US-12619236-B2 - Apparatus, systems and methods for automated navigation of agricultural equipment

Abstract

The disclosure relates to the system and methods for generating a guidance path for automated navigation of large agricultural equipment. Vehicle path data from leading vehicles can be recorded, stored or inputted into the system for generation of guidance paths offset from the swaths traversed by the leading vehicle. Combines, planters sprayers and other vehicles utilizing guidance system can be used to record leading vehicle data for use by the following vehicle in real time or in subsequent cycles. Enterprise systems can manage multiple grain carts and/or combines or other vehicles to maximize efficiency.

Inventors

• David Wilson
• Bill Cran
• Joe Holoubek
• Luke Call
• Mike Myers
• Adam Fett
• Caleb Huitt
• AJ Steenhoek
• Kolton Rottink
• Mitchell Freshour
• Nate Mohling
• Ryan Kool
• Steve Schulteis

Assignees

• AG LEADER TECHNOLOGY

Dates

Publication Date

20260505

Application Date

20231023

Claims (20)

1. 1 . An agricultural vehicle navigation system comprising: a) an automatic steering system; and b) a processor configured to: (i) receive first vehicle path data from a first vehicle; (ii) store the first vehicle path data; (iii) generate one or more follow guidance paths for a second vehicle from the stored first vehicle path data; (iv) perform at least one of gap filling and/or curve smoothing on the first vehicle path data; and (v) output the generated follow guidance paths and command the automatic steering system on a second vehicle to follow the generated follow guidance paths thereby automatically steering the second vehicle along the generated follow guidance paths.
2. 2 . The system of claim 1 , wherein the first vehicle path data is received via a cloud server.
3. 3 . The system of claim 2 , wherein the first vehicle path data comprises first vehicle swath data.
4. 4 . The system of claim 3 , wherein the follow guidance paths are generated by applying an offset to the first vehicle path data.
5. 5 . The system of claim 1 , wherein the processor is further configured to: i) establish a first vehicle swath and heading; and ii) apply an offset.
6. 6 . An agricultural navigation and guidance system comprising a processor configured to: i) receive a vehicle path data comprising path data from a first vehicle; ii) store the vehicle path data; iii) generate one or more guidance paths for a second vehicle via establishing a first vehicle swath and heading; and iv) output the generated one or more guidance paths for command of an automatic steering unit in the second vehicle to traverse the one or more guidance paths and automatically steering the second vehicle.
7. 7 . The system of claim 6 , wherein the vehicle path data comprises: a) first vehicle location data; and b) first vehicle swath data.
8. 8 . The system of claim 6 , wherein the vehicle path data comprises first vehicle characteristic data and second vehicle characteristic data.
9. 9 . The system of claim 6 , wherein the vehicle path data comprises user input data.
10. 10 . The system of claim 6 , wherein the generation of one or more guidance paths comprises establishing swath center and/or establishing swath edge.
11. 11 . The system of claim 6 , wherein the processor is further configured to gap fill and/or curve smooth.
12. 12 . The system of claim 6 , wherein the processor is further configured to predict collision points and issue collision warnings.
13. 13 . A guidance and navigation system comprising a processor configured to: i) receive path data comprising a series of first vehicle swath path data from a first vehicle; ii) store the path data; iii) generate one or more guidance paths for use by an automatic steering unit of a second vehicle, wherein the one or more guidance paths comprise guidance path data comprising previous, adjacent first vehicle swath path data; and iv) output the one or more guidance paths from the stored path data and command of an automatic steering unit on the second vehicle to follow the one or more guidance paths and automatically steering the second vehicle.
14. 14 . The system of claim 13 , further comprising an enterprise system configured to be executed by a plurality of second vehicles.
15. 15 . The system of claim 13 , wherein the processor is further configured to gap fill and/or curve smooth.
16. 16 . The system of claim 13 , further comprising a collision alert system.
17. 17 . The system of claim 13 , wherein the process is configured to utilize sensor data during generation of the one or more guidance paths.
18. 18 . The system of claim 13 , wherein the path data further comprises first vehicle characteristic data and second vehicle characteristic data.
19. 19 . The system of claim 13 , wherein the path data further comprises first vehicle location data and first vehicle swath data.
20. 20 . The system of claim 13 , wherein the path data further comprises second vehicle roll, pitch and yaw data.

Description

CROSS-REFERENCE TO RELATED APPLICATION(S) This application is a continuation of U.S. patent application Ser. No. 16/939,785, filed Jul. 27, 2020 which claims priority to U.S. Provisional Application No. 62/878,553 filed Jul. 25, 2019 and entitled “Apparatus, Systems And Methods For Automated Navigation Of Agricultural Equipment,” which is hereby incorporated by reference in its entirety under 35 U.S.C. § 119(e). TECHNICAL FIELD The disclosed apparatus, systems and methods relate to an automated navigation system to be utilized with agricultural equipment. BACKGROUND This disclosure relates to the apparatus, systems, and methods for an automated navigation system to be used with agricultural equipment. Precise navigation of agricultural equipment, including but not limited to grain carts, is difficult and requires significant skill. There are few operators that have the requisite experience and even those experienced operators experience substantial fatigue while doing their jobs. The disclosed systems, devices and methods reduce the skill level required to precisely operate equipment and decrease fatigue for already skilled operators by relieving the operator from steering tasks. There is a need in the art for improved systems for automated navigation systems to be used with agricultural equipment such as, but not limited to, grain carts, allowing for the unloading of grain or other material. BRIEF SUMMARY Discussed herein are various embodiment of automated navigation systems to be used with agricultural equipment. In the various Examples described in detail here and throughout the disclosure, a system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, cause the apparatus to perform the actions. In Example 1, a guidance path generation system for a following agricultural vehicle with an operations unit and display or automatic steering system, the guidance path generation system comprising software executed on the operations unit configured to receive vehicle path data, generate follow guidance paths, and output the generated follow guidance paths for visualization on the display or commanding the automatic steering unit. In Example 2, the system of Example 1, wherein the vehicle path data comprises leading vehicle data. In Example 3, the system of Example 2, wherein the leading vehicle data comprises leading vehicle swath data. In Example 4, the system of Example 3, wherein the guidance path is generated by applying an offset to the leading vehicle swath data. In Example 5, the system of Example 4, wherein the vehicle path data comprises following vehicle data. In Example 6, the system of Example 5, wherein the vehicle path data comprises leading characteristic data and following characteristic data. In Example 7, the system of Example 1, wherein the software executed on the operations unit configured generating guidance paths is configured to establish leading vehicle swath and heading, and apply an offset. In Example 8, a follow vehicle guidance path system, for a following agricultural vehicle with an operations unit and display or automatic steering system, the guidance path generation system comprising software executed on the operations unit configured to receive vehicle path data, generate follow guidance paths via establishing leading vehicle swath and heading and applying an offset, and output the generated follow guidance paths for visualization on the display or commanding the automatic steering unit. In Example 9, the system of Example 8, wherein the vehicle path data comprises leading vehicle data comprising leading vehicle location data, and leading vehicle swath data. In Example 10, the system of Example 8, wherein the vehicle path data comprises leading characteristic data and following characteristic data. In Example 11, the system of Example 8, wherein the vehicle path data comprises user input data. In Example 12, the system of Example 8, wherein the guidance paths generation further comprises establishing swath center and/or establishing swath edge. In Example 13, the system of Example 8, wherein the software is configured to gap fill and/or curve smooth. In Example 14, the system of Example 8, wherein the software is configured to adjust the guidance paths for roll, pitch or yaw. In Example 15, the system of Example 8, wherein the software is configured to predict collision points and issue collision warnings. In Example 16, a follow vehicle guidance path system, for a following agricultural vehicle with an operations unit and display or automatic steering system, the guidance path generation system comprising