US 12,722,435 B2Granted

Automation in estimation of center linkage of an implement

AssigneeDeere & Company

InventorsVamshi Sai Ramakrishna Reddy Kotha, Mahesh Bothe, Nikhil Tagalpallewar

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Abstract

A back-up assist system for coupling a work vehicle with an adjustable implement mounting arrangement and an implement having a vision system, a user interface, a repository module, and a processor. A plurality of markers are provided on the adjustable implement mounting arrangement and the implement. The vision system scans each of the marker to generate corresponding pre-scanned signals and dynamic-scanned signals, respectively, in the implement attached configuration and the implement detached configuration. The back-up assist system and the method thereof, helps in guiding the tractor to connect with the implement with precision without necessitating additional manpower for such activity.

Claims20

Dependent claims

A back-up assist system for coupling a work vehicle to an implement in a detached configuration to an attached configuration via at least a vehicle side connector and a center vehicle connector of the work vehicle respectively with corresponding at least one implement side connector and a center implement connector of the implement, each of the at least one vehicle side connector, the center vehicle connector, the at least one implement side connector, and a center implement connector being at an actual distance from a predefined point of the work vehicle, the back-up assist system comprising:

a user interface having an input interface and a display interface, the user interface being adapted to receive at least one user input via the input interface;
at least one marker disposed proximate to each of the center vehicle connector, the center implement connector, the first implement side connector, and the second implement side connector;
a vision system mounted on the work vehicle at a mounting point at a predefined distance with respect to a predefined point, the vision system being configured to scan the at least one marker and generate a plurality of pre-scanned signals and a plurality of dynamic-scanned signals, respectively, in the implement attached configuration and the implement detached configuration, corresponding to the mounting point;
a repository module communicably coupled to the user interface and the vision system, the repository module being adapted to receive the user input, the plurality of pre-scanned signals, and the plurality of dynamic-scanned signals;
and
a processor communicably coupled to the repository module, the processor being configured to generate a plurality of calibration signals and a visual guidance path with respect to the predefined point, each of the plurality of pre-scanned signals and a plurality of dynamic-scanned signals is transposed corresponding to the plurality of calibration signals.

3 more elements

A method for assisting back-up of a work vehicle towards an implement for coupling a first vehicle side connector, a second vehicle side connector, and a center vehicle connector of the work vehicle and a first attachment side connector, a second attachment side connector, and a center attachment connector of the implement, the method comprising the steps of:

scanning at least one marker, associated with center vehicle connector, the first attachment side connector, and the second attachment side connector, by a vision system in a position of the work vehicle coupled to the implement;
determining a plurality of pre-scanned signals corresponding to the step of scanning;
allocating a vision system coordinate to the plurality of pre-scanned signals corresponding to a position of each of the markers with respect to the vision system;
repositing each of the pre-scanned signals from the step of allocating;
steering the work vehicle, spaced apart from the implement, towards the implement;
acquiring successive frames, in real time, by the vision system for at least one of the markers, during the step of steering;
configuring a plurality of dynamic-scanned signals corresponding to the pre-scanned signals in the step of allocating;
calibrating each of the dynamic-scanned signals to a vehicle coordinate calculated with respect to a predefined point of the work vehicle;
determining a center line connecting the center vehicle connector of the work vehicle and the center attachment connector of the implement;
generating connection lines connecting the first vehicle side connector and a second vehicle side connector of the work vehicle with the first implement side connector and the second implement side connector of the implement, respectively, corresponding to the step of calibrating;
estimating a visual guidance path between the work vehicle and the implement corresponding to an angle therebetween;
and
adjusting a position of the first vehicle side connector, the second vehicle side connector, and the center vehicle connector corresponding to the step of acquiring, determining and generating.

10 more elements

Dependencies are inferred from the claim text.

Facts

Application: 19/060,977Filed 24 Feb 2025
Priority: IN 20242108740413 Nov 2024
Published: US 2026/0131606 A114 May 2026
Granted: 1 Sep 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification11 codes

B60D 1/36
Characterised by arrangements for particular functions: for facilitating connection, e.g. hitch catchers
B62D 13/06
Steering specially adapted for trailers: for backing a normally drawn trailer
G06T 7/73
Determining position or orientation of objects or cameras: using feature-based methods
G06T 7/80
Image analysis: analysis of captured images to determine intrinsic or extrinsic camera parameters, i.e. camera calibration