Agricultural Tread Width Control for Crop-Safe Row Turning
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Solution Overview
Problem
Agricultural work vehicles face challenges in transitioning from automatic row following to a default mode without damaging crop plants, particularly when turning at the end of a row, as existing systems are resource-intensive or inefficient in adjusting tread width.
Innovation Solution
A mitigation tread width controller that adjusts the tread width of opposing ground engaging elements based on crop plant data, switching between active and inactive states to avoid crop damage by increasing tread width when approaching the end of a row and returning to default when not in proximity to crops.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Object-affected harmful factors
If the tread width is continuously adjusted based on crop plant data, then crop damage is mitigated, but system resource consumption increases
Solution Approach 1:
The mitigation tread width controller operates in discrete periodic cycles, evaluating crop plant data at regular intervals and adjusting tread width only when necessary. This periodic operation reduces continuous computational and sensory resource consumption while maintaining effective crop damage mitigation through timely interventions.
Solution Approach 2:
The system utilizes existing vehicle motion and sensor data to determine when tread width adjustment is needed, rather than requiring additional active sensing or complex external inputs. The controller self-regulates by monitoring its own operational state and environmental conditions, reducing the need for extra system resources.
2Ease of operation
If the tread width is adjusted during row turning, then the vehicle can transition smoothly, but the complexity of the control system increases
Solution Approach 1:
The system detects approach to row ends in advance using crop plant data and prepares for tread width adjustment before the vehicle actually reaches the turning point. This preliminary detection and preparation allows smooth transitions without requiring complex real-time control algorithms during the critical turning moment.
Solution Approach 2:
The tread width control system dynamically adapts its behavior based on vehicle operational context, switching between active mitigation mode during row traversal and inactive mode during turns. This dynamic state transition simplifies control logic by having predetermined behaviors for different operational phases rather than requiring complex continuous control.
3Object-affected harmful factors
If the mitigation tread width controller remains active continuously, then crop damage is prevented, but operational efficiency decreases
Solution Approach 1:
The controller periodically evaluates whether active mitigation is needed based on current operational context and crop plant data, rather than remaining continuously active. This periodic activation maintains crop damage prevention during critical phases while improving operational efficiency during non-critical phases such as turns or field transitions.
Solution Approach 2:
The system changes the operational parameter of the controller from continuously active to conditionally active based on detected vehicle state and environmental conditions. By modifying the activation parameter rather than the physical hardware state, the system achieves improved efficiency while maintaining protective functionality when needed.
Data Source
AI summary
In one aspect, the present subject matter is directed to a system which includes a row crop mitigation system configured to mitigate damage to a row crop by regulating a tread width of opposing ground engaging elements of an agricultural work vehicle. The row crop mitigation system includes a crop row sensor configured to generate crop plant data, as well as a mitigation tread width controller configured to selectively change the tread width of the opposing ground engaging elements. The mitigation tread width controller having an inactive state in which the mitigation tread width controller does not change a tread width of the opposing ground engaging elements, and an active state in which the mitigation tread width controller is configured to generate a mitigation tread width command to change the tread width of the opposing ground engaging elements.