Agricultural Automatic Steering Encoder Feedback for Manual Transfer
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Solution Overview
Problem
Existing automatic steering systems for agricultural vehicles lack the ability to seamlessly transition from automatic to manual control based on operator input, often requiring torque sensing which limits motor output and can lead to false interpretations.
Innovation Solution
An automatic steering system that disengages from automatic control by analyzing steering wheel handling through feedback signals, such as encoder rates and positions, without relying on torque sensing, using criteria like time, rate differences, and historical data to determine manual steering intent.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If torque sensing is used to detect manual steering input, then operator intent can be detected, but motor output is limited and false interpretations occur
Solution Approach 1:
The patent replaces torque sensing (mechanical measurement) with encoder-based steering rate measurement. Instead of using a torque sensor to detect operator input, the system uses an encoder to measure the rate of change of steering wheel position. This substitution eliminates the need for torque sensing while maintaining the ability to detect manual steering intent, thereby resolving the contradiction between detection accuracy and control reliability.
Solution Approach 2:
The patent introduces steering rate as an intermediary parameter between steering position and operator intent detection. Rather than directly measuring torque or force applied by the operator, the system measures the rate of change of steering angle over time. This intermediary measurement provides reliable detection of manual input without the limitations of direct torque sensing, resolving the contradiction by using an indirect but more reliable measurement approach.
2Ease of operation
If automatic steering control is disengaged based on torque sensing, then manual control can be transferred, but false disengagements occur due to limited motor output
Solution Approach 1:
The patent replaces torque-based disengagement detection with encoder-based steering rate detection. By measuring how quickly the steering wheel is turned rather than how much force is applied, the system achieves more reliable disengagement detection without false positives, directly resolving the contradiction between ease of manual control transfer and disengagement accuracy.
3Reliability
If encoder rate analysis is used to detect manual steering, then false disengagements are reduced, but system complexity increases
Solution Approach 1:
The patent uses the encoder that already exists for automatic steering control to also detect manual steering intent. The same encoder that provides feedback for automated operation is repurposed to measure steering rate and detect operator input. This self-service approach eliminates the need for separate detection sensors or systems, reducing overall system complexity while improving reliability.
Data Source
AI summary
An automatic steering system for an agricultural vehicle includes a controller operably coupled to a steering sensor configured to provide a feedback signal that includes vehicle steering information for automatically controlling the steering device. The controller is configured to receive the feedback signal and current steering information from the steering sensor and determine desired steering rate information based on the current steering information and a desired steering position. The controller is also configured to compare a current steering rate to the desired steering rate information and disengage automatic steering control based on comparing the current steering rate to the desired steering rate information. Automatic steering systems including assisted steering devices and methods for steering an agricultural vehicle are also provided.