Swath-Guided Tractor-Trailer Steering for Uniform Bale Formation
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Solution Overview
Problem
In agricultural settings, tractor-baler combinations face challenges when navigating fields with non-straight swaths or windrows, leading to issues like uneven bale formation, contamination, and inefficiency due to the tractor's wheels running over the crop material, which results in inconsistent bale quality and increased wear on machinery.
Innovation Solution
A self-powered tractor-trailer combination equipped with sensors to detect the swath line and a control apparatus that steers the tractor and trailer to avoid running over the crop material, using actuators and a speed control mechanism to optimize the ingestion of crop material into the baler, ensuring even bale formation and minimizing waste.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Manufacturing precision
If the tractor follows the swath line to ensure even bale formation, then the tractor wheels may run over the crop material, but this causes contamination and uneven bale quality
Solution Approach 1:
The patent introduces an intermediary offset distance between the tractor wheels and the swath line. The trailer is positioned such that its centerline is offset from the swath line by a predetermined distance, allowing the tractor to follow the swath line for even bale formation while the offset position prevents wheel contact with the crop material, eliminating contamination
Solution Approach 2:
The system performs preliminary detection of the swath line using sensors (optical, capacitive, inductive, or resistive) before the tractor reaches it. The control system calculates the offset position in advance and steers the trailer accordingly, ensuring the wheels maintain the correct offset distance from the swath line before any potential contact could occur
2Object-affected harmful factors
If the tractor maintains a fixed offset from the swath line to avoid running over crop material, then wheel contact is prevented, but the bale formation becomes uneven
Solution Approach 1:
The system dynamically adjusts the trailer's offset position based on real-time swath line detection. Rather than maintaining a static offset, the control system continuously monitors the swath line location using sensors and adjusts the trailer's lateral position to maintain the optimal offset distance, ensuring both contamination prevention and even bale formation
Solution Approach 2:
The patent implements a feedback control system where sensors detect the swath line position, the control system processes this information to determine the required offset position, and the steering mechanism adjusts the trailer accordingly. This closed-loop feedback ensures the trailer maintains the correct offset distance while adapting to variations in swath line position
3Object-affected harmful factors
If the tractor manually steers to avoid running over swaths, then operator skill is required, but this increases operational complexity and inconsistency
Solution Approach 1:
The system performs self-steering by automatically detecting the swath line and adjusting the trailer position without operator intervention. The control system processes sensor data and autonomously controls the steering mechanism, eliminating the need for operator skill while reducing operational complexity and ensuring consistent offset maintenance
Solution Approach 2:
The patent replaces manual mechanical steering with an automated control system that uses sensors (optical, capacitive, inductive, or resistive) to detect the swath line and electronically controls the steering mechanism. This substitution of manual operation with automated sensing and control reduces complexity and improves consistency
4Device complexity
If the trailer is rigidly connected to the tractor, then positioning is simple, but the trailer cannot adjust to non-straight swath geometries
Solution Approach 1:
The patent employs a dynamic connection system between the tractor and trailer that allows lateral adjustment. The trailer can move laterally relative to the tractor while maintaining connection, enabling adaptation to non-straight swath geometries. The control system actuates this lateral movement to maintain the optimal offset position from the swath line
Solution Approach 2:
The connection system is segmented into movable components that allow independent lateral adjustment of the trailer relative to the tractor. This segmentation enables the trailer to follow curved or non-straight swath lines while maintaining the required offset distance, providing adaptability without excessive complexity
Data Source
AI summary
A movable tractor-trailer combination includes a self-powered tractor having a plurality of ground-engaging members and a steering mechanism for steering at least one the ground-engaging member; and a trailer that is towed behind the tractor and that is connected to the tractor by a drawbar that is pivotably connected at a tractor connection to the tractor. One or more sensors sense a line of a swath of crop material corresponding to a maximal quantity of crop material per unit length of the swath. The tractor-trailer combination includes a control apparatus that operates in dependence on at least one output of the one or more sensors to operate the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.