US 12,232,450 B2
Autonomous navigation system and the vehicle made therewith
Michael G. Fattey, Lancaster, NY (US); Kevin M. Eschner, Eden, NY (US); Joseph C. Baldi, Buffalo, NY (US); and Jason M. Majchrzak, Orchard Park, NY (US)
Assigned to Moog Inc., East Aurora, NY (US)
Appl. No. 16/978,890
Filed by Moog Inc., East Aurora, NY (US)
PCT Filed Mar. 13, 2019, PCT No. PCT/US2019/022153
§ 371(c)(1), (2) Date Sep. 8, 2020,
PCT Pub. No. WO2019/178299, PCT Pub. Date Sep. 19, 2019.
Claims priority of provisional application 62/642,293, filed on Mar. 13, 2018.
Prior Publication US 2020/0404846 A1, Dec. 31, 2020
Int. Cl. A01D 46/30 (2006.01); A01D 46/26 (2006.01); G05D 1/00 (2024.01); G05D 1/02 (2020.01)
CPC A01D 46/30 (2013.01) [A01D 46/26 (2013.01); G05D 1/0022 (2013.01); G05D 1/0061 (2013.01); G05D 1/0094 (2013.01); G05D 1/0278 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous agricultural vehicle, comprising:
a wheel-set operably connected with a power source;
a processing unit including a memory unit;
a controller operable to receive and transmit signals to said processing unit, wherein said controller is operable to control said wheel-set;
a wireless communication system electrically connected with said processing unit;
a global positioning satellite receiver electrically connected with said processing unit;
a first perception sensor electrically connected with said processing unit, wherein said first perception sensor is operable to detect environmental features; and
a second perception sensor electrically connected with said processing unit, wherein said second perception sensor is operable to detect a feature of a tree;
wherein said processing unit is operable to navigate an environment utilizing signals from said global positioning satellite receiver and said first perception sensor in a GPS guidance mode, wherein said processing unit is configured to transmit rhumb line guidance heading command signals to said controller as a function of said signals from said global positioning satellite receiver; and
wherein said processing unit is operable to navigate said environment utilizing signals from said first and second perception sensors without signals from said global positioning satellite receiver in a localization guidance mode, wherein said processing unit is configured to transmit heading and path command signals to said controller as a function of said signals from said first and second perception sensors;
wherein said processing unit is operable to switch from said GPS guidance mode to said localization guidance mode.