Low-Speed Farm Implement Heading Estimation via Pivot Geometry
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Solution Overview
Problem
Autonomous and semi-autonomous farming machines face challenges in determining accurate headings for vehicles and implements when stationary or moving at speeds below a threshold, due to noise in location data and misalignment caused by pivot hitches, leading to potential damage or accidents.
Innovation Solution
A farming machine management system determines a pivot point where the implement is connected to the vehicle using a pivot hitch, then uses known dimensions and location sensor data to calculate accurate headings for both the vehicle and implement, even at low speeds or when stationary, by identifying intersection points between circles representing the sensor positions and selecting based on relative angles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If heading is determined using location sensor data changes over time, then heading can be calculated when the vehicle is moving, but the heading cannot be determined when the vehicle is stationary or moving below threshold speed due to noise in location data
Solution Approach 1:
The patent introduces an intermediary geometric construction (circles with radii equal to distances from sensor to pivot point) to determine heading. Instead of directly calculating heading from noisy location data changes, the system uses the known pivot point and sensor positions to create geometric relationships that yield accurate heading even when location data has noise or when the vehicle is stationary.
Solution Approach 2:
The system performs preliminary determination of the pivot point location before calculating heading. By first establishing the pivot point using location sensors and known dimensions, the system creates a reference framework that enables subsequent heading calculations to be accurate regardless of vehicle speed or location data noise.
2Adaptability or versatility
If the implement is attached with a pivot hitch allowing side-to-side movement, then the implement can adjust its position, but the heading of the implement may not be aligned with the farming vehicle making movements difficult to predict
Solution Approach 1:
The pivot point serves as an intermediary reference that connects the vehicle and implement headings. By calculating headings relative to the known pivot point position, the system can determine both the vehicle heading and implement heading independently and accurately, even when they are misaligned, thereby predicting the misalignment rather than losing accuracy.
3Device complexity
If traditional location sensor-based heading determination is used, then the system is simple to implement, but the heading accuracy deteriorates at low speeds or when stationary due to noise in location data
Solution Approach 1:
The system performs preliminary determination of the pivot point using location sensors and known dimensions before calculating heading. This preliminary geometric setup creates a robust reference framework that enables accurate heading calculations without requiring complex additional sensors or systems, thus maintaining relatively simple device complexity while improving measurement precision.
Data Source
AI summary
A system and a method are disclosed for determining a heading of a vehicle and a heading of an implement of a farming machine when the farming machine is stationary or moving at a speed below a threshold speed. The vehicle and the heading are attached together via a pivot hitch. A farming machine management system receives coordinates from a first location sensor coupled to the vehicle and a second location sensor coupled to the implement. The farming machine management system determines intersection points between a first circle centered at the first location sensor and a second circle centered at the second location sensor. The farming machine management system selects one of the intersection points based on an output of a machine learning model. The farming machine management system determines the headings of the vehicle and the implement and generates instructions for operating the farming machine based on the headings.