Harvester Transfer Device Control Using Multi-Sensor Fusion
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Solution Overview
Problem
Existing systems for controlling the position of an adjustable transfer device in forage harvesters struggle to accurately unload material into a container positioned at the rear, especially when visibility is poor or the container is far away, leading to inefficiencies and potential crop spillage.
Innovation Solution
A control arrangement comprising an image capture device, a target detection module, and an electronic control unit that calculates the position of the transfer device relative to the container, using a combination of image processing and position-determining devices like GPS to adjust the transfer device's position and trajectory for precise unloading.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Extent of automation
If image-based systems are used to control the transfer device, then automation is improved, but the system fails to identify the container correctly when visibility is poor or distance is large
Solution Approach 1:
The patent combines multiple sensor types (optical image capture device, radio frequency identification device, global positioning system, inertial measurement unit) into an integrated sensor system. This multi-sensor fusion approach allows the system to maintain reliable container identification and tracking even when individual sensors fail due to poor visibility or distance, thereby resolving the contradiction between automation and reliability.
Solution Approach 2:
The patent introduces intermediate computational modules (image processing system, sensor data fusion module, container tracking module) that process and interpret raw sensor data. These intermediaries transform unreliable individual sensor inputs into reliable container position and identification information, enabling automatic control to function reliably under challenging conditions.
2Productivity
If the transport vehicle follows the harvesting machine from behind at a large distance, then field opening efficiency is improved, but the distance between the harvester and container becomes too large for accurate unloading
Solution Approach 1:
The patent transitions from two-dimensional image-based position detection to three-dimensional spatial positioning by integrating GPS coordinates, inertial measurement data, and radio frequency identification. This multi-dimensional approach enables accurate determination of container position and orientation even at large distances, maintaining measurement precision while allowing the transport vehicle to follow at optimal distances for productivity.
3Device complexity
If manual control of the transfer device is used, then system complexity is reduced, but loading efficiency and accuracy deteriorate
Solution Approach 1:
The patent implements a self-service control system where the transfer device automatically adjusts its position, orientation, and discharge angle based on real-time container location data from multiple sensors. The system autonomously calculates the required transfer device configuration and executes adjustments without operator intervention, achieving high loading efficiency while maintaining manageable system complexity through modular sensor integration and automated control algorithms.
Data Source
Figure 1A~1B
Figure 2
Figure 3A~3B
AI summary
Disclosed herein is an adjustable transfer device for unloading processed crop onto a container of a transport vehicle including a control arrangement with an electronic control unit, among other integrated components. Electronic control unit calculates position of expected point of incidence of crop flow on the container. Further provided is a system that identifies and tracks a target object in image data, which is then used to determine the trajectory of the target. With the trajectory known, the control arrangement can accurately direct the crop flow into the container.