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1. 发明申请

WO2018210990A1 SYSTEM AND METHOD FOR AUTOMATIC CONNECTION BETWEEN A TRACTOR AND AN IMPLEMENT 审中-公开
公开(公告)号：WO2018210990A1
公开(公告)日：2018-11-22
申请号：PCT/EP2018/062853
申请日：2018-05-17
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD , CNH INDUSTRIAL BRASIL LTDA.
发明人： FERRARI, Luca , MORSELLI, Riccardo , CHRISTOPHER, Elliott
IPC分类号： A01B69/00 , B60D1/36 , B60R1/00 , G06T7/73
摘要： System for automatic connection (1) between a tractor (2) provided with a connection point (4) and an implement (5) provided with at least one hitch (7) comprising: a 3D camera (9) carried by the tractor (2) and configured to continuously take images of the three-dimensional space S facing the implement (5); a processor (15) configured to detect on the images a predetermined shape corresponding to the hitch (7) of the implement and to determine the spatial coordinates of the hitch with respect to the position of the tractor (2) in order to calculate a path Pi between the tractor (2) and the hitch (7). When the implement hitch (7) moves out of the field-of-view of the camera (9) the processor (15) is configured to detect on the images alternative reference points Ra to re-calculate the path Pi.

2. 发明申请

WO2017191212A1 METHOD AND AN APPARATUS OBJECTS RECOGNITION 审中-公开
标题翻译：方法和设备对象识别
公开(公告)号：WO2017191212A1
公开(公告)日：2017-11-09
申请号：PCT/EP2017/060572
申请日：2017-05-03
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： FERRARI, Luca , MORSELLI, Riccardo
IPC分类号： B60W40/02
摘要： An apparatus (1) for objects recognition to be provided on a vehicle (2), comprising detection means (3) for detecting the positions of objects (4, 41, 42) in at least an area of interest (5) and at least a processing unit (6), connected to the detection means (3). The processing unit (6) comprises: a speed module (61) configured for determining a speed parameter for each object (4, 41, 42) according to its position or positions detected by said detection means (3); a size module (62) configured for determining a size parameter for each object (4, 41, 42), according to a signal produced by the detection means (3); and a classification module (64) configured for classify different objects (4, 41, 42) according to the respective speed parameters and size parameters.
摘要翻译：一种用于在车辆（2）上提供物体识别的装置（1），包括检测装置（3），用于检测物体（4,41,42）在至少一个区域（5）和连接到检测装置（3）的至少一个处理单元（6）。处理单元（6）包括：速度模块（61），其被配置用于根据由所述检测装置（3）检测到的其位置或多个位置来确定每个物体（4,41,42）的速度参数; 尺寸模块（62），其被配置用于根据由所述检测装置（3）产生的信号来确定每个物体（4,41,42）的尺寸参数; 以及分类模块（64），其被配置用于根据各个速度参数和尺寸参数对不同对象（4,41,42）进行分类。

3. 发明申请

WO2021185790A1 AUTONOMOUS DRIVING SYSTEM IN THE AGRICULTURAL FIELD BY MEANS OF AN INFRARED CAMERA 审中-公开
公开(公告)号：WO2021185790A1
公开(公告)日：2021-09-23
申请号：PCT/EP2021/056590
申请日：2021-03-16
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： DI CECILIA, Luca , FERRARI, Luca , LENZINI, Nicola
IPC分类号： A01B69/04 , A01B69/00
摘要： Autonomous driving method in the agricultural field by means of an thermal camera comprising the procedure of obtaining an interpolating function of at least two pixels, of alignments of plants or swaths of a thermal image that appears in front of an agricultural vehicle, acquired through at least one thermal camera, said at least two pixels being corresponding to at least two homologous peaks identified in as many at least two vectors built on values of temperature intensity of corresponding consecutive pixels belonging to as many straight and horizontal lines of pixels extracted from the thermal image and a procedure for calculating an angular phase shift and/or a lateral deviation of the interpolating function with respect to a vertical axis of the thermal image.

4. 发明申请

WO2018185261A1 AGRICULTURAL SYSTEM COMPRISING A TRACTOR AND A TRAILED IMPLEMENT PROVIDED WITH ANTI-COLLISION SYSTEM 审中-公开
公开(公告)号：WO2018185261A1
公开(公告)日：2018-10-11
申请号：PCT/EP2018/058816
申请日：2018-04-06
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： FERRARI, Luca , PAOLINI, Francesco
IPC分类号： A01B69/00
摘要： Agricultural system comprising a tractor (1) and an trailed implement (2) attachable to tractor (1) via a drawbar (4) and comprising an anti-collision system located in the rear side of the tractor (1) to avoid collisions between the drawbar (4) and/or parts carried by the drawbar and rear parts of the tractor (1), in particular rear wheels The anti-collision system comprises an electronic unit (8) that is designed to generate command signals for one or more power actuators of tractor and a number of proximity sensors (7) that are designed to define a safe zone Z. Upon detection of the displacement of the drawbar close to one lateral side of the safe zone the electronic control unit (8) operate on the actuators of the tractor (1) to produce an action so the drawbar (4) and/or the parts carried by the drawbar will remain within the safe zone Z.

5. 发明申请

WO2017158006A3 METHOD AND SYSTEM FOR MEASURING THE ROUGHNESS OF A GROUND SURFACE 审中-公开
公开(公告)号：WO2017158006A3
公开(公告)日：2017-09-21
申请号：PCT/EP2017/056095
申请日：2017-03-15
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： FERRARI, Luca
IPC分类号： A01B63/111 , A01B63/114 , A01B79/00 , A01B79/02
摘要： A system measures the roughness of the ground surface over which an agricultural implement (10) passes as measured in the direction of travel (22). The system includes at least one ground sensor (40, 42) attached to the agricultural implement (10) that provides measurement of the distance to the ground. A controller (80) is connected to the at least one ground sensor (40, 42), and controls at least one adjustment of the agricultural implement (10). The at least one ground sensor (40, 42) provides instantaneous output (OFGS, ORGS) based on the distance to the ground to the controller (80). The controller (80) then calculates at least one statistical parameter (AVRGS, AVFGS, AAV) from the instantaneous output (OFGS, ORGS). The at least one statistical parameter (AVRGS, AVFGS, AAV) is calculated from variations in the distance to the ground in the direction of travel (22) of the agricultural implement (10).

6. 发明申请

WO2021123415A1 AUTONOMOUS DRIVING SYSTEM THROUGH ROWS OF A PLANTATION 审中-公开
公开(公告)号：WO2021123415A1
公开(公告)日：2021-06-24
申请号：PCT/EP2020/087401
申请日：2020-12-21
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： FERRARI, Luca , DI CECILIA, Luca , DAVOLI, Alessandro , GUERZONI, Giorgio , DI VIESTI, Pasquale , SIRIGNANO, Emilio , VITETTA, Giorgio Matteo
IPC分类号： A01B69/00 , A01B69/04 , G05D1/00 , G05D1/02 , A01B69/008 , G05D1/0257 , G05D1/0274 , G05D2201/0201
摘要： A method for identifying a trajectory between rows of a plantation by means of a radar interfaced with processing means of an agricultural vehicle, the method comprising the following steps in the same order: acquisition of an approximate distance (D) between two consecutive rows of the plantation, acquisition of signals by said radar, processing of said signals to obtain a two-dimensional map of points corresponding to reflections picked up by said radar, first linear interpolation to obtain a first interpolating line (IN1) on the points of greatest intensity, second windowing of an elongated area of the two-dimensional map having an axis of development approximately parallel to said first interpolating straight line and at said approximate distance (D) from said first interpolating line, second linear interpolation of a second interpolating straight line (IN2) on points of greater intensity in the windowed area, calculation of a trajectory (T) parallel and intermediate between said first and second interpolating straight line.

7. 发明申请

WO2018065560A1 ELECTRIC ASSISTED POWER STEERING SETTINGS ADJUSTMENT 审中-公开
标题翻译：电动辅助动力转向设置调整
公开(公告)号：WO2018065560A1
公开(公告)日：2018-04-12
申请号：PCT/EP2017/075436
申请日：2017-10-06
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： FERRARI, Luca
IPC分类号： B62D5/04 , B62D6/06
CPC分类号： B62D6/06 , B62D5/0463
摘要： A power steering system (52) for an off-road vehicle (10) includes an electric assisted power steering (EPS) unit (102) controlled by an electronic control unit (ECU) (108) for adding and subtracting torque to a rotatable steering column (54). At least one sensor (36a, 38a, 152a, 162a, 170) is configured to sense at least one of pressure, proximity, strain, and displacement in at least one component or attachment of the vehicle (10). The EPS unit (102) ECU (108) may be connected to the sensor (36a, 38a, 152a, 162a, 170) by way of an ISOBUS or CANbus network (40), and is configured to use information from the sensor (36a, 38a, 152a, 162a, 170) to determine a weight distribution of the vehicle (10). The ECU (108) controls the EPS unit (102) to adjust the torque of the rotatable steering column (54) as a function of the weight distribution of the vehicle (10).
摘要翻译：用于越野车辆（10）的动力转向系统（52）包括由电子控制单元（ECU）（108）控制的电动助力转向（EPS）单元（102），用于对可旋转的转向柱（54）加减扭矩。至少一个传感器（36a，38a，152a，162a，170）被配置为感测车辆（10）的至少一个部件或附件中的压力，接近度，应变和位移中的至少一个。 EPS单元（102）ECU（108）可以通过ISOBUS或CANbus网络（40）连接到传感器（36a，38a，152a，162a，170），并且被配置为使用来自传感器，38a，152a，162a，170）以确定车辆（10）的重量分布。 ECU（108）根据车辆（10）的重量分布控制EPS单元（102）以调节可旋转转向柱（54）的扭矩。

8. 发明申请

WO2017158006A2 ULTRASONIC SENSORS FOR FIELD ROUGHNESS MEASUREMENT 审中-公开
标题翻译：用于现场粗糙度测量的超声波传感器
公开(公告)号：WO2017158006A2
公开(公告)日：2017-09-21
申请号：PCT/EP2017/056095
申请日：2017-03-15
申请人： CNH INDUSTRIAL ITALIA S.P.A. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： FERRARI, Luca
IPC分类号： A01B63/111 , A01B63/114 , A01B79/00 , A01B79/02
CPC分类号： A01B63/1112 , A01B63/1115 , A01B63/114 , A01B79/005 , A01B79/02
摘要： A system measures the roughness of the ground surface over which an agricultural implement (10) passes as measured in the direction of travel (22). The system includes at least one ground sensor (40, 42) attached to the agricultural implement (10) that provides measurement of the distance to the ground. A controller (80) is connected to the at least one ground sensor (40, 42), and controls at least one adjustment of the agricultural implement (10). The at least one ground sensor (40, 42) provides instantaneous output (OFGS, ORGS) based on the distance to the ground to the controller (80). The controller (80) then calculates at least one statistical parameter (AVRGS, AVFGS, AAV) from the instantaneous output (OFGS, ORGS). The at least one statistical parameter (AVRGS, AVFGS, AAV) is calculated from variations in the distance to the ground in the direction of travel (22) of the agricultural implement (10).
摘要翻译：系统测量农业工具（10）在行进方向（22）上测量的地面的粗糙度。该系统包括附接到农具（10）的至少一个地面传感器（40,42），其提供到地面的距离的测量。控制器（80）连接到至少一个地面传感器（40,42），并且控制农具（10）的至少一个调节。至少一个地面传感器（40,42）基于到地面的距离向控制器（80）提供瞬时输出（OFGS，ORGS）。然后控制器（80）根据瞬时输出（OFGS，ORGS）计算至少一个统计参数（AVRGS，AVFGS，AAV）。至少一个统计参数（AVRGS，AVFGS，AAV）根据农具（10）的行进方向（22）中到地面的距离的变化来计算。

9. 发明申请

WO2018206677A1 AN AGRICULTURAL SYSTEM 审中-公开
公开(公告)号：WO2018206677A1
公开(公告)日：2018-11-15
申请号：PCT/EP2018/062070
申请日：2018-05-09
申请人： CNH INDUSTRIAL BELGIUM NV , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD , CNH INDUSTRIAL BRASIL LTDA.
发明人： BOYDENS, Joachim , DEBBAUT, Thomas , FERRARI, Luca , VERHAEGHE, Didier , DE SMEDT, Bart , VANDERSTRAETEN, Nick, R, M,
IPC分类号： G06Q10/04 , G06Q10/00 , G06Q50/02
摘要： A system comprising a radar-sensor (210) configured to acquire radar-data (212) representative of swath (104) in an agricultural field (102); and a controller (214) configured to determine swath-property-data (216) based on the radar-data (212).

10. 发明申请

WO2019215185A1 SYSTEM AND METHOD FOR LOCATING A TRAILER WITH RESPECT TO AN AGRICULTURAL MACHINE 审中-公开
公开(公告)号：WO2019215185A1
公开(公告)日：2019-11-14
申请号：PCT/EP2019/061729
申请日：2019-05-07
申请人： CNH INDUSTRIAL BELGIUM N.V. , CNH INDUSTRIAL AMERICA LLC , CNH (CHINA) MANAGEMENT CO., LTD
发明人： POSSELIUS, John H. , FERRARI, Luca , LENZINI, Nicola , BONFIGLIO, Andrea , ROVATI, Luigi , VITETTA, Giorgio Matteo
IPC分类号： A01D41/12 , A01D41/127 , G01S7/35 , A01D43/073
摘要： An agricultural machine (100) comprises a chassis (102), an unload conveyance (104) having a first end (106) connected to the chassis (102) and a second end (108) opposite the first end (106), a cab (110) mounted to the chassis (102), and a radar system (112) positioned in association with the second end (108) of the unload conveyance (104). The radar system (112) comprises at least one transmitting antenna (134), at least one receiving antenna (136), and a radar module (120) configured to process a first signal for transmission by the at least one transmitting antenna (134) and process second signals received by the at least one receiving antenna (136) for determining location of one or more points (138) of a receptacle (114) with respect to a location of the agricultural machine (100).

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