Position monitoring for agricultural system

Patent metadata

Field	Value
Publication number	US-11770992-B2
Application number	US-201916412588-A
Country	US
Kind code	B2
Filing date	May 15, 2019
Priority date	May 15, 2019
Publication date	Oct 3, 2023
Grant date	Oct 3, 2023

Abstract

A position monitoring system for an agricultural system includes a controller having a memory and a processor. The controller is configured to receive a remote sensor signal from a remote sensor indicative of a state of a reference element on one of a work vehicle or an agricultural implement coupled to the work vehicle, determine an orientation of the agricultural implement relative to the work vehicle based at least in part on the remote sensor signal, and output a control signal to control operation of the agricultural system based at least in part on the orientation of the agricultural implement relative to the work vehicle.

First claim

The invention claimed is:

1. A position monitoring system for an agricultural system, the position monitoring system comprising:
a controller of a work vehicle of the agricultural system, wherein the controller comprises a memory and a processor, and wherein the controller is configured to:
receive, from a sensor on one of the work vehicle or an agricultural implement coupled to the work vehicle, an image of a reference element on the other of the work vehicle or the agricultural implement coupled to the work vehicle;
compare the image of the reference element to a target image of the reference element; and
control an orientation of the agricultural implement relative to the work vehicle based at least in part on the comparison between the image of the reference element and the target image of the reference element;
wherein the comparison comprises determining a geometric shape of the image of the reference element and comparing the geometric shape of the image of the reference element to a geometric shape of the target image of the reference element;
wherein the comparison comprises determining a size of the image of the reference element and comparing the size of the image of the reference element to a size of the target image of the reference element,
or a combination thereof.

2. The position monitoring system of claim 1 , comprising a light source, wherein operation of the light source illuminates the reference element.

3. The position monitoring system of claim 1 , wherein controlling the orientation of the agricultural implement relative to the work vehicle comprises instructing wheels of the work vehicle to rotate, instructing wheels of the agricultural implement to rotate, instructing an engagement tool of the agricultural implement to move, or any combination thereof.

4. The position monitoring system of claim 1 , wherein the controller is configured to:
determine the orientation of the agricultural implement relative to the work vehicle based on the image of the reference element;
determine a target orientation of the agricultural implement relative to the work vehicle, wherein the target orientation of the agricultural implement relative to the work vehicle corresponds to the target image of the reference element; and
adjust the orientation of the agricultural implement relative to the work vehicle toward the target orientation of the agricultural implement relative to the work vehicle.

5. The position monitoring system of claim 1 , wherein the controller is configured to control the orientation of the agricultural implement relative to the work vehicle to adjust the image of the reference element toward the target image of the reference element.

6. A position monitoring system for an agricultural system, comprising:
a reference element disposed on one of a work vehicle or an agricultural implement coupled to the work vehicle;
a sensor disposed on the other of the work vehicle or the agricultural implement; and
a controller of the agricultural implement, wherein the controller comprises a memory and a processor, and wherein the controller is configured to:
receive an image of the reference element captured by the sensor;
compare the image of the reference element to a target image of the reference element; and
control an orientation of the agricultural implement relative to the work vehicle based at least in part on the comparison between the image of the reference element and the target image of the reference element;
wherein the comparison comprises determining a geometric shape of the image of the reference element and comparing the geometric shape of the image of the reference element to a geometric shape of the target image of the reference element;
wherein the comparison comprises determining a size of the image of the reference element and comparing the size of the image of the reference element to a size of the target image of the reference element,
or a combination thereof.

7. The position monitoring system of claim 6 , wherein the sensor comprises a camera, and operation of the camera captures the image of the reference element.

8. The position monitoring system of claim 6 , wherein the reference element comprises a sticker, a protrusion, or both.

9. The position monitoring system of claim 6 , comprising a plurality of reference elements that includes the reference element, wherein the controller is configured to receive an image comprising the plurality of reference elements, the target image comprises a target positioning of the plurality of reference elements, and the controller is configured to compare a positioning of the plurality of reference elements of the image with the target positioning of the plurality of reference elements of the target image.

10. The position monitoring system of claim 6 , wherein the reference element is disposed on the agricultural implement of the agricultural system, and the sensor is disposed on the work vehicle of the agricultural system.

11. The position monitoring system of claim 6 , wherein the controller is configured to determine or receive a calibration correlating the image of the reference element with the orientation of the agricultural implement relative to the work vehicle, and the controller is configured to control the orientation of the agricultural system based at least in part on the calibration.

12. An off-board control system comprising at least one non-transitory computer readable medium comprising executable instructions that, when executed by a processor, cause the processor to:
receive, from a sensor on one of a work vehicle or an agricultural implement coupled to the work vehicle, an image of a reference element on the other of the work vehicle or the agricultural implement coupled to the work vehicle;
compare the image of the reference element to a target image of the reference element; and
control an orientation of the agricultural implement relative to the work vehicle based at least in part on the comparison between the image of the reference element and the target image of the reference element;
wherein the comparison comprises determining a geometric shape of the image of the reference element and comparing the geometric shape of the image of the reference element to a geometric shape of the target image of the reference element;
wherein the comparison comprises determining a size of the image of the reference element and comparing the size of the image of the reference element to a size of the target image of the reference element,
or a combination thereof.

13. The off-board control system of claim 12 , wherein the executable instructions, when executed by the processor, cause the processor to determine or receive a calibration correlating the image of the reference element with the orientation of the agricultural implement relative to the work vehicle and to control the orientation of the agricultural implement relative to the work vehicle based at least in part on the calibration.

14. The off-board control system of claim 12 , wherein the executable instructions, when executed by the processor, cause the processor to control the orientation of the agricultural implement relative to the work vehicle based at least in part on a difference between the image of the reference element and the target image of the reference element.

15. The off-board control system of claim 14 , wherein the executable instructions, when executed by the processor, cause the processor to rotate an element of the agricultural implement, an element of the work vehicle, or both, based at least in part on the difference between the imag

Assignees

• Cnh Ind America Llc

Inventors

• Dix Peter John

Classifications

• G05D1/81

  Handing over between on-board automatic and on-board manual control · CPC title

• A01B63/14 Primary

  for implements drawn by animals or tractors · CPC title

• A01B63/002

  Devices for adjusting or regulating the position of tools or wheels (preventing overstrain A01B61/00; wheels adjustable relatively to the frame for drawn implements A01B3/16; tools or tool holders adjustable relatively to the frame for drawn implements A01B63/24) · CPC title

• A01B76/00

  Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00 · CPC title

• G05D1/0088

  characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours (using knowledge based models G06N5/00) · CPC title