Implement and boom height control system and method

Abstract

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.

Claims

1. A method of controlling the position of a working component relative to a work surface, comprising: storing field terrain elevation data for the work surface; receiving a selection of a desired height of the working component above the work surface; receiving inertial movement data from multiple inertial measurement units (IMU) located on different sections of the working component as part of sensor data identifying different x, y, and z positions for the different sections of the working component with respect to the work surface; comparing the sensor data with the field terrain elevation data; and adjusting heights of the different sections of the working component relative to the work surface based on the desired height of the working component above the work surface and the comparison of the inertial movement data with the field terrain elevation data.

2. A method of controlling the position of a working component relative to a work surface, comprising: storing field terrain elevation data for the work surface; receiving a selection of a desired height of the working component above the work surface; receiving sensor data identifying a position of the working component with respect to the work surface; comparing the sensor data with the field terrain elevation data; adjusting a height of the working component relative to the work surface based on the desired height of the working component above the work surface and the comparison of the sensor data with the field terrain elevation data; receiving inertial movement data as at least part of the sensor data, wherein different portions of the inertial movement data are associated with different sections of the working component; comparing the inertial movement data for the different sections of the working component with the field terrain elevation data; and adjusting the height of the working component relative to the work surface based the comparison of the inertial movement data associated with the different sections of the working component with the field terrain elevation data.

3. The method of claim 2, further comprising receiving the inertial movement data from separate inertial measurement units located on the different sections of the working component.

4. The method of claim 2, further comprising adjusting individual heights of the different sections of the working component relative to the work surface based on the comparison of the inertial movement data associated with the different sections of the working component with the field terrain elevation data.

5. The method of claim 1, further comprising: receiving global navigation satellite system (GNSS) measurements for the working component as at least part of the sensor data; and adjusting the height of the working component based on a comparison of the GNSS measurements and the field terrain elevation data.

6. The method of claim 1, wherein the sensor data includes both gyroscope inertial measurements and global navigation satellite system (GNSS) measurements.

7. The method of claim 1, further comprising adjusting the height of the working component using an electro-hydraulic mechanism.

8. The method of claim 1, further comprising: measuring the field terrain elevation data for the work surface in an initial measurement operation; storing the measured field terrain elevation data in a data management system; load the measured field terrain elevation data from the data management system into a vehicle guidance system; receiving the sensor data during a second operation as the working component travels over the working surface; comparing the measured field terrain elevation data with the sensor data as the working component travels over the working surface.

9. A height control system for a work implement, comprising: a processing system to: load elevation data for a work surface; identify a desired height of the work implement above the work surface; receive sensor data from different inertial measurement units located on different sections of the work implement identifying different positions of the work implement with respect to the work surface; compare the sensor data with the elevation data; and adjust heights of the different sections of work implement based on the comparison of the sensor data with the elevation data to maintain the desired height of the work implement above the work surface.

10. A height control system for a work implement, comprising: a processing system to: load elevation data for a work surface; identify a desired height of the work implement above the work surface; receive sensor data identifying a position of the work implement with respect to the work surface; compare the sensor data with the elevation data; adjust a height of the work implement based on the comparison of the sensor data with the elevation data to maintain the desired height of the work implement above the work surface; receive inertial movement data as at least part of the sensor data, wherein different portions of the inertial movement data are associated with different sections of the work implement; compare the inertial movement data for the different sections of the work implement with the elevation data; and adjust the height for the work implement above the work surface based the comparison of the inertial movement data for the different sections of the work implement with the elevation data.

11. The height control system of claim 10, the processing system further to receive the inertial movement data from separate inertial measurement units located on the different sections of the work implement.

12. The height control system of claim 11, the processing system further to adjust individual heights of the different sections of the work implement above the work surface based the comparison of the inertial movement data associated with the different sections of the work implement with the elevation data.

13. The height control system of claim 9, the processing system further to: receive global navigation satellite system (GNSS) measurements for the work implement as at least part of the sensor data; and adjust the height of the work implement based on a comparison of the GNSS measurements with the elevation data.

14. The height control system of claim 9, wherein the sensor data includes both inertial gyroscope measurements and global navigation satellite system (GNSS) measurements identifying the position of the work implement along X, Y, and Z axes.

15. The height control system of claim 9, the processing system further to use an electro-hydraulic mechanism to adjust the height of the work implement.

16. The height control system of claim 9, the processing system further to: load the elevation data from an initial measurement operation prior to the work implement traveling over the work surface; receive the sensor data as the work implement travels over the work surface; and compare the elevation data with the sensor data and adjust the height of the work implement as the work implement travels over the work surface.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) The drawings constitute a part of this specification and include exemplary embodiments of the present invention illustrating various objects and features thereof.

(2) FIG. 1 is a schematic diagram of a boom height control system embodying an aspect of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

I. Introduction and Environment

(3) As required, detailed aspects of the present invention are disclosed herein, however, it is to be understood that the disclosed aspects are merely exemplary of the invention, which may be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art how to variously employ the present invention in virtually any appropriately detailed structure.

(4) Certain terminology will be used in the following description for convenience in reference only and will not be limiting. For example, up, down, front, back, right and left refer to the invention as orientated in the view being referred to. The words, “inwardly” and “outwardly” refer to directions toward and away from, respectively, the geometric center of the aspect being described and designated parts thereof. Forwardly and rearwardly are generally in reference to the direction of travel, if appropriate. Said terminology will include the words specifically mentioned, derivatives thereof and words of similar meaning.

II. Preferred Embodiment

(5) FIG. 1 is a schematic diagram of a boom height control system 2. Without limitation on the generality of useful applications of the present invention, the system 2 is shown for controlling the height of a spray boom 20, which can be used for agricultural applications, such as spraying fertilizer, herbicides, pesticides, water, etc. The control system 2 includes a guidance system 4, which can be global navigation satellite system (GNSS) based. A real-time control compute engine 6 is connected to the guidance system 4 and can be programmed with specific control instructions and applications, including variable-rate (VR), selective control, guidance, auto-steering, etc. A valve drive 8 can be connected to the compute engine 6 for connection to a steering system of a vehicle, such as a tractor or a self-propelled equipment piece.

(6) The guidance system is connected to a job set up and graphical user interface (GUI) component 10, which can include suitable display monitor components. A field template file 12 is provided for specific fields and includes such information as GNSS-defined field coordinates, material prescription information, environmental conditions and equipment routing directions. Geodesic information system (GIS) and cloud (e.g., Internet) 14 data sources and connectivity are provided for communicating bi-directionally with the other components of the system 2.

(7) Boom inertial measurement units 16 are connected to the control compute engine 6, and can include such devices as accelerometers and gyroscopes for measuring inertia and positioning information in three axes (X, Y, Z). The boom 20 can include a GNSS receiver with an antenna 18, or can be directly controlled via the implement motive component, such as a tractor. The boom 20 includes sections 22, 24, 26, 28, 30, each equipped with its own inertial measurement unit (IMU) 16. The boom sections can be articulated for conforming to field conditions.

(8) Use Case: 1) Field is logged/mapped using highly accurate sensors (such as RTK GNSS) for measurement of field terrain elevations. This may be done as an independent step using an ATV or field truck or data may be used/collected from another farming operation such as harvesting, which covers the same terrain 2) Field log data may be stored in an office/cloud GIS and data management toolset. 3) File is loaded in guidance system on target machine (sprayer, for example). 4) User selects the job file in the guidance system which includes the processed elevation data. 5) The user chooses/sets up boom control options to use the field log including desired height above the target. 6) As the system works across the field, sensor data is compared to elevation data and performs real-time control through a mechanical control system (typically electro-hydraulic or mechanical in nature)

(9) It is to be understood that while certain embodiments and/or aspects of the invention have been shown and described, the invention is not limited thereto and encompasses various other embodiments and aspects.