Tractor Hitch Detection Using Single 3D Camera
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Solution Overview
Problem
Existing systems for automatic connection between tractors and implements require specific patterns on the implement and the use of two cameras, limiting their applicability to only pattern-equipped implements and reducing flexibility.
Innovation Solution
A 3D camera on the tractor continuously captures images of the three-dimensional space to detect the implement's hitch, calculate a path for alignment, and adjust the tractor's movement, allowing for automatic connection without patterns and using only one camera, with alternative reference points detected for path recalculations when the hitch is out of view.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If specific patterns are attached to the implement for detection, then the detection precision of the hitch is improved, but the device complexity and manufacturing cost increase due to mechanical modifications
Solution Approach 1:
The implement serves itself as the detection target by using its own structural features (hitch, drawbar, frame) as reference points, eliminating the need for external pattern attachments. The system detects these inherent structural elements directly, making the implement self-sufficient for automated detection without additional markings or modifications.
Solution Approach 2:
The patent extracts and utilizes the inherent geometric features of the implement's hitch mechanism and supporting structure as detection references, removing the need for artificial pattern attachments. By focusing on the implement's own structural characteristics, the system eliminates unnecessary external components while maintaining detection capability.
2Measurement precision
If two cameras are used for automatic connection, then the measurement precision and localization accuracy are improved, but the device complexity and cost increase
Solution Approach 1:
A single camera is designed to perform multiple functions: detecting the hitch at various distances, tracking movement, and providing sufficient localization accuracy for automatic connection. The camera system is universally applicable across different implements and connection scenarios, replacing the need for specialized far-view and near-view cameras while maintaining comprehensive detection capability.
Solution Approach 2:
The patent merges the functions of multiple cameras into a single camera system that can handle both long-range identification and close-range localization. By combining detection capabilities and utilizing continuous imaging with alternative reference points, the system achieves the functionality of multiple cameras with a single device, reducing complexity.
3Manufacturing precision
If the tractor moves closer to the implement for connection, then the connection precision is improved, but the hitch may move out of the camera field-of-view, causing loss of detection
Solution Approach 1:
The system preliminarily identifies and tracks alternative reference points (drawbar, frame, supporting structure) on the implement before the hitch moves out of view. By having these backup reference points pre-established and continuously monitored, the system maintains detection capability throughout the entire connection process, ensuring no loss of tracking information even when the primary hitch target becomes unavailable.
Data Source
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AI summary
System for automatic connection (1) between a tractor (2) provided with a connection point (4) and an implement (5) provided with at least one hitch (7) comprising: a 3D camera (9) carried by the tractor (2) and configured to continuously take images of the three-dimensional space S facing the implement (5); a processor (15) configured to detect on the images a predetermined shape corresponding to the hitch (7) of the implement and to determine the spatial coordinates of the hitch with respect to the position of the tractor (2) in order to calculate a path Pi between the tractor (2) and the hitch (7). When the implement hitch (7) moves out of the field-of-view of the camera (9) the processor (15) is configured to detect on the images alternative reference points Ra to re-calculate the path Pi.