Swath Pickup Width Mapping to Prevent Double Harvesting
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Solution Overview
Problem
Existing agricultural machines face challenges in accurately recording the worked area, particularly when harvesting crops from swaths that are narrower than the machine's physical working width, leading to inefficiencies and potential double work, especially when data sharing is not possible or readable between machines.
Innovation Solution
The agricultural machine employs a recording system that defines a virtual working width beyond the physical width, using multiple virtual boom sections to accurately record the worked area, including gap detection and filling mechanisms to ensure complete coverage and eliminate gaps.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the recording system uses the physical working width of the agricultural machine, then the recording is simple and direct, but the worked area is not accurately recorded when the machine works on swaths narrower than its physical width
Solution Approach 1:
The recording system divides the working width into multiple virtual boom sections (e.g., first, second, third sections) that can be independently controlled and recorded. Each section corresponds to a specific lateral position of the machine, allowing precise tracking of which areas have been worked even when the machine's physical width exceeds the swath width.
Solution Approach 2:
The system transitions from recording a single aggregated worked area to recording worked area with lateral position information by introducing virtual boom sections. This adds a dimensional aspect (lateral segmentation) to the recording system, enabling it to distinguish between different lateral zones within the machine's working width.
2Reliability
If the agricultural machine travels the entire field width, then complete coverage is ensured, but fuel consumption increases and double working occurs in already harvested areas
Solution Approach 1:
The recording system provides real-time feedback about which virtual boom sections are currently working on already harvested areas. When a virtual section detects it is in a previously recorded worked area, the system automatically triggers the pick-up mechanism to lift, preventing double working and unnecessary fuel consumption while maintaining complete coverage of unharvested areas.
3Reliability
If the pick-up mechanism remains lowered for complete coverage, then no area is missed, but unnecessary wear on soil-entering parts occurs and fuel is wasted in already worked areas
Solution Approach 1:
The pick-up mechanism control is segmented by virtual boom sections, allowing independent lifting and lowering of different lateral zones. When one virtual section enters a worked area, only the corresponding pick-up mechanism section lifts, while other sections continue working, ensuring complete harvesting coverage while minimizing unnecessary wear and fuel waste in specific zones.
Solution Approach 2:
The pick-up mechanism transitions from a static fully-lowered position to a dynamic, selectively adjustable position. The system continuously adjusts the pick-up mechanism height based on real-time detection of worked versus unworked areas, optimizing the balance between harvesting completeness and energy efficiency.
4Measurement precision
If data sharing between machines is required for accurate worked area recording, then precision is improved, but system complexity and dependency increase
Solution Approach 1:
The agricultural machine performs self-service by independently recording its own worked area using its own sensors, GPS, and virtual boom section definitions. The machine does not rely on data from preceding machines or external systems, eliminating data sharing complexity while maintaining accurate worked area recording through autonomous measurement and tracking.
Data Source
AI summary
An agricultural machine (1) arranged to perform an agricultural field operation comprising picking up harvested crop from a swath, the agricultural machine (1) comprising: a pick-up mechanism (3) arranged to pick up the harvested crop from the swath, the pick-up mechanism (3) having a working width (W) that defines a physical working width (W) of the agricultural machine; and a recording system (18) arranged to record a worked area of the field as the agricultural machine performs the field operation, wherein the recording system (18) is arranged to determine the worked area from a virtual working width for the agricultural machine (1), which is greater than the physical working width (W) of the agricultural machine, such that at least part of the worked area recorded by the recording system (18) is located beyond the physical working width (W) of the agricultural machine.