公开(公告)号：WO2006073471A2

公开(公告)日：2006-07-13

申请号：PCT/US2005017911

申请日：2005-05-23

Applicant: DEERE & CO

Inventor： NELSON FREDERICK WILLIAM ,  SCHICK TROY EUGENE ,  MILLER BYRON KEITH

IPC: G05D1/02 ,  G05D1/08 ,  G06F7/00

CPC classification number: G05D1/0891 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201

Abstract: The present invention is a method for controlling a ground vehicle, for automated steering control of the vehicle or the like. The method of the present invention includes using a GPS receiver or the like and an inertial gyro or the like for providing automated steering control of the ground vehicle. A difference between a measured off-track error and a lateral error command is fed into a lateral error control loop, producing a lateral velocity command. Then, a difference between a measured lateral velocity and the lateral velocity command is fed into a lateral velocity control loop, producing a yaw rate command. Finally, a difference between a measured yaw rate, the yaw rate command, and a curved track yaw rate for the intended path of the vehicle is computed and fed into a yaw rate control loop, producing a valve command for steering the ground vehicle on or towards its intended path. Inputs such as measured wheel slip and the like are used to estimate the steering authority of the steered wheels of the vehicle; the estimated steering authority and/or the actions of a user driving the vehicle are used to adjust the gain of the yaw rate control loop.

Abstract translation: 本发明是用于控制地面车辆的方法，用于车辆等的自动转向控制。 本发明的方法包括使用GPS接收器等和惯性陀螺仪等来提供地面车辆的自动转向控制。 测量的偏离轨道误差和横向误差指令之间的差异被馈送到横向误差控制回路中，从而产生横向速度指令。 然后，测量的横向速度和横向速度命令之间的差值被馈送到横向速度控制环路中，产生横摆率命令。 最后，计算车辆的预期路径的测量偏航速率，偏航速率命令和弯曲航迹偏航速率之间的差异并将其馈送到偏航速率控制回路中，从而产生用于打开地面车辆的阀命令或者 朝着预期的路线前进。 诸如测量的车轮打滑之类的输入被用于估计车辆的转向车轮的转向权限; 估计的驾驶权限和/或驾驶车辆的用户的动作被用于调整偏航率控制回路的增益。

公开(公告)号：WO2005070127A3

公开(公告)日：2005-12-15

申请号：PCT/US2005000748

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）假设在预定参考点处的标称天线位置。 该方法包括以下步骤：（A）通过使用导航系统（13）和通过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）的一组定位数据; （C）测量车辆（28）的前轮相对于预定参考方向的转向角度; （D）计算对所测量的转向角的修正; 和（E）通过使用对所测量的一个或多个转向角的一个或多个修正来执行转向动作，以沿着预定或实时路径移动车辆。

公开(公告)号：WO2005062147B1

公开(公告)日：2005-11-10

申请号：PCT/US2004040955

申请日：2004-12-07

Applicant: TRIMBLE NAVIGATION LTD ,  PRICE GREGORY ROBIN ,  WALLACE GREGORY CRAIG

Inventor： PRICE GREGORY ROBIN ,  WALLACE GREGORY CRAIG

IPC: G05D1/02

CPC classification number: G05D1/0278 ,  G05D2201/0201

Abstract: An integrated guidance system is disclosed. The integrated guidance system includes a position determination system adapted for determining a current position. Additionally, the integrated guidance system further includes a lightbar device adapted for providing a visual representation of the deviation of the current position from a desired path to guide movement along the desired path. Furthermore, the integrated guidance system has a data input device, and a display device for displaying text and graphics. Moreover, the integrated guidance system includes a user interface system adapted for facilitating user interaction by integrating operation of the position determination system, the lightbar device, the data input device, and the display device.

Abstract translation: 披露了一个综合指导系统。 综合引导系统包括适于确定当前位置的位置确定系统。 另外，综合引导系统还包括适于提供当前位置与期望路径的偏差的视觉表示以引导沿着期望路径的移动的光条设备。 此外，综合引导系统具有数据输入装置和用于显示文本和图形的显示装置。 此外，综合引导系统包括用户界面系统，其适于通过集成位置确定系统，灯条设备，数据输入设备和显示设备的操作来促进用户交互。

公开(公告)号：WO2002080652A1

公开(公告)日：2002-10-17

申请号：PCT/AU2002/000451

申请日：2002-04-09

Applicant: AGSYSTEMS PTY LTD ,  MAILLER, Robert, Lindsay

Inventor： MAILLER, Robert, Lindsay

IPC: A01B69/00

CPC classification number: A01B79/005 ,  A01B69/004 ,  G05D1/0278 ,  G05D2201/0201

Abstract: A soil cultivating apparatus including a tractor (2) towing a row cultivator (4) by means of a three-point linkage (6). The row cultivator (4) includes a fixed portion (8) and a moveable portion (10) having soil scarifying tools (18a-18n). The movable portion (10) is laterally moveable relative to the fixed portion (8) by means of linkages (12a-12d) and is effected by a hydraulic actuator (22) under control of tool-bar control system (20) which is able to determine the position of the moveable portion (10) relative to the fixed portion (8) by means of a sensor (24). Mounted upon the moveable portion (10) is a DGPS antenna (26) GPS receiver that forms part of the control system (20). The control system (20) has a microprocessor which operatively executes a stored program. The microprocessor receives data from an intra-rig sensor and from the GPS receiver specifying the absolute coordinate of the movable portion (10) relative to the earth. On the basis of the data received and in accordance with the instructions in the program, the microprocessor generates a series of lateral motion commands which controls the hydraulic actuator (22). An operator of the system may enter coordinates defining a desired line of travel of the movable portion (10) by means of a data entry device. Command prompts and other feedback to the operator are displayed by means of a screen.

Abstract translation: 一种土壤栽培设备，包括通过三点连杆（6）牵引行式耕耘机（4）的拖拉机（2）。 行式耕耘机（4）包括固定部分（8）和具有污垢清理工具（18a-18n）的可移动部分（10）。 可移动部分（10）可通过连杆（12a-12d）相对于固定部分（8）横向移动，并且在工具杆控制系统（20）的控制下由液压致动器（22）实现，该工具杆控制系统 通过传感器（24）确定可移动部分（10）相对于固定部分（8）的位置。 安装在可移动部分（10）上的是形成控制系统（20）的一部分的DGPS天线（26）GPS接收器。 控制系统（20）具有可操作地执行存储的程序的微处理器。 微处理器从钻机内传感器接收数据，并从GPS接收机指定可移动部分（10）相对于地球的绝对坐标。 基于所接收的数据，并且根据程序中的指令，微处理器产生一系列控制液压致动器（22）的侧向运动命令。 系统的操作者可以通过数据输入装置输入定义可移动部分（10）的所需行程的坐标。 通过屏幕显示对操作员的命令提示和其他反馈。

公开(公告)号：WO99049406A1

公开(公告)日：1999-09-30

申请号：PCT/IB1998/000596

申请日：1998-03-26

IPC: G05D1/02 ,  G06F19/00

CPC classification number: G05D1/0257 ,  G05D1/0278 ,  G05D2201/0201 ,  Y02A40/12

Abstract: An improved mobile agricultural products crop input control system including a delay coordinating system (50) particularly adaptable for use in site-specific (precision) farming, wherein selected discrete delay information unique to each on-board crop input storage release point (62), crop input transport system (70), and/or crop input dispensing point (80) is combined with anticipated field reference point data obtained with a machine positioning system, e.g. "Dead Reckoning", GPS (52), and/or radar (54), and a computer (14), to direct independent functioning of selected on-board storage devices (304), material transport systems (70), crop input release point mechanisms (62), and/or dispensing point mechanisms (80) to ensure stored crop inputs are released for a timely combination to achieve a predetermined quantity and prescription of crop inputs delivered to the anticipated field reference point as the crop input applicator machine(s) travels over a predetermined geographic land area.

Abstract translation: 一种改进的移动农产品作物输入控制系统，包括特别适用于特定场所（精确）耕作的延迟协调系统（50），其中每个板载作物输入存储释放点（62）独有的选择的离散延迟信息， 作物输入输送系统（70）和/或作物输入分配点（80）与用机器定位系统获得的预期的场参考点数据组合，例如 引导独立运行所选择的机载存储设备（304），物料运输系统（70），作物输入释放（70），和/或雷达（54）和计算机（14） 放出点机构（62）和/或分配点机构（80）以确保存储的作物输入以便及时组合以实现作为作物输入施用机器（例如， s）在预定的地理区域上行进。

公开(公告)号：WO1997021336A2

公开(公告)日：1997-06-19

申请号：PCT/DE1996002426

申请日：1996-12-13

Applicant: HÖLZL, Hans ,  LÜTTICKEN, Ruth

Inventor： HÖLZL, Hans

IPC: A01B00/00

CPC classification number: G05D1/027 ,  A01B79/005 ,  A01C15/00 ,  G01C21/26 ,  G01S19/14 ,  G05D1/0257 ,  G05D1/0278 ,  G05D2201/0201

Abstract: The invention concerns a method and device for automatically applying fertilizers, in particular fresh sewage sludge material or similar organic fertilizers, onto the ground, in particular onto areas used for agricultural purposes. The device comprises a vehicle for applying the fertilizer, means (13) for holding the fertilizers, means (6, 7) for discharging the fertilizers out of the means (13) and applying them to the ground, and means (5) for controlling the amount of fertilizer to be applied as a function of time or the speed of the vehicle. Means (2, 3) are used to determine the location and speed on the ground using satellite navigation (GPS) and a radar sensor (8) for determining the speed of the vehicle (1). The device further comprises means (9) for determining the vehicle's direction of travel in situations in which the satellite navigation system cannot provide corresponding values for reasons inherent in the system.

Abstract translation: 本发明涉及一种用于肥料的自动应用，特别是新鲜的污水污泥的材料或类似的有机肥料在地面上的装置和方法，特别是在农业用地，具有扩频车辆，具有用于接收所述肥料，装置（6，7），用于装置（13） 从用于接收关于用于控制肥料的输出量的地面和装置（5）的肥料的装置（13）的肥料的应用取决于车辆的时间或速度，其中两个装置（2，3），用于确定位置的 和（9）被用于确定用于情形车辆的方向由卫星导航（GPS）和用于确定所述车辆（1）和装置的速度的雷达传感器（8）的装置在地面上的速度，其中的系统相关的原因的卫星导航， 不能提供适当的值。

公开(公告)号：EP3469867A2

公开(公告)日：2019-04-17

申请号：EP18199268.6

申请日：2018-10-09

Applicant: Iseki & Co., Ltd.

Inventor： SAWAKI, Hiroto

IPC: A01B79/00 ,  G06Q50/02

CPC classification number: A01B76/00 ,  A01B69/00 ,  A01B71/02 ,  A01B79/005 ,  G05D1/0027 ,  G05D1/0276 ,  G05D2201/0201 ,  G06Q50/02 ,  H04L67/12

Abstract: [Object] To provide a work setting system for a working vehicle to save labor in work setting.
[Solution] The invention includes: a server that sends and receives information to and from a working vehicle V1, V2, V3; and a work setting means that sets work performed by the working vehicle V1, V2, V3; wherein the server stores work setting information respectively in association with a plurality of operators W1, W2, W3 operating the working vehicle V1, V2, V3; and the working vehicle V1, V2, V3 reads out work setting information associated with an operator that actually operates the working vehicle V1, V2, V3, and performs work according to the read work setting information, and therefore, labor is saved in work setting, and work is perform according to the read work setting information.

公开(公告)号：EP2531014B1

公开(公告)日：2018-12-26

申请号：EP11702232.7

申请日：2011-02-04

Applicant: Flanders Make vzw

Inventor： ALI, Osman ,  VALCKENAERS, Paul ,  SAINT GERMAIN, Bart ,  VERSTRAETE, Paul ,  VAN BELLE, Jan

IPC: A01B79/00 ,  G05D1/02 ,  G06Q10/00 ,  G05B19/418

CPC classification number: G05B19/418 ,  A01B79/005 ,  G05D1/0221 ,  G05D2201/0201 ,  G06Q10/04

Abstract: A method of controlling outdoor ground processing operations of two or more work vehicles (15, 260, 270, 280, 290, 300), involves running a computer model (100, 110, 120) of the operations using a number of candidate schedules of the ground processing operations using predicted conditions, the operations involving work vehicle movements and work vehicle processing tasks, at least one of the operations for one of the work vehicles being a dependent operation, being dependent on another (25) of the work vehicles. An overall schedule for the operations is generated and used to control actual execution of the ground processing operations by the work vehicles. The computer model is updated as changes in the conditions occur as monitored during the actual execution, and used to adapt the actual execution of a remaining part of the ground processing operations.

公开(公告)号：EP2927767B1

公开(公告)日：2018-11-28

申请号：EP15152147.3

申请日：2015-01-22

Applicant: CLAAS E-Systems KGaA mbH & Co KG

Inventor： Meyer zu Helligen, Lars Peter ,  Weiland, Kalle

IPC: G05D1/02 ,  A01B79/00

CPC classification number: G01C21/3407 ,  A01B79/005 ,  G01C21/3667 ,  G05D1/0219 ,  G05D2201/0201

公开(公告)号：EP3142473B1

公开(公告)日：2018-09-12

申请号：EP15723663.9

申请日：2015-05-05

Applicant: CNH Industrial Belgium nv

Inventor： MISSOTTEN, Bart M. A. ,  FOSTER, Christopher A. ,  KONG, Neseth Cora ,  POSSELIUS, John H. ,  TALLIR, Frederik ,  VIAENE, Karel M. C.

IPC: A01B69/00

CPC classification number: A01D90/10 ,  A01B69/007 ,  G05D1/0291 ,  G05D2201/0201

Abstract: The present invention is related to a method for harvesting crops from a field and to a method for working a field by towing an apparatus such as a tilling apparatus, wherein the methods of the invention employ manned and unmanned vehicles. The operation and movement of the unmanned vehicles is controlled by the drivers of the manned vehicles which are continuously in the vicinity of the unmanned vehicles. The harvesting method involves at least the driver of a harvesting vehicle such as a combine harvester and the driver of a crop collecting vehicle such as a truck, wherein the drivers control the operation of one or more unmanned crop carts, operated to receive harvested crops from the harvesting vehicle during a harvesting phase and deliver harvested crop to the crop collecting vehicle during a subsequent delivery phase The control effected by the driver of the harvesting vehicle and the driver of the collecting vehicle is such that each driver is capable of visually inspecting the crop cart's operation during the totality of the harvesting and delivery phases respectively. The invention is equally related to a method for working an agricultural field wherein an agricultural apparatus, such as a tillage apparatus, is towed through the field, by one or more unmanned vehicles, while the operation of the unmanned vehicles is controlled by the operator of a manned vehicle that is moving along with the unmanned vehicles through the field.