METHOD FOR AUTOMATIC DELAY COMPENSATION IN WORK EQUIPMENT CONTROL WITH WORKING MACHINE

Abstract

Systems and methods are provided for automatically self-correcting the look-ahead delay during work interruptions of at least one piece of work equipment associated with a work machine. While the work machine is traversing a work area, one or more work conditions are determined and a command is generated to at least one actuator corresponding to a work interruption for an associated piece of work equipment or component thereof, wherein the generated command takes into account an estimated delay between the initiation of the command and the execution of at least a portion of the work interruption.Based on a determined actual delay with respect to the estimated delay, an error value is determined, and based on the determined error value, a changed delay is stored as an estimated delay for subsequent work interruptions with respect to at least the determined one or more work conditions.

Description

FIELD OF DISCLOSUREThe present disclosure relates generally to work machines having associated implements, for example, towed by or otherwise connected to self-propelled work vehicles, and more particularly to a method and system for automatic deceleration compensation for controlling such implements with respect to desired work interruptions in a work area.PRIOR ARTA work area may represent, for example, a field for growing a crop or other crop, or another type of area that includes a terrain to be worked with a work implement or other tool associated with a work machine. For example, in the context of a field as a work area, the work machine may be required to traverse the entire work area or a portion thereof to plant a crop, treat a crop, crop, or perform another task in conjunction with the crop or plant inventory, to name a few non-limiting examples. Within such a working area or at certain outer boundaries of such a working area there may be sections such as waterways which are not to be worked by the working machine and in which a work interruption is desired. A work interruption can preferably be closely limited to these sections in order to avoid at least exceeding or falling below the terrain to be worked.In practice, mechanical or electrical delays between a command and the completion of the action to perform a work interruption may be common, if not inevitable. Accordingly, conventional systems and methods are known that compensate for mechanical or electrical delay through look-ahead or range.However, conventional systems and methods typically rely on manual inputs from machine operators to determine and adjust the proper look-ahead time or distance, which is not easily measured and may vary depending on the specific machine setting or current operating conditions, undesirably causing products to be discharged at the wrong locations, leading to damage to water runs and the like.SUMMARYThe present disclosure provides an improvement to conventional systems, at least in part, through the introduction of a novel system and method for automatically detecting crossing or undershoot errors when crossing workspace boundaries (inboard or outboard) during operation of a work machine. Such fault detection can be carried out, for example, on the basis of limits or overlaps, the signal for the working device height, the signal for the on / off state of a section, the machining depth, the on / off state of the nozzle of a spraying device and / or the like. Further advantages over conventional systems and methods may be real-time correction of look-ahead times based on error feedback and retention of such corrections for reuse of the learned look-ahead times.The described approach may be used to control the raising and / or lowering of the implement and / or an on / off time of the implement or section. For example, a work implement may be lowered before a section needs to be controlled, and the work implement may be raised only when all sections are turned off.According to a first embodiment disclosed herein, a method is provided for automatically self-correcting look-ahead delay for work interruptions associated with a work machine that includes at least one work implement. During the traverse of a work area by the work machine, one or more work conditions are determined and a command is generated to at least one actuator corresponding to a work interruption for an associated work implement or component thereof, the generated command accounting for an estimated delay between initiation of the command and execution of at least a portion of the work interruption. Based on a particular actual delay with respect to the estimated delay, an error value is determined, and based on the determined error value, a changed delay is stored as an estimated delay for subsequent work interruptions at least with respect to the particular one or more work conditions.In an exemplary aspect according to the above-mentioned embodiment, the generated command may include a first generated command that accounts for a corresponding estimated delay with respect to a beginning of the work interruption.A second command may be generated that takes into account a corresponding estimated delay with respect to an end of the work interruption.In other example aspects according to the above embodiment, optionally further with respect to one or more other aspects, the estimated delay may be based on a distance to a start of the work interruption and / or a distance to an end of the work interruption and / or a time to a start of the work interruption and / or a time to an end of the work interruption.In another exemplary aspect according to the above-mentioned embodiment, optionally further with respect to one or more other aspects, the generated command may include one or more respective control signals for raising / lowering the working implement or a component thereof in connection with a start of the work interruption and for lowering / raising the working implement or a component thereof in connection with an end of the work interruption.In another exemplary aspect according to the above-mentioned embodiment, optionally further with respect to one or more other aspects, the generated command may include one or more respective control signals for suspension of operation of the work implement or a component thereof in connection with a start of the work interruption and for resumption of operation of the work implement or a component thereof in connection with an end of the work interruption.In another example aspect according to the above-mentioned embodiment, optionally further with respect to one or more other aspects, the particular one or more working conditions may include one or more current environmental conditions, a work machine configuration, and one or more detected working area conditions.In another exemplary aspect according to the above-mentioned embodiment, optionally further with respect to one or more other aspects, the method may include iteratively generating an algorithm in a data store correlating inputs including initiation of interrupt commands and associated sets of operating conditions with outputs including certain actual delays, wherein an estimated delay for a current interrupt is determined by reference to the algorithm, and wherein a certain actual delay after the current interrupt is provided as feedback for the advancement of the algorithm in the data store.In another exemplary aspect according to the above embodiment, optionally further with respect to one or more other aspects, initial estimated delays may be provided manually via a user interface in connection with initial work interruptions, and wherein the automatic generation of the estimated delays is implemented after selecting an automatic mode and subsequent to predicted estimated delays with respect to certain actual delays that meet a predetermined performance figure for the algorithm.In another embodiment disclosed herein, a work machine includes a work vehicle having at least one work implement mounted thereon or towed thereby, and a controller configured to control performance of a method according to the aforementioned embodiment and optionally one or more of the aforementioned aspects thereof.Those skilled in the art will readily appreciate numerous objects, features and advantages of the embodiments set forth herein upon reading the following disclosure in conjunction with the accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGSFIG. 1 is a block diagram illustrating a system according to an embodiment of the present disclosure. FIG. 2 is a perspective view of an exemplary work implement according to an embodiment of the present disclosure. FIG. 3 is a perspective view of a work machine that pulls another exemplary work implement according to an embodiment of the present disclosure. FIG. 4 is a perspective view of a work machine to which a front-mounted work machine according to an embodiment of the present disclosure is attached. FIG. 5 is a flow chart illustrating an example method according to an embodiment of the present disclosure. FIGS. 6-8 are graphical diagrams illustrating a user interface with a top view of an example workspace including inside boundaries and underflows resulting from various examples of interrupt delays.DETAILED DESCRIPTIONReferring now to the representative figures, various embodiments of a system and method according to the invention may be described.FIG. 1 shows, in a particular embodiment disclosed herein, a system 100 for automatic delay compensation of work interruptions for a work machine 102. As shown in FIGS. 2-4 and described further below, work machine 102 may include a work vehicle 104 that pulls, slides, or otherwise integrates one or more work tools 106 for use in a work area. For example, a work implement 106 may be configured to physically grasp, spray, or otherwise manipulate the terrain, crop, or other characteristics, depending on the desired operation and work area, as may be appreciated by one of ordinary skill in the art.The example system 100 of FIG. 1 includes a sensor system 110 coupled to or otherwise operatively connected to a controller 112 including a user interface 114. The controller 112 may, in turn, be integrated with or otherwise communicate with a steering controller 130, a work implement controller 132, and / or a drive controller 134 (e.g., for engine speed). These control units and the respective functions may be individually or otherwise combined in different embodiments without departing in any way from the scope of protection of the present disclosure.The controller 112 may generate output signals corresponding to the display and / or automatic control of various operations of the work machine 102 in accordance with a work interruption based on, for example, an inner or outer boundary that is not to be processed by the work machine 102 and the associated work implement(s) 106. Example boundaries may be associated with an obstacle, blockage, danger, safety condition, or other condition that requires work machine 102 to raise and / or lower the one or more implements 106, turn relevant portions thereof on or off, or even deviate from the scheduled path, stop motion, or take avoidance action, which may generally represent a scheduled or unscheduled interruption in an otherwise scheduled or desired operation.The controller 112 may generate control signals for one or all of the steering controllers (130), the implement (132), and / or the drive (134), and / or for any other component or system that is consistent with operation of the work machine and work interrupts and that may be changed or interrupted by the system 100 or other system. The control signals may include, for example, a steering control signal or data message defining the steering angle of the steering shaft, a brake control signal or data message defining the amount of deceleration, hydraulic pressure or brake friction for the brakes, a drive control signal or data message controlling throttle setting, fuel flow, fuel injection system, vehicle speed or vehicle acceleration. Further, when a work vehicle 104 of the work machine 102 can be driven by an electric drive or an electric motor, the drive control signal may control or modulate the electric power, the electric current, or the electric voltage supplied to an electric drive or motor. The control signals generally vary with time as required for tracking the path plan. The lines connecting the components of the system 100 may include logical communication paths, physical communication paths, or both. Logical communication paths may include communications or connections between software modules, instructions, or data, while physical communication paths may include transmission lines, data buses, or communication channels, just to name a few non-limiting examples.The steering control unit 130 may include or otherwise cooperate with an electrically controlled hydraulic steering system, an electrically driven rack and pinion steering system, a knuckle steering system, or another steering system. The drive control unit 134 may include, or otherwise cooperate with, an internal combustion engine, an internal combustion engine-electric hybrid system, an electric drive system, or the like.For example, the sensor system 110 may include a positioning system and / or obstacle detection system, which may individually or jointly include one or more global positioning system (GPS) sensors, vehicle speed sensors, ultrasonic sensors, laser scanners, radar wave transmitters and receivers, thermal sensors, imaging devices, structured light sensors, and other optical sensors, wherein example imaging devices may include a digital (CCD / CMOS) camera, an infrared camera, a stereoscopic camera, a time-of-flight / depth detection camera, high resolution LiDAR (light detection and ranging) scanners, radar detectors, laser scanners, and the like, within the scope of the present disclosure.The controller 112 may be configured to generate outputs as described below to a user interface 114 associated with a display unit 118 for display to the human operator. The controller 112 may additionally or alternatively be configured to generate output for a display unit independent of the user interface 114, such as a mobile user device 138 associated with the operator, a display unit operatively connected to one or more remote servers 140, one or more other work machines 142, etc. The controller 112 may be configured to receive input from the user interface 114, for example user input provided via the user interface 114. The controller 112 may further receive input from the remote user devices 138, servers 140, and / or other work machines 142 via a respective user interface, e.g., a touchscreen interface display unit, in some embodiments. Data transfer between, e.g., controller 112 and a remote user interface may be via a wireless communication network 136 and associated components as are well known in the art.The controller 112 may include or be connected to a display unit 118, for example, a processor 120, a computer readable medium 122, a communication unit 124, a data store 126, which may include, for example, a database network, and the aforementioned user interface 114 (for example, as part of an in-vehicle control panel or otherwise separately arranged). An input / output device 116, such as a keyboard, joystick, touch screen, or other user interface tool, may be provided to allow a human operator to input instructions to the controller 112. It should be appreciated that the controller 112 described herein may be a single controller having all the described functionality, e.g., as part of a central vehicle control unit, or may include multiple controllers, where the described functionality is distributed among the multiple controllers.Various operations, steps, or algorithms described in connection with the controller 112 may be embodied directly in hardware, in a computer program product, such as a software module, executed by the processor 120, or in a combination of both. The computer program product may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, or any other form of computer readable medium 122 known in the art. An example computer readable medium may be coupled to the processor such that the processor may read information from and write information to the storage / storage medium. Alternatively, the medium can also be an integral component of the processor. The processor and medium may reside in an application specific integrated circuit (ASIC). The ASIC may be located in a user terminal. Alternatively, the processor and the medium may be incorporated as separate components in a user terminal.The term "processor" 120 as used herein may refer to at least general or special purpose processing devices and / or logic known to those skilled in the art, including, but not limited to, a microprocessor, microcontroller, state machine, and the like. A processor may also be implemented as a combination of computing devices, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or other such configuration.The communication unit 124 may support or provide communication between the controller 112 and external systems or devices and / or support or provide a communication interface to the internal components of the work machine 102. The communication unit may include wireless communication system components (e.g., via a cellular modem, WiFi, Bluetooth, or the like) and / or may include one or more wired communication ports, such as universal serial bus ports.For example, in one embodiment, the data store 126 may be configured to receive and retrievably store delay errors, corrected delays, and corresponding parameters associated therewith for controlling implements 106 and / or associated portions in a work interruption. Stored values may further include real-time and / or historical data sets related to work machine parameters, generated work plans, workspace / field boundary parameters, and the like, in selectively retrievable form, for example, as inputs for developing models that may be used to control work machine operations during or in connection with work interruptions based on future input data sets. The data store described herein, unless otherwise indicated, may generally comprise hardware such as volatile or non-volatile storage devices, drives, memory or other storage media, as well as one or more databases located thereon.As shown in FIG. 2, an example implement 106 within the scope of the present disclosure may be a sowing implement that includes a single row sowing unit, or simply a row unit that may be mounted, e.g., via a drawbar (not shown) to be towed during a sowing operation on a field behind a work vehicle 104, such as a tractor. The work implement 106 may be configured to apply a crop (e.g., seed, fertilizer, and / or other particulate or granular crop) stored in one or more containers 144 to the work area (field) being traveled by the work machine 100.The implement 106 may include a movable frame 148 configured to move (e.g., up and down) during operation and connectable to a stationary frame 146 via a linkage 150. In some implementations, linkage 150 may include a four-bar linkage that serves to maintain movable frame 148 substantially parallel to fixed frame 146 as it moves up and down.The implement 106 may include one or more actuators 154 configured to adjust the downward force of the soil working tools 152 on the ground. To increase the downward force beyond the weight of the row unit or to be able to adjust the force, hydraulic and / or pneumatic actuators (and / or one or more springs) may be added to press the soil working tools 152 downward with a controllable force. The one or more actuators 154 may also be used to lift the soil tilling tools 152 from the soil for transport or to maintain the depth of seed by adjusting the contact pressure to variations in soil density.FIG. 3 shows a further example of a working machine 102 in the form of a spraying device or a spraying machine. The work machine 102 contains a work implement as or with a spraying system, which has a tank as container 144 which contains a liquid which is to be discharged on the work area (field) 216 to be traveled on. The tank 144 is coupled to the spray nozzles 160 by a conveyor system that includes a set of conduits. A fluid pump is configured to pump the liquid from the tank 144 through the conduits and through the spray nozzles 160. The spray nozzles 160 are coupled to and spaced along a boom 162. The boom 162 includes arms 164 and 166 that are articulated or pivotable relative to a center frame 168. For example, the arms 164 and 166 are movable between a storage or transport position and an extended or deployed position.In the example illustrated in FIG. 3, work machine 102 includes a towed work implement 106 that supports the spraying system and is towed by a work vehicle 104 having an operator compartment or cab in which a user interface 114 may be provided. Work machine 102 includes a series of ground engaging units 170 for traversing ground surface 158, such as wheels, tracks, or other traction elements known in the art. In other embodiments, the implement 106, or relevant components thereof, may be self-propelled without a tractor 104, for example, the spraying system also including propulsion and steering systems.Referring now to FIG. 4, an example of a self-propelled agricultural spray machine 102 is illustrated. Work machine 102 has as a work implement 106 an on-board spray system supported on a machine frame 146 that includes an operator compartment in which a user interface 114 may be provided, ground engaging units 170 (e.g., wheels or other traction elements), and a propulsion system 172 (e.g., internal combustion engine).Referring to FIG. 5 and for further illustration to FIGS. 6-8, an embodiment of a method 500 according to the present disclosure may be described.For purposes of illustration, but not limitation, of the scope of the systems and methods disclosed herein, unless expressly stated otherwise, FIG. 5 is described in the context of a system 100, a work machine 102, a work vehicle 104, a work implement 106, and the like, as shown in FIGS. 1-4.While the illustrated embodiment may include a particular arrangement of steps, inputs, outputs, and the like, particular steps may be combined, performed in a different order, or even omitted altogether in other embodiments within the scope of the present disclosure, unless expressly stated otherwise herein.The method 500 may include determining the current operating conditions (step 510) in an operation for the work machine, for example, based on input received from data sources including the sensor system 110, the machine control system, the user interface 114, remote user devices 138, servers 140, such as third party hosted servers or servers, other work machines 142, and the like. Example operating conditions include machine configuration or operating parameters 502, operating area conditions 504, environmental / environmental conditions 506, etc.Environmental conditions to be considered may include relevant factors relating to mechanical delay for a particular application or type of work machine / device, e.g., temperature in an environment may affect the density of hydraulic fluid and thus the time required to raise or lower the work implement. In various embodiments, such environmental conditions may be detected as direct inputs or alternatively taken into account indirectly, e.g., by monitoring the detection range and automatically determining a deviation or fault attributable to the conditions. In various embodiments, one or more environmental conditions may be determined or predicted indirectly based on a date, time of day, etc., or further using input from external data sources such as third party weather service platforms.The conditions of the workspace 504 may be defined via user inputs, detected in real time by one or more sensors in the sensor system 110, or retrieved from the data store based on previously measured and / or mapped workspace data, plans, and the like. The user interface 114 may be configured to receive the user input to define a workspace that includes, for example, exterior field boundaries and interior headland boundaries and regions, wherein additional interior regions may be determined based on real-time conditions such as a newly detected obstacle, a larger or smaller waterway than expected, etc., as well as in various embodiments a prior coverage within the workspace.The method 500 may include identifying an impending work interruption and determining initial and / or final parameters for the work interruption (step 520).In FIG. 6, it is illustratively and exemplarily shown how a work machine 102 operates in a work area and travels along a path 208 intersecting a work interruption area 202, which is preferably not processed as part of the operation. Work interruption area 202 may be, for example, a water path, a portion of work area 200 that contains crop materials that are not to be treated or otherwise processed within the scope of the present process, such as portions of work area that have already been covered, etc., that is bounded with respect to path 208 by entrance 204 and exit 206. Accordingly, one or more example start parameters for a work interruption of work machine 102 may generally correspond to entry 204 of work interruption region 202, and one or more example end parameters for the work interruption of work machine 102 may generally correspond to exit 206 of work interruption region 202.For example, initial and final work interruption parameters of the work machine may refer to functions to be executed or changed during the work interruption, which may be different depending on the type of work machine, the operation being performed, the type of work area and terrain being worked, the type of work interruption area, etc. If, for example, a floor processing device is to be raised during the work interruption, the parameters can relate to the actuators to be actuated, the settings for raising the floor processing device, etc. The relevant parameters may be predetermined for one or more particular work machine types, operation to be performed, workspace and / or terrain to be worked, work interruption area, etc., or specified by manual user inputs, or learned over time using models trained to identify optimal parameters based on correlations between input datasets for the parameters and marked results (e.g., in part with respect to errors during work interruptions).FIG. 6 further illustrates an overshoot 214 that may result from an intended completion 210 of the work interruption, e.g., raising a work implement or locking one or more sections, being undesirably delayed until an actual completion 212 of the work interruption that extends beyond the entry 204 of the work interruption area 202.FIG. 6 further illustrates an underflow 220 that may result from an intended work interruption performance 216, e.g., raising a work implement or locking one or more sections, being undesirably delayed until an actual work interruption performance 218 that extends beyond the exit 206 of the work interruption area 202.In one embodiment, a user interface may be configured to representatively display the workspace and the status of the work interruption as compared to normal operation. For example, normal operation of work machine 102 and the associated work implement or portions thereof may be indicated by a first indicia 222 that is shaded in the example shown, but alternatively may be color encoded or represented by other equivalent drawings.Additional indicia 224, 226 may be used to indicate a work interruption for the work implement or portions thereof, and in some embodiments, a plurality of indicia may indicate intermediate stages in which the work implement has been partially raised / lowered, throughput has been partially reduced, etc.As further illustrated in an example user interface of FIG. 7, further or alternative indicia 228 may be provided to clearly indicate operation of the implement or portions thereof during (after identified entry 204) an identified work interruption.As further illustrated in an example user interface of FIG. 8, one type or form of indicia 228 amay be provided to clearly indicate operation of the implement or portions thereof during (after the identified entry 204) of an identified work interruption, while another type or form of indicia 228 bmay be provided to separately indicate lack of operation of the implement or portions thereof after the identified exit 206 of the work interruption.A work interrupt area 202, e.g., including its boundaries, constrained operations or parameters for determining such constrained operations or their priority, etc., may be determined using user input via the user interface 114 or another user interface connected to devices or servers of the system 100, in various embodiments.The work interruption area 202, e.g., including boundaries thereof, constrained operations or parameters for determining such constrained operations or priority thereof, etc., may be predefined for a respective work area 200 based on associated information that may be retrieved and read by the controller 112 of the work machine 102 during a particular operation, in various embodiments.The work interruption area 202, e.g., including boundaries thereof, constrained operations or parameters for determining such constrained operations or priority thereof, etc., may be downloaded or otherwise communicated to the work machine 102 from an external source based on warnings associated with the work area 200 and knowing that the work machine 102 is operating therein, in various embodiments.The work interruption area 202, e.g., including boundaries thereof, constrained operations or parameters for determining such constrained operations or priority thereof, etc., may, in various embodiments, be automatically determined by input data received in real-time via the sensor system 110 and classified according to trained models to detect the need for a work interruption, e.g., based on marked negative results corresponding to identified features within the work interruption area 202.The method 500 may include estimating one or more delays between initiation of instructions to execute the respective portions of the work interruption and actual execution of the respective portions of the work interruption (step 530). The estimated delay may be based on, for example, a distance to a beginning of the work interruption and / or a distance to an end of the work interruption and / or a time to a beginning of the work interruption and / or a time to an end of the work interruption. In various embodiments, only a first estimated delay may be estimated and automatically implemented by the work machine to initiate the work interruption, where the responsibility for ending the work interruption is assigned to the operator. In various embodiments, user selectable control modes may be available, wherein the estimated delays for the start or end of the work interruption may be assigned manually or automatically based on a selected control mode. For example, a default control mode may include automatic detection of a work interruption, estimation of the associated start and end delays, and execution of the start and end of the work interruption, while user-selectable control mode options allow manual settings for one or more of the above features.In various embodiments, an initial delay for a portion of the work interruption may be estimated based at least in part on user inputs (step 532). In various embodiments, the delay may be estimated based on inputs from the data store (step 534) corresponding to error corrections from previous iterations of the method and / or based on predicted delay characteristics using algorithms / models developed over time using different input datasets, e.g., corresponding to the different available inputs 502, 504, 506, and trained to detect correlations between these inputs and the actual observed delays. In such embodiments, an initial delay may still be provided manually for one or more iterations of an operation in the work area in question or a portion thereof, and then corrected and selectively replaced for later iterations based on predicted delay characteristics using a sufficiently trained and verified model.In one embodiment, algorithms / models may be iteratively generated over time and retrievably stored in a data store to correlate inputs comprising instructions to initiate work interruptions and associated sets of work conditions with outputs comprising certain actual delays. An estimated delay for a current work interruption may be determined with reference to the algorithm, and a particular actual delay after the current work interruption is provided as feedback for the advancement of the algorithm in the data store. As mentioned above, initial estimated delays may be provided, for example, manually via a user interface associated with initial work interrupts. The automatic generation of the estimated delays may be performed in such embodiments, for example, after selecting an automatic mode and predicting the estimated delays with respect to the determined actual delays that meet a predetermined performance figure for the algorithm, or after another equivalent process for checking whether the algorithm is sufficiently trained.Those skilled in the art will appreciate that delays in performing a work interruption (at the entry and / or exit) may be due to mechanical, electrical, or other sources of delay. In various embodiments, delay data may be predefined and available for use, e.g., via one or more data structures that associate different tools with different mechanical delay times. As an example, a planting machine that requires five seconds to descend to a planting location may indicate a mechanical delay of five seconds. As another example, a spray device that takes half a second to activate (e.g., to move a nozzle from a closed to an open position) would have a mechanical delay of half a second in the data structure. In one embodiment, there may be many different mechanical delays (e.g., delays in raising or lowering a tool, delays in starting and stopping output, etc.), and the delays may be taken into account in their entirety in determining an initial delay time.In various embodiments, the estimated deceleration may take into account an estimated time until the work interruption enters and / or exits based at least in part on sensor data (e.g., speed, acceleration, yaw, etc.) corresponding to operation of the work machine. For example, determining that the work machine reaches the entry of the work interruption area at a certain time may include determining a speed and / or acceleration of the work machine and calculating a point, based on the speed and / or acceleration of the work machine, from which the work machine is a certain time away from the entry of the work interruption. As another example, if a curved trajectory exists between a current position of the work machine and the onset of the work interruption, determining whether the work machine will achieve the onset of the work interruption in the indicated time may also include determining and accounting for yawing of the curve.The method 500 may include generating commands to one or more actuators associated with the work machine, and more particularly in most contexts with the work implement or portions thereof, to perform the work interruption in accordance with the estimated delay, or otherwise indicated to compensate for the estimated delay, using, for example, a look-ahead time or distance (step 540). In various embodiments, a first generated command may take into account a corresponding estimated delay with respect to a beginning of the work interruption, and a second generated command may take into account a corresponding estimated delay with respect to an end of the work interruption.In various embodiments, the generated commands may include respective control signals for raising / lowering the implement or a component thereof in connection with a start of the work interruption and for lowering / raising the implement or a component thereof in connection with an end of the work interruption. For example, a work implement may be lifted from a ground engaging position in association with a desired work interruption to avoid damage to the terrain within the work interruption area or damage to the work implement itself depending on the type of the work implement, the work area, the work interruption area, the work operation, or the like. Commands for raising and / or lowering the entire working implement or a part thereof can be issued, for example for a soil working implement, a sowing machine, a spraying device, a combine harvester or the like.In various embodiments, the generated commands may include respective control signals to suspend operation of the implement or a component thereof associated with a start of the work interruption and resume operation of the implement or a component thereof associated with an end of the work interruption. For example, one or more sprayers, seed dispensers, or the like may be selectively deactivated during operations corresponding to the work interruption area to avoid treating undesired portions of the work area. It should be appreciated that a work implement, such as an array of work implement components, may only partially overlap a work interruption area during operation, where only a subset of the relevant components need to be deactivated in accordance with the work interruption, and others of the relevant components may continue to operate normally.In various embodiments, the generated commands may include a combination of commands to raise / lower the implement and commands to turn portions on / off at the same time or otherwise overlapping or sequentially during the same entry and / or end portion of a work interruption. For example, in one embodiment, the work implement may preferably be lowered before a surface treatment portion is turned on, and the work implement may preferably be raised after all the surface treatment portions have been turned off.The method 500 may further include automatically measuring or otherwise determining an actual delay, i.e., a look-ahead error, between initiation of the commands at the one or more actuators and actual execution of the commands (step 550). The actual deceleration and the corresponding fault determination can correspond, for example, directly to an overshoot 214 and / or undershoot 220 of the working device or of sections thereof, as illustrated in FIG. 6.The actual delay and corresponding error determination may be measured based on, for example, a time and / or distance between an expected initiation of one or more functions associated with a command and an actual execution of the one or more functions associated with the command.In various embodiments, the actual delay and corresponding error determination may be based on the detected height or depth signals of the implement, e.g., the depth of the soil operation.In various embodiments, the actual delay and corresponding fault determination may be based on a portion on / off state signal representing, e.g., the on / off status of a nozzle with respect to a spray system.If no error is detected between the estimated and actual delays (i.e., "no" in response to the query at 560), the estimated delay is typically maintained at least with respect to the current set of operating conditions 502, 504, 506.If an error is observed between the estimated delay and the actual delay (i.e., "yes" in response to the query at 560), the method 500 may further include changing the estimated delay (step 570) at least with respect to the current set of operating conditions 502, 504, 506, wherein the changed delay may be maintained in the data store for later reuse with respect to an operating interrupt associated with the same or an equivalent set of operating conditions. The estimated delay, e.g., look-ahead time, may be modified with a gain factor that is predetermined, set by the user, or automatically derived using algorithms or models trained for optimal error correction or otherwise as part of other models described herein, etc.The observed error, altered delay, and associated data may be provided as feedback for continued training and enhancement of one or more associated algorithms and / or models as described herein.As used herein, the term "one or more of" when used with a list of elements means that various combinations of one or more of the elements may be used and only one of each element in the list may be needed. For example, "one / r / s or more of" element A, element B, and element C may include, for example, element A or element A and element B, among others. This example may also include element A, element B and element C, or element B and element C.Thus, it is shown that the apparatus and methods of the present disclosure readily achieve the objects and advantages recited, as well as those inherent therein. While certain preferred embodiments of the disclosure have been illustrated and described for purposes of illustration, numerous changes may be made in the arrangement and construction of parts and steps by those skilled in the art, which changes fall within the scope and spirit of the present disclosure as defined by the appended claims. Each disclosed feature or embodiment may be combined with one of the other disclosed features or embodiments.

Claims

A method (500) of automatically self-correcting look-ahead delay for work interruptions associated with a work machine (102) comprising at least one work implement (106), the method comprising: during travel of a work area (200) by the work machine, determining one or more work conditions and generating a command to at least one actuator corresponding to a work interruption for an associated work implement or a component thereof, the generated command accounting for an estimated delay between initiation of the command and execution of at least a portion of the work interruption (510, 520, 530, 540); determining an error value based on a determined actual delay relative to the estimated delay (550); storing a changed delay based on the determined error value as the estimated delay for subsequent work interruptions at least with respect to the determined one or more work conditions (560, 570).The method of claim 1, wherein the generated command comprises a first generated command that accounts for a corresponding estimated delay with respect to a beginning of the work interruption.The method of claim 2, comprising generating a second command that accounts for a corresponding estimated delay with respect to an end of the work interruption.The method of claim 1, wherein the estimated delay is based on a distance to a beginning of the work interruption and / or a distance to an end of the work interruption.The method of claim 1, wherein the estimated delay is based on a time to a start of the work interruption and / or a time to an end of the work interruption.The method of claim 1, wherein the generated command comprises one or more respective control signals for raising / lowering the implement or a component thereof associated with a start of the work interruption and for lowering / releasing the implement or a component thereof associated with an end of the work interruption.The method of claim 1, wherein the generated command comprises one or more respective control signals for suspension of operation of the implement or a component thereof in connection with a start of the work interruption and for resumption of operation of the implement or a component thereof in connection with an end of the work interruption.The method of claim 1, wherein the determined one or more working conditions comprise one or more environmental conditions, a work machine configuration, and one or more detected working area conditions.The method of claim 1, comprising iteratively generating an algorithm in a data store that correlates inputs comprising initiation of work interruption commands and associated sets of work conditions with outputs comprising certain actual delays, wherein an estimated delay for a current work interruption is determined by reference to the algorithm, and wherein a certain actual delay after the current work interruption is provided as feedback for advancement of the algorithm in the data store.The method of claim 9, wherein initial estimated delays are manually provided via a user interface in connection with initial work interruptions, and wherein the automatic generation of the estimated delays is implemented after selecting an automatic mode and subsequent to predicted estimated delays with respect to certain actual delays that meet a predetermined performance figure for the algorithm.A work machine (102) comprising: a self-propelled work vehicle (104) having at least one associated work implement (106); and a controller (112) configured to direct performance of the steps in a method according to any one of claims 1 to 10.A system (100) for automatically self-correcting predictive delay for work interruptions of at least one work implement (106) associated with a work machine (102), the system comprising one or more processors (112, 120, 138, 140) in operable communication with the work machine configured to direct execution of steps in a method according to any one of claims 1 to 10 during travel of a work area by the work machine.

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