AGCO Patente

An agricultural vehicle having a cart operably coupled thereto and including a guidance system for controlling operation of the agricultural vehicle and the cart. The guidance system including at least one processor and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance system, during an agricultural operation, to: capture image data of a plurality of transport vehicles; analyze the captured image data to identify a transport vehicle of the plurality of transport vehicles most proximate the agricultural vehicle; designate the transport vehicle of the plurality of transport vehicles most proximate the agricultural vehicle as a target transport vehicle; and responsive to designating the target transport vehicle, cause the agricultural vehicle to automatically align with the target transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted on the cart and configured to: capture, via the array of sensors and in real-time, sensor data of the cart and an auger system of an unloading system of the cart; analyze the captured sensor data to determine at least one of a length of an auger of the auger system and an orientation of the auger system; based on the determined length of the auger of the auger system and the determined orientation of the auger of the auger system, determine an aligned position of the cart relative to a transport vehicle; and responsive to determining the aligned position, cause the cart to automatically align with the transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart is operably coupled to an agricultural vehicle of the autonomous agricultural system. The cart management system includes an array of sensors mounted on at least one the agricultural vehicle or the cart; at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the cart management system to: responsive to a commencement of an unloading operation by an auger of an unloading system of the cart into a trailer of a transport vehicle, track at least one of time or actuator actions; and responsive a predetermined amount of time elapsing or a predetermined number of actuator actions occurring, cause the autonomous agricultural system to move relative to the transport vehicle or terminating the unloading operation.

An autonomous agricultural system includes: an agricultural vehicle; a cart operably coupled to the agricultural vehicle; and a guidance system configured to: capture, via an array of sensors and in real-time, sensor data of a combine harvester; analyze the sensor data to detect a header of the combine harvester; determine an initial aligned position relative to the detected header of the combine harvester; responsive to determining the initial aligned position, cause the autonomous agricultural system to automatically align with the header of the combine harvester at the initial aligned position; subsequent to aligning with the header of the combine harvester, determine an operating aligned position relative to an unloading auger or a body of the combine harvester; and responsive to determining the operating aligned position, cause the autonomous agricultural system to automatically align with the unloading auger or the body of the combine harvester at the operating aligned position.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart and is configured to: capture, via the array of sensors and in real-time, sensor data of the cart, an auger of an unloading system of the cart, and a commodity within a hopper of the cart; analyze the captured sensor data utilizing machine learning models to identify the cart, the auger of the unloading system of the cart, and the commodity within the hopper of the cart depicted within the sensor data; and based on the analysis of the captured sensor data, automatically cause the auger of the unloading system to extend or to retract prior to or subsequent to an unloading process of unloading the commodity.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart and is configured to: capture, via the array of sensors and in real-time, sensor data of the cart and an auger system of an unloading system of the cart; analyze the captured sensor data to determine a state of the auger system and whether auger system is in a folded state or a unfolded state; responsive to determining that the determined state does not match the folded state or the unfolded state, adjust operation of the auger system, and responsive to determining that the determined state matches the folded state or the unfolded state, provide an indication that the auger system is in either the folded state or the unfolded state.

A cart management system includes an array of sensors mounted on at least one an agricultural vehicle or a cart and is configured to: capture, via the array of sensors, image data of the agricultural vehicle, the cart, and a transport vehicle; utilize a mono-depth deep neural network to estimate depth data from the image data; analyze the image data and the depth data to identify and classify the agricultural vehicle, the cart, and the transport vehicle to generate labeled sensor data; receive GNSS data and IMU data; fuse the labeled sensor data with the GNSS data and IMU data to generate enhanced fused data; based at least partially on the enhanced fused data, determine an aligned position of the cart relative to the transport vehicle; and responsive to determining the aligned position, cause the cart to automatically align with the transport vehicle.

A cart management system includes an array of sensors mounted on at least one an agricultural vehicle or a cart and is configured to capture first 3D data of an interior of a trailer of a transport vehicle in an empty state, based on the first 3D data, generate a three-dimensional (3D) map of the trailer, detect a commencement of an unloading operation by an auger of the cart into the trailer; responsive to detecting the commencement of the unloading operation, capture second 3D data of the interior of the trailer and a commodity being unloaded into the trailer, capture image data of the interior of the trailer and the commodity being unloaded into the trailer, and based at least partially on the 3D map of the trailer, the second 3D data, and the image data, determine a fill level of the trailer.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted on the cart and is configured to: capture, via the array of sensors and in real-time, sensor data of the cart, an auger of an unloading system of the cart, and a commodity within a hopper of the cart; analyze the captured sensor data utilizing machine learning models to identify the cart, the auger of the unloading system of the cart, and the commodity within the hopper of the cart depicted within the sensor data; and based on the analysis of the captured sensor data, automatically cause the auger of the unloading system to extend or to retract prior to or subsequent to an unloading process of unloading the commodity.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system includes an array of sensors mounted on at least one the agricultural vehicle or the cart. The cart management system configured to: detect a commencement of an unloading operation by an auger of an unloading system of the cart into a trailer of a transport vehicle; responsive to detecting the commencement of the unloading operation, capture, via the array of sensors and in real-time, image data of a commodity being unloaded into the trailer of the transport vehicle and the trailer of the transport vehicle; utilize a mono-depth convolutional neural network (CNN) to estimate depth data from the image data; and based at least partially on the estimated depth data, determine a fill level of the trailer of the transport vehicle.

A cart management system includes a stereo camera system and is configured to: capture, via the stereo camera system, first and second image data and second image data of the agricultural vehicle, the cart, and a transport vehicle, estimate depth data from the first image data and the second image data; receive GNSS data and IMU data related to at least one of the agricultural vehicle, the cart, and a transport vehicle; fuse the depth data with the GNSS data and IMU data to generate enhanced fused data; based at least partially on the enhanced fused data, determine an aligned position of the cart relative to the transport vehicle; and responsive to determining the aligned position, cause the cart to automatically align with the transport vehicle.

A cart management system of an autonomous agricultural system includes an array of sensors mounted on at least one an agricultural vehicle or a cart and is configured to: capture sensor data of the agricultural vehicle, the cart, and a transport vehicle; capture additional sensor data of the agricultural vehicle, the cart, and the transport vehicle; analyze the sensor data to identify and classify the agricultural vehicle, the cart, and the transport vehicle to generate labeled sensor data; fuse the labeled sensor data with the additional sensor data by correlating each point or pixel of the additional sensor data with detected features of the labeled sensor data to form labeled fused data; based at least partially on the labeled fused data, determine an aligned position of the cart relative to the transport vehicle; and responsive to determining the aligned position, cause the cart to automatically align with the transport vehicle.

An agricultural vehicle having a cart operably coupled thereto. The agricultural vehicle includes a guidance system for controlling operation of the agricultural vehicle and the cart and including at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance system, during an agricultural operation, to: receive communication data from a plurality of transport vehicles; capture sensor data comprising representation of the plurality of transport vehicles; provide the sensor data to at least one remote device; receive a selection of a transport vehicle of the plurality of transport vehicles from the at least one remote device; and responsive to receiving the selection of the transport vehicle of the plurality of transport vehicles, cause the agricultural vehicle to automatically align with the selected transport vehicle.

An agricultural vehicle having a cart operably coupled thereto. The agricultural vehicle includes a guidance system for controlling operation of the agricultural vehicle and the cart and including: at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance system, during an agricultural operation, to: receive position data from a plurality of transport vehicles; capture sensor data comprising representation of the plurality of transport vehicles; provide the sensor data to at least one remote device; receive a selection of a transport vehicle of the plurality of transport vehicles from the at least one remote device; and responsive to receiving the selection of the transport vehicle of the plurality of transport vehicles, cause the agricultural vehicle to automatically align with the selected transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart and is configured to: capture, via the array of sensors and in real-time, sensor data of a drive assembly of the cart; analyze the captured sensor data to determine whether the drive assembly of the cart includes wheels or a track assembly; adjust one or more parameters of a local path planner of the cart management system; utilize the local path planner with the adjusted one or more parameters to determine an immediate path from a current position to at least a next waypoint of a planned agricultural process; and responsive to determining the immediate path, cause the cart to travel along the immediate path.

An agricultural vehicle having a cart operably coupled thereto. The agricultural vehicle includes a guidance system for controlling operation of the agricultural vehicle and the cart and including: at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance system, during an agricultural operation, to: capture identification data of a plurality of transport vehicles; analyze the captured identification data to identify a target transport vehicle from the plurality of transport vehicles; and responsive to identifying the target transport vehicle within the plurality of transport vehicles, cause the agricultural vehicle to automatically align with the target transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart is operably coupled to an agricultural vehicle of the autonomous agricultural system. The cart management system comprising: an array of sensors mounted on the cart; at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the cart management system to: capture, via the array of sensors and in real-time, sensor data of the cart; analyze the captured sensor data to determine a position and an orientation of the cart relative to the agricultural vehicle; and based at least partially on the determined position and the determined orientation of the cart relative to the agricultural vehicle, adjust operation of the agricultural vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted on the cart and is configured to: capture, via the array of sensors and in real-time, sensor data of the cart and an auger system of an unloading system of the cart; analyze the captured sensor data to determine a state of the auger system and whether auger system is in a folded state or a unfolded state; responsive to determining that the determined state does not match the folded state or the unfolded state, adjust operation of the auger system, and responsive to determining that the determined state matches the folded state or the unfolded state, provide an indication that the auger system is in either the folded state or the unfolded state.

An agricultural vehicle having a cart operably coupled thereto. The agricultural vehicle including: a guidance system for controlling operation of the agricultural vehicle and the cart and configured to cause the guidance system to: capture image data of each transport vehicle of a plurality of transport vehicles via at least one sensor and compare a respective marker of each transport vehicle of the plurality of transport vehicles with a preselected marker stored within a database consecutively until a match between a given respective marker of a transport vehicle of the plurality of transport vehicles and the preselected marker is identified; identify the transport vehicle of the plurality of transport vehicles having the given respective marker that matches the preselected marker stored within the database as a target transport vehicle; and responsive to identifying the target transport vehicle, cause the agricultural vehicle to automatically align with the target transport vehicle.

An autonomous agricultural system includes: an agricultural vehicle; a cart operably coupled to the agricultural vehicle; and a guidance system configured to: capture, via an array of sensors and in real-time, sensor data of a combine harvester; analyze the sensor data to detect a header of the combine harvester; determine an initial aligned position relative to the detected header of the combine harvester; responsive to determining the initial aligned position, cause the autonomous agricultural system to automatically align with the header of the combine harvester at the initial aligned position; subsequent to aligning with the header of the combine harvester, determine an operating aligned position relative to an unloading auger or a body of the combine harvester; and responsive to determining the operating aligned position, cause the autonomous agricultural system to automatically align with the unloading auger or the body of the combine harvester at the operating aligned position.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart and configured to: capture, via the array of sensors and in real-time, sensor data of the cart and an auger system of an unloading system of the cart; analyze the captured sensor data to determine at least one of a length of an auger of the auger system and an orientation of the auger system; based on the determined length of the auger of the auger system and the determined orientation of the auger of the auger system, determine an aligned position of the cart relative to a transport vehicle; and responsive to determining the aligned position, cause the cart to automatically align with the transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system including an array of sensors mounted on at least one the agricultural vehicle or the cart. The cart management system configured to: capture, via the array of sensors and in real-time, sensor data of the agricultural vehicle, the cart, and a transport vehicle, analyze the sensor data to identify and classify the agricultural vehicle, the cart, and the transport vehicle to generate labeled sensor data, receive GNSS data and IMU data related to at least one of the agricultural vehicle, the cart, and a transport vehicle, fuse the labeled sensor data with the GNSS data and IMU data to generate fused data, based on the fused data, determine an aligned position of the cart relative to the transport vehicle, and cause the cart to automatically align with the transport vehicle.

A cart management system for monitoring and controlling operation of the cart and includes at least one first sensor mounted on a cabin of the agricultural vehicle and at least one second sensor mounted on an auger of an unloading system of the cart. The cart management system is configured to: detect a commencement of an unloading operation by an auger of an unloading system of the cart into a trailer of the transport vehicle via the at least one first sensor; responsive to detecting the commencement of the unloading operation, capture, via the at least one second sensor and in real-time, first 3D data of an interior of the trailer and a commodity being unloaded into the trailer of the transport vehicle; and based at least partially on the first 3D data, determine a fill level of the trailer of the transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart management system includes an array of sensors mounted on the cart and is configured to: capture, via the array of sensors and in real-time, sensor data of a drive assembly of the cart; analyze the captured sensor data to determine whether the drive assembly of the cart includes wheels or a track assembly; adjust one or more parameters of a local path planner of the cart management system; utilize the local path planner with the adjusted one or more parameters to determine an immediate path from a current position to at least a next waypoint of a planned agricultural process; and responsive to determining the immediate path, cause the cart to travel along the immediate path.

A cart management system includes an array of sensors and is configured to: capture image data of the agricultural vehicle, the cart, and a transport vehicle; analyze the image data to identify and classify the agricultural vehicle, the cart, and the transport vehicle to generate labeled image data; capture depth data of the agricultural vehicle, the cart, and a transport vehicle; fuse the labeled image data with the depth data by correlating each point of the depth data with detected features of the labeled image data to form labeled fused data; receive GNSS data and IMU data; fuse the labeled fused data with the GNSS data and IMU data to generate enhanced fused data; based on the enhanced fused data, determine an aligned position of the cart relative to the transport vehicle; and cause the cart to automatically align with the transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart is operably coupled to an agricultural vehicle. The cart management system includes an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart and is configured to capture, via the array of sensors and in real-time, sensor data of at least one actuator of the cart; analyze the captured sensor data to identify the at least one actuator of the cart; identify a corresponding hydraulic valve of the agricultural vehicle that is configured to control the actuator of the cart; responsive to actuation of the corresponding hydraulic valve, capture additional sensor data of the at least one actuator of the cart; and analyze the captured additional sensor data to determine a response of the at least one actuator to actuation of the corresponding hydraulic valve.

A management system for monitoring and controlling operation of an autonomous agricultural system. The management system includes: an array of sensors mounted on at least one the agricultural vehicle or the cart; at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the management system to: capture, via the array of sensors, sensor data of an environment around the autonomous agricultural system; capture, via the array of sensors, additional sensor data of the environment around the autonomous agricultural system; fuse the sensor data with the additional sensor data to form enhanced fused data; analyze the enhanced fused data to detect living organisms represented in the enhanced fused data; and responsive to detecting living organisms represented in the enhanced fused data, initiate a response action.

An agricultural vehicle having a cart operably coupled thereto. The agricultural vehicle may include a guidance system for controlling operation of the agricultural vehicle and the cart and including: at least one processor; and at least one storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance system, during an agricultural operation, to: capture image data of a plurality of transport vehicles; analyze the captured image data to identify a candidate target transport vehicle of the plurality of transport vehicles; activate a light emitting device of an intended target transport vehicle; detect light emitted by the light emitting device to verify the candidate target transport vehicle matches the intended target transport vehicle; and responsive to identifying and verifying the candidate target transport vehicle of the plurality of transport vehicles, cause the agricultural vehicle to automatically align with the candidate target transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart is operably coupled to an agricultural vehicle. The cart management system includes an array of sensors mounted on the cart and is configured to capture, via the array of sensors and in real-time, sensor data of at least one actuator of the cart; analyze the captured sensor data to identify the at least one actuator of the cart; identify a corresponding hydraulic valve of the agricultural vehicle that is configured to control the actuator of the cart; responsive to actuation of the corresponding hydraulic valve, capture additional sensor data of the at least one actuator of the cart; and analyze the captured additional sensor data to determine a response of the at least one actuator to actuation of the corresponding hydraulic valve.

An agricultural vehicle having a cart operably coupled thereto. The agricultural vehicle includes a guidance system for controlling operation of the agricultural vehicle and the cart and including at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the guidance system, during an agricultural operation, to: capture sensor data comprising at least one representation of the plurality of transport vehicles; provide the sensor data to at least one remote device; receive a selection of a transport vehicle of the plurality of transport vehicles from the at least one remote device; and responsive to receiving the selection of the transport vehicle of the plurality of transport vehicles, cause the agricultural vehicle to automatically align with the selected transport vehicle.

A cart management system for monitoring and controlling operation of a cart of an autonomous agricultural system. The cart is operably coupled to an agricultural vehicle of the autonomous agricultural system. The cart management system comprising: an array of sensors mounted proximate or on an end of the agricultural vehicle facing the cart; at least one processor; and at least one non-transitory computer-readable storage medium storing instructions thereon that, when executed by the at least one processor, cause the cart management system to: capture, via the array of sensors and in real-time, sensor data of the cart; analyze the captured sensor data to determine a position and an orientation of the cart relative to the agricultural vehicle; and based at least partially on the determined position and the determined orientation of the cart relative to the agricultural vehicle, adjust operation of the agricultural vehicle.

A crop material sensor arrangement for an agricultural harvesting machine is provided. T arrangement includes first and second sensor units operable for imaging in a first and second optical wavebands, respectively. An optical separator element is provided which is operable for directing light in the first optical waveband in a first direction and directing light in the second optical waveband in a second direction which is angled with respect to the first. The optical separator element is positioned, in use, in an optical path between a sensing region associated with a crop path for crop material processed by the harvesting machine, and the first and second sensor units.

A vehicle includes an engine and an exhaust gas outlet assembly (210) comprising an exhaust outlet pipe (208) surrounded by a tubular heatshield (209) spaced from the exhaust outlet pipe. At least one divider (220a, 220b) extends between the exhaust outlet pipe and the heatshield to divide an interior volume (216) between the exhaust outlet pipe and the heatshield into two or more sections (216a, 216b, 216c), each section containing a column of air (215a, 215b, 215c). The dividers (220) are positioned so that the resonant frequencies of the columns of air do not correspond with a predetermined frequency of the engine. The predetermined frequency of the engine is generally one that arises when the vehicle is in use carrying out tasks for prolong periods of time.

An agricultural implement includes a main frame having a support bar oriented in a direction generally transverse to a direction of travel when the implement is used to work a field; a plurality of rotating ground-engaging elements aligned along a length of the support bar, and a plurality of bearing caps. Each of the ground-engaging elements is configured to rotate about an axle, and each bearing cap is coupled to one of the ground-engaging elements. Each bearing cap includes an inertial sensor configured to measure an angular motion of the ground-engaging element and a transmitter configured to transmit the angular motion. Each bearing cap is configured to seal an interface between the ground-engaging element and corresponding axle. Related methods are also disclosed.

A mechanism for determining a density of crop stored by a crop bin (390). Volume information and mass information of the crop is generated and processed to determine or derive the density of crop.

A system for monitoring and tracking one or more crop properties associated with a batch of crop material processed by a harvesting machine. The harvesting machine is provided with a crop quality sensor 24 having a sensing region which covers crop material processed by the harvesting machine or components thereof. A tracking sensor is operably coupled to the harvester and includes a sensing region which comprises, at least in part, an external environment of the harvester 2. Data from the crop quality sensor 24 is used to determine a quality measurement associated with a batch of crop material, and sensor data received from the tracking sensor 32 is used to determine an identity of a support vehicle within the environment of the harvester. An association is made between a given batch with a given crop property to a given identified support vehicle.

A system for monitoring and tracking one or more crop properties. A system for monitoring and tracking one or more crop properties associated with a batch of crop material processed by a harvesting machine. The harvesting machine is provided with a crop quality sensor 24 having a sensing region which covers crop material processed by the harvesting machine or components thereof. A tracking sensor is operably coupled to the harvester and includes a sensing region which comprises, at least in part, an external environment of the harvester 2. Data from the crop quality sensor 24 is analysed to identify the presence of an anomalous object within a batch of crop material, and sensor data received from the tracking sensor 32 is used to determine an identity of a support vehicle within the environment of the harvester. One or more control actions for one or more components associated with the harvesting machine and/or the support vehicle are initiated in dependence on the determination of the presence an anomalous object within the batch of crop material therein.

A system for monitoring and tracking one or more crop properties associated with a batch of crop material processed by a harvesting machine. The harvesting machine is provided with a crop quality sensor 24 having a sensing region which covers crop material processed by the harvesting machine or components thereof. A tracking sensor is operably coupled to the harvester and includes a sensing region which comprises, at least in part, an external environment of the harvester 2. Data from the crop quality sensor 24 is used to determine a quality measurement associated with a batch of crop material, and sensor data received from the tracking sensor 32 is used to determine an identity of a support vehicle within the environment of the harvester. A graphical representation is provided in dependence on the crop property(ies) and an associated support vehicle.

A system for monitoring and tracking one or more crop properties associated with a batch of crop material processed by a harvesting machine. The harvesting machine is provided with a crop quality sensor 24 having a sensing region which covers crop material processed by the harvesting machine or components thereof. A tracking sensor is operably coupled to the harvester and includes a sensing region which comprises, at least in part, an external environment of the harvester 2. Data from the crop quality sensor 24 is used to determine a quality measurement associated with a batch of crop material, and sensor data received from the tracking sensor 32 is used to determine an identity of a support vehicle within the environment of the harvester. The crop property(ies) is used to generate an operational plan for the identified support vehicle.

A pneumatic system comprises a compressor and an air dryer for supplying a first set of consumers in a main circuit having multi-circuit protection valve system and at least one further consumer is a subsidiary circuit. A selection valve is used to control the coupling of the output of the air dryer to either the main circuit or the subsidiary circuit. The supply is provided to the subsidiary circuit only when a fluid pressure associated in the main circuit exceeds a threshold.