Automatic scaling of GPS field maps

US005902343A

Ulllted States Patent [19]

[11] Patent Number:

Hale et al.

[45]

[54]

5,902,343

Date of Patent:

May 11, 1999

AUTOMATIC SCALING OF GPS FIELD

5,510,798

MAPS

5,517,419

4/1996 Bauer . 5/1996 Lanckton et a1. .

5,523,765

6/1996 Ichikawa.

[75] Inventors: George H. Hale, Naperville; Keith W.

geidert- t 1

.

,

gelslgtleiglgn?llt’ogzli?l W‘ Haack’ y

’

"

_

_

_

_

[73] Ass1gnee: Case Corporation, Rac1ne, W1s.

,

u

a

e

a. .

5,526,291

6/1996 Lennen.

5,631,658

5/1997

Gudat .................................... .. 342/357

5,754,137

5/1998

Diirrstein

.............................. .. 342/357

OTHER PUBLICATIONS

[21] [22]

Appl' NO‘: 08/754’905 Filed: Nov. 22, 1996

Brochure: Advanced Farming Systems, @1996 Case Corpo ration

[51]

Int. Cl.

.......................... .. A01B 79/00; G01C 21/00

Brochure: John Deere Greenstar Combine Held—Mapping System) John Deere‘

[52]

US. Cl. .......................... .. 701/50; 701/212; 701/215;

Report NO_ 94_D_139, Site Speci?c Held Measurement in

6

342/357 [58]

Field of Search ............................ .. 701/50, 207, 212,

Combines and Forage Harvesting Machines, Ageng—Mi lano ’94_

701/213, 215; 342/357, 457; 56/102; 239/1, 61, 62, 63

_

[56]

Primary Examiner—Gary Chin

References Clted

Attorney, Agent, or Firm—Foley & Lardner

U.S. PATENT DOCUMENTS

[57]

Re‘ 35’1OO 11/1995 Monson et a1‘ ' 4,578,678 4 630 773 ,

3/1986 12/1986

,

(List continued on neXt page.)

ABSTRACT

A?eld mapping system for an agricultural vehicle such as a

Hurd . on“ '

b. 1 1 . . d. 1 d h . Th com me, p anter or cu t1vator 1s 1sc ose ere1n. e sys

p

.

.

.

.

.

.

.

476757676

6/1987 Takanabe et aL _

tem'lncludes'a c1rcu1t for determ1n1ng the pos1t1on of the

4,736,303

4/1988 Itoh et a1_ _

veh1cle relative to a ?eld, and a sensor for sensing a

4,792,907 12/1988 Ikeda et a1__ 4,949,268 8/1990 Nishikawa et al..

characteristic (e.g., grain moisture content, grain harvest yield, soil compaction, altitude, etc.) at locations of the

5,084,822 5,214,757 572207509

1/1992 Hayami 5/1993 Mauney et a1- 6/1993 Takemura ct a1~~

vehicle Within the ?eld. The system also includes an elec tronic display controlled by a control circuit coupled to the position determining circuit and the sensor. The control

5’318’475 5:396:431 573987034

6/1994 Schrock et 56/10 2 3/1995 Shimizu et all """""""""""" " ' 3/1995 Spilker, 1L _

5,416,712

5/1995 Geier et a1, _

ggilrsgréteglal' """"""""""""" " 239/63

5,421,416 6/1995 5,428,544 6/1995 5,440,484 8/1995 574527211 9/1995 5’455’769 10/1995 5,467,271

574697158

levels.) The signals are generated by the control circuit so that the portion of the ?eld over Which the characteristic is sampled is scaled to be displayed over substantially all of a portion of the display. Thus, as the area of the ?eld Which has been sampled increases, the scale of the displayed map is

11/1995 Abel et a1. .

.

11/1995 Morita_

2/1996 Kyrtsos.

5,497,149

3/1996 Fast .

duces a map of the ?eld 1nclud1ng 1nd1c1a of the character istic at respective locations Within the ?eld. (For example, if the characteristic is grain moisture content, different colors can be used on the display to represent different moisture

Orbach et al. . Shyu K90 Kyrtsos et a1: Panoushek et a1‘ '

5,490,073

circuit applies signals to ‘the electronic display Which pro

H

1 d

automatlca y rescae

h

to s oW a

11

f h d

o t e

ata.

47 Claims, 12 Drawing Sheets

142

GROUND SPEED SENSOR

146 GPS ANTENNA

DGPS ANTENNA

GPS

DlFFERENTlAL

RECEIVER

RECEIVER

OFFlCE OR

112

PORTABLE 102

)’

134

104

149

148

14 4

140

136

114

MEMORY CARD

155 VlELD MODULE

I

|

|

cuRsoR CONTROL

ASSIGNABLE

i

(GUI) J ] SWlTCHES I IKEVBOARD

TRACTOR 0R COMBlNE CORE SYSTEM

10°

________________ "£11,115."

COMPUTER

. .

volcE COMMUNICATON

l l

5,902,343 Page 2 OTHER PUBLICATIONS

The Use of GPS in Agriculture for Held Mapping and Tractor Implement Guidance, DGPS ’91 Symposium, vol. II, Seite 455—465. Held Monitoring Experiences—1994, ASAE Winter Meet ing, Atlanta, GA, Dec. 16, 1994.

Six—Ply Precision Layers of Computerized Information

Control Concepts for Tillage Systems—Robert L. Schafer— Dec. 1981.

Control System for Combine Harvesters—Report by Kotyk et al.

Brochure: Introducing the Greenstar Combine lfield—Map ping System (What is the Greenstar Combine lfield—Map

ping System?).

Allow Fine—Tuned Crop Production, Top Producer/J an.

Brochure: Hiniker 8150 Control System—The Simple and

1995.

Economical Solution to Accurate Chemical and Fertilizer

Farming with Satellites the Future of Farming?, FarmWeek, p. 3, Monday, Feb. 24, 1992.

Application. Brochure: Hiniker 8200 Monitor—the Most Versatile Low

Field Positioning Technology, Soybean Digest, HighTech

CostAcre Monitor on the Market.

Tools, pp. 23—25, Winter 1992. Tools with Eyes, Farm Journal/Mid—Mar., 1989. Data Acquisition for Held Mapping with Combine Harvest ers Computers in Agriculture, ASAE 1994.

Site Speci?c Farming’s Second Wave— Bryce Knorr; Mar.

Accuracy from Afar; Top Producer/Feb. 1992.

1995. 3rd International Conference on Land Vehicle Navigation— Prof. Dr. Kurt Biedonkopf; 14—16 Jun. 1994.

Accuracy to the Inch, Top Producer/J an. 1995.

Data Acquisition for Held Mapping with Combine Harvest

Sensing and Mapping Grain Held Variation, Automated Agriculture for the 21“ Century, ASAE Pub. 11—91. Robotics and Intelligent Machines in Agriculture, ASAE—

Global Positioning SystemApplications—Al Demmler; Apr.

Proceedings—the First International Conference on Robot

Where in the World?—Ron Harbour; AgMAPPING Jun.

ics . . . —Oct. 2—4, 1983.

1991.

ers—P. ReitZ and HD KutZbach. 1994.

U.S. Patent

May 11,1999

Sheet 1 0f 12

5,902,343

5:82 _lI|lI||

02m \ @3562m:

m .wmH" >“l/OwNHNmED/‘MI

H§\AN:\9.{1kw?§\$5Vn0M%E6

21“ n8H7‘55%5m :5: H L n u n @0222 u s:2:> \ rn u u > 591%;‘ 02 HE

m “F n “ @228$6$8x 2:

r~_81527m_.I

AnEé/"cz/§H5uw25m_|Y 6ka2w8$%m5n“28_92512:"

.-i“/u.t>w.2“ 928n“%$20:8_16532%.628 -m:am%w§_-“m:9.§8% “SMM61E25W2E8

moA -" w“ zum -

-J3./LIr_ 1+“1.1h--m2

» @2\\ /" > 2265“5> m2O2

Em“w:_za7m9uo5m; 3m 1E 1870:mIV

“n$58S@26E521>:8 mnn/\\5.:

l_,5mzwa8dpl!wz“m.

U.S. Patent

May 11,1999

Sheet 2 0f 12

5,902,343

FIG. 2 DATANSOINT

BU /ACRE

MOISTURE

LONGITUDE

LATITUDE

1 2 3 4 5

32.0739 56.5808 64.1104 96.1741 105.247

17.7 18.1 17.1 16.4 15.9

—88.7291520 —88.7291140 —88.729072O —88.7290320 —88.7289890

39.0710720 39.0710720 39.0710740 390710760 39.0710740

200

U.S. Patent

May 11,1999

Sheet 9 0f 12

)\_

E75281m2O38\81%N25hmnmé 2:EXX:m_258u

Ea:_\_(

zm 65%E72:"

z_n8_.12%

i51.%

u n w?

".nm5z0lomd