CONTROL SYSTEM AND METHOD FOR AN AGRICULTURAL VEHICLE

专利摘要:
CONTROL SYSTEM AND METHOD FOR AN AGRICULTURAL VEHICLE This is a control system for an agricultural vehicle that includes a first transceiver configured to receive a first signal from a second transceiver of a target vehicle. The first signal is indicative of a first determined position and a first determined speed of the target vehicle. The control system also includes a controller communicatively coupled to the first transceiver. The controller is configured to automatically control the agricultural vehicle by determining an active position and target speed of the agricultural vehicle based, at least in part, on the first determined position and the first determined speed of the target vehicle, by instructing a system automated driving control system and an automated speed control system to direct the agricultural vehicle towards the target position and instructing the automated driving control system and the automated speed control system to substantially maintain the position and target speed when substantially reaching the target position.
公开号:BR102015013228B1
申请号:R102015013228-0
申请日:2015-06-08
公开日:2020-11-24
发明作者:Tyson J. Dollinger；Brian R. Ray；Adam R. Rusciolelli；Mitchel R. Torrie；Paul Lewis；Michael G. Hornberger；Daniel J. Morwood；Matthew D. Berkemeier
申请人:Cnh Industrial America Llc；Autonomous Solutions, Inc；
IPC主号:

专利说明:

FIELD OF THE INVENTION
[001] The invention relates, in general, to a system and method for the coordinated control of agricultural vehicles. BACKGROUND OF THE INVENTION
[002] A combine can be used to harvest agricultural crops, such as cotton, wheat, flax or other crops. Generally, components (for example, drums, spindles, blades, etc.) of the combine remove portions of agricultural crops from the soil. The harvester then takes the portions removed from agricultural crops (for example, agricultural products) to an internal storage compartment, either directly or through a processing device configured to remove unwanted portions of agricultural products.
[003] As the harvester crosses a field, the volume of agricultural product stored in the internal storage compartment increases. In this way, the internal storage compartment is typically unloaded several times during the harvesting process. One method of unloading the internal storage compartment, generally known as unloading in transit, involves periodically transferring the agricultural product to a mobile storage compartment while the combine is in motion. The mobile storage compartment is towed by a towing vehicle to a position close to the combine. The tow vehicle operator aligns the storage compartment with a combine carrier outlet and substantially adapts the speed of the combine. The combine operator then initiates the transfer of the agricultural product from the combine to the mobile storage compartment, thereby unloading the internal storage compartment of the combine. Once the harvester is unloaded, the tow vehicle operator directs the mobile storage compartment to a remote location for unloading. This process is repeated throughout the harvesting process. Document W0-A1 -2012/110508 describes a control system for an agricultural vehicle comprising a first transceiver configured to receive a first signal from a second transceiver of a target vehicle, where that first signal is indicative of a first position determined and of a first determined speed of the target vehicle.
[004] Highly skilled drivers typically operate towing vehicles due to the complexity associated with aligning the mobile storage compartment with the combine and adapting the speed of the combine. Employing such drivers may increase the costs associated with the harvesting process and / or may delay the harvesting process due to the limited skill of these drivers. In addition, employing less skilled drivers to operate towing vehicles can result in the loss of agricultural product due to misalignment of the mobile storage compartment with the combine and / or unmatched operating speeds. As a result, the efficiency of the harvesting process can be reduced. DESCRIPTION OF THE INVENTION
[005] In one embodiment, a control system for an agricultural vehicle includes a first transceiver configured to receive a first signal from a second transceiver of a target vehicle. The first signal is indicative of a first determined position and a first determined speed of the target vehicle. The control system also includes a controller communicatively coupled to the first transceiver. The controller is configured to automatically control the agricultural vehicle by determining a target position and target speed of the agricultural vehicle based, at least in part, on the first determined position and the first determined speed of the target vehicle, instructing a automated driving control system and an automated speed control system to direct the agricultural vehicle towards the target position and instructing the automated driving control system and the automated speed control system to substantially maintain the target position and target speed when substantially the target position is reached.
[006] In another embodiment, the control system for an agricultural vehicle includes a first transceiver configured to receive a first signal from a second transceiver of a target vehicle. The first signal is indicative of a first determined position and a first determined speed of the target vehicle. The control system also includes a spatial location device mounted on the agricultural vehicle and configured to determine a second determined position and a second determined speed of the agricultural vehicle. In addition, the control system includes an automated driving control system configured to control an agricultural vehicle's direction of movement and an automated speed control system configured to control an agricultural vehicle's speed. The control system also includes a controller communicatively coupled to the first transceiver, the spatial location device, the automated driving control system and the automated speed control system. The controller is configured to automatically control the agricultural vehicle by determining a target position and target speed of the agricultural vehicle based, at least in part, on the first determined position and the first determined speed of the target vehicle, determining a route to the target position based, at least in part, on the target position, the second determined position and the second determined speed, instructing the automated driving control system and automated speed control system to direct the agricultural vehicle towards the target position along the route and instructing the automated driving control system and the automated speed control system to substantially maintain the target position and target speed when substantially reaching target position.
[007] In an additional embodiment, a method for controlling an agricultural vehicle includes receiving a first signal indicative of a first determined position and a first determined speed from a target vehicle. The method also includes determining a target position and target speed of the agricultural vehicle based, at least in part, on the first determined position and the first determined speed of the target vehicle. In addition, the method includes instructing an automated driving control system and an automated speed control system to direct the agricultural vehicle towards the target position and instructing the automated driving control system and the automated speed control system to maintain substantially the target position and the target speed when substantially reaching the target position. BRIEF DESCRIPTION OF THE DRAWINGS
[008] These and other features, aspects and advantages of the present invention will become better understood when the following detailed description is read with reference to the accompanying drawings, where similar characters represent similar parts throughout the drawings, in which: Figure 1 is a top view of an embodiment of an agricultural harvester and an agricultural product transport system, wherein the agricultural product transport system is configured to be automatically anchored to the agricultural harvester; Figure 2 is a schematic diagram of an embodiment of an agricultural harvester and a tow vehicle, which can be used in the agricultural product transport system of Figure 1; Figure 3 is a state diagram of an embodiment of a technique for controlling a tow vehicle; Figure 4 is a flow diagram of an embodiment of a method for controlling a tow vehicle; Figure 5 is a schematic diagram of an embodiment of an agricultural harvester and an agricultural product transport system; Figure 6 is a block diagram of an embodiment of a display that can be used in a user interface of the tow vehicle of Figure 5, and Figure 7 is a flow diagram of an embodiment of a method for calibrating alignment. from a conveyor outlet of an agricultural harvester with a storage compartment for an agricultural product transport system. DESCRIPTION OF REALIZATIONS OF THE INVENTION
[009] Figure 1 is a top view of an embodiment of an agricultural harvester and an agricultural product transport system, in which the agricultural product transport system is configured to be automatically anchored to the agricultural harvester. In the illustrated embodiment, the agricultural harvester 10 includes a row of harvesting units 12 positioned at a front end of a chassis 14 and an internal storage compartment 16 coupled to the chassis 14. As the agricultural harvester 10 traverses a field in a travel direction 18, the harvesting units 12 hitch the unharvested plants 20 and extract various agricultural products (eg maize, wheat, cotton, etc.) from the plants.These agricultural products are transferred to the internal storage compartment 16, either directly or by means of a processing device configured to remove unwanted portions of agricultural products. Remaining proportions of plants remain in the field as agricultural waste 22.
[010] As the harvester 10 crosses a field, the volume of agricultural product stored in the internal storage compartment 16 increases. Therefore, the combine 10 includes a conveyor 24 configured to transfer the agricultural product to a mobile storage compartment while the combine is in motion. The conveyor 24 may include an auger, a conveyor belt, or other suitable device configured to transfer the agricultural product from the internal storage compartment 16 to an outlet 26. As discussed in detail below, the mobile storage compartment can be automatically aligned with the conveyor outlet 26, which thereby enhances the efficiency of the unloading process of the combine. Although the illustrated agricultural harvester 10 is a self-propelled vehicle, it should be noted that, in certain embodiments, the agricultural harvester may be towed behind a tractor or other work vehicle. Additionally, although the illustrated agricultural harvester 10 includes a internal storage 16, it should be noted that the internal storage compartment can be omitted in certain combine configurations. In such configurations, the harvester can continuously transfer the agricultural product to the mobile storage compartment as the harvester extracts and processes agricultural products.
[011] In the illustrated embodiment, an agricultural product transport system 28 is configured to receive the agricultural product from the combine 10. As illustrated, product transport system 28 includes a towing vehicle 30, such as the illustrated tractor and a compartment mobile storage unit 32 (for example, grain cart). As discussed in detail below, the towing vehicle 30 includes a controller configured to automatically direct the storage compartment along a route 34 to a target position adjacent to the combine 10. That is, the controller can automatically control the towing vehicle 10 during an anchoring process, which thus positions the storage compartment in a location that emphasizes the efficiency of transferring the agricultural product from the combine to the storage compartment. In certain embodiments, the controller is configured to determine a target position and target speed of the towing vehicle based, at least partially, on a specific position and a determined speed on the combine 10. The controller is also configured to instruct an automated driving control system and an automated speed control system to direct the tow vehicle to the target position. Once the tow vehicle substantially reaches the target position, the controller is configured to instruct the automated driving control system and the automated speed control system to substantially maintain the target position and the target speed.
[012] In certain embodiments, the target position corresponds to a position that substantially aligns the conveyor outlet 26 with a target point in the storage compartment 32. Therefore, with the towing vehicle located in the target position, the agricultural product can be transferred from the combine 10 to the storage compartment 32 while the vehicles are in motion. Due to the fact that the controller automatically maintains the position of the storage compartment in relation to the conveyor outlet during the unloading process, the possibility of loss of the agricultural product is substantially reduced or eliminated, which in this way increases the efficiency of the harvesting process. .
[013] For example, when the towing vehicle 30 enters a communication area 36, communication is automatically established between a first transceiver on the towing vehicle 30 and a second transceiver on the combine 10. That is, the vehicle controller trailer detects the combine by receiving a signal from the combine's transceiver and the controller on the combine detects the tow vehicle by receiving a signal from the tow vehicle's transceiver. As will be noted, a range 38 of the communication area 36 can be dependent on the fusing power of the transceivers, the sensitivity of the transceivers and / or the frequency of communication, among other factors. In certain embodiments, each transceiver is configured to transmit data at a fixed interval (for example, 50 Hz, 20 Hz, 10 Hz, 5 Hz, 1 Hz, 0.5 Hz, 0.1 Hz, etc.). As discussed in detail below, the data can include a vehicle position, vehicle speed, vehicle driving angle, vehicle orientation and / or vehicle identity, among other parameters. In addition, each transceiver can be configured to relay data received from another transceiver. For example, the tow vehicle closest to the harvester can receive a signal from the harvester and then relay the signal to the tow vehicle farther from the harvester, which thereby effectively extends the communication range of each transceiver.
[014] To initiate the docking process, a tow vehicle operator provides input to a user interface, which in this way instructs the controller to enable automatic control of the tow vehicle. If the tow vehicle is within a hitch area 40 (that is, a distance between the combine and the tow vehicle is less than a hitch distance 42), the controller instructs the automated driving control system and the system automated speed control to steer the tow vehicle towards the target position. For example, if the combine is positioned in front of the towing vehicle, the automated speed control system can increase the speed of the towing vehicle. Conversely, if the combine is positioned behind the towing vehicle, the speed control system machine can stop the towing vehicle until the combine reaches an anchoring position. In addition, the driving control system can adjust wheel angles, for example, to steer the tow vehicle towards the combine. Once the tow vehicle substantially reaches the target position, the controller instructs the automated driving control system and the automated speed control system to substantially maintain the target position and the target speed, which thereby , facilitates transferring the agricultural product from the harvester to the storage compartment.
[015] Figure 2 is a schematic diagram of an embodiment of an agricultural harvester 10 and a towing vehicle 30, which can be employed in the agricultural product transport system of Figure 1. In the illustrated embodiment, the towing vehicle 30 includes a control system 43 having a first transceiver 44 configured to receive a first signal from a second transceiver 46 of a target vehicle, such as the agricultural harvester 10 illustrated. As discussed in detail below, the first sign is indicative of a first determined position (for example, three-dimensional position vector) and a first determined speed (for example, three-dimensional speed vector) of the combine 10. As will be noted, the first and the second transceivers can operate at any frequency range within the electromagnetic spectrum. For example, in certain embodiments, transceivers can broadcast and receive radio waves within a frequency range of about 1 GHz to about 10 GHz. In addition, the first and second transceivers can use any suitable communication protocol, such as a standard protocol (for example, Wi-Fi, Bluetooth, etc.) or a proprietary protocol.
[016] As used in this document, “position” (for example, determined position, target position, etc.) refers to a position vector, with a mono, bi or three-dimensional position vector. For example, a two-dimensional position vector can include latitude and longitude, and a three-dimensional position vector can include latitude, longitude and altitude / elevation. As will be noted, the position vector can be represented in a rectangular, polar, cylindrical coordinate system or spherical, among other suitable coordinated systems. In addition, as used in this document, “speed” (eg, determined speed, target speed, etc.) refers to a speed vector, such as a mono, bi or three-dimensional speed vector. For example, a one-dimensional speed vector can include speed (for example, ground speed), a two-dimensional speed vector can include speed (for example, ground speed) and orientation within a plane (for example, along a ground plane) and a three-dimensional velocity vector can include velocity and orientation within a three-dimensional space. Similar to the position vector, the velocity vector can be represented in a rectangular, polar, cylindrical or spherical coordinate system, among other suitable coordinate systems. In certain embodiments, velocity can be represented as a unit / normalized vector, that is, a vector that has a magnitude of unit. In such embodiments, the magnitude (for example, velocity) is not included in the velocity vector. For example, a two-dimensional velocity unit vector may be representative of orientation within a plane (for example, along a ground plane), and a three-dimensional velocity unit vector may be representative of orientation within a three-dimensional space. .
[017] The towing vehicle control system 43 also includes a spatial location device 48, which is mounted on the trailer vehicle 30 and is configured to determine a second determined position and a second determined speed of the towing vehicle 30. As will be noticed, the spatial location device can include any system configured to measure the position and speed of the tow vehicle, such as a global positioning system (GPS), for example. In certain embodiments, the spatial location device 48 can be configured to measure the position and speed of the towing vehicle in relation to a fixed point within a field (for example, by means of a fixed radio transceiver). Therefore, the spatial location device 48 can be configured to measure the position and speed of the towing vehicle in relation to a fixed global coordinate system (e.g., via GPS) or a fixed local coordinate system. In certain embodiments, the first transceiver 44 is configured to broadcast a second signal indicative of the second determined position and / or the second determined speed to other vehicles within the communication area. As discussed in detail below, the second signal from each tow vehicle can be used to determine which vehicle is closest to the harvester, thereby allowing the nearest tow vehicle to anchor to the harvester while the remaining vehicles wait for a subsequent discharge cycle.
[018] In addition, the towing vehicle control system 43 includes an orientation sensor 49 configured to determine a tilt angle, yaw angle and / or a towing vehicle roll angle. For example, the orientation sensor 49 may include a gyroscope or other sensor configured to monitor the orientation of the tow vehicle 30. In certain embodiments, the orientation sensor 49 is also configured to determine an incline rate, yaw rate and / or a rollover fee. In addition, in certain embodiments, the towing vehicle control system 43 is configured to compare the orientation (eg, tilt angle, yaw angle and / or roll angle) of the towing vehicle 30 to a measured orientation (eg example, tilt angle, yaw angle and / or roll angle) of the combine 10 to establish a relative orientation that can be used to enhance the accuracy of the anchoring process.
[019] In the illustrated embodiment, the control system 43 includes an automated driving control system 50 configured to control a towing vehicle's direction of movement 30, and an automated speed control system 52 configured to control a vehicle speed. trailer 30. In addition, the control system 43 includes a controller 56 communicatively coupled to the first transceiver 44, the spatial location device 48, the automated driving control system 50 and the automated speed control system 52. The controller 56 is configured to automatically control the towing vehicle 30 during anchoring and while anchored to the harvester, thereby enhancing the efficiency of transferring the agricultural product to the storage compartment. In certain embodiments, controller 56 is configured to determine a target position and target speed of the towing vehicle based, at least partially, on the first determined position and the first determined speed of the combine. Controller 56 is also configured to determine a route to the target position at least partially based on the target position, the second determined position of the towing vehicle and the second determined speed of the towing vehicle. Once the route is determined, the controller is configured to instruct the automated driving control system and the automated speed control system to direct the tow vehicle to the target position along the route. target, the controller will be configured to instruct the automated driving control system and the automated speed control system to maintain substantially the target position and target speed.
[020] Due to the fact that the determined speed of the combine is used to determine the target position and the route to the target position, the control system described in this document may be more efficient than the control systems that use only the position combine to facilitate anchoring. For example, the tow vehicle control system can use the determined speed of the combine to determine an expected position of the combine at the time of anchoring. Therefore, the target position and the route to the target position can be determined based on the expected position instead of the instantaneous position. As a result, the efficiency of the anchoring process can be enhanced, which in this way reduces the duration and costs associated with harvesting operations. As discussed in detail below, the harvester driving angle, harvester orientation, harvester driving and / or harvester acceleration can also be used to determine the target position and route to the target position, which thus, it further emphasizes the efficiency of the anchoring process.
[021] In certain embodiments, the target position is lateral and / or longitudinally displaced in relation to the combine from the first determined position. For example, as discussed in detail below, a target point can be established in the storage compartment (for example, at an approximate center point of the storage compartment). In such embodiments, the tow vehicle controller 56 can determine a target position that substantially aligns the target point with the harvester's conveyor outlet, thereby facilitating efficient transfer of agricultural product from the harvester to the harvester compartment. storage.
[022] In certain embodiments, controller 56 is also configured to determine a distance between the towing vehicle and the combine based on the first determined position of the combine and the second determined position of the towing vehicle. If the distance is less than or equal to the hitch distance, controller 56 is configured to allow automatic control of the tow vehicle. Otherwise, automatic control is disabled. In certain embodiments, upon detecting a separation distance less than or equal to the engaging distance, controller 56 will be configured to instruct a user interface to present an indication to an operator that automatic control is enabled. The operator can then initiate automatic control (for example, via the user interface) and thereby instruct the controller to direct the tow vehicle to the target position.
[023] In certain embodiments, controller 56 is an electronic controller that has an electronic circuitry configured to process data from transceiver 44, spatial location device 48 and / or other components of the control system 43. In the illustrated embodiment , controller 56 includes a processor, such as the illustrated microprocessor 58 and a memory device 60. Controller 56 may also include one or more storage devices and / or other suitable components. Processor 58 can be used to run software, such as software to control towing vehicle 30 and so on. In addition, processor 58 may include multiple microprocessors, one or more “general purpose” microprocessors, one or more special purpose microprocessors and / or one or more application specific integrated circuits (ASICS) or some combination thereof. For example, processor 58 may include one or more specific restriction set (RISC) processors.
[024] Memory device 60 may include volatile memory, such as random access memory (RAM) and / or non-volatile memory, such as ROM. Memory device 60 can store a variety of information and can be used for a variety of purposes. For example, memory device 60 can store executable instructions per processor (for example, firmware or software) for processor 58 to execute, as instructions for controlling towing vehicle 30. The storage device (s) (for example, example, non-volatile storage) may (m) include single-read memory (ROM), flash memory, a hard disk or any other suitable optical, magnetic or solid-state storage medium or a combination thereof. The storage device (s) can store data (for example, position data, identification data, etc.), instructions (for example, software or firmware to control the towing vehicle, etc.) and any other adequate data.
[025] In the illustrated embodiment, the automated driving control system 50 includes a wheel angle control system 62, a differential braking system 64 and a torque vectoring system 66. The wheel angle control system 62 it can automatically rotate one or more wheels of the towing vehicle (for example, by means of hydraulic actuators) to drive the towing vehicle along a desired route. For example, the wheel angle control system 62 can rotate the front wheels, rear wheels and / or intermediate wheels of the towing vehicle, either individually or in groups. Differential braking system 64 can independently vary the braking force on each side of the towing vehicle to direct the towing vehicle along the desired route. Similarly, the torque vectoring system 66 can differentially apply torque from an engine to wheels and / or trails on each side of the towing vehicle, which thereby directs the towing vehicle along a desired route. Although the illustrated driving control system 50 includes the wheel angle control system 62, the differential braking system 64 and the torque vectoring system 66, it should be noted that alternative embodiments may include one or two of these systems, in any suitable combination. Additional achievements may include an automated driving control system 50 that has other and / or additional systems to facilitate steering the towing vehicle along the desired route.
[026] In the illustrated embodiment, the automated speed control system 52 includes an engine output control system 68, a transmission control system 70 and a brake control system 72. The engine output control system 68 is configured to vary the engine output to control the speed of the tow vehicle. For example, the engine output control system 68 may vary an engine throttle setting, an engine fuel / air mixture, an engine timing and / or other engine parameters suitable for controlling the engine output. In addition, the transmission control system 70 can adjust the gear selection within a transmission to control the speed of the towing vehicle. Additionally, the braking control system 72 can adjust the braking force, thereby controlling the speed of the tow vehicle 30. Although the automated speed control system 52 illustrated includes the engine output control system 68, the transmission control system 70 and the brake control system 72, it should be noted that alternative embodiments can include one or two of these systems, in any suitable combination. Additional achievements may include an automated speed control system 52 that has other and / or additional systems to facilitate adjusting the speed of the towing vehicle.
[027] In the illustrated embodiment, the trailer vehicle control system 43 includes a user interface 74 communicatively coupled to controller 56. User interface 74 is configured to selectively instruct controller 56 to automatically control the vehicle from trailer based on operator input. For example, the operator can position the towing vehicle within the hitch area and then activate the automatic docking process via user interface 74. In certain embodiments, the user interface includes a display 76 configured to display information to the operator, as if the towing vehicle is within the communication area, if the towing vehicle is within the hitch area and if the conditions for automatic anchoring have been met, among other parameters. Additionally, as discussed in detail below, user interface 74 can allow the operator to adjust the target point while the tow vehicle is anchored to the combine.
[028] As illustrated, the towing vehicle 30 includes manual controls 78 configured to allow an operator to control the towing vehicle while the automatic control system is disengaged. Manual controls 78 can include manual drive control, manual transmission control and / or manual brake control, among other controls. In the illustrated embodiment, the hand controls 78 are communicatively coupled to the controller 56. The controller 56 is configured to disengage the automatic control of the towing vehicle by receiving a signal indicating the manual control of the towing vehicle. Therefore, if an operator controls the towing vehicle manually, the automatic / anchored anchoring process ends, which thereby restores control of the towing vehicle to the operator.
[029] In the illustrated embodiment, harvester 10 includes a control system 79 that has a spatial location device 80, which is mounted to harvester 10 and configured to determine the first determined position and the first determined speed of agricultural harvester 10. Similar to the device towing vehicle spatial tracking device 48, the combine 80 tracking device can include any suitable system configured to measure the position and speed of the combine, such as a global positioning system (GPS), for example. In certain embodiments, the spatial location device 80 can be configured to measure the position and speed of the combine in relation to a fixed point within a field (for example, by means of a fixed radio transceiver). Therefore, the spatial location device 80 can be configured to measure the position and speed of the combine in relation to a fixed global coordinate system (for example, via GPS) or a fixed local coordinate system. As illustrated, the spatial location device 80 is communicatively coupled to a controller 82 of the combine control system 79. Similar to the trailer vehicle controller 56, the combine controller 82 includes a processor, such as the illustrated microprocessor 84 and a memory device 86. Controller 82 is communicatively coupled to the second transceiver 46 and configured to transmit position and velocity information from the spatial location device 80 to transceiver 46, thereby generating the first indicative signal the first determined position and the first determined speed of the agricultural harvester 10.
[030] In the illustrated embodiment, the combine control system 79 also includes a driving angle sensor 88 and an orientation sensor 90. Driving angle sensor 88 is configured to emit a signal indicating a measured driving angle and / or determined. For example, the steering angle sensor 88 can be configured to measure an angle of certain wheels (for example, front wheels, rear wheels, etc.) in relation to the harvester chassis. The driving angle sensor 88 can also be configured to measure differential braking forces (for example, the braking force applied to each side of the combine). In addition, the driving angle sensor 88 can be configured to measure the torque applied to each side of the combine (for example, torque applied to a left wheel / track and torque applied to a right wheel / track). As shown, the driving angle sensor 88 is communicatively coupled to controller 82. Controller 82 is configured to receive the signal indicating the driving angle from sensor 88, and to transmit the signal to transceiver 46. Transceiver 46 , in turn, is configured to incorporate the driving angle information in the first signal to the towing vehicle. Driving angle information can allow the tow vehicle control system to more accurately predict the expected position of the combine, which in this way underscores the efficiency of the anchoring process.
[031] Additionally, the 90 orientation sensor is configured to emit a signal indicative of a measured tilt angle, a measured yaw angle and / or a measured roll angle of the combine. For example, the 90 orientation sensor may include a gyroscope or other sensor configured to monitor the combine's driving 10. In certain embodiments, the orientation sensor 90 is also configured to determine a tilt rate, yaw rate and / or roll rate. As illustrated, the sensor guidance device 90 is communicatively coupled to controller 82. Controller 82 is configured to receive the signal indicative of orientation measurements from orientation sensor 90, and to transmit the signal to transceiver 46. Transceiver 46, in turn , is configured to incorporate guidance information at the first signal into the towing vehicle. The guidance information can allow the tow vehicle control system to more accurately predict the expected position of the combine, which thus highlights the efficiency of the anchoring process.
[032] Although the harvester control system illustrated includes a driving angle sensor 88 and an orientation sensor 90, it should be noted that one or both of these sensors may be omitted in certain embodiments. In addition, it should be noted that the combine may include additional sensors configured to measure other parameters associated with the combine's operation. For example, in certain embodiments, the combine control system may include an electronic compass configured to emit an indicative guidance signal. In additional embodiments, the combine control system may include an accelerometer configured to emit an indicative acceleration signal ( for example, three-dimensional acceleration) of the combine.The emission of such sensors can be incorporated within the first signal to the towing vehicle. For example, in certain embodiments, guidance information can be incorporated within the first determined speed. The guidance and / or acceleration information can allow the tow vehicle control system to more accurately predict the expected position of the combine, which thus highlights the efficiency of the anchoring process. Although an electronic compass and an accelerometer are described above, it should be noted that, in additional embodiments, the combine control system may include other and / or additional sensors.
[033] In the illustrated embodiment, the combine control system 79 includes a user interface 92 configured to receive input from an agricultural vehicle operator. As discussed in detail below, user interface 92 includes a display 94 configured to present information to the combine operator and / or to receive input from the operator. As illustrated, user interface 92 is communicatively coupled to controller 82. In certain embodiments, controller 82 is configured to calibrate the alignment of the combine's conveyor outlet with a storage compartment coupled to the towing vehicle. In such embodiments, controller 82 is configured to receive a first signal from user interface 92 indicative of alignment of the conveyor outlet with a desired first point in the storage compartment, and to determine a first position of the storage compartment in relation to the agricultural harvester upon receipt of the first signal. Controller 82 is also configured to receive a second signal from user interface 92 indicative of alignment of the conveyor outlet with a desired second point in the storage compartment, diagonally opposite the desired first point, and to determine a second position of the storage compartment in relation to the agricultural harvester upon receipt of the second signal. In addition, controller 82 is configured to establish a bounding rectangle that has a first angle at the first desired point and a second angle at the desired second point based on the first and second positions and to establish a target point at a center of the bounding rectangle. .
[034] In certain embodiments, controller 82 is configured to send a signal to the second transceiver 46 indicative of a position of the first angle of the bounding rectangle in relation to the storage compartment, a position of the second angle of the bounding rectangle in relation to the storage compartment. storage, and a position of the target point in relation to the storage compartment. Transceiver 46, in turn, is configured to incorporate data that corresponds to these positions in the signal transmitted to the first transceiver 44. The tow vehicle control system 43 can use the positions of the first and second angles of the bounding angle and / or the position of the target point, in addition to the position and speed of the combine, to determine the target position and / or the target speed of the towing vehicle. For example, the tow vehicle control system 43 can determine a target position that substantially aligns the target point with the combine's conveyor outlet. Additionally, due to the fact that controller 82 emits a signal indicating the positions of the first and second angles of the bounding rectangle and the position of the target point when completing the calibration process, the towing vehicle control system 43 can detect a calibration successful upon reception of the signal. In certain embodiments, the towing vehicle control system 43 may not initiate the docking process until a successful calibration is detected.
[035] In certain embodiments, controller 82 is configured to adjust the position of the target point laterally and / or longitudinally based on a user interface input 92. For example, a combine operator can periodically adjust the target position during the unloading process, thereby establishing a substantially uniform distribution of agricultural product within the storage compartment. By adjusting the position of the target point, the updated position is transmitted to the towing vehicle control system 43 (for example, via transceiver 46). Upon receipt of the updated position of the target point, the tow vehicle control system 43 adjusts the target position so that the conveyor outlet is aligned with the adjusted target point. In certain embodiments, the tow vehicle operator can also adjust the position of the target point via the user interface 74. Additionally, the position of the target point can be limited to locations within the bounding rectangle, which in this way , substantially reduces or eliminates the possibility of product loss during the unloading process.
[036] In the illustrated embodiment, the agricultural harvester 10 includes a product delivery system 96 configured to transfer agricultural product from the harvester to the storage compartment. As illustrated, the product delivery system 96 is communicatively coupled to the controller 82 In certain embodiments, controller 82 is configured to automatically engage the product flow from the carrier outlet to the storage compartment (for example, by activating the product delivery system 96) while the carrier outlet is within the bounding rectangle. In additional realizations, controller 82 is configured to automatically engage the product flow from the carrier outlet to the storage compartment (for example, by activating the product delivery system 96) while the carrier outlet is within a threshold range of target point.
[037] Figure 3 is a state diagram of an embodiment of a technique for controlling a tow vehicle. Before starting the docking process, the control system is in a 100 start state. As indicated by arrow 102, initializing the control system transitions the control system from initialization state 100 to an “off” state 104. Switching the control system to on, as indicated by the arrow 106 transits the control system from “off” state 104 to a state “Safe” 108. Conversely, switching the control system off, as indicated by arrow 110, transitions the control system to the “off” state 104. If no fault is detected within the system, as indicated by arrow 112, the system The control system will transition to a “ready to anchor” state 114. While in the “ready to anchor” state, if a fault is detected, as indicated by arrow 116, the control system will transition to the “next” state. ro ”108. Additionally, switching the control system off, as indicated by arrow 118, transitions the control system from the“ ready to anchor ”state 114 to the“ off ”state 104.
[038] While the control system is in the “ready to anchor” state 114, the user interface can provide an indication to the operator that the tow vehicle is ready to anchor. When the operator starts anchoring (for example, via the user interface) and the combine confirms the start of the anchoring process, as indicated by arrow 120, the control system transitions to an “anchoring” state 122. While in “anchor” state 122, the automated driving control system and the automated speed control system direct the tow vehicle to the target position. If the operator controls the towing vehicle manually, as indicated by arrow 124, the control system transitions to the “safe” state 108, which in turn disengages the automatic control of the towing vehicle. Additionally, if a fault is detected (for example, loss of communication, the tow vehicle is unable to reach the target position, an orientation error is detected, a speed range is exceeded, etc.), as indicated by arrow 126 , the control system transitions to an “alarm” 128 state. For example, the user interface can present a visual and / or audible indication that a fault has been detected and / or the nature of the fault to the operator. As indicated by arrow 130, the automatic control is disengaged, which transits the control system to the “safe” state 108. However, if the automatic control is also off, as indicated by arrow 131, the control system transits to the “off” state 104.
[039] After the tow vehicle reaches the target position for a predetermined time interval, as indicated by arrow 132, the control system transitions to the “anchored” state 134. For example, the predetermined time interval can be about 1 second, about 2 seconds, about 3 seconds, about 4 seconds or more. While in the “anchored” state 134, the automated driving control system and the automated speed control system substantially maintain the target position and the target speed. If the operator controls the towing vehicle manually, as indicated by arrow 136, the control system transitions to the “safe” state 108, which in turn disengages the automatic control of the towing vehicle. In addition, if a failure is detected (for example, loss of communication, the tow vehicle is unable to reach the target position, etc.), as indicated by arrow 138, the control system transitions to an “alarm” state 128. For example, the user interface may present a visual and / or audible indication that a fault has been detected and / or the nature of the fault to the operator. As indicated by arrow 130, the automatic control is disengaged, which transits the control system to the “safe” state 108. However, if the automatic control is also off, as indicated by arrow 131, the control system transits to the “off” state 104.
[040] Figure 4 is a flow chart of an embodiment of a method 140 for controlling an agricultural vehicle, such as a tow vehicle. First, as represented by block 142, a first signal indicative of a first determined position and a first determined speed of a target vehicle (for example, the agricultural harvester) is received. As discussed earlier, the first signal can be transmitted from a second transceiver of the target vehicle and received by a first transceiver of the agricultural vehicle. The target vehicle is detected when the first signal is received, as represented by block 144. In addition, a target position and target speed of the agricultural vehicle are determined based on the first determined position and the first determined speed of the vehicle- target, as represented by block 146. In certain embodiments, a driving angle of the target vehicle, a tilt angle of the target vehicle, a rolling angle of the target vehicle and / or a yaw angle of the target vehicle, which can be included within the first signal, they are also used to determine the target position and target speed of the agricultural vehicle. For example, as discussed earlier, an expected position of the target vehicle at the time of anchoring can be determined based on the speed, driving angle and / or orientation of the target vehicle. Therefore, the target position can be determined based on the expected position instead of the instantaneous position.
[041] Then, as represented by block 148, a distance between the agricultural vehicle and the target vehicle is determined. The distance is then compared to a hitch distance, as represented by block 150. If the distance is less than or equal to the hitch distance, automatic control of the agricultural vehicle is enabled. When initializing automatic control by an operator, as represented by block 151, an automated driving control system and an automated speed control system are instructed to direct the agricultural vehicle to the target position, as represented by block 152. For For example, if the target vehicle is positioned in front of the agricultural vehicle, the automated speed control system can increase the speed of the agricultural vehicle. Conversely, if the target vehicle is positioned behind the agricultural vehicle, the automated speed control system can stop the agricultural vehicle until the target vehicle reaches an anchoring position. In addition, the driving control system can adjust wheel angles, for example, to steer the agricultural vehicle towards the target position.
[042] The position of the agricultural vehicle is then compared to the target position, as represented by block 154. If the target position is reached, the automated driving control system and the automated speed control system are instructed to maintain target position and target speed, as represented by block 156. For example, if target vehicle speed increases, the automated speed control system can increase the speed of the agricultural vehicle to match the speed of the target vehicle . Similarly, if the target vehicle starts a shift, the automated driving control system can direct the agricultural vehicle to match the movement of the target vehicle. As a result, the alignment between the conveyor outlet and the storage compartment can be maintained throughout the unloading process, which thereby substantially reduces or eliminates the loss of agricultural product and / or increases the efficiency of the unloading process. unloading.
[043] As represented by block 158, a second signal indicating a second determined position and a second determined speed of the agricultural vehicle is broadcast to other agricultural vehicles within the communication area. Other agricultural vehicles can use this information to determine which vehicle is closest to the target vehicle. For example, if multiple agricultural vehicles are within the hitch area, each vehicle can compare its position, and the position of the other vehicles, to the position of the vehicle. target vehicle. The vehicle control system closest to the target vehicle transitions to the “anchoring” state, while the control systems of the most distant vehicles remain in a “ready to anchor” state. In this way, the nearest vehicle is anchored to the target vehicle, while the remaining vehicles wait for a subsequent unloading cycle.
[044] Figure 5 is a schematic diagram of an embodiment of an agricultural harvester 10 and an agricultural product transport system 28. In certain embodiments, the harvester controller is configured to calibrate the alignment of the conveyor outlet 26 to the storage compartment. 32, thereby allowing the tow vehicle controller to establish a target position that facilitates efficient transfer of the agricultural product from the combine to the storage compartment. In such embodiments, the combine controller is configured to receive a first signal from a user interface indicative of alignment of the conveyor outlet 26 with a desired first point 160 in the storage compartment 32. For example, a towing vehicle operator 30 can position the storage compartment 32 (for example, by manually controlling the towing vehicle) so that the conveyor outlet 26 is aligned with the first desired point 160 on a front-left portion of the storage compartment 32, as illustrated by the combine 10 in solid lines. Alternatively, a combine operator 10 can position the combine 10 (for example, by manually controlling the combine) so that the conveyor outlet 26 is aligned with the first desired point 160. Once aligned, the combine operator 10 or the tow vehicle operator 30 pushes a button on the user interface that transmits the first indicative alignment signal to the combine controller.
[045] Upon receipt of the first signal, the combine controller determines a first position of the storage compartment 32 in relation to the combine 10. In the illustrated embodiment, the first position includes a lateral distance 162 that extends between a lateral center line 164 of the storage compartment 32 and a side center line 166 of the harvester 10. The first position also includes a longitudinal distance 168 that extends between a longitudinal center line 170 of the storage compartment 32 and a reference line 172 of the harvester 10 However, it should be noted that the position of the storage compartment 32 in relation to the combine 10 may include lateral and longitudinal distances based on other suitable reference lines.
[046] The combine controller is also configured to receive a second signal from the user interface indicative of alignment of the conveyor outlet 26 with a second desired point 174 in storage compartment 32, diagonally opposite the first desired point 160. For example, an operator of the towing vehicle 30 can position the storage compartment 32 (for example, by means of manual control of the towing vehicle) so that the conveyor outlet 26 is aligned with the desired second point 174 in a rear-right portion of the storage compartment 32, as illustrated by harvester 10 in phantom lines. Alternatively, a combine operator 10 can position the combine 10 (for example, by hand controlling the combine) so that the conveyor outlet 26 is aligned with the desired second point 174. Once aligned, the combine operator 10 or the tow vehicle operator 30 presses a button on the user interface that transmits the second indicative alignment signal to the combine controller.
[047] Upon receipt of the second signal, the combine controller determines a second position of the storage compartment 32 in relation to the combine 10. In the illustrated embodiment, the second position includes a lateral distance 176 that extends between the lateral center line 164 of the storage compartment 32 and the lateral center line 166 of the combine 10. The second position also includes a longitudinal distance 178 that extends between the longitudinal center line 170 of the storage compartment 32 and the reference line 172 of the combine 10 As noted above, it should be noted that the position of the storage compartment 32 in relation to the combine 10 may include lateral and longitudinal distances based on other suitable reference lines. However, the first and second positions use the same references and the same line / coordinate reference system.
[048] The combine controller is also configured to establish a bounding rectangle 180 that has a first angle at the first desired point 160 and a second angle at the second desired point 174 based on the first position and the second position of the storage compartment 32 in in relation to the harvester 10. In certain embodiments, the harvester controller may allow and / or automatically engage the product flow from the conveyor outlet 26 to the storage compartment 32 while the conveyor outlet 26 is within the bounding rectangle 180. Conversely, the controller harvester can automatically disable and / or disengage product flow from the conveyor outlet 26 to the storage compartment 32 while the conveyor outlet 26 is outside the bounding rectangle 180. Although the illustrated bounding rectangle 180 is established based on the front-left point and at the rear-right point, it must be noted that the bounding rectangle can also be established based on a front-right point and a rear-left point.
[049] Additionally, the combine controller is configured to establish a target point 182 in the center of bounding rectangle 180. That is, target point 182 is positioned at the lateral midpoint and the longitudinal intermediate point of the bounding rectangle 180. In In certain embodiments, the combine controller is configured to automatically engage the product flow from the carrier outlet 26 to the storage compartment 32 while the carrier outlet 26 is within a threshold range of target point 182. As discussed in detail below, the threshold range can be adjusted manually via a user interface. In addition, the combine controller can be configured to adjust a lateral position and / or a longitudinal position of the target point (for example, away from the center of the bounding rectangle) based on a signal from the user interface. For example, an operator can adjust the position of the target point via the user interface during the unloading process, thereby facilitating the substantially uniform distribution of the agricultural product within the storage compartment 32. However, the controller it can limit the adjustment of the target point to locations within the bounding rectangle, which thereby substantially reduces or eliminates the possibility of product loss during the unloading process.
[050] In certain embodiments, the combine controller is configured to store data indicative of the position of the first angle of the bounding rectangle in relation to the storage compartment, the position of the second angle of the bounding rectangle in relation to the storage compartment, and the position from the target point in relation to the storage compartment (for example, inside the controller memory device) to facilitate subsequent alignment of the conveyor outlet 26 to the storage compartment 32. For example, the combine controller may receive a signal indicating a storage compartment identity 32 (for example, a unique identification number). If such a signal is received, the combine controller associates the identity of the storage compartment with the data indicating the positions of the first and second angles of the bounding rectangle and the position of the target point. The combine controller then stores these positions and the identity, which thus facilitates the subsequent alignment of the conveyor outlet 26 in the storage compartment 32.
[051] In certain embodiments, the combine controller is configured to determine whether the dimensions of the bounding rectangle 180 are within a threshold range before storing the identity, and data indicating the positions of the first and second angles of the bounding rectangle and the target point position. For example, if the bounding rectangle is less than an expected minimum size or greater than an expected maximum size, the controller can instruct the operator (for example, through the user interface) to recalibrate the alignment of the conveyor outlet and the storage compartment. storage. In addition, the combine controller can be configured to determine whether the first position and the second position of the storage compartment in relation to the combine are within a threshold range before storing the identity and indicative data of the positions of the first and second angles of the bounding rectangle and the position of the target point. For example, if the storage compartment is closer than a desired minimum separation distance or further than a desired maximum separation distance, the controller can instruct the operator (for example, via the user interface) to recalibrate the alignment the carrier outlet and the storage compartment. Once the calibration process is complete, the combine control system can send a signal to the tow vehicle control system indicative of a successful calibration, which thus allows the vehicle control system trailer, start anchoring to the combine.
[052] Figure 6 is a block diagram of an embodiment of a display 94 that can be employed in a user interface 92 of the combine 10 of Figure 5. Although the display 94 illustrated is described below with reference to the combine 10, It should be noted that the same or similar display can be employed within the towing vehicle user interface 74. As shown, display 94 provides a graphical representation 184 of various controls that can be used to facilitate calibration of the alignment of the trailer. conveyor outlet / storage compartment, adjustment of the target point and / or control of the unloading process. In the illustrated embodiment, the display 94 includes an alignment calibration screen 185. Alignment calibration belt 185 includes a graphical representation 186 of the bounding rectangle, a first indicator 187 representative of the first angle of the bounding rectangle and a second indicator 188 representative of the second angle of the bounding rectangle. Alignment calibration mesh 185 also includes a “first aligned point” button 189 and a “second aligned point” button 190.
[053] As previously discussed, the data associated with each previously calibrated storage compartment data (for example, data indicating the positions of the first and second angles of the bounding rectangle and the position of the target point) are stored within the combine control. Therefore, if a previously calibrated storage compartment is detected by the combine control system, the alignment calibration screen 185 can be disabled (for example, “grayed out”). However, if a new storage compartment is detected, the alignment calibration screen is enabled, which in turn impels the operator to start the calibration process. Once the calibration process is complete, the data associated with the new storage compartment is stored within the harvest control system for subsequent docking processes.
[054] During the calibration process, the first indicator 187 illuminates, as shown, which in this way impels the operator (for example, from the combine or towing vehicle) to align the conveyor outlet to the first desired point in front left of the storage compartment. Once aligned, the operator presses the “first aligned point” button 189. In certain embodiments, an indication is provided to the operator that the desired first point is accepted by the harvester control system (for example, by changing the color of the first indicator 187, darkening of the first indicator 187, etc.). However, if the first desired point is not accepted by the combine controller (for example, due to the distance between the towing vehicle / storage compartment and the combine being less than a minimum threshold distance or greater than a maximum threshold distance), the User interface can indicate a failure (for example, by displaying a text message to the operator, which changes the color of the first indicator 187, etc.). The operator can then realign the conveyor outlet with the first desired point.
[055] Once the combine controller accepts the first desired point, the second indicator 188 lights up, which in turn impels the operator (for example, from the combine or towing vehicle) to align the conveyor outlet with the second desired point on the right rear of the storage compartment. Once aligned, the operator presses the “second aligned point” button 190. In certain embodiments, an indication is provided to the operator that the desired second point is accepted by the combine control system (for example, through a change in the color of the second indicator 188, darkening of the first indicator 188, etc.). However, if the second desired point is not accepted by the combine controller (for example, due to the distance between the towing vehicle / storage compartment and the combine being less than a minimum threshold distance or greater than a maximum threshold distance, or dimensions of the bounding rectangle are greater or less than an expected range, etc.), the user interface may indicate a failure (for example, by displaying a text message to the operator, which changes the color of the second indicator 188 , etc.). The operator can then realign the conveyor outlet to the second desired point and / or restart the calibration process.
[056] Once the operator has aligned the conveyor outlet to the desired first and second points, the combine controller establishes the bounding rectangle that has a first angle at the first desired point and a second angle at the second desired point. The combine controller also establishes a target point in the center of the bounding rectangle. As discussed earlier, the position of the target point can be adjusted based on user input. In the illustrated embodiment, the display 94 includes a target point shift screen that has controls configured to adjust the position of the target point (for example, away from the center of the bounding rectangle). As shown, the display includes a side position adjustment section 191 that has a left arrow button 192, a right arrow button 193 and a numeric display 194. Pressing the left arrow button 192 induces the display 194 indicating the movement of the target point to the left (for example, in inches relative to the original target point). Similarly, pressing the right arrow button 193 induces the display 194 to indicate the movement of the target point to the right (for example, in inches relative to the original target point).
[057] The display 94 also includes a longitudinal position adjustment section 195 that has a forward arrow button 196, a back arrow button 198 and a numeric display 200. Pressing the forward arrow button 196 induces the display 200 indicating forward movement of the target point (for example, in inches relative to the original target point). Similarly, pressing the back arrow button 198 induces the display 200 to indicate the movement of the target point backwards (for example, in inches relative to the original target point). Although the illustrated displays 194 and 200 are configured to show displacement distances in inches, it should be noted that, in alternative embodiments, displacement distances can be expressed in terms of a percentage of the lateral and / or longitudinal extent of the bounding triangle. In additional embodiments, displays 194 and 200 may present a graphical representation of the position of the target point within the bounding rectangle.
[058] Once the desired position of the target point is selected, the operator can press the “set to current” button 202. Pressing the button 202 induces the user interface to send a signal to the combine controller that instructs the controller adjusting the lateral and / or longitudinal position of the target point. For example, the operator can periodically adjust the position of the target point during the unloading process to establish a substantially uniform distribution of agricultural product within the storage compartment. The operator can reset the target point to the original centralized position by pressing the reset button 204. In certain embodiments, each adjustment of the target point can be in relation to the original centralized position of the target point. Alternatively, each adjustment to the target point can be in relation to the previously selected target point position.
[059] In certain embodiments, the lateral and / or longitudinal position of the established target point (for example, the target point established by the alignment calibration process) can be adjusted. For example, an operator can adjust the position of the established target point (for example, in relation to the bounding rectangle) using the target point offset controls or additional controls provided in the display 94. Once the position of the established target is adjusted, the updated position is stored within the combine control system for subsequent anchoring processes. Therefore, at least a first adjustment of the target point using the target point offset controls is relative to the updated position of the established target point. In additional embodiments, the positions of the first and second angles of the established bounding rectangle can be adjusted (for example, using controls provided in the display 94) to create a bounding rectangle that has a desired size and / or position.
[060] In the illustrated embodiment, display 94 includes a “product flow hitch / bounding rectangle” button 206. Pressing button 206 sends a signal to the combine controller that instructs the controller to automatically engage the product flow from the carrier outlet to the storage compartment while the carrier outlet is within the bounding rectangle. Display 94 also includes a “product flow / target point hitch” button 208. Pressing button 208 sends a signal to the combine controller that instructs the controller to automatically engage product flow from the conveyor outlet to the storage compartment. storage while the carrier outlet is within a threshold range of the target point. In the illustrated embodiment, the threshold range can be adjusted by a “target point threshold range” section 210 of display 94. As illustrated, section 210 includes a first arrow button 212 configured to increase the threshold range, a second button arrow 214 configured to reduce the threshold range and a numeric display 216 configured to view the threshold range. Once the threshold range is inserted and button 208 is pressed, the product flows into the storage compartment while the carrier outlet is within the threshold range of the target point. Additionally, in certain embodiments, the combine controller can automatically disengage the product flow while the conveyor outlet is positioned outside the bounding rectangle.
[061] Figure 7 is a flow diagram of an embodiment of a 218 method for calibrating the alignment of a conveyor outlet from an agricultural harvester with a storage compartment for an agricultural product transport system. First, as represented by block 220, a first signal indicative of aligning the conveyor outlet with a desired first point in the storage compartment is received from a user interface. For example, when the conveyor outlet is aligned with the first desired point in the storage compartment, an operator can press a graphical representation of a “first aligned point” button on a user interface display. The user interface, in turn, can emit the first signal. Upon receipt of the first signal, a first position of the storage compartment in relation to the agricultural vehicle is determined, as represented by block 222.
[062] Then, as represented by block 224, a second signal indicating the alignment of the conveyor outlet with a second desired point in the storage compartment, diagonally opposite the first desired point, is received from the user interface. For example, when the conveyor outlet is aligned with the desired second point in the storage compartment, an operator can press a graphical representation of a “second point aligned” button on a user interface display. The user interface, in turn, can emit the second signal. Upon receipt of the second signal, a second position of the storage compartment in relation to the agricultural vehicle is determined, as represented by block 226.
[063] Once the first and second positions of the storage compartment in relation to the agricultural vehicle are determined, a bounding rectangle is established, as represented by block 228. The bounding rectangle has a first angle at the first desired point and a second angle at the second desired point. Additionally, as represented by block 230, a target point is established in the center of the bounding rectangle. That is, the target point is established at the lateral intermediate point between the first and the second angles, and at the longitudinal intermediate point between the first and the second angles. Once the bounding rectangle and the target point are established, a third sign indicating a third position of the first angle of the bounding rectangle in relation to the storage compartment, a fourth position of the second angle of the bounding rectangle in relation to the storage compartment, and a fifth position of the target point in relation to the storage compartment is emitted, as represented by block 231. As previously discussed, the third signal can be transmitted to the towing vehicle, which in this way enables the vehicle's controller. trailer to determine a target position that aligns the target point with the carrier exit.
[064] It should be noted that the third sign indicating the third position, the fourth position and the fifth position can include a position of the first angle of the bounding rectangle, a position of the second angle of the bounding rectangle, and a position of the target point in relative to a fixed point in the storage compartment (for example, the intersection of the lateral and longitudinal center lines of the storage compartment). Alternatively, the third signal may include the first position of the storage compartment in relation to the agricultural vehicle, which is indicative of the third position, and the second position of the storage compartment in relation to the agricultural vehicle, which is indicative of the fourth position. For example, the third position can be determined based on the first position and the offset between the agricultural vehicle (for example, the intersection of the lateral centerline and the agricultural vehicle reference line) and the conveyor outlet, and the fourth position it can be determined on the basis of the second position and the displacement between the agricultural vehicle and the conveyor outlet. In addition, the fifth position can be determined based on the first position, the second position and the offset between the agricultural vehicle and the conveyor outlet.
[065] In certain embodiments, a fourth signal indicating an identity of the storage compartment is received (for example, from the tow vehicle transceiver), as represented by block 232. In such embodiments, the identity is associated with the third, to fourth and fifth positions, as represented by block 234. The dimensions of the bounding rectangle are then compared to a threshold range, as represented by block 236. As discussed earlier, the threshold range can be associated with a minimum size and / or expected maximum of the storage compartment. If the dimensions of the bounding rectangle are within the threshold range, the identity of the storage compartment and the third, fourth and fifth positions are stored for subsequent alignment of the conveyor outlet with the storage compartment, as represented by block 238. Therefore , once the calibration process is complete, subsequent anchoring of the storage compartment to the agricultural harvester can be initiated without performing additional calibration procedures. In certain embodiments, the first position and the second position are also compared to a threshold range before storing the identity and the third, fourth and fifth positions and, thus, verify that a desired spacing is established between the agricultural vehicle and the storage compartment.
[066] In the illustrated embodiment, the fifth position of the target point can be adjusted laterally and / or longitudinally based on a fifth signal from the user interface, as represented by block 240. As discussed earlier, the user interface can include a display that has a “target point shift” screen. This screen allows an operator to adjust the position of the target point by means of graphical representations of indicator arrows. Once the position of the target point is adjusted, the new target point can be transmitted to the tow vehicle controller, which in this way facilitates the alignment of the conveyor outlet to the new target point. By adjusting the target point during the unloading operation, the agricultural product can be distributed substantially evenly throughout the entire storage compartment. In addition, the user interface can allow the operator to reset the target point to the start position, that is, centered on the bounding rectangle.
[067] In certain embodiments, the product flow from the carrier outlet to the storage compartment can be automatically engaged while the carrier outlet is within the bounding rectangle, as represented by block 242. In such embodiments, the agricultural product may continue to flow from uniformly as the combine's movement in relation to the storage compartment (for example, due to variations in the terrain) varies the position of the conveyor outlet within the bounding rectangle. However, if the conveyor outlet moves to a position outside the bounding rectangle, the product flow is automatically terminated, which thereby substantially reduces or eliminates product loss. In additional embodiments, the product flow from the carrier outlet to the storage compartment can be engaged automatically while the carrier outlet is within a threshold range of the target point, as represented by block 242. As discussed earlier, the threshold range is adjustable via the user interface (for example, based on the expected movement of the combine in relation to the storage compartment).
[068] Although the first determined position and the first determined speed of the combine, and the second determined position and the second determined speed of the towing vehicle are determined in relation to a fixed coordinate system in the embodiments described in this document, it should be noted that , in alternative embodiments, the first determined position, the first determined speed, the second determined position and / or the second determined speed can be determined in relation to a coordinated system in motion. For example, in certain embodiments, the first determined position and the first determined speed of the combine can be determined in relation to the towing vehicle, which thus establishes a coordinated system in motion that has its origin in the towing vehicle. In additional embodiments, the second determined position and the second determined speed of the towing vehicle can be determined in relation to the harvester, thereby establishing a coordinated system in motion that has its origin in the harvester.
[069] Additionally, although the control systems and methods are described in this document with reference to an agricultural harvester and a mobile storage compartment (for example, towed by a tow vehicle), it should be noted that the control systems and methods can be used for other agricultural and / or non-agricultural applications. For example, the alignment calibration process described in this document can be used to facilitate automatic alignment of a combine with a stationary storage compartment. In addition, the automatic control systems and methods described in this document can be used to automatically anchor the mobile storage compartment to a road transport vehicle, such as a cargo truck, which thus facilitates efficient product transfer. for the transport vehicle. In addition, the automatic control systems and methods described in this document can be used to automatically anchor a towing vehicle (eg, garbage truck) with a mining vehicle, which thus allows the mining vehicle to unload efficiently these or other materials.
[070] Although only certain features of the invention have been illustrated and described in this document, many modifications and changes will occur to the person skilled in the art. Therefore, it should be understood that the appended claims are intended to cover all such modifications and changes that are covered by the true spirit of the invention.

权利要求:
Claims (13)
[0001]
1. CONTROL SYSTEM FOR AN AGRICULTURAL VEHICLE, comprising: a first transceiver (44) configured to receive a first signal from a second transceiver (46) of a target vehicle (10), where the first signal is indicative of a first determined position and first determined speed of the target vehicle (10); the system further comprising: a controller (56) communicatively coupled to the first transceiver (44), where the controller (56) is configured to automatically control the agricultural vehicle (30) by determining a target position and speed target of the agricultural vehicle (30) at least partially based on the first determined position and the first determined speed of the target vehicle (10), instruct an automated driving control system (50) and an automated speed control system ( 52) to direct the agricultural vehicle (30) to the target position, and instruct the automated driving control system (50) and the automated speed control system (52) to substantially maintain the target position and speed- target when substantially reaching the target position characterized by the fact that: the controller (56) is configured to determine a distance between the agricultural vehicle (30) and the target vehicle (10), and to control r the agricultural vehicle (30) automatically as long as the distance is less than or equal to a hitch distance.
[0002]
2. CONTROL SYSTEM, according to claim 1, characterized by the fact that the target position is displaced laterally from the first determined position, longitudinally displaced from the first determined position, or a combination of them, in relation to the target vehicle ( 10), and the target speed is substantially the same as the first determined speed.
[0003]
3. CONTROL SYSTEM, according to claim 1, characterized by the fact that the controller (56) is configured to detect the target vehicle (10) upon receipt of the first signal by the first transceiver (44).
[0004]
4. CONTROL SYSTEM, according to claim 1, characterized by the fact that the first transceiver (44) is configured to broadcast the first signal to other vehicles.
[0005]
5. CONTROL SYSTEM, according to claim 1, characterized by the fact that the first signal comprises a driving angle (88) of the target vehicle (10), an angle of inclination of the target vehicle (10), a rollover angle of the target vehicle (10), a yaw angle of the target vehicle (10), or a combination thereof, and the controller (56) is configured to adjust the target position based on the driving angle ( 88) of the target vehicle (10), the angle of inclination of the target vehicle (10), the roll angle of the target vehicle (10), the yaw angle of the target vehicle (10), or the combination of themselves.
[0006]
6. CONTROL SYSTEM, according to claim 1, characterized by the fact that it comprises a user interface (74) communicatively coupled to the controller (56), in which the user interface (74) is configured to instruct selectively the controller (56) to automatically control the agricultural vehicle (30) based on the operator's input.
[0007]
7. CONTROL SYSTEM, according to claim 6, characterized by the fact that the controller (56) is configured to adjust the target position based on the user interface input (74).
[0008]
8. CONTROL SYSTEM, according to claim 1, characterized by the fact that the controller (56) is configured to disengage the automatic control of the agricultural vehicle (30) by receiving a third signal indicating manual control (78) of the vehicle agricultural (30).
[0009]
CONTROL SYSTEM, according to claim 1, characterized by the fact that the transceiver (44) is configured to broadcast a second signal indicative of a second determined position of the agricultural vehicle (30), a second determined speed of the agricultural vehicle (30), or a combination thereof.
[0010]
CONTROL SYSTEM, according to claim 1, characterized by the fact that it additionally comprises: a spatial location device (48) mounted on the agricultural vehicle (30) and configured to determine a second determined position and a second determined speed of the agricultural vehicle (30); the automated driving control system (50) is configured to control a direction of movement of the agricultural vehicle (30); the automated speed control system (52) is configured to control an agricultural vehicle speed (30); and the controller (56) is additionally configured to determine a route (34) to the target position based, at least partially, on the target position, the second determined position and the second determined speed, instructing the control system of automated driving (50) and the automated speed control system (52) directing the agricultural vehicle (30) to the target position along the route (34).
[0011]
11. CONTROL SYSTEM, according to claim 10, characterized by the fact that the automated driving control system (50) comprises a wheel angle control system (62), a differential braking system (64), a torque vectoring system (66), or a combination thereof, and the automated speed control system (52) comprises an engine output control system (68), a transmission control system (70), a brake control system (72) or a combination thereof.
[0012]
12. CONTROL METHOD FOR AN AGRICULTURAL VEHICLE, comprising: receiving a first signal indicating a first determined position and a first determined speed from a target vehicle (10); determining a target position and target speed of the agricultural vehicle (30) based, at least partially, on the first determined position and the first determined speed of the target vehicle (10); instruct an automated driving control system (50) and an automated speed control system (52) to direct the agricultural vehicle (30) to the target position; and instructing the automated driving control system (50) and the automated speed control system (52) to maintain substantially the target position and the target speed when substantially reaching the target position; It is characterized by: determining a distance between the agricultural vehicle (30) and the target vehicle (10), and to automatically control the agricultural vehicle (30) while the distance is less than or equal to a hitch distance.
[0013]
13. METHOD, according to claim 12, characterized by the fact that it comprises detecting the target vehicle (10) by receiving the first signal.

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法律状态:
2016-07-19| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|

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2018-06-05| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|

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2019-08-20| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|

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2020-06-09| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|

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2020-09-24| B09A| Decision: intention to grant|

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2020-11-24| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 08/06/2015, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US201462011991P| true| 2014-06-13|2014-06-13|

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US62/011,991|2014-06-13|

---