Automatic Guidance Line Shifting for Agricultural Overhang Avoidance
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Solution Overview
Problem
Current path planning systems for agricultural machines fail to account for the overall width of the machine, leading to potential collisions with obstacles outside or within the field boundary due to overhang portions, even when guidance lines are generated based on the track or operating width.
Innovation Solution
A system that detects the overall width of the agricultural machine and adjusts guidance lines to avoid collisions by shifting the entire line inward or deviating around obstacles, considering both external and internal obstacles based on the machine's dimensions and kinematics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If guidance lines are generated based on track or operating width, then the machine can efficiently cover the field, but the overhang portions may collide with obstacles outside or within the field boundary
Solution Approach 1:
The system changes the parameter used for guidance line generation from track width to overall machine width. By detecting the actual overall width of the agricultural machine and using this updated parameter to regenerate guidance lines, the system ensures that the entire machine including overhang portions is accounted for, thereby avoiding collisions with obstacles while maintaining field coverage efficiency
Solution Approach 2:
The system implements a feedback mechanism where the detected overall width of the machine is used to regenerate guidance lines. When the actual machine width differs from the assumed track width, the system receives feedback about this discrepancy and automatically adjusts the guidance lines to compensate, ensuring safe operation throughout the field
2Reliability
If the guidance line is shifted inward to avoid obstacles, then collision risk is reduced, but the effective working width is reduced
Solution Approach 1:
The system performs preliminary action by detecting the overall machine width and regenerating guidance lines before the machine reaches obstacles. By proactively adjusting the guidance lines based on the known overall width, the system prevents collisions before they occur, allowing the machine to maintain optimal working width throughout the field without needing to shift inward reactively
Data Source
AI summary
A control system obtains a location of an obstacle in a field and an overall width dimension of an agricultural machine configured to follow a guidance line through the field. The control system detects a potential collision based upon the overall width of the agricultural machine and the location of the obstacle relative to the guidance line and regenerates the guidance line to avoid the potential collision.