Work Vehicle Path Control for Tilt-Based Tool Offset Compensation
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Solution Overview
Problem
Existing automated driving systems for work vehicles fail to effectively perform predetermined tasks on high-ground targets, such as fruit trees, especially at inclined sites, as they do not account for the planar offset of work devices relative to the vehicle body.
Innovation Solution
An automated driving system equipped with an inertial measuring device to obtain inclination information and an automated driving control unit that calculates an offset amount based on the altitude and inclination of the work device, allowing precise positioning of the vehicle relative to the target path to ensure proper operation of high-ground work tasks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If automated driving control is implemented without considering work device offset, then automated driving can be performed, but the work device cannot properly perform work on high-ground targets at inclined sites
Solution Approach 1:
The patent transitions from two-dimensional planar offset compensation to three-dimensional offset compensation by incorporating vertical height differences. The control unit calculates offset amounts considering not only horizontal distance but also vertical elevation changes between the vehicle body and work device, enabling accurate positioning on inclined surfaces where the work device operates at different altitudes than the vehicle body reference point
Solution Approach 2:
The patent dynamically adjusts the offset parameters based on real-time inclination angle measurements. By using inclination sensors to detect the slope angle and incorporating this into the offset calculation, the system adapts the positional parameters to match the actual three-dimensional configuration of the vehicle and work device on inclined terrain
2Adaptability or versatility
If the work device is positioned at a height from the ground, then it can perform work on high targets, but the offset calculation becomes complex due to inclination effects
Solution Approach 1:
The patent introduces an intermediary calculation step that uses the inclination angle as a bridge between the simple horizontal offset and the complex three-dimensional positioning. The control unit first measures the inclination angle, then uses this angle to compute the vertical component of the offset, effectively breaking down the complex three-dimensional problem into manageable sequential calculations involving trigonometric relationships
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables the work vehicle to perform predetermined tasks on high-ground targets, like fruit trees, with precision and accuracy, even at inclined sites, by adjusting its position based on real-time inclination and altitude data, preventing damage to the targets and ensuring effective work execution.
Implementation Method 1
an inertial measuring device, which obtains inclination information of the work vehicle
Data Source
AI summary
This automated driving system for a work vehicle is provided with: an inertia measuring device that obtains tilt information of a work vehicle; and an automated driving control unit that causes the work vehicle to automatically travel along a target path. The work vehicle is provided with a work device that carries out a predetermined work with respect to a part to be worked on that is positioned away from the ground. The automated driving control unit calculates an offset amount on the basis of height information of a work center of the work device and the tilt information, and controls the location of the work vehicle with respect to the target path on the basis of the offset amount.