System for determining the relative position of a second farm vehicle in relation to a first farm vehicle

• US 7,480,564 B2
• Filed: 08/11/2005
• Issued: 01/20/2009
• Est. Priority Date: 08/14/2004
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Metzler, Patrick, Hoh, Michael, Flohr, Werner
• Primary Examiner(s): Beaulieu; Yonel
• Application Number:
  US11/201,544
• Publication Number:
  US 20060047418A1
• Time in Patent Office: 1,258 Days
• Field of Search: 701/200, 701/207, 701213-215, 701/96, 701/50, 340/988, 340435-437, 342/357.06, 342/357.12
• US Class Current: 701/207
• 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

Abstract

A system for determining the relative position of first and second farm vehicles, each equipped with a satellite-supported position sensing device. A data transmission link transmits position data between the vehicles, and a computer on one of the vehicles determines data with respect to the relative position of the vehicles. A control device responsive to satellite signal quality assures that the two position sensing devices operate in the same reception modes for improved accuracy.

Claims

1. A system for determining the relative position of a second vehicle in relation to a first vehicle, wherein the first vehicle and the second vehicle include equipment to jointly perform an operation on a field, the system comprising:

the first vehicle including a computer and a first satellite-supported position sensing device and having a receiver for receiving signals from several satellites in one or more reception modes and structure for providing first position data for the first vehicle;

the second vehicle including a computer and a second satellite-supported position sensing device for receiving signals from several satellites in one or more of the reception modes and structure for making position data of the second vehicle available;

a data transmission connection between the first vehicle and the second vehicle for transmitting the position data of the first vehicle to the computer of the second vehicle or vice versa;

the computer of the second vehicle operable to determine data with respect to the relative position of the second vehicle in relation to the first vehicle based on the position data of the first vehicle and the position data of the second vehicle;

a control device for receiving signal quality information, wherein the position sensing devices of both vehicles provide information quality signals indicative of the quality of the signals of the respectively received satellites to the control device, and wherein the control device is responsive to the information quality signals such that the two position sensing devices operate in the same reception mode or uniform reception modes; and

a reception device for receiving corrective data from reference stations in known locations, wherein the control device is responsive to information regarding quality of the corrective data to improve accuracy of the position sensing devices, wherein the control device is operable to prompt the position sensing devices to use the same reception mode or the uniform reception modes for the corrective data.

2. The system set forth in claim 1, wherein the position sensing devices of both vehicles include transmission structure for transmitting information regarding receivable satellite signals to the control device, the control device operable such that the two position sensing devices transmit information regarding the intersection of receivable satellites and the position sensing devices operable such that their position data is generated only on the basis of signals of satellites belonging to the intersection respectively.

3. The system set forth in claim 1, wherein the first and second sensing devices are alternately operable to emit position signals based on all receivable satellites.

4. The system set forth in claim 3, wherein the position signals based on all receivable satellites are used for absolute position data applications, based on, including one or more of the following:

automated steering of the first vehicle, mapping processes of harvesting, tillage operations, and spreading operations.

5. The system set forth in claim 1, wherein the control device is operable to compare preliminary results of both position sensing devices when calculating the position data.

6. The system set forth in claim 1, wherein the control device is operable to switch one or both position sensing devices into a satellite-independent position sensing mode comprising an inertial navigation mode in case of unsuitable reception conditions.

7. The system set forth in claim 1, wherein the control device receives position data from the first and second position sensing devices and compares said data to generate a plausibility and/or imminent collision warning signal in the event of implausible position determinations and/or imminent vehicle collision, respectively.

8. The system set forth in claim 1, wherein the control device is connected to one or both of the position sensing devices to provide corrective data for the position sensing devices.

9. The system set forth in claim 1, wherein the computer generates steering signals based on data regarding the relative position of the second vehicle to the first vehicle, wherein said signals are usable for manually and/or automatically steering the second vehicle.

10. The system set forth in claim 1, wherein the computer generates speed signals based on data regarding the relative position of the second vehicle to the first vehicle for providing a speed specification for an operator and/or for the automated speed control of the second vehicle.

19. The system according to claim 1 wherein the same reception mode comprises a first reception mode specified by the control device using fewer than all satellite signals that can be received or a second reception mode specified by the control device using all satellite signals that can be received.

11. A system for determining the relative position of a second vehicle in relation to a first vehicle, wherein the first vehicle and the second vehicle include equipment to jointly perform an operation on a field, the system comprising:

the first vehicle including a computer and a first satellite-supported position sensing device and having a receiver for receiving signals from several satellites in one or more reception modes and structure for providing first position data for the first vehicle;

the second vehicle including a computer and a second satellite-supported position sensing device for receiving signals from several satellites in one or more of the reception modes and structure for making position data of the second vehicle available;

a data transmission connection between the first vehicle and the second vehicle for transmitting the position data between the vehicles, wherein the computer of the second vehicle includes means for determining data with respect to the relative position of the second vehicle in relation to the first vehicle based on the position date of the first vehicle and the position data of the second vehicle;

a control device receiving signal quality information, wherein the position sensing devices include means for providing information quality signals indicative of the quality of the signals of the respectively received satellites to the control device, and wherein the control device is responsive to the information quality signals for directing the position sensing devices to operate in the same reception mode; and

a reception antenna coupled to an evaluation circuit for generating corrective data from reception of one or more radio waves from reference stations in known locations, wherein the control device is responsive to information regarding quality of the corrective data to improve accuracy of the position sensing devices, wherein the control device is operable to prompt the position sensing devices to use the same reception mode for the corrective data.

12. The system set forth in claim 11, wherein the position sensing devices of both vehicles include transmission structure for transmitting information regarding receivable satellite signals to the control device, the control device generating satellite signal information, wherein the position sensing devices are responsive to the satellite signal information to generate position data based substantially on only quality satellite signals commonly received by both the receivers.

13. The system set forth in claim 11, wherein the first and second sensing devices are operable to emit position signals based on all the receivable satellites.

14. The system set forth in claim 13, wherein the position signals based on all receivable satellites are used for absolute position data applications, including one or more of the following:

automated steering of the first vehicle, harvest mapping processes, tillage operations, and spreading operations.

15. The system set forth in claim 11, wherein the control device receives position data from the first and second position sensing devices and compares the position data to generate a plausibility and/or imminent collision warning signal in the event of implausible position determinations and/or imminent vehicle collision, respectively.

16. The system set forth in claim 11 further comprising a corrective data link between the control device and at least one of the position sensing devices, the control data link providing corrective data for the position sensing devices.

17. The system set forth in claim 11 wherein the vehicles further comprise an automated speed control, and wherein the computer generates speed signals based on data regarding the relative position of the second vehicle to the first vehicle for providing a speed specification for an operator and/or for the automated speed control of the second vehicle.

18. The system set forth in claim 11, further comprising the computer generates steering signals based on data regarding the relative position of the second vehicle to the first vehicle for manually and/or automatically steering the second vehicle.