Articulated equipment position control system and method

• US 7,373,231 B2
• Filed: 01/08/2007
• Issued: 05/13/2008
• Est. Priority Date: 12/11/2002
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: Timm, John T. E., McClure, John A., Heiniger, Richard W., Funk, Kent D., Wong, Richard B.
• Primary Examiner(s): Black; Thomas
• Assistant Examiner(s): WEISKOPF, MARIE
• Application Number:
  US11/650,784
• Publication Number:
  US 20070112493A1
• Time in Patent Office: 491 Days
• Field of Search: 701/50, 701/41, 701/1, 280/456.1, 172/2, 172/4.5
• US Class Current: 701/50
• CPC Class Codes: A01B 69/004 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]

Abstract

An articulated equipment position control system and method are provided for equipment consisting of motive and working components. The components are connected by an articulated connector, such as a pivotal hitch. GPS-derived positional data is utilized for power-articulating the hitch to maintain the working component, such as an implement, on a predetermined course. Operator-inducted course deviations can thus be corrected. The working component can also be positioned to follow the course of the movive component. The system includes a microprocessor control subsystem, which interfaces with a steering guidance system.

Claims

1. A position control method for positioning a working component relative to a motive component, which comprises the steps of:

providing an articulated connection between said components;

providing said motive component with a first locating device including a DGPS receiver;

providing a OPS output from said first locating device corresponding to a position of said motive component;

providing a second locating device associated with said working component;

providing an output from said second locating device locating said working component relative to said motive component;

providing a controller;

connecting said controller to said locating devices;

providing a positioning device connected to said controller;

operably and drivingly connecting said positioning device to said working component;

providing a positioning signal output from said controller; and

positioning said working component relative to said motive component with said positioning device in response to said positioning signal.

2. A position control method for independently positioning interconnected motive and working components, which comprises the steps of:

providing an articulated connection between said components;

providing said motive component with a first locating device including a GNSS receiver;

providing a GNSS output from said first locating device corresponding to a position of said motive component;

providing a second locating device associated with said working component;

providing an output from said second locating device locating said working component;

providing a controller;

connecting said controller to at least one of said locating devices;

providing a positioning device connected to said controller and to said working component;

providing a positioning signal output from said controller; and

positioning said working component with said positioning device in response to said positioning signal.

3. The method of claim 2, which includes the additional steps of:

providing said second locating device with a second GNSS receiver;

providing a GNSS output from said second locating device corresponding to a GNSS position of said working component;

providing said controller with first and second microprocessors on said motive and working components respectively;

connecting said first and second microprocessors to said first and second receivers respectively; and

positioning said working component relative to said motive component with said positioning device in response to said positioning signal output.

4. The method of claim 2, which includes the additional steps of:

storing GNSS-based straight and curved desired tracks in said controller; and

providing position-correcting output to said positioning device in response to deviations of said motive component from a desired track.

5. The method of claim 2, which includes the additional steps of:

providing an articulated connection between said motive and working components;

providing said articulated connection with a power-actuated hitch including a laterally-movable drawbar and a hitch pin mounted thereon and connected to said working component;

providing said hitch with a clevis configuration;

providing said drawbar with a front end pivotably connected to said motive component and a trailing end connected to said working component;

providing an hydraulic subsystem including an hydraulic pressure source associated with said motive component, an hydraulic actuator connected to said hydraulic pressure source and to said the drawbar for pivoting same and an hydraulic valve selectively controlling pressurized hydraulic fluid flow from said pressure source to said hydraulic actuator;

connecting said controller to said hydraulic valve and controlling the operation of said hydraulic valve with said controller;

providing said hitch with an hydraulic piston-and-cylinder unit connected to said hydraulic power source and to said drawbar, said piston-and-cylinder unit being adapted for pivoting said drawbar;

providing said second locating device with a potentiometer connected to said piston-and-cylinder unit;

outputting a signal from said potentiometer proportional to a position of said piston-and-cylinder unit and corresponding to the orientation of said hitch;

connecting said positioning device to said hitch;

preprogramming said controller to laterally shift said hitch in response to deviations of said motive component from a respective desired track; and

generally following said desired track with said hitch in response to said controller.

6. The method of claim 5, which includes the additional steps of:

mounting a tilt sensor on one of said components and providing an output corresponding to a tilt condition thereof;

preprogramming said controller with a tilt-correcting function adapted to proportionally, laterally shift said hitch in response to a detected tilt condition and a required compensating adjustment;

preprogramming said system with a curvature-correcting function adapted to proportionally, laterally shift said hitch in response to a detected curvature of said vehicle track and a required compensating adjustment of said working component track; and

calibrating said tilt-correcting and curvature-correcting functions in either or both of a stationary and an on-the-fly condition of said system.

7. The system of claim 2, which includes the additional steps of:

providing said controller with an end-of-row turn compensating function; and

biasing said hitch laterally outwardly in response to said system detecting an end-of-row condition corresponding to a predetermined crosstrack deviation from a desired track.

8. The method of claim 2, which includes the additional steps of:

providing a steering guide subsystem with a steering display;

providing said steering display with cross-track error and heading information and displaying said information to an operator; and

connecting said steering guide subsystem to said controller whereby said steering display information is based on GNSS data.

9. The method of claim 2, which includes the additional steps of:

providing a straight-line operating mode adapted for guiding said implement along a relatively straight-line track;

providing a contour operating mode adapted for guiding said implement along a curvilinear track; and

compensating for a turning radius based on motive component speed and rate-of-turn.

10. The method according to claim 2, which includes the additional steps of:

providing GNSS correction capability utilizing a signal correction system from among the group consisting of;

WAAS (Wide Area Augmentation System), EGNOS (European Geostationary Navigation Overlay System); and

MSAS (Multifunctional Transport Satellite Space-Based Augmentation System).

11. A position control method for positioning a working component relative to a motive component, which comprises the steps of:

providing an articulated connection between said components;

providing said motive component with a first locating device including a DOPS receiver;

providing a GPS output from said first locating device corresponding to a position of said motive component;

providing a second locating device associated with said working component;

providing an output from said second locating device locating said working component relative to said motive component;

providing a controller;

connecting said controller to said locating devices;

providing a positioning device connected to said controller;

operably and drivingly connecting said positioning device to said working component;

providing a positioning signal output from said controller;

positioning said working component relative to said motive component with said positioning device in response to said positioning signal;

providing said second locating device with a second GNSS receiver; and

providing a GNSS output from said second locating device corresponding to a GNSS position of said working component;

providing said controller with first and second microprocessors on said motive and working components respectively;

connecting said first and second microprocessors to said first and second receivers respectively;

positioning said working component relative to said motive component with said positioning device in response to said positioning signal output;

storing GNSS-based straight and curved desired tracks in said controller;

providing position-correcting output to said positioning device in response to deviations of said motive component from a desired track;

providing a straight-line operating mode adapted for guiding said implement along a relatively straight-line track;

providing a contour operating mode adapted for guiding said implement along a curvilinear track; and

compensating for a turning radius based on motive component speed and rate-of-turn.