Ground Engagement Tool Sensing for Obstacle-Aware Tillage Control
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Solution Overview
Problem
Agricultural machines with ground engagement tools, such as tillage equipment, face performance reduction due to obstacles like rocks and washouts in the field, and existing systems lack effective monitoring and obstacle detection capabilities.
Innovation Solution
A control system is integrated into the work machine, featuring sensors on ground engagement tools that provide real-time feedback to a controller, allowing for performance monitoring, obstacle detection, and adjustment, including the use of obstacle detection systems like radar, lidar, or ultrasonic systems to map obstacle locations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If ground engagement tools are used to penetrate the ground, then tillage performance is improved, but obstacles like rocks and washouts reduce performance and cause damage
Solution Approach 1:
The system performs preliminary detection of obstacles using sensors mounted on the ground engagement tools before the tools penetrate the ground. This advance detection allows the control system to identify rocks, washouts, and other obstacles that could cause damage, enabling preventive actions such as adjusting tool depth or alerting the operator to avoid problematic areas.
Solution Approach 2:
The system continuously monitors the operational state of ground engagement tools using sensors that detect movement characteristics, contact forces, and operational parameters. This real-time feedback is processed by the control system to determine tool status (engaged/disengaged, operational status) and to identify potential obstacles, allowing dynamic adjustments to maintain reliability while preserving productivity.
2Measurement precision
If sensors are mounted on ground engagement tools to monitor movement, then tool performance monitoring is improved, but device complexity increases
Solution Approach 1:
The sensors mounted on ground engagement tools serve multiple functions: detecting tool movement characteristics, identifying obstacles, determining tool engagement status, and monitoring operational conditions. This multi-functionality reduces the need for separate specialized sensors and systems, thereby limiting the increase in overall device complexity while maintaining high measurement precision.
Solution Approach 2:
The control system integrates multiple monitoring and detection functions into a single unified system. The same sensor data is used for both tool performance monitoring and obstacle detection, and the control system processes this information to determine both tool status and field conditions, merging several functions into one cohesive system rather than requiring separate independent systems.
3Difficulty of detecting and measuring
If obstacle detection systems like radar, lidar, or ultrasonic systems are used, then obstacle detection capability is improved, but device complexity and cost increase
Solution Approach 1:
The system uses the ground engagement tools themselves as intermediaries for obstacle detection. The tools interact with the ground and obstacles during normal operation, and sensors on the tools detect the resulting movement characteristics and forces. This approach uses the existing work process as the detection mechanism, avoiding the need for separate active sensing systems like radar or lidar.
Solution Approach 2:
The ground engagement tools perform dual functions: they execute the tillage operation and simultaneously serve as detection probes for obstacle identification. The tools' own movement and interaction with the ground provide the detection data, eliminating the need for separate dedicated detection systems and reducing overall system complexity.
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 enhances the performance and reliability of ground engagement tools by detecting obstacles and adjusting operations to maintain optimal performance, reducing damage and improving operational efficiency.
Implementation Method 1
a sensor mounted to the at least one ground engagement tool and a controller communicatively coupled to the sensor. The sensor may be configured to provide sensor input
Implementation Method 2
the use of obstacle detection systems like radar, lidar, or ultrasonic systems to map obstacle locations
Implementation Method 3
the use of obstacle detection systems like radar, lidar, or ultrasonic systems to map obstacle locations
Implementation Method 4
the use of obstacle detection systems like radar, lidar, or ultrasonic systems to map obstacle locations
Data Source
AI summary
Work machines, control systems for work machines, and methods of operating work machines are disclosed herein. A work machine includes a frame structure, a work implement, and a control system. The work implement is coupled to the frame structure and includes at least one ground engagement tool that is configured for movement in response to interaction with an underlying surface in use of the use work machine. The control system is coupled to the frame structure and includes a sensor mounted to the at least one ground engagement tool and a controller communicatively coupled to the sensor.