COORDINATION OF VEHICLE MOVEMENT IN A FIELD

• US 20110112730A1
• Filed: 11/12/2009
• Published: 05/12/2011
• Est. Priority Date: 11/12/2009
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Rekow, Andrew Karl Wilhelm
• Granted Patent: US 8,738,238 B2
• Time in Patent Office: Days
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01D 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 41/1278 for automatic steering
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

The illustrative embodiments provide for a number of other vehicles that are moved on a number of paths that is substantially parallel to, and offset to at least one of a first offset side and a second offset side of, the path for the first vehicle. The number of other vehicles is moved along at least a portion of the path in the turn in response to a turn in the path of the first vehicle. The number of other vehicles may be moved from the path to a number of second parallel paths that are substantially parallel to the path after the turn of the first vehicle and offset to an opposite offset side of the first vehicle than the at least one offset side before the turn in response to the first vehicle completing the turn.

Claims

1. A method for controlling movement of vehicles, the method comprising:

moving a first vehicle on a path;

moving a number of other vehicles on a number of parallel paths that are substantially parallel to, and offset to at least one of a first offset side and a second offset side of, the path for the first vehicle;

responsive to a turn in the path of the first vehicle, moving the number of other vehicles along at least a portion of the path in the turn; and

responsive to the first vehicle completing the turn, moving the number of other vehicles from the path to a number of second parallel paths that are substantially parallel to the path after the turn of the first vehicle and offset to an opposite offset side of the first vehicle than the at least one offset side before the turn.

2. The method of claim 1 further comprising:

sending, by the first vehicle, a position of the first vehicle and the path of the first vehicle to the number of other vehicles.

3. The method of claim 1 further comprising:

controlling a sequence of each of the number of other vehicles along the portion of the path in the turn

4. The method of claim 1 further comprising:

controlling at least one of speed and spacing of each of the number of other vehicles along the portion of the path in the turn.

5. The method of claim 1, wherein at least one of the number of other vehicles is on an opposite side of the first vehicle than the other number of other vehicles before the turn and after the turn.

6. The method of claim 1, wherein a speed of a second follower vehicle is adjusted to allow a first follower vehicle to move onto the path.

7. The method of claim 1, wherein the portion of the path is in the headland in the field.

8. The method of claim 1, wherein the number of parallel paths are in a work area of the field.

9. The method of claim 1, wherein the number of vehicles follows the first vehicle and are staggered relative to each on the number of parallel paths.

10. The method of claim 1, wherein the first vehicle is operated by at least one of an operator and a navigation system.

11. A controller comprising:

a first communication interface to a first vehicle for determining a path of the first vehicle;

a second communication interface to a number of other vehicles to communicate a number of parallel paths that are substantially parallel to, and offset to at least one of a first and second offset side of, the path for the first vehicle;

control logic, responsive to first data indicative of a turn in the path of the first vehicle, for signaling the number of other vehicles through the second communication interface to move along at least a portion of the path in the turn; and

control logic, responsive to second data indicative of a first vehicle completing the turn, for signaling the number of other vehicles through the second communication interface to move from the path to a number of second parallel paths that are substantially parallel to the path after the turn of the first vehicle, and offset to an opposite side, than the at least one of the offset side before the turn.

12. The controller of claim 11, wherein the second communication interface sends a position of the first vehicle and the path of the first vehicle to the number of other vehicles.

13. The controller of claim 11, wherein the first data is an identification of the position of the first vehicle when the first vehicle enters a headland in a field.

14. The apparatus of claim 11, wherein a speed of a second follower vehicle is adjusted to allow a first follower vehicle to move on the path.

15. The apparatus of claim 11, wherein the portion of the path is in the headland in the field.

16. The apparatus of claim 11, wherein the number of parallel paths are in a work area of the field.

17. The apparatus of claim 11, wherein the number of vehicles is configured to follow the first vehicle and are staggered relative to each on the number of parallel paths.

18. A method for following a leader vehicle, the method comprising:

traveling, by a follower vehicle, in a parallel path to the leader vehicle;

entering a headland; and

traveling, by the follower vehicle, in a path in-line with the leader vehicle while in a portion of the headland.

19. The method of claim 18 further comprising:

determining a position and path of the leader vehicle in the headland; and

communicating with the leader vehicle to follow the in-line path in the portion of the headland.

20. The method of claim 18 further comprising:

determining, by the leader vehicle, a position of the leader vehicle and a position of the follower vehicle; and

communicating the position of the leader vehicle and the position of the follower vehicle with the leader vehicle.

21. The method of claim 18 further comprising:

determining, by the follower vehicle, the position of the leader vehicle and the position of the follower vehicle; and

communicating the position of the leader vehicle and the position of the follower vehicle with the follower vehicle.

22. The method of claim 18, wherein the follower vehicle and a second follower vehicle follow the leader vehicle in parallel paths on a first side and a second side of the leader vehicle, respectively, in a first direction, and wherein the follower vehicle and second follower vehicle swap sides once exited from the headland and travel in a second direction.

23. The method of claim 18, wherein the follower vehicle and the second follower vehicle follow the leader vehicle in parallel paths on the first side and the second side of the leader vehicle, respectively, in the first direction, and wherein the second follower vehicle waits to follow directly in the path after the follower vehicle which waits to follow in the in-line path after the leader vehicle while in the headland.

24. A system comprising:

a leader vehicle;

a follower vehicle configured to travel in a parallel path to the leader vehicle, and further configured to travel in an in-line path to the leader vehicle while in a portion of the headland.

25. The system of claim 24, wherein the follower vehicle is configured to determine a position and path of the leader vehicle in the headland and further configured to communicate with the leader vehicle to follow the in-line path in the portion of the headland.

26. The system of claim 24, wherein the follower vehicle is configured to determine a position of the leader vehicle and a position of the follower vehicle and further configured to communicate the position of the leader vehicle and the position of the follower vehicle with the leader vehicle.

27. The system of claim 24, wherein the leader vehicle is configured to determine a position of the leader vehicle and a position of the follower vehicle and further configured to communicate the position of the leader vehicle and the position of the follower vehicle with the follower vehicle.

28. The system of claim 24, wherein the follower vehicle and a second follower vehicle follow the leader vehicle in parallel paths on a first side and a second side of the leader vehicle, respectively, in a first direction, and wherein the follower vehicle and second follower vehicle swap sides once exited from the headland and traveling in a second direction.

29. The system of claim 24, wherein the follower vehicle and a second follower vehicle follow the leader vehicle in parallel paths on a first side and a second side of the leader vehicle, respectively, in a first direction, and wherein the second follower vehicle waits to follow in the in-line path after the follower vehicle which waits to follow in the in-line path after the leader vehicle while in the headland.

30. A method for controlling movement of vehicles, the method comprising:

moving a first vehicle on a path;

sending, by the first vehicle, a position of the first vehicle and the path of the first vehicle to the number of other vehicles.

moving a number of other vehicles on a number of paths that are substantially parallel to the path for the first vehicle;

sending, by the first vehicle, an indication to follow the path of the first vehicle on the at least the portion of the path in the turn; and

responsive to a turn in the path of the first vehicle, moving the number of other vehicles along the at least a portion of the path in the turn.

31. The method of claim 30, wherein the indication is an identification of the position of the first vehicle when the first vehicle enters a headland in a field.

32. The method of claim 30, wherein the first vehicle is a leader vehicle and wherein the number of vehicles comprises a first follower vehicle and a second follower vehicle and wherein the step of moving a number of other vehicles in a number of paths that are substantially parallel to the path for the first vehicle comprises:

moving the first follower vehicle on a first parallel path on a first side of the path of the leader vehicle;

moving the second follower vehicle on a second parallel path on a second side of the path of the leader vehicle.

33. The method of claim 32 further comprising:

responsive to the leader vehicle ending the turn, moving the first follower vehicle from the path to the second parallel path; and

responsive to the leader vehicle ending the turn, moving the second follower vehicle from the path to the first parallel path, wherein the first follower vehicle and the second follower vehicle swap sides relative to the path of the leader vehicle.

34. The method of claim 30, wherein the first follower vehicle and the second follower vehicle travel in an opposite direction after the first follower vehicle and the second follower vehicle swap sides relative to the path of the leader vehicle.

35. The method of claim 32, wherein the step of moving the number of other vehicles along at least a portion of the path in the turn comprises:

moving the first follower vehicle from the first parallel path into the path; and

moving the second follower vehicle from the second parallel path into the path after the first follower vehicle has moved into the path.

36. The method of claim 35, wherein the second follower vehicle adjusts a speed of the second follower vehicle to allow the first follower vehicle to move onto the path.

37. The method of claim 35, wherein the second follower vehicle moves into the path in a different location from the second follower vehicle.

38. The method of claim 30, wherein the portion of the path is in the headland in the field.

39. The method of claim 30, wherein the number of parallel paths are in a work area of the field.

40. The method of claim 30, wherein the number of vehicles follows the first vehicle and are staggered relative to each on the number of parallel paths.