Method and system for implement steering for agricultural vehicles

• US 6,865,465 B2
• Filed: 05/06/2003
• Issued: 03/08/2005
• Est. Priority Date: 05/06/2002
• Status: Expired due to Term

• Current Assignee: AgJunction Incorporated (Kubota Corporation)
• Original Assignee: CSI Wireless Incorporated
• Inventors: McClure, John A.
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US10/431,119
• Publication Number:
  US 20030208311A1
• Time in Patent Office: 672 Days
• Field of Search: 701/215, 701/50, 701/210, 701/213, 701/207, 701/708, 701/707, 701/214, 701/36, 701/300, 701/1, 342/357.03, 342/357.02, 342/357.06, 342/357.08, 342/357.11, 172/2, 172/5
• US Class Current: 701/50
• CPC Class Codes: A01B 69/004 automatic
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry

Abstract

A guidance system for directing a towed implement comprising: a first DGPS system, comprising an antenna located on a towing vehicle in operable communication with a receiver; a second DGPS system comprising another antenna located on a towed implement in operable communication with another receiver; a receiver configured to receive differential correctors from a reference GPS system; a controller in operable communication with the first DGPS system, the second DGPS system, and the receiver, the controller generating a first steering command; and a steering mechanism in operable communication with the controller and configured to direct a towed implement based on the first steering command provided thereto.

Claims

1. A guidance system for directing a towed implement comprising:

a first DGPS system, comprising an antenna located on a towing vehicle in operable communication with a receiver;

a second DGPS system comprising another antenna located on a towed implement in operable communication with another receiver;

a receiver configured to receive differential correctors from a reference GPS system;

a controller in operable communication with said first DGPS system, said second DGPS system, and said receiver, said controller generating a first steering command;

a steering mechanism on a towed implement in operable communication with said controller and configured to direct a towed implement based on said first steering command provided thereto.

2. The guidance system of claim 1 further including said controller generating a second steering command and further including another steering mechanism in operable communication with said controller and configured to direct said towing vehicle based on said second steering command provided thereto.

3. The guidance system of claim 2 wherein said controller generates at least one of straight and contour guidance information based on a position front said first DGPS system for at least one of numerical display, graphical display, and auto-steering of said towing vehicle.

4. The guidance system of claim 1, wherein at least one of said DGPS system and said second DGPS system comprises a differential source configured to satisfy selected accuracy requirements, at least one of said DGPS system and said second DGPS system including at least one of, carrier phase RTK, a satellite based differential system, and ground based differential system.

5. The guidance system of claim 1 wherein said controller generates at least one of straight and contour guidance information based on said second DGPS system relative to a towing vehicle guidance line, for at least one of numerical display, graphical display, and implement steering.

6. The system of claim 1 wherein said steering mechanism is a three-point hitch and said first steering command is configured for positional correction thereof.

7. The system of claim 1 wherein said steering mechanism is a coulter disk and said first steering command is configured for coulter disk angle of attack correction.

8. A method for steering a towed implement comprising:

generating a differential corrector at a reference DGPS receiver and transmitting said differential corrector of a towing vehicle;

receiving said differential corrector;

receiving a first position from a first DGPS system corresponding to a position or said towing vehicle;

receiving a second position from a second DGPS system corresponding to a position or said towed implement;

computing a corrected position for said towed implement; and

for each desired swath;

computing a desired track and cross track error

computing a steering correction for said towed implement; and

generating a first steering command to a first steering mechanism on said towed implement.

9. The method of claim 8 further including:

generating a second steering command to another steering mechanism in operable communication with said controller, said another steering mechanism configured to direct said towing vehicle based on said second steering command.

10. The method of claim 8 further including generating at least one or straight and contour guidance information based on a position from said first DGPS system for at least one of numerical display, graphical display, and auto-steering of said towing vehicle.

11. The method of claim 8, wherein said DGPS comprises a differential source configured to satisfy selected accuracy requirements, said DGPS including at least one of, carrier phase RTK, a satellite based differential system, and ground based differential system.

12. The method of claim 8 further including generating at least one of straight and contour guidance information based on said second DGPS system relative to a towing vehicle guidance line, for at least one of numerical display, graphical display, and implement steering.

13. The method of claim 8 wherein said first steering command is configured for positional correction of a three-point hitch steering mechanism.

14. The system of claim 8 wherein said first steering command is configured for correction based on coulter disk angle of attack correction for a coulter disk steering mechanism.