Field Route Planning Using Boundary Detection for Unknown Areas
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Solution Overview
Problem
Agricultural machines face challenges in efficiently processing fields with unknown dimensions, as they lack necessary information for route planning, leading to inefficient and potentially wasteful operations.
Innovation Solution
A method for route planning that involves manually controlling an agricultural machine through a primary area to gather position data, automatically determining boundaries, and generating control data for processing a secondary area, ensuring comprehensive coverage while minimizing unprocessed areas and optimizing routes based on machine geometry and characteristics.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If route planning is performed for a processing area with unknown dimensions, then comprehensive area coverage is achieved, but the necessary information for route planning is initially missing
Solution Approach 1:
The system performs preliminary boundary detection by manually guiding the agricultural machine along the perimeter of the unknown processing area before automated route planning begins. Position data collected during this preliminary traversal is stored and processed to automatically generate the complete boundary, providing the necessary information foundation for subsequent automated route optimization.
2Object-generated harmful factors
If the agricultural machine processes the headland first, then unprocessed crops in the headland are avoided, but additional traversal of the processing area is required
Solution Approach 1:
The route planning system dynamically adjusts the processing sequence based on the detected boundary geometry and machine characteristics. Rather than following a fixed headland-first approach, the system optimizes the route to process areas in an order that minimizes both crop damage risk and total processing time, adapting the sequence to the specific field configuration.
3Loss of information
If manual control is used to traverse the primary area, then position data is collected, but the processing efficiency is reduced
Solution Approach 1:
Manual traversal for boundary detection is performed as a preliminary one-time action to collect position data and establish the processing area boundary. Once the boundary is detected and stored, all subsequent route planning and processing operations are automated, eliminating the need for continuous manual control and restoring high processing efficiency.
4Use of energy by moving object
If automated route planning is implemented, then travel distance and energy consumption are optimized, but the system complexity increases
Solution Approach 1:
The route planning system is designed to be self-configuring and self-optimizing. It automatically detects boundaries, stores position data, determines optimal routes based on machine characteristics and field geometry, and adjusts processing sequences without external intervention. This self-service capability reduces the need for complex external control systems while achieving energy optimization.
Data Source
AI summary
A method for a route planning for a field processing. The method includes passing an agricultural machine through a primary area of a processing area while automatically determining position data thereof, at least partially automatically determining a primary boundary which surrounds the primary area based on the position data, determining a secondary outer boundary of a secondary area, the secondary outer boundary being arranged outside the primary area to meet the primary boundary at connection points, automatically determining a driving route for processing at least the secondary area, and automatically generating control data for controlling the agricultural machine during the field processing. A part of the primary boundary which lies between the two connection points forms an inner boundary between the primary area and the secondary area. The inner boundary, together with the secondary outer boundary, completely surrounds the secondary area. The control data represents a determined driving route.