Abstract: A method and a system for operating a mobile robot comprise a range finder for collecting range data of one or more objects in an environment around the robot. A discriminator identifies uniquely identifiable ones of the objects as navigation landmarks. A data storage device stores a reference map of the navigation landmarks based on the collected range data. A data processor establishes a list or sequence of way points for the robot to visit. Each way point is defined with reference to one or more landmarks. A reader reads an optical message at or near one or more way points. A task manager manages a task based on the read optical message.

Abstract: A method and a system for operating a mobile robot comprise a range finder for collecting range data of one or more objects in an environment around the robot. A discriminator identifies uniquely identifiable ones of the objects as navigation landmarks. A data storage device stores a reference map of the navigation landmarks based on the collected range data. A data processor establishes a list or sequence of way points for the robot to visit. Each way point is defined with reference to one or more landmarks. A reader reads an optical message at or near one or more way points. A task manager manages a task based on the read optical message.

Abstract: A combine with a throughput dependent speed control includes an angle sensor responsive to uphill, downhill and sidehill slopes. When the combine is angled from a level position, harvest speed is lowered to prevent grain losses from increasing above a target level. The control continuously learns tilt angle, loss and throughput correlation, and the speed reduction is selected based upon the learned correlation. In the preferred embodiment, throughput is estimated utilizing rotor variable drive actuator pressure (RVDAP), and a target RVDAP is modified for short periods of time in accordance with the learned correlation.

Abstract: A vehicle speed sensing system includes an RF transceiver coupled to an antenna for transmitting an RF signal towards the terrain over which the vehicle moves and for receiving a reflected Doppler signal therefrom. The transceiver generates a time-domain in-phase reference signal I and a time-domain quadrature signal Q which is offset in phase by 90 degrees from the reference signal I. A digital signal processor which receives the I and Q signals, and uses a complex fast Fourier transform routine to convert the time domain I and Q signals to frequency domain values I(f) and Q(f). The digital signal processor further processes the I(f) and Q(f) values and generates a speed a direction signal which is unaffected by vehicle vibrations.

Abstract: A vehicle speed sensing system includes an RF transceiver coupled to an antenna for transmitting an RF signal towards the terrain over which the vehicle moves and for receiving a reflected Doppler signal therefrom. The transceiver generates a time-domain in-phase reference signal I and a time-domain quadrature signal Q which is offset in phase by 90 degrees from the reference signal I. A digital signal processor which receives the I and Q signals, and uses a complex fast Fourier transform routine to convert the time domain I and Q signals to frequency domain values I(f) and Q(f). The digital signal processor further processes the I(f) and Q(f) values and generates a speed a direction signal which is unaffected by vehicle vibrations.

Abstract: A combine with a throughput dependent speed control includes an angle sensor responsive to uphill, downhill and sidehill slopes. When the combine is angled from a level position, harvest speed is lowered to prevent grain losses from increasing above a target level. The control continuously learns tilt angle, loss and throughput correlation, and the speed reduction is selected based upon the learned correlation. In the preferred embodiment, throughput is estimated utilizing rotor variable drive actuator pressure (RVDAP), and a target RVDAP is modified for short periods of time in accordance with the learned correlation.

Abstract: An optoelectronic apparatus having a measurement region (38) for detecting the presence of damaged or cracked grain kernels in a population of grain kernels which are either in a stationary or moving state at the measurement region. The apparatus comprises a short-wave ultraviolet excitation light source (20) that emits a spectral line of a wavelength shorter than 300 nm, a non-imaging photon detector (22), and wavelength selector such as a dichroic beam-splitter (28) which serves to isolate the fluorescent light emitted in a certain spectral region by the endosperm of grain from the excitation light of the light source, as well as from other sources of light. The apparatus may be mounted in a combine harvester for the purpose of detecting the presence of damaged grain kernels that have endosperm exposed while harvesting.

Abstract: An optical particle flow monitoring system for monitoring particle flow through the primary and/or secondary tubes of an air dispensing system, such as an air seeder. The primary tubes include a particle sensor having at least one emitter lens body, which forms a substantially uniform, collimated beam which illuminates a sensing area in a seed tube in order to accurately monitor the number of particles flowing in the seed tube. In the preferred embodiment, optical fibers connect the emitter lens bodies to optical beam generating devices, and connect respective receiver lens bodies to optical beam detecting devices, with both the optical beam generating devices and the optical beam detecting devices being located remotely from the seed tubes for improved immunity to static electricity discharge.

Abstract: A seed monitor includes a planter master unit having one or more planter counting units connected to the planter master unit, with each planter counting unit associated with a different seed tube. Each planter counting unit includes a light source, a means for forming a light beam that traverses a sensing area of a seed tube, a detector and a processor. The circuit board connects the detector and light source with a processor. The processor adjusts the intensity of the light source and selects an output amplifier gain that is appropriate for the counting of seeds. In this manner, the planter monitoring system adjusts for long-term dust and dirt accumulation and aging of components. The processor processes the selected stage of amplified output from the detector and determines the number of seeds that have traversed the sensing area of the associated seed tube. The planter master unit receives binary data of the counted seed, and from this data, provides an output to the operator.

Abstract: An optical seed flow monitoring system for monitoring seed flow through the primary and secondary seed tubes in an air seeding system. The primary seed tubes include a primary seed sensor having a plurality of emitter lens bodies and receiver lens bodies. Optical fibers connect the emitter lens body to an optical beam generating device and the receiver lens body to an optical beam detecting device both positioned remotely from the seed tubes. Alternately, one or more of the secondary seed tubes can include a secondary seed sensor having an emitter lens body and a receiver lens body.

Abstract: An improvement in a light collecting system for an agricultural seed monitor is disclosed. The light collecting system includes three optical surfaces: a convex lens surface, a planar surface, and a total internal reflection, cone condenser surface. The convex lens surface is designed to collect light from a seed sensing area of a seed tube and form a converging light beam. The converging beam is then incident onto the planar reflecting surface, which folds the optical axis of the converging light. The converging light beam is then incident onto a non-imaging, total internal reflection cone condenser surface. In a preferred embodiment all three optical surfaces are formed on a single prism made of plastic, with the convex lens being a spherical surface having a radius of curvature of about 20 mm, and the cone condenser surface having an input aperture diameter of about 6 mm and an output aperture diameter of about 0.9 mm.

Abstract: An optical seed counting system for counting seeds that are dispensed through a plurality of seed tubes associated with a multiple row seed planter. Each seed tube includes an optical sensor having an emitter and a receiver. The emitter and the receiver each include lens components for shaping an optical beam. Optical fibers connect the emitter to an optical beam generating device and the receiver to an optical beam detecting device both positioned remotely from the seed tubes. The optical components of the emitter generate a substantially spatially uniform optical beam across a sensing area within the seed tubes. The detecting device generates a pulse signal where the period of the pulses represents the intensity of the optical beam in the sensing area. Seeds that are dispensed in the seed tubes interfere with the optical beam in a manner that affects the light intensity of the beam. Therefore, the change in intensity of the beam indicates the number of seeds.