公开(公告)号：US08352113B2

公开(公告)日：2013-01-08

申请号：US12845362

申请日：2010-07-28

申请人： David A. Johnson ,  Monte A. Dickson

发明人： David A. Johnson ,  Monte A. Dickson

IPC分类号： G01C22/00

CPC分类号： G05D1/0265 ,  A01D34/008 ,  G05D1/0225

摘要： A robotic mower boundary coverage system includes a vehicle control unit on the robotic mower commanding a traction drive system to drive the robotic mower at a specified yaw angle with respect to a boundary wire, and a boundary sensor on the robotic mower signaling the distance between the boundary wire and the vehicle control unit. The vehicle control unit alternates commands to direct the traction drive system toward and away from the boundary wire based on the distance of the robotic mower to the boundary wire.

摘要翻译： 机器人割草机边界覆盖系统包括机器人割草机上的车辆控制单元，其指示牵引驱动系统相对于边界线以指定的偏转角度驱动机器人割草机;以及机器人割草机上的边界传感器， 边界线和车辆控制单元。 车辆控制单元基于机器人割草机与边界线的距离来交替命令以将牵引驱动系统引向和远离边界线。

公开(公告)号：US06445983B1

公开(公告)日：2002-09-03

申请号：US09611510

申请日：2000-07-07

申请人： Monte A. Dickson ,  Noboru Noguchi ,  Qin Zhang ,  John F. Reid ,  Jeffrey D. Will

发明人： Monte A. Dickson ,  Noboru Noguchi ,  Qin Zhang ,  John F. Reid ,  Jeffrey D. Will

IPC分类号： G05D100

CPC分类号： G01C21/165 ,  A01B69/008 ,  G05D1/0246 ,  G05D1/027 ,  G05D1/0274 ,  G05D1/0278 ,  G05D2201/0201

摘要： An automatically guided agricultural vehicle with multiple sensors is disclosed. The automatically guided agricultural vehicle includes guidance parameter identification using multi-sensor data fusion for real-time vehicle guidance. To insure robust navigation, a map-based guidance and sensor-based guidance are disclosed and integrated because no individual sensing technology is ideally suited for vehicle automation under all modes of use. The appropriate sensor and operational mode will depend on the field status of time or operation. A fiber optic gyroscope (FOG) and a real-time kinematic GPS (RTK-GPS) and machine vision are added to the guidance system in order to improve reliability of the system for vehicle guidance. The navigator includes key functions of selecting control mode, correcting position by vehicle roll/pitch inclinations, Kalman filtering, and calculating a steering angle.

摘要翻译： 公开了一种具有多个传感器的自动导向农用车辆。 自动引导的农用车辆包括使用多传感器数据融合进行实时车辆引导的引导参数识别。 为了确保强大的导航，基于地图的指导和基于传感器的指导被公开和集成，因为没有任何个别的感测技术在所有使用模式下都非常适用于车辆自动化。 适当的传感器和操作模式将取决于时间或操作的现场状态。 为了提高车辆引导系统的可靠性，在引导系统中增加了光纤陀螺仪（FOG）和实时运动学GPS（RTK-GPS）和机器视觉。 导航仪包括选择控制模式，通过车辆滚动/俯仰倾斜校正位置，卡尔曼滤波和计算转向角度的关键功能。

公开(公告)号：US20120029756A1

公开(公告)日：2012-02-02

申请号：US12845362

申请日：2010-07-28

申请人： David A. Johnson ,  Monte A. Dickson

发明人： David A. Johnson ,  Monte A. Dickson

IPC分类号： G05D1/00

CPC分类号： G05D1/0265 ,  A01D34/008 ,  G05D1/0225

摘要： A robotic mower boundary coverage system includes a vehicle control unit on the robotic mower commanding a traction drive system to drive the robotic mower at a specified yaw angle with respect to a boundary wire, and a boundary sensor on the robotic mower signaling the distance between the boundary wire and the vehicle control unit. The vehicle control unit alternates commands to direct the traction drive system toward and away from the boundary wire based on the distance of the robotic mower to the boundary wire.

摘要翻译： 机器人割草机边界覆盖系统包括机器人割草机上的车辆控制单元，其指示牵引驱动系统相对于边界线以指定的偏转角度驱动机器人割草机;以及机器人割草机上的边界传感器， 边界线和车辆控制单元。 车辆控制单元基于机器人割草机与边界线的距离来交替命令以将牵引驱动系统引向和远离边界线。

公开(公告)号：US06529615B2

公开(公告)日：2003-03-04

申请号：US09728102

申请日：2000-12-01

申请人： Larry L. Hendrickson ,  Shufeng Han ,  Monte A. Dickson

发明人： Larry L. Hendrickson ,  Shufeng Han ,  Monte A. Dickson

IPC分类号： G06K900

CPC分类号： G06T7/0004 ,  G01J3/2803 ,  G01J3/2823 ,  G06K9/0063 ,  G06T7/90 ,  G06T2207/10024 ,  G06T2207/10036 ,  G06T2207/30188 ,  H04N5/332

摘要： A process for determining the health of crops in a field and for correcting deficiencies in the health of the crops is disclosed. The process includes georeferencing aerial photographs of at least a portion of the field, the aerial photographs having a particular spatial resolution; determining the green plane in the aerial photographs thus taken; preparing a relative greenness map of the field based upon the nitrogen reference area, the relative greenness map providing crop status information having spatial resolution equivalent to the spatial resolution of the aerial photographs; converting the relative greenness map to a nitrogen recommendation map having spatial resolution equivalent to the spatial resolution of the photographs; and applying nitrogen to the field according to the nitrogen recommendation map, whereby the nitrogen is applied to the field without loss of spatial information. A process for treating crops is also disclosed. The process includes establishing, in a field to be treated, at least one predetermined area of high nitrogen reference; photographing from the air, georeferenced portions of the field, using a particular spatial resolution; differentiating soil and crops, in the photographs thus obtained by segmenting images to select crop pixels; preparing a relative greenness map of the field from green plane based upon the high nitrogen reference area, the relative greenness map providing crop information having spatial resolution equivalent to the particular spatial resolution; and treating the crops in the field in accordance with the relative greenness map.

摘要翻译： 公开了确定田间作物健康和纠正作物健康不足的过程。 该过程包括场地至少一部分的地理参考航空照片，航空照片具有特定的空间分辨率; 确定如此拍摄的航空照片中的绿色飞机; 基于氮参考区域准备场的相对绿度图，相对绿度图提供具有与空中照片的空间分辨率相当的空间分辨率的作物状态信息; 将相对绿度图转换成具有与照片的空间分辨率相当的空间分辨率的氮推荐图; 并根据氮推荐图将氮施加到场，由此将氮施加到场而不损失空间信息。 还公开了一种处理作物的方法。 该方法包括在待处理的领域中建立至少一个高氮参考的预定区域; 使用特定的空间分辨率从空中拍摄，场地的地理参考部分; 在通过分割图像以选择作物像素而获得的照片中区分土壤和作物; 基于高氮参考区域从绿平面准备场的相对绿度图，相对绿度图提供具有等同于特定空间分辨率的空间分辨率的作物信息; 并根据相对的绿色地图对田间作物进行处理。

公开(公告)号：US06178253B1

公开(公告)日：2001-01-23

申请号：US09129564

申请日：1998-08-05

申请人： Larry L. Hendrickson ,  Monte A. Dickson ,  Shufeng Han

发明人： Larry L. Hendrickson ,  Monte A. Dickson ,  Shufeng Han

IPC分类号： G06K900

CPC分类号： G06T7/0004 ,  G01J3/2803 ,  G01J3/2823 ,  G06K9/00657 ,  G06K9/2018 ,  G06T7/0002 ,  G06T7/40 ,  G06T7/90 ,  G06T2207/10036 ,  G06T2207/30188 ,  H04N5/332

摘要： A process for determining the health of crops in a field and treating the crops in accordance with that determination. The process first establishes, in a field in which the health of the crops is to be determined, at least one predetermined reference area of crops having a determined nutrient, e.g. nitrogen, content. Then, georeferenced aerial photographs are taken of at least a portion of the field. From the photographs, the green plane is determined. From the green plane, a relative greenness map of the field based upon the nitrogen reference area is prepared. The greenness map may be transmitted to a farm vehicle on the field and thereafter, the field may be selectively treated in accordance with the nutrient deficiencies detected and recorded on the greenness map.

摘要翻译： 确定田间作物健康的一个过程，并根据这一决定对作物进行处理。 该过程首先在要确定作物的健康的领域中确定具有确定的营养物质的作物的至少一个预定参考区域，例如， 氮，含量。 然后，拍摄至少一部分场地的地理参考航空照片。 从照片中，确定了绿色飞机。 从绿色平面，准备基于氮参考区域的场的相对绿度图。 绿地图可以在场上传送到农场车辆，然后可以根据检测到并记录在绿地图上的养分缺陷来选择性地处理田地。

公开(公告)号：US08549826B2

公开(公告)日：2013-10-08

申请号：US13189952

申请日：2011-07-25

申请人： Justin A. Kraft ,  Roger Kane ,  Jeffrey S. Thompson ,  Francisco O. da Rocha ,  Monte A. Dickson ,  Mark W. Waldvogel

发明人： Justin A. Kraft ,  Roger Kane ,  Jeffrey S. Thompson ,  Francisco O. da Rocha ,  Monte A. Dickson ,  Mark W. Waldvogel

IPC分类号： A01B69/00

CPC分类号： G05D1/0265 ,  A01D34/008 ,  G05D2201/0208

摘要： A robotic mower launch point system includes a user interface for an operator to enter a plurality of launch point locations, durations and frequencies, and a vehicle control unit that stores the locations, durations and frequencies, determines a sequence of launches based on the launch point frequencies, and commands the robotic mower to exit a charging station and follow a boundary wire to each launch point in the sequence where the robotic mower mows for that launch point's duration before returning to the charging station. The vehicle control determines the sequence based on the frequency of each launch point relative to a total of the launch point frequencies.

摘要翻译： 机器人割草机发射点系统包括用于操作员输入多个发射点位置，持续时间和频率的用户界面以及存储位置，持续时间和频率的车辆控制单元，基于发射点确定发射次序 频率，并命令机器人割草机离开充电站，并按照机器人割草机为该发射点的持续时间在返回到充电站之前的每个发射点遵循边界线。 车辆控制基于每个发射点相对于总发射点频率的频率来确定序列。