To precision guidance system for agricultural vehicles

Abstract

The present invention relates to products and systems to assist in the accurate guidance of agricultural vehicles such as tractors, harvesters, sprayers and their attached implements. In particular, it relates to driver-led precision guidance systems and products which assist in ensuring that a vehicle is tracking along the most effective path for the activity being carried out and making maximum use of the available land space when fertiliser spreading, spraying, cultivating and drilling etc.

Claims

1. A precision guidance system for a vehicle comprising; a portable display device comprising an outer casing, a plurality of visual elements, a power source being housed within the outer casing; a GPS sensor configured to receive position data representative of a geographic location of the vehicle, said GPS sensor being housed within the outer casing; a processor which is configured to define travel paths and to receive wirelessly the position data from the GPS sensor and compare the position data from the GPS sensor to map data to determine if the vehicle is on a defined travel path, wherein the portable display device is configured to wirelessly receive information from the process and display a visual indication using the plurality of visual elements as to whether the vehicle is on the defined travel path, and wherein the portable display device is mountable on a bonnet on an outside of the vehicle within a user's field of vision.

2. The precision guidance system as recited in claim 1, wherein the vehicle is an agricultural vehicle.

3. The precision guidance system as recited in claim 1, further comprising an inertial measurement unit for detecting velocity, acceleration and/or magnetic orientation.

4. The precision guidance system as recited in claim 1, wherein a portion of the outer casing is a display panel comprising the plurality of visual elements.

5. The precision guidance system as recited in claim 4, wherein the plurality of visual elements are lights configured to be turned on and off.

6. The precision guidance system as recited in claim 4, wherein the plurality of visual elements are light-emitting diodes (LEDs).

7. The precision guidance system as recited in claim 4, wherein the plurality of visual elements form an array.

8. The precision guidance system as recited in claim 7, wherein the array comprises seven LED units.

9. The precision guidance system as recited in claim 1, wherein a bottom surface of the outer casing comprises one or more magnets or magnetized zones.

10. The precision guidance system as recited in claim 1, wherein the outer casing is attached the bonnet of the vehicle.

11. The precision guidance system as recited in claim 1, wherein the outer casing is shaped such that a lower surface of the outer casing is at least partially arcuate.

12. The precision guidance system as recited in claim 1, wherein a lower surface of the outer casing is configured such that it has one or more feet configured to attach to the outside of the vehicle.

13. The precision guidance system as recited in claim 1, wherein the GPS sensor is contained within the outer casing of the portable display device.

14. The precision guidance system as recited in claim 1, wherein the position data is transmitted wirelessly to the processor via Bluetooth.

15. The precision guidance system as recited in claim 1, wherein an inertial measurement unit is contained within the outer casing of the portable display device.

16. The precision guidance system as recited in claim 1, wherein information from the processor is transmitted wirelessly to the portable display device via Bluetooth.

17. The precision guidance system as recited in claim 1, wherein the processor is provided downloadable software configured to run on a mobile phone or tablet.

Description

(1) In order to provide a better understanding of the present invention, embodiments will now be described by way of example only and with reference to the following figures in which;

(2) FIG. 1 shows a tractor with a display unit attached;

(3) FIG. 2 is a diagram of a display unit;

(4) FIG. 3 is a diagram showing the visual display panel;

(5) FIG. 4 is a diagram showing a tractor following a preferred path; and

(6) FIG. 5 is a flow diagram showing the system of the invention.

(7) An exemplary device in use is shown in FIG. 1. FIG. 5 is a flow diagram showing the system in use. A tractor 1 (or other agricultural vehicle) is provided with a display unit 2 that is mountable to the bonnet 3 or outer front portion of the tractor 1. In this example, the display unit 2 is in the form of a shaped box that contains a control module (not shown) and a visual display panel 4 that is positioned on one wall of the box such that it will be in the driver's field of vision when the display unit 2 is mounted on the bonnet 3.

(8) Advantageously, the display unit 2 shown in FIG. 2, is mounted on the bonnet 3 on the outside of the tractor 1 (and is not within the cab or inside of the tractor 1 or vehicle). The display unit is mountable within the user's field of vision when they are looking ahead of the vehicle. The display unit 2 is in the form of a box or casing, with the lower surface shaped appropriately to sit on the surface of a tractor or agricultural vehicle bonnet 3—typically this is an arcuate shape with four rubberised feet 9 portions that will contact the bonnet 3 surface. At least part of the underside surface of the display unit 2 that is going to come into contact with the bonnet 3 is a magnet or magnetised area. In this embodiment, the four rubberised feet 9 are magnets that will attach to the metallic surface of the tractor bonnet 3. This allows for easy and rapid attachment and detachment—particularly useful if a user wants to move the unit 2 to another vehicle. It will be appreciated that the display unit 2 could be an alternative shape. Also, if the bonnet 3 to which the unit 2 is to be fixed does not have an appropriate metal surface, metal discs or elements can be provided which can first be affixed to the bonnet 3, or alternative fixing mechanisms could be used.

(9) Ideally the display unit 2 is positioned or positionable on the bonnet 3 between 0.5 and 3 meters from the operator's position when driving and within, but not disrupting, the operator's field of vision when looking out of the front of the cab. This has the significant advantage that the visual display panel 4 is within the user's field of vision but is not obscuring their vision. As such, the user is not required to look back and forward between objects. This provides a safety aspect, as the driver remains looking at the field in front of them (with the visual display panel 4 simply sitting within the field of vision), reduced driver fatigue (due to the reduced requirement for rapid and repeated visual accommodation between distant and near objects) and improved performance as the driver is immediately aware of any deviation from the preferred path 7.

(10) The visual display panel 4 comprises a number of lights or LEDs 5 as best seen in FIG. 2 and FIG. 3. The LEDs 5 are selected to be visible when lit even in bright sunlight conditions. The LEDs 5 form an array of lights of a size that can easily be seen by the user. The brightness of the LEDs 5 can also be variable and also the LEDs 5 flash and speeds are also controlled variably. The display unit 2 also contains a GPS antenna and transmitter/sensor. The GPS sensor receives location information from GPS that is representative of the geographic position of the tractor 1. The display unit 2 also contains a power source, which in this example is in the form of a battery.

(11) The display unit 2 can also contain an inertial measurement unit (IMU) device or means for detecting velocity, acceleration and magnetic orientation. An IMU measures and reports a body's specific force, angular rate, and sometimes the magnetic field surrounding the body, using a combination of accelerometers and gyroscopes, sometimes also magnetometers.

(12) It would be appreciated that, although in this embodiment the GPS antenna is housed in the display unit 2, it could in fact be separate from the display unit 2 and independently mountable on or in the tractor 1. It is however particularly beneficial to have as much as possible of the required navigational equipment within the casing or housing of the display unit as the allows it to be easily portable—the user simply needs the display unit, which can be used with the user's preferred user interface device—for example a tablet or mobile phone. This is particularly useful in cases where a user may want to quickly transfer the system to another agricultural vehicle, overcoming the need to purchase multiple units for multiple vehicles.

(13) The tractor 1 is to be guided according to a map that is stored in a guidance module and which identifies a preferred route or travel path 7, as shown in FIG. 4. It will be appreciated that the various algorithms that can be used for calculating the preferred travel path for a straight pass and deviation therefrom are known to one skilled in the art. In this particular embodiment, the guidance module is provided with a user interface on a mobile phone 8 that the driver of the vehicle has in the vehicle cab. It will be appreciated that the device could be a proprietary unit, but could also be a tablet, mobile phone or similar device onto which the software for the guidance module is provided e.g. it may be downloadable as an app. Notably, the guidance module is integrated into a product that is separate to the display unit 2 such that it can be taken into the cab of the tractor 1 and accessed by the user whilst the display unit 2 and associated visual display panel 4 remains outside of the tractor 1. The map may include information representative of the preferred route or travel path 7 of the tractor 1 in the field 6 and the guidance module may take into account details regarding the vehicle and mode of operation thereof. For example, a centerline or A-B line may be defined on the map based on the size of the field and the dimensions of the vehicle e.g. a 12 meter fertiliser spread trajectory. The guidance module receives positioning information via Bluetooth® from the control module, and GPS antenna (and data from the IMU) and continuously or semi-continuously compares the GPS location of the vehicle 1 to the preferred travel path 7 on the map to determine whether the tractor 1 is on course or deviating from the preferred travel path 7. The system converts this information into a visual signal for the driver by transmitting data, via Bluetooth®, to the control module in the display unit 2.

(14) As shown in FIG. 3, seven LEDs 5 are arranged horizontally, and symmetrically about the center-line of the visual display panel 4 and facing the tractor cab. The center LED 5a is green and the remaining LEDs 5 are red. The LEDs 5 on the visual display panel 4 are controlled by the control module (which receives information via Bluetooth® from the guidance module) and change depending on whether the tractor 1 is moving along a predetermined preferred travel path 7 or whether it is moving off the preferred direction or vector of travel. Typically, if the tractor 1 is on the correct predetermined path 7 the central LED 5a on the visual display panel 4 will show as a green light. In an alternative embodiment, all of the LEDs 5 will be green when the tractor is on the preferred travel path 7. If the tractor 1 begins to deviate from the preferred travel path 7, for example by moving too far to the right, then the control module will, in accordance with the data received from the guidance module, cause the visual display panel to indicate this to the driver. In this embodiment, one or more of the LEDs 5b, 5c and 5d which are positioned to the right side of the driver's field of vision (and to the right of the central LED 5a) will light up with a red colour—and in some embodiments the central LED may either change colour, dim or go off. The more red lights that are lit, the further off course the vehicle is and the more corrective action is required by the driver. Once the tractor 1 is back on course, the central green LED 5a will light up and the red lights 5b, 5c and 5d to the right will go off. A similar array of red lights, 5x, 5y, 5z are provided to the left of the central light 5a. Essentially, when the vehicle 1 deviates from the preferred travel path 7, the visual display indicates the direction in which to make a course correction (i.e. to the right or to the left) and relative magnitude of the course correction. The calculations regarding how many lights to turn on or off are carried out by the guidance module, although could occur in the control module. For example, if the vehicle deviates to the right of line, a light will illuminate to indicate to the operator to steer to the left. As the operator makes course corrections, the illuminated light may be turned off (if the course correction has been successful) or an additional adjacent light may be illuminated (if the course correction has been unsuccessful) to indicate the result of the correction. The operator continues to make course corrections until the center light 5a of the array is illuminated thereby indicating that the course of the vehicle coincides with preferred travel path 7.

(15) In some embodiments, the display unit 2 is also provided with a power button and/or a charging and power LED which can indicate the power status of the display unit 2.

(16) It will be understood that although the above example describes a preferred version of the visual display, there are many variances that could be made to how the lights indicate that the tractor is moving from the preferred path. More lights could be used, lights could only show when there is a deviation from the preferred path, lights could take the shape of arrows or chevrons, lights could flash to show different variances in distance from the line etc.

(17) Predictive Headland Turning

(18) In another embodiment, which may be based on the embodiment described above, the system also provides guidance when turning from one pass to the next. Some guidance systems do provide some guidance by directing the operator/driver using the lights/LEDs as they are approaching the end of a pass, however the turns are often inaccurate and the current systems work to correct any deviation from the new lie rather than avoiding deviation. In this embodiment, the system uses the previous turn or the previous part of a turn to guide the operator of the tractor or vehicle during the turn.

(19) The system uses the IMU and GPS sensors in the device and the GPS position to record the turn the user makes off of the previous pass. This recorded data is used to predict the next turn onto the preferred travel path and enhances the accuracy and the experience for the user.

(20) When the driver begins to make a turn off the current course line the application will sense this rapidly and begin to map the path of the vehicle by looking at the recorded data and predicting the curvature of the turn.

(21) The sensors within the hardware device will assist with this.

(22) Once the vehicle has turned more than x° from the preferred path, the recorded path is mirrored to produce and display a predicted turn onto the next course line. Points 1, 2 and 3 will be produced and displayed and are calculated as follows;
DPoint 1=λ/100×P.sub.1
DPoint 2=λ/100×P.sub.2
DPoint 3=λ/100×P.sub.3

(23) where D is the distance along the predicted turn onto course line from the new course line, λ is the circumference of the recorded turn off course line and P.sub.1, P.sub.2 and P.sub.3 are constants.

(24) If the driver crosses the new preferred path, the LEDs will work normally according to steering angle required until a new preferred path is determined in the usual way. The predicted turn onto the preferred path will then be applied to this new line.

(25) It will be appreciated that features from one embodiment may be appropriately incorporated into another embodiment unless technically unfeasible to do so.

(26) With respect to the use of substantially any plural and/or singular terms herein, those having skill in the art can translate from the plural to the singular and/or from the singular to the plural as is appropriate to the context and/or application. The various singular/plural permutations may be expressly set forth herein for sake of clarity.

(27) It will be understood by those within the art that, in general, terms used herein, and especially in the appended claims are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). It will be further understood by those within the art that if a specific number of an introduced claim recitation is intended, such an intent will be explicitly recited in the claim, and in the absence of such recitation no such intent is present. For example, as an aid to understanding, the following appended claims may contain usage of the introductory phrases “at least one” and “one or more” to introduce claim recitations. However, the use of such phrases should not be construed to imply that the introduction of a claim recitation by the indefinite articles “a” or “an” limits any particular claim containing such introduced claim recitation to embodiments containing only one such recitation, even when the same claim includes the introductory phrases “one or more” or “at least one” and indefinite articles such as “a” or “an” (e.g., “a” and/or “an” should be interpreted to mean “at least one” or “one or more”); the same holds true for the use of definite articles used to introduce claim recitations. In addition, even if a specific number of an introduced claim recitation is explicitly recited, those skilled in the art will recognize that such recitation should be interpreted to mean at least the recited number (e.g., the bare recitation of “two recitations,” without other modifiers, means at least two recitations, or two or more recitations).

(28) It will be appreciated that various embodiments of the present disclosure have been described herein for purposes of illustration, and that various modifications may be made without departing from the scope and spirit of the present disclosure. Accordingly, the various embodiments disclosed herein are not intended to be limiting, with the true scope and spirit being indicated by the following claims.