Implement attachment guidance system

• US 10,351,061 B1
• Filed: 03/09/2018
• Issued: 07/16/2019
• Est. Priority Date: 03/09/2018
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Chaudhari, Rushikesh
• Primary Examiner(s): Alcon, Fernando
• Application Number:
  US15/916,682
• Time in Patent Office: 494 Days
• CPC Class Codes: B60D 1/36 for facilitating connection, e.g. hitch catchers , visual guide means, signalling aids B60D1/465 takes precedence; vehicle signalling in general B60Q; optical arrangements specially adapted for viewing trailer-hitches B60R1/003
• CPC Class Codes: B60D 1/62 involving supply lines, electric circuits, or the like
• CPC Class Codes: B60D 2001/008 specially adapted for implements, e.g. towed tools
• CPC Class Codes: B60R 1/003 for viewing trailer hitches
• CPC Class Codes: B60R 2300/808 for facilitating docking to a trailer

Abstract

A method and apparatus for guiding a work vehicle hitch to an implement. The apparatus includes an implement attachment guidance system including a camera located on the work vehicle to generate images of the connectors of the implement. A processor receives the generated images and identifies a position of the hitch couplers and identifies the implement connectors as objects. A connecting line between implement connector objects is identified as a virtual line. A reference line identifies the position of the hitch couplers. The processor determines an image distance between the reference line and the virtual line to determine a proximity of the work vehicle hitch to the implement. Distances between ends of the reference line and the virtual line are determined by the processor to provide a direction of travel indicator used by an operator to steer the work vehicle to engage the implement.

Claims

1. An implement attachment guidance system for coupling a work vehicle to an implement, the work vehicle including a hitch having hitch couplers configured to engage implement connectors of the implement, the guidance system comprising:

a reference guide including an edge;

a camera configured to be mounted on the work vehicle, the camera including a lens and an image sensor positioned with respect to the hitch couplers, wherein the lens is configured to transmit an image of the implement connectors and the edge to the image sensor;

a controller operatively connected to the camera, wherein the controller receives the image, processes the image to identify the connectors, processes the image to identify the edge, and determines a correspondence between the connectors and the edge; and

a display operatively connected to the controller, wherein the display is configured to display a display image including an alignment indicator on the display, the alignment indicator indicating alignment of the work vehicle with the implement for connecting the hitch couplers to the implement connectors.

2. The implement guidance system of claim 1 wherein the alignment indicator includes a virtual line indicating a position of the implement connectors and a reference line indicating a position of the hitch couplers.

3. The implement guidance system of claim 2 wherein the alignment indicator includes a distance between the virtual line and the reference line, the distance between the virtual line and the reference line being an indication of an actual distance between the hitch couplers and the implement connectors.

4. The implement guidance system of claim 3 wherein the alignment indicator includes a steering direction indicator.

5. The implement guidance system of claim 4 wherein the steering direction indicator includes a steer left indicator and a steer right indicator.

6. The implement guidance system of claim 2, wherein the control circuitry includes a processor and a memory, wherein the memory includes software instructions including an object detector and an edge detector, wherein the object detector is configured to identify the implement connectors as objects, and the edge detector is configured to identify the virtual line from a line connecting one of the implement connectors to another of the implement connectors and to identify the reference line from a line defined by the edge of the reference guide.

7. The implement guidance system of claim 6 wherein the display image includes a two dimensional image frame, wherein the distance between the hitch couplers and the implement connectors is based on a number of pixels of the image frame separating the virtual line from the reference line.

8. The implement guidance system of claim 4, wherein the steering direction indicator includes a first steering direction and a second steering direction, the steering direction being displayed on the display, wherein each of the first and second steering directions indicate a different direction of travel for the work vehicle to be steered with respect to the implement.

9. The implement guidance system of claim 8, wherein the hitch couplers are couplers of a three point quick connect hitch.

13. The tractor of claim 3 wherein the alignment indicator includes a steering direction indicator.

14. The tractor of claim 13 wherein the steering direction indicator includes a steer left indicator and a steer right indicator.

17. The tractor of claim 13, wherein the steering direction indicator includes a first steering direction and a second steering direction, the steering direction being displayed on the display, wherein each of the first and second steering directions indicate a different direction of travel for the work vehicle to be steered with respect to the implement.

10. A tractor including a cab and a hitch having a plurality of hitch couplers configured to be attached to a plurality of implement connectors of an implement, the tractor comprising:

a reference guide including an edge;

a camera mounted at the tractor, the camera including a lens, and an image sensor, wherein the lens is positioned with respect to the hitch to receive and to transmit an image of the implement connectors and of the edge;

a controller operatively connected to the camera, wherein the controller receives the transmitted image, processes the transmitted image to identify the implement connectors and the edge, and determines an alignment indicator based on a correspondence between the edge and the implement connectors; and

a user interface including a display located in the cab and operatively connected to the controller, wherein the display is configured to display the alignment indicator configured to provide an alignment of the tractor with the implement.

11. The tractor of claim 10 wherein the alignment indicator includes a virtual line indicating a position of the implement connectors and a reference line indicating a position of the hitch couplers.

12. The tractor of claim 11 wherein the alignment indicator includes a distance between the virtual line and the reference line, the distance between the virtual line and the reference line being an indication of an actual distance between the hitch couplers and the implement connectors.

15. The tractor of claim 11, wherein the control circuitry includes a processor and a memory, wherein the memory includes software instructions including an object detector and an edge detector, wherein the object detector is configured to identify the implement connectors as objects, and the edge detector is configured to identify the virtual line from a line connecting one of the implement connectors to another of the implement connectors and to identify the reference line from a line defined by the edge of the reference guide.

16. The tractor of claim 15 wherein the display image includes a two dimensional image frame, wherein the distance between the hitch couplers and the implement connectors is based on a number of pixels of the image frame separating the virtual line from the reference line.

18. A method of aligning a work vehicle hitch having a plurality of hitch couplers with an implement having a plurality of implement connectors using a camera configured to provide images of the plurality of implement connectors, wherein the images are transmitted to a processor configured to process the images for assisting an operator with an alignment of the hitch to the implement, the method comprising:

identifying a position of the hitch couplers from a reference line shown in at least one of the images;

identifying from the at least one of the images two of the implement connectors as a first implement connector and a second implement connector;

identifying a virtual line from the identified first implement connector and second implement connector;

identifying an image distance in the image between the reference line and the connector edge; and

providing a direction of travel indicator of the hitch with respect to the implement based on the identified image distance.

19. The method of claim 18, wherein the identifying an image distance step includes identifying an image distance based on a number of image pixels located between the reference line and the virtual line.

20. The method of claim 19, wherein the providing a direction of travel indicator step includes providing a direction of travel indicator having a first steering direction and a second steering direction, wherein each of the first steering direction and second steering direction is based on the number of image pixels.