Crop Row Lane Following Using Sensor-Based Yaw Control
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Solution Overview
Problem
Existing autonomous vehicles lack effective systems for accurately navigating and operating within agricultural environments, particularly for tasks involving crop rows, due to challenges in sensing and controlling vehicle position and implement operations.
Innovation Solution
Implementations include a vehicle controller system with distance and image sensors to detect crop rows, determining vehicle yaw and lateral position, and controlling the vehicle to follow the crop row using actuators, enabling precise agricultural lane following.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If autonomous vehicles use sensors to detect and navigate agricultural environments, then navigation accuracy along crop rows is improved, but device complexity increases due to multiple sensors and processing requirements
Solution Approach 1:
The system segments the navigation task into distinct functional modules: distance sensing for lateral positioning, image sensing for crop row detection and orientation, actuator control for vehicle guidance, and processing apparatus for data integration. Each module handles a specific aspect of navigation, improving overall system manageability and accuracy while maintaining modular complexity
Solution Approach 2:
The processing apparatus serves multiple functions simultaneously: it processes distance sensor data for lateral position determination, analyzes image sensor data for crop row detection and yaw calculation, integrates both data sources for comprehensive navigation state estimation, and generates control commands for actuators. This multi-functionality reduces the need for separate dedicated systems
2Manufacturing precision
If the vehicle controller system uses multiple sensors and actuators for precise lane following, then manufacturing precision is improved, but device complexity increases
Solution Approach 1:
The system implements continuous feedback loops where distance sensors monitor lateral position relative to crop rows, image sensors detect crop row orientation and position, the processing apparatus calculates deviations from desired path, and actuators adjust vehicle motion in real-time. This closed-loop feedback enables high lane following precision while managing control complexity through iterative correction
Solution Approach 2:
The system replaces complex mechanical steering and positioning mechanisms with sensor-based detection and electronic control. Instead of mechanical linkages and manual adjustment systems, the invention uses distance sensors, image sensors, and electronic actuators controlled by a processing apparatus, reducing mechanical complexity while improving precision
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables accurate and efficient navigation and operation of vehicles along crop rows, enhancing agricultural tasks such as spraying and harvesting by improving the precision and autonomy of vehicle movement.
Implementation Method 1
a distance sensor connected to a vehicle, wherein the distance sensor is configured to output range data reflecting distances of objects with respect to the vehicle
Implementation Method 2
one or more image sensors connected to a vehicle... access image data captured using the one or more image sensors
Data Source
AI summary
Systems and methods for agricultural lane following are described. For example, a method includes accessing range data captured using a distance sensor connected to a vehicle and/or image data captured using an image sensor connected to a vehicle; detecting a crop row based on the range data and/or the image data to obtain position data for the crop row; determining, based on the position data for the crop row, a yaw and a lateral position of the vehicle with respect to a lane bounded by the crop row; and based on the yaw and the lateral position, controlling the vehicle to move along a length of the lane bounded by the crop row.