Agricultural Vehicle Control Device for Row Repositioning
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Solution Overview
Problem
Existing beet harvester automatic steering systems face challenges in accurately repositioning the vehicle at the beginning of a new row, especially for inexperienced operators, due to limitations in mechanical and GPS-based positioning systems, particularly for crops like sugar beets where GPS maps are not available, and small errors in positioning cannot be corrected effectively.
Innovation Solution
A control device equipped with a target path generator and position memory that stores a succession of positions and poses, using GPS and crop sensors to calculate a target path for the vehicle to efficiently reposition itself at the beginning of a new row, minimizing errors and treatment time by generating a target path based on recent position data and vehicle geometry.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If mechanical sensors and GPS-based positioning are used for steering control, then the vehicle can be guided along rows, but positioning accuracy deteriorates when errors are in the order of the distance of two adjacent beets
Solution Approach 1:
The patent introduces an intermediary computation process that uses the sequence of detected beet positions to calculate the actual row path. This intermediary calculation acts as a mediator between the raw sensor data and the steering control, filtering out small positioning errors and deriving a more accurate row trajectory from multiple measurement points.
Solution Approach 2:
The system implements feedback by continuously detecting beet positions, comparing them with the calculated target path, and using this information to generate corrective steering commands. The feedback loop processes the sequence of beet positions to identify and correct deviations from the ideal row path.
2Adaptability or versatility
If GPS-based maps are used for steering, then vehicle position can be tracked, but the system fails when GPS maps are not available for certain crops like sugar beets
Solution Approach 1:
The system practices self-service by using the harvesting vehicle's own sensor data to reconstruct the row path information that would normally come from seeding maps. The vehicle detects beet positions during harvesting and uses this data to calculate its own target path, making the system independent of external seeding map information.
Solution Approach 2:
The system performs preliminary action by calculating the target row path in advance during the harvesting process itself. Rather than relying on pre-existing seeding maps, the system proactively builds the path information from detected beet positions as harvesting progresses.
3Measurement precision
If experienced drivers manually reposition the vehicle at row ends, then positioning accuracy can be maintained, but operational time increases significantly
Solution Approach 1:
The patent replaces the mechanical/manual repositioning operation with an automated control system. The computer-based target path generation and steering control substitute for the driver's manual vehicle handling, automatically calculating and executing the repositioning maneuver at row ends.
Solution Approach 2:
The system applies dynamics by enabling the vehicle to automatically adapt its path and steering in real-time based on detected beet positions. The target path is dynamically generated and updated during harvesting, allowing the vehicle to smoothly transition between rows without manual intervention.
4Ease of operation
If simple sensor-based steering control is used, then the system is easy to operate, but it cannot correct bigger positioning mistakes
Solution Approach 1:
The patent adds another dimension to the control system by processing the temporal sequence of beet positions. Instead of relying on a single sensor reading, the system analyzes the progression of detected positions over time, adding a temporal dimension that enables correction of larger positioning errors while maintaining ease of operation.
Data Source
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AI summary
This control device (50) is for a vehicle adapted for treating a field (2) along a predetermined swath path (8), the swath path comprising a first (10) and a second lane (12), the second lane comprising a lane beginning (14) defining a beginning pose (BP) of the vehicle. The beginning pose (BP) of the vehicle is the pose of the vehicle for ideally treating the second lane from the lane beginning. The control device is adapted to gather information about the first lane during treatment of the first lane by the vehicle; and the control device (50) comprises a target path generator device (52) adapted for generating a target path (56) for steering the vehicle to the beginning pose based on information about the first lane. Application to agricultural vehicles.