WORKING MACHINE BATTERY MANAGEMENT

Abstract

Embodiments herein relate to a working machine that may include one or more batteries. The working machine may further include logic that is configured to: identify an operation plan to be performed by the working machine in a work area; identify an amount of power required to complete the operation plan; identify an amount of power remaining in the one or more batteries; alter, based on a comparison of the amount of power required to complete the operation plan to the amount of power remaining in the one or more batteries, the operation plan to generate a revised operation plan; and facilitate implementation, by the working machine, of the revised operation plan. Other embodiments may be described and/or claimed.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of, and claims priority to, United States Provisional Patent Application U.S. 63/448,190, the contents of which are incorporated herein in their entirety.

This application further incorporates by reference, in their entirety, the disclosures of US Provisional Patent Application U.S. 63/398,308, filed on Aug. 16, 2022, as well as U.S. patent application Ser. No. 18/366,331, filed on Aug. 7, 2023.

BACKGROUND

Off-highway working vehicles or other working machines, which may operate on steep or uneven ground, may include utility vehicles, such as tractors, lawnmowers, construction vehicles, agriculture vehicles, or the like. These types of machines/vehicles may be referred to herein as “working machines.” Such working machines may have transportation systems, such as wheels, treads, walking devices, crawlers, or the like, to transport the working machine from one location to another. In embodiments, such working machines may include one or more batteries that at least partially power the working machines.

BRIEF DESCRIPTION OF THE DRAWINGS

Embodiments will be readily understood by the following detailed description in conjunction with the accompanying drawings. To facilitate this description, like reference numerals designate like structural elements. Embodiments are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings.

FIG. 1 illustrates an example architecture related to a working machine (e.g., an agricultural working machine or some other working machine), in accordance with various embodiments.

FIG. 2 illustrates an example process flow related to battery management in a working machine (e.g., an agricultural working machine or some other working machine), in accordance with various embodiments.

FIGS. 3a, 3b, and 3c (collectively, “FIG. 3”) illustrate examples of operation plan adjustments, in accordance with various embodiments.

FIGS. 4a and 4b (collectively, “FIG. 4”) illustrate an alternative example of operation plan adjustments, in accordance with various embodiments.

FIG. 5 illustrates an example computing system suitable for practicing various aspects of the disclosure, in accordance with various embodiments.

FIG. 6 illustrates an example non-transitory computer-readable storage medium having instructions configured to practice all or selected ones of the operations associated with the processes described in reference to any of FIGS. 1-4, and/or some other method, process, or technique described herein, in whole or in part.

DETAILED DESCRIPTION

Embodiments described herein may include apparatus, systems, techniques, or processes that are directed to a battery management system of a working machine. Such a working machine may include or relate to, for example, those used for agriculture, construction, mining, lawncare, etc., related to various functions such as tilling, grading, harvesting, equipment transfer at a worksite, etc.

As previously described, working machines, which may operate on steep or uneven ground, may include utility vehicles, such as tractors, lawnmowers, construction vehicles, agriculture vehicles, or the like. Such working machines may have transportation systems, such as wheels, treads, walking devices, crawlers, or the like, to transport the working machine from one location to another.

In addition to the transportation system, these working machines may include tools for performing a work task, such as a residential operation, commercial operation, or industrial operation. Example work tasks may include mowing, spraying, harvesting, planting, digging, mining, leveling, or the like. These tools may also be referred to as implements, and may include passive implements such as a plow that is pulled by a tractor, a trailer with a non-motorized transportation system, etc.; motorized implements, such as a powered hitch to position a plow, a mower, a digger, a lawn edger, etc.; and/or some other type of implement.

Various components of these working machines (e.g., motorized devices of the transportation system and/or a motorized implement), may be configured to operate autonomously (e.g., fully autonomously or semi-autonomously). A robotic lawn mower is one example of a working machine that may operate fully autonomously. A tractor having an auto-steering system interfacing with the steering wheel (or steering wheel column) is one example of a semi-autonomous working machine (because an operator may manually steer the working machine using the steering wheel).

In various embodiments, the working machine may be at least partially powered by a battery, such as a lithium-ion battery or some other type of battery. For example, the working machine may be fully electric (e.g., the battery is the only power source for the working machine). In other embodiments, the working machine may have a “hybrid” power source such that a battery and other power source such as a combustion engine may work in tandem with one another or sequentially with one another (e.g., the combustion engine activates when the battery's power falls below a certain level). In these embodiments, battery management software may be considered to be a useful component of the working machine.

As previously described, battery management may be important for an off-road or off-highway working machine that has autonomous, semi-autonomous, or computer-assisted functionality and is powered by one or more batteries. Autonomous functionality may refer to functionality that is performed based on some form of computer-provided instructions without operator input. Semi-autonomous functionality may include or relate to functionality where a function of the working machine (e.g., steering) is performed by an operator, and/or is capable of being performed either by an operator or some form of automated device (e.g., a device that is coupled to a steering mechanism of the working machine). Computer-assisted functionality may include or relate to functionality that is primarily performed by an operator, but a computer may assist with one or more aspects of the functionality. One example of functionality may be steering feedback provided by the working machine to the operator. It will be understood that these descriptions are intended as high-level non-limiting overviews for the sake of discussion, rather than definitive and limiting categorizations.

Several factors may influence the working machine's performance and, more particularly, the performance of the battery of the working machine. Some of these factors are “real-time” such as ambient temperature of the working machine, battery, or environment (e.g., “air temperature”), and some are functions of the environment in which the working machine is operating, such as the terrain or soil type that the working machine is to navigate. Embodiments herein relate to combinations of these various data points to create a decision that optimizes the task being done while meeting a customer's expectations with regard to battery management.

It will be noted that, while embodiments herein may be described with reference to an agricultural working machine and/or agricultural environment (e.g., a farm), such description is for the sake of discussion of one particular embodiment, and the concepts described herein may apply in other scenarios. For example, one such scenario may be a construction worksite where equipment is being moved (e.g., via a loader), landscape is being graded, etc. Another such scenario may be a lawn-care scenario where an electric lawnmower is traversing an area to perform a function such as leaf removal, grass cutting, watering, etc. These examples are intended as illustrative, rather than comprehensive, and other embodiments may relate to different scenarios and/or tasks.

In discussion of embodiments herein, the term “task” may also be referred to as a “mission plan” or “operation plan.” For the sake of consistency herein, the term “operation plan” will be used. A “work path” may refer to a path along which the working machine is to traverse as it performs the action associated with or directed by the operation plan. Generally, the operation plan may refer to one or more parameters such as a work path to navigate, a function to perform at specific points along the work path, etc. To put it another way, the operation plan may include a portion related to the work path, and a portion related to a function to be performed at one or more points of the work path. However, it will be understood that in other embodiments the operation plan may only relate to one of the work path and the function, rather than both.

More generally, embodiments may combine data points from multiple sources, such as as-applied data, off-board third-party data, current on-board information, etc. In some embodiments—for example, related to agricultural applications—the data may be referred to as “agronomic” data. In some embodiments, the data may additionally/alternatively be referred to as “terrain-related data,” “weather data,” “soil data,” etc. As described in greater detail below, the data may include current or historical data, and may include data related to the working machine and/or the environment in which the working machine is operating. As used herein, the term “current” in relation to data may refer to data that reflects the conditions at the time of performance of the operation plan. Similarly, as used herein, the term “historical” in relation to data may refer to data that reflects conditions that occurred at a time prior to performance of the operation plan. It will also be noted that the environment in which the working machine is operating may be referred to as a “work area.”

Examples of current working machine data may include or relate to data such as draft load, wheel slip, power source (e.g., battery) status, and/or the current operation plan. Examples of historical working machine data may include or relate to data such as the time it took to complete a previous operation plan, the previous load that had been placed on the working machine prior to performance of the current operation plan (e.g., transport to the field), previous draft load or wheel slip when the working machine last performed a similar operation plan, etc. Examples of current data (for example, in an agricultural application, agronomic data; while in other applications, the data may be some other type of off-road or off-highway data, terrain-related data, etc.) may be or include current weather, weather forecast, current soil data, current normalized difference vegetation index (NDVI) data, field topography, radar views of the field, intended or expected yield of the task, etc. The historical data (for example, in an agricultural application, agronomic data, while in other applications the data may be some other type of off-road or off-highway data, terrain-related data, etc.) may include data related to previous weather conditions, previously analyzed soil data, previous NDVI data, etc. As described in greater detail below, the data may be gathered from, for example, sensors that are on or associated with the working machine, third-party sources (e.g., national weather forecast information), historical data stored in one or more tables or databases that are part of, or communicatively coupled with, the working machine, etc. It will be understood that the above-described examples of data, data types, and/or data sources are intended as examples of such elements for the sake of discussion herein, and other embodiments may include more/fewer/different data, data types, and/or data sources.

Using these data points, the battery management software and/or operational software may be enabled to determine the best possible work path for a given operation plan, while also managing battery charge remaining and power required to complete the operation plan. Additionally, alerts may be sent to the operator in the form of a notification (regardless of whether the operator is on or in the working machine, or remote from the working machine and operating the working machine in a monitoring capacity), enabling a decision to be made with regard to the operation plan. Example decisions that result from the notifications could be or include a decision to continue with the current operation plan; a decision to alter the current operation plan to perform an additional action, such as recharging or swapping a battery of the working machine; a decision to modify the application being performed as part of the operation plan (e.g., changing the work implement being used for the operation plan); adjust the working machine settings (e.g., speed of the working machine); modify one or more parameters of the operation plan (e.g., reducing the distance that the working machine is directed to travel); etc. It will be understood that the above-listed options are intended as examples of such options and, in other embodiments, the operation plan may be adjusted, revised, or altered in a different manner. In some embodiments such alteration may be performed based on the input of the operator of the working machine, while in other embodiments the alteration may be performed without the input of the operator.

Generally, third-party data such as weather and soil conditions may alter the draft that the working machine will experience (e.g., increase the amount of power required to move the working machine along a pre-determined route). Additionally/alternatively, previous work (such as performance of a previous tillage application or road transport of the working machine to an area where work is to be performed) may also cause a change to the operation plan based on draft load and battery charge remaining after the previous work. Based on these factors, the operation plan may be adjusted using data such as historical data or real-time data so that the working machine has enough battery charge to either complete the existing operation plan, or alter the operation plan. Non-limiting examples of such an alteration may include one or more of: returning to the charging point, modifying working machine settings, providing a notification to an operator (either on-board or off-board) of the working machine that the working machine may run out of battery power prior to completion of the existing operation plan, etc. In some embodiments, such a notification may include data such as a probability factor related to completion (or non-completion), or some other type of data.

In one specific example, an agricultural working machine such as a tractor performing an operation plan related to tillage may use data such as engine load recorded from a previous year in the georeferenced location in the field. Such data may be based on, for example, last year's tillage application. This operating software in the controller may combine the historical tillage data with other data sources such as soil data, weather data, battery performance, current temperature, etc. to adjust the operation plan as previously described. By adjusting the operation plan, the operator or working machine may ensure that the working machine does not run out of power prior to returning to a charging station (which could be, e.g., at the edge of the field where work is being performed, at a location different from the field, such as a farm with which the agricultural working machine is associated, etc.) As noted, such adjustments could include, for example, adjusting the implement settings, adjusting the work path, and/or adjusting the amount of work that is to be performed by the working machine.

FIG. 1 illustrates an example architecture 100 related to a working machine 145 (e.g., an agricultural working machine or some other working machine), in accordance with various embodiments. It will be understood that the specific elements shown in FIG. 1 are intended for the sake of discussion, rather than providing distinct boundaries between elements. In other words, in various embodiments certain of the elements may be combined (e.g., the working machine 145 may include the implement 125, or the historical data 115 and third-party data 120 may be on a same server). In some embodiments, various of the elements may be separated from one another (e.g. sensor(s) 150 may not be considered to be an element of the working machine 145). Some embodiments may have more or fewer elements than are depicted (e.g., additional sensors that are communicatively coupled with the working machine 145, the working machine 145 may not include an implement 125, etc.). In some embodiments, various of the functions, processors, systems, etc., may be implemented as hardware, software, firmware, and/or some combination thereof. It will be understood that not all elements of the architecture 100 are shown (e.g., separate memory for the implement 125, various user interfaces, etc.) for the sake of lack of clutter of FIG. 1.

It will also be understood that several elements are illustrated in FIG. 1 as being communicatively coupled with others by bidirectional arrows. Such bidirectional arrows are meant to represent that data may flow bidirectionally between the two elements. For example, one or more elements may be configured to send data such as sensor data, instruction data, etc., to another element. In some cases, that data may be stored at the element to which the data is sent (e.g., the memory 175). In some cases, the data may be transmitted based on a request received from another element (e.g., the operation plan logic 155 may send a request for data to control logic 135, and the control logic may provide data in response). In some cases, such a request/response may not be necessary, and the data may be provided either periodically or aperiodically (e.g., in a “push”-type functionality).

As shown in FIG. 1, the architecture 100 may include a working machine 145. The working machine may be or include an on-highway or off-highway working vehicle machine. An example of the working machine 145 may be or include, for example, utility vehicles, such as tractors, lawnmowers, construction vehicles, agriculture vehicles, etc. The working machine 145 may be configured to perform a function related to, for example, agriculture, construction, mining, lawncare, tilling, grading, harvesting, equipment transfer at a worksite, etc.

The working machine 145 may be configured to communicate with, provide data to, or retrieve data from, various sources. Some sources may be sources that are configured to interact proximally with the working machine 145 (e.g., via a wired connection, a short-range wireless protocol such as WiFi or Bluetooth, or some other relatively short-range wired or wireless connection). Such short-range communication may be with, for example, implement 125, operator 140, and/or some other person, entity, or device that is relatively close to the working machine 145.

Other such sources may be considered to be remote from the working machine 145. Such sources may be configured to communicate with the working machine via a cellular network protocol (e.g., a third-generation partnership project (3GPP) fourth-generation (4G) cellular network, a fifth-generation (5G) cellular network, a sixth-generation (6G) cellular network, etc.), a communications-satellite based protocol such as global navigation satellite system (GNSS) or global positioning system (GPS), and/or some other type of protocol by which two devices can communicate with one another from different locations. In FIG. 1, such sources are shown to be communicatively coupled to the working machine 145 by the cloud 105. The cloud 105 may be considered to be or include one or more base stations, relays, nodes, etc. that facilitate communication over distance. It will be understood that although various elements (e.g., the third-party data 120, the remote operator/manager 110, and the historical data 115) are depicted as being remote from the working machine 145, in other embodiments one or more of the various data sources may be located on the working machine; e.g., in a memory of the working machine 145 such as memory 175. It will be understood that the memory 175 may be implemented as some form of solid-state memory, transitory memory, non-transitory memory, and/or some other type of memory that may store data such as historical data 115, or some other type of data (as discussed in greater detail below).

One data source may include a third-party data source 120, which may be or include one or more electronic devices such as a server that is able to provide third-party data to, or receive data (e.g., requests for data) from, the working machine 145. Non-limiting examples of third-party data may include information regarding current weather conditions, information regarding forecast weather conditions, information regarding historical weather trends, NDVI data, data regarding the worksite at which the working machine is operating (e.g., topographical maps or the like), information regarding expected power consumption of the working machine (e.g., predicted power consumption based on the componentry used in or on the working machine), etc.

Another such data source may include historical data 115. Historical data may be or include historical working machine data and/or other historical data. The historical working machine data may include data such as the time it took to complete a previous operation plan, the previous load that had been placed on the working machine prior to performance of the current operation plan (e.g., transport to the field), previous draft load or wheel slip when the working machine last performed a similar operation plan, etc. The other historical data may be data that is related to, for example, application-related data, agronomic data, off-road or off-highway data, terrain-related data, etc. As previously noted, such other historical data may include data related to previous weather conditions, previously analyzed soil data, previous NDVI data, etc.

Another such data source may be, for example, a remote operator/manager 110 of the working machine 145. The remote operator/manager 110 may be, for example, an entity that provides an operation plan to the working machine 145 and/or monitors for feedback from the working machine. In some embodiments, the operator/manager 110 may be a person that is communicating with the working machine 145 via an electronic device such as a computer, a mobile phone, a tablet, etc. Additionally or alternatively, the remote operator/manager 110 may be an electronic device that is configured to autonomously or semi-autonomously provide instructions to the working machine. For example, the electronic device may be configured to identify the location in which the working machine is to perform the operation plan, and based on that information, the electronic device may identify the task to be performed and provide some or all details of the task to the working machine. As a specific example, the remote operator/manager 110 may provide an initial operation plan to the working machine 145. In some embodiments, the electronic device may provide an indication of the operation plan to the operator, and then allow the operator to confirm/deny/change one or more aspects of the operation plan.

In some embodiments, the working machine 145 may include, or be coupled with, an implement 125 as previously described. The implement 125 may be some form of machine or device that is configured to carry out some or all of a task related to the operation plan (autonomously, semi-autonomously, or under control of an operator; i.e., manually). As one example, if the working machine 145 is some form of lawnmower, and the operation plan relates to cutting grass, then the implement 125 may be a cutting deck of the lawnmower. As another example, if the working machine 145 is a tractor, and the operation plan relates to tillage, then the implement 125 may be some form of tiller. It will be understood that these examples are intended as non-limiting examples for the sake of clarity and discussion, and the implement 125 may be different in different embodiments. It will further be understood that, although the implement 125 is shown in FIG. 1 as being separate from the working machine 145, in some embodiments the implement 125 may be part of (e.g., integrated with) the working machine 145.

The implement 125 may include control logic 135 and one or more sensors 130. The control logic 135 may be configured to control, based on instructions received from the working machine 145, operations of the implement 125 in accordance with the operation plan. For example, the control logic 135 may be configured to control a speed, depth, orientation, task, etc., of the implement 125. The control logic 135 may be or include one or more processors or circuits, and may be implemented as hardware, software, firmware, and/or some combination thereof. In embodiments, the implement 125 and, more particularly, the control logic 135 may be communicatively coupled with the working machine 145 and, more specifically, operation plan logic 155 via one or more wired connections, short-range wireless connections, and/or long-range wireless connections.

In some embodiments, the control logic 135 may be communicatively coupled with one or more sensors 130. The one or more sensors 130 may be or include one or more pressure sensors, accelerometers, humidity sensors, optical sensors, radar-related sensors, LiDAR-related sensors, etc. The one or more sensors 130 may be configured to collect data related to the working environment of the implement 125 and/or working machine 145 such as humidity levels, topology of the ground, etc. Additionally or alternatively, the one or more sensors 130 may be configured to collect data related to the implement 125 itself such as content levels of one or more bins, heat levels of the implement 125, orientation of the implement 125, etc. Other non-limiting examples of data may include soil data, power consumption of the implement 125, field trafficking maps of the field in which the implement is located, ground penetrating radar information, topography of the working environment of the working machine, yield (if, for example, the implement 125 is performing a harvesting-related function), etc. The sensor(s) 130 may provide data, or indications of data, to the control logic 135, where the data, or indications thereof, is communicated to the working machine 145.

The working machine 145 may also be configured to provide one or more notifications to, or collect data from, an operator 140. For the sake of this discussion, the operator 140 may be considered to be a person that is able to monitor and at least control operations of the working machine 145. In some embodiments, the operator 140 may be the same as operator/manager 110. In some embodiments, the operator 140 may be located on or in the working machine 145 (i.e., “driving” or “piloting” the working machine 145). In this embodiment, the operator 140 may be able to receive data from, or input data to, the working machine 145 via one or more user interfaces such as a keyboard, a mouse, a graphical user interface (GUI), a touchscreen, etc. In additional or alternative embodiments, the operator 140 may be separate from, but able to communicate with, the working machine 145 via one or more wired protocols, short-range wireless protocols, and/or long-range wireless protocols as previously described. For example, the operator 140 may be able to send data to, or receive data from, the working machine 145 via one or more electronic devices such as a tablet, a laptop, a desktop computer, a mobile phone, etc.

As has been previously discussed, the working machine 145 may include a variety of elements such as those shown in FIG. 1. Specifically, the working machine may include memory 175 as previously described. The working machine 145 may further include one or more sensors 150, which may be similar to sensor(s) 130. The sensor(s) 150 may be configured to collect data related to the working machine 145, the environment in which the working machine 145 is located, and/or some other type of data. Examples of such data may include positioning data (e.g., GPS data), data related to the heading or bearing of the working machine 145, current load of the working machine, status of one or more batteries of the working machine, and/or data related to the current operation plan.

The working machine may further include one or more batteries 165. In some embodiments, the one or more batteries 165 may be configured to provide power to various elements of the working machine such as the operation plan logic 155. It will be understood that the one or more batteries 165 may additionally or alternatively be configured to provide power to one or more other elements of the working machine 145; however, such connections are not shown in FIG. 1 for the sake of clarity of the Figure. Additionally, the one or more batteries 165 may be configured to power the implement 125, while in other embodiments the implement 125 may have its own power source. As previously noted, in some embodiments, the one or more batteries 165 may be the only power source of the working machine 145, while in other embodiments the one or more batteries 165 may be part of a hybrid power system that includes another power source, such as a combustion engine. The one or more batteries 165 may be, for example, a lithium-ion battery or some other type of battery. In some embodiments, one or both of the operation plan logic 155 and the sensor(s) 150 may be configured to monitor a parameter of at least one battery of the one or more batteries 165 such as power level of the battery 165, a temperature of the battery, etc.

The working machine 145 may also include operation plan logic 155, which may be implemented as circuitry, processors, hardware, firmware, software, some combination thereof, etc. The operation plan logic 155 may be configured to, based on one or more of the above-described data sources as depicted in FIG. 1, identify and implement the operation plan. Additionally, the operation plan logic 155 may be configured to change the operation plan based on updated data, as described in greater detail elsewhere herein.

As shown in FIG. 1, the operation plan logic 155 may be configured to provide one or more instructions to control logic 135. The control logic 135 may control the implement 125 to perform such instructions, as previously described.

Additionally or alternatively, the operation plan logic 155 may be configured to provide one or more instructions to guidance logic 160. Similarly to the operation plan logic 155, the guidance logic 160 may be configured to calculate the work path that the working machine 145 is to travel in order to perform the operation plan. As used herein, the term “work path” may refer to a specific path that is to be travelled by the working machine 145 in accordance with the operation plan. Non-exhaustive examples of elements of the work path may be or include a speed parameter, a directional parameter, a turn parameter, etc., of the working machine 145. It will be understood that, in some embodiments, the operation plan logic 155 and the guidance logic 160 may be the same logic, while in other embodiments the two logics 155/160 may be separate from one another as shown in FIG. 1.

The guidance logic 160 may then provide one or more instructions to one or more transportation systems 170 of the working machine 145. The transportation systems 170 may be or include elements such as an engine of the working machine 145, a steering mechanism of the working machine, wheels or treads of the working machine, and/or some other elements that perform or facilitate motion of the working machine in some manner. It will be noted that, in some embodiments, the transportation system(s) 170, and/or one or more sensors 150 communicatively coupled with the transportation system(s) 170, may be configured to provide additional feedback to the operation plan logic, such as drag experienced by the working machine 145 as it traverses the environment, the degree to which the working machine 145 has “sunk” into the environment (for example, if the ground is particularly soft/wet/muddy), and/or other feedback. Such connections are not shown in FIG. 1 for the sake of clarity of the Figure.

FIG. 2 illustrates an example process flow related to management of a battery such as the one or more batteries 165 of a working machine such as working machine 145, in accordance with various embodiments. It will be noted that embodiments of this process are described as being performed by operation plan logic 155. However, it will also be noted that, in other embodiments, one or more circuits, logic, processors, etc., may additionally or alternatively perform one or more elements of the described process. Additionally, it will be understood that the described process is intended as one example of such a process. Other embodiments may include more or fewer elements, elements that are performed in a different sequence from that depicted in FIG. 2, elements that are combined with one another, elements that are separated into two separate elements, etc.

Initially, operation plan logic 155 may gather data such as the above-described current working machine data, historical working machine data, current data, and/or historical data at 205. The data may be gathered from, for example, sensors such as sensors 130/150, sources such as third-party data 120 or historical data 115, information received from a remote operator/manager 110, information received from an operator 140, and/or some other source as shown or described herein. It will be understood that the above-described examples of data, data types, and/or data sources are intended as examples of such elements for the sake of discussion herein, and other embodiments may include more/fewer/different data, data types, and/or data sources.

The operation plan logic may then identify, at 207, an amount of power required to complete a current operation plan. The identification may be based on, for example, one or more of the data sources collected at element 205 (e.g., the soil conditions, the weather, etc.). The electronic device may also identify, at 209, the amount of power remaining in the one or more batteries 165 of the off-road/off-highway working machine. Such identification may be based on, for example, one or more sensors coupled with the one or more batteries, previous use of the working machine, direct monitoring of the one or more batteries, etc.

The electronic device may then identify, at 211 based on comparison of the required amount of power (from 207) to the remaining amount of power (from 209), whether a revision to the current operation plan is desirable. For example, if the required amount of power is greater than the remaining amount of power, it may be desirable to revise the current operation plan. If the required amount of power is less than or equal to the remaining amount of power, it may not be necessary to revise the current operation plan. It will be understood that the above-described comparison is a simplistic description in accordance with one embodiment, and other embodiments may be more nuanced, depend on additional/alternative factors, or have different tiers of comparison (e.g., different tiers dependent on thresholds related to the differences between the remaining power and the required power such that different outcomes may occur).

If a revision to the operation plan is identified, at 215, to not be desired, then the working machine may continue, at 225, with the current operation plan. In other words, the electronic device may take no specific action and other logic/controllers/processors/etc. of the working machine (e.g., an operational controller or some other logic) may continue with the current operation plan.

If a revision is identified, at 215, to be desired, then in some embodiments the electronic device may also check at 220 to see whether input from an operator such as operator 140 and/or remote operator/manager 110 is desired. In some embodiments, the check at 220 may be based on a pre-identified rule such as “operator input always desired” or a lack of such a rule, in which case element 220 may not occur. In some embodiments, the operator input may not be requested at 220, but a notification may still be provided to the operator. Such a notification may take the form of a message on an electronic device of the operator, a notification in a user interface of the working machine 145, and/or some other type of notification. In some embodiments, the check at 220 may be based on a factor such as the degree of difference between the required power and the available power (e.g., operator input is desired if the difference is over a threshold value). In some embodiments, different thresholds may result in different notifications. For example, a slight difference between the required power and remaining power may not require an operator notification, while a larger difference may only require notification to the operator via text on a user interface or a sound. An even larger difference may require notification to the operator along with requiring operator feedback to continue. These are just examples, and other embodiments may perform the check at 220 based on one or more additional/alternative factors.

If the operator input is not desired at 220, or the check at 220 is not performed, then the operation plan may be revised and implemented at 230. The revision may be one or more of the above-described example revisions, and/or some other revision. If the operator input is desired at 220, then the operation plan may be revised and implemented based at least in part on the operator input at 235. For example, the notification to the operator may be provided in the form of a choice between returning to a charging station or altering the distance that the operation plan is to cover. The operator input/feedback at 220 may then include a selection between the two choices (or to input a third choice). Again, this description is intended as a description of one specific embodiment, and other embodiments may differ.

It will be understood that the above-described techniques and processes such as the technique of FIG. 2 and/or other techniques described herein may be performed in accordance with different trigger events. For example, such a technique may be performed when a current operation plan is to be initiated. In some embodiments, the technique may be performed periodically; e.g., each x minutes or hours. In some embodiments, the technique may be performed when a power level of a battery or some other power storage device is identified to be at or below a given threshold. In some embodiments, the trigger events may be some combination of the above, and/or some other type of trigger event.

FIG. 3 depicts examples of operation plan revision, in accordance with various embodiments herein. Specifically, FIG. 3a depicts an example of an initial operation plan. Such initial operation plan may be received from, or based on information received from, for example, a remote operator/manager 110, operator 140, and/or some other source. The operation plan may include data related to one or more parameters such as a work path, and/or a function to be performed along the work path, as described above. In the example of FIG. 3a, the operation plan may provide information related to a work path 315 along which a working machine 145 is to navigate within a work area 305. For this example, the bolded arrows along the work path 315a depict the direction along which the working machine 145 will travel. For the sake of discussion herein, the work area 305 may be a field, and the working machine 145 may be tilling the field along the work path 315a.

At the completion of the work path 315a, the working machine may return to power station 310. The power station 310 may be, for example, a storage facility for the working machine (e.g., a barn, a garage, a depot, etc.). In other embodiments the power station 310 may be a vehicle that carries the working machine between different work areas (e.g., a car hauler, a flatbed, etc.). In these embodiments, the power station 310 may be a place where the one or more batteries 165 of the working machine may be recharged and/or replaced. In some embodiments—for example, if the power station 310 is a vehicle that is designed to carry the working machine between different areas—the one or more batteries of the working machine may not be replaced or recharged at the power station; rather, the vehicle may convey the working machine to a location (e.g., the barn/garage/depot/etc.) where the one or more batteries may be recharged or replaced.

FIG. 3b depicts an example of a revision to the operation plan. Such a revision may be enacted as described above with respect to elements 230 and/or 235. As shown in FIG. 3b, at some point during the operation plan, it may be identified that the working machine does not have enough power to complete the entirety of the operation plan. This power deficiency may be due to, for example, the ground being overly muddy or soft, thereby increasing the draft of the working machine; the temperature of the batteries causing them to drain more quickly; other components of the working machine putting unaccounted—for strain on the one or more batteries, etc. The work path may then be revised as shown in FIG. 3b such that the working machine only traverses the revised work path 320 (as indicated by the solid lines of FIG. 3b). The unworked path 325, as indicated by the dotted lines of FIG. 3b, shows elements of work path 315a that are not traversed by the working machine.

It will be noted that the change shown in FIG. 3b may be enacted by the operation plan logic 155 in a variety of ways. For example, in some embodiments, the operation plan logic 155 may be configured to alter parameters of the work path itself; e.g., changing an overall length of the work path. In another embodiment, the operation plan logic 155 may be configured to change a parameter of the work area 305 (e.g., decrease the work area 305 from a square feet to b square feet), at which point the revised work path 320 may be automatically calculated. In other words, in some embodiments the work path may be altered directly, while in other embodiments the work path may be automatically calculated based on an alteration to a related parameter of the operation plan.

In some embodiments, after the one or more batteries of the working machine are replaced or recharged at the power station 310, then the working machine may perform a new operation plan that is designed to address the unworked path 325. In other embodiments, a new working machine may be sent into the work area 305 to perform the function related to the operation plan along the unworked path 325. The new machine may perform the function along the unworked path 325, either while the original working machine is performing the operation plan along the revised work path 320, or while the power needs of the original working machine are being addressed.

FIG. 3c depicts an alternative example of revision of an operation plan. Specifically, in this example, the operation plan logic 155 may identify at point 350 that the battery does not have enough power to perform the initial operation plan shown in FIG. 3a. In this example, it may be desirable to traverse the work area 305, but in a less thorough manner than that shown in FIG. 3a. For example, a revision option may be provided to the operator, who may accept the option, alter the option, or provide some other type of feedback as discussed above with respect to FIG. 2. As a result, revised work path 330 may be implemented wherein the working machine may traverse the work area 305, but do fewer passes than are shown in FIG. 3a.

FIG. 4 depicts an alternative example of revision of an operation plan. Specifically, FIG. 4a depicts an initial operation plan, which may include elements that are similar to those of FIG. 3a. In FIG. 4a, the working machine may traverse work path 315a in work area 305, and then the work path 315a may end at charging station 310 as described above. In this operation plan, the working machine may be configured to perform a function at each point where the work path 315a intersects with the dashed lines 405 that indicate operation locations. It will be understood that each dashed line is not enumerated for the sake of lack of clutter in the Figures. Each of these intersecting points is shown in FIG. 4a by an “X” on the work path 315a. The function may be some function as described above, and/or some other function. In this particular example, and for the sake of non-limiting discussion only, the function may relate to soil sampling at the various locations of the work area 305. As shown in FIG. 4a, each of the dashed lines may be some distance “D” apart from one another.

In FIG. 4b, the working machine and, more specifically, the operation plan logic 155, may identify that the battery of the working machine may not have enough power to complete the entirety of the operation plan. For example, the implement that is performing the soil sampling may be drawing an unexpected amount of power. As such, the operation plan may be revised as shown and as described above with respect to FIG. 2. Specifically, the operation locations 405 that are a distance “D” apart may be used for three traversals of the work area 305, and then a new set of revised operation locations 415 that are a distance 1.5דD” apart may be used for the remaining three traversals of the work area 305.

As has been noted previously, it will be understood that the examples of FIGS. 3 and 4 are intended to provide specific examples of operation plan revision, and are not intended to limit the operation plan, or the possible revisions, to specific contexts or alterations. Variations to the above-described embodiments based on the present disclosure may be present in other embodiments.

FIG. 5 illustrates an example computing device 500 suitable for use to practice aspects of the present disclosure, in accordance with various embodiments. For example, the example computing device 500 may be suitable to implement the functionalities associated with any of FIGS. 1-4, and/or some other method, process, or technique described herein, in whole or in part. In a specific example, the computing device 500 or elements thereof may be or may be part of one or more elements of FIG. 1, such as the working machine, the implement 125, an electronic device associated with the third party data 120 or the historical data 115, or the remote operator/manager 110. As a specific example, the operation plan logic 155, the control logic 135, and/or the guidance logic 160 may be similar to processors 502 or computational logic 522, discussed below. The memory 175 may be similar to system memory 504 or mass storage 506. Other similarities between elements of FIG. 1 and elements of FIG. 5 may be present, but are not explicitly iterated herein for the sake of lack of redundancy.

As shown, computing device 500 may include one or more processors 502, each having one or more processor cores, and system memory 504. The processor 502 may include any type of unicore or multi-core processors. Each processor core may include a central processing unit (CPU), and one or more levels of caches. The processor 502 may be implemented as an integrated circuit. The computing device 500 may include mass storage devices 506 (such as diskette, hard drive, volatile memory (e.g., dynamic random access memory (DRAM)), compact disc read-only memory (CD-ROM), digital versatile disk (DVD) and so forth). In general, system memory 504 and/or mass storage devices 506 may be temporal and/or persistent storage of any type, including, but not limited to, volatile and non-volatile memory, optical, magnetic, and/or solid-state mass storage, and so forth. Volatile memory may include, but not be limited to, static and/or dynamic random access memory. Non-volatile memory may include, but not be limited to, electrically erasable programmable read-only memory, phase change memory, resistive memory, and so forth.

The computing device 500 may further include input/output (I/O) devices 508 such as a display, keyboard, cursor control, remote control, gaming controller, image capture device, one or more three-dimensional cameras used to capture images, and so forth, and communication interfaces 510 (such as network interface cards, modems, infrared receivers, radio receivers (e.g., Bluetooth), and so forth). I/O devices 508 may be suitable for communicative connections with three-dimensional cameras or user devices. In some embodiments, I/O devices 508 when used as user devices may include a device necessary for implementing the functionalities of receiving an image captured by a camera.

The communication interfaces 510 may include communication chips (not shown) that may be configured to operate the device 500 in accordance with a Global System for Mobile Communication (GSM), General Packet Radio Service (GPRS), Universal Mobile Telecommunications System (UMTS), High Speed Packet Access (HSPA), Evolved HSPA (E-HSPA), or Long Term Evolution (LTE) network. The communication chips may also be configured to operate in accordance with Enhanced Data for GSM Evolution (EDGE), GSM EDGE Radio Access Network (GERAN), Universal Terrestrial Radio Access Network (UTRAN), or Evolved UTRAN (E-UTRAN). The communication chips may be configured to operate in accordance with Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Digital Enhanced Cordless Telecommunications (DECT), Evolution-Data Optimized (EV-DO), derivatives thereof, as well as any other wireless protocols that are designated as 3G, 4G, 5G, and beyond. The communication interfaces 510 may operate in accordance with other wireless protocols in other embodiments.

The above-described computing device 500 elements may be coupled to each other via system bus 512, which may represent one or more buses. In the case of multiple buses, they may be bridged by one or more bus bridges (not shown). Each of these elements may perform its conventional functions known in the art. In particular, system memory 504 and mass storage devices 506 may be employed to store a working copy and a permanent copy of the programming instructions implementing the operations and functionalities associated with any of FIGS. 1-4, and/or some other method, process, or technique described herein, in whole or in part, generally shown as computational logic 522. Computational logic 522 may be implemented by assembler instructions supported by processor(s) 502 or high-level languages that may be compiled into such instructions.

The permanent copy of the programming instructions may be placed into mass storage devices 506 in the factory, or in the field, through, for example, a distribution medium (not shown), such as a nonvolatile memory like a flash drive, a compact disc (CD), and/or some other type of physical distribution medium, or through communication interfaces 510 (from a distribution server (not shown)).

FIG. 6 illustrates an example non-transitory computer-readable storage media 602 having instructions configured to practice all or selected ones of the operations associated with the processes described above. As illustrated, non-transitory computer-readable storage medium 602 may include a number of programming instructions 604. Programming instructions 604 may be configured to enable a device—e.g., computing device 500—in response to execution of the programming instructions, to perform one or more operations of the processes described in reference to any of FIGS. 1-4, and/or some other method, process, or technique described herein, in whole or in part. In alternate embodiments, programming instructions 604 may be disposed on multiple non-transitory computer-readable storage media 602 instead. In still other embodiments, programming instructions 604 may be encoded in transitory computer-readable signals.

In the preceding description, various aspects of the illustrative implementations were described using terms commonly employed by those skilled in the art to convey the substance of their work to others skilled in the art. However, it will be apparent to those skilled in the art that embodiments of the present disclosure may be practiced with only some of the described aspects. For purposes of explanation, specific numbers, materials, and configurations were set forth in order to provide a thorough understanding of the illustrative implementations. It will be apparent to one skilled in the art that embodiments of the present disclosure may be practiced without the specific details. In other instances, well-known features may be omitted or simplified in order not to obscure the illustrative implementations.

In the preceding detailed description, reference is made to the accompanying drawings that form a part hereof, wherein like numerals designate like parts throughout, and in which embodiments illustrate examples of the manner in which the subject matter of the present disclosure may be practiced. It is to be understood that other embodiments may be utilized, and structural or logical changes may be made, without departing from the scope of the present disclosure. Therefore, the above description of illustrated embodiments, including what is described in the Abstract, is not intended to be exhaustive or to limit embodiments to the precise forms disclosed. While specific embodiments are described herein for illustrative purposes, various equivalent modifications are possible within the scope of the embodiments, as those skilled in the relevant art will recognize.

For the purposes of the present disclosure, the phrase “A and/or B” means (A), (B), or (A and B). For the purposes of the present disclosure, the phrase “A, B, and/or C” means (A), (B), (C), (A and B), (A and C), (B and C), or (A, B, and C).

The description may have used perspective-based descriptions such as top/bottom, in/out, over/under, and the like. Such descriptions were used to facilitate the discussion and were not intended to restrict the application of embodiments described herein to any particular orientation.

The description may have used the phrases “in an embodiment,” or “in embodiments,” which may each refer to one or more of the same or different embodiments. Furthermore, the terms “comprising,” “including,” “having,” and the like, which may have been used with respect to embodiments of the present disclosure, are synonymous.

The term “coupled with,” along with its derivatives, may have been used herein. “Coupled” may mean one or more of the following. “Coupled” may mean that two or more elements are in direct physical or electrical contact. However, “coupled” may also mean that two or more elements indirectly contact each other, but yet still cooperate or interact with each other, and may mean that one or more other elements are coupled or connected between the elements that are said to be coupled with each other. The term “directly coupled” may mean that two or more elements are in direct contact.

As used herein, the term “module” may refer to, be part of, or include an Application Specific Integrated Circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or group), and/or memory (shared, dedicated, or group) that executes one or more software or firmware programs, a combinational logic circuit, and/or other suitable components that provide the described functionality.

Various embodiments may include any suitable combination of the above-described embodiments, including alternative (or) embodiments of embodiments that are described in conjunctive form (and) above (e.g., the “and” may be “and/or”). Furthermore, some embodiments may include one or more articles of manufacture (e.g., non-transitory computer-readable media) having instructions, stored thereon, that when executed result in actions of any of the above-described embodiments. Moreover, some embodiments may include apparatuses or systems having any suitable means for carrying out the various operations of the above-described embodiments.

These modifications may be made to the embodiments in light of the above detailed description. The terms used in the following claims should not be construed to limit the embodiments to the specific implementations disclosed in the specification and the claims.

Claims

1. A working machine, wherein the working machine comprises:

one or more batteries; and

logic configured to: identify an operation plan to be performed by the working machine in a work area; identify an amount of power required to complete the operation plan; identify an amount of power remaining in the one or more batteries; alter, based on a comparison of the amount of power required to complete the operation plan to the amount of power remaining in the one or more batteries, the operation plan to generate a revised operation plan; and facilitate implementation, by the working machine, of the revised operation plan.

2. The working machine of claim 1, wherein the logic is configured to identify the amount of power required to complete the operation plan based on data related to the working machine, data related to a work area that is related to the operation plan, or third-party data.

3. The working machine of claim 2, wherein the data related to the working machine, the data related to the work area, or the third-party data is current data.

4. The working machine of claim 2, wherein the data related to the working machine, the data related to the work area, or the third party data is historical data.

5. The working machine of claim 1, wherein the logic is configured to identify the amount of power required to complete the operation plan based on data provided by a sensor of an implement that is associated with the working machine.

6. The working machine of claim 1, wherein the logic is configured to identify the amount of power required to complete the operation plan based on data provided by a sensor of the working machine.

7. The working machine of claim 1, wherein the logic is configured to identify the amount of power required to complete the operation plan based on data received from a source that is remote from the working machine.

8. The working machine of claim 1, wherein the logic is further configured to:

facilitate provision of the revised operation plan to an operator of the working machine; and

alter the operation plan based on feedback received from the operator.

9. An apparatus for use in a working machine, wherein the apparatus comprises:

logic; and

memory that includes instructions that, when executed, are to cause the logic to: identify an operation plan to be performed by the working machine in a work area; identify an amount of power required to complete the operation plan; identify an amount of power remaining in one or more batteries of the working machine; alter, based on a comparison of the amount of power required to complete the operation plan to the amount of power remaining in the one or more batteries, the operation plan to generate a revised operation plan; and facilitate implementation, by the working machine, of the revised operation plan.

10. The apparatus of claim 9, wherein the instructions are further to cause the logic to identify the amount of power required to complete the operation plan based on data related to the working machine, data related to a work area that is related to the operation plan, or third-party data.

11. The apparatus of claim 10, wherein the data related to the working machine, the data related to the work area, or the third-party data is current data.

12. The apparatus of claim 10, wherein the data related to the working machine, the data related to the work area, or the third party data is historical data.

13. The apparatus of claim 9, wherein the instructions are further to cause the logic to identify the amount of power required to complete the operation plan based on data provided by a sensor of an implement that is associated with the working machine.

14. The apparatus of claim 9, wherein the instructions are further to cause the logic to identify the amount of power required to complete the operation plan based on data provided by a sensor of the working machine.

15. The apparatus of claim 9, wherein the instructions are further to cause the logic to identify the amount of power required to complete the operation plan based on data received from a source that is remote from the working machine.

16. The apparatus of claim 9, wherein the instructions are further to cause the logic to:

facilitate provision of the revised operation plan to an operator of the working machine; and

alter the operation plan based on feedback received from the operator.

17. One or more non-transitory computer readable media comprising instructions that, upon execution of the instructions by logic of the working machine, are to cause the logic to:

identify an operation plan to be performed by the working machine in a work area;

identify an amount of power required to complete the operation plan;

identify an amount of power remaining in one or more batteries of the working machine;

alter, based on a comparison of the amount of power required to complete the operation plan to the amount of power remaining in the one or more batteries, the operation plan to generate a revised operation plan; and

facilitate implementation, by the working machine, of the revised operation plan.

18. The one or more non-transitory computer-readable media of claim 17, wherein the instructions are further to cause the logic to identify the amount of power required to complete the operation plan based on data related to the working machine, data related to a work area that is related to the operation plan, or third-party data.

19. The one or more non-transitory computer-readable media of claim 17, wherein the instructions are further to cause the logic to identify the amount of power required to complete the operation plan based on data that is:

provided by a sensor of an implement that is associated with the working machine;

provided by a sensor of the working machine; or

received from a source that is remote from the working machine.

20. The one or more non-transitory computer-readable media of claim 17, wherein the instructions are further to cause the logic to:

facilitate provision of the revised operation plan to an operator of the working machine; and

alter the operation plan based on feedback received from the operator.