Multi-Harvester Path Planning With Obstacle-Aware Field Segmentation
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Solution Overview
Problem
Current agricultural technologies face challenges in planning efficient driving paths for multiple automatic harvesters to operate simultaneously without collisions or leaving unharvested areas, especially when obstacles are present, which affects harvesting efficiency and safety.
Innovation Solution
A system and method for planning driving paths for multiple automatic harvesters that utilize detection devices and path planning modules to acquire and analyze farmland information, obstacle data, and adjust paths dynamically to avoid obstacles, ensuring safe and efficient operation by transmitting driving path information to control devices and determining the quantity and distribution of harvesters.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple automatic harvesters operate simultaneously in large farmland, then harvesting efficiency is improved, but the risk of collisions and path conflicts increases
Solution Approach 1:
The system divides the farmland into multiple harvesting areas and assigns each harvester to a specific area through path planning. This segmentation approach allows multiple harvesters to operate simultaneously without collisions by ensuring each harvester has a dedicated working zone while maintaining overall coordination.
2Reliability
If detection devices and path planning modules are added to manage multiple harvesters, then collision avoidance is improved, but system complexity increases
Solution Approach 1:
The path planning module serves multiple functions: it plans initial harvesting paths, detects obstacles, dynamically adjusts paths in real-time, and coordinates multiple harvesters. By making this single module multi-functional, the system achieves reliable collision avoidance without proportionally increasing overall system complexity.
Solution Approach 2:
The system continuously detects obstacle information during harvesting operations and feeds this data back to the path planning module. The module then dynamically adjusts paths based on this feedback, enabling real-time collision avoidance while maintaining systematic control without excessive complexity.
3Reliability
If dynamic path adjustment is implemented to avoid obstacles, then safety is improved, but harvesting time increases due to path replanning
Solution Approach 1:
The path planning module transitions from static pre-planned paths to dynamic real-time path adjustment. It continuously monitors obstacle information and automatically replans paths when necessary, allowing the system to adapt to changing conditions while minimizing interruptions to the harvesting process.
Solution Approach 2:
The system performs preliminary path planning before harvesting begins and maintains these paths during operation. By having pre-planned paths ready and only adjusting when absolutely necessary, the system minimizes the time lost to replanning while still ensuring safety when obstacles are detected.
Data Source
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AI summary
A method for planning driving paths for multiple automatic harvesters, includes performing detection and forming basic agricultural land information by a detection device and receiving the basic agricultural land information at a path planning module. The path planning module sets quantity setting information and divides harvesting areas of the multiple automatic harvesters and travel paths thereof.