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1. 发明授权

US11091192B2 Integrated vehicle guidance and steering system 有权
公开(公告)号：US11091192B2
公开(公告)日：2021-08-17
申请号：US16775036
申请日：2020-01-28
申请人： AgJunction LLC
发明人： Michael Brett McMickell , Mark Alan Villela , Thomas R. Kreider , Jonathan L. Baker , Andreas F. Ramm
IPC分类号： B62D11/00 , B62D5/04 , G06F9/451 , B60W50/08 , B62D15/02 , G05D1/02
摘要： Cost of a precision farming guidance system is driven in part by the number of discrete system elements installed in a tractor including the steering actuator, guidance computer, user terminals, and the associated cable harnesses. An integrated guidance system arranges and integrates these separate elements into a base chassis and removable computer module to reduce cost and complexity while retaining flexibility to adapt to different vehicle configurations and to incorporate improved guidance computer technology into a common design platform.

2. 再颁专利

USRE47648E1 Integrated multi-sensor control system and method 有权
公开(公告)号：USRE47648E1
公开(公告)日：2019-10-15
申请号：US15041784
申请日：2016-02-11
申请人： AgJunction LLC
发明人： David R. Reeve , Malcolm B. Jones , Andreas F. Ramm , Aaron C. Stichter , Joshua M. Gattis
IPC分类号： B62D1/02 , A01B69/04 , G05D1/02 , B62D1/28 , A01B79/00
摘要： A GNSS integrated multi-sensor guidance system for a vehicle assembly includes a suite of sensor units, including a global navigation satellite system (GNSS) sensor unit comprising a receiver and an antenna. An inertial measurement unit (IMU) outputs vehicle dynamic information for combining with the output of the GNSS unit. A controller with a processor receives the outputs of the sensor suite and computes steering solutions, which are utilized by vehicle actuators, including an automatic steering control unit connected to the vehicle steering for guiding the vehicle. The processor is programmed to define multiple behavior-based automatons comprising self-operating entities in the guidance system, which perform respective behaviors using data output from one or more sensor units for achieving the behaviors. A GNSS integrated multi-sensor vehicle guidance method is also disclosed.

3. 发明授权

US10266201B2 K-turn path controller 有权
公开(公告)号：US10266201B2
公开(公告)日：2019-04-23
申请号：US15348072
申请日：2016-11-10
申请人： AGJUNCTION LLC
发明人： Tri M. Dang , Timothy J. Sullivan
IPC分类号： B62D15/02 , B62D6/00 , A01B69/04 , G01S19/13
摘要： A guidance system may derive a K-turn path when a vehicle reaches an end of a first way line in a field. The guidance system may send the K-turn path to a steering controller to turn the vehicle around in a headland area to the beginning of a second way-line in the field. A first segment of the K-turn path may turn the vehicle along a first path in a forward direction and a second segment of the K-turn path may turn the vehicle along a second path in a reverse direction. A third segment of the K-turn path may turn the vehicle along a third path in the forward direction to a starting location of the second way-line. The K-turn path uses less area than other types of turns reducing the amount of headland used for turning around the vehicle.

4. 发明申请

US20170293304A1 LINE ACQUISITION PATH GENERATION USING CURVATURE PROFILES 审中-公开
公开(公告)号：US20170293304A1
公开(公告)日：2017-10-12
申请号：US15483524
申请日：2017-04-10
申请人： AGJUNCTION LLC
发明人： Tri M. DANG , Timothy J. Sullivan , Eran D.B. Medagoda
IPC分类号： G05D1/02 , B62D6/00 , G01C21/20
CPC分类号： G05D1/0212 , A01B69/006 , A01B69/008 , B62D6/002 , B62D15/029 , G01C21/20 , G05D1/0088 , G05D1/021 , G05D1/0278 , G05D2201/0201
摘要： A line acquisition system generates a curvature profile based on initial vehicle states (starting position, heading, curvature and speed), vehicle steering capabilities (calibrated vehicle curvature and curvature rate limits), and initial vehicle position errors relative to the destination path. The curvature profile describes changes in vehicle curvature over a path distance from a current position to a destination path. The line acquisition system constructs an acquisition path from a combination of clothoid, circular arc, and straight lines corresponding with different segments of the curvature profile. The acquisition path can be displayed on a user interface allowing a vehicle operator to observe, prior to automatic steering engagement, the path the vehicle would take from a current state to the destination path.

5. 发明授权

US09781915B2 Implement and boom height control system and method 有权
公开(公告)号：US09781915B2
公开(公告)日：2017-10-10
申请号：US14214215
申请日：2014-03-14
申请人： AgJunction LLC
发明人： Joshua M. Gattis , Steven A. Koch
IPC分类号： A01M7/00 , A01C23/00 , A01M9/00
CPC分类号： A01M7/0057 , A01C23/008 , A01M9/0076
摘要： A global navigation satellite system (GNSS) based control system is provided for positioning a working component relative to a work surface. Inertial measurement unit (IMU) sensors, such as accelerometers and gyroscopes, are mounted on the working component and provide positioning signals to a control compute engine. A method of positioning a working component relative to a work surface using GNSS-based positioning signals is also disclosed.

6. 发明授权

US09733643B2 Hydraulic interrupter safety system and method 有权
公开(公告)号：US09733643B2
公开(公告)日：2017-08-15
申请号：US14579919
申请日：2014-12-22
申请人： AgJunction LLC
发明人： Joshua M. Gattis , Steven A. Koch
IPC分类号： B62D5/07 , G05D1/00 , B62D1/22 , B62D1/28 , B62D5/06
CPC分类号： G05D1/0088 , B62D1/22 , B62D1/286 , B62D5/06 , G05D1/0061 , G05D2201/0201
摘要： A system and method for interrupting a Global Navigation Satellite System (GNSS)-based automatic steering mode of a hydraulic steering system on a vehicle. When a steering wheel is manually turned by an operator, pressurized hydraulic fluid from a steering directional control valve activates an interrupter having an interrupter valve. The interrupter valve blocks pressurized fluid flow to the automatic steering system, thus overriding automatic steering and giving the operator full manual steering control via the steering wheel. The hydraulic interrupt system is mechanical with no electronic elements.

7. 发明申请

US20170147005A1 AUTOMATED MULTI-VEHICLE ALIGNMENT STEERING 审中-公开
公开(公告)号：US20170147005A1
公开(公告)日：2017-05-25
申请号：US15348246
申请日：2016-11-10
申请人： AGJUNCTION LLC
发明人： Andreas F. RAMM , Eran D.B. Medagoda , Timothy J. Sullivan , Tri M. Dang
IPC分类号： G05D1/02 , B60W30/10 , B60W10/04 , A01D61/00 , B60W10/20
CPC分类号： G05D1/0295 , A01D41/1277 , A01D43/073 , G05D2201/0201
摘要： A navigation system aids a driver of a collection vehicle in keeping pace and distance with a lead harvester while collecting grain. The navigation system can be used for any leader-follower vehicle drive formation. A navigation system steers the head vehicle based on a continuously known position and attitude. Navigation data for the lead vehicle is broadcast to a following collection vehicle. A navigation system in the following vehicle processes the lead vehicle navigation data to determine a relative position and attitude. The navigation system in the following vehicle generates steering and speed commands based on the relative position and attitude to automatically drive to a designated target position alongside the lead vehicle. In one example, an artificial oscillation is induced into the target position to more evenly distribute material in the following vehicle.

8. 发明申请

US20150212522A1 GNSS AND OPTICAL GUIDANCE AND MACHINE CONTROL 有权
标题翻译： GNSS和光学指导和机器控制
公开(公告)号：US20150212522A1
公开(公告)日：2015-07-30
申请号：US14680980
申请日：2015-04-07
申请人： AgJunction LLC
发明人： Mark R. Webber , Keith R. Jones , John A. McClure , André C. Roberge , Walter J. Feller , Michael L. Whitehead
IPC分类号： G05D1/02 , E01H4/00 , G05D1/08 , A01B69/04 , G01S19/13 , G01C21/16
CPC分类号： G05D1/0278 , A01B69/007 , A01B69/008 , A01B79/005 , E01C19/004 , E01H4/00 , E02F9/2029 , E02F9/2045 , E02F9/2054 , E02F9/264 , G01C21/165 , G01C21/20 , G01C25/005 , G01S19/04 , G01S19/13 , G01S19/14 , G01S19/24 , G01S19/41 , G01S19/44 , G01S19/53 , G01S19/55 , G05D1/027 , G05D1/0274 , G05D1/0287 , G05D1/0891 , G05D2201/02 , G05D2201/0201 , G05D2201/0202
摘要： 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 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. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.
摘要翻译：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。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。使用光学传感器和相机可以确定动力和工作部件之间的相对方向和态度。该系统还可以用于引导相互之间的多个车辆。

9. 发明授权

US09002565B2 GNSS and optical guidance and machine control 有权
标题翻译： GNSS和光学引导和机器控制
公开(公告)号：US09002565B2
公开(公告)日：2015-04-07
申请号：US14166666
申请日：2014-01-28
申请人： AgJunction LLC
发明人： Keith R. Jones , John A. McClure , Andrè C. Roberge , Walter J. Feller , Michael L. Whitehead , Mark R. Webber
IPC分类号： G01C22/00 , G01S19/01 , A01B69/00 , G01S19/14 , A01B79/00 , G01S19/04 , G01S19/41 , G01S19/53 , G01S19/55 , G05D1/02 , G01S19/44
CPC分类号： G05D1/0278 , A01B69/007 , A01B69/008 , A01B79/005 , E01C19/004 , E01H4/00 , E02F9/2029 , E02F9/2045 , E02F9/2054 , E02F9/264 , G01C21/165 , G01C21/20 , G01C25/005 , G01S19/04 , G01S19/13 , G01S19/14 , G01S19/24 , G01S19/41 , G01S19/44 , G01S19/53 , G01S19/55 , G05D1/027 , G05D1/0274 , G05D1/0287 , G05D1/0891 , G05D2201/02 , G05D2201/0201 , G05D2201/0202
摘要： A global navigation satellite 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 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. 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. Relative orientations and attitudes between tractors and implements can be determined using optical sensors and cameras. Laser detectors and rangefinders can also be used.
摘要翻译：一种用于车辆转向控制的全球导航卫星系统（GNSS）和陀螺仪控制系统，其包括GNSS接收机和固定间隔的天线，以确定车辆位置，速度以及至少其中一个航向角，俯仰角和基于侧倾角载波相位位置差异。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。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。拖拉机和工具之间的相对方向和态度可以使用光学传感器和照相机来确定。也可以使用激光探测器和测距仪。

10. 发明申请

US20140347217A1 PORTABLE BASE STATION NETWORK FOR LOCAL DIFFERENTIAL GNSS CORRECTIONS 有权
标题翻译：用于本地差分GNSS校正的便携式基站网络
公开(公告)号：US20140347217A1
公开(公告)日：2014-11-27
申请号：US14457987
申请日：2014-08-12
申请人： AgJunction LLC
发明人： John A. McClure
IPC分类号： G01S19/13
CPC分类号： G01S19/07 , G01S19/13
摘要： A DGNSS-based guidance system, wherein a rover receiver first utilizes data from a master base station transceiver, a DGNSS reference network, or some other differential source to compute a differentially corrected location to establish a reference DGNSS relationship. Using this location and data observed only at the rover, the rover computes an internal set of differential corrections, which set is stored in computer memory, updated as necessary, and applied in future times to correct observations taken by the rover. As the rover enters into areas of other base station receiver reference networks, the rover transceiver will send positional information it receives from the master base station to the new, secondary base station. The secondary base station then calibrates its own reference information using information sent from the original master base station.
摘要翻译：一种基于DGNSS的引导系统，其中流动站接收机首先利用来自主基站收发器，DGNSS参考网络或一些其它差分源的数据来计算差分校正位置以建立参考DGNSS关系。使用这个位置和仅在流动站观测的数据，流动站计算内部差分校正集合，该集合被存储在计算机存储器中，根据需要进行更新，并在将来的时间应用，以校正流动站所采用的观测结果。当流动站进入其他基站接收机参考网络的区域时，流动站收发器将把从主基站接收到的位置信息发送到新的辅助基站。然后，次基站使用从原始主基站发送的信息来校准其自己的参考信息。

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