Harvester with a sensor mounted on an aircraft

• US 8,909,389 B2
• Filed: 07/21/2011
• Issued: 12/09/2014
• Est. Priority Date: 07/29/2010
• Status: Expired due to Fees

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Meyer, Axel Roland
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Bendidi, Rachid
• Application Number:
  US13/187,696
• Publication Number:
  US 20120029732A1
• Time in Patent Office: 1,237 Days
• Field of Search: 701/1, 701/2, 701/3, 701/22, 701/23, 701/24, 701/25, 701/26, 701/27, 701/28, 701/36, 701/50, 460/114, 460/1, 460/13, 460/90, 460/100, 460/112, 460/396, 56/102.G, 56/102.J, 56/119, 56/129, 56/131, 56/133, 56/135, 56/139, 56/156, 56/166, 56/173, 56/2, 56/1, 56/149, 56/275, 56/562.8, 56/9, 56/98, 563/271, 563/281, 561/81, 562/08, 562/20, 562/26
• US Class Current: 701/2
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01D 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 43/085 Control or measuring arrangements specially adapted therefor
• CPC Class Codes: A01D 75/185 Avoiding collisions with obstacles
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms

Abstract

A sensor for monitoring a plant population in front of a harvester and a transfer process of the crop from the harvester to a transport vehicle is arranged on an unmanned aircraft. The aircraft moves in the vicinity of the harvester in the harvesting mode and communicates in a wireless fashion with a control unit that controls an actuator for influencing an operating parameter of the harvester and/or the transport vehicle (in real time based on signals of the sensor in the harvesting mode.

Claims

1. An assembly for a harvester, the assembly comprising:

a sensor for monitoring a transfer process of the crop from the harvester to a transport vehicle, the sensor comprising a camera or a range finder;

a control unit for controlling an actuator to adjust an orientation of a transferring device of the harvester for transfer of plant material into the transport vehicle in real time based on signals of the sensor in the harvesting mode, the sensor mounted on an unmanned aircraft that is designed for moving in the vicinity of the harvester in the harvesting mode and for communicating with the control unit on the harvester in a wireless fashion, wherein the sensor on the unmanned aircraft is positioned, between the harvester and the transport vehicle in the lateral direction, at a height above that of the harvester with a favorable angle for visibility of harvested crop within a loading container associated with the transport vehicle; and

an altitude range finder on the unmanned aircraft for interacting with the ground to control an altitude of the unmanned aircraft to be generally positioned a few meters above the harvester during the harvesting mode, consistent with the height.

2. The assembly according to claim 1, wherein the actuator serves for adjusting an angle and an inclination as the orientation of the transferring device of the harvester, or for controlling an incline of a baffle associated with the transferring device for changing its ejecting direction.

3. The assembly according to claim 1, wherein the sensor facilitates mapping of the field for a route plan, and wherein the control unit is capable of planning the route to be driven by the harvester over a field based on signals of the sensor.

4. The assembly according to claim 3, wherein the control unit is capable of planning the route to be driven by the harvester in such a way that it is possible to drive around movable and immovable obstacles and areas of a field that are not suitable for harvesting during the harvest and while driving to the field.

5. The assembly according to claim 1 wherein the control unit is situated in part aboard the harvester and in part aboard the aircraft.

6. The assembly according to one of claims 1 wherein the sensor comprises the camera, or an optical spectrometer, or the range finder that operates with optical or acoustic waves.

7. The assembly according to claim 1 wherein the aircraft is equipped with a flight control that is capable of independently controlling the flight path of the aircraft, particularly based on control signals of the control unit.

8. The assembly according to claim 7, wherein the flight control is capable of controlling the flight path based on signals of a satellite-based positioning system, or an inertial navigation system, or signals of the sensor.

9. The assembly according to claim 1 wherein the aircraft is equipped with a transmitting and receiving device that serves as a relay station and allows a time-delayed or synchronous communication between a transmitting and receiving device of the harvester and the transport vehicle and a remote station.

10. The assembly according to claim 1 wherein the aircraft consists of a rotary-wing aircraft such as, for example, a helicopter, a gyrocopter or a quadrocopter.

11. The assembly according to claim 1 wherein a speed control device is configured for controlling the driving speed of the harvester or for controlling the speed of a driving motor of the harvester based on signals of the sensor.

12. The assembly according to claim 1 wherein a steering device is configured for steering the harvester based on signals of the sensor.

13. The assembly according to claim 1 wherein another actuator is configured for adjusting an operating parameter of a crop-conveying device or crop-processing device of the harvester.

14. A system for harvesting of crop, the system comprising:

a harvester for harvesting a crop in a field;

an unmanned aircraft configured for moving above the field in the vicinity of the harvester;

a first sensor for monitoring plant density in front of the harvester, the first sensor mounted on the unmanned aircraft, the second sensor comprising a camera or a range finder;

a second sensor for monitoring a transfer process of the crop from the harvester to a transport vehicle, the second sensor mounted on the unmanned aircraft, the second sensor comprising a camera or a range finder;

a control unit for controlling an actuator to adjust an orientation of a transferring device of the harvester for transfer of plant material into the transport vehicle based on signals of the second sensor, wherein the second sensor on the unmanned aircraft is positioned, between the harvester and the transport vehicle in the lateral direction, at a height above that of the harvester with a favorable angle for visibility of harvested crop within a loading container associated with the transport vehicle;

an altitude range finder on the unmanned aircraft for interacting with the ground to control an altitude of the unmanned aircraft to be generally positioned a few meters above the harvester during the harvesting mode, consistent with the height; and

a plurality of wireless communication devices on the harvester and the unmanned aircraft for communicating with the control unit on the harvester in a wireless fashion.

15. The system according to claim 14 wherein the actuator comprises a first actuator to adjust an angle of the transferring device about a generally vertical axis and a second actuator to adjust an inclination of the transferring device of the harvester.

16. The system according to claim 15 wherein the actuator comprises a third actuator to adjust an incline of a baffle associated with the transferring device for changing its ejecting direction.