A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface, and automatically steer the vehicle based on the user input signals.
B62D 5/00 - Power-assisted or power-driven steering
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 50/08 - Interaction between the driver and the control system
B62D 1/00 - Steering controls, i.e. means for initiating a change of direction of the vehicle
B62D 1/28 - Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
2.
USING NON-REAL-TIME COMPUTERS FOR AGRICULTURAL GUIDANCE SYSTEMS
A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
G06F 5/06 - Methods or arrangements for data conversion without changing the order or content of the data handled for changing the speed of data flow, i.e. speed regularising
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
B60K 35/00 - Arrangement or adaptations of instruments
B60C 23/00 - Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
B60K 35/00 - Arrangement or adaptations of instruments
B60C 23/00 - Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.
G01S 19/45 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
6.
Optical tracking vehicle control system and method
A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed. The spatial data provided from the spatial database to the controller includes images collected from an optical sensor subsystem in addition to other data collected by a variety of sensor types, including a GNSS or inertial measurement system. The spatial data received by the controller from the database forms at least part of the control inputs that the controller operates on to control the vehicle. The advantage provided by the present invention allows control system to “think” directly in terms of spatial location. A vehicle control system in accordance with one particular embodiment of the invention comprises a task path generator, a spatial database, at least one external spatial data receiver, a vehicle attitude compensation module, a position error generator, a controller, and actuators to control the vehicle.
G01S 19/43 - Determining position using long or short baseline interferometry
G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
7.
Raster-based contour swathing for guidance and variable-rate chemical application
A raster-based system for global navigation satellite system (GNSS) guidance includes a vehicle-mounted GNSS antenna and receiver. A processor provides guidance and/or autosteering commands based on GNSS-defined pixels forming a grid representing an area to be treated, such as a field. Specific guidance and chemical application methods are provided based on the pixel-defined treatment areas and preprogrammed chemical application prescription maps, which can include variable chemical application rates and dynamic control of the individual nozzles of a sprayer.
Some embodiments may include a control system configured to monitor an online queue associated with a remote server for the presence of updated control software content; in the case of the presence of updated control software content in the online queue, provide data based thereon in an offline queue, wherein a portable computing device includes a storage for the offline queue; waiting for a time period in which a wired communication interface of the portable computing device is attached to a wired interface of the vehicle or a wireless communication interface of the vehicle is in range of a wireless communication interface of the portable computing device; and in the time period, transferring contents of the offline queue to the vehicle, wherein a processor of the vehicle distributes update(s) included in the contents to one or more of the GNSS receiver, the actuator assembly, and the steering control module.
Cost of a precision farming guidance system is driven in part by the number of discrete system elements installed in a tractor including the steering actuator, guidance computer, user terminals, and the associated cable harnesses. An integrated guidance system (100) arranges and integrates these separate elements into a base chassis (10) and removable computer module (1400) to reduce cost and complexity while retaining flexibility to adapt to different vehicle configurations and to incorporate improved guidance computer technology into a common design platform.
Cost of a precision farming guidance system is driven in part by the number of discrete system elements installed in a tractor including the steering actuator, guidance computer, user terminals, and the associated cable harnesses. An integrated guidance system arranges and integrates these separate elements into a base chassis and removable computer module to reduce cost and complexity while retaining flexibility to adapt to different vehicle configurations and to incorporate improved guidance computer technology into a common design platform.
Cost of a precision farming guidance system is driven in part by the number of discrete system elements installed in a tractor including the steering actuator, guidance computer, user terminals, and the associated cable harnesses. An integrated guidance system (100) arranges and integrates these separate elements into a base chassis (10) and removable computer module (1400) to reduce cost and complexity while retaining flexibility to adapt to different vehicle configurations and to incorporate improved guidance computer technology into a common design platform.
Some embodiments may include a control system configured to monitor an online queue associated with a remote server for the presence of updated control software content; in the case of the presence of updated control software content in the online queue, provide data based thereon in an offline queue, wherein a portable computing device includes a storage for the offline queue; waiting for a time period in which a wired communication interface of the portable computing device is attached to a wired interface of the vehicle or a wireless communication interface of the vehicle is in range of a wireless communication interface of the portable computing device; and in the time period, transferring contents of the offline queue to the vehicle, wherein a processor of the vehicle distributes update(s) included in the contents to one or more of the GNSS receiver, the actuator assembly, and the steering control module.
A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface located on the enclosure and automatically steer the vehicle based on the user input signals.
B62D 5/00 - Power-assisted or power-driven steering
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 50/08 - Interaction between the driver and the control system
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
B62D 1/00 - Steering controls, i.e. means for initiating a change of direction of the vehicle
B62D 1/28 - Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical
B60W 50/04 - Monitoring the functioning of the control system
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
14.
Using smart-phones and other hand-held mobile devices in precision agriculture
Some embodiments may include a control system configured to monitor an online queue associated with a remote server for the presence of updated control software content; in the case of the presence of updated control software content in the online queue, provide data based thereon in an offline queue, wherein a portable computing device includes a storage for the offline queue; waiting for a time period in which a wired communication interface of the portable computing device is attached to a wired interface of the vehicle or a wireless communication interface of the vehicle is in range of a wireless communication interface of the portable computing device; and in the time period, transferring contents of the offline queue to the vehicle, wherein a processor of the vehicle distributes update(s) included in the contents to one or more of the GNSS receiver, the actuator assembly, and the steering control module.
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 5/06 - Methods or arrangements for data conversion without changing the order or content of the data handled for changing the speed of data flow, i.e. speed regularising
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
15.
System and method for integrating automatic electrical steering with GNSS guidance
A guidance and vehicle control system for automatically steering a vehicle, such as an agricultural vehicle or a tractor, through a field. The system includes a GNSS receiver and antenna for determining the vehicle's instantaneous position, a guidance CPU, and an automatic steering subsystem integrated with the vehicle's electrical power system. The automatic steering subsystem can be interfaced with the steering column of the vehicle, and mechanically activates the steering column, thereby steering the vehicle according to instructions received from the CPU based upon the vehicle's position and a predetermined path. An interrupt element, such as a wheel movement sensor or a slip gear, may be interfaced with the automatic steering subsystem to allow for manual steering override of the automatic steering control.
A guidance system (120) identifies a parking path (204) and a target point (212) in a parking area (210). The guidance system (120) calculates steering commands (164) to steer the vehicle (100) and trailer (104) onto the parking path (204). The guidance system (120) calculates a distance of the trailer (104) from the target point (212) and calculates speed commands for the vehicle (100) based on the distance of the trailer (104) from the target point (212). The guidance system (120) sends the steering and speed commands to a steering and speed control system (166) to steer the vehicle (100) and move the trailer (104) along the parking path (204) until the trailer (104) reaches the target point (212) in the parking area (210).
A guidance system (120) identifies a parking path (204) and a target point (212) in a parking area (210). The guidance system (120) calculates steering commands (164) to steer the vehicle (100) and trailer (104) onto the parking path (204). The guidance system (120) calculates a distance of the trailer (104) from the target point (212) and calculates speed commands for the vehicle (100) based on the distance of the trailer (104) from the target point (212). The guidance system (120) sends the steering and speed commands to a steering and speed control system (166) to steer the vehicle (100) and move the trailer (104) along the parking path (204) until the trailer (104) reaches the target point (212) in the parking area (210).
An integrated computing system computes a geo-location of a vehicle based on location data generated by a GNSS receiver, operates one or more external communication interfaces, calculates a desired path for steering the vehicle based on the geo-location, and communicates the desired path to one or more external operating units via the one or more external communication interfaces. The integrated computing system may include one or more computer processing units programmed to provide shared coordinated execution of software functions that are all implemented and located within a same integrated circuit or enclosure. The integrated computing system lowers the overall cost and complexity of agricultural guidance systems by reducing and simplifying the number of chassis, boxes, connectors, power supplies, and manufacturing processes.
G01S 19/14 - Receivers specially adapted for specific applications
G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
19.
Integrated GNSS and steering for agricultural guidance systems
An integrated computing system computes a geo-location of a vehicle based on location data generated by a GNSS receiver, operates one or more external communication interfaces, calculates a desired path for steering the vehicle based on the geo-location, and communicates the desired path to one or more external operating units via the one or more external communication interfaces. The integrated computing system may include one or more computer processing units programmed to provide shared coordinated execution of software functions that are all implemented and located within a same integrated circuit or enclosure. The integrated computing system lowers the overall cost and complexity of agricultural guidance systems by reducing and simplifying the number of chassis, boxes, connectors, power supplies, and manufacturing processes.
G05D 1/02 - Control of position or course in two dimensions
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
20.
INTEGRATED GNSS AND STEERING FOR AGRICULTURAL GUIDANCE SYSTEMS
An integrated computing system computes a geo-location of a vehicle based on location data generated by a GNSS receiver, operates one or more external communication interfaces, calculates a desired path for steering the vehicle based on the geo-location, and communicates the desired path to one or more external operating units via the one or more external communication interfaces. The integrated computing system may include one or more computer processing units programmed to provide shared coordinated execution of software functions that are all implemented and located within a same integrated circuit or enclosure. The integrated computing system lowers the overall cost and complexity of agricultural guidance systems by reducing and simplifying the number of chassis, boxes, connectors, power supplies, and manufacturing processes.
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
G01S 19/14 - Receivers specially adapted for specific applications
G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
G05D 1/02 - Control of position or course in two dimensions
21.
USING NON-REAL-TIME COMPUTERS FOR AGRICULTURAL GUIDANCE SYSTEMS
A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.
A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.
A precision steering computer installed on a tractor uses waypoints generated by a hand-held smart-device to steer a tractor. The smart-device is the operators primary interface and is a component of the entire precision agriculture guidance system. The batched, time ordered waypoints represent a list of coordinates for steering the tractor. As the tractor is automatically steered in the field, the waypoints are consumed and discarded by the real-time steering computer in the order they are received from the non-real-time smart device. A planned path is generated by the tractor operator on the smart device and the tractors progress and status are displayed on the same smart-device.
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 - Control of position or course in two dimensions
G06F 5/06 - Methods or arrangements for data conversion without changing the order or content of the data handled for changing the speed of data flow, i.e. speed regularising
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
09 - Scientific and electric apparatus and instruments
Goods & Services
GPS and sensor based steering assistance system for land vehicles comprised of electronic signal receivers, microprocessors, and computer hardware interface for steering control; Recorded computer software programs for automated steering which accept data from a global positioning satellite sensor and allow visual display on a computer screen
A guidance system identifies a parking path and a target point in a parking area. The guidance system calculates steering commands to steer the vehicle and trailer onto the parking path. The guidance system calculates a distance of the trailer from the target point and calculates speed commands for the vehicle based on the distance of the trailer from the target point. The guidance system sends the steering and speed commands to a steering and speed control system to steer the vehicle and move the trailer along the parking path until the trailer reaches the target point in the parking area.
A GNSS integrated multi-sensor guidance system for a vehicle assembly includes a suite of sensor units, including a global navigation satellite system (GNSS) sensor unit comprising a receiver and an antenna. An inertial measurement unit (IMU) outputs vehicle dynamic information for combining with the output of the GNSS unit. A controller with a processor receives the outputs of the sensor suite and computes steering solutions, which are utilized by vehicle actuators, including an automatic steering control unit connected to the vehicle steering for guiding the vehicle. The processor is programmed to define multiple behavior-based automatons comprising self-operating entities in the guidance system, which perform respective behaviors using data output from one or more sensor units for achieving the behaviors. A GNSS integrated multi-sensor vehicle guidance method is also disclosed.
A calibration system calibrates inertial sensor readings on a vehicle (102). The calibration system estimates an attitude of the ground from a series of height and position measurements and reads an attitude from an inertial sensor subsystem (108) attached to the vehicle (102). The calibration system then calculates an attitude offset between the vehicle (102) and inertial sensor subsystem (108) based on a difference between the estimated attitude of the ground and the attitude reading of the inertial sensor subsystem (108). The calibration system may estimate a slope of the ground from a 3-dimensional terrain map. The slope of the ground is converted into an estimated roll and/or pitch of the vehicle (102) which is then compared with the roll and pitch readings from the inertial sensor subsystem (102) to determine the attitude offset.
A calibration system calibrates inertial sensor readings on a vehicle (102). The calibration system estimates an attitude of the ground from a series of height and position measurements and reads an attitude from an inertial sensor subsystem (108) attached to the vehicle (102). The calibration system then calculates an attitude offset between the vehicle (102) and inertial sensor subsystem (108) based on a difference between the estimated attitude of the ground and the attitude reading of the inertial sensor subsystem (108). The calibration system may estimate a slope of the ground from a 3-dimensional terrain map. The slope of the ground is converted into an estimated roll and/or pitch of the vehicle (102) which is then compared with the roll and pitch readings from the inertial sensor subsystem (102) to determine the attitude offset.
A calibration system calibrates inertial sensor readings on a vehicle. The calibration system estimates an attitude of the ground from a series of height and position measurements and reads an attitude from an inertial sensor subsystem attached to the vehicle. The calibration system then calculates an attitude offset between the vehicle and inertial sensor subsystem based on a difference between the estimated attitude of the ground and the attitude reading of the inertial sensor subsystem. The calibration system may estimate a slope of the ground from a 3-dimensional terrain map. The slope of the ground is converted into an estimated roll and/or pitch of the vehicle which is then compared with the roll and pitch readings from the inertial sensor subsystem to determine the attitude offset.
A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
B60K 35/00 - Arrangement or adaptations of instruments
B60C 23/00 - Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
B60K 35/00 - Arrangement or adaptations of instruments
B60C 23/00 - Devices for measuring, signalling, controlling, or distributing tyre pressure or temperature, specially adapted for mounting on vehicles; Arrangement of tyre inflating devices on vehicles, e.g. of pumps or of tanks; Tyre cooling arrangements
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
B60W 10/30 - Conjoint control of vehicle sub-units of different type or different function including control of auxiliary equipment, e.g. air-conditioning compressors or oil pumps
B60W 30/00 - Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
User interfaces, namely, touchscreens and displays for a GPS
and sensor based steering and navigation assistance system
for land vehicles and aerial drones comprised of electronic
signal receivers, microprocessors, and computer hardware
interface for navigation and steering control; electronic
navigation systems, namely, steering and navigation control
units for land vehicles and aerial drones comprised of
electronic signal receivers, microprocessors, and computer
hardware interface for navigation and steering control;
software for controlling a GPS and sensor based steering and
navigation assistance system for land vehicles and aerial
drones; graphical and voice-based user interface software
for automated steering and navigation; downloadable mobile
applications for controlling a GPS and sensor based steering
and navigation assistance system for land vehicles and
aerial drones; downloadable software applications for mobile
phones and handheld computer devices, namely, graphical and
voice-based user interface software for automated steering
and navigation; software for mapping and storing
geographical and terrain data, and tracking and analyzing
the efficiency of agricultural processes and cultivation
activity; downloadable software applications for mobile
phones and handheld computer devices, namely, software for
mapping and storing geographical and terrain data, and
tracking and analyzing the efficiency of agricultural
processes and cultivation activity. Providing temporary use of non-downloadable cloud-based
software for controlling a GPS and sensor based steering and
navigation assistance system for land vehicles and aerial
drones; providing temporary use of non-downloadable
cloud-based graphical and voice-based user interface
software for automated steering and navigation; software as
a service (SAAS) services featuring software for controlling
a GPS and sensor based steering and navigation assistance
system for land vehicles and aerial drones; software as a
service (SAAS) services featuring graphical and voice-based
user interface software for automated steering and
navigation; providing temporary use of non-downloadable
cloud-based software for mapping and storing geographical
and terrain data, and tracking and analyzing the efficiency
of agricultural processes and cultivation activity; software
as a service (SAAS) services featuring software for mapping
and storing geographical and terrain data, and tracking and
analyzing the efficiency of agricultural processes and
cultivation activity.
A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.
A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.
G05D 1/02 - Control of position or course in two dimensions
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G01S 19/45 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
A control system uses visual odometry (VO) data to identify a position of the vehicle while moving along a path next to the row and to detect the vehicle reaching an end of the row. The control system can also use the VO image to turn the vehicle around from a first position at the end of the row to a second position at a start of another row. The control system may detect an end of row based on 3-D image data, VO data, and GNSS data. The control system also may adjust the VO data so the end of row detected from the VO data corresponds with the end of row location identified with the GNSS data.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) User interfaces, namely, touchscreens and displays for a GPS and sensor based steering and navigation assistance system for land vehicles comprised of electronic signal receivers, microprocessors, and computer hardware interface for navigation and steering control; Electronic navigation systems, namely, steering and navigation control units for land vehicles comprised of electronic signal receivers, microprocessors, and computer hardware interface for navigation and steering control
(2) Software for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Graphical and voice-based user interface software for automated steering and navigation of land vehicles; Downloadable mobile applications for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Downloadable software applications for mobile phones and handheld computer devices, namely, graphical and voice-based user interface software for automated steering and navigation of land vehicles; Software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity, namely, preparation of soil, sowing of seeds, adding of manure and fertilizers, crop irrigation, and harvesting; Downloadable software applications for mobile phones and handheld computer devices, namely, software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity, namely, preparation of soil, sowing of seeds, adding of manure and fertilizers, crop irrigation, and harvesting (1) Providing temporary use of non-downloadable cloud-based software for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Providing temporary use of nondownloadable cloud-based graphical and voice-based user interface software for automated steering and navigation of land vehicles; Software as a service (SAAS) services featuring software for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Software as a service (SAAS) services featuring graphical and voice-based user interface software for automated steering and navigation of land vehicles; Providing temporary use of non-downloadable cloud-based software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity, namely, preparation of soil, sowing of seeds, adding of manure and fertilizers, crop irrigation, and harvesting; Software as a service (SAAS) services featuring software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity, namely, preparation of soil, sowing of seeds, adding of manure and fertilizers, crop irrigation, and harvesting
A spray control method employs a spray vehicle including a material tank, a pump communicating with the tank, and nozzles of a spray boom communicating with the pump. A GNSS receiver mounted on the vehicle and interfaced to a controller tracks its position in relation to stored position coordinates of field boundaries separating spray zones from spray exclusion zones. The tank is activated and deactivated by the controller to retain spray of the material within the spray zones and to prevent spray of the material in the exclusion zones, by processing an offset of the spray nozzles from the receiver, the spray range of the nozzles, spray turn-on and turn-off lag times, and the velocity of the spray vehicle, all in relation to the field boundaries. An alternative embodiment individually controls spray from the nozzles by using associated valves interfaced to the controller.
G01S 19/14 - Receivers specially adapted for specific applications
G05D 1/02 - Control of position or course in two dimensions
G01S 5/00 - Position-fixing by co-ordinating two or more direction or position-line determinations; Position-fixing by co-ordinating two or more distance determinations
G01S 19/04 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing carrier phase data
G01S 19/54 - Determining attitude using long or short baseline interferometry
G01C 15/00 - Surveying instruments or accessories not provided for in groups
41.
Raster-based contour swathing for guidance and variable-rate chemical application
A raster-based system for global navigation satellite system (GNSS) guidance includes a vehicle-mounted GNSS antenna and receiver. A processor provides guidance and/or autosteering commands based on GNSS-defined pixels forming a grid representing an area to be treated, such as a field. Specific guidance and chemical application methods are provided based on the pixel-defined treatment areas and preprogrammed chemical application prescription maps, which can include variable chemical application rates and dynamic control of the individual nozzles of a sprayer.
B63H 25/04 - Initiating means for steering automatic, e.g. reacting to compass
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G06F 7/00 - Methods or arrangements for processing data by operating upon the order or content of the data handled
G06F 17/00 - Digital computing or data processing equipment or methods, specially adapted for specific functions
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G06F 7/70 - Methods or arrangements for performing computations using a digital non-denominational number representation, i.e. number representation without radix; Computing devices using combinations of denominational and non-denominational quantity representations using stochastic pulse trains, i.e. randomly occurring pulses the average pulse rates of which represent numbers
G06G 7/00 - Devices in which the computing operation is performed by varying electric or magnetic quantities
G06G 7/76 - Analogue computers for specific processes, systems, or devices, e.g. simulators for traffic
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
G05D 1/02 - Control of position or course in two dimensions
A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface located on the enclosure and automatically steer the vehicle based on the user input signals.
A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface located on the enclosure and automatically steer the vehicle based on the user input signals.
A method for estimation of relative coordinates between two parts of a linked vehicle system. The system includes a towing vehicle and a towed implement or trailer. A first sensor is configured to measure the movement rate of the towing vehicle while a second sensor is configured to measure the movement rate of the towed implement. Both sensors interact with each other to measure the absolute distance between sensors. Using the known linkage geometry, relative distance between the sensors and relative rotation rates, the relative coordinates between the towing vehicle and towed implement can be estimated.
A method for estimation of relative coordinates between two parts of a linked vehicle system. The system includes a towing vehicle and a towed implement or trailer. A first sensor is configured to measure the movement rate of the towing vehicle while a second sensor is configured to measure the movement rate of the towed implement. Both sensors interact with each other to measure the absolute distance between sensors. Using the known linkage geometry, relative distance between the sensors and relative rotation rates, the relative coordinates between the towing vehicle and towed implement can be estimated.
09 - Scientific and electric apparatus and instruments
Goods & Services
Software for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Graphical and voice-based user interface software for automated steering and navigation; Downloadable mobile applications for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Downloadable software applications for mobile phones and handheld computer devices, namely, graphical and voice-based user interface software for automated steering and navigation; Software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity; Downloadable software applications for mobile phones and handheld computer devices, namely, software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity
09 - Scientific and electric apparatus and instruments
Goods & Services
Software for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Graphical and voice-based user interface software for automated steering and navigation; Downloadable mobile applications for controlling a GPS and sensor based steering and navigation assistance system for land vehicles; Downloadable software applications for mobile phones and handheld computer devices, namely, graphical and voice-based user interface software for automated steering and navigation; Software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity; Downloadable software applications for mobile phones and handheld computer devices, namely, software for mapping and storing geographical and terrain data, and tracking and analyzing the efficiency of agricultural processes and cultivation activity
A method for estimation of relative coordinates between two parts of a linked vehicle system. The system includes a towing vehicle and a towed implement or trailer. A first sensor is configured to measure the movement rate of the towing vehicle while a second sensor is configured to measure the movement rate of the towed implement. Both sensors interact with each other to measure the absolute distance between sensors. Using the known linkage geometry, relative distance between the sensors and relative rotation rates, the relative coordinates between the towing vehicle and towed implement can be estimated.
G01B 21/16 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for measuring distance or clearance between spaced objects
G01B 21/24 - Measuring arrangements or details thereof, where the measuring technique is not covered by the other groups of this subclass, unspecified or not relevant for testing the alignment of axes for testing the alignment of axes
G01C 19/56 - Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
G01B 17/00 - Measuring arrangements characterised by the use of infrasonic, sonic, or ultrasonic vibrations
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
B62D 49/06 - Tractors adapted for multi-purpose use
A01B 59/00 - Devices specially adapted for connection between animals or tractors and agricultural machines or implements
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface, such as an agricultural spray boom over a crop field. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control processor. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed. Further disclosed is a work order management system and method, which can be configured for controlling the operation of multiple vehicles, such as agricultural sprayers each equipped with GNSS-based spray boom height control subsystems. The sprayers can be remotely located from each other on multiple crop fields, and can utilize GNSS-based, field-specific terrain models for controlling their spraying operations.
G01S 19/14 - Receivers specially adapted for specific applications
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
09 - Scientific and electric apparatus and instruments
Goods & Services
User interfaces, namely, touchscreens and displays for a GPS and sensor based steering and navigation assistance system for land vehicles comprised of electronic signal receivers, microprocessors, and computer hardware interface for navigation and steering control; Electronic navigation systems, namely, steering and navigation control units for land vehicles comprised of electronic signal receivers, microprocessors, and computer hardware interface for navigation and steering control
51.
Portable base station network for local differential GNSS corrections
A DGNSS-based guidance system, wherein a rover receiver first utilizes data from a master base station transceiver, a DGNSS reference network, or some other differential source to compute a differentially corrected location to establish a reference DGNSS relationship. Using this location and data observed only at the rover, the rover computes an internal set of differential corrections, which set is stored in computer memory, updated as necessary, and applied in future times to correct observations taken by the rover. As the rover enters into areas of other base station receiver reference networks, the rover transceiver will send positional information it receives from the master base station to the new, secondary base station. The secondary base station then calibrates its own reference information using information sent from the original master base station.
G01S 19/07 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface located on the enclosure and automatically steer the vehicle based on the user input signals.
B62D 5/02 - Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
B62D 5/00 - Power-assisted or power-driven steering
B60W 40/10 - Estimation or calculation of driving parameters for road vehicle drive control systems not related to the control of a particular sub-unit related to vehicle motion
B60W 50/08 - Interaction between the driver and the control system
B62D 1/28 - Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
B62D 1/00 - Steering controls, i.e. means for initiating a change of direction of the vehicle
B60W 50/14 - Means for informing the driver, warning the driver or prompting a driver intervention
53.
AN ACTUATOR FOR TURNING A STEERING WHEEL IN AUTOMATIC STEERING SYSTEMS
A steering wheel actuator mechanism includes a frame assembly and a rotating assembly. The frame assembly is attached, to a steering wheel column and the rotating assembly is attached around the steering wheel column arid over the frame assembly. In one example, the frame assembly sod the rotating assembly can he located around the steering wheel column, without removing the steering wheel The rotating assembly is inserted down into an opening formed in the frame assembly and rotational ly engaged with a motor housed in the frame assembly. Actuators are attached to the rotating assembly and positioned to extend upwards through the steering wheel next to spokes in. the steering wheel. The rotating.assembly causes the actuators to move the spokes and rotate the steering wheel.
A steering wheel actuator mechanism includes a frame assembly and a rotating assembly. The frame assembly is attached, to a steering wheel column and the rotating assembly is attached around the steering wheel column arid over the frame assembly. In one example, the frame assembly sod the rotating assembly can he located around the steering wheel column, without removing the steering wheel The rotating assembly is inserted down into an opening formed in the frame assembly and rotational ly engaged with a motor housed in the frame assembly. Actuators are attached to the rotating assembly and positioned to extend upwards through the steering wheel next to spokes in. the steering wheel. The rotating.assembly causes the actuators to move the spokes and rotate the steering wheel.
A steering wheel actuator mechanism includes a frame assembly and a rotating assembly. The frame assembly is attached to a steering wheel column and the rotating assembly is attached around the steering wheel column and over the frame assembly. In one example, the frame assembly and the rotating assembly can be located around the steering wheel column without removing the steering wheel. The rotating assembly is inserted down into an opening formed in the frame assembly and rotationally engaged with a motor housed in the frame assembly. Actuators are attached to the rotating assembly and positioned to extend upwards through the steering wheel next to spokes in the steering wheel. The rotating assembly causes the actuators to move the spokes and rotate the steering wheel.
B62D 5/02 - Power-assisted or power-driven steering mechanical, e.g. using a power-take-off mechanism for taking power from a rotating shaft of the vehicle and applying it to the steering gear
B62D 5/04 - Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
F16H 1/06 - Toothed gearings for conveying rotary motion without gears having orbital motion involving only two intermeshing members with parallel axes
B62D 1/00 - Steering controls, i.e. means for initiating a change of direction of the vehicle
G05D 1/02 - Control of position or course in two dimensions
56.
USING OPTICAL SENSORS TO RESOLVE VEHICLE HEADING ISSUES
A control system (100) fuses different sensor data together to determine an orientation of a vehicle (50). The control system (100) receives visual heading data for the vehicle (50) from a camera system (102), global navigation satellite system (GNSS) heading data from a GNSS system (108), and inertial measurement unit (IMU) heading data from an IMU (110). The control system (100) may assign weights to the visual, GNSS, and IMU heading data based on operating conditions of the vehicle (50) that can vary accuracy associated with the different visual, GNSS, and IMU data. The control system (100) then uses the weighted visual, GNSS, and IMU data to determine a more accurate vehicle heading.
A control system (100) fuses different sensor data together to determine an orientation of a vehicle (50). The control system (100) receives visual heading data for the vehicle (50) from a camera system (102), global navigation satellite system (GNSS) heading data from a GNSS system (108), and inertial measurement unit (IMU) heading data from an IMU (110). The control system (100) may assign weights to the visual, GNSS, and IMU heading data based on operating conditions of the vehicle (50) that can vary accuracy associated with the different visual, GNSS, and IMU data. The control system (100) then uses the weighted visual, GNSS, and IMU data to determine a more accurate vehicle heading.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
A control system fuses different sensor data together to determine an orientation of a vehicle. The control system receives visual heading data for the vehicle from a camera system, global navigation satellite system (GNSS) heading data from a GNSS system, and inertial measurement unit (IMU) heading data from an IMU. The control system may assign weights to the visual, GNSS, and IMU heading data based on operating conditions of the vehicle that can vary accuracy associated with the different visual, GNSS, and IMU data. The control system then uses the weighted visual, GNSS, and IMU data to determine a more accurate vehicle heading.
G05D 1/02 - Control of position or course in two dimensions
G01S 19/47 - Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
G01S 19/49 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
G01S 19/48 - Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
09 - Scientific and electric apparatus and instruments
Goods & Services
GPS and sensor based steering assistance system for land vehicles comprised of electronic signal receivers, microprocessors, and computer hardware interface for steering control; computer software programs for automated steering which accept data from a global positioning satellite sensor and allow visual display on a computer screen
A line acquisition system predicts and displays an acquisition path to reduce the uncertainty surrounding the path taken by a vehicle when acquiring a destination path. The line acquisition system calculates the drivable acquisition path based on the current states of the vehicle, such as position, speed, heading, and curvature. The line acquisition system continually updates and displays the acquisition path as the vehicle is manually steered by the user. When the user engages a steering controller, the last calculated acquisition path is used to automatically steer the vehicle onto the destination path. Displaying the acquisition path allows the user to observe, prior to automatic steering engagement, the path the vehicle would take from its current state to the destination. The user can then decide whether the predicted acquisition path will interfere with terrain or obstacles that the user wishes to avoid.
A line acquisition system generates a curvature profile based on initial vehicle states (starting position, heading, curvature and speed), vehicle steering capabilities (calibrated vehicle curvature and curvature rate limits), and initial vehicle position errors relative to the destination path. The curvature profile describes changes in vehicle curvature over a path distance from a current position to a destination path. The line acquisition system constructs an acquisition path from a combination of clothoid, circular arc, and straight lines corresponding with different segments of the curvature profile. The acquisition path can be displayed on a user interface allowing a vehicle operator to observe, prior to automatic steering engagement, the path the vehicle would take from a current state to the destination path.
A system and method for interrupting a Global Navigation Satellite System (GNSS)-based automatic steering mode of a hydraulic steering system on a vehicle. When a steering wheel is manually turned by an operator, pressurized hydraulic fluid from a steering directional control valve activates an interrupter having an interrupter valve. The interrupter valve blocks pressurized fluid flow to the automatic steering system, thus overriding automatic steering and giving the operator full manual steering control via the steering wheel. The hydraulic interrupt system is mechanical with no electronic elements.
A line acquisition system predicts and displays an acquisition path to reduce the uncertainty surrounding the path taken by a vehicle when acquiring a destination path. The line acquisition system calculates the drivable acquisition path based on the current states of the vehicle, such as position, speed, heading, and curvature. The line acquisition system continually updates and displays the acquisition path as the vehicle is manually steered by the user. When the user engages a steering controller, the last calculated acquisition path is used to automatically steer the vehicle onto the destination path. Displaying the acquisition path allows the user to observe, prior to automatic steering engagement, the path the vehicle would take from its current state to the destination. The user can then decide whether the predicted acquisition path will interfere with terrain or obstacles that the user wishes to avoid.
A line acquisition system generates a curvature profile based on initial vehicle states (starting position, heading, curvature and speed), vehicle steering capabilities (calibrated vehicle curvature and curvature rate limits), and initial vehicle position errors relative to the destination path. The curvature profile describes changes in vehicle curvature over a path distance from a current position to a destination path. The line acquisition system constructs an acquisition path from a combination of clothoid, circular arc, and straight lines corresponding with different segments of the curvature profile. The acquisition path can be displayed on a user interface allowing a vehicle operator to observe, prior to automatic steering engagement, the path the vehicle would take from a current state to the destination path.
A line acquisition system predicts and displays an acquisition path to reduce the uncertainty surrounding the path taken by a vehicle when acquiring a destination path. The line acquisition system calculates the drivable acquisition path based on the current states of the vehicle, such as position, speed, heading, and curvature. The line acquisition system continually updates and displays the acquisition path as the vehicle is manually steered by the user. When the user engages a steering controller, the last calculated acquisition path is used to automatically steer the vehicle onto the destination path. Displaying the acquisition path allows the user to observe, prior to automatic steering engagement, the path the vehicle would take from its current state to the destination. The user can then decide whether the predicted acquisition path will interfere with terrain or obstacles that the user wishes to avoid.
G05D 1/02 - Control of position or course in two dimensions
A01B 69/08 - Lateral steering of machines derived from the lateral movement of tractor
G01C 21/20 - Instruments for performing navigational calculations
B62D 6/02 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits responsive only to vehicle speed
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
G05D 1/00 - Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
B62D 6/00 - Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
66.
Line acquisition path generation using curvature profiles
A line acquisition system generates a curvature profile based on initial vehicle states (starting position, heading, curvature and speed), vehicle steering capabilities (calibrated vehicle curvature and curvature rate limits), and initial vehicle position errors relative to the destination path. The curvature profile describes changes in vehicle curvature over a path distance from a current position to a destination path. The line acquisition system constructs an acquisition path from a combination of clothoid, circular arc, and straight lines corresponding with different segments of the curvature profile. The acquisition path can be displayed on a user interface allowing a vehicle operator to observe, prior to automatic steering engagement, the path the vehicle would take from a current state to the destination path.
A thermal stabilization system stabilizes inertia! measurement unit (IMU) performance by reducing or slowing operating variations over time of the internal temperature. More specifically, a thermoelectric heating/cooling device operates according to the Peltier effect, and uses thermal insulation and a mechanical assembly to thermally and mechanically couple the IMU to the thermoelectric device. The thermal stabilization system may minimize stress on the IMU and use a control system to stabilize internal IMU temperatures by judiciously and bidirectionally powering the thermoelectric heating/cooling device. The thermal stabilization system also may use compensation algorithms to reduce or counter residual IMU output errors from a variety of causes such as thermal gradients and imperfect colocation of the IMU temperature sensor with inertial sensors.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/18 - Stabilised platforms, e.g. by gyroscope
G01C 21/24 - Navigation; Navigational instruments not provided for in groups specially adapted for cosmonautical navigation
G01P 15/14 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes
G05D 23/19 - Control of temperature characterised by the use of electric means
68.
Thermal stabilization of inertial measurement units
A thermal stabilization system stabilizes inertial measurement unit (IMU) performance by reducing or slowing operating variations over time of the internal temperature. More specifically, a thermoelectric heating/cooling device operates according to the Peltier effect, and uses thermal insulation and a mechanical assembly to thermally and mechanically couple the IMU to the thermoelectric device. The thermal stabilization system may minimize stress on the IMU and use a control system to stabilize internal IMU temperatures by judiciously and bidirectionally powering the thermoelectric heating/cooling device. The thermal stabilization system also may use compensation algorithms to reduce or counter residual IMU output errors from a variety of causes such as thermal gradients and imperfect colocation of the IMU temperature sensor with inertial sensors.
G01P 1/00 - MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK; INDICATING PRESENCE OR ABSENCE OF MOVEMENT; INDICATING DIRECTION OF MOVEMENT - Details of instruments
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G05D 23/19 - Control of temperature characterised by the use of electric means
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
F25B 21/00 - Machines, plants or systems, using electric or magnetic effects
F25B 21/04 - Machines, plants or systems, using electric or magnetic effects using Nernst-Ettinghausen effect reversible
F25B 21/02 - Machines, plants or systems, using electric or magnetic effects using Nernst-Ettinghausen effect
H01L 37/00 - Thermoelectric devices without a junction of dissimilar materials; Thermomagnetic devices, e.g. using Nernst-Ettinghausen effect; Processes or apparatus specially adapted for the manufacture or treatment thereof or of parts thereof
H01L 35/00 - SEMICONDUCTOR DEVICES; ELECTRIC SOLID STATE DEVICES NOT OTHERWISE PROVIDED FOR - Details thereof
H01L 23/051 - Containers; Seals characterised by the shape the container being a hollow construction and having a conductive base as a mounting as well as a lead for the semiconductor body another lead being formed by a cover plate parallel to the base plate, e.g. sandwich type
G01P 15/02 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of inertia forces
69.
THERMAL STABILIZATION OF INERTIAL MEASUREMENT UNITS
A thermal stabilization system stabilizes inertia! measurement unit (IMU) performance by reducing or slowing operating variations over time of the internal temperature. More specifically, a thermoelectric heating/cooling device operates according to the Peltier effect, and uses thermal insulation and a mechanical assembly to thermally and mechanically couple the IMU to the thermoelectric device. The thermal stabilization system may minimize stress on the IMU and use a control system to stabilize internal IMU temperatures by judiciously and bidirectionaliy powering the thermoelectric heating/cooling device. The thermal stabilization system also may use compensation algorithms to reduce or counter residual IMU output errors from a variety of causes such as thermal gradients and imperfect colocation of the IMU temperature sensor with inertial sensors.
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 21/18 - Stabilised platforms, e.g. by gyroscope
G01C 21/24 - Navigation; Navigational instruments not provided for in groups specially adapted for cosmonautical navigation
G01P 15/14 - Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by making use of gyroscopes
G05D 23/19 - Control of temperature characterised by the use of electric means
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
GPS and sensor based steering assistance system for land and air vehicles comprised of electronic signal receivers, microprocessors, and steering control interface; computer software programs which accept data from a global positioning satellite sensor and allow visual display on a computer screen Providing on-line non-downloadable software for tracking, management and analysis of agricultural assets and field data in the field of agriculture, particularly fertilizer application
A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.
A calibration scheme measures roll, pitch, and yaw and other speeds and accelerations during a series of vehicle maneuvers. Based on the measurements, the calibration scheme calculates inertial sensor misalignments. The calibration scheme also calculates offsets of the inertial sensors and GPS antennas from a vehicle control point. The calibration scheme can also estimate other calibration parameters, such as minimum vehicle radii and nearest orthogonal orientation. Automated sensor calibration reduces the amount of operator input used when calibrating sensor parameters. Automatic sensor calibration also allows the operator to install an electronic control unit (ECU) in any convenient orientation (roll, pitch and yaw), removing the need for the ECU to be installed in a restrictive orthogonal configuration. The calibration scheme may remove dependencies on a heading filter and steering interfaces by calculating sensor parameters based on raw sensor measurements taken during the vehicle maneuvers.
G01S 19/54 - Determining attitude using long or short baseline interferometry
G01C 21/16 - Navigation; Navigational instruments not provided for in groups by using measurement of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
G01C 25/00 - Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
A guidance system may derive a K-turn path when a vehicle reaches an end of a first way line in a field. The guidance system may send the K-turn path to a steering controller to turn the vehicle around in a headland area to the beginning of a second way-line in the field. A first segment of the K-turn path may turn the vehicle along a first path in a forward direction and a second segment of the K-turn path may turn the vehicle along a second path in a reverse direction. A third segment of the K-turn path may turn the vehicle along a third path in the forward direction to a starting location of the second way-line. The K-turn path uses less area than other types of turns reducing the amount of headland used for turning around the vehicle.
A navigation system aids a driver of a collection vehicle in keeping pace and distance with a lead harvester while collecting grain. The navigation system can be used for any leader-follower vehicle drive formation. A navigation system steers the head vehicle based on a continuously known position and attitude. Navigation data for the lead vehicle is broadcast to a following collection vehicle. A navigation system in the following vehicle processes the lead vehicle navigation data to determine a relative position and attitude. The navigation system in the following vehicle generates steering and speed commands based on the relative position and attitude to automatically drive to a designated target position alongside the lead vehicle. In one example, an artificial oscillation is induced into the target position to more evenly distribute material in the following vehicle.
B60W 10/04 - Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
A01D 1/00 - Hand-cutting implements for harvesting
B60W 10/20 - Conjoint control of vehicle sub-units of different type or different function including control of steering systems
A01D 43/073 - Mowers combined with apparatus performing additional operations while mowing with means for collecting, gathering or loading mown material in or into a trailer with controllable discharge spout
A01D 41/127 - Control or measuring arrangements specially adapted for combines
A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.
A guidance system may derive a K-turn path when a vehicle reaches an end of a first way line in a field. The guidance system may send the K-turn path to a steering controller to turn the vehicle around in a headland area to the beginning of a second way- line in the field. A first segment of the K-turn path may turn the vehicle along a first path in a forward direction and a second segment of the K-turn path may turn the vehicle along a second path in a reverse direction. A third segment of the K-turn path may turn the vehicle along a third path in the forward direction to a starting location of the second way-line. The K-turn path uses less area than other types of turns reducing the amount of headland used for turning around the vehicle.
A calibration scheme measures roll, pitch, and yaw and other speeds and accelerations during a series of vehicle maneuvers. Based on the measurements, the calibration scheme calculates inertial sensor misalignments. The calibration scheme also calculates offsets of the inertial sensors and GPS antennas from a vehicle control point. The calibration scheme can also estimate other calibration parameters, such as minimum vehicle radii and nearest orthogonal orientation. Automated sensor calibration reduces the amount of operator input used when calibrating sensor parameters. Automatic sensor calibration also allows the operator to install an electronic control unit (ECU) in any convenient orientation (roll, pitch and yaw), removing the need for the ECU to be installed in a restrictive orthogonal configuration. The calibration scheme may remove dependencies on a heading filter and steering interfaces by calculating sensor parameters based on raw sensor measurements taken during the vehicle maneuvers.
A steering controller can control steering of a vehicle and is suitable for precision farm controlling. The steering controller can rotate the steering shaft of the vehicle direct the vehicle on a desired path, for example, using a satellite positioning system. Components of the steering controller are environmental protected by a housing that has an opening extending between its front and rear surfaces. The opening is lined by a shaft. A hub located near the front of the opening can be coupled to the steering shaft of the vehicle. A motor has a stator fixed to the housing and a rotor fixed to the hub. When the housing is attached to a fixed location on the vehicle, the motor can rotate the steering shaft by rotating the hub with respect to the housing. A control module drives the motor based on commands from a guidance module.
A steering controller can control steering of a vehicle and is suitable for precision farm controlling. The steering controller can rotate the steering shaft of the vehicle direct the vehicle on a desired path, for example, using a satellite positioning system. Components of the steering controller are environmental protected by a housing that has an opening extending between its front and rear surfaces. The opening is lined by a shaft. A hub located near the front of the opening can be coupled to the steering shaft of the vehicle. A motor has a stator fixed to the housing and a rotor fixed to the hub. When the housing is attached to a fixed location on the vehicle, the motor can rotate the steering shaft by rotating the hub with respect to the housing. A control module drives the motor based on commands from a guidance module.
A steering actuator system to be mounted to the steering wheel and steering column of a vehicle. The steering actuator system includes a flat baseplate with multiple adjustable sliders. These sliders slide along channel guides within the flat baseplate to accommodate steering wheels of varying sizes. The system includes a gear which mounts below the steering wheel, possibly around the steering column of the vehicle. A steering actuator powered by a motor or some other power source is connected to the gear and when activated can actively steer the vehicle. When connected to a guidance system, the vehicle can automatically be guided and steered via the guidance system and the steering actuator system. This provides a convenient way to add automatic steering to any vehicle with a steering wheel.
A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface, such as an agricultural spray boom over a crop field. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control processor. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed. Further disclosed is a work order management system and method, which can be configured for controlling the operation of multiple vehicles, such as agricultural sprayers each equipped with GNSS-based spray boom height control subsystems. The sprayers can be remotely located from each other on multiple crop fields, and can utilize GNSS-based, field-specific terrain models for controlling their spraying operations.
G01S 19/14 - Receivers specially adapted for specific applications
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
82.
Portable base station network for local differential GNSS corrections
A DGNSS-based guidance system, wherein a rover receiver first utilizes data from a master base station transceiver, a DGNSS reference network, or some other differential source to compute a differentially corrected location to establish a reference DGNSS relationship. Using this location and data observed only at the rover, the rover computes an internal set of differential corrections, which set is stored in computer memory, updated as necessary, and applied in future times to correct observations taken by the rover. As the rover enters into areas of other base station receiver reference networks, the rover transceiver will send positional information it receives from the master base station to the new, secondary base station. The secondary base station then calibrates its own reference information using information sent from the original master base station.
G01S 19/07 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
G01S 19/41 - Differential correction, e.g. DGPS [differential GPS]
A steering controller can control steering of a vehicle and is suitable for precision farm controlling. The steering controller can rotate the steering shaft of the vehicle direct the vehicle on a desired path, for example, using a satellite positioning system. Components of the steering controller are environmental protected by a housing that has an opening extending between its front and rear surfaces. The opening is lined by a shaft. A hub located near the front of the opening can be coupled to the steering shaft of the vehicle. A motor has a stator fixed to the housing and a rotor fixed to the hub. When the housing is attached to a fixed location on the vehicle, the motor can rotate the steering shaft by rotating the hub with respect to the housing. A control module drives the motor based on commands from a guidance module.
A GNSS-based system and method for maintaining a vehicle in a predetermined relation relative to a fixed location defined by GNSS coordinates. The system and method is configured for enabling and facilitating air-to-ground operations.
A global navigation satellite system (GNSS) based eonirol system is provided for positioning a working component relative to a work surface. Inertia] measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control compute engine. A method of positioning a working component relative to a work surface using GNSS -based positioning signals is also disclosed.
G01C 21/28 - Navigation; Navigational instruments not provided for in groups specially adapted for navigation in a road network with correlation of data from several navigational instruments
A system and method for interrupting a Global Navigation Satellite System (GNSS)-based automatic steering mode of a hydraulic steering system on a vehicle. When a steering wheel is manually turned by an operator, pressurized hydraulic fluid from a steering directional control valve activates an interrupter having an interrupter valve. The interrupter valve blocks pressurized fluid flow to the automatic steering system, thus overriding automatic steering and giving the operator full manual steering control via the steering wheel. The hydraulic interrupt system is mechanical with no electronic elements.
A GNSS system in combination with a hydraulically-actuated, airborne dispenser for a dry material crop dusting system to optimize the distribution of dry materials over a particular tract of land. A GNSS subsystem is included using at least one GNSS antenna and one GNSS receiver located on the aircraft. The aircraft is equipped with an electronic/hydraulic crop dusting subsystem connected to a GNSS CPU. The GNSS ranging signals received by the antennas are processed by a receiver and processor system for determining the vehicle's position and dynamic attitude in three dimensions (3D). The system is adapted for operation in a differential GNSS (DGNSS) mode utilizing a base station at a fixed location.
A GNSS-based system and method for maintaining a vehicle in a predetermined relation relative to a fixed location defined by GNSS coordinates. The system and method is configured for enabling and facilitating air-to-ground operations.
A DGNSS-based guidance system, wherein a rover receiver first utilizes data from a master base station transceiver, a DGNSS reference network, or some other differential source to compute a differentially corrected location to establish a reference DGNSS relationship. Using this location and data observed only at the rover, the rover computes an internal set of differential corrections, which set is stored in computer memory, updated as necessary, and applied in future times to correct observations taken by the rover. As the rover enters into areas of other base station receiver reference networks, the rover transceiver will send positional information it receives from the master base station to the new, secondary base station. The secondary base station then calibrates its own reference information using information sent from the original master base station.
G01S 19/41 - Differential correction, e.g. DGPS [differential GPS]
G01S 19/07 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
90.
Implement and boom height control system and method
A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control compute engine. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
A01M 9/00 - Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
A steering controller can control steering of a vehicle and is suitable for precision farm controlling. The steering controller can rotate the steering shaft of the vehicle direct the vehicle on a desired path, for example, using a satellite positioning system. Components of the steering controller are environmental protected by a housing that has an opening extending between its front and rear surfaces. The opening is lined by a shaft. A hub located near the front of the opening can be coupled to the steering shaft of the vehicle. A motor has a stator fixed to the housing and a rotor fixed to the hub. When the housing is attached to a fixed location on the vehicle, the motor can rotate the steering shaft by rotating the hub with respect to the housing. A control module drives the motor based on commands from a guidance module.
A guidance and vehicle control system for automatically steering a vehicle, such as an agricultural vehicle or a tractor, through a field. The system includes a GNSS receiver and antenna for determining the vehicle's instantaneous position, a guidance CPU, and an automatic steering subsystem integrated with the vehicle's electrical power system. The automatic steering subsystem can be interfaced with the steering column of the vehicle, and mechanically activates the steering column, thereby steering the vehicle according to instructions received from the CPU based upon the vehicle's position and a predetermined path. An interrupt element, such as a wheel movement sensor or a slip gear, may be interfaced with the automatic steering subsystem to allow for manual steering override of the automatic steering control.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G05D 1/02 - Control of position or course in two dimensions
A01B 69/04 - Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
G01S 19/14 - Receivers specially adapted for specific applications
93.
Raster-based contour swathing for guidance and variable-rate chemical application
A raster-based system for global navigation satellite system (GNSS) guidance includes a vehicle-mounted GNSS antenna and receiver. A processor provides guidance and/or autosteering commands based on GNSS-defined pixels forming a grid representing an area to be treated, such as a field. Specific guidance and chemical application methods are provided based on the pixel-defined treatment areas and preprogrammed chemical application prescription maps, which can include variable chemical application rates and dynamic control of the individual nozzles of a sprayer.
A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed. The spatial data provided from the spatial database to the controller includes images collected from an optical sensor subsystem in addition to other data collected by a variety of sensor types, including a GNSS or inertial measurement system. The spatial data received by the controller from the database forms at least part of the control inputs that the controller operates on to control the vehicle. The advantage provided by the present invention allows control system to “think” directly in terms of spatial location. A vehicle control system in accordance with one particular embodiment of the invention comprises a task path generator, a spatial database, at least one external spatial data receiver, a vehicle attitude compensation module, a position error generator, a controller, and actuators to control the vehicle.
A spray control method employs a spray vehicle including a material tank, a pump communicating with the tank, and nozzles of a spray boom communicating with the pump. A GNSS receiver mounted on the vehicle and interfaced to a controller tracks its position in relation to stored position coordinates of field boundaries separating spray zones from spray exclusion zones. The tank is activated and deactivated by the controller to retain spray of the material within the spray zones and to prevent spray of the material in the exclusion zones, by processing an offset of the spray nozzles from the receiver, the spray range of the nozzles, spray turn-on and turn-off lag times, and the velocity of the spray vehicle, all in relation to the field boundaries. An alternative embodiment individually controls spray from the nozzles by using associated valves interfaced to the controller.
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
B05B 12/00 - Arrangements for controlling delivery; Arrangements for controlling the spray area
A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other, and snow grooming equipment and method applications.
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
97.
Portable base station network for local differential GNSS corrections
A DGNSS-based guidance system, wherein a rover receiver first utilizes data from a master base station transceiver, a DGNSS reference network, or some other differential source to compute a differentially corrected location to establish a reference DGNSS relationship. Using this location and data observed only at the rover, the rover computes an internal set of differential corrections, which set is stored in computer memory, updated as necessary, and applied in future times to correct observations taken by the rover. As the rover enters into areas of other base station receiver reference networks, the rover transceiver will send positional information it receives from the master base station to the new, secondary base station. The secondary base station then calibrates its own reference information using information sent from the original master base station.
G01S 19/07 - Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing data for correcting measured positioning data, e.g. DGPS [differential GPS] or ionosphere corrections
G01S 19/41 - Differential correction, e.g. DGPS [differential GPS]
09 - Scientific and electric apparatus and instruments
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Global navigation satellite system (GNSS) for machine control, guidance, mapping and position control for terrestrial and aerial agricultural operations; GNSS receivers; GNSS position correction equipment, GNSS automatic steering and guidance systems comprising electronic controls for automatic steering of vehicles; GNSS geographic information systems (GIS); GNSS for marine navigation; GNSS for aviation navigation; GNSS telematics, namely, satellite receivers and antennas, vehicle tracking, differential correction and training, computer software for use in conjunction with navigation and mapping systems. Satellite navigation services. Surveying, mapping, imagery, tracking, data analysis, web-based data storage, planning, monitoring, reporting and related online computer services for agricultural, irrigation, variable-rate chemical application, construction, mining, forestry, transportation, construction and related operations.
99.
GNSS integrated multi-sensor control system and method
A GNSS integrated multi-sensor guidance system for a vehicle assembly includes a suite of sensor units, including a global navigation satellite system (GNSS) sensor unit comprising a receiver and an antenna. An inertial measurement unit (IMU) outputs vehicle dynamic information for combining with the output of the GNSS unit. A controller with a processor receives the outputs of the sensor suite and computes steering solutions, which are utilized by vehicle actuators, including an automatic steering control unit connected to the vehicle steering for guiding the vehicle. The processor is programmed to define multiple behavior-based automatons comprising self-operating entities in the guidance system, which perform respective behaviors using data output from one or more sensor units for achieving the behaviors. A GNSS integrated multi-sensor vehicle guidance method is also disclosed.
A GNSS-based contour guidance path selection system for guiding a piece of equipment through an operation, such as navigating a guide path, includes a processor programmed for locking onto a particular aspect of the operation, such as deviating from a pre-planned or original guidance pattern and locking the guidance system onto a new route guide path, while ignoring other guidance paths. The system gives a vehicle operator control over a guidance route without the need to re-plan a pre-planned route. The device corrects conflicting signal issues arising when new swaths result in the guidance system receiving conflicting directions of guidance where the new swaths cross predefined swaths. An operator can either manually, or with an autosteer subsystem automatically, maintain a new contour guidance pattern, even while crossing predefined guidance paths that would otherwise divert the vehicle.
A01B 69/00 - Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
G06F 19/00 - Digital computing or data processing equipment or methods, specially adapted for specific applications (specially adapted for specific functions G06F 17/00;data processing systems or methods specially adapted for administrative, commercial, financial, managerial, supervisory or forecasting purposes G06Q;healthcare informatics G16H)
G01S 19/39 - Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
