METHODS AND APPARATUS TO CONTROL MACHINE CONFIGURATIONS

• US 20140277675A1
• Filed: 03/15/2013
• Published: 09/18/2014
• 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 9,709,969 B2
• Time in Patent Office: Days
• US Class Current: 700/114
• 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 disclosed herein includes identifying a machine configuration, the machine configuration comprising a host machine connected to an auxiliary machine; determining a desired trajectory based on at least one of the host machine turning, a desired work path, or an alignment of the host machine and the auxiliary machine; and controlling steering of the auxiliary machine based on a desired trajectory of the host machine.

Claims

1. A method comprising:

identifying a machine configuration, the machine configuration comprising a host machine connected to an auxiliary machine;

determining a desired trajectory based on at least one of the host machine turning, a desired work path, or an alignment of the host machine and the auxiliary machine; and

controlling steering of the auxiliary machine based on a desired trajectory of the host machine.

2. A method according to claim 1, wherein controlling steering of the auxiliary machine comprises controlling at least one of power to a ground engaging element of the auxiliary machine or turning the ground engaging element of the auxiliary machine.

3. A method according to claim 2, wherein the ground engaging element comprises a first ground engaging element and a second ground engaging element and controlling power to the ground engaging element comprises providing power to the first ground engaging element and controlling the second ground engaging element by regenerative braking.

4. A method according to claim 3, wherein the regenerative braking is to slow a traveling rate of the auxiliary machine and charge a battery associated with the auxiliary machine.

5. A method according to claim 1, further comprising:

determining an alignment of the host machine and the auxiliary machine relative to the desired trajectory by identifying whether at least one of a distance from the host machine or a distance from the auxiliary machine is within a threshold distance of an expected location of the desired trajectory; and

controlling the steering of the auxiliary machine based on the alignment.

6. A method according to claim 1, determining an alignment of the host machine and the auxiliary machine relative to the desired trajectory by identifying a first distance between the host machine and the auxiliary machine, the first distance identified by a proximity sensor on at least one of the host machine or the auxiliary machine;

and

controlling the steering of the auxiliary machine based on the alignment.

7. A method according to claim 1, further comprising determining whether the host machine or the auxiliary machine is within a threshold distance of the desired trajectory and calculating a correction path when the host machine or the auxiliary machine are not within a threshold distance of the desired work path.

8. A method according to claim 1, wherein the machine configuration comprises an implement having a first side and a second side, wherein the implement is at least one of connected in series to the host machine on the first side and to the auxiliary machine on the second side or connected in parallel to the host machine on the first side and the auxiliary machine on the first side, the implement comprising at least one of a field plow, a cultivator, a tiller, a planter, or a seeder.

9. An apparatus comprising:

a configuration analyzer to identify a machine configuration, the machine configuration comprising a host machine connected to an auxiliary machine;

a path identifier to determine a desired trajectory based on at least one of the host machine turning, a desired work path, or an alignment of the host machine and the auxiliary machine; and

a controller to control steering of the auxiliary machine based on a desired trajectory of the host machine.

10. An apparatus according to claim 9, wherein the controller is to control the steering of the auxiliary machine by controlling at least one of power to a ground engaging element of the auxiliary machine or turning the ground engaging element of the auxiliary machine.

11. An apparatus according to claim 10, wherein the ground engaging element comprises a first ground engaging element and a second ground engaging element and the controller is to provide power to the first ground engaging element and control the second ground engaging element by regenerative braking.

12. An apparatus according to claim 11, wherein the regenerative braking is to slow a traveling rate of the auxiliary machine and charge a battery associated with the second machine.

13. An apparatus according to claim 9, further comprising an alignment monitor to determine an alignment of the host machine and the auxiliary machine relative to the desired trajectory by identifying whether at least one of a distance from the host machine or a distance from the auxiliary machine is within a threshold distance of an expected location of the desired trajectory;

and the controller is to control the steering of the auxiliary machine based on the alignment.

14. An apparatus according to claim 9, further comprising an alignment monitor to determine an alignment of the host machine and the auxiliary machine relative to the desired trajectory by identifying a first distance between the host machine and the auxiliary machine, the first distance identified by a proximity sensor on at least one of the host machine or the auxiliary machine,

and the controller is to control the steering of the auxiliary machine based on the alignment.

15. An apparatus according to claim 9, wherein the path identifier is to determine whether the host machine or the auxiliary machine is within a threshold distance of the desired trajectory and to calculate a correction path when the host machine or the auxiliary machine are not within a threshold distance of the desired work path.

16. An apparatus according to claim 9, wherein the machine configuration comprises an implement having a first side and a second side, wherein the implement is at least one of connected in series to the host machine on the first side and to the auxiliary machine on the second side or connected in parallel to the host machine on the first side and the auxiliary machine on the first side, the implement comprising at least one of a field plow, a cultivator, a tiller, a planter, or a seeder.

17. A tangible computer readable storage medium comprising instructions that when executed cause a machine to at least:

identify a machine configuration, the machine configuration comprising a host machine connected to an auxiliary machine;

determine a desired trajectory based on at least one of the host machine turning, a desired work path, or an alignment of the host machine and the auxiliary machine; and

control steering of the auxiliary machine based on a desired trajectory of the host machine.

18. A storage medium according to claim 17, wherein the instructions when executed further cause the machine to control at least one of power to a ground engaging element of the auxiliary machine or turning the ground engaging element of the auxiliary machine.

19. A storage medium according to claim 18, wherein the ground engaging element comprises a first ground engaging element and a second ground engaging element and the instructions, when executed, cause the machine to provide power to the first ground engaging element and control the second ground engaging element by regenerative braking.

20. A storage medium according to claim 19, wherein the regenerative braking is to slow a traveling rate of the auxiliary machine and charge a battery associated with the second machine.

21-24. -24. (canceled)