Swath Position Mapping for Rake Implements in Grass Harvesting
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Solution Overview
Problem
Farming support systems lack the capability to accurately generate and utilize position information for swaths formed during grass harvesting, which hinders efficient management and path planning for subsequent operations like bale formation.
Innovation Solution
A farming support system equipped with a first position detector on a work vehicle and a rake implement, capable of generating swath position information by determining the positional relationship between a reference point and the swath in a local coordinate system, and converting it to a geographic coordinate system for precise positioning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a farming support system uses a position detector to obtain position information of a reference point, then the position information can be obtained, but the swath position information cannot be generated without knowing the positional relationship between the reference point and the swath
Solution Approach 1:
The patent introduces an intermediary element (the positional relationship data between reference point and swath) that mediates between the position detector and the swath position information generation. This intermediary contains the offset distance and direction information needed to convert reference point positions to swath positions, solving the measurement precision problem without requiring direct detection of the swath itself.
Solution Approach 2:
The system uses the work vehicle's own position detector and combines it with stored positional relationship data to generate swath position information. The work vehicle serves itself by using its built-in position detection capability alongside the pre-stored geometric relationship information, eliminating the need for external swath detection equipment.
2Adaptability or versatility
If the farming support system stores positional relationship information for each rake implement model, then swath position information can be generated for any model, but the device complexity increases due to storing multiple models' data
Solution Approach 1:
The patent creates a universal data structure that can accommodate multiple rake implement models. The positional relationship information is stored in a standardized format that works across different models, allowing the same basic system to serve multiple functions and models without requiring model-specific processing logic.
Solution Approach 2:
The system manages the quantity of stored data by parameterizing the positional relationship information based on rake implement model identifiers. Instead of storing complete separate datasets for each model, the system stores parameters that can be selectively applied based on the detected rake implement model, reducing redundant data storage while maintaining versatility.
3Measurement precision
If the system generates swath position information by combining position detector data with positional relationship information, then swath position can be determined, but the processing complexity increases
Solution Approach 1:
The patent applies preliminary action by pre-storing the positional relationship information (offset distance and direction) between reference points and swaths for each rake implement model. This preparation work is done in advance, so that during actual operation, the system only needs to retrieve the stored data and combine it with current position detector readings, significantly reducing real-time processing complexity.
Data Source
AI summary
A farming support system includes a position detector provided in one of a work vehicle and a rake implement attachable to the work vehicle, and a processor configured or programmed to obtain, based on information about the rake implement, a positional relationship between a reference point to be positioned by the position detector 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 attached thereto. The processor is configured or programmed 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 position detector during forming of the swath, and the positional relationship.