Adaptive machine control system and method
First Claim
Patent Images
1. A system for controlling an operation of a machine, the system comprising:
- a machine controller adapted for controlling a movement or functional aspects of said machine;
a microprocessor programmed for communicating with and instructing said machine controller and adapted to deviate from initial programming under a predetermined set of circumstances;
a data storage device electrically connected to said microprocessor and containing initial programming commands allowing said microprocessor to operate said machine controller, including said predetermined set of circumstances;
a GNSS guidance receiver mounted on said machine;
a GNSS antenna connected to said receiver;
said microprocessor electrically connected to said GNSS receiver and programmed to respond to GNSS positional reference data;
said microprocessor programmed to control said machine based on the geographic position as determined by said GNSS guidance receiver and antenna using a best-fit function for tracking along a programmed path; and
said microprocessor configured to adapt said initial programming based upon guide path irregularities consisting of crosstrack error, coverage gap, coverage overlap, terrain irregularities and irregular field boundaries as determined using data from said GNSS receiver.
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Abstract
A machine control system and method includes an on-board GPS receiver, an on-board processor adapted to store a preplanned guide pattern and a guidance device. The processor includes a comparison function for comparing the vehicle GPS position with a line segment of the preplanned guide pattern. The processor controls the guidance device for guiding the vehicle along the line segment. Various guide pattern modification functions are programmed into the processor, including best-fit polynomial correction, spline correction, turn-flattening to accommodate minimum vehicle turning radii and automatic end-of-swath keyhole turning.
311 Citations
10 Claims
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1. A system for controlling an operation of a machine, the system comprising:
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a machine controller adapted for controlling a movement or functional aspects of said machine; a microprocessor programmed for communicating with and instructing said machine controller and adapted to deviate from initial programming under a predetermined set of circumstances; a data storage device electrically connected to said microprocessor and containing initial programming commands allowing said microprocessor to operate said machine controller, including said predetermined set of circumstances; a GNSS guidance receiver mounted on said machine; a GNSS antenna connected to said receiver; said microprocessor electrically connected to said GNSS receiver and programmed to respond to GNSS positional reference data; said microprocessor programmed to control said machine based on the geographic position as determined by said GNSS guidance receiver and antenna using a best-fit function for tracking along a programmed path; and said microprocessor configured to adapt said initial programming based upon guide path irregularities consisting of crosstrack error, coverage gap, coverage overlap, terrain irregularities and irregular field boundaries as determined using data from said GNSS receiver. - View Dependent Claims (2, 3, 4)
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5. A system for controlling an operation of a machine, the system comprising:
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a machine controller adapted for controlling a movement or functional aspects of said machine; a microprocessor programmed for communicating with and instructing said machine controller and adapted to deviate from initial programming under a predetermined set of circumstances; a data storage device electrically connected to said microprocessor and containing initial programming commands allowing said microprocessor to operate said machine controller, including said predetermined set of circumstances; a vehicle or other motive component adapted for positioning said machine to determined geographical locations; an articulated hitch with a control mechanism adapted for connecting said vehicle and said machine, said microprocessor programmed to control said articulated hitch; a GNSS guidance receiver mounted on said machine; a GNSS antenna connected to said receiver; said microprocessor electrically connected to said GNSS receiver and programmed to respond to GNSS positional reference data; and said microprocessor programmed to respond to GNSS positional reference data and to control said machine based on the geographic position as determined by said GNSS guidance receiver and antenna using a best-fit function for tracking along a programmed path; and said microprocessor configured to adapt said initial programming based upon guide path irregularities consisting of crosstrack error, coverage gap, coverage overlap, terrain irregularities and irregular field boundaries as determined using data from said GNSS receiver. - View Dependent Claims (6)
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7. A method of machine control, which method comprises the steps of:
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providing a microprocessor, a machine controller and a data storage device; programming said microprocessor for communicating with and instructing said machine controller; inputting an initial program to said data storage device, said initial program including initial control commands for said machine controller; programming said microprocessor to deviate from said initial program under a predetermined set of circumstances; running said machine, initiating said initial program, and controlling said machine according to said initial program; and controlling said machine according to said predetermined set of circumstances when circumstances occur; providing a GNSS guidance receiver and antenna; attaching said GNSS guidance receiver and antenna to said machine; programming said microprocessor to respond to GNSS positional reference data and controlling said machine based on the geographic position of said machine as determined by said GNSS guidance receiver and antenna using a best-fit function for tracking along a programmed path; and configuring said microprocessor to adapt said initial programming based upon guide path irregularities consisting of crosstrack error, coverage gap, coverage overlap, terrain irregularities and irregular field boundaries as determined using data from said GNSS receiver. - View Dependent Claims (8, 9, 10)
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Specification