Work Vehicle Turning Correction for Accurate Path Entry
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Solution Overview
Problem
In automated work vehicles, positional and orientational displacements during turning paths can lead to incorrect entry into subsequent work paths, resulting in unworked areas due to low positional accuracy.
Innovation Solution
An automatic travel method that includes causing the 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 a 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 due to low positional accuracy
Solution Approach 1:
The system performs preliminary detection of positional and orientational displacements during the turning path traversal, and executes correction travel (including reverse travel) before the work vehicle reaches the target start position of the next work path. This preliminary correction ensures the vehicle is properly positioned and oriented before commencing work, preventing unworked areas while maintaining smooth path transitions
2Productivity
If the work vehicle starts work with positional displacement or orientational displacement, then the work vehicle can continue operation, but unworked areas are created resulting in incomplete field coverage
Solution Approach 1:
The system continuously monitors the work vehicle's position and orientation during turning path traversal, compares the actual position with the target start position of the next work path, and provides feedback control by executing correction travel when displacements are detected. This closed-loop feedback ensures complete field coverage while maintaining continuous productivity
Data Source
AI summary
A travel process causes a work vehicle to travel along a plurality of work paths which are included in a target path and which cause the work vehicle to perform predetermined work, and a plurality of turning paths connecting between the work paths. In a case where the work vehicle travels in the turning path, when a correction process 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 to perform correction travel including reverse travel.