GNSS guidance and machine control

• US 8,594,879 B2
• Filed: 08/16/2010
• Issued: 11/26/2013
• Est. Priority Date: 03/20/2003
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: Feller, Walter J., Whitehead, Michael L., McClure, John A., Miller, Steven R., Roberge, Andr C.
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US12/857,298
• Publication Number:
  US 20100312428A1
• Time in Patent Office: 1,198 Days
• Field of Search: 701/41, 701/50, 701/30.8, 701/124, 701468-470, 701/23, 172/2, 172/9, 374/13, 342/357.62, 717/106
• US Class Current: 701/23
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: G01S 19/04 providing carrier phase data
• 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 19/44 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G01S 19/53 Determining attitude
• CPC Class Codes: G01S 19/55 Carrier phase ambiguity resolution; Floating ambiguity; LAMBDA [Least-squares AMBiguity Decorrelation Adjustment] method
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127

Abstract

A global navigation satellite sensor system (GNSS) and gyroscope control system for vehicle steering control comprising a GNSS receiver and antennas at a fixed spacing to determine a vehicle position, velocity and at least one of a heading angle, a pitch angle and a roll angle based on carrier phase position differences. The roll angle facilitates correction of the lateral motion induced position errors resultant from motion of the antennae as the vehicle moves based on an offset to ground and the roll angle. The system also includes a control system configured to receive the vehicle position, heading, and at least one of roll and pitch, and configured to generate a steering command to a vehicle steering system. The system includes gyroscopes for determining system attitude change with respect to multiple axes for integrating with GNSS-derived positioning information to determine vehicle position, velocity, rate-of-turn, attitude and other operating characteristics. A vehicle control method includes the steps of computing a position and a heading for the vehicle using GNSS positioning and a rate gyro for determining vehicle attitude, which is used for generating a steering command. Alternative aspects include multiple-antenna GNSS guidance methods for high-dynamic roll compensation, real-time kinematic (RTK) using single-frequency (L1) receivers, fixed and moving baselines between antennas, multi-position GNSS tail guidance (“breadcrumb following”) for crosstrack error correction, guiding multiple vehicles and pieces of equipment relative to each other and earth-moving equipment and method applications.

Claims

1. A GNSS guidance and control method for earth-moving equipment including a vehicle movably mounting a ground-engaging tool having multiple articulated connections at an articulated vehicle-tool connection, which method comprises the steps of:

providing a grading plan including design elevations;

equipping the vehicle with a GNSS system including multiple GNSS antennas, a GNSS receiver connected to the antennas and a programmable controller connected to the GNSS receiver;

programming the controller to compute GNSS-defined positions of said antennas using GNSS ranging information;

determining with the GNSS-defined antenna positions vehicle position and attitude in three dimensions (3-D);

providing an articulation sensor at each articulated connection;

outputting from each articulation sensor a signal corresponding to a position and orientation of said vehicle-tool connection;

defining said design elevations in relative coordinates based on a benchmark placed at the desired design elevation established by a benchmark position determined by placement of the ground-engaging tool; and

guiding said vehicle and the ground-engaging tool with the controller based on said vehicle position and attitude, said vehicle-tool connection position and a task performed by said vehicle and tool.

2. The method according to claim 1, which includes additional steps of:

preprogramming said controller with GNSS-defined task information; and

comparing with said controller said task information and a ground-engaging tool position.

3. The method according to claim 1, which includes the additional steps of:

establishing said design elevation by creating a terrain map prior to performing any work; and

designating areas need of cut or filled depending on said design elevation.

4. The method according to claim 1, which includes the additional step of:

converting said relative coordinates to absolute coordinates using an absolute position of a benchmark reference point.

5. The method according to claim 1, which includes the additional steps of:

providing inertial gyro and accelerometer movement sensors on said earth-moving equipment;

providing output corresponding to movement of said earth-moving equipment from said movement sensors;

inputting said movement sensor output to said controller; and

controlling said earth-moving equipment in response to output from said movement sensors.

6. The method according to claim 5, which includes additional step:

providing multiple arm element sensors each connected to a respective implement arm element of said vehicle;

determining a position and an attitude of each arm element with a respective arm element sensor;

providing output corresponding to a respective arm element position and attitude from each said arm element sensor;

inputting said arm element sensor output to said controller; and

controlling said earth-moving equipment in response to output from said arm element sensors.

7. The method according to claim 1, which includes the additional step of:

detecting directions of movement with the GNSS, including roll, pitch and slew rotation about X, Y and Z axes respectively.

8. The method according to claim 1, which includes the additional step of:

providing additional GNSS antennas on said implement arm elements;

providing GNSS-based location data for said arm elements to said controller; and

controlling said earth-moving equipment with said controller using said arm element location data.

9. The method according to claim 8 wherein said arm element location data is in absolute coordinates.

10. The method according to claim 8 wherein said arm element location data is in reference to said vehicle.

11. The method according to claim 1, which includes the additional step of:

programming the controller with a macro to control the machine through multiple repetitive steps until a desired result is achieved.

12. A method for programming a macro to control a GNSS guidance and control system for earth-moving equipment including a vehicle movably mounting a ground-engaging tool at an articulated vehicle-tool connection, which method comprises the steps of:

equipping the vehicle with a GNSS system including multiple GNSS antennas, a GNSS receiver connected to the antennas and a programmable controller connected to the GNSS receiver;

defining with said controller design elevations in relative coordinates based on a benchmark placed on a site at a desired design elevation established by a benchmark position determined by placement of the ground-engaging tool;

assigning with said controller an activation method chosen from a group including;

“

auto-engage”

criteria and operator command;

selecting with said controller a programming means chosen from a group including;

manual entry and recording;

selecting with said controller a reference for the vehicles location chosen from a group including;

geo-reference and machine reference; and

assigning with said controller a form of repetition chosen from a group including;

repeat machine operation exactly and increment machine operation.