Patent ID: 12185652

DETAILED DESCRIPTION

Terms used herein are merely used to describe specific embodiments and may not be intended to limit the scope of other embodiments. Singular expressions may include plural expressions unless clearly otherwise indicated in the context. Terms used herein including technical or scientific terms have the same meanings as those commonly understood by those skilled in the art disclosed in the present disclosure. Terms defined in a general dictionary among the terms used herein may be interpreted as the same or similar meanings as the meanings in the context of the related art and are not interpreted as ideal or excessively formal meanings unless explicitly defined herein. In some cases, even terms defined therein may not be interpreted to exclude embodiments of the present disclosure.

FIG.1Ais a view illustrating an example of a steering method for a vehicle.

In detail,FIG.1Aillustrates a motor driven power steering (MDPS)-type electric power steering.

FIG.1Bis a view illustrating an example of a steering method for a vehicle.

In detail,FIG.1Billustrates a hydraulic power steering (HPS)-type hydraulic power steering.

Steering devices of previously released agricultural machines such as tractors and rice transplanters are designed to use the HPS method rather than the MDPS method.

The MDPS method is an electric power steering method using a motor. Since the motor is driven using an electrical battery, unlike the HPS method, fuel efficiency is not affected, and oil change is not required. Further, the number of components is small, which is advantageous in securing a space, and a price is also relatively inexpensive. The MDPS is most widely used because the MDPS is mounted on a recently emerging autonomous driving vehicle to implement functions such as driving and parking assistance. Further, since a steering force may be adjusted according to a driving mode (a comfort mode, an eco-mode, a sport mode, an individual mode, or the like), a user can drive the vehicle using responsiveness appropriate to a situation.

The HPS method is a hydraulic power steering method. Since the HPS method is a mechanical method without intervention of electronic equipment, the HPS method is highly responsive. However, since the HPS method is a hydraulically operated system, power oil should be maintained periodically. Further, since the HPS method should operate the power oil, fuel efficiency is adversely affected. Further, since the HPS method requires many parts and a large space for constituting the system, the HPS method is not applied to a recently manufactured vehicle.

The MDPS method is a system mainly applied in a vehicle. Among MDPS methods, a column type MDPS (C-MDPS) method steering includes a torque sensor/reducer/driving motor/controller on a column axis, calculates a torque required by a driver based on a torsional amount of the driver, and transmits a final torque to the wheels in consideration of vehicle speed information and the like.

On the other hand, since most agricultural machines are configured in the HPS method, automatic control of the steering wheel cannot be performed without external device for rotating a steering wheel.

Thus, according to various embodiments of the present disclosure, an auto steering device in which a mechanism that may externally rotate a steering wheel of an agricultural machine is introduced, the auto steering system is compatible with the agricultural machines such as the tractors and the rice transplanters released in the past, the steering wheel for the agricultural machine using the HPS method is automatically controlled, and thus agricultural works are automatically performed is provided.

FIG.2is view illustrating an exterior of an auto-steering device according to various embodiments of the present disclosure.

The auto-steering device ofFIG.2includes an opening that may be coupled to a pillar of the steering wheel of the agricultural machine. The auto-steering device is configured to rotate the steering wheel under control of an electrically coupled controller device.

FIG.3is view illustrating an interior of an auto-steering device according to various embodiments of the present disclosure.

In detail,FIG.3illustrates an interior in an open state of an auto-steering device100.

Referring toFIG.3, the auto-steering device100includes a rotation assembly110, a frame assembly120, a motor130, and a reducer140.

The rotation assembly110includes an opening in an inner surface thereof, and the opening surrounds a circumference of the pillar of the steering wheel of the agricultural machine and is fitted onto the pillar of the steering wheel. The rotation assembly110has a first gear111disposed on an outer surface thereof.

The frame assembly120includes a central opening surrounding the steering wheel and the rotation assembly110, and second gears121and122are arranged on an inner surface of the central opening. The second gears121and122are configured to be engaged with the first gear111. The frame assembly120may be opened or closed. After the rotation assembly110is coupled to the pillar of the steering wheel, when the driver wants to automatically control the steering wheel using the auto-steering device100, the frame assembly120is coupled to the rotation assembly110, and when the driver of the agricultural machine wants to manually control the steering wheel without the auto-steering device100, the frame assembly120is not coupled to the rotation assembly110. One121of the second gears is disposed on an open portion of the frame assembly120, and the other122of the second gears is disposed on a body portion of the frame assembly120. When the frame assembly120is closed, the one121of the second gears and the other122of the second gears together constitute a circular shape.

The motor130is disposed inside the frame assembly120. The motor130is configured to rotate the second gears121and122, rotate the rotation assembly110coupled to the pillar of the steering wheel through the first gear111engaged with the second gears121and122, and accordingly, rotate the steering wheel. The motor130operates under control of a controller device200that is electrically connected to the auto-steering device100.

The reducer140is disposed inside the frame assembly120. The reducer140is disposed between the second gears121and122and the motor130. The reducer140is configured to decrease the number of rotations of the motor130and transmit a driving force having a decreased number of rotations to the second gears121and122. The reducer140operates under the control of the controller device200that is electrically connected to the auto-steering device100.

FIG.4is view illustrating an interior of an auto-steering device according to various embodiments of the present disclosure.

In detail,FIG.4illustrates the interior in a closed state of the auto-steering device100.

Referring toFIG.4, the auto-steering device100includes the rotation assembly110, the frame assembly120, the motor130, and the reducer140. A detailed configuration of the auto-steering device100is the same as that previously described inFIG.3.

The auto-steering device100may be opened or closed as the frame assembly120is opened or closed.

The frame assembly120may be opened or closed. After the rotation assembly110is coupled to the pillar of the steering wheel, when the driver wants to automatically control the steering wheel using the auto-steering device100, the frame assembly120is coupled to the rotation assembly110, and when the driver of the agricultural machine wants to manually control the steering wheel without the auto-steering device100, the frame assembly120is not coupled to the rotation assembly110. One121of the second gears is disposed on an open portion of the frame assembly120, and the other122of the second gears is disposed on a body portion of the frame assembly120. When the frame assembly120is closed, the one121of the second gears and the other122of the second gears together constitute a circular shape.

FIG.5is view illustrating an interior of an auto-steering device according to various embodiments of the present disclosure.

In detail,FIG.5illustrates the interior in a closed state of the auto-steering device100.

Referring toFIG.5, the auto-steering device100includes the rotation assembly110, the frame assembly120, the motor130, and the reducer140. A detailed configuration of the auto-steering device100is the same as that previously described inFIG.3.

The auto-steering device100may be opened or closed as the frame assembly120is opened or closed.

The frame assembly120may be opened or closed. After the rotation assembly110is coupled to the pillar of the steering wheel, when the driver wants to automatically control the steering wheel using the auto-steering device100, the frame assembly120is coupled to the rotation assembly110, and when the driver of the agricultural machine wants to manually control the steering wheel without the auto-steering device100, the frame assembly120is not coupled to the rotation assembly110. One121of the second gears is disposed in an open portion of the frame assembly120, and the other122of the second gears is disposed on a body portion of the frame assembly120. When the frame assembly120is closed, the one121of the second gears and the other122of the second gears together constitute a circular shape.

FIG.6is a view illustrating a configuration of a system for automatically rotating a steering wheel of an agricultural machine according to various embodiments of the present disclosure.

Referring toFIG.6, a system300for automatically rotating a steering wheel of an agricultural machine according to various embodiments of the present disclosure includes the auto-steering device100and the controller device200.

The auto-steering device100and the controller device200are electrically connected to each other. According to an embodiment, the auto-steering device100may be coupled to the steering wheel of the agricultural machine, the controller device200may be disposed near the driver seat and inside the agricultural machine, and the auto-steering device100and the controller device200may be connected to each other through an electric line. The controller device200may be connected to a user terminal of the user for the agricultural machine or a server of an agricultural machine manufacturer remotely using wireless communication to receive information related to autonomous driving control of the agricultural machine. The controller device200may perform control such that a control signal is transmitted to the auto-steering device100based on the information related to autonomous driving control, which is received from the user terminal or the server, and the steering wheel of the agricultural machine rotates in an appropriate direction to an appropriate degree at an appropriate time point during working of the agricultural machine.

The auto-steering device100includes the rotation assembly110, the frame assembly120, the motor130, and the reducer140.

The rotation assembly110includes the opening in the inner surface thereof, and the opening surrounds the circumference of the pillar of the steering wheel of the agricultural machine and is fitted onto the pillar of the steering wheel. The rotation assembly110has the first gear111disposed on the outer surface thereof.

The frame assembly120includes the central opening surrounding the steering wheel and the rotation assembly110, and the second gears121and122are arranged on the inner surface of the central opening. The second gears121and122are engaged with the first gear111. The frame assembly120may be opened or closed. After the rotation assembly110is coupled to the pillar of the steering wheel, when the driver wants to automatically control the steering wheel using the auto-steering device100, the frame assembly120is coupled to the rotation assembly110, and when the driver of the agricultural machine wants to manually control the steering wheel without the auto-steering device100, the frame assembly120is not coupled to the rotation assembly110. One121of the second gears is disposed in an open portion of the frame assembly120, and the other122of the second gears is disposed on a body portion of the frame assembly120. When the frame assembly120is closed, the one121of the second gears and the other122of the second gears together constitute a circular shape.

The motor130is disposed inside the frame assembly120. The motor130is configured to rotate the second gears121and122, rotate the rotation assembly110coupled to the pillar of the steering wheel through the first gear111engaged with the second gears121and122, and accordingly, rotate the steering wheel. The motor130operates under the control of the controller device200that is electrically connected to the auto-steering device100.

The reducer140is disposed inside the frame assembly120. The reducer140is disposed between the second gears121and122and the motor130. The reducer140is configured to decrease the number of rotations of the motor130and transmit a driving force having a decreased number of rotations to the second gears121and122. The reducer140operates under the control of the controller device200that is electrically connected to the auto-steering device100.

According to various embodiments of the present disclosure, an output torque of the auto-steering device100may correspond to a product of a torque of the motor130, a reduction ratio of the reducer140, efficiency based on the reduction ratio of the reducer140, and gear ratios between the first gear111and the second gears121and122.

In Western countries such as the United States, an agricultural environment is field-oriented and roads are well paved. However, in Korea and Asian countries, the agricultural environment is rice field-oriented as in rice farming, and roads around the rice field are often unpaved. In the rice field or reclaimed land, wheels of the agricultural machine are largely submerged in mud, and thus a torque required for controlling the steering wheel of the agricultural machine in the rice field or reclaimed land is significantly greater than a torque required for controlling the steering wheel of the agricultural machine on a paved road or field.

According to various embodiments of the present disclosure, the output torque of the auto-steering device100may be designed to be high so that the steering wheel of the agricultural machine rotates without difficulty in harsh environments such as rice farming.

According to various embodiments of the present disclosure, a gear ratio between the first gear111and the second gears121and122may be 3:1, and a rated torque of the motor130may be 0.13 Nm. Based on these conditions, when the reduction ratio of the reducer140is 30.00 and an efficiency of the reducer140is 55%, a rated output torque of the auto-steering device100for controlling the steering wheel may be 6.44 Nm.

According to various embodiments of the present disclosure, a gear ratio between the first gear111and the second gears121and122may be 3:1, and a rated torque of the motor130may be 0.13 Nm. Based on these conditions, when the reduction ratio of the reducer140is 15.00 and the efficiency of the reducer140is 65%, a rated output torque of the auto-steering device100for controlling the steering wheel may be 3.80 Nm.

According to various embodiments of the present disclosure, a gear ratio between the first gear111and the second gears121and122may be 3:1, and a rated torque of the motor130may be 0.13 Nm. Based on these conditions, when the reduction ratio of the reducer140is 10.00 and the efficiency of the reducer140is 70%, a rated output torque of the auto-steering device100for controlling the steering wheel may be 2.73 Nm.

The controller device200includes a processor210, a memory220, a transceiver230, and a global positioning system (GPS) sensor240.

The processor210may be configured to implement control for the auto-steering device100. The processor210controls the overall operations of the system300for automatically rotating a steering wheel of an agricultural machine. For example, the processor210transmits or receives information or the like through the transceiver230. Further, the processor210writes and reads data into and from the memory220. The GPS sensor240is controlled to identify a GPS position of the controller device200. Further, the processor210controls operations of the motor130and the reducer140in the auto-steering device100. The processor210may include at least one processor.

The memory220may be connected to the transceiver230and store information received through communication. Further, the memory220may be connected to the processor210and store data such as a basic program, an application program, setting information, information generated by calculation by the processor210, and the like for operating the processor210. The memory220may be a volatile memory, a non-volatile memory, or a combination of the volatile memory and the non-volatile memory. Further, the memory220may provide the stored data according to the request of the processor210.

The transceiver230is connected to the processor210and transmits and/or receives signals. The entirety or a portion of the transceiver230may be referred to as a transmitter, a receiver, or a transceiver. The transceiver230may support at least one of the various wireless communication standards such as an Institute of Electrical and Electronics Engineers (IEEE) 802.xx system, an IEEE Wi-Fi system, a 3rdgeneration partnership project (3GPP) system, a 3GPP long term evolution (LTE) system, a 3GPP 5G new radio (NR) system, a 3GPP2 system, and Bluetooth that are wireless access systems.

The GPS sensor240is configured to determine the GPS position of the controller device200. The GPS sensor240receives signals transmitted from three or more GPS satellites and determines positions of the satellites and the GPS sensor240. Distances between the GPS satellites and the GPS sensor240may be obtained by measuring a time difference between the signals transmitted from the GPS satellites and the signals received by the GPS sensor240. In this case, the signals transmitted from the GPS satellites include information on locations of the GPS satellites. When the distances from three or more GPS satellites and the location of each of the GPS satellites are identified, the location of the GPS sensor240can be calculated using a method such as trilateration. The GPS position of the agricultural machine to which the controller device200is physically coupled can be determined using the GPS sensor240.

According to various embodiments of the present disclosure, the reducer140may be configured to shift gears at a ratio in which the numbers of rotations of the second gears121and122are reduced as compared to the number of rotations of the motor130, and the processor210may be further configured to perform gear shift control for the reducer140.

According to various embodiments of the present disclosure, the processor210may be configured to control the transceiver230to transmit, to the server, a request for information on the type of land corresponding to the GPS position of the controller device200sensed by the GPS sensor240, and may be further configured to control the transceiver230to receive the information on the type of land from the server, to determine a gear shift operation of the reducer140based on the type of land, and to perform gear shift control for the reducer140based on the determined gear shift operation.

According to various embodiments of the present disclosure, the type of land is one of a paved road, an unpaved road, a field, a rice field, and a reclaimed land. In the gear shift operation, a reduction ratio is lower in an order of the paved road, the unpaved road, the field, the rice field, and the reclaimed land, that is, the reduction ratio of the paved road is the lowest, and the reduction ratio of the reclaimed land is the highest.

According to various embodiments of the present disclosure, the processor210may be configured to control the transceiver230to transmit, to the server, the request for the information on the type of land corresponding to the GPS position of the controller device200sensed by the GPS sensor240and may be further configured to control the transceiver230to receive the information on the type of land from the server and to determine an output torque of the auto-steering device100based on the type of land. The output torque may correspond to a product of the torque of the motor130, the reduction ratio of the reducer140, the efficiency based on the reduction ratio of the reducer140, and the gear ratios between the first gear111and the second gears121and122. The processor210may be further configured to determine a gear shift operation of the reducer140based on the determined output torque and to perform gear shift control for the reducer140based on the determined gear shift operation.

According to various embodiments of the present disclosure, the processor210may be further configured to determine the torque of the motor130based on the determined output torque and to control an output of the motor130based on the determined torque of the motor.

According to various embodiments of the present disclosure, the processor210may be further configured to control the transceiver230to receive information on a GPS-based movement path of the agricultural machine from the user terminal and to control the motor130based on the information on the movement path so that the auto-steering device100rotates the steering wheel.

According to various embodiments of the present disclosure, the processor210may determine a first line connecting the GPS position of the agricultural device before a unit distance on the movement path and a current GPS position of the controller device200and a second line connecting the GPS position of the agricultural device after the unit distance on the movement path and the current GPS position of the controller device200. The processor210may determine whether the steering wheel rotates, a rotational direction of the steering wheel, and a rotational angle of the steering wheel based on an angle between the first line and the second line. The processor210may further be configured to control the motor130based on whether the steering wheel rotates, the rotational direction of the steering wheel, and the rotational angle of the steering wheel so that the auto-steering device100rotates the steering wheel.

According to various embodiments of the present disclosure, the controller device200may remotely receive a control signal from an agricultural machine that is distant from the user for the agricultural machine through wireless communication and may control the auto-steering device100based on the control signal to remotely and automatically control the steering wheel of the agricultural machine.

According to various embodiments of the present disclosure, the controller device200may determine, based on the GPS position, whether the agricultural machine performs work in the rice field or the reclaimed land, whether the agricultural machine performs work in the field, whether the agricultural machine moves on the unpaved road, or whether the agricultural machine moves on the paved road. Further, in order to rotate the steering wheel of the agricultural machine without difficulty according to environments, the controller device200may control at least one of the reduction ratio of the reducer140and the torque of the motor130to adjust the output torque of the auto-steering device100.

In the embodiments described above, components and features of the present disclosure are combined in a predetermined form. The components or features should be considered to be optional unless explicitly stated otherwise. The components or features may be implemented in a form in which the components or features are not combined with the other components or features. Further, the embodiments of the present disclosure may be configured by combining some components and/or features. An order of operations described in the embodiments of the present disclosure may be changed. Some components or features of one embodiment may be included in another embodiment or may be replaced with components and features corresponding to another embodiment. It is obvious that an embodiment may be configured by combining claims that are not explicitly cited in the appended claims or include a novel claim by amendment after filing.

It is apparent to those skilled in the art to which the present disclosure pertains that the present disclosure may be embodied in other forms without departing from the technical ideas and essential features of the present disclosure. Thus, the embodiments should be considered in all aspects as illustrative rather than limitative. The scope of rights of the present disclosure should be determined by reasonable interpretation of the appended claims and all possible changes within the equivalent scope of the present disclosure.

The present disclosure relates to a system for automatically rotating a steering wheel of an agricultural machine. In detail, the present disclosure relates to a system for performing autonomous driving on an agricultural machine by automatically rotating a steering wheel in combination with a steering wheel of the agricultural machine.