Implement Control Unit for Agricultural Vehicle Path Accuracy
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Solution Overview
Problem
Existing agricultural vehicle systems that control the lateral position of implements relative to the vehicle suffer from delays in correcting deviations from a desired path, leading to potential damage to plants and inefficiencies in agricultural operations due to the time lag in actuator responses to steering actions.
Innovation Solution
A system comprising a vehicle with steerable front wheels and driven rear wheels, an implement with a cross beam and row units, and an actuator controlled by an implement control unit that uses camera-based image processing and satellite positioning to minimize lateral position errors, while also considering predictive steering movements of the vehicle to maintain the implement on a nominal path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the vehicle steers to correct the implement's lateral position, then the implement can be kept on the desired path, but the control reaction takes time and the implement may deviate far from the intended path before correction
Solution Approach 1:
The control system calculates and executes steering corrections in advance based on predicted implement position deviations. The controller receives real-time implement position data, predicts future deviations, and pre-calculates required steering actions before the implement actually deviates from the desired path, thereby eliminating time lag effects.
Solution Approach 2:
The system continuously monitors the implement's actual lateral position through sensors and compares it with the desired path. This closed-loop feedback mechanism provides real-time position information to the controller, which then adjusts vehicle steering accordingly to maintain precise implement tracking despite time delays in the mechanical transmission path.
2Manufacturing precision
If the vehicle steers to compensate for implement position errors, then the implement follows the desired path, but plants may be damaged or destroyed by the implement during deviation
Solution Approach 1:
The controller predicts implement position deviations before they occur and executes preventive steering corrections. By anticipating future deviations based on current motion state and desired path geometry, the system prevents the implement from leaving the safe operating zone around plants, thereby avoiding damage before it can happen.
Solution Approach 2:
Real-time position sensing provides continuous feedback on implement location relative to the desired path and plant rows. This feedback enables the controller to detect when the implement approaches dangerous positions and automatically corrects the vehicle steering to maintain safe distances from plants, preventing contact and damage.
3Ease of operation
If the implement is controlled to follow the vehicle's desired path, then the vehicle steering is simplified, but the implement cannot independently correct its own lateral position
Solution Approach 1:
The control system is divided into independent functional modules: a vehicle steering control unit that handles path following, and an implement position control unit that independently manages lateral position corrections. This segmentation allows each unit to operate autonomously based on its specific function, with the implement control unit receiving position error signals and generating appropriate correction commands without interfering with vehicle steering simplicity.
Solution Approach 2:
The system introduces an intermediary control layer between the vehicle steering system and the implement. This intermediate control unit receives the vehicle's desired path, calculates the corresponding implement position, compares it with actual implement position, and generates steering corrections. This intermediary layer enables the implement to independently correct its position while the vehicle maintains simple path-following steering.
Data Source
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AI summary
A system and method for controlling an implement connected to a vehicle is described, wherein the implement is adapted to perform an agricultural operation on a field, the vehicle has steerable ground engaging means for propelling the vehicle over the field, an actuator is arranged to control at least one of a yaw angle and a lateral position of the implement with respect to the vehicle, and an implement control unit is programmed to control the actuator based upon a first signal regarding a difference between a sensed lateral position of the implement and a nominal lateral position of the implement and a second signal regarding a steering movement of the vehicle.