Method for controlling an implement associated with a vehicle

• US 9,458,600 B2
• Filed: 05/31/2013
• Issued: 10/04/2016
• Est. Priority Date: 05/15/2013
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Nelson, Frederick W., Wilcox, Timothy A., Kasap, Peter W., Bartholomew, Darin E.
• Primary Examiner(s): Mawari, Redhwan k
• Application Number:
  US13/907,070
• Publication Number:
  US 20140343800A1
• Time in Patent Office: 1,222 Days
• Field of Search: 701/50
• US Class Current: 1/1
• CPC Class Codes: E02F 3/845 using mechanical sensors to determine the blade position, e.g. inclinometers, gyroscopes, pendulums

Abstract

A method or system for controlling a vehicle comprises entering a programming mode or a guidance mode based on user input to a switch. The user can enter a guidance program in accordance with a predetermined sequence of inputs of the switch by the user, where readiness for each successive input is indicated by a light source. A guidance mode is managed for controlling an implement height in accordance with the entered guidance program. A height sensor can sense an observed height or elevation of an implement of the vehicle (e.g., relative to the absolute target height of the implement above the ground). The observed height is controlled in accordance with the guidance program (e.g., the target height) if the system or the data processor is operating in a guidance mode.

Claims

1. A system for controlling a vehicle, the system comprising:

a single switch;

a mode controller for entering a programming mode or a guidance mode based on user input to the single switch;

a programming module for managing a programming mode in which the user enters or establishes a guidance program in accordance with a predetermined sequence of inputs of the single switch by the user without any electronic display, where readiness for each successive input to the single switch is indicated by a light source or an audible indicator;

a guidance module for managing a guidance mode for controlling each implement height of a vehicle in accordance with the guidance program having a target implement height that remains constant to form a work area of ground or terrain with a substantially constant resultant ground elevation between a first point and at a second point or a resultant ground elevation that varies in accordance with a generally linear grade between the first point and at the second point, where the implement is configured to remove or add material to a ground profile, contour or base level in accordance with the guidance program;

a location-determining receiver for determining three-dimensional geographic coordinates for the first point and the second point where the first point and the second point are interconnected by a planned path for the vehicle;

a data processor executing software instructions associated with the mode controller, the programming module, and the guidance module;

a data storage device for storing the software instructions;

a lift actuator associated with an implement of the vehicle;

a height sensor for sensing the observed implement height of the implement;

a controller associated with the lift actuator for controlling the observed implement height in accordance with the guidance program if the system or the data processor is operating in a guidance mode.

2. The system according to claim 1 further comprising:

a detector for identifying a longer duration activation versus a shorter duration activation of the single switch, wherein an initial entry determines operation in the programming mode or the guidance mode.

3. The system according to claim 2 wherein a user presses the single switch for the longer duration to enter into the programming mode.

4. The system according to claim 1 wherein the predetermined sequence comprises a user entering first target implement height after the light source blinks once and while the vehicle is at the first point.

5. The system according to claim 1 wherein the predetermined sequence comprises a user entering second target implement height to establish a target grade between the first target implement height and a second target implement height after the light source successively blinks twice and while the vehicle is at the second point.

6. The system according to claim 1 wherein the predetermined sequence comprises a user entering a target transverse implement tilt for the vehicle after the light source successively blinks thrice.

7. The system according to claim 1 wherein the predetermined sequence comprises a user entering a path width for adjacent passes of the vehicle after the light source successively blinks thrice, the adjacent passes lying on a common plane with a target grade between a first target implement height at the first point and a second target implement height at the second point.

8. The system according to claim 1 further comprising:

the programming module for establishing a target implement height for a work area based upon a long duration press or activation of the single switch;

the guidance module for adjusting the target implement height upward or downward by a short duration press of the single switch, upwardly or downwardly, respectively.

9. The system according to claim 1 further comprising:

an actuator coupled to a implement for directing the implement in accordance with a target implement height.

10. The system according to claim 1 further comprising:

a slip detector for detecting a slippage level of wheels or tracks of the vehicle with respect to a ground;

raising or incrementally raising the target implement height of the implement if the detected slippage level exceeds a threshold.

11. The system according to claim 10 further comprising:

an accelerometer, a shaft speed sensor, and a transmission controller coupled to a vehicle data bus;

the slip detector receiving input data from the accelerometer, the shaft speed sensor and the transmission controller via the vehicle data bus to estimate the detected slippage level or observed slippage with respect to the ground.

12. The system according to claim 1 further comprising:

a tilt actuator associated with an implement of the vehicle;

a tilt sensor for sensing the observed lateral tilt angle of the implement;

the controller associated with the tilt actuator for controlling the observed lateral tilt angle in accordance with the guidance program if the system or the data processor is operating in a guidance mode.

13. A method for controlling a vehicle, the method comprising:

entering a programming mode or a guidance mode based on user input to a single switch;

managing a programming mode in which the user enters or establishes a guidance program in accordance with a predetermined sequence of inputs of the single switch by the user without any electronic display, where readiness for each successive input to the single switch is indicated by a light source or audible indicator;

managing a guidance mode for guiding a vehicle and its implement in accordance with the entered guidance program having a target implement height that remains constant to form a work area of ground or terrain with a substantially constant resultant ground elevation between a first point and at a second point or a resultant ground elevation that varies in accordance with a generally linear grade between the first point and at the second point, where the implement is configured to remove or add material to a ground profile, contour or base level in accordance with the guidance program;

determining three-dimensional geographic coordinates for the first point and the second point where the first point and the second point are interconnected by a planned path for the vehicle;

sensing an observed implement height of an implement associated with the vehicle; and

controlling the implement height in accordance with the guidance program if the system or the data processor is operating in a guidance mode.

14. The method according to claim 13 further comprising:

identifying a longer duration activation versus a shorter duration activation of the single switch, wherein an initial entry determines the operation in the programming mode or the guidance mode.

15. The method according to claim 14 wherein a user presses the single switch for the longer duration to enter into the programming mode.

16. The method according to claim 13 further comprising:

under the predetermined sequence, entering a first target implement height at the first point of a linear segment planned path for the vehicle after the light source blinks once and while the vehicle is at the first point.

17. The method according to claim 13 further comprising:

under the predetermined sequence, entering a second target implement height at the second point of a linear segment of the planned path for the vehicle after the light source successively blinks twice and while the vehicle is at the second point.

18. The method according to claim 13 further comprising:

under the predetermined sequence, entering a width between adjacent planned paths of the vehicle points of a linear path plan for the vehicle after the light source successively blinks thrice and while the vehicle is at a width spaced apart between adjacent planned paths.

19. The method according to claim 13 further comprising:

under the predetermined sequence, entering an implement tilt for the vehicle after the light source successively blinks thrice.

20. The method according to claim 13 further comprising:

establishing a target implement height for a work area based upon a long duration press or activation of the switch;

adjusting the target implement height upward or downward by a short duration press of the single switch, upwardly or downwardly, respectively.

21. The method according to claim 13 further comprising:

directing the implement, by an actuator associated with the vehicle, in accordance with a target implement height.

23. The method according to claim 13 further comprising:

receiving input data from an accelerometer, a shaft speed sensor and a transmission controller via the vehicle data bus to estimate the detected slippage level or observed slippage with respect to the ground.

24. The method according to claim 13 further comprising:

sensing the observed lateral tilt angle of the implement; and

controlling the observed lateral tilt angle in accordance with the guidance program if the method or the data processor is operating in a guidance mode.

22. A method for controlling a vehicle, the method comprising:

entering a programming mode or a guidance mode based on user input to a single switch;

managing a programming mode in which the user enters or establishes a guidance program in accordance with a predetermined sequence of inputs of the single switch by the user without any electronic display, where readiness for each successive input to the single switch is indicated by a light source or audible indicator;

managing a guidance mode for guiding a vehicle and its implement in accordance with the entered guidance program having a target implement height that remains constant to form a work area of ground or terrain with a substantially constant resultant ground elevation between a first point and at a second point or a resultant ground elevation that varies in accordance with a generally linear grade between the first point and at the second point, where the implement is configured to remove or add material to a ground profile, contour or base level in accordance with the guidance program;

determining three-dimensional geographic coordinates for the first point and the second point where the first point and the second point are interconnected by a planned path for the vehicle;

sensing an observed implement height of an implement associated with the vehicle; and

controlling the implement height in accordance with the guidance program if the system or the data processor is operating in a guidance mode;

detecting a slippage level of wheels or tracks of the vehicle with respect to a ground;

raising or incrementally raising the target implement height of the implement with respect to the ground if the detected slippage level exceeds a threshold, where the implement comprises a blade, a bucket or a scraping element to produce a resultant ground elevation or grade.