公开(公告)号：EP2236020B1

公开(公告)日：2012-10-17

申请号：EP09015689.4

申请日：2009-12-18

Applicant: CLAAS Selbstfahrende Erntemaschinen GmbH

Inventor： Meyer zu Helligen, Lars-Peter ,  Diekhans, Norbert ,  Nienaber, Gerd

IPC: A01B69/00 ,  G05D1/02

CPC classification number: A01B69/007 ,  G05D1/0219 ,  G05D1/0278 ,  G05D2201/0201

公开(公告)号：EP2502120A1

公开(公告)日：2012-09-26

申请号：EP10778742.6

申请日：2010-11-03

Applicant: Lely Patent N.V.

Inventor： NOORDAM, Jacco

IPC: G05D1/02

CPC classification number: G05D1/0217 ,  G05D2201/0201

Abstract: The invention relates to an autonomously movable agricultural vehicle (10, 12) for agricultural applications, a method for controlling the autonomously movable agricultural vehicle, and software for managing the autonomously movable agricultural vehicle. The autonomously movable agricultural vehicle comprises a motor (20) to drive the autonomously movable agricultural vehicle and a battery (30) to supply energy to the motor (20). The autonomously movable agricultural vehicle also comprises a control circuit (40) to control the motor to adjust the speed (vA, VB,...) of the autonomously movable agricultural vehicle, wherein the control circuit is configured to set the speed of the autonomously movable agricultural vehicle, wherein energy (E
A , E
B ,... ) drawn from the battery over a predefined distance (Δx) is minimal.

Abstract translation: 一种用于农业应用的自主移动农用车辆，一种用于控制自主移动的农用车辆的方法，以及用于管理自主移动的农用车辆的软件。 自主移动的农用车辆包括驱动车辆的电动机和向电动机供给能量的电池。 所述自主移动的农用车辆还包括控制电路以控制所述电动机以调整所述车辆的速度，其中所述控制电路被配置为设定所述车辆的速度，其中在预定距离内从所述电池抽取的能量最小。

公开(公告)号：EP1695162B1

公开(公告)日：2012-01-18

申请号：EP04817986.5

申请日：2004-12-07

Applicant: Trimble Navigation Limited

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.

公开(公告)号：EP2267567A3

公开(公告)日：2011-11-30

申请号：EP10165566.0

申请日：2010-06-10

Applicant: CNH Italia S.p.A.

Inventor： Brubaker, Christopher A. ,  Cobb, Philip A.

IPC: A01F15/08 ,  G05D1/02 ,  A01B69/00

CPC classification number: G05D1/0278 ,  A01B69/008 ,  A01F15/0833 ,  G05D1/0274 ,  G05D2201/0201

Abstract: An automated method and system includes an automatic guidance system (AGS) (24) and swath pattern (18). The AGS (24) steers a vehicle (11) towing a rotary baler (10) in an "S", or oscillatory pattern (30) around a predetermined approximate centerline (12) of the swath path. The oscillatory pattern (30) may be user defined. By steering the vehicle (11) in an oscillatory pattern referenced to the A-B line, a windrow (18) of crop material (16) may be distributed into an even and optimal bale size and density by the baler (10). Bale chamber sensors (45) detect an imbalance of crop density and in response, AGS (24) adjusts an interval or amplitude of oscillatory pattern.

公开(公告)号：EP2361494A1

公开(公告)日：2011-08-31

申请号：EP11154053.0

申请日：2011-02-10

Applicant: CNH Italia S.p.A.

Inventor： Morselli, Riccardo ,  Posselius, John H. ,  Foster, Christopher A.

IPC: A01D43/073 ,  A01D43/08

CPC classification number: A01B69/008 ,  A01D43/086 ,  G05D1/0234 ,  G05D1/0293 ,  G05D2201/0201

Abstract: A system and method for positioning a transport vehicle (10) relative to a harvester (30) is disclosed. The system includes an imaging device (26) mounted on the transport vehicle (10) and a control system (20) for analyzing image data and executing a computer program to provide commands to position the transport vehicle (10) in an acceptable predetermined condition relative to the harvester (30) for discharge operations.

公开(公告)号：EP2126651B1

公开(公告)日：2011-08-31

申请号：EP08723832.5

申请日：2008-02-27

Applicant: Maasland N.V.

Inventor： VAN DEN BERG, Karel

IPC: G05D1/02 ,  G01S17/36 ,  A01K1/01

CPC classification number: G05D1/0246 ,  A01K1/01 ,  A01K1/0128 ,  G01S17/36 ,  G01S17/936 ,  G05D1/0242 ,  G05D2201/0201

Abstract: Unmanned vehicle for displacing in particular dung from the floor of a shed, which comprises a frame (10), with disposed thereon material displacing means (18), propelling means (12, 14, 14') and navigation means with a sensor (24, 28) for forming an image of an observation area, the sensor (24, 28) comprising a source of radiation for modulated electromagnetic radiation (26, 36), in particular light, a receiver device for electromagnetic radiation reflected by an object (44) in the observation area, and sensor image processing means, wherein the receiver device comprises a matrix with a plurality of rows and a plurality of columns of receivers, and the sensor image processing means are arranged to determine for each of the receivers a phase difference between the emitted and the reflected electromagnetic radiation in order to calculate a distance from the receiver to the object (44). Such a vehicle is capable of detecting and displacing material to be displaced in a very reliable manner by means of the depth image obtained by means of the sensor.

Abstract translation: 用于将材料（特别是粪便）从棚底移位的无人车辆包括框架，其上设置有材料置换器，推进机构和具有用于形成观察区域的图像的传感器的导航器，该传感器包括： 用于调制电磁辐射的辐射，用于由观察区域中的物体反射的电磁辐射的接收器装置和传感器图像处理器，其中接收器装置包括具有多行和多列接收器的矩阵，并且传感器 图像处理器被配置为为每个接收机确定发射和反射的电磁辐射之间的相位差，以便计算从接收器到物体的距离。 这种车辆能够通过利用由传感器获得的深度图像以非常可靠的方式检测和移动材料。

公开(公告)号：EP2353353A1

公开(公告)日：2011-08-10

申请号：EP10152840.4

申请日：2010-02-05

Applicant: Flander's Mechatronics Technology Centre v.z.w.

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.

Abstract translation: 控制两个或更多个作业车辆（15，260，270，280，290，300）的室外地面处理操作的方法包括使用许多候选时间表运行操作的计算机模型（100，110，120） 使用预测的条件地面处理操作，所述操作涉及作业车辆的动作和作业车辆处理任务，这些操作中的至少一个，作为一个取决于操作的作业车辆中的一个，取决于另一个（25）的工作的车辆。 产生用于操作的总体安排和所使用的工作车辆控制地面处理操作的实际执行。 作为条件的变化发生实际执行期间所监测的计算机模型被更新，并且用于适应地处​​理操作的剩余部分的实际执行。

公开(公告)号：EP1840690A3

公开(公告)日：2011-05-04

申请号：EP07100495.6

申请日：2007-01-12

Applicant: CLAAS Selbstfahrende Erntemaschinen GmbH

Inventor： Diekhans, Dr. Norbert ,  Huster, Jochen ,  Brunnert, Andreas ,  Meyer zu Helligen, Lars Peter

IPC: G05D1/02

CPC classification number: G01C21/20 ,  A01B69/008 ,  G05D1/0219 ,  G05D1/0291 ,  G05D2201/0201

Abstract: Beschrieben wird ein Verfahren zur Erstellung eines Routenplans für eine Gruppe (G) von landwirtschaftlichen Maschinensystemen (1, 2, 2') für die Bearbeitung eines zu bearbeitenden Territoriums (S 1 , S 2 , S 3 , S 4 , S 5 ), bei dem die Maschinensysteme (1, 2, 2') jeweils Routenplanungsdaten-Ermittlungseinrichtungen (6, 6') aufweisen und in Datenaustausch untereinander stehen und auf Basis von ausgetauschten Routenplanungsdaten (L 1 , L 2 , ...,L 19 , L V , L V6 , L V7 , L V8 , L G , SZ, SZ') ein gemeinsamer Routenplan für das betreffende Territorium (S 1 , S 2 , S 3 , S 4 , S 5 ) erstellt wird. Außerdem werden ein Verfahren zur Steuerung einer Gruppe (G) von landwirtschaftlichen Maschinensystemen (1, 2, 2') bei der Bearbeitung eines zu bearbeitenden Territoriums (S 1 , S 2 , S 3 , S 4 , S 5 ), bei dem ein dementsprechend erstellter gemeinsamer Routenplan genutzt wird, sowie ein Routenplanungssystem zur Erstellung eines Routenplans für eine Gruppe (G) von landwirtschaftlichen Maschinensystemen (1, 2, 2') für die Bearbeitung eines zu bearbeitenden Territoriums (S 1 , S 2 , S 3 , S 4 , S 5 ) beschrieben.

Abstract translation: 一种用于制定一组农业机械系统（1,2）的方法，用于处理机器系统各自具有路线规划数据检测系统（6）并且可以彼此交换数据的给定区域的土地 ，并根据路线图数据确定了相关土地面积的共同路线规划。 农业机械系统的路线规划系统包含独立的索赔。

公开(公告)号：EP2287694A1

公开(公告)日：2011-02-23

申请号：EP10170133.2

申请日：2010-07-20

Applicant: Deere & Company

Inventor： Anderson, Noel W.

IPC: G05D1/02

CPC classification number: G05D1/0246 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0234 ,  G05D1/0251 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0201

Abstract: An apparatus includes a computer system (302), a number of structured light generators (304), and a number of mobile robotic devices (346). The computer system (302) is configured to generate a path plan. The number of structured light generators (304) is configured to project the path plan. The number of mobile robotic devices (346) is configured to detect and follow the path plan.

Abstract translation: 一种装置包括计算机系统（302），多个结构光发生器（304）和多个可移动机器人装置（346）。 计算机系统（302）被配置为生成路径计划。 结构光发生器（304）的数量被配置为投影路径计划。 移动机器人设备（346）的数量被配置为检测并遵循路径规划。

公开(公告)号：EP2165586A1

公开(公告)日：2010-03-24

申请号：EP09170337.1

申请日：2009-09-15

Applicant: CNH Italia S.p.A.

Inventor： Foster, Christopher A. ,  Morselli, Ricccardo ,  Vanhercke, Olivier ,  Wang, Guoping ,  Missotten, Bart ,  Paquet, Bert J.F. ,  Posselius, John H.

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

CPC classification number: G05D1/0278 ,  A01B79/005 ,  G05D1/0295 ,  G05D2201/0201

Abstract: A system, and method of use thereof, that employs short distance communications signals, thereby limiting and localizing the dissemination area for such signals, for interactively coordinating crop material transfer operations between a harvester (CH1) and a grain transport (GT1), including the automated conduct of an unloading operation, including commencement of the actual unloading of the grain through continuation of such unloading to termination of such unloading, which system and method of the present invention employs operating systems in the harvester (CH1) and grain transport (GT1) that so operate to become electronically linked to one another to thereafter operate in unison with one another to effect and control the conduct of the crop material transfer operation between the harvester and grain transport, with each of such operating systems having associated therewith a short range communications system for the transmission and receipt at close range of electronic data signals, such operating systems, when appropriately electronically linked to one another, being operable in conjunction with one another to exchange information, to maintain a communications link therebetween, and to automatedly coordinate and effect various activities of the harvester and grain transport as a crop material transfer operation is effected and proceeds.

Abstract translation: 一种系统，以及其使用的方法，做了使用短距离的通信信号，从而限制和定位传播区域为搜索信号，用于交互式地协调一个收集器（CH1）和晶传输（GT1）之间农作物材料传输操作，包括 卸载手术的自动行为，包括通过寻求卸载寻求卸载，所述系统和方法的本发明的终止的继续开始晶粒的实际卸载采用操作系统在收集器（CH1）和谷物运输（GT1） 没有这样操作，以成为电连接到彼此以此后一致地彼此操作以实现和控制收割机和谷物运输之间的作物材料转移操作的进行，其中每个具有与短程通信相关联的存在测试的操作系统的 系统在电子数据信号的近距离的发送和接收 S，求操作系统，当适当电连接到彼此，可操作在彼此结合来交换信息，在那里保持之间的通信链路，并automatedly坐标和效果收割机和谷物运输的各种活动作为农作物材料 转印手术是实现和前进。