Swath Position Mapping for Rake-Guided Bale Path Planning
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Solution Overview
Problem
Farming support systems lack the capability to accurately generate and utilize position information for swaths in fields, which is essential for efficient grass harvesting and bale formation processes.
Innovation Solution
A farming support system that includes a first positioning device on a work vehicle or rake implement, and a processing device to obtain the positional relationship between a reference point and the swath in a local coordinate system, generating swath position information in a geographic coordinate system for precise visualization and path setting.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a farming support system uses a positioning device to detect the position of a reference point on a work vehicle, then the position information of the reference point can be obtained, but the position information of the swath formed by the rake implement cannot be directly obtained
Solution Approach 1:
The patent introduces a positional relationship (offset) between the reference point and the swath as an intermediary element. This offset serves as a mediator that connects the measurable reference point position to the desired swath position, allowing indirect acquisition of swath location information through coordinate transformation
Solution Approach 2:
The patent replaces direct mechanical measurement of swath position with a computational approach. Instead of physically measuring the swath location, the system uses positioning device data combined with coordinate system transformation (local to geographic) to calculate and generate the swath position information
2Ease of operation
If the farming support system obtains positional relationship in a local coordinate system, then the swath position can be calculated, but the position information must be transformed to geographic coordinate system for practical use
Solution Approach 1:
The patent segments the coordinate system into two distinct parts: a local coordinate system attached to the work vehicle for easy relative measurement, and a geographic coordinate system for absolute position representation. This segmentation allows each system to serve its specific purpose while maintaining overall system functionality
Solution Approach 2:
The processing device is designed to handle multiple coordinate systems and perform transformations between them. This multi-functionality enables the system to work with different coordinate representations and generate universally applicable swath position information that can be used in various farming operations
Data Source
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AI summary
A farming support system includes: a first positioning device provided in one of a work vehicle and a rake implement attachable to the work vehicle; and a processing device configured to obtain, based on rake implement information about the rake implement, a first positional relationship between a reference point to be positioned by the first positioning device and a swath to be formed by the rake implement, in a local coordinate system that is defined for the work vehicle and the rake implement which is attached to the work vehicle. The processing device is configured to generate swath position information indicating a position of the swath in a geographic coordinate system, based on information indicating a position of the reference point in the geographic coordinate system detected by the first positioning device during a work of forming the swath, and the first positional relationship.