Disclosed in some examples are methods and systems for controlling an agricultural vehicle using audio signals captured by one or more microphones mounted on the vehicle. An example system includes a processing system configured to receive the audio signals from the one or more microphones, process the audio signals using one or more machine learning models to detect an abnormal condition, and based on the detection of the abnormal condition, generate a control command related to the abnormal condition. The system can further include an actuator system for receiving the control command and altering operation of the vehicle. The system can further include processing audio signals and sensor signals from other sensors on the vehicle (such as one or more of cameras, radar systems, and the like). The fusion of audio and non-audio data can in some examples better enable detection of the abnormal condition. The abnormal condition can be a verbal command, a verbal distress signal, a mechanical failure noise, an obstacle, a failure condition, a heavy engine load, and the like.
A configurable nozzle system includes, for example, a first nozzle with a first nozzle and a second nozzle. Optionally, a nozzle housing retains both the first nozzle and the second nozzle. The nozzle housing includes, for example plumbing that interconnects the nozzle passages. In an example, a bridging valve coupled along the nozzle manifold selectively interconnects the nozzle passages, regulating agricultural fluid flow between them. Optionally, one of the first nozzle or second nozzle includes a configurable nozzle assembly and the other of the first nozzle or second nozzle includes a standard tip nozzle. The standard tip nozzle, for example, is in communication with a responsive flow control system.
A configurable nozzle system includes, for example, a first nozzle with a first nozzle and a second nozzle. Optionally, a nozzle housing retains both the first nozzle and the second nozzle. The nozzle housing includes, for example plumbing that interconnects the nozzle passages. In an example, a bridging valve coupled along the nozzle manifold selectively interconnects the nozzle passages, regulating agricultural fluid flow between them. Optionally, one of the first nozzle or second nozzle includes a configurable nozzle assembly and the other of the first nozzle or second nozzle includes a standard tip nozzle. The standard tip nozzle, for example, is in communication with a responsive flow control system.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
B05B 7/24 - Spraying apparatus for discharge of liquids or other fluent materials from two or more sources, e.g. of liquid and air, of powder and gas with means, e.g. a container, for supplying liquid or other fluent material to a discharge device
B05B 7/28 - Apparatus in which liquids or other fluent materials from different sources are brought together before entering the discharge device in which one liquid or other fluent material is fed or drawn through an orifice into a stream of a carrying fluid
4.
MULTIFUNCTIONAL NOZZLE ASSEMBLY FOR AGRICULTURAL VEHICLES
Multifunctional nozzle assembly systems and methods are disclosed. An example includes a mounting block having a first mounting location and a second mounting location. A plurality of interchangeable mounting adapters are provided for mounting to the first mounting location. Each mounting adapter has an input and mounting hardware for coupling to a spray system of a particular vehicle type such as a sprayer or planter and an outlet for coupling to the mounting block. A plurality of interchangeable nozzles are provided for mounting to the second mounting location of the mounting block. Each nozzle has an input for coupling to the mounting block, an output, and a shuttle for modulating flow rate through the output. The nozzle outputs differ based on the particular vehicle type. The mounting block includes a stepper motor that interfaces with the shuttle of each of the nozzles to modulate the flow rate.
A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
B05B 1/30 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
5.
MULTIFUNCTIONAL NOZZLE ASSEMBLY FOR AGRICULTURAL VEHICLES
Multifunctional nozzle assembly systems and methods are disclosed. An example includes a mounting block having a first mounting location and a second mounting location. A plurality of interchangeable mounting adapters are provided for mounting to the first mounting location. Each mounting adapter has an input and mounting hardware for coupling to a spray system of a particular vehicle type such as a sprayer or planter and an outlet for coupling to the mounting block. A plurality of interchangeable nozzles are provided for mounting to the second mounting location of the mounting block. Each nozzle has an input for coupling to the mounting block, an output, and a shuttle for modulating flow rate through the output. The nozzle outputs differ based on the particular vehicle type. The mounting block includes a stepper motor that interfaces with the shuttle of each of the nozzles to modulate the flow rate.
An autonomous agricultural assembly configurator includes one or more processors configured to receive one or more characteristic bundle inputs. Characteristic bundles include a field characteristic bundle associated with a field, an implement characteristic bundle associated with an agricultural implement, or a vehicle characteristic bundle associated with an agricultural vehicle. The configurator generates an autonomous configuration profile for an autonomous agricultural operation according to the received characteristic bundle inputs. Generation includes determining the autonomous agricultural operation based on the implement characteristic bundle, and determining operation parameters for the autonomous agricultural operation based on one or more of the implement characteristic bundle or the vehicle characteristic bundle. The one or more processors control the agricultural vehicle and the agricultural implement to conduct the agricultural operation according to the autonomous configuration profile.
An autonomous agricultural assembly configurator includes one or more processors configured to receive one or more characteristic bundle inputs. Characteristic bundles include a field characteristic bundle associated with a field, an implement characteristic bundle associated with an agricultural implement, or a vehicle characteristic bundle associated with an agricultural vehicle. The configurator generates an autonomous configuration profile for an autonomous agricultural operation according to the received characteristic bundle inputs. Generation includes determining the autonomous agricultural operation based on the implement characteristic bundle, and determining operation parameters for the autonomous agricultural operation based on one or more of the implement characteristic bundle or the vehicle characteristic bundle. The one or more processors control the agricultural vehicle and the agricultural implement to conduct the agricultural operation according to the autonomous configuration profile.
An integrated technology platform includes multiple hardware and software components that enable any application of autonomous agricultural equipment operation in an agricultural or other off-road setting, within a common software structural architecture. The integrated technology platform represents a technology stack that is a modular architecture that can be leveraged across multiple use cases and vehicle types. The integrated technology platform includes a vehicle interface component responsible for the physical interface to agricultural equipment, a telematics component that enables stable in-field communications between all aspects of the integrated technology platform, and a perception component that operates as a safety mechanism and includes object detection and classification. Additionally, a cloud-side application performs account management and field setup and as well as syncing of field equipment and operating systems in a common operating system. The integrated technology platform also includes an executive control layer that enables rapid porting from one platform to another, so that software applications in the integrated technology platform can work with hardware of any manufacture.
G05D 1/227 - Handing over between remote control and on-board controlHanding over between remote control arrangements
G05D 1/247 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
G05D 1/69 - Coordinated control of the position or course of two or more vehicles
A modulating nozzle controller for an agricultural sprayer includes one or more modulating nozzle assemblies each having a spray tip modulating element and an actuator operatively coupled with the spay tip modulating element. The spray tip modulating element controls an orifice profile of a spray tip. A processor system controls the orifice profiles of the one or more modulating nozzle assemblies and includes an agricultural product input to receive a specified field flow rate and a specified droplet size for an agricultural product and a sprayer speed input to receive an agricultural sprayer speed. A modulating nozzle profiler includes an orifice profile generator configured to generate an orifice profile instruction based on the specified field flow rate, the agricultural sprayer speed and the specified droplet size. The spray tip modulating element and the actuator control the orifice profile according to the orifice profile instruction to achieve the specified droplet size.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 1/30 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
B05B 1/32 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages in which a valve member forms part of the outlet opening
B05B 12/00 - Arrangements for controlling deliveryArrangements for controlling the spray area
10.
MODULATING NOZZLE CONTROL SYSTEMS AND METHODS FOR SAME
A modulating nozzle controller for an agricultural sprayer includes one or more modulating nozzle assemblies each having a spray tip modulating element and an actuator operatively coupled with the spay tip modulating element. The spray tip modulating element controls an orifice profile of a spray tip. A processor system controls the orifice profiles of the one or more modulating nozzle assemblies and includes an agricultural product input to receive a specified field flow rate and a specified droplet size for an agricultural product and a sprayer speed input to receive an agricultural sprayer speed. A modulating nozzle profiler includes an orifice profile generator configured to generate an orifice profile instruction based on the specified field flow rate, the agricultural sprayer speed and the specified droplet size. The spray tip modulating element and the actuator control the orifice profile according to the orifice profile instruction to achieve the specified droplet size.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
11.
IMPLEMENT FOR ADJUSTABLY METERING AN AGRICULTURAL FIELD INPUT ACCORDING TO DIFFERENT FRAME SECTIONS
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
12.
POWER PLATFORM WITH FOUR WHEEL STEERING/REAR WHEEL STEERING
A device for steering an agricultural machine having independently steerable axles includes first and second steerable axle interface to couple with a first steering mechanism of a first steerable axle and a second a second steering mechanism of a second steerable axle. The device includes a planning module having a guidance path for the agricultural machine, and a steering control module to coordinate steering of the steering mechanisms. The steering control module includes a translational comparator to determine a translational difference between a location of the agricultural machine relative to the guidance path, an angular comparator to determine an angular difference between an angular orientation of the agricultural machine relative to the guidance path, and a translation steering controller to actuate the first and second steering mechanisms according to the translational difference. The device includes an angular steering controller to actuate the second steering mechanism according to the angular difference.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
25 - Clothing; footwear; headgear
35 - Advertising and business services
38 - Telecommunications services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Farming equipment, namely, sprayer boom height controllers
and harvesters; agricultural machines, namely, seeders,
sprayers, and planters; autonomously and remotely operated
and steered machines and agricultural apparatuses, namely, a
self-propelled, electric powered, diesel powered, or gas
powered drive frame system comprised of motors, valves,
switches, sensors and electronic controls for pushing,
pulling, towing, and transporting, mounted or semi-mounted
agricultural, earthmoving, construction and mining equipment
and structural parts therefor. Electronic systems for electronic monitoring of agricultural
machines using equipment comprised of computing components,
electronic sensors for detecting nearby objects, electronic
interface displays for machine action control and
facilitation, downloadable software for machine-to-machine
communication and user actions, in-field communication,
low-latency, and cellular transmitters, in-field
communication, low-latency, and cellular receivers and
computer network interface devices; electronic systems for
electronic control of agricultural machines using equipment
comprised of computing components for autonomous driving and
unloading of a harvester into a tender while harvesting,
electronic sensors for detecting nearby objects and
monitoring machine dynamics, electronic display interfaces,
downloadable software for autonomous driving and unloading
of a harvester into a tender while harvesting, in-field
communication, low-latency, and cellular transmitters,
in-field communication, low-latency, and cellular receivers
and computer network interface devices; electronic systems
for electronic monitoring of agricultural machines and
equipment comprising computing components, electronic
sensors, electronic displays, software, transmitters,
receivers and computer network interface devices; electronic
systems for electronic control of agricultural machines and
equipment comprising computing components, electronic
sensors, electronic displays, software, transmitters,
receivers and computer network interface devices; electronic
control systems for gps navigation of agricultural machines
and equipment comprising computing components, electronic
sensors, electronic displays, software, transmitters,
receivers and network interface devices; electronic control
systems for global positioning system (gps) navigation of
agricultural machines using equipment comprised of computing
components for autonomous driving and unloading of a
harvester into a tender while harvesting, electronic sensors
for detecting nearby objects, electronic display interfaces;
electronic and computer instruments, namely, global
positioning receivers, global positioning system (gps),
low-latency, and cellular transmitters, computer hardware,
downloadable computer software, low-latency, and cellular
sensors for determining the geographic locations and
relative locations of agricultural machines and equipment;
electronic and computer instruments, namely, receivers,
transmitters, computer hardware, computer software and
sensors for determining the geographic locations and
relative locations of agricultural machines and equipment;
downloadable software for use with agricultural machines and
equipment for the purpose of automated control of
agricultural machines and equipment; downloadable software
for use in the autonomous control of agricultural machines
and equipment; downloadable geographical mapping software
for use in the control of agricultural machines and
equipment; geographical mapping software for use in the
control of agricultural machines and equipment. Steering units for land vehicles and parts thereof; steering
units for land vehicles and parts thereof, namely, an
electric drive steering column; steering units for land
vehicles and parts thereof, namely, an electric drive
steering column, a computer display, and components for
connecting the electric drive steering column to the
computer display; all the foregoing for use on agricultural
vehicles; autonomously and remotely operated and steered
land vehicles that are self-propelled and electric powered,
diesel powered, or gas powered for pushing, pulling, towing,
and transporting, mounted or semi-mounted agricultural,
earthmoving, construction and mining equipment and
structural parts therefor. Clothing; namely T-shirts, shirts, ball caps, jackets. Tracking vehicles for commercial purposes using global
position systems and all in the field of agriculture. Radio communications services for determining, mapping and
tracking precise geographic locations, and transmission of
data all in the field of agriculture; communication services
by means of radio, satellite and mobile cellular network
services; communication services via the internet and via
telecommunications networks for collation, storage and
retrieval of information for use in crop production and
fleet management; providing multiple user access to the
Internet for viewing websites for determining, mapping and
tracking precise geographic locations; electronic data
transmission services. Navigation services provided via global position systems,
provided in the field of agriculture. Software as a service (SAAS) services; software as a service
(SAAS) services for managing agricultural operations;
software as a service (SAAS) services for scheduling and
assigning workers and equipment in agricultural operations;
software as a service (SAAS) services, namely, hosting
software for use as operations management for use by others
for use in agricultural field logistics; mapping services
provided via global position systems, provided in the field
of agriculture.
A system can include a boom assembly operably coupled with a chassis. A first actuator can be operably coupled with a first pair of sections of the boom assembly. A second actuator can be operably coupled with a second pair of sections of the boom assembly. A sensor system can be configured to capture data indicative of one or more operating conditions of the boom assembly. A computing system can be communicatively coupled to the first actuator, the second actuator, and the sensor system. The computing system can be configured to receive the data from the sensor system, determine a current boom profile of the boom assembly, determine a current ground profile relative to the boom assembly, and determine a first position for the first actuator to place the boom assembly in a target boom profile.
An electrostatic nozzle system for agricultural spraying comprising at least one additive fluid source configured to contain an additive fluid and an electrostatic nozzle assembly in communication with the at least one additive fluid source. The electrostatic nozzle assembly includes an electrostatic charging element configured to electrostatically charge the additive fluid. An agricultural product source containing an agricultural product and an agricultural product nozzle assembly in communication with the agricultural product source, the agricultural product nozzle assembly configured to dispense the agricultural product from an agricultural product nozzle orifice.
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
B05B 5/025 - Discharge apparatus, e.g. electrostatic spray guns
B05B 12/00 - Arrangements for controlling deliveryArrangements for controlling the spray area
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
16.
ELECTROSTATIC SPRAYING SYSTEM AND METHODS FOR SAME
An electrostatic nozzle system for agricultural spraying comprising at least one additive fluid source configured to contain an additive fluid and an electrostatic nozzle assembly in communication with the at least one additive fluid source. The electrostatic nozzle assembly includes an electrostatic charging element configured to electrostatically charge the additive fluid. An agricultural product source containing an agricultural product and an agricultural product nozzle assembly in communication with the agricultural product source, the agricultural product nozzle assembly configured to dispense the agricultural product from an agricultural product nozzle orifice.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 5/00 - Electrostatic spraying apparatusSpraying apparatus with means for charging the spray electricallyApparatus for spraying liquids or other fluent materials by other electric means
B05B 5/08 - Plant for applying liquids or other fluent materials to objects
In an example, a system for applying an agricultural product includes a valve and a solenoid. For instance, the valve includes a coil that generates a magnetic flux. The system includes a valve controller. The valve controller is configured to measure one or more electrical characteristics of at least one of the coil or a dissipation element. In some examples, the valve controller determines an actual duty cycle of a valve operator of the valve using the measured electrical characteristics. The valve controller determines a magnetic flux correction, for instance based on a difference between the actual duty cycle and a specified duty cycle. The valve controller operates the valve operator according to the specified magnetic flux and the magnetic flux correction to guide the actual duty cycle toward the specified duty cycle.
A framework for safely operating autonomous machinery, such as vehicles and other heavy equipment, in an in-field or off-road environment, includes detecting, identifying, and tracking objects from on-board sensors configured with the autonomous machinery as it performs activities in either an agricultural setting or a transportation environment. The framework generates commands for navigational control of autonomously-operated vehicles in response to detected objects and predicted tracks thereof for safe operation in the performance of those activities. The framework processes image data and range data in multiple fields of view around the autonomously-operated to discern and track objects in a deep learning to accurately interpret this data for determining and effecting such navigational control.
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
09 - Scientific and electric apparatus and instruments
38 - Telecommunications services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer software for use with agricultural and farming
machines, equipment and vehicles; downloadable electronic
publications; downloadable software applications; software
applications for mobile and other portable or wireless
devices, computers and internet apparatus and instruments;
navigation, positioning and communication equipment, namely,
electronic and computer instruments comprised of receivers,
transmitters, computer hardware, sensors, and computer
software that transmits data and that provides access to
websites for determining, mapping and tracking precise
geographic locations, all in the field of agriculture;
global positioning systems comprised of computer hardware
and software for use in the field of agriculture; wireless
communications positioning systems comprised of computer
hardware and software for use in the field of agriculture;
computer software for the collation, storage and retrieval
of information for use in crop production. Radio communications services for determining, mapping and
tracking precise geographic locations, and transmission of
data all in the field of agriculture; communication
services, all in the field of agriculture, by means of
radio, satellite and mobile cellular network services;
communication services via the internet and via
telecommunications networks for collation, storage and
retrieval of information for use in crop production and
fleet management; providing multiple user access to the
internet for viewing websites for determining, mapping and
tracking precise geographic locations, all in the field of
agriculture; electronic data transmission services, all in
the field of agriculture. Agricultural and farming research, laboratory, survey
services; technological services to the farming and
agricultural industries to develop and improve business
opportunities, profitability and land usage; scientific and
technological services and research and design relating
agriculture and farming; technological services to the
farming and agricultural industries for the management and
utilization of equipment; technical studies, planning,
consultancy and expertise with regard to agriculture and
farming; crop yield mapping services; technological services
to the farming and agricultural industries for better
management of yield for crops; land surveying services;
technological services to the farming and agricultural
industries relating to the management and use of farming and
agricultural land; land mapping services; technological
services to the farming and agricultural industries relating
to the management and use of water; providing scientific
information and consultancy relating to all of the aforesaid
services.
20.
REMOTE AGRICULTURAL VEHICLE INTERFACE SYSTEM AND METHODS FOR SAME
A remote agricultural vehicle interface system includes an agricultural vehicle capability input configured to receive one or more vehicle characteristics of an agricultural vehicle and a remote vehicle interface generator that generates a remote vehicle interface for the agricultural vehicle based on the vehicle characteristics. The remote vehicle interface includes one or more remote outputs and one or more remote inputs for the agricultural vehicle. A remote access evaluator includes one or more of an electronic device input, a vehicle to device connection input, or a vehicle to device range input configured to receive one or more range characteristics. An interface refinement tool is configured to refine the remote vehicle interface based on one or more of electronic device characteristics, connection characteristics, or range characteristics. A remote vehicle interface output is configured to communicate the remote vehicle interface refined with the interface refinement tool to a candidate electronic device.
Techniques for multi-modal contextualization of object detection for use with an agricultural vehicle are described herein. The techniques can provide additional context information to radar detection to assess the likelihood of an object detected by radar of being an object of interest. Examples of detection that might be detected by a radar sensor that, based on the additional context information, the agricultural vehicle can make a determination to ignore can include ground targets, ghost targets, side or overhead reflections from obstacles, detections from tall crops/weeds in a field.
G01S 7/41 - Details of systems according to groups , , of systems according to group using analysis of echo signal for target characterisationTarget signatureTarget cross-section
G01S 13/86 - Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
G01S 13/931 - Radar or analogous systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
22.
REMOTE AGRICULTURAL VEHICLE INTERFACE SYSTEM AND METHODS FOR SAME
A remote agricultural vehicle interface system includes an agricultural vehicle capability input configured to receive one or more vehicle characteristics of an agricultural vehicle and a remote vehicle interface generator that generates a remote vehicle interface for the agricultural vehicle based on the vehicle characteristics. The remote vehicle interface includes one or more remote outputs and one or more remote inputs for the agricultural vehicle. A remote access evaluator includes one or more of an electronic device input, a vehicle to device connection input, or a vehicle to device range input configured to receive one or more range characteristics. An interface refinement tool is configured to refine the remote vehicle interface based on one or more of electronic device characteristics, connection characteristics, or range characteristics. A remote vehicle interface output is configured to communicate the remote vehicle interface refined with the interface refinement tool to a candidate electronic device.
Techniques for multi-modal contextualization of object detection for use with an agricultural vehicle are described herein. The techniques can provide additional context information to radar detection to assess the likelihood of an object detected by radar of being an object of interest. Examples of detection that might be detected by a radar sensor that, based on the additional context information, the agricultural vehicle can make a determination to ignore can include ground targets, ghost targets, side or overhead reflections from obstacles, detections from tall crops/weeds in a field.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
G05D 1/242 - Means based on the reflection of waves generated by the vehicle
G05D 1/243 - Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
G05D 105/15 - Specific applications of the controlled vehicles for harvesting, sowing or mowing in agriculture or forestry
The present disclosure relates to a system and method for nozzle control. The system includes an overall system pressure valve, configured to adjust the pressure of an agricultural product within a boom. A master node is configured to receive an overall system flow rate measurement, an overall target flow rate, and an overall system pressure measurement, the master node configured to adjust the overall system pressure valve to control the pressure of the agricultural product. A plurality of smart nozzles are configured to dispense the agricultural product, the plurality of smart nozzles each associated with an electronic control unit (ECU) and one or more individual nozzle, the smart nozzle is configured to control a nozzle flow rate of the associated one or more individual nozzles.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
25.
SPRAYER NOZZLE MONITOR AND CONTROL SYSTEM AND METHODS FOR SAME
A sprayer nozzle assembly control system includes a modulating nozzle assembly having a control valve and a spray tip. At least one spray modulation actuator is included with one or both of the control valve or the spray tip, and the spray modulation actuator is configured to control an actual spray profile of a sprayed agricultural product. A spray sensor is configured to monitor the actual spray profile of the spray tip and is in communication with the spray sensor. The nozzle assembly controller controls the actual spray profile and includes a comparator to compare the actual spray profile with a specified spray profile and generate a spray profile deviation. The nozzle assembly controller includes a spray modulation interface in communication with the at least one spray modulation actuator, and the spray modulation interface directs actuation of the at least one spray modulation actuator to modulate the actual spray profile.
A modulating nozzle assembly for use with an agricultural sprayer includes a nozzle base having a base edge. A spray modulating element, such as a shuttle, is movably coupled with the nozzle base. The shuttle includes a shuttle edge. A spray port is between the nozzle base and the shuttle. The spray port includes a spray port profile, and the spray port profile is formed by the base edge and the shuttle edge. A modulation actuator is coupled with the shuttle, the modulation actuator is configured to move one or more of the shuttle edge or the base edge relative to the other of the base edge or the shuttle edge to control the spray port profile.
B05C 11/10 - Storage, supply or control of liquid or other fluent materialRecovery of excess liquid or other fluent material
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
A modulating nozzle assembly for use with an agricultural sprayer includes a nozzle base having a base edge. A spray modulating element, such as a shuttle, is movably coupled with the nozzle base. The shuttle includes a shuttle edge. A spray port is between the nozzle base and the shuttle. The spray port includes a spray port profile, and the spray port profile is formed by the base edge and the shuttle edge. A modulation actuator is coupled with the shuttle, the modulation actuator is configured to move one or more of the shuttle edge or the base edge relative to the other of the base edge or the shuttle edge to control the spray port profile.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 1/30 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
B05B 1/32 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages in which a valve member forms part of the outlet opening
B05B 12/00 - Arrangements for controlling deliveryArrangements for controlling the spray area
09 - Scientific and electric apparatus and instruments
35 - Advertising and business services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Computer hardware; downloadable cloud computing software for
machine learning, software development, agricultural crop
yield estimation and optimization, image processing,
automation of agricultural machinery; downloadable computer
software for use in analyzing plant and crop and
agricultural field status for the purpose of creating a
prescription for planning or in-season intervention and to
perform analysis to calculate, approximate and optimize crop
yields, image processing; downloadable computer software
using artificial intelligence for machine learning, software
development, agricultural crop yield estimation and
optimization; image processing apparatus; downloadable
computer simulation software for modeling agriculture data,
crop yields, land health index maps; downloadable computer
software for use in the agricultural field for collecting
information using visual or hyperspectral sensors and remote
sensors; ground based plant-imaging machines for
agricultural use, namely, cameras and imaging sensors;
electronic navigational and positioning apparatus and
instruments; surveying instruments; wireless communications
positioning systems comprised of computer hardware and
downloadable software for agricultural crop yield estimation
and optimization, image processing, agricultural mapping;
scientific and optical apparatus and instruments for
measuring the chlorophyll content in plants and/or for
measuring the fertilizer content of soil; computers, data
processing equipment and downloadable computer software for
controlling and regulating the dispersion of fertilizers;
imaging apparatus and instruments for the study of proteins
for agricultural purposes; camera containing a linear image
sensor. Business consulting services in the agricultural field;
business consulting services in the field of environmental
monitoring; data processing services in the field of
precision agriculture. Agricultural research; agricultural mapping services;
agricultural testing services for determining the health and
yield of crops; scientific research consulting in the field
of agricultural fertilization; agricultural research
services, namely, soil sampling and crop observing for
analysis purposes; providing temporary use of
non-downloadable computer software web applicaiton for
assisting agricultural professionals with the inspection,
research, data collection and analysis, spectral sampling,
and information on crop health and precision agriculture
methods and technology; mapping services; software as a
service (SaaS) services, namely, hosting software for use by
others in database management; software as a service (SaaS)
services, namely, hosting software for use in creating
custom forms; software as a service (SaaS) services, namely,
hosting software for use by others in managing and
configuring mobile computers and telecommunications
equipment; installation, repair, maintenance and updating of
computer software used in the field of agriculture;
technological consultancy services relating to the
selection, implementation and use of computer software used
in the field of agriculture; technical support services,
namely, troubleshooting of computer software problems for
software used in the field of agriculture; providing online,
non-downloadable software for use in database management,
machine learning, analyzing agricultural information and
geolocation data via a website; image processing software
design; computer programming services for data processing;
software as a service (SaaS) services featuring software for
analysis and data automation, namely, analysis and
extraction of precision agriculture data for agricultural,
ranching, environmental, and market applications; updating
of software for data processing; cloud computing featuring
software for use in big data analytics, machine learning,
analyzing agricultural information and geolocation data;
image processing, automation of agricultural machinery;
cloud computing featuring software for use in creating and
visualizing vehicle paths for agricultural equipment; cloud
computing featuring software for use in 2D and 3D modeling
of agricultural sensor data; cloud computing featuring
software for use in maximizing agricultural yield, quality,
and reducing crop inputs; updating and maintaining
cloud-based computer software through online updates,
enhancements and patches; computer system design, namely,
hosting of an interactive website featuring technology that
allows the use of sensors, maps, imagery, soil conditions,
crop yield and other data to devise plans for increasing
crop yield, together with the use of technology and
equipment to carry out the plan.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
25 - Clothing; footwear; headgear
35 - Advertising and business services
38 - Telecommunications services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Farming equipment, namely, sprayer boom height controllers and harvesters; agricultural machines, namely, seeders, sprayers, and planters; autonomously and remotely operated and steered machines and agricultural apparatuses, namely, a self-propelled, electric powered, diesel powered, or gas powered drive frame system comprised of motors, valves, switches, sensors and electronic controls for pushing, pulling, towing, and transporting, mounted or semi-mounted agricultural, earthmoving, construction and mining equipment and structural parts therefor.
(2) Electronic systems for electronic monitoring of agricultural machines using equipment comprised of computing components, electronic sensors for detecting nearby objects, electronic interface displays for machine action control and facilitation, downloadable software for machine-to-machine communication and user actions, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; electronic systems for electronic control of agricultural machines using equipment comprised of computing components for autonomous driving and unloading of a harvester into a tender while harvesting, electronic sensors for detecting nearby objects and monitoring machine dynamics, electronic display interfaces, downloadable software for autonomous driving and unloading of a harvester into a tender while harvesting, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; electronic systems for electronic monitoring of agricultural machines and equipment comprising computing components, electronic sensors, electronic displays, software, transmitters, receivers and computer network interface devices; electronic systems for electronic control of agricultural machines and equipment comprising computing components, electronic sensors, electronic displays, software, transmitters, receivers and computer network interface devices; electronic control systems for gps navigation of agricultural machines and equipment comprising computing components, electronic sensors, electronic displays, software, transmitters, receivers and network interface devices; electronic control systems for global positioning system (gps) navigation of agricultural machines using equipment comprised of computing components for autonomous driving and unloading of a harvester into a tender while harvesting, electronic sensors for detecting nearby objects, electronic display interfaces; electronic and computer instruments, namely, global positioning receivers, global positioning system (gps), low-latency, and cellular transmitters, computer hardware, downloadable computer software, low-latency, and cellular sensors for determining the geographic locations and relative locations of agricultural machines and equipment; electronic and computer instruments, namely, receivers, transmitters, computer hardware, computer software and sensors for determining the geographic locations and relative locations of agricultural machines and equipment; downloadable software for use with agricultural machines and equipment for the purpose of automated control of agricultural machines and equipment; downloadable software for use in the autonomous control of agricultural machines and equipment; downloadable geographical mapping software for use in the control of agricultural machines and equipment; geographical mapping software for use in the control of agricultural machines and equipment.
(3) Steering units for land vehicles and parts thereof; steering units for land vehicles and parts thereof, namely, an electric drive steering column; steering units for land vehicles and parts thereof, namely, an electric drive steering column, a computer display, and components for connecting the electric drive steering column to the computer display; all the foregoing for use on agricultural vehicles; autonomously and remotely operated and steered land vehicles that are self-propelled and electric powered, diesel powered, or gas powered for pushing, pulling, towing, and transporting, mounted or semi-mounted agricultural, earthmoving, construction and mining equipment and structural parts therefor.
(4) Clothing; namely T-shirts, shirts, ball caps, jackets. (1) Tracking vehicles for commercial purposes using global position systems and all in the field of agriculture.
(2) Radio communications services for determining, mapping and tracking precise geographic locations, and transmission of data all in the field of agriculture; communication services by means of radio, satellite and mobile cellular network services; communication services via the internet and via telecommunications networks for collation, storage and retrieval of information for use in crop production and fleet management; providing multiple user access to the Internet for viewing websites for determining, mapping and tracking precise geographic locations; electronic data transmission services.
(3) Navigation services provided via global position systems, provided in the field of agriculture.
(4) Software as a service (SAAS) services; software as a service (SAAS) services for managing agricultural operations; software as a service (SAAS) services for scheduling and assigning workers and equipment in agricultural operations; software as a service (SAAS) services, namely, hosting software for use as operations management for use by others for use in agricultural field logistics; mapping services provided via global position systems, provided in the field of agriculture.
A configurable nozzle includes a nozzle body having a reception chamber configured to receive an application mixture. The nozzle body includes a nozzle orifice. At least one orifice assembly is coupled with the nozzle body, the at least one orifice assembly includes an orifice plate movably coupled with the nozzle body. The orifice plate extends along at least a portion of the nozzle orifice, and movement of the orifice plate changes one or more of the size or shape of the nozzle orifice. An orifice actuator is coupled with the orifice plate, and the orifice actuator is configured to move the orifice plate.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 1/04 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops in flat form, e.g. fan-like, sheet-like
B05B 1/16 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openingsNozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with strainers in or outside the outlet opening having selectively-effective outlets
B05B 1/32 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages in which a valve member forms part of the outlet opening
B05B 7/04 - Spray pistolsApparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
B05B 12/04 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
31.
MODULATING AGRICULTURAL SPRAYER CONTROL AND METHODS FOR SAME
A spraying system for an agricultural sprayer includes a plurality of nozzle assemblies configured for positioning along a sprayer boom. Each of the plurality of nozzle assemblies is in communication at least one boom tubes. A nozzle controller is in communication with the plurality of nozzle assemblies, and the nozzle controller is configured to control one or more of the nozzle assemblies of the plurality to provide a targeted application of agricultural product.
System and techniques for adaptive color transformation to aid computer vision are described herein. Colors from an image are mapped into a multi-dimensional space to create a distribution of colors in the image. A dimension of the multi-dimensional space can correspond to a color characteristic. An array of condensed representations of the distribution of colors can be generated. Each condensed representation of the array can be generated by rotating the distribution of colors by a respective color angle about an axis perpendicular to the multi-dimensional space. Algorithms can determine which condensed representation is of a highest quality within the array. Here the highest quality can be determined based on signal energy calculated for each condensed representation. The colors in the image can be transformed into a reduced image using the color angle corresponding to the selected condensed representation. The reduced image can be transmitted to receiver circuitry of an agricultural vehicle.
System and techniques for adaptive color transformation to aid computer vision are described herein. Colors from an image are mapped into a multi¬ dimensional space to create a distribution of colors in the image. A dimension of the multi-dimensional space can correspond to a color characteristic. An array of condensed representations of the distribution of colors can be generated. Each condensed representation of the array can be generated by rotating the distribution of colors by a respective color angle about an axis perpendicular to the multi¬ dimensional space. Algorithms can determine which condensed representation is of a highest quality within the array. Here the highest quality can be determined based on signal energy calculated for each condensed representation. The colors in the image can be transformed into a reduced image using the color angle corresponding to the selected condensed representation. The reduced image can be transmitted to receiver circuitry of an agricultural vehicle.
An autonomous driver system (600) for an agricultural vehicle assembly includes a sensor interface (622) configured for coupling with one or more of vehicle sensors (630) or implement sensors (632) and a function interface (624) configured for coupling with one or more of vehicle actuators (640) or implement actuators (642). An autonomous driving controller (602) is in communication with the sensor and function interfaces (622, 624). The autonomous driving controller (602) is configured to autonomously implement a planned agricultural operation with the agricultural vehicle and the agricultural implement. The controller (602) is configured to identify and remedy one or more operation disturbances outside of the planned agricultural operation including identifying the one or more operation disturbances with one or more of the vehicle or implement sensors (630, 632) and selecting one or more remedial actions for the one or more operation disturbances. The controller (602) is configured to implement the one or more remedial actions with one or more of the vehicle or implement actuators (640, 642).
An autonomous driver system for an agricultural vehicle assembly includes a sensor interface configured for coupling with one or more of vehicle sensors or implement sensors and a function interface configured for coupling with one or more of vehicle actuators or implement actuators. An autonomous driving controller is in communication with the sensor and function interfaces. The autonomous driving controller is configured to autonomously implement a planned agricultural operation with the agricultural vehicle and the agricultural implement. The controller is configured to identify and remedy one or more operation disturbances outside of the planned agricultural operation including identifying the one or more operation disturbances with one or more of the vehicle or implement sensors and selecting one or more remedial actions for the one or more operation disturbances. The controller is configured to implement the one or more remedial actions with one or more of the vehicle or implement actuators.
In one aspect, a safety system for a towed implement may include an implement frame structured to be towed by a work vehicle. The safety system may also include an object detection sensor affixed to the implement frame with a field of view sized to capture an image scene in proximity to the implement frame, the object detection sensor structured to generate a scene signal representing the image scene. The safety system may also include a safety control system configured to generate a safety control signal based on a detection data signal, the detection data signal based on a determination of whether an object is detected in the scene signal, the detection data signal having a positive object detection indication if the object is within the image scene of the object detection sensor and a negative object detection indication if the object is not detected within the image scene.
B60D 1/28 - Traction couplingsHitchesDraw-gearTowing devices characterised by arrangements for particular functions for preventing unwanted disengagement, e.g. safety appliances
B60R 1/26 - Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles for viewing an area outside the vehicle, e.g. the exterior of the vehicle with a predetermined field of view to the rear of the vehicle
37.
FIELD MONITORING AND HUSBANDRY SYSTEMS AND METHODS FOR SAME
A field monitoring and husbandry system is configured for mounting with one or more of an agricultural vehicle or an agricultural implement. The system includes at least one field sensor. The at least one field sensor is configured to measure one or more field characteristics within an agricultural field. The system includes a field husbandry controller in communication with the at least one field sensor. In an example, the field husbandry controller includes a map generation module configured to generate a map of at least the measurements of the at least one field sensor indexed with the one or more associated portions of the field. In another example, the field husbandry controller includes a field characteristic comparator configured to compare the one or more field characteristics with an associated field threshold of one or more field thresholds. The system optionally applies agricultural product(s) based on the comparison.
A field monitoring and husbandry system is configured for mounting with one or more of an agricultural vehicle or an agricultural implement. The system includes at least one field sensor. The at least one field sensor is configured to measure one or more field characteristics within an agricultural field. The system includes a field husbandry controller in communication with the at least one field sensor. In an example, the field husbandry controller includes a map generation module configured to generate a map of at least the measurements of the at least one field sensor indexed with the one or more associated portions of the field. In another example, the field husbandry controller includes a field characteristic comparator configured to compare the one or more field characteristics with an associated field threshold of one or more field thresholds. The system optionally applies agricultural product(s) based on the comparison.
A method may include receiving an indication that a current instance of an agricultural operation has begun in a geographic area; receiving task characteristics of the agricultural operation; generating a first task data structure including the task characteristics, a field identifier associated with the geographic area, and a task identifier; storing the first task data structure in a database as associated with a first time period; accessing a second task data structure for the agricultural operation associated with a second time period, the second time period being before the first time period; inputting the first and second task data structures into a difference model; receiving an output from the difference model identifying a difference for a first characteristic of the task characteristics between first task data structure and second task data structure; generating a user interface with the identified difference; and presenting the user interface on a computing device.
A method may include receiving an indication that a current instance of an agricultural operation has begun in a geographic area; receiving task characteristics of the agricultural operation; generating a first task data structure including the task characteristics, a field identifier associated with the geographic area, and a task identifier; storing the first task data structure in a database as associated with a first time period; accessing a second task data structure for the agricultural operation associated with a second time period, the second time period being before the first time period; inputting the first and second task data structures into a difference model; receiving an output from the difference model identifying a difference for a first characteristic of the task characteristics between first task data structure and second task data structure; generating a user interface with the identified difference; and presenting the user interface on a computing device.
A spraying system for an agricultural sprayer includes a plurality of nozzle assemblies configured for positioning along a sprayer boom. Each of the plurality of nozzle assemblies is in communication at least one boom tubes. A nozzle controller is in communication with the plurality of nozzle assemblies, and the nozzle controller is configured to control one or more of the nozzle assemblies of the plurality to provide a targeted application of agricultural product.
An agricultural sprayer cleaning assembly includes a cleaning agent reservoir configured to contain a cleaning agent. The agricultural sprayer cleaning assembly includes a cleaning configuration. In an application configuration a boom tube and sprayer nozzles are in communication with an agricultural product reservoir and are isolated from the cleaning agent reservoir. In a cleaning configuration one or more of the boom tube, the sprayer nozzles or the agricultural product reservoir are in communication with the cleaning agent reservoir, and the cleaning agent is circulated through the boom tube.
An agricultural sprayer cleaning assembly includes a cleaning agent reservoir configured to contain a cleaning agent. The agricultural sprayer cleaning assembly includes a cleaning configuration. In an application configuration a boom tube and sprayer nozzles are in communication with an agricultural product reservoir and are isolated from the cleaning agent reservoir. In a cleaning configuration one or more of the boom tube, the sprayer nozzles or the agricultural product reservoir are in communication with the cleaning agent reservoir, and the cleaning agent is circulated through the boom tube.
B05B 15/58 - Arrangements for cleaningArrangements for preventing deposits, drying-out or blockageArrangements for detecting improper discharge caused by the presence of foreign matter preventing deposits, drying-out or blockage by recirculating the fluid to be sprayed from upstream of the discharge opening back to the supplying means
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 9/04 - Spraying apparatus for discharge of liquid or other fluent material without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible containerSpraying apparatus for discharge of liquid or other fluent material without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pump
09 - Scientific and electric apparatus and instruments
38 - Telecommunications services
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Computer software for use with agricultural and farming machines, equipment and vehicles; downloadable electronic publications; downloadable software applications; software applications for mobile and other portable or wireless devices, computers and internet apparatus and instruments; navigation, positioning and communication equipment, namely, electronic and computer instruments comprised of receivers, transmitters, computer hardware, sensors, and computer software that transmits data and that provides access to websites for determining, mapping and tracking precise geographic locations, all in the field of agriculture; global positioning systems comprised of computer hardware and software for use in the field of agriculture; wireless communications positioning systems comprised of computer hardware and software for use in the field of agriculture; computer software for the collation, storage and retrieval of information for use in crop production. (1) Radio communications services for determining, mapping and tracking precise geographic locations, and transmission of data all in the field of agriculture; communication services, all in the field of agriculture, by means of radio, satellite and mobile cellular network services; communication services via the internet and via telecommunications networks for collation, storage and retrieval of information for use in crop production and fleet management; providing multiple user access to the internet for viewing websites for determining, mapping and tracking precise geographic locations, all in the field of agriculture; electronic data transmission services, all in the field of agriculture.
(2) Agricultural and farming research, laboratory, survey services; technological services to the farming and agricultural industries to develop and improve business opportunities, profitability and land usage; scientific and technological services and research and design relating agriculture and farming; technological services to the farming and agricultural industries for the management and utilization of equipment; technical studies, planning, consultancy and expertise with regard to agriculture and farming; crop yield mapping services; technological services to the farming and agricultural industries for better management of yield for crops; land surveying services; technological services to the farming and agricultural industries relating to the management and use of farming and agricultural land; land mapping services; technological services to the farming and agricultural industries relating to the management and use of water; providing scientific information and consultancy relating to all of the aforesaid services.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Radio, satellite, and mobile cellular communications services for determining, mapping and tracking precise geographic locations, and transmission of data all in the field of agriculture; communication services, namely, transmission of visual images and data by radio, satellite, and mobile cellular networks, all in the field of agriculture; communication services, namely, transmission of visual images and data via the internet and via telecommunications networks for collation, storage and retrieval of information for use in crop production and fleet management; providing multiple user access to the internet for viewing websites for determining, mapping and tracking precise geographic locations, all in the field of agriculture; electronic data transmission services, all in the field of agriculture. Downloadable computer software for managing and tracking agricultural and farming machines, equipment and vehicles; Downloadable computer software applications for monitoring both agricultural and agronomic data for use in crop production; Downloadable computer software applications for monitoring both agricultural equipment and agronomic data for use in crop production for use on mobile and other portable or wireless devices; Electronic navigation, positioning and communication apparatus and instruments, namely, electronic and computer instruments comprised of radio or satellite receivers, radio or satellite or mobile cellular network transmitters, computer hardware, proximity sensors, and downloadable computer software that transmits data and provides access to websites for determining, mapping and tracking precise geographic locations, all in the field of agriculture; global positioning systems comprised of computer hardware and downloadable software for use in the field of agriculture; wireless communications positioning systems comprised of computer hardware and downloadable software for use in the field of agriculture; Downloadable computer software for the collation, storage and retrieval of information for use in crop production. Agricultural and farming research, scientific laboratory, and surveying services; scientific and technological services, namely, research and design in the field of agriculture and farming; Conducting scientific feasibility studies in the field of agriculture and farming; Land use planning services with regard to agriculture and farming; Scientific research consulting in the field of agricultural irrigation; crop yield mapping services; land surveying services; land mapping services; advice, information and consultancy services relating to all of the aforesaid services
46.
SAFETY SYSTEM FOR AUTONOMOUS OPERATION OF OFF-ROAD AND AGRICULTURAL VEHICLES USING MACHINE LEARNING FOR DETECTION AND IDENTIFICATION OF OBSTACLES
A framework for safely operating autonomous machinery, such as vehicles and other heavy equipment, in an in-field or off-road environment, includes detecting, identifying, classifying and tracking objects and/or terrain characteristics from on-board sensors that capture images in front and around the autonomous machinery as it performs agricultural or other activities. The framework generates commands for navigational control of the autonomous machinery in response to perceived objects and terrain impacting safe operation. The framework processes image data and range data in multiple fields of view around the autonomous equipment to discern objects and terrain, and applies artificial intelligence techniques in one or more neural networks to accurately interpret this data for enabling such safe operation.
G06V 20/58 - Recognition of moving objects or obstacles, e.g. vehicles or pedestriansRecognition of traffic objects, e.g. traffic signs, traffic lights or roads
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Clothing; namely, t-shirts, shirts, baseball caps, jackets Tracking vehicles for commercial purposes using global position systems in the field of agriculture Agricultural machines, namely, sprayer boom height controllers and harvesters; Agricultural machines, namely, seeders, sprayers, and planters; Autonomously and remotely operated and steered agricultural machines in the nature of self-propelled, electric powered, diesel powered, or gas powered drive frame system comprised of motors, valves, switches, sensors and electronic controls for pushing, pulling, towing, and transporting, mounted or semi-mounted agricultural, earthmoving, construction and mining equipment and structural parts therefor Radio communications services for determining, mapping and tracking precise geographic locations, and transmission of data all in the field of agriculture; communication services by means of radio, satellite and mobile cellular networks; communication services via the internet and via telecommunications networks for collation, storage and retrieval of information for use in crop production and fleet management; Providing multiple user access to the Internet for viewing websites for determining, mapping and tracking precise geographic locations; electronic data transmission services Electronic systems for electronic monitoring of agricultural machines using equipment comprised of computing components, electronic sensors for detecting nearby objects, electronic interface displays for machine action control and facilitation, downloadable software for machine-to-machine communication and user actions, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; Electronic systems for electronic control of agricultural machines using equipment comprised of computing components for autonomous driving and unloading of a harvester into a tender while harvesting, electronic sensors for detecting nearby objects and monitoring machine dynamics, electronic display interfaces, downloadable software for autonomous driving and unloading of a harvester into a tender while harvesting, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; Electronic systems for electronic monitoring of agricultural machines and equipment comprising computing components, electronic sensors, electronic displays, software, transmitters, receivers and computer network interface devices; Electronic systems for electronic control of agricultural machines and equipment comprising computing components for collecting telematics data of agricultural machines, electronic proximity sensors, electronic display interfaces, downloadable software for enabling connectivity between vehicles, managing vehicle operations, and monitoring vehicle performance, telecommunications transmitters, GNSS and GPS receivers and computer network interface devices; Electronic control systems for GPS navigation of agricultural machines and equipment comprising computing components, electronic sensors, electronic displays, software, transmitters, receivers and network interface devices; Electronic control systems for GPS navigation of agricultural machines using equipment comprised of computing components for guidance and steering assistance for the agricultural machines, electronic proximity sensors, electronic display interfaces, downloadable software for managing and coordinating vehicle connectivity, performance and logistics, telecommunications transmitters, GNSS and GPS receivers and computer network interface devices; Electronic and computer instruments, namely, GNSS and GPS receivers, telecommunications transmitters, computer hardware, downloadable computer software and proximity sensors for determining the geographic locations and relative locations of agricultural machines and equipment; Electronic and computer instruments, namely, receivers, transmitters, computer hardware, computer software and sensors for determining the geographic locations and relative locations of agricultural machines and equipment; Downloadable software for use with agricultural machines and equipment for the purpose of automated control of agricultural machines and equipment; Downloadable software for use in the autonomous control of agricultural machines and equipment; Downloadable geographical mapping software for use in the control of agricultural machines and equipment; Recorded geographical mapping software for use in the control of agricultural machines and equipment Steering units for land vehicles and parts thereof; Steering units for land vehicles and parts thereof, namely, an electric drive steering column; Steering units for land vehicles and parts thereof, namely, an electric drive steering column, a computer display, and components for connecting the electric drive steering column to the computer display; all the foregoing for use on agricultural vehicles; Autonomously and remotely operated and steered land vehicles that are self-propelled and electric powered, diesel powered, or gas powered for pushing, pulling, towing, and transporting, mounted or semi-mounted agricultural, earthmoving, construction and mining equipment and structural parts therefor GPS navigation services provided in the field of agriculture Software as a service (SAAS) services featuring software for managing agricultural operations; software as a service (SAAS) services featuring software for scheduling and assigning workers and equipment in agricultural operations; Software as a service (SAAS) services, namely, hosting software for use by others for operations management in agricultural field logistics; Mapping services provided via global position systems, provided in the field of agriculture
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Computer display. Steering units for land vehicles and parts thereof; steering
units for land vehicles and parts thereof, namely, an
electric drive steering column; steering units for land
vehicles and parts thereof, namely, an electric drive
steering column, and components for connecting the electric
drive steering column to the computer display; all the
foregoing for use on agricultural vehicles.
49.
SYSTEM FOR SYNCING A HARVESTER WITH AN AUTONOMOUS GRAIN CART
In an example, an agricultural slurry is applied to a field, for instance to change a constituent profile of the soil. For instance, a slurry application system includes a slurry applicator configured to apply the agricultural slurry. In another example, characteristics of the agricultural slurry are determined with a sensor. The characteristics of the agricultural slurry are compared with corresponding application thresholds. In yet another example, a slurry application controller cooperates with the slurry applicator or a prime mover to apply the agricultural slurry based on the comparison.
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
51.
SYSTEM FOR SYNCING A HARVESTER WITH AN AUTONOMOUS GRAIN CART
A control system includes a first input to receive a positional output characteristic of a first vehicle at a first communication frequency and a second input to receive a kinematic output characteristic of the first vehicle at a second frequency, where the second frequency is greater than the first frequency. A guidance controller of a second vehicle is configured to process the kinematic output characteristic of the first vehicle to obtain a heading of the first vehicle, compare the heading of the first vehicle with a heading of the second vehicle to obtain a heading deviation of the second vehicle, and determine a guidance heading of the second vehicle based on the heading deviation of the second vehicle. A control interface is configured to communicate the guidance heading to one or more of steering, throttle or brake elements of the second vehicle.
A control system includes a first input to receive a positional output characteristic of a first vehicle at a first communication frequency and a second input to receive a kinematic output characteristic of the first vehicle at a second frequency, where the second frequency is greater than the first frequency. A guidance controller of a second vehicle is configured to process the kinematic output characteristic of the first vehicle to obtain a heading of the first vehicle, compare the heading of the first vehicle with a heading of the second vehicle to obtain a heading deviation of the second vehicle, and determine a guidance heading of the second vehicle based on the heading deviation of the second vehicle. A control interface is configured to communicate the guidance heading to one or more of steering, throttle or brake elements of the second vehicle.
09 - Scientific and electric apparatus and instruments
35 - Advertising and business services
42 - Scientific, technological and industrial services, research and design
Goods & Services
(1) Computer hardware; downloadable cloud computing software for machine learning, software development, agricultural crop yield estimation and optimization, image processing, automation of agricultural machinery; downloadable computer software for use in analyzing plant and crop and agricultural field status for the purpose of creating a prescription for planning or in-season intervention and to perform analysis to calculate, approximate and optimize crop yields, image processing; downloadable computer software using artificial intelligence for machine learning, software development, agricultural crop yield estimation and optimization; image processing apparatus; downloadable computer simulation software for modeling agriculture data, crop yields, land health index maps; downloadable computer software for use in the agricultural field for collecting information using visual or hyperspectral sensors and remote sensors; ground based plant-imaging machines for agricultural use, namely, cameras and imaging sensors; electronic navigational and positioning apparatus and instruments; surveying instruments; wireless communications positioning systems comprised of computer hardware and downloadable software for agricultural crop yield estimation and optimization, image processing, agricultural mapping; scientific and optical apparatus and instruments for measuring the chlorophyll content in plants and/or for measuring the fertilizer content of soil; computers, data processing equipment and downloadable computer software for controlling and regulating the dispersion of fertilizers; imaging apparatus and instruments for the study of proteins for agricultural purposes; camera containing a linear image sensor. (1) Business consulting services in the agricultural field; business consulting services in the field of environmental monitoring; data processing services in the field of precision agriculture.
(2) Agricultural research; agricultural mapping services; agricultural testing services for determining the health and yield of crops; scientific research consulting in the field of agricultural fertilization; agricultural research services, namely, soil sampling and crop observing for analysis purposes; providing temporary use of non-downloadable computer software web applicaiton for assisting agricultural professionals with the inspection, research, data collection and analysis, spectral sampling, and information on crop health and precision agriculture methods and technology; mapping services; software as a service (SaaS) services, namely, hosting software for use by others in database management; software as a service (SaaS) services, namely, hosting software for use in creating custom forms; software as a service (SaaS) services, namely, hosting software for use by others in managing and configuring mobile computers and telecommunications equipment; installation, repair, maintenance and updating of computer software used in the field of agriculture; technological consultancy services relating to the selection, implementation and use of computer software used in the field of agriculture; technical support services, namely, troubleshooting of computer software problems for software used in the field of agriculture; providing online, non-downloadable software for use in database management, machine learning, analyzing agricultural information and geolocation data via a website; image processing software design; computer programming services for data processing; software as a service (SaaS) services featuring software for analysis and data automation, namely, analysis and extraction of precision agriculture data for agricultural, ranching, environmental, and market applications; updating of software for data processing; cloud computing featuring software for use in big data analytics, machine learning, analyzing agricultural information and geolocation data; image processing, automation of agricultural machinery; cloud computing featuring software for use in creating and visualizing vehicle paths for agricultural equipment; cloud computing featuring software for use in 2D and 3D modeling of agricultural sensor data; cloud computing featuring software for use in maximizing agricultural yield, quality, and reducing crop inputs; updating and maintaining cloud-based computer software through online updates, enhancements and patches; computer system design, namely, hosting of an interactive website featuring technology that allows the use of sensors, maps, imagery, soil conditions, crop yield and other data to devise plans for increasing crop yield, together with the use of technology and equipment to carry out the plan.
A computer-implemented method may include receiving, over an API, a command identifying a change in an agricultural task; converting, using a processing unit, the command into an event; based on an event type of the event, retrieving a subset of workflows from a workflow datastore; electronically evaluating conditional expressions in the subset of workflows using data of the event; and based on the evaluating, determining a conditional expression of a workflow of the subset of workflows evaluates to true; and in response to the determining, electronically issuing a command using the API in accordance with an action of the workflow of the subset of workflows.
G06Q 10/06 - Resources, workflows, human or project managementEnterprise or organisation planningEnterprise or organisation modelling
H04Q 9/00 - Arrangements in telecontrol or telemetry systems for selectively calling a substation from a main station, in which substation desired apparatus is selected for applying a control signal thereto or for obtaining measured values therefrom
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
A01C 23/02 - Special arrangements for delivering the liquid directly into the soil
A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
A computer-implemented method may include receiving, over an API, a command identifying a change in an agricultural task; converting, using a processing unit, the command into an event; based on an event type of the event, retrieving a subset of workflows from a workflow datastore; electronically evaluating conditional expressions in the subset of workflows using data of the event; and based on the evaluating, determining a conditional expression of a workflow of the subset of workflows evaluates to true; and in response to the determining, electronically issuing a command using the API in accordance with an action of the workflow of the subset of workflows.
In an example, an agricultural slurry is applied to a field, for instance to change a constituent profile of the soil. For instance, a slurry application system includes a slurry applicator configured to apply the agricultural slurry. In another example, characteristics of the agricultural slurry are determined with a sensor. The characteristics of the agricultural slurry are compared with corresponding application thresholds. In yet another example, a slurry application controller cooperates with the slurry applicator or a prime mover to apply the agricultural slurry based on the comparison.
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
An implement operating apparatus includes an adjustable frame configured for coupling with an agricultural implement. The adjustable frame includes first and second component frame members movable relative to each other. An adjustable implement socket is configured to receive and couple with the agricultural implement. A plurality of ground engaging elements are coupled with the first or second component frame members. A conversion assembly is coupled between the first and second component frame members. The conversion assembly includes a conversion actuator coupled between the first and second component frame members. The conversion assembly is configured to transition the first and second component frame members between a plurality of frame profiles having specified element spacings between the ground engaging elements of the plurality.
An implement operating apparatus includes an adjustable frame configured for coupling with an agricultural implement. The adjustable frame includes first and second component frame members movable relative to each other. An adjustable implement socket is configured to receive and couple with the agricultural implement. A plurality of ground engaging elements are coupled with the first or second component frame members. A conversion assembly is coupled between the first and second component frame members. The conversion assembly includes a conversion actuator coupled between the first and second component frame members. The conversion assembly is configured to transition the first and second component frame members between a plurality of frame profiles having specified element spacings between the ground engaging elements of the plurality.
A01B 59/06 - Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
61.
SPRAYER DIAGNOSTIC AND REMEDIAL SYSTEM AND METHODS FOR SAME
An automated sprayer diagnostic system includes at least one sensor directed toward at least one nozzle assembly of a sprayer implement. A sprayer diagnostic controller is in communication with the at least one sensor. The sprayer diagnostic controller includes a performance deviation comparator configured to compare the sensed actual performance profile of the at least one nozzle assembly with a specified performance profile and determine one or more performance deviations from the comparison. A performance issue diagnostic module is configured to identify at least one performance issued based on the one or more performance deviations. A diagnostic indication module is configured to provide a diagnostic indication of the identified at least one performance issue.
B05B 12/00 - Arrangements for controlling deliveryArrangements for controlling the spray area
B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
62.
SPRAYER DIAGNOSTIC AND REMEDIAL SYSTEM AND METHODS FOR SAME
An automated sprayer diagnostic system includes at least one sensor directed toward at least one nozzle assembly of a sprayer implement. A sprayer diagnostic controller is in communication with the at least one sensor. The sprayer diagnostic controller includes a performance deviation comparator configured to compare the sensed actual performance profile of the at least one nozzle assembly with a specified performance profile and determine one or more performance deviations from the comparison. A performance issue diagnostic module is configured to identify at least one performance issued based on the one or more performance deviations. A diagnostic indication module is configured to provide a diagnostic indication of the identified at least one performance issue.
A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
B05B 1/30 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
B05B 12/04 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
Sprayer control systems and methods for applying an agricultural product are provided. A system can include a plurality of smart nozzles for mounting along a boom. Each of the smart nozzles can include an electronic control unit (ECU), a control valve, and one or more spray nozzles. The system can further include a master node in communication with the ECUs. The master node and ECUs can include a processing system for regulating the supply of agricultural product to the plurality of smart nozzles. The processing system can include at least one dynamic actuation timing module configured to receive a plurality of valve control inputs for a respective control valve of a respective smart nozzle associated with the ECU and dynamically determine an actuation time for the respective control valve based on the plurality of valve control inputs.
Sprayer control systems and methods for applying an agricultural product are provided. A system can include a plurality of smart nozzles for mounting along a boom. Each of the smart nozzles can include an electronic control unit (ECU), a control valve, and one or more spray nozzles. The system can further include a master node in communication with the ECUs. The master node and ECUs can include a processing system for regulating the supply of agricultural product to the plurality of smart nozzles. The processing system can include at least one dynamic actuation timing module configured to receive a plurality of valve control inputs for a respective control valve of a respective smart nozzle associated with the ECU and dynamically determine an actuation time for the respective control valve based on the plurality of valve control inputs.
B05B 12/04 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
A01C 23/04 - Distributing under pressureDistributing mudAdaptation of watering systems for fertilising-liquids
B05B 1/30 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
66.
Integrated platform and common software structural architecture for autonomous agricultural vehicle and machinery operation
A technology platform includes hardware and software components that enable applications of autonomous agricultural equipment operation in an agricultural or other off-road setting, within a common architecture. The technology platform represents a technology stack that is a modular architecture leveraged across multiple use cases and vehicle types. The technology platform includes a vehicle interface component for the physical interface to agricultural equipment, a telematics component that provides stable in-field communications between all aspects of the technology platform, and a perception component that operates as a safety mechanism and includes object detection and classification. Additionally, a cloud-side application performs account management and field setup and as well as syncing of field equipment and operating systems in a common operating system. The technology platform includes an executive control layer that enables porting from one platform to another, so software applications in the integrated technology platform work with hardware of any manufacture.
A sprayer control system includes a plurality of smart nozzles each having at least one control valve with a valve operator, an electronic control unit for the valve operator, and one or more spray nozzles. The at least one control valve and the ECU control a flow rate of liquid agricultural product through the nozzles. A duty cycle modulator is in communication with the ECU and generates an applied duty cycle for the at least one control valve. The duty cycle modulator includes a specified duty cycle input having a specified duty cycle and a pressure monitor associated with the at least one control valve. A pressure comparator compares the valve pressure determined with the pressure monitor with a system pressure and generates a pressure error. An applied duty cycle generator generates the applied duty cycle based on the specified duty cycle modified by the pressure error.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/00 - Arrangements for controlling deliveryArrangements for controlling the spray area
B05B 1/08 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to produce a jet, spray, or other discharge of particular shape or nature, e.g. in single drops of pulsating nature, e.g. delivering liquid in successive separate quantities
B05B 1/30 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means designed to control volume of flow, e.g. with adjustable passages
68.
DYNAMIC GUIDANCE SYSTEM FOR ACCOMPANYING VEHICLE AND METHODS FOR SAME
A control system includes an agricultural output characteristic input configured to receive a progressing agricultural output characteristic of a first vehicle performing an agricultural operation. The system includes a second vehicle characteristic input having one or more second vehicle characteristics. A companion guidance controller is configured for communication with the second vehicle. The companion guidance controller includes a companion guidance line generator configured to recursively generate companion guidance line indicia based on the associated progressing agricultural output characteristic and the one or more second vehicle characteristics. A control interface is configured to communicate the companion guidance line indicia to one or more of driving or implement operation elements of the second vehicle.
A control system includes an agricultural output characteristic input configured to receive a progressing agricultural output characteristic of a first vehicle performing an agricultural operation. The system includes a second vehicle characteristic input having one or more second vehicle characteristics. A companion guidance controller is configured for communication with the second vehicle. The companion guidance controller includes a companion guidance line generator configured to recursively generate companion guidance line indicia based on the associated progressing agricultural output characteristic and the one or more second vehicle characteristics. A control interface is configured to communicate the companion guidance line indicia to one or more of driving or implement operation elements of the second vehicle.
A control system includes an agricultural output characteristic input configured to receive a progressing agricultural output characteristic of a first vehicle performing an agricultural operation. The system includes a second vehicle characteristic input having one or more second vehicle characteristics. A companion guidance controller is configured for communication with the second vehicle. The companion guidance controller includes a companion guidance line generator configured to recursively generate companion guidance line indicia based on the associated progressing agricultural output characteristic and the one or more second vehicle characteristics. A control interface is configured to communicate the companion guidance line indicia to one or more of driving or implement operation elements of the second vehicle.
A semi-active suspension system includes a suspension element having a damping coefficient range. The suspension element optionally includes an implement end and a chassis end. The semi-active suspension system includes a suspension control circuit in communication with the suspension element. The suspension control circuit optionally includes a kinematic assessment circuit in communication with one or more sensors. The kinematic assessment circuit is configured to measure or determine kinematic characteristics of one or more of the agricultural implement and the chassis. The suspension control circuit optionally includes a damping control circuit, and the damping control circuit generates a specified damping characteristic based on the measured or determined kinematic characteristics. The damping control circuit optionally directs the suspension element to operate within the damping coefficient range based on the specified damping characteristic.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A01B 63/10 - Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
09 - Scientific and electric apparatus and instruments
Goods & Services
Electronic systems for electronic monitoring of agricultural machines using equipment comprised of computing components in the nature of machine control remotes and user interfaces, electronic camera, motion, and radar sensors for detecting nearby objects, electronic interface displays for machine action control and facilitation, downloadable software for machine-to-machine communication and user actions, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; electronic systems for electronic control of agricultural machines using equipment comprised of computing components in the nature of machine control remotes and user interfaces for automated operator-assisted driving and unloading of a harvester into a tender while harvesting, electronic camera, motion, and radar sensors for detecting nearby objects and monitoring machine dynamics, electronic display interfaces, downloadable software for autonomous driving and unloading of a harvester into a tender while harvesting, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; computer hardware for use in the electronic monitoring and electronic control of agricultural machines and equipment; Downloadable software for use in the electronic monitoring and electronic control of agricultural machines and equipment; Downloadable software for use in the automated operator-assisted control of agricultural machines and equipment; electronic control systems for global positioning system (GPS) navigation of agricultural machines using equipment comprised of computing components for autonomous driving and unloading of a harvester into a tender while harvesting, electronic sensors for detecting nearby objects, electronic display interfaces, downloadable software for autonomous driving and unloading of a harvester into a tender while harvesting, in-field communication, low-latency, and cellular transmitters, in-field communication, low-latency, and cellular receivers and computer network interface devices; navigation and positioning equipment for use with agricultural machines and equipment, namely, electronic position-signal receivers and electronic position-signal transmitters; electronic and computer instruments, namely, global positioning receivers, global positioning system (GPS), low-latency, and cellular transmitters, computer hardware, downloadable computer software for machine control and synchronization, low-latency, and cellular sensors for determining the geographic locations and relative locations of agricultural machines and equipment; Global positioning systems (GPS) for use with agricultural machines and equipment comprised of computer hardware and downloadable software for tracking driving location; Remote monitoring apparatus, namely, wireless communication and positioning systems for use with automated operator-assisted machines and equipment comprised of computer hardware and downloadable software for tracking driving location; downloadable software for use with agricultural machines and equipment for the purpose of autonomous control of agricultural machines and equipment; downloadable computer software for importing, managing, analyzing and exporting data related to the autonomous control of agricultural machines and equipment; downloadable geographical mapping software for use in the control of agricultural machines and equipment; electronic systems for automating and synchronizing tractor or harvester implements with a combine harvester
73.
CURVATURE SENSING AND GUIDANCE CONTROL SYSTEM FOR AN AGRICULTURAL VEHICLE
An autonomous vehicle control system includes one or more sensors configured for coupling with an agricultural vehicle, the one or more sensors configured to determine kinematics of the agricultural vehicle relative to a crop row. The system includes a guidance control module configured to coordinate steering of one or more steering mechanisms of the agricultural vehicle. The guidance control module includes a sensor input configured to receive kinematics of the agricultural vehicle, a vehicle kinematics comparator configured to determine one or more error values using the received vehicle kinematics, a crop curvature generator configured to determine crop row curvature using the one or more error values, and a steering interface configured to provide instructions to a vehicle steering controller to guide the agricultural vehicle using the crop row curvature.
A device to determine a height disparity between features of an image includes a memory including instructions and processing circuitry. The processing circuitry is configured by the instructions to obtain an image including a first repetitive feature and a second repetitive feature. The processing circuitry is further configured by the instructions to determine a distribution of pixels in a first area of the image, where the first area includes an occurrence of the repetitive features, and to determine a distribution of pixels in a second area of the image, where the second area includes another occurrence of the repetitive features. The processing circuitry is further configured by the instructions to evaluate the distribution of pixels in the first area and the distribution of pixels in the second area to determine a height difference between the first repetitive feature and the second repetitive feature.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
(1) Computer display.
(2) Steering units for land vehicles and parts thereof; steering units for land vehicles and parts thereof, namely, an electric drive steering column; steering units for land vehicles and parts thereof, namely, an electric drive steering column, and components for connecting the electric drive steering column to the computer display; all the foregoing for use on agricultural vehicles.
76.
CURVATURE SENSING AND GUIDANCE CONTROL SYSTEM FOR AN AGRICULTURAL VEHICLE
An autonomous vehicle control system includes one or more sensors configured for coupling with an agricultural vehicle, the one or more sensors configured to determine kinematics of the agricultural vehicle relative to a crop row. The system includes a guidance control module configured to coordinate steering of one or more steering mechanisms of the agricultural vehicle. The guidance control module includes a sensor input configured to receive kinematics of the agricultural vehicle, a vehicle kinematics comparator configured to determine one or more error values using the received vehicle kinematics, a crop curvature generator configured to determine crop row curvature using the one or more error values, and a steering interface configured to provide instructions to a vehicle steering controller to guide the agricultural vehicle using the crop row curvature.
A system and method for the detection and tracking of droplets sprayed from an agricultural spray nozzle is provided. The system includes a sensor configured to observe droplets sprayed from the nozzle, a frame extractor module, a droplet shape and size extraction module, a droplet tracking module, and a data log module. The system may provide an artificial intelligence (AI)- enabled framework capable of processing images obtained of droplets, detecting and tracking all droplets appearing across image frames, and determining the droplets' geometric and dynamic data. The system further provides for the integration of deep-learning techniques into an image processing algorithm which enables precise and reliable determination of droplet characteristics. In addition, the deep-learning framework produces consistent results under a variety of uncertain imaging conditions.
A system and method for the detection and tracking of droplets sprayed from an agricultural spray nozzle is provided. The system includes a sensor configured to observe droplets sprayed from the nozzle, a frame extractor module, a droplet shape and size extraction module, a droplet tracking module, and a data log module. The system may provide an artificial intelligence (AI)-enabled framework capable of processing images obtained of droplets, detecting and tracking all droplets appearing across image frames, and determining the droplets' geometric and dynamic data. The system further provides for the integration of deep-learning techniques into an image processing algorithm which enables precise and reliable determination of droplet characteristics. In addition, the deep-learning framework produces consistent results under a variety of uncertain imaging conditions.
G06T 7/70 - Determining position or orientation of objects or cameras
G01N 15/14 - Optical investigation techniques, e.g. flow cytometry
G06T 7/62 - Analysis of geometric attributes of area, perimeter, diameter or volume
G06V 10/44 - Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersectionsConnectivity analysis, e.g. of connected components
A system and method of controlling agriculture equipment which combines geographical coordinates, machine settings, machine position, path plans, user input, and equipment parameters to generate executable commands based of a variety of different in-field agriculture operation objectives for a vehicle equipped with an automatic or electronically controlled locomotion system capable of reading and executing the commands.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
H04W 4/021 - Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
H04W 4/40 - Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
A system for applying an agricultural product includes at least one control valve. For instance, the control valve has a moveable valve operator. One or more sensors monitor one or more control valve characteristics. A valve controller is configured to determine the control valve is in one or more of a primed state or an unprimed state based on a comparison of the one or more control valve characteristics to a primed valve characteristic threshold.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/02 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery
B05B 12/04 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
A system for applying an agricultural product includes at least one control valve. For instance, the control valve has a moveable valve operator. One or more sensors monitor one or more control valve characteristics. A valve controller is configured to determine the control valve is in one or more of a primed state or an unprimed state based on a comparison of the one or more control valve characteristics to a primed valve characteristic threshold.
F16K 37/00 - Special means in or on valves or other cut-off apparatus for indicating or recording operation thereof, or for enabling an alarm to be given
B05B 1/16 - Nozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with multiple outlet openingsNozzles, spray heads or other outlets, with or without auxiliary devices such as valves, heating means with strainers in or outside the outlet opening having selectively-effective outlets
F16K 31/06 - Operating meansReleasing devices electricOperating meansReleasing devices magnetic using a magnet
A01C 23/00 - Distributing devices specially adapted for liquid manure or other fertilising liquid, including ammonia, e.g. transport tanks or sprinkling wagons
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
A system for applying an agricultural product includes at least one control valve. For instance, the control valve has a moveable valve operator. One or more sensors monitor one or more control valve characteristics. A valve controller is configured to determine the control valve is in one or more of a primed state or an unprimed state based on a comparison of the one or more control valve characteristics to a primed valve characteristic threshold.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 12/04 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery for sequential operation or multiple outlets
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
B05B 12/02 - Arrangements for controlling deliveryArrangements for controlling the spray area for controlling time, or sequence, of delivery
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Steering units for land vehicles and parts thereof; steering units for land vehicles and parts thereof, namely, an electric drive steering column; steering units for land vehicles and parts thereof, namely, an electric drive steering column, a computer display, and components for connecting the electric drive steering column to the computer display; all the foregoing for use on agricultural vehicles
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
Goods & Services
Agricultural machines; agricultural machines namely, seeders, sprayers, and planters; parts and fittings for all of the aforementioned goods. Satellite navigational systems; global positioning systems (GPS); satellite navigational system, namely, a global positioning system (GPS); satellite navigational system, namely, a global positioning system (GPS) for vehicle location and recovery; computer hardware; computer software; computer hardware and recorded software for control of agricultural machinery, monitoring agricultural operations, and agricultural field planning; Computer hardware and recorded software for driverless control of agricultural vehicles; Computer hardware and recorded computer software for partial control of agricultural vehicles; all of the aforesaid goods for use in relation to agricultural vehicles. Steering units for land vehicles; parts and fittings for all of the aforementioned goods.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
17 - Rubber and plastic; packing and insulating materials
Goods & Services
(1) Computer hardware and recorded software for control of agricultural machinery, monitoring agricultural operations, and agricultural field planning; satellite navigational system, namely, a global positioning system (GPS); satellite navigational system, namely, a global positioning system (GPS) for vehicle location and recovery; steering units for land vehicles and parts thereof; agricultural machines, namely seeders, sprayers, and planters.
(2) Radar apparatus, weather balloons, meteorological balloons, and hot air balloons; dirigible balloons, namely, high altitude research balloons.
(3) Plastic films for covering agricultural equipment and agricultural land, plastic films used in the construction industry as a vapour barrier, polyethylene geomembranes used as a liner and cover for water, waste, chemical and soil containment purposes, industrial packaging containers of OEM equipment, films for lining of tank containment systems, films for lining the inside of a tube or pipe, and tarps for covering a building or other structure during construction.
09 - Scientific and electric apparatus and instruments
12 - Land, air and water vehicles; parts of land vehicles
16 - Paper, cardboard and goods made from these materials
17 - Rubber and plastic; packing and insulating materials
Goods & Services
(1) Computer hardware and recorded software for control of agricultural machinery, monitoring agricultural operations, and agricultural field planning; satellite navigational system, namely, a global positioning system (GPS) for use with agricultural machinery; satellite navigational system, namely, a global positioning system (GPS) for agricultural vehicle location and recovery; steering units for agricultural land vehicles and parts thereof; agricultural machines, namely seeders, sprayers, and planters.
(2) Radar apparatus, weather balloons, meteorological balloons, and hot air balloons; dirigible balloons, namely, high altitude research balloons.
(3) Plastic films for covering agricultural equipment and agricultural land, plastic films used in the construction industry as a vapour barrier, polyethylene geomembranes used as a liner and cover for water, waste, chemical and soil containment purposes, industrial packaging containers of OEM equipment, films for lining of tank containment systems, films for lining the inside of a tube or pipe, and tarps for covering a building or other structure during construction.
88.
MULTI-VEHICLE COORDINATION SYSTEMS AND METHODS FOR AGRICULTURAL FIELD OPERATIONS
Control systems and methods for coordinating multiple agricultural machines for operation on an agricultural field are provided. Each machine may receive field data for an agricultural field that optionally includes a plurality of pre-defined swaths. Each machine may receive state data from other machine(s). The state data for the other machine(s) may include a next swath and a current swath. Each machine may, after an indication of a start of its current swath, determine a next swath based on open swaths and the state data for the other machine(s). A next swath may also be determined using vehicle kinematic data, and conflicts between machines may be resolved.
Control systems and methods for coordinating multiple agricultural machines for operation on an agricultural field are provided. Each machine may receive field data for an agricultural field that optionally includes a plurality of pre-defined swaths. Each machine may receive state data from other machine(s). The state data for the other machine(s) may include a next swath and a current swath. Each machine may, after an indication of a start of its current swath, determine a next swath based on open swaths and the state data for the other machine(s). A next swath may also be determined using vehicle kinematic data, and conflicts between machines may be resolved.
Control systems and methods for coordinating multiple agricultural machines for operation on an agricultural field are provided. Each machine may receive field data for an agricultural field that optionally includes a plurality of pre-defined swaths. Each machine may receive state data from other machine(s). The state data for the other machine(s) may include a next swath and a current swath. Each machine may, after an indication of a start of its current swath, determine a next swath based on open swaths and the state data for the other machine(s). A next swath may also be determined using vehicle kinematic data, and conflicts between machines may be resolved.
An automated implement control system includes one or more distance sensors configured for coupling with an agricultural implement. The one or more distance sensors are configured to measure a ground distance and a canopy distance from the one or more sensors to the ground and crop canopy, respectively. An implement control module is in communication with the one or more distance sensors. The implement control module controls movement of the agricultural implement. The implement control module includes a confidence module configured to determine a ground confidence value based on the measured ground distance and a canopy confidence value based on the measured canopy distance. A target selection module of the implement control module is configured to select one of the measured ground or canopy distances as a control basis for controlling movement of the agricultural implement based on the comparison of confidence values.
A localized product injection system includes a composite boom tube having a carrier fluid passage within a tube body, and at least one injection product passage within the tube body isolated from the carrier fluid passage. A plurality of port stations are provided at locations along the tube body. Each of the port stations includes a carrier fluid outlet port and at least one injection product outlet port. A localized injection interface is coupled at a port station. The injection interface includes a carrier fluid input coupled with the carrier fluid outlet port, and at least one injection product input coupled with the at least one injection product outlet port. The injection interface includes at least one throttling element in communication with the at least one injection product input, a mixing chamber, and an injection port configured for localized coupling and injection to a product dispenser.
A01M 7/00 - Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
B05B 1/20 - Perforated pipes or troughs, e.g. spray boomsOutlet elements therefor
B05B 7/04 - Spray pistolsApparatus for discharge with arrangements for mixing liquids or other fluent materials before discharge
B05B 7/26 - Apparatus in which liquids or other fluent materials from different sources are brought together before entering the discharge device
B05B 12/14 - Arrangements for controlling deliveryArrangements for controlling the spray area for supplying a selected one of a plurality of liquids or other fluent materials to a single spray outlet
F16L 9/19 - Multi-channel pipes or pipe assemblies
F16L 41/12 - Joining pipes to walls or pipes, the joined pipe axis being perpendicular to the plane of a wall or to the axis of another pipe using attaching means embracing the pipe
B05B 15/65 - Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits
B05B 7/12 - Spray pistolsApparatus for discharge designed to control volume of flow, e.g. with adjustable passages
B05B 12/08 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target
B05B 12/12 - Arrangements for controlling deliveryArrangements for controlling the spray area responsive to condition of liquid or other fluent material discharged, of ambient medium or of target responsive to conditions of ambient medium or target, e.g. humidity, temperature
B05B 15/658 - Mounting arrangements for fluid connection of the spraying apparatus or its outlets to flow conduits the spraying apparatus or its outlet axis being perpendicular to the flow conduit
42 - Scientific, technological and industrial services, research and design
Goods & Services
Software as a service (SAAS) services featuring software for transferring and tracking work orders to and from agricultural in-cab field computers; software as a service (SAAS) services featuring software for managing agricultural operations; software as a service (SAAS) services featuring software for scheduling and assigning workers and equipment in agricultural operations
Various aspect of the present disclosure relate to a sealed storage tank. The sealed storage tank includes a first film at least partially defining a first internal chamber of the sealed storage tank. The first film includes a first polymeric layer having a thickness in a range of from about 0.05 mm to about 1 mm. The first film can include an optional first fibrous scrim layer directly contacting the first polymeric layer. The sealed storage tank can further include a second film attached to the first film and at least partially defining a second internal chamber of the sealed storage tank, the second film comprising. The second film can further include a second polymeric layer having a thickness in a range of from about 0.05 mm to about 1 mm. The second film can include an optional second fibrous scrim layer directly contacting the second polymeric layer.
B65D 75/32 - Articles or materials enclosed between two opposed sheets or blanks having their margins united, e.g. by pressure-sensitive adhesive, crimping, heat-sealing, or welding one or both sheets or blanks being recessed to accommodate contents
B65D 75/30 - Articles or materials enclosed between two opposed sheets or blanks having their margins united, e.g. by pressure-sensitive adhesive, crimping, heat-sealing, or welding
Nozzle control systems and methods for applying an agricultural product using an agricultural vehicle and plurality of valves separated into subgroups are disclosed. An example method includes actuating the valves to dispense the agricultural product, wherein the actuating includes (a) actuating a first subgroup of valves and a second subgroup of valves in succession using a phase delay; and (b) actuating successive valves in the first subgroup and successive valves in the second subgroup using at least one subgroup time delay. The subgroup time delay can be determined based on one or more vehicle speed values and a total number of the plurality of valves.
A sprayer nozzle assembly control system includes a modulating nozzle assembly having a control valve and a spray tip. At least one spray modulation actuator is included with one or both of the control valve or the spray tip, and the spray modulation actuator is configured to control an actual spray profile of a sprayed agricultural product. A spray sensor is configured to monitor the actual spray profile of the spray tip and is in communication with the spray sensor. The nozzle assembly controller controls the actual spray profile and includes a comparator to compare the actual spray profile with a specified spray profile and generate a spray profile deviation. The nozzle assembly controller includes a spray modulation interface in communication with the at least one spray modulation actuator, and the spray modulation interface directs actuation of the at least one spray modulation actuator to modulate the actual spray profile.
Nozzle control systems and methods for applying an agricultural product using an agricultural vehicle and plurality of valves separated into subgroups are disclosed. An example method includes actuating the valves to dispense the agricultural product, wherein the actuating includes (a) actuating a first subgroup of valves and a second subgroup of valves in succession using a phase delay; and (b) actuating successive valves in the first subgroup and successive valves in the second subgroup using at least one subgroup time delay. The subgroup time delay can be determined based on one or more vehicle speed values and a total number of the plurality of valves.
A sprayer nozzle assembly control system includes a modulating nozzle assembly having a control valve and a spray tip. At least one spray modulation actuator is included with one or both of the control valve or the spray tip, and the spray modulation actuator is configured to control an actual spray profile of a sprayed agricultural product. A spray sensor is configured to monitor the actual spray profile of the spray tip and is in communication with the spray sensor. The nozzle assembly controller controls the actual spray profile and includes a comparator to compare the actual spray profile with a specified spray profile and generate a spray profile deviation. The nozzle assembly controller includes a spray modulation interface in communication with the at least one spray modulation actuator, and the spray modulation interface directs actuation of the at least one spray modulation actuator to modulate the actual spray profile.
A method may include receiving a request from a first user for a task to be completed on an agricultural field including an identification of the agricultural field, a piece of agricultural equipment for use on the agricultural field, and a date range for the task; generating a job data structure with the information in the request; executing a query to identify an operator for an available piece of agricultural equipment during the date range; transmitting a notification to a second user, the notification identifying request information, receiving confirmation the operator will complete the task and updating the job data structure based on the confirmation; in response to receiving a completion indication, transmitting a rating request for the piece of agricultural equipment; receiving, from the computing device, a rating for the piece of agricultural equipment; and updating an equipment listing for the second user with the rating.
Nozzle control systems and methods for applying an agricultural product using an agricultural vehicle and plurality of valves separated into subgroups are disclosed. An example method includes actuating the valves to dispense the agricultural product, wherein the actuating includes (a) actuating a first subgroup of valves and a second subgroup of valves in succession using a phase delay; and (b) actuating successive valves in the first subgroup and successive valves in the second subgroup using at least one subgroup time delay. The subgroup time delay can be determined based on one or more vehicle speed values and a total number of the plurality of valves.