Guidance system and steering control device for an agricultural vehicle

• US 10,104,827 B2
• Filed: 07/08/2016
• Issued: 10/23/2018
• Est. Priority Date: 07/08/2015
• Status: Expired due to Fees

• Current Assignee: McGill University
• Original Assignee: McGill University
• Inventors: Adamchuk, Viacheslav, Pouliot, Antoine, Stanhope, Trevor
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): LOUIE, WAE LENNY
• Application Number:
  US15/205,429
• Publication Number:
  US 20170006759A1
• Time in Patent Office: 837 Days
• Field of Search: 701 23, 701 25, 701 28, 701 41, 701 50, 701470, 180169, 180400, 180444
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163
• CPC Class Codes: B62D 1/00 Steering controls, i.e. means for initiating a change of direction of the vehicle
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 5/0463 calculating assisting torque from the motor based on driver input
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A vehicle guidance system for an agricultural vehicle is described which includes an optical imaging device collecting information of field characteristics, and a steering control device receiving the information of field characteristics transmitted from the optical imaging device. The steering control device having a steering actuator including a motor operatively connected to a hub adaptor. The hub adaptor is removably mountable to a central hub of a steering wheel of the agricultural vehicle in fixed rotary engagement, wherein when the hub adaptor is engaged to the central hub of the steering wheel, rotation of the hub adaptor by the motor causes corresponding rotation of the steering wheel. The steering control device thereby autonomously rotates the central hub of the steering wheel in response to the information of field characteristics received by the steering control device and the vehicle guidance system thereby steers the agricultural vehicle.

Claims

1. A vehicle guidance system for an agricultural vehicle, comprising:

an optical imaging device adapted to be mounted to the agricultural vehicle, the optical imaging device collecting information of field characteristics; and

a steering control device in electrical communication with the optical imaging device and receiving the information of field characteristics transmitted from the optical imaging device, the steering control device having a steering actuator including a motor operatively connected to a hub adaptor, the hub adapter and the motor being coaxially engaged to define therethrough a common axis forming an axis of rotation of the hub adapter when driven by the motor, the hub adaptor being removably mountable to a central hub of a steering wheel of the agricultural vehicle in fixed rotary engagement, wherein when the hub adaptor is engaged to the central hub of the steering wheel, rotation of the hub adaptor by the motor about said axis of rotation causes corresponding rotation of the steering wheel about a steering wheel axis that is coaxial with the axis of rotation of the motor and the hub adapter, the steering control device thereby autonomously rotating the central hub of the steering wheel in response to the information of field characteristics received by the steering control device from the optical imaging device, the vehicle guidance system thereby steering the agricultural vehicle.

2. The vehicle guidance system of claim 1, further comprising a support structure of the steering control device, the support structure having a first portion adapted to be fixed to an immobile objection of the vehicle, and a second portion to which the steering actuator is mounted.

3. The vehicle guidance system of claim 2, wherein the support structure includes an articulated arm, the articulated arm having a first end thereof forming the first portion and being detachably fastenable to the vehicle and a second end opposed to the first end and having the steering actuator mounted thereto.

4. The vehicle guidance system of claim 3, wherein the first end of the articulated arm includes one or more suction cups adapted to be engaged to a window of the vehicle.

5. The vehicle guidance system of claim 3, wherein the articulated arm is adjustable and/or extendable.

6. The vehicle guidance system of claim 1, wherein the hub adapter of the steering actuator includes a plurality of fingers extending in a direction of the axis of ration and resting sections defined circumferentially between the fingers, each finger extending axially from an end of the hub adapter engaged with the motor of the steering control device and being circumferentially spaced apart from an adjacent finger of the hub adapter by one of the resting portions, wherein when the hub adapter is mounted to the central hub of the steering wheel, each of the fingers extend between adjacent spokes of the steering wheel and each resting section is seated on one of the spokes.

7. The vehicle guidance system of claim 1, wherein the optical imaging device and the steering control device are in direct hard-wired electrical communication with each other.

8. The vehicle guidance system of claim 1, wherein the optical imaging device includes a transmitter and the steering control device includes at least a receiver in communication with each other, the optical imaging device and the steering control device being wireless communication with each other.

9. The vehicle guidance system of claim 8, wherein the steering control device includes a transceiver in two-way communication with the optical imaging device.

10. The vehicle guidance system of claim 1, wherein one or both of the optical imaging device and the steering control device includes a control system including at least a memory, a processor, and a transceiver (receiving/transmitting unit) which individually and/or in combination are operable to store, process, transmit/receive the information of the field characteristics, and/or generate an output signal to the steering actuator.

11. The vehicle guidance system of claim 10, wherein the control system is operable to conduct computer-vision analysis of the information of field characteristics collected by the optical imaging device.

12. The vehicle guidance system of claim 11, wherein the processor of the control system runs an algorithm which analyses visual data of the information of field characteristics produced by the optical imaging device, to at least one of segment the crops from the soil and weeds and identify the lateral offset of the rows of crops.

13. The vehicle guidance system of claim 12, wherein upon receiving information of a deviation in the lateral offset of the rows of crops, the control system actuates the motor to rotate the hub adapter and thus the central hub of the steering wheel a calculated angular amount to appropriate correct the course of the vehicle until the determined lateral offset of the rows of crops are within an accepted range.

14. The vehicle guidance system of claim 1, wherein the motor is integrally disposed within the hub adapter.

15. The vehicle guidance system of claim 1, wherein the steering control device is controlled by an external controller in wireless communication therewith.

16. The vehicle guidance system of claim 15, wherein the external control includes a smart phone or mobile device.

17. A steering control device for a vehicle guidance system of an agricultural vehicle, the steering control device comprising a steering actuator including a motor operatively connected to a hub adaptor, the hub adapter rotated by the motor about an axis of rotation and the hub adapter being removably mountable to a central hub of a steering wheel of the agricultural vehicle with the axis of rotation coaxial with a steering wheel axis of the steering wheel, the hub adapter having a generally cylindrical body with a base at a first end rotatably fixed to an output shaft of the motor and a number of spoke-engaging elements at an opposed second end of the hub adapter, the spoke-engaging elements being circumferentially spaced apart about the body of the hub adapter and circumscribing a central opening in the second end of the body which is adapted to receive therein at least a portion of the central hub of the steering wheel.

18. The steering control device of claim 17, wherein the spoke-engaging elements of the hub adapter include projecting fingers circumferentially spaced apart by resting sections, each of the fingers projecting away from the base of the body of the hub adapter a distance greater than the resting sections, such that the fingers are adapted to extend between adjacent spokes of the steering wheel.

19. The steering control device of claim 18, wherein the fingers are wider at a base portion thereof closest to the first end of the body and narrow towards the second end, thereby forming a substantially triangular shape.

20. The steering control device of claim 18, wherein the fingers form a curved extension which extends downward away from the base of the hub adapter, the second end of the body of the hub adapter defining a sinusoidal-like lower edge formed by the alternating curved fingers and resting sections.

21. The steering control device of claim 17, further comprising a support structure having a first portion adapted to be fixed to an immobile objection of the agricultural vehicle, and a second portion to which the steering actuator is mounted.

22. The steering control device of claim 21, wherein the support structure includes an articulated arm, the articulated arm having a first end thereof forming the first portion and being detachably fastenable to the agricultural vehicle and a second end opposed to the first end and having the steering actuator mounted thereto.

23. The steering control device of claim 22, wherein the first end of the articulated arm includes one or more suction cups adapted to be engaged to a window of the agricultural vehicle.

24. The steering control device of claim 22, wherein the articulated arm is adjustable and/or extendable.

25. The steering control device of claim 17, wherein the steering control device includes a control system having at least a memory, a processor, and a transceiver (receiving/transmitting unit) which individually and/or in combination are operable to store, process, transmit/receive information of field characteristics, and to generate an output signal to the motor of the steering actuator.

26. The steering control device of claim 25, wherein the control system is operable to conduct computer-vision analysis of the information of said field characteristics collected by an optical imaging device in communication with the steering control device.

27. The steering control device of claim 26, wherein the processor of the control system runs an algorithm which analyses visual data of the information of said field characteristics produced by the optical imaging device, to at least one of segment the crops from the soil and weeds and identify the lateral offset of the rows of crops.

28. The steering control device of claim 27, wherein upon receiving information of a deviation in the lateral offset of the rows of crops, the control system actuates the motor of the steering actuator to rotate the hub adapter and thus the central hub of the steering wheel a calculated angular amount to appropriately correct the course of the agricultural vehicle until the determined lateral offset of the rows of crops are within an accepted range.

29. A method for guiding an agricultural vehicle, comprising:

obtaining visual information of field characteristics in a direction of travel of the agricultural vehicle; and

providing the visual information of field characteristics to a steering unit having an actuator mounted directly to the central hub of a steering wheel of the agricultural vehicle; and

using the actuator to rotate the central hub, and therefore the steering wheel, in response to the visual information of field characteristics, thereby steering the agricultural vehicle along the direction of travel.