U.S. patent application number 13/249884 was filed with the patent office on 2012-08-23 for system and method for synchronized control of a harvester and transport vehicle.
Invention is credited to Todd Aznavorian, Christopher A. Foster, Kousha Moaveni-Nejad, Riccardo Morselli, Arun Natarajan, Olivier Vanhercke, Guoping Wang.
Application Number | 20120215394 13/249884 |
Document ID | / |
Family ID | 46653439 |
Filed Date | 2012-08-23 |
United States Patent
Application |
20120215394 |
Kind Code |
A1 |
Wang; Guoping ; et
al. |
August 23, 2012 |
SYSTEM AND METHOD FOR SYNCHRONIZED CONTROL OF A HARVESTER AND
TRANSPORT VEHICLE
Abstract
A control system and method is provided to control a
longitudinal position of a transport vehicle relative to a
harvester during an unload on the go operation and to control both
the lateral position and the longitudinal position of a transport
vehicle relative to a harvester during an unload on the go
operation to evenly fill a receiving area of the transport vehicle
with crop material from the harvester. The longitudinal position of
the transport vehicle is maintained within an acceptable range by
adjusting the velocity of the transport vehicle. The receiving area
of the transport vehicle can be more evenly filled with crop
material by adjusting the lateral position and the longitudinal
position of the transport vehicle within predetermined trim
distances associated with the receiving area of the transport
vehicle.
Inventors: |
Wang; Guoping; (Naperville,
IL) ; Foster; Christopher A.; (Denver, PA) ;
Morselli; Riccardo; (San Vito Di Spilamberto, IT) ;
Vanhercke; Olivier; (Gistel, BE) ; Aznavorian;
Todd; (Naperville, IL) ; Natarajan; Arun;
(Naperville, IL) ; Moaveni-Nejad; Kousha;
(Chicago, IL) |
Family ID: |
46653439 |
Appl. No.: |
13/249884 |
Filed: |
September 30, 2011 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
61444526 |
Feb 18, 2011 |
|
|
|
Current U.S.
Class: |
701/24 ; 701/23;
701/50 |
Current CPC
Class: |
G05D 2201/0201 20130101;
A01D 41/1278 20130101; A01B 69/008 20130101; A01D 43/085 20130101;
G05D 1/0293 20130101; G05D 1/0278 20130101 |
Class at
Publication: |
701/24 ; 701/23;
701/50 |
International
Class: |
G05D 1/02 20060101
G05D001/02; G06F 19/00 20110101 G06F019/00 |
Claims
1. A method of controlling a transport vehicle to enable
substantially even loading of crop material into the transport
vehicle during an unload on the go operation with a harvester, the
method comprising: determining a current lateral position for a
transport vehicle relative to a harvester, the current lateral
position being based on a predetermined path for the transport
vehicle and a current lateral position adjustment; determining a
current longitudinal position for a transport vehicle relative to a
harvester, the current longitudinal position being based on a
predetermined longitudinal distance from the harvester and a
current longitudinal position adjustment; calculating a future
adjustment to at least one of the current lateral position or the
current longitudinal position; calculating a future lateral
position for the transport vehicle relative to a harvester and a
future longitudinal position for the transport vehicle relative to
the harvester using the current lateral position, the current
longitudinal position, the predetermined path and the calculated
future adjustment to the at least one of the current lateral
position or the current longitudinal position; generating a
steering control signal to steer the transport vehicle to the
future lateral position with an auto-guidance system for the
transport vehicle; generating a speed control signal to control the
transport vehicle to the future longitudinal position with an
automated speed control in a longitudinal position control system
for the transport vehicle; and applying the generated steering
control signal and the generated speed control signal to transport
vehicle components to automatically control the steering and speed
of the transport vehicle and provide for substantially even filling
of the transport vehicle with crop material from the harvester.
2. The method of claim 1 wherein calculating a future adjustment to
at least one of the current lateral position or the current
longitudinal position comprises manually entering by an operator
the adjustment to the at least one of the current lateral position
or the current longitudinal position.
3. The method of claim 2 wherein manually entering by an operator
the adjustment comprises manually entering by the operator at least
one of a lateral distance deviation or a longitudinal distance
deviation.
4. The method of claim 1 wherein calculating a future adjustment to
at least one of the current lateral position or the current
longitudinal position comprises entering by an operator at least
one control variable to enable automated adjustment of the at least
one of the current lateral position or the current longitudinal
position.
5. The method of claim 4 wherein entering by an operator at least
one control variable comprises entering at least one of a trim
pattern type, a trim pattern cycle time or a trim pattern travel
manner.
6. The method of claim 1 wherein calculating a future adjustment to
at least one of the current lateral position or the current
longitudinal position comprises: limiting an adjustment to the
current lateral position to be within a predetermined maximum
lateral distance adjustment and a predetermined minimum lateral
distance adjustment; and limiting an adjustment to the current
longitudinal position to be within a predetermined maximum
longitudinal distance adjustment and a predetermined minimum
longitudinal distance adjustment.
7. The method of claim 6 wherein in the predetermined maximum
lateral distance adjustment, the predetermined minimum lateral
distance adjustment, the predetermined maximum longitudinal
distance adjustment and the predetermined minimum longitudinal
distance adjustment correspond to boundaries for a receiving area
for crop material in the transport vehicle.
8. The method of claim 6 wherein: the current lateral position
corresponds to a position which offsets from the predetermined path
by a current lateral position adjustment; the current longitudinal
position corresponds to a predetermined longitudinal distance from
the harvester plus a current longitudinal position adjustment; the
predetermined maximum lateral distance adjustment and the
predetermined minimum lateral distance adjustment are boundaries of
a range centered on the predetermined lateral position; and the
predetermined maximum longitudinal distance adjustment and the
predetermined minimum longitudinal distance adjustment are
boundaries of a range centered on the predetermined longitudinal
position.
9. The method of claim 1 wherein calculating a future adjustment to
at least one of the current lateral position or the current
longitudinal position comprises selecting one of a harvester
operator or a transport vehicle operator to have control of the
adjustment to the at least one of the current lateral position or
the current longitudinal position.
10. A control system to control a transport vehicle to enable
substantially even loading of crop material into the transport
vehicle during an unload on the go operation with a harvester, the
control system comprising: a global positioning system device to
determine a current lateral position of a transport vehicle and a
current longitudinal position of the transport vehicle; a user
interface for an operator to enter information; a first controller
comprising a microprocessor to execute a computer program to
operate an auto-guidance system for the transport vehicle to steer
the transport vehicle along a predetermined path or an adjusted
path with a parallel offset to the predetermined path by a lateral
position adjustment; a second controller comprising a
microprocessor to execute a computer program to calculate an
adjustment to at least one of the current lateral position or the
current longitudinal position of the transport vehicle based on
information entered by the operator and to determine a future
lateral position for the transport vehicle and a future
longitudinal position for the transport vehicle using the current
lateral position, the current longitudinal position, the
predetermined path and the calculated adjustment to the at least
one of the current lateral position or the current longitudinal
position; a third controller comprising a microprocessor to execute
a computer program to operate a longitudinal position control
system for the transport vehicle to control the transport vehicle
to the future longitudinal position relative to the harvester; and
wherein the auto-guidance system and longitudinal position control
system for the transport vehicle being operated to control the
transport vehicle to the future lateral position and the future
longitudinal position through automated steering control and speed
control and to provide for substantially even filling of the
transport vehicle with crop material from a harvester.
11. The control system of claim 10 further comprising a first
wireless communication device located on the harvester and a second
wireless communication device located on the transport vehicle, the
first wireless communication device and the second wireless
communication device being operational to permit communication
between the harvester and the transport vehicle.
12. A method of controlling a transport vehicle to maintain a
longitudinal distance between the transport vehicle and a
corresponding harvester during an unload on the go operation, the
method comprising: determining a global positioning system position
for each of a transport vehicle and a harvester; calculating a
velocity for the transport vehicle and a velocity for the harvester
using the determined global positioning system positions for the
transport vehicle and the harvester; calculating a longitudinal
distance between the harvester and the transport vehicle using the
determined global positioning system positions for the transport
vehicle and the harvester; calculating a transport vehicle velocity
set point using the calculated velocity for the transport vehicle,
the calculated velocity for the harvester, the calculated
longitudinal distance between the harvester and the transport
vehicle and a predetermined longitudinal distance; and controlling
a velocity of the transport vehicle in response to the calculated
transport vehicle velocity set point to control the longitudinal
distance between the transport vehicle and the harvester to be
within a predetermined distance deviation from the predetermined
longitudinal distance.
13. The method of claim 12 further comprising: comparing the
calculated longitudinal distance between the harvester and the
transport vehicle to a predetermined distance range based on the
predetermined longitudinal distance and the predetermined distance
deviation; generating an indicator to enable engagement of a
discharge auger of the harvester in response to the calculated
longitudinal distance between the harvester and the transport
vehicle being within the predetermined distance range; and
generating an indicator to disengage the discharge auger of the
harvester in response to the calculated longitudinal distance
between the harvester and the transport vehicle being outside of
the predetermined distance range.
14. The method of claim 12 wherein calculating a longitudinal
distance between the harvester and the transport vehicle comprises
including at least one of crab angles for the harvester and the
transport vehicle, a pivot angle for the transport vehicle or a
harvester steering angle in the calculation of the longitudinal
distance between the harvester and the transport vehicle.
15. The method of claim 12 wherein calculating a longitudinal
distance between the harvester and the transport vehicle comprises
calculating a longitudinal position of the transport vehicle using
at least one of a linear approach based on a Cartesian coordinate
system, an angular approach based on a Polar coordinate system or a
curvilinear approach based on a harvester trajectory.
16. The method of claim 12 wherein calculating a transport vehicle
velocity set point comprises setting the transport vehicle velocity
set point equal to a harvester velocity in response to the
calculated longitudinal distance between the harvester and
transport vehicle being equal to the predetermined longitudinal
distance.
17. The method of claim 12 wherein calculating a transport vehicle
velocity set point comprises: calculating a distance error between
the calculated longitudinal distance between the harvester and
transport vehicle and the predetermined longitudinal distance;
providing the calculated distance error to a gain device to
generate a first signal; calculating a second signal by adding the
first signal to the calculated velocity for the harvester and
subtracting the calculated velocity for the transport vehicle;
providing the second signal to a proportional-integral dynamic
compensator to generate a third signal; providing the calculated
velocity for the harvester through a feed-forward dynamic
compensator to generate a fourth signal; calculating a fifth signal
by adding the third signal and the fourth signal; adjusting the
fifth signal to be within a transport vehicle velocity range in
response to the fifth signal being outside the transport vehicle
velocity range; and applying the adjusted fifth signal to a
nonlinearity compensator to generate the transport vehicle velocity
set point.
18. The method of claim 12 wherein controlling a velocity of the
transport vehicle in response to the calculated transport vehicle
velocity set point comprises controlling the velocity of the
transport vehicle using at least one of an auto-shift control
system, a continuously variable transmission or an automatic engine
speed control system.
19. The method of claim 12 wherein controlling a velocity of the
transport vehicle in response to the calculated transport vehicle
velocity set point comprises controlling the velocity of the
transport vehicle to position the transport vehicle the
predetermined longitudinal distance from the harvester.
20. A control system to control a velocity of a transport vehicle
during an unload on the go operation with a harvester, the control
system comprising: a first global positioning system device to
determine a position of a transport vehicle; a second global
positioning system device to determine a position of a harvester; a
first controller comprising a microprocessor to execute a computer
program to calculate a velocity of the transport vehicle, a
velocity of the harvester and a longitudinal distance between the
harvester and the transport vehicle using the determined positions
of the transport vehicle and the harvester; a second controller
comprising a microprocessor to execute a computer program to
calculate a transport vehicle velocity set point using the
calculated velocity for the transport vehicle, the calculated
velocity for the harvester, the calculated longitudinal distance
between the harvester and the transport vehicle and a predetermined
longitudinal distance; and a third controller comprising a
microprocessor to execute a computer program to control a velocity
of the transport vehicle in response to the calculated transport
vehicle velocity set point.
21. The control system of claim 20 wherein the first controller,
the second controller and the third controller are located on one
of the harvester or the transport vehicle.
22. The control system of claim 20 further comprising a first
wireless communication device located on the harvester and a second
wireless communication device located on the transport vehicle, the
first wireless communication device and the second wireless
communication device being operational to permit communication
between the harvester and the transport vehicle.
23. A method of controlling movement of an unload tube spout of a
harvester, the method comprising: determining an activation region
for a harvester, the activation region being based on a preselected
lateral distance range relative to the harvester and a preselected
longitudinal distance range relative to the harvester; determining
a position of a transport vehicle to receive crop material from the
harvester, the determined position of the transport vehicle being
relative to the harvester; comparing the determined activation
region and the determined position of the transport vehicle;
disabling movement of an unload tube spout of a harvester in
response to the determined position of the transport vehicle being
outside of the determined activation region; and enabling movement
of an unload tube spout of a harvester between an open position and
a closed position in response to the determined position of the
transport vehicle being within the determined activation
region.
24. The method of claim 23 wherein the determined activation region
is based on a lateral distance range relative to the harvester and
a longitudinal distance range relative to the harvester for a
receiving area of the transport vehicle, the receiving area of the
transport vehicle being an area to receive crop material from the
harvester.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of U.S. Provisional
Application No. 61/444,526, entitled "SYSTEM AND METHOD FOR
SYNCHRONIZED CONTROL OF A HARVESTER AND TRANSPORT VEHICLE," filed
Feb. 18, 2011, which application is hereby incorporated by
reference in its entirety.
BACKGROUND
[0002] The present application relates generally to a system and
method for automating or synchronizing the control of a harvester
and transport vehicle engaging in "unload on the go" operation.
[0003] Harvesters or harvesting machines pick up crop material,
treat the crop material, e.g., remove any undesirable portions or
residue, and discharge the crop material. Harvesters can discharge
the crop material, either continuously as with a forage harvester
or after intermediate storage as with a combine harvester, to a
transport or transfer vehicle. The transport vehicle may be a
tractor or truck pulling a cart, wagon, or trailer, or a truck or
other vehicle capable of transporting harvested crop material. The
harvested crop material is loaded into the transport vehicle via a
crop discharging or unloading device, such as a spout or discharge
auger, associated with the harvester.
[0004] During "unload on the go" operation of the harvester, the
harvested crop material is transferred from the harvester to the
transport vehicle while both vehicles are moving. The transport
vehicle can travel next to and/or behind the harvester during
unload on the go operation. Unload on the go operation is required
for a forage harvester, since the forage harvester constantly
discharges the harvested crop material. While unload on the go
operation is not required for a combine harvester due to the
combine harvester's intermediate storage capability, unload on the
go operation is commonly used for a combine harvester to maximize
the operating efficiency of the combine harvester.
[0005] To effectively implement unload on the go operation, the
operation of the harvester and transport vehicle is coordinated to
maintain the relative distance between the harvester and transport
vehicle within an acceptable range. By maintaining the relative
distance of the harvester and transport vehicle within an
acceptable range, the position and orientation of the harvester
unload spout and the position of the transport vehicle,
specifically the portion of the transport vehicle receiving crop
material, relative to the harvester unload spout position are
maintained within an acceptable distance range to permit harvester
unload on the go operation, i.e., the discharged crop material can
be provided into the transport vehicle without loss to the ground.
That is, discharged crop material is directed to collect in the
transport vehicle and is substantially prevented from being
misdirected to miss the transport vehicle and collecting on the
ground resulting in waste or loss of crop material. In order to
maintain an acceptable distance range between the harvester and the
transport vehicle, both the lateral (side to side) distance and
longitudinal (fore and aft) distance between the harvester and
transport vehicle have to be maintained within acceptable
ranges.
[0006] Using a global positioning system (GPS) based auto-guidance
system, auto-steering of the harvester and transport vehicle can
maintain lateral distance between the harvester and transport
vehicle within an acceptable range. With a wireless communication
link between the harvester and transport vehicle, each machine can
communicate its position provided by a GPS device to the other
machine. A master machine, such as a harvester, operates in a way
to best perform the harvesting operation, while the slave machine,
such as a transport vehicle, follows using the GPS auto-guidance
system's auto-steering function to maintain an acceptable lateral
distance from the master machine. While the use of the
auto-steering function of a GPS-based auto-guidance system can
maintain a lateral distance between the harvester and transport
vehicle, the auto-steering function cannot maintain a longitudinal
distance between the harvester and transport vehicle during unload
on the go operations.
[0007] Further, when maintaining acceptable lateral and
longitudinal distances during unload on the go operation, the
transport vehicle can be filled with crop material in the center,
which can result in underutilization of the transport vehicle's
capacity since the transport vehicle is not being evenly filled.
Another problem in unload on the go operations is the variation of
grain shoot-out distance from the unload spout to the transport
vehicle. The variation in shoot-out distance is mainly due to
different grain shoot-out speeds and directions, but the wind
direction and velocity can also affect the grain shoot-out
distance.
[0008] Therefore, what is needed is a system and method during
unload on the go operations to maintain a longitudinal distance
between the harvester and transport vehicle and to adjust the
position of the transport vehicle relative to the harvester for
more even filling of the transport vehicle with crop material.
SUMMARY
[0009] The present application is directed to a system and method
for automated or synchronized control of a harvester and transport
vehicle during unload on the go operations.
[0010] The present application relates to a method for controlling
a transport vehicle to bring the transport vehicle into alignment
with a harvester for unload on the go operation. The method
includes determining a position and velocity of the transport
vehicle and determining a position and velocity of the harvester.
The method includes calculating a lateral distance error between
the transport vehicle and the harvester and calculating a
longitudinal distance error between the transport vehicle and the
harvester for an auto-guidance control system and a longitudinal
position control system to control the corresponding distances to
obtain distance errors of zero. The method includes providing
selective operator control of the distance between the transport
vehicle and the harvester within a predetermined longitudinal
distance error limit and a predetermined lateral distance error
limit.
[0011] The present application further relates to a method of
controlling a transport vehicle to enable substantially even
loading of the crop material into the transport vehicle during an
unload on the go operation with a harvester. The method includes
determining a current lateral position for a transport vehicle
relative to a harvester and a current longitudinal position for the
transport vehicle relative to the harvester. The current lateral
position is based on a predetermined path for the transport vehicle
and a current lateral position adjustment. In one embodiment, the
current lateral position is on an adjusted path which offsets in
parallel from the predetermined path by the current lateral
position adjustment. The predetermined path for the transport
vehicle can be based on a predetermined path of the harvester and a
predetermined desired lateral distance from the harvester. The
current longitudinal position is based on a predetermined desired
longitudinal distance from the harvester and a current longitudinal
position adjustment. The method further includes calculating a
future adjustment to at least one of the current lateral position
or the current longitudinal position and calculating a future
lateral position for the transport vehicle relative to a harvester
and a future longitudinal position for the transport vehicle
relative to the harvester using the current lateral position, the
current longitudinal position, the predetermined path and the
calculated future adjustment to the at least one of the current
lateral position or the current longitudinal position. The method
also includes generating a steering control signal to steer the
transport vehicle to the future lateral position with an
auto-guidance system for the transport vehicle and generating a
speed control signal to control the transport vehicle to the future
longitudinal position with an automated speed control in a
longitudinal position control system for the transport vehicle, and
applying the generated steering control signal and the generated
speed control signal to transport vehicle components to
automatically control the steering and speed of the transport
vehicle and provide for substantially even filling of the transport
vehicle with crop material from the harvester.
[0012] The present application also relates to a control system to
control a transport vehicle to enable substantially even loading of
crop material into the transport vehicle during an unload on the go
operation with a harvester. The control system includes a global
positioning system device to determine a current lateral position
of a transport vehicle and a current longitudinal position of the
transport vehicle and a user interface for an operator to enter
information. The control system also includes a first controller
having a microprocessor to execute a computer program to operate an
auto-guidance system for the transport vehicle to steer the
transport vehicle along a predetermined path or an adjusted path
which offsets in parallel from the predetermined path by a lateral
position adjustment and a second controller having a microprocessor
to execute a computer program to calculate an adjustment to at
least one of the current lateral position or the current
longitudinal position of the transport vehicle based on information
entered by the operator and to determine a future lateral position
for the transport vehicle and a future longitudinal position for
the transport vehicle using the current lateral position, the
current longitudinal position, the predetermined path and the
calculated adjustment to the at least one of the current lateral
position or the current longitudinal position. The control system
further includes a third controller having a microprocessor to
execute a computer program to operate a longitudinal position
control system for the transport vehicle. The longitudinal position
control system for the transport vehicle is operated to control the
transport vehicle to the future longitudinal position relative to
the harvester. The auto-guidance system and longitudinal position
control system for the transport vehicle are operated to control
the transport vehicle to the future lateral position and the future
longitudinal position through automated steering control and speed
control and provide for substantially even filling of the transport
vehicle with crop material from a harvester. In one embodiment, at
the power-up of the control systems, the initial lateral position
adjustment and longitudinal position adjustment can be preset to
zero.
[0013] The present application relates to a method of controlling a
transport vehicle to maintain a longitudinal distance between the
transport vehicle and a corresponding harvester during an unload on
the go operation. The method includes determining a global
positioning system position for each of a transport vehicle and a
harvester, calculating a velocity for the transport vehicle and a
velocity for the harvester using the determined global positioning
system positions for the transport vehicle and the harvester and
calculating a longitudinal distance between the harvester and the
transport vehicle using the determined global positioning system
positions for the transport vehicle and the harvester. The method
also includes calculating a transport vehicle velocity set point
using the calculated velocity for the transport vehicle, the
calculated velocity for the harvester, the calculated longitudinal
distance between the harvester and the transport vehicle and a
predetermined longitudinal distance and controlling a velocity of
the transport vehicle in response to the calculated transport
vehicle velocity set point to control the longitudinal distance
between the transport vehicle and the harvester to be within a
predetermined distance deviation from the predetermined
longitudinal distance.
[0014] The present application additionally relates to a control
system to control a velocity of a transport vehicle during an
unload on the go operation with a harvester. The control system
includes a first global positioning system device to determine a
position of a transport vehicle, a second global positioning system
device to determine a position of a harvester and a first
controller having a microprocessor to execute a computer program to
calculate a velocity of the transport vehicle, a velocity of the
harvester and a longitudinal distance between the harvester and the
transport vehicle using the determined positions of the transport
vehicle and the harvester. The control system further includes a
second controller having a microprocessor to execute a computer
program to calculate a transport vehicle velocity set point using
the calculated velocity for the transport vehicle, the calculated
velocity for the harvester, the calculated longitudinal distance
between the harvester and the transport vehicle and a predetermined
longitudinal distance and a third controller having a
microprocessor to execute a computer program to control a velocity
of the transport vehicle in response to the calculated transport
vehicle velocity set point.
[0015] The present application further relates to a method of
controlling movement of an unload tube spout of a harvester. The
method includes determining an activation region for a harvester.
The activation region is based on a preselected lateral distance
range relative to the harvester and a preselected longitudinal
distance range relative to the harvester. The method further
includes determining a position of a transport vehicle to receive
crop material from the harvester. The determined position of the
transport vehicle is relative to the harvester. The method also
includes comparing the determined activation region and the
determined position of the transport vehicle, disabling movement of
an unload tube spout of a harvester in response to the determined
position of the transport vehicle being outside of the determined
activation region and enabling movement of an unload tube spout of
a harvester between an open position and a closed position in
response to the determined position of the transport vehicle being
within the determined activation region.
[0016] One advantage of the present application is the ability to
more evenly fill the transport vehicle with crop material during an
unload on the go operation of the harvester and transport
vehicle.
[0017] Another advantage of the present application is the ability
to maintain a longitudinal distance between the harvester and the
transport vehicle within an acceptable range.
[0018] Other features and advantages of the present application
will be apparent from the following more detailed description of
the exemplary embodiments, taken in conjunction with the
accompanying drawings.
BRIEF DESCRIPTION OF THE FIGURES
[0019] FIG. 1 shows a schematic top view of an embodiment of a
harvester and transport vehicle during unload on the go
operation.
[0020] FIG. 2 shows a rear view of an embodiment of a harvester and
transport vehicle during unload on the go operation.
[0021] FIG. 3 shows schematically an embodiment of a control system
for longitudinal position control.
[0022] FIG. 4 shows a flowchart of a control process for the
control system of FIG. 3.
[0023] FIG. 5 shows schematically an embodiment of the longitudinal
distance control dynamic compensator of FIG. 3.
[0024] FIGS. 6 and 7 show different longitudinal positions of a
transport vehicle relative to a harvester using a Cartesian
coordinate system.
[0025] FIGS. 8 and 9 show different longitudinal positions of a
transport vehicle relative to a harvester using a Polar coordinate
system.
[0026] FIG. 10 shows a longitudinal position of a transport vehicle
relative to a harvester using a curvilinear approach.
[0027] FIGS. 11 and 12 show another exemplary embodiment for
determining a longitudinal position of a transport vehicle relative
to a harvester.
[0028] FIGS. 13-16 show exemplary embodiments of user interfaces
associated with a V2V distance trim control system.
[0029] FIGS. 17-18 show exemplary embodiments of control activation
logic for implementing a V2V distance trim control between a
combine operator and a tractor operator.
[0030] FIG. 19 shows display screens for the harvester and
transport vehicle when executing the control activation logic of
FIG. 17.
[0031] Wherever possible, the same reference numbers will be used
throughout the drawings to refer to the same or like parts.
DETAILED DESCRIPTION OF THE EXEMPLARY EMBODIMENTS
[0032] In the present application, a vehicle to vehicle (V2V)
operation refers to an unload on the go operation, and a V2V
combine and a V2V tractor refer to a harvester and transport
vehicle performing the unload on the go operation.
[0033] FIGS. 1 and 2 show the relative positions of a harvester 10
and transport vehicle 20 during an unload on the go or V2V
operation. In one exemplary embodiment, the harvester or V2V
combine 10 and the transport vehicle or V2V tractor 20 can be
controlled by a global positioning system (GPS) based auto-guidance
control system(s) in order to maintain a desired lateral distance
(LAD) and a desired longitudinal distance (LOD) between the
harvester 10 and the transport vehicle 20. As described in more
detail with respect to FIGS. 3-4, the GPS based auto-guidance
control system can include a longitudinal distance control function
or system to adjust the speed of the transport vehicle in following
the harvester to maintain a desired longitudinal distance.
[0034] An exemplary embodiment of the reference points used for
measuring the desired or target lateral distance and the desired or
target longitudinal distance is shown in FIG. 1. However, any
suitable reference points for measuring lateral distance and
longitudinal distance can be used. The desired lateral distance and
desired longitudinal distance can both be a preselected distance
plus or minus a predetermined offset that ensures that crop
material discharged from the harvester 10 is received and stored by
the transport vehicle 20. As shown in FIG. 1, the lateral distance
error limits (LADEL), together with the desired lateral distance
(LAD), define the maximum and minimum lateral distances that can be
used for unload on the go operation. The defined maximum and
minimum lateral distance can be the LAD plus and minus one half of
the LADEL range. As further shown in FIG. 1, the longitudinal
distance error limits (LODEL), together with the desired
longitudinal distance (LOD), similarly define the maximum and
minimum longitudinal distances that can be used for unload on the
go operation. The preselected or desired lateral and longitudinal
distances and the corresponding predetermined offsets can be
related to the particular harvesters and transport vehicles being
used, specifically the distance from the distal end of the
harvester unload spout to the centerline of the harvester, the size
of the storage area in the transport vehicle and an estimate of the
shoot-out distance of the crop material from the harvester unload
spout to the transport vehicle.
[0035] The desired lateral distance and desired longitudinal
distance can be control targets. During an unload on the go
operation, the actual lateral and longitudinal distances are
measured and compared to the corresponding desired lateral and
longitudinal distances for calculating distance errors, and then
used by the corresponding control and auto-guidance systems to
adjust the relative positions of the transport vehicle 20 and
harvester 10 to attempt to obtain distance errors of zero. In one
embodiment, the LADEL and LODEL, or portions thereof, can define an
activation region related to the particular harvester 10 and
transport vehicle 20 being used and/or the relative speeds at which
the transport vehicle 20 and harvester 10 can be operated. Once the
transport vehicle 20 has entered the activation region, the unload
tube for the harvester 10 may be opened or closed and/or unload on
the go operation may be initiated. The limiting of the opening and
closing of the unload tube to times when the transport vehicle is
in the activation region can be used as a safety feature to prevent
damage to the unload tube. In another embodiment, the size of the
activation region associated with the unload tube opening/closing
may be different than the size of the activation region associated
with initiation of the unload on the go operation.
[0036] The harvester 10 can have: a controller 12 that includes a
display unit or user interface and a navigation controller; a GPS
device 14 that includes an antenna and receiver; and a wireless
communication unit or device (WCU) 16 that can include a power
control switch. Similarly, the transport vehicle 20 can have: a
controller 22 that can include a display unit or user interface, a
navigation controller and tractor vehicle to vehicle control unit
(TV2V); a GPS device 24 that can include an antenna and receiver;
and a wireless communication unit or device (WCU) 26 that can
include a power control switch. The controllers can be used to
control operation and/or steering and/or speed of the harvester 10
and/or transport vehicle 20, regardless of the machine in which the
controller may be installed. The GPS device can be used to
determine the position of the harvester 10 or transport vehicle 20
and the wireless communication device can be used to send and
receive information, data and control signals between the harvester
10 and the transport vehicle 20. In one embodiment, an additional
GPS antenna may be positioned on the receiving area of the
transport vehicle, e.g., a grain cart. The TV2V control unit can
execute one or more computer programs to operate a longitudinal
position control system for the transport vehicle. The TV2V control
unit also can be integrated into a GPS based auto-guidance control
system.
[0037] In the exemplary embodiment shown in FIG. 1, the transport
vehicle 20 can include a fraction device 21 and a loading
receptacle 23. A hitch angle sensor 25 can be used to determine the
relative angle or hitch angle between the fraction device 21 and
the loading receptacle 23. As shown in FIG. 1, the traction device
21 can be a tractor and the loading receptacle 23 can be a wagon or
grain cart. However, in other embodiments, the traction device 21
may be a truck or other self-propelled vehicle sufficient to
transport the loading receptacle 23 and the loading receptacle 23
may be a bin or other similar storage/transport vehicle. In another
embodiment, the transport vehicle 20 may be a truck, semi-trailer
truck, tractor-trailer or other similar self-propelled container
vehicle.
[0038] Referring now to FIG. 2, the combine harvester 10 has an
unloading tube or spout 18 transversely extending and fully
deployed as it unloads crop material 100 through the discharge boot
30 and into the transport vehicle 20. The boot 30 can have any
convenient and suitable shape. In one exemplary embodiment, the
boot 30 can be generally cylindrical, but can be more boxy with
edges, or venturi-shaped, etc. The opening of the unloading tube or
spout 18 at its distal end is peripherally sealed by a joint member
11 which hingedly engages portion 32 of the boot 30, which portion
32 interfaces the distal end of the unloading tube or spout 18. The
joint member 11 can be rounded or spherical, but can also be
cylindrical on a horizontal axis, as long as the interface between
the tube or spout 18 and the boot 30 is adequately sealed.
Angularly extending from portion 32 of the boot 30 is a spout end
31 of the boot 30. Signals from the controller 12 of the combine
harvester 10, travel through conduits 47 for controlling the
actuators 40, which actuators 40 can pivotally move the boot 30 up
and down and back and forth in hinging relationship to the
unloading tube or spout 18, via the spherical joint 11. The joint
11 also serves to seal the interface at the end 31 of the boot
30.
[0039] The controllers 12, 22 can include a microprocessor, a
non-volatile memory, an interface board, an analog to digital (A/D)
converter, and a digital to analog (D/A) converter to control
operation of the harvester and/or transport vehicle. The
controllers 12, 22 can execute one or more control algorithms to
control operation, guidance and/or steering of the harvester 10
and/or transport vehicle 20, to control the speed of the transport
vehicle and/or harvester and to implement harvester spout control.
In one embodiment, the control algorithm(s) can be computer
programs or software stored in the non-volatile memory of the
controllers 12, 22 and can include a series of instructions
executable by the corresponding microprocessor of the controllers
12, 22. While it is preferred that the control algorithm be
embodied in a computer program(s) and executed by the
microprocessor, it is to be understood that the control algorithm
may be implemented and executed using digital and/or analog
hardware by those skilled in the art. If hardware is used to
execute the control algorithm, the corresponding configuration of
the controllers 12, 22 can be changed to incorporate the necessary
components and to remove any components that may no longer be
required.
[0040] Further, the controllers 12, 22 can be connected to or
incorporate a display unit or user interface that permits an
operator of the harvester 10 or transport vehicle 20 to interact
with the controllers 12, 22. The operator can select and enter
commands for the controllers 12, 22 through the display unit or
user interface. In addition, the display unit or user interface can
display messages and information from the controllers 12, 22
regarding the operational status of the harvester 10 and/or
transport vehicle 20. The display units or user interfaces can be
located locally to the controllers 12, 22, or alternatively, the
display units or user interfaces can be located remotely from the
controllers 12, 22. In another exemplary embodiment, the
controllers 12, 22 can each include one or more subcontrollers
under the control of a master controller. Each subcontroller and
the master controller can be configured similar to the controllers
12, 22.
[0041] In one exemplary embodiment, the controllers 12, 22 can
execute a V2V auto-guidance control system that can automatically
steer a V2V tractor to follow the travel path of a V2V combine
during unload on the go operations. The auto-guidance control
system can steer the V2V tractor in a controlled manner during
unload on the go operations to maintain the lateral distance
between the V2V tractor and the V2V combine within the specified
lateral distance error limits. In order to steer the V2V tractor,
the auto-guidance control system can provide control signals to a
steering control valve to adjust the steering position of the V2V
tractor (and ultimately the path of the V2V tractor) and receive
signals from a steering sensor to determine the current steering
position of the V2V tractor.
[0042] Referring now to FIGS. 3-4, an embodiment of a longitudinal
position control system and algorithm utilized to control the
longitudinal distance between the transport vehicle and the
harvester is shown. The longitudinal distance between the transport
vehicle and the harvester can be controlled to be within an
acceptable range with respect to a target or desired longitudinal
distance so that automatic unload on the go operations can be
permitted. The longitudinal position control system and method can
be implemented either on the harvester controller 12 or on the
transport vehicle controller 22 because of the wireless
communication between the harvester 10 and transport vehicle 20. A
harvester GPS position and a transport vehicle GPS position can be
input to the longitudinal position control system (step 602). A
longitudinal distance calculation algorithm can then calculate a
harvester velocity, a transport vehicle velocity, and a current
longitudinal distance between the harvester 10 and transport
vehicle 20 (step 604) using the harvester GPS position and a
transport vehicle GPS position. The actual or current longitudinal
distance may be estimated or calculated by using the following
information: the GPS positions of the transport vehicle and the
harvester, crab angles of the transport vehicle and the harvester
(a vehicle crab angle can be defined as the angle between the
vehicle's orientation and its travel course), grain cart or
transport vehicle pivot angle (may be used with a tractor pulling a
corresponding grain cart) and/or a harvester steering angle.
[0043] A target longitudinal distance and an allowed longitudinal
distance deviation can be input to the longitudinal position
control system (step 605). The target longitudinal distance may be
defined as a function of a longitudinal offset distance of the
unload spout distal end position to the GPS position of the
harvester, a longitudinal offset distance of the center of the
receiving area of the transport vehicle to the GPS position of the
transport vehicle, and/or an estimate of the longitudinal grain
shoot-out distance from the unload tube of the harvester to the
receiving area of the transport device. An acceptable or allowed
longitudinal distance deviation range from the target longitudinal
distance is determined by the size of the receiving area of the
transport vehicle or the grain cart.
[0044] A longitudinal distance control dynamic compensator 54
calculates a transport vehicle velocity set point (step 606) from
the harvester velocity, the transport vehicle velocity, the current
longitudinal distance and the target longitudinal distance. The
transport vehicle velocity set point is provided to a transport
vehicle velocity control system that controls the transport vehicle
at a new velocity based on the received transport vehicle velocity
set point (step 608). The transport vehicle velocity control system
can use an automatic engine rpm (revolutions per minute) control
system, a transport vehicle auto-shift control system, or a
transport vehicle continuously variable transmission (CVT) control
system to control or adjust the transport vehicle velocity based on
the transport vehicle velocity set point. In one embodiment, the
transport vehicle velocity control system can control the transport
vehicle velocity to match the harvester velocity when the
longitudinal distance error is zero.
[0045] A longitudinal distance error range check algorithm
generates an "unload unsafe" indicator. In one embodiment, when the
"unload unsafe" indicator is a zero (0), the longitudinal distance
is within an acceptable range, and when the "unload unsafe"
indicator is a one (1), the longitudinal distance is outside of an
acceptable range. The "unload unsafe" indicator is generated by
comparing the actual longitudinal distance from the longitudinal
distance calculation algorithm to the target longitudinal distance
and the acceptable longitudinal distance deviation (step 610) and
determining whether the actual longitudinal distance is within an
acceptable range based on the target longitudinal distance and the
acceptable longitudinal distance deviation (step 614). If the
actual longitudinal distance is not within an acceptable range, the
discharge auger of the harvester is disengaged or shut down (step
616). If the actual longitudinal distance is within the acceptable
range, the discharge auger of the harvester is enabled to be
engaged. An engagement of the discharge auger depends on other
conditions, such as the harvester unload spout being filly
deployed.
[0046] FIG. 5 shows schematically components of the longitudinal
distance control dynamic compensator of FIG. 3. The longitudinal
distance control dynamic compensator 54 can calculate a difference
between target longitudinal distance and the actual longitudinal
distance. The longitudinal distance difference is provided to a
proportional distance control gain device or amplifier K.sub.pos 66
that can provide a signal used to adjust the transport vehicle
speed or velocity when the distance error is not zero. The
longitudinal distance control dynamic compensator 54 includes a
proportional-integral (PI) dynamic compensator 68, and a
feed-forward (FF) dynamic compensator 70. A range check 72 limits
the velocity or speed command (i.e., the velocity set point) to a
transport vehicle velocity or speed range, and a nonlinearity
compensator 74 compensates for a nonlinear relationship between the
velocity command and transport vehicle speed or velocity response.
The integral control in the longitudinal distance control dynamic
compensator 54 maintains the transport vehicle velocity command
when both the velocity control error and distance control error
equal zero.
[0047] The longitudinal position control system is a unified
distance-speed control system, designed for controlling the
longitudinal distance and transport vehicle speed to match the
target distance and harvester speed simultaneously. The system
operates on a V2V tractor or transport vehicle, and is a closed
loop distance control system with an inner speed control loop. The
longitudinal position control system can be designed to be able to
integrate different transport vehicle speed control systems, such
as Auto Productivity Management (APM), Continuously Variable
Transmissions (CVTs), and engine speed control systems.
[0048] FIGS. 6-10 show different longitudinal positions of a
transport vehicle relative to a harvester. The different approaches
for defining the longitudinal position can be used to quantify the
transport vehicle's longitudinal distance from the harvester
unloading point. The harvester's reference frame for the approaches
in FIGS. 6-10 can be defined by an x-y axis. FIGS. 6-7 show a
linear approach for measuring the longitudinal distance between the
harvester and the transport vehicle using a Cartesian coordinate
system. In FIGS. 6-7, the transport vehicle's reference frame can
be defined by an x'-y' axis and the longitudinal distance can be
defined as the distance between the y axis and the y' axis. FIGS.
8-9 show an angular approach for determining the longitudinal
distance between the harvester and the transport vehicle using a
Polar coordinate system. In FIGS. 8-9, the transport vehicle's
reference frame can be defined by an a axis. The longitudinal
position for the transport vehicle can be defined as the angle
between the y axis and the a axis and the distance along the a axis
from the origin of the x-y axis to the GPS position of the
transport vehicle. In one embodiment, a lateral distance, i.e., a
distance along the y axis, may also be used to determine
longitudinal position using the angular approach. FIG. 10 shows a
curvilinear approach for measuring the longitudinal distance
between the harvester and the transport vehicle by taking into
account trajectory curvatures of the harvester and transport
vehicle. The longitudinal position for the transport vehicle can be
defined as the portion of the transport vehicle's trajectory from
the y axis. In one embodiment, the transport vehicle's trajectory
can be defined by the harvester trajectory radius plus a
predetermined or desired lateral offset. The desired lateral offset
or distance can be determined by the lateral distance from the
distal end of the harvester spout to the longitudinal centerline of
the harvester (i.e., the x axis). FIGS. 6, 8 and 10 show the
transport vehicle in proper longitudinal alignment with the
harvester unloading point or spout for unload on the go operation
and FIGS. 7 and 9 show the transport vehicle out of proper
longitudinal alignment with the harvester unloading point or spout
for unload on the go operation.
[0049] In an alternate embodiment, as disclosed and further shown
in FIGS. 11-12, a longitudinal distance can be defined as the
distance from the discharge or unload tube outlet to the transport
vehicle GPS position along the transport vehicle longitudinal
centerline (i.e., the transport vehicle heading direction). The
defined longitudinal distance is a function of the GPS positions of
the two vehicles, i.e., the harvester 10 and transport vehicle 20,
the headings of the two vehicles, and the offset distance L.sub.2
from the harvester discharge tube outlet to the harvester GPS
position along the harvester longitudinal centerline 50 (i.e., the
harvester heading direction).
[0050] The harvester position and transport vehicle position are
sensed by respective GPS units or devices 14, 24 on each vehicle.
The distance between the two vehicles is a function of the GPS
positions of the two vehicles, and can be represented by a vector d
in terms of east (u) and north (v) coordinates. The harvester
heading and transport vehicle heading are represented by unit
vectors h.sub.c and h.sub.t, respectively. The harvester heading
and the transport vehicle heading can be calculated separately and
may not be the same, especially during curved path travel. A
difference or angular displacement between the two headings can be
represented by an angle .DELTA.. An offset distance from the outlet
of the harvester discharge or unload tube 18 to the harvester GPS
device or position 14 in the harvester heading direction is
represented by L.sub.2, which value can be defined positive if the
harvester GPS device or position 14 is ahead of the harvester
discharge or unload tube 18 and defined negative if the harvester
GPS device or position 14 is behind the discharge or unload tube
18. The longitudinal distance can be calculated using a vector dot
product as set forth in Equation 1. By the sign convention of
L.sub.2 defined above, the calculated longitudinal distance
d.sub.LON is positive when the transport vehicle GPS device or
position 24 is ahead of the discharge tube 18.
d.sub.LON=(dh.sub.c+L.sub.2)/|h.sub.th.sub.c|, (1)
[0051] When |.DELTA.|.gtoreq.90.degree., the transport vehicle and
harvester are in opposite or perpendicular directions to each
other. Thus, unload on the go operation would not be performed and
the calculation of the longitudinal distance using Equation 1 would
not be valid for longitudinal position control.
[0052] A predetermined longitudinal distance can be defined as the
distance from the center of the receiving area of the transport
vehicle or the loading receptacle, e.g., a grain cart, to the
transport vehicle GPS position, as measured in the transport
vehicle heading direction, when the receiving area of the transport
vehicle or the grain cart is aligned with the transport vehicle,
i.e., the transport vehicle, including any connected grain cart, is
travelling in an essentially straight direction. Stated
differently, the receiving area of the transport vehicle is aligned
with the transport vehicle when the pivot angle between the
corresponding fraction device and the loading receptacle or grain
cart is zero. In one embodiment, the predetermined longitudinal
distance can be set as a default target or desired longitudinal
distance.
[0053] In another embodiment, when the pivot angle between the
corresponding traction device and grain cart is not zero, such as
during travel along a curved path, the predetermined longitudinal
distance can be equal to the sum of the following two distances:
the distance from the center of the grain cart to the pivot point
in the direction of the grain cart's longitudinal centerline, and
the distance from the pivot point to the transport vehicle GPS
position in the transport vehicle's heading direction. However, a
target longitudinal distance error is introduced when travelling
along a curved path, i.e., the pivot angle is not zero. For a small
pivot angle, which can be the case for most unload on the go
operations, the error is tolerable and can be ignored. For example,
if the heading difference or angular displacement (angle .DELTA.)
is 10 deg and pivot angle is within +/-5 deg, then the error of the
target longitudinal distance is within 2% of the distance from the
center of the grain cart to the pivot point. For a large pivot
angle, not a usual situation, the longitudinal position controller
can adjust or compensate the target longitudinal distance by the
target longitudinal distance error. Calculation of the target
longitudinal distance error can be calculated using basic geometry
and algebra principles.
[0054] Alternatively, the direction of a planned or predetermined
path or swath for the transport vehicle, in replacement of the
transport vehicle heading h.sub.t, can be used for calculation of
the longitudinal distance. The planned path or swath provides a
defined direction for the transport vehicle which doesn't introduce
the disturbance signal caused by a heading sensing signal noise or
back and forth vehicle steering corrections. The planned path can
be used when the transport vehicle uses an auto-guidance system to
follow the planned path in that the transport vehicle heading is
exactly at or very close to the path direction.
[0055] As a further alternative, the direction of a planned or
predetermined path or swath of the harvester, in replacement of the
harvester heading h.sub.c, can be used for calculation of the
longitudinal distance. The planned path can be used when the
harvester uses an auto-guidance system to follow the planned
path.
[0056] In the case of a straight line path, the direction of the
planned path is the line direction. In the case of a curved path,
the direction of the planned path is tangent to the path at a
current path point. The current path point is on the planned path
and is either coincident with or nearest to the current vehicle
position, depending on whether the vehicle is exactly on the
planned path or not.
[0057] In one embodiment, a straight path can be viewed as a
special situation when the curvatures of the curved paths in FIG.
11 become zero, that is, the curves (or desired paths) in FIG. 11
become straight lines. Points A and B (not shown) can be defined as
any two ground points marked with GPS positions to define a
straight line on the desired straight harvester path, or any two
points on the desired straight transport vehicle path, or any two
points on a straight line parallel to the desired straight
harvester and transport vehicle paths. When both the harvester and
the transport vehicle are following straight paths parallel to the
straight AB line (not shown) and the angle .DELTA..apprxeq.0, the
longitudinal distance can be calculated in the direction of the AB
line using a simplified version of Equation (1) as set forth in
Equation (2):
d.sub.LON=(dh.sub.AB)sng(h.sub.ABh.sub.t)+L.sub.2, (2)
[0058] In Equation (2), h.sub.AB is a unit vector in the direction
from point A to point B. The sgn function, i.e.,
sgn(h.sub.ABh.sub.t), returns the sign of the dot product
h.sub.Abh.sub.t, meaning a value of +1 when the transport vehicle
heading is in the direction from A to B or within +/-90 degrees
from the direction from A to B, or a value of -1 when the transport
vehicle heading is in the direction from B to A or within +/-90
degrees from the direction from B to A.
[0059] In one embodiment, (u.sub.A, v.sub.A), (u.sub.B, v.sub.B),
(u.sub.tr, v.sub.tr), (u.sub.cmb, v.sub.cmb) can represent
Cartesian coordinates of point A, point B, transport vehicle
position (tr) and harvester position (cmb), respectively. The dot
product dh.sub.AB in Equation (2) can be expressed in the form of
Equation (3):
dh.sub.AB=[(u.sub.tr-u.sub.cmb)(u.sub.B-u.sub.A)+(v.sub.tr-v.sub.cmb)(V.-
sub.B-V.sub.A)]/[(u.sub.B-u.sub.A).sup.2+(v.sub.B-v.sub.A).sup.2].sup.1/2
(3)
[0060] Returning now to FIG. 1, each of the harvester 10 and the
transport vehicle 20 can travel along its own path or swath during
an unload on the go operation. In other words, the path or swath
for the transport vehicle 20 does not have to be the same as for
the harvester 10. In one embodiment, the path for the transport
vehicle 20 can be based on the path for the harvester 10. The
lateral distance error limits (LADEL) define the maximum and
minimum lateral distances for the transport vehicle path from a
desired or target lateral distance (LAD) that can be used for
unload on the go operation between the harvester 10 and the
transport vehicle 20. As further shown in FIG. 1, the longitudinal
distance error limits (LODEL) define the maximum and minimum
longitudinal distances along the transport vehicle path from a
desired or target longitudinal distance (LOD) that can be used for
unload on the go operation between the harvester 10 and the
transport vehicle 20. In one exemplary embodiment, the
auto-guidance system with an integrated longitudinal position
control system for the transport vehicle 20 calculates the target
lateral distance (LAD) and the target longitudinal distance (LOD)
based on a predetermined lateral offset distance and a
predetermined longitudinal offset distance from the distal end of
the unloading spout to the GPS device 14 of the harvester, a
predetermined longitudinal offset distance from the center of the
loading receptacle 23 to the GPS device 24 of the transport vehicle
and an estimate of crop shoot-out distance, and controls the
transport vehicle to maintain those distances. In another
embodiment, the lateral distance error limits (LADEL) and
longitudinal distance error limits (LODEL), or at least portions of
each of the LADEL and LODEL may be utilized to achieve V2V distance
trim control. In other words, the LADEL and LODEL, including
portions thereof, may be used to re-position the transport vehicle
with respect to the unload tube of the harvester for more even
filling of the transport vehicle and to compensate for variations
of grain shoot-out distance. The LADEL and LODEL, including
portions thereof, can sometimes be referred to as the "trim" or the
"trim distance."
[0061] FIGS. 13-16 show exemplary embodiments of user interfaces
associated with a V2V distance trim control system. Specifically,
FIGS. 13 and 14 show exemplary touch-screen user interfaces for a
manual implementation of the V2V distance trim control system and
FIGS. 15 and 16 show exemplary touch-screen user interfaces for an
automated implementation of the V2V distance trim control system.
The V2V distance trim control system includes a main window or
control display 80 and popup windows or sub-control displays 82,
83, which are accessed from the main window 80, depending on the
selected implementation mode, i.e., manual or automated. The main
window 80 and the popup windows 82, 83 provide an operator, such as
the harvester operator or the transport vehicle operator, with an
opportunity to not only achieve both lateral and longitudinal trim
control (in either direction of each of the lateral and
longitudinal directions), but also with the ability to adjust the
trim value, i.e., the distance from the desired or center point, if
desired. Additionally, the V2V distance trim control system
provides control activation negotiation between the harvester and
the transport vehicle to establish which operator, i.e., the
harvester operator or the transport vehicle operator, can perform
the trim control.
[0062] As shown in FIGS. 13 and 15, the main window 80 can include
an icon of a tractor pulling a grain cart with repositioning
direction arrows from an overview vantage point. Additional control
buttons or status displays 84-87 can be provided for control
activation, i.e., engagement and disengagement of the V2V distance
trim control system command capabilities, and the selection
function between automated and manual implementation of trim
control. Specifically, an activation or control button 84 and an
activation status message box 86 are provided for V2V distance trim
control system activation and a mode control or activation button
85 and a mode status message box 87 are provided for the selection
between manual and automated mode of implementation. The activation
status message box 86 indicates whether the operator viewing the
display has the ability to make adjustment to the trim control.
Only when the activation status message box 86 indicates
"Activated" can the operator make adjustments to the trim control
through the mode control activation button 85 and popup windows 82,
83. Otherwise, the operator has to request control from the other
vehicle by using the activation or control button 84 as described
below with respect to FIGS. 17-19.
[0063] As shown in FIG. 13, when manual mode of operation or
implementation is selected for trim control, the mode status
message box 87 indicates "Manual Mode" and a lateral distance
display 94 and a longitudinal distance display 96 become active.
The lateral distance and longitudinal distance displays 94, 96, can
include message boxes and/or control buttons with associated
symbols and text to indicate current re-positioning directions for
the adjustment of the lateral and longitudinal position of the
transport vehicle. When an operator touches either of the lateral
distance and longitudinal distance displays 94, 96, the popup
window 82, as shown in FIG. 14, can be provided or displayed to
permit the operator to change one or both of the two control
variables, i.e., the lateral and longitudinal positions. The four
directional control buttons 88 provide the operator with stepwise
distance trim control in four directions. Pressing a directional
button 88 once causes a trim distance to change by one step size in
that direction, which change is reflected in the lateral distance
and longitudinal distance displays 94, 96. The step size may differ
depending upon equipment type and application, and in a further
embodiment, the step size may vary as the edges of the LODEL and/or
LADEL are approached to provide for improved grain retention
control. Pressing the "RESET" button resets the trim distances to
zeros. Pressing the "OK" button accepts the trim adjustments and
closes the popup window. The left-right trim distance (some or all
of LADEL) adjustment as entered by the operator is then implemented
by the transport vehicle lateral position control system or
auto-guidance control system to steer the transport vehicle
accordingly, with a new target lateral distance being the
predetermined lateral distance (LAD) plus the left-right trim
distance and the fore-aft trim distance (some or all of LODEL)
adjustment as entered by the operator is implemented by the
transport vehicle longitudinal position control system to control
the longitudinal distance accordingly, with a new target
longitudinal distance being the predetermined longitudinal distance
(LOD) plus the fore-aft trim distance.
[0064] As shown in FIG. 15, when automated or auto mode of
operation or implementation is selected for trim control, the mode
status message box 87 indicates "Auto Mode" and a trim pattern type
display 90, a trim pattern time display 91, and a trim pattern
travel display 92, become active. The trim pattern type, trim
pattern time and trim pattern travel displays 90, 91, 92, can
include message boxes and/or control buttons with associated
symbols to indicate an icon of a grain cart repositioning pattern,
the time period it takes to cycle though or complete one path of
the pattern, and a character display for the manner of travelling
the pattern, e.g., an "S" for a stepwise travelling of the pattern
or a "C" for continuous travelling of the pattern. When an operator
touches any of the trim pattern type, trim pattern time and trim
pattern travel displays 90, 91, 92, the popup window 83, as shown
in FIG. 16, can be provided or displayed to permit the operator to
change any or all of the three control variables related to the
automated adjustment of the longitudinal and lateral positions. In
the popup window 83, the operator has the option to setup or
configure an automatic V2V distance trim control pattern by
selecting a pattern type to be indicated in the trim pattern
display 90, a stepwise or continuous execution of the pattern to be
indicated in the trim pattern travel display 92, and a pattern
cycle time to be indicated in the trim pattern time display 91. The
pattern type for trim control shows the movement of the relative
position of the crop material from the harvester in the receiving
area. The starting point for the pattern can be located in the
center of the receiving area or at an end of the receiving area. In
one embodiment, a step size of V2V distance trim control, such as
10 inches or 0.25 meter, may be utilized, although other distances
may be used. Once a selected pattern type, pattern time and/or
pattern travel is highlighted or selected, pressing the "OK" button
can close the popup window 83 and complete a setup of an automatic
V2V distance trim control. The pattern type, pattern time and/or
pattern travel adjustments are automatically implemented by the
transport vehicle lateral position control system or auto-guidance
control system and the transport vehicle longitudinal position
control system to reposition the transport vehicle with respect to
the unloading spout of the harvester accordingly using automated
steering control and speed control. The new target lateral distance
can be the predetermined lateral distance (LAD) plus the left-right
trim distance (some or all of LADEL), if any, as established by the
selected pattern type. The new target longitudinal distance can be
the predetermined longitudinal distance (LOD) plus the fore-aft
trim distance (some or all of LODEL), if any, as established by the
selected pattern type.
[0065] FIG. 17 is a state flow chart for implementing the V2V
distance trim control activation logic between the harvester or
combine and the transport vehicle or tractor. FIG. 18 is an
alternative control activation logic that is similar to FIG. 17,
but with a difference that the harvester has authority to take over
control activation from the transport vehicle without the condition
of the transport vehicle's agreement. FIG. 19 shows an example of
the V2V trim control activation buttons 84 and activation status
message boxes 86 on both a tractor display 80T and a combine
display 80H when progressing through the different control states
from FIG. 17.
[0066] On initialization of the V2V distance trim control system as
shown in FIG. 17, the initial control state is in the "Combine"
state 200, wherein the V2V trim distance is controlled by the
combine or harvester operator, and the V2V lateral distance trim
value and longitudinal distance trim value are initialized to be
zero on both the harvester or combine and the transport vehicle or
tractor. In the "Combine" state 200, the harvester or combine is
active for distance trim control, and the transport vehicle or
tractor is inactive, or passive, i.e., the tractor operator cannot
make any trim distance adjustments. On the combine display 80H,
"Activated" is shown in the text message box 86, and the control
button 84 is deactivated and shown as a grayed-out button. A
harvester or combine operator can manually change the lateral and
longitudinal distance trim values by using the control buttons 94,
96, 88 or change the automated trim control variables by using
buttons 90, 91, 92 on the combine display 80H or popup windows 82,
83. After the combine operator hits the "OK" button, a stored
lateral or longitudinal distance trim value in the combine display
80H is updated in response to a change in the lateral or
longitudinal distance trim value by the combine operator. On the
tractor display 80T, "Not Activated" is shown in text message box
86, and the control button 84 is activated with a "Ctrl Request"
message. The displays and control buttons 94 and 96, 90, 91 and 92
on the tractor touch-screen display 80T shown in FIG. 13 and FIG.
15 are functioning as displays only with the functions of control
buttons being deactivated so that the tractor operator cannot use
them to change the distance trim values. The tractor operator can
use the "Ctrl Request" button 84 to request the control authority
from the combine operator.
[0067] If a tractor operator presses the "Ctrl Request" button 84,
then control state transitions from the "Combine" state 200 to a
"Tractor Request" state 202. In the "Tractor Request" state 202, on
the tractor display 80T, the message box 86 shows the message
"Requesting" and the control button 84 is deactivated and is shown
as a grayed-out button. On the combine display 80H, the message box
86 shows the message "Remote Request," meaning an operator on the
other side of the V2V control is requesting for control of V2V
distance trim values, and the control button 84 is activated for
the combine operator to accept the request. In the "Tractor
Request" state, the combine remains active and the tractor remains
passive for making trim distance adjustment.
[0068] In the "Tractor Request" state 202, if a combine operator
doesn't accept the request during a preset period of time, then the
"Tractor Request" state 202 is timed out and the control state
returns back to the "Combine" state 200. Otherwise, if a combine
operator accepts the request by pressing the "Accept" control
button 84 on the combine display 80H, then the control state
transitions to the "Tractor" state 204, wherein the V2V distance
trim values are controlled by the tractor operator.
[0069] In the "Tractor" state 204, the tractor display 80T is
active for distance trim control, and the combine display 80H is
inactive, or passive, i.e., the combine operator cannot make any
trim distance adjustments. On the tractor display 80T, message box
86 shows "Activated' and control button 84 is activated with a
"Return Ctrl" message. On the combine display 80H, message box 86
shows "Not Activated" and control button 84 is activated with a
"Ctrl Request" message. A tractor operator can manually change the
lateral and longitudinal distance trim values by using the control
buttons 94, 96, 88 or change the automated trim control variables
by using buttons 90, 91, 92 on the tractor display 80T or popup
windows 82, 83. After a tractor operator selects the "OK" button, a
stored lateral or longitudinal distance trim value in the tractor
display 80T is updated in response to a change in lateral or
longitudinal distance trim value by the tractor operator. In the
"Tractor" state 204, either a combine operator can request for
control of V2V distance trim or a tractor operator can return the
control to the combine operator.
[0070] If the tractor operator presses the "Return Ctrl" button 84
on the tractor display 80T, then the control state transitions from
the "Tractor" state 204 to the "Combine" state 200. Otherwise, if a
combine operator presses the "Ctrl Request" button 84 on the
combine display 80H, then the control state transitions from the
"Tractor" state 204 to the "Combine Request" state 206, wherein the
combine operator is requesting control of the V2V distance trim. In
an unusual case when the tractor operator control event and combine
operator control event happen at exactly the same time, then the
tractor "Return Ctrl" event overrides the combine "Ctrl Request"
event.
[0071] In the "Combine Request" state 206, the V2V distance trim
control operation is similar to the operation in "Tractor Request"
state 202. The difference is that control button functions and
display messages are now exchanged between the combine display 80H
and the tractor display 80T. If a tractor operator doesn't accept
the request during a preset period of time, then the "Combine
Request" state 206 is timed out and the control state returns back
to the "Tractor" state 204. Otherwise, if a tractor operator
accepts the request by pressing the "Accept" control button 84,
then the control state transitions to the "Combine" state 200. For
any one of the state transitions described above, a wireless
communication link between a V2V combine and a V2V tractor is
established for communicating actions on the control button 84 of
the combine display 80H and actions on the control button 84 of the
tractor display 80T.
[0072] During a V2V control engagement between the V2V combine and
a V2V tractor, if the V2V distance trim control state is the
"Combine" state 200 or the "Tractor Request" state 202, the lateral
and longitudinal distance trim values in the combine display 80H
are sent to the tractor to update the distance trim values in the
tractor display 80T. Then, the tractor V2V autoguidance control
system updates the tractor path in response to an updated lateral
distance trim value, and the tractor longitudinal position control
system updates the target longitudinal distance in response to an
updated longitudinal distance trim value. Otherwise, if the V2V
distance trim control state is the "Tractor" state 204 or the
"Combine Request" state 206, the lateral and longitudinal distance
trim values in the tractor display 80T are used to update the
tractor path and the target longitudinal distance, and are sent to
the combine to update the distance trim values in the combine
display 80H.
[0073] FIG. 18 is an alternative control activation logic. The
difference is that there is no "Combine Request" state 206.
Otherwise, the V2V distance trim control operations are basically
the same. In the "Tractor" state 204 of this control activation
logic, if a combine operator press the "Ctrl Request" button 84 on
the combine display 80H, then the control state transitions to
"Combine" state 200 without the condition of a tractor operator
accepting the request.
[0074] In FIG. 19, a grayed-out control button is deactivated for
that state. A control request is accompanied by a preset time
period. If the preset time period runs out without acceptance of
the request, then the request is aborted and the control state does
not change.
[0075] During operation, exchange of control button signals between
the combine and tractor is through the wireless communication link.
A multi-function handle is an alternative to the popup window for
operator control of trim distances. The handle has four directional
control buttons and one reset button, similar to those in the popup
window. The reset button is positioned in the center of the four
directional buttons, and can be labeled "H" for home, i.e., the
start point of V2V trim distance adjustments.
[0076] The automatic trim control popup window can include, but is
not limited to, the control patterns shown in the popup window. The
trim distance limits for a pattern can be dependent on the lateral
distance error limits (LADEL), and the longitudinal distance error
limits (LODEL), which in turn are associated with the receiving
area size. The control button 85 and associated text display is for
the operator to select an auto or manual V2V distance trim control
mode. In auto mode, a time step is calculated and then executed for
a stepwise pattern, or a relative speed is calculated and then
executed for a continuous pattern, based on the following: selected
pattern type, pattern time, LADEL and LODEL, and distance step size
(for stepwise pattern only).
[0077] Harvester unloading on the go automation allows greater
accuracy during the unloading process and greater utilization of
grain cart capacity. The accuracy improvements come from making
sure all the grain/material being unloaded makes it into the grain
cart being pulled by the tractor. It also allows more farmers to
perform unloading on the go operations due to a reduction in the
level of skill drivers may need to perform the operation. The
ability to adjust grain cart position in the system allows
maximization of the fill process.
[0078] It should be understood that the application is not limited
to the details or methodology set forth in the following
description or illustrated in the figures. It should also be
understood that the phraseology and terminology employed herein is
for the purpose of description only and should not be regarded as
limiting.
[0079] The present application contemplates methods, systems and
program products on any machine-readable media for accomplishing
its operations. The embodiments of the present application may be
implemented using existing computer processors, or by a special
purpose computer processor for an appropriate system, or by a
hardwired system.
[0080] Embodiments within the scope of the present application
include program products comprising machine-readable media for
carrying or having machine-executable instructions or data
structures stored thereon. Machine-readable media can be any
available non-transitory media that can be accessed by a general
purpose or special purpose computer or other machine with a
processor. By way of example, machine-readable media can include
RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage,
magnetic disk storage or other magnetic storage devices, or any
other medium which can be used to carry or store desired program
code in the form of machine-executable instructions or data
structures and which can be accessed by a general purpose or
special purpose computer or other machine with a processor. When
information is transferred or provided over a network or another
communications connection (either hardwired, wireless, or a
combination of hardwired or wireless) to a machine, the machine
properly views the connection as a machine-readable medium.
Combinations of the above are also included within the scope of
machine-readable media. Machine-executable instructions comprise,
for example, instructions and data which cause a general purpose
computer, special purpose computer, or special purpose processing
machines to perform a certain function or group of functions.
[0081] Although the figures herein may show a specific order of
method steps, the order of the steps may differ from what is
depicted. Also, two or more steps may be performed concurrently or
with partial concurrence. Variations in step performance can depend
on the software and hardware systems chosen and on designer choice.
All such variations are within the scope of the application.
Likewise, software implementations could be accomplished with
standard programming techniques with rule based logic and other
logic to accomplish the various connection steps, processing steps,
comparison steps and decision steps.
[0082] In the further consideration of the drawings of this
application and the discussion of such drawings and the elements
shown therein, it should also be understood and appreciated that,
for purposes of clarity in the drawings, pluralities of generally
like elements positioned near to one another or extending along
some distance may sometimes, if not often, be depicted as one or
more representative elements with extended phantom lines indicating
the general extent of such like elements. In such instances, the
various elements so represented may generally be considered to be
generally like the representative element depicted and generally
operable in a like manner and for a like purpose as the
representative element depicted.
[0083] Many of the fastening or connection processes and components
utilized in the application are widely known and used, and their
exact nature or type is not necessary for an understanding of the
application by a person skilled in the art. Also, any reference
herein to the terms "left" or "right" is used as a matter of mere
convenience, and is determined by standing at the rear of the
machine facing in its normal direction of travel. Furthermore, the
various components shown or described herein for any specific
embodiment in the application can be varied or altered as
anticipated by the application and the practice of a specific
embodiment of any element may already be widely known or used by
persons skilled in the art.
[0084] It will be understood that changes in the details,
materials, steps and arrangements of parts which have been
described and illustrated to explain the nature of the application
will occur to and may be made by those skilled in the art upon a
reading of this disclosure within the principles and scope of the
application. The foregoing description illustrates an exemplary
embodiment of the invention; however, concepts, as based upon the
description, may be employed in other embodiments without departing
from the scope of the application.
[0085] While the application has been described with reference to
an exemplary embodiment, it will be understood by those skilled in
the art that various changes may be made and equivalents may be
substituted for elements thereof without departing from the scope
of the application. In addition, many modifications may be made to
adapt a particular situation or material to the teachings of the
application without departing from the essential scope thereof.
Therefore, it is intended that the application not be limited to
the particular embodiment disclosed as the best mode contemplated
for carrying out this application, but that the invention will
include all embodiments falling within the scope of the appended
claims.
* * * * *