Autonomous systems, methods, and apparatus for AG based operations

• US 10,080,321 B2
• Filed: 10/14/2014
• Issued: 09/25/2018
• Est. Priority Date: 10/14/2013
• Status: Active Grant

• Current Assignee: Kinze Manufacturing Incorporated
• Original Assignee: Kinze Manufacturing Incorporated
• Inventors: Blackwell, Robert, Schildroth, Rhett, Myers, Michael J., Rolffs, Merlan J., Becker, Derrick
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US14/513,420
• Publication Number:
  US 20150105962A1
• Time in Patent Office: 1,442 Days
• Field of Search: None
• CPC Class Codes: A01B 39/06 Self-propelled machines
• CPC Class Codes: A01B 59/002 Details, component parts
• CPC Class Codes: A01B 69/004 automatic
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/00 Methods for working soil
• CPC Class Codes: A01C 23/047 Spraying of liquid fertilisers
• CPC Class Codes: A01D 41/1278 for automatic steering
• CPC Class Codes: B60D 2001/008 specially adapted for implements, e.g. towed tools
• CPC Class Codes: B60P 3/00 Vehicles adapted to transport, to carry or to comprise special loads or objects ambulances or other vehicles with special provisions for transporting patients or disabled persons, or their personal conveyances A61G3/00; hearses A61G21/00; fire-fighting land vehicles A62C27/00; refuse-collecting vehicles B65F3/00, B65F7/00; snow-removing vehicles E01H; armoured or armed vehicles F41H7/00; self-propelled mine-clearing vehicles F41H11/16
• CPC Class Codes: B60P 3/22 Tank vehicles vehicles convertible from transport of fluids to transport of other types of goods B60P3/426; tank aspects B65D90/00, F17C
• CPC Class Codes: B62D 63/025 Modular vehicles superstructures for busses having modular sections B62D31/025
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

The use of self-powered, autonomous vehicles in agricultural and other domestic applications is provided. The vehicles include a self-propelled drive system, tracks or wheels operatively connected to the drive system, a power supply operatively connected to the drive system, an attachment mechanism for attaching equipment to the vehicle, and an intelligent control operatively connected to the drive system, power supply, and attachment mechanism. The vehicle is configured to connect to the equipment to perform agricultural operations based upon the equipment. Multiple vehicles can be used in a field at the same time. Furthermore, the invention includes the ability to move one or more of the autonomous vehicles from field to field, home to field, or from generally any first location to a second location.

Claims

1. A method of attaching an autonomous vehicle including a frame, a power source, and a drive system for operating wheels or tracks in a self-propelled and autonomous manner to various agricultural implements capable of performing at least one agricultural operation, the method comprising:

obtaining positioning information with at least one module operatively connected to the autonomous vehicle;

using the obtained positioning information to align at least one attachment mechanism of the autonomous vehicle with a portion of an implement of the various agricultural implements, wherein said alignment comprises autonomously operating the autonomous vehicle to begin movement of the autonomous vehicle towards the implement;

attaching the at least one attachment mechanism of the autonomous vehicle to the implement to allow the vehicle and implement combination to autonomously perform the at least one agricultural operation;

sensing agricultural characteristics from one or more sensors attached to the implement or autonomous vehicle;

receiving operating information to actively adjust the implement based, at least in part, on the implement attached to the autonomous vehicle and the at least one agricultural operation, and at least in part, on the one or more agricultural characteristics; and

wherein the operating information is received from the implement during performance of the at least one agricultural operation, wherein the agricultural operation is selected from the group consisting of;

a. planting;

b. tilling;

c. baling;

d. harvesting;

e. spraying;

f. transporting; and

g. cultivating.

2. The method of claim 1 wherein the agricultural characteristics are selected from the group consisting of:

a. moisture content;

b. compaction;

c. temperature;

d. slope of terrain; and

e. soil composition.

3. The method of claim 1 wherein the at least one attachment mechanism comprises at least a first attachment mechanism and a second attachment mechanism positioned at opposing ends of the frame, wherein the first attachment mechanism and the second attachment mechanism are each selected from one of a plurality of attachment mechanisms.

4. The method of claim 3 further comprising the steps of:

attaching the second attachment mechanism to a planter implement;

collecting data with the implement attached to the first attachment mechanism;

transmitting the data to the planter implement to perform the at least one agricultural operation based, at least in part, on the transmitted data.

5. The method of claim 1 wherein the step of obtaining positioning information with at least one module further comprises obtaining images, proximity information, type of attachment mechanism required to attach the implement to the autonomous vehicle, and alignment information for aligning and attaching the vehicle to the implement.

6. The method of claim 1 further comprising selecting one of a plurality of attachment mechanisms of the autonomous vehicle to align and attach to a receiving member of the implement.

7. The method of claim 6 wherein the attachment mechanism is one of:

a. an arm;

b. a three-point hitch;

c. a power takeoff;

d. a flatbed;

or

e. a cable lift.

8. The method of claim 1 further comprising providing power to the implement from the vehicle to perform the at least one agricultural operation.

9. A method of performing at least one agricultural operation in an autonomous manner, the method comprising:

attaching at least one autonomous vehicle to an agricultural implement without operation of an operator;

sensing one or more agricultural characteristics from one or more sensors attached to the agricultural implement or autonomous vehicle;

configuring operating information based, at least in part, on the agricultural implement attached to the at least one autonomous vehicle and the at least one agricultural operation, and at least in part, on the one or more agricultural characteristics;

providing power to the agricultural implement from the at least one autonomous vehicle to autonomously perform the at least one agricultural operation; and

using the combined autonomous vehicle and agricultural implement to autonomously perform at least one agricultural operation, wherein the agricultural operation is selected from the group consisting of;

a. planting;

b. tilling;

c. baling;

d. harvesting;

e. spraying;

f. transporting; and

g. cultivating.

10. The method of claim 9 wherein the step of attaching the autonomous vehicle to the agricultural implement comprises:

obtaining positioning information with at least one module operatively connected to the autonomous vehicle;

using the obtained positioning information to align at least one attachment mechanism of the autonomous vehicle with a portion of the agricultural implement; and

attaching the at least one attachment mechanism of the autonomous vehicle to the agricultural implement to allow the vehicle and agricultural implement combination to autonomously perform at least one agricultural operation.

11. The method of claim 10 wherein the operating information is received from the agricultural implement during performance of the at least one agricultural operation.

12. The method of claim 11 wherein the at least one attachment mechanism comprises a plurality of attachment mechanisms each configured to operably connect to a different type of receiving mechanism of the agricultural implement.

13. The method of claim 12 further comprising attaching electric, pneumatic, hydraulic lines between the vehicle and the agricultural implement.

14. The method of claim 13 wherein the step of obtaining positioning information with at least one module further comprises obtaining images, proximity information, type of attachment mechanism required to attach the agricultural implement to the autonomous vehicle, and alignment information for aligning and attaching the vehicle to the agricultural implement.

15. The method of claim 9 further comprising attaching a first agricultural implement to a first end of the autonomous vehicle and a second agricultural implement to the opposite end of the autonomous vehicle, wherein the autonomous vehicle provides power to both the first and second agricultural implements.

16. The method of claim 15 further comprising operating the combined autonomous vehicle and agricultural implements in either direction, said agricultural implements working with one another to perform one or more agricultural operations.

17. The method of claim 9 wherein the at least one agricultural operation comprises a plurality of agricultural operations selected from the group consisting of:

a. planting;

b. tilling;

c. baling;

d. harvesting;

e. spraying;

f. transporting; and

g. cultivating.