Architecturally partitioned automatic steering system and method

• US 20060167600A1
• Filed: 01/27/2005
• Published: 07/27/2006
• Est. Priority Date: 01/27/2005
• Status: Abandoned Application

• Current Assignee: Raven Industries Incorporated (CNH Industrial N.V.)
• Original Assignee: Raven Industries Incorporated (CNH Industrial N.V.)
• Inventors: Fowler, David A., Nelson, Robert Leonard Jr., Hughen, James F.
• Application Number:
  US11/046,498
• Publication Number:
  US 20060167600A1
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 2201/0201 Agriculture or harvesting machine

Abstract

A system and method for automatically steering a vehicle along an intended path is provided. The system is architecturally partitioned. The partitioned design allows each of the system elements to be designed and maintained independently while allowing variation and flexibility in system configuration. An embodiment of the system elements may comprise a local navigation guidance unit, an external positioning system, a steering controller, and an installation and service computer. Additional elements of an embodiment of the system may comprise a steering position sensor, and at least one steering actuator. The system allows the operator to enter an intended target path and certain vehicle parameters. The local navigation guidance unit receives positional data from an external positioning system, preferably DGPS, indicative of a navigational path traversed by the vehicle. The guidance unit compares the positional data with the intended target path to obtain guidance error and transmits the guidance error to the steering controller. The system allows for determination of the current steering angle and generation of a steering angle adjustment based upon the intended target, the navigational path traversed by the vehicle, the vehicle parameters, the steering angle and the guidance error. The steering angle adjustment is used to actuate a steering mechanism to smoothly guide the vehicle along the intended target path.

Claims

1. A system for automatically steering a vehicle along an intended target path, the system comprising:

a local navigation guidance unit for establishing the intended target path and for calculating guidance error data therefrom, the local navigation guidance unit further having a memory wherein intended target path information for the vehicle is stored;

an external positioning system for providing position and course-over-ground solution data for the vehicle to the local navigation guidance unit; and

a steering controller in communication with the external positioning system and local navigation guidance unit for receiving the guidance error data, generating a steering signal that minimizes the guidance error and steering the vehicle in response to the steering signal,

wherein the local navigation guide, steering controller, and the external positioning system are architecturally partitioned within the system.

2. The system of claim 1, further comprising the steering controller allowing entry and storage of vehicle parameters.

3. The system of claim 1, further comprising the steering controller having communication switching capability that enables communication between the architecturally partitioned local navigation guide and the external positioning system.

4. The system of claim 1, wherein the local navigation guidance unit further comprises the capability of receiving position and course-over-ground solution data from the external positioning system via communication switching in the steering controller, comparing the position or course-over-ground solution data with the intended target path, calculating guidance error and sending guidance error messages to the steering controller.

5. The system of claim 4, further comprising the local navigation guidance unit sending guidance error messages to the steering controller with the same frequency as the external positioning system provides position and course-over-ground data to the local navigation guidance unit via communication switching in the steering controller.

6. The system of claim 5, wherein the position and course-over-ground data is provided by the external positioning system to the local navigation guidance unit via communication switching in the steering controller with a frequency of at least ten data transmissions per second.

7. The system of claim 1, further comprising a steering angle position sensor on the vehicle, wherein the steering angle position sensor is in communication with the steering controller and wherein the vehicle comprises at least one steerable wheel for changing the vehicle'"'"'s heading.

8. The system of claim 7, further comprising the steering controller monitoring the steering angle position sensor with a frequency of at least once every five milliseconds.

9. The system of claim 7, wherein the steering angle position sensor is a linear variable resistor.

10. The system of claim 7, wherein the steering angle position sensor is a rotary device that uses a Hall-effect sensor.

11. The system of claim 7, further comprising at least one steering actuator on the vehicle and in communication with the steering controller and the at least one steerable wheel for automatically steering the vehicle in response to the steering signal.

12. The system of claim 11, wherein the steering signal urges the at least one steering actuator to steer the vehicle along the intended target path and to minimize the guidance error.

13. The system of claim 11, wherein the at least one steering actuator comprises right and left solenoids, the solenoids selected from the group consisting of pulsed, SPS direct, on-off, and PWM.

14. The system of claim 13, wherein the at least one steering actuator further comprises at least one hydraulic valve, the hydraulic valve operatively connected to, and controlled by, the solenoids.

15. The system of claim 14, wherein the solenoid is actuated by the steering controller at a rate of at least once per millisecond.

16. The system of claim 1, further comprising a gyroscopic yaw rate sensor on the vehicle, wherein the gyroscopic yaw rate sensor is in communication with the steering controller and wherein the vehicle comprises controllable tracks for changing the vehicle'"'"'s heading.

17. The system of claim 1, wherein the local navigation guidance unit further comprises a display wherein the guidance error and safety warnings may be displayed.

18. The system of claim 1, wherein the steering controller further comprises a display wherein steering control information and safety warnings may be displayed.

19. The system of claim 1, wherein the vehicle further comprises at least one steering actuator on the vehicle and in communication with the steering controller;

and at least one steerable rudder, the at least one rudder operationally connected to the at least one steering actuator for steering the vehicle in response to the steering signal.

20. The system of claim 1, wherein the vehicle is an agricultural vehicle with a definite working width for generation of at least one work path or swath over a field.

21. The system of claim 1, further comprising an installation and service computer in communication with the steering controller, wherein the installation and service computer is capable of wired or wireless communication with the steering controller and is architecturally partitioned from the steering controller, the local navigation guidance system and the external positioning system.

22. The system of claim 21, wherein the installation and service computer is capable of receiving data from the steering controller to aid in diagnosis of system malfunctions.

23. The system of claim 22, further comprising the diagnosis taking place at the location of the steering controller or at a location remote from the location of the steering controller.

24. The system of claim 1, wherein the external positioning system further comprises a receiver and an antenna located on the vehicle for receiving real-time positioning signals from a navigational system.

25. The system of claim 24, wherein the external positioning system further comprises GPS satellites and differential correction sources (DGPS).

26. The system of claim 25, wherein the source of the DGPS signal selected from the group consisting of WAAS, HP Omnistar, Coast Guard, RTK, and Omnistar VBS.

27. A system for automatically steering a vehicle along an intended target path, the system comprising:

a local navigation guidance unit for establishing the intended target path and for calculating guidance error data therefrom, the local navigation guidance unit further having a memory wherein intended target path information for the vehicle is stored;

an external positioning system for providing position and course-over-ground solution data for the vehicle to the local navigation guidance unit;

a steering controller in communication with the external positioning system and local navigation guidance unit for receiving the guidance error data, generating a steering signal that minimizes the guidance error and steering the vehicle in response to the steering signal, and wherein the local navigation guidance unit further comprises the capability of receiving position and course-over-ground solution data from the external positioning system via communication switching within the steering controller, comparing the position or course-over-ground solution data with the intended target path, calculating guidance error and sending guidance error messages to the steering controller;

a steering angle position sensor, wherein the steering angle position sensor is in communication with the steering controller for generating the steering signal and wherein the vehicle comprises at least one steerable wheel for changing the vehicle'"'"'s heading;

at least one steering actuator comprising left and right solenoids in communication with the steering controller and the at least one steerable wheel, and at least one hydraulic valve, the at least one hydraulic valve operatively connected to, and controlled by, the solenoids, the at least one steering actuator automatically steering the vehicle along the intended target path in response to the steering signal; and

an installation and service computer in communication with the steering controller, wherein the installation and service computer is capable of wired or wireless communication with the steering controller and is capable of receiving data from the steering controller to aid in diagnosis of system malfunctions,

wherein the local navigation guide, steering controller, external positioning system and installation and service computer are architecturally partitioned within the system.

28. A method for automatically steering a vehicle with a steering mechanism along an intended target path:

entering an intended target path into a local navigation guidance unit located on the vehicle;

entering vehicle parameters into the steering controller;

receiving, with the local navigation guidance unit, position and course-over-ground data from an external positioning system, via communication switching in a steering controller, the data indicative of a path traversed by the vehicle, wherein the local navigation guidance unit is architecturally partitioned from the external positioning system;

comparing, by the local navigation guidance unit, the position or course-over-ground data with the intended target path to obtain guidance error;

transmitting the guidance error from the local navigation guidance unit to the steering controller that is located on the vehicle and is architecturally partitioned from the local navigation guidance unit;

determining the angle of heading of the vehicle using a steering position sensor or by differentiation of the course-over-ground data;

generating, by the steering controller, a heading angle adjustment based on the intended target path, the navigational path traversed by the vehicle, the vehicle parameters, the steering angle and the guidance error; and

actuating the steering mechanism to maintain the vehicle along the intended target, path.