Implement control system and method of using same

• US 20080195268A1
• Filed: 02/09/2007
• Published: 08/14/2008
• Est. Priority Date: 02/09/2007
• Status: Abandoned Application

• Current Assignee: Novariant Incorporated (Kubota Corporation)
• Original Assignee: Novariant Incorporated (Kubota Corporation)
• Inventors: Eglington, Michael Lyle, O'Connor, Michael Lee, Sapilewski, Glen Alan, Serres, Manou
• Application Number:
  US11/704,583
• Publication Number:
  US 20080195268A1
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: A01B 69/004 automatic
• 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

An implement steering system includes at least one sensor for providing an indication of tilt associated with an implement as it traverses along an implement path of travel and at least another sensor for providing an indication of the current position of the implement as it traverses along the implement path of travel. A processor provides an implement drift correction signal in response to the indication of tilt and the indication of current position in order of facilitate correcting the implement path of travel so it corresponds to a desired path of travel, while an implement steering arrangement which is responsive to the drift correction signal causes the implement path of travel to be corrected so it corresponds to the desired path of travel as the implement is pulled through an open field by an implement pulling vehicle.

Claims

1. An implement steering system, comprising:

tilt means for providing an indication of tilt;

position detection means for providing an indication of the current position of said implement;

processor means for providing an implement drift correction signal in response to said indication of tilt and said indication of current position; and

implement drift correction means mounted to said implement and responsive to said drift correction signal for correcting the implement path of travel to correspond to said desired path of travel.

2. A method for implement steering, comprising the steps of:

providing an indication of tilt associated with an implement as it traverses along an implement path of travel;

providing an indication of the current position of said implement;

providing an implement drift correction signal in response to said indication of tilt and said indication of the current position; and

responding to said drift correction signal by correcting the implement path of travel to correspond to said desired path of travel.

3. An implement control system for controlling drift, comprising:

a plurality of sensors mounted to a primary vehicle and an implement;

wherein at least one sensor of said plurality of sensors provides an indication of primary vehicle tilt or implement tilt at any given point of time;

wherein at least another sensor of said plurality of sensors provides an indication of a current implement position;

a processor coupled to said plurality of sensors for providing a signal indicative of implement position and tilt at a given point of time relative to said primary vehicle; and

an active steering case mounted to said implement and responsive to said signal indicative of implement position and tilt.

4. The implement control system according to claim 3, wherein an individual one of said plurality of sensors is a radio location antenna for tracking navigation signals.

5. The steering control system, according to claim 4, wherein the navigation signals are signals from one or more navigation satellites.

6. The implement control system according to claim 4, wherein said desired path of travel is a curved path of travel through said open field.

7. The steering control system according to claim 4, wherein the navigation signals are signals from ground-based navigation transmitters.

10. A steering control system, comprising:

an orientation sensor for measuring roll, said orientation sensor being mounted relative to an implement pulling vehicle or an associated implement;

a position sensor mounted on said implement for providing an indication of a current implement position; and

a processor coupled to said orientation sensor and to said positioning sensor for providing a steering control signal, wherein said steering control signal is indicative of the position of one or more points of interest on the implement other than the location of the positioning sensor.

8. The steering control system according to claim 10, wherein at least one of said a plurality of sensors is an optical measurement device.

9. The steering control system according to claim 8, wherein said optical measurement device is a laser sensor.

11. The steering control system according to claim 10, further comprising:

an implement steering control system responsive to said steering control signal for causing a plurality of coulters coupled to said implement to steer said implement along a path of travel followed by said implement pulling vehicle.

12. The steering control system, according to claim 11, wherein said plurality of coulters have a sufficient leverage to accurately correct the position of said implement so that said implement follows the same path of travel as said implement pulling vehicle.

13. The steering control system according to claim 10, wherein said orientation sensor is mounted on said implement.

14. The steering control system according to claim 10, wherein said orientation sensor is mounted on said implement pulling vehicle.

15. The steering control system according to claim 10, wherein said implement pulling vehicle and said associated implement are coupled together by an attachment.

16. The steering control system, according to claim 15, wherein said attachment is a semi-rigid hitch.

17. The steering control system, according to claim 15, wherein said semi-rigid hitch is a 3-point hitch.

18. The steering control system, according to claim 15, wherein said attachment is a rotatable connection.

19. The steering control system, according to claim 15, wherein said rotatable connection is a drawbar.

20. The steering control system, according to claim 10, wherein said implement pulling vehicle is a tractor.

21. The steering control system according to claim 10, wherein said implement is selected from a group of implements including:

a planting device, a cultivating device, and a tillage device.

22. The steering control system according to claim 10, wherein said positioning sensor is a radio location antenna for tracking navigation signals.

23. The steering control system according to claim 22, wherein the navigation signals are signals from one or more navigation satellites.

24. The steering control system according to claim 23, wherein the one or more navigation satellites include:

GPS satellites, GLONASS satellites, and Galileo.

25. The steering control system according to claim 22, wherein the navigation signals are signals from ground-based navigation transmitters.

26. The steering control system according to claim 10, wherein said positioning sensor is an optical measurement device.

27. The steering control system according to claim 26, wherein said optical measurement device is a laser sensor.

28. The steering control system according to claim 10, further comprising an active steering case for facilitating the steering of said implement;

and

wherein said active steering case is coupled to at least one actuator.

29. The steering control system according to claim 28, wherein said actuator is a coulter disc.

30. The steering control system according to claim 28, wherein said actuator is a hydraulic ram.

31. The steering control system according to claim 10, wherein said implement pulling vehicle is a tractor having an automatic steering system.

32. The steering control system according to claim 31, wherein said automatic steering system is responsive to said vehicle steering control signal for causing a set of wheels coupled to said tractor to steer said implement pulling vehicle along a desired path of travel.

33. The steering control system, according to claim 31, further comprising:

an implement steering control system responsive to said steering control signal for causing said implement to follow a desired path of travel.

34. The steering control system according to claim 32, wherein said desired path of travel is recorded using said positioning sensor during a first pass through an open field having variable soil conditions.

35. The steering control system according to claim 34, wherein the path of travel followed by said implement through said open field is actively controlled to correspond to the recorded first pass on one or more subsequent passes through said open field.

36. An implement steering control method, comprising the steps of:

providing a navigation signal indicative of an implement position, wherein said implement position is relative to a curved path in an open field; and

providing a steering control signal in response to said navigation signal, wherein said steering control signal is indicative of the position of one or more points of interest on an implement coupled to said implement pulling vehicle.

37. The implement steering control method according to claim 36, further comprising:

responding to said steering control signal for causing one or more actuators coupled to said implement to steer said implement along a desired path of travel.

38. The implement steering control method according to claim 37, wherein said desired path of travel corresponds to the path of travel followed by said implement pulling vehicle.

39. The implement steering control method according to claim 37, wherein said desired path of travel is a recorded path of travel.

40. The implement steering control method according to claim 39, wherein said recorded path of travel was recorded using said another signal indicative of an implement position during a first path through an open field having various soil conditions.

41. The implement steering control method according to claim 37, wherein said desired path of travel is actively controlled to correspond to a first path of travel followed by said implement pulling vehicle during a first pass through an open field having various soil conditions.

64. The implement steering control method according to claim 36, wherein said navigation signal is further indicative of implement tilt;

and wherein said implement tilt is determined by directly measuring the tilt of an implement pulled by a tractor.

65. The implement steering control method according to claim 36, wherein said navigation signal is further indicative of implement tilt;

and wherein said implement tilt is determined by indirectly measuring the tilt of a vehicle pulling an implement.

66. The implement steering control method according to claim 36, wherein said navigation signal is a position measurement in a defined space;

and wherein said defined space is not a furrow on ground.

42. An implement steering control method, comprising the steps of:

providing a signal indicative of the roll of an implement pulling vehicle;

providing another signal indicative of an implement position; and

providing a steering control signal in response to the first two mentioned signals, wherein said steering control signal is indicative of the position of one or more points of interest on an implement as it travels through said open field having various soil conditions.

43. The implement steering control method according to claim 42, further comprising:

responding to said steering control signal for causing a plurality of actuators coupled to said implement to steer said implement along a desired path of travel.

44. The implement steering control method according to claim 43, wherein said desired path of travel corresponds to a first path followed by said implement pulling vehicle as it traveled though said open field having various soil conditions.

45. The implement steering control method according to claim 44, wherein said implement pulling vehicle is driven manually by a driver for some portion of said first path.

46. The implement steering control method according to claim 44, wherein said implement pulling vehicle is driven automatically by a steering control system for some portion of said first path.

47. The implement steering control method according to claim 45, wherein said implement pulling vehicle is driven manually by a driver for some portion of a subsequent pass through said open field.

48. The implement steering control method according to claim 45, wherein said implement pulling vehicle is driven automatically by a steering control system for some portion of a subsequent pass through said open field.

49. The implement steering control method according to claim 42, further comprising:

responding to said steering control signal for causing said implement to follow a desired path of travel.

50. The implement steering control method according to claim 49, wherein real time measurements of a path of travel followed by said implement pulling vehicle are utilized to define a desired path of travel for said implement;

and

wherein the path of travel followed by said implement is actively controlled to match a desired path in real time.

51. The implement steering control method according to claim 50, wherein the path of travel followed by said implement is first generated without driving through said open field, and then the path of travel followed by the implement is actively controlled to match the desired path of travel through the field.

52. The implement steering control method according to claim 49, wherein the implement pulling vehicle, is steered manually by a driver for some portion of the path followed by the implement pulling vehicle as it travels through said open field.

53. The implement steering control method according to claim 49, wherein the implement pulling vehicle, is steered automatically by a steering control system for some portion of the path followed by the implement pulling vehicle as it travels through said open field.

54. The implement steering control method according to claim 53, wherein the implement pulling vehicle is actively steered to follow the same desired path of travel as the implement.

55. The implement steering control method according to claim 53, wherein the implement pulling vehicle is actively steered to follow a different desired path of travel than that of the implement.

56. The implement steering control method according to claim 42, further comprising:

providing a signal indicative of the roll of an implement pulling vehicle.

57. The implement steering control method according to claim 56, further comprising:

responding to said steering control signal for causing said implement to follow along a desired path of travel.

58. The implement steering control method according to claim 57, wherein said desired path of travel corresponds to a path of travel followed by said implement pulling vehicle.

59. The implement steering control method according to claim 57, wherein said desired path of travel is a recorded path of travel.

60. The implement steering control method according to claim 57, wherein said desired path of travel is within an open field having various soil conditions that includes at least one of side hills, old rows, sub-surface rip lines, and implanted plant bed rows.

61. A steering control system, comprising:

a tractor steering module for causing a tractor coupled to an implement to be actively steered along a corrected path of travel, wherein said corrected path of travel is corrected for vehicle drift caused by the terrain the tractor traverses; and

an implement steering module for causing said implement to be actively steered along another corrected path of travel, wherein said another corrected path of travel is corrected for implement drift caused by the terrain the pulled implement traverses.

62. The steering control system, according to claim 61, wherein said corrected path of travel and said another corrected path of travel are substantially the same path of travel.

63. The steering control system according to claim 61, wherein said corrected path of travel and said another corrected path of travel are both curved paths of travel.