Visual, GNSS and gyro autosteering control

• US 9,002,566 B2
• Filed: 02/10/2009
• Issued: 04/07/2015
• Est. Priority Date: 02/10/2008
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: McClure, John A., Miller, Steven R.
• Primary Examiner(s): PATTON, SPENCER D
• Application Number:
  US12/368,855
• Publication Number:
  US 20090204281A1
• Time in Patent Office: 2,247 Days
• Field of Search: 701/23, 701/25, 701/26, 701/28, 701/50, 701/466, 701/469, 701/472, 701/500, 701/501, 701/514, 701/521, 701/523
• US Class Current: 701/28
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing 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 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A visual, GNSS and INS (gyro) system for autosteering control uses crop row and furrow row edge visual detection in an agricultural application in order to closely track the actual crop rows. Alternatively, previous vehicle tracks can be visually detected and followed in a tramline following operating mode. GNSS and inertial (gyroscopic) input subsystems are also provided for supplementing the video input subsystem, for example when visual references are lost. Crop damage is avoided or at least minimized by avoiding overdriving the existing crops. Other applications include equipment control in logistics operations.

Claims

1. A method of guiding a vehicle using visual references along a guide path thereof and GNSS positioning, which method comprises the steps of:

providing said vehicle with a GNSS positioning subsystem including a GNSS antenna and a GNSS receiver connected to said antenna;

providing said GNSS subsystem with a position and heading sensor including multiple antennas;

providing a visual reference subsystem including a camera mounted on said vehicle and oriented in its direction of travel;

providing said vehicle with a microprocessor connected to said GNSS and visual reference subsystems;

providing said GNSS subsystem with an inertial direction sensor connected to said microprocessor;

inputting to said microprocessor GNSS positioning information from said receiver;

inputting to said microprocessor visual reference information from said visual reference subsystem;

providing an inertial navigation subsystem (INS);

generating signals corresponding to inertial forces on said vehicle with said INS;

inputting said INS signals to said microprocessor;

utilizing with said microprocessor said INS signals in deriving a guidance solution;

guiding said vehicle through a field of row crops;

providing visual references for said vehicle comprising edges of said crop rows or furrows;

visually locking on said crop row edges or furrows with said camera;

outputting visual reference subsystem signals to said microprocessor corresponding to said camera lock on said crop row edges or furrows;

logging vehicle track information with said microprocessor;

providing said vehicle with an autosteering subsystem;

calibrating with said microprocessor nominal turn radius information for said vehicle using information derived from said GNSS and INS subsystems and offsets from a previously logged track;

testing a crop row edge or furrow visibility condition with said microprocessor based on visual reference subsystem signals from said camera;

detecting a crop row edge or furrow visibility loss condition with said microprocessor;

based on said visibility loss condition prioritizing GNSS and INS guidance using an offset from previously logged GNSS tracks if a track log is available or recent line curvatures if a track log is not available;

deriving a guidance solution with said microprocessor based on said GNSS, said INS signals, and visual reference subsystem inputs in conjunction with each other;

guiding said vehicle with said guidance solution;

providing said vehicle with a tractor and an implement connected thereto via an articulated hitch connection;

providing said tractor and implement with independent steering subsystems;

a controller providing independent steering commands to said tractor and implement steering subsystems;

providing said implement with an implement GNSS guidance subsystem;

inputting GNSS-derived positioning information from said implement GNSS guidance subsystem to said microprocessor;

independently guiding said implement with said microprocessor and said implement steering subsystem;

providing said vehicle with a spray boom including multiple spray nozzles;

programming microprocessor to independently and selectively control said spray nozzles;

independently and selectively controlling said spray nozzles with said microprocessor based on the positions of said spray nozzles derived from GNSS, visual reference and INS positioning information;

deriving a nominal turn radius for said vehicle; and

guiding said vehicle through an end-of-row turn using said nominal turn radius.