-
公开(公告)号：US07885745B2
公开(公告)日：2011-02-08
申请号：US11700501
申请日：2007-01-31
申请人： John A. McClure , Richard W. Heiniger , Kent D. Funk , John T. E. Timm , Richard B. Wong , Dennis M. Collins
发明人： John A. McClure , Richard W. Heiniger , Kent D. Funk , John T. E. Timm , Richard B. Wong , Dennis M. Collins
CPC分类号： G01C21/005
摘要： 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.
摘要翻译： 提供GNSS控制系统和方法，用于引导，导航和控制诸如拖拉机的动力部件和诸如工具的工作部件。 矢量位置/航向传感器安装在动力部件上，并包括连接到GNSS接收器的多个天线。 传感器还包括惯性传感器和方向传感器，其连接到转向控制模块（SCM）的微处理器。 SCM可以在不同车辆之间热插拔，并可以与其各自的原始车载控制系统相连接。 该装置可以设置有可选的GNSS天线，接收器或两者，并且可以独立于动力部件被引导。 可以对SCM进行预编程，以引导车辆在包括直线，轮廓，同心圆和点+方向的操作模式的场上。 具有多个喷嘴的喷洒臂可以安装在工具上，并且可以根据GNSS数据的对数确定的工具的位置来独立地激活喷嘴。
-
公开(公告)号：USRE41358E1
公开(公告)日：2010-05-25
申请号：US12026797
申请日：2008-02-06
CPC分类号： G05D1/0278 , G05D1/027 , G05D2201/0201
摘要： An automatic steering system and method are provided for a vehicle including an hydraulic primary steering system. The automatic steering system includes a guidance module with a GPS receiver and a microprocessor adapted to process and store GPS data defining travel paths, which can be associated with a cultivated field in an agricultural vehicle application. An automatic steering module is connected to the guidance module and to a steering valve control block, which provides pressurized hydraulic fluid in parallel with the vehicle's primary hydrostatic steering system. The automatic steering system utilizes a constant factor, such as steering rate, for predictability and simplicity in the operation of the automatic steering system. A feedback loop from the vehicle hydrostatic steering system uses the vehicle's actual turning rate for comparison with a desired turning rate. The system is adapted for original equipment installation and retrofitting on vehicles, such as farm tractors, with various primary hydrostatic steering system configurations. An automatic steering method includes the steps of: initializing the system; adjusting the steering with an hydraulic valve to provide a constant steering rate; providing feedback corresponding to the vehicle's actual turning rate and combining the feedback with other input signals to provide automatic steering.
摘要翻译： 提供了一种用于包括液压主转向系统的车辆的自动转向系统和方法。 自动转向系统包括具有GPS接收器的引导模块和适于处理和存储定义行驶路径的GPS数据的微处理器，其可以与农业车辆应用中的耕地相关联。 自动转向模块连接到引导模块和转向阀控制块，该转向阀控制块与车辆的主静液压转向系统平行地提供加压液压流体。 自动转向系统利用恒定因素，例如转向速率，用于自动转向系统的操作的可预测性和简单性。 来自车辆静液压转向系统的反馈回路使用车辆的实际转弯速度与期望的转向速度进行比较。 该系统适用于具有各种主要静液压转向系统配置的车辆（如农用拖拉机）上的原始设备安装和改造。 一种自动转向方法包括以下步骤：初始化系统; 用液压阀调节转向，以提供恒定的转向率; 提供与车辆实际转弯速度相对应的反馈，并将反馈与其他输入信号组合以提供自动转向。
-
公开(公告)号：US07142956B2
公开(公告)日：2006-11-28
申请号：US10875776
申请日：2004-06-24
CPC分类号： G05D1/0278 , G05D1/027 , G05D2201/0201
摘要： An automatic steering system and method are provided for a vehicle including an hydraulic primary steering system. The automatic steering system includes a guidance module with a GPS receiver and a microprocessor adapted to process and store GPS data defining travel paths, which can be associated with a cultivated field in an agricultural vehicle application. An automatic steering module is connected to the guidance module and to a steering valve control block, which provides pressurized hydraulic fluid in parallel with the vehicle's primary hydrostatic steering system. The automatic steering system utilizes a constant factor, such as steering rate, for predictability and simplicity in the operation of the automatic steering system. A feedback loop from the vehicle hydrostatic steering system uses the vehicle's actual turning rate for comparison with a desired turning rate. The system is adapted for original equipment installation and retrofitting on vehicles, such as farm tractors, with various primary hydrostatic steering system configurations. An automatic steering method includes the steps of: initializing the system; adjusting the steering with an hydraulic valve to provide a constant steering rate; providing feedback corresponding to the vehicle's actual turning rate and combining the feedback with other input signals to provide automatic steering.
摘要翻译： 提供了一种用于包括液压主转向系统的车辆的自动转向系统和方法。 自动转向系统包括具有GPS接收器的引导模块和适于处理和存储定义行驶路径的GPS数据的微处理器，其可以与农业车辆应用中的耕地相关联。 自动转向模块连接到引导模块和转向阀控制块，该转向阀控制块与车辆的主静液压转向系统平行地提供加压液压流体。 自动转向系统利用恒定因素，例如转向速率，用于自动转向系统的操作的可预测性和简单性。 来自车辆静液压转向系统的反馈回路使用车辆的实际转弯速度与期望的转向速度进行比较。 该系统适用于具有各种主要静液压转向系统配置的车辆（如农用拖拉机）上的原始设备安装和改造。 一种自动转向方法包括以下步骤：初始化系统; 用液压阀调节转向，以提供恒定的转向率; 提供与车辆实际转弯速度相对应的反馈，并将反馈与其他输入信号组合以提供自动转向。
-
公开(公告)号：US07373231B2
公开(公告)日：2008-05-13
申请号：US11650784
申请日：2007-01-08
IPC分类号： G06F19/00
CPC分类号： A01B79/005 , A01B69/004 , G01S19/14 , G01S19/41
摘要： An articulated equipment position control system and method are provided for equipment consisting of motive and working components. The components are connected by an articulated connector, such as a pivotal hitch. GPS-derived positional data is utilized for power-articulating the hitch to maintain the working component, such as an implement, on a predetermined course. Operator-inducted course deviations can thus be corrected. The working component can also be positioned to follow the course of the movive component. The system includes a microprocessor control subsystem, which interfaces with a steering guidance system.
摘要翻译： 为动力和工作部件组成的设备提供铰接设备位置控制系统和方法。 这些部件通过铰接式连接器连接，例如枢轴连接。 GPS导出的位置数据被用于在预定的过程上对联结装置进行动力铰接以维持诸如工具的工作部件。 因此，操作员引导的课程偏差可以得到纠正。 工作部件也可以定位成跟随移动部件的过程。 该系统包括与转向引导系统接口的微处理器控制子系统。
-
公开(公告)号：US07162348B2
公开(公告)日：2007-01-09
申请号：US10733960
申请日：2003-12-11
IPC分类号： G06F19/00
CPC分类号： A01B79/005 , A01B69/004 , G01S19/14 , G01S19/41
摘要： An articulated equipment position control system and method are provided for equipment consisting of motive and working components. The components are connected by an articulated connector, such as a pivotal hitch. GPS-derived positional data is utilized for power-articulating the hitch to maintain the working component, such as an implement, on a predetermined course. Operator-induced course deviations can thus be corrected. The working component can also be positioned to follow the course of the motive component. The system includes a microprocessor control subsystem, which interfaces with a steering guidance system.
摘要翻译： 为动力和工作部件组成的设备提供铰接设备位置控制系统和方法。 这些部件通过铰接式连接器连接，例如枢轴连接。 GPS导出的位置数据被用于在预定的过程上对联结装置进行动力铰接以维持诸如工具的工作部件。 因此可以纠正操作员引起的行程偏差。 工作部件也可以定位成跟随动力部件的过程。 该系统包括与转向引导系统接口的微处理器控制子系统。
-
公开(公告)号：US08018376B2
公开(公告)日：2011-09-13
申请号：US12419140
申请日：2009-04-06
IPC分类号： G01S1/00
CPC分类号： G05D1/0202 , G01C21/00 , G01S19/41 , G01S19/53 , G05D1/027 , G05D1/0274 , G05D1/0278 , G05D2201/0201
摘要： A GNSS-based, bidirectional mobile communication system includes a mobile unit, such as a vehicle or a personal mobile system, with GNSS (e.g., GPS) and Internet (worldwide web) access. A base station also has GNSS and Internet access, and provides differential (e.g., DGPS) correctors to the mobile unit via the Internet. The Internet communications link enables audio and/or video (AV) clips to be recorded and played back by the mobile unit based on its GNSS location. The playback function can be triggered by the mobile unit detecting a predetermined GNSS location associated with a particular clip, which can be GNSS position-stamped when recorded. Alternatively, clips can be generated by utilities and loaded by the application either from a personal computer or automatically over the Internet. Moreover, maps, vehicle travel paths and images associated with particular GNSS-defined locations, such as waypoints, can be updated and position-stamped on the data server. A GNSS-based mobile communication method and a storage medium encoded with a machine-readable code for mobile communications are also provided.
摘要翻译： 基于GNSS的双向移动通信系统包括具有GNSS（例如，GPS）和因特网（全球网络）接入的诸如车辆或个人移动系统的移动单元。 基站还具有GNSS和因特网接入，并且经由因特网向移动单元提供差分（例如，DGPS）校正器。 互联网通信链路使音频和/或视频（AV）剪辑能够由移动单元基于其GNSS位置被记录和回放。 可以由移动单元检测与特定剪辑相关联的预定GNSS位置来触发重放功能，其可以在被记录时被GNSS定位。 或者，剪辑可以由实用程序生成并由应用程序从个人计算机加载或通过Internet自动加载。 此外，地图，车辆行驶路径和与特定GNSS定义位置（例如航路点）相关联的图像可以在数据服务器上更新和定位。 还提供了基于GNSS的移动通信方法以及用移动通信的机器可读代码编码的存储介质。
-
公开(公告)号：US08190337B2
公开(公告)日：2012-05-29
申请号：US12251279
申请日：2008-10-14
IPC分类号： G06F7/70
CPC分类号： A01B69/008 , G01S19/14 , G01S19/41 , G01S19/47 , G05D1/027 , G05D1/0278 , G05D2201/0201
摘要： A method for steering an agricultural vehicle comprising: receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.
摘要翻译： 一种用于转向农用车辆的方法，包括：接收全球定位系统（GPS）数据，其包括对应于车辆的位置，速度和路线中的至少一个的位置和速度信息; 接收横摆率信号; 以及计算补偿航向，所述补偿航向包括基于所述GPS数据的所述横摆率信号与航向信息的混合。 对于包括多个所需位置和期望标题的每个期望的条，该方法还包括：基于补偿的标题和位置，从期望的条纹计算实际轨道和交叉轨道误差; 计算期望的曲率半径以期望的标题到达期望的轨道; 以及基于所述期望的曲率半径向所述转向机构产生转向命令，所述转向机构构造成引导所述车辆。
-
公开(公告)号：US07437230B2
公开(公告)日：2008-10-14
申请号：US10804721
申请日：2004-03-19
IPC分类号： G06F7/70
CPC分类号： A01B69/008 , G05D1/027 , G05D1/0278 , G05D2201/0201
摘要： A method for steering an agricultural vehicle comprising: receiving global positioning system (GPS) data including position and velocity information corresponding to at least one of a position, velocity, and course of the vehicle; receiving a yaw rate signal; and computing a compensated heading, the compensated heading comprising a blend of the yaw rate signal with heading information based on the GPS data. For each desired swath comprising a plurality of desired positions and desired headings, the method also comprises: computing an actual track and a cross track error from the desired swath based on the compensated heading and the position; calculating a desired radius of curvature to arrive at the desired track with a desired heading; and generating a steering command based on the desired radius of curvature to a steering mechanism, the steering mechanism configured to direct the vehicle.
摘要翻译： 一种用于转向农用车辆的方法，包括：接收全球定位系统（GPS）数据，其包括对应于车辆的位置，速度和路线中的至少一个的位置和速度信息; 接收横摆率信号; 以及计算补偿航向，所述补偿航向包括基于所述GPS数据的所述横摆率信号与航向信息的混合。 对于包括多个所需位置和期望标题的每个期望的条，该方法还包括：基于补偿的标题和位置，从期望的条纹计算实际轨道和交叉轨道误差; 计算期望的曲率半径以期望的标题到达期望的轨道; 以及基于所述期望的曲率半径向所述转向机构产生转向命令，所述转向机构构造成引导所述车辆。
-
公开(公告)号：US06711501B2
公开(公告)日：2004-03-23
申请号：US10396788
申请日：2003-03-25
IPC分类号： G06F700
CPC分类号： A01B69/008 , G01C21/00 , G01S19/14 , G01S2205/002
摘要： A swathing guidance system includes a controller storing data defining a desired vehicle path, a position detector subsystem such as a differential GPS receiver, and a display to graphically display current spatial parameters and corrective steering actions to place the vehicle on the desired path or to maintain it on the path. The controller periodically selects a future intercept point on the path and calculates a steering correction angle to point the vehicle toward the intercept point. The display includes a steering guide which displays the steering correction angle relative to the current heading and the current track error or distance from the desired path. The steering correction angle can alternatively be applied to an automatic steering mechanism to automatically maintain the vehicle on the desired path. In agricultural applications, the system is applicable to both parallel and contour cultivation modes.
摘要翻译： 带状引导系统包括存储定义所需车辆路径的数据的控制器，诸如差分GPS接收器的位置检测器子系统以及以图形方式显示当前空间参数和校正转向动作以将车辆置于期望路径上或维持的显示器 它在路上。 控制器周期性地选择路径上的未来拦截点，并计算转向校正角度以将车辆指向拦截点。 显示器包括转向引导件，其显示相对于当前航向的转向校正角度以及当前轨道误差或距离期望路径的距离。 转向修正角可替代地应用于自动转向机构以自动地将车辆保持在期望的路径上。 在农业应用中，该系统适用于平行和轮廓种植模式。
-
公开(公告)号：US06539303B2
公开(公告)日：2003-03-25
申请号：US09733641
申请日：2000-12-08
IPC分类号： G01C2100
CPC分类号： G01C21/00 , A01B69/008 , G01S19/14 , G01S2205/002
摘要： A swathing guidance system includes a controller storing data defining a desired vehicle path, a position detector subsystem such as a differential GPS receiver, and a display to graphically display current spatial parameters and corrective steering actions to place the vehicle on the desired path or to maintain it on the path. The controller periodically selects a future intercept point on the path and calculates a steering correction angle to point the vehicle toward the intercept point. The display includes a steering guide which displays the steering correction angle relative to the current heading and the current track error or distance from the desired path. The steering correction angle can alternatively be applied to an automatic steering mechanism to automatically maintain the vehicle on the desired path. In agricultural applications, the system is applicable to both parallel and contour cultivation modes.
-
-
-
-
-
-
-
-
-
搜索结果
46 条记录 (耗时 0.036 秒)
