Surface Roughness Estimation for Off-Road Implement Control
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Solution Overview
Problem
Off-road vehicles face challenges in maintaining target path plans due to ground surface irregularities, leading to variations in crop input application and reduced implement performance, which can result in operator fatigue and decreased crop yield.
Innovation Solution
A method and system that estimate surface roughness by detecting motion and attitude data using sensors, such as accelerometers and location-determining receivers, to generate a surface roughness index, which is displayed graphically and used to adjust implement settings like down-force for improved tracking and uniform application.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If automatic guidance system is used to guide vehicle to track path plan, then path tracking accuracy is improved, but ground surface irregularities still cause variance from target path plan
Solution Approach 1:
The patent introduces an intermediary system consisting of sensors (accelerometers, gyroscopes, GPS) and a control module that mediates between the automatic guidance system and the implement. This intermediary detects surface irregularities through motion data and actively compensates for them, allowing the system to maintain path tracking accuracy even when ground conditions cause deviations.
Solution Approach 2:
The system continuously collects motion data from sensors, processes this information to detect surface irregularities, and provides real-time feedback to adjust implement settings. This closed-loop feedback mechanism enables the system to respond dynamically to ground conditions, maintaining consistent path tracking despite varying terrain.
2Speed
If vehicle traverses ground with surface irregularities, then vehicle mobility is maintained, but implement performance degrades due to increased vibrations
Solution Approach 1:
The system dynamically adjusts implement settings based on real-time detection of surface irregularities. By continuously monitoring motion data and modifying implement parameters on-the-fly, the system maintains optimal performance across varying ground conditions without compromising vehicle mobility or requiring reduced speed.
3Area of stationary object
If crop inputs are applied on irregular ground, then field coverage is achieved, but application uniformity varies from target settings
Solution Approach 1:
The system applies different control strategies to different locations within the field based on locally detected surface conditions. By segmenting the field into zones with varying roughness characteristics and adjusting implement settings for each zone, the system maintains uniform application precision across the entire field area, even when ground conditions vary spatially.
4Measurement precision
If optical sensors are used to detect surface irregularities, then surface roughness detection is attempted, but visibility conditions (fog, crop residue) conceal irregularities
Solution Approach 1:
The patent replaces optical sensing systems with a mechanical sensing approach using accelerometers and gyroscopes. Instead of attempting to visually detect surface irregularities through optical sensors that are blocked by fog or crop residue, the system infers surface conditions from the mechanical response of the vehicle as it traverses the terrain. This substitution eliminates visibility-related detection failures.
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 effectively adjusts implement settings based on real-time surface roughness data, enhancing the accuracy and consistency of crop input application, reducing operator fatigue, and improving crop yield by maintaining optimal ground contact and application uniformity.
Implementation Method 1
A first sensor is adapted to detect pitch data of the off-road vehicle for the sampling interval (e.g., to obtain pitch acceleration)
Implementation Method 2
A second sensor is adapted to detect roll data of the off-road vehicle for the same sampling interval (e.g., to obtain roll acceleration)
Data Source
Figure 1A
Figure 1B
Figure 2A
AI summary
A method and system for estimating surface roughness of a ground for an off-road vehicle to control an implement comprises detecting motion data of an off-road vehicle traversing a field or work site during a sampling interval. A first sensor is adapted to detect pitch data of the off-road vehicle for the sampling interval to obtain a pitch acceleration. A second sensor is adapted to detect roll data of the off-road vehicle for the sampling interval to obtain a roll acceleration. An electronic data processor or surface roughness index module determines or estimates a surface roughness index based on the detected motion data, pitch data and roll data for the sampling interval. The surface roughness index can be displayed on the graphical display to a user or operator of the vehicle.