Method and system for planning a path of a vehicle

A second data processor determines candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the one or more candidate passes are associated with the defined plant rows consistent with a planned guidance path. From the present position and heading of the second vehicle, a user interface or display displays the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize any yield loss associated with unharvested/untreated passes or zones within the work area or field. The user interface or display supports selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field.

FIELD

This disclosure relates to a method and system for planning a path of a vehicle.

BACKGROUND

In certain background art, vehicles determine path plans for covering an area of a field or work area. However, the determined path plans may not provide the operator with the flexibility to adjust the path plan during operation in the field to accommodate remnant areas of the field that have not been processed by the vehicle or equipment. Therefore, there is a need for an improved method and system for planning a path of a vehicle that supports the operator's ability to select dynamically candidate passes within a path plan of the vehicle.

SUMMARY

In accordance with one embodiment, a method and system of planning a path of a vehicle comprises defining or obtaining an outer boundary of a work area or a field. A second data processor of a second vehicle obtains an implement path plan of an implement associated with a first data processor of a first vehicle. The implement path plan comprises a series of recorded position points along a recorded guidance path of an implement and a set of plant rows defined with reference to the recorded guidance path in the work area or the field. A location-determining receiver determines a present position and present heading of a second vehicle in the work area or the field. A second data processor determines candidate passes of the second vehicle in alignment with the defined plant rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the one or more candidate passes are associated with the defined plant rows consistent with a planned guidance path. From the present position and heading of the second vehicle, a user interface or display displays the determined candidate passes to minimize overlap of adjacent candidate passes of the second vehicle and to minimize any yield loss associated with unharvested/untreated passes or zones within the work area or field. The user interface or display supports selection of one of the displayed or presented candidate passes as the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field.

DETAILED DESCRIPTION

In one embodiment, the method and system (e.g.,2000inFIG. 2A or 11inFIG. 2B) for path planning a path of a vehicle relates to a computer-implemented method and system in which one or more data processors process, store, retrieve, and otherwise manipulate data in communication with one or more data storage devices and networks, as described in this document and the accompanying drawings. As used in this document, “configured to, adapted to, or arranged to” mean that any data processor is programmed with suitable software instructions, software modules, executable code, data libraries, and/or requisite data to execute any referenced functions, mathematical operations, logical operations, calculations, determinations, processes, methods, algorithms, subroutines, or programs that are associated with one or more blocks set forth in any drawing in this document. Alternately, separately from or cumulatively with the above definition, “configured to, adapted to, or arranged to” means that any vehicle electronics or any data processing system (e.g.,11or2000) comprises one or more components described herein as software modules, equivalent electronic hardware modules, or both to execute any referenced functions, mathematical operations, calculations, determinations, processes, methods, algorithms, subroutine.

In any of the above referenced drawings of this document, any arrow or line that connects any blocks, components, modules, memory, data storage, data processors, electronic components, or other electronic or software modules may comprise one or more of the following items: a physical path of electrical signals, a physical path of an electromagnetic signal, a logical path for data, one or more data buses, a circuit board trace, a transmission line; a link, call, communication, or data message between software modules, programs, data, or components; or transmission or reception of data messages, software instructions, modules, subroutines or components.

FIG. 1Ais a first embodiment of a flow chart of a method for planning a path of a vehicle. The method ifFIG. 1Abegins in step1100.

In one embodiment prior to executing step1100, the first vehicle is associated with a first data processor22or first data processing system20with first wireless communications device32that communicates reference planting information, row position, and/or as-planted plant/seed positions (e.g., coordinates), to a central server40associated with a data storage device44. The first vehicle, its implement or both may be associated with a first location-determining receiver30(e.g., Global Navigation Satellite System (GNSS) receiver) for providing actual implement path or path plan followed or tracked by the implement, the first vehicle, or both. Once the actual implement path plan is known, the row position, as-planted plant/seed position, and/or as-planted row information for the crop can be determined or derived from the swath width and row-spacing of the implement or the vehicle. Accordingly, the central server40, or data processor42, may store (e.g., in a data storage device44or database46) planting information, an implement path plan, seed or plant position (e.g., coordinates), and/or plant rows defined with reference to the implement path plan, an as-planted map of plant rows, aerial imagery from satellite, aircraft, blimps, or drones, or other reference planting information that can be retrieved, accessed or recalled by the second data processor54.

In step1100, a data processor (e.g., second data processor54or processor2100) or data processing system (e.g., second data processing system52), which is associated with the second vehicle, recalls or obtains (e.g., accesses or retrieves) first operation pass data from a database (e.g.,46or2200). In some configurations, the first operation pass data or the database46may be stored in a data storage device44associated with a central server40(remote from the second vehicle) and accessed via wireless communications link (between a second wireless communications device64and a wireless communications network36). In other configurations, the database46or first operation data may be stored within a first data storage device24of a first data processing system20of a first vehicle and accessed, via a wireless communications link or channel between the first wireless communications device32and the second wireless communications device64, by the second data processing system52of the second vehicle. For example, in step1100, the data processor (e.g., second data processor54) recalls or obtains first pass operation data or other work data from a database (e.g., database46or database2200).

Any database (e.g.,46,2200) mentioned in this description may be located on a machine, at a remote location, or widely distributed. The first pass operation data or other work data may comprise row crop planting information: (a) recorded by planter implement (e.g., planter, planter row unit, seeding machine), or first vehicle associated with a planter implement, that is equipped with a first location-determining receiver30(or GNSS receiver2160), or (b) obtained from an aerial image of emerged crop of first operation pass data2210, an imaging device or camera coupled to the data ports26of the first data processing system20of the first vehicle, or obtained by other methods.

The row spacing/dimensions, number of rows in a field, or the width of the field, work area or worksite actively in-use can be stored in the database (46or2200) or data processing system (11or2000) for later reference. Further, the swath width of the vehicle (e.g., first vehicle, second vehicle, or both), its implement width, a ground contact pattern of the wheel/tire/tread of the vehicle, and wheelbase dimensions or spatial separation between ground contact zones of the wheel/tire/tread of the vehicle can be stored in the data base (46or2200) or data processing system (11or2000) for later reference. For example, the first vehicle and the second vehicle may have implements or may have: (a) different (fixed) vehicle width, swath width, implement width, or pass coverage and (b) different (fixed) ground contact pattern of the wheel/tire/tread wheelbase dimensions or spatial separation between ground contact zones of the wheel/tire/tread. Accordingly, the second data processing system52can adjust, reconcile or configure its planned path: (1) to align adjacent/adjoining vehicle/implement passes of the second vehicle or second implement with respect to the first vehicle or the first implement, which is previously recorded by the first data processing system20, (2) to align ground contact zones of the wheel/tire/tread of the second vehicle with respect to plant rows or empty spatial area between adjacent plant rows, (3) to avoid damage from ground contact pattern of the wheel/tire/tread of the second vehicle or its implement (if any) to the plants, plant rows, or seeded ground, and (4) to control the degree or absence of overlap between adjacent/adjoining vehicle/implement passes based on: (a) different vehicle width, swath width, implement width, or pass coverage and (b) different ground contact pattern of the wheel/tire/tread wheelbase dimensions or spatial separation between ground contact zones of the wheel/tire/tread for the first vehicle, the second vehicle and/or its or their implements.

As used herein, the term field may imply a farm or agricultural work area or work site, whereas a work area or worksite may apply to construction, forestry and other areas in which vehicles, implements and equipment can be used in accordance with various embodiments of path planning method and system disclosed in this document. In other examples, other data may be read or retrieved such as the width of an implement (e.g., planter or another implement associated with the first pass operation or first vehicle) or machine (e.g., first vehicle) making an initial or baseline pass through the worksite or field.

In step1200, a data processor (e.g., second data processor54, second data processing system52, or processor2100) defines second pass data based on first operation pass data (e.g., of a first vehicle or its implement) and second operation work or work task (e.g., of a second vehicle). In step1200, candidate passes for the second operation are defined, using the first operation pass data or other work data obtained or recalled in step1100and vehicle information (e.g., about the machine(s) (e.g., second vehicle(s)) being used in the second operation pass data2110.

In one embodiment, the second vehicle may comprise a sprayer, nutrient applicator, cultivator, harvester or combine, for example. The second operation work or work task may comprise spraying chemical or crop inputs, applying nutrients, cultivating soil, and/or harvesting crops. The implement associated with the first vehicle and the second vehicle may have different row widths, different swath widths, and different wheel or track separations that require consideration in preserving crop or plants and avoiding damage to the crops or plants during spraying or cultivation. In one non-limiting example, under the first operation pass data a field may have been planted using an N-row planter (e.g., where N is any whole positive number equal to or greater than one, and where the planter is a towed implement of the first vehicle). For instance, if N equals eight, the implement comprises an eight-row planter.

Under a second operation pass data, later operations may include any of the following work tasks associated with a second vehicle: (a) nutrient application (e.g., side-dress fertilizer application) of up to M plant rows (e.g., where M is any whole positive number, such as eight) for a pass or swath of the second vehicle, (b) spraying of up to P rows (e.g., where P is any whole positive number, such as 24), and (c) harvest of up to Q rows (e.g., where Q is any whole positive number, such as sixteen), where row units can be activated, deactivated and/or adjusted dynamically, separately or jointly as any vehicle or its implement travels through the field or work area. In any example set forth in the drawings, the first vehicle and the second vehicle may be configured as a same base vehicle with interchangeable, removable implements to accomplish different tasks, such as planting, cultivating, fertilizing, spraying and harvesting.

In step1300, the data processor (e.g., second data processor54, second data processing system52, or data processor2100) determines whether or not a pass transition is detected. If the pass transition is detected, the method continues with step1400. However, if the pass transition is not detected, in step1301the method waits for an interval or sampling period and thereafter seeks to detect a new pass transition by again executing step1300.

In the second data processing system52, the data processor (e.g., second data processor54or data processor2100) operates in conjunction with a location-determining receiver (e.g., second location-determining receiver62or GNSS receiver2160) to detect the pass transition. For example, once the location-determining receiver (e.g., second location-determining receiver62or GNSS receiver2160) recognizes that the second vehicle has entered into a turn or is approaching an end of a row or an edge of a field, a waterway, obstruction or hazard, the data processor (e.g., second data processor54, second data processing system52or data processor2100) may detect a pass transition.

In alternate embodiments, step1300may use a location-determining receiver (e.g., GNSS receiver2160), a dead-reckoning sensor2170, an odometer, stereo vision sensor, imaging system with landmark/symbol recognition, or another location sensor. Current machine location2130, current machine orientation2140(e.g., heading, yaw angle, tilt angle and/or roll angle) are known from a location-determining receiver (e.g., GNSS receiver2160); an inertial measurement unit, dead reckoning sensor2170(e.g., odometer, electronic compass, steering angle sensor, and header up sensor); or any other suitable devices for position detection, attitude detection or pose detection.

Step1300can detect or identify pass transitions in accordance with various examples, which can be applied separately or cumulatively. In the context of harvesting crop, field headlands of a field or work area are typically harvested first to enable movement of machinery (e.g., a combine or harvester) on the field or work area. For instance, the second vehicle or harvester completes a pass, enters the headland, and moves to the next pass. Headlands may be defined by a human operator or manager on the worksite map or automatically identified by software using features like direction of operation (e.g., planting), and prior cutting of standing crop or clearing of vegetation (e.g., harvest).

In a first example, the second data processor54, second data processing system52, or electronic data processor2100of the second vehicle, in conjunction with a second location-determining receiver62(or GNSS receiver2160), an accelerometer, an inertial measurement unit (IMU), or another position, motion or attitude sensor, detects a pass transition (e.g., by change in angular heading or yaw) when the second vehicle (e.g., harvester or combine) exits a pass or row at an end of the row, edge of the field or headlands, where a pass transition is likely, such as the headlands. For instance, the second location-determining receiver62or second data processor54may establish a geo-fenced region, boundary, or set of boundary coordinates that define the position or zone of an end of the row, edge of the field or headlands.

In a second example, the second data processor54or second data processing system52, of the second vehicle, in conjunction with a second location-determining receiver (e.g.,62or2160), an accelerometer, an inertial measurement unit (IMU), or another position, motion or attitude sensor, detects a pass transition when the second vehicle (e.g., harvester) crosses or exits a pass or row at an end of the row, edge of the field or headlands with reference to first operation pass data from harvested area2122and second operation pass data of candidate passes2124in which there is a discontinuity or transition between the first pass and a next pass (e.g., one or more probable candidate passes, possible candidate passes, or favorably ranked candidate passes) of the second vehicle (e.g., harvester or combine). For instance, the location-determining receiver (e.g.,62or2160) or data processor (e.g.,54or2100) may establish a geo-fenced region, boundary, or set of boundary coordinates that define the position or zone of an end of the row, edge of the field or headlands, such that if the second vehicle leaves or exits the geo-fenced region, boundary, or set of boundary coordinates, the data processor (e.g.,54or2100) detects a transition.

In a third example, the data processor (e.g., second data processing system52or data processor2100), in conjunction with a location-determining receiver (e.g.,62or2160), an accelerometer, an inertial measurement unit (IMU), or another position, motion or attitude sensor, detects a pass transition when the harvester enters a planted, but unharvested, area (e.g., versus an unplanted area such as a waterway). For instance, the location-determining receiver (e.g.,62or2160) or data processor (e.g.,54or2100) may establish a geo-fenced region, boundary, or set of boundary coordinates that define the planted, but unharvested area, such that if the second vehicle leaves or exits the geo-fenced region, boundary, or set of boundary coordinates, the data processor (e.g.,54or2100) detects a transition.

In a fourth example, the data processor (e.g., second data processing system52or data processing system2000), detects a transition based on sensor data from dead reckoning sensors2170, or a location-determining receiver (e.g., GNSS receiver2160), or both indicating that the harvester is turning, such as an orthogonal turn, a key-hole turn, an end-row turn, a row-skipping turn, or another turn in an unharvested area.

In a fifth example, the data processor (e.g., second data processor54or data processor2100) detects a pass transition based on software instructions and available sensor data accessible via a vehicle data bus of the second vehicle, which may include sensors on the implement or the vehicle that are specifically tailored to the worksite and worksite operation. For instance, the vehicle (e.g., second vehicle data electronics or second vehicle data processing system52) or implement may comprise position data sensors or height data sensors that can detect a height or height state (e.g., lowered state or raised state) of implements or tools (e.g., harvest head, row unit, tillage unit, implement, or the like). Similarly, the vehicle or implement may include data sensors that provide status messages or the state (e.g., active, deactivated, enabled, disabled) of one or more actuators (e.g., planter drive, sprayer nozzle or sets of sprayer nozzles). The above position sensors, height data sensors, or data sensors may be used alone or in conjunction with the position data, heading data, motion data (velocity and acceleration) and attitude data associated with the second vehicle, or its implement.

In step1400, the data processor (e.g., second data processor54, second data processing system52, or data processor2100) displays, outputs or communicates at least one second candidate operation pass relative with the current location of the second vehicle associated with the second pass, where the second operation pass is associated with performing the second operation work or second operation path. For example, the second data processor54, the second data processing system52, or data processor2100may provide the second candidate operation pass by a display2310of a user interface (e.g.,60or2300), an audio output device2320of a user interface (e.g.,60or2300), a wearable display that communicates wirelessly or directly (via a transmission line, cables or wires) with the user interface (e.g.,60or2300) or second data processing system52, or haptic output device2330associated with the steering system2335(e.g., steering wheel, steering shaft, electrical motor-assisted steering and hydraulic motor-assisted steering), the seat, or user controls that communicate with the second data processing system52or data processor2100.

Step1400is executed once a pass transition has been detected in step1300. Information about candidate passes2124(or next passes) is presented to a person such as a machine operator or a remote machine operator (e.g., overseer) who is able to select (or reject) candidate passes.

In step1500for guidance of the second vehicle, the machine operator or remote operator (e.g., machine overseer who monitors or operates the machine through wireless communications) can actively select a preferential pass from a library or set of candidate passes, as the second vehicle progresses through a field or a work site to perform a task, such as coverage of an entire field or field zone with spray or crop inputs, or harvesting of an entire field or field zone.

In one embodiment, in step1500the operator's acceptance or rejection may be passive, where a default acceptance or rejection is taken by the second vehicle in the absence of any human intervention, or in the absence of any human selection, command or input during a time window authorized for human intervention). In contrast to passive acceptance or rejection in step1500, the operator may accept an active guidance command comprising one or more of the following: (a) a gesture of an operator via visual input device2315or the user interface (60or2300), (b) a spoken word of an operator via audio input device2325of the user interface (60or2300), alone or together with speech recognition module2327, (c) a screen input (e.g., contact, tap, swipe) by an operator via touch screen module2312of the user interface (60or2300), and/or (d) turning or directing (e.g., via steering system2335) a vehicle (e.g., second vehicle) towards a candidate pass start point, or any other suitable user interface (e.g.,60or2300). In one embodiment, the touch screen module2312comprises a capacitive, resistive or piezoelectric sensing structure integrated with a display, such as a liquid crystal display or light emitting diode display of the user interface (23,60,2300). An audio input device2325may comprise one or more of the following: one or more transducers, one or more microphones, one or more audio amplifiers, one or more analog-to-digital converters, one or more digital filters, an encoder, vocoder, digital processing unit or electronic data processor, speech recognition module2327, software instructions for filtering speech, processing speech, encoding speech and/or decoding speech. An audio output device2320may comprise one or more of the following: one or more transducers, one or more speakers, one or more audio amplifiers, one or more analog-to-digital converters, one or more digital filters, a decoder, vocoder, digital processing unit or electronic data processor, speech recognition module2327, software instructions for filtering speech, processing speech, encoding speech and/or decoding speech.

In step1500, the data processor (e.g., second data processor54or the data processor2100) guides the vehicle or its implement (e.g., second vehicle) in accordance with the second candidate operation pass selected (e.g., actively or passively) by the operator via the user interface (e.g.,60via the second data processing system52or user interface2300).

Step1500can be executed in accordance with various examples that may be executed separately or cumulatively. Under a first example, if the second vehicle is manned or guided by a human operator, manual pass selection may be done with techniques such as directions or graphics on a dedicated display (e.g., of user interface60or a display2310of user interface2300. The display may comprise a light-emitting diode matrix, a liquid crystal display, a video display, a lightbar, or a target guidance image that is displayed on a display2310of the user interface (e.g.,28,60,2300). The selection of the next pass or preferential pass from candidate passes can be augmented or supplemented by one or more of the following: (a) visual data (e.g., three-dimensional images, differential stereo images, or tagging/identification of candidate passes or scene items), such as visual display3000; (b) a wearable display (e.g., glasses, goggles, visor, or three-dimensional or stereo vision visor), with or without scene augmentation (e.g., Google Glass); (c) audio instructions via operator or user communication via audio output device2320and/or audio input device2325of the user interface2300(e.g., voice, stereo, frequency, or amplitude modulated tones/output), (d) haptic instructions via haptic output device2330(e.g., right and left vibration, shifting, or other operator movement of the operator seat, steering wheel resistance/vibration/shaking), or any suitable device or method of informing the operator to select a preferential pass, to engage or orient heading and position for guidance, or the start of the selected next pass or preferential pass from the candidate passes.

Under a second example, once a next pass or preferential pass has been selected (from the candidate passes) by an operator or the second data processing system52, the second vehicle is guided to the start of the next pass or preferential pass. In one embodiment, the second data processing system52or data processor2100has software instructions that not only move or direct the second vehicle to the start of the next pass or preferential pass, but also orient, register and/or align correctly the heading (e.g., yaw angle) or attitude of the second vehicle and/or its implement with the next pass and any work objects such as standing crop. The attitude may include the roll angle, tilt angle and yaw angle of the second vehicle, for instance.

Under a third example, the second data processing system52or data processor2100determines a current location (e.g., geographic coordinates) and current orientation (e.g., heading, yaw, pose or attitude) of the second vehicle and next location and next orientation (e.g., starting location and starting orientation) of the preferential pass or next pass. For example, the second data processing system52(or data processor2100) comprises a path planner2150and an automated vehicle guidance system2400to direct (e.g., to steer, guide, and control movement) the work machine (e.g., second vehicle, its implement, or both) in accordance with one or more of the following: (1) the current location (e.g., geographic coordinates) and current orientation (e.g., heading, pose or attitude) of the second vehicle and next location (e.g., starting location or next geographic coordinates) and next orientation (e.g., starting orientation or next heading) of the preferential pass or next pass, and/or (2) a difference between the current location (e.g., present geographic coordinates) and current orientation (e.g., present heading, present pose or present attitude) of the second vehicle and next location (e.g., target or next location or next geographic coordinates) and next orientation (e.g., target or next orientation, pose, attitude or next heading) of the preferential pass or next pass.

In practice inFIG. 1A, the above steps1100,1200,1300,1400and1500may form one iteration of a process that can be repeated as the second vehicle progresses through a field or work area to repeatedly or iteratively select a pass transition from a library or set of possible transitions to effectively cover or address a work task associated with one or more target zones of a field or work area, or an entire field or work area.

InFIG. 1Bthe method for path planning a path begins in step S200.

In step S200, the outer boundary of a work area or a field is defined or obtained. The outer boundary of a work area or field may be defined or obtained by various techniques, which may be applied alternately or cumulatively. Under a first technique, the first data processing system20or another data processing system may define or obtain an outer boundary of a work area, where the first vehicle is directed or controlled to conduct a survey in which a first location-determining receiver30(e.g., global navigation satellite system (GNSS) receiver) records coordinates (e.g., two or three-dimensional coordinates) as the first location-determining receiver30tracks or follows the boundary of the work area or field. Here, the first location-determining receiver30or its antenna is typically positioned on the first vehicle, although in alternate configurations the first location-determining receiver30may be positioned on an implement associated with or towed by the first vehicle.

Under a second technique for executing step S200, the outer boundary of a work area or field may be defined by remote-sensing, such as aerial imaging, satellite imaging, drone imaging, or by reference to publicly accessible field boundary data, such as county records, governmental records or crop insurance records. The first data processing system20may supplement or augment the above remotely sensed data (or publicly accessible field boundary data) with additional location data; a set of coordinates collected, along part or all of the boundary; location data collected incidental to a survey, such as noted above under the first technique. Further, the first data processing system20may use the set of coordinates collected along part or all of the boundary incidental to a survey to correct, adjust or true the remotely sensed data with any position offset (e.g., compensating adjustment to reduce position error) to reflect real world coordinates of points on or along the boundary (e.g., where boundaries have changed because changes in the paths of streams, creeks, rivers or waterways, or where effective boundaries have changed from clearing of trees or adding of drain tile).

Under a third technique, the first vehicle is controlled such that its implement follows, tracks the boundary while the first vehicle drives the boundary of the work area or field to acquire coordinates or a series of points that lie on the outer boundary. For example, the first location-determining receiver30or its antenna may be positioned on the implement, or towed implement rather than on the first vehicle.

Under fourth technique, the outer boundary may be defined by curves or linear segments that interconnect the series of points that lie on the outer boundary. Under a fifth technique, the outer boundaries can be obtained by averaging or combining two or more of the following data sets or layers of data: survey coordinates of GNSS receiver, aerial coordinates obtained from aerial imaging, distance measurements from dead-reckoning sensors (e.g., odometry), and governmental/insurance coordinates.

In step S201, a first data processing system20, a first processor22, and/or a first location-determining receiver30records or collects a first path plan (e.g., an implement path plan) of the first vehicle or its implement, consistent with the outer boundary of the work area or field. In one configuration, the first data processor22of the first vehicle records, collects or obtains previously recorded first path plan (e.g., implement path plan) of an implement associated with a first vehicle, while the first vehicle is or was performing a previous work task in the field or work area. For example, the first data processor22of a first vehicle records an implement path plan (e.g., a set of locations, corresponding headings or corresponding attitudes, and ground speed or velocity) or other work data (e.g., implement-related data such as seed spacing, seed type, seed planting density or as-planted or row position data) in a first data storage device24onboard the first vehicle, a data storage device44associated with a central server40, or both. In another configuration, the implement path plan could be a pre-established path plan, a preset user-definable path plan or an a priori path plan used to guide the first vehicle (or its implement) through the field or worksite, rather than in situ record of an actual path taken by the first vehicle (or its implement). The central server40is remote from a first location-determining receiver30and the first data processing system20is associated with a first wireless communications device32or wireless communications link to facilitate wireless communications channel between the first data processing system20and the central server40.

In one embodiment, the first path plan or the implement path plan relates to an implement associated with a first vehicle. The implement path plan comprises a series of recorded position points along a recorded guidance path of an implement and a set of plant rows defined with reference to the recorded guidance path in the work area or the field. In one configuration, the first path plan of the implement is defined by actual passes in the work area or the field during a planting operation (e.g., recorded by the first location-determining receiver30); wherein the recorded position points comprise Global Navigation Satellite System (GNSS) coordinates (e.g., Precise Point Positioning (PPP) or Real-time Kinematic (RTK) coordinates within a same growing season). One or more antennas associated with the first location-determining receiver30may be mounted on the first vehicle, the implement, or both to provide position, attitude and/or motion data associated with the first vehicle, its implement, or both.

In some embodiments, the positions of the plant rows are established by lateral offsets or other position offsets with reference to the first path plan or implement path (e.g., of the first vehicle). For instance, the first data processing system20, the second data processing system52, or both establish or estimate an implement width or swath width of implement and row spacing or the row spacing of the implement and the number of rows with reference to an actual recorded implement path (e.g., of the first vehicle and the second vehicle). The implement width or swath width may differ with different implements that are used for planting, spraying or harvesting, or other agricultural tasks, for example.

In step S202, a second data processor54of a second vehicle obtains a first path plan of an implement (e.g., an implement path plan) associated with, recorded by or collected by a first data processing system20, a first processor22, and/or a first location-determining receiver30of a first vehicle, or its implement, consistent with the outer boundary of the work area or field. For example, the second data processor54may access, retrieve or obtain stored implement path plan data or other work data from any of the following: (a) a central server40, (b) a data storage device44associated with the central server40, (c) a first data storage device24in the first data processing system20, or (d) a database46.

In step S204, a second location-determining receiver62(e.g., or GNSS receiver2160) determines a present position and present attitude (e.g., yaw or heading angle) of a second vehicle, or its implement, in the work area or the field. For example, the second location-determining receiver62determines (and records) a set of present positions and present attitudes of the second vehicle, or its implement as the implement progresses through the work area or field.

In step S206, a second data processor54or second data processing system52determines candidate passes of the second vehicle, and/or its implement, in alignment with the defined plant row or rows to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the one or more candidate passes are associated with the defined plant rows consistent with a planned guidance path. In one embodiment, the respective positions of defined plant rows (e.g., as-planted data) can be communicated wirelessly from the central server40or from the first data processing system20, where the positions of the plant rows, segments of plant rows or individual plants are defined by two or three dimensional coordinates or points lying on or within plant rows, or an outer extent of the foliage of the plants.

In one configuration, the planned guidance path means an actual recorded guidance path of the first vehicle or its implement, which is recorded by the first data processing system20or the first location-determining receiver30). In one example, the planned guidance path may be defined as set of points along the ground that lie on or intercept a longitudinal centerline (e.g., or a vertical plane extending through the longitudinal centerline) of the second vehicle, or a reference point on the second vehicle, or its implement. The planned guidance path may be defined a series of points (e.g., GNSS two-dimensional or three dimensional coordinates), or by linear segments and curved segments that interconnect such points.

In step S206, the second data processing system or second data processor can determine candidate passes of the second vehicle, or its implement in accordance with various techniques that may be applied alternately or cumulatively.

Under a first technique, the second data processing system52or the path planner2150, adjusts or processes the planned guidance path such that an implement or towed implement associated with the second vehicle tracks the defined plant rows (e.g., communicated wirelessly from the central server40or from the first vehicle) to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second implement and row spacing of the plant rows (e.g., recorded or entered plant row spacing).

Under a second technique, the second implement may have a different swath width or implement width from the first implement, even if the row spacing (e.g., row-to-row lateral width) of the first implement and the second implement are identical; therefor, the number of passes to cover, harvest, spray, treat a field may differ from the number of passes/rows to plant the same field, along with any optional or potential allowances for overlap of passes/rows to assure complete and continuous coverage of a zone, field or work area.

In step S208, from the present position and heading of the second vehicle, a user interface60, user interface2300or display2310displays the determined candidate passes: (a) to meet a target overlap (e.g., target overlap metric), such as minimizing the overlap of adjacent candidate passes of the second vehicle (or its implement), (b) to meet a target total number of passes of the second vehicle (or its implement) to cover the work area or field, (c) to minimize any duplicative passes or unloading efficiency loss (e.g., fuel or energy loss) associated with duplicative or return trips to cover or harvest next unharvested/untreated passes or zones within the work area or field, and/or (d) to track a target path plan, to meet an error reduction or efficiency target, or another preestablished objective. For example, the target overlap may be set to zero or a target lateral offset or set to compensate for an average, median, or mode error in position (e.g., lateral position) precision of the location-determining receiver (e.g., second location determining receiver62, or the aggregate error contributions of the first location determining receiver30and the second location determining receiver62). The target overlap or target lateral offset maybe specified, measured or inputted in the user interface (28,60,2300) in dimensions (e.g., meters) or percentage overlap of an entire vehicle swath width or implement swath width. Step S208is well suited for minimizing the total number of passes and enhancing efficiency (e.g. minimizing fuel and time) for a field, work area or selected zone of field, by: (a) eliminating unnecessary, overlapping, duplicative or return row passes to clean up (or to completely harvest or fully process) the field or work area; (B) avoiding or reducing the need to interrupt harvesting to unload or transfer harvested agricultural material (e.g., harvested grain, oilseed or fiber) to a cart, truck or storage container part way through a pass and then return to resume harvesting mid-pass (e.g., retrace vehicle path or partially completed pass).

Step S208may be carried out in accordance with various techniques, which may be applied separately or cumulatively. Under a first technique, the user interface (28,60), display2310or second data processor54of the second data processing system52displays, outputs or presents (on a screen or visual display3000inFIG. 3) a library or a list or sequence of determined candidate passes with associated corresponding crop yields. The crop yields may be expressed for the pass or on a yield per land unit (e.g., bushel per acre) basis for the pass.

In step S210, the user interface (60,28) or display2310(e.g., with a visual display screen3000inFIG. 3) supports operator selection of one of the displayed or presented candidate passes as the planned guidance path (comprising the next pass or preferential pass) of the second vehicle consistent with the provision of area coverage of the work area or field. The user interface (60,28) or display2310of the second data processing system52supports selection of the next pass, preferential pass, next row or next portion of the path plan from among a library, list or sequence of determined candidate passes by speech recognition of a pass identifier spoken by a vehicle operator. For example, the user interface (60,28) of the second data processing system52can apply a speech recognition module2327(e.g., software and audio input device2325) to the spoken commands of the vehicle operator to select a next pass, preferential pass, next row or next portion of the path plan of the second vehicle from the library, list or sequence of determined candidate passes. Further, in response to the operator's spoken command or entered command to the user interface (60,28), the user interface (60,28) of the second data processing system52can confirm the selection of the operator via machine speech of an audio output device2320or a haptic output device2330, which is associated with any of the following: a steering system (e.g.,2335), a steering column, or a seat of the vehicle. Haptic output or feedback can comprise actuators that vibrate, shake or move the steering system (e.g.,2335), steering column, or a seat of the vehicle. For example, the user interface (60,28), audio output device2320, haptic output device2330can indicate to an operator any of the following feedback (e.g., operator-defined feedback or factory setting feedback): a default selection of a candidate pass as a preferential pass, a vehicle operator has opted out a default selection of the candidate pass as the preferential pass, or the operator has accepted a default selection of the candidate pass as the preferential pass.

The method ofFIG. 10is similar to the method ofFIG. 1B, except the method ofFIG. 10further includes or comprises step S212. Like reference numbers indicate like steps, procedures or features inFIG. 1BandFIG. 10.

In step S212, the second data processor54, second data processing system52, or electronic data processor2100in conjunction with the location-determining receiver (e.g., first location-determining receiver30or second location-determining receiver62), identifies a transition point, transition zone, transition range or transition path segment with reference to (e.g., aligned with) the present position (e.g., geographic coordinates) and corresponding present heading, where the transition point is suitable for selection of a next pass or preferential pass from a library of determined candidate passes. The present position and corresponding present heading may align with the current or present position and corresponding attitude (e.g., heading or yaw angle) of the second vehicle or its implement. For example, at the transition point or within the transition zone, transition range or transition path segment, the second data processor54or the second data processing system52aligns (promptly or timely) the second vehicle, or the its implement, to align or track with a target path, predicted path, or proper path (e.g., as planted map, recorded plant rows, seed positions or plant positions) between the plant rows to avoid damage to the foliage, leaves, stem or stalk, of the plants or seedlings.

Step S212may be carried out in accordance with various configurations, which may be implemented separately or collectively. In one or more configurations, the library of determined candidate passes refers to the remaining one or more candidate passes that are not yet processed by the second vehicle, or its implement, or traversed by the second vehicle, or its implement. For example, the library of determined candidate passes can refer to one or more of the following candidate passes: (1) for a cultivator, the library includes uncultivated passes within a field, or within an uncultivated zone of the field, that have not been yet cultivated by the second vehicle as the cultivator; (2) for a sprayer, the library includes untreated or unsprayed passes, plant rows or plant regions/zones within the field, that have not yet been treated with chemicals, nutrients, pesticide, fertilizer, insecticide, herbicide, or other crop inputs by the second vehicle as the sprayer; (3) for a nutrient applicator, the library includes untreated or unsprayed passes, plant rows or plant regions/zones that have not yet been treated with chemicals, nutrients, fertilizer, nitrogen, potassium, phosphorus, iron, manganese, copper, magnesium, calcium, trace minerals, or other crop inputs with the second vehicle as the nutrient applicator; (3) for a harvester or combine, the library includes standing crop, standing plant rows or crop regions/zones that have not yet been harvested or cut with the second vehicle as the harvester or combine.

The method ofFIG. 1Dis similar to the method ofFIG. 1B, except the method ofFIG. 1Dfurther includes or comprises step S214. Like reference numbers indicate like steps, procedures or features inFIG. 1BandFIG. 1D.

In step S214, the user interface (60,28) or display2310(e.g., via visual display3000ofFIG. 3) provides an efficiency indicator for each corresponding candidate pass based on a respective estimated yield of the unharvested zone (e.g., candidate unharvested pass or candidate unharvested remnant zone) within the field or work area. In one embodiment, the unharvested zone may have an irregular shape that is less than or greater than the width of one pass or swath of the second vehicle, or its implement. Ideally, the unharvested zone would be approximately equal to the width of one pass or multiple adjacent passes of the second vehicle or its implement such that full implement width or capacity of the second vehicle is used efficiently.

Step S214may be carried out in accordance with various alternate techniques, which may be applied separately or cumulatively. Under a first technique, the user interface (60,28) or display2310(e.g., via visual display3000or screen) can provide an efficiency indicator (e.g., score, recommended sequence, or numerical rank) that is proportional to, derived from, or indicative of an estimated yield of the harvested zone less the unharvested zone that remains after the second vehicle or its implement traverses the harvested zone as any number of N passes equal to multiple of passes of the second vehicle, or its implement, where N is any positive whole number greater than zero.

Under a second technique, each candidate pass can be ranked with a score or numerical rank. Under a third technique, the user interface (60,28) or display2310(e.g., via visual display3000) presents the candidate passes in order or sequence of ascending or descending score or numerical rank. Under a fourth technique, the user interface (60,28) or display2310(e.g., via visual display3000) provides an efficiency indicator for the candidate passes based on the ratio or percentage of estimated unharvested zone yield to estimated harvested yield for the field or defined section of the field within the defined boundary, where the defined section is defined to be equal to or greater than the area of the unharvested zone and inclusive of the area of the unharvested zone.

The method ofFIG. 1Eis similar to the method ofFIG. 1B, except the method ofFIG. 1Efurther includes or comprises step S216. Like reference numbers indicate like steps, procedures or features.

In step S216, the second vehicle data processing system52, or a second wireless communication device64coupled thereto, communicates wirelessly the candidate passes: (a) to be selected by one or more vehicle operators, or by second data processing systems52; (b) available to other second vehicles that are working in the field, or work area to coordinate area coverage, (c) that are actually selected as next passes or preferential passes by one or more vehicle operators of second vehicles, or second data processing systems52. Accordingly, multiple vehicles (e.g., second vehicles) can service simultaneously the field or work area according to a coordinated plan that considers the planned guidance plan of each participating vehicle in conjunction with the unprocessed, untreated or remaining zones within the field or work area. In one configuration, if multiple second vehicles are available or working in the field or a work area, one second wireless communications device64can communicate wirelessly to counterpart second wireless communication devices64associated with multiple second vehicles working the field to coordinate, claim, unclaim, indicate completion, or indicate abandonment of any respective candidate passes in the field or work area. For example, by group communications via second wireless communication devices64, a second vehicle can exercise a prior claim (or announce planned or actual processing of) to a next candidate pass or available unclaimed candidate passes prior to the other second vehicles without interference or collision from other vehicles working the field. For example, via its second wireless communication device64, the second vehicle that is claiming any unavailable unclaimed candidate pass for the next candidate pass can wirelessly communicate a group call message to the group of second vehicles that is working the same field or same work area; such messages can be repeated by the claiming second vehicle until any or all of the non-claiming vehicles within the group provide an appropriate acknowledgement or confirmation. In one embodiment, the central server40and the wireless communications network36can facilitate storing and forwarding of messages (or deactivation within geofenced zones) for second vehicle data processing systems52that have not provided an appropriate acknowledgement or confirmation. In another embodiment, the central servicer40can provide management, coordination and clearinghouse activities to a group of second vehicles via second wireless communication devices64and the wireless communications network36to assign claims to candidate vehicle passes and to track completion of assigned claims of candidate vehicle passes, for example.

FIG. 2Aillustrates a block diagram of a data processing system2000for planning a path or executing a path of a vehicle. Similarly,FIG. 2Billustrates a block diagram of a data processing system11for planning a path or executing a path of a vehicle. The data processing system2000ofFIG. 2Aor the data processing system11ofFIG. 2Bcan be applied to one or more vehicles, where each vehicle is equipped with a data processing system (20,52) that can communicate wirelessly with a database46or central server40. As illustrated inFIG. 2B, the database46is co-located or located onboard one or more vehicles. However, the database46may be remotely located from the one or more vehicles, where each vehicle is configured with a wireless communication device for communicating with the database46in a communications network38, or a cloud service hosted on one or more servers.

In one embodiment, the data processing system2000ofFIG. 2Aor system11ofFIG. 2Bcomprises a user interface (28,60,2300), a location-determining receiver (e.g., GNSS receiver), dead-reckoning sensors, a vehicle guidance system, and a database46coupled to a data processor.

In one embodiment, the user interface (28,60,2300) comprises a visual display3000, alone or together with a touch screen module2312(or touch sensor system) integrated into the display2310. The user interface (28,60,2300) may have a steering sensor, such as a steering angle sensor, a steering torque sensor, or both. The steering angle sensor, the torque sensor, or both may comprise a magnet embedded in a steering shaft in conjunction with a magnetic field sensor that detects movement of the magnet if and when the steering shaft is rotated.

As illustrated inFIGS. 2A and 2B, the user interface (28,60,2300) may further comprise a visual input such as a digital imaging system, a camera, a thermal imaging system, an infrared imaging system, or another optical sensor to sense or detect: (1) if the vehicle is manned or unmanned, (2) the state of alertness of the vehicle operator of the vehicle, (3) whether or not an implement is coupled to or associated with the vehicle, (4) whether or not an implement is raised, or lowered or engaging the ground, and (5) whether and if the operator is making gestures that can be interpreted to provided input data to the user interface (28,60,2300).

In one embodiment, the user interface (28,60,2300) may comprise a microphone and speech processing system (e.g., speech recognition module2327) to support the input of operator commands or request for information from the data processor. For example, the speech processing system may comprise a speech recognition module2327for training and recognizing words or input commands or requests for information. Further, the user interface (28,60,2300) comprises an audio output device for providing feedback or information to the operator in response to operator requests, or otherwise.

In one configuration, the user interface (28,60,2300) optionally includes a haptic output, such as seat or steering wheel with a linear motor or motor that provides haptic feedback or vibration to an operator after the operator enters, is prompted to enter, or fails to enter timely an input into the user interface (28,60,2300), touch-screen equipped display, keypad, control, or switch inputs.

In one embodiment, the data processor has a data storage device for storing data or software instructions in one or more modules. In this document, modules may comprise software, electronic hardware, logic circuits, or any of the foregoing items. Within the second data processing system52, a data storage device may store one or more of the following data or reference information: second operation pass data, worksite map2120, harvested area2122, unharvested areas and candidate passes, current machine location, current machine orientation, and planned path. The data processor may further store or contain a path planner and a vehicle guidance system2400. The data processor may be associated with a communications interface or wireless communications link for communicating with a central server40or first data processing system20of a first vehicle to retrieve first operation pass data (e.g., from a database46).

Accordingly, the system2000ofFIG. 2Acomprises a user interface (28,60,2300) that supports user prompts/alerts, user acceptance, and autonomous control mode management of the vehicle path plan related to selection of a preferential pass from candidate passes2124via one or more of the following modules or components within the user interface (28,60,2300): (1) visual display3000, (2) touch screen display or display configured with a touch screen module2312, (3) visual input module or gesture recognition and control module, (3) speech processing and speech recognition module2327, (4) haptic output module. The second data processing system52or data processor uses the benefit of the prior path of the implement, the first vehicle or both collected during the performance of an earlier work task during a growing period (e.g., season), the as-planted map of plants, or plant rows to establish a planned present path or candidate passes2124of the second vehicle during a later work task during the same growing period (e.g., season). The operator can man the cab or cockpit of the vehicle in a manual control mode, or wireless operate the vehicle through telepresence and wireless control mode. Further in both the manual control mode and wireless control mode, the second data processing system52may enter an autonomous control mode or a supervised autonomous control mode where the operator can override or select, preselect or rank one or more preferential passes from candidate passes2124or planned vehicle path from a library or menu of proposed candidate passes2124. The operator may be provided with on-screen alerts on the visual display3000, audio alarms, or haptic output (e.g., vibrating of the seat or steering wheel) to prompt the operator selection of one or more preferential passes from candidate passes2124during an authorized selection interval. After the authorized selection interval passes, in the autonomous mode the second data processing system52may be configured to automatically select the next pass or preferential pass or sequence of preferential passes from the library of candidate passes2124.

However, in an alternate embodiment, in the absence of user input (e.g., selection) in response to on-screen alerts on the visual display3000, audio alarms, or haptic output, the second data processing system52(e.g., in an autonomous mode) may stop movement of the second vehicle and wait for further commands or input from the operator, or may turn-off the second vehicle.

FIG. 2Bis another embodiment of a block diagram of a system11for planning a path or executing a path of a vehicle.

The system11comprises first vehicle data processing system20or first vehicle electronics20that can communicate via a wireless communications network36, and possibly via a communications network38, to a central server40. Similarly, the system11comprises a second vehicle data processing system52or second vehicle electronics52that can communicate via the wireless communications network36, and possibly via the communications network38, to the central server40.

However, in an alternate embodiment, the first vehicle data processing system20and the second vehicle data processing system52may communicate directly with each other via a wireless communications signal (e.g., IEEE 802.11 standard or similar for wireless local area network), via a wireless communications channel, a satellite communications channel, or via the wireless communications network36.

In another alternate embodiment, the first vehicle data processing system20and the first vehicle uses a first implement (e.g., planter) at a first time (e.g., earlier time) and a second implement (e.g., sprayer) at a second time (e.g., later time) to perform different agricultural tasks, such as a first work task (of planting crops or seeds) at a first time and a second work task (of treating or spraying the crops) at the second time. Accordingly, the first data storage device24within the first data processing system11stores data related to the performance of the first work task for later access while performing the second work task. During the first work task, the first-location determining receiver30may provide an as-planted map, seed positions, plant row locations, other plant position data, a recorded implement path or a recorded first vehicle path that is recorded during the performance of a first work task (e.g., planting, seeding, seed drilling, alone or together with nutrient or crop input application) in a field or work area for a growing period (e.g., growing season), where the foregoing data is recalled, retrieved or accessed from the first data storage device24during the performance of second work task by the first vehicle with the second implement.

As illustrated inFIG. 2B, the first data processing system20comprises a first data processor22, a first data storage device24, and data ports26that are coupled to a first data bus34. A user interface (28,60,2300), a first location-determining receiver30and first wireless communications device are coupled to the data ports26or otherwise configured to communicate with the first data processor22, the first data storage device24or both.

As shown, the second data processing system52comprises a second data processor54, a second data storage device56, and data ports58that are coupled to a second data bus66. A user interface (28,60,2300), a second location-determining receiver62and second wireless communications device are coupled to the data ports58or otherwise configured to communicate with the second data processor54, the second data storage device56or both.

In one configuration, the central server40comprises an electronic data processor42, a data storage device44, and a data port50that are coupled to a data bus48. The data processor42, the data storage device44and the data port50are configured to communicate with each other via the data bus48. The data port50may comprise a transceiver, buffer memory, or both for communicating over the communications network38, such as the internet, a public switched telephone network (PSTN), a fiber optic network, or another telecommunications network.

The first data processor22, the second data processor54or any other data processor may comprise one or more of the following: an electronic data processor, a microprocessor, a microcontroller, an application specific integrated circuit (ASIC), digital signal processor (DSP), a programmable logic device, an arithmetic logic unit, or another electronic data processing device.

The first data storage device24, the second data storage device56, or any other data storage device may comprise electronic memory, registers, shift registers, volatile electronic memory, a magnetic storage device, an optical storage device, or any other device for storing data.

The first location-determining receiver30, the second location-determining receiver62and any other location-determining receiver may comprise a satellite receiver, such as a global navigation satellite system (GNSS) receiver that is augmented by a wireless device (e.g., satellite receiver or cellular receiver) that can receive a correction signal (e.g., differential correction signal).

InFIG. 2B, the user interface (28,60,2300) may comprise one or more of the following: an electronic display, a liquid crystal display, a touch screen display, a keypad, a keyboard, a pointing device (e.g., an electronic mouse), an audio interface, a speech recognition system, speech recognition module2327, one or more switches, or the like for inputting or receiving data, alerts, diagnostics, messages or commands, and outputting or transmitting data, alerts, diagnostics, messages, or commands.

In an alternate embodiment, the user interface (28,60,2300) ofFIG. 2Bmay incorporate any modules, electronics, software instructions, logic, or components of the user interface (28,60,2300) illustrated inFIG. 2A.

In accordance with one embodiment, a method and system11of planning a path of a vehicle comprises defining or obtaining an outer boundary of a work area or a field. A first data processor22of a first vehicle records (e.g., in a data storage device onboard the vehicle or at a central server40) and/or obtains (e.g., from a location-determining receiver) an implement path plan of an implement (e.g., first vehicle) associated with a first vehicle. For example, the first-location determining receiver may provide an as-planted map, seed positions, plant row locations, other plant position data, a recorded implement path or a recorded first vehicle path that is recorded during the performance of a first work task (e.g., planting, seeding, seed drilling, alone or together with nutrient or crop input application) in a field or work area for a growing period (e.g., growing season).

In one embodiment, the implement path plan comprises a series of recorded position points (e.g., GNSS two-dimensional or three-dimensional coordinates) along a recorded guidance path of an implement and a set of plant rows defined with reference to the recorded guidance path in the work area or the field.

The second vehicle is equipped with a second location determining receiver that provides a path plan for a second vehicle (e.g., sprayer, nutrient applicator, harvester or combine) or its implement (e.g., second implement) in the same field or work area and during the same growing period (e.g., growing season) as the first vehicle. Plant position data means one or more of any of the following plant, seed or seedling related data: as-planted map, seed positions, plant row locations, other plant position data, a recorded implement path or a recorded first vehicle path that is recorded during the performance of a first work task. The plant position data may be associated with a data collection date and time, a growing season identifier, a first vehicle identifier, a field or work area identifier or a geographic location. As described above, the first vehicle electronics or first data processing system20communicates, directly or indirectly, with the second vehicle electronics, such that the second data processing system52, retrieves or has access to the following plant position data that was collected by the first data processing system20, alone or in conjunction with the first location-determining receiver30: as-planted map, seed positions, plant row locations, other plant position data, a recorded implement path or a recorded first vehicle path that is recorded during the performance of a first work task (e.g., planting, seeding, seed drilling, alone or together with nutrient or crop input application) in a field or work area for a growing period (e.g., growing season).

At the second vehicle during the performance of a second work task after the first work task for the same field, work area and growing period, a location-determining receiver determines a present position and present heading of a second vehicle in the work area or the field. A second data processor54determines a set (e.g. library) of one or more candidate passes2124of the second vehicle in alignment with the defined plant rows or other plant position data (e.g., communicated wirelessly from the central server40or from the first vehicle) to provide area coverage of the work area or field within the defined boundary based on an implement width or swath of the second vehicle and row spacing of the second vehicle, wherein the one or more candidate passes2124are associated with plant position data (e.g., the defined plant rows) consistent with a planned guidance path. From the present position and heading of the second vehicle, a user interface (28,60,2300) or visual display3000displays the determined candidate passes2124to manage, adjust or minimize overlap or spacing (e.g., spatial separation or row-skipping) of adjacent candidate passes2124(in or out of temporal sequence) of the second vehicle and to minimize any yield loss associated with unharvested/untreated passes or zones within the work area or field. Adjacent row passes may be out of temporal sequence or order where the second vehicle uses row skipping, for example. The user interface (28,60,2300) or visual display3000supports selection of one of the displayed or presented candidate passes2124as preferential pass or the planned guidance path of the second vehicle consistent with the provision of area coverage of the work area or field.

In one embodiment, the first vehicle may comprise the first data processing system20or first vehicle electronics20; the second vehicle may comprise the second data processing system52or the second vehicle electronics52. The first data processing system20may store one or more of the following plant position data and work area data in the first data storage device24: boundary data, such as boundary coordinates, linear segments, or curves, implement path data, plant row data, planting data, as planted maps, implement swath width, implement row spacing, or other data. Work area data may comprise boundary data, such as boundary coordinates, linear segments, or curves, implement path data, or vehicle path data.

The first data processing system20comprises a first wireless communications device that can communicate the plant position data and/or work data from the first data processor22or from the first data storage device24to the wireless communications network36or to the second wireless communications device of the second data processing system52or second vehicle electronics52if the first wireless communications device and the second wireless communications device are within the transmission and reception range associated with the respective electromagnetic signals. For example, the first wireless communications device can support communications of plant position data and/or work area data from the first vehicle to the central server40, first, via the wireless communications network36and, second, via the communications network38(e.g., internet).

At the central server40, the data port is configured for communication the communications network38. The plant position data and/or work area data can be communicated between the first vehicle and the second vehicle via the central server40. For example, the plant position data and/or work area data communicated from the first vehicle data processing system20(to the central server40) can be received at the data port, processed by the data processor and stored in the data bus for future reference or retrieval by an authorized operator of the second vehicle data electronics (e.g., second vehicle data processing system52).

The second vehicle data processing system52can request, retrieve or access plant position data and/or work data that is stored in: (a) the database46, (b) the first data storage device24, (c) the second data storage device56, and (d) data storage device44of the central server40, where the request and storage of the work data can be organized by field location, field identifier, geographic region, growing period (e.g., growing season), date or other information. Accordingly, the second vehicle data processing system52can download, access or retrieve work data from previous work tasks or jobs within the same field or work area for the growing period (e.g., growing season), date or time of interest to coordinate, build upon or augment previous work tasks in a seamless manner with new or planned work task or with an efficient transition to complete an overall task such as full crop cycle management from planting until harvesting, which comprises one or more previous task and one or more planned work tasks.

FIG. 3shows an illustrative display screen or visual display3000on a user interface (28,60,2300) for the method and system11. For example,FIG. 3illustrates a visual display3000that can be used as part of step1400inFIG. 1Ato display one or more textual, visual or graphical representations of candidate passes2124for selection or entry by an operator or end user of the second vehicle.

As illustrated inFIG. 3, the screen or visual display3000is divided into three distinct areas or display regions: guidance lightbar3200, whole field progress3100, and upcoming pass area3300.

On the upper portion of the visual display3000, the guidance lightbar3200has lights that assist an operator of the vehicle in steering along a guidance path. In the example ofFIG. 3, guidance light bar3200displays the vehicle position, as indicated by an associated heading or yaw angle of the vehicle. Colored indicators, such as green visual indicators3210, yellow visual indicators3220, and red visual indicators3230on the screen are used by the operator to follow a planned path.

For example, the guidance lightbar3200of the user interface (28,60,2300) may have software instructions in the data processing system (11or2000) to display, activate or deactivate visual indicators (3210,3220,3230) as follows. If the operator is steering the heading of the vehicle in alignment with the target path, target guidance line or target contour, the center or green visual indicator3210(e.g., light, light-emitting diode (LED), virtual light or virtual LED) may be illuminated. However, if the vehicle deviates slightly to the left of the target path, one or more intermediate left visual indicators3220(e.g., yellow lights, LEDs, virtual lights or virtual LEDs) are activated. Similarly, if the vehicle deviates slightly to the right of the target path, one or more intermediate right visual indicators3220(e.g., yellow lights, LEDs, virtual lights or virtual LEDs) are activated. If the vehicle deviates severely to the left of the target path, one or more intermediate left visual indicators3230(e.g., red lights, LEDs, virtual lights or virtual LEDs) are activated. If the vehicle deviates severely to the right of the target path, one or more intermediate right visual indicators3230(e.g., red lights, LEDs, virtual lights or virtual LEDs) are activated.

As illustrated on a left rectangular portion of the visual display3000, the whole field progress area3100shows harvested areas2122, such as harvested passes3130, with a first cross-hatch pattern and headlands3120with a second cross-hatch pattern indicative of a harvested state. Meanwhile, the unharvested areas are not cross-hatched or are cross-hatched with different cross-hatch pattern distinct from the first cross-hatch pattern and/or the second cross-hatch pattern. The vehicle symbol3110in the headlands3120may indicate a current position of the second vehicle (e.g., combine or harvester), where the second vehicle is progressing through or performing a harvesting operation in the headlands3120. The whole field progress area shows pass numbers3150, which include unharvested passes3140(labeled pass numbers 6 through 11, inclusive) and harvested passes3130(labeled pass numbers 1-5, inclusive).

In other embodiments, harvested areas may be colored, shaded or patterned to represent harvested yield level; whereas unharvested areas may be without color or colored, shaded or patterned to indicate an unharvested or fallow state. In one embodiment, unharvested passes3140may also have a distinctive pattern or color based on predicted yield, which can be based on historic yield and an observed yield for other portions of the field harvested during a growing period (e.g., growing season). In certain configurations, a set of passes within the whole field progress area of the visual display3000are numbered3158. Here, as illustrated inFIG. 3, the passes (e.g., harvested passes3130, unharvested passes3140, or both) are labeled consecutively from1to11, although any other pass identifiers, such as numeric or alphanumeric descriptions, icons or symbols could be used to indicate different passes or candidate passes2124.

Turning to the candidate pass area or upcoming pass area3300on the right side of the visual display3000ofFIG. 3, the candidate passes2124are assigned corresponding pass identifiers (3310), such as pass numbers3310eight through eleven. In one embodiment, upcoming pass area3300shows pass numbers3310and corresponding transition distance3320(e.g., turn distance), which are distances of travel of the vehicle before turning or transitioning to enter or approach the candidate pass, where the second data processing system52updates the distance of travel are on dynamic, regular basis. The passes shown in this view are all ahead of the second vehicle in its direction of travel. In other examples, the upcoming pass area may show the next N candidate passes2124or next M candidate unharvested passes, where N and M are any positive whole numbers or integers greater than zero.

In one embodiment, the visual display3000may be presented on a touch screen display or display2310associated with touch screen module2312. The operator may select the next pass or preferential pass or sequence of passes by pressing or contacting the preferential pass or sequence of passes in a selected, pressed portion or contacted portion of upcoming pass area3300of the visual display3000. Further, the touch screen display or touch screen module2312is configured such that if the operator selects multiple candidate passes2124in a certain order, the preferential pass or next passes will be executed by the second vehicle in the same certain order or sequence (e.g., until all of the next passes are executed). Accordingly, based on the information in upcoming pass area3300and whole field progress area3100, the operator can interact with the visual display3000or the user interface (28,60,2300) to select or enter the next pass.

Other embodiments may use other ways of selecting a subset of all displayed candidate passes2124for tracking or execution by the second vehicle.

In an alternate embodiment, user interface (28,60,2300) could display pass-specific information in the whole field progress area3100and the upcoming pass area3300could be absent. Accordingly, the pass-specific information, such as some upcoming pass information (similar to the upcoming pass area3300) could be displayed in the whole field progress area3100in a larger typeface that utilizes the screen area formerly or previously allotted in the upcoming pass area.

FIG. 4shows another example of a screen or visual display4000for display on the user interface (28,60,2300) for the method and system11. For example, the visual display4000can be used as part of step1400ofFIG. 1Ato display at least one candidate pass or a set of candidate passes2124as an option for operator selection. As illustrated inFIG. 4, the majority of the screen or visual display4000is used to display one or more of the following: (a) candidate pass information, (b) candidate pass information in ranked order or proposed sequence of execution by the second vehicle, (b) completed pass information. Other areas of the display4000comprise an implement representation4010(e.g., header4010of harvester or combine as the second vehicle) and its position or alignment (e.g., header center4020) and an artificial horizon4030representative of an end of the field with trees4032, clouds4034, and sky4036.

As illustrated in the example ofFIG. 4, pass data (4600,4700,4800, and4900) comprises the pass number, land area (e.g., acres, square feet or square meters) of unharvested land in the corresponding candidate pass, estimated yield (e.g., bushels of grain) of the unharvested crop in the corresponding candidate pass, and estimated time to harvest the crop in the corresponding candidate pass based on average or historic harvesting speed. The data processing system11or second data processing system52can determine or estimate a land area of unharvested crop based on the estimated location of the candidate pass and which portions or candidate passes2124have already been harvested. The data processing system11or second data processing system52can estimate the yield of the unharvested crop from a crop model, similarity to other harvested areas in the field, historic harvest data from the field, rows, area or portion of the field in one or more previous years, pre-harvest aerial images, or any other suitable means.

In one embodiment, the data processing system11or second data processing system54may estimate the time to complete harvest via the candidate pass based on the crop area, estimated crop yield, and a model of how fast the combine can move through the crop given the estimated yield. In an alternate embodiment, the data processing system11may use models, empirical measurements, historic crop processing times (e.g., for a corresponding field, county, township, province, canton, country or other region), or other approaches to estimate the time.

In some embodiments, the operator could tap or touch the user interface (28,60,2300) or touch screen module2312of the user interface or display to select the next pass from the set or library of candidate passes2124displayed on the user interface. After the operator selects a preferential pass from the candidate passes2124, the data processing system11, second data processing system54, or the path planner2150is adapted to generate a path plan or planned path2152for use by an automated vehicle guidance system2400.

In examples involving seeding and chemical application, the data processing system11or system2000may receive input via the user interface (28,60,2300) to associate the candidate pass with respective pass data including without limitation: an area of the respective candidate pass, seed or chemical required for the respective candidate pass, whether or not the candidate or preferential pass can be completed with the remaining amount of seed or chemical (to avoid refilling and returning to a place mid-pass to resume), time to make pass, or any other suitable information.

In examples involving ground engagement of ground engaging tools associated with the vehicle or its implement, the data processing system11or system2000may receive input via the user interface (28,60,2300) to associate the pass data with an area of respective candidate pass, estimated time to complete respective candidate pass, fuel to make a respective candidate pass or ability to complete pass with existing fuel, probability of getting stuck, amount of soil or soil cover being moved, or any other suitable information.

In another embodiment, which is illustrated inFIG. 5, upcoming pass or candidate pass data may be made available through an audio interface (e.g., audio input, audio output or both) with speech recognition module2327to address ergonomics and human factors of the user interface (28,60) such as to eliminate small type, lines, or icons, or to provide an interface for visually impaired operators, or where glare or direct sunlight prevents legible viewing of a display, or otherwise.

FIG. 5shows another example where upcoming pass area3300ofFIG. 3is absent from a visual display3000or whether the visual display3000of the user interface (28,60,2300) is not present or inactive. Here inFIG. 5, the processing system11or electronic data processor2100can use audio output device2320and audio input device2325of the user interface (28,60,2300) to communicate or interact with an operator or user of the first vehicle, second vehicle or both. In one embodiment, the user interface (28,60,2300) or audio input device2325may be responsive to, awoken by, or activated by an operator command (e.g., spoken or verbal operator command), wake command or wake word that is recognized by the audio input device2325or speech recognition module2327of or within the audio input device2325. In one illustrative configuration, the user interface (28,60,2300) or audio input device2325remains ready for an operator command (e.g., spoken or verbal operator command) for a wake period or ready state of a predetermined duration or user-definable duration (e.g., 30 seconds or one minute). After the human operator speaks the wake word or wake command to the user interface (28,60,2300), audio input device2325or speech recognition module2327, the operator can provide a subsequent command (e.g., spoken or verbal command).

For example, as set forth inFIG. 5, the wake word of human speech is “Johnny” and the illustrative subsequent command is “Tell me the next four passes.” In some embodiments, the speech recognition module2327, audio input device, user interface (28,60,2300) or data processing system (11,2000) is able to use context or other information to reduce the need for every human line to start with the wake word. InFIG. 5, the leftmost column shows reference line numbers5100through5800, where some reference numbers refer to human speech and other reference numbers refer to machine speech or machine feedback. For example, the middle column shows human speech (lines5100and5600). The right column shows machine speech or machine feedback (e.g., of the combine, machine or other vehicle), which may be responsive to the human speech in the middle column. For instance, the right column shows machine speech associated with respective reference number lines5200through5500, inclusive, and5700through5800, inclusive. In reference lines5200through5500, user interface (28,60,2300) or data processing system (11,2000), or audio output device (2320) communicates the pass identifier, the transition point distance to start of the pass associated with the pass identifier, and the estimated yield per acre within the pass associated with the pass identifier. For example, pass identifier8has a transition point distance of 10 feet and an estimated yield of 136 bushels per acre for pass identifier8; pass identifier9has a transition point distance of 39 feet and an estimated yield of 142 bushels per acre for pass identifier9; pass identifier10has a transition point distance of 68 feet and an estimated yield of 138 bushels per acre for pass identifier10; pass identifier11has a transition point distance of 97 feet and an estimated yield of 133 bushels per acre for pass identifier11.

The example ofFIG. 6is similar to the example ofFIG. 5, exceptFIG. 6shows another example of audio dialogue between the human operator and the user interface (28,60,2300) of the machine (e.g., combine or harvester). InFIG. 6, the leftmost column shows reference line numbers6100through6800, where some reference numbers refer to human speech and other reference numbers refer to machine speech or machine feedback. For example, the middle column shows human speech (lines6100,6200,6500and6600). At lines6150,6300,6400,6700, and6800, the right column shows machine speech or machine feedback (e.g., of the combine, machine or other vehicle), which may be responsive to the human speech in the middle column.

Here, in line6100, after the wake word, “Johnny,” the operator gives the following human speech command, “Set pass order to least remaining grain tank space,” to sequence the order in which audio data is outputted or presented to the operator based on passes with the least harvested material (e.g., bushels of harvested material) because of limited remaining space in grain tank or storage container for storing harvested material associated with the vehicle (e.g., combine or harvester). In line6150, user interface (28,60,2300) or audio output device2320responds with machine speech output, such as “okay,” “OK”, “yes”, “affirmative,” or similar audio output acknowledgement.)

In line6200, the operator issues the verbal command, “Johnny, tell me passes not filling (overfilling) grain tank,” to the user interface (28,60,2300). In response, the user interface (28,60,2300) responds at reference number lines6200through6400. In reference lines6200through6400, user interface (28,60,2300) or data processing system (11,2000), or audio output device (2320) communicates the pass identifier, the transition point distance to start of the pass associated with the pass identifier, and the estimated yield per acre within the pass associated with the pass identifier. For example, pass identifier3has a transition point distance of 64 feet and an estimated yield of 27 bushels per acre for pass identifier3; pass identifier9has a transition point distance of 42 feet and an estimated yield of 64 bushels per acre for pass identifier9.

In line6500, after hearing pass identifier3and pass identifier9in reference lines6300and6400, respectively, in reference line6500the operator has heard enough options and stops recitation of the list by stating “Johnny, stop.” At reference line,6550, the user interface (28,60,2300) stops reciting and optionally acknowledges “stop confirmed.”

In line6600, via the user interface (28,60,2300), the operator issues a speech command to set the next preferential pass to candidate pass3which is associated with the lowest yield of harvested material for the candidate pass. In line6700, the user interface (28,60,2300) acknowledges that the preferential pass or “next pass is set to 3.” Further, in line6800, the user interface (28,60,2300) acknowledges that the preferential pass has a vehicle guidance system2400engaged, such as auto-steering or guidance provided by a second location-determining receiver62that controls a steering actuator for steering or directing the heading or yaw angle of the second vehicle.

In the human-machine audio dialog ofFIG. 5andFIG. 6, there are some general or common features as noted in the method ofFIG. 7. The method ofFIG. 7begins in step7100.

In step7100, via the user interface (28,60,2300), the speech recognition module2327, or the audio input device2325, the human operator requests pass information, such as candidate pass information or a ranking of potential candidate passes2124. For example, inFIG. 5, the operator requested pass information in line5100, whereas inFIG. 6the operator requested pass information in line6200.

In step7200, via the user interface (28,60,2300) or the audio output device2320, the data processing system11on the machine recites the requested information, on candidate passes2124or next passes of the vehicle, as requested in step7100. For example, inFIG. 5, the user interface (28,60,2300) or audio output device2320recited information on lines5200through5500, inclusive; inFIG. 6, the user interface (28,60,2300) or audio output device2320recites information on lines6300through6400, inclusive.

In step7300, via the user interface (28,60,2300) the speech recognition module2327, or the audio input device2325, the human operator inputs or issues a command for action based on the information recited or provided by the user interface (28,60,2300) or audio output device2320in step7200. In one example, in line5600ofFIG. 5, the operator issues a command based on the recited information, such as a command to select or establish a preferential pass or next pass based on one or more previously recited candidate passes2124by the machine. Similarly, inFIG. 6in line6600, the operator issued a command to select or set the preferential pass or next pass from the set or library of candidate passes2124provided by the user interface (28,60,2300) in steps6300through6400, inclusive.

In step7400, the user interface (28,60,2300) or audio output device2320provides an acknowledgement of the command entered, spoken or input by the human operator into the user interface (28,602300) or audio input device2320of the data processing system (11,2000). For example, inFIG. 5, the user interface (28,60,2300) provides the acknowledgement set forth in lines5700through5800, inclusive; whereas inFIG. 6the user interface (28,60,2300) provides the acknowledgement set forth in lines6700through6800, inclusive. In some illustrative configurations, acknowledgements may take one of several forms without limitation: (a) complete or execute the user-requested action or command, verbally acknowledge success or failure; (b) verbally acknowledge processing the speech, complete or execute the action; and (c) verbally acknowledge processing the speech, do the action, acknowledge success or failure of the action.

FIG. 8depicts a method for formatting speech output by a human operator consistent with a specification or defined format. The method ofFIG. 8begins in step8100.

In step8100, via the user interface (28,60,2300) the speech recognition module2327, or the audio input device2325, the human operator requests configuration of the format (e.g., sequence, order or structure) of requested information. For example, inFIG. 6at line6100, the human operator provides a search limiter or “sort by” criteria for a list, set or library of candidate passes2124. In another example, the human operator may provide or specify an automatic or on-demand report out. In the former case, without limitation, automated reports may be based on a time, location, or operational condition.

In step8200, via the user interface (28,60,2300) or audio output device2320, the human operator provides a confirmation of the selected format, default format or accepted format. For example, rather than asking for information at the end of each pass, as a default format the information or next passes or candidate passes2124are presented at a specified distance or at specified time (e.g., after the lapse of a user-definable timer or user-definable alarm provided, such as audibly or verbally, via the user interface) from the end of the pass.