Method and system for controlling a mobile machine

• US 7,188,015 B2
• Filed: 07/14/2004
• Issued: 03/06/2007
• Est. Priority Date: 07/14/2004
• Status: Active Grant

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Veneziano, James, Lange, Arthur
• Primary Examiner(s): Chin; Gary
• Application Number:
  US10/892,002
• Publication Number:
  US 20060015251A1
• Time in Patent Office: 965 Days
• Field of Search: 701/23, 701/41, 701/50, 701/207, 701/213, 701/214, 318/580, 318/587, 180/443, 180/446, 172/2, 172/4.5, 56/102.A, 56/102.R
• US Class Current: 701/50
• CPC Class Codes: B62D 1/00 Steering controls, i.e. means for initiating a change of direction of the vehicle
• CPC Class Codes: B62D 5/04 electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear

Abstract

Embodiments of the present invention recite system for controlling a mobile machine. In one embodiment the system comprises a position determining component for determining the geographic position of the mobile machine. The system further comprises a steering component for controlling the steering mechanism of the mobile machine in response to a message. The system further comprises a control component coupled with the position determining component and with the steering component. The control component generates a message to the steering component in response to receiving position data from the position determining component.

Claims

1. A system for controlling an agricultural vehicle, said system comprising:

a position determining component for determining the geographic position of said agricultural vehicle;

an electric steering component for controlling the steering mechanism of said agricultural vehicle in response to a message, said electric steering component comprising;

an electric motor coupled with a steering column of said agricultural vehicle; and

a drive wheel which controls a steering wheel of said steering mechanism;

a control component comprising an electric steering output and a hydraulic steering output coupled with said position determining component and with a steering component, said control component for generating said message in response to receiving position data from said position determining component said control component further operable for controlling a hydraulic steering component that is coupled with the steering mechanism of said agricultural vehicle in response to said message and said control component is configured for automatically determining whether it is coupled with said steering component selected from the group consisting essentially of said electric steering component and said hydraulic steering component.

2. The system of claim 1 wherein said position determining system is a ground based position determining system.

3. The system of claim 1 wherein said position determining system is a satellite based position determining system.

4. The system of claim 3 wherein said satellite based position determining system is selected from the group consisting of a global positioning system (GPS) system, a differential GPS system, a real-time kinematics (RTK) system, a networked RTK system, a GLONASS system, and a Galileo system.

5. The system of claim 1 wherein said control component generates a control voltage to said electric steering component.

6. The system of claim 1 further comprising a serial communication bus which communicatively couples said control component, said steering component, and said position determining component.

7. The system of claim 6 wherein said serial communication bus is substantially compliant with the controller area network (CAN) protocol.

8. The system of claim 1 wherein said electric motor is directly coupled with an actuator device.

9. The system of claim 1 wherein said electric motor is selected from the group consisting of a permanent magnet brush direct current (DC) motor, a brushless DC motor, a stepper motor, and an alternating current (AC) servo motor.

10. The system of claim 1 wherein said electric motor is coupled with said steering column of said agricultural vehicle.

11. The system of claim 10 wherein an actuator device controls said steering wheel via a sub wheel which is coupled with said steering wheel.

12. The system of claim 1 further comprising a detection component for determining when a user is steering said agricultural vehicle and for initiating disengagement of said steering component in response to said determining.

13. The system of claim 1 wherein said control component formats said message based upon which of said electric steering component and said hydraulic steering component based upon said automatically determining.

14. A method for controlling an agricultural vehicle comprising:

utilizing a position determining component to determine the geographic position of said agricultural vehicle;

using a control component to automatically determine whether it is coupled with a steering component selected from the group consisting essentially of an electric steering wheel actuator and a hydraulic steering component;

using said control component to generate a steering command based upon the geographic position of said agricultural vehicle; and

using said electric steering wheel actuator to control the steering mechanism of said agricultural vehicle in response to said steering command when coupling of said electric steering wheel actuator to the control component is determined.

15. The method as recited in claim 14 wherein said position determining component comprises a ground based position determining system.

16. The method as recited in claim 14 wherein said position determining system comprises a satellite based position determining component.

17. The method as recited in claim 16 wherein said satellite based position determining component is selected from the group consisting of a global positioning system (GPS) system, a differential GPS system, a real-time kinematics (RTK) system, a networked RTK system, a GLONASS system, and a Galileo system.

18. The method as recited in claim 14 further comprising:

generating a control voltage in response to said steering command.

19. The method as recited in claim 14 further comprising:

using a serial communication bus to communicatively couple said control component and said position determining component.

20. The method as recited in claim 19 wherein said serial communication bus is substantially compliant with the controller area network (CAN) protocol.

21. The method as recited in claim 14 wherein said control component is further operable for controlling said hydraulic steering component.

22. The method as recited in claim 14 wherein said electric steering wheel actuator comprises:

an electric motor coupled with said control component; and

an actuator device coupled with said electric motor and configured to actuate the steering wheel of said agricultural vehicle.

23. The method as recited in claim 22 wherein said electric motor is directly coupled with said actuator device.

24. The method as recited in claim 14 further comprising:

formatting said steering command to actuate said electric steering wheel actuator based upon determining that said control component is coupled with said electric steering wheel actuator; and

formatting said steering command to actuate said hydraulic steering component based upon determining that said control component is coupled with said hydraulic steering component.

25. The method as recited in claim 22 wherein said electric motor is selected from the group consisting of a permanent magnet brush direct current (DC) motor, a brushless DC motor, a stepper motor, and an alternating current (AC) servo motor.

26. The method as recited in claim 22 wherein said actuator device comprises a drive wheel which controls said steering wheel of said steering mechanism.

27. The method as recited in claim 22 wherein said actuator device controls said steering wheel via a sub wheel which is coupled with said steering wheel.

28. The method as recited in claim 22 wherein said actuator device is coupled with a steering shaft of said agricultural vehicle.

29. The method as recited in claim 14 further comprising:

determining when a user is steering said agricultural vehicle; and

disengaging said steering component in response to said determining.