Implement position control system and method for same

Patent metadata

Field	Value
Publication number	US-11470756-B2
Application number	US-202017084044-A
Country	US
Kind code	B2
Filing date	Oct 29, 2020
Priority date	Jul 12, 2018
Publication date	Oct 18, 2022
Grant date	Oct 18, 2022

Abstract

An automated implement control system includes one or more distance sensors configured for coupling with an agricultural implement. The one or more distance sensors are configured to measure a ground distance and a canopy distance from the one or more sensors to the ground and crop canopy, respectively. An implement control module is in communication with the one or more distance sensors. The implement control module controls movement of the agricultural implement. The implement control module includes a confidence module configured to determine a ground confidence value based on the measured ground distance and a canopy confidence value based on the measured canopy distance. A target selection module of the implement control module is configured to select one of the measured ground or canopy distances as a control basis for controlling movement of the agricultural implement based on the comparison of confidence values.

First claim

What is claimed is:

1. An automated implement control system for controlling movement of an agricultural implement comprising:
one or more distance sensors configured for coupling with an agricultural implement, the one or more distance sensors each include a sensing element configured to measure at least one of a ground distance or a crop distance to the ground or crop, respectively;
a model analysis component configured to determine a predicted distance to the ground or crop according to kinematic characteristics of the agricultural implement;
an implement control module in communication with the one or more distance sensors, the implement control module controls movement of the agricultural implement, and the implement control module includes:
at least one confidence module configured to determine a confidence value based on the measured ground or crop distance;
a control selection module configured to select the predicted distance or one of the measured ground or crop distance as a control basis for controlling movement of the agricultural implement, the control selection module selection based on assessment of the of the confidence value of the measured ground or crop distance; and
an actuator module configured to control movement of the agricultural implement according to the selected control basis.

2. The automated implement control system of claim 1 , wherein the model analysis component is configured to determine at least one of a ground predicted distance or a crop predicted distance based on whether the measured distance is to the ground or the crop.

3. The automated implement control system of claim 1 , wherein the sensing element is configured to measure the ground distance and the crop distance.

4. The automated implement control system of claim 3 , wherein the at least one confidence module is configured to determine the confidence values of each of the measured ground and crop distances.

5. The automated implement control system of claim 4 , wherein the control selection module is configured to select one of the predicted distance, the measured ground distance or the measured crop distance as the control basis based on assessment of the confidence values of each of the measured ground and crop distances.

6. The automated implement control system of claim 1 , wherein the control selection module assessment of the confidence value includes a comparator configured to compare the confidence value with a low confidence threshold.

7. The automated implement control system of claim 6 , wherein the low confidence threshold is a static threshold.

8. The automated implement control system of claim 6 , wherein the control selection module is configured to select the predicted distance as the control basis if the confidence value is below the low confidence threshold.

9. The automated implement control system of claim 1 , wherein the at least one ground distance, crop distance or the predicted distance are determined to the ground or crop relative to the one or more distance sensors.

10. The automated implement control system of claim 1 , wherein the model analysis component is configured to determine the predicted distance according to the kinematic characteristics including one or more of implement dimensions, implement orientation, vehicle dimensions, vehicle orientation, implement orientation rates of change, vehicle orientation rates of change, or sensor position.

11. An automated implement control system for controlling an implement position comprising:
one or more distance sensors configured for coupling with an agricultural implement, the one or more distance sensors are configured to measure a distance to ground or a crop; and
an implement control module in communication with the one or more distance sensors, the implement control module includes:
a control selection module configured to select a predicted distance to the ground or the crop or the measured distance to the ground or the crop as a control basis according to an assessment of the measured distance;
a preference module having a specified target distance of the agricultural implement or the one or more distance sensors relative to the ground or the crop;
a target and deviation module configured to determine deviation of an implement position based on the control basis and the specified target distance; and
an actuator module configured to control movement of the agricultural implement according to the determined deviation.

12. The automated implement control system of claim 11 comprising a model analysis component configured to determine the predicted distance to the ground or crop according to kinematic characteristics of the agricultural implement.

13. The automated implement control system of claim 12 , wherein the model analysis component is configured to determine the predicted distance according to the kinematic characteristics including one or more of implement dimensions, implement orientation, vehicle dimensions, vehicle orientation, implement orientation rates of change, vehicle orientation rates of change, or sensor position.

14. The automated implement control system of claim 11 , wherein the one or more distance sensors are configured to measure the ground distance and the crop distance.

15. The automated implement control system of claim 11 comprising a confidence module configured to determine a confidence value of the measured distance to the ground or the crop;
the control selection module includes a comparator, and the comparator is configured to assess the measured distance based on the confidence value compared with a low confidence threshold; and
the control selection module is configured to select one of the predicted distance or the measured distance as the control basis based on the comparison of the confidence value with the low confidence threshold.

16. The automated implement control system of claim 15 , wherein the low confidence threshold is a static threshold.

17. The automated implement control system of claim 15 , wherein the control selection module is configured to select the predicted distance as the control basis if the confidence value is below the low confidence threshold.

18. The automated implement control system of claim 11 , wherein the measured or the predicted distance are determined to the ground or crop relative to the one or more distance sensors.

19. A method for controlling an implement position of an agricultural implement comprising:
measuring a distance to ground or a crop;
providing a predicted distance to the ground or the crop, whether the predicted distance is to the ground or the crop corresponds to the measured distance;
selecting a control basis for controlling movement of the agricultural implement, selecting includes:
determining a confidence value for the measured distance;
comparing the confidence value with a low confidence threshold; and
assigning one of the measured distance or the predicted distance as the control basis according to the comparison;
repeating selection of the control basis with ongoing measuring of the distance; and
controlling the implement position according to either of the measured distance or the predicted distance assigned as the control basis.

20. The method of claim 19 , wherein assigning one of the measured distance or the predicted distance as the control basis according to the comparison includes assigning the predicted as the control basis if the confidence value is less than the low confidence threshold.

21

Assignees

• Raven Ind Inc

Inventors

• Weidenbach Alex
• Preheim John D

Classifications

• A01M7/0089 Primary

  Regulating or controlling systems (the delivery being related to the movement of a vehicle B05B9/06) · CPC title

• A01D41/141

  Automatic header control · CPC title

• A01B63/24 Primary

  Tools or tool-holders adjustable relatively to the frame · CPC title

• A01M7/0057

  with active regulation of the boom position · CPC title

• A01C23/047

  Spraying of liquid fertilisers · CPC title