Position monitoring for agricultural system

Patent metadata

Field	Value
Publication number	US-12207579-B2
Application number	US-202318347762-A
Country	US
Kind code	B2
Filing date	Jul 6, 2023
Priority date	May 15, 2019
Publication date	Jan 28, 2025
Grant date	Jan 28, 2025

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 comprising:
a controller of a work vehicle of the agricultural system, wherein the controller comprises a memory and a processor, and 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 first reference element and a second reference element on the other of the work vehicle or the agricultural implement;
determine an orientation of the agricultural implement relative to the work vehicle by determining a yaw of the agricultural implement relative to the work vehicle based at least in part on a size of the first reference element relative to a size of the second reference element; and
control an angle of the agricultural implement relative to the work vehicle based at least in part on the orientation of the agricultural implement relative to the work vehicle.

2. 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 by determining a roll of the agricultural implement relative to the work vehicle based at least in part on a position of the first reference element relative to a position of the second reference element.

3. The position monitoring system of claim 1 , wherein the first reference element comprises a reflector, the second reference element comprises a reflector, or each of the first and second reference elements comprises a respective reflector.

4. The position monitoring system of claim 1 , comprising a light source configured to illuminate the first reference element, the second reference element, or the first and second reference elements.

5. The position monitoring system of claim 1 , wherein the controller is configured to control the angle of the agricultural implement relative to the work vehicle by 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.

6. 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 by determining a pitch of the agricultural implement relative to the work vehicle based at least in part on a shape of the first reference element and a shape of the second reference element.

7. A position monitoring system for an agricultural system, comprising:
a first reference element and a second reference element configured to be disposed on one of a work vehicle or an agricultural implement coupled to the work vehicle;
a sensor configured to be disposed on the other of the work vehicle or the agricultural implement; and
a controller comprising a memory and a processor, wherein the controller is configured to:
receive an image of the first reference element and the second reference element captured by the sensor;
determine an orientation of the agricultural implement relative to the work vehicle by determining a yaw of the agricultural implement relative to the work vehicle based at least in part on a size of the first reference element relative to a size of the second reference element; and
control an angle of the agricultural implement relative to the work vehicle based at least in part on the orientation of the agricultural implement relative to the work vehicle.

8. The position monitoring system of claim 7 , wherein the sensor comprises a camera, and the camera is configured to capture the image of the first reference element and the second reference element.

9. The position monitoring system of claim 7 , wherein the first reference element comprises a sticker, a protrusion, or both;
the second reference element comprises a sticker, a protrusion, or both; or
each of the first and second reference elements comprises a sticker, a protrusion, or both.

10. The position monitoring system of claim 7 , wherein the controller is configured to determine the orientation of the agricultural implement relative to the work vehicle by determining a roll of the agricultural implement relative to the work vehicle based at least in part on a position of the first reference element relative to a position of the second reference element.

11. The position monitoring system of claim 7 , wherein the first reference element and the second reference element are configured to be disposed on the agricultural implement, and the sensor is configured to be disposed on the work vehicle.

12. The position monitoring system of claim 7 , wherein the first reference element has a circular shape, the second reference element has a circular shape, or each of the first and second reference elements has a circular shape.

13. The position monitoring system of claim 7 , wherein the controller is configured to determine the orientation of the agricultural implement relative to the work vehicle by determining a pitch of the agricultural implement relative to the work vehicle based at least in part on a shape of the first reference element and a shape of the second reference element.

14. At least one non-transitory computer readable medium comprising executable instructions that, when executed by a processor, are configured to 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 first reference element and a second reference element on the other of the work vehicle or the agricultural implement;
determine an orientation of the agricultural implement relative to the work vehicle by determining a yaw of the agricultural implement relative to the work vehicle based at least in part on a size of the first reference element relative to a size of the second reference element; and
control an angle of the agricultural implement relative to the work vehicle based at least in part on the orientation of the agricultural implement relative to the work vehicle.

15. The at least one non-transitory computer readable medium of claim 14 , wherein the executable instructions, when executed by the processor, are configured to cause the processor to determine the orientation of the agricultural implement relative to the work vehicle by determining a roll of the agricultural implement relative to the work vehicle based at least in part on a position of the first reference element relative to a position of the second reference element.

16. The at least one non-transitory computer readable medium of claim 14 , wherein the executable instructions, when executed by the processor, are configured to cause the processor to control the angle of the agricultural implement relative to the work vehicle by at least one of instructing wheels of the work vehicle to rotate, instructing wheels of the agricultural implement to rotate, or instructing an engagement tool of the agricultural implement to move.

17. The at least one non-transitory computer readable medium of claim 14 , wherein the executable instructions, when executed by the processor, are configured to cause the processor to determine the orientation of the agricultural implement relative to the work vehicle by determining a pitch of the agricultural implement relative to the work vehicle based at least in part on a shape of the first reference element and a shape of the second reference element.

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

• A01B63/002

  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

• A01B49/027

  with a rotating, soil working support element, e.g. a roller · CPC title