GNSS control system and method

• US 7,885,745 B2
• Filed: 01/31/2007
• Issued: 02/08/2011
• Est. Priority Date: 12/11/2002
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: McClure, John A., Collins, Dennis M., Heiniger, Richard W., Funk, Kent D., Wong, Richard B., Timm, John T. E.
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Amin; Bhavesh V
• Application Number:
  US11/700,501
• Publication Number:
  US 20070198185A1
• Time in Patent Office: 1,469 Days
• Field of Search: None
• US Class Current: 701/50
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence

Abstract

A GNSS control system and method are provided for guiding, navigating and controlling a motive component, such as a tractor, and a working component, such as an implement. A vector position/heading sensor is mounted on the motive component and includes multiple antennas connected to a GNSS receiver. The sensor also includes inertial sensors and a direction sensor, which are connected to a microprocessor of a steering control module (SCM). The SCM can be hot swapped among different vehicles and can interface with their respective original, onboard control systems. The implement can be provided with an optional GNSS antenna, receiver or both, and can be guided independently of the motive component. The SCM can be preprogrammed to guide the vehicle over a field in operating modes including straight line, contour, concentric circle and point+direction. A spray boom with multiple nozzles can be installed on the implement and the nozzles can be independently activated based upon a location of the implement as determined from a log of GNSS data.

Claims

1. A GNSS control system for a GNSS controlled vehicle, which control system comprises:

a GNSS receiver associated with the controlled vehicle;

multiple antennas associated with the controlled object and connected to the GNSS receiver;

X, Y and Z axis inertial sensors associated with the controlled object and providing outputs corresponding to vehicle pitch, roll and yaw respectively;

a direction sensor associated with the vehicle and determining its direction of travel;

a control module connected to the receiver and the vehicle and adapted for controlling the vehicle in response to GNSS input;

a GNSS control function associated with said control module;

a guide function for covering a predetermined area with said vehicle;

multiple guidance mode functions including;

straight line (AB);

contour;

concentric circle;

spiral and point A +direction;

a function for detecting an end-of-swath turnaround of said vehicle;

a function for prioritizing GNSS data acquisition in response to said vehicle turnaround whereby said GNSS control function acquires and guides said vehicle along a previous swath; and

a function for continuing guidance during GNSS signal interruption using the output of said direction and inertial sensors for maintaining a predetermined path of travel of said vehicle.

2. The control system according to claim 1, which includes:

said control module including a graphical user interface (GUI) and said GNSS control function including a guidance display on said GUI.

3. The control system according to claim 1, which includes said vehicle including a steering mechanism;

and;

said control module comprising a steering control module (SCM) connected to said vehicle steering mechanism and said GNSS control function including automatic steering of said vehicle.

4. The control system according to claim 3, which includes:

said vehicle comprising a tractor and an implement connected thereto;

a tilt sensor mounted on said vehicle and providing an output to said SCM corresponding to a tilting condition thereof; and

a tilt correction function for compensating for a tilting condition of said vehicle.

5. The control system according to claim 4, which includes:

said vehicle including a vehicle microprocessor and a vehicle graphical user interface (GUI) connected thereto; and

said SCM including an SCM microprocessor connected to said vehicle microprocessor.

6. The control system according to claim 3, which includes:

said vehicle steering mechanism including a steering wheel;

a steering wheel position sensor connected to said steering wheel and providing an output corresponding to a steering wheel position; and

said SCM receiving said steering wheel position sensor output and including a function for vehicle guidance based on a position of said steering wheel.

7. The control system according to claim 3, which includes:

said SCM being adapted for hot swapping among multiple vehicles each having a control system with a microprocessor and a GUI; and

said SCM being preprogrammed to interface with the respective control systems of multiple vehicles.

8. The control system according to claim 4, which includes:

a bubble level mounted on said vehicle and adapted for calibrating said tilt sensor.

9. The control system according to claim 5, which includes:

a function for compensating guidance for implement yaw.

10. The control system according to claim 5, which includes:

a GNSS receiver mounted on said implement and communicating with said vehicle microprocessor;

a function for steering said implement in response to GNSS signals received by said implement receiver;

an articulated connection between said the tractor and said implement; and

a positioning device for positioning said implement relative to said tractor.

11. The control system according to claim 4, which includes:

said implement including a spray boom with multiple nozzles; and

a function independently controlling said nozzles in response to a position of said implement.

12. A GNSS control system for a vehicle comprising a tractor and a towed implement connected to the tractor, which control system comprises:

a vector position/heading sensor mounted on said tractor and including;

multiple antennas;

a GNSS receiver connected to said antennas;

X, Y and Z axis inertial sensors providing outputs corresponding to vehicle pitch, roll and yaw respectively and a direction sensor;

a steering control module (SCM) including a microprocessor connected to and receiving the outputs from said sensors;

a function for automatically steering said vehicle;

a function for covering a predetermined area with said implement;

a function for logging GNSS data corresponding to area covered with said implement;

a tilt sensor mounted on the vehicle and providing an output to said microprocessor corresponding to a tilting condition of said vehicle;

a tilt correction function for compensating for a tilting condition of said vehicle;

multiple guidance mode functions including one or more from the group consisting of;

straight line (AB);

contour;

concentric circle;

spiral and point A +direction;

a GNSS receiver mounted on said implement and communicating with said microprocessor;

a function for steering said implement in response to GNSS signals received by said implement receiver;

an articulated connection between said the tractor and said implement;

a positioning device for positioning said implement relative to said tractor;

said implement including a spray boom with multiple nozzles;

a function independently controlling said nozzles in response to a position of said implement;

said vehicle including a steering wheel and a steering wheel position sensor providing an output corresponding to a steering wheel position;

said SCM receiving said steering wheel position sensor output and including a function for guiding based on a position of said steering wheel;

a function for detecting an end-of-swath turnaround of said vehicle;

a function for prioritizing GNSS data acquisition in response to a vehicle turnaround; and

a function for continuing guidance during GNSS signal interruption using the output of said inertial and direction sensors for maintaining a predetermined path of travel of said object.

13. A GNSS method for guiding a vehicle including a motive component and a working component connected by an articulated connection, which method comprises the steps of:

providing said vehicle with a vehicle control system including a microprocessor and a GUI;

mounting a vector position/heading sensor on said motive component and providing said vector position/heading sensor with;

multiple antennas;

a GNSS receiver connected to said antennas;

X, Y and Z axis inertial sensors providing outputs corresponding to vehicle pitch, roll and yaw respectively;

and a direction sensor providing an output corresponding to said vehicle direction of travel;

providing a steering control module (SCM) including a microprocessor and a GUI connected thereto;

connecting the outputs from said inertial sensors to said SCM;

providing a tilt sensor on said motive component;

providing a tilt sensor output corresponding to a tilt of said motive component to said SCM microprocessor;

adjusting a swath width of said working component based on said tilt sensor output;

providing said SCM with guidance modes including one more from the group consisting of;

straight line (AB);

contour;

concentric circle;

spiral and point A+direction;

logging GNSS data with said vector position/heading sensor and said SCM microprocessor;

automatically steering said motive component in one of said guidance modes based on said logged GNSS data;

providing said working component with a spray boom including multiple spray nozzles;

selectively and automatically controlling the operation of said spray nozzles in response to a location of said working component as determined from GNSS logged data; and

continuing guidance during GNSS signal interruption using the output of said inertial and direction sensors for maintaining a predetermined path of travel of said object.