Route planning system for agricultural work vehicles

• US 6,128,574 A
• Filed: 07/21/1997
• Issued: 10/03/2000
• Est. Priority Date: 07/23/1996
• Status: Expired due to Fees

• Current Assignee: CLAAS KGaA mbH
• Original Assignee: CLAAS KGaA mbH
• Inventors: Diekhans, Norbert
• Primary Examiner(s): LOUIS JACQUES, JACQUES H
• Application Number:
  US08/896,735
• Time in Patent Office: 1,170 Days
• Field of Search: 701/50, 701/202, 701/207, 701/208, 701/209, 701/213, 701/200, 701/210, 340/990, 340/995, 340/988, 340/689, 342/357, 342/457, 342/107, 172/6, 172/26
• US Class Current: 701/209
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

The route planning method for agricultural work vehicles having a definite working width for generation of at least one work path or track over a field includes inputting at least one field-specific datum and at least one work vehicle-specific datum into an electronic data processing unit; providing a computational algorithm in the electronic data processing unit for generation of the at least one work path or track, which includes at least one optimization criterion for the at least one work path or track and generating the at least one work path or track by executing the computational algorithm to obtain the at least one work path or track in the form of at least one digitized work route for one or more work vehicles using the at least one field-specific datum and/or the at least one work vehicle-specific datum. A guidance apparatus for performing the method is also described.

Claims

1. A route planning method for agricultural work vehicles having a definite working width for generation of at least one work path or track over a field, said route planning method comprising the steps of:

a) inputting at least one field-specific datum and at least one work vehicle-specific datum into an electronic data processing unit;

b) providing a computational algorithm in said electronic data processing unit for generation of the at least one work path or track, said computational algorithm including at least one optimization criterion for the at least one work path or track; and

c) generating said at least one work path or track by executing said computational algorithm to obtain said at least one work path or track in the form of at least one digitized work route using said at least one field-specific datum and said at least one work vehicle-specific datum, wherein said at least one optimization criterion comprises at least one of the following;

determination of a shortest work vehicle route over the field, determination of a fastest work vehicle route over the field, determination of a most fuel saving work vehicle route over the field and determining a work vehicle route over the field which minimizes at least one of lost time and vehicle travel distance for unloading/dispensing of harvested material.

3. The route planning method as defined in claim 1 or 2, wherein said at least one field-specific datum comprises coordinates for edges of said field.

6. The route planning method as defined in claim 3, further comprising calculating a total surface area of said field with the aid of said coordinates for the field edges.

7. The route planning method as defined in claim 6, wherein said total surface area is calculated considering variations in ground height over the field.

8. The route planning method as defined in claim 1 or 2, wherein said at least one work vehicle-specific datum comprises said working width for said at least one work path or track.

9. The route planning method as defined in claim 1 or 2, wherein said position determining device consists of a satellite navigation or GPS receiver.

10. The route planning method as defined in claim 1 or 2, wherein said at least one field-specific datum includes at least one of the following:

digital land relief data including height information for the field edges and information regarding slope or inclination of ground in the field;

information regarding position and size of hindrances for an agricultural machine working the field including trees, stones, brooks, pools and power line poles;

information regarding areas bounding the field to be worked including other fields, paths and roads which can be used for turning maneuvers;

information regarding harvest yield per unit area of the field;

information regarding harvest yield cadastre of the field;

information regarding harvested crop on the field;

information regarding soil and soil properties of the field;

soil property cadastre of the field;

information regarding earlier or past work course plans for the field in chronological order;

information including work route of seed planting vehicles used to plant a crop being harvested on the field and information regarding fixed harvested goods-unloading positions.

11. The route planning method as defined in claim 1 or 2, wherein said at least one work vehicle-specific datum includes at least one of the following:

geometric dimensions of at least one work vehicle;

information regarding reaction of the at least one work vehicle to a predetermined impact or deflection of a steering axle of the at least one work vehicle;

information regarding drive performance of the at least one work vehicle;

information regarding efficiency of at least one working device on the at least one work vehicle;

maximum speed of the at least one work vehicle;

information regarding optimum vehicle speed of the at least one work vehicle for given soil conditions;

information regarding optimum vehicle speed of at least one work vehicle harvesting a certain crop as determined by crop type;

information regarding optimum vehicle speed for certain crop yield densities;

information regarding consumption value of consumed materials including fuel, seeds and liquids to be produced;

information regarding fuel tank capacity;

information regarding grain tank capacity and grain tank emptying speed in the case of a combine or of a carting vehicle accompanying the combine;

information regarding maximum usage time limited by required maintenance time intervals and information regarding travel track width, travel lane width, tire width, border inclination angle and slope angle.

12. The route planning method as defined in claim 1 or 2, wherein said at least one digitized work route consists of a plurality of agricultural work vehicle travel tracks for a plurality of work vehicles working the field.

13. The route planning method as defined in claim 1 or 2, further comprising indicating a position or positions at which a grain holding tank of a combine is estimated to be filled when an agricultural machine is harvesting grain on the field and filling the grain holding tank.

14. The route planning method as defined in claim 1 or 2, wherein said at least one work path is determined for a harvesting vehicle passing over the field to harvest a crop, and further comprising determining a satisfactory parallel track for a refueling vehicle which refuels a fuel tank of the harvesting machine.

15. The route planning method as defined in claim 1 or 2, wherein said at least one optimization criterion comprises determining a safest work vehicle route over the field.

16. The route planning method as defined in claim 1 or 2, wherein said at least one work path or track generated covers only at least one selected part of the field.

17. The route planning method as defined in claim 1 or 2, wherein said at least one work path or track generated covers only a section of the field parallel to a travel lane.

18. The route planning method as defined in claim 1 or 2, wherein said at least one work path or track generated covers only a section of the field having a section width equal to an integral multiple of a working width of a work vehicle traveling over the at least one work path or track.

19. The route planning method as defined in claim 1 or 2, further comprising a coordinated plan for the travel of a plurality of agricultural work vehicles over the field including generating one of said at least one digitized work route using said at least one optimization criterion, said coordinated plan including information regarding planned work vehicle travel sequence, spacing of said work vehicles in a travel direction and transverse to the travel direction.

20. The route planning method as defined in claim 19, further comprising preparing instructions for turning maneuvers.

21. The route planning method as defined in claim 1 or 2, further comprising determining an area on said field still be worked at at least one position on said digitized work route.

22. The route planning method as defined in claim 1 or 2, further comprising providing a graphical display device in an agricultural work device traveling over said at least one digitized work route.

23. The route planning method as defined in claim 1 or 2, wherein said at least one digitized work route is prepared in a yard station computer containing said computational algorithm.

24. The route planning method as defined in claim 23, further comprising transferring said at least one digitized work route from said yard station computer to an on-board computer provided on an agricultural work vehicle assigned to travel over said at least one digitized work route by means of a portable data transfer device.

25. The route planning method as defined in claim 24, wherein said portable data transfer device is a diskette, chip card or PCMCIA card.

26. The route planning method as defined in claim 23, further comprising transferring said at least one digitized work route from said yard station computer to an on-board computer provided on an agricultural work vehicle assigned to travel over said at least one digitized work route by means of a radio.

27. The route planning method as defined in claim 1 or 2, wherein said electronic data processing unit comprises a on-board compound on a work vehicle traveling over said at least one digitized work route.

28. The route planning method as defined in claim 27, further comprising transferring said at least one field-specific datum and said at least one work vehicle-specific datum for preparation of said at least one digitized work route by means of a portable data carrier to said on-board computer.

29. The route planning method as defined in claim 27, further comprising transferring said at least one field-specific datum and said at least one work vehicle-specific datum for preparation of said at least one digitized work route by means of a radio device to said on-board computer.

30. The route planning method as defined in claim 27, further comprising storing said at least one work vehicle-specific datum in a memory of said on-board computer and retrieving said at least one work vehicle specific datum from said memory for preparation of said at least one digitized work route.

31. The route planning method as defined in claim 27, further comprising inputting said at least one work vehicle specific datum into said electronic data processing unit manually by a driver.

32. The route planning method as defined in claim 27, further comprising transforming said at least one digitized work route into coordinates of a real time position determining system installed on a work vehicle traveling over the at least one digitized work route.

33. The route planning method as defined in claim 32, wherein said real time position determining system is a GPS system.

34. The route planning method as defined in claim 32, further comprising deriving a work vehicle direction vector from all coordinate points of said at least one digitized work route.

35. The route planning method as defined in claim 1 or 2, wherein said at least one digitized work route comprises a plurality of coordinates for successive positions of a center of a work vehicle traveling over said at least one digitized work route in a real time position determining system.

36. The route planning method as defined in claim 1 or 2, wherein said at least one digitized work route comprises a plurality of coordinates for successive positions of a center of a work-performing device on a work vehicle traveling over said at least one digitized work route in a real time position determining system.

37. The route planning method as defined in claim 36, wherein said work-performing device is a cutting tool of a combine.

38. The route planning method as defined in claim 1 or 2, wherein said at least one digitized work route comprises a plurality of coordinates for successive positions of a left edge part of a work-performing device on a work vehicle traveling over said at least one digitized work route in a real time position determining system.

39. The route planning method as defined in claim 38, wherein said left edge part consists of a left blade part cutting edge of a cutting mechanism of a combine.

40. The route planning method as defined in claim 1 or 2, wherein said at least one digitized work route comprises a plurality of coordinates for successive positions of a right edge part of a work-performing device on a work vehicle traveling over said at least one digitized work route in a real time position determining system.

41. The route planning method as defined in claim 40, wherein said right edge part consists of a right blade part cutting edge of a cutting mechanism of a combine.

2. A route planning method for agricultural work vehicles having a definite working width for generation of at least one work path or track over a field, said route planning method comprising the steps of:

a) inputting at least one field-specific datum and at least one work vehicle-specific datum into an electronic data processing unit;

b) providing a computational algorithm in said electronic data processing unit for generation of the at least one work path or track, said computational algorithm including at least one optimization criterion for the at least one work path or track; and

c) generating said at least one work path or track by executing said computational algorithm to obtain said at least one work path or track in the form of at least one digitized work route using said at least one field-specific datum and said at least one work vehicle-specific datum, wherein said at least one optimization criterion comprises minimizing at least one of the lost time and vehicle travel distance for loading materials to be dispensed from an agricultural work vehicle on the field, wherein said work vehicle dispenses at least one of seeds, fertilizers and plant protecting or weed killing materials on the field.

4. The route planning method as defined in claim 2, further comprising taking said coordinates of said field edges from a cadastral or field map.

5. The route planning method as defined in claim 2, further comprising determining said coordinates of said field edges and storing said coordinates in said electronic data processing unit, wherein said determining said coordinates occurs by at least one of the following:

optically scanning a cadastral or field map by means of a scanner or by contacting said cadastral or field map with a digital pen, traveling over the field edges with a work vehicle provided with a position determining device which continuously determines and stores said coordinates in a memory and sending an individual carrying an operating mobile GPS receiver around the field edges to continuously determine positions of the individual along the field edges so that at least one of all corner points and side lengths of said field are obtained.