Adaptive machine control system and method

• US 8,214,111 B2
• Filed: 03/30/2010
• Issued: 07/03/2012
• Est. Priority Date: 07/19/2005
• Status: Active Grant

• Current Assignee: Agjunction LLC (Kubota Corporation)
• Original Assignee: Hemisphere GPS LLC (Kubota Corporation)
• Inventors: Heiniger, Richard W., McClure, John A.
• Primary Examiner(s): Algahaim, Helal A
• Application Number:
  US12/750,429
• Publication Number:
  US 20100185366A1
• Time in Patent Office: 826 Days
• Field of Search: 701/50, 701/408, 701/410, 701/466
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

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.

Claims

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.

2. The system of claim 1 further comprising:

said machine comprising a vehicle and said controller being adapted for guiding said machine to predetermined geographical locations.

3. The system of claim 2 further comprising:

said vehicle comprising a motive component and a working component connected to said motive component; and

an articulated hitch connecting said motive and working components;

said control system being connected to said articulated hitch; and

said microprocessor being programmed to control said articulated hitch.

4. The system of claim 1, wherein the machine is a sprayer including a boom with multiple nozzles, the system further comprising:

said microprocessor and said machine controller programmed to receive position data received from said GNSS receiver and antenna relative to said machine sprayer;

said microprocessor adapted to receive GNSS data points corresponding to said nozzle locations during operation of said sprayer and store said data points onto said data storage device; and

said microprocessor and said machine controller programmed to selectively and independently activate and deactivate individual nozzles or groups of nozzles responsive to predetermined spray application criteria including avoiding overlapping spray coverage.

5. 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 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.

6. The system of claim 5, wherein the machine is a sprayer including a boom with multiple nozzles, the system further comprising:

said microprocessor and said machine controller programmed to receive position data received from said GNSS receiver and antenna relative to said machine sprayer;

said microprocessor adapted to receive GNSS data points corresponding to said nozzle locations during operation of said sprayer and store said data points onto said data storage device; and

said microprocessor and machine controller programmed to selectively and independently activate and deactivate individual nozzles or groups of nozzles responsive to predetermined spray application criteria including avoiding overlapping spray coverage.

7. A method of machine control, which method comprises the steps of:

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.

8. The method of claim 7, including the steps:

said vehicle comprising a motive component and a working component connected to said motive component; and

an articulated hitch connecting said motive and working components;

said control system being connected to said articulated hitch; and

said microprocessor being programmed to control said articulated hitch.

9. The method of claim 8, including the steps:

providing an articulated hitch with a hitch control mechanism;

attaching said articulated hitch between said vehicle and said machine; and

programming said microprocessor for controlling said articulated hitch.

10. The method of claim 7 wherein said machine is a sprayer including a boom with multiple nozzles, including the steps:

programming said microprocessor and said machine controller with position data received from said GNSS receiver and antenna relative to said machine sprayer;

recording GNSS data points corresponding to said nozzle locations during operation of said sprayer; and

programming said microprocessor and machine controller to selectively and independently activate and deactivate individual nozzles or groups of nozzles responsive to predetermined spray application criteria including avoiding overlapping spray coverage.