Work machine reverse passive implement guidance system and method

Patent metadata

Field	Value
Publication number	US-2023397517-A1
Application number	US-202217835501-A
Country	US
Kind code	A1
Filing date	Jun 8, 2022
Priority date	Jun 8, 2022
Publication date	Dec 14, 2023
Grant date	—

Abstract

A reverse passive implement guidance system is provided for a work machine having a work vehicle configured to direct an implement coupled to the work vehicle via a steering system along a desired implement path. The reverse passive implement guidance system includes one or more vehicle sensors to collect vehicle position and orientation information; one or more implement sensors to collect implement position and orientation information; a controller coupled to the one or more vehicle sensors and the one or more implement sensors. The controller is configured to: receive the vehicle position and orientation information and the implement position and orientation; generate vehicle steering commands to drive the work vehicle such the implement is guided in a reverse direction onto or along the desired implement path; and execute the vehicle steering commands via the steering system of the work vehicle.

First claim

What is claimed is:

1 . A reverse passive implement guidance system for a work machine having a work vehicle configured to direct an implement coupled to the work vehicle via a steering system of the work vehicle along a desired implement path, the reverse passive implement guidance system comprising:
one or more vehicle sensors mounted on the work vehicle to collect vehicle position and orientation information associated with the work vehicle; one or more implement sensors mounted on the implement to collect implement position and orientation information associated with the implement; and a controller coupled to the one or more vehicle sensors and the one or more implement sensors, the controller having a processor and memory architecture configured to:
receive the vehicle position and orientation information and the implement position and orientation;
generate vehicle steering commands based on vehicle position and orientation information and the implement position and orientation to drive the work vehicle such the implement is guided in a reverse direction onto or along the desired implement path; and
execute the vehicle steering commands via the steering system of the work vehicle.

2 . The reverse passive implement guidance system of claim 1 , wherein the controller is configured to generate the vehicle steering commands based on a system curvature of the work machine.

3 . The reverse passive implement guidance system of claim 1 , wherein the controller is configured to generate the vehicle steering commands with closed loop and feed forward control mechanisms.

4 . The reverse passive implement guidance system of claim 1 , wherein the controller is configured to generate the vehicle steering commands with a machine efficacy value.

5 . The reverse passive implement guidance system of claim 1 , wherein the controller is configured to generate the vehicle steering commands limited according to a jackknife angle.

6 . The reverse passive implement guidance system of claim 1 , wherein the controller is configured to generate the vehicle steering commands based on a system curvature of the work machine in which the system curvature is defined as a curvature between a front vehicle wheel reference line and an implement reference line within a stable system.

7 . The reverse passive implement guidance system of claim 6 , wherein the controller is configured to generate the vehicle steering commands by generating a system curvature command based on implement lateral and heading errors.

8 . The reverse passive implement guidance system of claim 7 , wherein the controller is configured to generate the vehicle steering commands further by:
transforming the system curvature command into a first vehicle-implement angle command as a closed loop control mechanism; determining an implement path curvature and transforming the implement path curvature into a second vehicle-implement angle command as a feed forward control mechanism; and combining the first vehicle-implement angle command and the second vehicle-implement angle command to generate an initial vehicle-implement angle command.

9 . The reverse passive implement guidance system of claim 8 , wherein the controller is configured to generate the vehicle steering commands further by limiting the initial vehicle-implement angle command by a jackknife angle to generate a limited vehicle-implement angle command.

10 . The reverse passive implement guidance system of claim 9 , wherein the controller is configured to generate the vehicle steering commands further by:
subtracting a current vehicle-implement angle from the limited vehicle-implement angle command to generate a vehicle-implement angle error; transforming the vehicle-implement angle error into an initial vehicle curvature command; scaling the initial vehicle curvature command by application of an efficacy value to generate a closed loop vehicle curvature command; transforming the current implement angle into a feed forward vehicle curvature command by maintaining a zero relative yaw rate; and combining the closed loop vehicle curvature command and the feed forward vehicle curvature command to generate a final vehicle curvature command that is executed as the steering commands.

11 . A work machine, comprising:
a work vehicle having a steering system; an implement coupled to the work vehicle and configured to be manipulated by the work vehicle; and a reverse passive implement guidance system for the work vehicle configured to direct the implement via the steering system of the work vehicle along a desired implement path, the reverse passive implement guidance system comprising:
one or more vehicle sensors mounted on the work vehicle to collect vehicle position and orientation information associated with the work vehicle;
one or more implement sensors mounted on the implement to collect implement position and orientation information associated with the implement; and
a controller coupled to the one or more vehicle sensors and the one or more implement sensors, the controller having a processor and memory architecture configured to:
receive the vehicle position and orientation information and the implement position and orientation;
generate vehicle steering commands based on vehicle position and orientation information and the implement position and orientation to drive the work vehicle such the implement is guided in a reverse direction onto or along the desired implement path; and
execute the vehicle steering commands via the steering system of the work vehicle.

12 . The work machine of claim 11 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands based on a system curvature of the work machine.

13 . The work machine of claim 11 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands with closed loop and feed forward control mechanisms.

14 . The work machine of claim 11 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands with a machine efficacy value.

15 . The work machine of claim 11 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands limited according to a jackknife angle.

16 . The work machine of claim 11 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands based on a system curvature of the work machine in which the system curvature is defined as a curvature between a front vehicle wheel reference line and an implement reference line within a stable system.

17 . The work machine of claim 16 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands by generating a system curvature command based on implement lateral and heading errors.

18 . The work machine of claim 17 , wherein the controller of the reverse passive implement guidance system is configured to generate the vehicle steering commands further by:
transforming the system curvature command into a first vehicle-implement angle command as a closed loop control mechanism; determining an implement path curvature and transforming the implement path curvature into a second vehicle-implement angle command as a feed forward control mechanism; and combining the first vehicle-implement angle command a

Assignees

• Deere & Co

Inventors

• Lawson Joshua T

Classifications

• A01B69/006 Primary

  derived from the steering of the tractor · CPC title

• A01B69/008

  automatic · CPC title

• A01B69/00 Primary

  Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track · CPC title

• A01B79/005

  Precision agriculture · CPC title