Method and system for planning the path of an agricultural vehicle

• US 10,378,896 B2
• Filed: 02/27/2006
• Issued: 08/13/2019
• Est. Priority Date: 02/27/2006
• Status: Active Grant

• Current Assignee: PTx Trimble LLC
• Original Assignee: Trimble Inc.
• Inventors: Birnie, Denis Allan
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Kong, Sze-Hon
• Application Number:
  US11/363,839
• Publication Number:
  US 20090118904A1
• Time in Patent Office: 4,915 Days
• Field of Search: 180 662, 180419, 180444, 280 93502, 280 93503, 280 9351, 318587, 701 23, 701 41, 701 43, 701 50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Embodiments of the present invention pertain to methods and systems for planning the path of an agricultural vehicle. In one embodiment, a first point of a first planned path and a second point of a second planned path are determined. A path plan is then automatically generated connecting the first point and the second point.

Claims

1. A method for planning a path for an agricultural vehicle, the method comprising:

accessing a first output of a steering controller, wherein the first output is associated with an electric steering component;

accessing a second output of the steering controller, wherein the second output is associated with a hydraulic steering component;

automatically detecting, by the steering controller, that the first output or the second output is in use;

determining a single type of steering component based on an automatically detected output from the steering controller;

accessing a recorded path plan, the recorded path plan comprising navigation data and roll, pitch, and yaw data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system and a terrain compensation module, wherein the roll, pitch, and yaw data are determined by the terrain compensation module for compensating errors in the navigation data as determined by the position determining system caused by terrain variation;

determining a first point of a first planned path accessed from the recorded path plan, wherein the first point is determined in response to an indication received from an operator of the agricultural vehicle while the agricultural vehicle is on the first planned path;

determining a second point of a second planned path accessed from the recorded path plan;

automatically generating a revised path plan connecting the first point and the second point using the navigation data and the roll, pitch, and yaw data recorded during the previous path passage of the agricultural vehicle;

generating a steering command based on the revised path plan, wherein the steering command is formatted for the single type of steering component; and

outputting the steering command to the single type of steering component via the output of the steering controller for actuating a steering mechanism of the agricultural vehicle to cause the agricultural vehicle to travel according to the revised path plan.

2. The method as recited in claim 1 further comprising:

assigning a sequence to the first planned path and the second planned path; and

selecting a path shape for connecting the first point and the second point in the revised path plan.

3. The method as recited in claim 1 wherein the automatically generating the revised path plan comprises selecting a path shape for connecting the first point and the second point from the group consisting of a semi-circle and a keyhole.

4. The method as recited in claim 1 further comprising:

determining a first geographic position of the first point and a second geographic position of the second point using the position determining system.

5. The method as recited in claim 4, wherein:

the position determining system is selected from the group consisting of a Global Navigation Satellite System (GNSS) and a terrestrial-based position determining system.

6. The method as recited in claim 4 further comprising:

displaying a deviation from the revised path plan on a display device.

7. A system for planning a path for an agricultural vehicle, the system comprising:

an accessor configured for accessing a recorded path plan, the recorded path plan comprising navigation data and roll, pitch, and yaw data recorded during a previous path passage of the agricultural vehicle through a work area using a position determining system and a terrain compensation module, wherein the roll, pitch, and yaw data are determined by the terrain compensation module for compensating errors in the navigation data as determined by the position determining system caused by terrain variation;

a steering controller communicatively coupled to a steering component of the agricultural vehicle, the steering controller further comprising;

a first output corresponding to an electric steering component;

a second output corresponding to a hydraulic steering component, and

wherein the steering controller is configured to automatically detect that the first output or the second output is in use and determine a single type of the steering component associated with an automatically detected output, the steering controller further configured to generate a steering command which is formatted for the single type of the steering component associated with the automatically detected output;

a guidance system configured for generating a revised path plan by connecting a first point of a first planned path accessed from the recorded path plan and a second point of a second planned path accessed from the recorded path plan using the navigation data and the roll, pitch, and yaw data recorded during the previous path passage of the agricultural vehicle, wherein the first point is determined in response to an indication received from an operator of the agricultural vehicle while the agricultural vehicle is on the first planned path, wherein the steering controller is configured to generate the steering command based on the revised path plan and to output the steering command to the steering component of the agricultural vehicle for actuating a steering mechanism of the agricultural vehicle to cause the agricultural vehicle to travel according to the revised path plan;

the position determining system coupled with the steering controller and the guidance system, the position determining system for determining geographic positions of the agricultural vehicle; and

the terrain compensation module coupled with the steering controller and the guidance system, the terrain compensation module configured to determine roll, pitch, and yaw of the agricultural vehicle for compensating errors in the geographic positions of the agricultural vehicle as determined by the position determining system caused by terrain variation.

8. The system of claim 7 wherein the guidance system is further configured for assigning a sequence to the first planned path and the second planned path and for selecting a path shape for connecting the first planned path and the second planned path in the revised path plan.

9. The system of claim 8 wherein the guidance system selects the path shape from the group consisting of a semi-circle and a keyhole.

10. The system of claim 7 wherein the position determining system is for determining a first geographic position of the first point and a second geographic position of the second point.

11. The system of claim 7 wherein the position determining system is selected from the group consisting of a Global Navigation Satellite System (GNSS) and a terrestrial-based position determining system.

12. The system of claim 7 further comprising:

a display device coupled with the guidance system for displaying a deviation of the agricultural vehicle from the revised path plan.

13. A control component for an agricultural vehicle, the control component comprising:

an accessor configured for accessing a recorded path plan which includes at least a first planned path and a second planned path, the recorded path plan comprising navigation data and roll, pitch, and yaw data recorded during previous path passage of the agricultural vehicle through a work area using a position determining system and a terrain compensation module, wherein the roll, pitch, and yaw data are determined by the terrain compensation module for compensating errors in the navigation data determined by the position determining system caused by terrain variation;

an output to a steering controller, the steering controller configured to access a first output corresponding to an electric steering component, access a second output corresponding to a hydraulic steering component, and automatically detect an output in use from the first output or the second output and determine a single type of a steering component that is coupled with the agricultural vehicle based on the output in use, the steering controller configured to generate a steering command which is formatted for controlling the steering component based on the output in use;

an input from the position determining system for determining a first geographic position corresponding to a point of the first planned path and a second geographic position corresponding to a point of the second planned path, wherein the point of the first planned path is determined in response to an indication received from an operator of the agricultural vehicle while the agricultural vehicle is on the first planned path; and

a path plan generator configured for generating a revised path plan by connecting the first geographic position and the second geographic position using the navigation data and the roll, pitch, and yaw data recorded during the previous path passage of the agricultural vehicle, wherein the steering controller configured to generate the steering command based on the revised path plan and to output the steering command to the steering component of the agricultural vehicle for actuating a steering mechanism of the agricultural vehicle to cause the agricultural vehicle to travel according to the revised path plan.

14. The control component of claim 13 wherein the path plan generator is further configured to assign a sequence to the first planned path and the second planned path and to select a path shape for connecting the first geographic position and the second geographic position in the revised path plan.

15. The control component of claim 14 wherein the plan generator is configured to select the path shape from the group consisting of a semi-circle and a keyhole.

16. The control component of claim 13 further comprising an output to a display device for displaying a deviation of the agricultural vehicle from the revised path plan.

17. The control component of claim 13 wherein the position determining system is selected from the group consisting of a Global Navigation Satellite System (GNSS) and a terrestrial-based position determining system.