Harvest Path Planning Along Elevation Contours
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Solution Overview
Problem
Current path planning systems for harvesters do not effectively minimize energy consumption by optimizing the harvest path based on terrain elevation, leading to inefficient energy use and potential bale displacement due to excessive elevation changes.
Innovation Solution
A path planning system that uses a computing device with a processor and memory to define a harvest path parallel to elevation contours, adjusting the path to maintain a slope within a maximum allowable threshold and reducing overall elevation gain, thereby minimizing energy consumption and preventing bale displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If the harvest path is determined based on prior experience and knowledge without considering terrain elevation, then the path planning is simple and quick, but energy consumption is not minimized and bale displacement may occur
Solution Approach 1:
The system performs preliminary analysis of terrain elevation data before generating the harvest path. By pre-processing the elevation information and identifying contour lines, the system prepares the necessary data structure in advance, allowing the path planning algorithm to efficiently minimize elevation changes without adding significant complexity during actual path generation
Solution Approach 2:
The harvest path is designed to follow elevation contours, maintaining constant elevation along the path segments. This equipotential approach ensures the harvester operates at consistent elevation levels, minimizing energy consumption associated with climbing and descending slopes while preventing bale displacement due to excessive elevation changes
2Use of energy by moving object
If the harvest path follows a generally back-and-forth route that parallels field edges, then the path is easy to follow and implement, but energy consumption increases due to unnecessary elevation changes
Solution Approach 1:
The system changes the fundamental parameter of path orientation from field-edge-parallel to elevation-contour-parallel. By transforming the path planning basis from geometric field boundaries to topographic elevation contours, the system achieves energy optimization while maintaining operational simplicity through automated calculation and guidance
3Reliability
If the harvest path traverses areas with excessive slope, then complete coverage of the harvest area is achieved, but bale displacement occurs due to excessive elevation changes
Solution Approach 1:
The path planning algorithm constrains the harvest path to follow elevation contours, maintaining constant elevation and avoiding excessive slopes. This equipotential approach ensures bales remain stable during transport along the path while still achieving complete coverage of the harvest area through systematic contour-following routes
Data Source
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AI summary
A path planning system includes a path planning algorithm operable to receive a desired harvest width for each pass of a harvester implement, and a boundary of a harvest area to be harvested. The path planning algorithm determine a surface elevation of the harvest area within the boundary, which includes at least one elevation contour establishing a line of constant elevation. The path planning algorithm then defines a harvest path for the harvester implement to follow while harvesting the crop material. The harvest path is defined to substantially parallel the at least one elevation contour, and is incremented in elevation in a parallel manner based on the desired harvest width.