Agricultural Vehicle Ridge Tracking With Point-Cloud Direction Control
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Solution Overview
Problem
Conventional agricultural vehicles experience instability and frequent left-right movements when traveling along a ridge, especially when the ridge is collapsed or uneven.
Innovation Solution
A control device that includes a direction identifying data generator, a direction identification part, and a travel control part, which uses point group data from a laser irradiation device to identify the direction of the ridge and control the vehicle to travel along that direction.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the agricultural vehicle uses ultrasonic sensor to measure distance between ridge and vehicle, then the vehicle can control its position in left-right direction, but the vehicle frequently moves in left-right direction when ridge is collapsed or uneven
Solution Approach 1:
The patent replaces the ultrasonic sensor-based mechanical measurement system with a camera-based optical recognition system. The camera captures images of the ridge, and image processing algorithms identify ridge positions and directions, eliminating the frequent left-right movements caused by ultrasonic sensor limitations on collapsed or uneven ridges.
Solution Approach 2:
The patent introduces image processing algorithms as an intermediary between the camera and the vehicle control system. These algorithms process captured images to accurately identify ridge positions and directions, serving as a mediator that translates visual information into actionable control commands, thereby improving traveling stability.
2Adaptability or versatility
If the agricultural vehicle frequently moves in left-right direction to follow ridge, then the vehicle can adapt to ridge position changes, but the traveling stability deteriorates
Solution Approach 1:
The patent implements a dynamic control system that continuously adjusts vehicle direction based on real-time ridge position and direction information extracted from camera images. The control system dynamically modifies steering commands to follow the ridge while maintaining stable travel, allowing the vehicle to adapt to ridge changes without excessive left-right movements.
Solution Approach 2:
The patent establishes a feedback loop where the camera continuously monitors ridge position and direction, the image processing algorithms analyze this information, and the control system adjusts vehicle trajectory accordingly. This closed-loop feedback mechanism enables the vehicle to adapt to ridge variations while maintaining traveling stability through continuous, smooth corrections rather than frequent abrupt movements.
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 solution improves the stability of the agricultural vehicle by allowing it to travel consistently along the ridge, reducing frequent left-right movements even when the ridge is uneven or collapsed.
Implementation Method 1
a laser irradiation device that transmits acquired point group data acquired by radiating pulsed laser light in front of the agricultural vehicle in a traveling direction, to the control device
Data Source
AI summary
A control device includes a direction identifying data generator that generates direction identifying data including at least a portion of acquired point group data indicating a position of a region including the ridge in front of an agricultural vehicle in a traveling direction, a direction identification part that identifies a direction of the ridge on the basis of the direction identifying data, and a travel control part that controls the agricultural vehicle such that the agricultural vehicle travels in the direction of the ridge identified by the direction identification part.