Providing auto-guidance of a mobile machine without requiring a graphical interface display

• US 10,073,460 B2
• Filed: 06/10/2016
• Issued: 09/11/2018
• Est. Priority Date: 06/10/2016
• Status: Active Grant

• Current Assignee: Trimble Inc.
• Original Assignee: Trimble Inc.
• Inventors: Downing, Michael, Peake, John William
• Primary Examiner(s): Cass, Jean Paul
• Application Number:
  US15/179,074
• Publication Number:
  US 20170357269A1
• Time in Patent Office: 823 Days
• Field of Search: 701 25
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0221 involving a learning process
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Auto-guidance of a mobile machine is provided that does not require a graphical user interface display. Human interactions with the auto-guidance system of a mobile machine are performed solely with one or more electromechanical switches of the auto-guidance system while the mobile machine is operating. A first point for auto-guidance of a mobile machine is set by an auto-guidance system in response to a first electromechanical switch input. A second point for auto-guidance of the mobile machine is set by the auto-guidance system in response to a second electromechanical switch input after movement of the mobile machine from the first point. The auto-guidance system activates auto-guidance of the mobile machine along a path defined by the first point and the second point. The setting of the first point, the setting of the second point, and the activating are performed by one or more hardware processors.

Claims

1. A method of implementing auto-guidance, the method comprising:

in response to a first electromechanical switch input from a user using one of three or less electromechanical switches without using any graphical user interface display while a mobile machine is at a first point, setting by the auto-guidance system the first point for auto-guidance of the mobile machine;

in response to a second electromechanical switch input from the user using one of the three or less electromechanical switches without using any graphical user interface display after movement of the mobile machine from the first point to a second point, setting by the auto-guidance system the second point for auto-guidance of the mobile machine;

activating, by the auto-guidance system, auto-guidance of the mobile machine; and

automatically guiding, by the auto-guidance system, the mobile machine along a path defined by the first point and the second point;

wherein the setting of the first point, the setting of the second point, and the activating are performed by one or more hardware processors.

2. The method as recited by claim 1, wherein the path is associated with a first path of a field, and the method further comprising:

deactivating the auto-guidance of the mobile machine with respect to the first path of the field; and

resuming the auto-guidance along a second path that is offset at a fixed distance from and adjacent to the first path.

3. The method as recited by claim 1, wherein the three or less electromechanical switches comprise a single electromechanical switch, and the method further comprising:

receiving the first electromechanical switch input that is a first actuating of the single electromechanical switch; and

receiving the second electromechanical switch input that is a second actuating of the single electromechanical switch.

4. The method as recited by claim 3, wherein the single electromechanical switch is a foot switch, and the method further comprising:

receiving the first electromechanical switch input when the foot switch is in a first position, wherein the foot switch is located on a floor of the mobile machine; and

receiving the second electromechanical switch input when the foot switch is in a second position.

5. The method as recited by claim 3, wherein the single electromechanical switch is a hand switch, and the method further comprising:

receiving the first electromechanical switch input when the hand switch is in a first position, wherein the hand switch is located on a steering wheel of the mobile machine; and

receiving the second electromechanical switch input when the hand switch is in a second position.

6. The method as recited by claim 3, wherein the single electromechanical switch is installed in a switch panel of the mobile machine, and the method further comprising:

receiving the first electromechanical switch input from the single electromechanical switch installed in the switch panel; and

receiving the second electromechanical switch input from the single electromechanical switch installed in the switch panel.

7. The method as recited by claim 1, wherein the three or less electromechanical switches comprise a first electromechanical switch and a second electromechanical switch, and the method further comprising:

receiving the first electromechanical switch input when the first electromechanical switch is actuated; and

receiving the second electromechanical switch input when the second electromechanical switch is actuated.

8. The method as recited in claim 1, further comprising:

upon determining that a recorded variation in the path from a straight path is within a predetermined threshold, automatically straightening the path.

9. The method as recited by claim 1, further comprising:

recording information describing movement of the mobile machine along the path for a first path of a field; and

automatically guiding the mobile machine, based on the recorded information, along a subsequent path that is adjacent to and offset at a substantially fixed distance from the first path.

10. The method as recited by claim 9, wherein the path is a straight path, and the method further comprising:

recording information describing movement of the mobile machine along the straight path, wherein the straight path is at least a subset of the first path of the field.

11. The method as recited by claim 9, wherein the path is a non-straight path, and the method further comprising:

recording information describing movement of the mobile machine along the non-straight path, wherein the second point is located at an end of the first path of the field.

12. A non-transitory computer readable storage medium having computer readable instructions stored thereon for causing a computer system to perform a method of implementing auto-guidance, the method comprising:

in response to a first electromechanical switch input from a user using one of three or less electromechanical switches without using any graphical user interface display while a mobile machine is at a first point, setting by the auto-guidance system a first point for auto-guidance of the mobile machine;

in response to a second electromechanical switch input from the user using one of the three or less electromechanical switches without using any graphical user interface display after movement of the mobile machine from the first point to a second point, setting by the auto-guidance system the second point for auto-guidance of the mobile machine;

activating, by the auto-guidance system, auto-guidance of the mobile machine; and

automatically guiding, by the auto-guidance system, the mobile machine along a path defined by the first point and the second point;

wherein the setting of the first point, the setting of the second point, and the activating are performed by one or more hardware processors.

13. The non-transitory computer readable storage medium as recited by claim 12, wherein the path is associated with a first path of a field and wherein the method further comprises:

deactivating the auto-guidance for a current path of the field;

re-activating the auto-guidance for a subsequent path of the field, wherein the current path and the subsequent path are adjacent to each other; and

repeating the deactivating and the re-activating until all paths of the field have been operated on by the mobile machine, wherein all of the paths of the field are offset at a substantially fixed distance from each other based on the path.

14. The non-transitory computer readable storage medium as recited by claim 12, wherein the three or less electromechanical switches comprise a single electromechanical switch, and wherein the method further comprises:

receiving the first electromechanical switch input that is a first actuating of the single electromechanical switch; and

receiving the second electromechanical switch input that is a second actuating of the single electromechanical switch.

15. The non-transitory computer readable storage medium as recited by claim 12, wherein the three or less electromechanical switches comprise a first electromechanical switch and a second electromechanical switch, and wherein method further comprises:

receiving the first electromechanical switch input when the first electromechanical switch is actuated; and

receiving the second electromechanical switch input when the second electromechanical switch is actuated.

16. The non-transitory computer readable storage medium as recited by claim 12, wherein the method further comprises:

recording information describing movement of the mobile machine along the path for a first path of a field; and

automatically guiding the mobile machine, based on the recorded information, along a subsequent path that is adjacent to and offset at a substantially fixed distance from the first path.

17. The non-transitory computer readable storage medium as recited by claim 16, wherein the path is a straight path and wherein the method further comprises:

recording information describing movement of the mobile machine along the straight path, wherein the straight path is at least a subset of the first path of the field.

18. The non-transitory computer readable storage medium as recited by claim 16, wherein the path is a non-straight path and wherein the method further comprises:

recording information describing movement of the mobile machine along the non-straight path, wherein the second point is located at an end of the first path of the field.

19. An autopilot operation system of a mobile machine that does not require a graphical user interface display, the autopilot operation system comprising:

hardware that includes a memory and a processor;

an auto-guidance system coupled to the hardware and configured to provide auto-guidance of the mobile machine;

three or less electromechanical switches configured to receive a first electromechanical switch input and a second electromechanical switch input while the mobile machine is operating and moving from a first point to a second point,

a plurality of logics stored in the memory and implemented by the processor, wherein the plurality of logics includes;

a first logic that, when implemented by the processor, causes the auto-guidance system to set the first point for auto-guidance of the mobile machine in response to receiving the first electromechanical switch input from a user using one of the three or less electromechanical switches without using any graphical user interface display while the mobile machine is at the first point;

a second logic that, when implemented by the processor, causes the auto-guidance system to set the second point for auto-guidance of the mobile machine in response to receiving the second electromechanical switch input from the user using one of the three or less electromechanical switches without using any graphical user interface display after movement of the mobile machine from the first point to the second point;

a third logic that, when implemented by the processor, causes the auto-guidance system to define a path from the first point to the second point; and

a fourth logic that, when implemented by the processor, causes the auto-guidance system to activate the auto-guidance system so as to automatically guide the mobile machine along the path.

20. The autopilot operation system of claim 19, further comprising:

a translation-logic that, when implemented by the processor, translates the first electromechanical switch input and the second electromechanical switch input into CAN messages that are delivered to the auto-guidance system over a CAN bus of the mobile machine.