METHOD TO CONTROL VEHICLE MOVEMENT, AND, CONTROLLER

专利摘要:
method for controlling vehicle movement, controller, method for following a leading vehicle, and, system. the present invention provides for a first vehicle (406) and a number of other vehicles (408) that are moved on a number of paths (412,416) that are substantially parallel to, and displaced to at least one of a first displacement side and a second displacement side of, the path (430) meets the first vehicle (406). the number of other vehicles (408) is moved along at least a portion (444) of the path (430) on the lap in response to a turn on the path (430) of the first vehicle (406). the number of other vehicles (408) can be moved from the path (430) to a number of second parallel paths (412,416) which are substantially parallel to the paths (430) after the first vehicle (406) returns and moved to a opposite travel side of the first vehicle (406) which is at least one travel side before the turn in response to the first vehicle (406) is completing the turn.
公开号:BR112012011242B1
申请号:R112012011242-2
申请日:2010-11-09
公开日:2020-03-10
发明作者:Andrew Karl Wilhelm Rekow
申请人:Deere & Company；
IPC主号:

专利说明:

METHOD TO CONTROL VEHICLE MOVEMENT, AND, CONTROLLER
Field of the Invention [0001] The present exhibition generally refers to vehicles, and in particular, the coordination of movement of vehicles. Even more particularly, the present exhibition refers to a method and apparatus for coordinating the movement of vehicles in a field.
Background of the Invention [0002] A leading vehicle can be a manned vehicle or an unmanned vehicle. In the case of a manned vehicle, an operator can use his judgment and perception to guide or navigate the vehicle in his environment. In the case of an unmanned vehicle, a guidance or navigation system can guide or navigate the vehicle in its environment. A number of the following vehicles can follow the path of the leading vehicle in a coordinated manner for military, agricultural, or commercial activities.
[0003] During the operation of vehicles in agricultural use, vehicles often move in straight lines, in rows, and in a field. Vehicles can also travel in round lines, in round rows, in the field. The area in which the rows are positioned is referred to as a "work area" in the field. Cases occur when vehicles turn or adjust their route. The return run usually takes place in an area of the field called the "headland".
Summary [0004] In an illustrative embodiment, a process begins by moving a first vehicle on a path. A number of other vehicles are moved on a number of routes that is substantially parallel to, and shifted to at least one of a first travel side and a second travel side of, the path to the first vehicle. The number of other vehicles is moved along at least a portion of the route on the lap in response to a turn on the route of the first vehicle. The number of other vehicles can be moved from the path to a number of second parallel paths that are substantially parallel to the path after the first vehicle returns and shifted to an offset side opposite the first vehicle than the at least one offset side before the lap in response to the first vehicle completing the lap.
[0005] In another illustrative embodiment, an apparatus may comprise a first communication interface for a first vehicle to determine a path for the first vehicle, a second communication interface for a number of other vehicles for communicating a number of parallel paths that are substantially parallel to, and displaced to at least one of the first and second displacement sides of, the path to the first vehicle, and control logic to signal the number of other vehicles through the second communication interface to move along at least minus a portion of the route on the lap in response to first data indicating a lap on the route of the first vehicle. The control logic can also signal the number of other vehicles through the second communication interface to move from the path to a number of second parallel paths that are substantially parallel to the path after the first vehicle returns, and shifted to one side opposite, that the at least one of the displacement side before the turn in response to second data indicative of a first vehicle completing the turn.
[0006] In yet another illustrative modality, the first vehicle can be configured to move along a path. The number of other vehicles can be configured to move on a number of routes that are substantially parallel to the route for the first vehicle. The vehicle number can also be configured to move along at least a portion of the route on the turn in response to the turn on the route of the first vehicle.
[0007] In yet another illustrative modality, a follower vehicle moves along a path parallel to the leading vehicle. Then, the process comes to a head. The follower vehicle moves directly in line with, and along the same path as, the leading vehicle while in a portion of the headland.
[0008] In yet another illustrative embodiment, an apparatus may comprise a leading vehicle and a follower vehicle. The follower vehicle is configured to travel along exactly the same path as the leading vehicle, and is further configured to travel in a line path to the leading vehicle while in a headland portion.
[0009] In yet another illustrative modality, a first vehicle moves along a path. The first vehicle sends a position of the first vehicle and the path of the first vehicle to the number of other vehicles. A number of other vehicles move on a number of routes that are substantially parallel to the route for the first vehicle. The first vehicle sends an indication to follow the path of the first vehicle over at least the portion of the route on the lap. The number of other vehicles can move along at least a portion of the route on the lap in response to a turn on the route of the first vehicle.
[00010] The characteristics, functions, and advantages can be obtained independently in the various illustrative modalities, or can be combined in still other illustrative modalities in which other details can be seen with reference in the following description and drawings.
Brief Description of the Drawings [00011] The characteristics that are believed to be new features of the illustrative modalities are set out in the attached claims. The illustrative modalities, however, as well as a preferred mode of use, other objectives, and their advantages, will be better understood by reference to the following detailed description of an illustrative modality when read in conjunction with the attached drawings, in which: the figure 1 is a block diagram of multiple vehicles operating in a field environment according to an illustrative modality; figure 2 is a block diagram of an implementation of an embodiment illustrating a three machine configuration; figure 3 is a block diagram of an implementation of an embodiment illustrating a two-machine configuration; figure 4 is a block diagram representing a field environment according to an illustrative embodiment; figure 5 is a block diagram of an implementation of an illustrative mode of a navigation system; figure 6 is a block diagram of a data processing system according to an illustrative embodiment; figure 7 is a flow chart of a process for following a leading vehicle according to an illustrative embodiment; figure 8 is a flow chart of a process for changing sides of a leading vehicle according to an illustrative embodiment; figure 9 is a flow chart of a process for controlling vehicle movement according to an illustrative embodiment; figure 10 is a flowchart of a process for moving a leading vehicle according to an illustrative embodiment; figure 11 is a flow chart of a process for moving a follower vehicle according to an illustrative embodiment; figure 12 is a flow diagram of a process for identifying the headland according to an illustrative embodiment; figure 13 is a flow chart of a process for a number of other vehicle movements according to an illustrative embodiment; and figure 14 is a flow chart of a process for managing the movement of the follower vehicle according to an illustrative embodiment.
Description of the Preferred Modality [00012] The present exhibition generally refers to vehicles, and in particular, the coordination of movement of vehicles. Even more particularly, the present exhibition refers to a method and apparatus for coordinating the movement of vehicles in a field.
[00013] In one or more illustrative modalities, the navigation system uses a positioning system to determine the location of one or more vehicles in relation to one or more locations, limits, and / or other vehicles. An implemented positioning system is substantially any positioning system that includes Global Positioning Satellite (GPS) Systems, GPS Carrier Phase Differential GPS (CDGPS), Code Phase Differential GPS, Triangulation, Laser Distance Measurement, optical tracking, long-range radio navigation (LORAN), inertial navigation systems, very high frequency omnidirectional alignment radio beacon (VOR) / Tactical Navigation System (TACAN), and substantially any other combination of positioning systems and / or navigation known in the art. A positioning system is used to inform one or more vehicles of their current position, as well as the position of other vehicles.
[00014] In one or more illustrative modalities, a positioning system provides each vehicle with the location of each of the other vehicles operating under the navigation system. In one or more illustrative modalities, a plurality of positioning systems is used, where the plurality of positioning systems communicate with each other to provide positioning information for vehicles under any of the positioning systems. In one or more illustrative modes, the follower vehicles are operated by an operator with cancellation control to provide safety, error reduction, and emergency shutdown. The operator can operate the leading vehicle and the accompanying vehicles from inside the vehicles or elsewhere, such as an operations processing room. In another modality, vehicles can be operated without an operator, such as through a data processing system.
[00015] The navigation system uses the leading vehicle to provide local parameters so that the following vehicles are able to position themselves in relation to the path of the leading vehicle. Tracking vehicles use the parameters to at least determine the appropriate direction and speed commands. The leading vehicle is capable of being operated manually or automatically. When operating manually, a vehicle operator determines the path or course of the leading vehicle either by sitting directly on the vehicle's controls or by remote control. When operating automatically, the leading vehicle is programmed, given a predefined route to be followed, or is properly following another vehicle, and through a positioning and navigation system, the leading vehicle automatically implements the route without further intervention from operator.
[00016] In one or more illustrative modalities, the operation of the follower vehicle is based on the parameters provided by the leading vehicle, regardless of whether the leading vehicle is operated manually or automatically. In an illustrative embodiment, the leading vehicles and / or followers include displays that display at the location of one or more of the vehicles. The display is also able to show the area being navigated, areas already navigated by previous vehicles, such as areas already harvested, limits, obstacles, and other such information.
[00017] With reference to the figures, and in particular, with reference to figure 1, modalities of the present invention can be used in a variety of vehicles, such as automobiles, trucks, combines, combined, agricultural equipment, tractors, mowers, vehicles armored vehicles, mine-opening vehicles, utility vehicles, or any other vehicles intended to provide coverage for a specific land area. The variety of vehicles can include a leading vehicle and the following vehicles. The leading vehicle and the following vehicles can be of the same or different types of vehicles. Modalities of the present invention can also be used in a single computing system or distributed computing systems. The illustrative embodiments are not intended to limit the present invention in any way.
[00018] Figure 1 represents a block diagram of multiple vehicles operating in a network environment according to an illustrative modality. Figure 1 represents an illustrative environment including a network 101 in an illustrative embodiment. In this example, an operations processing room 102 can be a single computer or a distributed computing cloud. The operations processing room 102 supports the physical databases and / or connections to the physical databases that constitute the knowledge bases used in the different illustrative modalities. Operations processing room 102 can supply knowledge bases for different vehicles, as well as providing online access to information from knowledge bases. In this example, combine / harvesters 104, 106, and 108 can be any type of harvesting, threshing, crop cleaning, or other agricultural vehicle. In this illustrative modality, combine / harvesters 104, 106, and 108 operate on field 110, which can be any type of land used to grow crops for agricultural purposes.
[00019] In this example shown, field 110 has head 112 and work area 114. Head 112 usually has a lower crop yield than work area 114. Also, head 112 may have more traffic, as it can be used to make turns or turns.
[00020] In an illustrative example, combines / harvesters 104 and 108 can move in field 110 following a leader using a number of different operating modes to assist an operator in carrying out agricultural tasks over field 110. Combine / harvesters 104 , 106, and 108 are moving in the 116 direction. A number, when used with reference to items, means one or more items. For example, a number of different modes is one or more different modes. In the illustrative examples, the number of different modes includes, for example, at least one of a side tracking mode, a teaching and reproduction mode, a teleoperation mode, a path mapping mode, a straight line mode, retrieval mode destination point, track and trace mode, route tracking mode, and other appropriate modes of operation.
[00021] When used here, the phrase "at least one among", when used with a list of items, means that different combinations of one or more of the items can be used and only one of each item on the list may be required. For example, “at least” one of item A, item B, and item C can include, for example, without limitation, item A or item A and item B. This example can also include item A, item B, and item C or item 3 and item C. As another example, at least one from item A, item B, and item C may include item A, two from item B, and 4 from item C or some other combination of types of items and / or number of items.
[00022] In the different illustrative examples, an operator can be a person being followed as the leader when the vehicle is operating in side tracking mode, a person guiding the vehicle, or a person controlling vehicle movements in teleoperation mode. A leader can be a human operator or another vehicle in the same workplace.
[00023] In one example, in side tracking mode, the combine / combine 106 is the leader and the combine / combine 104 and 108 are the followers. The side tracking mode can include pre-programmed maneuvers in which an operator can change the movement of the combine / harvester 106 from a straight travel path to the combined / harvester 106. For example, if an obstacle is detected in field 110 , the operator can initiate an obstacle bypass maneuver that causes the combine / harvester 106 to change direction and move around an obstacle in a pre-set path. [00024] In a teaching and reproduction mode, an operator can manually guide the combine / harvester 106 along a route over field 110 without stops, generating a mapped route. After driving over the route, the operator can move the combine / combine 106 back to the start of the mapped route. The mapped route can be used as a lead vehicle route. After the lead vehicle path is mapped, follower vehicles, such as combine / harvester 104 and 108, travel along routes based on the mapped route of the leading vehicle. [00025] In a tele-operation mode, for example, an operator can wirelessly operate and / or guide the combine / harvester 106 through field 110 in a similar manner to remotely controlled vehicles. With this type of operating mode, the operator can control combine / combines 106 via a wireless controller.
[00026] In a route mapping mode, different routes can be mapped by an operator before reaching field 110. In an example of crop spraying, routes can be identical for each trip, and the operator can count on the fact that the combine / harvester 106 will move along the same path in each instant. Intervention or detour from the mapped route can occur only when an obstacle is present. Again, with the route mapping mode, track points can be adjusted to allow the combine / combine 106 to stop or turn at certain points along field 110.
[00027] In a straight line, the combine / harvester 106 can be placed in the center or moved some distance from the boundary, the field edge, or another vehicle over the field 110. In an example of grain harvesting, the combine / harvester 106 can move down towards field 110 along a straight line, allowing one or more other vehicles, such as the combine / harvester 104 and 108, to travel in a parallel path on either side of the combined / combine 106 to harvest rows of grain. In this type of operating mode, the path of the combine / harvester 106 is always in the center or moved some distance from the boundary, the edge of the field, or another vehicle over the field 110, unless an obstacle is encountered. In this type of operating mode, an operator can start or stop the combine / harvester 106 when necessary.
[00028] In a way of obtaining the destination point, combine / harvester 106 can be the leading vehicle and combined / harvester 104 and 108 can be the follower vehicles. A follower vehicle can determine its own direction, control, and course to position itself at a desired destination point, where the destination point is dependent on a location of the leading vehicle. The parameters used to determine the destination point can be based on distances, such as X meters to the left, and Y meters to the right of the leading vehicle; time, such as 10 seconds behind the leading vehicle, a combination, such as X meters to the left and 10 seconds in front of the leading vehicle, and other such parameters.
[00029] In a tracking and tracking mode, combine / harvester 106 may be the leading vehicle, and combined / harvester 104 and 108 may be the follower vehicle. A follower vehicle maintains a fixed position relative to the position of the leading vehicle. For example, the tracking vehicle maintains a desired position, such as a fixed position that is X meters behind and Y meters to the right or left of the leading vehicle, or T seconds behind the leading vehicle. When the leading vehicle adjusts its position or turns, the follower maintains the position which is X meters behind and Y meters to the right. [00030] In route tracking mode, combine / harvester 106 can be the leading vehicle and combined / harvester 104 and 108 can be the follower vehicle. The leading vehicle initially proceeds to generate a first lead, lead lead, or lead path. In an illustrative mode, the leader path is generated based on periodic time measurements so that the location of the leading vehicle is recorded in all “T” time intervals. In an illustrative mode, the leader path is generated based on periodic distance measurements, so that the location of the leading vehicle is recorded at each predefined distance. Once when the leader path generation is initiated, one or more follower vehicles are able to generate or calculate one or more follower paths that are shifted from the leader path.
[00031] In different illustrative modalities, the different types of modes of operation can be used in combination to achieve the desired goals. In these examples, at least one of these modes of operation can be used to control vehicle movement in a harvesting process. In these examples, each of the different types of vehicles represented can use each of the different types of operating modes to achieve the desired goals.
[00032] In addition, autonomous routes may include several line segments. In other examples, a path can pass around blocks in a square or rectangular pattern or follow contours or field boundaries. Of course, other types of patterns can also be used, depending on the particular implementation. Routes and patterns can be carried out with the help of a knowledge base according to an illustrative modality. In these examples, an operator can guide the combine / harvester 104 over a field or to a starting position. The operator can also monitor the combine / harvester 104 for safe operation and finally provide cancellation control for the combine / harvester 104 behavior.
[00033] In these examples, a route can be a preset route, a route that is continuously planned with changes made by the combine / harvester 104 to follow a leader in a side tracking mode, a route that is guided by an operator using a remote control in a teleoperation mode, or some other route. The path can be any length, depending on the implementation. Routes can be stored and accessed with the help of a knowledge base according to an illustrative modality.
[00034] Thus, the different illustrative modalities provide a number of different ways to operate a number of different vehicles, such as combined / harvesters 104, 106, and 108. Although figure 1 illustrates a vehicle for agricultural work, this illustration is not significant to limit the way in which different modes can be applied. For example, the different illustrative modalities can be applied to other types of vehicles and other types of uses.
[00035] The different illustrative modalities recognize and take into account that, currently, when a leading vehicle makes a 180 degree turn, a follower vehicle will maintain a displaced parallel path, in relation to the leading vehicle, causing the headland area to be greater than desired. For example, if field 110 has a fixed area, an increase in headland size 112 reduces the size of work area 114. In many cases, crop production at headland 112 may be non-existent or less than in the work area 114. Thus, an increase in headland 112 reduces harvest production for field 110. The different advantageous modalities recognize and take into account that reducing headland size 112 is desirable.
[00036] The different illustrative modalities also recognize and take into account, with the vehicles currently used, when a leading vehicle enters a headland, the following vehicles enter the headland and maintain a displacement, or parallel path. Consequently, the headland may need to be as wide as the width of the deployment of all vehicles.
[00037] The different illustrative modalities recognize and take into account that, when a leading vehicle maneuvers or makes a turn into the headland, the following vehicles maintain a displacement, or parallel path. Therefore, when the leading vehicle is making a closed loop, the follower vehicles inside the loop may need to make even more closed loops than the follower vehicles may not be able to do.
[00038] Thus, the different illustrative modalities recognize and take into account that it would be advantageous to have a method and apparatus, which takes into account one or more of the issues discussed above as well as possibly other issues.
[00039] In an illustrative mode, a process begins by moving a first vehicle on a path. A number of other vehicles are moved on a number of routes that is substantially parallel to, and shifted to at least one of a first travel side and a second travel side of, the path to the first vehicle. The number of other vehicles is moved along at least a portion of the route on the lap in response to a turn on the route of the first vehicle. The number of other vehicles can be moved from the path to a number of second parallel paths that are substantially parallel to the path after the first vehicle returns and shifted to an opposite side of the first vehicle than the at least one side of the path before the lap in response to the first vehicle completing the lap.
[00040] In another illustrative embodiment, an apparatus can comprise a first communication interface for a first vehicle to determine a path of the first vehicle, a second communication interface for a number of other vehicles to communicate with a number of parallel paths that are substantially parallel to, and displaced to at least one of the first and second displacement sides of, the path to the first vehicle, and control logic to signal the number of other vehicles through the second communication interface to move along at least a portion of the route on the lap in response to first data indicating a lap on the route of the first vehicle. The control logic can also signal the number of other vehicles through the second communication interface to move from the path to a number of second parallel paths that are substantially parallel to the path after the first vehicle returns, and shifted to one side opposite, that the at least one of the displacement side before the turn in response to second data indicative of a first vehicle completing the turn.
[00041] In yet another illustrative modality, a follower vehicle moves along a path parallel to the leading vehicle. Then, the process comes to a head. The follower vehicle moves directly in line with, and along the same path as, the leading vehicle while in a portion of the headland.
[00042] In yet another illustrative embodiment, an apparatus may comprise a leading vehicle and a follower vehicle. The follower vehicle is configured to travel along exactly the same path as the leading vehicle, and is further configured to travel in a line path to the leading vehicle while in a headland portion. In yet another illustrative embodiment, a first vehicle moves along a path. The first vehicle sends a position of the first vehicle and the path of the first vehicle to the number of other vehicles. A number of other vehicles move on a number of routes that are substantially parallel to the route for the first vehicle. The first vehicle sends an indication to follow the path of the first vehicle over at least the portion of the route on the lap. The number of other vehicles can move along at least a portion of the route on the lap in response to a turn on the route of the first vehicle.
[00043] When used here, "in line" is defined as a portion of a route or round of a route where the leader and the following vehicles all take the same route, routes coinciding with each other, and / or to the right one above the other.
[00044] Turning now to figure 2, a diagram of routes used by three vehicles is represented according to an illustrative modality. In field environment 200, three vehicles make multiple passes over a field while making in-line turns at headland 202. Field environment 200 can be an implementation of an illustrative modality of field environment 100 in Figure 1. Field environment 200 comprises headland 202, group pass 204, 206, and 208, time 210, 212, 214, 216, and 218, leading vehicle 220, and follower vehicles 222 and 224. [00045] Headland 202 may be an implementation of headland 112 of figure 1. Leading vehicle 220 may be an implementation of combine / harvester 106 of figure 1. Follower vehicle 222 may be an implementation of combined / harvester 104 of figure 1. Follower vehicle 224 may be an implementation of combine / harvester 108 of figure 1.
[00046] In a number of the illustrative modalities, the follower vehicles 222 and 224 move in a staggered formation with respect to the leading vehicle 220. In this example of a symmetrical bifurcation formation, the follower vehicles 222 and 224 are even one behind the other , and located in parallel to the path of the leading vehicle 220 at instant 210. In different illustrative modalities, other types of formations can be used. For example, in a left-shift bifurcation formation, follower vehicle 222 is located behind and parallel to the path of the leading vehicle 220 while follower vehicle 224 is parallel to the path of the leading vehicle 220 and behind the follower vehicle 222. In a right shift fork formation, the follower vehicle 224 is located behind and parallel to the path of the leading vehicle 220, while the follower vehicle 222 is parallel to the path of the leading vehicle 220 and behind the follower vehicle 22. In an inclined formation to the left or on the right, the vehicle ahead would be on the far left or right, with the second vehicle being behind and next to the first, and the third vehicle being behind and close to the second, and so on.
[00047] At instant 212, leading vehicle 220 enters headland 202. In one or more illustrative embodiments, follower vehicle 224 may slow down to allow leading vehicle 220 to pass. In different illustrative embodiments, the follower vehicle 224 can maintain an additional distance behind the leading vehicle 220 so that the follower vehicle 224 would not have to slow down for the leading vehicle 220 to pass. [00048] At instant 214, follower vehicles 222 and 224 are located at headland 202 and move on line 226 taken by leading vehicle 220. The order and / or sequence in which follower vehicles 222 and 224 can enter the headland 202 can be controlled differently in the different illustrative modalities. The sequence can be controlled using information such as, but not limited to, timing, spacing, speed, and travel distance at a corresponding travel for the leading vehicle 220 of the follower vehicles 222 and 224. For example, in a modality, identifiers number can be combined with follower vehicles 222 and 224, with follower vehicles 222 and 224 passing in an order designated by number identifiers. In another illustrative embodiment, the leading vehicle 220 can identify, select, and / or transmit to the following vehicles 222 and 224 the order to enter headland 202. In yet another illustrative embodiment, the order can be determined by which follower vehicle arrives first on line 226. In other illustrative modalities, other types of sorting arrangements can be made.
[00049] At instant 216, leader vehicle 220 and follower vehicles 222 and 224 travel in an opposite direction along group pass 206 in a substantially opposite direction from the direction taken in group pass 204 and not adjacent to group pass 204. It is recognized that, by jumping group passes, two vehicles may not travel in adjacent directions and in opposite directions. Leader vehicle 220 and follower vehicles 222 and 224 can use headland 202 to move and make a turn from group pass 204 to group pass 206. A pass is when the combine or harvester moves across the field . The group pass is the route of all combine / harvesters from one side of the field to the other side.
[00050] Additionally, the follower vehicles 222 and 224 switched to opposite sides of the leading vehicle 220. The result of changed sides is that each vehicle skipped two rows. In other illustrative modalities, four following vehicles can be present, instead of two. When four follower vehicles are present, each vehicle, including the leading vehicle 220, skips four rows. If three follower vehicles are used, then each vehicle can skip three rows. The skip of rows allows all of the vehicles to have a larger back size. A lap size is the size of a lap that any vehicle makes while at headland 202, If the next path or group pass to be traveled by a vehicle is close, the vehicle will make a more closed turn. The further the next route or group pass is, the less closed a turn is. For example, if leading vehicle 220 is traveling on a first leg and then turns around headland 202 to a path adjacent to the first leg, it may be difficult for leading vehicle 220 to turn due to the vehicle's turning radius restrictions. leader 220. The jump of rows or paths allows the leader vehicle 220 and the follower vehicles 222 and 224 to make the larger turn, all together.
[00051] At instant 216, leader vehicle 220 and follower vehicles 222 and 224 are at headland 202 in the direction of group pass 206. Headland 202 has edge 228. Edge 228 is the boundary between headland 202 and work area 230. The edge 228 of the headland 202 at time 216 is an example of a headland edge that is not in a straight line, as opposed to the edge 228 that has a straight line. Headboard 202 can be of any shape or size and can be formed around obstacles or field boundaries. When the leading vehicle 220 is operated by an operator, the operator can maneuver the leading vehicle 220 around an obstacle, while indicating that the leading vehicle 220 is at headland 202. Therefore, while the leading vehicle 220 is indicating that the leading vehicle 220 is at headland 202, the online route 232 is used by follower vehicles 222 and 224 to follow.
[00052] Now returning to figure 3, a diagram of routes used by two vehicles is represented according to an illustrative modality. In field environment 300, three vehicles make multiple passes over a field while making in-line turns at headland 302. Field environment 300 can be an implementation of an illustrative modality of field environment 300 in figure 1. In this example, the environment field 300 comprises headland 302, group pass 304, 306, 308, 310 and 312, time 314, 316, 318, 320, and 322, leading vehicle 324, and follower vehicle 326.
[00053] Headrest 302 can be an implementation of headboard 112 of figure 1. Leading vehicle 324 can be an implementation of combine / harvester 106 of figure 1. Follower vehicle 326 can be an implementation of combined / harvester 104 or 108 of figure 1. [00054] In one or more illustrative modalities, the follower vehicle 326 is located parallel to, and slightly behind, the leading vehicle 324 at time 314 moving along group pass 304. At time 316, the vehicle leader 324 and follower vehicle 326 have entered headland 302 and are located on line path 328 created by leader vehicle 324.
[00055] At time 318, leader vehicle 324 and follower vehicle 326 have left headland 302 and are now back on parallel paths over group pass 306. At time 320, leading vehicle 324 entered headland 302. or more illustrative embodiments, the follower vehicle 326 may have to slow to allow the leading vehicle 324 to pass. In different illustrative embodiments, the follower vehicle 326 can maintain an additional distance behind the leading vehicle 324 so that the follower vehicle 326 would not have to slow down for the leading vehicle 324 to pass. [00056] At instant 322, leader vehicle 324 and follower vehicle 326 entered headland 302 and are on the line path 330 created by leader vehicle 32 in the direction of group pass 308, 310, and 312.
[00057] The illustration of the field environment 100 in figure 1 and the machine configurations in figures 2 and 3 are not intended to imply physical or architectural limitations to the way in which different advantageous modalities can be implemented. Other components in addition to, and / or in place of those illustrated, may be used. Some components may be unnecessary in some advantageous ways. Also, the blocks are presented to illustrate some functional components. One or more of these blocks can be combined and / or divided into different blocks when implemented in different advantageous modalities.
[00058] For example, field environments 200 and 300 may have more fields than shown in figures 2 and 3. Also, field environments 200 and 300 may have a different number of vehicles than those shown in figures 2 and 3. Also, field environments 200 and 300 can be used for other purposes, such as mine detection, other than harvesting, as shown in figures 2 and 3. Additionally, a different number of leading vehicles and / or the following vehicles can exist in figures 2 and 3.
[00059] Now returning to figure 4, a block diagram is represented of a field environment according to an illustrative modality. The 400 field environment can be a crop field, military field, or some other type of area. Field environment 400 can be an implementation of a field environment modality 100 of figure 1. Field environment 400 can be used for field environment 200 of figure 2 and / or field environment 300 of figure 3. In different illustrative modalities, any number of vehicles can be present in different field environments. For example, a field environment can comprise four, five, six, seven, or more vehicles.
[00060] In this example, field environment 400 comprising field 402 and operations processing room 404. Field 402 can comprise leading vehicle 406, first follower vehicle 408, second follower vehicle 410, parallel path 412, the headland 414, on the online route 416, the first direction 418, the second direction 420, and the work area 422. The leading vehicle 406 may be the first vehicle 440. The first follower vehicle 408 and the second follower vehicle 410 may together be number of other vehicles 423. The leading vehicle 406 can be an implementation of the combine / harvester 106 in figure 1, the leading vehicle 220 in figure 2, or the leading vehicle 324 in figure 3. The first follower vehicle 408 can be an implementation of the combined / combine harvester 104 in figure 1, leading vehicle 222 in figure 2, or leading vehicle 326 in figure 3. The second follower vehicle may be an implementation of combine / harvester 108 in figure 1 u of the leading vehicle 224 of figure 2. [00061] Leading vehicle 406, the first follower vehicle 408, the second follower vehicle 410, and any other vehicle move along field 402 following leading vehicle 406 using a number of modes different operating modes to assist operator 411 in carrying out agricultural tasks on field 402. Modes include, for example, side tracking mode, teaching and reproduction mode, tele operation mode, path mapping mode, straight line mode, way of obtaining the destination point, way of tracking and tracking, route tracking mode, and other appropriate modes of operation.
[00062] The leading vehicle 406 and the follower vehicles 408 and 410 can be any type of vehicle, such as, but not limited to, automobiles, trucks, harvesters, combined, agricultural equipment, tractors, mowers, or armored vehicles, and vehicles utilities. In addition, the vehicle selection can all be of the same type, or different type of vehicles can be used for the leading vehicle 406, first follower vehicle 408, and follower vehicle 410.
[00063] In this example, the operations processing room 404 can be an implementation of the operations processing room 102 of figure 1. The operations processing room 404 can provide knowledge bases to the different vehicles, as well as providing online access information from knowledge bases.
[00064] The leading vehicle 406 may be followed by the first follower vehicle 408. The first follower vehicle 408 may be a similar type of vehicle as the leading vehicle 406. The first follower vehicle 408 may maintain position 424 and / or the path 426 at position 428 and path 430 of leader vehicle 406. The first follower vehicle 408 can maintain offset 431 relative to leader vehicle 406. The offset 431, or desired offset, can be in the form of a lateral distance, a distance that the path of the first follower vehicle 408 is from the path 430 of the leading vehicle 406, and a primary distance, a distance that a leading vehicle 406 is ahead of the first follower vehicle 408. For example, if leading vehicle 406 is moving to point A from point B, the first follower vehicle 408 can maintain a parallel path, such as parallel path 412, in relation to the leading vehicle 406 and located behind d the leading vehicle 406. The leading vehicle 406, the first follower vehicle 408, the second follower vehicle 410 may use any type of operating mode. The different modes can include, for example, without limitation, how to get to the destination point, a way of tracking and tracking, and a route tracking mode described in Figure 1.
[00065] In one or more illustrative modalities, the second follower vehicle 410 also maintains a path parallel to the leading vehicle 406 and located behind the leading vehicle 406. In the modalities with more than one of the follower vehicles, the follower vehicles can be uniformly placed in each side of the leading vehicle 406. For example, the first follower vehicle 408 can be placed on the first side 432 of the leading vehicle 406 and the second follower vehicle can be placed on the second side 434 of the leading vehicle 406. In different illustrative embodiments, more than two following vehicles may be present.
[00066] Field 402 is divided into two types of areas in these examples. The two types of areas are work area 422 and headland 414. Headland 414 is the area in field 402 where the leading vehicle 406 and number of other vehicles 423 perform most of the maneuvers and turns. Work area 422 is each area in field 402 that is not part of headboard 414. Headboard 414 and work area 422 may or may not be contiguous. There may be multiple areas of headboard 414 and work area 422.
[00067] For example, the leading vehicle 406 can travel in the work area 422 in the first direction 418 and then turn around the headland 414 towards the next group pass where the leading vehicle 406 will travel in the second direction 420. A headboard 414 usually yields less return on crops than work area 422.
[00068] When leader vehicle 406 enters portion 436 of headland 414, leader vehicle 406 begins to maneuver for the next group pass through work area 422. Portion 436 may be the entire 438 of headland 414. When the first follower vehicle 408 enters headland 414, first follower vehicle 408 may follow route 416 to leader vehicle 406 in line. First follower vehicle 408 may not be immediately on line path 416 at headland entrance 414, but may move towards line path 416 at the entrance to headland 414. Consequently, the first follower vehicle 408 can travel over only portion 444 of path 430 during turn 446 of leading vehicle 406.
[00069] The first follower vehicle 408 can determine the online route 416 by taking position 428 of leader vehicle 406 during the time that leader vehicle 406 is at headland 414. Leader vehicle 406 can indicate when leader vehicle 406 is at headland 414 for providing an indication 448 and then providing another indication 448 when leading vehicle 406 is outside headland 414. Indication 448 can be generated by operator 411 of leading vehicle 406 by pressing a button or commanding an implementation action. In other examples, indication 448 can be generated by leader vehicle 406 automatically when leader vehicle 406 enters and leaves headland 414. The first follower vehicle 408 can take data on position 428 of leader vehicle 406 while leader vehicle 406 is in headland 414. In different illustrative modalities, the first follower vehicle 408 can take data points from position 428 of the leading vehicle 406 when the first follower vehicle 408 knows in advance from where the headland 414 begins and ends, for example, when the paths 430 and 426 were pre-programmed.
[00070] The first follower vehicle 408 can know the position 428 of the leading vehicle 406 through the use of a positioning system, such as a global positioning system (GPS). The first follower vehicle 408 can obtain position data 428 from the leading vehicle 406, the first follower vehicle 408, and / or the operations processing room 404.
[00071] It is recognized that when in illustrative embodiments the first follower vehicle 408 is mentioned as having a capacity, the second follower vehicle 410 may also have a similar capacity in addition to, rather than, the first follower vehicle 408. Additionally, any number of tracking vehicles can achieve similar capabilities. [00072] In a number of the illustrative modalities, when the first follower vehicle 408 and the second follower vehicle 410 make the turn at headland 414 from the first direction 418 to the second direction 420 from a group pass to another group pass, follower vehicles 408 and 410 begin to reduce travel 431 and 433 with path 430 of leading vehicle 406. When the first follower vehicle 408 and the second follower vehicle 410 enter headland 414, the first follower vehicle 408 and the second follower vehicle 410 begins to reduce travel 431 and 433 with path 430 of the leading vehicle 408. The first follower vehicle 408 and the second follower vehicle 410 may enter headland 414 in sequence 435. Sequence 435, in which the first follower vehicle 408 and second follower vehicle 410 can enter headland 202, can be controlled differently in different illustrative modalities. Sequence 435 can be controlled using information such as, but not limited to, timing, spacing, speed, and travel distance for a corresponding travel for the leading vehicle 406 of the first follower vehicle 408 and the second follower vehicle 410. When offsets 431 and 433 are reduced, the first follower vehicle 408 and the second follower vehicle 410 may be on the line path 416. Before the first follower vehicle 408 and the second follower vehicle 410 leave headland 414, the first follower vehicle 408 and the second follower vehicle 410 begins to expand offsets 431 and 433 to be at the appropriate distance from path 430 when leaving headland 414.
[00073] In one or more illustrative modalities, when the first follower vehicle 408 and the second follower vehicle 410 make the turn at headland 414 from the first direction 418 to the second direction 420 from a group pass to another pass from group, the follower vehicles change on the sides of the leading vehicle 406. For example, when entering headland 414, the first follower vehicle 408 may be on the first side 432 and the second follower vehicle may be on the second side 434. When it leaves the headland 414, the first follower vehicle 408 can be on the second side 434 and the second follower vehicle can be on the first side 432. On the changed sides, each follower vehicle is allowed to make a larger radius lap.
[00074] The illustration of field environment 400 in figure 4 is not meant to imply physical or architectural limitations to the way in which different advantageous modalities can be implemented. Other components, in addition to, and / or in place of those illustrated, may be used. Some components may be unnecessary in some advantageous ways. Also, the blocks are presented to illustrate some functional components. One or more of these blocks can be combined and / or divided into different blocks, when implemented in different advantageous modalities.
[00075] For example, the leading vehicle 406 may have more sides than the first side 432 and the second side 434. The field environment 400 may comprise more follower vehicles than the first follower vehicle 408 and the second follower vehicle 410. For example , in different illustrative modalities, the field environment 400 can have four following vehicles. Also, the leading vehicles 406, the first follower vehicle 408, and the second follower vehicle 410 can operate in more directions than just the first direction 418 and the second direction 420.
[00076] The leading vehicle 406 and the follower vehicles 408 and 410 can be a group of vehicles in field 402. In different illustrative modalities, multiple groups of vehicles can be present. The multiple groups of vehicles can operate on the same or different fields. In different modalities, one of the vehicle groups can be a leading vehicle group and the other vehicle group can be a vehicle following group.
[00077] Field environment 400 can also comprise first communication interface 450 and second communication interface 452. The first communication interface 450 can be associated with the first vehicle 440 and can determine the path 430 of the first vehicle 440. The first communication interface 450 may have both communication ends positioned on the first vehicle 440 or one end may be remote. The path 430 of the first vehicle 440 can be determined by independent components of the first vehicle 440 so that path 430 is communicated to the first vehicle 440 below. In other embodiments, the first communication interface 450 can determine the path 430 that the first vehicle 440 is, by receiving power from the other control, such as the operations processing room 404, which controls the path 430 of the first vehicle 440 or by receiving feedback regarding route 430 being taken by an operator. The second communication interface 452 can be associated with a number of other vehicles 423 and can communicate the parallel path 412 which is substantially parallel to, and moved to at least one of, the first side 432 and the second side 434 of the first vehicle 440 , path 430 of the first vehicle 440. The second communication interface 452 may have a communication end positioned on the first vehicle 440 or an end may be remote.
[00078] Field environment 400 may also comprise control logic 454. Control logic 454 may signal a number of other vehicles 423 via second communication interface 452 to move along at least portion 444 of path 430 on lap 446 in response to first data 456 indicative of lap 446 on path 430 of the first vehicle 440. Control logic 454 can also signal a number of other vehicles 423 via the second communication interface 452 to move from path 430 for the parallel path 412 which can be substantially parallel to the path 430 after lap 446 of the first vehicle 440, and moved to an opposite side 432 or 434 that before lap 446 in response to second data 458 indicative of the first vehicle 440 completing the lap 446. The control logic 454 can also be hosted on the first vehicle 440 or remote to the first vehicle 440. [00079] Going back to figure 5, a block diagram of an implementation of an illustrative mode of a navigation system is represented. The navigation system 500 can operate in a leading vehicle, a number of other vehicles, or in an operations processing room, such as the leading vehicle 406, number of other vehicles 423, and operations processing room 404 of figure 4 The navigation system 500 can be a data processing system. In different illustrative embodiments, the navigation system 500 can be in the form of program code or comprise components that are a data processing system and components that are program code. In an illustrative embodiment, the navigation system 500 includes a path controller 502 that provides calculations, adjustments and path control. The path controller 502 includes parameters 504 that are used in determining a desired path. Parameters 504 include any number of parameters, such as fixed point X 506 and fixed point Y 508 from a given point, such as the location of a leading vehicle.
[00080] The navigation system 500 includes a destination point calculator 510 that is configured to determine a desired destination point based on a given reference point. The destination point calculator 510 includes any number of parameters 512, such as distance 514, which is the distance the destination point should be, from the reference point, such as a leading vehicle.
[00081] The navigation system 500 includes a course calculator 516 that is configured to determine an optimal course from a starting or current position to the desired destination point, determined by the destination point calculator 510. The Course 516 includes parameters 518, such as limits 520, which must be avoided, or alternatively, which must be used, size of vehicles 522 operating under the navigation system 500, safety intermediate storage zones 524 around the vehicles, and other obstacles.
[00082] A 526 route controller is also included in the navigation system 500 to generate a route or determine a route that the vehicle must follow and the vehicle control to maintain travel along the route. In an illustrative embodiment, the path controller 526 includes a path generator 528 that is configured to generate a leader path based on the location of the vehicle. The path generator 528 generates the path continuously or periodically using parameters 530, such as time 532 and distance 534. The path controller 526 also includes a path calculator 536 that is configured to use a leader path to generate a follower path based on parameters 538, such as predefined or calculated travel coordinates 540. The travel coordinates can be left, right, forward and backward distances from a leading vehicle or path, distances north, south, east and west of the leading vehicle or route, and other such coordinates. [00083] In an illustrative embodiment, the course calculator 516 and the path controllers 526 cooperate to implement a pre-defined or pre-programmed course that allows the leader and / or the following vehicles to implement a pre-defined course for the operation automatic.
[00084] The navigation system 500 also includes a local generator 542 which, in an illustrative embodiment, is configured to determine the location of any number of vehicles controlled by the navigation system 500. Local generator 542 includes at least a leading vehicle 544 using coordinate systems 546, limits 548 that limit vehicle operation, predefined reference points 550, such as antennas 552 of a positioning system, buildings 554, and others from such reference points. In an illustrative embodiment, local generator 542 also includes a follower vehicle location generator 556 that uses similar predefined coordinate systems 558, limits 560 that limit vehicle operation, predefined reference points 552, such as antennas 564 of a positioning system, 566 buildings, and others from such landmarks.
[00085] In an illustrative embodiment, the navigation system 500 also includes a communication controller 568 that allows the vehicle to communicate with the navigation system 500 and other vehicles. Communication controller 568 includes a transmitter controller 570 and a receiver controller 572.
[00086] The navigation system 500 can also include direction controller 574 which is used in the implementation of trajectory, course and route. The navigation system 500 can also include speed controller 576 to control the vehicle speed.
[00087] The navigation system 500 provides at least three modes of operation and distributed control. A first mode is referred to as a "waypoint acquisition" (DPA) mode, a second is referred to as a "walk and follow" (TAF) mode, and a third is referred to as a "walk path" mode (PT).
[00088] Now returning to figure 6, a diagram of a data processing system is represented according to an illustrative modality. The data processing system 600 is an example of a way in which the navigation system 500 in figure 5 can be implemented.
[00089] In this illustrative example, data processing system 600 includes communications fabric 602, which provides communications between processor unit 604, memory 606, persistent storage 608, communications unit 610, the input / output unit (I / O) 612, and display 614. Processor unit 604 is for executing instructions for software that can be loaded into memory 606. Processor unit 604 can be a set of one or more processors or it can be a multiprocessor core, depending on the particular implementation. In addition, processor unit 604 can be implemented using one or more heterogeneous processor systems, in which a main processor is present with secondary processors on a single chip. As another illustrative example, processor unit 604 can be a symmetric multiprocessor system containing multiple processors of the same type.
[00090] Memory 606 and persistent storage 608 are examples of storage devices 616. A storage device is any piece of hardware that is capable of storing information, such as, for example, without limitation, data, shaped program code functional, and / or other appropriate information or on a temporary basis and / or on a permanent basis. Memory 606, in these examples, can be, for example, a random access memory, or any other suitable volatile or non-volatile storage device. Persistent storage 608 can take many forms, depending on the particular implementation. For example, persistent storage 608 can contain one or more components or devices. For example, persistent storage 608 can be a hard disk, a flash memory, a rewritable optical disc, a rewritable magnetic tape, or some combination of the above. The means used by persistent storage 608 can be removable. For example, a removable hard drive can be used for persistent storage 608. [00091] Communications unit 610, in these examples, provides communication with other data processing systems or devices. In these examples, the communications unit 610 is a network interface card. The communications unit 610 can provide communications through the use of either or both physical and wireless communications links.
[00092] The input / output unit 612 allows the input and output of data with other devices that can be connected to the data processing system 600. For example, the input / output unit 612 can provide a connection for the power or input by the user through a keyboard, a mouse, and / or some other appropriate input or power device. In addition, the input / output unit 612 can output to a printer. The display 614 provides a mechanism for displaying information to a user.
[00093] Instructions for the operating system, applications, and / or programs can be positioned on the storage devices 616, which are in communication with the processor unit 604 through the communications fabric 602. In these illustrative examples, the instructions are in a functional form in persistent storage 608. These instructions can be loaded into memory 606 for execution by processor unit 604. The processes of the different modalities can be performed by processor unit 604 using instructions implemented by computer, which can be positioned in a memory, such as memory 606.
[00094] These instructions are referred to as program code, computer-usable program code, or computer-readable program code that can be read and executed by a processor in processor unit 604. The program code, in different modalities , can be incorporated into different physical or computer-readable storage media, such as memory 606 or persistent storage 608.
[00095] Program code 618 is located in a functional form on switch-readable medium 620 which is selectively removable and can be loaded into or transferred to data processing system 600 for execution by processor unit 604. The code of program 618 and computer-readable medium 620 form computer program product 622. In one example, computer-readable media 620 can be computer-readable storage media 624 or computer-readable signal media 626. Readable storage media per computer 624 may include, for example, an optical or magnetic disk that is inserted or placed in a drive or other device that is part of the persistent storage 608 for transfer to a storage device, such as a hard drive, that is part of of persistent storage 608. Computer-readable storage media 624 can also take the form of storage the persistent, such as a hard drive, a thumb drive, or a flash memory that is connected to the 600 data processing system. In some cases, 624 computer-readable storage media may not be removable from the system data processing 600. [00096] Alternatively, program code 618 can be transferred to data processing system 600 using computer-readable signal means 626. Computer-readable signal means 626 can be, for example, a signal of propagated data containing program code 618. For example, computer-readable signal means 626 can be an electromagnetic signal, an optical signal, and / or any other appropriate type of signal. These signals can be transmitted over communication links, such as wireless communication links, a fiber optic cable, a coaxial cable, a metal wire, and / or any other appropriate type of communication link. In other words, the communication link and / or the connection can be physical or wireless in the illustrative examples.
[00097] In some illustrative embodiments, program code 618 can be downloaded over a network to persistent storage 608 from another device or data processing system via computer-readable signal means 626 for use within the system data processing 600. For example, program code stored on a computer-readable storage medium in a server data processing system can be downloaded over a network from the server to the data processing system 600. The data processing system providing program code 618 can be a server computer, a client computer, or some other device capable of storing and transmitting program code 618.
[00098] The different components illustrated for the data processing system 600 are not intended to provide architectural limitations to the way in which different modalities can be implemented. The different illustrative modalities can be implemented in a data processing system including components in addition to, or in place of, those illustrated for the data processing system 600. Other components shown in figure 6 can be varied from the illustrative examples shown . The different modalities can be implemented using any device or hardware system capable of executing the program code. As an example, the data processing system 600 may include organic components integrated with inorganic components and / or may be composed entirely of organic components, excluding a human being. For example, a storage device can be composed of an organic semiconductor.
[00099] As another example, a storage device in the data processing system 600 is any hardware device that can store data. Memory 606, persistent storage 608, and computer-readable medium 620 are examples of storage devices in a tangible form.
[000100] In another example, a busbar system can be used to implement 602 communications fabric and can be composed of one or more busbars, such as a system busbar or an input / output busbar. Of course, the busbar system can be implemented using any appropriate type of architecture that provides a transfer of data between different components or devices attached to the busbar system. In addition, the communications unit may include one or more devices used to transmit and receive data, such as a modem or network adapter. Also, the memory can be, for example, memory 606 or a cache, as found in an interface and memory controller core that can be present in communications fabric 602. [000101] Now going back to figure 7, a flowchart is represented for a process to follow a leading vehicle according to an illustrative modality. The process in figure 7 can be implemented in the field environment 200 of figure 2.
[000102] The process begins with a follower vehicle moving along a path parallel to the leading vehicle (step 702). The follower vehicle determines a position and the path of the leading vehicle at the headland (step 704). The position and route can be sent from the lead vehicle to the following vehicles or received from the operations processing room. The position and route can be determined by directions from the leading vehicle when the headland has been penetrated and abandoned. Then, the follower vehicle communicates with the leading vehicle to follow an in-line path at a headland portion (step 706).
[000103] Then, the following vehicle enters the headland (step 708). The process controls the sequence of the vehicles following the portion of the route on the return. The sequence in which the following vehicles can enter the headland can be determined differently in different illustrative modalities. The sequence can be controlled using information, such as, but not limited to, timing, spacing, speed, and travel distance for a corresponding displacement, for a leading vehicle, of the following vehicles. Then, the follower vehicle moves in line with the leading vehicle while in a portion of the headland (step 710). The head portion may be the entire head. Then, the follower vehicle returns to the path parallel to the leading vehicle before leaving the headland (step 712). After that, the process returns to step 702. It is appreciated that any number of conditions can cause the process to be interrupted or stopped. For example, the process may end if vehicles complete a mission, finish harvesting a field, or there are no more headlands left.
[000104] Turning now to figure 8, a flowchart is represented for a process to change the sides of a leading vehicle according to an illustrative modality. The process in figure 8 can be implemented in the field environment 200 of figure 2.
[000105] The process begins with a follower vehicle moving in a parallel path and displaced with respect to the leading vehicle (step 802). The first follower vehicle moves on a first parallel path on a first side of the leading vehicle's path. The second follower vehicle moves on a second parallel path on a second side of the leading vehicle's path. The follower vehicle and a second follower vehicle follow the leading vehicle on parallel paths on a first side and a second side of the leading vehicle, respectively, in a first direction. The follower vehicle determines a position and path of the leading vehicle at a headland (step 804). The follower vehicle communicates with the leading vehicle to follow an in-line path at a headland portion (step 806).
[000106] Then, the following vehicle enters the headland (step 808). Then, the follower vehicle moves in line with the leading vehicle, while in the headland portion (step 810). The head portion may be the entire head. The follower vehicle and the second follower vehicle change sides once when exiting from the headland and move in a second direction (step 812). The follower vehicle and the second follower vehicle move in a parallel and offset path from the leading vehicle (step 814). The first follower vehicle moves from the path to the second parallel path in response to the leading vehicle completing the turn. The second follower vehicle moves from the path to the first parallel path in response to the leading vehicle completing the turn. The first follower vehicle and the second follower vehicle switch sides in relation to the path of the leading vehicle. The follower vehicle and the second follower vehicle follow the leading vehicle on parallel paths on the second side and the first side of the leading vehicle, respectively, in the second direction. After that, the process ends.
[000107] Turning now to figure 9, a flowchart is represented to control vehicle movement according to an illustrative modality. The process in figure 9 can be implemented in the field environment 200 of figure 2.
[000108] The process moves a first vehicle on a route (step 902). Then, the process moves a number of other vehicles on a number of parallel paths that are substantially parallel to, and displaced to at least one of the first displacement side and the second displacement side of, the path to the first vehicle ( step 904). Then, the process moves the number of other vehicles along at least a portion of the route on the turn in response to a turn on the route of the first vehicle (step 906). Next, the process moves the number of other vehicles from the path to a number of second parallel paths that are substantially parallel to the path after the first vehicle returns, and shifted to an offset side of the first vehicle that runs through it. minus one side of travel before the turn in response to the first vehicle completing the turn (step 908). After that, the process ends.
[000109] Turning now to figure 10, a flowchart is represented for a process for the movement of the leading vehicle according to an illustrative modality. The process in figure 10 can be implemented in the field environment 200 of figure 2.
[000110] The process begins with a leading vehicle moving along a group pass (step 1002). The leading vehicle sends an indication that a turn on the route is being performed (step 1004). The leading vehicle turns to move for a second group pass (step 1006). The turn can be done entirely at the head. The leading vehicle sends an indication that the lap over the route is finished (step 1008). Then, the leading vehicle moves on the second group pass (step 1010). After that, the process ends.
[000111] Turning now to figure 11, a flowchart is represented for a process for moving a follower vehicle according to an illustrative modality. The process in figure 11 can be implemented in the field environment 200 of figure 2.
[000112] The process begins with a follower vehicle moving parallel to a leading vehicle on the first side of the leading vehicle (step 1102). The follower vehicle receives an indication that the leading vehicle is taking a turn (step 1104). The follower vehicle tracks the path of the leading vehicle (step 1106). Then, in response substantially to reaching the indication position, the movement over a portion of a path of the leading vehicle (step 1108), the indication position can be the beginning of the headland. The follower vehicle may not start moving towards the path until it is inside the headland.
[000113] The follower vehicle receives a second indication that the leading vehicle is completing the turn (step 1110). The second indication may be in connection with the abandonment of the headboard. The follower vehicle moves back to a path parallel to the leading vehicle on a second side of the leading vehicle before substantially reaching the position of the second indication (step 1112). The second side of the leading vehicle can be the side opposite the first side. Also, while the sides are changed, the following vehicle can skip rows. The follower vehicle can skip a number of rows equal to the number of follower vehicles. Also, the following vehicle can reach the parallel path before substantially reaching the position of the second indication, which can also be the same as abandoning the headland. After that, the process ends.
[000114] Turning now to figure 12, a flowchart is represented for a process for moving a follower vehicle according to an illustrative modality. The process in figure 12 can be implemented in the field environment 200 of figure 2.
[000115] The process begins with the follower vehicle moving along a path (step 1202). The follower vehicle identifies a location of a leading vehicle (step 1204). The follower vehicle then identifies a location of the follower vehicle with respect to the leading vehicle (step 1206). A determination is made whether the follower vehicle is at a desired offset from the leading vehicle (step 1208). The determination can be made by the leading vehicle. In different modalities, the follower vehicle, another vehicle, or the operations processing room can make the determination. The desired offset can be in the form of a lateral distance, a distance that the trail of the trailing vehicle is from the path of the leading vehicle, and a primary distance, the distance that the leading vehicle is in front of the trailing vehicle. If the follower vehicle is at the desired offset from the leading vehicle, the follower vehicle continues to move in the same direction at the same speed (step 1210). After that, the process returns to step 1202. If the follower is not at the desired offset from the leading vehicle, the follower adjusts the direction to reach the desired offset (step 1212). After that, the process returns to step 1202. It is appreciated that any number of conditions can cause the process to be interrupted or stopped. For example, the process can end if vehicles have completed a mission or have finished harvesting a field.
[000116] Turning now to figure 13, a flowchart is represented for a process to identify the headland according to an illustrative modality. The process in figure 13 can be implemented in the field environment 200 of figure 2.
[000117] The process begins with determining whether an indication has been received, that a leading vehicle is entering the headland (step 1302). If the indication is not received, the process returns to step 1302. If the indication is received, then a location of the leading vehicle is identified (step 1304). Then, a second determination is made if a second indication has been received, that the leading vehicle is leaving the headland (step 1306). If the second indication is not received, the process returns to step 1304. If the second indication is received, then a second location of the leading vehicle is identified (step 1308). After that, the process returns to step 1302 to identify the next headland. It is appreciated that any number of conditions can cause the process to be interrupted or paralyzed. For example, the process can end if vehicles have completed a mission, completed a field harvest, or there are no more headlands left.
[000118] Turning now to figure 14, a flowchart is represented for a process to manage the movement of the follower vehicle according to an illustrative modality. The process in figure 14 can be implemented in the field environment 200 of figure 2.
[000119] The process begins with determining whether a leading vehicle is in the work area (step 1402). If the leading vehicle is in the work area, adjust an offset to travel along a path parallel to the leading vehicle (step 1404), then the process repeats step 1402. If the leading vehicle is not in the work area, determine whether the follower vehicle is at the headland (step 1406). If the follower vehicle is not at the headland, the follower vehicle moves in the same direction (step 1408), then repeats step 1406. If the follower vehicle entered the headland, the follower vehicle changes an offset from the leading vehicle to move in a route taken by the leading vehicle (step 1410). Then, a second determination is made as to whether the follower vehicle is ready to leave the headland (step 1412). If the follower is not ready to leave the headland, the process repeats step (1412). If the follower vehicle is ready to leave the headland, the follower vehicle changes the displacement to travel along a path parallel to the leading vehicle and on the opposite side of the leading vehicle as in step 1404 (step 1414). The follower vehicle is ready to leave the headland when the follower vehicle has a distance to the left before the end of the headland to change the displacement to travel along the path parallel to the leading vehicle before the follower vehicle leaves the headland. When the follower vehicle moves on the opposite side of the leading vehicle, the follower vehicle and the leading vehicle are skipping rows or paths. After that, the process ends.
[000120] Flowcharts and block diagrams in the different modalities represented illustrate the architecture, functionality, and operation of some possible implementations of the devices and methods in the different advantageous modalities. In this regard, each block in the flowchart or block diagrams can represent a module, segment, function, and / or a portion of an operation or step. In some alternative implementations, the function or functions observed in the block may occur out of the order observed in the figures. For example, in some cases, two blocks shown in succession can be executed substantially concurrently, or the blocks can sometimes be executed in reverse order, depending on the functionality involved.
[000121] The illustrative modalities also recognize that, in order to provide a system and method where an operator can interact safely and naturally with a combination of manned / autonomous vehicle, specific mechanical accommodations for the intuitive operator using mode shift systems are required. It would therefore be advantageous to have a method and apparatus for providing additional features for the autonomous operation of vehicles.
[000122] The description of the different advantageous modalities has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the modalities in the exposed form. Many modifications and variations will be apparent to those of ordinary knowledge in the art. Still, different modalities can provide different advantages when compared with other modalities. The selected modality or modalities are chosen and described in order to better explain the principles of the exhibition, the practical application, and to allow others of common knowledge in the art to understand the invention for the various modalities with the various modifications, when they are appropriate for the project. private use contemplated.

权利要求:
Claims (20)
[1]
1. Method for controlling vehicle movement, characterized by the fact that it comprises: moving a first vehicle on a route using a data processing system; moving a number of other vehicles on a number of parallel routes that are parallel to, and offset to at least one of the first offset side and a second offset side of the path to the first vehicle; in response to receiving an indication from the first vehicle to follow the path of the first vehicle, move the number of other vehicles over, and move linearly along, the path of the first vehicle on a turn on the path of the first vehicle; and, in response to receiving from the first vehicle another indication of the first vehicle completing the turn, moving the number of other vehicles from the route to the first vehicle to a number of second parallel routes that are parallel to the route to the first vehicle after the return of the first vehicle and moved to an opposite side of the first vehicle than the at least one side of displacement before the return, where at least one of the number of other vehicles is on an opposite side of the first vehicle that the another number of other vehicles before the lap and after the lap so that each of the number of other vehicles skips a number of rows on the lap, where the number of rows that are skipped on the lap is equal to the number of other vehicles, and in that the number of other vehicles is a plurality of other vehicles, and further comprising: controlling a sequence of each of the number of other vehicles on the return route by controlling a speed and spacing of each of the number of other vehicles on the return route.
[2]
2. Method according to claim 1, characterized by the fact that it additionally comprises: sending, by the first vehicle, a position of the first vehicle and the path of the first vehicle to the number of other vehicles.
[3]
3. Method for controlling vehicle movement, characterized by the fact that it comprises: moving a first vehicle on a route using a data processing system; move a number of other vehicles on a number of parallel routes that are parallel to, and offset to at least one of the first offset side and a second offset side of the path to the first vehicle, where the number of other vehicles is a plurality of other vehicles; in response to receiving from the first vehicle an indication to follow the path of the first vehicle, move the number of other vehicles over, and move linearly along, the path of the first vehicle on a turn on the path of the first vehicle, including moving a first follower vehicle over the path, wherein a speed of a second follower vehicle is adjusted to allow the first follower vehicle to move over the path behind the first vehicle to move linearly behind the first vehicle and along at least one portion of the path of the first vehicle; and, in response to receiving from the first vehicle another indication of the first vehicle completing the turn, moving the number of other vehicles from the route to the first vehicle to a number of second parallel routes that are parallel to the route to the first vehicle after the return of the first vehicle and moved to an opposite side of displacement from the first vehicle than the at least one side of displacement before the return, in which the portion of the path is at the headland in the field, in which the second follower vehicle is moved about the path in a different location from the first follower vehicle based on a displacement with the path that is decreased when the second follower vehicle enters the headland in the field and is increased when the second follower vehicle leaves the headland in the field.
[4]
4. Method to control vehicle movement, characterized by the fact that it comprises: moving a first vehicle on a route using a data processing system; moving a number of other vehicles on a number of parallel routes that are parallel to, and offset to at least one of the first offset side and the second offset side of the path to the first vehicle; in response to receiving an indication from the first vehicle to follow the path of the first vehicle, move the number of other vehicles over, and move linearly along, the path of the first vehicle on a turn on the path of the first vehicle; and, in response to receiving from the first vehicle another indication of the first vehicle completing the turn, moving the number of other vehicles from the route to the first vehicle to a number of second parallel routes that are parallel to the route to the first vehicle after the return of the first vehicle and moved to an opposite travel side of the first vehicle from a perspective of the first vehicle than the at least one travel side before the return, where the number of parallel routes is in an area of field work, in which a group pass is a group path of the first vehicle and the number of other vehicles from one side of the field to the other side of the field, and further comprising: jumping, through the first vehicle, the pass group located between the number of parallel routes and the number of second parallel routes.
[5]
5. Controller, characterized by the fact that it comprises: a first communication interface for a first vehicle to determine a path of the first vehicle; a second communication interface for a number of other vehicles to communicate with a number of parallel paths that are parallel to and offset to at least one of the first and second sides of the path offset for the first vehicle; a control logic, responsive to the first data indicating a turn in the path of the first vehicle, to signal the number of other vehicles through the second communication interface to move over at least a portion of the path in the turn; and, a control logic, responsive to second data indicative of the first vehicle completing the turn, to signal the number of other vehicles through the second communication interface to move from the path to a number of second parallel paths that are parallel to the route after the return of the first vehicle, and moved to an opposite side of the path of the first vehicle than the at least one of the first and second side of the path displacement before the return.
[6]
6. Controller according to claim 5, characterized by the fact that the second communication interface sends a position of the first vehicle and the path of the first vehicle to the number of other vehicles.
[7]
7. Controller according to claim 5, characterized by the fact that the first data is an identification of the position of the first vehicle when the first vehicle enters a headland in a field.
[8]
8. Controller according to claim 5, characterized by the fact that the speed of a second vehicle following the number of other vehicles is adjusted to allow the first vehicle following the number of other vehicles to move over the path.
[9]
9. Controller according to claim 5, characterized by the fact that the portion of the path is at the head of the field.
[10]
10. Controller according to claim 5, characterized by the fact that the number of parallel paths is in a field working area.
[11]
11. Controller according to claim 5, characterized by the fact that the number of other vehicles is configured to follow the first vehicle and are staggered in relation to each other in the number of parallel routes.
[12]
12. Method for controlling vehicle movement, characterized by the fact that it comprises: moving a first vehicle on a route using a data processing system; send, through the communication interface of the first vehicle, a position of the first vehicle and the path of the first vehicle to the number of other vehicles; move a number of other vehicles on a number of routes that are parallel to the route for the first vehicle; send, through the communication interface of the first vehicle, an indication to follow the path of the first vehicle over at least the portion of the path of the first vehicle on the return; and in response to a turn in the path of the first vehicle, move the number of other vehicles over at least a portion of the path of the first vehicle in the turn; where the first vehicle is a leading vehicle and where the number of vehicles comprises a first follower vehicle and a second follower vehicle and where the step of moving a number of other vehicles on a number of routes that are parallel to the route to the first vehicle comprises: moving the first follower vehicle over a first parallel path on a first side of the path of the leading vehicle; moving the second follower vehicle over a second parallel path on a second side of the leading vehicle path; and where the portion of the path is at the headland in the field, where the second follower vehicle is moved over the path at a different location from the first follower vehicle based on an offset with the path that is shortened when the second follower vehicle enters the headland in the field and is increased when the second follower vehicle leaves the headland in the field.
[13]
13. Method according to claim 12, characterized by the fact that the indication is an identification of the position of the first vehicle when the first vehicle enters a headland in a field.
[14]
14. Method according to claim 12, characterized by the fact that it additionally comprises: in response to the leading vehicle completing the turn, moving the first follower vehicle from the path to the second parallel path; and in response to the leading vehicle completing the turn, moving the second follower vehicle from the path to the first parallel path, where the first follower vehicle and the second follower vehicle switch sides in relation to the path of the leading vehicle.
[15]
15. Method according to claim 12, characterized in that the first follower vehicle and the second follower vehicle move in an opposite direction after the first follower vehicle and the second follower vehicle switch sides in relation to the vehicle path leader.
[16]
16. Method according to claim 12, characterized by the fact that the step of moving the number of other vehicles along at least a portion of the path in the loop comprises: moving the first follower vehicle from the first parallel path to the path; and moving the second follower vehicle from the second parallel path to the path after the first follower vehicle has moved to the path.
[17]
17. Method according to claim 16, characterized in that the second follower vehicle adjusts the speed of the second follower vehicle to allow the first follower vehicle to move over the path.
[18]
18. Method according to claim 16, characterized in that the second follower vehicle moves to the path in a different location from the second follower vehicle.
[19]
19. Method according to claim 12, characterized by the fact that the number of vehicles follows the first vehicle and are staggered in relation to each other in the number of parallel routes.
[20]
20. Method for controlling vehicle movement, characterized by the fact that it comprises: moving a first vehicle on a route using a data processing system; send, through the communication interface of the first vehicle, a position of the first vehicle and the path of the first vehicle to the number of other vehicles; move a number of other vehicles on a number of routes that are parallel to the route for the first vehicle; send, through the communication interface of the first vehicle, an indication to follow the path of the first vehicle over at least the portion of the path of the first vehicle on the return; and in response to a turn in the first vehicle's path, move the number of other vehicles over at least a portion of the first vehicle's path in the turn, where the number of parallel paths is in a field work area, in which one group pass is a group path of the first vehicle and the number of other vehicles from one side of the field to the other side of the field, and further comprising: skipping, through the first vehicle, the group pass located between the number of parallel paths and the number of second parallel paths.

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法律状态:
2019-01-08| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2019-07-16| B06T| Formal requirements before examination [chapter 6.20 patent gazette]|

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2020-02-11| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2020-03-10| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 09/11/2010, OBSERVADAS AS CONDICOES LEGAIS. |

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