Autonomous systems, methods, and apparatus for AG based operations

• US 10,130,022 B2
• Filed: 10/14/2014
• Issued: 11/20/2018
• Est. Priority Date: 10/14/2013
• Status: Active Grant

• Current Assignee: Kinze Manufacturing Incorporated
• Original Assignee: Kinze Manufacturing Incorporated
• Inventors: Blackwell, Robert, Schlidroth, Rhett, Myers, Michael J., Rolffs, Merlan J., Becker, Derrick
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US14/513,397
• Publication Number:
  US 20150105965A1
• Time in Patent Office: 1,498 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. An autonomous vehicle, comprising:

a frame;

one or more tracks or wheels coupled to the frame, said one or more tracks or wheels are coupled to the frame such that the width of the tracks or wheels of the vehicle is automatically adjustable based upon a field condition or a road condition while the vehicle is in a field use configuration and selectively adjustable by an operator of the vehicle while the vehicle is in a transport configuration;

a power source positioned on the frame;

a self-propelled drive system operatively connected to the power source and configured to drive the one or more tracks or wheels; and

an intelligent control on the autonomous vehicle electrically connected to the drive system and power source to aid in the self-propelling of the drive system;

wherein the intelligent control identifies the agricultural implement and possible agricultural operations associated therewith, instructs the drive system to position the autonomous vehicle relative to an agricultural implement to perform an agricultural operation with the agricultural implement, and selects the agricultural operation from the group consisting of;

a. planting;

b. tilling;

c. baling;

d. harvesting;

e. spraying;

f. transporting; and

g. cultivating; and

wherein the agricultural operation is selected by information acquired by the intelligent control from the agricultural implement via one or more connections thereto and based upon the type of implement.

2. The autonomous vehicle of claim 1 further comprising a plurality of modules positioned thereon for obtaining information related to operation of the vehicle.

3. The autonomous vehicle of claim 2 wherein the plurality of modules comprise sensors and/or location determining devices.

4. The autonomous vehicle of claim 3 wherein the sensors comprise:

a. vision sensors,

b. radar sensors,

c. LIDAR sensors,

d. heat sensors,

e. moisture content sensors,

f. radio frequency sensors,

g. short-range radio,

h. long-range radio, or

i. antennas.

5. The autonomous vehicle of claim 3 wherein the location determining services comprise GPS, LIDAR, or radar.

6. The autonomous vehicle of claim 1 wherein the intelligent control further comprises sensors and communication systems for sending information to one or more locations.

7. The autonomous vehicle of claim 6 wherein the communication systems comprise wireless technology with one of Wi-Fi™

, radio frequency, radar, or Bluetooth®

.

8. The autonomous vehicle of claim 1 further comprising one or more modular outputs, wherein the modular outputs are positioned on the agricultural implement and powered by the power source of the autonomous vehicle.

9. The autonomous vehicle of claim 8 wherein the one or more modular outputs comprise power outlets, power takeoff outputs, motors, tanks, or row units.

10. The autonomous vehicle of claim 1 further comprising a cab, wherein the cab comprises a steering mechanism operatively connected to the drive system and tracks or wheels, and a rollover protection device.

11. The autonomous vehicle of claim 1 further comprising at least one attachment mechanism, wherein the attachment mechanism comprises:

a. an arm;

b. a three-point hitch;

c. a power takeoff;

d. a flatbed;

or

e. a cable lift.

12. An autonomous vehicle for performing agricultural based operations, the vehicle comprising:

a frame;

a plurality of wheels or tracks coupled to the frame, said plurality of wheels or tracks are coupled to the frame such that the width of the tracks or wheels of the vehicle is automatically adjustable based, in part, upon a field condition or a road condition while the vehicle is in a field use configuration and selectively adjustable by an operator of the vehicle while the vehicle is in a transport configuration;

a power source coupled to a self-propelling drive source for driving the plurality of wheels or tracks without an operator;

a plurality of modules electrically connected to an intelligent control for obtaining information related to the operation of the vehicle;

wherein the intelligent control of the vehicle identifies an implement and possible agricultural operations associated therewith, coordinates the operation of the vehicle with the implement through, at least in part, wireless communication directly between the vehicle and the implement, and selects the possible agricultural operations from the group consisting of;

a. planting;

b. tilling;

c. baling;

d. harvesting;

e. spraying;

f. transporting; and

g. cultivating, and wherein the operation of the vehicle and the implement is based on the type of implement;

an enclosure for covering at least a portion of the power source and drive source; and

at least one attachment mechanism connected to at least one of the ends of the frame.

13. The autonomous vehicle of claim 12 wherein the self-propelled drive system comprises:

a. an electric drive system;

b. a mechanical drive system;

c. a hydrostatic drive system;

d. an infinite variable transmission;

or

e. a continuously variable transmission.

14. The autonomous vehicle of claim 12 wherein the plurality of wheels or tracks comprise multi-directional tread to allow the vehicle to travel in at least two directions.

15. The autonomous vehicle of claim 12 wherein the wheels or tracks are coupled to the frame such that the height of the vehicle is adjustable.

16. The autonomous vehicle of claim 12 wherein the plurality of modules comprises sensors, communication devices, location determination devices, or some combination thereof.

17. An agricultural vehicle, comprising:

a frame;

a power source positioned at an end of the frame and configured to drive a self-propelled drive system;

a plurality of wheels or tracks coupled to the frame and driven by the drive system;

sensors operatively attached to the drive system;

additional sensors electrically connected to an intelligent control to collect information used by the intelligent control to select one of a plurality of agricultural processes to perform from the group consisting of;

a. planting;

b. tilling;

c. baling;

d. harvesting;

e. spraying;

f. transporting; and

g. cultivating;

said intelligent control capable of identifying an implement and the possible agricultural processes associated therewith; and

at least one attachment mechanism positioned at either or both of the ends of the frame for connecting the vehicle to the implement, and wherein the at least one attachment member configured to receive information from the implement to dictate the operation of the vehicle and implement combination;

wherein the plurality of wheels or tracks are coupled to the frame such that the width of the tracks or wheels of the vehicle is automatically adjustable based upon a field condition or a road condition while the vehicle is in a field use configuration and selectively adjustable by an operator of the vehicle while the vehicle is in a transport configuration.

18. The agricultural vehicle of claim 17, wherein the agricultural vehicle stores data collected by the sensors.

19. The agricultural vehicle of claim 18, wherein the stored data is continuously or randomly communicated to the other vehicles.

20. The agricultural vehicle of claim 18, wherein the intelligent control references the stored data against a pre-programmed map to:

a. aid the vehicle in performing the one of a plurality of agricultural processes;

or

b. aid in driving the vehicle such that the vehicle will avoid obstructions and other selected areas.