Apparatus and method for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field

• US 6,216,071 B1
• Filed: 12/16/1998
• Issued: 04/10/2001
• Est. Priority Date: 12/16/1998
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Motz, Darin S.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): Donnelly, Arthur D.
• Application Number:
  US09/213,076
• Time in Patent Office: 846 Days
• Field of Search: 701/50, 701/212, 701/207, 702/5, 340/988, 56/1
• US Class Current: 701/50
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: A01D 41/12 Details of combines
• CPC Class Codes: A01D 41/1275 for the level of grain in grain tanks
• CPC Class Codes: A01D 43/06 with means for collecting, gathering or loading mown material A01D43/086 takes precedence
• CPC Class Codes: A01D 91/00 Methods for harvesting agricultural products
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

Abstract

An apparatus and method for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field is disclosed. The apparatus includes a first position determining system located on a first agricultural machine, a site database for storing a dynamic model of the field, and a harvest volume indicating system located on the first agricultural machine. A control system receives information from the first position determining system, the site database, and the harvest volume indicating system, and responsively determines an expected time at which the harvested crop will reach a predetermined desired level on the first agricultural machine.

Claims

1. An apparatus for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field, comprising:

a first position determining system located on a first agricultural machine;

a site database adapted for storing a dynamic model of the field;

a harvest volume indicating system located on the first agricultural machine; and

a control system for receiving information from the first position determining system, the site database, and the harvest volume indicating system, and responsively determining an expected time at which the harvested crop would reach a predetermined desired level on the first agricultural machine and wherein the control system is adapted for determining an expected location of the first agricultural machine at the expected time.

2. An apparatus, as set forth in claim 1, further including a second position determining system located on a second agricultural machine, wherein the control system is adapted for receiving information from the second position determining system.

3. An apparatus, as set forth in claim 2, wherein each of the first position determining system and the second position determining system includes a GPS receiver.

4. An apparatus, as set forth in claim 2, wherein the information received from each of the first and second position determining systems includes position data.

5. An apparatus, as set forth in claim 4, wherein the position data includes position, speed, and heading of each of the first and second agricultural machines.

6. An apparatus, as set forth in claim 2, further including a machine controller located on the second agricultural machine, the machine controller being adapted for receiving a plurality of conditions from the control system, and responsively directing the operation of the second agricultural machine to travel to the expected location of the first agricultural machine at the expected time.

7. An apparatus, as set forth in claim 6, wherein the plurality of conditions includes a desired start time for the second agricultural machine to travel to the expected location of the first agricultural machine.

8. An apparatus, as set forth in claim 6, wherein the plurality of conditions includes a desired speed of the second agricultural machine.

9. An apparatus, as set forth in claim 6, wherein the plurality of conditions includes a desired path for the second agricultural machine to traverse to arrive at the expected location of the first agricultural machine at the expected time.

10. An apparatus, as set forth in claim 2, further including an operator display located on at least one of the first agricultural machine and the second agricultural machine.

11. An apparatus, as set forth in claim 10, wherein the operator display is adapted to display the dynamic model.

12. An apparatus, as set forth in claim 6, wherein the machine controller is adapted to autonomously control the operation of the second agricultural machine.

13. An apparatus, as set forth in claim 2, wherein the site database is adapted for receiving information from the first position determining system and the second position determining system, and responsively updating the dynamic model.

14. An apparatus, as set forth in claim 1, wherein the site database is located on at least one of the first agricultural machine and the second agricultural machine.

15. An apparatus, as set forth in claim 1, wherein the site database is located remote from the first agricultural machine and the second agricultural machine.

16. An apparatus, as set forth in claim 1, wherein the harvest volume indicating system includes an ultrasonic sensor adapted for determining a volume of the harvested crop.

17. An apparatus, as set forth in claim 2, wherein the control system is located remote from the first agricultural machine and the second agricultural machine, the control system being adapted to receive information from the first position determining system, the second position determining system, the site database, and the harvest volume indicating system through a wireless communication link.

18. An apparatus, as set forth in claim 1, wherein the first agricultural machine is a harvester.

19. An apparatus, as set forth in claim 1, wherein the second agricultural machine is a machine adapted to haul the harvested crop.

20. An apparatus, as set forth in claim 19, wherein the machine adapted to haul the harvested crop is a tractor pulling a grain cart.

21. An apparatus, as set forth in claim 6, further including a third position determining system located on a third agricultural machine, and a harvest volume indicating system located on the third agricultural machine.

22. An apparatus, as set forth in claim 21, wherein the third agricultural machine is a second harvester.

23. An apparatus, as set forth in claim 21, wherein the control system is adapted for receiving information from the third position determining system, the harvest volume indicating system located on the third agricultural machine, and the site database, and responsively determining an expected time at which the harvested crop will reach a predetermined desired level on the third agricultural machine, the control system being further adapted for determining an expected location of the third agricultural machine at the expected time.

24. An apparatus, as set forth in claim 23, wherein the machine controller is adapted for directing the operation of the second agricultural machine to travel to at least one of the expected location of the first agricultural machine and the expected location of the third agricultural machine.

25. A method for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field, comprising the steps of:

determining a level of crop harvested by a first agricultural machine;

determining position data associated with the first agricultural machine;

updating a site database as a function of the position data; and

determining an expected time at which the level of harvested crop will reach a predetermined desired level on the first agricultural machine and determining an expected location of the first agricultural machine at the expected time.

26. A method, as set forth in claim 25, wherein determining the level of harvested crop includes determining a volume of crop harvested by the first agricultural machine.

27. A method, as set forth in claim 25, wherein determining position data further includes determining position data associated with each of the first agricultural machine and a second agricultural machine.

28. A method, as set forth in claim 27, wherein determining position data includes determining position, speed, and heading of each of the first and second agricultural machines.

29. A method, as set forth in claim 27, further including the step of determining a plurality of conditions, and responsively directing the operation of the second agricultural machine to travel to the expected location of the first agricultural machine at the expected time.

30. A method, as set forth in claim 29, wherein determining the plurality of conditions includes determining a desired start time for the second agricultural machine to travel to the expected location of the first agricultural machine.

31. A method, as set forth in claim 29, wherein determining the plurality of conditions includes determining a desired speed of the second agricultural machine.

32. A method, as set forth in claim 29, wherein determining the plurality of conditions includes determining a desired path for the second agricultural machine to traverse to arrive at the expected location of the first agricultural machine at the expected time.

33. A method, as set forth in claim 29, further including the step of displaying a dynamic model on an operator display located on at least one of the first agricultural machine and the second agricultural machine.

34. A method, as set forth in claim 29, wherein directing the operation of the second agricultural machine includes autonomously controlling the second agricultural machine.

35. A method, as set forth in claim 29, further including the step of transferring the harvested crop from the first agricultural machine to the second agricultural machine, in response to the second agricultural machine arriving at the first agricultural machine.

36. A method, as set forth in claim 29, further including the steps of:

determining a level of crop harvested by a third agricultural machine;

determining position data associated with the third agricultural machine;

determining an expected time at which the harvested crop will reach a predetermined desired level on the third agricultural machine; and

determining an expected location of the third agricultural machine at the expected time.

37. A method, as set forth in claim 36, further including the step of directing the operation of the second agricultural machine to travel to at least one of the expected location of the first agricultural machine and the expected location of the third agricultural machine.

38. An apparatus for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field, comprising:

means for determining a level of crop harvested by a first agricultural machine;

means for determining position data associated with each of a first agricultural machine and a second agricultural machine;

means for updating a site database as a function of the position data; and

means for determining an expected time at which the level of harvested crop will reach a predetermined desired level on the first agricultural machine;

means for determining an expected location of the first agricultural machine at the expected time;

means for directing the operation of the second agricultural machine to travel to the expected location of the first agricultural machine at the expected time.

39. An apparatus, as set forth in claim 38, further including:

means for determining a level of crop harvested by a third agricultural machine;

means for determining position data associated with the third agricultural machine;

means for determining an expected time at which the harvested crop will reach a predetermined desired level on the third agricultural machine; and

means for determining an expected location of the third agricultural machine at the expected time.

40. A method, as set forth in claim 39, further including means for directing the operation of the second agricultural machine to travel to at least one of the expected location of the first agricultural machine and the expected location of the third agricultural machine.

41. An apparatus for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field, comprising:

a first position determining system located on a first agricultural machine;

a second position determining system located on a second agricultural machine;

a third position determining system located on a third agricultural machine;

a site database adapted for storing a dynamic model of the field;

a harvest volume indicating system located on each of the first agricultural machine and the third agricultural machine;

a control system for receiving information from each of the first position determining system, the second position determining system, the third position determining system, the site database, the harvest volume indicating system located on the first agricultural machine, and the harvest volume indicating system located on the third agricultural machine, and responsively determining an expected time at which the harvested crop will reach a predetermined desired level on each of the first agricultural machine and the third agricultural machine, the control system being further adapted for determining an expected location of the first agricultural machine at the expected time and an expected location of the third agricultural machine at the expected time; and

a machine controller adapted for directing the operation of the second agricultural machine to travel to at least one of the expected location of the first agricultural machine and the expected location of the third agricultural machine.

42. A method for monitoring and coordinating the harvesting and transporting operations of an agricultural crop by multiple agricultural machines on a field, comprising the steps of:

determining a level of crop harvested by a first agricultural machine;

determining a level of crop harvested by a third agricultural machine

determining position data associated with each of the first agricultural machine, the third agricultural machine, and a second agricultural machine;

updating a site database as a function of the position data;

determining an expected time at which the harvested crop will reach a predetermined desired level on the first agricultural machine;

determining an expected location of the first agricultural machine at the expected time;

determining an expected time at which the harvested crop will reach a predetermined desired level on the third agricultural machine;

determining an expected location of the third agricultural machine at the expected time; and

directing the operation of the second agricultural machine to travel to at least one of the expected location of the first agricultural machine and the expected location of the third agricultural machine.