Controlled Seeding Tramlines for Cornering and U-Turn Paths
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Solution Overview
Problem
Current agricultural machinery struggles with controlled seeding on non-straight trajectories, leading to seed wastage and soil crushing due to the inability to precisely tramline cornering and U-turns, which limits the choice of machines and increases operational complexity.
Innovation Solution
A method and system for controlled seeding that involves creating a virtual plan of the plot to account for straight and non-straight trajectories, allowing the seeding vehicle to selectively interrupt or retract seeding elements to avoid crushing, using advanced software to control the seeding vehicle's path based on subsequent operations' trajectories, and incorporating autonomous or semi-autonomous technology for precise tramlining.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If traditional seeding methods are used without considering subsequent operation trajectories, then seeding can be completed quickly, but seed wastage increases due to unproductive seeding in areas that will be crushed by subsequent operations
Solution Approach 1:
The system performs preliminary actions by determining the trajectories of subsequent operations before executing the seeding operation. The seeding vehicle uses pre-calculated trajectory data to identify areas that will be crushed by subsequent operations, allowing it to avoid seeding in those areas from the start, thereby eliminating seed wastage without compromising seeding speed
Solution Approach 2:
The system implements feedback by using information about subsequent operation trajectories to adjust seeding decisions in real-time. The seeding vehicle receives trajectory data, processes it to identify crush zones, and dynamically adjusts seeding activation based on its position relative to these zones, ensuring seeds are only placed in productive areas
2Ease of operation
If tramlining is applied only to straight portions of the plot, then seeding operations are simple to execute, but seed wastage occurs in non-straight portions such as cornering and U-turns
Solution Approach 1:
The system extends tramlining capability from straight lines to curved trajectories by calculating and following curved paths that match the actual geometry of cornering and U-turn areas. The seeding vehicle determines curved trajectories based on plot geometry and subsequent operation requirements, enabling precise tramlining along non-straight portions without increasing operational complexity
Solution Approach 2:
The system changes the parameter of trajectory geometry from exclusively straight to including curved segments. By incorporating curved trajectory calculations that account for cornering and U-turn geometries, the system enables tramlining in previously problematic areas while maintaining ease of operation through automated path determination
3Productivity
If the seeder working width is optimized for straight portions, then seed distribution is efficient, but the choice of machines is restricted and flexibility is reduced
Solution Approach 1:
The system introduces dynamics by enabling the seeding vehicle to adapt its working width and seeding activation dynamically based on the specific trajectory and position. Rather than being constrained to fixed working widths, the vehicle can selectively activate or deactivate seeding elements along its path, allowing any machine width to be optimized for any plot configuration through real-time control
Solution Approach 2:
The system achieves universality by creating a control method that works with any seeder working width and any plot geometry. The trajectory-based control system can accommodate different machine sizes, plot shapes, and operation types, making the system universally applicable and eliminating restrictions on machine choice while maintaining seed distribution efficiency
4Measurement precision
If robot-controlled seeding vehicles with reduced working widths are used, then precision is improved, but the number of maneuvers increases leading to more crushing and soil tamping
Solution Approach 1:
The system performs preliminary determination of all trajectories including cornering and U-turn paths before execution. By pre-calculating the complete path with precise trajectory data, the robot-controlled vehicle can execute maneuvers with high precision while minimizing unnecessary movements and overlapping passes, thereby reducing soil crushing and tamping despite the increased number of maneuvers
Solution Approach 2:
The system uses feedback from trajectory calculations to optimize maneuver execution. The vehicle receives real-time position feedback and compares it with the pre-determined trajectory, allowing precise adjustment during cornering and U-turns to minimize deviation and reduce repeated passes over the same areas, thereby reducing soil damage
Data Source
AI summary
A method for controlled seeding of a parcel of agricultural land by a seeding vehicle having a plurality of individual seeding members each producing a seeding line and being able to interrupt at least one seeding line so as to mark out the parcel, including: providing, in advance, a virtual plan of the parcel with the current portions of the arrangements of seeding lines to be realized; inferring therefrom the trajectories of the seeding vehicle; and controlling the latter to carry out controlled seeding with marking out for these current portions and for the particular trajectories at least during cornering, during U-turns or between the current portions, depending on the trajectories of the rolling members of the vehicle(s) or trailer(s) carrying out the subsequent operation(s) on these current portions.