Agricultural Implement Frame Position Using LiDAR Ground Plane Fitting
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Solution Overview
Problem
Existing agricultural implement frame orientation monitoring systems, such as those using inertial measurement units (IMUs), are inaccurate and resource-intensive, failing to maintain a consistent orientation relative to the field surface, leading to uneven seedbeds and reduced crop yields due to variations in operating parameters and soil conditions.
Innovation Solution
A system utilizing LiDAR sensors to emit and detect reflections off the field surface, allowing a computing system to fit a line or plane to the data for precise determination of frame orientation and distance, enabling accurate and efficient monitoring of frame position.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If inertial measurement units (IMUs) are used to monitor frame orientation, then frame position can be tracked, but the system becomes inaccurate and resource-intensive
Solution Approach 1:
The patent replaces mechanical IMU-based orientation sensing with an optical LiDAR system that measures frame position relative to the ground. The LiDAR sensor emits laser pulses and measures the time of flight and angle of reflected signals to directly calculate frame orientation, eliminating the need for mechanical accelerometers and gyroscopes. This substitution provides more accurate measurements with reduced computational resources.
Solution Approach 2:
The patent introduces the ground surface as an intermediary reference plane. By measuring the frame's position relative to the ground through LiDAR and fitting a line or plane to the ground surface data, the system determines orientation based on the frame's relationship to the actual working surface rather than relying on gravitational reference from IMUs. This intermediary approach provides more relevant orientation data for agricultural operations.
2Manufacturing precision
If frame orientation is not monitored accurately, then the system is simpler, but the seedbed becomes uneven and crop yield decreases
Solution Approach 1:
The patent replaces complex mechanical orientation sensing with optical LiDAR measurement. The LiDAR system uses laser time-of-flight measurement and angle sensing to directly determine frame position and orientation relative to the ground, providing precise seedbed uniformity control without complex mechanical sensors. The computing system fits a line or plane to LiDAR data to calculate orientation, simplifying the physical system while maintaining high measurement precision.
Solution Approach 2:
The patent changes the measurement parameter from gravitational acceleration (IMU) to optical time-of-flight and angle of reflection (LiDAR). By measuring the frame's position in three-dimensional space relative to the ground surface and calculating orientation from these positional parameters, the system achieves more accurate seedbed uniformity control. The orientation is derived from the geometric relationship between the frame and ground plane rather than gravitational reference.
3Measurement precision
If LiDAR sensors are used to determine frame orientation, then measurement accuracy and speed improve, but device complexity increases
Solution Approach 1:
The LiDAR sensor performs multiple functions: it measures both the frame's position and the ground surface topology simultaneously. By emitting laser pulses in multiple directions and detecting reflections, the system obtains both orientation information and ground contour data from a single sensor, reducing overall system complexity despite the advanced sensing technology.
Solution Approach 2:
The patent creates a digital copy of the ground surface by fitting a line or plane to LiDAR measurement data. This computational model of the ground plane allows the system to determine frame orientation through mathematical comparison rather than direct mechanical sensing, simplifying the physical system while maintaining high measurement accuracy through sophisticated data processing.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides more accurate, rapid, and resource-efficient frame orientation determination, ensuring uniform seedbed formation by maintaining consistent implement orientation, thereby improving crop yield.
Implementation Method 1
The sensor is configured to emit output signals for reflection off of a field surface of the field and detect reflections of the output signals as return signals
Implementation Method 2
A system utilizing LiDAR sensors to emit and detect reflections off the field surface
Data Source
AI summary
An agricultural implement includes a sensor supported on the frame. The sensor, in turn, is configured to emit output signals for refection off of a field surface of a field and detect reflections of the output signals as return signals. Moreover, the agricultural implement includes a computing system communicatively coupled to the sensor. In this respect, the computing system configured to receive data associated with the detected reflections from the sensor and fit a line or plane to received data. In addition, the computing system is configured to determine at least one of an orientation of the frame or a distance between the frame and the field surface based on the fitted line or plane.