BRPI0519299A2 - mÉtodo para guiar um veÍculo - Google Patents

mÉtodo para guiar um veÍculo

Info

Publication number
BRPI0519299A2
BRPI0519299A2 BRPI0519299-4A BRPI0519299A BRPI0519299A2 BR PI0519299 A2 BRPI0519299 A2 BR PI0519299A2 BR PI0519299 A BRPI0519299 A BR PI0519299A BR PI0519299 A2 BRPI0519299 A2 BR PI0519299A2
Authority
BR
Brazil
Prior art keywords
data
location
vehicle
vision
quality
Prior art date
Application number
BRPI0519299-4A
Other languages
English (en)
Inventor
John Franklin Reid
Shufeng Han
Francisco Rovira-Mas
Original Assignee
Deere & Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Deere & Co filed Critical Deere & Co
Publication of BRPI0519299A2 publication Critical patent/BRPI0519299A2/pt
Publication of BRPI0519299B1 publication Critical patent/BRPI0519299B1/pt

Links

Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/001—Steering by means of optical assistance, e.g. television cameras
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/42—Simultaneous measurement of distance and other co-ordinates
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/497—Means for monitoring or calibrating
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/40—Correcting position, velocity or attitude
    • G01S19/41—Differential correction, e.g. DGPS [differential GPS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

MÉTODO PARA GUIAR UM VEÍCULO. Um método e sistema para guiar um veículo inclui um receptor determinador de localização (28) para coletar dados de localização para o veículo. Um módulo de visão (22) coleta dados de visão para o veículo. Um estimador de qualidade de localização (24) estima os dados de qualidade de localização para os dados de localização durante uma janela de tempo de avaliação. Um módulo de visão (22) estima dados de qualidade de visão durante a janela de tempo de avaliação. Um módulo de supervisor (10) seleciona uma relação de mistura para os dados de visão e dados de localização (ou sinais de erro associados com eles) baseado nos dados de qualidade.
BRPI0519299-4A 2005-01-04 2005-12-16 Method for guiding a vehicle BRPI0519299B1 (pt)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US64124005P 2005-01-04 2005-01-04
US60/641,240 2005-01-04
US11/106,868 US7792607B2 (en) 2005-01-04 2005-04-15 Vision-aided system and method for guiding a vehicle
US11/106,868 2005-04-15
PCT/US2005/045951 WO2007089220A2 (en) 2005-01-04 2005-12-16 Vision-aided system and method for guiding a vehicle

Publications (2)

Publication Number Publication Date
BRPI0519299A2 true BRPI0519299A2 (pt) 2009-01-06
BRPI0519299B1 BRPI0519299B1 (pt) 2017-12-26

Family

ID=36641698

Family Applications (1)

Application Number Title Priority Date Filing Date
BRPI0519299-4A BRPI0519299B1 (pt) 2005-01-04 2005-12-16 Method for guiding a vehicle

Country Status (6)

Country Link
US (1) US7792607B2 (pt)
EP (1) EP1849113B1 (pt)
AU (1) AU2005339475B2 (pt)
BR (1) BRPI0519299B1 (pt)
CA (1) CA2592715C (pt)
WO (1) WO2007089220A2 (pt)

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US8635015B2 (en) * 2009-12-17 2014-01-21 Deere & Company Enhanced visual landmark for localization
US8447519B2 (en) * 2010-11-10 2013-05-21 GM Global Technology Operations LLC Method of augmenting GPS or GPS/sensor vehicle positioning using additional in-vehicle vision sensors
DE102014104619A1 (de) * 2014-04-02 2015-10-08 Claas Agrosystems Kgaa Mbh & Co. Kg Planungssystem und Verfahren zur Planung einer Feldbearbeitung
DE102014111126A1 (de) * 2014-08-05 2016-02-11 Valeo Schalter Und Sensoren Gmbh Verfahren zum Erzeugen einer Umgebungskarte eines Umgebungsbereichs eines Kraftfahrzeugs, Fahrerassistenzsystem sowie Kraftfahrzeug
US10165722B2 (en) 2014-12-05 2019-01-01 Deere & Company Scouting systems
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US10001376B1 (en) * 2015-02-19 2018-06-19 Rockwell Collins, Inc. Aircraft position monitoring system and method
EP3519768B1 (en) * 2016-10-03 2025-04-30 AgJunction LLC USE OF OPTICAL SENSORS TO SOLVE VEHICLE HEADING PROBLEMS
US11372405B2 (en) 2018-08-06 2022-06-28 Clark Equipment Company Augmented loader controls
US12529209B2 (en) 2018-08-06 2026-01-20 Doosan Bobcat North America, Inc. Display integrated into door
US11738643B2 (en) 2019-02-27 2023-08-29 Clark Equipment Company Display integrated into door
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CN112071087B (zh) * 2020-08-18 2022-12-23 浙江吉利汽车研究院有限公司 一种基于v2i的限速预警方法、系统、车辆及存储介质
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CN113590891B (zh) * 2021-08-09 2023-08-11 江苏网进科技股份有限公司 一种实时流处理框架
DE102021126714A1 (de) * 2021-10-14 2023-04-20 Bayerische Motoren Werke Aktiengesellschaft System, Verfahren und Software zum Steuern einer Fahrassistenzfunktion
US12443180B2 (en) 2021-11-10 2025-10-14 Techtronic Cordless Gp Robotic lawn mowers
CN114363815B (zh) * 2021-12-23 2023-10-20 北京三快在线科技有限公司 网络质量确定方法、设备控制方法、装置、介质及设备
CN114004360B (zh) * 2021-12-30 2022-04-01 北京壬工智能科技有限公司 基于模糊专家模型的智能装备诊断设备和方法
AU2023200381A1 (en) 2022-01-31 2023-08-17 Techtronic Cordless Gp Robotic garden tool
JP7654582B2 (ja) * 2022-02-15 2025-04-01 ヤンマーホールディングス株式会社 圃場登録方法、圃場登録システム、及び圃場登録プログラム
EP4270138A1 (en) 2022-04-28 2023-11-01 Techtronic Cordless GP Creation of a virtual boundary for a robotic garden tool
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
EP4310621B1 (en) 2022-07-19 2025-02-12 Techtronic Cordless GP Display for controlling robotic tool
AU2023206123A1 (en) 2022-07-29 2024-02-15 Techtronic Cordless Gp Generation of a cryptography key for a robotic garden tool
US20240122111A1 (en) * 2022-10-13 2024-04-18 Deere & Company Systems and methods for automated deck plate control based on feedback and prediction
US20240427024A1 (en) * 2023-06-26 2024-12-26 Textron Innovations Inc. Correcting location errors using geofences
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Also Published As

Publication number Publication date
EP1849113B1 (en) 2016-04-20
WO2007089220A2 (en) 2007-08-09
CA2592715C (en) 2014-08-26
CA2592715A1 (en) 2006-07-04
EP1849113A2 (en) 2007-10-31
US20060149417A1 (en) 2006-07-06
WO2007089220A3 (en) 2007-11-15
BRPI0519299B1 (pt) 2017-12-26
US7792607B2 (en) 2010-09-07
EP1849113A4 (en) 2012-09-05
AU2005339475A1 (en) 2007-08-09
AU2005339475B2 (en) 2010-06-24

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Legal Events

Date Code Title Description
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 26/12/2017, OBSERVADAS AS CONDICOES LEGAIS.

B21F Lapse acc. art. 78, item iv - on non-payment of the annual fees in time

Free format text: REFERENTE A 20A ANUIDADE.

B24J Lapse because of non-payment of annual fees (definitively: art 78 iv lpi, resolution 113/2013 art. 12)

Free format text: EM VIRTUDE DA EXTINCAO PUBLICADA NA RPI 2859 DE 21-10-2025 E CONSIDERANDO AUSENCIA DE MANIFESTACAO DENTRO DOS PRAZOS LEGAIS, INFORMO QUE CABE SER MANTIDA A EXTINCAO DA PATENTE E SEUS CERTIFICADOS, CONFORME O DISPOSTO NO ARTIGO 12, DA RESOLUCAO 113/2013.