Guidance and display system for work vehicles and implements

Abstract

This disclosure relates to a guidance display system for work vehicles and work implements. Specifically, a work vehicle guidance display system is provided, comprising: at least one imaging device disposed on the work vehicle; a display disposed on the work vehicle, the display being configured to display an image from the imaging device; and a controller configured to select a field of view of the imaging device for display, receive a static dimension associated with the work vehicle, receive a dynamic dimension associated with the work vehicle, and display on the display a field of view having a first machine travel path based on the static dimension and a second machine travel path based on the dynamic dimension.

Description

[0001] Cross-reference to related applications

[0002] This patent is a continuation-in-part of U.S. Patent Application Serial No. 16 / 424,772, filed May 29, 2019. The entire contents of U.S. Patent Application Serial No. 16 / 424,772 are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a guidance display system for use on work vehicles and / or work vehicles equipped with work implements. Background Technology

[0004] abbreviation

[0005] Infrequent abbreviations in this document are defined upon first use, while more frequent abbreviations are defined as follows:

[0006] HDD—Head-down display;

[0007] HUD—Head-up display;

[0008] FEL—Front-end loader; and

[0009] FOV—Field of View.

[0010] Work vehicles are typically equipped with specialized tools or work implements for performing tasks in agriculture, forestry, construction, and mining. Some work vehicles are equipped with a single work implement, which can be mounted to the front or rear of the vehicle. Other work vehicles may be equipped with both front and rear work implements. Work implements can be fixed to the work vehicle by design without intending to be disassembled on-site, as is the case with specialized work vehicles used in forestry and construction. In other cases, work implements can be modularly mounted to the work vehicle, allowing easy interchangeability with other work implements suitable for changing tasks. Such modular work implements are often used in conjunction with tractors capable of supporting both the front and rear work implements simultaneously.

[0011] In many cases, work implements can be mounted to a particular end of a work vehicle through a boom assembly that allows the work implement to move with multiple degrees of freedom relative to the work vehicle chassis. Again using a tractor as an example, a loader bucket, bale spear attachment, bale squeeze, grab fork, or another work implement can be detachably mounted to the front end of a tractor through a hydraulically actuated boom assembly. The boom assembly can allow the work implement to move within a relatively wide range of motion relative to the tractor chassis, and by limiting the operator's position relative to the visibility of the work implement and its surroundings. At the same time, the tractor can be navigated through a field or other work area containing obstacles and uneven terrain. These factors can make it difficult for the operator to consistently command movement of the work implement in the expected manner (e.g., along an optimal path in three-dimensional space) when performing material handling operations and other tasks that require relatively precise navigation of the work implement. As a result, overall productivity levels can be reduced, while placing an undesirably high mental load on the operator of the work vehicle. SUMMARY

[0012] A display system for use on a work vehicle is disclosed. Embodiments of the work vehicle display system include at least one imaging device disposed on the work vehicle, a display disposed on the work vehicle configured to display images from the imaging device, and a controller configured to select a field of view of the imaging device to display, receive static dimensions associated with the work vehicle, receive dynamic dimensions associated with the work vehicle, and display the field of view on the display with a first machine travel path based on the static dimensions and a second machine travel path based on the dynamic dimensions.

[0013] In other embodiments, a method of displaying a work vehicle travel path is provided, the method including the steps of selecting, with a controller on the work vehicle, a field of view from a plurality of imaging devices associated with the work vehicle, generating, with the controller, a first machine travel path based on static dimensions associated with the work vehicle, generating, with the controller, a second machine travel path based on dynamic dimensions associated with the work vehicle, and displaying the field of view on a display within the work vehicle with the first machine travel path and the second machine travel path.

[0014] In other implementations, a work vehicle display system is provided that includes at least one imaging device disposed on a work vehicle, a display disposed on the work vehicle, the display configured to display images from the imaging device, and a controller configured to select a field of view of the imaging device to display, receive a static dimension associated with the work vehicle, receive a dynamic dimension associated with the work vehicle, generate a first machine travel path based on the static dimension and a second machine travel path based on the dynamic dimension, and send the larger of the first machine travel path or the second machine travel path to the display.

[0015] The details of one or more implementations are set forth in the accompanying drawings and the description below. Other features and advantages will become apparent from the description, the drawings, and the claims. BRIEF DESCRIPTION OF DRAWINGS

[0016] At least one example of the present disclosure will be described hereinafter with reference to the following drawings:

[0017] Figure 1 is a side view of an example work vehicle (here, a tractor) equipped with an embodiment of an implement guidance display system according to the present disclosure;

[0018] Figure 2 is a schematic diagram illustrating various components, all or some of which are suitably included in the example implement guidance display system shown in Figure 1 ;

[0019] Figures 3-5 illustrates a forward implement guidance display screen presented on a HUD device (center) and a HDD device or monitor (lower right), either or both of which can be included in the example implement guidance display system of Figure 2 ;

[0020] Figure 6 shows a rearward implement guidance display screen as presented on a monitor as shown in Figure 5 , which can be selectively generated by the example implement guidance display system in addition to or instead of the forward implement guidance display screen shown in Figures 3-5 ;

[0021] Figure 7 and Figure 8 respectively illustrate top-down and isometric implement guidance display screens, which can be generated by the example implement guidance display system in addition to or instead of the implement guidance display screens shown in Figures 3-6 ; and

[0022] Figure 9 This example illustrates a scenario where, when the work implement under consideration (here, the FEL bundling spear attachment) is loaded, the implement guidance symbol (symbology) is temporarily suppressed or hidden. Figures 3-5 The monitor shown displays a guide screen for the equipment being guided ahead.

[0023] Figure 10 This is a side view of an example work vehicle (here, an excavator) equipped with an embodiment of the guidance display system according to this disclosure;

[0024] Figure 11 This is a schematic diagram illustrating various components, some of which are appropriately included. Figure 1 The example shown illustrates the system;

[0025] Figures 12A-12B A top view of a work vehicle with static dimensions along the direction of travel is shown. Figure 12A ) and a display screen showing the static dimensions of the work vehicle along the direction of travel ( Figure 12B The top view and either or both of the displayed screen may be included. Figure 2 Example display system;

[0026] Figures 13A-13B A top view of a work vehicle with static and dynamic dimensions along the direction of travel is shown. Figure 13A ) and a display screen showing the static and dynamic dimensions of the working vehicle along the direction of travel. Figure 13B The top view and either or both of the displayed screen may be included. Figure 2 Example display system;

[0027] Figures 14A-14B A top view of a work vehicle with dynamic dimensions along the direction of travel is shown. Figure 14A ) and a display screen showing the dynamic dimensions of the work vehicle along the direction of travel ( Figure 14B The top view and either or both of the displayed screen may be included. Figure 2 Example display system;

[0028] For the sake of simplicity and clarity, descriptions and details of well-known features and techniques may be omitted to avoid unnecessarily obscuring the exemplary and non-limiting embodiments of the invention described in the following detailed description. It should also be understood that, unless otherwise stated, features or elements appearing in the drawings are not necessarily drawn to scale. Detailed Implementation

[0029] Embodiments of the present disclosure are illustrated in the accompanying drawings, which are briefly described above. Various modifications to the exemplary embodiments will be conceived by those skilled in the art without departing from the scope of the invention as set forth in the appended claims.

[0030] Overview

[0031] Some work vehicles may be equipped with onboard or in-cab displays showing symbols or graphics (e.g., diagrams, live images) of the work vehicle, and one or more guidelines overlaid on this representation corresponding to the direction of travel of the work vehicle. When the work vehicle has static dimensions (such as a work vehicle with a fixed width), the guidelines displayed on the display are generally easy to generate and do not require in-process adjustment. However, pivoting, rotating, or articulated work vehicles (e.g., tracked feller bunchers, excavators, or articulated dump trucks) may have one or more dynamic dimensions opposite to the static dimensions, and the displayed guidelines should change as the angle of rotation, pivoting, or articulation of the work vehicle changes. This disclosure provides a display system and method for displaying guidelines on a display representing both static and dynamic dimensions to show the actual path of the machine.

[0032] The following describes an implementation of a tool guidance display system for use on work vehicles having one or more static and dynamic dimensions (e.g., due to components of the work vehicle or due to work implements attached to the work vehicle). During operation, the tool guidance display system generates certain unique symbols or graphics (referred to herein as "tool guidance symbols") that help the operator of the work vehicle control the movement of the work implements in an expected, predictable, and precise manner. Tool guidance symbols may take different forms and visually convey key information items related to the anticipated movement of one or more work implements, whether due to the independent movement of the work implements relative to the chassis of the work vehicle, due to the movement of the chassis itself, or due to a combination of both. By providing this visual guidance or cues in the form of tool guidance symbols as described below, implementations of the tool guidance display system enhance operator awareness and effectiveness, reducing the mental burden on the operator and improving overall productivity when performing tasks requiring relatively precise and / or repetitive movement of work implements, such as material handling operations.

[0033] This implement guidance system can be used to provide the operator of the work vehicle with a graphical representation of the projected trajectory of the implement relative to the target to which it is to be applied. For example, the implement could be the bucket of a loader aligned with the front end of a gravel pile. In such a case, the bucket can be raised and lowered via the boom or loader arm, and pivoted about a lateral axis that mounts the bucket to the loader arm (perpendicular to the heading or direction of travel of the work vehicle). In other examples, the implement can have one or more additional degrees of freedom, such as pivoting about a vertical or other upright axis aligned with the direction of travel and / or a longitudinal axis. Furthermore, the implement can be mounted to the work vehicle via a jointed or spliced ​​boom link that allows the implement to move relative to the work vehicle in three dimensions and allows the implement to be oriented in various orientations relative to the work vehicle. The felling end or saw end of a feller buncher is one such example, in which the saw end is attached to the boom linkage mounted to the work vehicle via an articulated wrist, so that the position and orientation of the saw end can move substantially unrestricted relative to the work vehicle.

[0034] Therefore, the prediction of the implement's trajectory can be achieved by assessing only the implement's motion relative to the chassis of the work vehicle (according to one or both of the implement's spatial position and orientation), or by combining it with an assessment of the work vehicle's orientation. The implement's motion can be a single-degree-of-freedom motion, such as only a change in the implement's spatial position or orientation relative to the chassis of the work vehicle (e.g., only pivoting motion, such as bucket tilting), or the implement's motion can be a multi-degree-of-freedom composite motion affecting both the implement's spatial position and orientation (e.g., raising / lowering the loader boom and tilting the bucket, or extending / retracting, swinging, and tilting the bucket on the boom link). In other contexts, such composite motion can include additional degrees of freedom. For example, in the case of the saw tip of a log stacker, this could include rotation about a front-to-rear axis generally along the work vehicle's direction of travel.

[0035] In implementations, implement path symbols may include graphics that visually identify the path along which the implement is projected to travel; for example, operator input commands determining movement of the implement chassis or the implement itself (again assuming it can move independently of the chassis) based on the implement's current orientation (e.g., spatial position and attitude), and / or sensor data describing the implement's current state of motion. This graphic (referred to herein as a "projected implement path graphic") can be aligned with the implement's current orientation, as generated on a display screen containing the implement path symbols (referred to herein as a "implementation path display"). The projected implement path graphic may also convey other useful information about the implement, such as its critical dimensions (e.g., maximum width). In implementations, in at least some cases, default, baseline, or "zero-deviation" implement path graphics may be selectively generated in conjunction with the projected implement path graphic on the implementation path display. During generation, the zero-deviation tool path graphic usefully provides a visual comparison with the expected tool path graphic, especially when there is a significant deviation from the zero-deviation path; that is, the path traveled by the tool when it is in a predetermined vertical position (e.g., lowered or near the ground) and when the work vehicle chassis is traveling along a straight line in the forward direction (when the tool guide symbol is about the work tool in front) or the backward direction (when the tool guide symbol is about the work tool behind).

[0036] In some cases, such as when a work implement is attached to a work vehicle in a spatially fixed manner relative to the chassis, the zero-deviation implement path diagram can correspond to the orientation of the work vehicle chassis. In such cases, the zero-deviation implement path diagram can be considered as the expected trajectory of the work vehicle. In other cases, the zero-deviation implement path will deviate from the orientation of the work vehicle, so that it will not indicate the expected trajectory of the work vehicle. In this case, or even if not, a work vehicle path diagram can be generated and visually displayed to the operator along with the implement path diagram. This work vehicle trajectory path can be provided in both forward and backward travel directions, or when the work vehicle is stationary and steering input is provided by the operator or other onboard or remote steering controls.

[0037] In some cases, the graphics used for both tool trajectory prediction and work vehicle trajectory prediction (as well as zero-deviation tool paths) may be identical or completely overlapping if displayed simultaneously on the same screen. However, these graphics are typically displayed as the different predictions they represent. For example, a work vehicle trajectory prediction graphic may take a generally two-dimensional planar form (such as when the work vehicle is on level ground and / or stationary), or it may take a generally three-dimensional form following or within a coherent, adjacent, or overlapping reference plane continuum (such as when the work vehicle is on or traversing uneven terrain). Similarly, a work tool trajectory prediction may take the form of a generally two-dimensional planar graphic, or follow or lie within a generally three-dimensional planar continuum. In all cases where the trajectory of the work vehicle differs from that of the work implement, these graphics will be represented in different planes or plane continuums, such that one plane or plane continuum is vertically but parallel to another plane or plane continuum, or at an angle to another plane or plane continuum, such as an angle relative to one or more planes of the projected trajectory of the work vehicle in one or more inclined planes containing vertical and forward / backward travel components or vertical and lateral / sideways (perpendicular to the travel direction) components.

[0038] Furthermore, depending on the type of work implement and its degrees of freedom of movement, the expected orientation or direction of travel of the work implement may or may not be aligned with that of the work vehicle. For example, a work implement fixed in a spatial position relative to the chassis of a work vehicle and capable only of pivoting about one axis to change its orientation along one dimension will typically follow the orientation of the work vehicle. However, the orientation of the work vehicle can often differ from that of work implements with more degrees of freedom, such as those mounted via booms, wrist joints, or various swivel joints or multi-directional knuckles.

[0039] When a work implement reaches the far end or distant edge of the projected work implement path, other implement guidance symbols potentially generated by the implement guidance display system include: graphic elements (e.g., signs or icons) identifying the projected future orientation of key features of the work implement, such as the leading bale spear tip of a bale spear attachment; the terms “far,” “distant,” “near,” and “near” as used herein are defined based on proximity to the work vehicle chassis. Implementations of the implement guidance display system may also generate other graphics or symbols related to the movement and positioning of the work implement, including but not limited to: (i) a graphic depiction of the type of work implement currently mounted to the work vehicle (as usefully presented when the implement guidance display screen is generated as an HDD in which the actual work implement is not visible), (ii) a graphic indicating the current tilt angle of the work implement (when tilting relative to the work vehicle chassis is possible), and / or (iii) a graphic visually representing the projected path of the work vehicle chassis (referred to herein as a “projected vehicle path graphic”).

[0040] In various implementations, the tool guidance symbol can be generated in a three-dimensional format and visually integrated into (e.g., overlaid or superimposed) a real-world view of the environment surrounding the working tool. As an example, the tool guidance symbol can be generated on a HUD device with a transparent screen through which the operator observes the surrounding environment of the working tool while seated at the operator's table or cab of the working vehicle. Alternatively, a live video feed can be presented on an HDD device (e.g., a monitor) located within the operator's table, wherein the tool guidance symbol is superimposed on or otherwise visually integrated into the live video feed and aligned with the current vertical position of the working tool (when movable relative to the chassis of the working vehicle). In other cases, the tool guidance symbol can be presented against a background of a virtual representation of the environment surrounding the working vehicle; this is the case, for example, when the tool guidance display is presented in a three-dimensional (e.g., stereoscopic or isometric) format, as seen from a vantage point some distance away from the working vehicle. In other cases, the machine guidance display can be generated in a two-dimensional format, such as a horizontal (top-down) display or a vertical display. In particular, when generated as a horizontal or top-down display, the machine guidance symbols can again be integrated into a live video feed of the environment surrounding the work vehicle (such as that captured by multiple imaging devices (e.g., cameras) positioned around the work vehicle) and combined accordingly with the camera feed.

[0041] The implement guidance display system can generate any actual number of implement guidance display images on at least one display device located in the operator's console of the work vehicle; or it may generate the implement guidance display images on a display device carried to the operator's console by the operator of the work vehicle. For example, in some cases, the implement guidance display system may selectively generate: (i) a forward-view display image (referred to herein as the "forward implement guidance display image"), which presents implement guidance symbols corresponding to implements mounted to the front of the tractor or other work vehicle, and (i) a rear-view display image (referred to herein as the "rear implement guidance display image"), which presents implement guidance symbols corresponding to implements mounted to the rear of the work vehicle. In such cases, the forward implement guidance display image and the rear implement guidance display image may be generated simultaneously on a single display device (e.g., in a side-by-side or picture-in-picture format), simultaneously on different display devices, and / or mutually exclusive on a single display device. At this latter point, the operator can switch between the presentation of the front machine guide display screen or the rear machine guide display screen on the display device via interaction with the display device (e.g., via touch input if the display device is capable of touch input) or by using another operator input device.

[0042] Now, refer to Figures 1-9 The following describes an example of a work vehicle equipped with a tool guidance display system. In the example described below, the work vehicle takes the form of a tractor equipped with two work implements: a FEL baling spear attachment and a rear baling spear attachment. However, it should be emphasized that the implementation of the tool guidance display system is not limited to use with any particular type of work vehicle, as long as the work vehicle is equipped with (or can be equipped with) at least one work implement, regardless of whether the work implement is movable relative to the vehicle's body or chassis. Typically, the implementation of the tool guidance display system can then be integrated into a wide variety of work vehicles equipped with various types of work implements. Just to provide a few additional examples, the implementation of the display system can usefully generate a non-exhaustive list of other work implements and work vehicles for tool guidance symbols, including: logging heads of log stackers, excavator buckets (or other end effectors), bulldozer blades, and various other attachments mounted to the front or rear of a tractor (e.g., baling clamps, forklifts, FEL buckets, etc.).

[0043] For the purposes of this disclosure, the term "work implement" and its derivatives refer to components of a work vehicle, such as those used in agriculture, construction, forestry, mining, or other such industries, which are attached to or otherwise carried by the work vehicle and used to perform work actions on objects outside the work vehicle itself. This includes the implements mentioned above, as well as many other attachments and end effectors, and excludes various other components of the machine that are used as part of the work vehicle to operate the work vehicle itself. Examples of such work vehicle components excluded from the listed work implements include, but are not limited to, various engines, motors, actuators, and steering mechanisms (including steerable and non-steerable (differential) wheels).

[0044] Example of a work vehicle equipped with work implements and a work implement guidance display system

[0045] Figure 1 This is a side view of a work vehicle (here, loader 20) equipped with an implementation of a implement guidance display system, which is schematically represented by box 22 and is described below in conjunction with... Figures 2-9 For a more comprehensive discussion, in addition to the implement guidance display system 22, the loader 20 includes a wheeled body or chassis 24 and an operator's cab or cab 26. The FEL strapping spear attachment 28 and the rear strapping spear attachment 30 (here, a three-point coupling attachment) are respectively mounted to the front and rear ends of the tractor chassis 24. Specifically, the FEL strapping spear attachment 28 is mounted to the front end of the tractor chassis 24 via a hydraulically actuated boom assembly 32, which allows the FEL strapping spear attachment 28 to move relative to the tractor chassis 24 in multiple degrees of freedom. In contrast, the rear strapping spear attachment 30 is mounted to the rear end of the tractor chassis 24 in a fixed relationship, such that the attachment 30 cannot move relative to the chassis 24. However, in other embodiments, the rear strapping spear attachment 30 (or a different rear-mounted implement) can be mounted to the rear of the tractor chassis 24 via the boom assembly, or perhaps in another manner that allows the attachment 30 to move relative to the tractor chassis 24 in one or more degrees of freedom.

[0046] exist Figure 1 In the example, the hydraulically actuated boom assembly 32 includes: a rear bracket 34 fixed to the tractor chassis 24, a front bracket 36 to which the FEL bundling spear attachment 28 is pivotally attached, and an intermediate or middle bracket 38 located between the brackets 34 and 36. A double top loader boom 40 (one of which can be...) Figure 1As seen in the image, the rear support 34 is pivotally attached to the middle support 38, which in turn is attached to the front support 36 via the dual lower loader arms 42 (again, only one of the lower dual loader arms is visible). Dual hydraulic lifting cylinders 44 are also mounted between the rear support 34 and the middle support 38, while dual hydraulic bucket cylinders 46 are mounted between the middle support 38 and the front support 36. Hydraulic lines (not shown) are further present on the boom assembly 32 and are fluidly connected to a pressurized hydraulic fluid supply source on the loader 20 in a manner that allows the operator seated in the operator's cab 26 to control the hydraulic cylinders 44, 46.

[0047] The operator can command the boom assembly 32 to extend the hydraulic lifting cylinder 44 in a desired manner, thereby raising the FEL bundling spear attachment 28 from the illustrated home orientation (i.e., the untilted lowered position). As the hydraulic lifting cylinder 44 extends, the FEL bundling spear attachment 28 is raised from... Figure 1 The illustrated method involves lowering the bucket in situ, traveling through the intermediate or mast-level position, and finally raising it to its full height position above the operator's platform 26. Similarly, as the hydraulic bucket cylinder 46 retracts in response to an operator command, the boom assembly 32 causes the FEL bunkering spear attachment 28 to... Figure 1 The forward-facing angle shown is tilted towards a gradually upright orientation, causing the bundling spear included in the FEL bundling spear attachment 28 to rotate upwards toward the hood or windshield of the loader 20. Conversely, from the full-height position, the operator can control the boom assembly 32 to cause the hydraulic cylinders 44, 46 to travel in the opposite direction, thereby returning the FEL bundling spear attachment 28 to its original position. Figure 1 The lowered, untilted lowered position is shown. The operator can control the cylinders 44, 46 to extend and retract as needed by moving a suitable control interface (e.g., a joystick) located within the operator's console 26 of the loader 20.

[0048] Advance to Figure 2 According to an exemplary embodiment of this disclosure, an example of a device being appropriately included in the machine guidance display system 22 is illustrated. Figure 1The implement guidance display system 22 may include multiple components, as schematically shown, including the following components or subsystems, each of which may take the form of a single device or multiple interconnected devices: (i) a controller 48, (ii) at least one display device 50, (iii) a computer-readable storage medium or memory 52, (iv) one or more implement data sources 54, and (v) one or more additional data sources 56. The aforementioned components may be operatively interconnected using any suitable combination of wireless or wired (e.g., bus) connections 58. Furthermore, in implementations that overlay or otherwise visually integrate the implement guidance symbols described below onto or into the live video feed (or multiple video feeds) of the environment surrounding the working implement engaged with the loader 20, the implement guidance display system 22 may also include one or more imaging devices 60, 62, 64.

[0049] As used herein, the term "machinery data source" refers broadly to any device, system, or sensor that provides data relating to working implements mounted to a working vehicle. Machine tracking data may, for example, include information relating to the current or predicted movement of the working vehicle chassis, and information relating to the current or predicted movement of the working implement while it is movable relative to the working vehicle chassis. Therefore, using data mounted to a loader 20 ( Figure 1 Taking the FEL bundling spear attachment 28 as an example, the implement data source 54 may include operator input controls 66 for controlling the movement of the tractor chassis 24, such as a steering wheel 88 as described below (see below). Figures 3-5 Additionally, the machine data source 54 may include operator input controls 66 for controlling the movement of the boom assembly 32, such as the joystick 90 described below (see again). Figures 3-5 ).

[0050] The implement data source 54 may also include one or more implement tracking sensors 68, which are used to monitor the current orientation (including spatial position and attitude) of the implement relative to the chassis of the work vehicle when the implement can move independently relative to the chassis of the work vehicle; for example, as in the case of FEL bundle spear attachment 28 ( Figure 1 In the case where the hydraulically actuated boom assembly 32 is mounted to the front end of the loader 20, the sensor 68 may be a proximity sensor, a displacement sensor (e.g., for measuring hydraulic piston stroke), or any other device capable of providing data that determines the current orientation of the work implement relative to the work vehicle chassis (e.g., tractor chassis 24). Furthermore, in some embodiments, the field of view (FOV) of one or more imaging devices mounted to the loader 20 may cover the work implement (such as... Figure 1The range of motion of the FEL bundle-tying spear attachment 28 is shown. In this case, the controller 48 can also perform image analysis on the video feed provided by this imaging device regarding the current orientation of the work implement (e.g., the FEL bundle-tying spear attachment 28) at a given time. Information about the past and current orientation of the FEL bundle-tying spear attachment 28 (or another independently movable work implement) can also be tracked, stored in memory 52, and then retrieved by the controller 48 from memory 52 as needed.

[0051] In a more complex implementation, the controller 48 may take into account the current motion state of the work implement when establishing the expected trajectory of the work vehicle implement. In this implementation, the implement tracking sensor 68 may further include sensors for monitoring the orientation of the work implement and sensors for directly monitoring the motion state of the FEL bundling spear attachment 28 (or other work implement). In this regard, in the implementation, one or more accelerometers or gyroscopes may be mounted to the area of ​​the FEL bundling spear attachment 28 and / or the boom assembly 32. If accelerometers or gyroscopes are present, such sensors may also be used to determine the tilt angle of the FEL bundling spear attachment 28, information which is utilized when the implement guidance display system 22 generates the implement guidance symbols described below. In some implementations, multi-axis accelerometers and multi-axis gyroscopes implemented as microelectromechanical systems (MEMS) devices and, for example, packaged as inertial measurement units (IMUs) may be used; for example, fixed to the distal end of the FEL bundling spear attachment 28 or the boom assembly 32 for capturing such data. Displacement measurements can also be considered within a predetermined time period to determine the motion state of the work implement relative to the work vehicle chassis by monitoring changes in position over time. Any or all of this data can be fed back to the controller 48 in real-time or near real-time and combined with (or in place of) operator input commands received from the input control 66 to determine the current orientation and motion state of the FEL bundling spear attachment 28 in order to predict the trajectory of attachment 28. In other cases, the implement guidance display system may not have such sensors, as long as the current orientation of any independently movable work implement (e.g., the FEL bundling spear attachment 28) can be determined by the controller 48 as needed.

[0052] In at least some implementations of the tool guidance display system 22, other types of sensors 70 that transmit additional data or measurement results related to a given working tool may also be included in the tool data source 54. Such additional tool sensors 70 may include sensors that provide data from which the load state of the working tool can be determined; that is, whether the working tool is fully loaded, unloaded, or possibly partially loaded. For this purpose, various types of tool sensors 70 may be utilized, including, for example, force sensors that measure the load borne by the tool at a given time, distance measuring devices for determining when an object engages with the tool, and / or imaging devices that provide video feeds from which the load state of the working tool can be determined by the controller 48 through image analysis. In other cases, such additional tool sensors 70 may be omitted from the tool guidance display system 22.

[0053] Continue to refer to Figure 2 The controller 48 of the machine guidance display system 22 may take any form suitable for performing the functions described throughout this document. Furthermore, the term "controller" as used herein is used in a non-limiting sense to generally refer to the processing architecture of the machine guidance display system 22. The controller 48 may encompass or be associated with one or more processors, control computers, navigation devices, computer-readable storage (including or excluding memory 52), power supplies, storage devices, interface cards, and other standardized components. The controller 48 may also include any number of firmware and software programs or computer-readable instructions designed to perform various processing tasks, calculations, and the control / display functions described herein, or may cooperate with said firmware and software programs or computer-readable instructions.

[0054] The memory 52 can encompass any amount and type of storage medium suitable for storing computer-readable code or instructions, as well as other data used to support the operation of the machine guidance display system 22. Furthermore, although in Figure 2 The memory 52 is illustrated as a separate frame, but it can be integrated into the controller 48, for example, as a system-in-package, system-on-a-chip, or another type of microelectronic package or module. In embodiments, the memory 52 may store at least one local database 72, 74 for generating the implement guidance symbols described below. For example, in some implementations, the memory 52 may store an implement attribute database 72 containing information related to different implement types (such as key dimensions, key physical properties) and / or files containing different graphical depictions of different types of work implements. As a more specific example, in embodiments where different types of work implements can be attached to work vehicles, such as in… Figure 1In the case of the loader 20 shown, the controller 48 can be configured to determine the type of work implement currently attached to the work vehicle, and then, when generating one or more implement guidance displays, generate certain implement-specific graphics corresponding to the determined type of work implement, such as those retrieved from the database 72. Further discussion on this is provided below. Finally, in some cases, the memory 52 may also contain other types of databases 74, such as a terrain database storing information related to topology, key geographic features, and / or the terrain type of the swath traversable by the loader 20. In other embodiments, the display system 22 may be without either or both of the databases 72 and 74.

[0055] In embodiments of the machine guidance display system 22, the display device 50 may be fixed to the static structure of the operator's console 26 and implemented using an HDD or HUD configuration. Alternatively, the display device 50 may be freely movable relative to the static structure of the operator's console 26 and may take the form of, for example, a near-eye display device or other operator-worn display devices. When taking the form of an operator-worn display device, or when taking the form of a HUD device fixed to the operator's console 26 of the work vehicle, the screen of the display device 50 may be completely or partially transparent, and the machine guidance symbols described below may be superimposed on or over the "real-world view" of the environment surrounding the work machine, as seen through a transparent display screen. As used herein, the term "real-world" refers to an actual view of the environment surrounding the work machine or the work area, rather than a virtual or synthetic recreation thereof. In other embodiments, the display device 50 may take the form of a portable electronic display device, such as a tablet computer or laptop computer, which is carried by the operator to the operator's console of the work vehicle (e.g., the operator's console 26 of the loader 20) and communicates with various other components of the implement guidance display system 22 via physical or wireless connections to perform the display functions described below.

[0056] During operation, the equipment guidance display system 22 generates one or more equipment guidance display screens 76 and 78 on the display device 50, each screen including equipment guidance symbols 80 and 82. For example, Figure 2As schematically shown, the machine guidance display system 22 can generate a front machine guidance display screen 76 and / or a rear machine guidance display screen on the display device 50. In some cases, the machine guidance display system 22 can generate display screens 76 and 78 simultaneously. For example, in this case, the machine guidance display screens 76 and 78 can be presented on separate screens of multiple display devices 50, or alternatively, in a picture-in-picture or side-by-side format on a single screen of one display device 50. However, more generally, the machine guidance display system 22 can generate the machine guidance display screens 76 and 78 in a mutually exclusive manner; that is, such that at a given point in time, only one of the front machine guidance display screen 76 and the rear machine guidance display screen 78 is displayed on the display device. In this latter case, an operator can be allowed to switch between the desired machine guidance display screens 76 and 78 using appropriate operator controls, which can be located on or near the display device 50. Alternatively, the controller 48 can automatically select the appropriate guidance display screens 76 and 78 based on the specific direction the work vehicle 20 is currently traveling and / or the specific work implement currently controlled by the operator. During the operation of the implement guidance display system 22, other types of implement guidance display screens can also be generated on the display device 50, as follows: Figure 7 and Figure 8 Further discussion is needed.

[0057] Next, proceed to... Figure 3 This shows an example front view of the loader 20 from the operator's console 26 in an embodiment equipped with the display system 22. Here, it can be seen that the loader 20 includes a windshield or glare 84 through which the environment surrounding the FEL bundling spear attachment 28 can be seen (not visible in the view). The operator's seat 86 (partially shown) is located within the operator's console 26, positioned behind the steering wheel 88 and near the control lever 90. Figure 3 As further shown in the lower right, the HDD device or monitor 92 may also be located within the operator's console 26 of the loader 20, along with various other operator input controls (such as the button group 94 found directly below the monitor 92). In an exemplary example, the implement guidance display system 22 is depicted as generating two different types or formats of implement guidance display screens, each including similar implement guidance symbols. The first example implement guidance display screen is HUD 96, which is generated on the HUD device (hereinafter referred to as "HUD device 98") indicated by the dashed box 98, and includes implement guidance symbol 100. The second example implement guidance display screen is HDD 102, which is generated on the monitor 92 (HDD device), and also includes implement guidance symbol 104.

[0058] Although Figure 3In the examples (and also discussed below) Figure 4 and Figure 5 The text describes two different machine guidance displays (HUD 96 and HDD 102) as being generated simultaneously, but in implementations, the machine guidance display system 22 can (and typically will) generate only one of HUD 96 and HDD 102. Both HUD 96 and HDD 102 are shown in the original text for two reasons. Figure 3 As shown in the illustration. First, HUD 96 and HDD 102 use similar symbols and are therefore conveniently described together. Second, the illustrative example of a loader 20 including implement guidance displays implemented as both HUD (HUD 96) and HDD (HDD 102) further emphasizes that the implement guidance displays described herein can be generated in various different formats and methods; and, in many cases, can be selected or customized by the operator of the loader 20 (or the tractor supplier). In the illustrative example, both HUD 96 and HDD 102 are forward implement guidance displays; therefore, each display typically corresponds to... Figure 2 The forward machinery guidance display screen 76.

[0059] HUD device 98 may include a transparent screen, the transparent screen at least covering Figure 3 The area shown in the dashed box (HUD 96) is as perceived when the operator of loader 20 is seated in operator seat 86. The transparent screen can be fixed to a static base structure within operator console 26, or alternatively worn by the operator in some way. In either case, the implement guidance symbol 100 can be generated via the transparent screen of HUD device 98 in a three-dimensional format corresponding to the real-world view. Where appropriate, additional techniques can be employed to better integrate or blend the implement guidance symbol 100 into the real-world view seen through HUD device 98. Such techniques may include masking certain areas of the implement guidance symbol 100 where it intersects with such obstacles or geographical features when implement guidance display system 22 detects obstacles or geographical features in front of loader 20; for example, due to the inclusion of ranging equipment within display system 22, including topographic information database 74, etc.

[0060] The symbols included in the machine guidance symbols 100 presented on the HUD 96 will vary between implementations and may potentially change over time in a single implementation, for example, based on user customization and / or certain dynamic factors (discussed below). The following discussion will focus on Figures 3-5 The front view shown from the loader 20 thus focuses on the FEL bundling spear attachment 28, which is attached to the front of the tractor via the boom assembly 32. Figure 1The following discussion also applies to other types of work implements mounted to boom assembly 32, such as FEL buckets, balesqueeze, forklift attachments, etc., in which case certain graphics and graphic aspects included in the implement guide symbols (e.g., the spearhead symbol described below and the width of the expected implement path graphic described below) will be changed accordingly.

[0061] exist Figure 3 In the example, the machine guidance symbol 100 generated on the example HUD 96 includes at least two main graphic features or elements: (i) a projected machine path graphic 110, and (ii) a leading spearhead mark 112. Hereinafter, graphic 110 and mark 112 may be more broadly referred to as “machine trajectory symbols” because each of these visual elements or graphics represents the projected trajectory or path that the machine under consideration (here, the FEL bundle spear attachment 28) is predicted to take, as determined by the controller 48 of the display system 22 based on machine tracking data provided to the controller. In other cases, different types of machine trajectory symbols may be generated on the machine guidance display screen in addition to or in place of the projected machine path graphic 110 and leading spearhead mark 112. For example, in some cases, symbols or graphics representing the machine under consideration and presented in an unobstructed manner (e.g., partially transparent) can be generated on the HUD 96 (or other machine guidance display) to visually represent the machine's expected future orientation.

[0062] For the graphic 110 displayed in more detail on the HUD 96, the projected implement path graphic 110 provides a visual representation of the path along which the considered implement (here, the FEL bundle spear attachment 28) is predicted to travel by the controller 48. As a non-limiting example, in this exemplary embodiment, the projected implement path graphic 110 is given a track-like or path-like appearance. Specifically, the projected implement path graphic 110 is generated as a track or path having: two forward-extending segments 114 extending a distance in a forward direction away from the front end of the loader 20; and a plurality of horizontally or laterally extending crossbars 116 extending between these forward-extending segments 114. The arrangement of the crossbars 116 provides the observer with a sense of distance, as the perceived width of the crossbars 116 becomes shorter with increasing distance from the operator's table 26. Again, note that in this example, the projected implement path graphic 110 is generated in a three-dimensional (contrast to isometric) format. Therefore, the expected implement path diagram 110 visually conveys the expected or predicted path that the FEL bundle spear attachment 28 will travel a predetermined distance in front of the loader 20.

[0063] In this implementation, the controller 48 of the display system 22 usefully generates a projected implement path graphic 110 to align with the current orientation of the FEL bundling spear attachment 28 for rapid visual association with the FEL bundling spear attachment. In this regard, the controller 48 can repeatedly determine the current vertical position of the FEL bundling spear attachment 28 (or other work implements) relative to the tractor chassis 24, and then generate or update the HUD 96 to align the implement trajectory symbol (specifically, the projected implement path graphic 110) with the current vertical position of the attachment 28. Additionally, in this implementation, the actual width of the projected implement path graphic 110 (in...) Figure 3 The width of the FEL bundle spear attachment 28 (indicated by double-headed arrow 118) can be substantially equal to the maximum width of the FEL bundle spear attachment 28; the term "substantially equal to" as used herein means a difference of less than 10%. Here, the actual width of the projected implement path diagram 110 may be constant along its length (truncated in the forward direction), but when the path diagram 110 is generated in a three-dimensional format, this actual width appears smaller as the distance from the loader 20 increases. Therefore, the operator can scan the projected implement path diagram 110 at any point along its length and generally determine the position of the outer edge of attachment 28 (as projected in a future time frame). This can be used to increase the operator's awareness of the likely location of attachment 28 as it moves along the path identified by the projected implement path diagram 110, to determine, for example, whether the outer edge of attachment 28 is very close to or might collide with a nearby obstacle.

[0064] like Figure 3 As shown, in addition to the projected implement path graphic 110 and / or the leading spearhead mark 112, a graphic 106 (referred to herein as "projected vehicle path graphic 106") representing the projected trajectory or path of the tractor chassis 24 can also be generated on the HUD 96. In the exemplary example, the projected vehicle path graphic 106 takes the form of a dashed centerline; however, in other implementations, the projected vehicle path graphic 106 may have an alternative appearance, such as with... Figure 8The projected vehicle path graphics shown are two parallel tracks with similar or identical appearances. In an embodiment, as seen from the operator's console 26, the projected vehicle path graphics 106 and the projected implement path graphics 110 can be graphically projected or mapped onto the same plane. However, it should be appreciated that the projected implement path graphics 110 can be graphically projected onto a separate plane that may be tilted or angled relative to the plane onto which the projected vehicle path graphics 106 are mapped when the FEL bundle spear attachment 28 is predicted to move vertically. Alternatively, when the FEL bundle spear attachment 28 is in a different (e.g., raised) vertical position but is not predicted to move vertically by the controller 48 of the display system 22, the projected implement path graphics 110 can be graphically projected or mapped onto a plane that extends parallel to the plane onto which the projected vehicle path graphics 106 are mapped. In other implementations, the projected vehicle path graph 106 can be visually integrated into the HUD 96 in another way (e.g., by mapping onto topographical information of the terrain (if known)), or omitted entirely from the HUD 96.

[0065] Discussing the next marker 112, when the FEL bundling spear attachment 28 reaches the far end (far end) of the path represented by the projected implement path diagram 110, the leading spear tip marker 112 visually indicates the projected position of the leading tip of one or more of the longest spears (here, the center spear) included in the FEL bundling spear attachment 28. In other embodiments, additional spear tip markers (perhaps with a varied, less obvious appearance) may be generated by the display system 22 to indicate the projected future positions of other spear tips included in the FEL bundling spear attachment 28. Typically, the placement of the leading spear tip marker 112 when the projected travel path of the FEL bundling spear attachment 28 is reached can draw the operator's attention to the center position of the FEL bundling spear attachment 28; and, more importantly, given the current set of conditions for controlling implement navigation, it can help the operator better visually estimate the projected future position of this key physical feature of the FEL bundling spear attachment 28. Furthermore, such conditions may include: the current vertical position of the FEL bundling spear attachment 28 relative to the tractor chassis 24, any operator input commands currently received to control the movement of the tractor chassis 24 or the boom assembly 32, and / or (in at least some embodiments) any data received by the controller 48 describing the current state of motion of the attachment 28 and / or the tractor chassis 24. Additionally, if topographical information about the surrounding terrain is known (e.g., based on data stored in database 74) or can be measured by sensors on the loader 20, this information may also be taken into account when establishing the predicted trajectory of the FEL bundling spear attachment 28, and thus when locating the leading spear tip marker 112 on the HUD 96 (and when generating the projected implement path graph 110).

[0066] In some embodiments, the vertical displacement between the leading spear tip mark 112 and the distal edge of the projected machine path pattern 110 (i.e., the edge of pattern 110 furthest from the observer in a perspective view) can represent a change in the tilt angle of the FEL bundling spear attachment 28. For example, as the tilt angle of the FEL bundling spear attachment 28 tilts upward, the tip of the leading bundling spear included in attachment 28 is tilted towards an upright position (in... Figure 1 Rotating counterclockwise, the lead spear tip mark 112 can move upward relative to the far edge of the expected implement path pattern 110, perhaps proportional to the change in tilt angle. In other embodiments, a digital reading or other graphic may be displayed to indicate the tilt angle of the FEL bundle spear attachment 28 (or other implement attachments of the loader 20). As a further possibility, the implement guidance display system 22 may omit the lead spear tip mark 112 or any other graphic indicating the tilt angle of the FEL bundle spear attachment 28.

[0067] Despite this example, the symbols or graphics constituting the implement guide symbol 100 may vary between embodiments. Therefore, the overall appearance of the implement path graphic 110 and the leading spear tip mark 112 (if present) is expected to differ in alternative embodiments; and, in some cases, the appearance of these graphics may be customized by the operator (or tractor supplier) using appropriate controls or programming interfaces. In embodiments, any or all graphic features constituting the implement guide symbol 100 may also be generated in a partially transparent format (less than 100% opacity) to avoid visually obstructing the view of the work area around the FEL bundling spear attachment 28. Different color coding schemes and animation effects may be applied to the implement guide symbol 100 as needed. In some embodiments, the operator may also be allowed to turn the implement guide symbol 100 off or off.

[0068] Next discussion Figure 3 The HDD 102 shown in the lower right corner includes various machine guide symbols 104 corresponding to the machine guide symbols 100 shown in the HUD 96 generated on the HUD device 98. Like the HUD machine guide symbols 100, the HDD machine guide symbols 104 include a projected machine path graphic 120 and spearhead marks 122 (more broadly referred to as "machine path symbols 120, 122"). As before, the projected machine path graphic 110 visually represents the predicted or anticipated path traveled by the FEL bundle spear attachment 28 (or another implement attached to the front end of the loader 20) as the loader 20 moves forward or continues to move. Similarly, the leading spearhead mark 112 can identify the position where the leading tip of the longest central spear projecting from the FEL bundle spear attachment 28 is expected to arrive when the FEL bundle spear attachment 28 reaches the end of the anticipated path represented by the projected machine path graphic 120. The other descriptions above, referring to the projected implement path diagram 110 and the leading spearhead mark 112, also apply equally to the projected implement path diagram 120 and the leading spearhead mark 122 of the HDD 102. Furthermore, if desired, in addition to or in place of the projected implement path diagram 120 and the leading spearhead mark 112, a projected vehicle path diagram 108 (similar to the projected vehicle path diagram 108 displayed on the HUD 96) can also be generated on the HDD 102.

[0069] The live imaging device feeds the image onto the screen of HDD 102, as captured by the forward-looking imaging device mounted on the loader 20; for example, Figure 2The front imaging device 64 is used for identification. Therefore, the projected machine path graphic 120 and the leading spearhead mark 122 are overlaid or superimposed on the live video feed, while being presented in a three-dimensional stereoscopic format corresponding to the real-world environment captured by the video feed. Figure 3 In this example, where the FEL bundle spear attachment 28 is not captured by the FOV of the imaging device presented on the HDD 102, a graphic representation or depiction 124 of the implement (hereinafter referred to as "implementation graphic 124") is also presented on the lower part of the HDD 102 to represent the FEL bundle spear attachment 28. The implement graphic 124 may move vertically along the HDD 102, perhaps simultaneously generated in a partially transparent format, or generated as a smaller, less obstructive graphic as the FEL bundle spear attachment 28 rises or falls, to indicate the current position of the FEL bundle spear attachment 28 relative to the tractor chassis 24. It is also expected that the nearby or proximal edges of the implement path graphic 110 may move along with the implement graphic 124 as appropriate. In other embodiments, implement graphics 124 may remain stationary to avoid visually obstructing implement guidance of HDD 102, while only the proximal edge of implement path graphics 110 is expected to move vertically based on the current height of FEL bundling spear attachment 28 relative to tractor chassis 24 (or relative to the ground). Finally, text notifications or readouts 126 may be provided to identify the type of display currently presented on HDD 102, which is useful in allowing the operator to switch between different types of implement guidance displays presented on HDD 102 in a manner described below.

[0070] exist Figure 3 In the example scenario shown, FEL bundle spear attachment 28 is currently in Figure 1 The in-situ orientation shown is the untilted lowered position. Furthermore, at this critical juncture, no operator input command has been received requesting a change in the orientation of the FEL bundling spear attachment 28 relative to the tractor chassis 24, or an attempt to rotate the loader 20 from a straight path. Thus, the loader 20 is currently traveling entirely forward along the straight path; or it is currently stationary but will travel forward along the straight path if commanded or permitted to accelerate in the forward direction. Figure 3 The example also shows that the loader 20 is located on field 128, with multiple hay bales 130, 132 distributed in field 128. For the purposes of the following discussion, it is assumed that the operator of the loader 20 intends to use the FEL bale spear attachment 28 to secure the hay bales 132 for transport.

[0071] By scanning the machine guide symbol 110 on the HUD 96 or the machine guide symbol on the HDD 102 (such as... Figure 3As shown), the operator can easily determine that when moving forward toward the hay bale 132, the loader 20 should turn to the right a certain amount to properly engage the FEL bale spear attachment 28 into the target bale 132. Therefore, the operator can turn the steering wheel 88 to position the FEL bale spear attachment 28 on the trajectory intersecting with the target hay bale 132. Figure 4 As shown (where arrow 134 indicates the rotation of steering wheel 88), this causes corresponding bends in the predicted implement path graph 110 on HUD 96 and the predicted implement path graph 120 on HDD 102. By referring to either or both of graphs 110 and 120, the operator can quickly determine whether the steering angle input is suitable for positioning the FEL baler spear attachment 28 on the path intersecting the target hay bale 132, thus repeatedly adjusting the steering wheel angle as needed. Furthermore, the operator can visually refer to either or both of the leading spear tip markings 112 and 122 to determine whether the center spear of the FEL baler spear attachment 28 is correctly aligned with the center or centerline of the target hay bale 132, so that the spear engages into the center portion of the hay bale 132 as the loader 20 moves forward. In this way, implement guidance symbols 100 and 104 provide intuitive guidance cues, enabling the operator to navigate the FEL baler spear attachment 28 to engage the target hay bale 132 in a reliable and accurate manner.

[0072] exist Figure 4 In the example shown, the controller 48 of the implement guidance display system 22 also generates a baseline or "zero deviation" implement path graphic 136 on the HUD 96 and a zero deviation implement path graphic 138 on the HDD 102. Both zero deviation implement path graphics 136 and 138 indicate the trajectory of the FEL bundle spear attachment 28 when it is in a predetermined in-situ orientation (lowered near-ground position) and traveling along a straight (zero deviation) path in the forward direction. Therefore, whether by rotating the loader 20 (e.g., ...) Figure 4 (As shown) or by vertically moving the FEL bundle spear attachment 28 (as shown below) Figure 5 (As shown and discussed), a visual contrast is created between the zero-deviation machine path graphics 136, 138 and the expected machine path graphics 110, 120 to visually emphasize or highlight the degree to which the expected machine path graphics 110, 120 deviate from the zero-deviation path. When the zero-deviation machine path graphics 136, 138 are generated on either or both of the HDD 102 and HUD 96, the zero-deviation machine path graphics may be generated with a different color than the expected machine path graphics 110, 120, be partially transparent (e.g., similar to a shadow or ghost image), or otherwise given a varied appearance to provide contrast with graphics 110, 120 and avoid visual confusion in the depicted machine guidance display.

[0073] Next, turn to Figure 5 This illustrates another example scenario where the operator of loader 20 wishes to engage the FEL bale spear attachment 28 into the topmost hay bale 139 of a stack of hay bales present on field 128. Therefore, the operator can command boom assembly 32 to raise the FEL bale spear attachment 28 to a height approximately matching the height of the topmost hay bale 139; for example, by using… Figure 5 Arrow 138 indicates that the joystick 90 is moved toward the operator's body. Upon receiving the operator's input command, the controller 48 accordingly alters the projected implement path graphics 110, 120, such that the distal or far-side end of the path represented by graphics 110, 120 is raised to an increased height compared to the proximal or proximal end of the path represented by graphics 110, 120. The degree of the distal end of the path represented by graphics 110, 120 may depend on the displacement of the joystick 90; the length of the projected path represented by graphics 110, 120; and other possible factors (e.g., if the display system 22 obtains topographical information about the terrain in front of the loader 20). Additionally, the leading spear tip markers 112, 122 are positioned to indicate a corresponding vertical change in the projected position of the center spear of the FEL bundling spear attachment 28 when the end of the path represented by graphics 110, 120 is reached. Therefore, the operator can visually reference the implement guide symbol 100 generated on the HUD 96 and / or the implement guide symbol generated on the HDD 102 to reliably and accurately guide the FEL bale spear attachment 28 to engage with the target hay bale 132.

[0074] Therefore, an example implement guidance display system 22 has been described in such a way that it can generate unique symbols (whether generated as a HUD or an HDD) on the implement guidance display screen to help the operator of the work vehicle navigate the implement in the intended manner. In the example described above, the implement guidance display screen is generated in a forward-looking three-dimensional format; however, in other embodiments, the display system 22 may generate other types of implement guidance display screens in addition to or instead of this forward-looking three-dimensional display screen. For example, in some cases, the implement guidance display system 22 may also generate a rear implement guidance display screen, as described below. Figure 6 As described.

[0075] Go to Figure 6 In this embodiment, a rear machinery guidance display screen 140 can be generated on a monitor 92 via the machinery guidance display system 22. Here, the live video feed for the rear or tail area of ​​the loader 20 is provided by one or more imaging devices (e.g., by...). Figure 2The rear camera 60 captures and displays the image on monitor 92. A text notification or readout 142, displayed in the upper left area of ​​the rear implement guidance display screen 140, indicates that the tractor's rear view is currently displayed on monitor 92. Again, an implement-specific graphic 144 representing a depiction of the considered implement is generated; here, Figure 1 The rear bundling spear attachment 30 is shown. A tool guidance symbol 146 is also generated on the rear tool guidance display 140 and includes: (i) a projected tool path graphic 148 (including a forward-extending segment 150 and a lateral extending crossbar 152, as previously described), and (ii) multiple spear tip markers 154. In this example, three spear tip markers 154 are generated on the tool guidance HDD 140 because the rear bundling spear attachment 30 includes three leading bundling spears, and the generated markers 154 have appropriate positioning and spacing corresponding to real-world working tools. Therefore, when the far edge of the projected tool path represented by graphic 148 is reached, the spear tip markers 154 indicate the projected future orientation of the bundling spears of the spear attachment 30. In other embodiments, the projected tool path graphic 148 or the spear tip markers 154 may be omitted from the rear tool guidance display 140. Once again, by scanning the rear implement guidance display 140, the operator can determine whether the expected path of the rear implement (rear spear attachment 30) is on the appropriate trajectory in order to engage the selected target, such as... Figure 6 The hay bale 156 at the rear of the loader 20 is shown.

[0076] During operation, the implementation of the implement guidance display system 22 usefully allows the operator of the loader 20 to view the foreground implement guidance display screen on the monitor 92 (e.g., Figures 3-5 The HDD 102 shown or the rear equipment guidance display screen (e.g., Figure 6 Switching between the displays shown on HDD 140 is possible. Operator input for switching between these (and possibly others) machine guidance displays can be received in various ways. For example, it can be received via touch input with monitor 92 (if touchscreen capability is available), via interaction with button group 94 below monitor 92, or via another operator input device located within operator console 26 of loader 20. Figure 2 The system receives such operator input through an interaction (summarized in the input control 66). In other cases, the controller 48 of the display system 22 can automatically select appropriate guidance displays 76, 78 to be presented on the monitor 92 at given times, based on the specific direction the work vehicle 20 is currently traveling and / or the specific work implement currently being controlled by the operator.

[0077] During the operation of the machine guidance display system 22, other types of machine guidance display screens can also be generated on the display device 50. For example, and now referring to... Figure 7 In at least some embodiments, the implement guidance display system 22 can also generate a horizontal or top-down implement guidance display screen 158 including implement guidance symbols 160. This top-down implement guidance display screen 158, when generated, can depict the surrounding environment of the loader 20 (or other work vehicle). In embodiments, the surrounding environment of the loader 20 can be virtually represented on a monitor or display device, potentially simultaneously presenting certain terrain features (e.g., terrain type and geographic features) based on data stored in the terrain database 74 (if present). Alternatively, if the tractor is equipped with multiple imaging devices 60, 62, 64 that provide multiple imaging device feeds (which can combine or “stitch together” 360-degree views of the loader 20's surrounding environment), then a top-down implement guidance display screen 158 can be generated to include a live video feed of the surrounding environment. Consistent with the previous example, the implement guidance symbols 160 are again generated to include those previously combined... Figures 3-6 The described type of projected machine path diagram 162 and spearhead mark 164. Furthermore, Figure 7 The examples generally correspond to Figure 4 The example shown depicts a loader 20 steered by the operator toward the target hay bale 132. Thus, again, the operator can visually reference... Figure 7 The implement guide symbol 160 shown is to ensure that the FEL bale spear attachment 28 properly engages with the hay bale 132 as the loader 20 moves forward.

[0078] The operator can use any suitable user interface to switch between the top-down machine guidance display screen 158 and other available machine guidance displays. For example, such as Figure 7 Further instructions may be provided by presenting three virtual buttons 166, 168, and 170, which the operator can select as needed, for example, using a cursor device or via touch input (represented by touch icon 172). In another exemplary scenario, the operator can select the isometric view display by selecting button 170 shown in the lower right corner of the machine guidance display screen 158. This input thus invokes the isometric machine guidance display screen, such as... Figure 8The isometric implement guidance display screen 174 is shown. Here, the implement guidance display screen 174 includes implement guidance symbols 176, which are located in a virtual or synthetic 3D environment depicting the loader 20 graphically. The terrain 178 within the synthetic environment can be generated with flat topographic information, as shown; or alternatively, topographic information that conforms to the real-world terrain around the loader 20 can be generated, assuming that the display system 22 obtains such topographic information based on information stored in the database 74 or otherwise. The implement guidance symbols 176 are generated again to include the projected implement path graphic 180, as previously described. Additionally, in Figure 8 In the example, a projected vehicle path graphic 182 is also generated to visually represent the projected trajectory of the tractor chassis 24. In this example, the projected vehicle path graphic 182 is generated as two parallel tracks (e.g., represented by dashed lines) with a predetermined lateral spacing, which may or may not correspond to the maximum width of the loader 20. Therefore, the operator can refer to the implement guide symbol 176 to control the movement of the tractor chassis 24 and the boom assembly 32 to ensure that as the loader 20 moves forward toward the illustrated hay bale stack, the FEL bale spear attachment 28 properly engages with the target hay bale 139 (corresponding to...). Figure 5 (Example).

[0079] In some embodiments, the controller 48 of the machine guidance display system 22 can be configured to determine when the working machine is in a loaded state; and when it is determined that the machine is loaded, to suppress the display of at least a portion of the machine trajectory symbols. For example, consider Figure 9 The example scenario shown depicts an FEL bale spear attachment 28 now carrying hay bales 184. Here, the controller 48 is based on, for example, a... Figure 2 The data provided by the tool sensor 70 indicates that the FEL bundling spear attachment 28 has been loaded. In response to this determination, the controller 48 temporarily suppresses the display of tool guidance symbols on the relevant tool guidance display screen. Specifically, in Figure 9 In the example, controller 48 suppresses... Figures 3-5 The display of the tool guide symbol 104 generated on the HDD device or monitor 92 is shown. Similarly, when it is determined that the FEL bundle spear attachment 28 is loaded, the controller 48 may suppress the display of the tool guide symbol 100, which is normally displayed on the HUD 96. This helps to declutter the display when such a tool guide symbol is unnecessary or less useful. In other embodiments, when it is determined that the tool under consideration is loaded or partially loaded, the controller 48 may not suppress the display of the tool guide symbol (and may perhaps otherwise modify the appearance of the tool guide symbol).

[0080] Finally, in some embodiments, the controller 48 of the machine guidance display system 22 can be configured to identify the machine type corresponding to the working machine; then, a graphic representing the identified machine type can be further generated on the display device 50. Such a graphic can be retrieved by the controller 48 from the machine attribute database 72 based on the identified machine type, and this database 72 potentially links such machine-specific information using multidimensional lookup tables or any other suitable data structure. Consider this on the HDD monitor 92 ( Figures 3-5 Taking the graphic depictions 124 and 144 shown above as examples, when different implements are attached to the loader 20, the controller 48 can use data stored in the database 72 to modify the graphic depictions 124 and 144. The controller 48 can determine the specific implement type currently attached to the excavator 20 by sensing tags (e.g., RFID tags) or reading other identification information present on the implement, by visual analysis of the imaging device feed of the implement, by operator input specifying the type of implement currently attached to the loader 20 (e.g., selected via a drop-down menu or another graphical user interface element), or by using any other technology. In embodiments, the controller 48 can also use the information stored in the database 72 to generate other symbols or graphics included in the implement guidance symbols. For example, the controller 48 can refer to the database to determine the appropriate width for assigning the expected implement path graphic based on the maximum width of the implement, as stored in the database 72. Similarly, if a marker indicating the predicted future position of a key physical feature of a specified machine (e.g., a spearhead marker described above) is presented on the machine guidance display, the controller 48 can also invoke information defining the graphic and appropriate position to generate such a marker, as previously combined. Figures 3-6 As described.

[0081] Examples of work vehicles with one or more static and dynamic dimensions and equipped with a guidance display system.

[0082] Figure 10 This is a side view of a work vehicle 202 (here, an excavator) in construction site 200 equipped with a guidance display system, which is schematically represented by display system 22a and is described below in conjunction with... Figures 10-14BFor a more comprehensive discussion, the work vehicle 202 includes: a ground engagement component 203 (e.g., tracks), a boom 204, a housing (or chassis) 205, a stick 206, and a bucket 208. The ground engagement component 203 engages with the surface of the work site 200 to drive and guide the work vehicle 202 on the work site 200. The housing 205 is rotatably coupled to the ground engagement component 203 and typically houses the frame, engine, transmission, hydraulic pump, operator's console 26a, controls for controlling the work vehicle 202, etc. The boom 204 is coupled to the housing 205 at engagement points that allow the boom 204 to move relative to the housing 205. The boom 204 is actuated by an actuator 214. The stick 206 is coupled to the boom 204 at engagement points that allow the stick 206 to move relative to the boom 204 via an actuator 216. Bucket 208 is connected to rod 206 at a connection point that allows bucket 208 to move relative to rod 206 via actuator 218. The operator can command housing 205 to rotate relative to track 203 about a vertical axis, and thus also move boom 204 in a circle about the same vertical axis. The operator can control actuators 214, 216, 218 to extend and retract as needed via movement of a suitable control interface (e.g., a joystick) within operator console 26a located on housing 205 of work vehicle 202.

[0083] Advance to Figure 11 According to an exemplary embodiment of this disclosure, a display system 22a is exemplified as being appropriately included. Figure 10 The display system 22a may include multiple components, as schematically shown, including the following components or subsystems, each of which may take the form of a single device or multiple interconnected devices: (i) a controller 48a, (ii) at least one display device 50a, (iii) a computer-readable storage medium or memory 52a, (iv) one or more work vehicle data sources 54a, and (v) one or more additional data sources 56a. The aforementioned components may be operatively interconnected using any suitable combination of wireless or wired (e.g., bus) connections 58a. Furthermore, in implementations that overlay or otherwise visually integrate the display symbols described below onto or into the live video feed (or multiple video feeds) of the environment surrounding the implement engaged with the work vehicle 202, the display system 22a may also include one or more imaging devices 60a, 62a, 64a.

[0084] As used herein, the term "work vehicle data source" refers broadly to any device, system, or sensor that provides data relating to work vehicles or their implements. Work vehicle tracking data may, for example, include information relating to the current or predicted movement of the work vehicle, and the work vehicle's current or predicted movement. Utilizing Figure 10For example, the work vehicle data source 54a may include operator input controls 66a (e.g., steering wheel, foot pedal, manual control, or joystick) for controlling the movement or steering of the work vehicle 202. Additionally, the work vehicle data source 54a may include operator input controls 66a (e.g., steering wheel, foot pedal, manual control, or joystick) for controlling the movement of implements such as the boom 204.

[0085] The work vehicle data source 54a may also include one or more work vehicle tracking sensors 68a, which are used to monitor the current orientation (including spatial position and attitude) of the work vehicle chassis, either alone or in combination with the current orientation of the tracks 203. When the implement can move independently relative to the work vehicle, the work vehicle data can also monitor the current orientation of the implement; for example, as in the case of the boom 204 of the excavator 202. Sensors 68a may be proximity sensors, inertial measurement units, displacement sensors (e.g., sensors for measuring hydraulic piston stroke), rotation sensors for measuring the angular rotation of the housing 205, or any other means capable of providing data that allows determination of the current orientation of the implement relative to the work vehicle (e.g., operator's table 26a, housing 205, or tracks 203). Furthermore, in some embodiments, the field of view of one or more imaging devices (e.g., cameras) mounted to the work vehicle 202 may encompass the work vehicle and / or its implements (such as... Figure 10 The range of motion of the boom 204 shown. In this case, the controller 48a can also perform image analysis on the video feed of the current orientation of the implement (e.g., boom 204) provided by such imaging device at a given time. Information about the past and current orientation of the boom 204 (or another independently movable implement) can also be tracked, stored in memory 52a, and then retrieved by the controller 48a from memory 52a as needed.

[0086] In a more complex implementation, controller 48a may consider the current motion state of one or more components of the work vehicle and / or the work vehicle's implements when establishing the predicted trajectory of the work vehicle. In such an implementation, the work vehicle tracking sensor 68a may further include sensors for monitoring not only the orientation of the work vehicle but also for directly monitoring the motion state of the housing 205, operator platform 26a, and / or boom 204 relative to the track 203. In this regard, in an implementation, one or more accelerometers or gyroscopes may be mounted to the operator platform 26a, track 203, boom 204, and housing. If accelerometers or gyroscopes are present, such sensors may also be used to determine the rotation and / or tilt angles of the individual components, information which is utilized when display system 22a generates display symbols described below. In some implementations, multi-axis accelerometers and multi-axis gyroscopes, implemented as microelectromechanical systems (MEMS) devices and packaged as inertial measurement units (IMUs), may be used to capture such data, for example, by being fixed to the operator's console 26a, housing 205, track 203, or boom 204. Displacement measurements may also be considered over predetermined time periods to determine the motion state of the operator's console 26a and housing 205 relative to the track 203 by monitoring changes in position over time. Any or all of this data may be fed back to the controller 48a in real-time or near real-time and combined (or replaced) with operator input commands received from input controls 66a to determine the current orientation and motion state of the work vehicle 202 to predict its trajectory. In other cases, the display system may not require such sensors, provided that the current orientation of the work vehicle 202 and any independently movable implements can be determined by the controller 48a as needed.

[0087] In at least some implementations of display system 22a, other types of sensors 70a that transmit additional data or measurement results related to the work vehicle may be included in the work vehicle data source 54a. Such additional sensors 70a may include sensors that provide data that allows determination of the load status of the work vehicle; that is, whether the work vehicle is fully loaded, unloaded, or perhaps partially loaded. For this purpose, various types of sensors 70a may be used, including, for example, force sensors that measure the load borne by the work vehicle at a given time, distance measuring devices for determining when an object engages with the work vehicle, and / or imaging devices that provide video feeds from which the load status of the work vehicle can be determined by the controller 48a through image analysis. In other cases, such additional sensors 70a may be omitted from display system 22a.

[0088] Continue to refer to Figure 11The controller 48a of the display system 22a may take any form suitable for performing the functions described throughout this document. Furthermore, the term "controller" as used herein is used in a non-limiting sense to generally refer to the processing architecture of the display system 22a. The controller 48a may encompass or be associated with one or more processors, control computers, navigation devices, computer-readable storage (including memory 52 or other than memory 52a), power supplies, storage devices, interface cards, and other standardized components. The controller 48a may also include, or may cooperate with, any number of firmware and software programs or computer-readable instructions designed to perform various processing tasks, calculations, and the control / display functions described herein.

[0089] The memory 52a can encompass any amount and type of storage medium suitable for storing computer-readable code or instructions, as well as other data used to support the operation of the display system 22a. Furthermore, although in Figure 11 The memory 52a is illustrated as a separate box, but it can be integrated into the controller 48a, for example, as a system-in-package, system-on-a-chip, or another type of microelectronic package or module. In embodiments, the memory 52a may store at least one local database 72a, 74a for generating the display symbols described below. For example, in some implementations, the memory 52a may store a vehicle attribute database 72a containing information related to different types of work vehicles (such as key dimensions, key physical attributes), and / or files containing different graphical depictions of different types of work vehicles. As a more specific example, as in... Figure 10 In the case of the illustrated work vehicle 202, the controller 48a can be configured to determine, when generating one or more display screens, to generate certain work vehicle-specific graphics corresponding to the determined type of work vehicle, such as those retrieved from the database 72a. Further discussion on this is provided below. Finally, in some cases, the memory 52a may also contain other types of databases 74a, such as a terrain database storing information related to topographical information, key geographic features, and / or the terrain type of the land strips traversable by the work vehicle 202. In other embodiments, the display system 22a may be without either or both of the databases 72a and 74a.

[0090] In an embodiment of display system 22a, display device 50a may be fixed to the static structure of operator station 26a and implemented using a HUD or HDD device configuration. Alternatively, display device 50a may be freely movable relative to the static structure of operator station 26a and may take the form of, for example, a near-eye display device or other operator-worn display device. When taking the form of an operator-worn display device or when taking the form of a HUD device fixed to the operator station 26a of the work vehicle, the screen of display device 50a may be completely or partially transparent, and the display symbols described below may be superimposed on or over the "real-world view" of the environment surrounding the work vehicle, as seen through a transparent display screen. As used herein, the term "real-world" refers to the actual view of the surrounding environment of work vehicle 202 or site 200, and not its virtual or synthetic reconstruction. In other embodiments, the display device 50a may take the form of a portable electronic display device, such as a tablet computer or laptop computer, which is carried by the operator to the operator's station of the work vehicle (e.g., operator's station 26a of the work vehicle 202) and communicates with various other components of the display system 22a via physical or wireless connections to perform the display functions described below.

[0091] During operation, display system 22a generates one or more display screens 76a, 78a on display device 50a, each display screen including display symbols 80a, 82a. For example, as... Figure 11 As illustratively indicated, display system 22a can generate a front display screen 76a and / or a rear display screen 78a on display device 50a. In some cases, display system 22a can generate display screens 76a and 78a simultaneously. For example, in this case, display screens 76a and 78a can be presented on separate screens of multiple display devices 50a, or alternatively, in a picture-in-picture or side-by-side format on a single screen of one display device 50a. However, more generally, display system 22a can generate display screens 76a and 78a in a mutually exclusive manner; that is, such that at a given point in time, only one of the front display screen 76a and the rear display screen 78a is displayed on the display device. In this latter case, an operator can be allowed to switch between the desired display screens 76a and 78a using appropriate operator controls, which can be located on or near display device 50a. Alternatively, controller 48a can automatically select the appropriate display screens 76a and 78a based on the specific direction the work vehicle 202 is currently traveling (e.g., the orientation of the operator's console 26a relative to the tracks 203 in the case of an excavator). Other types of display screens can also be generated on display device 50a during operation of display system 22a. (As previously mentioned...) Figure 7 andFigure 8 Further discussion is needed.

[0092] Next, proceed to... Figures 12A-12B A top view showing a graphical representation of the work vehicle 202 with a travel direction 300 (in this case, the opposite direction), a planned travel path 302a, and obstacles 304 is displayed. Furthermore (and refer to...) Figure 12B This illustrates a representative display screen 50a (or as a HUD or HDD device) showing a projected travel path 302a traversing between obstacles 304. In this example, the projected travel path 302a consists of lines corresponding to the dimensions of the work vehicle 202 (such as the corresponding width of one or more of the operator's table 26a, tracks 203, boom 204, and / or housing 205). In this example, the work vehicle 202 has static dimensions—i.e., a substantially uniform width and / or length relative to the components of the work vehicle 202—and thus generates a single projected travel path on the display screen 50a.

[0093] Reference Figures 13A-13B The diagram again shows a top view of the work vehicle 202 with a graphical representation of the travel direction 300 (opposite direction) and obstacle 304. However, the work vehicle 202 has been rotated (for example, as determined using an IMU) and is therefore at an angle to the track 203. The work vehicle 202 again has static dimensions that produce a first expected travel path 302a corresponding to the width of the track 203, but now also has one or more dynamic dimensions that produce additional expected trajectories 302b, 302c. For example, one dynamic dimension corresponds to the effective width of the housing 205 after rotation and produces a second expected travel path 302b, as shown in the diagram. Figures 13A-13B As seen in the diagram. Furthermore, another dynamic dimension corresponding to the effective length of the boom 204 is shown, generating a third projected travel path 302c. In these examples, the first projected travel path 302a will again be between obstacles 304; however, the second projected path 302b and the third projected path 302c will contact at least one of these obstacles 304. Those skilled in the art will appreciate that any number of components of the work vehicle and / or work implement components can be considered and combined to create one or more dynamic dimensions for display screen 50a. Furthermore, in these examples, the work vehicle 202 has a static dimension (e.g., the fixed width of the tracks 203) and also a dynamic dimension that changes according to the variable orientation of the housing 205, operator's table 26a, or boom 204 during use of the work vehicle 202 on the work site 200.

[0094] Reference Figures 14A-14BWithin the scope of this disclosure, any number of static and dynamic dimensions can be implemented and input into the controller 48a to display on the screen 50a. Figure 14B This generates a single projected path 302d or any other number of projected paths required for safe operation. Figure 14A As shown, a top view of the work vehicle 202 with a graphical representation of the travel direction 300 (opposite direction) and obstacle 304 is shown again. The work vehicle 202 has been rotated about a vertical axis (as detected by the IMU) and is therefore at an angle to the tracks 203. However, in this example, as... Figure 14A and Figure 14B As shown, a single projected path 302d corresponding to the effective width of the housing 205 instead of the track 203 was generated (in Figure 13A (Also shown as 302b). In another example, a single projected path (not shown) corresponding to the dynamic dimensions of the boom 204 and housing 205 can be generated on display screen 50a (e.g., Figure 13A (302c in the dashed line).

[0095] Therefore, controller 48a can be configured to receive any number of inputs corresponding to one or more static or dynamic dimensions (see [reference]). Figure 11 Then, the operator selects and displays the projected path that allows the operator to safely and efficiently operate the work vehicle 202. In many cases, the selected and displayed projected path will correspond to the static and / or dynamic dimensions that create the maximum width of the work vehicle. However, it is conceivable that the selected and displayed projected path may also correspond to static and / or dynamic dimensions, thereby creating the maximum length, height, width, height, and length combination in the plane of interest, or any number of other work vehicle features.

[0096] Examples of implement guidance display systems for use in work vehicles

[0097] The following examples of variable track joystick devices are also provided, and they are numbered for easy reference.

[0098] 1. A work vehicle guidance display system. In one embodiment, the guidance display system includes: at least one imaging device disposed on a work vehicle; a display disposed on the work vehicle, the display configured to display an image from the imaging device; and a controller. In one embodiment, the controller is configured to: select a field of view of the imaging device for display; receive a static dimension associated with the work vehicle; receive a dynamic dimension associated with the work vehicle; and display on the display a field of view having a first machine travel path based on the static dimension and a second machine travel path based on the dynamic dimension.

[0099] 2. The system according to Example 1, wherein the work vehicle includes a first fixed part and a second movable part, the first fixed part having the static dimensions and the second movable part having the dynamic dimensions.

[0100] 3. The system according to Example 2, wherein the controller is configured to display a first travel path for the first fixed portion and a second travel path for the second movable portion.

[0101] 4. The system according to Example 3, wherein the first travel path displayed on the display changes according to the movement of the first fixed portion.

[0102] 5. The system according to Example 4, wherein the second travel path displayed on the display changes according to the movement of the first fixed portion and the second movable portion.

[0103] 6. The system according to Example 2, wherein the movement of the second movable portion is determined using a rotation sensor associated with the work vehicle, the rotation sensor determining the rotation angle.

[0104] 7. The system according to Example 1, the system further includes an inertial measurement unit associated with the work vehicle, the inertial measurement unit sensing at least one of the pitch, yaw and roll of the work vehicle.

[0105] 8. The system according to Example 7, wherein the controller is configured to use signals from the inertial measurement unit to generate the first travel path and the second travel path.

[0106] 9. The system according to Example 1, wherein the controller is configured to identify obstacles within the field of view and to provide a first warning to the operator of the work vehicle (20) if the obstacle is within the first machine travel path of the work vehicle.

[0107] 10. The system according to Example 1, wherein the controller is configured to identify obstacles within the field of view and to provide a second warning to the operator of the work vehicle if the obstacle is within the second machine travel path of the work vehicle.

[0108] 11. The system according to Example 1, wherein the controller is configured to send the field of view of the imaging device, the static size, and the dynamic size to a non-vehicle-mounted processor, the non-vehicle-mounted processor being configured to select the field of view, cover the first machine travel path and the second travel path onto the field of view, and send them to the display on the work vehicle.

[0109] 12. The system according to Example 1, the system further includes an obstacle detection sensor disposed on the work vehicle, the obstacle detection sensor being configured to detect the presence of obstacles in the machine's travel path.

[0110] 13. The system according to Example 1, wherein the display is at least one of a plasma display panel, a liquid crystal display panel, a light-emitting diode, or a holographic projection.

[0111] 14. The system according to Example 1, wherein the imaging device is configured to provide at least one of a front field of view, a rear field of view, and opposite side fields of view.

[0112] 15. The system according to Example 1, wherein the controller is configured to determine the operating state of the vehicle in response to the static dimensions and the dynamic dimensions.

[0113] 16. The system according to Example 1, wherein the controller is configured to receive the speed of the work vehicle and, in response to the static dimension and the dynamic dimension, display the future position of the work vehicle.

[0114] 17. The system according to Example 1, wherein the controller is configured to receive the speed of the work vehicle.

[0115] 18. In other embodiments, a method for displaying the travel path of a work vehicle is employed. In such embodiments, the method may include the steps of: selecting a field of view from a plurality of imaging devices associated with the work vehicle using a controller on the work vehicle; generating a first machine travel path based on static dimensions associated with the work vehicle using the controller; generating a second machine travel path based on dynamic dimensions associated with the work vehicle using the controller; and displaying the field of view having the first machine travel path and the second machine travel path on a display within the work vehicle.

[0116] 19. In an additional embodiment, a work vehicle guidance display system is provided. In such an embodiment, the system may include: at least one imaging device disposed on the work vehicle; a display disposed on the work vehicle, the display being configured to display an image from the imaging device; and a controller configured to: select the field of view of the imaging device for display; receive a static dimension associated with the work vehicle; receive a dynamic dimension associated with the work vehicle; generate a first machine travel path based on the static dimension and a second machine travel path based on the dynamic dimension; and send the larger of the first machine travel path or the second machine travel path to the display.

[0117] 20. The system according to Example 19, wherein the controller is configured to: receive a first static dimension associated with the work vehicle; receive a second static dimension associated with the work vehicle; receive a first dynamic dimension associated with the work vehicle; receive a second dynamic dimension associated with the work vehicle; generate travel paths for the first static dimension and the second static dimension, and for the first dynamic dimension and the second dynamic dimension; and send the larger of the travel paths for the first static dimension and the second static dimension, and for the first dynamic dimension and the second dynamic dimension to the display.

[0118] in conclusion

[0119] Implementations of a guidance display system for use on work vehicles having one or more static and dynamic dimensions (e.g., due to components of the work vehicle or due to work implements attached to the work vehicle) have been described above. During operation, the guidance display system generates one or more displays presenting guidance symbols that help the operator control one or more work vehicles in the intended manner. In many cases, the guidance symbols will include or consist of symbols indicating the expected travel path of the work vehicle, such as a graphic visually identifying the path the work vehicle is expected to travel under a given set of current conditions; for example, operator input commands, the current orientation of the work vehicle (assuming the work vehicle is independently movable relative to the work vehicle chassis), and possibly sensor data indicating the current state of motion of the work vehicle. Furthermore, the graphic representing the expected path of the work vehicle can further convey other useful information during generation, such as the maximum width of the work vehicle and the expected future positions of key features of the work vehicle. By using quick visual references to guide symbols, given the current set of conditions, the operator gains an improved understanding of the most likely path the work vehicle will follow, thus allowing the operator to better guide the work vehicle along the optimal path when performing tasks that require relatively precise control of vehicle movement.

[0120] Implementations of the guidance display system can also improve visibility of the surrounding environment or situational awareness, for example, by enabling operators to switch between different views of the work area of ​​the work vehicle to perform specific tasks, and integrating guidance symbols accordingly into the selected view. Furthermore, implementations of the guidance display system can generate multiple different display screens for different work vehicles, such as a front guidance display screen including guidance symbols corresponding to the front of the work vehicle and a rear guidance display screen including guidance symbols corresponding to the rear of the work vehicle. In such implementations, operators can be allowed to switch between guidance display screens, or the system can automatically select the appropriate guidance display screen based on the specific direction the work vehicle is currently traveling and / or the specific work vehicle currently being controlled by the operator. Given the benefits of the foregoing description and the aforementioned figures, it will be appreciated that implementations of the guidance display system offer even greater benefits and features.

[0121] While the above description primarily focuses on specific types of work vehicles (tractor loaders or excavators) and specific types of work implements (bundle spear attachments or excavator buckets), implementations of the guidance display system can be combined with a wide variety of other work vehicles and implements, with corresponding modifications to the guidance symbols. For example, in one implementation, the guidance display system can be used with work vehicles and work implements capable of various degrees of freedom of movement (e.g., excavator end effectors and log stacker ends) to alter the attitude, orientation, vertical height, and other spatial aspects of the work vehicles and implements. In such cases, the work implement under consideration can be supported by a boom assembly articulated vertically, horizontally (side-to-side), etc., and the final curvature of any anticipated travel path (as generated on one or more guidance display screens) changes accordingly. Consequently, signs, icons, or other such graphics identifying the anticipated future orientation of key work vehicle features (e.g., the saw blade of a log stacker end) can also be varied depending on the type of work vehicle under consideration.

[0122] In one embodiment, a guidance display system is deployed on a work vehicle having a chassis supporting an operator's console and a work vehicle configured to move relative to the chassis. The guidance display system may include: a display device 50a within the operator's console of the work vehicle; a work vehicle data source configured to provide work vehicle tracking data (e.g., describing the work vehicle's orientation, orientation, and / or position relative to the chassis); and a controller that communicates signals with the display device 50a and the work vehicle data source. The controller is configured to: (i) receive work vehicle tracking data from the machine data source; (ii) determine the expected travel path of the work vehicle based on the machine tracking data; and (iii) generate work vehicle trajectory symbols on the display device indicating the expected travel path of the work vehicle.

[0123] In one example, controller 48a may include one or more software and / or hardware components of any proportion. In this example, controller 48a may reside on a computer-based platform, such as a server or set of servers. Any one or more such servers may be physical servers or virtual machines executing on another or more hardware platforms. Any server, or any computer-based system for that matter, the system or component described herein is generally characterized in that one or more control units, along with associated processing units and storage devices, are communicatively interconnected with each other via one or more buses or other communication mechanisms for transmitting information or data. In one example, storage devices within such a device may include main memory (such as random access memory (RAM) or other dynamic storage devices) for storing information and instructions to be executed by the control unit, as well as for storing temporary variables or other intermediate information during use of the control unit described herein.

[0124] In one example, controller 48a may also include a static storage device for storing static information and instructions of the control unit, such as a read-only memory (ROM). In another example, controller 48a may include a storage device for storing information and instructions, such as a hard disk or solid-state memory. This stored information and instructions may include, but are not limited to, computational instructions, which may include, but are not limited to, processing and analyzing work vehicle data or all types of information. Such data or information may relate to, but is not limited to, weather, ground conditions, work vehicle characteristics, work requirements or historical data, future forecast data, and economic data associated with work vehicle data or information.

[0125] In one example, the processing and analysis of data by controller 48a may relate to agronomic factors obtained from processing and analyzing image data collected from external sources, and, if necessary, issue alarms based on predefined acceptability parameters. RAM, ROM, hard disks, solid-state storage, etc., are examples of tangible computer-readable media that can be used to store instructions including the processes, methods, and functions of this disclosure. Exemplary processes, methods, and functions of controller 48a may include determining the necessity of generating and presenting alarms according to examples of this disclosure. Execution of such instructions causes various computer-based components of controller 48a to perform the processes, methods, functions, operations, etc., described herein. In some examples, controller 48a of this disclosure may include hardwired circuitry intended to implement this disclosure in any proportion in place of or in combination with such computer-readable instructions.

[0126] Those skilled in the art will recognize that the prior art has advanced to the point where there is virtually no difference between hardware and software implementations of various aspects of a system; the use of hardware or software is often (but not always, as the choice between hardware and software may become important in some cases) a design choice representing a trade-off between cost and efficiency. Those skilled in the art will appreciate that various vehicles exist that can implement the processes and / or systems and / or other technologies (e.g., hardware, software, and / or firmware) described herein, and that the preferred vehicle will vary depending on the context in which the process and / or system and / or other technology is deployed. For example, if the implementer determines that speed and accuracy are of paramount importance, the implementer may choose a vehicle that is primarily hardware and / or firmware; alternatively, if flexibility is of paramount importance, the implementer may choose a primarily software implementation; or, again alternatively, the implementer may choose a combination of hardware, software, and / or firmware. Therefore, there are many possible vehicles by which the systems, methods, processes, devices and / or apparatuses and / or other technologies described herein can be implemented, and none of these vehicles is inherently superior to another, because any vehicle to be utilized depends on the context in which the vehicle will be deployed and the specific concerns of the implementer (e.g., speed, flexibility, or predictability), any of which can change.

[0127] The foregoing detailed description has illustrated various embodiments of the system, device, apparatus, method, and / or process using block diagrams, schematic diagrams, flowcharts, examples, and / or functional languages. As such block diagrams, schematic diagrams, flowcharts, examples, and / or functional languages ​​contain one or more functions and / or operations, those skilled in the art will understand that each function and / or operation within such block diagrams, schematic diagrams, flowcharts, examples, or functional languages ​​can be implemented individually and / or collectively by a wide range of hardware, software, firmware, or virtually any combination of these. In one example, multiple portions of the subject matter described herein can be implemented via application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), or other integration formats. However, those skilled in the art will recognize that aspects of the embodiments disclosed herein can be implemented, in whole or in part, equivalently in an integrated circuit, as one or more computer programs running on one or more computers (e.g., one or more programs running on one or more computer systems), as one or more programs running on one or more processors (e.g., one or more programs running on one or more microprocessors), as firmware, or in fact, any combination thereof, and that designing circuits and / or writing software and / or firmware code according to the invention will be entirely within the skill of those skilled in the art. Furthermore, those skilled in the art should recognize that the mechanisms of the subject matter described herein can be distributed as a variety of program products, and that the exemplary embodiments of the subject matter described herein are applicable regardless of the signal-bearing medium used to perform the distribution. Examples of signal-carrying media include, but are not limited to, the following: computer-readable storage media, such as magnetic media like floppy disks, hard disks, and magnetic tapes; optical media like optical discs (CDs), digital video discs (DVDs), and Blu-ray discs; computer memory like random access memory (RAM), flash memory, and read-only memory (ROM); and transmission-type media, such as digital and / or analog communication media like optical fibers, waveguides, wired communication links, and wireless communication links.

[0128] The topics described herein sometimes exemplify different components that are associated with, composed of, contained within, or connected to other components. It should be understood that the architectures depicted are merely exemplary, and in practice, many other architectures can be implemented to achieve the same functionality. Conceptually, any arrangement of components used to achieve the same functionality is effectively “associated” to achieve the desired functionality. Thus, any two or more components combined here to achieve a specific functionality can be considered “associated” with each other to achieve the desired functionality, regardless of the architecture or intermediate components. Similarly, any two or more such associated components can also be considered “operably connected” or “operably linked” with each other to achieve the desired functionality, and any two or more components that can be suchly associated can also be considered “operably linked” with each other to achieve the desired functionality. Specific examples of operationally linked components include, but are not limited to, physically matable and / or physically interactive components and / or wirelessly interactive components and / or logically interactive and / or logically interactive components.

[0129] Unless otherwise specifically stated or obvious from the description herein, it should be understood that throughout this disclosure, discussions using terms such as “access,” “aggregate,” “analyze,” “apply,” “agent,” “calibrate,” “check,” “combine,” “communicate,” “compare,” “transmit,” “convert,” “connect,” “create,” “define,” “export,” “detect,” “disable,” “determine,” “enable,” “estimate,” “filter,” “discover,” “generate,” “identify,” “integrate,” “start,” “locate,” “modify,” “acquire,” “output,” “predict,” “receive,” “report,” “retrieve,” “send,” “sensor,” “store,” “transform,” “update,” “use,” “verify,” etc., or other verb variations of these terms and similar terms, refer to the actions and processes of a control unit, computer system, or computing component (or part thereof) (such as, but not limited to, one or more or a combination of, the following: a visual organizer system, a request generator, an Internet-connected computing device, a computer server, etc.). In one example, a control unit, computer system, and / or computing component may manipulate and transform information and / or data represented as physical (electronic) quantities within the processor, registers, and / or memory of the control unit, computer system, and / or computing component into other data similarly represented as physical quantities within the memory, registers, and / or other information storage, processing, transmission, and / or display components of the control unit, computer system, and / or computing component, and / or computer system, computing component, and / or other electronic computing device. Guided by computer-readable instructions, the control unit, computer system, and / or computing component may perform one or more of the processes, methods, and / or functions of this disclosure.

[0130] Those skilled in the art will recognize that it is common in the art to implement devices and / or apparatuses and / or processes and / or systems in the manner set forth herein, and that engineering and / or commercial practices are subsequently used to integrate such implemented devices and / or apparatuses and / or processes and / or systems into a more comprehensive set of devices and / or apparatuses and / or processes and / or systems. That is, at least a portion of the devices and / or apparatuses and / or processes and / or systems described herein can be integrated into a comprehensive set of devices and / or apparatuses and / or processes and / or systems through a reasonable amount of experimentation.

[0131] Although this disclosure has been described with reference to specific embodiments and applications, those skilled in the art, in light of the teachings, may generate additional embodiments without departing from the scope or spirit of this disclosure as described herein. Therefore, it is to be understood that the accompanying drawings and descriptions provided in this disclosure are for the purpose of facilitating understanding and should not be construed as limiting its scope.

[0132] As used herein, unless otherwise limited or modified, a list of elements separated by conjunctions (e.g., “and”) and preceded by the phrase “one or more of…” or “at least one of…” indicates a configuration or arrangement that potentially includes individual elements of the list or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibility of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

Claims

1. A work vehicle guidance display system (22), the work vehicle guidance display system (22) comprising: at least one imaging device (60) disposed on a work vehicle (20); a display (50) disposed on the work vehicle (20), the display configured to display images from the imaging device (60); and a controller (48) configured to: select a field of view of the imaging device (60) for the display (50); receive at least two static dimensions (203) associated with the work vehicle (20); receive at least two dynamic dimensions (205) associated with the work vehicle (20); and display on the display (50) a field of view having a greater of a first machine travel path (302a) based on the static dimensions (203) and a second machine travel path (302b) based on the dynamic dimensions (205).

2. The system of claim 1, wherein, the work vehicle (20) includes a first fixed portion having at least one of the static dimensions (203) and a second movable portion having at least one of the dynamic dimensions (205).

3. The system of claim 2, wherein, the controller (48) is configured to display a first machine travel path (302a) for the first fixed portion and a second machine travel path (302b) for the second movable portion.

4. The system of claim 3, wherein, the first machine travel path (302a) displayed on the display (50) changes in accordance with movement of the first fixed portion, and wherein the second machine travel path (302b) displayed on the display (50) changes in accordance with movement of the first fixed portion and the second movable portion.

5. The system of claim 2, wherein, movement of the second movable portion is determined using a rotation sensor associated with the work vehicle (20), the rotation sensor determining a rotation angle.

6. The system of claim 1, further comprising an inertial measurement unit (68a) associated with the work vehicle (20), the inertial measurement unit (68a) sensing at least one of a pitch, a yaw, and a roll of the work vehicle (20).

7. The system of claim 6, wherein, the controller (48) is configured to generate the first machine travel path (302a) and the second machine travel path (302b) using signals from the inertial measurement unit (68a).

8. The system of claim 1, wherein, the controller (48) is configured to identify an obstacle (304) within the field of view and provide a first warning to an operator of the work vehicle (20) if the obstacle (304) is within the first machine travel path (302a) of the work vehicle (20).

9. The system of claim 1, wherein, The controller (48) is configured to identify an obstacle (304) within the field of view and provide a second warning to an operator of the work vehicle (20) if the obstacle (304) is within the second machine travel path (302b) of the work vehicle (20).

10. The system of claim 1, wherein, The controller (48) is configured to send a field of view of the imaging device (60), the static dimension (203), and the dynamic dimension (205) to an off-board processor configured to select the field of view, overlay the first machine travel path (302a) and the second machine travel path (302b) onto the field of view, and send to the display (50) on the work vehicle (20).

11. The system of claim 1, further comprising an obstacle detection sensor (70) disposed on the work vehicle (20), the obstacle detection sensor (70) configured to detect a presence of an obstacle (304) within the machine travel path (302a, 302b).

12. The system of claim 1, wherein, The display (50) is at least one of a plasma display panel, a liquid crystal display panel, a light emitting diode, and a holographic projection.

13. The system of claim 1, wherein, The imaging device (60) is disposed to provide at least one of a forward field of view, a rearward field of view, and opposite side fields of view.

14. The system of claim 1, wherein, The controller (48) is configured to determine an operating state of the work vehicle (20) in response to the static dimension (203) and the dynamic dimension (205).

15. The system of claim 1, wherein, The controller (48) is configured to receive a speed of the work vehicle (20) and display a future position of the work vehicle (20) in response to the static dimension (203) and the dynamic dimension (205).

Images