Bale Retriever Steering Control for Fuel and Compaction Trade-Offs
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Solution Overview
Problem
Existing bale retrievers are inefficient in fuel use and not suited for simultaneous operation with balers in a field, limiting their ability to optimize bale collection and transportation processes.
Innovation Solution
A bale retriever system with a controller that generates steering control signals based on the expected location of bales, allowing simultaneous operation with balers and switching between efficiency and compaction modes to optimize fuel use and minimize ground compaction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If known bale retrievers are used to pick up and transport bales, then bale transportation is achieved, but fuel use is excessive and ground compaction increases
Solution Approach 1:
The system performs preliminary action by predicting bale locations based on baler travel paths and bale ejection patterns before the retriever arrives. The controller defines expected bale locations in advance, allowing the retriever to plan an optimized path that minimizes fuel consumption while maintaining efficient bale collection
Solution Approach 2:
The system implements dynamics by providing two operable modes (first mode for optimized path planning, second mode for direct navigation) that allow the retriever to adapt its behavior based on operational conditions. The controller dynamically switches between modes to balance fuel efficiency and productivity requirements
2Adaptability or versatility
If known bale retrievers are used, then bale transportation is achieved, but simultaneous operation with balers is not possible
Solution Approach 1:
The system uses feedback by receiving real-time baler travel path information and using it to predict future bale locations. The controller continuously updates expected bale positions based on baler movement, enabling coordinated simultaneous operation between baler and retriever while maintaining safety through awareness of baler position
Solution Approach 2:
The system performs preliminary action by planning the retriever's path in advance based on predicted bale locations derived from baler travel patterns. This allows the retriever to operate simultaneously with the baler while maintaining safe distances and coordinated movement
3Use of energy by moving object
If the bale retriever takes the shortest path to bales, then fuel efficiency is improved, but ground compaction increases
Solution Approach 1:
The system implements dynamics by allowing dynamic switching between two operable modes. In the first mode, the controller plans an optimized path that balances fuel efficiency with ground protection. In the second mode, the retriever navigates directly to predicted bale locations. The system can switch between modes based on operational priorities, enabling flexible management of the fuel efficiency versus ground compaction trade-off
Data Source
AI summary
A bale retriever includes: a chassis; a steering assembly carried by the chassis and configured to steer the bale retriever; a bale pick up carried by the chassis; and a controller operatively coupled to the steering assembly. The controller is configured to: receive a field signal corresponding to a field map; receive a baler travel signal corresponding to at least one of a baler planned path or a baler travel path of at least one baler; define an expected location of at least one bale on the field map based at least partially on the baler travel signal; generate a steering control signal based at least partially on the expected location of the at least one bale; and output the steering control signal to the steering assembly.