Towed Agricultural Tool Control Using Future Path Prediction
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Solution Overview
Problem
Existing agricultural tools towed by pivotally attached vehicles face challenges in curved paths, leading to inaccurate actuation and uneven material distribution due to differences in vehicle and tool velocities and turn rates, resulting in inefficient seeding and fertilizing operations.
Innovation Solution
A method and system that utilize GPS receivers to calculate and predict the future position and heading of both the vehicle and tool, accounting for their velocities and turn rates, to generate control signals for precise actuation and ensure uniform material distribution along curved paths.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Device complexity
If a straight ahead approach is used to predict tool position, then the prediction is simple and effective for straight paths, but the prediction accuracy deteriorates when the tool moves in curved paths
Solution Approach 1:
The patent applies dynamics by transitioning from a static straight-line projection model to a dynamic curved path prediction model. The system continuously updates the predicted path based on real-time vehicle velocity and turn rate data, allowing the prediction to adapt to changing motion conditions. This dynamic approach accurately captures the tool's trajectory along curved paths while maintaining computational efficiency through incremental updates rather than complex recalculation.
Solution Approach 2:
The patent implements preliminary action by calculating the predicted future position and velocity of the tool before the control decision is made. The system projects the tool's trajectory ahead of time using current motion parameters, then uses this pre-calculated information to determine appropriate control actions. This advance prediction allows the control system to prepare for upcoming boundary crossings or field transitions, improving response time and accuracy.
2Productivity
If sectional control technology is used to avoid rework and skipping, then operational efficiency is improved, but the system complexity increases due to the need for future position prediction
Solution Approach 1:
The patent implements feedback by continuously monitoring actual vehicle position, velocity, and turn rate data, then comparing these measurements against the predicted future trajectory. The system uses GPS receivers and inertial sensors to provide real-time feedback on the vehicle's motion state, allowing the prediction model to be continuously refined and adjusted. This closed-loop feedback mechanism ensures high prediction accuracy while maintaining a relatively simple control architecture through iterative correction rather than complex open-loop calculations.
3Measurement precision
If GPS receivers are used to determine vehicle and tool position, then positioning accuracy is improved, but the system cost and complexity increase
Solution Approach 1:
The patent applies merging by integrating multiple sensing technologies into a unified prediction system. GPS receivers provide position data, while inertial sensors (accelerometers and gyroscopes) provide velocity and orientation information. The system combines these different data sources through sensor fusion algorithms, creating a more accurate and robust prediction model than any single sensor could provide alone. This integrated approach improves measurement precision while managing system complexity through coordinated operation of multiple components.
Data Source
AI summary
A computer-implemented method, related system, and computer program product are provided for controlling an agricultural tool towed by a pivotally attached vehicle. A computer stores a model of the position and heading of the tool and the vehicle. The computer determines a velocity and turn rate of the vehicle based on position data from a first GPS receiver attached to the vehicle. The computer calculates the modeled position of the vehicle and the tool at a future time based on the velocity and turn rate of the vehicle. The computer also corrects the modeled position and heading of the vehicle and tool, based on position data from the first GPS receiver, and from a second GPS receiver attached to the tool, respectively. The computer generates a control signal to control an actuator associated with the tool based on the modeled position of the tool at the future time.