Contour-Based Harvest Path Planning for Slope-Aware Bale Stability
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Solution Overview
Problem
Harvester implements face inefficiencies in energy consumption due to the need to traverse varying terrain during crop harvesting, as existing path planning systems do not effectively account for surface elevation and slope, leading to increased energy expenditure and potential bale displacement.
Innovation Solution
A path planning system utilizing a computing device with a processor and memory to define a harvest path that parallels elevation contours, adjusting for maximum allowable slope thresholds and minimizing overall elevation gain, thereby reducing energy consumption and preventing bale displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If the harvest path is determined by operator experience or simple algorithms that minimize horizontal travel distance, then the path planning is simple and quick, but energy consumption increases due to not accounting for elevation changes and slope
Solution Approach 1:
The system performs preliminary analysis of elevation data and slope calculations before generating the harvest path. By pre-processing terrain information and identifying constant elevation lines in advance, the system can optimize energy consumption without adding complexity during actual harvesting operations
Solution Approach 2:
The patent applies the equipotentiality principle by defining harvest paths that follow constant elevation lines (contours). This ensures the harvester operates at consistent elevation levels, minimizing energy expenditure from vertical movements and slope changes while maintaining simple path following logic
2Productivity
If the harvest path traverses areas with steep cross slopes to minimize horizontal travel distance, then productivity increases, but safety and operational stability deteriorate due to excessive slope thresholds
Solution Approach 1:
The system changes the path planning parameter from minimizing horizontal distance to minimizing elevation gain and slope exposure. By adjusting the optimization criterion to account for slope thresholds, the system maintains productivity while ensuring operational safety through parameter-based path selection
Solution Approach 2:
By constraining the harvest path to follow constant elevation lines, the system eliminates cross-slope traversal entirely. This equipotential approach ensures the harvester operates only on stable, level terrain within safe slope thresholds while maintaining efficient harvesting throughput
3Length of moving object
If the harvest path does not parallel elevation contours, then the path may be shorter in horizontal distance, but energy consumption increases due to unnecessary elevation gain and loss
Solution Approach 1:
The system defines harvest paths that strictly follow constant elevation lines (contours), ensuring the harvester travels along equipotential surfaces. This eliminates unnecessary elevation gain and loss, reducing energy consumption related to vertical movements while maintaining efficient horizontal traversal
Solution Approach 2:
The patent transitions from two-dimensional horizontal path planning to three-dimensional terrain-aware path planning by incorporating elevation data. This dimensional enhancement allows the system to optimize paths based on both horizontal distance and vertical elevation changes, achieving energy efficiency without significantly increasing travel distance
Data Source
AI summary
A path planning system includes a path planning algorithm operable to receive a desired harvest width for each pass of a harvester implement, and a boundary of a harvest area to be harvested. The path planning algorithm determine a surface elevation of the harvest area within the boundary, which includes at least one elevation contour establishing a line of constant elevation. The path planning algorithm then defines a harvest path for the harvester implement to follow while harvesting the crop material. The harvest path is defined to substantially parallel the at least one elevation contour, and is incremented in elevation in a parallel manner based on the desired harvest width.