Methods and apparatus to control machine configurations

• US 10,539,935 B2
• Filed: 06/02/2017
• Issued: 01/21/2020
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Buerkle, Bryan Kirk, Dybro, Niels
• Primary Examiner(s): Pan, Yuhui R
• Application Number:
  US15/613,034
• Publication Number:
  US 20170269564A1
• Time in Patent Office: 963 Days
• CPC Class Codes: A01B 69/00 Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

Methods and apparatus are disclosed for controlling machine configurations. An example method includes determining a desired trajectory of an auxiliary machine based at least in part on a desired work path or an alignment of a host machine and the auxiliary machine; determining a first actual trajectory of the auxiliary machine; comparing the desired trajectory of the auxiliary machine to the first actual trajectory of the auxiliary machine; when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, crab steering the auxiliary machine toward the desired trajectory while a course of the host machine is different than a course of the auxiliary machine.

Claims

1. A method comprising:

determining a desired trajectory of at least two auxiliary machines based at least in part on a desired work path or an alignment of a host machine and the auxiliary machines, wherein each of the auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;

determining a first actual trajectory of each of the auxiliary machines;

comparing the desired trajectory of the auxiliary machines to the first actual trajectory of the auxiliary machines;

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, selecting a trajectory-assist mode;

in response to the trajectory-assist mode being selected;

crab steering each of the auxiliary machines toward the desired trajectory while a course of the host machine is different than a course of the auxiliary machines; and

at least one of

     1) controlling a first one of ground engaging elements of each of the auxiliary machines in one of a free-wheeling mode, a minimum-slip mode, or a braking mode and controlling a second one of the ground engaging elements in another one of the free-wheeling mode, the minimum-slip mode, or the braking mode or

     2) applying a first amount of power to the first one of the ground engaging elements and applying a second amount of power to the second one of the ground engaging elements.

2. The method of claim 1, wherein determining the first actual trajectory of each of the auxiliary machines includes determining a first distance between a first side of each of the auxiliary machines and the host machine and determining a second distance between a second side of each of the auxiliary machines and the host machine, the first side is opposite the second side.

3. The method of claim 1, wherein a first auxiliary machine and a second auxiliary machine are coupled to the implement in parallel.

4. The method of claim 1, wherein the crab steering each of the auxiliary machines includes determining a first offset of a first auxiliary machine from a longitudinal axis of the host machine and crab steering the first auxiliary machine based on the first offset and determining a second off-set of a second auxiliary machine from the longitudinal axis of the host machine and crab steering the second auxiliary machine based on the second offset.

5. The method of claim 1, wherein, when the first actual trajectory does not satisfy the threshold distance of the desired trajectory, further including determining a corrective path for each of the auxiliary machines to travel to enable a second actual trajectory of each of the auxiliary machines to satisfy the threshold distance of the desired trajectory.

6. The method of claim 5, wherein the crab steering of each of the auxiliary machines includes causing each of the auxiliary machines to follow the determined corrective path.

7. The method of claim 1, further including generating guidance instructions to enable the host machine to follow the desired work path and executing the guidance instructions to autonomously operate the host machine.

8. The method of claim 1, wherein the determining of the first actual trajectory of each of the auxiliary machines includes using at least one of a global positioning system receiver, a draft sensor, a proximity sensor, an inclinometer, a brake sensor, a steering sensor, or a camera.

9. The method of claim 1, wherein the desired trajectory of each of the auxiliary machines is based on identifying the host machine turning.

10. An apparatus comprising:

a path identifier to determine a desired trajectory of at least two auxiliary machines based at least in part on a desired work path or an alignment of a host machine and the auxiliary machines, wherein each of the auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;

an alignment monitor to;

determine a first actual trajectory of each of the auxiliary machines;

compare the desired trajectory of the auxiliary machines to the first actual trajectory of the auxiliary machines;

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, a power assist controller selects a trajectory-assist mode;

in response to the trajectory-assist mode being selected, a trajectory controller is to at least one of

     1) control a first one of ground engaging elements of each of the auxiliary machines in one of a free-wheeling mode, a minimum-slip mode, or a braking mode and control a second one of the ground engaging elements in another one of the free-wheeling mode, the minimum-slip mode, or the braking mode or

     2) apply a first amount of power to the first one of the ground engaging elements and apply a second amount of power to the second one of the ground engaging elements.

11. The apparatus of claim 10, wherein, in response to the trajectory-assist mode being selected, the trajectory controller causes each of the auxiliary machines to crab steer toward the desired trajectory while a course of the host machine is different than a course of the auxiliary machines.

12. The apparatus of claim 10, wherein the alignment monitor is to determine the first actual trajectory of each of the auxiliary machines by determining a first distance between a first side of each of the auxiliary machines and the host machine and determining a second distance between a second side of each of the auxiliary machines and the host machine, the first side is opposite the second side.

13. A method comprising:

determining a desired trajectory of at least two auxiliary machines based at least in part on a desired work path or an alignment of a host machine and the auxiliary machines, wherein each of the auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;

determining a first actual trajectory of each of the auxiliary machines;

comparing the desired trajectory of the auxiliary machines to the first actual trajectory of the auxiliary machines;

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, crab steering each of the auxiliary machines toward the desired trajectory while a course of the host machine is different than a course of the auxiliary machines.

14. The method of claim 13, wherein when the first actual trajectory does not satisfy the threshold distance of the desired trajectory at least one of 1) controlling a first one of ground engaging elements of the auxiliary machines in one of a free-wheeling mode, a minimum-slip mode, or a braking mode and controlling a second one of the ground engaging elements in another one of the free-wheeling mode, the minimum-slip mode, or the braking mode or 2) applying a first amount of power to the first one of the ground engaging elements and applying a second amount of power to the second one of the ground engaging elements.

15. A method comprising:

determining a desired trajectory of a first auxiliary machine and a second auxiliary machine based at least in part on a desired work path or an alignment of a host machine, the auxiliary machine, and the second auxiliary machine, wherein the first auxiliary machine and the second auxiliary machine are coupled to a first side of an implement and the host machine is coupled to a second side of the implement;

determining a first actual trajectory of the first auxiliary machine and the second auxiliary machine;

comparing the desired trajectory of the first auxiliary machine and the second auxiliary machine to the first actual trajectory of the first auxiliary machine and the second auxiliary machine;

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, selecting a trajectory-assist mode;

in response to the trajectory-assist mode being selected;

steering the first auxiliary machine and the second auxiliary machine toward the desired trajectory; and

at least one of

     1) controlling a first one of ground engaging elements of at least one of the first auxiliary machine or the second auxiliary machine in one of a free-wheeling mode, a minimum-slip mode, or a braking mode and controlling a second one of the ground engaging elements of the at least one of the first auxiliary machine or the second auxiliary machine in another one of the free-wheeling mode, the minimum-slip mode, or the braking mode or

     2) applying a first amount of power to the first one of the ground engaging elements and applying a second amount of power to the second one of the ground engaging elements.