WO2015139050A1 - Implement and boom height control - Google Patents

Implement and boom height control Download PDF

Info

Publication number
WO2015139050A1
WO2015139050A1 PCT/US2015/020799 US2015020799W WO2015139050A1 WO 2015139050 A1 WO2015139050 A1 WO 2015139050A1 US 2015020799 W US2015020799 W US 2015020799W WO 2015139050 A1 WO2015139050 A1 WO 2015139050A1
Authority
WO
WIPO (PCT)
Prior art keywords
working component
positioning
work surface
control
control system
Prior art date
Application number
PCT/US2015/020799
Other languages
French (fr)
Inventor
Joshua M. GATTIS
Steven A. Koch
Original Assignee
Agjunction Llc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Agjunction Llc filed Critical Agjunction Llc
Publication of WO2015139050A1 publication Critical patent/WO2015139050A1/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
    • A01M7/005—Special arrangements or adaptations of the spraying or distributing parts, e.g. adaptations or mounting of the spray booms, mounting of the nozzles, protection shields
    • A01M7/0053—Mounting of the spraybooms
    • A01M7/0057—Mounting of the spraybooms with active regulation of the boom position
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01C—PLANTING; SOWING; FERTILISING
    • A01C23/00—Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
    • A01C23/008—Tanks, chassis or related parts
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
    • A01M9/00—Special adaptations or arrangements of powder-spraying apparatus for purposes covered by this subclass
    • A01M9/0076—Special arrangements or adaptations of the dusting or distributing parts, e.g. mounting of the spray booms, the protection shields

Definitions

  • the present invention relates generally to automated machine control and, in particular, to an agricultural spray boom height control system and method.
  • Movable machinery such as agricultural equipment, open-pit mining machines, airplane crop dusters, and the like all benefit from accurate global navigation satellite system (GNSS) high precision survey products, and others.
  • GNSS global navigation satellite system
  • SATPS satellite positioning systems
  • the actual curvature of terrain may not be taken into account. This results in a less than precise production because of the less than precise parallel or contour swathing.
  • the guidance system collects positions of the vehicle as it moves across the field.
  • the guidance system offsets the coliected positions for the previous pass by the width of the equipment (i.e. swath width).
  • the next set of swath positions is used to provide guidance to the operator as he or she drives the vehicle through the field.
  • the current vehicle location as compared to the desired swath location, is provided to the vehicle's operator or to a vehicle's steering system.
  • the SATPS provides the 3-D location of signal reception (for instance, the 3- D location of the antenna).
  • Various systems include navigating utilizing GNSS; however, these systems also exhibit disadvantages.
  • Existing GNSS position computations may ineiude lag iimes, which may be especially iroubiesome when, for example, GNSS velocity is used to derive vehicle heading.
  • the position (or heading) solution provided by a GNSS receiver tells a user where the vehicle was a moment ago, but not in real time.
  • Existing GNSS systems do not provide high quality heading information at slower vehicle speeds. Therefore, what is needed is a low cost sensor system to facilitate vehicle swath navigation that makes use of the desirable behavior of both GNSS and inertia! units while eliminating or reducing non-desirable behavior.
  • gyroscopes e.g., micro electromechanical (MEM) gyroscopes
  • MEM micro electromechanical
  • Providing multiple antennas on a vehicle can provide additional benefits by determining an attitude of the vehicle from the GNSS ranging signals received by its antennas, which are constrained on the vehicle at a predetermined spacing. For example, high dynamic roll compensation signals can be output directly to the vehicle steering using GNSS-derived attitude information. Components such as gyroscopes and accelerometers can be eliminated using such techniques.
  • Real-time kinematic (RTK) navigation can be accomplished using relatively economical single frequency LI -only receivers with inputs from at least two antennas mounted in fixed relation on a rover vehicle. Still further, moving baselines can be provided for positioning solutions involving tractors and implements and multi-vehicle GNSS control can be provided,
  • the implement may slide on a sloped-region, or the tractor may list to one side or another when entering softer soil or rocky areas. This can happen repeatedly when a vehicle is guided around the same field, regardless of the precision of the guidance system in pre-planning a path.
  • a system that can detect such changes in uniformity of a field as the vehicle traverses a path and remember those changes can predict and re-route a more accurate and more economical path than a guidance system alone.
  • position sensors such as GNSS and IMU
  • the implement such as a spray boom
  • Real time compute engine processes control algorithms to compare sensor data with spatial data logged from a previous operation, or terrain model, to make control decisions which maintain desired implement height.
  • FIG. 1 is a schematic diagram of a boom height control sy stem embodying an aspect of the present invention
  • outwardly refer to directions toward and away from, respectively, the geometric center of the aspect being described and designated parts thereof. Forwardly and rearwardiy are generally in reference to the direction of tra v el, if appropriate. Said terminology will include the words specifically mentioned, derivatives thereof and words of similar meaning.
  • FIG. 1 is a schematic diagram of a boom height control system 2, Without limitation on the generality of useful applications of the present invention, the system 2 is shown for controlling the height of a spray boom 20, which can be used for agricultural applications, such as spraying fertilizer, herbicides, pesticides, water, etc.
  • the control system 2. includes a guidance system 4, which can be global navigation satellite system (GNSS) based.
  • GNSS global navigation satellite system
  • a real-time control compute engine 6 is connected to the guidance system 4 and can be programmed with specific control instructions and applications, including variable-rate (VR), selective control, guidance, auto- steering, etc.
  • a valve drive 8 can be connected to the compute engine 6 for connection to a steering system of a vehicle, such as a tractor or a self-propelled equipment piece.
  • the guidance system is connected to a job set up and graphical user interface
  • GUI display monitor component 10
  • a field template file 12 is provided for specific fields and includes such information as GNSS-defined field coordinates, material prescription information, environmental conditions and equipment routing directions.
  • Geodesic information system (GIS) and cloud (e.g., internet) 14 data sources and connectivity are provided for communicating bi-directionally with the other components of the system 2.
  • Boom ineriial measurement units 16 are connected to the control compute engine
  • the boom 20 can include a GNSS receiver with an antenna 1 8, or can be directly controlled via the implement motive component, such as a tractor.
  • the boom 20 includes sections 22, 24, 26, 28, 30, each equipped with its own inertial measurement unit (IMU) 16. The boom sections can be articulated for conforming to field conditions.
  • IMU inertial measurement unit
  • measurement of field terrain elevations may be done as an independent step using an ATV or field truck or data may be used/collected from another farming operation such as harvesting, which covers the same terrain
  • Field log data may be stored in an office/cloud GIS and data management toolset.
  • sensor data is compared to elevation data and performs real-time control through a mechanical control system (typically electro- hydraulic or mechanical in nature)

Abstract

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.

Description

. j -
IMPLEMENT AND BOOM HEIGHT CONTROL
CROSS-REFERENCE TO RELATED APPLICATION
[8(53)1] This application claims priority in U.S. Patent Application Serial No. 14/2.14,2.15, filed March 14, 2014, which claims priority in U.S. Provisional Patent Application No.
61/783,973, filed March 14, 2013, which is incorporated herein by reference. U.S. Patents No, 6,539,303; o. 6,71 1,501 ; No. 8,214,I l l ; No. 8,386,129; o. 8,548,649; No. 8,583,315; o. 8,583,326; and No. 8,594,879 are also incorporated herein by reference.
BACKGROUND OF THE INVENTION
1. Field of the Invention
[8ΘΘ2] The present invention relates generally to automated machine control and, in particular, to an agricultural spray boom height control system and method.
2, Description of the Related Art.
[8083] Movable machinery, such as agricultural equipment, open-pit mining machines, airplane crop dusters, and the like all benefit from accurate global navigation satellite system (GNSS) high precision survey products, and others. However, in existing satellite positioning systems (SATPS) for guided parallel and contour swathing for precision farming, mining, and the like, the actual curvature of terrain may not be taken into account. This results in a less than precise production because of the less than precise parallel or contour swathing. Indeed, in order to provide swaths through a field (in farming, for example), the guidance system collects positions of the vehicle as it moves across the field. When the vehicle commences the next pass ihrough the field, ihe guidance system offsets the coliected positions for the previous pass by the width of the equipment (i.e. swath width). The next set of swath positions is used to provide guidance to the operator as he or she drives the vehicle through the field. The current vehicle location, as compared to the desired swath location, is provided to the vehicle's operator or to a vehicle's steering system. The SATPS provides the 3-D location of signal reception (for instance, the 3- D location of the antenna).
[8004] Various navigation systems for ground-based vehicles have been employed but each includes particular disadvantages. Systems using Doppler radar will encounter errors with ihe radar and latency. Similarly, gyroscopes, which may provide heading, roll, or pitch measurements, may be deployed as part of an inertia] navigation package, but tend to encounter drift errors and biases and still require some external attitude measurements for gyroscope initialization and drift compensation. Gyroscopes have good short-term characteristics but undesirable long-term characteristics, especially those gyroscopes of lower cost such as those based on a vibrating resonator. Similarly, inertial systems employing gyroscopes and accelerometers have good short-term characteristics hut also suffer from drift. Various systems include navigating utilizing GNSS; however, these systems also exhibit disadvantages. Existing GNSS position computations may ineiude lag iimes, which may be especially iroubiesome when, for example, GNSS velocity is used to derive vehicle heading. As a result, the position (or heading) solution provided by a GNSS receiver tells a user where the vehicle was a moment ago, but not in real time. Existing GNSS systems do not provide high quality heading information at slower vehicle speeds. Therefore, what is needed is a low cost sensor system to facilitate vehicle swath navigation that makes use of the desirable behavior of both GNSS and inertia! units while eliminating or reducing non-desirable behavior. Specifically, what is needed is a means to employ low-cost gyroscopes (e.g., micro electromechanical (MEM) gyroscopes) which exhibit very good short-term low noise and high accuracy while removing their inherent long-term drift. 8005] Providing multiple antennas on a vehicle can provide additional benefits by determining an attitude of the vehicle from the GNSS ranging signals received by its antennas, which are constrained on the vehicle at a predetermined spacing. For example, high dynamic roll compensation signals can be output directly to the vehicle steering using GNSS-derived attitude information. Components such as gyroscopes and accelerometers can be eliminated using such techniques. Real-time kinematic (RTK) navigation can be accomplished using relatively economical single frequency LI -only receivers with inputs from at least two antennas mounted in fixed relation on a rover vehicle. Still further, moving baselines can be provided for positioning solutions involving tractors and implements and multi-vehicle GNSS control can be provided,
[§006] Providing additional antennas in combination with standard SA'T'PS and GNSS guidance, as mentioned above, along with optional gyroscopes is an effective method to increase GNSS positioning precision and accuracy, such as is described in U.S. Patent Publication No. 2009/0164067, which is assigned to a common assignee and is incorporated herein. However, accuracy and precision can only improve the efficiency of working vehicles, such as those in the agricultural field, to a limited extent. Although such systems are able to track and guide vehicles in three dimensions, including along ridges and sloped-regions, errors may appear in other aspects of a working vehicle. For example, in an agricultural field-working situation where a tractor is towing an implement, the implement may slide on a sloped-region, or the tractor may list to one side or another when entering softer soil or rocky areas. This can happen repeatedly when a vehicle is guided around the same field, regardless of the precision of the guidance system in pre-planning a path. Thus, a system that can detect such changes in uniformity of a field as the vehicle traverses a path and remember those changes can predict and re-route a more accurate and more economical path than a guidance system alone. Heretofore there has not been available a system and method with the advantages and features of the present invention.
[0007] Conventional agricultural spraying operations are carried out over an entire field, everywhere the crop is planted, in contrast, environmental spraying allows the spraying of certain materials which require restrictions in the area of deposition due to potential toxicity or strength. The restrictions can include the distance from waterways and slope of the ground which can affect run- off and concentrations of deposits.
SUMMARY OF THE INVENTION
[0008] in the practice of the present invention, position sensors (such as GNSS and IMU) are used to accurately locate the implement (such as a spray boom) with reference to the ground, standing crop, or other fseld features. Real time compute engine processes control algorithms to compare sensor data with spatial data logged from a previous operation, or terrain model, to make control decisions which maintain desired implement height.
BRIEF DESCRIPTION OF THE DRAWINGS
[0009] The drawings constitute a part of this specification and include exemplary embodiments of the present invention illustrating various objects and features thereof,
[0018] Fig. 1 is a schematic diagram of a boom height control sy stem embodying an aspect of the present invention ,
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
I. Introduction and Environment
[8011] As required, detailed aspects of the present invention are disclosed herein, however, it is to be understood that the disclosed aspec ts are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art ho w to variously employ the present invention in virtually any appropriately detailed structure,
[8012] Certain terminology will be used in the following description for convenience in reference only and will not be limiting. For example, up, down, front, back, right and left refer to the invention as orientated in the view being referred to. The words, "inwardly" and
"outwardly" refer to directions toward and away from, respectively, the geometric center of the aspect being described and designated parts thereof. Forwardly and rearwardiy are generally in reference to the direction of tra v el, if appropriate. Said terminology will include the words specifically mentioned, derivatives thereof and words of similar meaning.
IT. Preferred Embodiment [Θϋ13| Fig.1 is a schematic diagram of a boom height control system 2, Without limitation on the generality of useful applications of the present invention, the system 2 is shown for controlling the height of a spray boom 20, which can be used for agricultural applications, such as spraying fertilizer, herbicides, pesticides, water, etc. The control system 2. includes a guidance system 4, which can be global navigation satellite system (GNSS) based. A real-time control compute engine 6 is connected to the guidance system 4 and can be programmed with specific control instructions and applications, including variable-rate (VR), selective control, guidance, auto- steering, etc. A valve drive 8 can be connected to the compute engine 6 for connection to a steering system of a vehicle, such as a tractor or a self-propelled equipment piece.
[8014] The guidance system is connected to a job set up and graphical user interface
(GUI) component 10, which can include suitable display monitor components. A field template file 12 is provided for specific fields and includes such information as GNSS-defined field coordinates, material prescription information, environmental conditions and equipment routing directions. Geodesic information system (GIS) and cloud (e.g., internet) 14 data sources and connectivity are provided for communicating bi-directionally with the other components of the system 2. [8015] Boom ineriial measurement units 16 are connected to the control compute engine
6, and can include such devices as acceierometers and gyroscopes for measuring inertia and positioning information in three axes (X, Y, Z). The boom 20 can include a GNSS receiver with an antenna 1 8, or can be directly controlled via the implement motive component, such as a tractor. The boom 20 includes sections 22, 24, 26, 28, 30, each equipped with its own inertial measurement unit (IMU) 16. The boom sections can be articulated for conforming to field conditions.
[8016] Use Case:
1) Field is logged/mapped using highly accurate sensors (such as R'T'K GNSS) for
measurement of field terrain elevations. This may be done as an independent step using an ATV or field truck or data may be used/collected from another farming operation such as harvesting, which covers the same terrain
2) Field log data may be stored in an office/cloud GIS and data management toolset.
3) File is loaded in guidance system on target machine (sprayer, for example). 4) User selects the job file in the guidance system which includes the processed elevation data.
5) The user chooses/sets up boom control options to use the field log including desired height above the target.
6) As the system works across the field, sensor data is compared to elevation data and performs real-time control through a mechanical control system (typically electro- hydraulic or mechanical in nature)
[0017] It is to be understood that while certain embodiments and/or aspects of the invention have been shown and described, the invention is not limited thereto and encompasses various other embodiments and aspects.

Claims

CLAIMS Having thus described the invention, what is claimed as new and desired to be secured by Letters Patent is:
1. A control system for controlling the position of a working component relative to a work surface, which system includes:
a global navigation satellite system (G SS) based positioning control subsystem;
an inertial measurement unit (IMU) sensor mounted on the working component and
connected to the control subsystem;
a sensor associated with one or more of said nodes and adapted for providing output
comprising signal data corresponding to an operating or status condition; and said control subsystem being configured for positioning said working component relative to said work surface based on preprogrammed positioning parameters.
2. The control system according to claim 1 , which includes: said positioning control subsystem including a microprocessor connected to said sensors and programmed for positioning said working component relative to said work surface,
3. The control system according to claim 2, which includes: a graphic user interface (GUI) connected to said microprocessor and adapted for displaying said positioning parameters associated with said working component.
4. The control system according to claim 3, which includes: said positioning parameters including at least one of: working component height above the ground surface; working component height above the crop; and working component tilt.
5. The control system according to claim 1 wherein said component comprises a spray boom.
6. The control system according to claim 5 wherein said spray boom comprises multiple sections psvotally interconnected with each other.
7. The control system according to claim 6 wherein each said spray boom section is independently controlled relative to said working component by said microprocessor.
8. The control system according to claim 7 wherein each said spray boom section includes an inertial measurement unit.
9. The control system according to claim 1 , which includes an Internet connection configured for uploading and downloading said operating parameters.
10. A control system for controlling the position of a working component relative to a work surface, which system includes:
a global navigation satellite system (GNSS) based positioning control subsystem;
an inertial measui'ement unit (IMU) sensor mounted on the working component and
connected to the control subsystem;
a sensor associated with one or more of said nodes and adapted for providing output
comprising signal data corresponding to an operating or status condition; said control subsystem being configured for positioning said working component relative to said work surface based on preprogrammed positioning parameters;
said positioning control subsystem including a microprocessor connected to said sensors and programmed for positioning said working component relative to said work surface;
a graphic user interface (GUI) connected to said microprocessor and adapted for displaying said positioning parameters associated with said working component;
said positioning parameters including at least one of: working component height above the ground surface; working component height above the crop; and working component tilt;
said component comprises a spray boom;
said spray boom comprising multiple sections pivotally interconnected with each other: each said spray boom section being independently controlled relative to said working component by said microprocessor;
each said spray boom section including an inertial measurement unit (IMU); and an Internet connection configured for uploading and downloading said operating
parameters.
1 1. A method of controlling the position of a working component relative to a work surface, which method includes the steps of:
providing a global navigation satellite system (GNSS) based positioning control
subsystem;
preprogramming said control subsy stem for predetermined positioning parameters of said working component relative to said work surface;
sensing inertial movements of said working component;
processing positioning signals with said control subsystem; and positioning sa d working component relative to said work surface based on said positioning signals.
12. The method of claim 1 1 , which includes
the field being logged/mapped using RTK ONSS for measurement of field terrain
elevations.
13. The method of claim 12, which includes said field logging/mapping step being done as an independent step using an ATV or field truck.
14. The method of claim 12, which includes said data being used/collected from another farming operation covering the same terrain.
15. The method of claim 12 wherein field log data are stored in an office/cloud GIS and data management toolset.
16. The method of claim 15 wherein a field log data fife is loaded in a guidance system on a target machine
17. the method of claim 16, which includes the additional step of:
a user selecting the job file in a guidance system which includes the processed elevation data.
18. The method of claim 17 wherein the user chooses/sets up boom control options to use the field log including desired height above the target.
19. The method of claim 18 wherein as the system works across the field, sensor data is compared to elevation data.
20. The method of claim 19 wherein the system performs real-time control through a mechanical control system comprising one of an electro-hydraulic and a mechanical system.
PCT/US2015/020799 2013-03-14 2015-03-16 Implement and boom height control WO2015139050A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201361783973P 2013-03-14 2013-03-14
US14/214,215 US9781915B2 (en) 2013-03-14 2014-03-14 Implement and boom height control system and method
US14/214,215 2014-03-14

Publications (1)

Publication Number Publication Date
WO2015139050A1 true WO2015139050A1 (en) 2015-09-17

Family

ID=51531417

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2015/020799 WO2015139050A1 (en) 2013-03-14 2015-03-16 Implement and boom height control

Country Status (2)

Country Link
US (1) US9781915B2 (en)
WO (1) WO2015139050A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106171225A (en) * 2016-06-30 2016-12-07 田阳县阳生优品果蔬种植专业合作社 A kind of water-fertilizer integral system produced for Fructus Ananadis comosi
CN112772102A (en) * 2021-03-15 2021-05-11 江苏苏邑设计集团有限公司 Visual liquid manure irrigation management system

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8386129B2 (en) 2009-01-17 2013-02-26 Hemipshere GPS, LLC Raster-based contour swathing for guidance and variable-rate chemical application
US8803735B2 (en) 2010-11-19 2014-08-12 Agjunction Llc Portable base station network for local differential GNSS corrections
US9945957B2 (en) 2013-03-14 2018-04-17 Agjunction Llc Machine control system and method
GB2530308A (en) 2014-09-19 2016-03-23 Norac Systems Internat Inc Suspension and positioning system for boom
GB201508250D0 (en) 2015-05-14 2015-06-24 Norac Systems Internat Inc Control system and method for a suspended boom sprayer
US11180189B2 (en) * 2015-11-19 2021-11-23 Agjunction Llc Automated reverse implement parking
US10241215B2 (en) 2015-11-19 2019-03-26 Agjunction Llc Sensor alignment calibration
US10239555B2 (en) 2015-11-19 2019-03-26 Agjunction Llc Single-mode implement steering
US10845375B2 (en) 2016-02-19 2020-11-24 Agjunction Llc Thermal stabilization of inertial measurement units
CA3020924A1 (en) 2016-04-12 2017-10-19 Agjunction Llc Line acquisition path generation using curvature profiles
US10579068B2 (en) 2016-10-03 2020-03-03 Agjunction Llc Using optical sensors to resolve vehicle heading issues
US10822017B2 (en) 2016-10-17 2020-11-03 Agjunction Llc Integrated auto-steer system for vehicle
US11269346B2 (en) 2017-06-22 2022-03-08 Agjunction Llc 3-d image system for vehicle control
US10645855B2 (en) 2017-06-28 2020-05-12 Cnh Industrial America Llc Lift arm control system
US20190124819A1 (en) 2017-10-31 2019-05-02 Agjunction Llc Vehicle implement control
US11167743B2 (en) 2018-04-03 2021-11-09 AgJunction, LLC Automatic pitch mounting compensation in an automatic steering system
US11110470B2 (en) 2018-05-15 2021-09-07 Cnh Industrial America Llc System and method for controlling the operation of agricultural sprayers
US10820477B2 (en) 2018-07-30 2020-11-03 Cnh Industrial America Llc System and method for automatic implement depth measurement control
AU2019338528A1 (en) 2018-09-14 2021-02-18 Agjunction Llc Using non-real-time computers for agricultural guidance systems
WO2020056197A1 (en) 2018-09-14 2020-03-19 Agjunction Llc Integrated gnss and steering for agricultural guidance systems
BR112022001689A2 (en) 2019-07-31 2022-03-22 Agjunction Llc Integrated steering and guidance system and device to control a steering wheel
US11340092B2 (en) * 2020-01-29 2022-05-24 Deere & Company Work vehicle display systems and methods for automatic section control lookahead symbology
CA3186569A1 (en) * 2020-07-30 2022-02-03 Mark Moeller System and method for detecting end gun status
GB2605844A (en) 2021-04-16 2022-10-19 Patchwork Tech Limited Agricultural boom height control system and method
CN115951602B (en) * 2022-12-08 2024-03-26 安徽泗州拖拉机制造有限公司 Agricultural machinery accurate positioning operation control system based on Beidou navigation

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020049538A1 (en) * 2000-10-23 2002-04-25 Knapton Cary Paul Vehicle tracking systems and methods
US20090164067A1 (en) * 2003-03-20 2009-06-25 Whitehead Michael L Multiple-antenna gnss control system and method
US20090312974A1 (en) * 2008-06-17 2009-12-17 Caterpillar Trimble Control Technologies Llc Inclinometer measurement system and method providing correction for movement induced acceleration errors
US20110266365A1 (en) * 2010-04-29 2011-11-03 Hagif Manufacturing Co Spray boom height control system
US20120215410A1 (en) * 2003-03-20 2012-08-23 Mcclure John A Gnss based control for dispensing material from vehicle
WO2012146255A1 (en) * 2011-04-29 2012-11-01 Syddansk Universitet Active damping system for a spray boom

Family Cites Families (58)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5663879A (en) 1987-11-20 1997-09-02 North American Philips Corporation Method and apparatus for smooth control of a vehicle with automatic recovery for interference
US5050771A (en) * 1989-07-31 1991-09-24 Field Control Systems, Inc. Repeatable pattern field spraying control
US5438517A (en) 1990-02-05 1995-08-01 Caterpillar Inc. Vehicle position determination system and method
US5194851A (en) 1991-02-21 1993-03-16 Case Corporation Steering controller
US5348226A (en) 1992-11-12 1994-09-20 Rhs Fertilizing/Spraying Systems Spray boom system with automatic boom end height control
WO1995018432A1 (en) 1993-12-30 1995-07-06 Concord, Inc. Field navigation system
FI942218A0 (en) 1994-05-13 1994-05-13 Modulaire Oy Automatic storage system Foer obemannat fordon
DE19647523A1 (en) 1996-11-16 1998-05-20 Claas Ohg Agricultural utility vehicle with a processing device that is adjustable in its position and / or orientation relative to the vehicle
US6070673A (en) 1996-11-22 2000-06-06 Case Corporation Location based tractor control
US6052647A (en) 1997-06-20 2000-04-18 Stanford University Method and system for automatic control of vehicles based on carrier phase differential GPS
DE19943410B4 (en) 1998-09-11 2011-08-18 Honda Giken Kogyo K.K. Steering control system for a vehicle
AUPP679598A0 (en) 1998-10-27 1998-11-19 Agsystems Pty Ltd A vehicle navigation apparatus
US6445983B1 (en) 2000-07-07 2002-09-03 Case Corporation Sensor-fusion navigator for automated guidance of off-road vehicles
US6377889B1 (en) 2000-10-13 2002-04-23 Trimble Navigation Limited Non-linear method of guiding to arbitrary curves with adaptive feedback
US6804587B1 (en) 2000-11-15 2004-10-12 Integrinautics Corporation Adjustment of vehicle-implement trajectories to compensate for lateral implement offset
US6539303B2 (en) 2000-12-08 2003-03-25 Mcclure John A. GPS derived swathing guidance system
US6711501B2 (en) 2000-12-08 2004-03-23 Satloc, Llc Vehicle navigation system and method for swathing applications
US6819780B2 (en) 2001-02-02 2004-11-16 Cnh America Llc Method and apparatus for automatically steering a vehicle in an agricultural field using a plurality of fuzzy logic membership functions
AUPR430301A0 (en) 2001-04-09 2001-05-17 Agsystems Pty Ltd Soil-cultivation implement control apparatus and method
AUPR733701A0 (en) 2001-08-29 2001-09-20 Beeline Technologies Apparatus and method for assisted navigation of a land vehicle
US6865465B2 (en) 2002-05-06 2005-03-08 Csi Wireless, Inc. Method and system for implement steering for agricultural vehicles
US7437230B2 (en) 2003-03-20 2008-10-14 Hemisphere Gps Llc Satellite based vehicle guidance control in straight and contour modes
US7689354B2 (en) 2003-03-20 2010-03-30 Hemisphere Gps Llc Adaptive guidance system and method
US7142956B2 (en) 2004-03-19 2006-11-28 Hemisphere Gps Llc Automatic steering system and method
US8265826B2 (en) 2003-03-20 2012-09-11 Hemisphere GPS, LLC Combined GNSS gyroscope control system and method
US8639416B2 (en) * 2003-03-20 2014-01-28 Agjunction Llc GNSS guidance and machine control
US8214111B2 (en) 2005-07-19 2012-07-03 Hemisphere Gps Llc Adaptive machine control system and method
US8594879B2 (en) * 2003-03-20 2013-11-26 Agjunction Llc GNSS guidance and machine control
US8190337B2 (en) 2003-03-20 2012-05-29 Hemisphere GPS, LLC Satellite based vehicle guidance control in straight and contour modes
US9002565B2 (en) * 2003-03-20 2015-04-07 Agjunction Llc GNSS and optical guidance and machine control
US8686900B2 (en) 2003-03-20 2014-04-01 Hemisphere GNSS, Inc. Multi-antenna GNSS positioning method and system
US6789014B1 (en) 2003-05-09 2004-09-07 Deere & Company Direct modification of DGPS information with inertial measurement data
US8583315B2 (en) * 2004-03-19 2013-11-12 Agjunction Llc Multi-antenna GNSS control system and method
US20060167600A1 (en) 2005-01-27 2006-07-27 Raven Industries, Inc. Architecturally partitioned automatic steering system and method
US7623952B2 (en) 2005-04-21 2009-11-24 A.I.L., Inc. GPS controlled guidance system for farm tractor/implement combination
US7860628B2 (en) 2005-06-09 2010-12-28 Trimble Navigation Limited System for guiding a farm implement between swaths
US8311696B2 (en) 2009-07-17 2012-11-13 Hemisphere Gps Llc Optical tracking vehicle control system and method
US7835832B2 (en) 2007-01-05 2010-11-16 Hemisphere Gps Llc Vehicle control system
US20080195268A1 (en) 2007-02-09 2008-08-14 Novariant, Inc. Implement control system and method of using same
US7808428B2 (en) 2007-10-08 2010-10-05 Hemisphere Gps Llc GNSS receiver and external storage device system and GNSS data processing method
US20090099737A1 (en) 2007-10-12 2009-04-16 Wendte Keith W Method and apparatus for optimization of agricultural field operations using weather, product and environmental information
US8437901B2 (en) 2008-10-15 2013-05-07 Deere & Company High integrity coordination for multiple off-road vehicles
US8386129B2 (en) 2009-01-17 2013-02-26 Hemipshere GPS, LLC Raster-based contour swathing for guidance and variable-rate chemical application
PL2437586T3 (en) 2009-06-02 2019-02-28 Topcon Precision Agriculture Pty Ltd Vehicle guidance system
US20110224873A1 (en) 2009-09-17 2011-09-15 Reeve David R Vehicle assembly controller with automaton framework and control method
US8649930B2 (en) 2009-09-17 2014-02-11 Agjunction Llc GNSS integrated multi-sensor control system and method
US8548649B2 (en) 2009-10-19 2013-10-01 Agjunction Llc GNSS optimized aircraft control system and method
US8583326B2 (en) 2010-02-09 2013-11-12 Agjunction Llc GNSS contour guidance path selection
US9072227B2 (en) 2010-10-08 2015-07-07 Deere & Company System and method for improvement of harvest with crop storage in grain bags
US8825311B2 (en) 2011-01-05 2014-09-02 Cnh Industrial Canada, Ltd. Method and apparatus for signaling to an operator of a farm implement that the farm implement is traversing a seeded area
US8825310B2 (en) 2011-01-05 2014-09-02 Cnh Industrial Canada, Ltd. Method and apparatus for signaling to an operator of a farm implement that the farm implement is traversing a previously seeded area
US8794867B2 (en) * 2011-05-26 2014-08-05 Trimble Navigation Limited Asphalt milling machine control and method
US9668400B2 (en) 2011-07-05 2017-06-06 Kongskilde Industries A/S Automatic guidance system for pull-type agricultural implement
US9338938B2 (en) 2012-05-15 2016-05-17 Trimble Navigation Limited Agricultural rate management
EP2679085A1 (en) 2012-06-26 2014-01-01 Norac Systems International Inc. Height control
US8942893B2 (en) * 2012-09-07 2015-01-27 Trimble Navigation Limited Predictive boom shape adjustment
US9131674B2 (en) 2012-09-28 2015-09-15 Deere & Company Trailed agricultural implement pump with hydraulic flow rate control
US20140168009A1 (en) * 2012-12-17 2014-06-19 Trimble Navigation Ltd. Multi-IMU INS for vehicle control

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020049538A1 (en) * 2000-10-23 2002-04-25 Knapton Cary Paul Vehicle tracking systems and methods
US20090164067A1 (en) * 2003-03-20 2009-06-25 Whitehead Michael L Multiple-antenna gnss control system and method
US20120215410A1 (en) * 2003-03-20 2012-08-23 Mcclure John A Gnss based control for dispensing material from vehicle
US20090312974A1 (en) * 2008-06-17 2009-12-17 Caterpillar Trimble Control Technologies Llc Inclinometer measurement system and method providing correction for movement induced acceleration errors
US20110266365A1 (en) * 2010-04-29 2011-11-03 Hagif Manufacturing Co Spray boom height control system
WO2012146255A1 (en) * 2011-04-29 2012-11-01 Syddansk Universitet Active damping system for a spray boom

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106171225A (en) * 2016-06-30 2016-12-07 田阳县阳生优品果蔬种植专业合作社 A kind of water-fertilizer integral system produced for Fructus Ananadis comosi
CN112772102A (en) * 2021-03-15 2021-05-11 江苏苏邑设计集团有限公司 Visual liquid manure irrigation management system

Also Published As

Publication number Publication date
US20140277676A1 (en) 2014-09-18
US9781915B2 (en) 2017-10-10

Similar Documents

Publication Publication Date Title
US9781915B2 (en) Implement and boom height control system and method
US10416314B2 (en) Machine control system and method
USRE47101E1 (en) Control for dispensing material from vehicle
USRE48509E1 (en) Raster-based contour swathing for guidance and variable-rate chemical application
US8583315B2 (en) Multi-antenna GNSS control system and method
US6445983B1 (en) Sensor-fusion navigator for automated guidance of off-road vehicles
US11667171B2 (en) Method and system for estimating surface roughness of ground for an off-road vehicle to control steering
EP3878255B1 (en) Method and system for estimating surface roughness of ground for an off-road vehicle to control steering
EP2932194B1 (en) Multi-imu ins for vehicle control
US11685381B2 (en) Method and system for estimating surface roughness of ground for an off-road vehicle to control ground speed
BR102021003769A2 (en) Method and system to estimate the surface roughness of a soil
US10123472B1 (en) Position aided inertial navigation system for a farming implement not requiring an additional GNSS receiver
CA2305606A1 (en) Apparatus including two separate vehicles controlled to move at a predetermined relative position
Ahamed Navigation of an autonomous tractor using multiple sensors
Zhang et al. Development of a prototype of guidance system for rice-transplanter
EP4098094A2 (en) Automatic traveling method, automatic traveling system, and automatic traveling program
Yao et al. Automatic guidance of agricultural vehicles based on global positioning system
Momot et al. Automatic Positioning System of Small Agricultural Robot
GB2605844A (en) Agricultural boom height control system and method
WO2023127557A1 (en) Agricultural machine, sensing system used in agricultural machine, and sensing method
WO2023127556A1 (en) Agricultural machine, sensing system for use in agricultural machine, and sensing method
US20230004161A1 (en) System and method for groundtruthing and remarking mapped landmark data
Soitinaho et al. Guidance, auto-steering systems and control
JP2022183957A (en) Automatic travel method, automatic travel system and automatic travel program
JP2022183956A (en) Automatic travel method, automatic travel system and automatic travel program

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15760817

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15760817

Country of ref document: EP

Kind code of ref document: A1