Automatic steering system for an unmanned vehicle

• US 5,923,270 A
• Filed: 01/22/1997
• Issued: 07/13/1999
• Est. Priority Date: 05/13/1994
• Status: Expired due to Term

• Current Assignee: Konecranes Finland Oy (Konecranes Oyj)
• Original Assignee: Modulaire Oy
• Inventors: Ojala, Markku, Puputti, Jarmo, Sampo, Mikko, Rintanen, Kari, Makela, Hannu
• Primary Examiner(s): SWARTHOUT, BRENT
• Application Number:
  US08/737,554
• Time in Patent Office: 902 Days
• Field of Search: 180/168, 180/9.1, 180/9.21, 180/6.7, 180/6.2, 318/587, 701/213, 701/300, 701/1, 701/23, 701/24, 701/41, 701/50, 340/988, 340/990, 342/357, 342/457
• US Class Current: 340/988
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• 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 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

The invention relates to an autonomous navigation system for an unmanned vehicle. The tracks or wheels are driven by hydraulic reversible motors, having the output thereof regulated by valves whose relative control can be used for controlling both heading and speed. The vehicle carries a navigation computer which receives positional information from an external positioning sytems. A ground station computer has been supplied with a digitized map over a predetermined path and the ground station computer is in a two-way radio communication with the vehicle navigation computer which is supplied with the information relating to the path. An established path, which is received from the external positioning system, is compared to the predetermined path and the vehicle navigation is modified for compensating the deviations.

Claims

1. An autonomous navigation system for a surface vehicle, the vehicle having lateral sides and having respective drivable vehicle moving elements on each lateral side;

drive means for operating the drivable moving elements;

control elements for the drive means for varying the relative speeds of the drive elements at the lateral sides, thereby to control the travel direction of the vehicle;

a navigation computer in the vehicle for operating the control elements;

an external positioning system for supplying position information about the vehicle to the navigation computer;

a ground station computer separated from the vehicle;

the ground station computer having a stored map of a predetermined path or course for the vehicle, the ground station computer being adapted to be in communication with the navigation computer for supplying the navigation computer with information for navigating the vehicle to follow a sequence of points defining the path or course;

the navigation computer including means for using the information supplied by the ground station computer for setting values for vehicle speed and course profile and the navigation computer being adapted for transmitting respective control parameters to the control elements for regulating the drive means for regulating the vehicle speed and heading;

a kinematic differential GPS-positioning system measuring apparatus located on the vehicle for producing information as to the position of the vehicle, the GPS positioning system including a GPS time signal receiver on the vehicle;

a vehicle speed measuring apparatus for measuring the vehicle speed and for combining the vehicle speed measurement with the position measurement synchronized with the GPS time signal produced in the GPS receiver;

the navigation computer being adapted to compare the actual established path of the vehicle with the predetermined path in the ground station computer and the navigation computer being adapted to adjust the control parameters of the control elements for compensating for the deviations between the predetermined path and the established path.

2. The navigation system of claim 1, wherein the ground station computer includes a digitized map containing the predetermined path or course.

3. The system of claim 2, wherein the digitized map in the ground computer is produced in accordance with the process of driving the vehicle over a preset course with positioning system in operation and informing the digitized map from the sensed information as to the position of the vehicle over time.

4. The navigation system of claim 1, wherein the ground station computer and the navigation computer include two-way radio communication means for two-way radio communication of navigating information between the computers.

5. The navigation system of claim 1, wherein the navigation computer includes a dead reckoning unit to which the GPS-positioning system measuring apparatus is connected for supplying the dead reckoning unit with position information, and the vehicle speed measuring apparatus also being connected with the dead reckoning unit, wherein the dead reckoning unit is synchronized together with the GPS-positioning system measuring apparatus to the GPS time signal produced by the GPS receiver on the vehicle whereby the navigation computer is enabled to compare the actual established path of the vehicle with the predetermined path.

6. The system of claim 4, wherein the dead reckoning unit is adapted for estimating the position of a navigation point that is deviated from the position of a vehicle GPS antenna on the vehicle in the dead reckoning unit, the dead reckoning unit receiving information as to the position of the GPS antenna measured in ground coordinates, information about the posture of the vehicle, information about the position of a navigation point estimated in a set of vehicle coordinates, and the dead reckoning unit being adapted to use that information to calculate the position of the vehicle navigation point in a set of ground coordinates.

7. The navigation system of claim 5, wherein the dead reckoning unit includes means for estimating dead reckoning parameters including a distance measuring factor for indicating the proportion of a distance obtained on the basis of vehicle speed measurement to a distance measured on the basis of a GPS measurement and also the relative position of a vehicle navigation point and the GPS antenna in a set of coordinates for the vehicle.

8. The navigation system of claim 4, wherein the dead reckoning unit includes means for estimating dead reckoning parameters including a distance measuring factor for indicating the proportion of a distance obtained on the basis of vehicle speed measurement to a distance measured on the basis of a GPS measurement and also the relative position of a vehicle navigation point and the GPS antenna in a set of coordinates for the vehicle.

9. The navigation system of claim 5, further comprising a gyroscope on the vehicle connected for supplying directional information to the navigation computer, and the navigation computer being adapted to compare the measured speed of the drivable moving elements at the opposite lateral sides of the vehicle with the directional information provided by the gyroscope for sending information through the control elements to the drivable moving elements.

10. The navigation system of claim 1, further comprising a gyroscope on the vehicle connected for supplying directional information to the navigation computer, and the navigation computer being adapted to compare the measured speed of the drivable moving elements at the opposite lateral sides of the vehicle with the directional information provided by the gyroscope for sending information through the control elements to the drivable moving elements.

11. The navigation system of claim 1, wherein the drive means for the drivable moving elements include a respective hydraulic motor for operating the moving elements on each lateral side of the vehicle.

12. The navigation system of claim 10, wherein the drive means further comprise respective hydraulic pumps for driving the motors;

the control elements include controllable valves for regulating the pumps and thereby the hydraulic motors so that the speed and heading of the vehicle are regulated by control of the controllable valves.

13. The navigation system of claim 10, wherein the drivable moving elements are at each lateral side of the vehicle and comprise a respective set of drive wheels or a respective set of track rollers at each lateral side.

14. The navigation system of claim 1, wherein the drivable moving elements are at each lateral side of the vehicle and comprise a respective set of drive wheels or a respective set of track rollers at each lateral side.

15. The navigation system of claim 1, wherein the vehicle is an unmanned vehicle.

16. The navigation system of claim 1, wherein the vehicle is an agricultural tractor.

17. The navigation system of claim 15, wherein the tractor has a platform including means thereon for fastening agricultural tools to the tractor.

18. The navigation system of claim 16, wherein the digitized map in the ground station computer includes information selected from one or more of the group consisting of local differences concerning the nature and amount of the crop, required fertilization and required amount of pesticide;

an agricultural tool supported on the platform of the vehicle and adapted for communication with the navigation computer and with the digitized map in the ground station computer such that the information as to the location of the vehicle causes the ground station computer to operate the agricultural tool for affecting one of the above stated conditions.

19. The navigation system of claim 1, wherein the ground station computer includes a monitor screen showing the real time position of the vehicle on the digitized map;

and

sensors in the vehicle and a menu for producing commands for the remote control over vehicle action.