Agricultural Sprayer Fill Synchronization With Moving-Vehicle Docking
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Solution Overview
Problem
Agricultural sprayers experience downtime and inefficiencies during refilling operations due to the need to stop spraying to connect with stationary tender vehicles, which is exacerbated by autonomous systems requiring complex computer code and procedures for refilling while moving.
Innovation Solution
The implementation of an autonomous fill synchronization system that allows for on-the-go refilling by aligning and coupling an agricultural sprayer with an autonomous fill machine while both vehicles are in motion, using advanced coupling mechanisms and real-time kinematic positioning for seamless fluid transfer.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the agricultural sprayer stops to refill from a stationary tender vehicle, then the refilling operation can be completed, but the spraying operation experiences downtime and reduced productivity
Solution Approach 1:
The system transitions from static refilling (both vehicles stationary) to dynamic refilling (both vehicles moving at matched speeds). The autonomous sprayer and tender vehicle synchronize their motion through real-time position tracking and speed control, allowing fluid transfer while both vehicles are in motion, thereby eliminating downtime without compromising refilling reliability
Solution Approach 2:
The refilling operation is integrated into the continuous spraying workflow. The sprayer maintains its forward motion and spraying function throughout the refilling process, with the tender vehicle matching its speed and position. This allows the useful action of spraying to continue uninterrupted while receiving supplemental fluid, eliminating idle time between refilling and resuming work
2Reliability
If the sprayer drives to the tender vehicle for refilling, then the refilling can be performed, but additional driving time and operational complexity are required
Solution Approach 1:
The system employs dynamic position synchronization where the autonomous sprayer and tender vehicle continuously adjust their speeds and positions to maintain optimal alignment during motion. Real-time communication between the vehicles' control systems enables coordinated movement through the field, eliminating the need for separate driving-to-location and returning trips while maintaining reliable fluid transfer
3Extent of automation
If autonomous filling is implemented with stationary vehicles, then automation is achieved, but complex computer code and procedures are required
Solution Approach 1:
The control system manages dynamic motion synchronization between two autonomous vehicles through real-time position and speed data exchange. The complexity is reduced by using standardized communication protocols and pre-programmed synchronization algorithms that automatically adjust to varying field conditions, maintaining high automation while managing computational requirements through efficient real-time processing
Data Source
AI summary
A fill synchronization system and method for synchronizing an agricultural sprayer and an autonomous fill machine to supply agricultural product to the agricultural sprayer, while both the agricultural sprayer and the autonomous fill machine are moving. In some situations, this filling operation occurs in an agricultural field while the agricultural sprayer is conducting spraying operations. Synchronizing includes driving the autonomous fill machine to the agricultural sprayer and one or more of corresponding velocities of the agricultural sprayer and the autonomous fill machine and aligning a portion of the vehicles. The system and method include a docking controller that both aligns and couples docking mechanisms on the autonomous fill machine and the agricultural sprayer such that they are in fluid communication. In some examples, the docking mechanisms includes an articulating arm controlled by the docking controller to guide the docking of the agricultural sprayer and the autonomous fill machine.