AUTOMATED TRANSITIONS IN MACHINERY OPERATION DURING TURNING AREAS AT THE END OF THE TRANSFER

Abstract

A computer-implemented system and method for planning and automating the execution of turning maneuvers at the end of a crossing by self-propelled work machines operating within defined work areas, the coverage of which requires multiple crossings by the work machine, are described. Algorithms and / or models are generated and trained based on inputs that correspond at least to work machine operating parameters and are further correlated with defined turning maneuver results. In a current operation and for a current crossing of the work machine, an operating envelope for an upcoming turning maneuver at the end of a crossing is calculated with reference to the algorithms and / or models and with regard to current inputs that correspond at least to work machine operating parameters, including its steady-state feed rate.At least the feed rate is automatically controlled during the turning maneuver at the end of the crossing based on the calculated operating envelope, and when a subsequent crossing is initiated by the working machine, the feed rate is reduced to the steady-state feed rate.

Description

AREA OF REVELATION

[0001] The present disclosure relates generally to working machines, such as agricultural working machines, which operate in several passes over a defined working area, and in particular to automated systems and methods for determining and orchestrating operating envelope transitions during turning maneuvers at the end of the pass. BACKGROUND

[0002] Working machines, as discussed herein, may generally, but without limitation, include agricultural machinery such as sprayers, combine harvesters, tractors, mowers, conditioners, or the like. It is understood that a working machine as disclosed herein may include integrated equipment for working or treating the area to be traversed, or that the working machine may include a tractor or equivalent vehicle with an implement configured to perform the working or treatment of the area to be traversed.

[0003] It is further understood that systems, methods and related concepts according to the present disclosure may also be used for other types of working machines, such as construction vehicles, forestry vehicles and the like, unless expressly stated otherwise, for example in connection with structural or functional elements that expressly differentiate between the different types of applications.

[0004] Referring to the example of the sprayer, such agricultural machinery typically needs to minimize changes in feed rate and travel distance in headland turns while maintaining a constant application rate as the boom crosses the headland boundary, using an optimal spray rate to avoid over- or under-application of the product. For example, premature deceleration before crossing the headland boundary can lead to over-application of the product in part of the working area, while late acceleration to a constant feed rate when crossing the boundary from the headland can lead to under-application of the product in a corresponding part of the working area.

[0005] Previous attempts to optimize turning maneuvers have led to unacceptable lateral errors, for example, when exiting headlands, if forward speeds were not reduced and resumed at the correct time during the turn. Previous efforts also tend to fail to adequately account for the negative effects of soil type and weight transfer (load transfer in wheeled vehicle dynamics) on, for example, lateral slip or steering slip angle, if perfectly timed longitudinal deceleration is not achieved during the initial turn. SUMMARY OF THE REVELATION

[0006] The present disclosure provides an improvement on conventional systems and methods, for example in connection with sprayers, by automatically synchronizing the deceleration of the working machine speed with the steering path in order to minimize a steering slip angle and to complete turning maneuvers with low lateral error when a headland boundary is crossed.

[0007] Braking, in turn, shifts the weight load to the front wheels, increasing traction and grip of the steering wheels and thus reducing understeer. The systems described here can utilize a detected, commanded, or otherwise determined curvature of turning maneuvers at the end of a turn to trigger an automatic reduction in vehicle speed, for example, via the drivetrain control of the working machine. An operating envelope of parameters, including the target feed rate during an upcoming turning maneuver and the corresponding braking, can be calculated, for example, based on the current (steady-state) speed and the path curvature.

[0008] In one embodiment, a computer-implemented method for planning and automating the execution of at least turning maneuvers at the ends of crossings by a self-propelled work machine is disclosed. The work machine operates within a defined working area, wherein the working area is at least partially defined by one or more boundaries that can be crossed by the work machine, and covering the defined working area requires a multitude of crossings by the work machine. One or more algorithms and / or models are generated and trained over time based on inputs that correspond at least to work machine operating parameters and are further correlated with one or more specific turning maneuver results.The trained algorithms and / or models can, for example, be stored on a data storage device associated with the working machine for use during a current operation and for a current pass of the working machine, wherein an operating envelope for an upcoming turning maneuver at a pass end is calculated with reference to the one or more algorithms and / or models and with respect to one or more current inputs that correspond at least to operating parameters of the working machine, wherein the one or more current inputs include a feed rate of the working machine in a steady state (i.e. during a pass, for example during an entire straight-line pass).At least the feed rate of the machine is automatically controlled during the turning maneuver at the end of the crossing based on the calculated operating envelope, and when a subsequent crossing is initiated by the machine, the feed rate of the machine is brought back to the steady-state feed rate.

[0009] In one exemplary aspect according to the aforementioned method implementation, one or more machine operating parameters and / or ground conditions can be determined during at least one initial pass and one initial turnaround at the end of the current operation, and an operating envelope for at least one subsequent turnaround at the end of the current operation can be partially calculated based on the one or more machine operating parameters and / or ground conditions determined during the initial pass and the initial turnaround at the end of the current operation.

[0010] In other exemplary aspects according to the aforementioned method implementation, at least one of the one or more working machine operating parameters and / or the ground conditions during the at least first pass and the first turning maneuver at the end of the pass of the current operation can be determined using signals from one or more perception sensors associated with the working machine and having a field of view that includes a turning area traversed during the first turning maneuver at the end of the pass, and / or signals from one or more machine operating sensors associated with the working machine that correspond to changes in the feed rate and / or orientation of the working machine during the first turning maneuver at the end of the pass, and / or signals from one or more position sensors associated with a working device of the working machine.

[0011] In another exemplary aspect according to the aforementioned method implementation form, the turning maneuver at the end of the crossing and the calculated operating envelope can be executed at or after crossing an associated one or more boundaries to leave the defined working area.

[0012] In another exemplary aspect according to the aforementioned method implementation form, the feed rate of the working machine at or before crossing the associated one or more boundaries to return to the defined working area can be reduced to the steady-state feed rate.

[0013] In one or both of the preceding exemplary aspects, the respective crossings of the associated one or more boundaries in relation to a work device associated with the working machine can be determined.

[0014] In another exemplary aspect according to the aforementioned method implementation, the calculated operating envelope for each turning maneuver at a crossing end can include a maximum feed rate at a midpoint thereof and / or a deceleration from the steady-state feed rate before initiating a change in the steering angle.

[0015] In another exemplary aspect according to the aforementioned method implementation, at least one of the one or more specified results may include a weight shift during the turning maneuver at the end of the crossing, and the operating envelope for each turning maneuver at the end of the crossing is calculated to effect a target weight shift.

[0016] In another exemplary aspect according to the aforementioned method implementation form, the target weight shift can be based at least partially on a type of working machine and / or a current load.

[0017] In another exemplary aspect according to the aforementioned method implementation form, the calculated operating envelope for a current turning maneuver at a crossing end can be dynamically adjusted to take into account certain changes of a course and / or trajectory relative to their respective expected values.

[0018] In a further embodiment as disclosed herein, a system for planning and automating the execution of at least turning maneuvers at crossing ends by a self-propelled work machine is disclosed, which operates within a defined working area, wherein the working area is defined at least partially by one or more boundaries that can be crossed by the work machine, and covering the defined working area requires a plurality of crossings by the work machine.The system comprises a data storage unit containing one or more algorithms and / or models trained on inputs that correspond at least to machine operating parameters and are further correlated with one or more specified turning results, as well as one or more processors functionally connected to the data storage unit and one or more sensors associated with the machine. The one or more processors are configured to control the execution of steps according to the aforementioned method implementation and optionally one or more of the exemplary aspects listed below.

[0019] The data storage containing the algorithms and / or models can, for example, be located on the machine and be accessible to a control system within the defined working area during operation.

[0020] In some embodiments, the algorithms and / or models can be generated and trained in a remote computing environment, such as a cloud computing environment, and downloaded to the data storage of the working machine for use during operation within the defined workspace. Alternatively, in some embodiments, the algorithms and / or models can be stored in the cloud computing environment and retrieved by one or more processors on the working machine during operation within the defined workspace.

[0021] Upon reading the following disclosure in conjunction with the accompanying drawings, the skilled person will readily recognize numerous tasks, features and advantages of the embodiments presented here. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a perspective view of an exemplary embodiment of a working machine according to the present disclosure. Fig. Figure 2 is a block diagram representing an exemplary embodiment of a control system for a working machine according to the present disclosure. Fig. Figure 3 is a flowchart that represents an exemplary embodiment of a method according to the present disclosure. Fig. 4A and Fig. Figure 4B are graphical diagrams that represent an example of an executed operating envelope during a turning maneuver at a crossing end by a working machine according to the present disclosure. Fig. Figures 5A-5D are graphical diagrams that represent a further example of an executed operating envelope during a turning maneuver at a crossing end by a working machine according to the present disclosure. DETAILED DESCRIPTION

[0022] Reference is now made to the drawings and in particular to Fig. 1, in which a representative working machine is generally designated by reference numeral 100 and is briefly described here. In the embodiment shown, the working machine 100 can be a sprayer or spraying machine comprising a vehicle 102 that carries, drives, or otherwise tows a working device 104. The working device 104 can, in this context, be an onboard spraying system or otherwise carry it, with which liquid can be applied to a work area (field) that is traversed during the operation of the working machine. A tank containing the liquid can be connected to spray nozzles associated with the working device 104 by means of a conveying system comprising a set of lines. A fluid pump is configured to pump the liquid from the tank through the lines to the spray nozzles, which are coupled to a boom and spaced apart from one another along this boom.The boom comprises arms that are articulated or pivotable relative to a central frame 106. In various embodiments, the arms can be movable, for example, between a stowed or transport position and an extended or unfolded position.

[0023] Although a sprayer is presented and further described here as an exemplary working machine 100, it is understood that various alternative types of working machines fall within the scope of this disclosure, unless expressly stated otherwise. Other types of working machines include, for example, but are not limited to, other agricultural machines such as combine harvesters, seed drills, tractors and the like, earthmoving machines, forestry machines, etc.

[0024] In the Fig. In the example shown, the working machine 100 comprises a self-propelled vehicle 102 with a driver's cab, ground-contacting units 108 (e.g. wheels or other traction elements) and a drive system 110 (e.g. internal combustion engine).

[0025] In the present case, directions relating to the working machine 100 can be given from the perspective of an operator sitting on it; the left side of the working machine 100 is to the left of such an operator, the right side of the working machine is to the right of such an operator, the front of the working machine is the direction in which such an operator is looking, the rear of the working machine is behind such an operator, the top of the working machine is above such an operator, and the bottom of the working machine is below such an operator.

[0026] A user interface 214 (in Fig. (2 further shown) can be located near the driver's seat for use by an operator of the machine 100. The user interface 214 can include one or more corresponding user interface tools 216 for input and / or output with respect to a controller 212, or be otherwise functionally connected to them, as described in more detail below. Such user interface tools can, for example, include several user-selectable touch buttons (e.g., soft buttons) for selecting from a variety of commands or menus, each of which can be selected via a touchscreen with a display unit 218. Touch buttons respond to touch and do not include any mechanical component that requires a sufficiently large force to actuate mechanical features.The touchscreen can be a graphical user interface configured to display icons and application content for the machine. The display unit 218 can be configured to show still images, moving images, and video content on the touchscreen via one or more different types of displays. The display unit 218 can include, among others, cathode ray tube (CRT) displays, light-emitting diode (LED) displays, and liquid crystal displays (LCDs).

[0027] Another form of user interface (not shown) can take the form of a display unit generated on a mobile (i.e., operator-carried) or remote (i.e., off-board) computing device 238, which can display outputs such as status indicators and / or otherwise enable user interaction, such as providing data to the system. In the context of a remote user interface, data transmission between, for example, the machine control system 202 and the remote user interface can take the form of a wireless communication system and associated components generally known in the field.

[0028] The work machine 100 may further include operator-accessible interface tools such as a joystick, accelerator pedal, hand lever, or the like, with which the operator can adjust the vehicle's speed. Other exemplary tools accessible from the operator's seat may include a steering wheel, several operator-selectable touch buttons configured to allow the operator to control the operation and function of the work machine 100, and any accessories or work equipment associated with the work machine.

[0029] As in Fig. Figure 2, schematically depicted, comprises an embodiment of a system 200 as disclosed herein, comprising a control system 202 associated with a working machine 100 and functionally communicating via a communication network 236 with remote user computing devices 238, cloud servers 240, other working machines 242, and the like. An exemplary control system 202 as shown comprises a controller 212, which may be part of an overall control system of the working machine or may be a separate control module.

[0030] The controller 212 is configured to receive input signals from one or more sensors 204, 206, 208 or equivalent input data sources.

[0031] Perception sensors 204 can generate output signals or otherwise capture images in a field of view representing the environment of the working machine 100. Exemplary perception inputs can be provided using ultrasonic sensors, laser scanners, radar wave transmitters and receivers, imaging devices, structured light sensors, thermal sensors, and other optical sensors, wherein exemplary imaging devices may include a digital camera (CCD / CMOS), an infrared camera, a stereoscopic camera, a time-of-flight / depth-sensing camera, high-resolution light detection and ranging (LiDAR) scanners, radar detectors, laser scanners, and the like within the scope of this disclosure.

[0032] Machine operating sensors 206 can generate output signals that directly represent the state or operation of the machine. For example, feed rate, steering angle, vehicle orientation, angular velocity, and / or the like can be directly detected using suitable sensors in various configurations. The feed rate, for instance, can be detected directly with a tachometer or similar device, or alternatively, detected by detecting a commanded feed rate. Other examples of sensors or equivalent data sources can provide outputs from which relevant machine states or operations can be derived, calculated, or otherwise determined. The steering angle, for example, can correspond to a detected position of a user interface tool, such as a joystick, associated with the operator's area of ​​operation of the machine.

[0033] Position sensors 208 can be configured to provide location data for the work machine 100 using various known techniques, including global navigation system (GNSS) sensors. The location data can also relate to the relative positioning of a work tool assembly 104 with respect to a main frame 106 of a work vehicle 102.

[0034] The control unit 212 of the work machine 100 can be configured to generate outputs to a user interface 214, which is associated with a display unit 218 for display to the human operator. The control unit 212 can also be configured to receive inputs from the user interface 218, for example, user inputs provided via the user interface 218. As in Fig. Not explicitly shown in Figure 2, the control system 212 of the working machine 100 can, in some embodiments, furthermore receive inputs from remote devices 238 associated with a user via a respective user interface, e.g., a display unit with a touchscreen interface, and generate outputs to these devices. The data transmission between, for example, the control system 200 and a remote user interface can take the form of a wireless communication network 236 and associated components, as are generally known in the field.

[0035] In one embodiment, a remote server 240, e.g., in the form of a cloud server environment, can comprise one or more processors that are functionally connected to the control system 200. In certain embodiments, a mobile or remote user interface and / or the work machine control system 200 can further coordinate with or otherwise interact with the remote server 240 or another computing device 238 to perform certain operations in a system as disclosed herein. In one embodiment, for example, model development can be performed in a cloud server environment based on inputs received from a work machine, with validated models being downloaded to the work machine for use by the controller in a specific operation or, in certain embodiments, being accessible to the controller from the server during operation.

[0036] The controller 212 can be configured to generate control signals for controlling the operation of respective actuators or signals for indirect control via intermediate control units associated with a machine steering control unit 230, a work implement control unit 232, and / or a drive control unit 234. The controller 212 can, for example, be electrically connected to the respective components of these and / or other systems via a wiring harness, so that messages, commands, and electrical energy can be transmitted between the controller 212 and the rest of the machine 100.

[0037] Control signals can include, for example, a steering control signal or data message that defines the steering angle of the steering shaft; a brake control signal or data message that defines the amount of deceleration, hydraulic pressure, or brake friction for the brakes; a drive control signal or data message that controls a throttle setting, fuel flow, fuel injection system, vehicle speed, or vehicle acceleration. Furthermore, if the working machine can be powered by an electric drive or electric motor, the drive control signal can control or modulate the electrical energy, current, and voltage supplied to an electric drive or electric motor. The control signals generally vary over time as required for tracking the path plan.The connections that link the components of the system can include logical communication paths, physical communication paths, or both. Logical communication paths can include communications or connections between software modules, instructions, or data, while physical communication paths can include transmission lines, data buses, or communication channels, to name just a few non-limiting examples.

[0038] The steering control unit 230 may include or otherwise interact with an electrically controlled hydraulic steering system, an electrically driven rack and pinion steering system, a kingpin steering system, or another steering system. The powertrain control unit 234 may include or otherwise interact with an internal combustion engine, an internal combustion engine-electric hybrid system, an electric drive system, or the like.

[0039] It is understood that the control 212 described herein may be a single control which has all the described functions, or it may comprise several control units, with the described functions being distributed among the several control units.

[0040] Various operations, steps, or algorithms described in connection with the controller 212 may be embodied directly in hardware, in a computer program product such as a software module executed by a processor 220, or in a combination of both. The computer program product may reside in RAM, flash memory, ROM, EPROM, EEPROM, registers, on a hard disk, a removable disk, or in any other form of computer-readable medium 222 or equivalent data storage known in the field. An exemplary computer-readable medium may be coupled to the processor such that the processor can read information from and write information to the memory / storage medium. Alternatively, the medium may be an integral part of the processor.The processor and the medium can be contained within an application-specific integrated circuit (ASIC). The ASIC can be located in a user terminal. Alternatively, the processor and the medium can be contained as discrete components in a user terminal.

[0041] The term “processor” 220 can, in the present case, refer at least to general-purpose or specialized processing devices and / or logic, as understood by a person skilled in the art, including, but not limited to, a microprocessor, a microcontroller, a state machine, and the like. A processor can also be implemented as a combination of computing devices, e.g., as a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration.

[0042] A communication unit 224 can support or provide communication between the controller 212 and external systems or devices and / or support or provide a communication interface to internal components of the machine 100. The communication unit can include wireless communication system components (e.g., via a cellular modem, WLAN, Bluetooth, or the like) and / or one or more wired communication ports, such as USB ports.

[0043] Unless otherwise specified, the data storage 226 of the control system 202 described herein can 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.

[0044] The in Fig. Figure 3 of the flowchart shows an embodiment of a method 300 for operating a working machine 100, in particular an exemplary adaptive control of parameters such as the feed rate by means of reversing maneuvers at the ends of passes as disclosed herein. While the illustrated embodiment may include a specific arrangement of steps, inputs, outputs, and the like, certain steps may be combined, executed in a different order, or even omitted entirely in other embodiments within the scope of this disclosure, unless expressly stated otherwise herein.

[0045] The term “turning at the end of the crossing” used here can generally refer to turning movements of a working machine from a first (current) crossing over a work area to a second (subsequent) crossing over a work area, whereby the current and the subsequent crossing may, in some examples, be parallel and adjacent, or parallel and not adjacent, or not parallel at all, depending on the context.

[0046] An example of a machine operation may require successive and adjacent passes back and forth across the work area, with each pass beginning and ending approximately at a drivable headland boundary and the turning maneuver taking place at the end of the pass in the headland area.

[0047] Another example of a work machine operation may require several parallel but non-adjacent passes back and forth across the work area, with the work machine being able to reverse to complete the "adjacent" pass areas, with each turning maneuver taking place at the end of the pass in the headland area.

[0048] Another example of a work machine operation may involve multiple crossings within a work area for ditch / drainage purposes, where the crossings are often neither parallel nor adjacent, and a turning maneuver at the end of the crossing can simply be defined as the trajectory / path connecting the end of a first crossing and the beginning of a second crossing.

[0049] Another example of a working machine operation may involve a continuous path, for example along a circumference or otherwise defining a headland area or boundary, with relatively straight "crossings" along the route accompanied by intermediate turning maneuvers at the ends of crossings, for which calculated and executed operating envelopes are optimal to avoid operational disruptions or otherwise increase operator comfort.

[0050] The procedure 300 can generally refer to determining and implementing an operating envelope with respect to an actual operation 320 of a working machine 100; however, it is understood that various steps of the actual operation overlap with steps associated with a corresponding model generation and development process 310, since, for example, inputs provided in step 312 can be provided for the iterative development and possible improvement of the models before or during the actual operation.

[0051] Exemplary and non-restrictive inputs according to step 312 may include the receipt, collection, calculation, or other acquisition of inputs corresponding to operating parameters, ground conditions, machine type, and the like. These operating parameters may include, for example, vehicle orientation, feed rate, engine load / supply, steering angle, wheel slip, roll angle, and the like. The inputs may be understood as actual and essentially real-time values, whereby "essentially real-time" typically means that the values ​​are as close to real-time as possible, while accounting for some inherent delays in acquiring, converting, transmitting, or otherwise displaying the respective values ​​to the control device during machine operation.

[0052] Some or all of the received inputs, which correspond to the actual, real-time operating values ​​of the machine, can be compared with corresponding initial operating settings to determine the need for response measures, such as control signals or other forms of intervention. In particular, various embodiments of a method 300 as disclosed herein determine a steering angle (or steering angle) of the working machine and directly control at least one feed rate of the working machine based on at least one steering angle state derived from the steering angle.

[0053] In an embodiment of the method 300, which includes a model generation and / or development phase 310, inputs from 312 can be received over time as input data sets, compiled, aggregated, etc., and correlated with one or more observed results relating to turning maneuvers at crossing ends in order to train one or more selectively retrievable learning models and / or algorithms.

[0054] The model generation phase 310 may further include the validation and storage of the models in 316, which have been sufficiently developed over time using “test” input datasets and corresponding observed results, e.g. including feedback 332 from a “current” dataset, so that they can be retrieved and used during subsequent operations for estimations and / or predictions based on subsequent operations and corresponding datasets.

[0055] In some embodiments, the models may also include neural network-based models with variable control parameters that are optimized during training to better simulate (or approximate in a given simulation) observed real-world outcomes corresponding to an input data set. Such parameters may be initially set (e.g., user-specified) before training. The tuning of the hyperparameters, or in other words, the optimization of their values, can be performed during training to obtain a set of parameter values ​​that accurately represent the input-output mapping of the neural network to the training data set. In various embodiments, parameter tuning may be performed automatically during or between training iterations, manually based on user selection via a user interface, or a combination of both.In some embodiments, the parameters are not initially specified by a user, but instead predetermined formulaically or otherwise according to a "best estimate" of a distribution of possible simulation parameters, and in some embodiments they may initially be unknown and only derived during training. The parameters may, for example, determine aspects of the neural network structure and / or training parameters such as the number of hidden neuron layers, the number and / or definition of training steps, learning rates, batch size, and the like.

[0056] In a stage of the procedure 300 corresponding to an actual operation 320, step 322, as shown, relates to determining or otherwise obtaining settings for turning operations at the ends of passes for the operation in question. In one embodiment, the turning operation settings can correspond to a configuration of the working machine and the type of task to be performed. In some cases, the turning operation settings can be determined by user input, e.g., by manually selecting from various options associated with a user interface. Alternatively, in one embodiment, the turning operation settings can be based on a detected configuration of the working machine, e.g.,The working equipment settings must be determined, whereby spraying operations may naturally require different settings than planting or harvesting operations, and working machines with different loads and working equipment with different widths may also require different settings for the same operations. In one embodiment, the method may include preliminary determination of turning settings for the working machine upon startup and prompting the operator to confirm or otherwise modify the turning settings via the user interface.

[0057] The reversing settings can correspond to other inputs, as mentioned above in relation to step 312, such as a steady-state (i.e., straight-line) feed rate of the machine, different plans for job execution, ground conditions in the work area and especially in the headland or the area adjacent to it, and the like. For example, reversing settings for an operation may require different speeds (e.g.,a maximum speed in the middle of the turning maneuver or a maximum range between the steady-state feed rate and the minimum speed during the turning maneuver) than for an equivalent operation, based on an available headland area, the risk of damage to the work area or the machine being worked, given the characteristics of the work area, the characteristics of one or more peripheral areas of the work area that can be traversed but require specific operating settings, etc.

[0058] The procedure 300 can, in conjunction with the current operation 320, and further, for example, with regard to the inputs 312, reversing settings 322 and optionally when determining a commanded and / or detected track curvature (step 324), continue with the calculation of an operating envelope for an upcoming reversing movement at the end of the crossing (step 326).

[0059] In some embodiments, step 324 may be omitted, for example, if an upcoming turning maneuver at the end of a crossing and its timing are predicted based on the specific positions and movement of the working machine relative to known parameters in a work area map or work plan.

[0060] In some embodiments, an impending reversal at the end of a crossing and a corresponding request to calculate an operating envelope can be triggered manually, e.g. by user inputs received via an associated user interface tool.

[0061] In other embodiments, however, the impending turn at the end of the crossing in step 324 can be determined by monitoring actual operating parameters of the working machine and / or associated commands. For example, an impending turn at the end of a crossing can be triggered automatically when a change in the steering angle is detected that corresponds to a turn (e.g., greater than a threshold for the change in steering angle or longer than a threshold for the duration), or when operator commands corresponding to such a change in steering angle are received by the steering control unit.

[0062] The calculation of an operating envelope in step 326 may include calculating one or more target values ​​for operating parameters that relate, for example, to or otherwise define an optimal trajectory and / or associated velocity / acceleration components for the physically based forward control of the working machine over various sections of the turning maneuver at the end of the crossing. In one embodiment, known inputs relating, among other things, to an estimated mass, center of gravity, and axle loads based on a working machine type may be used to calculate optimized deceleration to maintain a balanced 50 / 50 load transfer with respect to the front axles and to maximize traction while minimizing soil compaction, to give an example of a target outcome.

[0063] In one embodiment, a speed value or a maximum speed value, as well as a maximum deceleration limit for maintaining a downward force on the front steering wheels, can be determined based on a detected degree of turning, as opposed to values ​​that apply to any detected turning maneuvers greater than a sensitivity threshold with respect to the base steering angle on a straight path. For example, with respect to the desired changes in the travel speed control settings, a sharp turning maneuver corresponding to the end of a row and a turn of the machine can be treated differently than a short and temporary turning maneuver, such as one associated with driving around an object within an otherwise continuous path.

[0064] As previously mentioned, the operating envelope can be calculated using one or more models and / or algorithms designed to correlate input data sets for some or all operating settings with desired or undesired results associated with the turning maneuver at the end of the pass for a type of machine or operation, such as excessive or insufficient product metering by the working machine, lateral error, which may correspond, for example, to an unintended deviation of the working machine from a desired trajectory or path, damage to the ground surface, for example in connection with wheel slip or soil compaction, or the like.

[0065] In one embodiment, the method 300 may require manual operation during an initial turn at the end of a crossing or perform automated operation based on a predetermined operating envelope, wherein an operating envelope for subsequent turnarounds at crossing ends is calculated based on operating parameters and / or ground conditions observed during the initial crossing and the first turnaround at the crossing end. Such an embodiment may, for example, allow the system to verify whether the machine is performing turnarounds in accordance with the expected operating conditions or, if not, to make adjustments to optimize the operating envelope for subsequent turnarounds.

[0066] Determining and executing an operating envelope for various turning maneuvers at the end of the crossing after the first turning maneuver at the end of the crossing may include determining machine operating parameters, ground conditions and / or the like during at least the first crossing and the first turning maneuver at the end of the crossing of the current operation.

[0067] In one embodiment, such a determination can be made using signals from one or more perception sensors 204 associated with the working machine 100, which, for example, have a field of view encompassing a turning area traversed during the first turning maneuver at the end of the crossing. The inputs derived from such signals can be used, for example, to determine ground conditions such as slope, moisture, or the like.

[0068] Alternatively or additionally, such a determination can be made using signals from one or more machine operating sensors 206 associated with the working machine 100, which correspond to changes in the feed rate and / or the orientation of the working machine during the first turning maneuver at the end of the crossing.

[0069] Alternatively or additionally, such a determination can be made using signals from one or more position sensors 208 associated with a working tool 104 of the working machine 100. For example, if the boom is raised or lowered, the resulting effects on one or more turning characteristics can be determined and taken into account in subsequent turning operations where the working tool is in a similar position.

[0070] The turning maneuver at the end of the crossing and the calculated operating envelope can be executed, for example, at or after crossing a defined headland boundary or other defined exits of the defined working area, for example, with regard to turning maneuver settings that were specified in step 322. In this way, the problem of overdosing product within the defined working area can be avoided or at least mitigated.

[0071] In one embodiment, the turning maneuver at the end of the crossing and the calculated operating envelope can, for example, be completed, whereby the feed rate of the working machine is reduced to the steady-state feed rate (or a specific adjustment thereof) at or before recrossing the defined headland boundary or other defined exits of the defined working area, again, for example, with regard to the turning maneuver settings specified in step 322. In this way, the problem of underdosing of product within the defined working area can be avoided or at least mitigated.

[0072] In one embodiment, the crossing and / or recrossing of the defined boundary can be determined with respect to a work implement associated with the working machine, rather than, for example, an initial crossing associated with a front end of the entire working machine or a complete crossing associated with a rear end of the entire working machine. The crossing of the defined boundary by the work implement can, for example, refer to a defined axis associated with the work implement (e.g., the boom) and transverse to a longitudinal axis corresponding to a forward direction of the working machine. The defined axis can, for example, be defined with respect to the center of the work implement, or alternatively, it can be defined to encompass a soil cultivation or treatment area associated with the work implement.

[0073] The procedure 300 can be continued in step 328 with the automatic control of one or more machine operating parameters and associated control units / actuators to execute the calculated operating envelope through the relevant turning maneuver at the end of the crossing.

[0074] Procedure 300 can be continued in step 330 by returning to a steady-state feed rate for a subsequent pass over the work area. The steady-state feed rate can be, for example, the same rate predetermined for each straight pass across the field, or it can be adjusted manually or automatically by the operator to suit specific conditions. Observed conditions that may affect the steady-state feed rate on subsequent passes include, for example, slippage, lateral error, or the like, which are at least partially related to an excessively high feed rate when initially crossing a headland boundary, for example, due to temporary soil conditions.

[0075] With reference to Fig. 4A and Fig. 4B An exemplary operation can now be described with regard to at least parts of the method 300. A working machine 100 is shown, moving along a current crossing 114a through a working area 112. While the working machine reaches point A along the current crossing 114a and approaches crossing the headland boundary 116 at point B, the feed rate F1 of the working machine 100 remains at a steady-state value (e.g., approximately 15 mph).

[0076] In the example shown, after crossing the headland boundary 116 and entering the headland area 118, the working machine 100 continues straight ahead at least initially along the current crossing 114a, and the feed rate F1 is kept at the steady-state value during this time between point B and point C.

[0077] In other exemplary processes, however, for example with regard to alternative turning maneuver settings, the steering angle can be adjusted so that a turning maneuver is initiated earlier after the initial crossing of the headland boundary or even immediately after the initial crossing.

[0078] If a turning maneuver begins at point C at the end of crossing 120, or in other words, if the steering angle is detected or commanded from a straight path associated with the current crossing 114a, the deceleration of the feed rate is executed according to a calculated operating envelope, whereby, for example, a feasible feed rate trajectory to achieve a second speed (e.g., a target setpoint) at point D with minimal lateral error may require a limitation of the deceleration if the approach to the turning maneuver is made at higher first (e.g., steady-state) speeds at point C.

[0079] In the example shown, this second speed is a minimum speed that is applied constantly during the turning maneuver from point D via points E, F, G to point H, whereby the steering angle is returned to a straight trajectory associated with a subsequent crossing 114b, and the feed rate is increased from point H to the steady-state feed rate at point I.

[0080] However, it is understood that in other embodiments the reduction of the feed rate of C can be continued beyond the points shown as D and / or E and optionally up to a midpoint (not shown) of the turning maneuver at the end of the crossing 120.

[0081] In the example shown, the feed rate between points H and I is increased from the minimum rate associated with the turning maneuver at the end of crossing 120 to the steady-state feed rate associated with the subsequent crossing 114b, and the steady-state feed rate is thereby reached before crossing the headland boundary 116 again and maintained by points (e.g. J) associated with the subsequent crossing 114b, and preferably until the next turning maneuver at the end of crossing.

[0082] In other embodiments, the increase in feed rate can originate from the aforementioned center point or from other points (e.g. F, G) between such a center point and point H, which represents a return of the steering angle to a straight trajectory associated with the subsequent crossing 114b.

[0083] According to the in Fig. 4A and Fig. In the example shown in Figure 4B, a working machine 100, such as a sprayer, can automatically synchronize a deceleration and re-acceleration of the feed speed of the working machine with a steering path during a turning maneuver at a crossing end in order to minimize a steering slip angle and preferably maintain a constant product application rate in order to avoid or at least significantly mitigate an overdosing of product before crossing the headland boundary 116 by the working implement (e.g. the boom) and an underdosing of product after crossing the headland boundary 116 again by the working implement.

[0084] Next, another example will be given with reference to Fig. 5A-5D described. In this embodiment, a turning maneuver at the end of the crossing 120 between an current crossing 114a and a subsequent crossing 114b, or to connect the crossings via a working area 112, is not necessarily synchronous from beginning to end, but can, for example, be planned so that the highest possible entry speed and turning maneuver are possible, while simultaneously maintaining a target spray rate and avoiding a lateral error when recrossing the headland boundary 116. A trajectory for an actual turning maneuver at the end of the crossing 122 differs from a projected turning maneuver at the end of the crossing 120 in that the working machine 100 maintains an initial speed (e.g., 23 km / h) when it crosses the headland boundary 116 (504 in Fig. 5B) is crossed, and follows a wide curve before slowing down to a minimum speed (e.g. 15 km / h) before leaving the headland area 118.

[0085] In various embodiments, machine operating settings can be validated or otherwise adjusted to take into account anticipated results when the feed rate is reduced by an expected value before a reversing maneuver.For example, if the machine is traveling at a relatively high speed that would be significantly reduced in a tight turn, and also considering a detected lack of traction, the time required to effectively reduce the speed by the specified value, or other conditions that could lead to negative results with such a sudden change in speed, the machine's operating settings can be proactively adjusted to take such conditions into account, for example by reducing a maximum steady-state speed before crossing a headland boundary and / or generally during a subsequent crossing.

[0086] In Fig. Figure 5B shows that the feed rate 502 of the working machine is maintained at a steady-state value over the headland boundary 504 and, in particular, until after a complete crossing of the headland boundary 506, before it is slowed down to a minimum value (e.g., headland speed) corresponding to the projected or planned trajectory for turning maneuvers at the end of crossing 120, and then (in this embodiment) only increases again after crossing the headland boundary again, so that the previous steady-state value is only reached sometime after crossing the headland boundary again and driving along the subsequent crossing 114b.

[0087] In Fig. 5C and Fig. 5D is a lateral error 508 represented, which is associated with the trajectory of the working machine 100, primarily in connection with the difference between the actual trajectory of the turning maneuver at the end of the crossing 122, 512 relative to the projected or planned trajectory of the turning maneuver at the end of the crossing 120, 510, which is corrected in the last phase of the turning maneuver at the end of the crossing, while still allowing a maximum possible entry speed into the headland / turning maneuver.

[0088] In various embodiments, braking and acceleration functions during a turning maneuver at the end of the crossing can be performed automatically, but such functions can be manually overridden by the operator via suitable user interface tools (e.g., foot pedal, joystick). In one embodiment, manually overriding the braking and acceleration functions may only temporarily disable the automatic implementation of the braking and acceleration functions, which are otherwise resumed when the operator ceases manually operating the corresponding user interface tools.

[0089] With renewed reference to procedure 300 in Fig.3. Step 332, as described, provides feedback based on the monitored input parameters and their values, and also with regard to any generated output signals, as part of model development phase 310 of procedure 300 for correlating the input data sets with observed results (favorable or not). Such observed results can, for example, be provided manually (e.g., by input via the user interface) and / or, in some embodiments, be applied automatically using inputs that correspond to the type of result or are otherwise relevant.

[0090] It is thus evident that a device and / or method according to the present disclosure readily achieves the stated objectives and advantages, as well as the inherent benefits associated therewith. Although certain preferred embodiments of the disclosure have been illustrated and described for illustrative purposes, the person skilled in the art may make numerous modifications to the arrangement and construction of the parts and steps, and these modifications fall within the scope of protection and the essence of the present disclosure, as defined by the pending claims. Each disclosed feature or embodiment may be combined with any of the other disclosed features or embodiments, unless expressly stated otherwise.

Claims

[1] Computer-implemented method (300) for planning and automating the execution of at least turning maneuvers at crossing ends by a self-propelled work machine (100) operating within a defined work area (112), wherein the work area is defined at least partially by one or more boundaries (116) that can be crossed by the work machine, and covering the defined work area requires a plurality of crossings (114) by the work machine, the method comprising: Generating and training one or more algorithms and / or models based on inputs that correspond at least to working machine operating parameters and are further correlated with one or more specified turning results (310, 312, 314); in a current operation (320) and for a current crossing of the working machine, calculating an operating envelope for an upcoming turning maneuver at a crossing end with reference to the one or more algorithms and / or models and with regard to one or more current inputs that correspond at least to working machine operating parameters, wherein the one or more current inputs include a steady-state feed rate of the working machine (326); automatic control of at least the feed rate of the working machine during the turning maneuver at the end of the crossing based on the calculated operating envelope (328); and When initiating a subsequent pass of the working machine, reduce the feed rate of the working machine to the steady-state feed rate (330). [2] Method according to claim 1, wherein one or more machine operating parameters and / or ground conditions are determined during at least one first pass and one first turnaround at a pass end of the current operation and an operating envelope for at least one subsequent turnaround at a pass end of the current operation is calculated partly on the basis of the one or more machine operating parameters and / or ground conditions determined during the at least one pass and the first turnaround at the pass end of the current operation. [3] Method according to claim 2, wherein at least one of the one or more working machine operating parameters and / or ground conditions during the at least first pass and the first turning at the end of the pass of the current operation are determined using signals from one or more perception sensors associated with the working machine and having a field of view that includes a turning area traversed during the first turning at the end of the pass. [4] Method according to claim 2, wherein at least one of the one or more machine operating parameters and / or ground conditions during the at least first pass and the first turning at the end of the pass of the current operation are determined using signals from one or more machine operating sensors associated with the machine, which correspond to changes in the feed rate and / or orientation of the machine during the first turning at the end of the pass. [5] Method according to claim 2, wherein at least one of the one or more working machine operating parameters and / or ground conditions during the at least first pass and the first turning at the end of the pass of the current operation are determined using signals from one or more position sensors associated with a working device of the working machine. [6] Method according to claim 1, wherein the turning maneuver at the end of the crossing and the calculated operating envelope are performed at or after crossing an associated one or more boundaries to leave the defined working area. [7] Method according to claim 1, wherein the turning maneuver at the end of the crossing and the calculated operating envelope are carried out by a working device associated with the working machine at or after crossing one or more boundaries. [8] Method according to claim 6, wherein the feed rate of the working machine is reduced to the steady-state feed rate at or before crossing the associated one or more boundaries to return to the defined working area. [9] Method according to claim 8, wherein the feed rate of the working machine is reduced to the steady-state feed rate at or before crossing the associated one or more boundaries by a working device associated with the working machine. [10] Method according to claim 1, wherein the calculated operating envelope for each turning maneuver at the end of the crossing includes a maximum feed rate at its midpoint. [11] Method according to claim 1, wherein the calculated operating envelope for each turning maneuver at the end of the crossing comprises a deceleration from the steady-state feed rate before initiating a change in the steering angle. [12] Method according to claim 1, wherein at least one of the one or more determined results comprises a weight shift during the turning maneuver at the end of the crossing and the operating envelope for each turning maneuver at the end of the crossing is calculated such that a target weight shift is effected. [13] Method according to claim 12, wherein the target weight shift is based at least partially on a type of working machine and / or an actual load. [14] Method according to claim 1, wherein the calculated operating envelope for a current turning maneuver is dynamically adjusted at the end of the crossing to take into account certain changes of a course and / or trajectory relative to their respective expected values. [15] System (200) for planning and automating the execution of at least turning maneuvers at crossing ends by a self-propelled work machine (100) operating within a defined work area (112), wherein the work area is defined at least partially by one or more boundaries (116) that can be crossed by the work machine, and covering the defined work area requires a plurality of crossings (114) by the work machine, wherein the system comprises: Data storage (226, 238, 240) on which one or more algorithms and / or models are stored that have been trained on the basis of inputs that correspond at least to working machine operating parameters and are further correlated with one or more defined turning results; and one or more processors (220, 238, 240) that are functionally connected to the data storage and to one or more sensors (204, 206, 208) that are associated with the working machine, wherein the one or more processors are configured to control the execution of steps in a method (300) according to any one of claims 1 to 14.

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