• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    a method for estimating relative coordinates between two parts of a connected vehicle system. the system includes a towing vehicle and a towed implement or trailer. a first sensor is configured to measure the movement rate of the tow vehicle while a second sensor is configured to measure the movement rate of the towed implement. both sensors interact with each other to measure the absolute distance between the sensors. using the known connection geometry, the relative distance between the sensors and the relative rotation rates, the relative coordinates between the towing vehicle and the towed implement can be estimated.
    公开号:BR112019014879A2
    申请号:R112019014879-5
    申请日:2018-01-17
    公开日:2020-02-27
    发明作者:J. Dumble Steven；M. Dang Tri
    申请人:Agjunction Llc；
    IPC主号:
    专利说明:

    METHOD AND SYSTEM FOR DETERMINING THE POSITION OF AN IMPLEMENT, LEGIBLE TANGIBLE MEDIA BY COMPUTER [0001] This application claims priority for US Provisional Patent Application Serial No. 62 / 448,246 filed on January 19, 2017, entitled ULTRASONIC IMPLEMENT LOW COST POSITIONING, which is incorporated by reference in its entirety.
    COPYRIGHT NOTICE [0002] Part of the disclosure in this main document contains material that is subject to copyright protection. The copyright owner has no objection to facsimile reproduction by any person of the patent document or patent disclosure, as it appears in US patent registries or patents, but reserves all copyrights.
    TECHNICAL FIELD [0003] One or more implementations generally refer to position tracking and control of moving vehicle machines, and the use of distance sensors and angular rate for machine control systems.
    BACKGROUND [0004] Agricultural equipment, known as implements, can be used for various agricultural tasks, such as cultivating, planting seeds, spreading fertilizers, harvesting or other similar tasks. Such tasks are normally performed by towing the implement with a towing vehicle, such as a tractor, over stretches of field until the entire field is covered. To optimize time and minimize costs, these tasks are best
    Petition 870190068337, of 07/18/2019, p. 11/66
    2/35 performed in a way that eliminates or keeps overlap between tracks to a minimum. This requires precision in controlling the implement. The process of guiding a towed implement or trailer accurately over a desired path by maneuvering the towing vehicle, such as a tractor, requires knowledge of the position of the towed implement and guidance in relation to the path. For conventionally controlled vehicles, for example, tractor or towing vehicle that are driven and driven by an operator, the towing vehicle or tractor operator can rely on mirrors and direct visual observation, in combination with operational experience, to control correctly the vehicle so that the towed implement is guided along the desired path.
    [0005] With increasing maturity and availability, autonomous computer-assisted driving systems can be deployed either to assist or fully control the vehicle that can tow an implement, such as a tractor and coupled crop implement. These systems, moreover, may be able to exercise a level of precision control when maneuvering a tow vehicle that is difficult, if not impossible, for a human operator to reach. When a towed implement is used to complete a task, the precise positioning of the implement relative to an intended path can be critical. As the path traveled by the implement may depend on the path of the towing vehicle, accurate control of the implement by means of a computer-assisted steering or autonomous steering system (CA / AD) requires position and orientation information not only from the operator. vehicle, but also the implement. Knowing the position of the implement can allow the
    Petition 870190068337, of 07/18/2019, p. 12/66
    3/35 CA / AD system guides the vehicle / tractor so that the implement follows a prescribed path.
    BRIEF DESCRIPTION OF THE DRAWINGS [0006] The drawings included are for illustrative purposes and serve to provide examples of possible structures and operations for the inventive systems, devices, methods and computer-readable storage media. These drawings in no way limit any changes in shape and detail that can be made by an expert in the art without departing from the spirit and scope of the disclosed implementations.
    [0007] FIG. 1 is a schematic diagram representing the arrangement of sensors and control points in a tow vehicle and a towed implement to position the implement, according to various implementations.
    [0008] FIG. 2 is a schematic diagram representing the coordinate systems of the tow vehicle and the towed implement of FIG. 1, according to various embodiments.
    [0009] FIG. 3 is a block diagram of an example embodiment of a sensor unit for mounting on a towed implement, as shown in FIG. 1 [0010] FIG. 4 is a block diagram of an example embodiment of a sensor unit for mounting on a towing vehicle, such as a towing vehicle, as shown in FIG. 1 [0011] FIG. 5 is a block diagram of an example of implementing a process to estimate the position of the implement
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    4/35 towed shown in FIG. 1, which can be implemented by an embodiment of the sensor units of FIGs. 3 and 4.
    [0012] FIG. 6 is a block diagram of a second example embodiment of a process for estimating the position of the towed implement shown in FIG. 1 where pivot angle rates are incorporated into the estimate, which can be implemented by a material from the sensor units of FIGs. 3 and 4.
    [0013] FIG. 7 is a graph showing a mode of operation for determining a distance between the sensor units of FIGs. 3 and 4, where the sensor units are implemented as ultrasonic sensors, according to various embodiments.
    [0014] FIG. 8 is a flow chart illustrating the steps taken by the sensor units of FIGs. 3 and 4 to determine the distance between the units, according to various embodiments.
    [0015] FIG. 9 is a block diagram of how the sensors of FIGs. 3 and 4 can interconnect with each other, and a steering control unit in the towing vehicle, according to various embodiments.
    [0016] FIG. 10 is a flow chart of the process flow that can be performed by the sensor in FIG. 6, according to various embodiments.
    [0017] FIG. 11 is a flow chart of the process flow that can be performed by the sensor in FIG. 5, according to various embodiments.
    Petition 870190068337, of 07/18/2019, p. 14/66
    5/35 [0018] FIG. 12 is a flow chart of the basic steps to be taken to determine the position of a towed implement in relation to a towing vehicle, according to various embodiments.
    DETAILED DESCRIPTION [0019] In contrast to an implement that is rigidly secured to a vehicle, a towed implement can be attached to the towing vehicle via an articulated connection. In such implementations, the towed implement can follow a different path than the tow vehicle, with the position and geometry between the towed implement and the tow vehicle subject to change how the combination travels. To guide a linked implement through a hinged link along a towed path using a towing vehicle such as a tractor, an AC / AD system may need to know not only the absolute position of the towing vehicle, but also the position of the towing vehicle. towed implement, either in absolute or relative to the position of the towing vehicle. One technique for determining the absolute position and orientation of the vehicle or implement (such as a tractor) is the use of a global satellite navigation system (GNSS), such as the global positioning system (GPS). One or more inertial sensors can also be included to provide additional information to determine the vehicle's complete position and orientation. The absolute position of the tow vehicle and the towed implement, therefore, could be determined by placing GNSS and inertial sensors on the tow vehicle and towed implement. Information from all sensors can be provided to an AC / AD system for precise control. However, by containing the two sets of sensors
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    6/35
    GNSS and inertia, the cost of implementing a CA / AD system configured to guide a towed implement increases. Additionally, GNSS systems can be complex, especially when relatively high accuracy is required (for example, within a few centimeters), such as in an agricultural operation. This complexity can further increase the cost and, therefore, make the placement of a high-precision GNSS on both a tractor and an undesirable implement.
    [0020] Alternatively, if the relative position of one vehicle can be determined with respect to the other, the GNSS and inertia systems to determine the absolute position need only be placed on a vehicle, be it the tow vehicle or the towed implement . Only a means to determine a change in relative orientation between the vehicle and the trailer would then be necessary. This means can be, for example, systems or sensors, such as visual sensors, to estimate the relative position and orientation of a towed implement.
    [0021] As will be further detailed below, if the geometry between a tow vehicle and the towed vehicle can be connected to a common fixed point, the position of a towed implement in relation to the tow vehicle can be determined by measuring the distance between a fixed point on the towing vehicle and a fixed point on the trailer. The determination of this distance can be carried out using relatively simple means, including mechanical means, such as a connection or electronic means for determining the range, as will be described here. Knowing the distance and geometry allows the calculation of an articulation angle between the towing vehicle and the towed vehicle. Once this angle of articulation is known, the position of the
    Petition 870190068337, of 07/18/2019, p. 16/66
    7/35 implement towed in relation to the towing vehicle can be determined and supplied to a CA / AD system.
    [0022] In various embodiments, the process of determining the position of a towed implement in relation to a tow vehicle comprises one or more operations of the following method 1200, detailed in FIG. 12: (A) provide a distance measurement of one or more axes between two locations of fixed-point bodies of the towing vehicle and the implement, in block 1202; (B) estimate the change in the relative position and / or orientation between the towing vehicle and the implement, in block 1204; and (C) process and combine the measurement and estimate to provide estimates of the relative coordinates between the vehicle and the implement, in block 1206. Block measurements 1202 may perhaps be used directly with block 1206, skipping block 1204, if the accuracy requirement is met without the need for additional filtering or data fusion, as will be described hereinafter.
    [0023] As will be described below in relation to FIGs. 1 and 2, some embodiments of method 1200 may comprise a first sensor 108 which is connected to the main body of a towing vehicle 104, and a second sensor 106 which is connected to an implement 102 fitted to the towing vehicle 104. In block 1202 , the first and second sensors 108, 106 are used to provide a distance measurement between them. The first and second sensors 106, 108 can both use gyroscopes to measure the rotation rate of the respective towing vehicle 104 and the implement 102 to which they are attached. In block 1204, the difference between the measured rates of both sensors can be integrated with respect to time to provide an estimate of the variation
    Petition 870190068337, of 07/18/2019, p. 17/66
    8/35 of the relative orientation between the towing vehicle 104 and implement 102. Block 1206 operations can use the information determined in blocks 1202 and 1204 to estimate the articulation angle between the towing vehicle and the implement, which defines the relative coordinates between the vehicle and the implement. The process of combining measurements from blocks 1202 and 1204 into block 1206 can allow for some errors in the detection system that can be compensated for, allowing a method of implementing the 1200 system to provide the positional accuracy required to control the implement at the centimeter level. These blocks 1202 to 1206 will be referred to throughout the following specification.
    [0024] One possible embodiment can implement ultrasonic sensors as sensors to determine the distance between the towing vehicle / tractor, and a towed implement. Ultrasonic sensors transmit and / or receive ultrasonic signals. By measuring the time difference between transmitting an ultrasonic signal or pulse at one location and receiving the same signal at a second location, commonly called Flight Time, it is possible to calculate the distance between locations. Different combinations of multiple receivers or transmitters can be used to estimate a position within three dimensions. This forms a basis for ultrasonic positioning systems. Ultrasonic sensors can be relatively inexpensive to use when using sound waves, and distance measurements can be easily obtained using Flight Time calculations, unlike optical and radio systems that may require higher speed and / or higher processing speed.
    [0025] The range of the ultrasonic range has shown an accuracy of 1 mm in ideal closed locations with a range of about 30
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    9/35 meters. However, ambient conditions, noise, and multiple path reflections can decrease this accuracy, which can decrease the reliability of distance measurements at which ultrasonic sensors are implanted in external equipment, such as tractors and towed implements. Consequently, the calculated pivot angle can also be subject to reduced accuracy. Gyroscopes are a type of inertial sensor that provides estimates of the rotation rate of a rigid body on one or more axes, and can be combined with distance information as described here to help compensate for inaccuracies in the ultrasonic range. Similar to ultrasonic sensors, gyroscopes can be purchased for a relatively low cost.
    [0026] According to various embodiments, the distance information provided by a source, such as the ultrasonic sensors mentioned above, can be combined with articulation angle rates measured by a gyroscope to compensate for possible errors and / or inaccuracies in distance measurements , as will be described here. The resulting combined information can be used to determine the relative position of an implement in relation to a tow vehicle; in some embodiments, up to centimeter accuracy.
    [0027] As used here, the term vehicle can mean a tow vehicle or a towed implement. Towing vehicle can refer to any vehicle capable of towing an implement, such as a tractor. Although a tractor is purified and can be mentioned here, it is intended to be only an exemplary representation of the broader category encompassed by a tow vehicle and not in a limiting sense. Of the same
    Petition 870190068337, of 07/18/2019, p. 19/66
    10/35 shape, implement and towed implement are just examples of representations of a wider category of towed vehicle. The systems and methods disclosed may be used outside the context of agricultural equipment, such as tractor-trailer combinations (also known as semis or vehicles), or commercial or private vehicles or trailer trailers, of any type, for example, RVs, trailers travel, cargo trailer, etc. Systems and methods can be disclosed for use with any CA / AD system.
    [0028] In FIG. 1, the overall arrangement of a possible embodiment of a system 100 for determining the position of a towed implement 102 in relation to a tow vehicle (here, a tractor) 104 is shown. As described above and can be seen in FIG. 1, towing implement 102 is connected to a towing vehicle 104 via an articulation connection 110, which rotates at point P. A first sensor 108 can be arranged on towing vehicle 104 at a first point and a second sensor 106 can be arranged on implement 102 at a second point. The first point and second point selected for the sensors in the implement 102 and the towing vehicle 104 can be relatively arbitrary, as long as the first sensor 108 and the second sensor 106 are able to communicate with each other to determine their distance from each other over the possible articulation range for the articulation connection 110 while the towing vehicle 104 and the implement 102 are in use. The hinge connection 110 can be any connection that allows the towing vehicle 104 to tow and control the implement 102, and may vary depending on the nature of the towing vehicle 104 and the implement 102. It will be appreciated by a person skilled in the art
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    11/35 It is relevant that the nature of the hinge connection 110 can impact how trailer vehicle 104 can be driven to ensure that implement 102 moves along a desired path.
    [0029] In some embodiments, the towing vehicle 104 and the implement 102, as described above, can be agricultural equipment. Towing vehicle 104 may be a tractor, combine harvester, grain truck or similar similar vehicle. Implement 102 can be any number of various equipment, for example, buckets, sprouts, seeders, fertilizers, etc. In other embodiments, towing vehicle 104 may be a conventional vehicle, such as a passenger car or truck, with implement 102 being a trailer such as a boat trailer, travel trailer, cargo trailer, car trailer or any other vehicle. type of vehicle that can be towed by towing vehicle 104. In still other embodiments, towing vehicle 104 and implement 102 may be a commercial combination vehicle, such as a tractor-trailer or semi-combination.
    [0030] The towing vehicle 104 can be controlled partially or completely by an AC / AD system, as described above, in various embodiments. The CA / AD system can be any type of CA / AD system that is now known or developed later, and that can be input to control the towing vehicle 104 to navigate implement 102 along a predetermined route. In some embodiments, the CA / AD system may be necessary to navigate the implement 102 along a course with a high degree of accuracy, for example, within a few centimeters of the intended course.
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    12/35
    Examples of such precision tasks may include the delivery of seeds, fertilizers or pesticides in agricultural contexts, where overshooting between lines and / or overusing pesticides or fertilizers can have undesirable effects, in addition to simply wasting money.
    [0031] The geometry between the towing vehicle 104 and the implement 102, according to some embodiments, is shown in FIG. 1 and in more detail in FIG. 2. During operation, the implement 102 can be at some angle of articulation Γ with respect to the towing vehicle 104, which can be articulated around the hitch point or pin P. The towing vehicle 104 defines a control point 204 , which can be referenced to a T origin in a coordinate table of the associated towing vehicle. The coordinate table of the towing vehicle is aligned by the axis with the body of the towing vehicle 104: the x-axis is ahead and the y-axis is on the right in relation to the towing vehicle. Similarly, implement 102 defines a control point 202, which can be referenced to an origin I in a coordinate frame of the associated implement. The coordinate frame of the implement is aligned to the axis with the body of the implement 102 and, like the body of the towing vehicle 104, the x axis is forward and the y axis is on the right in relation to the implement. It will therefore be appreciated that, as the implement 102 moves in relation to the towing vehicle 104, its respective coordinate frames will vary in alignment with each other.
    [0032] The position of the implement 102 with respect to the towing vehicle 104 can be expressed in relation to the frame of coordinating the towing vehicle or 102 to 104. The vehicle frame
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    13/35 trailer 104 and implement frame 102 can be connected by the pivot angle Γ around the coupling point P. Thus, the position of the coupling point P in the coordinate frame of the towing vehicle 104 and in the implement coordinates 102 can be linked together on the assumption that the location of the coupling point P coincides in both coordinate frames. This can allow the position of the control point 202 to be related to the position of the control point 204, and, by extension, the implement position 102 to be determined with respect to the towing vehicle 104. If the absolute position of the towing vehicle trailer 104 can be determined, for example, using GPS and / or similar sensors, then the absolute position of implement 102 can also be derived by reference to the absolute position of towing vehicle 104, which can be provided to an AC / AD system for automatic steering of the towing vehicle 104 in such a way that the implement 102 can be guided along a predetermined path.
    [0033] The detailed geometry is shown in FIG. 2, and will be more referenced in this document. With reference to block 1202 of FIG. 12, the first sensor 108 and the second sensor 106 can work in cooperation to provide a distance measurement D, which is the distance between sensors 108 and 106 that are attached to the body of the towing vehicle 104 and to the implement 102, respectively.
    [0034] FIGS. 3 and 4 describe the internal configuration of an example of the first sensor 108 and the second sensor 106, according to some embodiments. As shown, the first sensor 108 and the second sensor 106 include ultrasonic sensors for determining distances, as well as gyroscopic sensors. O
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    14/35 The first sensor 108 and the second sensor 106 may each consist of a single axis gyroscope and an ultrasonic transceiver. In other embodiments, the first sensor 108 and the second sensor 106 can be implemented using different means, such as mechanical means, for example, a distance encoding telescope arm, RE radio frequency identification equipment, optical / infrared equipment, or any another suitable means of determining the distance between a first point and a second point located on a towed implement 102 and a towing vehicle 104, respectively.
    [0035] Still, other embodiments may not require a second sensor 106 in the towed implement 102, or in all. For example, where a radio frequency optical medium is applied, a single or target reflective surface may be all that is required in the towed implement 102, with all measurements and computations handled by the first sensor 108 in the tow vehicle. It will also be appreciated that the position of the sensors can be reversed. Some possible embodiments can place the first sensor 108 in the towed implement 102, and send the position information back by wire or wirelessly to an AC / AD system in a towing vehicle 104.
    [0036] FIG. 3 shows the various hardware components that can comprise the second sensor 106, according to some embodiments. The second sensor 106 may include a microprocessor 302, which in turn is in communication with an ultrasonic trigger 304. The ultrasonic trigger 304 may also signal an ultrasonic transmitter 306. The microprocessor 302 may still be in communication with others
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    15/35 sensors, such as a temperature sensor. 30 8 and gyroscope 310. Sensor 106 may include a serial interface 312, in communication with microprocessing or 302, to transmit data from the sensor, as well as receive data from sensor 108 and / or other systems or sensors. A power regulator 314 can supply power with all necessary specifications to the various components of the second sensor 106. As can be seen in FIG. 3, the microprocessor 302 may include a trigger line, which tells the microprocessor 302, to trigger the signal from the ultrasonic trigger 304 to initiate a pulse through the ultrasonic transmitter 306.
    [0037] FIG. 4 shows the various hardware components that can comprise the first sensor 108, according to some embodiments. The first sensor 108 can also include a microprocessor 402, which in turn can be in communication with an ultrasonic receiver 404, which feeds a signal amplifier 406. The microprocessor 402 can also be in communication with other sensors, such as a temperature 408 and gyroscope 410. As with the second sensor 108, the first sensor 106 can include a serial interface 412, in communication with microprocessor 402, to transmit data from the sensor, as well as receive data from sensor 106 and / or other systems or sensors. The first sensor 108 can include a CAN bus module 414 for communicating and exchanging data with various systems that can be on the towing vehicle 104 and / or implement 102. As with the second sensor 106, a power regulator 416 can supply power within any necessary specifications for the various components of the first sensor 108.
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    16/35 [0038] Microprocessors 302 and 402 can be any suitable microprocessor or other suitable processing unit to handle the processing tasks performed by first sensor 108 and second sensor 106. In some embodiments, microprocessors 302 and / or 402 they can be general purpose processing units. In other embodiments, microprocessors 302 and / or 402 can be developed units or ASIC, or another suitable processing unit. Microprocessors 302 and / or 402 may have additional support circuits or components commonly related to processors, such as storage (volatile and / or non-volatile), input / output interfaces, network interfaces, display interfaces, etc. Storage can be used to store instructions for performing some or all of the various steps and methods described here. Some or all of the features described here can be implemented using software instructions. Such software instructions can be stored on a storage device that is part of or in communication with microprocessor 302 and / or 402. In such embodiments, the storage may comprise a computer-readable medium.
    [0039] Ultrasonic components, including the 304 ultrasonic controller, the 306 ultrasonic transmitter, the 404 ultrasonic receiver and the 406 signal amplifier, can be implemented using any suitable components, such as commercially available ultrasonic transmission and reception units. Such components can be relatively inexpensive to purchase, are stable and mature in development, and therefore offer a high degree of reliability. Of the same
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    17/35 Thus, temperature sensors 308 and 408 can be implemented using any suitable means to determine or detect the temperature. Gyroscopes 310 and 410 can be any suitable means of determining angular rates of change, and may include readily available low cost MEMS gyroscopes such as those used in consumer electronics to detect motion. Other types of gyroscopes can be employed, as long as they provide adequate sensitivity for angular change for the purposes of sensors 108 and 106. Some embodiments of sensors 108 and 106 may also have other sensors, additional to provide additional spatial information, and / or they may have additional gyroscopes to provide multidimensional measurements of angular changes to allow compensation for the first sensor 108 and the second sensor 106 to be placed on awkward inclinations or angles.
    [0040] FIG. 9 represents a diagram of how the first sensor 108 and the second sensor 106 can interconnect with each other and with a direction control unit, according to embodiments. The first sensor 108 and the second sensor 106 can connect via various data and / or signal lines, including series and trip lines, as shown in FIGs. 3 and 4, connecting each of the first sensor 108 and second sensor 106. The various lines can interconnect the microprocessors of the first sensor 108 and the second sensor 106, when implemented according to the embodiments of FIGs. 3 and 4. Of particular importance, the trigger line, which the first sensor 108 can use to signal the second sensor 106 to transmit an ultrasonic pulse, to initiate
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    18/35 range identification operations. The serial line can allow the exchange of sensor data. The first sensor 108 can also be connected via a CAN bus 902 line to a motor control unit (UCM) 904, in some embodiments. UCM 904 may include the implementation of automatic direction guidance or another CA / AD system.
    [0041] The first sensor 108 and the second sensor 106 can be connected in any suitable way that guarantees relatively fast transmission. In some embodiments, first and second sensors 106, 108 can be connected via wiring or cabling, such as through connectors associated with the coupling mechanism between the towed implement 102 and the towing vehicle 104. Other embodiments may use optical or wireless signaling between the first and second sensors 106, 108. Any suitable means to allow reliable communication between the sensors to allow the exchange of triggers and sensor data can be applied.
    [0042] As discussed earlier, in embodiments where the first sensor 108 and the second sensor 106 are configured with ultrasonic sensors, varying to determine the distance D can use a technique called 'flight time'. In a Flight Time calculation, the amount of time it takes for an ultrasound pulse to travel between a transmitter and a receiver d is measured and the distance the beam has taken can be estimated from this measurement. The distance D that the ultrasonic waves travel in a given period of time t is calculated by equation (1), D = vt, where v is the speed of the ultrasonic sound through the air. The speed of sound in standard air at sea level is 343.2 m / s, although this speed may vary depending on
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    19/35 environmental conditions. For example, temperature affects the speed of sound, which can be explained using equation (2):
    ; 1 -j- ——; ----- (2 f
    V 273.15
    Where y is the air temperature in degrees Celsius, assuming zero humidity. Temperature readings for γ can be provided by temperature sensors 308 and 408.
    [0043] A diagram of a possible signal pattern for the ultrasonic range in some embodiments shown in FIG. 7. The ultrasonic receiver 404 on the first sensor 108 and the ultrasonic transmitter 306 on the second sensor 106 can be synchronized in time. A trigger signal from the first sensor 108 can cause the second sensor 106 to start transmitting ultrasonic pulses 702 at the operating frequency of the ultrasonic transmitter 306. First sensor 108 can use the ultrasonic receiver 404 to detect the first of the transmitted ultrasonic pulse 702. The time between when first sensor 108 triggers the second sensor 106 and the first sensor 108 receives the ultrasonic signal 704 is the flight time, which can then be used to estimate the distance between the sensors using the equations corrected above for the effects of temperature when measurements temperature are available. The length of the pulse train 702 may limit the sample rate that can be achieved, as the pulses may need to be correlated with the correct transmission time. However, the
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    20/35 pulses 702 must be long enough that the signal-to-noise ratio at receiver 404 is large enough to reliably detect the transmitted signal 704.
    [0044] A possible embodiment of an ultrasonic process flow is shown in FIG. 8, in which the process flow steps must be performed totally or partially by the first sensor 108 and the second sensor 106. For the first sensor 108, the process begins at block 802, where sensor 108 can send a trigger to the second sensor 106 through a firing line, shown in FIGS. 3 and 4. After sending the trigger, sensor 108 can start a timer in block 804, then it can wait for the receipt of an ultrasonic pulse in block 806. After receiving the pulse, sensor 108 can stop the timer in block 808, then you can use the elapsed time in block 810 to calculate the flight time and the resulting distance, according to the equations described here. For the second sensor 106, the sensor can wait for a trigger signal to be received at block 812 via the trigger line. Upon receipt, sensor 106 can transmit an ultrasonic pulse train 702. As shown in FIG. 8, the process flows to the first sensor 108 and the second sensor 106 are iterative. Each sensor can repeat its process flow indefinitely, and can repeat at a regular interval corresponding to the interval by which the first sensor 108 and the second sensor 106 recalculate and update the position of the towed implement 102 in relation to the towing vehicle 104.
    [0045] With reference to block 1204 of FIG. 12, the rotation speeds of the towing vehicle 104 and the implement 102 are measured; the combination this information can lead to a change
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    21/35 in the relative orientation between the connected towed implement 102 and the towing vehicle 104 (i.e., the angular articulation speed) to be measured. The measured rotation rate of the towing vehicle 104 mt by the first 108 sensor of the gyroscope 410 may consist of the vehicle rotation rate ψ 'and bi-bias sensor gyroscope, such that:
    The measured rotation rate of the implement 102 ωι by the second sensor 106 of the gyroscope 310 may consist of the rotation rate of the trailer vehicle 104 ψ ' r the rate of the articulation angle Γ' and gyro bias sensor b 2, such that:
    (4)
    The difference in gyroscope measurements 310 and 410 can be used to estimate the rate of joint angle separately using:
    Air i where the two gyroscope bias sensors have been combined into a single bias b.
    [0046] The assembly of gyros 310 and 410 can be aligned with the vertical axis of the platform defined by a first point
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    22/35 on the towing vehicle 104 and a second point on the towed implement 102. Alternatively, this is reliable for using a multi-axis gyroscope, or multiple gyroscopes in different orientations, and an appropriate coordinate transformation process to transform and extract the rate vertical platform rotation. One method of calculating such a necessary transformation is to include a multi-axis accelerometer on first sensor 108 and / or second sensor 106 to measure the attitude of the sensors, allowing the mounting angles of each sensor to be estimated with an appropriate calibration process. Once the mounting angles are known, a transformation can be found to estimate the rate of rotation around the axes of the vertical platform from multi-axis gyro measurements.
    [0047] FIGS. 5 and 6 describe steps 500 and 600 that can be performed wholly or partially by a system 100 that performs method 1200. FIG. 5, as described above, can make blocks 1202 and 1206 of method 1200. FIG. 6 can additionally perform block 1204. The processes performed by FIGs. 5 and 6 with reference to method 1200 will be described below.
    [0048] Block 1206 of FIG. 12 can involve several different processes. The measurements obtained in block 1202 can be used directly to estimate the articulation angle Γ, or can be combined with information from block 1204 to provide the best estimate of the articulation angle Γ using data filtering and fusion. The process of estimating the articulation angle Γ from a distance measurement for a known fixed geometric configuration is the Distance Model, referred to in
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    23/35
    FIG. 5 and in FIG. 6 as blocks 502 and 602, respectively. The distance information from block 1202 can be used to form a measure of the pivot angle Γ. Rate information from block 1204 can be used to form the rate of angular articulation, and data fusion processes (such as Kalman filter, in steps 600) can be used to bring the data together to provide an articulation angle more accurate Γ than would be achieved using only the measurement information from block 1202. Once the pivot angle Γ has been estimated, it can be used in a transformation process to estimate the position of the implement 102 control point, which in turn can be used in an external process for precise control of the implement 102.
    [0049] First and second sensors 108 and 106 can be used to estimate the distance D between sensors 108 and 106, which occurs in block 1202. This can provide the information that can be used to measure the articulation angle Γ. The distance D between the sensors can be expressed as:
    where A and B are the position of the first sensor 108 and the second sensor 106 in the frame of the towing vehicle 104 or in the frame of the implement 102. The detailed geometry is shown in FIG. 2. Expanding equation (8) in the frame of the towing vehicle 104 (considering the assumption that we are only operating on a 2D plane) we have:
    Petition 870190068337, of 07/18/2019, p. 33/66
    24/35
    i) = vXV - ba) 2 + GV - / V) 2 (θ) where D is the straight line distance between the sensor units, (Αχ, Αγ) 1 are the fixed xy position components of the first sensor 108 of location assembly in relation to the towing vehicle control point 104 (expressed in the towing vehicle frame 104), and where (Bx, By) 1 are the xy position components of the second sensor 106 in relation to the control point of the towing vehicle 104 expressed in the frame of the towing vehicle 104. The components (Bx, By) 1 are not fixed, as they can vary in relation to the articulation angle Γ. This can be recognized in FIG. 2. As the towing vehicle 104 and implement 102 revolves around the coupling point, vector B changes, which in turn can cause the distance D to be changed.
    [0050] The position of the second sensor 106 in the frame of the implement 102 can be expressed in the frame of the towing vehicle 104 as:
    B '= P' - Κ. | (Γ) (P - B '} (10) where B is the non-fixed position of the second sensor 106 in the towing vehicle 104 in the frame, P is the fixed position of the coupling point in relation to to the towing vehicle control point 104 in the towing vehicle frame 104, P 1 is the fixed position of the coupling point in relation to the implement control point 102 in the implement frame 102, B 1 is the position of the second sensor assembly 106 on implement 102 structure in relation to implement 102 control point and where (Γ) is the matrix
    Petition 870190068337, of 07/18/2019, p. 34/66
    25/35 transform that transforms a vector in the frame of the implement 102 to the frame of the towing vehicle 104 by rotating the vector by the articulation angle Γ. Expanding the above equation into its component form we have:
    Γ Bp 1 Γ Pj ~ (Px - Bp} C0s (r) + (Pj - Bj) sin (T) L 1 L Py '- (ÍV - Bp) dtníTj - (A / - B /) cos (rj [0051 ] The substitution of the position of B t in the frame of the towing vehicle 104 in the distance equation has the following:
    D 2 = [.υ έ - Ργ '4- (JV - Βχ'} COS (Γ) - (Py ~ By) sin (Γ)] “
    V Η / - / 7- (Ρρ - Bp) Siu (T) a- - Bp} cos 0Γ)] 2 (12)
    This equation links the variable distance between the first sensor 108 and the second sensor 106 with the variation of the articulation angle Γ. All other components in the equation have fixed values for a given configuration geometry. This relationship allows a distance measurement to be linked to a certain articulation angle Γ. When the distance measurement was made, the articulation angle Γ can be estimated by inverting the above equation and solving for Γ. Since this equation is nonlinear, for the general case, a nonlinear estimation routine (such as nonlinear least squares) can be used, or a lookup table constructed. The equation r m eas = r (Dmeas), where T (D) is the inverse function of the equation D (T), can be solved using a non-linear estimate such as:
    Petition 870190068337, of 07/18/2019, p. 35/66
    26/35 r (D t! Ieas ) = mm - £> (T! I 2 [0052] When the geometric configuration does not provide enough information to calculate the articulation angle Γ from a single pair of sensors 106, 108, Additional sensors can be used and resolved simultaneously to provide better estimates for the articulation angle Γ, as described above with reference to Figures 3 and 4. An example of a configuration that does not provide enough information to estimate the articulation angle Γ is where the first sensor 108 is placed at the engagement point, and the second sensor 106 is placed some distance directly behind and in line with the engagement point P. Such a configuration can cause the measured distance D to be the same regardless of the angle of engagement. articulation Γ.
    [0053] The next step in block 1206 may involve combining the measurements in block 1202 and block 1204 to form the best estimate of the articulation angle using a Kalman filter or some other suitable data fusion process. The process of melting the joint angle Γ and measuring the joint rate together is the Kalman 604 filtration process referred to in FIG. 6. This can allow some errors in the inertia and ultrasound detection systems to be compensated, and can help to improve the level of accuracy to any required level. The following is a description of a possible implementation of a Kalman filter that can compensate for deviations from the gyroscope, while improving the performance of the articulation angle estimate.
    Petition 870190068337, of 07/18/2019, p. 36/66
    27/35 [0054] In this way, Xk represents the state filter vector
    Kalman and should be estimated this way:
    r >. = (14)
    Where the states to be estimated are the articulation angle Γ and the deviations of the second gyroscope sensor 106. The model matrices of the Kalman A and B filtration process, which can be used to predict the state of the Kalman Xk filter over time k from the state of the Kalman Xk-i filter at time k-1, and gyro measurements are:
    Xk = A.Xk-i + Btijt
    where At is the time step between the gyro updates and Γ 'est represents the rate of articulation angle rate that is measured in step (B). The forecasting step in the filtration process can be performed with the standard Kalman filter specifications, which are shown below to be complete and must be understood by someone skilled in the art.
    ~ Aíc /.- í ^ -i + But
    Petition 870190068337, of 07/18/2019, p. 37/66
    28/35
    The distance measurement D m as from equation (13) above the block and 1202 can be converted into a measurement of the joint angle r m areas using the geometry and the process described above. This measure Zk = r me as can then be merged into the Kalman filter to provide a better estimate of the current state. This can be done with the standard Kalman filter equations shown below for integrity and must be understood by someone skilled in the art.
    y k - Zk -: (19)
    Sfc - IIP. , dl 'R (20) (21) + K i.Vk (32)
    Ρ ί;! Λ = (I - K fc .H) (23)
    Additional information can also be included in the filter. For example, when the speed of the towing vehicle 104 is zero (or the towing vehicle 104 travels in a straight line), the rate of articulation angle must also be zero. Including this information can help the filter to identify gyro deviations more quickly. This information is described as the trailer states in FIGs. 5 and 6, and can be used in block 1206, described below.
    [0055] The final step in block 1206 is to use the articulation angle to calculate the necessary to implement 102 point information control, which may be necessary for the guidance of the automatic closed-circuit direction for the control of the implement 102. The process of estimating the control point of implement 102 is the Transformation process referred to in FIG. 5
    Petition 870190068337, of 07/18/2019, p. 38/66
    29/35 as block 504 and in FIG. 6 as block 606. This transformation process can use towing vehicle 104 and implement 102 of known geometry together with the pivot angle to project the towing vehicle control point 104 back to implement 102 control point.
    [0056] In this way, the position of the coupling point in relation to the towing vehicle 104 and the control point in the frame of the towing vehicle 104 is given by P and the coupling point in relation to the implement 102 and the control point in the frame of implement 102 is given by P 1 . The relative position of the control point of the implement 102 in relation to the control point of the towing vehicle 104 I is as follows:
    A P IP Γ P (24)
    Where RA (Γ) is the matrix transformation, which transforms a vector in the frame of the implement 102 to the frame of the towing vehicle 104, rotating the vector by the articulation angle Γ. Expressing the above equation as a component we have:
    Pd - Pd cos (r) + Pd sin (r) Ί P, / - P; d SÍn (T) - P y 'COS (T> J
    This relative point can also be transformed into an absolute position (that is, in a navigation frame, as for use with GPS), if necessary for the control solution. This can be done using the position of the absolute control point known to the towing vehicle 104 and the design implement 102 with the position of the control point, such that:
    Petition 870190068337, of 07/18/2019, p. 39/66
    30/35 where I n is the position of the control point of the absolute implement 102 in the navigation frame, T n is the position of the control point of the absolute towing vehicle 104 in the navigation frame, I t is the control point of the relative implement 102 calculated with the above solution R 11 te (ψ) is the transforming matrix that transforms a vector in the frame of the towing vehicle 104 in the navigation frame, rotating the vector by the angle of rotation of the towing vehicle 104, as shown in FIG. 1 [0057] FIG. 10 illustrates a process 1000 of the code flow that could be performed, at least in part, on the microprocessor in the first sensor 108, according to the embodiments. Process 1000 works in conjunction with process 1100 performed on the second sensor 106. Process 1000 can continuously read the gyroscope and integrate the rotation rate (after transformation to the vehicle frame, if the device is not mounted in line with the vertical axis of the vehicle) to form a delta rotation angle. When a new sample is needed in block 1002, process 1000 starts the drive process. The triggering process sends a trigger signal to the second sensor 106 in block 1004, starts the flight time timer in block 1006, saves the delta rotation angle integrated in block 1008 and then resets the angle integrated in the block 1010. When the process detects the ultrasonic pulse in block 1012, the flight time timer in block 1014 reads the temperature in block 1016 and calculates the distance in block 1018.
    Petition 870190068337, of 07/18/2019, p. 40/66
    31/35 [0058] While waiting for the receipt of the ultrasonic pulse, first sensor 108 can check if new gyroscope data is available in block 1020. If so, you can read the gyroscope data in block 1022, transform the data into the frame of the vehicle in block 1024, and then integrate the gyro data in block 1026. The first sensor 108 can also wait to receive integrated gyro angle data from the second sensor 106 in block 1028, from which it can an articulation angle rate was calculated in block 1030. After process 1000 calculated the distance measurement from the pulse received from the second sensor 106, and received data from the gyroscope (or the integrated measurement of the delta offset angle) from second sensor 106 in block 1032, it can start calculating the articulation angle in block 1034. This may include the passage of a Kalman filter in block 1036, calculation of the control point of the implement in block 1038 and, finally, in block 1040 you can send the calculated information to the UCM of the towing vehicle 104, CA / AD system or other automatic steering guidance system.
    [0059] FIG. 11 illustrates a code flow process 1100 that could be performed at least in part on the microprocessor in the second sensor 106, according to some embodiments. Process 1100 works in conjunction with process 1000 on the first sensor 108. The process waits for a trigger signal from the first sensor 108 (this can be sent via a direct wire connection or by other means, such as RE wireless transmission) . When the second sensor 106 receives the trigger signal from the first sensor 108 in block 1102, the second sensor 106 triggers the start of the ultrasonic pulse in block 1104, transmits the angle
    Petition 870190068337, of 07/18/2019, p. 41/66
    32/35 delta rotation integrated with the first sensor 108 in block 1106 and then restores the integrated rotation angle back to zero in block 1108, ready for the process to repeat again. While the second sensor 106 is waiting for a trigger, which also continuously reads the gyroscope and, if new gyro data is available in block 1110, reads the new data in block 1112, transforms the data into the vehicle frame in block 1114 and integrates the rotation rate in block 1116 to form a delta rotation angle. In some embodiments, the rotation rate is integrated into the second sensor 106, so that only measurements of low discrete angle rates need to be sent to the first sensor 108, instead of the high continuous flow rates of the rare gyro rate measurements. .
    [0060] Although preceding embodiments, most of the processing entirely handled by the first sensor 108, with some by the second sensor 106, other embodiments may place some or all of the above features in a separate device or processor. For example, some implementations may have a single discrete controller unit that receives raw data from ultrasonic sensors (or other range sensors) and discrete gyroscopic sensors and / or any additional sensors, where each of the various sensors has minimal or none processing capacity. Other embodiments can place the functionality inside the UCM or CA / AD system, again, receiving input from several discrete sensors. Still other embodiments can distribute functionality across a variety of devices, possibly selected based on sensors and / or other considerations, such as the available processing power.
    Petition 870190068337, of 07/18/2019, p. 42/66
    33/35 [0061] Some of the operations described above can be implemented in software and other operations can be implemented in hardware. One or more of the operations, processes or methods described here can be performed by an apparatus, device or system similar to those described here and with reference to the illustrated figures.
    [0062] Computer-readable storage medium (or alternatively, machine-readable storage medium), as can be used on the first sensor 108 and / or second sensor 106, can include any type of memory, as well as new technologies that can arise in the future, provided that they are capable of storing digital information in the form of a computer program or other data, at least temporarily, in such a way that the stored information can be read by an appropriate processing device. The term computer-readable may not be limited to the historical use of a computer to imply a complete mainframe, minicomputer, desktop, wireless device or even a laptop. Instead, computer readable may comprise a storage medium that can be read by a processor, processing device or any computing system. Such media can be any available media that can be locally and / or remotely accessible by a computer or processor, and can include volatile and non-volatile media, and removable and non-removable media.
    [0063] Examples of systems, devices, computer-readable storage media, and methods are provided only to add context and assist in understanding the disclosed implements. Thus, it will be evident to an expert in the art that
    Petition 870190068337, of 07/18/2019, p. 43/66
    34/35 disclosed implementations can be practiced without some or all of the specific details provided. In other cases, certain processes or methods also referred to here as blocks, have not been described in detail in order to avoid unnecessarily obscuring the disclosed implementations. Other implementations and applications are possible, and, as such, the following examples should not be taken as definitive or limiting in scope or configuration.
    [0064] References were made to the accompanying drawings, which form part of the description and in which they are shown, by way of illustration and specific implementations. Although these disclosed implementations are described in sufficient detail to allow an expert in the art to practice the implementations, it is to be understood that these examples are not limiting, so that other implementations can be used and changes can be made to the disclosed implementations without leaving the its spirit and scope. For example, the blocks of the methods shown and described are not necessarily carried out in the order indicated, in some other implementations. In addition, in other implementations, the methods disclosed may include more or more blocks than those described. As another example, some blocks described here as separate blocks can be combined in some other implementations. On the other hand, what can be described here as a single block can be implemented in several blocks in some other implementations. In addition, the conjunction is either intended here in the inclusive sense, where appropriate, unless otherwise stated; that is, phrase A, B or C is intended
    Petition 870190068337, of 07/18/2019, p. 44/66
    35/35
    includeand C and ' the possibilities ofΆ, B and C. A, B, Ç , A and B, B and C, A [0065] Having described and preferred embodiment, it should illustrated thebe evident principles of athat the achievements
    they can be modified in arrangement and detail without departing from such principles. The claim is made for all modifications and variations that come within the spirit and scope of the following claims.
    权利要求:
    Claims (20)
    [1]
    1. Method for determining the position of a towed implement in relation to a towing vehicle, characterized by comprising:
    measure a distance between the first point on the towing vehicle and the second point on the towed implement;
    determine an articulation angle between the towed implement and the towing vehicle from the distance; and calculating the position of the towed implement relative to the towing vehicle from the pivot angle between the towed implement and the towing vehicle.
    [2]
    Method according to claim 1, characterized in that it also comprises the measurement of an articulation angle between the towed implement and the towing vehicle, and in which the articulation angle is additionally determined using the articulation angle rate.
    [3]
    Method according to claim 2, characterized in that the distance and the angle of articulation are combined using a Kalman filter.
    [4]
    Method according to claim 1, characterized in that the distance is measured using a first sensor and a second sensor, and the first sensor comprises an ultrasonic receiver and the second sensor comprises an ultrasonic transmitter.
    [5]
    Method according to claim 4, characterized in that the first sensor and the second sensor each comprise a gyroscope.
    [6]
    6. Method according to claim 4, characterized by measuring the distance between the first point and the second point with
    Petition 870190068337, of 07/18/2019, p. 46/66
    2 / Ί ο first and second sensors, it also comprises the signaling of the first sensor or the second sensor to emit a pulse.
    [7]
    Method according to claim 4, characterized in that the articulation angle is determined using:
    D 2 = pV - Ρ.Λ 4- (Pp - Bp) cos (Γ) - (Py l - B /) sin (Γ)] 2
    -r PV - Fy : + (P / - Bj) siii (Γ) d (Pj - £ Ç) cos (Γ)] 2 (12) where:
    D is the measured distance;
    AxB and A y t are the x and y components of the first point relative to a control point on the towing vehicle;
    BxP and Bp- are the x and y components of the second point in relation to a control point on the towing vehicle;
    and Py 1 are components x and y are from a common joint position relative to the tow vehicle control point;
    PxB and Py 1 are x and y components of the position of the slot in relation to the implementation of the control point; and
    Γ is the angle of articulation, for which it is resolved.
    [8]
    Method according to claim 1, characterized in that the position of the towed implement in relation to the towed vehicle is calculated using:
    Γ j. / 1 Γ Pt - P, 'costn + P .. : siníF) Ί LV j L y V B' · - Py l eos (r) J where:
    IxB and ly 1 are the x and y components of a control point of the towed implement's position in relation to the towing vehicle;
    Petition 870190068337, of 07/18/2019, p. 47/66
    3 / Ί
    Ρχ ι and Py 1 are components x and y of a common joint point between the towed implement and the towing vehicle, in relation to a towing vehicle control point;
    and Py 1 are x and y components of one of the attachment points in relation to the control point of the towed implement; and
    Γ is the determined articulation angle, for which it is resolved.
    [9]
    9. System for determining the position of a towed implement in relation to a tow vehicle, characterized by comprising a hardware processor for:
    receiving a distance between the first point on the towing vehicle and the second point on the towed implement;
    determine an articulation angle between the towed implement and the towing vehicle from the distance; and calculating the position of the towed implement in relation to the towing vehicle from the articulation angle.
    [10]
    System according to claim 9, characterized in that the hardware processor is also used to measure a rate of articulation angle between the towed implement and the towing vehicle, and also to determine the articulation angle using the rate of articulation angle. articulation.
    [11]
    System according to claim 9, characterized in that it also comprises a first sensor and a second sensor in communication with the hardware processor, wherein the first sensor comprises an ultrasonic receiver and the second sensor comprises an ultrasonic transmitter and the first sensor and second sensor are for measuring the distance.
    Petition 870190068337, of 07/18/2019, p. 48/66
    [12]
    System according to claim 11, characterized in that the first sensor and the second sensor each still comprise a gyroscope.
    [13]
    13. System according to claim 11, characterized in that the first sensor and the second sensor serve to measure the distance between the first point and the second point by the second sensor that emits an ultrasonic pulse that is received by the first sensor.
    [14]
    System according to claim 11, characterized in that the hardware processor is used to determine the articulation angle using:
    D 2 = - R i: + (p / - b /) cos íTj - (Pb - £ Ç) siu (Γ)] 2
    -r - Py 4- (PP - sin (Γ) 4- (P y - By) cos (Γ) | “where:
    D is the measured distance;
    AxB and A y t are the x and y components of the first point relative to a control point on the towing vehicle;
    BxB and By 1 are the x and y components of the second point in relation to a control point on the towing vehicle;
    and Py 1 are components x and y are from a position of a common attachment point in relation to the control point of the tow vehicle;
    Px 1 and Py 1 are x and y components of the position of the slot in relation to the implementation of the control point; and
    Γ is the angle of articulation, for which it is resolved.
    Petition 870190068337, of 07/18/2019, p. 49/66
    5/7
    [15]
    System according to claim 11, characterized in that the hardware processor is for calculating the position of the towed implement in relation to the towing vehicle using:
    P x 1 · - For cos (r) + For sin (r) 1
    Pp - PP - Pp cos (I ') j where:
    and ly 1 are the components x and y of a control point for the position of the towed implement in relation to the towing vehicle;
    and Py t are the x and y components of a common joint point between the towed implement and the towing vehicle, relative to a towing vehicle control point;
    Pp and Py 1 are the x and y components of the attachment point in relation to the control point of the towed implement; and
    Γ is the angle of articulation determined.
    [16]
    16. Computer-readable tangible medium (CRM) encoding instructions to be executed in a processor, characterized by the fact that when executed, it makes the processor:
    measure, using a first sensor and a second sensor, a distance between a first point on the towing vehicle and a second point on the towed implement;
    determine an articulation angle between the towed implement and the towing vehicle from the distance; and calculate the relative position of the towed implement in relation to the towing vehicle from the articulation angle.
    [17]
    17. Medium (CRM) according to claim 16, characterized in that the first sensor comprises an ultrasonic receiver and the second sensor comprises an ultrasonic transmitter.
    Petition 870190068337, of 07/18/2019, p. 50/66
    6 / Ί
    [18]
    18. Melo (CRM) according to claim 17, characterized in that the first sensor and the second sensor each comprise a gyroscope.
    [19]
    19. Medium (CRM) according to claim 17, characterized in that the instructions are necessary to make the processor determine the articulation angle using:
    = [.4, / - P T l + (PJ - BC cos (T.) “(Py ~ & y) í Γ) i + | .A y f '- Py 4- (Pj. 1 - Bx z ) sin (Γ) + (F / - Bf cos (Γ)] “(Έ where:
    D is the measured distance;
    Ax t and A y t are the components x and y of the first point relative to a control point on the towing vehicle;
    By. 1 and By 1 are the x and y components of the second point in relation to a control point on the towing vehicle;
    and Py 1 are the x and y components of a common hitch point position relative to the tow vehicle control point;
    Pp and Py 1 are the x and y components of the position of the attachment point in relation to the control point of the implement; and
    Γ is the angle of articulation, for which it is resolved.
    [20]
    20. Medium (CRM), according to claim 19, characterized in that the instructions are also necessary to make the processor calculate the position of the towed implement in relation to the towing vehicle using:
    ’V 1 [Pj - -FV eos (T) + PS sm (T) 1. Iy J L Py '- PP j
    Petition 870190068337, of 07/18/2019, p. 51/66
    7/7 where:
    and ly 1 are the components x and y of a control point for the position of the towed implement in relation to the towing vehicle;
    and Py 1 are the x and y components of a common joint point between the towed implement and the towing vehicle, in relation to a towing vehicle control point;
    Pf- and Py 1 are the x and y components of the engagement point in relation to the control point of the towed implement; and
    Γ is the angle of articulation determined.
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    法律状态:
    2021-10-13| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    优先权:
    申请号 | 申请日 | 专利标题
    US201762448246P| true| 2017-01-19|2017-01-19|
    US62/448,246|2017-01-19|
    PCT/US2018/014109|WO2018136560A1|2017-01-19|2018-01-17|Low cost implement positioning|
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