SYSTEM AND METHOD FOR SYNCHRONIZED CONTROL OF A HARVESTER AND TRANSPORT VEHICLE
First Claim
1. A method of controlling a transport vehicle to enable substantially even loading of crop material into the transport vehicle during an unload on the go operation with a harvester, the method comprising:
- determining a current lateral position for a transport vehicle relative to a harvester, the current lateral position being based on a predetermined path for the transport vehicle and a current lateral position adjustment;
determining a current longitudinal position for a transport vehicle relative to a harvester, the current longitudinal position being based on a predetermined longitudinal distance from the harvester and a current longitudinal position adjustment;
calculating a future adjustment to at least one of the current lateral position or the current longitudinal position;
calculating a future lateral position for the transport vehicle relative to a harvester and a future longitudinal position for the transport vehicle relative to the harvester using the current lateral position, the current longitudinal position, the predetermined path and the calculated future adjustment to the at least one of the current lateral position or the current longitudinal position;
generating a steering control signal to steer the transport vehicle to the future lateral position with an auto-guidance system for the transport vehicle;
generating a speed control signal to control the transport vehicle to the future longitudinal position with an automated speed control in a longitudinal position control system for the transport vehicle; and
applying the generated steering control signal and the generated speed control signal to transport vehicle components to automatically control the steering and speed of the transport vehicle and provide for substantially even filling of the transport vehicle with crop material from the harvester.
2 Assignments
0 Petitions
Accused Products
Abstract
A control system and method is provided to control a longitudinal position of a transport vehicle relative to a harvester during an unload on the go operation and to control both the lateral position and the longitudinal position of a transport vehicle relative to a harvester during an unload on the go operation to evenly fill a receiving area of the transport vehicle with crop material from the harvester. The longitudinal position of the transport vehicle is maintained within an acceptable range by adjusting the velocity of the transport vehicle. The receiving area of the transport vehicle can be more evenly filled with crop material by adjusting the lateral position and the longitudinal position of the transport vehicle within predetermined trim distances associated with the receiving area of the transport vehicle.
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Citations
24 Claims
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1. A method of controlling a transport vehicle to enable substantially even loading of crop material into the transport vehicle during an unload on the go operation with a harvester, the method comprising:
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determining a current lateral position for a transport vehicle relative to a harvester, the current lateral position being based on a predetermined path for the transport vehicle and a current lateral position adjustment; determining a current longitudinal position for a transport vehicle relative to a harvester, the current longitudinal position being based on a predetermined longitudinal distance from the harvester and a current longitudinal position adjustment; calculating a future adjustment to at least one of the current lateral position or the current longitudinal position; calculating a future lateral position for the transport vehicle relative to a harvester and a future longitudinal position for the transport vehicle relative to the harvester using the current lateral position, the current longitudinal position, the predetermined path and the calculated future adjustment to the at least one of the current lateral position or the current longitudinal position; generating a steering control signal to steer the transport vehicle to the future lateral position with an auto-guidance system for the transport vehicle; generating a speed control signal to control the transport vehicle to the future longitudinal position with an automated speed control in a longitudinal position control system for the transport vehicle; and applying the generated steering control signal and the generated speed control signal to transport vehicle components to automatically control the steering and speed of the transport vehicle and provide for substantially even filling of the transport vehicle with crop material from the harvester. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A control system to control a transport vehicle to enable substantially even loading of crop material into the transport vehicle during an unload on the go operation with a harvester, the control system comprising:
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a global positioning system device to determine a current lateral position of a transport vehicle and a current longitudinal position of the transport vehicle; a user interface for an operator to enter information; a first controller comprising a microprocessor to execute a computer program to operate an auto-guidance system for the transport vehicle to steer the transport vehicle along a predetermined path or an adjusted path with a parallel offset to the predetermined path by a lateral position adjustment; a second controller comprising a microprocessor to execute a computer program to calculate an adjustment to at least one of the current lateral position or the current longitudinal position of the transport vehicle based on information entered by the operator and to determine a future lateral position for the transport vehicle and a future longitudinal position for the transport vehicle using the current lateral position, the current longitudinal position, the predetermined path and the calculated adjustment to the at least one of the current lateral position or the current longitudinal position; a third controller comprising a microprocessor to execute a computer program to operate a longitudinal position control system for the transport vehicle to control the transport vehicle to the future longitudinal position relative to the harvester; and wherein the auto-guidance system and longitudinal position control system for the transport vehicle being operated to control the transport vehicle to the future lateral position and the future longitudinal position through automated steering control and speed control and to provide for substantially even filling of the transport vehicle with crop material from a harvester. - View Dependent Claims (11)
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12. A method of controlling a transport vehicle to maintain a longitudinal distance between the transport vehicle and a corresponding harvester during an unload on the go operation, the method comprising:
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determining a global positioning system position for each of a transport vehicle and a harvester; calculating a velocity for the transport vehicle and a velocity for the harvester using the determined global positioning system positions for the transport vehicle and the harvester; calculating a longitudinal distance between the harvester and the transport vehicle using the determined global positioning system positions for the transport vehicle and the harvester; calculating a transport vehicle velocity set point using the calculated velocity for the transport vehicle, the calculated velocity for the harvester, the calculated longitudinal distance between the harvester and the transport vehicle and a predetermined longitudinal distance; and controlling a velocity of the transport vehicle in response to the calculated transport vehicle velocity set point to control the longitudinal distance between the transport vehicle and the harvester to be within a predetermined distance deviation from the predetermined longitudinal distance. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19)
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20. A control system to control a velocity of a transport vehicle during an unload on the go operation with a harvester, the control system comprising:
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a first global positioning system device to determine a position of a transport vehicle; a second global positioning system device to determine a position of a harvester; a first controller comprising a microprocessor to execute a computer program to calculate a velocity of the transport vehicle, a velocity of the harvester and a longitudinal distance between the harvester and the transport vehicle using the determined positions of the transport vehicle and the harvester; a second controller comprising a microprocessor to execute a computer program to calculate a transport vehicle velocity set point using the calculated velocity for the transport vehicle, the calculated velocity for the harvester, the calculated longitudinal distance between the harvester and the transport vehicle and a predetermined longitudinal distance; and a third controller comprising a microprocessor to execute a computer program to control a velocity of the transport vehicle in response to the calculated transport vehicle velocity set point. - View Dependent Claims (21, 22)
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23. A method of controlling movement of an unload tube spout of a harvester, the method comprising:
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determining an activation region for a harvester, the activation region being based on a preselected lateral distance range relative to the harvester and a preselected longitudinal distance range relative to the harvester; determining a position of a transport vehicle to receive crop material from the harvester, the determined position of the transport vehicle being relative to the harvester; comparing the determined activation region and the determined position of the transport vehicle; disabling movement of an unload tube spout of a harvester in response to the determined position of the transport vehicle being outside of the determined activation region; and enabling movement of an unload tube spout of a harvester between an open position and a closed position in response to the determined position of the transport vehicle being within the determined activation region. - View Dependent Claims (24)
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Specification