Machine control system and method

• US 10,416,314 B2
• Filed: 03/12/2018
• Issued: 09/17/2019
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: Gattis, Joshua M., Koch, Steven A., Anderson, Mark W.
• Primary Examiner(s): Butler, Rodney A
• Application Number:
  US15/919,076
• Publication Number:
  US 20180203126A1
• Time in Patent Office: 554 Days
• CPC Class Codes: A01C 23/008 Tanks, chassis or related parts
• CPC Class Codes: A01M 7/0057 with active regulation of the boom position
• CPC Class Codes: A01M 9/0076 Special arrangements or adaptations of the dusting or distributing parts, e.g. mounting of the spray booms, the protection shields nozzles B05B1/00; spray pistols B05B9/01
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

Abstract

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.

Claims

1. A system for generating and distributing a terrain model to vehicles, the system comprising:

a central control computer including a hardware processor to;

receive field data from a first one of the vehicles including terrain elevations for a field;

store the field data in a memory device;

generate a terrain model from the field data; and

distribute the terrain model to a second one of the vehicles to compare with sensor data generated by the second one of the vehicles and to adjust a position of a working component on the second one of the vehicles relative to the field based on the comparison of the sensor data with the terrain model.

2. The system according to claim 1 wherein the sensor data includes inertial data from multiple measurement units (IMU) mounted on different sections of an agricultural boom attached to the second one of the vehicles.

3. The system according claim 1, wherein the terrain model includes boundaries of the field, a topography of the field, and soil conditions of the field.

4. The system according to claim 1, further comprising the processor to send operation data to the second one of the vehicles based on the field data received from the first one of the vehicles.

5. The system according to claim 4, wherein the working component on the second one of the vehicles comprises an agricultural sprayer including a spray boom.

6. The system according to claim 5 wherein the operation data includes quantities of material to dispense from the agricultural sprayer.

7. The system according to claim 1 further comprising the processor to:

receive a work order from the first one of the vehicles; and

generate the terrain model based on the work order.

8. The system according to claim 7 wherein the work order identifies soil conditions of the field.

9. The system according to claim 1, the processor further to:

create a work order based on the field data; and

distribute the work order to the second one of the vehicles to control the working component and compete the work order.

10. The system according to claim 1, further comprising a wireless interface coupled to the processor, the processor to receive the field data from the first one of the vehicles and distribute the terrain model to the second one of the vehicles via the wireless interface.

11. A control system for controlling the position of a working component relative to a field, the working component coupled to a vehicle, comprising:

a computer located on the vehicle to;

receive a terrain model from a central computer, the terrain model including elevation measurements for the field taken from a global navigation satellite system (GNSS) located on a same or a different vehicle;

receive inertial data from one or more inertial measurement units (IMUs) mounted on the working component;

receive position data from a global navigation satellite system (GNSS) located on the vehicle;

compare the position data from the GNSS and the inertial data from the IMUs with the terrain model; and

move the working component relative to the work surface based on the comparison of the position data and the inertial data with the terrain model.

12. The control system according to claim 11, the computer further to:

receive user inputs selecting a desired height of the working component above the field; and

adjust a height of the working component relative to the field based on a comparison of the position data and the inertial data with the terrain model and the desired height.

13. The control system according to claim 11, the computer further to send a work order status back to the central computer while the vehicle travels over the field, the work order status identifying a location of the vehicle and conditions of the field.

14. The control system of claim 11, wherein the inertial data includes inertial data from multiple inertial measurement units (IMUs) mounted on different sections of the working component.

15. The system according to claim 11, wherein the terrain model includes field boundaries, a field topography, and soil conditions for the field.

16. The system according to claim 11, wherein the computer comprises at least one of an equipment-mounted virtual terminal, a laptop computer, a tablet computer, a smart phone, a desktop computer, and a netbook.

17. A method of coordinating operations of vehicles in a field, comprising:

downloading, by a computer operating on a first vehicle, a field terrain model from a central server, the field terrain model including terrain elevations for the field measured by a second vehicle;

receiving, by the computer, position data from a global navigation satellite system (GNSS) located on the vehicle;

receiving, by the computer, inertial data from an inertial measurement unit (IMU) located on the vehicle;

comparing, by the computer, the position data from the GNSS and the inertial data from the IMU with the field terrain model; and

positioning, by the computer, a working component connected to the first vehicle relative to the work surface based on the comparison of the position data and the inertial data with the field terrain model.

18. The method of claim 17, further comprising:

generating, by the computer, a work order identifying a status of the first vehicle applying a material to the field; and

reporting, by the computer, the work order back to the central server to coordinate operations with other vehicles.

19. The method of claim 18 further comprising downloading the field terrain model from the central server and reporting the work order back to the central server via the Internet.

20. The method of claim 17, wherein the working component comprises an agricultural spray boom and the inertial data and position data identify spray boom heights for different sections of the spray boom above the work surface.