GNSS AND OPTICAL GUIDANCE AND MACHINE CONTROL
First Claim
1. An automatic steering system for use in an agricultural vehicle, comprising:
- a controller to;
send one or more steering control commands for a desired track to a vehicle steering control mechanism to steer the agricultural vehicle;
receive data from one or more sensors indicating a response by the agricultural vehicle to the one or more steering control commands;
determine a deviation of the agricultural vehicle from the desired track based on the data from one or more sensors indicating the response by the agricultural vehicle to the one or more steering control commands;
derive one or more calibration values based on the deviation of the agricultural vehicle;
generate additional steering control commands based on the one or more calibration values; and
send the additional steering control commands to the steering control mechanism.
1 Assignment
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Accused Products
Abstract
A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine-vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. Relative orientations and attitudes between motive and working components can be determined using optical sensors and cameras. The system can also be used to guide multiple vehicles in relation to each other.
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Citations
26 Claims
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1. An automatic steering system for use in an agricultural vehicle, comprising:
- a controller to;
send one or more steering control commands for a desired track to a vehicle steering control mechanism to steer the agricultural vehicle; receive data from one or more sensors indicating a response by the agricultural vehicle to the one or more steering control commands; determine a deviation of the agricultural vehicle from the desired track based on the data from one or more sensors indicating the response by the agricultural vehicle to the one or more steering control commands; derive one or more calibration values based on the deviation of the agricultural vehicle; generate additional steering control commands based on the one or more calibration values; and send the additional steering control commands to the steering control mechanism. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 23)
- a controller to;
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17. A steering system for a vehicle or implement, comprising:
one or more processors to; send one or more steering control commands to a steering controller to steer the vehicle or implement; determine a position and heading of the vehicle or implement in relation to a desired track; calculate one or more calibration errors based on the determined position and heading of the vehicle or implement in relation to the desired track, determine one or more calibration values based on the one or more calibration errors; generate additional steering control commands based on the calibration values; and send the additional steering control commands to the steering controller to steer the vehicle or implement. - View Dependent Claims (18, 19, 20, 21, 22)
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24. A steering system, comprising:
a controller to; send one or more steering control commands to a steering control mechanism to steer an agricultural vehicle or implement; receive sensor data indicating a position, heading, and rate-of-turn of the agricultural vehicle or implement; calibrate the steering control mechanism based on the sensor data; and send one or more additional steering control commands to the calibrated steering control mechanism to steer the agricultural vehicle or implement. - View Dependent Claims (25)
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26. A method for operating an agricultural vehicle, comprising:
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using one or more steering control commands to steer the agricultural vehicle on a desired track; receiving data from one or more sensors indicating a response by the agricultural vehicle to the one or more steering control commands; determining a deviation of the agricultural vehicle from the desired track based on the data from one or more sensors indicating the response by the agricultural vehicle to the one or more steering control commands; deriving one or more calibration values based on the deviation of the agricultural vehicle; generating additional steering control commands based on the one or more calibration values; and using the additional steering control commands to steer the agricultural vehicle on the desired track.
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Specification