Patent Application
20150045992
1. Field of the Invention
The present invention relates to work vehicles, and, more particularly, to work vehicles which are controlled using a vehicle guidance control system (VGCS).
2. Description of the Related Art
Vehicles such as skid steer loaders are a mainstay of agricultural and construction work. In their most common configuration, they have two drive wheels on each side of a chassis that are driven in rotation by one or more hydraulic motors coupled to the wheels on one side and another one or more hydraulic motors coupled to the wheels on the other side.
The wheels on one side of the vehicle can be driven independently of the wheels on the other side of the vehicle. This permits the wheels on opposing sides of the vehicle to be rotated at different speeds, in opposite directions, or both. By rotating in opposite directions, the skid steer can rotate in place about a vertical axis that extends through the vehicle itself.
The vehicles often have an overall size of about 4×8′ to 7×12′ feet which, when combined with their ability to rotate in place, gives them considerable mobility at a worksite. This mobility makes them a preferred vehicle.
Skid steer vehicles have at least one loader lift arm that is pivotally coupled to the chassis of the vehicle to raise and lower at the operator's command. This arm typically has a bucket, blade, or other implement attached to the end of the arm that is lifted and lowered thereby. Perhaps most commonly, a bucket is attached to the arm and the skid steer vehicle. This bucket is commonly used to carry supplies or particulate matter such as gravel, sand, or dirt around a worksite.
Vehicles, such as the skid steer loader discussed above as well as other vehicles used in the agricultural, forestry and construction industries are typically controlled by an operator sitting at an operator station. However, it is also becoming more common for such vehicles to be controlled automatically through the use of a VGCS. With a conventional VGCS, an operator remains at the operator station so that control of the vehicle can be overtaken manually should the need arise (known as a semi-autonomous VGCS). The operator typically drives the work vehicle to a predefined area, such as an agricultural field, then actuates the VGCS so that the work vehicle can be automatically driven in a predefined path through the field. The operator also manually attaches any tools (e.g., implements), and loads any application materials (such as fertilizer, herbicides, etc.), prior to placing the work vehicle in the VGCS mode. Regardless of the application, the operator is always present and ultimately under final (over-ride) control of the work vehicle.
For semi-autonomous VGCS as described above, it is also known to provide various geospatial data to the controller onboard the vehicle such that the position of the vehicle within a geospatial framework can be determined within certain tolerances. For example, in the case of an agricultural sprayer, it is known to utilize global positioning system (GPS) data to turn on and off different sprayer boom sections as the sprayer traverses across a field. As another example, it is known to utilize GPS data to vary the application rate of fertilizer as a fertilizer spreader traverses across a field.
What is needed in the art is a true autonomous VGCS with the ability to control extended vehicle systems.
The present invention is directed to an autonomous robotic platform in the form of a vehicle.
The present invention consists in one form thereof of a robotic control system for a vehicle having a chassis and a drive system carrying the chassis. The robotic control system including a controller configured to control the drive system. The controller being further configured to at least one of auto-load the vehicle onto a trailer, preclude tipping of the vehicle, stabilize yaw of the vehicle, simulate Ackerman steering, balance the vehicle on two wheels, retrieve an other vehicle, transfer a payload from the vehicle to the other vehicle, coupling of at least one other vehicle to the vehicle, retrieval or movement of a container using either relative sensing or absolute position referencing, profile cutting of plants, and 3D print cement.
The present invention consists in another form thereof of a robotic vehicle, including a chassis, a drive system carrying the chassis, and a robotic control system. The robotic control system including a controller configured to control the drive system. The controller being further configured to at least one of auto-load the vehicle onto a trailer, preclude tipping of the vehicle, stabilize yaw of the vehicle, simulate Ackerman steering, balance the vehicle on two wheels, retrieve an other vehicle, transfer a payload from the vehicle to the other vehicle, coupling of at least one other vehicle to the vehicle, retrieval or movement of a container using either relative sensing or absolute position referencing, profile cutting of plants, and 3D print cement.
An advantage of the present invention is that it provides a true VGCS autonomous system.
Another advantage of the present invention is that vehicles can be coupled physically and controllingly so as to effectively form a machine with enhanced capabilities.
Yet another advantage of the present invention is that the vehicles may be interchangeable, so that if two are being used together a third can replace one of the two so that one vehicle can receive maintenance or go refuel itself.
Yet another advantage of the present invention is that the autonomous action allows for repeatable three dimensional movements so that such things a 3D printing can be undertaken with the vehicle.
The above-mentioned and other features and advantages of this invention, and the manner of attaining them, will become more apparent and the invention will be better understood by reference to the following description of embodiments of the invention taken in conjunction with the accompanying drawings, wherein:
Corresponding reference characters indicate corresponding parts throughout the several views. The exemplifications set out herein illustrates embodiments of the invention, and each such exemplification is not to be construed as limiting the scope of the invention in any manner.
Referring now to the drawings, and more particularly to
Adapting work vehicle 10 such as a skid steer platform to robotic control allows for remote, autonomous, semi-autonomous, and multi-vehicle cooperative operation of a proven mechanical platform. This platform provides a variety of existing implements, attachments, and accessories. Each accessory can benefit from open and closed loop robotic control adapted to its particular uses. The platform is naturally extensible and new attachments will be created to expand its applications.
Command and Control—System communications between an operator and the vehicle(s) can include: RF (radio or cellular), light, visual, subsonic, ultrasonic, and acoustics means of communications. Visual gestures and voice instructions from the human operator can also be a source of control.
Now additionally referring to
The skid steer platform 10 allows for vehicle 10 to automatically change its configuration and attachments so as to accomplish multiple tasks without human intervention. For example, platform 10 can drill holes using a post hole tool, automatically change from the post hole tool to a bucket and fill in the holes as needed without reconfiguring the platform manually.
Sensors on the attachments can be independent of main vehicle 10 and can harvest power if needed from hydraulic fluid flow, heat, or movement. This removes the need for a human to plug in or attach components with accessories beyond what is needed for standard manned operation.
The sensors 22 of the skid-steer platform 10 can be used to determine when maintenance or repair is needed on skid-steer 10. For example, a sensor 22 on a boom position coupled with a valve control could detect a leaky valve that causes the lift boom to settle.
Functionality—of the present invention:
The present invention can be used as a user assist to leverage the instrumentation of vehicle 10 for the operations of a manned vehicle 10. The present invention allows for the human element to be a part of the control to close the loop for operations such as those listed above with the human in the loop onboard the vehicle. For example, such operations as: Yaw stabilization, trailer loading and anti-collision.
The present invention includes the robotizing of the skid-steer platform 10 to allow for all the varied functions and capabilities inherent in the skid steer platform 10 currently, with the benefit of the remote and autonomous operation.
Sensors 22 can be located directly above the front of the engine compartment as shown in
Control system 12 in the form of automation electronics box 12 is placed inside and underneath an access panel that covers the floor where the foot pedals were located in a manned skid steer loader.
Other functionality is contemplated for incorporation into the work vehicle robotic platform 10 including:
Additionally, the present invention includes the coupling of two (or more) work vehicles together physically in a variety of ways for extreme mobility. The coupling also may include the consolidation of control so that the newly formed (coupled) machine will operate as a single machine with one set of controls and with new sets of limitations and attributes. This consolidation may, for example, result in a machine having an ability to climb higher obstacles. This new capability is then part of the consolidated limits of machine 10. It is possible to hook vehicle 10 face-to-face with vehicle 30, as shown in
Another extreme terrain option is to put a two wheel attachment on the quick coupler of vehicle 10, as shown in
Vehicle 10 can have an implement 26 such as a mower 26 coupled thereto for automated completion of a task such as mowing. It is also contemplated that a machine 34 could be used to pull an implement 26 that required more power than vehicle 10 alone would be able to effectively deliver. It is also contemplated that vehicle 10 and vehicle 30 could be separately coupled to an implement 26 and the consolidated control of the present invention would allow implement 26/vehicle 10/vehicle 30 to be used in a coordinated manner.
While this invention has been described with respect to at least one embodiment, the present invention can be further modified within the spirit and scope of this disclosure. This application is therefore intended to cover any variations, uses, or adaptations of the invention using its general principles. Further, this application is intended to cover such departures from the present disclosure as come within known or customary practice in the art to which this invention pertains and which fall within the limits of the appended claims.
This is a non-provisional application based upon U.S. provisional patent application Ser. No. 61/863,756 entitled “WORK VEHICLE ROBOTIC PLATFORM”, filed Aug. 8, 2013, which is incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| 61863756 | Aug 2013 | US |
