Work Vehicle Route Layout With Constant Row Spacing
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Solution Overview
Problem
Existing route generation methods for autonomous work vehicles in fields fail to maintain appropriate interval spacing between straight routes when the orientation of the target route changes, leading to difficulties in maintaining proper travel and work operations.
Innovation Solution
A route generation method that maintains the interval spacing of straight routes at the same length as before the orientation change by rotating the entire set of routes as a whole or adjusting individual routes, ensuring the work vehicle travels autonomously with the correct work width even when the target route orientation is altered.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the orientation of the target route is changed to adapt to field conditions, then the adaptability of the route is improved, but the interval spacing between straight routes changes and no longer matches the work width
Solution Approach 1:
The patent changes the parameter being adjusted during orientation change from the conventional approach (rotating all routes around a reference point) to a new approach where the interval spacing is kept constant. Specifically, when the orientation changes, the system calculates new route positions such that the perpendicular distance between adjacent straight routes remains equal to the work width, rather than allowing the spacing to change with rotation. This parameter change resolves the contradiction by maintaining spacing precision while still allowing orientation adaptability.
2Adaptability or versatility
If the orientation of all straight routes is changed together, then the route can adapt to field conditions, but the work vehicle cannot travel autonomously with proper alignment
Solution Approach 1:
The patent changes the parameter being adjusted during orientation change from the conventional approach (rotating all routes around a reference point) to a new approach where the interval spacing is kept constant. Specifically, when the orientation changes, the system calculates new route positions such that the perpendicular distance between adjacent straight routes remains equal to the work width, rather than allowing the spacing to change with rotation. This parameter change resolves the contradiction by maintaining spacing precision while still allowing orientation adaptability.
Data Source
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AI summary
[Problem] The problem is to provide a route generation method, a route generation system, and a route generation program capable of causing a work vehicle to travel autonomously in an appropriate manner even in a case where the orientation of a target route including a plurality of straight routes is changed. [Solution] The generation processing part 713 generates the target route R including a plurality of straight routes arranged at equal interval spacing W1, based on the reference line L1 which passes through point A and point B in the field F. In a case of changing the orientation of the target route R, the change processing part 714 maintains the interval spacing W1 of each of the plurality of straight routes.