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1. 发明申请

US20060025894A1 Vehicle control system with user-guided calibration 有权
标题翻译：带有用户指导校准的车辆控制系统
公开(公告)号：US20060025894A1
公开(公告)日：2006-02-02
申请号：US10903847
申请日：2004-07-30
申请人： Michael O'Connor , Michael Eglington , Lars Leckie , Robert Melhorn , Qinghe Chang , Brian Walter , Glen Sapilewski
发明人： Michael O'Connor , Michael Eglington , Lars Leckie , Robert Melhorn , Qinghe Chang , Brian Walter , Glen Sapilewski
IPC分类号： G06F7/00
CPC分类号： G01C21/20 , G01C25/005 , G01S19/14 , G01S19/23
摘要： A vehicle control system with user-guided calibration is presented. In one embodiment, a vehicle control system is presented comprising an output device and circuitry operative to provide an output, via the output device, that guides a user through a plurality of calibration steps in a particular order. The circuitry can additionally or alternatively be operative to determine which of the calibration steps, if any, to present as a next calibration step based on whether a given calibration step is successful. Other embodiments are provided, and each of the embodiments can be used alone or in combination with one another.
摘要翻译：提出了一种具有用户指导校准的车辆控制系统。在一个实施例中，提供了一种车辆控制系统，其包括输出装置和电路，其可操作以经由输出装置提供以特定顺序引导用户通过多个校准步骤的输出。电路还可以或者可选地可操作以基于给定的校准步骤是否成功来确定哪个校准步骤（如果有的话）作为下一校准步骤呈现。提供了其他实施例，并且每个实施例可以单独使用或彼此组合使用。

2. 发明申请

US20060178820A1 System and method for guiding an agricultural vehicle through a recorded template of guide paths 审中-公开
标题翻译：用于引导农用车辆通过记录的引导路径模板的系统和方法
公开(公告)号：US20060178820A1
公开(公告)日：2006-08-10
申请号：US11051506
申请日：2005-02-04
申请人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
发明人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
IPC分类号： G01C21/36
CPC分类号： G01C21/005 , A01B69/008
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译：一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。重复该过程以计算第三和随后的路径以覆盖该场。由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。本发明的另一方面允许记录以模板形式提供场的覆盖的路径。然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。

3. 发明申请

US20060175541A1 System and method for interactive selection of agricultural vehicle guide paths through a graphical user interface other than moving the vehicle 有权
标题翻译：通过除了移动车辆之外的图形用户界面来交互式选择农用车辆引导路径的系统和方法
公开(公告)号：US20060175541A1
公开(公告)日：2006-08-10
申请号：US11051507
申请日：2005-02-04
申请人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
发明人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
IPC分类号： G06M7/00
CPC分类号： G05D1/0278 , A01B69/008 , G05D1/0221 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0201
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译：一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。重复该过程以计算第三和随后的路径以覆盖该场。由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。本发明的另一方面允许记录以模板形式提供场的覆盖的路径。然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。

4. 发明申请

US20060178825A1 System and method for interactive selection of agricultural vehicle guide paths with varying curvature along their length 有权
标题翻译：选择沿其长度变化曲线的农用车辆引导路径的系统和方法
公开(公告)号：US20060178825A1
公开(公告)日：2006-08-10
申请号：US11051490
申请日：2005-02-04
申请人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
发明人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
IPC分类号： G01C21/26
CPC分类号： G05D1/0278 , A01B69/008 , G01S19/14 , G01S19/44 , G05D1/0221 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D2201/0201
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译：一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。重复该过程以计算第三和随后的路径以覆盖该场。由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。本发明的另一方面允许记录以模板形式提供场的覆盖的路径。然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。

5. 发明申请

US20060178823A1 System and method for propagating agricultural vehicle guidance paths that have varying curvature along their length 审中-公开
标题翻译：沿着其长度变化的农业车辆引导路径的传播系统和方法
公开(公告)号：US20060178823A1
公开(公告)日：2006-08-10
申请号：US11051266
申请日：2005-02-04
申请人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
发明人： Michael Eglington , Michael O'Connor , Lars Leckie , Glen Sapilewski
IPC分类号： G01C21/34
CPC分类号： G01C21/34 , A01B69/007 , G05D1/0219 , G05D1/0278 , G05D2201/0201
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译：一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。重复该过程以计算第三和随后的路径以覆盖该场。由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。本发明的另一方面允许记录以模板形式提供场的覆盖的路径。然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。

6. 发明授权

US07451030B2 System and method for interactive selection and determination of agricultural vehicle guide paths offset from each other with varying curvature along their length 有权
标题翻译：用于交互式选择和确定农用车辆引导路径的系统和方法，其沿其长度具有不同的曲率彼此偏移
公开(公告)号：US07451030B2
公开(公告)日：2008-11-11
申请号：US11051490
申请日：2005-02-04
申请人： Michael Eglington , Michael L. O'Connor , Lars G. Leckie , Glen A. Sapilewski
发明人： Michael Eglington , Michael L. O'Connor , Lars G. Leckie , Glen A. Sapilewski
IPC分类号： G01C22/00 , G05D1/00 , G06F7/70
CPC分类号： G05D1/0278 , A01B69/008 , G01S19/14 , G01S19/44 , G05D1/0221 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D2201/0201
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译：一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。重复该过程以计算第三和随后的路径以覆盖该场。由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。本发明的另一方面允许记录以模板形式提供场的覆盖的路径。然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。

7. 发明授权

US07256388B2 System and method for interactive selection of agricultural vehicle guide paths through a graphical user interface other than moving the vehicle 有权
标题翻译：通过除了移动车辆之外的图形用户界面来交互式选择农用车辆引导路径的系统和方法
公开(公告)号：US07256388B2
公开(公告)日：2007-08-14
申请号：US11051507
申请日：2005-02-04
申请人： Michael Eglington , Michael L. O'Connor , Lars G. Leckie , Glen A. Sapilewski
发明人： Michael Eglington , Michael L. O'Connor , Lars G. Leckie , Glen A. Sapilewski
IPC分类号： H01J40/14
CPC分类号： G05D1/0278 , A01B69/008 , G05D1/0221 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D2201/0201
摘要： A system and method provide for precision guiding of agricultural vehicles along a series of adjacent paths to form rows for cultivating a field. In one aspect of the invention the vehicle is moved along a first path while receiving positioning information from a navigational system (e.g., RTK GPS). This positioning information is stored in a processor and is used by the processor to compute a second path adjacent to said first path by calculating piecewise perpendicular offsets from the first path at multiple locations along the first path. The process is repeated to compute a third and subsequent paths so as to cover the field. Because of the offset process, the field may be covered with paths that have varying curvature along their length, while providing substantially no gaps or overlaps in the coverage of the field. In another aspect of the invention, the system may propose alternative paths and the user can intervene by steering the vehicle or using a graphical user interface to select among the alternative paths. A still further aspect of the invention allows for the recording of the paths that provide coverage of a field in the form of a template. This template can then be used to cause the vehicle to automatically steer along a previously calculated path in subsequent operations on the field, and in subsequent years.
摘要翻译：一种系统和方法提供沿着一系列相邻路径的农用车辆的精确引导，以形成用于培养场的行。在本发明的一个方面，车辆沿着第一路径移动，同时从导航系统（例如，RTK GPS）接收定位信息。该定位信息被存储在处理器中，由处理器用来通过沿着第一路径在多个位置处计算来自第一路径的分段垂直偏移来计算与所述第一路径相邻的第二路径。重复该过程以计算第三和随后的路径以覆盖该场。由于偏移过程，该场可能被沿其长度具有变化曲率的路径覆盖，同时在场的覆盖范围内基本上没有间隙或重叠。在本发明的另一方面，系统可以提出替代路径，并且用户可以通过转向车辆或使用图形用户界面在备选路径中进行选择来进行干预。本发明的另一方面允许记录以模板形式提供场的覆盖的路径。然后，该模板可以用于使得车辆在现场的后续操作中以及随后的年份中沿着先前计算的路径自动转向。

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