Machine control system and method

• US 9,945,957 B2
• Filed: 03/29/2016
• Issued: 04/17/2018
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: Gattis, Joshua M., Koch, Steven A., Anderson, Mark W.
• Primary Examiner(s): BUTLER, RODNEY ALLEN
• Application Number:
  US15/083,747
• Publication Number:
  US 20160205864A1
• Time in Patent Office: 749 Days
• CPC Class Codes: A01C 23/008 Tanks, chassis or related parts
• CPC Class Codes: A01M 7/0057 with active regulation of the boom position
• CPC Class Codes: A01M 9/0076 Special arrangements or adaptations of the dusting or distributing parts, e.g. mounting of the spray booms, the protection shields nozzles B05B1/00; spray pistols B05B9/01
• CPC Class Codes: G01S 19/14 specially adapted for specific applications

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.

Claims

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.

2. The system according to claim 1 wherein the inertial measurement units (IMU) are mounted on different sections of the agricultural boom.

3. The system according to claim 1, wherein the working component comprises an agricultural sprayer including a spray boom.

4. The system according claim 2 wherein the processor independently controls heights of the different sections of the agricultural boom over the field based on the comparison of the sensor data with the terrain model.

5. The system according to claim 1, wherein the terrain model includes boundaries of the field, a topography of the field, and soil conditions of the field.

6. The system according to claim 1, wherein the processor monitors, stores, and reports operation data for the vehicle to the central server.

7. The system according to claim 6 wherein the operation data includes quantities of material dispensed by agricultural sprayers located on the agricultural boom.

8. The system according to claim 7 wherein the operation data includes locations of the material dispensed by the agricultural sprayers.

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:

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.

10. The system according to claim 9, the computer further to:

receive user inputs associated with the stored field data;

create a work order based on the user inputs and the field data; and

send the work order to the central control computer for distributing to the other vehicle to control the associated farm implement and compete the work order.

11. The system according to claim 9, further comprising a wireless interface coupled to the computer for connecting to the central control computer.

12. The system according to claim 9, wherein the field data includes field boundaries, field topography, and soil conditions.

13. The system according to claim 9, wherein the computer comprises at least one of an equipment-mounted virtual terminal, a laptop computer, a tablet computer, a smart phone, a desktop computer, and a netbook.

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:

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.

16. The method according to claim 14, further comprising downloading, by the computer, the field terrain model via the Internet.

17. The method according to claim 14, wherein the working component comprises an agricultural spray boom and the inertial data and position data identify spray boom heights for different sections of the spray boom above the work surface.

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:

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.