METHODS AND APPARATUS TO CONTROL MACHINE CONFIGURATIONS

• US 20200133216A1
• Filed: 12/27/2019
• Published: 04/30/2020
• 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
• Granted Patent: US 11,422,519 B2
• Time in Patent Office: 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 deter mining 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 based on i) determining a first distance between a first side of the auxiliary machine and the host machine and ii) determining a second distance between a second side of the auxiliary machine and the host machine, the first side is opposite the second side; comparing the desired trajectory of the auxiliary machine to the first actual trajectory of the auxiliary machine; and when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, selecting a trajectory-assist mode to steer the auxiliary machine toward the desired trajectory.

Claims

1. A method comprising:

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;

deter lining a first actual trajectory of the auxiliary machine based on i) deter lining a first distance between a first side of the auxiliary machine and the host machine and ii) determining a second distance between a second side of the auxiliary machine and the host machine, the first side is opposite the second side;

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

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, selecting a trajectory-assist mode to steer the auxiliary machine toward the desired trajectory.

2. The method of claim 1, further including in response to the trajectory-assist mode being selected:

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; and

at least one of

     1) controlling a first one of ground engaging elements of the 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 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.

3. The method of claim 1, wherein the auxiliary machine is a first auxiliary machine, further including, in response to the trajectory-assist mode being selected, crab steering a second auxiliary machine toward the desired trajectory while the course of the host machine is different than a course of the second auxiliary machine.

4. The method of claim 3, wherein the first and second auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement.

5. The method of claim 4, wherein the first auxiliary machine and the second auxiliary machine are coupled to the implement in parallel.

6. The method of claim 5, wherein the crab steering of the first auxiliary machine and the crab steering of the second auxiliary machine includes determining a first offset of the 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 the second auxiliary machine from the longitudinal axis of the host machine and crab steering the second auxiliary machine based on the second offset.

7. The method of claim 1, wherein, when the first actual trajectory does not satisfy the threshold distance of the desired trajectory, further including deter mining a corrective path for the auxiliary machine to travel to enable a second actual trajectory of the auxiliary machine to satisfy the threshold distance of the desired trajectory.

8. An apparatus comprising:

a path identifier to determine 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;

an alignment monitor to;

determine a first actual trajectory of the auxiliary machine based on i) determining a first distance between a first side of the auxiliary machine and the host machine and ii) determining a second distance between a second side of the auxiliary machine and the host machine, the first side is opposite the second side;

compare the desired trajectory of the auxiliary machine to the first actual trajectory of the auxiliary machine; and

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, a power assist controller to select a trajectory-assist mode to steer the auxiliary machine toward the desired trajectory.

9. The apparatus of claim 8, further including in response to the trajectory-assist mode being selected, a trajectory controller to:

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

at least one of

     1) control a first one of ground engaging elements of the auxiliary machine 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 applying a second amount of power to the second one of the ground engaging elements.

10. The apparatus of claim 9, wherein the auxiliary machine is a first auxiliary machine, further including, in response to the trajectory-assist mode being selected, the trajectory controller to crab steer a second auxiliary machine toward the desired trajectory while the course of the host machine is different than a course of the second auxiliary machine.

11. The apparatus of claim 10, wherein the first and second auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement.

12. The apparatus of claim 11, wherein the first auxiliary machine and the second auxiliary machine are coupled to the implement in parallel.

13. The apparatus of claim 12, wherein the crab steering of the first auxiliary machine and the crab steering of the second auxiliary machine further includes a configuration analyzer to determine a first offset of the first auxiliary machine from a longitudinal axis of the host machine and the trajectory controller to crab steer the first auxiliary machine based on the first offset and the configuration analyzer to determine a second off-set of the second auxiliary machine from the longitudinal axis of the host machine and the trajectory controller to crab steer the second auxiliary machine based on the second offset.

14. The apparatus of claim 8, wherein, when the first actual trajectory does not satisfy the threshold distance of the desired trajectory, further including the power assist controller to determine a corrective path for the auxiliary machine to travel to enable a second actual trajectory of the auxiliary machine to satisfy the threshold distance of the desired trajectory.

15. A non-transitory computer readable medium comprising instructions that, when executed, cause a machine to at least:

determine 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;

determine a first actual trajectory of the auxiliary machine based on i) determining a first distance between a first side of the auxiliary machine and the host machine and ii) determining a second distance between a second side of the auxiliary machine and the host machine, the first side is opposite the second side;

compare the desired trajectory of the auxiliary machine to the first actual trajectory of the auxiliary machine; and

when the first actual trajectory does not satisfy a threshold distance of the desired trajectory, select a trajectory-assist mode to steer the auxiliary machine toward the desired trajectory.

16. The non-transitory computer readable medium of claim 15, wherein the instructions further cause the machine to:

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

at least one of

     1) control a first one of ground engaging elements of the auxiliary machine 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.

17. The non-transitory computer readable medium of claim 15, wherein the auxiliary machine is a first auxiliary machine, wherein the instructions further cause the machine to crab steer a second auxiliary machine toward the desired trajectory while the course of the host machine is different than a course of the second auxiliary machine.

18. The non-transitory computer readable medium of claim 17, wherein the first and second auxiliary machines are coupled to a first side of an implement and the host machine is coupled to a second side of the implement.

19. The non-transitory computer readable medium of claim 18, wherein the instructions further cause the machine to determine a first offset of the first auxiliary machine from a longitudinal axis of the host machine and crab steer the first auxiliary machine based on the first offset and determine a second off-set of the second auxiliary machine from the longitudinal axis of the host machine and crab steer the second auxiliary machine based on the second offset.

20. The non-transitory computer readable medium of claim 15, wherein the instructions further cause the machine to determine a corrective path for the auxiliary machine to travel to enable a second actual trajectory of the auxiliary machine to satisfy the threshold distance of the desired trajectory when the first actual trajectory does not satisfy the threshold distance of the desired trajectory.