Working Depth Compensation for Slope-Aware Machine Guidance
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Auto-guidance systems in agriculture face challenges on sloped terrain due to geotropism and soil dam formation issues, leading to incorrect plant growth and harvesting difficulties, especially in crops like asparagus and grape production.
Innovation Solution
A working depth compensator system that adjusts navigation points and waylines based on the working depth and ground surface slope, allowing for precise guidance and operation on sloped terrain without requiring different waylines for varying working depths or machines.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If auto-guidance systems use fixed navigation points and waylines, then the system is simple to operate, but the guidance accuracy deteriorates on sloped terrain due to geotropism and working depth variations
Solution Approach 1:
The patent implements dynamic adjustment of navigation points and waylines based on real-time working depth and slope angle measurements. The system continuously calculates corrected navigation points that account for geotropism effects and terrain variations, transforming the static guidance system into an adaptive one that maintains accuracy across varying operational conditions
Solution Approach 2:
The system modifies key parameters (navigation point coordinates and wayline definitions) based on measured working depth and slope angle. By changing these parameters dynamically according to actual field conditions, the system compensates for geotropism and terrain effects without requiring a complete redesign of the guidance architecture
2Measurement precision
If different waylines are created for varying working depths and machines, then guidance accuracy improves, but the ease of operation deteriorates due to multiple path plans
Solution Approach 1:
The patent creates a universal wayline system that serves all working depths and machine types through dynamic parameter adjustment. Instead of maintaining separate waylines for each scenario, the system uses a single base wayline that is mathematically adjusted in real-time based on the specific working depth and slope conditions, making the system universally applicable while maintaining accuracy
Solution Approach 2:
The system introduces an intermediate calculation layer that translates between a single base wayline and the actual navigation requirements for different working depths and machines. This intermediary computation automatically generates the appropriate navigation points without requiring operators to manually create or switch between multiple path plans
3Adaptability or versatility
If navigation points are offset from antenna location, then the guidance system can account for vehicle geometry, but the manufacturing precision deteriorates due to incorrect reference points on sloped terrain
Solution Approach 1:
The system applies preliminary correction to the navigation point offset calculation by anticipating geotropism effects and terrain slope influences. Before using the offset navigation point for guidance, the system pre-adjusts it based on measured slope angles and working depths, counteracting the errors that would otherwise be introduced by fixed offset relationships on sloped terrain
Data Source
Figure 1
Figure 2
Figure 3
AI summary
In one embodiment, a system comprising a receiver comprising an antenna configured to receive position information; and a computing system in communication with the receiver, the computing system configured to: record values corresponding to the position information and a working depth beneath a soil surface along a first path; determine reference points for a second path based on the recorded values, a slope of the soil surface, and a working depth or height along the second path; and guide movement of a machine along the second path.