Working Machine Route Recovery Control by Task Accuracy
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Solution Overview
Problem
Conventional working machines lack efficiency in traveling along planned routes, as their control systems do not differentiate between tasks requiring high accuracy and those that do not, leading to decreased work efficiency when accuracy is not necessary.
Innovation Solution
A working machine equipped with a position detector and a controller that includes a threshold setter, allowing for a recovery movement, such as a three-point turn, to adjust deviations from a planned route based on selected work types and accuracy inputs, optimizing travel efficiency and accuracy according to the specific task.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the control device performs control to eliminate deviation between the machine body and the planned travel route in all cases, then travel accuracy is improved, but work efficiency decreases when accuracy is not required
Solution Approach 1:
The control system applies different control strategies to different work types locally. For work requiring high accuracy (seeding, spreading), the system performs recovery movements to maintain tight deviation thresholds. For work not requiring high accuracy (ground work, cultivation), the system relaxes control to reduce unnecessary recovery movements, thereby improving work efficiency while maintaining adequate travel accuracy for each specific task
2Measurement precision
If the machine body performs recovery movement frequently to maintain small deviation, then travel accuracy is improved, but time consumption increases
Solution Approach 1:
The system dynamically changes the deviation threshold parameter based on the selected work type. For high-accuracy work, a small threshold is set requiring frequent recovery movements. For low-accuracy work, a larger threshold is set reducing the frequency of recovery movements. This parameter adaptation resolves the contradiction by adjusting the strictness of deviation control according to task requirements
Data Source
AI summary
A working machine includes a machine body capable of traveling, a position detector to detect a position of the machine body, and a controller to control the machine body based on the position of the machine body detected by the position detector and a planned travel route. The planned travel route includes a straight section on which the machine body travels straight, and the controller includes a threshold setter to set a threshold according to work, and causes the machine body to perform a recovery movement to make a deviation between the position of the machine body detected by the position detector and the planned travel route less than the threshold when the machine body is at a start point of the straight section or is about to enter the start point of the straight section.