Continuous Curvature End-of-Row Turn Path for Agricultural Vehicles
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Solution Overview
Problem
Agricultural vehicle operations face inefficiencies due to manual execution of end-of-row turns, leading to errors in heading and path alignment, resulting in skipped or overlapped sections, which increase time and resources needed for repositioning and correction.
Innovation Solution
A method and system for generating a continuous curvature end-of-row turn path using clothoid segments, which are added to initial curved or straight segments to form a smooth, efficient path that accounts for the agricultural vehicle's capabilities, such as minimum turning radius and maximum turning rate, ensuring C2 continuity and optimal alignment.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual control is used for end-of-row turns, then the operator can adjust the vehicle, but errors in heading and path alignment occur leading to skips and overlaps
Solution Approach 1:
The patent replaces manual mechanical steering control with an automated guidance system that uses GPS positioning and pre-calculated turn paths. The system automatically controls the vehicle's steering to follow the optimal end-of-row turn path, eliminating manual operation errors while maintaining precise path alignment through computational geometry and real-time position feedback.
2Ease of operation
If simple turn paths are used, then the turn execution is easier, but the path efficiency is reduced and corrections are needed
Solution Approach 1:
The patent divides the end-of-row turn into multiple sequential path segments (approach segment, turn segment, and alignment segment) with calculated transition points. This segmentation allows the system to optimize each segment independently for both efficiency and ease of execution, creating a composite path that maximizes productivity while maintaining operational simplicity through automated guidance.
3Stability of the object's composition
If continuous curvature paths are generated, then the path smoothness is improved, but the computational complexity increases
Solution Approach 1:
The patent implements dynamic path generation that adapts the curvature continuity based on vehicle capabilities and operational requirements. The system calculates optimal turn paths with continuous curvature when conditions permit, but can simplify to piecewise linear paths when computational resources are constrained or vehicle dynamics require it, providing flexibility between smoothness and computational efficiency.
Data Source
AI summary
A method includes generating a non-continuous curvature end-of-row turn path for an agricultural vehicle, wherein the non-continuous curvature end-of-row turn path includes a plurality of initial segments that are curved or straight, adding at least one continuity segment between each of the initial segments, wherein the at least one continuity segment is a clothoid segment, and the initial segments and the at least one continuity segment combine to form a continuous curvature end-of-row turn path, and implementing the continuous end-of-row turn path, displaying the continuous end-of-row turn path, or both.