Work Vehicle Waypoint Control for Curved Path Self-Driving
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Solution Overview
Problem
Existing technologies face challenges in efficiently performing iterative operations of work vehicles, such as tractors or construction vehicles, due to increased processing load when performing the same task repeatedly along the same path, which is not effectively addressed by SLAM techniques.
Innovation Solution
A travel control system for work vehicles that includes a positioning device, sensors, and a controller to record and reproduce travel paths based on waypoint information, allowing self-driving with adjustments for path curvature and time intervals.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If SLAM technique is used for autonomous travel in iterative operations, then positioning accuracy is improved, but processing load increases
Solution Approach 1:
The patent divides the autonomous travel control into two distinct modes: recording mode where waypoint information is captured during manual travel, and reproducing mode where the recorded path is automatically followed. This segmentation allows the system to use simpler positioning and control methods in reproducing mode, reducing processing load compared to continuous SLAM operation.
Solution Approach 2:
The system performs preliminary action by recording waypoint information during manual travel in the recording mode before autonomous execution. This pre-captured data includes position, orientation, and operational state information that can be directly reused in reproducing mode, eliminating the need for real-time complex processing during iterative operations.
2Manufacturing precision
If waypoint information is recorded frequently, then path accuracy is improved, but data storage requirements increase
Solution Approach 1:
The patent applies local quality by adjusting the recording frequency of waypoint information based on the curvature of the travel path. In regions with high curvature or complex maneuvers, waypoint information is recorded more frequently to capture path details accurately. In straight or simple path sections, recording frequency is reduced, optimizing the balance between path accuracy and data storage requirements.
Data Source
AI summary
A travel control system includes a positioning device to output position data of a work vehicle, a sensor(s) to detect a state of the work vehicle and output sensor data, and a controller configured or programmed to control operation of the work vehicle. In a recording mode, the controller is configured or programmed to record waypoint information based on the position and sensor data while the work vehicle is traveling and including first information concerning a position of the work vehicle and second information concerning the state of the work vehicle. In the reproducing mode, the controller is configured or programmed to cause the work vehicle to travel via self-driving based on the waypoint information, and, in accordance with a curvature of a path traveled by the work vehicle, cause a change in an interval of the position of the work vehicle or a recording time of the waypoint information.