Swath acquisition system for an agricultural vehicle

• US 9,826,673 B1
• Filed: 05/27/2016
• Issued: 11/28/2017
• Est. Priority Date: 05/27/2016
• Status: Active Grant

• Current Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Ray, Brian Robert, McClelland, Brett Carson, Dix, Peter John, Bunderson, Nathan Eric
• Primary Examiner(s): Ramesh, Krishnan
• Application Number:
  US15/166,622
• Publication Number:
  US 20170339821A1
• Time in Patent Office: 550 Days
• Field of Search: None
• 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: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: B60K 2360/11 Instrument graphical user interfaces or menu aspects
• CPC Class Codes: B60K 35/00 Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
• CPC Class Codes: B60K 35/10 Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
• CPC Class Codes: B60K 35/81 for controlling displays
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/2232 Touch screens
• CPC Class Codes: G05D 1/646 Following a predefined trajectory, e.g. a line marked on the floor or a flight path
• CPC Class Codes: G05D 2105/15 for harvesting, sowing or mowing in agriculture or forestry
• CPC Class Codes: G05D 2107/21 Farming, e.g. fields, pastures or barns
• CPC Class Codes: G05D 2109/10 Land vehicles

Abstract

A method for controlling an agricultural vehicle includes receiving, via a processor, a first signal from a user interface indicative of a value of at least one parameter. The method also includes determining, via the processor, a path of the agricultural vehicle toward a guidance swath based at least in part on the at least one parameter. In addition, the method includes outputting, via the processor, a second signal to a display of the user interface indicative of instructions to present a graphical representation of the path of the agricultural vehicle. Furthermore, the method includes controlling the agricultural vehicle, via the processor, based at least in part on the at least one parameter upon receiving at least a third signal from the user interface indicative of acceptance of the value of the at least one parameter.

Claims

1. A method for controlling an agricultural vehicle, comprising:

receiving, via a processor, a first signal from a user interface indicative of a value of at least one parameter;

determining, via the processor, a path of the agricultural vehicle toward a guidance swath based at least in part on the at least one parameter;

outputting, via the processor, a second signal to a display of the user interface indicative of instructions to present a graphical representation of the path of the agricultural vehicle; and

controlling the agricultural vehicle, via the processor, based at least in part on the at least one parameter upon receiving at least a third signal from the user interface indicative of acceptance of the value of the at least one parameter.

2. The method of claim 1, wherein the at least one parameter comprises an initial turn rate of the agricultural vehicle, an approach angle of the agricultural vehicle toward the guidance swath, a swath turn rate of the agricultural vehicle, an overshoot of the guidance swath, or a combination thereof.

3. The method of claim 1, comprising outputting, via the processor, a fourth signal to the display of the user interface indicative of instructions to present a visual representation of the value of the at least one parameter.

4. The method of claim 1, comprising outputting, via the processor, a fifth signal to the display indicative of instructions to present a graphical representation of the guidance swath.

5. The method of claim 1, comprising:

determining, via the processor, a path of an agricultural implement coupled to the agricultural vehicle based at least in part on the path of the agricultural vehicle; and

outputting, via the processor, a sixth signal to the display indicative of instructions to present a graphical representation of the path of the agricultural implement.

6. The method of claim 1, comprising receiving, via the processor, a seventh signal from the user interface indicative of a starting angle of the agricultural vehicle relative to the guidance swath, a starting speed of the agricultural vehicle, a starting distance of the agricultural vehicle from the guidance swath, or a combination thereof, wherein determining the path of the agricultural vehicle is based at least in part on the starting angle, the starting speed, the starting distance, or a combination thereof.

7. The method of claim 1, comprising determining, via the processor, a starting angle of the agricultural vehicle relative to the guidance swath, a starting speed of the agricultural vehicle, a starting distance of the agricultural vehicle from the guidance swath, or a combination thereof, wherein determining the path of the agricultural vehicle is based at least in part on the starting angle, the starting speed, the starting distance, or a combination thereof.

8. The method of claim 1, wherein determining the path of the agricultural vehicle comprises simulating movement of the agricultural vehicle using a guidance algorithm, and controlling the agricultural vehicle comprises controlling the agricultural vehicle using the guidance algorithm.

9. A control system for an agricultural vehicle, comprising:

a user interface comprising a display, wherein the user interface is configured to output a first signal indicative of a value of at least one parameter; and

a controller communicatively coupled to the user interface, wherein the controller is configured to determine a path of the agricultural vehicle toward a guidance swath based at least in part on the at least one parameter;

wherein the controller is configured to output a second signal to the display indicative of instructions to display a graphical representation of the path, and the controller is configured to control the agricultural vehicle based at least in part on the at least one parameter upon receiving at least a third signal from the user interface indicative of acceptance of the value of the at least one parameter.

10. The control system of claim 9, wherein the at least one parameter comprises an initial turn rate of the agricultural vehicle, an approach angle of the agricultural vehicle toward the guidance swath, a swath turn rate of the agricultural vehicle, an overshoot of the guidance swath, or a combination thereof.

11. The control system of claim 9, wherein the controller is configured to output a fourth signal to the display indicative of instructions to present a visual representation of the value of the at least one parameter.

12. The control system of claim 9, wherein the controller is configured to output a fifth signal to the display indicative of instructions to present a graphical representation of the guidance swath.

13. The control system of claim 9, wherein the controller is configured to determine a path of an agricultural implement coupled to the agricultural vehicle based at least in part on the path of the agricultural vehicle, and the controller is configured to output a sixth signal to the display indicative of instructions to present a graphical representation of the path of the agricultural implement.

14. The control system of claim 9, wherein the user interface is configured to output a seventh signal indicative of a starting angle of the agricultural vehicle relative to the guidance swath, a starting speed of the agricultural vehicle, a starting distance of the agricultural vehicle from the guidance swath, or a combination thereof, and the controller is configured to determine the path of the agricultural vehicle toward the guidance swath based at least in part on the starting angle, the starting speed, the starting distance, or a combination thereof.

15. The control system of claim 9, wherein the controller is configured to determine a starting angle of the agricultural vehicle relative to the guidance swath, a starting speed of the agricultural vehicle, a starting distance of the agricultural vehicle from the guidance swath, or a combination thereof, and the controller is configured to determine the path of the agricultural vehicle toward the guidance swath based at least in part on the starting angle, the starting speed, the starting distance, or a combination thereof.

16. The control system of claim 9, wherein the controller is configured to determine the path of the agricultural vehicle by simulating movement of the agricultural vehicle using a guidance algorithm, and the controller is configured to control the agricultural vehicle using the guidance algorithm.

17. An apparatus comprising:

at least one non-transitory, tangible, machine-readable media having instructions encoded thereon for execution by a processor, the instructions comprising;

instructions to receive a first signal from a user interface indicative of a value of at least one parameter;

instructions to determine a path of an agricultural vehicle toward a guidance swath based at least in part on the at least one parameter;

instructions to output a second signal to a display of the user interface indicative of instructions to display a graphical representation of the path of the agricultural vehicle; and

instructions to control the agricultural vehicle based at least in part on the at least one parameter upon receiving at least a third signal from the user interface indicative of acceptance of the value of the at least one parameter.

18. The apparatus of claim 17, wherein the at least one parameter comprises an initial turn rate of the agricultural vehicle, an approach angle of the agricultural vehicle toward the guidance swath, a swath turn rate of the agricultural vehicle, an overshoot of the guidance swath, or a combination thereof.

19. The apparatus of claim 17, wherein the instructions comprise:

instructions to determine a path of an agricultural implement coupled to the agricultural vehicle based at least in part on the path of the agricultural vehicle; and

instructions to output a fourth signal to the display indicative of instructions to present a graphical representation of the path of the agricultural implement.

20. The apparatus of claim 17, wherein the instructions to determine the path of the agricultural vehicle comprise instructions to simulate movement of the agricultural vehicle using a guidance algorithm, and the instructions to control the agricultural vehicle comprise instructions to control the agricultural vehicle using the guidance algorithm.