Methods and apparatus to control machine configurations

• US 9,709,969 B2
• Filed: 03/15/2013
• Issued: 07/18/2017
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Dybro, Niels, Buerkle, Bryan Kirk, Anderson, Noel Wayne
• Primary Examiner(s): Lo, Kenneth M
• Assistant Examiner(s): Pan, Yuhui R
• Application Number:
  US13/841,183
• Publication Number:
  US 20140277675A1
• Time in Patent Office: 1,586 Days
• Field of Search: 700114
• 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:

determining a desired trajectory of an implement based at least in part on a host machine turning, a desired work path, or an alignment of the host machine and an auxiliary machine, the host machine and the auxiliary machine being coupled to the implement, a course of the auxiliary machine being independently adjustable relative to a course of the host machine, wherein the implement is to be connected in series to the host machine on a first side of the implement and to the auxiliary machine on a second side of the implement to enable the host machine to provide a pulling force to the implement and the auxiliary machine to provide a pushing force to the implement;

determining a first actual trajectory of the implement;

comparing the desired trajectory of the implement to the first actual trajectory of the implement; and

when the first actual trajectory does not satisfy a threshold of the desired trajectory, changing the course of the auxiliary machine to enable a second actual trajectory of the implement to satisfy the threshold of the desired trajectory, the course of the auxiliary machine being different than a course of the host machine.

2. A method according to claim 1, wherein changing the course of the auxiliary machine includes 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 is a first ground engaging element, further including a second ground engaging element, the second ground engaging element being controlled 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,

wherein comparing the desired trajectory of the implement to the first actual trajectory includes identifying whether at least one of a distance from the host machine or a distance from the auxiliary machine satisfies a threshold of an expected location relative to the desired trajectory.

6. A method according to claim 5, wherein the distance is identified by a proximity sensor on at least one of the host machine, the implement, or the auxiliary machine.

7. A method according to claim 1, further including, when the first actual trajectory does not satisfy the threshold of the desired trajectory, calculating a correction path to enable the second actual trajectory of the implement to satisfy the threshold of the desired trajectory.

8. A method according to claim 1, wherein the implement includes at least one of a field plow, a cultivator, a tiller, a planter, or a seeder.

9. An apparatus comprising:

a path identifier to determine a desired trajectory of an implement, the implement being coupled to a host machine and an auxiliary machine, a course of the auxiliary machine being independently adjustable relative to a course of the host machine, the path identifier to determine a first actual trajectory of the implement, wherein the implement is to be connected in series to the host machine on a first side of the implement and to the auxiliary machine on a second side of the implement to enable the host machine to provide a pulling force to the implement and the auxiliary machine to provide a pushing force to the implement; and

a controller to compare the desired trajectory of the implement to the first actual trajectory of the implement, when the first actual trajectory does not satisfy a threshold of the desired trajectory, the controller to change the course of the auxiliary machine to enable a second actual trajectory of the implement to satisfy the threshold of the desired trajectory, the course of the auxiliary machine being different than a course of the host machine.

10. An apparatus according to claim 9, wherein the controller is to change the course 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 includes a first ground engaging element, further including a second ground engaging element, the controller to provide power to the first ground engaging element and to 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 auxiliary machine.

13. An apparatus according to claim 9, wherein the controller is to compare the desired trajectory of the implement to the first actual trajectory by identifying whether at least one of a distance from the host machine or a distance from the auxiliary machine satisfies a threshold of an expected location relative to the desired trajectory.

14. An apparatus according to claim 13, further including a proximity sensor to identify the distance, the proximity sensor being on at least one of the host machine, the implement, or the auxiliary machine.

15. An apparatus according to claim 9, wherein, when the first actual trajectory does not satisfy the threshold of the desired trajectory, the controller to calculate a correction path to enable the second actual trajectory of the implement to satisfy the threshold of the desired trajectory.

16. An apparatus according to claim 9, wherein the implement includes at least one of a field plow, a cultivator, a tiller, a planter, or a seeder.

17. The apparatus of claim 9, wherein the host machine includes first steering components to change the course of the host machine and the auxiliary machine includes second steering components to change the course of the auxiliary machine.

18. The apparatus of claim 9, wherein the auxiliary machine includes first steering components to control first wheels of the auxiliary machine and second steering components to control second wheels of the auxiliary machine, the first wheels being independently turnable relative to the second wheels, the second wheels being independently turnable relative to the first wheels.

19. The apparatus of claim 9, wherein the host machine operates as a master vehicle and the auxiliary machine operates as a slave vehicle.

20. The apparatus of claim 9, wherein the path identifier is to determine the desired trajectory of the host machine in response to an operator input received.

21. The apparatus of claim 9, wherein the auxiliary machine is a first auxiliary machine, further including a second auxiliary machine coupled to the host machine, when the first actual trajectory does not satisfy the threshold of the desired trajectory, the controller to change the course of at least one of the first auxiliary machine or the second auxiliary machine to enable the second actual trajectory of the implement to satisfy the threshold of the desired trajectory.

22. The apparatus of claim 21, wherein the course of the first auxiliary machine is independently adjustable relative to a course of the second auxiliary machine.

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

determine a desired trajectory of an implement based at least in part on a host machine turning, a desired work path, or an alignment of the host machine and an auxiliary machine, a course of the auxiliary machine being independently adjustable relative to a course of the host machine, wherein the implement is to be connected in series to the host machine on a first side of the implement and to the auxiliary machine on a second side of the implement to enable the host machine to provide a pulling force to the implement and the auxiliary machine to provide a pushing force to the implement;

determine a first actual trajectory of the implement;

compare the desired trajectory of the implement to the first actual trajectory of the implement; and

when the first actual trajectory does not satisfy a threshold of the desired trajectory, change the course of the auxiliary machine to enable a second actual trajectory of the implement to satisfy the threshold of the desired trajectory, the course of the auxiliary machine being different than a course of the host machine.

24. A storage medium according to claim 23, wherein the instructions when executed cause the machine to change the course 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.

25. A storage medium according to claim 24, wherein the ground engaging element includes a first ground engaging element, further including a second ground engaging element, 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.

26. A storage medium according to claim 25, wherein the regenerative braking is to slow a traveling rate of the auxiliary machine and charge a battery associated with the auxiliary machine.