WO2000058801A1 - Autoguidance system and method for an agricultural machine - Google Patents
Autoguidance system and method for an agricultural machine Download PDFInfo
- Publication number
- WO2000058801A1 WO2000058801A1 PCT/US2000/008132 US0008132W WO0058801A1 WO 2000058801 A1 WO2000058801 A1 WO 2000058801A1 US 0008132 W US0008132 W US 0008132W WO 0058801 A1 WO0058801 A1 WO 0058801A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- agricultural machine
- control module
- autoguidance
- set forth
- machine
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000004044 response Effects 0.000 claims abstract description 15
- 230000004913 activation Effects 0.000 claims abstract description 9
- 230000000007 visual effect Effects 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000000881 depressing effect Effects 0.000 description 2
- 238000009313 farming Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 230000003213 activating effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000010899 nucleation Methods 0.000 description 1
- 239000011435 rock Substances 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10084434T DE10084434T1 (en) | 1999-03-29 | 2000-03-24 | Automatic guidance system and method for an agricultural machine |
AU39263/00A AU760347B2 (en) | 1999-03-29 | 2000-03-24 | Autoguidance system and method for an agricultural machine |
GB0120606A GB2362725B (en) | 1999-03-29 | 2000-03-24 | Autoguidance system and method for an agricultural machine |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/280,198 | 1999-03-29 | ||
US09/280,198 US6236916B1 (en) | 1999-03-29 | 1999-03-29 | Autoguidance system and method for an agricultural machine |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2000058801A1 true WO2000058801A1 (en) | 2000-10-05 |
Family
ID=23072090
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2000/008132 WO2000058801A1 (en) | 1999-03-29 | 2000-03-24 | Autoguidance system and method for an agricultural machine |
Country Status (5)
Country | Link |
---|---|
US (1) | US6236916B1 (en) |
AU (1) | AU760347B2 (en) |
DE (1) | DE10084434T1 (en) |
GB (1) | GB2362725B (en) |
WO (1) | WO2000058801A1 (en) |
Cited By (7)
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---|---|---|---|---|
EP1602267A3 (en) * | 2004-04-06 | 2011-05-25 | CLAAS Selbstfahrende Erntemaschinen GmbH | Route planning system for agricultural working machines |
WO2011150353A1 (en) * | 2010-05-28 | 2011-12-01 | Gvm, Inc. | Remote management system for equipment |
EP2530630A1 (en) * | 2011-05-30 | 2012-12-05 | Agri-Esprit SAS | Method for position monitoring |
EP2798421A4 (en) * | 2011-12-28 | 2015-12-23 | Husqvarna Ab | Yard maintenance vehicle obstacle avoidance/notification system |
EP3546985A1 (en) * | 2018-03-29 | 2019-10-02 | Trimble Inc. | Machine guidance pitch and roll compensation |
IT202000026470A1 (en) * | 2020-11-05 | 2022-05-05 | Cnh Ind Italia Spa | METHOD FOR IDENTIFYING A TRAJECTORY IN A PLANTATION OF FRUIT TREES SUCH AS ORANGE GROVES |
US11778934B2 (en) * | 2019-07-02 | 2023-10-10 | Bear Flag Robotics, Inc. | Agricultural lane following |
Families Citing this family (79)
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---|---|---|---|---|
DK173577B1 (en) * | 2000-01-12 | 2001-03-19 | Eco Dan Aps | Method for detecting a track in the form of an elongated furrow or back in a field, combination of an agricultural implement |
DE10019011A1 (en) * | 2000-04-17 | 2001-10-25 | Geo Tec Electronics Gmbh | Automatic controls for guidance of agricultural machine along defined path uses signals from global positioning system and makes continuous comparison between actual and reference positions |
US6385515B1 (en) * | 2000-06-15 | 2002-05-07 | Case Corporation | Trajectory path planner for a vision guidance system |
US6643576B1 (en) | 2000-11-15 | 2003-11-04 | Integrinautics Corporation | Rapid adjustment of trajectories for land vehicles |
US6804587B1 (en) | 2000-11-15 | 2004-10-12 | Integrinautics Corporation | Adjustment of vehicle-implement trajectories to compensate for lateral implement offset |
DE10129135B4 (en) | 2001-06-16 | 2013-10-24 | Deere & Company | Device for determining the position of an agricultural work vehicle and an agricultural work vehicle with this |
US7948769B2 (en) | 2007-09-27 | 2011-05-24 | Hemisphere Gps Llc | Tightly-coupled PCB GNSS circuit and manufacturing method |
GB2386970A (en) * | 2002-03-26 | 2003-10-01 | Mcmurtry Ltd | Environmentally responsive ground maintenance equipment |
NL1020799C2 (en) * | 2002-06-06 | 2003-12-09 | Lely Entpr Ag | Method is for moving autonomous agricultural machine over plot of ground and involves determining size of angle between machine reference surface and plot reference surface |
NL1020807C2 (en) * | 2002-06-06 | 2003-12-09 | Lely Entpr Ag | An assembly for performing an agricultural operation, in particular a crop operation. |
US6782315B2 (en) * | 2002-06-19 | 2004-08-24 | Ford Global Technologies, Llc | Method and apparatus for compensating misalignments of a sensor system used in a vehicle dynamic control system |
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US7885745B2 (en) | 2002-12-11 | 2011-02-08 | Hemisphere Gps Llc | GNSS control system and method |
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US9162656B2 (en) * | 2003-02-26 | 2015-10-20 | Ford Global Technologies, Llc | Active driven wheel lift identification for an automotive vehicle |
US8686900B2 (en) | 2003-03-20 | 2014-04-01 | Hemisphere GNSS, Inc. | Multi-antenna GNSS positioning method and system |
US8265826B2 (en) * | 2003-03-20 | 2012-09-11 | Hemisphere GPS, LLC | Combined GNSS gyroscope control system and method |
US8594879B2 (en) | 2003-03-20 | 2013-11-26 | Agjunction Llc | GNSS guidance and machine control |
US8190337B2 (en) | 2003-03-20 | 2012-05-29 | Hemisphere GPS, LLC | Satellite based vehicle guidance control in straight and contour modes |
US8138970B2 (en) | 2003-03-20 | 2012-03-20 | Hemisphere Gps Llc | GNSS-based tracking of fixed or slow-moving structures |
US8214111B2 (en) | 2005-07-19 | 2012-07-03 | Hemisphere Gps Llc | Adaptive machine control system and method |
US20040212533A1 (en) * | 2003-04-23 | 2004-10-28 | Whitehead Michael L. | Method and system for satellite based phase measurements for relative positioning of fixed or slow moving points in close proximity |
US9002565B2 (en) | 2003-03-20 | 2015-04-07 | Agjunction Llc | GNSS and optical guidance and machine control |
US8634993B2 (en) | 2003-03-20 | 2014-01-21 | Agjunction Llc | GNSS based control for dispensing material from vehicle |
US8271194B2 (en) | 2004-03-19 | 2012-09-18 | Hemisphere Gps Llc | Method and system using GNSS phase measurements for relative positioning |
US8140223B2 (en) | 2003-03-20 | 2012-03-20 | Hemisphere Gps Llc | Multiple-antenna GNSS control system and method |
ES2398105T3 (en) | 2003-05-09 | 2013-03-13 | Deere & Company | GPS / INS compensation system of a land vehicle |
US7593798B2 (en) * | 2003-10-30 | 2009-09-22 | Deere & Company | Vehicular guidance system having compensation for variations in ground elevation |
US7729853B2 (en) * | 2003-12-12 | 2010-06-01 | Trimble Navigation Limited | Integrated guidance system |
US8583315B2 (en) | 2004-03-19 | 2013-11-12 | Agjunction Llc | Multi-antenna GNSS control system and method |
US7412905B1 (en) | 2004-05-31 | 2008-08-19 | Richard Anthony Bishel | Paddle sensor |
DE102004031211A1 (en) * | 2004-06-28 | 2006-02-09 | Claas Selbstfahrende Erntemaschinen Gmbh | Method and device for controlling an agricultural machine |
US7640081B2 (en) * | 2004-10-01 | 2009-12-29 | Ford Global Technologies, Llc | Roll stability control using four-wheel drive |
US7715965B2 (en) | 2004-10-15 | 2010-05-11 | Ford Global Technologies | System and method for qualitatively determining vehicle loading conditions |
US7668645B2 (en) | 2004-10-15 | 2010-02-23 | Ford Global Technologies | System and method for dynamically determining vehicle loading and vertical loading distance for use in a vehicle dynamic control system |
US7660654B2 (en) | 2004-12-13 | 2010-02-09 | Ford Global Technologies, Llc | System for dynamically determining vehicle rear/trunk loading for use in a vehicle control system |
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US7388539B2 (en) | 2005-10-19 | 2008-06-17 | Hemisphere Gps Inc. | Carrier track loop for GNSS derived attitude |
DE112006003044T5 (en) | 2005-10-21 | 2008-10-23 | Deere & Company, Moline | Versatile robot control module |
US8121758B2 (en) | 2005-11-09 | 2012-02-21 | Ford Global Technologies | System for determining torque and tire forces using integrated sensing system |
US7600826B2 (en) | 2005-11-09 | 2009-10-13 | Ford Global Technologies, Llc | System for dynamically determining axle loadings of a moving vehicle using integrated sensing system and its application in vehicle dynamics controls |
US20070119328A1 (en) * | 2005-11-16 | 2007-05-31 | Mlh Technologies, Llc., A Delaware Limited Liability Company | Cartridge ejection and data acquisition system |
US20100179715A1 (en) * | 2006-12-11 | 2010-07-15 | Bae Systems Plc | Controlling an autonomous vehicle system |
US7835832B2 (en) | 2007-01-05 | 2010-11-16 | Hemisphere Gps Llc | Vehicle control system |
USRE48527E1 (en) | 2007-01-05 | 2021-04-20 | Agjunction Llc | Optical tracking vehicle control system and method |
US8311696B2 (en) | 2009-07-17 | 2012-11-13 | Hemisphere Gps Llc | Optical tracking vehicle control system and method |
US8000381B2 (en) | 2007-02-27 | 2011-08-16 | Hemisphere Gps Llc | Unbiased code phase discriminator |
US20090018717A1 (en) * | 2007-07-11 | 2009-01-15 | Keith Reed | Vehicle auto-guidance memory |
US7808428B2 (en) | 2007-10-08 | 2010-10-05 | Hemisphere Gps Llc | GNSS receiver and external storage device system and GNSS data processing method |
US9002566B2 (en) | 2008-02-10 | 2015-04-07 | AgJunction, LLC | Visual, GNSS and gyro autosteering control |
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US8260507B2 (en) * | 2009-01-14 | 2012-09-04 | University Of Florida Research Foundation, Inc. | Managing application of agrochemicals to plants |
US8386129B2 (en) | 2009-01-17 | 2013-02-26 | Hemipshere GPS, LLC | Raster-based contour swathing for guidance and variable-rate chemical application |
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US8401704B2 (en) | 2009-07-22 | 2013-03-19 | Hemisphere GPS, LLC | GNSS control system and method for irrigation and related applications |
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US8649930B2 (en) | 2009-09-17 | 2014-02-11 | Agjunction Llc | GNSS integrated multi-sensor control system and method |
US8548649B2 (en) | 2009-10-19 | 2013-10-01 | Agjunction Llc | GNSS optimized aircraft control system and method |
US8583326B2 (en) | 2010-02-09 | 2013-11-12 | Agjunction Llc | GNSS contour guidance path selection |
BE1019422A3 (en) * | 2010-07-14 | 2012-07-03 | Cnh Belgium Nv | METHOD AND APPARATUS FOR PREDICTIVE CONTROL OF AN AGRICULTURAL VEHICLE SYSTEM. |
GB2492602A (en) | 2010-12-06 | 2013-01-09 | Agco Corp | Automatic determination of tire height for improving vehicle guidance performance |
US9269200B2 (en) * | 2010-12-30 | 2016-02-23 | Agco Corporation | Real-time evaluation of machine performance for fleet management |
US8781685B2 (en) | 2012-07-17 | 2014-07-15 | Agjunction Llc | System and method for integrating automatic electrical steering with GNSS guidance |
EP3018987B1 (en) * | 2013-07-10 | 2020-09-02 | Agco Corporation | Automating distribution of work in a field |
US10080325B2 (en) | 2015-10-27 | 2018-09-25 | Cnh Industrial America Llc | Predictive overlap control model |
US9854725B2 (en) | 2016-03-28 | 2018-01-02 | Cnh Industrial America Llc | Laser guidance system for agricultural operations |
US10448555B2 (en) * | 2016-05-27 | 2019-10-22 | Cnh Industrial America Llc | System and method for scouting vehicle mapping |
EP3529681B1 (en) * | 2016-10-24 | 2021-01-06 | AGCO International GmbH | Land mapping and guidance system |
US10188021B2 (en) | 2017-06-19 | 2019-01-29 | Cnh Industrial America Llc | Path planning system for autonomous off-road vehicles |
CN109917425A (en) * | 2019-01-11 | 2019-06-21 | 丰疆智慧农业股份有限公司 | The system and method for detecting distance between intelligent agricultural machinery and remote terminal |
US11212954B2 (en) | 2019-05-08 | 2022-01-04 | Deere & Company | Apparatus and methods for field operations based on historical field operation data |
WO2021005406A1 (en) * | 2019-07-08 | 2021-01-14 | Mahindra And Mahindra Limited | A headland turning system for an agricultural machine |
CN112050801B (en) * | 2020-09-08 | 2022-07-19 | 山东理工大学 | Automatic navigation path planning method and system for agricultural machinery |
CN114234983B (en) * | 2021-12-23 | 2023-09-12 | 仲继锋 | Walking type farmland mobile platform robot navigation method |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4299483A (en) * | 1979-11-13 | 1981-11-10 | Grove Thomas C | Path alignment apparatus |
US4835691A (en) * | 1987-09-11 | 1989-05-30 | Sentop Ltd. | Positioning system particularly useful for positioning agricultural implements |
US5260875A (en) * | 1991-08-20 | 1993-11-09 | Micro-Trak System, Inc. | Networked agricultural monitoring and control system |
US5279068A (en) * | 1991-08-19 | 1994-01-18 | Rees Steven J | Crop row deviation sensing device |
EP0821296A2 (en) * | 1996-07-23 | 1998-01-28 | CLAAS KGaA | Route planning system for agricultural working vehicles |
WO1998019514A1 (en) * | 1996-11-06 | 1998-05-14 | Maasland N.V. | A soil working implement |
FR2760316A1 (en) * | 1997-02-15 | 1998-09-11 | Same Deutz Fahr Spa | HARVESTING PROCESS |
Family Cites Families (7)
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---|---|---|---|---|
US4769700A (en) * | 1981-11-20 | 1988-09-06 | Diffracto Ltd. | Robot tractors |
US4482960A (en) * | 1981-11-20 | 1984-11-13 | Diffracto Ltd. | Robot tractors |
US5224551A (en) * | 1991-05-31 | 1993-07-06 | Sukup Manufacturing Company | Guidance system control |
US5369589A (en) | 1993-09-15 | 1994-11-29 | Trimble Navigation Limited | Plural information display for navigation |
US5991694A (en) | 1995-11-13 | 1999-11-23 | Caterpillar Inc. | Method and apparatus for determining the location of seedlings during agricultural production |
US5987371A (en) | 1996-12-04 | 1999-11-16 | Caterpillar Inc. | Apparatus and method for determining the position of a point on a work implement attached to and movable relative to a mobile machine |
US6088644A (en) * | 1998-08-12 | 2000-07-11 | Caterpillar Inc. | Method and apparatus for determining a path to be traversed by a mobile machine |
-
1999
- 1999-03-29 US US09/280,198 patent/US6236916B1/en not_active Expired - Fee Related
-
2000
- 2000-03-24 WO PCT/US2000/008132 patent/WO2000058801A1/en active IP Right Grant
- 2000-03-24 GB GB0120606A patent/GB2362725B/en not_active Expired - Fee Related
- 2000-03-24 DE DE10084434T patent/DE10084434T1/en not_active Withdrawn
- 2000-03-24 AU AU39263/00A patent/AU760347B2/en not_active Ceased
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4299483A (en) * | 1979-11-13 | 1981-11-10 | Grove Thomas C | Path alignment apparatus |
US4835691A (en) * | 1987-09-11 | 1989-05-30 | Sentop Ltd. | Positioning system particularly useful for positioning agricultural implements |
US5279068A (en) * | 1991-08-19 | 1994-01-18 | Rees Steven J | Crop row deviation sensing device |
US5260875A (en) * | 1991-08-20 | 1993-11-09 | Micro-Trak System, Inc. | Networked agricultural monitoring and control system |
EP0821296A2 (en) * | 1996-07-23 | 1998-01-28 | CLAAS KGaA | Route planning system for agricultural working vehicles |
WO1998019514A1 (en) * | 1996-11-06 | 1998-05-14 | Maasland N.V. | A soil working implement |
FR2760316A1 (en) * | 1997-02-15 | 1998-09-11 | Same Deutz Fahr Spa | HARVESTING PROCESS |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1602267A3 (en) * | 2004-04-06 | 2011-05-25 | CLAAS Selbstfahrende Erntemaschinen GmbH | Route planning system for agricultural working machines |
WO2011150353A1 (en) * | 2010-05-28 | 2011-12-01 | Gvm, Inc. | Remote management system for equipment |
US8676620B2 (en) | 2010-05-28 | 2014-03-18 | Agjunction Llc | System and method for workorder management |
US8924152B2 (en) | 2010-05-28 | 2014-12-30 | Agjunction Llc | Remote management system for equipment |
EP2530630A1 (en) * | 2011-05-30 | 2012-12-05 | Agri-Esprit SAS | Method for position monitoring |
US9949431B2 (en) | 2011-12-28 | 2018-04-24 | Husqvarna Ab | Yard maintenance vehicle obstacle avoidance/notification system |
EP2798421A4 (en) * | 2011-12-28 | 2015-12-23 | Husqvarna Ab | Yard maintenance vehicle obstacle avoidance/notification system |
EP3656197A1 (en) * | 2011-12-28 | 2020-05-27 | Husqvarna Ab | Yard maintenance vehicle obstacle avoidance/notification system |
EP3546985A1 (en) * | 2018-03-29 | 2019-10-02 | Trimble Inc. | Machine guidance pitch and roll compensation |
US10761543B2 (en) | 2018-03-29 | 2020-09-01 | Trimble Inc. | Machine guidance pitch and roll compensation |
US11778934B2 (en) * | 2019-07-02 | 2023-10-10 | Bear Flag Robotics, Inc. | Agricultural lane following |
IT202000026470A1 (en) * | 2020-11-05 | 2022-05-05 | Cnh Ind Italia Spa | METHOD FOR IDENTIFYING A TRAJECTORY IN A PLANTATION OF FRUIT TREES SUCH AS ORANGE GROVES |
EP3995926A1 (en) * | 2020-11-05 | 2022-05-11 | CNH Industrial Italia S.p.A. | Method for identifying a trajectory in a plantation of fruit trees, such as an orange orchard |
Also Published As
Publication number | Publication date |
---|---|
AU3926300A (en) | 2000-10-16 |
AU760347B2 (en) | 2003-05-15 |
DE10084434T1 (en) | 2002-05-08 |
US6236916B1 (en) | 2001-05-22 |
GB2362725A (en) | 2001-11-28 |
GB0120606D0 (en) | 2001-10-17 |
GB2362725B (en) | 2003-05-28 |
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