System and method for integrating automatic electrical steering with GNSS guidance

• US 8,781,685 B2
• Filed: 07/17/2013
• Issued: 07/15/2014
• Est. Priority Date: 07/17/2012
• Status: Expired

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: McClure, John A.
• Primary Examiner(s): Marc, McDieunel
• Application Number:
  US13/944,767
• Publication Number:
  US 20140025260A1
• Time in Patent Office: 363 Days
• Field of Search: 701/23, 701/41, 701/50, 701/468, 701/469, 342/357.52
• US Class Current: 701/41
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: B62D 5/046 Controlling the motor
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• 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 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A guidance and vehicle control system for automatically steering a vehicle, such as an agricultural vehicle or a tractor, through a field. The system includes a GNSS receiver and antenna for determining the vehicle'"'"'s instantaneous position, a guidance CPU, and an automatic steering subsystem integrated with the vehicle'"'"'s electrical power system. The automatic steering subsystem can be interfaced with the steering column of the vehicle, and mechanically activates the steering column, thereby steering the vehicle according to instructions received from the CPU based upon the vehicle'"'"'s position and a predetermined path. An interrupt element, such as a wheel movement sensor or a slip gear, may be interfaced with the automatic steering subsystem to allow for manual steering override of the automatic steering control.

Claims

1. A guidance system for a vehicle including steerable wheels and a steering mechanism connected to the steerable wheels, which guidance system includes:

a GNSS-based guidance subsystem including a GNSS receiver, a guidance processor including a guidance CPU connected to the receiver, an output from said guidance processor for providing steering signal output, a graphical user interface (GUI) connected to the guidance processor, and a memory storage device connected to the processor;

an automatic steering subsystem including a drive connected to the steering mechanism and an encoder connected to the steering mechanism and the guidance processor;

said drive including a motor connected to said electrical subsystem; and

an electrical subsystem connected to said automatic steering subsystem.

2. The system of claim 1, further comprising:

the vehicle steering mechanism including a steering column mounting a steering wheel; and

a worm drive interfacing with said automatic steering subsystem and said steering column.

3. The system of claim 2, wherein said automatic steering subsystem is mounted in proximity to said steering column.

4. The system of claim 2, further comprising a mounting rod mounting said automatic steering subsystem to said steering column.

5. The system of claim 2, further comprising:

a wheel movement detection switch integrated into said automatic steering system; and

said wheel movement detection switch adapted to interrupt said automatic steering subsystem when said steering wheel is manually turned.

6. The system of claim 2, further comprising:

a slip gear adapted to bypass said worm drive, said slip gear mechanically interfaced with said steering column.

7. A system for controlling an agricultural vehicle including a steering column connected to steerable wheels and mounting a steering wheel, which guidance system includes:

a GNSS guidance subsystem including an RF converter, a GNSS receiver, and a GNSS antenna;

an automatic steering subsystem including a worm drive having a worm gear, and an encoder;

an electrical subsystem adapted for powering a plurality of electrical components of the vehicle, said electrical subsystem interfaced with said automatic steering subsystem via a power cable;

said worm drive powered by a motor connected to said electrical subsystem;

a guidance CPU electronically connected to said GNSS guidance subsystem, said automatic steering subsystem, a graphical user interface (GUI), and a memory storage device;

said automatic steering subsystem mechanically interfaced with said steering column via said worm drive;

a mounting rod mounting said automatic steering subsystem to said steering column;

a wheel movement detection switch integrated into said automatic steering system; and

said wheel movement detection switch adapted to interrupt said automatic steering subsystem when said steering wheel is manually turned.

8. A method of controlling a vehicle having a steering column attached to a steering wheel, the method comprising the steps:

providing a GNSS guidance subsystem including an RF converter, a GNSS receiver and a GNSS antenna;

providing an automatic steering subsystem including a worm drive having a worm gear, and an encoder;

connecting said GNSS guidance subsystem and said automatic steering subsystem to an electrical subsystem integrated into the vehicle, said electrical subsystem powering a plurality of electrical components connected to said vehicle;

interfacing said worm drive with the steering column of the vehicle;

providing a guidance CPU electronically connected to said GNSS guidance subsystem and said automatic steering subsystem;

locating said vehicle location with said GNSS guidance subsystem;

sending guidance instructions to said automatic steering subsystem with said guidance CPU; and

steering the vehicle along a predetermined path by mechanically operating said steering column with said automatic steering subsystem, thereby guiding the vehicle.

9. The method according to claim 8, further comprising the steps:

providing a slip gear interfaced with said steering column;

activating said slip gear, thereby deactivating said automatic steering subsystem;

deactivating said slip gear; and

reactivating said automatic steering subsystem.

10. The method according to claim 8, further comprising the steps:

providing a wheel movement detection switch integrated into said automatic steering system;

detecting manual interference of said steering wheel with said wheel movement detection switch; and

deactivating said automatic steering subsystem.