Planting Machine Contour Sensing for Consistent Operating Depth
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Solution Overview
Problem
Agricultural machines face challenges in maintaining consistent operating depth or height relative to the field surface due to inaccurate field contour detection, particularly when using reactive sensing methods that are prone to noise from field conditions like clods, leading to inefficient and inaccurate control of tools like tillers, planters, and sprayers.
Innovation Solution
An agricultural planting machine equipped with a field contour detection system that generates a three-dimensional point cloud based on in-situ sensor data from ground-engaging elements, allowing for proactive control of tools to maintain desired operating positions, such as planting depth and spray height, by using sensors like GPS-RTK and encoders to track the position of gauge wheels and other ground-engaging components.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If reactive sensing methods are used to detect field contour, then the system can respond to ground variations, but the measurement precision deteriorates due to noise from field conditions like clods
Solution Approach 1:
The system performs preliminary field contour mapping by collecting data from multiple passes and generating a reference contour map before actual planting operations. This advance preparation allows the system to have a predicted contour profile to compare against real-time sensor data, improving measurement precision by filtering out noise from temporary field conditions like clods.
Solution Approach 2:
The system continuously compares real-time sensor data from ground-engaging elements against the pre-generated reference contour map and uses this feedback to adjust tool positions. This feedback mechanism enables the system to distinguish between actual contour variations and noise from field conditions, maintaining both reliability in responding to ground variations and precision in measurement.
2Measurement precision
If multiple sensors are deployed to improve field contour mapping accuracy, then measurement precision improves, but device complexity increases
Solution Approach 1:
The system uses ground-engaging elements that serve dual purposes: they perform the agricultural function of soil engagement while simultaneously acting as sensor carriers for contour detection. This multi-functionality allows the system to achieve high measurement precision without adding separate dedicated sensing components, thereby avoiding increased device complexity.
Solution Approach 2:
The ground-engaging elements themselves provide the sensing capability through integrated sensors that detect their own position and orientation relative to the ground contour. This self-service approach eliminates the need for separate sensing systems, maintaining simplicity while achieving high mapping accuracy through the inherent motion and position data of the working tools.
3Manufacturing precision
If real-time control signals are generated based on field contour data, then operating depth consistency improves, but loss of time in data processing increases
Solution Approach 1:
The system pre-generates a reference field contour map from collected sensor data before planting operations begin. This preliminary action creates a ready-to-use contour profile that can be quickly compared against real-time sensor readings, enabling fast control signal generation without extensive real-time processing and thus maintaining operating depth consistency while minimizing time loss.
Solution Approach 2:
The system processes and compares only the critical contour parameters that affect planting depth, rather than analyzing the complete raw sensor dataset. By focusing on essential measurements and using the pre-generated reference map for comparison, the system achieves sufficient depth consistency control with reduced computational overhead, minimizing data processing time while maintaining precision.
Data Source
AI summary
An agricultural planting machine includes a frame and a planting system supported on the frame and configured to plant seeds in a row. The planting system includes a ground-engaging element movable relative to the frame and configured to engage a ground surface of a field. A field contour detection system is configured to receive in-situ sensor data representing a location of the ground-engaging element, generate field contour data representing a contour of the ground surface based on the in-situ sensor data, and generate a control signal based on the field contour data.