Patent Application
20230200280
The present disclosure generally relates to work vehicles, such as agricultural vehicles or construction vehicles, and, more particularly, to systems and methods for generating swath lines for a work vehicle.
Modern farming practices strive to increase yields of agricultural fields. As such, agricultural work vehicles, such as tractors, sprayers, harvesters, and/or the like, are used to perform agricultural operations on a field. In general, when performing an agricultural operation, it is necessary for the work vehicle to make a series of passes across the field. However, it is difficult for an operator to control the work vehicle such that passes are consistent and uniformly spaced apart. Inconsistent or non-uniformly spaced passes may result in lower crop yields and/or inefficient performance of the agricultural operation. In this respect, systems have been developed for generating swath lines or guidance lines for guiding a work vehicle along each pass across the field. While such systems work well, further improvements are needed. For example, in certain instances, the swath lines may need to be adjusted after generation.
Accordingly, an improved system and method for adjusting swath lines for a work vehicle would be welcomed in the technology.
Aspects and advantages of the technology will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology.
In one aspect, the present subject matter is directed to a work vehicle. The work vehicle includes a frame configured to support a plurality of components of the work vehicle. Furthermore, the work vehicle includes a sensor configured to capture operating parameter data associated with the work vehicle or an associated implement. Moreover, the work vehicle includes a user interface configured to receive an operating parameter input from an operator of the work vehicle or the associated implement and a computing system communicatively coupled to the sensor and the user interface. In this respect, the computing system is configured to access a swath line corresponding to a pass to be made across a field by the work vehicle. In addition, the computing system is configured to receive the input indicative of an operating parameter of the work vehicle or the associated implement from at least one of the sensor, the user interface, or an associated memory device of the computing system. Moreover, the computing system is configured to determine the operating parameter based on the received input. Furthermore, the computing system is configured to adjust a portion of the swath line based on the determined operating parameter prior to making the pass across the field. Additionally, the computing system is configured to control an operation of the plurality of components such that the work vehicle travels along the adjusted portion of the swath line to make the pass across the field.
In another aspect, the present subject matter is directed to a system for adjusting swath lines for a work vehicle. The system includes a sensor configured to capture operating parameter data associated with the work vehicle or an associated implement. Moreover, the system includes a user interface configured to receive an operating parameter input from an operator of the work vehicle or the associated implement and a computing system communicatively coupled to the sensor and the user interface. In this respect, the computing system is configured to access a swath line corresponding to a pass to be made across a field by the work vehicle. In addition, the computing system is configured to receive the input indicative of an operating parameter of the work vehicle or the associated implement from at least one of the sensor, the user interface, or an associated memory device of the computing system. Furthermore, the computing system is configured to determine the operating parameter based on the received input. Additionally, the work vehicle is configured to adjust a portion of the swath line based on the determined operating parameter prior to making the pass across the field. Moreover, the computing system is configured to control an operation of the plurality of components such that the work vehicle travels along the adjusted portion of the swath line to make the pass across the field.
In a further aspect, the present subject matter is directed to a method for adjusting swath lines for a work vehicle. The method comprising accessing, with a computing system, a swath line corresponding to a pass to be made across a field by the work vehicle. In addition, the method includes receiving, with the computing system, an input indicative of an operating parameter of the work vehicle or the associated implement from at least one of a sensor, a user interface of the work vehicle, or an associated memory device of the computing system. Furthermore, the method includes determining, with the computing system, the operating parameter based on the received input. Additionally, the method includes adjusting, with the computing system, a portion of the swath line based on the determined operating parameter prior to making the pass across the field. Moreover, the method includes controlling, with the computing system, an operation of the work vehicle such that the work vehicle travels along the adjusted portion of the swath line to make the pass across the field.
These and other features, aspects and advantages of the present technology will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.
A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which.
Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.
Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
In general, the present subject matter is directed to a system and a method for adjusting swath lines for a work vehicle. Specifically, in several embodiments, the computing system is configured to access a swath line corresponding to a pass to be made across a field by the vehicle. In one embodiment, the computing system may access a swath line that was generated during a previous operation on the field. Furthermore, the computing system is configured to determine one or more operating parameters of the work vehicle or the associated implement based on one or more received inputs. For example, such operating parameter(s) may include the vehicle length, maximum vehicle steering angle, the hitch type and/or length of the vehicle/implement, the slew angle of the vehicle and implement, and/or the like. Additionally, prior to making the pass across the field, the computing system is configured to adjust at least a portion of the swath line on the determined operating parameter(s). Thereafter, the computing system is configured to control the operation of the work vehicle such that the work vehicle travels along the adjusted portion of the swath line to make the pass across the field.
Adjusting a swath line used to guide a work vehicle across a field based on an operating parameter(s) of the vehicle and/or an associated implement prior to making the pass across the field improves the operation of the vehicle. More specifically, different vehicles and vehicle/implement combinations may have different operating parameter(s) (e.g., turning radii, slew radii, etc.) and, thus, different performance characteristics. As such, one vehicle or vehicle/implement combination may be unable to follow a swath line generated based on the recorded travel path of another vehicle or vehicle/implement combination. In this respect, by adjusting the swath line (e.g., by increasing the radius of its curved portions) based on the operating parameter(s) of the vehicle and/or its implement prior to making a pass across the field, the disclosed system and method ensure that different work vehicles with varying performance characteristics can traverse the swath line.
Referring now to the drawings,
As shown in
Additionally, as shown in
In several embodiments, the frame 24 may support one or more gangs or sets of disk blades 30. Each disk blade 30 may, in turn, be configured to penetrate into or otherwise engage the soil as the implement 12 is pulled through the field. In this regard, the various gangs of disk blades 30 may be oriented at an angle relative to the direction of travel 14 to promote more effective tilling of the soil. In the embodiment shown in
Moreover, in several embodiments, the implement frame 24 may be configured to support other ground-engaging tools. For instance, in the illustrated embodiment, the frame 24 is configured to support a plurality of shanks 32. As shown, the shanks 32 are spaced apart from each other on the frame 24 in a lateral direction of the implement 12. The lateral direction, in turn, extends perpendicular to the direction of travel 14. As such, the shanks 32 are configured to rip or otherwise till the soil as the implement 12 is towed across the field. Furthermore, in the illustrated embodiment, the frame 24 is also configured to support a plurality of leveling blades 34 and a plurality of rolling (or crumbler) basket assemblies 36 positioned aft of the shanks 32. In such an embodiment, the leveling blades 34 may be spaced apart from each other in the lateral direction. However, in other embodiments, any other suitable ground-engaging tools may be coupled to and supported by the implement frame 24.
The configuration of the work vehicle 10 and the associated agricultural implement 12 described above and shown in
Referring now to
As shown in
Furthermore, in several embodiments, the system 100 may include a steering actuator 108 of the work vehicle 10. In general, the steering actuator 108 is configured to adjust the direction of travel 14 of the work vehicle 10. For example, the steering actuator 108 may correspond to an electric motor, an electric linear actuator, a hydraulic cylinder, a pneumatic cylinder, or any other suitable actuator coupled to suitable mechanical assembly, such as a rack and pinion or a worm gear assembly.
Additionally, the system 100 includes a location sensor 110 may be provided in operative association with the work vehicle 10 and/or the implement 12. In general, the location sensor 110 may be configured to determine or otherwise capture data indicative of the current location of the work vehicle 10 and/or the associated implement 12 using a satellite navigation positioning system (e.g., a GPS system, a Galileo positioning system, the Global Navigation satellite system (GLONASS), the BeiDou Satellite Navigation and Positioning system, and/or the like). In such an embodiment, the location data captured by the location sensor 110 may be transmitted to a computing system of the work vehicle 10 and/or the implement 12 (e.g., in the form coordinates) and stored within the computing system's memory for subsequent processing and/or analysis. Thus, the location data received from the location sensor 110 may be used to geo-locate the vehicle 10 within the field, thereby allowing for recording of the travel path of the vehicle/implement 10/12 across the field.
Moreover, the system 100 includes one or more operating parameter sensors 111. In general, each operating parameter sensor 111 is configured to capture data indicative of an operating parameter of the vehicle 10 and/or the associated implement 12. As will be described below, the data captured by the operating parameter sensor(s) 111 may be used to adjust at least a portion of a swath line being used to guide the work vehicle/implement 10/12 across the field. This, in turn, ensures the vehicle/implement 10/12 can travel along the swath line, such as when the swath line was generated based on the recorded travel path of another vehicle with differing performance characteristics.
In several embodiments, the operating parameter sensor(s) 111 may be configured to capture data indicative of any suitable operating parameter(s) of the vehicle 10 and/or the associated implement 12. For example, the operating parameter sensor(s) 111 may be configured to capture data indicative of the minimum turning radius of the vehicle 10 and/or the minimum slew radius of the vehicle 10 and the implement 12. The slew radius, in turn, corresponds to the turning radius of the vehicle 10 and the associated implement 12. In this respect, the operating parameter sensor(s) 111 may correspond to any suitable sensor(s) or sensing device(s) configured to capture data indicative of the above operating parameter(s), such as a potentiometer(s), a Hall effect sensor(s), and/or the like. However, in alternative embodiments, the operating parameter sensor(s) may be configured to capture data indicative of any other suitable vehicle dynamics parameter(s) in addition to or in lieu of above-described operating parameters.
In addition, the system 100 includes a computing system 112 communicatively coupled to one or more components of the work vehicle 10, the implement 12, and/or the system 100 to allow the operation of such components to be electronically or automatically controlled by the computing system 112. For instance, the computing system 112 may be communicatively coupled to the sensors 110 via a communicative link 114. As such, the computing system 112 may be configured to receive data (e.g., coordinates) from the location sensor 110 that is indicative of the location of the vehicle/implement 10/12 within the field. Moreover, the computing system 112 may be communicatively coupled to the operating parameter sensor(s) 111 via the communicative link 114. As such, the computing system 112 may be configured to receive data from the operating parameter sensor(s) 111 that is indicative of one or more operating parameters of the vehicle 10 and/or implement 12. Furthermore, the computing system 112 may be communicatively coupled to various components of the vehicle 10, such as the engine 102, the transmission 104, the braking actuator(s) 106, and/or the steering actuator 108, via the communicative link 114. In this respect, the computing system 112 may be configured to control the operation of such components 102, 104, 106, 108 to the operation of the vehicle/implement 10/12 (e.g., its direction of travel 14, ground speed, etc.). In addition, the computing system 112 may be communicatively coupled to any other suitable components of the vehicle 10, the implement 12, and/or the system 100.
In general, the computing system 112 may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system 112 may include one or more processor(s) 116 and associated memory device(s) 118 configured to perform a variety of computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 118 of the computing system 112 may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s) 118 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 116, configure the computing system 112 to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system 112 may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.
The various functions of the computing system 112 may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system 112. For instance, the functions of the computing system 112 may be distributed across multiple application-specific controllers or computing devices, such as a navigation controller, an engine controller, a transmission controller, an implement controller, and/or the like.
Furthermore, the system 100 may also include a user interface 119. More specifically, the user interface 119 may be configured to receive inputs (e.g., inputs associated with an operating parameter(s) of the vehicle 10 and/or the implement 12) from the operator. As such, the user interface 119 may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive inputs from the operator. The user interface 119 may, in turn, be communicatively coupled to the computing system 112 via the communicative link 114 to permit the received inputs to be transmitted from the user interface 119 to the computing system 112. In addition, some embodiments of the user interface 119 may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to provide feedback from the computing system 112 to the operator. In one embodiment, the user interface 119 may be mounted or otherwise positioned within the cab 22 of the vehicle 10. However, in alternative embodiments, the user interface 119 may mounted at any other suitable location.
Referring now to
As shown, at (202), the control logic 200 includes accessing a swath line corresponding to a pass to be made across a field by a work vehicle. Specifically, in several embodiments, the computing system 112 may be configured to access a swath line corresponding to a pass to be made across a field (e.g., when performing an agricultural operation) by the vehicle/implement 10/12. For example, in one embodiment, the swath line may be generated during a previous operation (such as by recording the travel path of a vehicle performing the previous operation) and stored in the memory device(s) 118 of the computing system 112. Thereafter, the computing system 112 may retrieve the stored swath line from the memory device(s) 118 before performing the corresponding pass across the field.
Furthermore, at (204), the control logic 200 includes receiving an input indicative of an operating parameter of the work vehicle and/or the associated implement. Specifically, in several embodiments, the computing system 112 is configured to receive one or more inputs indicative of an operating parameter(s) of the work vehicle 10 and/or the associated implement 12. As will be described below, the received input(s) is used to adjust at least a portion of a swath line being used to guide the work vehicle 10 across the field to ensure the vehicle 10 can travel along the swath line.
At (204), the computing system 112 may receive the input(s) from any suitable source. For example, in some embodiments, the computing system 112 may receive the input(s) from the operating parameter sensor(s) 111. Specifically, in such embodiments, the computing system 112 may be communicatively coupled to the operating parameter sensor(s) 111 via the communicative link 114. In this respect, prior to making the pass across the field, the computing system 112 may receive operating parameter data from the operating parameter sensor(s) 111. In other embodiments, the computing system 112 may receive the input(s) from the user interface 119. Specifically, in such embodiments, the computing system 112 may be communicatively coupled to the user interface 119 via the communicative link 114. In this respect, prior to making the pass across the field, the operator may provide one or more operating parameter inputs to the user interface 119. Thereafter, the input(s) may be transmitted to the computing system 112 via the communicative link 114. Moreover, in further embodiments, the computing system 112 may receive the input(s) from its memory device(s) 118. Specifically, in such embodiments, prior to making the pass across the field, the computing system 112 may be configured to access one or more operating parameters stored within the memory device(s) 118. In one embodiment, the computing system 112 may receive the input(s) from two or more of the operating parameter sensor(s) 111, the user interface 119, or the memory device(s) 118.
Additionally, at (206), the control logic 200 includes determining the operating parameter of the work vehicle and/or the associated implement based on the received input. Specifically, in several embodiments, prior to the vehicle/implement 10/12 making the pass, the computing system 112 may determine one or more operating parameters of the work vehicle 10 and/or the implement 12 based on the input(s) received at (204).
At (206), any suitable operating parameter(s) of the vehicle 10 and/or the implement 12 may be determined. In general, the operating parameter(s) determined at (206) may be a predetermined parameter(s) of the vehicle 10 and/or implement 12 set during prior to use in the field that affects the ability of the vehicle/implement 10/12 to the follow the swath line accessed at (202). For example, in some embodiments, the determined operating parameter(s) may include the length of the vehicle 10 and/or implement 12, the maximum steering angle of the vehicle 10, the hitch type (e.g., drawbar or trailing) and/or hitch length of the vehicle/implement 10/12, the slew angle of the vehicle 10 and implement 12, and/or the like.
As will be described below, the operating parameter(s) determined at (206) is used to adjust accessed swath line to ensure the vehicle/implement 10/12 can travel along the swath line, such as when the swath line was generated based on the recorded travel path of another vehicle/implement with differing performance characteristics. For example, the curved portion(s) of accessed swath line may be adjusted based on the determined operating parameter(s).
In addition, at (208), the control logic 200 includes determining the minimum turning radius of the work vehicle based on the determined operating parameter. More specifically, different vehicle and/or vehicle/implement combinations generally have different performance characteristics. For example, one vehicle may be able to travel along a curved portion of a swath line, while another vehicle with different performance characteristics may not. As such, in several embodiments, the computing system 112 may determine the minimum turning radius of the vehicle 10 and/or the minimum slew radius of the vehicle 10 and implement 12 based the determined operating parameter(s). The minimum turning radius and/or the minimum slew radius may be determined based on the operating parameter(s) determined at (206) or determined directly at (206).
Furthermore, at (210), the control logic 200 includes identifying a curved portion of the accessed swath line. Specifically, in several embodiments, the computing system 112 may analyze the portion of the accessed swath line to identify any curved portions thereof. For example, the computing system 112 may use any suitable algorithm(s) or technique(s) to identify the curved portion(s) of the accessed swath line.
Additionally, at (212), the control logic 200 includes determining the radius of a given identified curved portion. Specifically, in several embodiments, the computing system 112 may determine the radius of a given curved portion of the swath line identified at (210). For example, the computing system 112 may use any suitable algorithm(s) or technique(s) to determine the radius of the given curved portion.
Moreover, at (214), the control logic 200 includes comparing the determined minimum turning radius of the work vehicle to the determined radius of the given identified curved portion. Specifically, in several embodiments, the computing system 112 may compare the minimum turning radius of the work vehicle 10 and/or the slew angle of the vehicle 10 and the implement 12 determined at (208) to the radius of the given identified curved portion determined at (212). When the minimum turning radius of the work vehicle 10 and/or the slew angle of the vehicle 10 and the implement 12 is less the radius of the given curved portion, no adjustment of the given curved portion of the swath line is needed. In such instances, the control logic 200 proceeds to (218). Conversely, when the minimum turning radius of the work vehicle 10 and/or slew angle of the vehicle 10 and the implement 12 is greater the radius of the given identified curved portion, the vehicle 10 and/or implement 12 are unable to traverse the given curved portion. In such instances, the control logic 200 proceeds to (216).
In addition, at (216), the control logic 200 includes adjusting the given curved portion of the accessed swath line such that the radius of the given curved portion is increased. Specifically, in such instances, the computing system 112 may adjust the given curved portion of the accessed swath line such that its radius is increased, thereby allowing the vehicle/implement 10/12 to travel long the adjusted portion. For example, the radius of the given curved portion may be increased to be equal to or greater than (e.g., five percent greater than) than the minimum turning radius or slew radii (e.g., whichever is larger).
For example,
Referring again to
Moreover, at (220), the control logic 200 includes controlling the operation of the work vehicle such that the work vehicle travels along the adjusted portion of the swath line. Specifically, in several embodiments, the computing system 112 is configured to configured to control the operation of one or more components of the work vehicle 10 and/or the associated implement 12 such that the vehicle/implement 10/12 travels along the adjusted swath line. For example, the computing system 112 may receive location data (e.g., coordinates) from the location sensor 110 via the communicative link 114. The received location data may, in turn, be used to determine the position of the vehicle/implement 10/12 relative to the adjusted swath line. In this respect, the computing system 112 may transmit control signals to the steering actuator 108 via the communicative link 114 to control the direction of travel 14 of the vehicle/implement 10/12 such that the vehicle/implement 10/12 travels along the adjusted swath line to make the pass. Thereafter, the control logic 200 may return to (204).
Adjusting a swath line used to guide a work vehicle across a field based on the operating parameter(s) of the vehicle 10 and/or the implement 12 prior to making a pass across the field improves the operation of the vehicle. More specifically, different vehicles and vehicle/implement combinations may have different operating parameter(s) (e.g., turning radii, slew radii, etc.) and, thus, different performance characteristics. As such, one vehicle or vehicle/implement combination may be unable to follow a swath line generated based on the recorded travel path of another vehicle or vehicle/implement combination. In this respect, by adjusting the swath line (e.g., by increasing the radius of its curved portions) based on the operating parameter(s) of the vehicle 10 and/or the implement 12 prior to making the pass across the field, the disclosed system and method ensure that different work vehicles with varying performance characteristics can traverse the swath line.
Referring now to
As shown in
Additionally, at (304), the method 300 includes receiving, with the computing system, an input indicative of an operating parameter of the work vehicle or an associated implement from at least one of a sensor, a user interface of the work vehicle, or an associated memory device of the computing system. For example, as described above, the computing system 112 may be configured to receive one or more inputs indicative of an operating parameter(s) of the work vehicle 10 or the implement 12 from the operating parameter sensor(s) 111, the user interface 119, or the memory device(s) 18.
Moreover, as shown in
Furthermore, at (308), the method 300 includes adjusting, with the computing system, a portion of the swath line based on the determined operating parameter prior to making the pass across the field. For example, as described above, the computing system 112 may be configured to adjust at least a portion of the swath line based on the determined operating parameter prior to the vehicle/implement 10/12 making the pass across the field.
In addition, as shown in
It is to be understood that the steps of the control logic 200 and the method 300 are performed by the computing system 112 upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system 112 described herein, such as the control logic 200 and the method 300, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system 112 loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the computing system 112, the computing system 112 may perform any of the functionality of the computing system 12 described herein, including any steps of the control logic 200 and the method 300 described herein.
The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer's central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a controller.
This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.
