Geometry-based monitoring and control of coupled mobile machines

• US 9,904,290 B2
• Filed: 04/19/2015
• Issued: 02/27/2018
• Est. Priority Date: 04/19/2015
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Pickett, Terence D., Anderson, Noel W., Romig, Bernard E.
• Primary Examiner(s): Khatib, Rami
• Assistant Examiner(s): Wiltey, Nicholas K
• Application Number:
  US14/690,461
• Publication Number:
  US 20160306362A1
• Time in Patent Office: 1,045 Days
• Field of Search: None
• CPC Class Codes: G05D 1/0287 involving a plurality of land vehicles, e.g. fleet or convoy travelling traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16

Abstract

Position data signals based upon sensing of coupled mobile machines in a position in which the coupled mobile machines have first orientations relative to one another are received. The receive position data signals are used to determine geometric information for the coupled mobile machines. Control signals are generated output based upon the determined geometric information for the coupled mobile machines, wherein the control signals facilitate monitoring and control of operation of the coupled mobile machines.

Claims

1. A method comprising:

receiving position data signals that are based upon sensing of coupled mobile machines in a first position in which the coupled mobile machines have first orientations relative to one another;

determining geometric information for the coupled mobile machines from the received position data signals, wherein the geometric information comprises at least one geometric determination selected from a group of geometric determinations consisting of;

an axle length;

a frame width;

a distance between an axle and a hitch point a distance between an outermost rear tire and an A-frame; and

an offset distance of an offset hitch; and

outputting control signals based upon the determined geometric information for the coupled mobile machines.

2. The method of claim 1 further comprising receiving a coupled machine configuration command to change a configuration of at least one of the coupled mobile machines, wherein reception of the coupled mobile machine configuration command automatically triggers a new self-measurement comprising the receiving of the position data signals, the determining of the geometric information for the coupled mobile machines and the outputting of the control signals based upon the determined geometric information.

3. The method of claim 1 further comprising receiving second position data signals that are based upon sensing of the coupled mobile machines in a second position in which the mobile machines have second orientations, different than the first orientations, relative to one another, wherein the geometric information for the coupled mobile machines is determined based upon both the first position data and the second position data.

4. The method of claim 1 further comprising:

outputting control signals to direct repositioning of the coupled machines to a second position in which the couple machines have second orientations, different than the first orientations, relative to one another;

receiving second position data signals that are based upon sensing of the coupled mobile machines in the second position, wherein the geometric information for the coupled mobile machines is determined based upon both the first position data and the second position data.

5. The method of claim 1 wherein the geometric information comprises a hitch-pivot point of coupling of the mobile machines.

6. The method of claim 1 further comprising:

determining contact points of the coupled mobile machines based upon the determined geometric information for the coupled mobile machines; and

monitoring a distance between the contact points of the coupled mobile machines, wherein the control signals are output in response to the distance between the contact points being less than a predefined buffer distance.

7. The apparatus of claim 6, wherein the method further comprises adjusting the predefined buffer distance based upon at least one of a current rate at which corresponding contact points of the coupled mobile machines of moving closer to one another and an environmental condition.

8. The method of claim 1 further comprising:

determining contact points of the coupled mobile machines based upon the determined geometric information for the coupled mobile machines; and

monitoring a distance between the contact points of the coupled mobile machines, wherein the control signals are output in response to the distance between the contact points being less than a predefined buffer distance, the control signals initiate an action selected from a group of action consisting of;

output of a notification to an onboard operator of the coupled machines;

output of a notification across a wireless network to a remote location;

imposition of a steering limitation upon the coupled mobile machines; and

stopping travel of the coupled mobile machines.

9. The method of claim 1, wherein the coupled mobile machines comprise a tractor and a towed implement.

10. The method of claim 1, wherein the coupled mobile machines comprise a winged machine having an adjustable transverse width, wherein the method further comprises receiving second position data signals based upon sensing of the coupled mobile machines in a second position in which the coupled mobile machines have second orientations, different than the first orientations, relative to one another, wherein the first position is with the winged machine in a first state having a first transverse width, wherein the second position is with the winged machine in a second state having a second transverse width, wherein the position data signals depend upon the first transverse width, wherein the second position data signals depend upon the second transverse width and wherein the geometric information for the coupled mobile machines is determined based upon both the position data signals and the second position data signals.

11. The method of claim 1 further comprising receiving user inputted data regarding at least one of the coupled mobile machines, wherein the control signals are output based upon both the user inputted data and the geometric information that was determined from first position data signals based upon sensing of coupled mobile.

12. The method of claim 1 further comprising retrieving stored second geometric information for a first one of the coupled mobile machines, wherein the position data signals are based upon sensing of a second one of the coupled mobile machines in the first position in which the first one of the coupled mobile machines has a first orientation relative to the second one of the coupled mobile machines and wherein the control signals are output based upon both the retrieved stored second geometric information and the geometric information that was determined from first position data signals.

13. The method of claim 1, wherein the coupled mobile machines comprise a plurality of monitoring devices and wherein the control signals select which of the monitoring devices are used to monitor operation of the coupled mobile machines based upon the determined geometric information.

14. The method of claim 1, wherein the coupled mobile machines comprise a plurality of monitoring devices at different locations and wherein the control signals select from which of the different locations operation of the coupled mobile machines is monitored based upon the determined geometric information.

15. The method of claim 1, wherein the coupled mobile machines comprise a plurality of different monitoring devices and wherein the control signals differently weight signals from the plurality of different monitoring devices during monitoring of operation of the coupled mobile machines based upon the determined geometric information.

16. The method of claim 1 further comprising receiving signals indicating an environmental condition, wherein the coupled mobile machines comprise a plurality of monitoring devices and wherein the control signals select which of the monitoring devices are used to monitor operation of the coupled mobile machines based upon both the signals indicating the environmental condition and the determined geometric information.

17. An apparatus comprising:

a non-transient computer-readable medium containing instructions to direct a processor to;

receive first position data signals that are based upon sensing of coupled mobile machines in a first predetermined position in which the coupled mobile machines have first orientations relative to one another;

determine geometric information for the coupled mobile machines from the received data signals; and

output control signals based upon the determined geometric information for the coupled mobile machines; and

receive second position data signals that are based upon sensing of the coupled mobile machines in a second predetermined position in which the mobile machines have second orientations, different than the first orientations, relative to one another, wherein the geometric information for the coupled mobile machines is determined based upon both the first position data signals, the first predetermined position, the second position data signals and the second predetermined position.

18. The apparatus of claim 17, wherein the instructions output control signals that control steering of at least one of the coupled mobile machines to automatically move the coupled mobile machines to the first predetermined position and the second predetermined position.

19. The apparatus of claim 17, wherein the instructions output control signals to instruct an operator to reposition the coupled mobile machines in the first predetermined position and the second predetermined position.

20. An apparatus comprising:

a first mobile machine;

a second mobile machine pivotably coupled to the first mobile machine;

a sensor to sense at least one of the first mobile machine and the second mobile machine; and

a controller to;

determine geometric information for the first mobile machine and the second mobile machine when coupled to one another; and

output control signals to facilitate monitoring and control of operations of the first mobile machine and the second mobile machine based upon the determined geometric information;

determine contact points of the first mobile machine with respect to the second mobile machine based upon the determined geometric information for the first mobile machine and the second mobile machine; and

monitor a distance between the contact points of the first mobile machine and the second mobile machine, wherein the control signals are output in response to the distance between the contact points being less than a predefined buffer distance, the control signals to initiate an action selected from a group of action consisting of;

output of a notification to an onboard operator of the coupled machines;

output of a notification across a wireless network to a remote location;

imposition of a steering limitation upon the coupled mobile machines; and

stopping travel of the coupled mobile machines.

21. The apparatus of claim 20, wherein the position data signals are based upon at least one of a number of tires employed by the coupled mobile machines, the size of the number of tires and the inflation state of the number of tires.