Autonomous Crop Chassis Height Control for Uneven Terrain
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Mobile autonomous agricultural systems face challenges in navigating uneven terrain and maintaining level attitude while avoiding obstacles, such as plants and infrastructure, without efficient height adjustment mechanisms.
Innovation Solution
A mobile autonomous agricultural system equipped with a powered unit, distance sensors, and actuators that adjust the chassis height based on distance signals to avoid collisions and maintain optimal distance from plants, featuring a suspension assembly with a four-bar linkage and linear actuator for independent wheel movement, and an attitude sensor for pitch and roll adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If the chassis height is fixed, then the structure is simple, but the system cannot avoid obstacles or adapt to uneven terrain
Solution Approach 1:
The chassis height is made dynamically adjustable through actuators that can extend and retract based on real-time distance sensor feedback. This allows the system to adapt to varying terrain and obstacle conditions while maintaining a relatively simple base structure.
Solution Approach 2:
Distance sensors continuously monitor the space between the chassis and surrounding objects, providing feedback to the controller which adjusts actuator positions accordingly. This closed-loop control enables obstacle avoidance and terrain adaptation without requiring complex mechanical designs.
2Reliability
If multiple sensors and actuators are added for height control, then obstacle avoidance capability is improved, but device complexity increases
Solution Approach 1:
The distance sensors serve multiple functions: they detect obstacles for collision avoidance, measure terrain elevation for height adjustment, and provide data for maintaining optimal camera-to-plant distance. This multi-functionality reduces the need for separate specialized components.
Solution Approach 2:
The height control system combines distance sensing, actuator control, and chassis adjustment into an integrated system. The same sensors and controllers used for navigation also manage height adjustment, consolidating functions rather than adding separate systems.
3Reliability
If the chassis height is continuously adjusted, then collision avoidance is improved, but energy consumption increases
Solution Approach 1:
The system performs height adjustments periodically based on sensor triggers rather than continuously. The controller monitors distance signals and only activates actuators when obstacle proximity or terrain changes are detected, reducing unnecessary energy consumption while maintaining effective collision avoidance.
Data Source
AI summary
There is disclosed a mobile autonomous agricultural system comprising a powered mobile unit for carrying agricultural equipment, and configured to move along rows of crops. The powered mobile unit comprises a chassis extending along a longitudinal axis defining an inner zone to receive the row of crops, and an actuator which is moveable between a fully extended position and a fully retracted position to respectively raise or lower the height of the chassis above the ground. At least one distance sensor is disposed on the powered mobile unit and configured output respective distance signals relating to the distance of objects from the respective distance sensor. A controller is configured to receive the distance signals, and to control extension of each of the actuators to control the height of the powered mobile unit based on the distance signals.