GPS receiver with autopilot and integrated lightbar display

• US 7,200,490 B2
• Filed: 11/12/2004
• Issued: 04/03/2007
• Est. Priority Date: 12/12/2003
• Status: Expired due to Term

• Current Assignee: Trimble Navigation Limited (Trimble Inc.)
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Price, Gregory Robin, Wallace, Gregory Craig, Lange, Arthur
• Primary Examiner(s): Tran; Dalena
• Application Number:
  US10/987,096
• Publication Number:
  US 20050171693A1
• Time in Patent Office: 872 Days
• Field of Search: 701/209, 701/23, 701/26, 701/207, 701/41, 701/50, 701/213, 701/122, 701/215, 701/214, 701/226, 701/200, 701/224, 701/3, 701/28, 701/202, 701/93, 701/208, 342/357.17, 342/357.03, 342/457, 342/46, 342/47, 180/168, 180/204, 340/974, 340/988, 340/815.45, 340/461, 340/525, 340/684
• US Class Current: 701/209
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system for controlling a mobile machine is disclosed. In one embodiment, the system comprises an integrated guidance system coupled with a steering component. The integrated guidance system comprises a position determining system for determining the geographic position of the mobile machine. A guidance system coupled with the position determining system is for determining a deviation of the mobile machine from a desired direction. The integrated guidance system also comprises a display coupled with the guidance system for visually indicating a deviation from a desired direction and a steering interface for controlling the steering component. The steering component automatically controls the steering mechanism of the mobile machine in response to a steering command generated by the steering interface. In embodiments of the present invention, the position determining system, the guidance system, the display, and the steering interface are disposed within a housing.

Claims

1. A system for controlling a mobile machine, said system comprising:

a steering component for automatically controlling the steering mechanism of said mobile machine; and

an integrated guidance system comprising;

a position determining system for determining the geographic position of said mobile machine;

a guidance system coupled with said position determining system for generating a course correction upon detecting a deviation of said mobile machine from a desired direction;

a display coupled with said guidance system for visually indicating the deviation from the desired direction; and

a steering interface coupled with said guidance system and with said steering component, said steering interface for determining whether at least one of an electric and a hydraulic steering component is coupled to said mobile machine and for independently controlling said electric or hydraulic steering component in response to receiving said course correction from said guidance system.

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 steering interface generates a control voltage to said steering component.

6. The system of claim 1 further comprising a serial communication bus which communicatively couples said integrated guidance system and said steering component.

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

8. The system of claim 1 wherein said steering interface is further operable for controlling a hydraulic steering component that is coupled with the steering mechanism of said mobile machine.

9. The system of claim 1 wherein said steering component comprises:

an electric motor coupled with said steering interface; and

an actuator device coupled with said electric motor and configured to control the steering mechanism of said mobile machine.

10. The system of claim 9 wherein said electric motor is directly coupled with said actuator device.

11. The system of claim 9 wherein said electric motor is coupled with said actuator device via a gear.

12. The system of claim 9 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.

13. The system of claim 9 wherein said electric motor is coupled with a steering column of said mobile machine and wherein said actuator device comprises a drive wheel which controls a steering wheel of said steering mechanism.

14. The system of claim 13 wherein said actuator device controls said steering wheel via a sub wheel which is coupled with said steering wheel.

15. The system of claim 9 wherein said actuator device is coupled with a steering shaft of said mobile machine.

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

17. The system of claim 1 wherein said integrated guidance system further comprises a housing and wherein said position determining component, said guidance system, said display, and said steering interface are disposed within said housing.

18. The system of claim 1 wherein said display comprises at least one of a display device for displaying text and graphics and a lightbar device adapted for providing a visual indication of a deviation from a desired direction.

19. An integrated guidance system for controlling a mobile machine, said control component comprising:

a position determining system for determining the geographic position of said mobile machine;

a guidance system coupled with said position determining system for determining a course correction for said mobile machine based upon position data received from said position determining system;

a display coupled with said guidance system for visually indicating a deviation of said mobile machine from a desired direction; and

a steering interface coupled with said guidance system and for generating a steering command based upon said course correction, and wherein said steering command is conveyed to at least one of an electric steering component and a hydraulic steering component as determined by said steering interface coupled with the steering mechanism of said mobile machine.

20. The control component of claim 19 wherein said integrated guidance system and said steering component communicate via a serial communication bus.

21. The control component of claim 20 wherein said serial communication bus is substantially compliant with the controller area network (CAN) protocol.

22. The control component of claim 19 wherein said position determining system is a ground based position determining system.

23. The control component of claim 19 wherein said position determining system is a satellite based position determining system.

24. The control component of claim 23 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.

25. The control component of claim 19 wherein a control voltage is conveyed to either of said electric steering component and said hydraulic steering component in response to said steering command.

26. The control component of claim 19 wherein said steering component comprises:

an electric motor coupled with a steering column of said mobile machine; and

an actuator device coupled with said electric motor and configured to control the steering mechanism of said mobile machine.

27. The control component of claim 26 wherein said electric motor is directly coupled with said actuator device.

28. The control component of claim 26 wherein said electric motor is coupled with said actuator device via a gear.

29. The control component of claim 26 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.

30. The control component of claim 26 wherein said actuator device comprises a drive wheel which is coupled with the steering wheel of said mobile machine.

31. The control component of claim 30 wherein said drive wheel is coupled with the steering wheel via a sub wheel which is coupled with the steering wheel.

32. The control component of claim 26 wherein said actuator device is coupled with a steering shaft of said mobile machine.

33. The control component of claim 19 wherein said steering component further comprises:

a detection component for determining when a user is steering said mobile machine and for initiating disengagement of said electric steering component and said hydraulic steering component in response to said determining.

34. The control component of claim 19 further comprising a housing and wherein said position determining system, said guidance system, said display, and said steering interface are disposed within said housing.

35. The control component of claim 19 wherein said display comprises at least one of a display device for displaying text and graphics and a lightbar device adapted for providing a visual indication of the deviation of said mobile machine from the desired direction.

36. A method for controlling a mobile machine comprising:

utilizing a position determining system to determine the geographic position of said mobile machine and wherein said position determining system is disposed within a housing of an integrated guidance system;

using a guidance system disposed within a housing to generate a course correction in response to detecting a deviation of said mobile machine from a desired direction;

using a display disposed within said housing to visually indicate the deviation of said mobile machine from a desired direction; and

using a to steering interface disposed within said housing determine at least one of a hydraulic and electric output and to control a steering mechanism coupled to said mobile machine in response to said course correction.

37. The method as recited in claim 36 wherein said position determining system comprises a ground based position determining system.

38. The method as recited in claim 36 wherein said position determining system comprises a satellite based position determining system.

39. The method as recited in claim 36 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.

40. The method as recited in claim 36 further comprising:

generating a control voltage in response to said course correction.

41. The method as recited in claim 36 further comprising:

using a serial communication bus to communicatively couple a steering interface of said integrated guidance system with said steering component.

42. The method as recited in claim 41 wherein said serial communication bus is substantially compliant with the controller area network (CAN) protocol.

43. The method as recited in claim 36 wherein said integrated guidance system is operable for controlling a hydraulic steering component.

44. The method as recited in claim 36 wherein said steering component comprises:

an electric motor coupled with said integrated guidance system; and

an actuator device coupled with said electric motor and configured to control the steering mechanism of said mobile machine.

45. The method as recited in claim 44 wherein said electric motor is directly coupled with said actuator device.

46. The method as recited in claim 44 wherein said electric motor is coupled with said actuator device via a gear.

47. The method as recited in claim 44 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.

48. The method as recited in claim 44 wherein said actuator device comprises a drive wheel which controls a steering wheel of said steering mechanism.

49. The method as recited in claim 44 wherein said actuator device controls said steering wheel via a sub wheel which is coupled with said steering wheel.

50. The method as recited in claim 44 wherein said actuator device is coupled with a steering shaft of said mobile machine.

51. The method as recited in claim 36 further comprising:

determining when a user is manually steering said mobile machine; and

disengaging said steering component in response to said determining.

52. The method as recited in claim 36 further comprising:

visually indicating the deviation of said mobile machine from the desired direction using one of a display device adapted for displaying text and graphics and a lightbar device adapted for providing a visual indication of the deviation of said mobile machine from the desired direction.