Field Route Planning From Partial Boundary Mapping
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Solution Overview
Problem
Agricultural machines face challenges in efficiently processing fields with unknown dimensions, as they lack the necessary information to plan effective routes, leading to inefficient field cultivation and potential damage to crops.
Innovation Solution
A method for route planning that involves manually traversing a primary area to determine position data, defining a secondary boundary, and automatically generating a driving route for the secondary area, along with control data for the agricultural machine, taking into account the machine's geometry and optimization criteria to optimize the route.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If route planning is performed for a field with unknown dimensions, then the agricultural machine can process the field, but the machine lacks necessary information for effective route planning leading to inefficient field cultivation
Solution Approach 1:
The system performs preliminary exploration by manually traversing a primary area to collect position data and determine field boundaries before automatic route planning can be executed. This preliminary boundary determination enables subsequent automated route optimization
Solution Approach 2:
A computer system acts as an intermediary between the agricultural machine and the field processing operation. The computer system receives position data, determines boundaries, plans routes, and generates control data, bridging the gap between unknown field conditions and optimized processing
2Object-affected harmful factors
If the headland is cultivated first to avoid driving over uncultivated crops, then crop damage is prevented, but the processing sequence becomes more complex requiring precise route planning
Solution Approach 1:
The field is segmented into distinct zones: a primary area for manual exploration and boundary determination, a secondary area for automated processing, and a headland for turning operations. This segmentation enables optimized route planning that processes the headland first while maintaining systematic coverage of remaining areas
Solution Approach 2:
The route planning system dynamically adapts to the determined field boundaries and generates optimized control data that automatically sequences operations to process the headland before inner areas, adjusting the processing sequence based on the specific field geometry
3Measurement precision
If manual traversal is performed to determine position data and boundaries, then accurate field mapping is achieved, but the initial processing time is increased
Solution Approach 1:
Instead of requiring complete automated boundary detection, the system performs partial manual traversal of a primary area to gather sufficient position data for boundary determination. This partial action provides adequate information for subsequent automated route planning without requiring exhaustive exploration
Data Source
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AI summary
The invention relates to a method for route planning for field cultivation in which an agricultural machine (10) cultivates a cultivation area (20). To enable efficient agricultural cultivation of an unknown cultivation area, the invention provides that: - a primary area (23) of the cultivation area (20) is traversed manually by the agricultural machine, whereby position data of the agricultural machine (10) are automatically determined (S100); - based on the position data, a primary boundary (G1) surrounding the primary area (23) is automatically determined, at least partially (S110); - a secondary outer boundary (A2) of a secondary area (24) arranged outside the primary area (23) is defined (S130, S160), which meets the primary boundary (G1) at two connection points (PA).wherein a part of the primary boundary (G1) lying between the connection points (PA) forms an inner boundary (I) between the primary area (23) and the secondary area (24), which together with the secondary outer boundary (A2) completely surrounds the secondary area (24), - a driving route (F1-F3) for processing at least the secondary area (24) is automatically determined (S190), and - control data (D) for controlling the agricultural machine (10) during field processing are automatically generated (S210), wherein the control data (D) represent a determined driving route (F1-F3).