METHOD AND SYSTEM FOR DETERMINING AN ENERGY-EFFICIENT PATH OF A MACHINE

• US 20040068352A1
• Filed: 10/03/2002
• Published: 04/08/2004
• Est. Priority Date: 10/03/2002
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Granted Patent: US 6,728,607 B1
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method and system for determining a work path for a machine determines a path that minimizes energy consumption of the machine to enhance a usable duration of an electrical charge of an energy source or to conserve fuel. A work area is defined and is divisible into a number of cells. Respective geographic factors associated with corresponding cells within the work area are defined. An estimator estimates energy levels, associated with a machine moving in or between adjacent cells, in corresponding proposed directions based on at least one geographic factor (e.g., any change in elevation between or within the adjacent cells). Candidate total energy levels are determined for moving the machine through the cells along corresponding alternate proposed work paths for the work area. A selector selects a preferential work path from the proposed work paths consistent with the determined lowest energy level of the candidate total energy levels.

Claims

1. A method for determining a work path for a machine, the method comprising the steps of:

defining a work area, the work area being divisible into a number of cells;

defining respective geographic factors of the cells within the work area;

estimating energy levels, associated with a machine moving in or between adjacent cells, in corresponding proposed directions based on the geographic factors associated with the cells;

determining a lowest total energy level for moving the machine in the cells along proposed work paths for the work area, each proposed work path consisting of a series of generally parallel rows along selected ones of the proposed directions; and

selecting a preferential work path from the proposed work paths consistent with the determined lowest energy level.

2. The method according to claim 1 wherein the geographic factors comprise elevation data of corresponding cells.

3. The method according to claim 1 wherein the geographic factors comprise a terrain slope associated with one or more cells in a work area.

4. The method according to claim 1 wherein the geographic factors comprise surface condition data on the surface of corresponding cells.

5. The method according to claim 1 wherein the work area is a generally rectangular region and wherein the work path comprises a generally boustrophedon pattern of rows parallel to at least one side of the generally rectangular region.

6. The method according to claim 1 wherein the determining of the lowest energy level comprises determining total candidate energy levels for different proposed paths that cover the work area;

and selecting the lowest total energy level among the determined total candidate energy levels.

7. The method according to claim 1 further comprising altering the preferential work path to avoid the machine striking an object in the work area, an altered portion of the work path associated with additional energy above the lowest total energy level.

8. The method according to claim 1 wherein the change in geographic factors comprises a change of elevation that varies within a cell or between adjacent cells, the variation in elevation being associated with a corresponding energy cost, an increased energy cost associated with the machine traveling on an upward slope, and a reduced energy cost associated with the machine traveling on a downward slope.

9. The method according to claim 1 wherein the lowest energy level represents a lowest one of candidate total energy levels for corresponding proposed work paths, each candidate total energy level comprising a sum of energy costs associated with the machine traversing the proposed path in the work area in one or more defined directions.

10. A method for determining a work path for a machine, the method comprising the steps of:

defining a work area, the work area being divisible into a number of cells;

defining respective elevations associated with corresponding cells within the work area;

estimating a first energy level needed for a machine to traverse at least one cell in a first direction;

estimating a second energy level needed for the machine to traverse at least one cell in a second direction opposite the first direction;

estimating a third energy level needed for the machine to traverse at least one cell in a third direction, the third direction being generally orthogonal to the first direction;

estimating a fourth energy level needed for the machine to traverse at least one cell in a fourth direction opposite to the third direction; and

determining candidate total energy levels for corresponding work paths based on a sum of energy contributions of at least one of the first energy level, the second energy level, the third energy level and the fourth energy level.

11. The method according to claim 10 further comprising:

determining an optimal or lowest energy level among the candidate total energy levels.

12. The method according to claim 10 further comprising

selecting a preferential path from between a primary work path and a secondary work path of the machine, the primary work path arranged such that the machine primarily travels in the first and second directions in the work area, and the secondary path arranged such that the machine primarily travels in the third and fourth directions in the work area.

13. The method according to claim 10 wherein the determining of the candidate total energy levels comprises calculating the candidate total energy levels within a data processor associated with the machine.

14. The method according to claim 10 wherein the determining of the candidate total energy levels comprises calculating the candidate total energy levels within a data processor remotely located from the machine and communicating a preferential work path to the machine via an electromagnetic communication.

15. The method according to claim 10 wherein each candidate total energy level of a corresponding proposed path is determined by the sum of energy levels for any movement across one or more cells in at least one of the first direction, the second direction, the third direction, and the fourth direction.

16. The method according to claim 10 wherein the defining of the work area is accomplished by defining the work area with respect to coordinates and corresponding elevations measured via at least one of a spatial measurement device and location-determining receiver.

17. The method according to claim 10 wherein the defining of the corresponding elevation is accomplished by taking a series of elevational measurements in the work area via a location-determining receiver.

18. A system for determining a work path for a machine, the system comprising:

a definer for defining a work area divisible into a number of cells, the definer supporting the definition of at least one of a geographic factor of a cell and a machine factor;

an estimator estimating energy levels needed for a machine to traverse at least one cell or cellular dimension in a first direction, estimating an energy level needed for the machine to traverse at least one cell or cellular dimension in a second direction opposite the first direction, estimating an energy level needed for the machine to traverse at least one cell or cellular boundary in a third direction, the third direction being generally orthogonal to the first direction, and estimating an energy level needed for the machine to traverse at least one cell or cellular dimension in a fourth direction opposite to the third direction; and

a processor for determining candidate total energy levels for corresponding proposed work paths of the machine within the work area.

19. The system according to claim 18 further comprising a selector for selecting an optimal or lowest one of the determined candidate energy levels.

20. The system according to claim 18 further comprising a selector for selecting a lowest candidate energy level associated with one of a primary work path and a secondary work path, the primary work path arranged such that the machine primarily travels in the first and second directions in the work area and the secondary work path arranged such that the machine primarily travels in the third and fourth directions in the work area.

21. The system according to claim 18 further comprising:

a spatial measurement device for defining a boundary of the work area in spatial coordinates and for measuring the geographic factors of corresponding cells within the work area.

22. The system according to claim 18 further comprising:

a user interface for receiving user input on a boundary of the work area and elevation data as the geographic factors of corresponding cells within the work area.

23. The system according to claim 18 further comprising:

a user interface for receiving user input on at least one of elevation data and surface condition data associated with the cells.

24. The system according to claim 18 further comprising:

a mapper for preparing a preferential path for display to a user via a user interface, the mapper comprising an obstacle avoidance module for modifying the preferential path to avoid obstacles.

25. The system according to claim 18 further comprising:

a guidance module for guiding the machine along a preferential path and for modifying the preferential path to comply with a prohibition on traveling within a cell with a lateral slope exceeding a maximum lateral slope.