3D-Sensed Weeding Tool Retraction Around Crop Trunks
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Solution Overview
Problem
Mechanical weeding in extensive crops is inefficient and prone to damaging plants due to manual control and existing autonomous systems' limitations, particularly in areas where herbicides are not recommended.
Innovation Solution
Combining a 3D sensor (RADAR, LiDAR, stereo camera) with GPS to create a map of detected poles and trunks, georeferencing their positions, calculating distances, and controlling the weeding tool's extension and retraction based on predetermined thresholds to avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual control of weeding tool is used, then operator can monitor and adjust tool position, but operator attention is required and collision risk with plants remains high
Solution Approach 1:
The patent replaces manual mechanical control with an automated sensor-based control system. A 3D sensor (RADAR, LiDAR, or stereo camera) detects plant trunks and support poles, and a control unit automatically commands the extension and retraction of the weeding tool based on detected obstacles, eliminating the need for continuous operator attention while maintaining collision avoidance.
Solution Approach 2:
The weeding tool system performs self-monitoring and self-adjustment through integrated sensors and automated control. The system independently detects obstacles, calculates distances, and commands tool retraction without requiring external operator intervention, making the system self-sufficient in avoiding collisions.
2Extent of automation
If contact sensor with mechanical retraction is used, then tool retraction is automated, but vehicle inertia causes plant trunk damage
Solution Approach 1:
The patent uses a 3D sensor to detect obstacles at a distance before the vehicle reaches them. The system calculates the distance between the tool and detected poles/trunks in advance and commands retraction proactively when the distance falls below a threshold, allowing the tool to retract before collision occurs rather than reacting after contact is made.
Solution Approach 2:
The patent replaces the contact-based mechanical retraction system with a non-contact 3D sensing system. Instead of relying on physical contact to trigger retraction, the system uses optical or electromagnetic sensors to detect obstacles and commands automated retraction based on calculated distances, enabling smoother and more timely avoidance actions.
3Measurement precision
If 3D sensor with GPS georeferencing is used, then autonomous control precision is improved, but system complexity increases
Solution Approach 1:
The patent employs a multi-functional integrated system where a single control unit handles multiple tasks: processing 3D sensor data, georeferencing with GPS, calculating distances, identifying closest obstacles, and commanding tool retraction. This consolidation reduces overall system complexity despite the advanced capabilities provided by the 3D sensor and GPS integration.
4Reliability
If tool retraction threshold is set low, then collision avoidance is improved, but weeding productivity decreases
Solution Approach 1:
The patent implements dynamic threshold adjustment based on vehicle speed and retraction time. The distance threshold is calculated as a function of these parameters, allowing the system to maintain optimal collision avoidance at higher speeds while maximizing weeding productivity. The threshold adapts to operating conditions rather than being fixed.
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
Automates mechanical weeding by accurately avoiding plant collisions, optimizing weeding efficiency and reducing damage to crops.
Implementation Method 1
a 3D sensor (RADAR, LiDAR, stereo camera)
Implementation Method 2
a 3D sensor (RADAR, LiDAR, stereo camera)
Data Source
AI summary
An autonomous control system of a weeding tool is connected to an agricultural vehicle. The weeding tool is configured to assume a weeding condition and a retracted condition. The autonomous control system includes a 3D sensor associated with a front part of the agricultural vehicle and configured to acquire a point cloud corresponding to a scenario in front of the agricultural vehicle, and an electronic control unit configured to cyclically generate a map of poles and/or trunks detected by the 3D sensor using the point cloud, command the weeding condition of the weeding tool in response to determining the distance between the weeding tool and a pole and/or trunk is greater than a threshold distance, and command the retracted condition of the weeding tool in response to determining the distance is less than or equal to the threshold distance.