Follower Path Planning Using Equipment Models for Curved Field Alignment
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Solution Overview
Problem
Conventional guidance systems for follower machines in agricultural operations rely on reactive positioning relative to leader machines, leading to slow adjustments and poor performance in non-straight lines and complex field conditions, such as curves and maneuvers around obstacles.
Innovation Solution
Generating a path plan for follower machines using equipment models based on the path plan of a leader machine, incorporating kinematic models to anticipate future movements and maintain optimal alignment, reducing the need for manual adjustments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If reactive positioning is used for follower machines, then the system is simple to implement, but the alignment accuracy and response time deteriorate in complex field conditions
Solution Approach 1:
The system performs preliminary actions by pre-calculating the follower machine's path plan based on the leader machine's equipment model and operational parameters. The guidance system proactively determines future positions and alignment requirements before the follower machine reaches them, enabling accurate positioning in curves and complex field conditions without requiring complex real-time reactive adjustments.
2Productivity
If manual adjustments are made frequently, then alignment accuracy can be maintained, but operational efficiency deteriorates
Solution Approach 1:
The guidance system incorporates feedback mechanisms that continuously monitor the follower machine's position and alignment relative to the pre-calculated path plan. Based on this feedback, the system automatically adjusts guidance commands to maintain precise alignment without requiring manual intervention, thereby preserving both operational efficiency and alignment accuracy.
3Measurement precision
If equipment models and kinematic models are integrated, then proactive guidance accuracy improves, but system complexity increases
Solution Approach 1:
The system creates simplified digital representations (copies) of the leader and follower machines as equipment models, capturing essential geometric and kinematic parameters. These model copies enable proactive path calculation and alignment prediction without requiring complex real-time simulations of the actual machines, reducing computational complexity while maintaining guidance accuracy.
Data Source
AI summary
Generating a path plan for a follower machine is described. An operational parameter of a leader machine is obtained. A leader path plan for the leader machine is obtained. A follower path plan for a follower machine is identified based on the operational parameter and the leader path plan. At least a portion of the follower path plan is displayed at a display associated with the follower machine. In an example, the leader machine can be a combine and the follower machine can include a grain cart.