Method of steering a machine on a predetermined route and device for its execution

• US 6,636,807 B1
• Filed: 08/28/2000
• Issued: 10/21/2003
• Est. Priority Date: 04/17/2000
• Status: Expired due to Fees

• Current Assignee: RUAG Defence Deutschland GmbH
• Original Assignee: BASE TEN SYSTEMS Electronics GmbH (Government of Switzerland)
• Inventors: Bittner, Gunther, Glasmacher, Hans
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/649,720
• Time in Patent Office: 1,149 Days
• Field of Search: 701/213, 701/214, 701/216, 701/217, 701/201, 701/209, 701/41, 340/988, 340/990, 340/995, 180/168, 180/408, 180/422, 342/357.17
• US Class Current: 701/213
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

The invention discloses a method of steering a machine, in particular an agricultural machine, on a predetermined route, where, by means of an actual position detecting means, the actual position of the machine is detected and is, by means of a comparator, compared to a desired position, wherein, if there is a difference between the actual position and the desired position exceeding a certain quantity, control commands are transmitted to the machine to return same to the predetermined route on a return way, wherein, according,to the invention, an optimum return way is determined in consideration of the predetermined route which still has to be traveled in the further course and corresponding control commands are transmitted to the machine, which return the machine to a desired position of the predetermined route on the optimum return way.

Claims

1. A method for steering an agricultural machine on a predetermined off-road route comprising:

determining an actual position of an agricultural machine;

pre-determining a maximum angle at which the agricultural machine may be turned,

wherein any change in direction that exceeds the pre-determined maximum angle is a big

change in direction;

comparing the actual position relative to a desired position of the agricultural machine wherein the desired position is located on a predetermined off-road route;

transmitting steering controls to the agricultural machine if a difference between the actual position and the desired position exceeds a certain quantity wherein the control commands cause the agricultural machine to be steered to a new future position on the predetermined route via an unconstrained path, different from the predetermined route, based upon a future segment of the predetermined off-road route;

wherein the machine'"'"'s return to the new future position is effected on a return way which minimizes a divergence from the predetermined off-road route as well as avoiding big changes of direction in an actual path of travel; and

wherein by means of control commands, the machine'"'"'s direction of motion is, already before the new future position, adapted to the direction of the predetermined off-road route to be traveled after reaching the new fixture position.

2. A method according to claim 1, wherein by means of the control commands, the steering of the machine is actuated.

3. A method according to claim 1, wherein the machine'"'"'s return to the new future position is effected on a straight return way or a curve return way.

4. A method according to claim 3, wherein if the actual position is located left of the desired position in the direction and the predetermined off-road route extends to the left, the machine is moved on substantially straight until the new future position is reached.

5. A method according to claim 4, wherein if the actual position is located right of the desired position in the direction of motion and the predetermined off-road route extends to the right, the machine is moved on substantially straight until the new future position is reached.

6. A method according to claim 1, characterized in that, for detecting the actual position (B′

), a GPS is used.

7. A method according to claim 1, wherein detecting the actual position a set of wheel sensors are used for detecting torque and a set of direction detectors are used for detecting a direction of motion.

8. A method according to claim 6, wherein it on the basis of GPS, an incorrect position is obtained, the actual position is determined by means of other sensors.

9. A method according to claim 8, wherein during operation, permanently, a continuous correction of a set of data supplied by the wheel and the direction sensors is effected by using an actual position determination independent of the wheel and the direction sensors.

10. A method according to claim 1, wherein the maximum angle is determined by a type of ground treatment performed by the agricultural machine.

11. A method according to claim 1, wherein the maximum angle is determined by steering constraints of the agricultural machine.

12. A method according to claim 1, wherein the maximum angle is determined by timing and control constraints of the agricultural machine.