Method and device for predictive control of agricultural vehicle systems

• US 9,008,918 B2
• Filed: 07/14/2011
• Issued: 04/14/2015
• Est. Priority Date: 07/14/2010
• Status: Active Grant

• Current Assignee: Blue Leaf IP Incorporated (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Missotten, Bart M. A., Coen, Tom
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US13/809,813
• Publication Number:
  US 20130184944A1
• Time in Patent Office: 1,370 Days
• US Class Current: 701/50
• CPC Class Codes: A01B 69/00 Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
• 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 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 75/28 Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull

Abstract

A method for controlling an agricultural vehicle system when moving along a course of travel over a field

• • providing a field model correlating a field characteristic, e.g. a farmland condition such as farmland slope, or a crop condition such as crop density or moisture, to a specific location in the field,
  • from the field model and at least one previously obtained value for the field characteristic, predicting a value for the field characteristic in front of the agricultural vehicle system thus obtaining an anticipated field characteristic, and;
  • controlling the agricultural vehicle system at least partly in response to the anticipated field characteristic.

Claims

1. A method for controlling an agricultural vehicle system when moving along a course of travel over a field, the method comprising:

providing a field model correlating a field characteristic to a specific location in the field,

from the field model and at least one previously obtained value for the field characteristic, predicting a value for the field characteristic in front of the agricultural vehicle system thus obtaining an anticipated field characteristic, and

controlling the agricultural vehicle system at least partly in response to the anticipated field characteristic,

wherein providing the field model correlating a field characteristic to a specific location in the field includes assuming that field characteristic varies in a continuous manner by taking into account first and second order derivatives of the field model variables; and

wherein the previously obtained value for the field characteristic is from a location different than the location in front of the machine for which the value of the field characteristic is predicted.

6. A method according to claim 1, wherein predicting the value for the field characteristic in front of the agricultural vehicle system includes updating the model of the field as new measurements become available.

7. A method according to claim 1, furthermore comprising fitting a grid over the field, the grid consisting of a plurality of elements, and determining a value for the field characteristic of the elements of the grid.

8. A method according to claim 7, wherein the fitting the grid over the field includes fitting the grid over the field with a resolution determined by the working width of an appliance of the agricultural vehicle system.

2. A method for controlling an agricultural vehicle system when moving along a course of travel over a field the method comprising:

providing a field model correlating a field characteristic to a specific location in the field,

from the field model and at least one previously obtained value for the field characteristic, predicting a value for the field characteristic in front of the agricultural vehicle system thus obtaining an anticipated field characteristic, and

controlling the agricultural vehicle system at least partly in response to the anticipated field characteristic,

wherein providing the field model correlating a field characteristic to a specific location in the field includes assuming that field characteristic varies in a continuous manner by taking into account first and second order derivatives of the field model variables and optimizing a cost function that takes account of the difference between a model value and a measured value at a specific location, of the first derivatives in orthogonal directions of the model values and of the second derivatives in orthogonal directions of the model values.

3. A method for controlling an agricultural vehicle system when moving along a course of travel over a field, the method comprising:

providing a field model correlating a field characteristic to a specific location in the field,

from the field model and at least one previously obtained value for the field characteristic, predicting a value for the field characteristic in front of the agricultural vehicle system thus obtaining an anticipated field characteristic, and

controlling the agricultural vehicle system at least partly in response to the anticipated field characteristic,

wherein providing the field model correlating a field characteristic to a specific location in the field includes assuming that field characteristic varies in a continuous manner by taking into account first and second order derivatives of the field model variables and summing a factor related to the squared difference between a model value and a measured value at a location in the field, a factor related to the squared first derivative in orthogonal directions of the model values and a factor related to the squared second derivatives in orthogonal directions of the model values.

4. A method according to claim 3, wherein providing the field model includes weighting the factors before summing.

5. A method for controlling an agricultural vehicle system when moving along a course of travel over a field, the method comprising:

providing a field model correlating a field characteristic to a specific location in the field,

from the field model and at least one previously obtained value for the field characteristic, predicting a value for the field characteristic in front of the agricultural vehicle system thus obtaining an anticipated field characteristic, and

controlling the agricultural vehicle system at least partly in response to the anticipated field characteristic,

wherein providing the field model correlating a field characteristic to a specific location in the field includes assuming that field characteristic varies in a continuous manner by taking into account first and second order derivatives of the field model variables; and

wherein predicting the value for the field characteristic in front of the agricultural vehicle system includes calculating field characteristic values in a region around a current location of the agricultural vehicle system determined by a span not larger than 6 columns of known values.

9. An agricultural vehicle system comprising

a control system configured to generate a control signal from a predicted value for a field characteristic in front of an agricultural vehicle, the predicted value being calculated by the control system from a field model correlating the field characteristic to a specific location in the field and at least one previously obtained value for the field characteristic, wherein the field model assumes that the field characteristic varies in a continuous manner;

and

wherein the previously obtained value for the field characteristic is from a location different than the location in front of the agricultural vehicle for which the value of the field characteristic is predicted.

10. An agricultural vehicle system according to claim 9, the control system is configured to control for-the vehicle system driving parameter or a vehicle system attribute parameter.

11. An agricultural vehicle system according to claim 9, furthermore comprising a sensor unit configured to measure the field characteristic.

12. An agricultural vehicle system according to claim 11, wherein the sensor unit includes-at least one-of a farmland condition sensor and a crop condition sensor.

13. An agricultural vehicle system according to claim 9, furthermore comprising a location specific memory configured to store measurement values of one or more field characteristics.