work vehicles fail to accurately account for entrance passages, leading to potential overlap with the travel route or exclusion of work regions, especially when the entrance passage is inclined or hardened, resulting in inefficient route planning.
Innovation Solution
A travel route generation device and program that registers key points along the entrance passage and calculates the basic shape of the work field, excluding the passage to define a target work region, ensuring the route neither overlaps with the entrance nor avoids it, using a quadrangle shape for the entrance passage and satellite positioning for accurate measurements.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the teaching travel method is used to calculate work field shape, then the field shape can be determined, but the entrance passage is neglected causing the travel route to overlap with the entrance passage or exclude work regions
Solution Approach 1:
The patent segments the work field calculation into two distinct parts: the basic field shape and the entrance passage area. By separately identifying and calculating the entrance passage boundaries as distinct from the main field boundaries, the system ensures that the travel route planning can properly account for regions where work should not be performed, thus resolving the overlap issue while maintaining accurate field shape measurement.
2Reliability
If the travel route is set distant from the entrance passage to avoid overlap, then route overlap is prevented, but work regions are left uncovered
Solution Approach 1:
The patent applies local quality by creating different treatment zones within the work field. The entrance passage area is designated with specific properties (no work permitted) while the remaining field areas are designated for work operations. This localized differentiation allows the travel route to be optimally positioned in work regions without unnecessary distancing, ensuring complete coverage while respecting the entrance passage boundaries.
3Ease of manufacture
If general map data is used to determine field shape, then field location is identified, but accurate field shape cannot be determined due to divisions by private farm roads
Solution Approach 1:
The patent performs preliminary action by conducting teaching travel to预先 identify and record the actual boundaries of the work field before generating the travel route. By first capturing the precise field perimeter through vehicle traversal and marking corner points, the system establishes accurate field geometry that accounts for divisions by private farm roads, thereby improving shape measurement precision while maintaining the simplicity of using general map data for initial field identification.
Data Source
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AI summary
A travel route generation device for a work vehicle working in a boundary-divided work field includes: a starting point registration unit 621 that position-registers a first endpoint on a boundary side of an entrance passage as a starting point Ps; an intermediate point registration unit 622 that position-registers shape feature points prescribing a work field shape as intermediate points P1 to P3; an end point registration unit 623 that position-registers a second endpoint facing the first endpoint on a boundary side of the entrance passage as an end point Pe; a basic shape calculation unit 624 calculating a work field basic shape by connecting the starting point Ps, intermediate points P1 to P3, and end point Pe; and an entrance passage information generation unit 625 that generates entrance passage information with a quadrangle as an entrance passage shape, the quadrangle having the starting point Ps and end point Pe as opposite vertices.