Crop Edge Lane Guidance for Precise Headland Turning
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Solution Overview
Problem
Existing driver assistance systems for agricultural machines face challenges in maintaining precision during turning maneuvers due to slippage, drift, and inaccuracies in satellite navigation, leading to uncultivated strips in the field.
Innovation Solution
Utilizing a crop edge sensor to align the machine with the target work lane during turning, switching from satellite-based navigation to local crop edge detection for precise alignment, and implementing steering commands through automated or semi-automated systems.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If satellite-based navigation is used for lane guidance during turning maneuvers, then the machine can follow a designated turning lane with sensor support, but precision is reduced due to slippage, drift, and navigation inaccuracies
Solution Approach 1:
The system merges satellite-based navigation with local crop edge sensor detection to create a hybrid guidance system. During turning maneuvers, the crop edge sensor detects the actual position of crop rows and provides real-time feedback to correct deviations caused by slippage or drift, while satellite navigation provides overall position context. This combination resolves the contradiction by maintaining both the productivity benefit of automated turning and the precision needed for accurate lane following.
Solution Approach 2:
The crop edge sensor acts as an intermediary between the satellite navigation system and the steering control. Instead of relying solely on satellite position data, the sensor detects actual crop row positions and translates them into corrective steering commands, serving as a mediator that bridges the gap between global navigation and local precision requirements during turning maneuvers.
2Extent of automation
If the machine follows a planned turning lane based on satellite navigation, then automated steering is achieved, but uncultivated strips remain when slippage or drift occurs
Solution Approach 1:
The system implements continuous feedback by using the crop edge sensor to monitor actual machine position relative to crop rows during turning maneuvers. When slippage or drift causes deviation from the planned turning lane, the sensor detects the displacement and feeds this information back to the steering control system, which automatically corrects the steering angle to maintain proper alignment with the crop rows, ensuring complete cultivation without uncultivated strips.
Solution Approach 2:
The system performs preliminary detection of crop row positions using the edge sensor before and during the turning maneuver. By detecting the actual crop edge positions in advance and continuously monitoring during the turn, the system can proactively adjust the turning path to compensate for anticipated slippage or drift, rather than reacting only after deviations occur, thereby ensuring complete crop coverage.
3Adaptability or versatility
If satellite navigation accuracy decreases or target work lane position shifts, then lane guidance becomes less accurate, but the system continues to operate without correction
Solution Approach 1:
The crop edge sensor enables the system to self-correct positioning errors without external intervention. When satellite navigation accuracy decreases or target lane positions shift, the sensor autonomously detects actual crop row positions and automatically adjusts the guidance system to align with the true crop edges, allowing the system to service its own positioning accuracy needs without relying solely on satellite data quality.
Data Source
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AI summary
The invention relates to a driver assistance system for an agricultural machine (2) for working an area having a crop (3) along working lanes (4), wherein a lane guidance control (5) is provided which, during a turning operation in a headland area (6), generates steering commands for the machine (2) for sensor-based driving along a turning lane (7) between an initial working lane (4a) and a target working lane (4b) offset therefrom with opposite direction of travel.It is proposed that a crop edge sensor (8) is provided for detecting crop edges (9) in the crop stand (3) and that the guidance control (5) performs an alignment operation during the turning process by using the crop edge sensor (8) to detect a reference crop edge (9b) of the crop stand and, based on this, generates steering commands for the working machine (2) to align the working machine (2) with the target working lane (4b).