OPTICAL TRACKING VEHICLE CONTROL SYSTEM AND METHOD

• US 20110015817A1
• Filed: 07/17/2009
• Published: 01/20/2011
• Est. Priority Date: 07/17/2009
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: Reeve, David R.
• Granted Patent: US 8,311,696 B2
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• 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

Abstract

An optical tracking vehicle control system includes a controller adapted for computing vehicle guidance signals and a guidance subsystem adapted for receiving the guidance signals from the controller and for guiding the vehicle. An optical movement sensor is mounted on the vehicle in optical contact with a travel surface being traversed by the vehicle. The optical movement sensor is connected to the controller and provides vehicle movement signals thereto for use by the controller in computing vehicle position. The optical movement sensor can be either mounted on a gimbal for movement independent of the vehicle, or, alternatively, multiple optical movement sensors can be provided for detecting yaw movements. GNSS and inertial vehicle position tracking subsystems are also provided. Still further, a method of tracking a vehicle with an optical movement sensor is provided.

Claims

1. A system for guiding a vehicle, which system includes:

a controller mounted on said vehicle and adapted for computing guidance signals;

a guidance subsystem mounted on said vehicle and connected to said controller, said guidance subsystem being adapted for receiving said guidance signals from said controller and utilizing said guidance signals for guiding said vehicle;

an optical movement sensor subsystem mounted on said vehicle and adapted for optically sensing movement of said vehicle relative to a surface over which said vehicle is traveling;

said optical movement sensor subsystem being connected to said controller and adapted for providing optically-sensed vehicle movement signals to said controller, said vehicle movement signals corresponding to optically-sensed relative vehicle movement; and

said controller being adapted for computing said guidance signals utilizing said vehicle movement signals.

2. The vehicle guidance system according to claim 1 wherein said optical movement sensor subsystem includes:

an optical movement sensor; and

a gimbal mount mounting said optical movement sensor on said vehicle, said gimbal mount maintaining an orientation of said optical movement sensor independent of said vehicle orientation.

3. The vehicle guidance system according to claim 1 wherein said optical movement sensor subsystem includes:

a pair of said optical movement sensors fixedly mounted in spaced relation on said vehicle.

4. The vehicle guidance system according to claim 1, which includes:

a global navigation satellite system (GNSS) positioning subsystem mounted on said

vehicle and adapted for providing GNSS-derived position signals to said controller; and

said controller using said GNSS-derived position signals for computing said guidance signals.

5. The vehicle guidance system according to claim 1, which includes:

said GNSS positioning subsystem including a pair of antennas mounted on said vehicle;

said antennas receiving GNSS ranging signals corresponding to their respective geo-reference locations; and

said processor being adapted for computing an attitude of said vehicle using ranging differences between the GNSS signals received by said antennas.

6. The vehicle guidance system according to claim 1, which includes:

said GNSS antennas being mounted on said vehicle in transversely-spaced relation.

7. The vehicle guidance system according to claim 1, which includes:

said vehicle including a motive component and an implement connected to said motive component; and

a GNSS antenna mounted on said implement and connected to said GNSS receiver.

8. The vehicle guidance system according to claim 7 wherein said guidance subsystem is adapted for automatically steering said vehicle utilizing said positioning signals.

9. The vehicle guidance system according to claim 8 wherein said guidance subsystem includes an hydraulic steering valve block connected to said controller and to a steering mechanism of said vehicle.

10. The vehicle guidance system according to claim 9 wherein said guidance subsystem includes a graphic user interface (GUI) adapted for displaying a guide path of said vehicle.

11. The vehicle guidance system according to claim 1, which includes:

a GNSS base station including a radio transmitter and a radio receiver; and

said vehicle including an RF receiver adapted to receive RF transmissions from said base station.

12. The vehicle guidance system according to claim 11, which includes:

a real-time kinematic (RTK) correction subsystem using carrier phase satellite transmissions with said vehicle in motion.

13. A system for guiding a vehicle, which system includes:

a controller mounted on said vehicle and adapted for computing guidance signals;

a guidance subsystem mounted on said vehicle and connected to said controller, said guidance subsystem being adapted for receiving said guidance signals from said controller and utilizing said guidance signals for guiding said vehicle;

an optical movement sensor subsystem mounted on said vehicle and adapted for optically sensing movement of said vehicle relative to a surface over which said vehicle is traveling;

said optical movement sensor subsystem including an optical movement sensor connected to said controller and adapted for providing optically-sensed vehicle movement signals thereto corresponding to optically-sensed relative vehicle movement;

said controller being adapted for computing said guidance signals utilizing said vehicle movement signals;

a global navigation satellite system (GNSS) positioning subsystem mounted on said vehicle and adapted for providing GNSS-derived position signals to said controller;

said controller using said GNSS-derived position signals for computing said guidance signals;

said GNSS positioning subsystem including a pair of antennas mounted on said vehicle;

said antennas receiving GNSS ranging signals corresponding to their respective geo-reference locations;

said processor being adapted for computing an attitude of said vehicle using ranging differences between the GNSS signals received by said antennas;

said GNSS antennas being mounted on said vehicle in transversely-spaced relation;

said vehicle including a motive component and an implement connected to said motive component;

a GNSS antenna mounted on said implement and connected to said GNSS receiver;

said guidance subsystem being adapted for automatically steering said vehicle utilizing said positioning signals;

said guidance subsystem including an hydraulic steering valve block connected to said controller and to a steering mechanism of said vehicle;

said guidance subsystem including a graphic user interface (GUI) adapted for displaying a guide path of said vehicle;

a GNSS base station including a radio transmitter and a radio receiver;

said vehicle including an RF receiver adapted to receive RF transmissions from said base station; and

a real-time kinematic (RTK) correction subsystem using carrier phase satellite transmissions with said vehicle in motion.

14. The vehicle guidance system according to claim 13 wherein said optical movement sensor subsystem includes:

an optical movement sensor; and

a gimbal mount mounting said optical movement sensor on said vehicle, said gimbal mount maintaining an orientation of said optical movement sensor independent of said vehicle orientation.

15. The vehicle guidance system according to claim 14 wherein said optical movement sensor subsystem includes:

a pair of said optical movement sensors fixedly mounted in space relation on said vehicle.

16. A method of guiding a vehicle, which includes the steps of:

providing said vehicle with a controller adapted for computing guidance signals;

providing said vehicle with a guidance subsystem connected to said controller;

communicating said guidance signals from said controller to said guidance subsystem;

said guidance subsystem guiding said vehicle withh said guidance signals;

providing said vehicle with an optical movement sensor subsystem;

optically sensing movement of said vehicle relative to a surface over which said vehicle is traveling;

connecting said optical movement sensor subsystem to said controller;

providing said controller with vehicle movement signals corresponding to relative vehicle movement; and

said controller computing guidance signals utilizing said vehicle movement signals.

17. The method according to claim 16, which includes the additional steps of:

providing said optical movement sensor subsystem with an optical movement sensor;

mounting said optical movement sensor on said vehicle with a gimbal mount; and

said gimbal mount maintaining an orientation of said optical movement sensor independent of said vehicle orientation.

18. The method according to claim 16, which includes the additional steps of:

providing said optical movement sensor subsystem with a pair of optical movement sensors; and

fixedly mounting said optical movement sensors in spaced relation on said vehicle.

19. The method according to claim 16, which includes the additional steps of:

providing a global navigation satellite system (GNSS) positioning subsystem; and

mounting said GNSS positioning subsystem on said vehicle.

20. The method according to claim 19, which includes the additional steps of:

providing GNSS-derived position signals from said GNSS positioning subsystem to said controller; and

said controller using said GNSS-derived position signals for computing guidance signals.