Baler Intake Mechanism Orientation via GPS Windrow Tracking
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Solution Overview
Problem
Existing material gathering operations, such as baling, face challenges in uniformly orienting intake mechanisms due to varying windrow shapes and orientations, making it difficult to distinguish windrow boundaries from the ground and vegetation, leading to inefficient and uneven bale formation.
Innovation Solution
A computer-implemented method and system utilizing location-tracking systems, like GPS or real-time landmark trackers, to determine the current and historical orientation of windrows, allowing for the precise direction of intake mechanisms, such as balers, to align with windrow centerlines and adjust paths for optimal material collection and bale formation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If traditional material gathering operations are used, then the equipment can operate without complex guidance systems, but the intake mechanism cannot uniformly align with varying windrow orientations, leading to inefficient and uneven bale formation
Solution Approach 1:
The system records the historical location and orientation of windrows before the baling operation begins. This preliminary documentation of windrow positions allows the intake mechanism to be precisely guided along the correct path during material gathering, ensuring uniform bale formation without requiring complex real-time adjustments
Solution Approach 2:
The system continuously monitors the current position and orientation of the intake mechanism using location-tracking systems, compares it with the historical windrow data, and provides feedback control to adjust the intake mechanism's orientation. This closed-loop feedback ensures the intake mechanism remains aligned with varying windrow orientations, achieving consistent bale quality
2Measurement precision
If skilled operators or vision systems are used to distinguish windrow boundaries, then manual control can be maintained, but it remains difficult to reliably distinguish windrow boundaries from the underlying ground and plant material
Solution Approach 1:
Instead of attempting to detect windrow boundaries during the baling operation, the system records the precise location and orientation of windrows in advance using location-tracking systems. This preliminary action captures windrow positions when they are clearly defined, eliminating the need for complex real-time boundary detection during material gathering
Solution Approach 2:
The system uses location-tracking systems and historical data as an intermediary to represent windrow positions, rather than directly detecting windrow boundaries during operation. This intermediary approach converts the difficult visual boundary detection problem into a simpler location tracking and data retrieval problem, achieving high measurement precision with reduced system complexity
3Productivity
If the intake mechanism follows a fixed path, then the equipment operation is simple, but it cannot adapt to meandering windrow centers, resulting in material left behind and inefficient gathering
Solution Approach 1:
The system transitions from fixed path following to dynamic path adjustment by continuously monitoring the actual windrow location using location-tracking systems. The intake mechanism's path is dynamically modified to follow the actual meandering windrow centerline, ensuring complete material gathering while maintaining operational simplicity through automated control
Solution Approach 2:
The system uses feedback from location-tracking systems to continuously compare the fixed path with the actual windrow position and automatically adjusts the intake mechanism's path in real-time. This feedback control enables the system to adapt to meandering windrows, improving material gathering efficiency by preventing material from being left behind while keeping the control system relatively simple
Data Source
AI summary
A computer-implemented method and control system for gathering material is described. One or more vehicles may include an intake mechanism for material and a location-tracking system. A current orientation of the intake mechanism is identified based upon location information from the tracking system. A current orientation of the material is determined based upon historical location information for the material. A target orientation of the intake mechanisms is determined based upon the current orientation of the material. Movement of the intake mechanism is thus directed toward the determined target orientation.