Patent ID: 8170785
Filing Date: 2012-05-01
Classification: A01B,G01C,G05D

Abstract:
1. A method for creating a shared route plan for a group of agricultural working machine systems for working a territory, comprising the steps of: including with each of the machine systems route planning data determination devices for determining sub-route plans for sub-areas associated with each of the machine systems; establishing one of the agricultural working machine systems to operate as a master machine system at any time by operators of the group of agricultural working machines or by an operator of the group of agricultural working machines with special authorization; generating, by a central route planning device on the master machine system, a set of reference lines from reference lines, which reference lines are determined by each of the individual machine systems; exchanging data comprising the sub-route plans, including the reference line portion of the set of reference lines, by the route planning data determination devices with each other and with the master machine system; and based on exchanged route planning data, including the sub-route plans and the set of reference lines, the central route planning device on the master machine creating a master shared route plan for the territory, which master shared route plan includes assignment of sub-regions to be worked and sub-tasks to be carried out by the machine systems with consideration for the machine system parameters to determine the extent to which the sub-routes are well coordinated with each other and to specify conditions for the machine systems to comply with; and using the created master shared route plan by all the machine systems for working the territory in a coordinated manner, wherein route planning data determination devices within the machine systems optimize, relative freely, respective optimal route plans in respective sub-areas without regard for other machine systems except for in driving tracks where the sub-areas border each other.