Integrated multi-sensor control system and method

• US RE47,648 E1
• Filed: 02/11/2016
• Issued: 10/15/2019
• Est. Priority Date: 09/17/2009
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Agjunction LLC (Kubota Corporation)
• Inventors: Reeve, David R., Jones, Malcolm B., Ramm, Andreas F., Stichter, Aaron C., Gattis, Joshua M.
• Primary Examiner(s): Sager, Mark
• Application Number:
  US15/041,784
• Time in Patent Office: 1,342 Days
• Field of Search: 701 23, 701 24, 701 25, 701 26, 701 28, 701468, 701470, 701472, 701475
• CPC Class Codes: N/A

Abstract

A GNSS integrated multi-sensor guidance system for a vehicle assembly includes a suite of sensor units, including a global navigation satellite system (GNSS) sensor unit comprising a receiver and an antenna. An inertial measurement unit (IMU) outputs vehicle dynamic information for combining with the output of the GNSS unit. A controller with a processor receives the outputs of the sensor suite and computes steering solutions, which are utilized by vehicle actuators, including an automatic steering control unit connected to the vehicle steering for guiding the vehicle. The processor is programmed to define multiple behavior-based automatons comprising self-operating entities in the guidance system, which perform respective behaviors using data output from one or more sensor units for achieving the behaviors. A GNSS integrated multi-sensor vehicle guidance method is also disclosed.

Claims

1. An integrated multi-sensor guidance system for a vehicle assembly including a steering subsystem, which guidance system includes:

said vehicle assembly having a dynamic attitude comprising a geo-reference location, vehicle assembly orientation and vehicle assembly speed;

a processor with multiple sensor inputs and actuator outputs;

a suite of sensor units each connected to a respective sensor input;

said sensor unit suite includes a GNSS unit with an antenna and a receiver connected to said antenna, a wheel angle sensor unit (WAS), and an inertial measurement unit (IMU) sensor, said GNSS unit providing output signals corresponding to the GNSS-defined locations of said vehicle assembly dynamic attitude to a respective processor input;

a guidance controller adapted for receiving signal input and generating control output based on said signal input;

a data storage device including memory storage;

a suite of actuator units each connected to a respective actuator output;

said guidance controller being adapted for receiving and storing in said memory storage device GNSS-based positioning signals;

said processor being adapted for computing a GNSS-based. guide pattern;

said guidance controller being adapted for providing output signals to a display device for displaying vehicle motion relative to guide patterns and contrasting displays of areas treated by said vehicle along previously-traveled portions of said guide patterns;

said guidance controller being adapted for calibrating and storing in said memory multiple vehicle profiles, each said profile including multiple, independent vehicle-specific automatons;

an accepting interface for accepting requests from other automatons;

a requesting interface for making requests to another automaton;

a knowledge input for receiving a behavioral definition for affecting the behavior of the automatons;

a data input for receiving input data;

a data output for sending output data;

said processor programmed to determine different variable confidence levels in real time for each of said sensor GNSS unit, WAS, and IMU sensor based on its current relative performance;

said processor programmed to utilize said sensor GNSS unit, WAS, and IMU sensor outputs proportionally based on their respective confidence levels in generating said control output signals; and

wherein said processor is programmed to define multiple behavior-based automatons comprising self-operating entities in said guidance system, said automatons performing respective behaviors using data output from said one or more sensor units GNSS unit, said WAS, and said IMU sensor for achieving said behaviors and wherein said one or more sensor units GNSS unit, WAS, and IMU sensor provide at least some of the same or similar data.

2. The guidance system as claimed in claim 1, wherein said sensor unit suite includes an inertial measurement unit (IMU) sensor providing output signals corresponding to an inertial aspect of a dynamic attitude of said vehicle assembly to a respective processor input said guidance controller sends steering control instructions instructing said automatons to perform respective behaviors using data output from one or more GNSS unit, WAS, and IMU sensor.

3. The guidance system as claimed in claim 2 1, wherein said guidance controller is adapted for receiving inertial measurement signals from the IMU and integrating said inertial measurement signals with said GNSS-based positioning signals.

4. The guidance system as claimed in claim 1, wherein said. actuator unit suite includes a steering unit connected to said steering subsystem and receiving said control output signals from said processor.

5. The guidance system as claimed in claim 4, wherein said steering subsystem includes:

a steering controller including a steering processor and connected to said guidance controller;

said steering controller receiving guidance signals as inputs from said guidance controller and computing steering signals as outputs from said steering controller; and

said steering actuator receiving said steering signals from said steering controller and steering said vehicle in response thereto.

6. The guidance system as claimed in claim 1, wherein said sensor suite includes sensor units chosen from among the group comprising:

a video camera unit oriented in the vehicle assembly direction of travel;

a radar unit;

a laser unit;

radio input;

telemetry;

material application exclusion areas input;

satellite image inputs;

and

contour/elevation overlay inputs;

prescription mapping; and

a wheel angle sensor (WAS).

7. The guidance system as claimed in claim 1, wherein said actuator suite includes actuator units chosen from among the group comprising:

an implement steering unit, an implement sectional control unit, personal computer (PC) office software, material application rate control, secondary vehicle control, mapping, crop yield, and mapping skips and overlaps.

8. A method of vehicle control and guidance, which method comprises the steps:

providing a vehicle assembly including a steering subsystem and dynamic attitude comprising a geo-reference location, vehicle assembly orientation, and vehicle assembly speed;

providing a guidance system including a processor with multiple sensor inputs and actuator outputs, a suite of sensor units connected to a respective sensor input, a suite of actuator units connected to a respective actuator output, and a data storage device including memory storage;

providing a guidance controller;

inputting signal input data to said guidance controller;

generating control output signals with said guidance controller based on said signal input;

receiving and storing in said memory storage device GNSS-based positioning signals with said guidance controller;

computing a GNSS-based guide pattern with said processor;

providing output signals with said guidance controller to a display device for displaying vehicle motion relative to guide patterns and contrasting displays of areas treated by said vehicle along previously-traveled portions of said guide patterns;

calibrating and storing in said memory multiple vehicle profiles with said guidance controller, each said profile including multiple, independent vehicle-specific automatons;

wherein said sensor unit suite includes an inertial measurement unit (IMU) sensor providing output signals corresponding to an inertial aspect of a dynamic attitude of said vehicle assembly to a respective processor input;

generating inertial measurement signals with said IMU sensor;

receiving the inertial measurement signals with said guidance controller;

integrating said inertial measurement signals with said GNSS-based positioning signals;

defining multiple behavior-based automatons comprising self-operating entities in said guidance system;

instructing said automatons to perform respective behaviors using data output from one or more sensor units for achieving said behaviors wherein one or inure sensor units provide the same or similar data;

providing each automaton with an accepting interface for accepting requests from other automatons;

providing each automaton with a requesting interface for making requests to another automaton;

providing each automaton with a knowledge input for receiving a behavioral definition for affecting the behavior of the automatons;

providing each automaton with a data input for receiving input data;

providing each automaton with a data output for sending data;

requesting instructions by each automaton from each other automaton; and

accepting instructions by each automaton provided from each other automaton.

9. A method of vehicle control and guidance as claimed by claim 8, including the steps:

determining variable confidence levels with the processor in real time for each said sensor unit based on current relative performance; and

utilizing said sensor unit outputs proportionally based on the respective confidence levels in generating said control output signals.

10. A method of vehicle control and guidance as claimed by claim 8, including the steps:

providing a steering unit connected to said steering system; and

receiving said control output signals at said steering unit as steering control instructions.

11. A method of vehicle control and guidance as claimed by claim 10, including the steps:

providing a steering processor connected to said guidance controller;

receiving guidance signals at said steering controller as inputs from said guidance controller;

computing steering signals as outputs from said steering controller;

receiving said steering signals with said steering actuator; and

steering said vehicle assembly in response to said steering signals.

12. An integrated multi-sensor guidance system for a vehicle assembly including a steering subsystem, which guidance system includes, comprising:

said vehicle assembly having a dynamic attitude comprising a geo-reference location, vehicle assembly orientation and vehicle assembly speed;

a processor with multiple sensor inputs and actuator outputs;

a suite of sensor units each connected to a respective sensor input;

said sensor unit suite including a GNSS unit with an antenna and a receiver connected to said antenna, said GNSS unit providing output signals corresponding to the GNSS-defined locations of said vehicle assembly dynamic attitude to a respective processor input;

said sensor unit suite including an inertial measurement unit (IMU) sensor providing output signals corresponding to an inertial aspect of a dynamic altitude of said vehicle assembly to a respective processor input;

said guidance controller being adapted for receiving said inertial measurement signals and integrating said inertial measurement signals with said GNSS-based positioning signals;

said processor being programmed to determine variable confidence levels in real time for each said sensor unit based on its current relative performance;

said processor being programmed to utilize said sensor unit outputs proportionally based on their respective confidence levels in generating said steering signals;

a suite of actuator units each connected to a respective actuator output;

said actuator unit suite including a steering unit connected to said steering subsystem and receiving said steering signals from said processor;

said processor being programmed to define multiple behavior-based automatons comprising self-operating entities in said guidance system, said automatons performing respective behaviors using data output from one or more said sensor units for achieving said behaviors and wherein said one or more sensor units provide the same or similar data;

each said automaton having;

an accepting interface for accepting requests from other automatons;

a requesting interface for making requests to another automatons;

a knowledge input for receiving a behavioral definition for affecting the behavior of the automatons;

a data input for receiving input data; and

a data output for sending out the data;

said guidance controller being adapted for receiving and storingthe same or another processor further configured to;

receive and store in said a memory storage device global navigation satellite system (GNSS)-based positioning signals and inertial measurement signals from an inertial measurement unit (IMU) sensor;

said processor being adapted for computingcompute a GNSS-based guide pattern;

said guidance controller being adapted for providingprovide output signals to a display device for displayingto display vehicle motion for the vehicle relative to guide patternsthe guide pattern and contrastingto contrast displays of areas treated by saidthe vehicle along previously-traveled portions of saidthe guide patternspattern;

and

said guidance controller being adapted for calibrating and storingcalibrate and store in saidthe memory storage device multiple vehicle profiles, each said profile including multiple, independent vehicle-specific automatons.

13. A guidance system for operating multiple vehicles, the guidance system including a guidance controller to:

receive and store in a memory storage device data from sensor units located on a first vehicle including velocity, acceleration and GNSS-based position data derived from a wheel angle sensor (WAS), inertial measurement unit (IMU), and global navigation satellite system (GNSS);

determine variable confidence levels in real time the said sensor units based on its current relative performance;

define multiple behavior-based automatons comprising self-operating entities in said guidance system, said automatons performing respective behaviors using data output from said one or more sensor units for achieving said behaviors and wherein said one or more sensor units provide the same or similar data;

each said automaton having;

an accepting interface for accepting requests from other automatons;

a requesting interface for making requests to another automatons;

a knowledge input for receiving a behavioral definition for affecting the behavior of the automatons;

a data input for receiving input data; and

a data output for sending out the data;

calibrate and store in the memory storage device multiple vehicle profiles, each said profile including multiple, independent vehicle-specific automatons;

compute a guide path for the first vehicle from at least the GNSS-based position data;

send the GNSS-based position data to a display device to display movement of the first vehicle relative to the guide path;

provide output signals to the display device to display vehicle motion for the first vehicle relative to the guide path and to contrast displays of areas treated by the first vehicle along previously-traveled portions of the guide path;

store in the memory storage device a vehicle profile for a second vehicle;

send guidance instructions to the second vehicle to use data output from one or more of the sensor units that provide the same position data as derived from the GNSS, WAS, and IMU to control movement of the second vehicle in cooperation with movement of the first vehicle along the guide path; and

update the guidance instructions to the second vehicle based on computed differences in the position data of the first vehicle.

14. An integrated multi-sensor guidance system comprising a guidance controller to:

receive signals from different sensor units including a global navigation satellite system (GNSS)-based sensor unit, a wheel angle sensor (WAS), and an inertial measurement unit (IMU) sensor providing positions for a vehicle;

define multiple behavior-based automatons comprising self-operating entities in said guidance system performing respective behaviors using data output from the sensor units and wherein said sensor units provide at least some same or similar data, each said automaton having;

an accepting interface for accepting requests from other automatons;

a requesting interface for making requests to another automatons;

a knowledge input for receiving a behavioral definition for affecting the behavior of the automatons;

a data input for receiving input data; and

a data output for sending out the data;

calibrate and store in a memory storage device multiple vehicle profiles, each said profile including multiple, independent vehicle-specific automatons;

compute a GNSS-based guide path for the vehicle;

determine variable confidence levels in real-time for the GNSS-based sensor unit, the WAS, and the IMU sensor based on current relative performance of the sensor units;

use output signals from a first one of the sensor units with a highest one of the confidence levels to provide output signals to determine movements of the vehicle relative to the guide path;

use output signals from the first one of the sensor units with the highest one of the confidence levels to calibrate a second one of the sensor units with a lower one of the confidence levels; and

provide output signals to a display device to display vehicle motion for the vehicle relative to the guide path and to contrast displays of areas treated by the vehicle along previously-traveled portions of the guide path.