System and method for planning the operations of an agricultural machine in a field

• US 6,236,924 B1
• Filed: 06/21/1999
• Issued: 05/22/2001
• Est. Priority Date: 06/21/1999
• Status: Expired due to Fees

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Staub, Michael D., Motz, Darin S.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/337,162
• Time in Patent Office: 701 Days
• Field of Search: 701/50, 701/214, 701/215, 172/4.5, 340/988, 340/995, 345/113, 342/359
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G06Q 30/02 Marketing; Price estimation or determination; Fundraising

Abstract

The system includes a path planning system adapted to store a site model of the field. The site model includes data defining a plurality of parameters associated with the field. The path planning system is further adapted to receive information indicative of a work implement connected to the agricultural machine, and a desired work operation of the agricultural machine. A plurality of desired paths for the agricultural machine to traverse are planned as a function of the plurality of field parameters, the work implement, and the desired work operation. An autoguidance control system is adapted to receive the plurality of desired paths, and responsively produce a control signal upon activation of the autoguidance control system. A machine control system receives the control signal, and responsively controls the operation of the agricultural machine with respect to the plurality of desired paths.

Claims

1. A system for planning the operations of an agricultural machine in a field, comprising:

a path planning system adapted to store a site model of the field, the site model including data defining a plurality of parameters associated with the field, the path planning system being further adapted to receive information indicative of a work implement connected to the agricultural machine, and a desired work operation of the agricultural machine, and responsively plan a plurality of desired paths for the agricultural machine to traverse as a function of the plurality of field parameters, the work implement, and the desired work operation, wherein the path planning system includes an implement database adapted to store implement data associated with a plurality of work implements, the implement data stored for each of the plurality of work implements including at least one of a width of the work implement, and a length of the work implement;

an autoguidance control system located on the agricultural machine, the autoguidance control system adapted to receive signals corresponding to the plurality of desired paths, and responsively produce a control signal upon activation of the autoguidance control system; and

a machine control system located on the agricultural machine and adapted to receive the control signal from the autoguidance control system, and responsively control the operation of the agricultural machine with respect to the plurality of desired paths.

2. A system, as set forth in claim 1, wherein the path planning system is located remote from the agricultural machine.

3. A system, as set forth in claim 1, wherein the path planning system is located on the agricultural machine.

4. A system, as set forth in claim 1, wherein the path planning system is adapted to receive information indicative of a desired agricultural machine, the desired agricultural machine having a plurality of machine characteristics, wherein the plurality of desired paths are planned as a function of the plurality of field parameters, the desired work operation, the work implement, and the plurality of machine characteristics.

5. A system, as set forth in claim 1, wherein the path planning system includes a site database adapted to store the site model.

6. A system, as set forth in claim 5, wherein the site database is adapted to store a plurality of site models, each of the plurality of site models including data defining a plurality of parameters associated with an individual one of a plurality of fields.

7. A system, as set forth in claim 1, wherein the plurality of field parameters includes at least one of yield data, rainfall data, prescription data, a boundary of the field, an obstacle in the field, and an area of non-tillable terrain in the field.

8. A system, as set forth in claim 1, wherein the path planning system includes an operations database, the operations database adapted to store operation data associated with a plurality of work operations.

9. A system, as set forth in claim 8, wherein the operation data includes at least one of a rate of application of the work implement, an elevation of the work implement, and a desired speed of the agricultural machine.

10. A system, as set forth in claim 1, further including a position determining system located on the agricultural machine, wherein the autoguidance control system is adapted to receive position data from the position determining system, and responsively determine a current position of the agricultural machine.

11. A system, as set forth in claim 10, wherein each of the plurality of desired paths is enclosed in a polygon having at least two parallel sides, the parallel sides being separated by the width of the work implement.

12. A system, as set forth in claim 11, wherein the autoguidance control system is adapted to determine the polygon containing the current position.

13. A system, as set forth in claim 10, wherein the position data includes position, speed, and heading of the agricultural machine.

14. A system, as set forth in claim 10, wherein the position determining system includes a GPS receiver.

15. A system, as set forth in claim 10, wherein the machine control system is adapted to control steering of the agricultural machine in response to the control signal.

16. A system, as set forth in claim 10, further including a display system located on the agricultural machine, the display system being adapted to receive information from the autoguidance control system.

17. A system, as set forth in claim 16, wherein the display system is adapted to display the position and heading of the agricultural machine with respect to the plurality of desired paths.

18. A system, as set forth in claim 1, wherein the path planning system is adapted to receive a start point and an end point of a reference path.

19. A system, as set forth in claim 18, wherein the plurality of desired paths are parallel, each of the plurality of parallel paths being planned as a function of the reference path and the width of the work implement.

20. A system, as set forth in claim 1, wherein each of the plurality of desired paths includes a plurality of nodes.

21. A system, as set forth in claim 20, wherein each of the plurality of nodes includes a control condition, wherein the autoguidance control system is adapted to determine an action to be performed by the agricultural machine at each node as a function of the control condition.

22. A method for planning the operations of an agricultural machine in a field, the method comprising the steps of:

storing a site model of the field, the site model including data defining a plurality of parameters associated with the field;

receiving information indicative of a desired work operation;

receiving information indicative of a work implement, the work implement being connected to the agricultural machine, the information including at least one of a width of the work implement and a length of the work implement;

planning a plurality of desired paths for the agricultural machine to traverse as a function of the plurality of field parameters, the desired work operation, and the work implement;

activating an autoguidance control system, and producing a control signal as a function of the plurality of desired paths; and

controlling the operation of the agricultural machine with respect to the plurality of desired paths in response to the control signal.

23. A method, as set forth in claim 22, further including the step of receiving information indicative of a desired agricultural machine, the desired agricultural machine having a plurality of machine characteristics, wherein the plurality of desired paths are planned as a function of the plurality of field parameters, the desired work operation, the work implement, and the plurality of machine characteristics.

24. A method, as set forth in claim 22, wherein storing the site model of the field includes the step of storing the site model in a site database.

25. A method, as set forth in claim 22, wherein storing a site model of the field includes the step of storing a plurality of site models in a site database, each of the plurality of site models including data defining a plurality of parameters associated with an individual one of a plurality of fields.

26. A method, as set forth in claim 25, further including the step of selecting a desired field for the agricultural machine to traverse, the desired field being selected from among the plurality of fields stored in the site database.

27. A method, as set forth in claim 22, further including the step of determining position data associated with the agricultural machine.

28. A method, as set forth in claim 27, wherein determining position data includes the step of determining position, speed, and heading of the agricultural machine.

29. A method, as set forth in claim 27, wherein controlling the operation of the agricultural machine includes the step of controlling the steering of the agricultural machine.

30. A method, as set forth in claim 22, wherein controlling the operation of the agricultural machine includes the step of controlling the work implement to perform the desired work operation.

31. A method, as set forth in claim 27, further including the step of displaying the position and heading of the agricultural machine with respect to the plurality of desired paths.

32. A method, as set forth in claim 22, further including the step of selecting a start point and an end point of a reference path.

33. A method, as set forth in claim 32, wherein planning the plurality of desired paths includes the step of planning a plurality of parallel paths as a function of the reference path and the width of the work implement.

34. A method, as set forth in claim 22, wherein planning a plurality of desired paths includes the step of determining a plurality of nodes, wherein each of the plurality of nodes includes a control condition.

35. A method, as set forth in claim 34, wherein producing the control signal includes the step of determining an action to be performed by the agricultural machine at each node in response to the control condition.

36. A system for planning the operations of an agricultural machine in a field, comprising:

a path planning system including a site database, an operations database, and an implement database, the path planning system being adapted to receive information indicative of a work implement connected to the agricultural machine, a desired work operation of the agricultural machine, a start point of a reference path, and an end point of the reference path;

an autoguidance control system located on the agricultural machine, and in communication with the path planning system;

a position determining system located on the agricultural machine, the position determining system adapted to provide position data to the autoguidance control system, the position data including a position, speed, and heading of the agricultural machine;

a machine control system located on the agricultural machine, and in communication with the autoguidance control system;

a display system located on the agricultural machine, and adapted to receive information from the autoguidance control system;

wherein the site database is adapted to store a site model of the field, the site model including data defining a plurality of parameters associated with the field, the plurality of parameters including at least one of yield data, rainfall data, prescription data, a boundary of the field, an obstacle in the field, and an area of non-tillable terrain in the field;

wherein the operations database is adapted to store operation data associated with a plurality of work operations, the operation data including a rate of application of the work implement, and an elevation of the work implement;

wherein the implement database is adapted to store implement data associated with a plurality of work implements, the implement data stored for each of the plurality of work implements includes a width of the work implement, and a length of the work implement;

wherein the path planning system is further adapted to plan a plurality of desired paths for the agricultural machine to traverse as a function of the plurality of field parameters, the work implement, the desired work operation, and the reference path;

wherein the plurality of desired paths are parallel, each of the plurality of parallel paths being planned as a function of the reference path and the width of the work implement;

wherein each of the plurality of desired paths are enclosed in a polygon having at least two parallel sides, the parallel sides being separated by the width of the work implement;

wherein the plurality of desired paths include a plurality of nodes, each of the plurality of nodes including a control condition;

wherein the autoguidance control system is adapted to receive the plurality of desired paths, and upon activation produce a control signal indicative of an action to be performed by the agricultural machine at each node;

wherein the machine control system is adapted to receive the control signal, and responsively control the operation of the agricultural machine; and

wherein the display system is adapted to display the position and heading of the agricultural machine with respect to the plurality of desired paths.