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BR-102025011497-A2 - SMART IMPLEMENT GUIDANCE

BR102025011497A2BR 102025011497 A2BR102025011497 A2BR 102025011497A2BR-102025011497-A2

Abstract

The present invention relates to a system that can receive, by a controller on board a work vehicle that is positionally coupled to the implement, location data associated with a position of the implement on the ground; determine the position of the implement on the ground based at least on the location data associated with the position of the implement on the ground; determine a position of the work vehicle on the ground relative to the implement based at least on the received location data associated with the position of the implement on the ground; determine a deviation of the position of the implement on the ground from a desired course based on the position of the implement on the ground exceeding a limit; in response to the determination that the deviation of the position of the implement on the ground from the desired course exceeds the limit, adjust one or more operating parameters of the work vehicle to adjust the position of the work vehicle on the ground relative to the implement.

Inventors

  • Aditya Singh

Assignees

  • CNH INDUSTRIAL AMERICA LLC

Dates

Publication Date
20260317
Application Date
20250606
Priority Date
20240612

Claims (20)

  1. 1. A method for maintaining the positionally precise operation of an implement, CHARACTERIZED in that it comprises: receiving, by a controller on board a work vehicle positionally coupled to the implement, location data associated with the implement's position on the ground; determining, by the controller, the implement's position on the ground based at least on the location data associated with the implement's position on the ground; determining, by the controller, the work vehicle's position on the ground relative to the implement based at least on the received location data associated with the implement's position on the ground; determining, by the controller, a deviation of the implement's position on the ground relative to a desired course based on the implement's position on the ground exceeding a limit; and in response to the determination that the deviation of the implement's position on the ground relative to the desired course exceeds the limit, adjusting, by the controller, one or more operating parameters of the work vehicle to adjust the work vehicle's position on the ground relative to the implement.
  2. 2. A method according to claim 1, characterized in that the position of the work vehicle on the ground is additionally determined by the controller based on a characteristic of a positional coupling between the work vehicle and the implement, wherein the characteristic of the positional coupling includes at least one of a type of coupling device, length of the coupling device, flexibility parameter of the coupling device, wheelbase of the implement, coupling position of the coupling device on the implement, coupling position of the coupling device on the work vehicle, height difference between the work vehicle and the implement, and suspension parameter.
  3. 3. Method, according to claim 1, CHARACTERIZED in that it further comprises: receiving, by the controller, from an optical sensor positionally coupled to the implement, image data of the work vehicle; and determining, by the controller, the position of the work vehicle on the ground based on the received location data associated with the position of the implement on the ground and the received image data of the work vehicle.
  4. 4. Method, according to claim 1, CHARACTERIZED in that it further comprises: receiving, by the controller, from an optical sensor positionally coupled to the work vehicle, image data of the implement; and determining, by the controller, the position of the work vehicle on the ground based on the received location data associated with the position of the implement on the ground and the received image data of the implement.
  5. 5. A method according to claim 1, CHARACTERIZED in that it further comprises: receiving, by the controller, from a position sensor, position data of a coupling device physically coupled to the work vehicle in a first part of the coupling device and physically coupled to the implement in a second part of the coupling device; and determining, by the controller, the position of the work vehicle on the ground based on the received location data associated with the position of the implement on the ground and the position data received from the coupling device.
  6. 6. Method, according to claim 1, CHARACTERIZED in that the adjustment of one or more operating parameters is based, in part, on the weight distribution of the work vehicle and implement, wind speed, terrain slope, terrain type, implement type, implement deviation from the desired course, work vehicle steering geometry, implement steering geometry, work vehicle speed, operating time, crop characteristics, and one or more suspension characteristics of the implement and work vehicle.
  7. 7. Method according to claim 1, CHARACTERIZED in that it further comprises: continuously updating, by the controller, the position of the implement on the ground as additional implement location data is received; continuously updating, by the controller, the position of the work vehicle on the ground relative to the implement based on the additional implement location data; determining, by the controller, the deviation of the implement from the desired course based on the updated position of the implement on the ground; and dynamically adjusting, by the controller, one or more operating parameters of the work vehicle until the deviation of the implement position on the ground is within the limit.
  8. 8. Method according to claim 1, CHARACTERIZED in that the location data are Global Navigation Satellite System (“GNSS”) location data and are received from a GNSS receiver positionally coupled to the implement.
  9. 9. A method according to claim 1, characterized in that it further comprises: storing, by the controller, in a memory communicatively coupled to the controller, a history of the implement's location data and the corresponding adjustments made to one or more operating parameters of the work vehicle; accessing, by the controller, the history of the location data; predicting, by the controller, future adjustments to one or more operating parameters based on the new location data received; and in response to the prediction of a future adjustment to one or more operating parameters based on the new location data received, adjusting, by the controller, one or more operating parameters based on the predicted future adjustment.
  10. 10. Method according to claim 1, CHARACTERIZED in that the implement is towed by the working vehicle during operation.
  11. 11. Method according to claim 1, CHARACTERIZED in that the work vehicle is physically coupled to the implement during operation.
  12. 12. Method according to claim 1, CHARACTERIZED in that the work vehicle is communicatively coupled to the implement during operation.
  13. 13. Method according to claim 1, CHARACTERIZED in that one or more operating parameters include at least one of the following: steering angle, engine speed, transmission gear selection, hydraulic pressure or flow rate, traction control, working mode, braking force, clutch engagement, implement height, and implement lateral adjustment.
  14. 14. Method according to claim 1, CHARACTERIZED in that one or more operating parameters of the work vehicle include one or more operating parameters of the implement, including at least one of implement steering angle, implement height, implement hitch depth and implement lateral adjustment.
  15. 15. Method, according to claim 1, CHARACTERIZED in that the implement is at least one of the following: plow, leveling harrow, seeder, planter, cultivator, sprayer, fertilizer distributor, combine harvester, reaper, thresher, hay baler, rotary hoe, grain seeder, irrigation applicator, grain cart, disc mower, manure spreader, forage harvester, potato harvester, cotton harvester, vegetable transplanter and strip cultivator.
  16. 16. System, CHARACTERIZED in that it comprises: a work vehicle; an implement; a positional receiver; and a controller, the controller comprising one or more processors, including one or more memory devices coupled to one or more processors, one or more memory devices being configured to store instructions that, when executed by one or more processors, cause one or more processors to: receive location data associated with a position of the implement on the ground; determine the position of the implement on the ground based at least on the location data associated with the position of the implement on the ground; determine a position of the work vehicle on the ground relative to the implement based on the location data received and on a characteristic of a positional coupling between the work vehicle and the implement; determine that a deviation of the position of the implement on the ground from a desired course, based on the location data of the implement, exceeds a limit; and in response to the determination that the deviation of the implement's position on the ground from the desired path exceeds the limit, adjust one or more operating parameters of the work vehicle to adjust the position of the work vehicle on the ground relative to the implement.
  17. 17. System according to claim 16, CHARACTERIZED in that one or more memory devices are configured to store additional instructions which, when executed by one or more processors, cause one or more processors to: receive, from an optical sensor positionally coupled to the implement, image data of the work vehicle; and determine the position of the work vehicle on the ground based on the location data received associated with the position of the implement on the ground and the image data received from the work vehicle.
  18. 18. System according to claim 16, CHARACTERIZED in that one or more memory devices are configured to store additional instructions which, when executed by one or more processors, cause one or more processors to: receive, from an optical sensor positionally coupled to the work vehicle, image data of the implement; and determine the position of the work vehicle on the ground based on the location data received associated with the position of the implement on the ground and the image data received from the implement.
  19. 19. Work vehicle, CHARACTERIZED in that it comprises: a frame; a front drive assembly coupled to the frame, the front drive assembly including a front axle; a rear drive assembly coupled to the frame, the rear drive assembly including a rear axle; a prime mover coupled to the frame and configured to drive one or more front and rear drive assemblies to propel the vehicle; and a controller, the controller comprising one or more processors, including one or more memory devices coupled to one or more processors, one or more memory devices configured to store instructions which, when executed by one or more processors, cause one or more processors to: receive location data associated with the position of an implement on the ground positionally coupled to the work vehicle; determine the position of the implement on the ground based at least on the location data associated with the position of the implement on the ground; determine the position of the work vehicle on the ground relative to the implement based on the location data received and on a positional coupling characteristic between the work vehicle and the implement; to determine that a deviation of the implement's position on the ground from a desired course based on implement location data exceeds a limit; and in response to the determination that the deviation of the implement's position on the ground from the desired course exceeds the limit, to adjust one or more operating parameters of the work vehicle to adjust the position of the work vehicle on the ground relative to the implement.
  20. 20. A work vehicle, according to claim 19, CHARACTERIZED in that one or more memory devices are configured to store additional instructions which, when executed by one or more processors, cause one or more processors to: receive, from an optical sensor positionally coupled to the work vehicle, image data of the implement; and determine the position of the work vehicle on the ground based on the location data received associated with the position of the implement on the ground and the image data received from the implement.

Description

FIELD OF THE INVENTION [001] This description refers generally to towed work implements. More specifically, this description refers to the passive guidance of implements during operation. SUMMARY OF THE INVENTION [002] In some respects, the techniques described herein relate to a method for maintaining the positionally accurate operation of an implement, the method including: receiving, by a controller on board a work vehicle that is positionally coupled to the implement, location data associated with a position of the implement on the ground; determining, by the controller, the position of the implement on the ground based at least on the location data associated with the position of the implement on the ground; determining, by the controller, a position of the work vehicle on the ground relative to the implement based at least on the received location data associated with the position of the implement on the ground; determining, by the controller, a deviation of the position of the implement on the ground from a desired course based on the position of the implement on the ground exceeding a limit; and in response to the determination that the deviation of the position of the implement on the ground relative to the desired course exceeds the limit, adjusting, by the controller, one or more operating parameters of the work vehicle to adjust the position of the work vehicle on the ground relative to the implement. [003] In some respects, the techniques described herein refer to a method in which the position of the working vehicle on the ground is additionally determined by the controller based on a characteristic of a positional coupling between the working vehicle and the implement, wherein the characteristic of the positional coupling includes at least one of a type of coupling device, a length of the coupling device, a flexibility parameter of the coupling device, a wheelbase of the implement, a coupling position of the coupling device on the working vehicle, a height difference between the working vehicle and the implement, and a suspension parameter. [004] In some respects, the techniques described herein refer to a method that additionally includes: receiving, by the controller, from an optical sensor positionally coupled to the implement, image data of the work vehicle; and determining, by the controller, the position of the work vehicle on the ground based on the location data received associated with the position of the implement on the ground and the image data received from the work vehicle. [005] In some respects, the techniques described herein refer to a method that additionally includes: receiving, by the controller, from an optical sensor positionally coupled to the work vehicle, image data of the implement; and determining, by the controller, the position of the work vehicle on the ground based on the location data received associated with the position of the implement on the ground and the image data received from the implement. [006] In some respects, the techniques described herein refer to a method including additionally: receiving, by the controller, from a position sensor, position data of a coupling device physically coupled to the work vehicle in a first part of the coupling device and physically coupled to the implement in a second part of the coupling device; and determining, by the controller, the position of the work vehicle on the ground based on the received location data associated with the position of the implement on the ground and the position data received from the coupling device. [007] In some respects, the techniques described herein refer to a method in which the adjustment of one or more operating parameters is based, in part, on the weight distribution of the work vehicle and implement, wind speed, terrain slope, terrain type, implement type, amount of implement deviation from the desired course, work vehicle steering geometry, implement steering geometry, work vehicle speed, operating time, crop characteristics, and one or more suspension characteristics of the implement and work vehicle. [008] In some respects, the techniques described herein refer to a method that additionally includes: continuously updating, by the controller, the implement's position on the ground as additional implement location data is received; continuously updating, by the controller, the work vehicle's position on the ground relative to the implement based on additional implement location data; determining, by the controller, the implement's deviation from the desired course based on the updated implement position on the ground; and dynamically adjusting, by the controller, one or more work vehicle operating parameters until the implement's position deviation on the ground is within the limit. [009] In some respects, the techniques described herein refer to a method in which the location data are Global Navigation Satellite System (“GNSS”) location data and are received from a GNSS receive