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公开(公告)号：US10822017B2
公开(公告)日：2020-11-03
申请号：US15878849
申请日：2018-01-24
申请人： AGJUNCTION LLC
发明人： Jim Tan , Alan Robert Joughin , Jean-Marie Eichner , Glen Sapilewski , Andreas F. Ramm , Husam Kal
摘要： A steering wheel actuator is attached to a steering wheel column. The steering wheel actuator includes a gear assembly for turning a steering wheel on the steering wheel column, a motor for rotating the gear assembly, and an enclosure. A control system in the enclosure controls the motor to automatically steer the vehicle. The control system may receive global navigation satellite system (GNSS) signals from a GNSS antenna and GNSS receiver located in the enclosure and automatically steer the vehicle based on the GNSS signals. The control system also may receive inertial measurement unit (IMU) signals from an IMU located in the enclosure and automatically steer the vehicle based on the IMU signals. The control system also may receive user input signals from a user interface located on the enclosure and automatically steer the vehicle based on the user input signals.
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公开(公告)号：US11091192B2
公开(公告)日：2021-08-17
申请号：US16775036
申请日：2020-01-28
申请人： AgJunction LLC
发明人： Michael Brett McMickell , Mark Alan Villela , Thomas R. Kreider , Jonathan L. Baker , Andreas F. Ramm
摘要： Cost of a precision farming guidance system is driven in part by the number of discrete system elements installed in a tractor including the steering actuator, guidance computer, user terminals, and the associated cable harnesses. An integrated guidance system arranges and integrates these separate elements into a base chassis and removable computer module to reduce cost and complexity while retaining flexibility to adapt to different vehicle configurations and to incorporate improved guidance computer technology into a common design platform.
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公开(公告)号：USRE47648E1
公开(公告)日：2019-10-15
申请号：US15041784
申请日：2016-02-11
申请人： AgJunction LLC
摘要： A GNSS integrated multi-sensor guidance system for a vehicle assembly includes a suite of sensor units, including a global navigation satellite system (GNSS) sensor unit comprising a receiver and an antenna. An inertial measurement unit (IMU) outputs vehicle dynamic information for combining with the output of the GNSS unit. A controller with a processor receives the outputs of the sensor suite and computes steering solutions, which are utilized by vehicle actuators, including an automatic steering control unit connected to the vehicle steering for guiding the vehicle. The processor is programmed to define multiple behavior-based automatons comprising self-operating entities in the guidance system, which perform respective behaviors using data output from one or more sensor units for achieving the behaviors. A GNSS integrated multi-sensor vehicle guidance method is also disclosed.
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公开(公告)号：US11167792B2
公开(公告)日：2021-11-09
申请号：US16277569
申请日：2019-02-15
申请人： AGJUNCTION LLC
摘要： A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.
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公开(公告)号：US20190124819A1
公开(公告)日：2019-05-02
申请号：US16177371
申请日：2018-10-31
申请人： AGJUNCTION LLC
发明人： Tommy Ertbolle Madsen , Tri M. Dang , Joshua M. Gattis , Andreas F. Ramm , Eran D.B. Medagoda , Steven J. Dumble , Bilal Arain
摘要： Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
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公开(公告)号：US10239555B2
公开(公告)日：2019-03-26
申请号：US15345792
申请日：2016-11-08
申请人： AGJUNCTION LLC
摘要： A guidance system identifies a path on a field and then calculates a position and heading of a trailer relative to the path. The guidance system steers a vehicle connected to the trailer based on the calculated trailer position and heading to minimize the trailer positional error and more quickly and accurately align the trailer with the path. The guidance system may align the trailer with the path while steering the vehicle in a reverse direction and may steer the vehicle based on a predicted trailer position and heading.
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公开(公告)号：US11193781B2
公开(公告)日：2021-12-07
申请号：US16177376
申请日：2018-10-31
申请人： AGJUNCTION LLC
发明人： Tommy Ertbolle Madsen , Tri M. Dang , Joshua M. Gattis , Andreas F. Ramm , Eran D. B. Medagoda , Steven J. Dumble , Bilal Arain
IPC分类号： G01C21/36 , G06T17/05 , G05D1/02 , G01C11/02 , G01C21/30 , E02F9/20 , A01B69/04 , A01B79/00 , B60K35/00 , B60C23/00 , B60W10/20 , B60W10/30 , B60W30/00 , B62D6/00 , B62D15/02 , G01C21/20 , G06F16/29 , A01B63/02
摘要： Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
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公开(公告)号：US11156469B2
公开(公告)日：2021-10-26
申请号：US16177376
申请日：2018-10-31
申请人： AGJUNCTION LLC
发明人： Tommy Ertbolle Madsen , Tri M. Dang , Joshua M. Gattis , Andreas F. Ramm , Eran D. B. Medagoda , Steven J. Dumble , Bilal Arain
IPC分类号： G01C21/36 , G06T17/05 , G05D1/02 , G01C11/02 , G01C21/30 , E02F9/20 , A01B69/04 , A01B79/00 , B60K35/00 , B60C23/00 , B60W10/20 , B60W10/30 , B60W30/00 , B62D6/00 , B62D15/02 , G01C21/20 , G06F16/29 , A01B63/02
摘要： Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
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公开(公告)号：US10890922B2
公开(公告)日：2021-01-12
申请号：US15348246
申请日：2016-11-10
申请人： AGJUNCTION LLC
IPC分类号： G05D1/02 , B60W30/10 , B60W10/04 , A01D1/00 , B60W10/20 , A01D43/073 , A01D41/127
摘要： A navigation system aids a driver of a collection vehicle in keeping pace and distance with a lead harvester while collecting grain. The navigation system can be used for any leader-follower vehicle drive formation. A navigation system steers the head vehicle based on a continuously known position and attitude. Navigation data for the lead vehicle is broadcast to a following collection vehicle. A navigation system in the following vehicle processes the lead vehicle navigation data to determine a relative position and attitude. The navigation system in the following vehicle generates steering and speed commands based on the relative position and attitude to automatically drive to a designated target position alongside the lead vehicle. In one example, an artificial oscillation is induced into the target position to more evenly distribute material in the following vehicle.
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公开(公告)号：US10241215B2
公开(公告)日：2019-03-26
申请号：US15350494
申请日：2016-11-14
申请人： AGJUNCTION LLC
摘要： A calibration scheme measures roll, pitch, and yaw and other speeds and accelerations during a series of vehicle maneuvers. Based on the measurements, the calibration scheme calculates inertial sensor misalignments. The calibration scheme also calculates offsets of the inertial sensors and GPS antennas from a vehicle control point. The calibration scheme can also estimate other calibration parameters, such as minimum vehicle radii and nearest orthogonal orientation. Automated sensor calibration reduces the amount of operator input used when calibrating sensor parameters. Automatic sensor calibration also allows the operator to install an electronic control unit (ECU) in any convenient orientation (roll, pitch and yaw), removing the need for the ECU to be installed in a restrictive orthogonal configuration. The calibration scheme may remove dependencies on a heading filter and steering interfaces by calculating sensor parameters based on raw sensor measurements taken during the vehicle maneuvers.
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