Machine control system and method
First Claim
1. A system for controlling the position of a working component relative to a work surface, wherein the working component comprises an agricultural boom for a farm implement pulled by a vehicle and the work surface comprises a field, the system comprising:
- a control system located on the vehicle, the control system including a hardware processor to;
receive sensor data from sensors, the sensor data including inertial information from one or more inertial measurement units (IMU) mounted on the working component and position data from a global navigation satellite system (GNSS) located on the vehicle;
store the sensor data in a memory device;
download via an Internet connection from a central server a terrain model previously logged by the same or a different vehicle during a previous vehicle operation;
compare the sensor data with the terrain model;
adjust a position the working component relative to the work surface based on the comparison of the sensor data with the terrain model; and
send the inertial information from the IMU and the position data from the GNSS back to the central server for distributing to different vehicles.
1 Assignment
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Accused Products
Abstract
A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface, such as an agricultural spray boom over a crop field. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control processor. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed. Further disclosed is a work order management system and method, which can be configured for controlling the operation of multiple vehicles, such as agricultural sprayers each equipped with GNSS-based spray boom height control subsystems. The sprayers can be remotely located from each other on multiple crop fields, and can utilize GNSS-based, field-specific terrain models for controlling their spraying operations.
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Citations
17 Claims
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1. A system for controlling the position of a working component relative to a work surface, wherein the working component comprises an agricultural boom for a farm implement pulled by a vehicle and the work surface comprises a field, the system comprising:
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a control system located on the vehicle, the control system including a hardware processor to; receive sensor data from sensors, the sensor data including inertial information from one or more inertial measurement units (IMU) mounted on the working component and position data from a global navigation satellite system (GNSS) located on the vehicle; store the sensor data in a memory device; download via an Internet connection from a central server a terrain model previously logged by the same or a different vehicle during a previous vehicle operation; compare the sensor data with the terrain model; adjust a position the working component relative to the work surface based on the comparison of the sensor data with the terrain model; and send the inertial information from the IMU and the position data from the GNSS back to the central server for distributing to different vehicles. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A control system for controlling the position of a working component relative to a work surface, the working component being a farm implement attached to a vehicle and the work surface being a field, the control system comprising:
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a global navigation satellite system (GNSS) to provide GNSS coordinates; an inertial measurement unit (IMU) sensor mounted on the working component to provide inertia information; one or more sensors associated with the working component and each configured to provide signal data corresponding to an operating or status condition of the working component; and a computer to; store field data in computer memory including the GNSS coordinates from the GNSS, the inertia information from the IMU sensor, and the signal data from the one or more sensors associated with the working component, create a terrain model from the field data, and send the terrain model to a central control computer for distributing to another vehicle for controlling an associated farm implement. - View Dependent Claims (10, 11, 12, 13)
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14. A method of controlling the position of a working component relative to a work surface, the working component including a boom coupled to a vehicle and the work surface comprising a field, the method comprising:
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downloading, by a computer operating on the vehicle, a field terrain model from a central server, the field terrain model including terrain elevations for the field; receiving, by the computer, inertial data from an inertial measurement unit (IMU) mounted on the working component, the inertial data identifying inertial movements of the working component; receiving, by the computer, position data from a global navigation satellite system (GNSS) located on the vehicle; comparing, by the computer, the position data from the GNSS and the inertial data from the IMU with the field terrain model; positioning, by the computer, the working component relative to the work surface based on the comparison of the position data and the inertial data with the field terrain model; and coordinating the operations of multiple farm implements located on different farm vehicles remotely from each other via the central server and reporting the operations back to the central server. - View Dependent Claims (16, 17)
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15. A method of controlling the position of a working component relative to a work surface, the working component including a boom coupled to a vehicle and the work surface comprising a field, the method comprising:
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downloading, by a computer operating on the vehicle, a field terrain model from a central server, the field terrain model including terrain elevations for the field; receiving, by the computer, inertial data from an inertial measurement unit (IMU) mounted on the working component, the inertial data identifying inertial movements of the working component; receiving, by the computer, position data from a global navigation satellite system (GNSS) located on the vehicle; comparing, by the computer, the position data from the GNSS and the inertial data from the IMU with the field terrain model; positioning, by the computer, the working component relative to the work surface based on the comparison of the position data and the inertial data with the field terrain model; and sending, by the computer, the position data from the GNSS and the inertial data from the IMU back to the central server for distributing to different vehicles.
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Specification