Follower Vehicle Path Coordination for Reduced Headland Area
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current vehicle coordination systems result in an enlarged headland area when a leader vehicle makes a 180-degree turn, reducing the work area and crop yield, as follower vehicles maintain an offset parallel path, which can lead to tighter turns that follower vehicles may not be able to perform, and increase the headland size, reducing the work area and crop yield.
Innovation Solution
A method and apparatus that allow follower vehicles to move on paths substantially parallel to and offset from the leader vehicle's path, adjusting their position to an opposite offset side after the leader vehicle completes a turn, enabling them to travel in-line with the leader vehicle within the headland and reducing the headland size by switching sides, thus allowing larger turns and maintaining efficient crop harvesting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If follower vehicles maintain an offset parallel path during turns, then they can follow the leader vehicle's path, but the headland area is enlarged, reducing the work area and crop yield
Solution Approach 1:
The follower vehicle dynamically adjusts its path based on the leader vehicle's position and the turn phase. During straight sections, the follower maintains a parallel offset path, but during turns, it transitions to an in-line path with the leader vehicle, optimizing both following accuracy and headland utilization
Solution Approach 2:
The system changes the lateral offset parameter from a constant value to a variable that depends on the turn phase. The offset is maintained during straight travel but reduced to zero (in-line positioning) during turns, allowing the follower to adapt its path parameters to different operational conditions
2Reliability
If follower vehicles maintain an offset parallel path during turns, then they can follow the leader vehicle's path, but tighter turns are required that follower vehicles may not be able to perform
Solution Approach 1:
The follower vehicle uses dynamic path adjustment, switching from parallel offset following during straight sections to in-line positioning during turns. This dynamic adaptation allows the follower to match the leader's turning radius requirements without being constrained by a fixed offset path
Solution Approach 2:
The lateral offset parameter is changed from a fixed value to a conditional variable that is adjusted based on turn detection. When a turn is detected, the offset is reduced, enabling the follower to perform wider, more manageable turns while maintaining accurate path following during straight sections
3Stability of the object's composition
If follower vehicles maintain an offset parallel path, then they can travel in coordinated formation, but the headland size is increased, reducing crop yield
Solution Approach 1:
The vehicle formation dynamically transitions between two configurations: a parallel offset formation during straight travel that maintains coordination stability, and an in-line formation during turns that minimizes headland area. This dynamic reconfiguration preserves formation coordination while optimizing productivity
Solution Approach 2:
The lateral spacing parameter between vehicles is changed from a constant offset to a variable that depends on the operational phase. The offset is maintained during straight travel for stable formation keeping but reduced during turns to minimize the headland footprint and maximize crop yield
Data Source
AI summary
The illustrative embodiments provide for a number of other vehicles that are moved on a number of paths that is substantially parallel to, and offset to at least one of a first offset side and a second offset side of, the path for the first vehicle. The number of other vehicles is moved along at least a portion of the path in the turn in response to a turn in the path of the first vehicle. The number of other vehicles may be moved from the path to a number of second parallel paths that are substantially parallel to the path after the turn of the first vehicle and offset to an opposite offset side of the first vehicle than the at least one offset side before the turn in response to the first vehicle completing the turn.