Autonomous or remote-controlled vehicle platform for spraying

Patent metadata

Field	Value
Publication number	US-10813263-B2
Application number	US-201916241622-A
Country	US
Kind code	B2
Filing date	Jan 7, 2019
Priority date	May 26, 2017
Publication date	Oct 27, 2020
Grant date	Oct 27, 2020

Abstract

A vehicle platform comprises a central body that can support one or more implement configurations, such as sprayer booms, or planting row units. A plurality of adjustable legs extends downward from the central body. An arm assembly has a first end and a second end opposite the first end. The first end is pivotably coupled the central body and the second end coupled to a support beam. A plurality of nozzle assemblies is supported from the support beam. An arm actuator is arranged to control a transverse position of the support beam and the nozzle assemblies with respect to a reference point on the central body, such that each nozzle assembly may be aligned with a row of seeds or plants.

First claim

The following is claimed:

1. A vehicle platform comprising:
a central body;
a plurality of adjustable legs extending downward from the central body, each adjustable leg terminating in a rotatable track assembly and positioned to support the central body;
an arm assembly pivotably coupled to the central body and in communication with a plurality of nozzle assemblies, wherein the arm assembly is adjustable relative to the central body such that each nozzle assembly may be aligned with a row of seeds or plants independently of a position of the rotatable track assemblies relative to the row of seeds or plants; and
a control system configured for remote-control or autonomous operation of the vehicle platform, wherein the vehicle platform is formed without a cab for an operator.

2. The vehicle platform according to claim 1 , further comprising:
a support beam supporting the plurality of nozzle assemblies, wherein the arm assembly comprises a first end and a second end opposite the first end, the first end pivotally coupled to the central body and the second end coupled to the support beam; and
wherein a first arm spaced apart and generally parallel to a second arm, the first arm and the second arm each having a primary pivot point about a generally vertical axis near the central body, the first arm and the second arm each having a secondary pivot point about a generally vertical axis near the support beam.

3. The vehicle platform according to claim 2 wherein the first arm, the second arm, and the support beam form three sides of a substantially trapezoidal structure and wherein a fourth side of the trapezoidal structure is optionally formed by a side of the central body.

4. The vehicle platform according to claim 2 , wherein the support beam extends in a transverse direction that is generally perpendicular to a longitudinal axis of the central body in a forward direction of travel of the vehicle.

5. The vehicle platform according to claim 1 , further comprising:
a tank for holding pressurized fluid or fluid to be pumped;
a plurality of supply lines for supplying the plurality of nozzle assemblies with a pumped or pressurized fluid; and
a manifold for directing the pumped or pressurized fluid to one or more nozzles of each nozzle assembly, wherein each nozzle assembly includes a pair of nozzles facing in opposite directions.

6. The vehicle platform according to claim 1 , further comprising:
a pair of tactile arms extending from respective pair of adjustable legs, each tactile arm capable of pivoting about a generally vertical axis near a corresponding adjustable leg;
a magnet secured or embedded in each tactile arm;
a magnetic field sensor spaced apart from the tactile arm for generating a tactile signal or tactile data representative of the position of the tactile arm versus time in response to contact of the tactile arm with one or more plants in a row or the absence of one or more plants in a row; and
wherein the control system further comprises a data processor for determining a position of the central body or vehicle with respect to one or more plants in a row based on the generated tactile signal or tactile data.

7. The vehicle platform according to claim 1 , wherein the central body has a first side and a second side spaced apart from the first side by a fixed known distance, wherein a first location-determining receiver is associated with the first side and wherein a second location determining receiver is associated with the second side, the first location-determining receiver, alone or together with second location-determining receiver configured to determine a position or angular orientation in the horizontal plane of the Earth of the vehicle or central body with respect to a reference angle, such as magnetic North.

8. The vehicle platform according to claim 1 , wherein the central body has central hollow region associated with its lower side, and wherein the central hollow region is adapted to receive removably a tank for holding fluid, such as a crop input to be sprayed or a seed to be planted.

9. The vehicle platform according to claim 1 wherein each track assembly is independently drivable or rotatable by a drive unit, such as an electric motor or a hydraulic motor.

10. The vehicle platform according to claim 1 , wherein each track assembly comprises:
an outer belt or linked chains that forms a track or tread that can move or turn the vehicle with respect to the ground;
a drive wheel associated with a rotational energy source, such as an electric motor or hydraulic motor, the drive wheel engaging with an inner surface of the outer belt;
a pair of idler wheels for engaging the inner surface of the belt and for rotating with the belt; a lower support for supporting the idler wheels, where the idler wheels are rotatable with respect to the lower support;
an upper hub for supporting the drive wheel, the drive wheel rotatable with respect to the upper hub;
an idler actuator extending between the lower support and the upper hub to adjust a tread area or longitudinal dimension of the tread in contact with the ground; and
tensioner wheels pivotably mounted to the upper hub for rotation about a pivot point in a generally horizontal axis, the tensioner wheels resiliently biased to maintain a target tension on the outer belt against the drive wheel, the idler wheels and the tensioner wheels.

11. The vehicle platform according to claim 10 , further comprising a resilient member, a spring or an adjustable torsion bar for the target tension on the outer belt.

12. The vehicle platform according to claim 11 , wherein the resilient member or the spring can be compressed by a threaded rod with a mechanical linkage that connects to the spring for adjustment of the target tension.

13. The vehicle platform according to claim 1 , wherein each of adjustable legs has a cross section selected from a substantially circular cross section, a substantially elliptical cross section, a substantially rectangular cross section, or a substantially polygonal cross section.

14. The vehicle platform according to claim 1 , wherein each adjustable leg is hollow and has an actuator located coaxially within a corresponding adjustable leg, wherein the actuator is a hydraulic actuator or a linear motor.

15. The vehicle platform according to claim 1 , wherein the control system is adapted to adjust a height of the adjustable legs such that a horizontal plane of the central body is level, with respect to the ground, based on sensor data from a motion sensor, an accelerometer, a set of accelerometers, a gyroscope, an inertial measurement unit, or an inertial measurement unit associated with a location-determining receiver.

16. The vehicle platform according to claim 1 , wherein the control system is adapted to automatically change a height by adjusting a height of the adjustable legs responsive to crop height, plant maturity, or a time difference between a planting date and a current date of a crop when the vehicle is active in a field.

17. The vehicle platform according to claim 1 , wherein the control system is adapted to dynamically adjust a track contact area in contact with the ground in response to observed vehicle ground speed with respect to a threshold speed and in response to an observed yaw rate change with respect to a threshold yaw rate change.

18. The vehicle platform according to claim 17 , wherein the control system is adapted to reduce or minimize the track contact area in contact with the ground for a time period if a vehicle ground speed of the vehicle platf

Assignees

• Deere & Co

Inventors

• Connell Richard
• Rich Shayne C
• Mcdonald Brandon M
• Lingenfelter Newton L
• Miller Michael M
• Thompson Austin N

Classifications

• A01B51/026

  of the automotive vehicle type, e.g. including driver accommodation (A01B51/023 takes precedence) · CPC title

• A01C7/208

  Chassis; Coupling means to a tractor or the like; Lifting means; Side markers · CPC title

• A01C5/064

  with rotating tools · CPC title

• B62D55/12

  Arrangement, location, or adaptation of driving sprockets · CPC title

• A01B63/008 Primary

  Vertical adjustment of tools (A01B63/10 takes precedence) · CPC title