公开(公告)号：WO2010083496A1

公开(公告)日：2010-07-22

申请号：PCT/US2010/021334

申请日：2010-01-19

Applicant: HEMISPHERE GPS LLC ,  McCLURE, John, A. ,  COLLINS, Dennis, M.

Inventor： McCLURE, John, A. ,  COLLINS, Dennis, M.

IPC: H04N7/00

CPC classification number: A01B69/008 ,  A01B79/005 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A raster-based system for GNSS guidance includes a vehicle-mounted GNSS antenna and receiver. A processor provides guidance and/or autosteering commands based on GNSS- defϊned pixels forming a grid representing an area to be treated, such as a field. Specific guidance and chemical application methods are provided based on the pixel-defined treatment areas and preprogrammed chemical application prescription maps, which can include variable chemical application rates and dynamic control of the individual nozzles of a sprayer.

Abstract translation: 用于GNSS导航的基于光栅的系统包括车载GNSS天线和接收器。 处理器基于形成表示待处理区域的网格（例如场）的GNSS定义像素提供指导和/或自动转向命令。 基于像素定义的处理区域和预编程的化学应用处方图提供了具体的指导和化学应用方法，其中可以包括喷雾器各个喷嘴的可变化学施用率和动态控制。

公开(公告)号：WO2010005945A1

公开(公告)日：2010-01-14

申请号：PCT/US2009/049776

申请日：2009-07-07

Applicant: HEMISPHERE GPS LLC ,  FELLER, Walter, J. ,  WHITEHEAD, Micheal, L. ,  MCCLURE, John, A.

Inventor： FELLER, Walter, J. ,  WHITEHEAD, Micheal, L. ,  MCCLURE, John, A.

IPC: G01C21/00

CPC classification number: A01B69/007 ,  G01C21/165 ,  G01S5/0247 ,  G01S19/14 ,  G01S19/53 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command.

Abstract translation: 一种用于车辆转向控制的全球导航卫星传感器系统（GNSS）和陀螺仪控制系统，其包括GNSS接收器和固定间隔的天线，以确定车辆位置，速度以及行驶角，俯仰角和侧倾角 基于载波相位差。 滚动角度有助于校正当车辆基于对地面的偏移和滚动角度而移动时由天线的运动产生的横向运动引起的位置误差。 该系统还包括被配置为接收车辆位置，航向以及滚动和俯仰中的至少一个的控制系统，并被配置为产生对车辆转向系统的转向命令。 该系统包括用于确定相对于多个轴的系统姿态变化的陀螺仪，用于与GNSS导航的定位信息集成以确定车辆位置，速度，转弯角度，姿态和其他操作特性。 车辆控制方法包括以下步骤：使用GNSS定位来计算车辆的位置和航向，以及用于确定用于产生转向命令的车辆姿态的速率陀螺仪。

公开(公告)号：WO2009126587A1

公开(公告)日：2009-10-15

申请号：PCT/US2009/039686

申请日：2009-04-06

Applicant: HEMISPHERE GPS LLC ,  MCCLURE, John, A. ,  TIMM, John, T.E. ,  COLLINS, Dennis, M. ,  STICHTER, Aaron, C.

Inventor： MCCLURE, John, A. ,  TIMM, John, T.E. ,  COLLINS, Dennis, M. ,  STICHTER, Aaron, C.

IPC: G01C21/00

CPC classification number: G05D1/0202 ,  G01C21/00 ,  G01S19/41 ,  G01S19/53 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A GNSS-based, bidirectional mobile communication system includes a mobile unit, such as a vehicle or a personal mobile system, with GNSS (e g, GPS) and Internet (worldwide web) access A base station also has GNSS and Internet access, and provides differential (e g, DGPS) correctors to the mobile unit via the Internet The Internet communications link enables audio and/or video (AV) clips to be recorded and played back by the mobile unit based on its GNSS location The playback function can be triggered by the mobile unit detecting a predetermined GNSS location associated with a particular clip, which can be GNSS position-stamped when recorded Alternatively, clips can be generated by utilities and loaded by the application either from a personal computer or automatically over the Internet Moreover, maps, vehicle travel paths and images associated with particular GNSS-defined locations, such as way points, can be updated and position-stamped on the data server.

Abstract translation: 基于GNSS的双向移动通信系统包括具有GNSS（例如，GPS）和因特网（全球网络）接入的诸如车辆或个人移动系统的移动单元。基站还具有GNSS和因特网接入，并且提供 互联网通信链路使音频和/或视频（AV）剪辑能够由移动单元根据其GNSS位置进行记录和重放。播放功能可以由 移动单元检测与特定剪辑相关联的预定GNSS位置，其可以在记录时被GNSS定位戳。或者，可以由实用程序生成剪辑，并由应用程序从个人计算机或通过互联网自动加载。另外， 可以在数据服务器上更新车辆行驶路径和与特定GNSS定义位置（例如路点）相关联的图像并将其定位。

公开(公告)号：WO2008150573A1

公开(公告)日：2008-12-11

申请号：PCT/US2008/059640

申请日：2008-04-08

Applicant: DEERE & COMPANY ,  SHUFENG, Han ,  PICKETT, Terence, Daniel ,  REID, John, Franklin

Inventor： SHUFENG, Han ,  PICKETT, Terence, Daniel ,  REID, John, Franklin

IPC: G05D1/00

CPC classification number: G06K9/00798 ,  A01B69/007 ,  G01S19/48 ,  G05D1/0246 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A preliminary guidance data is determined for the vehicle during an evaluation time window. A vision module (22) collects vision data from a vision module (22) during the evaluation time window. Vision guidance data is determined from the collected vision data. A vision quality estimator (20, 120 or 220) estimates vision quality data for at least one of the vision data and the vision guidance data during the evaluation time window. The vision quality data is based on a cross correlations and an r-squared value. An adjuster (110) adjusts the preliminary guidance data to a revised guidance data based on the vision guidance data such that the revised guidance data is registered with or generally coextensive with the vision guidance data, if the vision quality data exceeds a minimum threshold.

Abstract translation: 在评估时间窗口期间确定车辆的初步指导数据。 视觉模块（22）在评估时间窗口期间从视觉模块（22）收集视觉数据。 视觉指导数据是从收集的视力数据中确定的。 在评估时间窗口期间，视觉质量估计器（20,120或220）估计视觉数据和视觉指导数据中的至少一个的视觉质量数据。 视觉质量数据基于互相关和r平方值。 如果视觉质量数据超过最小阈值，则调节器（110）基于视觉指导数据将初步指导数据调整为修改的指导数据，使得修改的指导数据与视觉指导数据一起登记或者与视觉指导数据大致共同延伸。

公开(公告)号：WO2008005195A2

公开(公告)日：2008-01-10

申请号：PCT/US2007014483

申请日：2007-06-21

Applicant: DEERE & CO ,  REKOW ANDREW KARL WILHEM

Inventor： REKOW ANDREW KARL WILHEM

IPC: G01S19/48 ,  G06F19/00

CPC classification number: E02F9/2045 ,  A01B69/004 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A global positioning system (GPS) based navigation and steering control system (100 in FIG. 1) for ground vehicles, in particular, agricultural ground vehicles (102) such as tractors, combines, sprayers, seeders, or the like, calculates instantaneous placement corrections to achieve desired towed implement (106) placement on curved paths (104), and a method for same.

Abstract translation: 用于地面车辆的全球定位系统（GPS）导航和转向控制系统（图1中的100），特别是诸如拖拉机，组合机，喷雾器，播种机等的农用地面车辆（102）计算瞬时放置 校正以实现在弯曲路径（104）上的期望的牵引器（106）放置，及其方法。

公开(公告)号：WO2007048029A2

公开(公告)日：2007-04-26

申请号：PCT/US2006/041227

申请日：2006-10-20

Applicant: DEERE & COMPANY ,  IROBOT CORPORATION ,  ALLARD, James ,  WEINHOLD, Kathleen, A. ,  NORRIS, William, Robert ,  CATALFANO, Anthony, Francis

Inventor： ALLARD, James ,  WEINHOLD, Kathleen, A. ,  NORRIS, William, Robert ,  CATALFANO, Anthony, Francis

IPC: G05D1/02

CPC classification number: G05D1/0088 ,  B60T7/22 ,  B60W30/09 ,  B60W30/095 ,  B62D1/286 ,  G05B19/414 ,  G05D1/0061 ,  G05D1/021 ,  G05D1/024 ,  G05D1/0246 ,  G05D1/0251 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0201 ,  G05D2201/0202 ,  G05D2201/0209 ,  G05D2201/0213 ,  G05D2201/0216 ,  H04L67/12 ,  Y10S901/01 ,  Y10S901/47

Abstract: Embodiments of the invention provide systems and methods for obstacle avoidance. In some embodiments, a robotically controlled vehicle capable of operating in one or more modes may be provided. Examples of such modes include teleoperation, waypoint navigation, follow, and manual mode. The vehicle may include an obstacle detection and avoidance system capable of being implemented with one or more of the vehicle modes. A control system may be provided to operate and control the vehicle in the one or more modes. The control system may include a robotic control unit and a vehicle control unit.

Abstract translation: 本发明的实施例提供用于避障的系统和方法。 在一些实施例中，可以提供能够以一种或多种模式操作的机器人控制的车辆。 这种模式的例子包括遥控操作，航点导航，跟随和手动模式。 车辆可以包括能够用一个或多个车辆模式实施的障碍物检测和避免系统。 可以提供控制系统来以一种或多种模式操作和控制车辆。 控制系统可以包括机器人控制单元和车辆控制单元。

公开(公告)号：WO2006060854A1

公开(公告)日：2006-06-15

申请号：PCT/AU2005/001841

申请日：2005-12-07

Applicant: LAMBERT, Ronald, Lewis ,  LAMBERT, Jeremy, Duncan

Inventor： LAMBERT, Ronald, Lewis ,  LAMBERT, Jeremy, Duncan

IPC: A01G25/09 ,  B05B3/18 ,  A01B69/00 ,  G05D1/00

CPC classification number: B05B3/18 ,  A01B69/008 ,  A01G25/09 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0201 ,  Y02A40/237

Abstract: This invention relates to a robotic transporter (2) for supporting and moving over land functional apparatus (3) for operation thereof, as well as a land machine (1 ) incorporating the transporter (2). The robotic land transporter (2) includes a frame (4) for supporting functional apparatus (3) for operation; ground engaging means (10) on the frame (4) for permitting multi-axis movement of the transporter (2) over ground; and control means (6) operatively connected to the ground engaging means (10) for operating the ground engaging means (10) so as to cause the transporter (2) to controllably move over the ground. In one exemplary application, the transporter (2) is used to support and movement of irrigation apparatus (3) for spray irrigation of broad acre fields and crops.

Abstract translation: 本发明涉及一种用于支撑和移动用于其操作的陆地功能装置（3）的机器人运输机（2），以及包括运输机（2）的平地机（1）。 机器人陆路运输机（2）包括用于支撑用于操作的功能装置（3）的框架（4） 在框架（4）上的地面接合装置（10），用于允许运输机（2）在地面上的多轴运动; 以及可操作地连接到地面接合装置（10）的用于操作地面接合装置（10）以便使运送器（2）可控地移动到地面上的控制装置（6）。 在一个示例性应用中，运输机（2）用于支撑和移动用于广阔的英亩田和作物的喷灌的灌溉设备（3）。

公开(公告)号：WO2006060040A1

公开(公告)日：2006-06-08

申请号：PCT/US2005/024916

申请日：2005-07-12

Applicant: TRIMBLE NAVIGATION LIMITED ,  GIBSON, Mark ,  MANNING, Charles ,  LANGE, Arthur, F.

Inventor： GIBSON, Mark ,  MANNING, Charles ,  LANGE, Arthur, F.

IPC: G05D1/02 ,  B62D1/28

CPC classification number: G05D1/0278 ,  A01B69/008 ,  G05D1/0061 ,  G05D1/0272 ,  G05D2201/0201

Abstract: Embodiments here described present methods and systems for implementing automatic vehicle control with parameter-driven disengagement. In one embodiment, a course for a vehicle is determined along which the vehicle is to be automatically guided. An indication is received that a pre-defined parameter has been exceeded. In response to receiving the indication, the generation of vehicle control commands is then suspended.

Abstract translation: 本文所述的实施例描述了用参数驱动脱开来实现自动车辆控制的方法和系统。 在一个实施例中，确定车辆的路线，车辆将被自动地引导到该路线。 接收到已经超过预定义参数的指示。 响应于接收到该指示，停止生成车辆控制命令。

公开(公告)号：WO2005070127A2

公开(公告)日：2005-08-04

申请号：PCT/US2005/000748

申请日：2005-01-11

Applicant: TRIMBLE NAVIGATION LTD.

Inventor： ARAL, Gurcan

IPC: A01B59/043 ,  E02F3/76 ,  G01C21/00 ,  G01C21/20 ,  G01C22/00 ,  G05D1/02 ,  G06G7/78 ,  H04B7/185

CPC classification number: G05D1/0278 ,  G01C21/20 ,  G05D2201/0201

Abstract: A method of steering a vehicle (28) along a predetermined or real time path by using a steering control algorithm (16). The vehicle (28) includes a navigation system (13) and a navigation antenna (12). The navigation antenna (12) is mounted on the vehicle (28) at an optimum antenna position, whereas the steering control algorithm (16) assumes a nominal antenna position at a predetermined reference point. The method comprises the following steps: (A) obtaining a set of positioning data of the vehicle (28) by using the navigation system (13) and by using the navigation antenna (12) mounted at the optimum antenna position; (B) modifying the set of positioning data of the vehicle (28); (C) measuring a steering angle(s) of the front wheels of the vehicle (28) relative to a predetermined reference direction(s); (D) calculating a correction(s) to the measured steering angle(s); and (E) performing a steering action by using the correction(s) to the measured steering angle(s) to move the vehicle along the predetermined or real time path.

Abstract translation: 一种通过使用转向控制算法（16）沿预定或实时路径转向车辆（28）的方法。 车辆（28）包括导航系统（13）和导航天线（12）。 导航天线（12）以最佳天线位置安装在车辆（28）上，而转向控制算法（16）在预定参考点处呈现标称天线位置。 该方法包括以下步骤：（A）通过使用导航系统（13）和使用安装在最佳天线位置处的导航天线（12）获得车辆（28）的一组定位数据; （B）修改车辆（28）的定位数据集合; （C）相对于预定的参考方向测量车辆（28）的前轮的转向角度; （D）计算对所测量的转向角的校正; 以及（E）通过使用对所测量的转向角的校正来执行转向动作，以沿着预定或实时路径移动车辆。

公开(公告)号：WO00058801A1

公开(公告)日：2000-10-05

申请号：PCT/US2000/008132

申请日：2000-03-24

IPC: A01B69/04 ,  G05D1/02 ,  A01B79/00

CPC classification number: G05D1/0278 ,  A01B69/008 ,  G05D1/0227 ,  G05D1/027 ,  G05D1/0274 ,  G05D2201/0201

Abstract: A system and method for providing autoguidance for an agricultural machine (102). The system includes a main machine control module (204) to control steering of the agricultural machine (102), a position determining system (208), and a guidance map (222). The system also includes an autoguidance control module (212) to receive a position signal from the position determining system (208) and data from the guidance map (222), and responsively determine a current position and a desired path to traverse by the agricultural machine (102), wherein the desired path (304) to traverse is determined with respect to rows of crop in a field, and wherein the main machine control module (204) is adapted to receive a control signal from the autoguidance control module (212) and control steering of the agricultural machine (102) in response to activation of the autoguidance control module (212) control signal.

Abstract translation: 一种用于为农用机器（102）提供自动诊断的系统和方法。 该系统包括用于控制农业机器（102）的转向的主机控制模块（204），位置确定系统（208）和引导图（222）。 该系统还包括一个自动导航控制模块（212），用于接收来自位置确定系统（208）的位置信号和来自引导图（222）的数据，并且响应地确定当前位置和由农业机器穿过的所需路径 （102），其中相对于场中的作物行确定要横越的所需路径（304），并且其中所述主机控制模块（204）适于从所述自动导航控制模块（212）接收控制信号， 以及响应于所述自动导航控制模块（212）控制信号的激活来控制所述农业机器（102）的转向。