qtaog3000

QtAOG 3000

This document is describes a possible future implemenation of QtAgOpenGPS

Features

• Any vehicle combination, including fixed and arbitrary trailed implements.
  • Vehicles is primarily steered
  • Implements are containers for toolbars, or may just be a means of attaching to other implements. For example an anhydrous ammonia tank trailer, or an air drill tank
  • Toolbars attached to implements, contain sections
  • Can have multiple implements, arbitrarily
• Multiple GNSS inputs. The unit attached to the tractor is primary for steering. Implement GNSS for more precise mapping, recording, and also implement steering
• Multiple toolbars
  • Each toolbar is fixed to an axle
  • Each toolbar is a container for sections (which could be planter row units)
  • Toolbar holds default settings, including which layer to use for coverage and recording, and default locations.
  • Each section can be arbitrarily placed in space relative to toolbar
• Jobs
  • Fields, tracks, boundaries, etc only need be created once
  • Each field operation is its own job that shares the boundaries and tracks
  • Which variable rate map to use
  • Variable rate layer to section assignments
• Coverage Layers
  • Multiple layers
  • Assigned per toolbar, or even per section
  • Implements can write data to the coverage layer, recorded per triangle.
    • Yield, fuel, achieved rate, etc
    • Not sure how to deal with delayed writes, as you'd need for yield recording
• Variable Rate Maps
  • Multiple layers, assigned to toolbars or individual sections by the job I suppose
  • Ultimately provides a rate for a particular section
• Autosteer
  • Contour (based on a coverage layer, would have to be particular to a job?)
  • Curves with the following types
    • A + heading
    • AB Lines
    • Curves
      • From boundaries, etc
    • Circle
      • Center point, concentric out from there
      • Center point, outer-most radius, work in from there
  • Nudge, remark?
• AgIO
  • Direct section control
  • GPS in and out
  • IMU stuff
• Plugins
  • Rate control
  • ISOBUS Integration
    • Current coverage and variable rate map as a Task Controller
    • Create QtAOG implement from ISOBUS implement information, including toolbar and sections using ISOBUS-provided numbers for hitch length, section numbers, widths, etc
  • autosteer algorithms
  • youturn algorithms?
  • track types?

Software Architecture

• Core abstract components
  • Vehicles and Implements
    • axle - a point around which a body moves linearly or pivots
    • steering axle - abstraction of the steering wheels position and angle
    • articulation joint
    • hitch - a fixed point, relative to the axle which other things can connect, pivoting or rigid. IE, a drawbar or a 3pt hitch
    • vehicle - a collection of hitches, an axle (or two with articulation), steering axle, with GPS and steering angle as inputs. Only one vehicle permitted at a time. Only a steering axle or an articulation joint allowed (mapped to the steering angle sensor).
    • tongue - a fixed point relative to an axle that connects to other hitches
    • toolbar - a linear line, relative to an axle to which sections are attached
    • section - attached to a toolbar, with individual offsets and width
    • implement - an axle, a tongue, a collection of hitches, and a collection of toolbars and sections and optional implement GNSS
  • Fields
  • Autosteer
    • Abstract line segment-based steering, using pure pursuit, stanley, or some other algorithm
    • Different track types devolve into AB line segments, or in other words, curves
    • Path planning, any way to make it common between types? All
    • Track types

Program flow using GNSS fix

• fixes arrive at a vehicle and then propagate through the hitches and tongues to the implements where all the positions of axles, toolbars, and sections are.
• if an implement has a GNSS input, that is used to calculate all positions of that implement and then they flow through hitches to other connected implements.
• coverage, section control, and rate control is then calculated based on those positions

autosteer

• vehicle
• implement steering