Crop row sensing on vehicle with multiple, independently steerable axles/wheels

• US 10,524,407 B2
• Filed: 06/30/2017
• Issued: 01/07/2020
• Est. Priority Date: 06/30/2017
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Schleicher, Tyler D., Mulder, David L., Rasmussen, Noah J.
• Primary Examiner(s): Whittington, Jess
• Application Number:
  US15/639,794
• Publication Number:
  US 20190000007A1
• Time in Patent Office: 921 Days
• 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: B62D 15/024 Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
• CPC Class Codes: B62D 6/005 treating sensor outputs to obtain the actual yaw rate

Abstract

An agricultural machine has a set of front wheels and a set of rear wheels that are independently steerable relative to one another. Distance sensors are mounted to the agricultural vehicle to sense a distance between the front wheels, and the adjacent row crops, and between the rear wheels, and the adjacent row crops. Automatic steering control signals are generated to automatically steer the front wheels, and rear wheels, based upon the sensed distances.

Claims

1. An agricultural mobile machine, comprising:

a frame;

first and second front ground engaging traction elements movably connected to the frame;

a front steering actuator controllable to steer the first and second front ground engaging traction elements;

first and second rear ground engaging traction elements movably connected to the frame;

a rear steering actuator controllable to steer the first and second rear ground engaging traction elements independently of the first and second front ground engaging traction elements;

one or more sensors configured to;

sense a first distance from one of the first or second rear ground engaging traction elements to a first crop row of a plurality of crop rows, wherein each crop row comprises a plurality of plants disposed in a row and is spaced apart from an adjacent crop row by a gap there between;

sense a second distance from one of the first or second rear ground engaging traction elements to a second one of the crop rows; and

sense a third distance from one of the front ground engaging traction elements to an adjacent crop row and to sense a fourth distance from one of the front ground engaging traction elements to an adjacent crop row; and

a steering control system configured to;

generate, based on the first and second distances, a rear steering control signal to control the rear steering actuator to steer the first and second rear ground engaging traction elements to maintain each of the first and second rear ground engaging traction elements in a gap between crop rows; and

generate a front steering control signal to steer the set of front ground engaging traction elements based on the sensed third and fourth distances.

2. The agricultural mobile machine of claim 1 wherein the frame is configured to span over multiple crop rows.

3. The agricultural mobile machine of claim 1 wherein

the first and second front ground engaging traction elements comprise first and second front wheels,

the first and second rear ground engaging traction elements comprise first and second rear wheels,

the front steering actuator is controllable to steer the first and second front wheels as a pair, and

the rear steering actuator is controllable to steer the first and second rear wheels as a pair.

4. The agricultural mobile machine of claim 3 wherein the steering control system comprises:

steering angle identifier logic configured to;

combine the third distance with the fourth distance to obtain a front wheel offset value; and

identify a front wheel steering angle based on the front wheel offset value; and

the steering control signal generator is configured to generate the front steering control signal based on the front wheel steering angle.

5. The agricultural mobile machine of claim 2, wherein the frame supports a spraying system comprising spray nozzles configured to apply a spray of a substance to the crop rows as the agricultural mobile machine traverses the crop rows during a spraying operation.

6. The agricultural mobile machine of claim 3 wherein the one or more sensors comprise:

a rear wheel row distance sensor configured to generate a first sensor signal indicative of the first distance from the first rear wheel to the first crop row and a second sensor signal indicative of the second distance from the second rear wheel to the second crop row.

7. The agricultural mobile machine of claim 6 wherein the steering control system comprises:

steering angle identifier logic configured to identify a rear wheel steering angle based on the first and second sensor signals, the steering control signal generator being configured to generate the rear steering control signal based on the rear wheel steering angle.

8. The agricultural mobile machine of claim 7 wherein the steering angle identifier logic is configured to combine the first distance from the first rear wheel to the first crop row with the second distance from the second rear wheel to the second crop row to obtain a rear wheel offset value, the steering angle identifier logic being configured to identify the rear wheel steering angle based on the rear wheel offset value.

9. The agricultural mobile machine of claim 1 further comprising:

an orientation sensor configured to sense an orientation of a portion of the agricultural mobile machine and generate an orientation signal indicative of the sensed orientation; and

system enabling logic configured to generate an enabling signal to enable the steering control system to generate, based on the orientation signal, a front steering control signal to automatically control the front steering actuator and the rear steering control signal to automatically control the rear steering actuator.

10. The agricultural mobile machine of claim 3 wherein the one or more sensors comprise:

a first wheel distance sensor that senses the first distance from the first rear wheel to the first crop row;

a second wheel distance sensor configured to sense the second distance from the second rear wheel to the second crop row;

a third wheel distance sensor configured to sense the third distance from the first front wheel to the first crop row; and

a fourth wheel distance sensor configured to sense the fourth distance from the second front wheel to the second crop row.

11. The agricultural mobile machine of claim 10 wherein the first, second, third and fourth wheel distance sensors each comprise ultrasonic sensors.

12. The agricultural mobile machine of claim 3 wherein the one or more sensors comprise:

a first optical sensor configured to sense the first distance from the first rear wheel to the first crop row and to sense the second distance from the second rear wheel to the second crop row; and

a second optical sensor configured to sense the third distance from the first front wheel to the first crop row and to sense the fourth distance from the second front wheel to the second crop row.

13. An agricultural sprayer comprising:

a frame supporting a spraying system comprising spray nozzles configured to apply a spray of a substance to crop rows as the agricultural sprayer traverses the crop rows during a spraying operation, each crop row comprising a plurality of plants disposed in a row and is spaced apart from an adjacent crop row; and

the frame configured to span over a plurality of the crop rows during the spraying operation;

a set of front ground engaging traction elements steerably connected to the frame;

a set of rear ground engaging traction elements steerably connected to the frame, the set of front ground engaging traction elements being independently steerable relative to the set of rear ground engaging traction elements;

one or more sensors configured to sense a first distance from one of the rear ground engaging traction elements to a first one of the crop rows and to sense a second distance from one of the rear ground engaging traction elements to a second one of the crop rows, and configured to sense a third distance from one of the front ground engaging traction elements to an adjacent crop row and to sense a fourth distance from one of the front ground engaging traction elements to an adjacent crop row; and

a steering control system configured to generate a rear steering control signal to steer the set of rear ground engaging traction elements based on the sensed first and second distances, and to generate a front steering control signal to steer the set of front ground engaging traction elements based on the sensed third and fourth distances.

14. The agricultural sprayer of claim 13, wherein the set of front ground engaging traction elements comprises a first front wheel and a second front wheel and wherein the set of rear ground engaging traction elements comprises a first rear wheel and a second rear wheel and wherein the one or more sensors comprise:

a rear wheel row distance sensor configured to sense the first distance from the first rear wheel to the first crop row and to sense the second distance from the second rear wheel to the second crop row; and

a front wheel row distance sensor configured to sense the third distance from the first front wheel to the first crop row and to sense the fourth distance from the second front wheel to the second crop row.

15. The agricultural sprayer of claim 14 wherein

the steering angle identifier logic is configured to combine the third distance from the first front wheel to the first crop row with the fourth distance from the second front wheel to the second crop row to obtain a front wheel offset value,

the steering angle identifier logic is configured to identify a front wheel steering angle based on the front wheel offset value,

the steering angle identifier logic is configured to combine the first distance from the first rear wheel to the first crop row with the second distance from the second rear wheel to the second crop row to obtain a rear wheel offset value, and

the steering angle identifier logic is configured to identify a rear wheel steering angle based on the rear wheel offset value to.

16. A method of controlling an agricultural mobile machine, the method comprising:

sensing a first distance from a first front wheel, in a set of steerable front wheels, to a first crop row comprising a plurality of plants disposed in a first row;

sensing a second distance from a second front wheel, in a set of steerable front wheels, to a second crop row comprising a plurality of plants disposed in a second row that is spaced apart from the first row;

sensing a third distance from a first rear wheel, in a set of steerable rear wheels, to the first crop row;

sensing a fourth distance from a second rear wheel, in a set of steerable rear wheels, to the second crop row;

generating, based on the first and second distances, a first steering control signal to steer the set of front wheels to maintain each of the front wheels in a gap between crop rows; and

generating, based on the third and fourth distances, a second steering control signal to steer the set of rear wheels, independently of the set of front wheels, to maintain each of the rear wheels in a gap between crop rows.

17. The method of claim 16, comprising generating a first sensor signal indicative of the first distance from the first front wheel to the first crop row, generating a second sensor signal indicative of the second distance from the second front wheel to the second crop row, generating a third sensor signal indicative of the third distance from the first rear wheel to the first crop row, and generating a fourth sensor signal indicative of the distance from the second rear wheel to the second crop row.

18. The method of claim 17 wherein generating the first steering control signal comprises combining the distance from the first front wheel to the first crop row with the distance from the second front wheel to the second crop row to obtain a front wheel offset value, and identifying a front wheel steering angle based on the front wheel offset value and wherein generating the second steering control signal comprises combining the distance from the first rear wheel to the first crop row with the distance from the second rear wheel to the second crop row to obtain a rear wheel offset value, and identifying a rear wheel steering angle based on the rear wheel offset value to.