Planning and control of autonomous agricultural operations

Patent metadata

Field	Value
Publication number	US-10143126-B2
Application number	US-201615179669-A
Country	US
Kind code	B2
Filing date	Jun 10, 2016
Priority date	Jun 10, 2016
Publication date	Dec 4, 2018
Grant date	Dec 4, 2018

Abstract

The agricultural control system includes a base control system configured to communicate with a vehicle control system of an agricultural vehicle. The base control system is configured to plan an implement path through an agricultural field for an agricultural implement coupled to the agricultural vehicle based at least in part on at least one characteristic of the agricultural field. The base control system is configured to plan a vehicle path of the agricultural vehicle based at least in part on the planned implement path. The base control system is configured to send a first signal to the vehicle control system indicative of the vehicle path.

First claim

The invention claimed is:

1. An agricultural control system, comprising:
a base control system comprising a controller having a processor operatively coupled to a memory, wherein the controller is configured to:
plan an implement path through an agricultural field for an agricultural implement coupled to an agricultural vehicle based at least in part on at least one characteristic of the agricultural field;
plan a vehicle path of the agricultural vehicle based at least in part on the planned implement path and a lateral offset between the agricultural implement and the agricultural vehicle, wherein the lateral offset is a lateral distance between a lateral centerline of the agricultural implement and a lateral centerline of the agricultural vehicle while a hitch angle is zero; and
output a first signal to a vehicle control system indicative of the vehicle path;
wherein the controller is configured to plan the vehicle path based on a geometry of the agricultural vehicle, a geometry of the agricultural implement, a geometry of a hitch between the agricultural vehicle and the agricultural implement, or any combination thereof.

2. The agricultural control system of claim 1 , wherein the geometry of the agricultural vehicle comprises a size of the agricultural vehicle, a shape of the agricultural vehicle, a weight of the agricultural vehicle, or any combination thereof, and the geometry of the agricultural implement comprises a size of the agricultural implement, a weight of the agricultural implement, a type of wheels of the agricultural implement, or any combination thereof.

3. The agricultural control system of claim 1 , wherein the controller is configured to plan the vehicle path based on at least one capability of the agricultural vehicle, at least one capability of the agricultural implement, at least one capability of the hitch between the agricultural vehicle and the agricultural implement, or any combination thereof.

4. The agricultural control system of claim 3 , wherein the at least one capability of the agricultural vehicle comprises a turn radius of the agricultural vehicle, a rate of change of direction of the agricultural vehicle, or any combination thereof, and the at least one capability of the agricultural implement comprises a turn radius of the agricultural implement, whether at least one wheel of the agricultural implement is controllable, or any combination thereof.

5. The agricultural control system of claim 1 , wherein the controller is configured to plan the vehicle path based at least in part on the at least one characteristic of the agricultural field.

6. The agricultural control system of claim 1 , wherein the at least one characteristic of the agricultural field comprises a location, a size, a shape, or any combination thereof, of a slope, a bump, a hill, a territorial boundary, an obstacle boundary, a body of water, a boulder, or any combination thereof.

7. The agricultural control system of claim 1 , comprising the vehicle control system having a vehicle controller comprising a processor operatively coupled to a memory, wherein the vehicle controller is configured to receive the first signal indicative of the vehicle path, to receive a second signal indicative of the planned implement path, to output a third signal indicative of instructions to control a steering control system, a speed control system, or a combination thereof, to travel along the vehicle path, to receive a fourth signal indicative of a position of the agricultural implement, to determine an updated vehicle path based at least in part on a difference between the planned implement path and the position of the agricultural implement, and to output a fifth signal indicative of instructions to control the steering control system, the speed control system, or a combination thereof, to change a direction, a speed, or any combination thereof, of the agricultural vehicle based on the updated vehicle path.

8. The agricultural control system of claim 7 , wherein the vehicle controller is configured to output a sixth signal indicative of the position of the agricultural implement to the base control system to enable the controller of the base control system to identify at least one additional characteristic of the agricultural field.

9. A non-transitory computer-readable medium comprising instructions configured to be executed by a processor of a base control system, wherein the instructions comprise instructions configured to cause the processor to:
plan an implement path through an agricultural field for an agricultural implement coupled to an agricultural vehicle based at least in part on at least one characteristic of the agricultural field;
plan a vehicle path of the agricultural vehicle based at least in part on the planned implement path and a lateral offset between the agricultural implement and the agricultural vehicle, wherein the lateral offset is a lateral distance between a lateral centerline of the agricultural implement and a lateral centerline of the agricultural vehicle while a hitch angle is zero; and
output a first signal to a vehicle control system of the agricultural vehicle indicative of the vehicle path;
wherein the instructions comprise instructions configured to cause the processor to plan the implement path based on a geometry of the agricultural implement, a geometry of the agricultural vehicle, a geometry of a hitch between the agricultural vehicle and the agricultural implement, or any combination thereof.

10. The non-transitory computer-readable medium of claim 9 , wherein the instructions comprise instructions configured to cause the processor to plan the implement path based on at least one capability of the agricultural vehicle, at least one capability of the agricultural implement, at least one capability of the hitch between the agricultural vehicle and the agricultural implement, or any combination thereof.

11. The non-transitory computer-readable medium of claim 9 , wherein the instruction comprise instructions configured to cause the processor of the base control system, a processor of the vehicle control system, or any combination thereof to receive the first signal indicative of the vehicle path, to receive a second signal indicative of the planned implement path, to output a third signal indicative of instructions to control a steering control system, a speed control system, or a combination thereof, to travel along the vehicle path, to receive a fourth signal indicative of a position of the agricultural implement, to determine an updated vehicle path based at least in part on a difference between the planned implement path and the position of the agricultural implement, and to output a fifth signal indicative of instructions to control the steering control system, the speed control system, or a combination thereof, to change a direction, a speed, or any combination thereof, of the agricultural vehicle based on the updated vehicle path.

12. The non-transitory computer-readable medium of claim 11 , wherein the instructions comprise instructions configured to cause the processor of the base control system, the processor of the vehicle control system, or any combination thereof, to determine the updated vehicle path in a manner that reduces the difference between the planned implement path and the position of the agricultural implement.

13. An agricultural control system, comprising:
a base control system comprising a controller having a processor operatively coupled to a memory, wherein the controller is configured to:
plan an implement path through an agricultural field for an agricultural implement coupled to an agricultural vehicle based at le

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc

Inventors

• Foster Christopher Alan
• Posselius John Henry
• Ray Brian Robert
• Turpin Bret Todd
• Morwood Daniel John
• Bunderson Nathan Eric

Classifications

• G05D1/672

  Positioning of towed, pushed or suspended implements, e.g. ploughs · CPC title

• G05D1/648

  Performing a task within a working area or space, e.g. cleaning · CPC title

• G05D1/225

  operated by off-board computers · CPC title

• G05D2105/15

  for harvesting, sowing or mowing in agriculture or forestry · CPC title

• G05D2107/21

  Farming, e.g. fields, pastures or barns · CPC title