Work Vehicle Turning Route Generation for Headland Constraints
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Solution Overview
Problem
Conventional route generation methods for work vehicles in agricultural fields fail to meet user demands, as they either require large turning regions or result in the vehicle stepping into worked areas, compromising efficiency and accuracy.
Innovation Solution
A route generation method that allows users to select a turning mode for work vehicles in headland regions, generating specific turning routes based on user preferences, thereby optimizing the route to avoid worked areas while maximizing workable space or maintaining work quality.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the first turning mode is used for work vehicle turning in headland region, then the work vehicle can turn without stepping into worked region, but the turning region required increases
Solution Approach 1:
The system dynamically switches between first turning mode (avoiding worked region) and second turning mode (reducing turning region) based on real-time conditions such as headland region size, work vehicle position, and worked region boundaries. This dynamic adaptation allows the work vehicle to optimize turning behavior by selecting the appropriate mode for each specific situation, thereby resolving the contradiction between avoiding worked regions and minimizing turning region requirements.
2Area of stationary object
If the second turning mode is used for work vehicle turning in headland region, then the turning region can be reduced, but the work vehicle steps into worked region upon turning
Solution Approach 1:
The system dynamically switches between first turning mode (avoiding worked region) and second turning mode (reducing turning region) based on real-time conditions such as headland region size, work vehicle position, and worked region boundaries. This dynamic adaptation allows the work vehicle to optimize turning behavior by selecting the appropriate mode for each specific situation, thereby resolving the contradiction between avoiding worked regions and minimizing turning region requirements.
3Productivity
If conventional target route generation is used, then the route is generated based on headland region size, but the work vehicle cannot avoid stepping into worked region in outermost peripheral region
Solution Approach 1:
The system incorporates feedback mechanisms that continuously monitor the work vehicle's position, headland region dimensions, and worked region boundaries. Based on this feedback, the route generation unit dynamically adjusts the turning mode selection and turning route parameters to ensure the work vehicle reaches the field boundary efficiently while avoiding stepped into worked regions. This feedback-driven approach resolves the contradiction by enabling adaptive route optimization rather than relying on fixed conventional methods.
Data Source
Figure 1
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Figure 4A~4B
AI summary
[Problem] A route generation method, a route generation system and a route generation program are provided so as to make it possible to generate a target route including a turning route that meets a user's demand. [Solution] A generation processing section 213 generates an inner work route Ra on which a work vehicle 10 is caused to travel in an inner region Fa of a field F and a headland work route Rb on which the work vehicle 10 is caused to travel in a headland region Fb around the inner region Fa of the field F. A decision processing section 215 decides a turning mode of a turning route on which the work vehicle 10 is caused to turn and travel in the headland region Fb on the basis of an operator's selection operation. A generation processing section 213 generates the turning route for the turning mode decided on the basis of the operator's selection operation in the headland region Fb.