• 专利附录
  • 专利说明
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    • 专利摘要:
    control system for a towing vehicle, method and control system for an agricultural vehicle. it is a control system for a towing vehicle which includes a first transceiver configured to receive a first signal from a second transceiver, the first signal being indicative of a first determined position and a first determined speed of the vehicle. target. the control system includes a controller communicatively coupled to the first transceiver, wherein the controller automatically controls the speed of the tow vehicle by determining a desired position and a desired speed of the tow vehicle based, at least in part, on the first determined position and at the first determined speed of the target vehicle, instructing an automated speed control system to establish the ground speed of the towing vehicle to reach the target position, and instructing the automated speed control system to control the towing vehicle ground speed to maintain the target position, including when turning the target and towing vehicles.
    公开号:BR102016024930B1
    申请号:R102016024930-9
    申请日:2016-10-25
    公开日:2021-08-24
    发明作者:Daniel J. Morwood；Michael G. Hornberger；Peter J. Dix；Brian R. Ray
    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 coordinated control based on the speed of agricultural vehicles. BACKGROUND OF THE INVENTION
    [002] A combine harvester can be used to harvest various agricultural crops such as cotton, wheat, flax or other crops. Typically, components (eg drums, spindles, blades, etc.) of the combine remove portions of the crop from the ground. The combine then typically drives the removed portions of the agricultural crops (eg, agricultural products) to an internal storage compartment, either directly or through a processing device configured to remove unwanted portions of the products.
    [003] As the combine crosses a field, the volume of agricultural produce 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, commonly known as unloading in transit, involves periodically transferring product to a mobile storage compartment while the combine is in motion. The mobile storage compartment is towed by a tow vehicle to a position close to the combine. The tow vehicle operator aligns the storage compartment with a combine conveyor output and substantially adapts the combine's speed. The combine operator then initiates the transfer of agricultural produce from the combine to the mobile storage compartment, thereby at least partially unloading the internal storage compartment of the combine. Once the combine is unloaded or the tow vehicle is full, the tow vehicle operator directs the mobile storage compartment to a remote location for unloading. This process is repeated throughout the entire harvesting process.
    [004] Highly skilled drivers typically operate tow vehicles due to the complexity associated with aligning the mobile storage compartment with the combine and adapting the speed of the combine. Employing such conductors may increase costs associated with the harvesting process and/or may delay the harvesting process due to the limited skill of these conductors. Furthermore, employing less skilled drivers to operate the tow vehicles can result in loss of product from spillage 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 a towing vehicle that includes a first transceiver configured to receive a first signal from a second transceiver, wherein the first signal is indicative of a determined first position and a determined first speed of the target vehicle. The control system includes a controller communicatively coupled to the first transceiver, wherein the controller automatically controls the speed of the tow vehicle by determining a target position and a target speed of the tow vehicle based at least in part. , in the first determined position and the first determined speed of the target vehicle, instructing an automated speed control system to establish the ground speed of the towing vehicle to reach the target position, and instructing the automated speed control system to Control the ground speed of the tow vehicle to maintain target position.
    [006] In another embodiment, a control system for an agricultural vehicle that includes a first transceiver configured to receive a first signal from a second transceiver, wherein the first signal is indicative of a first determined position and a first determined speed of the target vehicle. The control system includes a spatial location device mounted on the towing vehicle and configured to determine a second determined position and a second determined speed of the target vehicle, an automated speed control system configured to control a speed of the towing vehicle, and a controller communicatively coupled to the first transceiver, the spatial location device, and the automated speed control system. The controller automatically controls the speed of the tow vehicle by determining a target position and a target speed of the tow vehicle based, at least in part, on the first determined position and the first determined speed of the target vehicle. a separation distance between the towing vehicle and the target vehicle is automatically determined by determining the target position of the towing vehicle based, at least in part, on a first radius of curvature of the target vehicle and a second radius of curvature of a towing vehicle, determining a route to the target position based, at least in part, on the target position, the separation distance, the second determined position, and the second determined speed, instructing the control system speed control to direct the towing vehicle toward the target position along a route, and instructing the automated speed control system to substantially maintain target position and speed. targetity.
    [007] In a further embodiment, a method for controlling a towing vehicle, which includes receiving a first signal indicative of a first determined position and a first determined speed of a target vehicle, determining a target position and a target speed of the towing vehicle based, at least in part, on the first determined position and the first determined speed of the target vehicle, instruct an automated speed control system to establish a ground speed of the tow vehicle sufficient to reach the position. target, and instruct the automated speed control system to control the ground speed of the towing vehicle to maintain the target position through substantial range of the target position. BRIEF DESCRIPTION OF THE DRAWINGS
    [008] These and other features, aspects and advantages of the present invention will be better understood when the following detailed descriptions are read with reference to the accompanying drawings, in which similar characters represent similar parts throughout the drawings, in which: Figure 1 is a plan view of an embodiment of an agricultural harvester and an agricultural produce transport system, in which the agricultural produce transport system is configured to be automatically controlled by an automatic speed control system to establish and maintain alignment with the agricultural harvester; Figure 2 is a plan view of the agricultural combine and agricultural produce transport system shown in Figure 1, in which the automated speed control system is configured to automatically increase the speed of the agricultural produce transport system to establish alignment. with the agricultural harvester; Figure 3 is a plan view of the agricultural combine and agricultural produce transport system of Figure 1, in which the automated speed control system is configured to automatically control the speed of the agricultural produce transport system to match the speed. of the agricultural harvester; Figure 4 is a plan view of the agricultural combine and agricultural produce transport system of Figure 1, in which the automated speed control system is configured to automatically control the speed of the agricultural produce transport system so that it maintain a position in relation to the agricultural combine while remaining positioned facing away from the agricultural combine during a turn; Figure 5 is a plan view of the agricultural combine and agricultural produce transport system of Figure 1, in which the automated speed control system is configured to automatically control the speed of the agricultural produce transport system so that it maintain a position in relation to the combine harvester while remaining positioned facing inside the combine harvester during a turn; Figure 6 is a schematic diagram of an embodiment of an agricultural combine and a trailer vehicle of an agricultural produce transport system; Figure 7 is a state diagram of an embodiment of an exemplary technique for controlling a tow vehicle of an agricultural produce transport system; and Figure 8 is a flowchart of one embodiment of an exemplary method for controlling an agricultural produce transport system. DESCRIPTION OF ACHIEVEMENTS OF THE INVENTION
    [009] Figure 1 is a plan view of an embodiment of an agricultural combine 10 and an agricultural product transport system 28, in which the agricultural product transport system 28 is configured to be automatically controlled by a control system. automatic speed to establish and maintain alignment with the combine harvester. In the illustrated embodiment, the agricultural combine 10 includes a row of harvest 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 combine 10 traverses a field on a travel direction 18, harvest units 12 engage unharvested plants 20 and extract various agricultural products (eg corn, wheat, cotton, etc.) from the plants. These agricultural products are transferred to the internal storage compartment 16 either directly or through a processing device configured to remove unwanted portions of the products. The remaining portions of the plants can remain in the field as agricultural residue 22.
    [010] As the combine 10 crosses a field, the volume of agricultural produce stored in the internal storage compartment 16 increases. Accordingly, the combine 10 includes a conveyor 24 configured to transfer the agricultural produce to a mobile storage compartment (e.g., of the agricultural transport system 28) while the combine is in motion. Conveyor 24 may include an auger, conveyor belt, or other suitable device configured to transfer agricultural produce from internal storage compartment 16 to an outlet 26. As discussed in detail below, the mobile storage compartment may be automatically aligned with the conveyor output 26 (for example, automatically controlling the speed of the agricultural transport system), thus enhancing the efficiency of the harvester unloading process. Although the agricultural combine 10 illustrated is a self-propelled vehicle, it should be noted that, in certain embodiments, the agricultural combine may be towed behind a tractor or other work vehicle. Additionally, although the illustrated agricultural combine 10 includes an internal storage compartment 16, it should be noted that the internal storage compartment may be omitted in certain combine configurations. In such configurations, the combine can continuously transfer the agricultural produce to the mobile storage compartment as the combine extracts and processes the agricultural produce.
    [011] In the illustrated embodiment, an agricultural produce transport system 28 is configured to receive agricultural produce from the combine 10. As illustrated, the produce transport system 28 includes a towing vehicle 30, such as an illustrated tractor and a compartment. 32 mobile storage (eg grain cart). As discussed in detail below, tow vehicle 30 includes a controller configured to automatically control the speed of agricultural transport system 28 as tow vehicle 30 moves along a route 34 to a target position adjacent to the combine. 10. That is, the controller (for example, through an automated speed control system) can automatically control the speed of the tow vehicle 30 during a connection process, thus facilitating the alignment of the storage compartment with the outlet 26 of the conveyor 24. In certain embodiments, the controller is configured to determine a target speed of the tow vehicle 30 at least partially based on a determined position and a determined speed of the combine 10. Once the tow vehicle 30 reaches substantially a target position (eg with the outlet 26 aligned with the mobile storage compartment 32), the The controller is configured to instruct the automated speed control system to substantially maintain the target position by controlling the speed of the towing vehicle. For example, when the agricultural vehicle turns, the controller is configured to calculate a first radius of curvature of the combine and a second radius of curvature of the agricultural transport system 28. The speed of the towing vehicle can be adjusted based on at least part in the first radius of curvature and in the second radius of curvature. Furthermore, a driver or an automated system can maintain a separation distance between the combine 10 and the product transport system 28 to align the outlet 26 with the mobile storage compartment.
    [012] In certain embodiments, the target position corresponds to a position that substantially aligns the conveyor output 26 with a target point in the storage compartment 32. Therefore, with the tow vehicle 30 located in the target position, the product can be transferred from the combine 10 to the storage compartment 32 while the vehicles are in motion. Automatically maintaining the speed of the storage compartment in relation to the conveyor output during the unloading process can facilitate the positioning of the tow vehicle 30 at the target point 27 (for example, through operator driving or an automated driving system) . As a result, the possibility of lost agricultural produce is substantially reduced or eliminated, thus increasing the efficiency of the harvesting process.
    [013] By way of example, when the tow vehicle 30 enters a communication area 36, communication is automatically established between a first transceiver on the tow vehicle 10 and a second transceiver on the combine 30. As will be noted, a lane 38 of the communication area 36 may be dependent on the power of diffusion 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 (eg, 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, a vehicle speed, a vehicle moment of inertia, a vehicle turning angle, a vehicle orientation and/or a vehicle identity, among other parameters. Additionally, each transceiver can be configured to relay data received from another transceiver. For example, the tow vehicle closest to the combine may receive a signal from the combine and then relay the signal to the tow vehicle 30 further away from the combine, thereby effectively extending the communication range of each transceiver. .
    [014] To initiate the connection process, an operator of the tow vehicle 30 provides input to a user interface, which thereby instructs the controller to enable automatic speed control of the tow vehicle. For example, if the combine is positioned in front of the tow vehicle 30, the automated speed control system can increase the speed of the tow vehicle. Conversely, if the combine is positioned behind the tow vehicle 30, the automated speed control system can brake the tow vehicle 30 until the combine reaches a link position. In certain embodiments, the drive control system can adjust wheel angles, for example, to drive the tow vehicle 30 toward the combine. The speed control system also calculates the first radius of curvature of the target vehicle 10 and the second radius of curvature of the tow vehicle 30 to control the speed of the tow vehicle 30 as needed when the combine 10 (eg, vehicle- target) and the towing vehicle 30 travel in a curved path. Once the towing vehicle 30 substantially reaches the target position, the controller instructs the automated speed control system to substantially maintain the target position and target speed, thus facilitating the transfer of agricultural produce from the combine 10 to the compartment. of storage.
    [015] Figure 2 is a plan view of the agricultural combine 10 and the agricultural produce transport system 28 of Figure 1, in which the automated speed control system is configured to automatically increase the speed of the agricultural produce transport system 28 to establish alignment with the agricultural combine 10. The controller is configured to receive a first signal from a first transceiver of the target vehicle. The controller is configured to determine the position of the target vehicle (eg, combine 10) based, at least in part, on the first signal.
    [016] The first signal may include a measurement of a target vehicle position, a target vehicle speed, a target vehicle moment of inertia, a target vehicle steering angle, a target vehicle steering angle. target, a pitch angle of the target vehicle, a roll angle of the target vehicle, a yaw angle of the target vehicle, or a combination of these measurements. The controller is configured to adjust the speed of the tow vehicle 30 based on one or more of these measurements. In order to align the conveyor output 26 with a target point 27 of the storage compartment 32, the controller determines a first position of the target vehicle (e.g., combine 10) and a second position of the tow vehicle 30. In the realization As illustrated, the towing vehicle is laterally or longitudinally displaced from the target vehicle and follows the target vehicle a separation distance. To reach the target position (for example, conveyor output 26 aligned with target point 27 of storage compartment 32), the controller controls the speed of tow vehicle 30 so that tow vehicle 30 travels in a speed greater than the target vehicle 10 to reach the target vehicle 10. Once the target position is reached, the controller is configured to control the speed of the towing vehicle 30 to match the speed of the target vehicle 10.
    [017] Figure 3 is a plan view of the agricultural combine 10 and the agricultural produce transport system 28, in which the automated speed control system is configured to automatically control the speed of the agricultural produce transport system 28 to combine with the speed of the agricultural combine 10. In the illustrated embodiment, the tow vehicle 30 is laterally displaced and longitudinally aligned with the target vehicle 30 (e.g., linear separation and movement). The controller is configured to determine the first speed of the target vehicle 10 and to determine the second speed of the tow vehicle 30. The controller receives the first signal to monitor the position of the target vehicle, the speed of the target vehicle, the moment vehicle inertia angle, target vehicle steering angle, target vehicle steering angle, target vehicle pitch angle, target vehicle roll angle, vehicle yaw angle. target, or a combination of these parameters. If the tow vehicle's second speed varies from the target vehicle's first speed 10 by more than an acceptable range (eg, boundary range), the controller is configured to adjust the tow vehicle's speed 30 to match the speed of the target vehicle 10. In some embodiments, the controller is configured to adjust the longitudinal separation distance between the tow vehicle 30 and the target vehicle 10. The movement of the tow vehicle 30 and the target vehicle 10 can be additionally understood in relation to the description associated with Figures 4 and 5, which discuss the non-linear translation of the towing vehicle and the target vehicle.
    [018] Figure 4 is a plan view of an embodiment of the agricultural combine 10 and the agricultural product transport system 28 of Figure 1, in which the automated speed control system is configured to automatically control the speed of the transport system of agricultural produce 28 such that the agricultural produce transport system maintains a position relative to the agricultural combine 10 while the agricultural produce transport system is positioned facing away from the agricultural combine during a turn. In the illustrated embodiment, the tow vehicle 30 includes an automated speed control system. The automatic speed control system on the tow vehicle 30 is configured to consider the curved trajectory of the target vehicle and tow vehicle while controlling the speed of the tow vehicle. As described in detail below, the automatic speed control system is configured to calculate a first radius of curvature 74 of the target vehicle 10 and a second radius of curvature 76 of the crop transport system 28 (e.g., target point 27 of the storage compartment 32) based on position, speed, moment of inertia, steering angle, steering angle, pitch angle, roll angle, yaw angle, or a combination of these parameters. The automatic speed control system commands an increased speed of the tow vehicle 30 when the tow vehicle 30 has a greater bend radius than that of the combine 10. In the illustrated embodiment, the automatic speed control system is configured to determine the second radius of curvature 76 of tow vehicle 30 (e.g. target point 27 of storage compartment 32) and first radius of curvature 74 of combine 10 based on the parameters described above. The automatic speed control system then determines the speed of the tow vehicle 30 based on the speed of the combine 10 and the first radius of curvature of the tow vehicle 30. As the tow vehicle 30 and the agricultural combine 10 move along their respective trajectories, the automatic speed control system automatically adjusts the speed of the crop transport system 28 to maintain the desired alignment.
    [019] Figure 5 is a plan view of an embodiment of the agricultural combine 10 and the agricultural product transport system 28 of Figure 1, in which the automated speed control system is configured to automatically control the speed of the transport system of agricultural produce 28 so that the agricultural produce transport system maintains a position with respect to the agricultural combine 10 while the agricultural produce transport system is positioned facing inward with respect to the agricultural combine during a turn. In the illustrated embodiment, the tow vehicle 30 includes an automated speed control system. The automatic speed control system on the tow vehicle 30 is configured to consider the curved trajectory of the target vehicle 10 and the tow vehicle 30 while controlling the speed of the tow vehicle. As described above, the automatic speed control system is configured to calculate a first radius of curvature 74 of the target vehicle 10 and a second radius of curvature 76 of the crop transport system 28 (e.g., target point 27 of the storage compartment 32) based on position, speed, moment of inertia, steering angle, steering angle, pitch angle, roll angle, yaw angle, or a combination of these parameters. The automatic speed control system commands a slower speed of the tow vehicle 30 when the tow vehicle 30 has a smaller bend radius than the agricultural combine 10. In the illustrated embodiment, the automatic speed control system is configured to determine the second radius of curvature 76 of the tow vehicle 30 (e.g., target point 27 of the storage compartment 32) and the first radius of curvature 74 of the combine 10 based on the parameters described above. The automatic speed control system then determines the speed of the tow vehicle 30 based on the speed of the combine and the radius of curvature of the tow vehicle 30. As the tow vehicle 30 and agricultural combine 10 move along their respective trajectories, the automatic speed control system automatically adjusts the speed of the agricultural product transport system 28 to maintain the desired alignment.
    [020] Figure 6 is a schematic diagram of an embodiment of an agricultural combine 10 and a trailer vehicle 30 of the agricultural produce transport system. In the illustrated embodiment, tow vehicle 30 includes a control system 43 that has a first transceiver 44 configured to receive a first signal from a second transceiver 46 of a target vehicle, such as the agricultural combine 10 illustrated. As discussed in detail below, the first signal is indicative of a first determined position (eg 3D position vector) and a first determined speed (eg 3D 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. Additionally, the first and second transceivers can utilize any suitable communication protocol, such as a standard protocol (eg Wi-Fi, Bluetooth, etc.) or a proprietary protocol.
    [021] As used herein, “position” (eg, determined position, target position, etc.) refers to a position vector, with a one-, two-, or three-dimensional position vector. For example, a two-dimensional position vector might include latitude and longitude, and a three-dimensional position vector might include latitude, longitude, and altitude/elevation. As will be noted, the position vector can be represented in a rectangular, polar, cylindrical, or spherical coordinate system, among other suitable coordinate systems. Additionally, as used herein, “velocity” (eg, determined velocity, target velocity, etc.) refers to a velocity vector, such as a one-, two-, or three-dimensional velocity vector. For example, a one-dimensional velocity vector might include velocity (for example, ground velocity), a two-dimensional velocity vector might include velocity (for example, ground velocity) and orientation within a plane (for example, along a plane. ground plane) and a three-dimensional velocity vector can include velocity and orientation within 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 unity/normalized vector, that is, a vector that has a magnitude of unity. In such embodiments, magnitude (eg, velocity) is not included in the velocity vector. For example, a two-dimensional velocity unit vector can be representative of orientation within a plane (eg, along a ground plane), and a three-dimensional velocity unit vector can be representative of orientation within a three-dimensional space. . For some calculations, velocity itself (a scalar velocity) can be used.
    [022] The tow vehicle control system 43 also includes a spatial location device 48, which is mounted to the tow vehicle 30 and configured to determine a second determined position and a second determined speed of the tow vehicle 30. As will be noted, the spatial location device may include any system configured to measure the position and speed of the towing vehicle 30, such as a global positioning system (GPS), for example. In certain embodiments, spatial tracking device 48 may be configured to measure the position and speed of tow vehicle 30 relative to a fixed point within a field (e.g., 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 30 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.
    [023] Additionally, the tow vehicle control system 43 includes an orientation sensor 49 configured to determine a pitch angle, a yaw angle and/or a roll angle of the tow vehicle 30. For example, the sensor Orientation sensor 49 may include a gyroscope, accelerometer, or other sensor configured to monitor the orientation of tow vehicle 30. In certain embodiments, orientation sensor 49 is also configured to determine a pitch rate, yaw rate, and/ or a roll rate. Additionally, in certain embodiments, tow vehicle control system 43 is configured to compare the orientation (e.g., bank angle, yaw angle, and/or roll angle) of tow vehicle 30 to a measured orientation (per eg pitch angle, yaw angle, and/or roll angle) of combine 10 to establish a relative orientation that can be used to enhance the accuracy of the speed determination process.
    [024] In the illustrated embodiment, the control system 43 includes an automated speed control system 52 configured to control a speed of the tow vehicle 30. Additionally, the control system 43 includes a controller 56 communicatively coupled to the first transceiver 44, to the spatial location device 48 and to the automated speed control system 52. The controller 56 is configured to automatically control the speed of the tow vehicle 30 during connection and while it is connected to the combine, thus facilitating the alignment of the door. conveyor output with mobile storage compartment. Upon substantial range of the target position, the controller is configured to instruct the automated speed control system 52 to control the speed of the tow vehicle so that the target position is maintained (eg, in combination with speed control. driving by an operator or automated driving control system).
    [025] 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 control system 43. In the illustrated embodiment , controller 56 includes a processor, such as 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 the speed of the 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 constraint set (RISC) processors.
    [026] 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 may store processor executable instructions (eg, firmware or software) for processor 58 to execute, such as instructions for controlling the speed of tow vehicle 30. (for example, non-volatile storage) may include read-only 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) may store data (eg position data, identification data, etc.), instructions (eg software or firmware to control the speed of the towing vehicle, etc.) and any other suitable data.
    [027] In the illustrated embodiment, the automated speed control system 52 includes an engine emission control system 68, a transmission control system 70, and a brake control system 72. The engine emission control system 68 is configured to vary the engine emission to control the speed of the towing vehicle 30. For example, the engine emission control system 68 can vary an engine throttle setting, an engine fuel/air mixture, a engine timing and/or other engine parameters suitable for controlling engine emission. Additionally, the transmission control system 70 can adjust the gear selection within a transmission to control the speed of the towing vehicle 30. Additionally, the brake control system 72 can adjust the braking force, which thereby , controls the speed of the towing vehicle 30. Although the illustrated automated speed control system 52 includes the engine emission control system 68, the transmission control system 70, and the brake control system 72, it should verify that alternative embodiments may include one or two of these systems, in any suitable combination. Additional embodiments may include an automated speed control system 52 that has other systems and/or additional systems to facilitate speed adjustment of the towing vehicle 30.
    [028] As illustrated, the tow vehicle 30 includes manual controls 78 configured to allow an operator to control the tow vehicle 30 while the automatic control system is disengaged. Manual controls 78 may include manual drive control (eg, with or without automatic speed control), manual transmission control, and/or manual brake control, among other controls. In the illustrated embodiment, manual controls 78 are communicatively coupled to controller 56. Controller 56 is configured to disengage automatic control (e.g., speed, drive) of tow vehicle 30 upon receipt of a manual control signal of the tow vehicle 30. Therefore, if an operator controls the tow vehicle 30 manually, the auto-docking/docking process ends is terminated, which thereby restores control of the tow vehicle to the operator.
    [029] It should be noted that while reference is made here to a controller, or several specialized controllers, in particular deployments, they are intended to refer more broadly to the control circuitry, including one or more processors, memory devices, input and output circuits, and so on. They can be combined into a single controller, or separated both physically and functionally. Where they are separated, they can be connected by any suitable network or communications link using any desired protocol, such as CAN protocols.
    [030] In the illustrated embodiment, the combine 10 includes a control system 79 that has a spatial location device 80, which is mounted to the combine 10 and configured to determine the first determined position and the first determined speed of the agricultural combine 10. Similar to tow vehicle spatial locating device 48, combine spatial locating device 80 may include any suitable system configured to measure combine position and speed, such as a global positioning system (GPS), for example. In certain embodiments, spatial locating device 80 may be configured to measure the combine's position and speed with respect to a fixed point within a field (e.g., 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 (e.g., 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 tow 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 second transceiver 46 and configured to transmit position and velocity information from spatial location device 80 to transceiver 46, which thereby generates the first indicative signal. the first determined position and the first determined speed of the agricultural combine 10.
    [031] In the illustrated embodiment, the combine control system 79 also includes a turn angle sensor 88 and an orientation sensor 90. The turn angle sensor 88 is configured to emit a signal indicative of a measured turn angle and/or determined. For example, the steer angle sensor 88 can be configured to measure an angle of certain wheels (e.g., front wheels, rear wheels, etc.) relative to the combine chassis. The turn angle sensor 88 can also be configured to measure differential braking forces (for example, the braking force applied to each side of the combine). Additionally, the turn angle sensor 88 can be configured to measure torque applied to each side of the combine (eg, torque applied to a left wheel/track and torque applied to a right wheel/track). As illustrated, the turn angle sensor 88 is communicatively coupled to the controller 82. The controller 82 is configured to receive the turn angle signal indicative from the sensor 88, and to transmit the signal to the transceiver 46. The transceiver 46 , in turn, is configured to incorporate the turn angle information at the first signal to the tow vehicle 30. The steering angle information can allow the tow vehicle control system to serve to more accurately predict the expected position of the tow vehicle. harvester, thus intensifying the efficiency of determining the bending radius of the combine.
    [032] Additionally, the orientation sensor 90 is configured to output a signal indicative of a measured pitch angle, a measured yaw angle and/or a measured roll angle of the combine. For example, orientation sensor 90 may include an accelerometer, gyroscope, or other sensor configured to monitor the drive of the combine 10. In certain embodiments, the orientation sensor 90 is also configured to determine a pitch rate, a yaw rate. and/or a rollover rate. As illustrated, orientation sensor 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. The transceiver 46, in turn, is configured to incorporate the guidance information in the first signal to the towing vehicle. Guidance information can allow the tow vehicle control system to more accurately predict the combine's expected position, thereby enhancing the efficiency of determining the combine's bend radius.
    [033] Although the illustrated combine control system includes a turn angle sensor 88 and an orientation sensor 90, it should be noted that one or both sensors may be omitted in certain embodiments. Additionally, it should be noted that the combine may include additional sensors configured to measure other parameters associated with combine operation. For example, in certain embodiments, the combine control system may include an electronic compass configured to emit a guidance signal. In additional embodiments, the combine control system may include an accelerometer configured to emit a signal indicative of acceleration (e.g., 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. Guidance and/or acceleration information can allow the tow vehicle control system to more accurately predict the expected position of the combine, thus enhancing the efficiency of determining the combine's bend radius. 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 sensors and/or additional sensors.
    [034] In the illustrated embodiment, the agricultural combine 10 includes a product delivery system 96 configured to transfer agricultural produce from the combine to the storage compartment. As illustrated, product delivery system 96 is communicatively coupled to controller 82. In certain embodiments, controller 82 is configured to automatically engage product flow from the conveyor outlet to the storage compartment (e.g., via the activation of the product delivery system 96) while the conveyor output is within a threshold range of the target point.
    [035] Figure 7 is a state diagram of an embodiment of an exemplary technique 98 for controlling a towing vehicle of an agricultural produce transport system. Before starting the connection process, the control system is in an initialization state 100. As indicated by arrow 102, initializing the control system transitions the control system from initialization state 100 to a "off" state 104. Toggle the control system to on, as indicated by arrow 106 transitions the control system from the "off" state 104 to a "safe" state 108. Conversely, switching the control system off, as indicated by arrow 110, transitions the system from control to the "off" state 104. If no fault is detected within the system, as indicated by arrow 112, the control system will transition to a "ready to connect" state 114. While in the "ready to connect" state, if a failure is detected, as indicated by arrow 116, the control system transitions to the "safe" state 108. Additionally, switching the control system off, as indicated by arrow 118, transitions the control system from the "ready to connect" state 114 to the "off" state 104.
    [036] Although the control system is in the "ready to connect" 114 state, the user interface can provide an indication to the operator that the tow vehicle is ready to connect. When the operator initiates the connection (for example, through the user interface), as indicated by arrow 120, the control system transitions to a "connect" state 122. Although it is in the "connect" state 122, the controller instructs the automated speed control system 52 to control the speed of the tow vehicle so that the tow vehicle has sufficient speed to reach the target position. If the operator controls the tow vehicle manually, as indicated by arrow 124, the control system transitions to the "safe" state 108, which thereby disengages automatic speed control of the tow vehicle. Additionally, if a fault is detected (eg loss of communication, the tow vehicle is unable to reach the target position, a speed range is exceeded, etc.), as indicated by arrow 126, 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 transitions the control system to the "safe" state 108. However, if the automatic control is also turned off, as indicated by arrow 131, the control system transitions to the state "off" 104.
    [037] After the tow vehicle reaches the target position for a predetermined time interval, as indicated by arrow 132, the control system transitions to the "connected" state 134. By way of example, the predetermined time interval can be about 1 second, about 2 seconds, about 3 seconds, about 4 seconds or more. While in the "connected" state 134, the controller instructs the automated speed control system 52 to control the speed of the tow vehicle so that the tow vehicle has sufficient speed to reach the target position. If the operator controls the tow vehicle manually, as indicated by arrow 136, the control system transitions to the "safe" state 108, which thereby disengages automatic speed control of the tow vehicle. Additionally, if a fault is detected (eg loss of communication, the towing 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 speed control is disengaged, which transitions the control system to the "safe" state 108. However, if the automatic speed control is also turned off, as indicated by arrow 131, the system of control transitions to the "off" state 104.
    [038] Figure 8 is a flowchart of an embodiment of an exemplary method 140 for controlling an agricultural vehicle, such as tow vehicle 30. First, as represented by block 142, a first signal indicative of a determined first position and a first determined speed of a target vehicle (eg, agricultural combine) is received. The first signal may include a measurement of a target vehicle position, a target vehicle speed, a target vehicle moment of inertia, a target vehicle steering angle, a target vehicle steering angle, a target vehicle pitch angle, a target vehicle roll angle, a target vehicle yaw angle, or a combination of these measurements. The target position and target speed of the agricultural vehicle can be determined as described above.
    [039] Then, as represented by block 144, after the controller determines the target position and target speed of the farm vehicle, an automated speed control system 52 is instructed to establish a sufficient ground speed of the farm vehicle to reach the target position. The position of the agricultural vehicle is then compared to the target position, as represented by block 146. If the target position is reached, the automated speed control system is instructed to maintain the target position and target speed, as represented by block 148. In contrast, if the target vehicle is positioned behind, in front of, or generally displaced from the agricultural vehicle, the automated speed control system can adjust one or more parameters described above to control the speed of the agricultural vehicle to match that of the target position, as represented by block 150. Once the target position is reached, as represented by block 152, the automated speed control system maintains the target position and the target speed as shown. represented by block 154.
    [040] The target position can be determined, in part, by applying a lateral target displacement between the agricultural vehicle and the target vehicle for the first determined position. The target speed can be determined by determining a first radius of curvature of the target vehicle based, at least in part, on the first determined position and the first determined speed, determining a second radius of curvature of the agricultural vehicle based on , at least in part, at the first radius of curvature and at the target position, a determined speed of the target vehicle being determined based at least in part on the first determined speed, and the target speed being determined based on the less in part, at the determined speed, in the first radius of curvature and in the second radius of curvature. The target velocity can include multiplying the determined velocity by a ratio (for example, from the second radius of curvature to the first radius of curvature).
    [041] Although only certain features of the invention have been illustrated and described in this document, many modifications and changes will occur to those skilled in the art. Therefore, it is to be understood that the appended claims are intended to cover all such modifications and changes which are within the true spirit of the invention.
    权利要求:
    Claims (13)
    [0001]
    1. CONTROL SYSTEM FOR A TOW VEHICLE, comprising: a first transceiver (44) configured to receive a signal from a second transceiver (46) wherein the signal is indicative of a first determined position of the target vehicle (10) and a first determined speed of the target vehicle (10); and a controller (56) communicatively coupled to the first transceiver (44), wherein the controller is configured to automatically control the speed of the tow vehicle (30) by: determining a target position of the tow vehicle (30) and a target speed of the towing vehicle (30) based at least in part on the first determined position and the first determined speed of the target vehicle (10); determining a first radius of curvature (74) of the target vehicle (10) based at least in part on the first determined position and the first determined speed; determining a second radius of curvature (76) of the agricultural vehicle based at least in part on the first radius of curvature and the target position; instructing an automated speed control system to establish a ground speed of the towing vehicle (30) to reach the target position; and instructing the automated speed control system to control the ground speed of the tow vehicle (30) to maintain the target position during connection of the tow vehicle with the target vehicle (10), while connected, and during the rotation of both the target vehicle (10) and the towing vehicle (30), characterized in that, during the rotation of both the target vehicle (11) and the towing vehicle (30), instruct the control system of automated speed to control the ground speed of the towing vehicle (30) based, at least in part, on the first radius of curvature (74), the second radius of curvature (76), and the first determined speed of the target vehicle (10 ).
    [0002]
    2. CONTROL SYSTEM according to claim 1, characterized in that a target position is radially displaced from the first determined position, laterally displaced from the first determined position, longitudinally displaced from the first determined position, or a combination thereof, with respect to the target vehicle (10), and a target speed is substantially equal to the first determined speed.
    [0003]
    3. CONTROL SYSTEM, according to claim 1, characterized in that the controller (56) is configured to detect the target vehicle (10) upon receipt of the signal by the first transceiver (44).
    [0004]
    4. CONTROL SYSTEM according to claim 1, characterized in that the first transceiver (44) is configured to broadcast the signal to other vehicles.
    [0005]
    5. CONTROL SYSTEM according to claim 1, characterized in that the signal comprises an indication representative of at least one parameter that defines the position of the target vehicle (10), a speed of the target vehicle (10) , a target vehicle moment of inertia measurement (10), a target vehicle steering angle (10), a target vehicle steering angle (10), a target vehicle pitch angle (10) , a target vehicle roll angle (10), a target vehicle yaw angle (10), or a combination thereof, and wherein the controller (56) is configured to adjust the target position based on the indication representative of at least one parameter.
    [0006]
    6. CONTROL SYSTEM according to claim 1, characterized in that the controller is configured to determine a first speed of the target vehicle (10) and a second speed of the towing vehicle (30), and to automatically adjust the second speed of the towing vehicle (30) when the first speed varies from the second speed by more than one boundary range.
    [0007]
    7. CONTROL SYSTEM according to claim 1, characterized in that determining the first radius of curvature (74) comprises calculating the first radius of curvature (74) based, at least in part, on an orientation angle and the driving angle of the target vehicle (10), and wherein determining the second radius of curvature (76) comprises calculating the second radius of curvature (76) based, at least in part, on an orientation angle and on a driving angle of the tow vehicle (30) when the tow vehicle (30) and the target vehicle (10) are in turns.
    [0008]
    8. CONTROL SYSTEM according to claim 1, characterized in that it comprises a user interface communicatively coupled to the controller, wherein the user interface is configured to selectively instruct the controller to automatically control the vehicle trailer (30) based on operator input.
    [0009]
    9. CONTROL SYSTEM according to claim 8, characterized in that the controller is configured to adjust the ground speed of the towing vehicle (30), driving the towing vehicle (30), or both, with based on input from the user interface.
    [0010]
    10. CONTROL SYSTEM according to claim 1, characterized in that the second transceiver (46) is configured to broadcast a second signal indicative of a second determined position of the target vehicle (10), a second determined speed of the target vehicle (10), or a combination thereof.
    [0011]
    11. CONTROL SYSTEM according to claim 1, characterized in that the second transceiver (46) is configured to broadcast a second signal indicative of a second determined position of the target vehicle (10), a second determined speed of the target vehicle (10), or a combination thereof.
    [0012]
    12. METHOD FOR CONTROLLING AN AGRICULTURAL VEHICLE, characterized in that it comprises: receiving a signal indicative of a first determined position of the target vehicle (10) and a first determined speed of the target vehicle (10); determining a target position of the agricultural vehicle and a target speed of the agricultural vehicle at least partially based on the first determined position and the first determined speed; determining a first radius of curvature (74) of the target vehicle based at least in part on the first determined position and the first determined speed; determining a second radius of curvature (76) of the agricultural vehicle based at least in part on the first radius of curvature (74) and the target position; instruct an automated speed control system to establish a ground speed of the agricultural vehicle sufficient to reach the target position; and instructing the automated speed control system to control the ground speed of the agricultural vehicle to maintain the target position upon substantial reach of the target position during connection of the agricultural vehicle with the target vehicle (10), while connected, and during the turn of both the target vehicle (10) and the agricultural vehicle, and during the adjustment of both the target vehicle (10) and the agricultural vehicle, instruct the automated speed control system to control ground speed of the agricultural vehicle based on the first radius of curvature (74) and the second radius of curvature (76).
    [0013]
    13. METHOD, according to claim 12, characterized in that the determination of the target position comprises applying a target lateral displacement between the agricultural vehicle and the target vehicle (10) for the first determined position.
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    同族专利:
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    法律状态:
    2017-08-29| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2021-01-05| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-07-06| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-08-24| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 25/10/2016, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US201662275663P| true| 2016-01-06|2016-01-06|
    US62/275,663|2016-01-06|
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