• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A method for aligning a tractor and implement and an automatic steering system for aligning a tractor incorporating an implement to be attached to the tractor has provided a system and method for positioning a vehicle containing a winch employing a system. automatic steering system to align the vehicle with an implement so that the implement can be connected to the vehicle. vehicle and implement positions can be determined directly or indirectly from gps position information. The known vehicle and implement positions are then used to calculate a route for the vehicle by aligning the vehicle with the implement. The calculated route is then made available with an automatic vehicle steering system for vehicle steering along the route.
    公开号:BR102012010505B1
    申请号:R102012010505-5
    申请日:2012-05-03
    公开日:2019-04-24
    发明作者:Peter J. Dix
    申请人:Cnh Industrial America Llc；
    IPC主号:
    专利说明:

    “METHOD FOR ALIGNING A TRACTOR AND IMPLEMENT”
    Background [001] This application is, in general terms, concerned with an automatic directional system for vehicles. More specifically, the present application is related to a system and method for the use of an automatic steering positioning the vehicle so that it can be aligned with an implement so that this implement will be connected to the vehicle.
    [002] The vehicles, as in the case of tractors aimed at rural work, can incorporate implements or trailers that can be attached or not attached to the vehicle according to the different demands of the working conditions. When attaching an implement or trailer to a vehicle, this vehicle must be pulled back towards the implement or trailer fitted on it, with the vehicle's winch having to be aligned both laterally (left and right) and longitudinally (front) and rear) next to the winch of the implement or trailer before the implement or trailer can be connected or fixed to the vehicle, this by means of the insertion of a pin or locking by means of a tongue.
    [003] The alignment of the vehicle containing an implement winch may consist of a complicated operation for the vehicle operator. The operator can reverse towards the implement and come to understand very late that the vehicle's winch is too far to the left or right in relation to the vehicle's winch to be corrected by adjusting the vehicle's steering before it approaches the implement. Such misalignment occurs when returning to the implement, the operator may find it difficult to observe whether the tractor winch and the implement winch are both aligned, with the operator having to park and leave the vehicle to carry out a more careful check for alignment. In any case, the operator may require that the
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    2/21 vehicle in question needs to be moved by 5.08 centimeters for proper alignment, however he must have to restart the process bringing the vehicle forward and then pulling it back to the implement while seeking to adjust the vehicle positioning by 5.08 centimeters. If the operator is unable to successfully align the vehicle winch with the implement winch in the next attempt, he will have to repeat the process until he gets the alignment.
    [004] Therefore, what is necessary is the presence of a system and method enabling the automatic adjustment of the lateral and longitudinal positioning of a vehicle in relation to the implement, aligning the vehicle's winch and the implement's winch in order to obtain the connection.
    Summary [005] One way to automatically adjust the lateral and longitudinal positioning of the vehicle in relation to an implement is to use an automatic guidance mode or system or automatic guidance for the vehicle based on a satellite navigation system. The combination of satellite navigation, land based navigation input signals with respect to vehicle positioning and an internal electronic control system allows the vehicle to be able to steer on its own incorporating a high degree of accuracy. The vehicle operator can input the lag factors of the side and longitudinal part of the vehicle in relation to the implement together with the automatic steering control system, with the vehicle being able to be directed to the correct position without additional directional control by the operator. .
    [006] The present order relates to a method for aligning a tractor and an implement. The method includes determining the position of the tractor, determining the position of the implement, and calculating a path for the tractor using the position of the tract and the position of the implement.
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    The calculated path is operated to move the tractor towards the determined position of the implement. The method also includes the automatic steering of the tractor along the calculated route containing a control system.
    [007] The present request also relates to an automatic guidance system for the alignment of a tractor with an implement to be fixed next to the tractor. The automatic guidance system includes a global positioning system device for determining the position of the tractor and an input device. The input device is configured and positioned so that an operator can provide information regarding the position of the implement. The automatic guidance system also includes a first controller containing a microprocessor to execute a computer program for calculating the path for aligning the tractor and the implement in response to receiving the tractor positioning from the global positioning system device and the implement position introduced next to the input device. The automatic guidance system also includes a second controller containing a microprocessor to run a computer program to generate a control signal directing the tractor along the route calculated by the first controller.
    [008] An advantage of the present order is to use the technology of self-orientation or self-direction in order to assist the operator regarding the alignment of the vehicle's connection with the implement.
    [009] Another advantage of the present order is the minimization of the number of attempts required to align the vehicle and the implement, since the distance between the vehicle and the implement is reduced in each attempt, thereby simplifying the estimate the remaining distance.
    [010] Other aspects and advantages of the present application will become evident from the following more detailed description of example modalities,
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    4/21 considered together with the accompanying drawings.
    Brief description of the figures [011] Fig. 1 presents a top view of a tractor modality for rural work and an implement.
    [012] Fig. 2 schematically shows a vehicle guidance system modality.
    [013] Fig. 3 shows a current and calculated route modality in reference to the attempt to connect the tractor to an implement.
    [014] Fig. 4 presents a flowchart of a modality referring to a process for positioning a vehicle being connected to an implement.
    [015] Whenever possible, the same reference numerals are used throughout the drawings referring to similar or identical components.
    Detailed description of the example modalities [016] Fig. 1 shows a vehicle and implement modality where the vehicle is out of alignment with the implement, so that the implement cannot be connected to the vehicle. The vehicle or tractor 100 may include the presence of a chassis 106, steering wheels 108, rear drive wheels 110, a GPS receiver or device 112 (global positioning system), and a winch or hook bar 114 The steering wheels 108 can be located close to the front of the tractor and can be pivoted and swiveled to the chassis 106. The rear drive wheels 110 can be located close to the tractor and can be swiveled to the chassis 106. The winch 114 is connected rigidly close to the chassis 106. The GPS receiver 112 can be installed next to the tractor 100 so that the reception of the satellite signals will be maximized. The steering wheels 108 can be directed with respect to the structure by which they come to be installed, or alternatively, they can
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    5/21 be installed next to a structure that is self-steering with respect to another part of the vehicle, such as the wheels that are driven through the articulation of the structure or the chassis of the vehicle. Some vehicles can be configured both to direct the wheels with respect to the structure to which they are attached (traditional steering) as well as to direct the structure with respect to another vehicle structure (articulated steering). Wheels that can be steered by more than one steering method, as in the case of traditional assisted steering with articulated steering, are still considered to be steerable wheels.
    [017] The implement 102 to be propelled or towed by the tractor 100 may include a tongue 116, a tool bar 118 and a plurality of ground hitch tools 120 distributed along the length of the tool bar 118. The front end of the tongue 116 can be coupled to winch 114 of tractor 100 when implement 102 and tractor 100 are in proper alignment. The tongue 116 can extend towards the rear from the tractor, along the longitudinal center line of the tractor, when tongue 116 is attached or attached to winch 114. Tool bar 118 can be rigidly attached to tongue 116, or that is, fixed perpendicularly, and can extend laterally beyond the tongue 116. Ground engaging tools 120 depend on or are supported by tool bar 118. Tools engage the ground directly through contact with the ground, as is the case. case of a plow with multiple plowing compartments. Alternatively, the tools can be attached to the ground indirectly, as is the case with the spray implement containing multiple spray fronts. In another type of modality, the implement 102 can be a trailer or some other piece of towing equipment containing a tongue or some other type of connection device that can be combined with the winch 114 that can be connected to the tractor 100.
    [018] At the beginning of a duty cycle, tractor 100 may not be coupled
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    6/21 to implement 102 and may be located in a separate area from implement 102. When attaching or connecting to implement 102, the operator or farmer must drive tractor 100 to the area where implement 102 is located and then move the tractor 100 back to implement 102, aligning the winch 114 with the tongue 116 so that a winch pin or some other connection mechanism can be inserted into the receiving opening in the tongue 116 and the winch 114. After insertion of the winch pin, thus coupling implement 102 with tractor 100, the operator can drive the tractor and the implement, which is being towed behind the tractor, to the appropriate working area, that is, a field to be cultivated . In another type of example mode, instead of a winch or tool bar for connection between tractor 100 and implement 102, the tractor and implement can be connected via an installed connection, that is, a winch of 3 tips, or a semi-installation connection. Regardless of the type of particular connection used, tractor 100 and implement 102 can be properly aligned in order to connect implement 102 to tractor 100.
    [019] As shown in Fig. 1, the tractor 100 must not be aligned with the implement 102 to condition the attachment or connection of the implement 102 to the tractor 100. The winch 114 of the tractor 100 is displaced from the tongue 116 of the implement 102 by a lateral distance (LAD) and a longitudinal distance (LOD). For the alignment of the tractor 100 and implement 102, the tractor 100 must be moved a distance substantially equal to the distance LAD along or parallel to the y-axis, as shown in Fig. 1, with the tractor having to be moved for a distance substantially equal to the LOD distance along or parallel to the x-axis, as shown in Fig. 1. The x and y axes can be defined next to the winch 114 of the tractor 100. For the repositioning of the tractor 100 in a suitable position for alignment with implement 102, the automatic steering system or automatic guidance system of the tractor 100 can be made available
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    7/21 with both the LAD distance and the LOD distance, and then the automatic guidance system can direct or move the tractor 100 to the proper position.
    [020] Fig. 2 shows an automatic guidance system. With the automatic guidance system 100 being able to be located together or on the tractor 100 and being able to simplify the task of steering the tractor, The guidance system 200 can include an electronic control system 202, a GPS receiver 112, an angle sensor winch 203 (can be used after attaching the implement to the tractor), the steering valves 204 and the steering actuator 206. The electronic control system on the controller 202 can be connected communicatively with the steering valves 204 , the GPS receiver 112 and the winch angle sensor 203. The steering valves 204 may consist of directional or proportional control valves hydraulically connected to the steering actuator 206. The steering actuator 206 may be coupled and direct the steering wheels 108, changing their steering angles. The electronic control system 202 can continuously calculate a front vehicle steering front, and send information from the front front to the steering valves 204 through a control signal, which in turn can move the steering actuator 206, inducing the articulation of the steering wheels 108, changing the front front of the vehicle. The control functions, control algorithms or control system provided by the automatic guidance system 200 can be made available through software instructions, executed by microprocessor 216 or other types of microprocessors together with the electronic control system 202.
    [021] The electronic control system or controller 202 can be located together or on the tractor 100, and include a vehicle yaw gear sensor 210, a vehicle steering angle sensor 212, an operator input device 214, one or more microprocessors 216, and one or more digital memory circuits
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    8/21 or memory devices 218. Yaw gear sensor 210, steering angle sensor 212, operator input device 214 and digital memory 218 are coupled in communication with microprocessor 216. Microprocessor 216 is coupled in communication with the 204 steering valves.
    [022] Vehicle yaw gear sensor 210 provides or sends a continuous yaw gear signal 211 to microprocessor 216, informing the microprocessor of the forward gear changing by the vehicle. The yaw gauge 210 may consist of a laser gyro or another gauge gyro. Alternatively, the vehicle yaw gauge 210 may comprise a microprocessor circuit programmed to calculate yaw gauge from input signals or calculated or estimated values. The winch angle sensor 203 can transmit a winch angle signal 209 to the microprocessor 216.
    [023] The vehicle steering angle sensor 212 evaluates or provides a continuous signal of steering angle 213 to microprocessor 216. informing the microprocessor of the current angle of the steering wheels. The steering angle sensor 212 can consist of an encoder installed next to the tractor 100, or it can comprise of a microprocessor circuit programmed to calculate the steering angle based on the input signals and the values stored in digital memory 218. Alternatively , the steering angle sensor may include a Hall effect device, potentiometer, variable resistor, linear positioning transducer, or some other type of sensor together or on the steering actuator, the wheel, the wheel hub, or the steering joint that evaluates the direction of the wheel or the relative movement or positioning of the wheel with respect to another part of the vehicle, such as the rotation of the vehicle around a kingpin, or alternatively evaluates the displacement or movement of the steering actuator or some other connection coupled to it. If the vehicle consists of an articulated vehicle, senPetição 870190000871, of 01/04/2019, p. 15/28
    9/21 steering angle sor 212 can be positioned to detect the angle present between two or more vehicle structures or substructures that move or direct each other in order to turn the vehicle.
    [024] The operator input device or the 214 user interface can be configured for the admission of information regarding the tractor's displacement in relation to the implement (including lateral and / or longitudinal displacements) and / or the direction the front trim of the tractor, that is, the direction of the forward movement with transmission of information to the microprocessor 216. The data entered by the operator next to the input device 214 can be stored in digital memory 218 by the microprocessor 216. The input device of operator 214 can be installed inside the operator's compartment of the tractor 100, making it easy to access the operator. Operator input device 214 may include a display component and a keyboard. The microprocessor 216 can receive the process variables from the keyboard or other sensors, and can view the vehicle's present condition (location, direction, etc.) next to the viewer.
    [025] Digital memory 218 stores instructions and data from the microprocessor. The instructions configure the 216 microprocessor to perform the guidance functions. The memory also stores the process data calculated or estimated by the microprocessor 216 and / or entered by the operator using the operator input device 214.
    [026] The GPS receiver 112 continuously receives information about the vehicle's absolute positioning and sends the vehicle positioning signal 219 to the microprocessor 216 indicating its absolute position. The GPS receiver 112 can be part of a satellite navigation system installed on the outside of the tractor 100 with an unobstructed line of sight reaching the satellites. Alternatively, the GPS receiver 112 may include the installation of an antenna
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    10/21 on the outside of the tractor, while the receiver is installed on the inside of the tractor 100. Alternative forms to the GPS receiver consist of differentiated global positioning systems (DGPS), ground-based positioning receivers or kinematic receivers real-time dual frequency (RTK) sensors using inertial navigation systems (INS).
    [027] A vehicle alignment control system or controller 300 can be used to determine the appropriate path to conduct the alignment of the tractor 100 with implement 102. The vehicle alignment control system 300 can receive information regarding location of the tractor 100 from the GPS receiver 112, the lateral and / or longitudinal displacement of the tractor 100 in relation to the implement 102 from the operator input device 214, the angle of the steering wheels 108 from the angle sensor direction 212, a path used to position the tractor 100 in its present position from the memory device 218 and the forward movement direction of the tractor 100. The information made available to the vehicle alignment control system 300 can come from microprocessor 216 or directly from the corresponding components of the automatic guidance system 200. Since the system vehicle alignment control system 300 receives the appropriate information, the vehicle alignment control system 300 can determine the front and / or reverse paths for the tractor 100 in order to adjust the position of the tractor by the lateral and longitudinal displacements entered by the operator. The control functions, control algorithms or control system provided by the vehicle alignment control system 300 can be provided through software instructions executed by microprocessor 216 or by software instructions executed by a microprocessor dedicated to the alignment control system of vehicle 300.
    [028] In another type of example modality, the AliPetição 870190000871 control system, of 04/01/2019, p. 17/28
    11/21 vehicle tracking 300 can store the tractor path used to approach implement 102 in order to connect it to implement 102. The path taken by tractor 100 can be represented by a series of path points providing the location , that is, the GPS position of the tractor 100 at each point on the path. The waypoints can be spaced by a distance of around 1 meter to around 5 meters. The registration and storage of the waypoints can be performed automatically by the automatic guidance system 200 or by the vehicle alignment control system 300 or the waypoints can be registered and stored in response to a command input from the user along with to the input device 214. The vehicle alignment control system 300 can then make use of the stored path of the tractor and the longitudinal and / or lateral displacement of the tractor 100 in relation to the implement 102 for the calculation of the new path for the tractor 100 In a type of modality, the calculated route can be determined by adjusting each point on the path stored in the stored path according to the longitudinal and / or lateral displacement entered. Some examples of other algorithms for determining new routes based on previously determined routes can be found in US Patent Documents No. 7715919 and US Patent No. 7689 356, both documents comprising patents incorporated in this report as references.
    [029] Fig. 3 shows a calculated path for a tractor 100 in relation to the previous path made by tractor 100. Tractor 100 retreats or approaches implement 102 through an initial area comprising a sufficient distance to implement 102 in area around the implement where the tractor 100 can make adjustments to the approach path. As shown in Fig.3, path 310 consists of a curved path, however path 310 may consist of a straight line path. The route may include the points of the truck 870190000871, from 04/01/2019, p. 18/28
    12/21 nho 312 indicating the path traveled by the tractor 100. The route 310 is completed at the end of the waypoint 314, whose end of the waypoint 314 comes to be stored along the direction of travel of the tractor 100. Together at the end of the waypoint 314, the operator enters the estimates for the lateral and / or longitudinal displacements of the tractor 100 in relation to the implement 102. As shown in Fig. 3, only one LAD lateral displacement distance is present. Once the lateral and / or longitudinal displacements are known, the vehicle alignment control system 300 calculates a new route for the tractor 100 by aligning the tractor 100 with the implement 102. The tractor 100 is requested forward until the end of the waypoint 314 back to the starting area and begins to follow the calculated route 320 determined by the vehicle alignment control system 300. The calculated path 320 includes the calculated waypoints 322 that end at the end of the waypoint 314 adjusted through the lateral and / or longitudinal displacements introduced by the operator. The remaining portion of the calculated path 320 can be interpolated from the calculated path points 322. When tractor 100 is driven forward, the tractor can be positioned next to the first calculated path point 322 in relation to the calculated path 320. Alternatively, in the case If the tractor 100 is not located next to a calculated waypoint 322, the tractor can be driven to the position of the tractor 100 corresponding to a calculated waypoint 322, and then the tractor 100 can be driven according to the calculated route.
    [030] In an example embodiment, the operator input device 214 can display the calculated or desired path 320 of the tractor 100 and the current position of the tractor 100, both in the form of an overhead view from the top of the tractor 100 , or from the operators' point of view, looking out of the window. In another type of modality, the input device 214 can also be seen in Petition 870190000871, of 04/01/2019, p. 19/28
    13/21 locate or indicate with the stored position of the implement (in case it was stored when the implement was not connected) through an icon, and when the operator enters distances or lateral and / or longitudinal displacements, the calculated path appears on the screen allowing the operator to check the appropriate longitudinal and / or lateral (right / left) displacements, and possibly the corresponding distances, in case the tractor is scaled in the graphs. By shifting the tractor's path in relation to the implement, major errors can be avoided, such as coming to erroneously entering data by typing, for example, 60.96 meters instead of 60.96 centimeters.
    [031] Fig. 4 shows a modality of a process aimed at aligning a vehicle, such as a tractor, and an implement. The process starts with the incorporation of the vehicle's alignment control system (step 402). The vehicle alignment control system can be engaged when the tractor has been retracted or is being retracted towards the implement, but not yet properly aligned with the implement, that is, the treatment is displaced laterally and / or longitudinally in relation to the implement.
    [032] After connecting the vehicle alignment control system, the GPS positioning of the engine is determined (step 404) and the lateral and / or longitudinal displacements are made available (step 406). The tractor's GPS position can be obtained instantly or can be determined over several seconds. By determining the tractor's GPS position over several seconds, a more accurate tractor position can be determined, which can result in a more accurate determination of the tractor's path. Lateral and / or longitudinal displacements are provided by the operator. The lateral and / or longitudinal displacements can have the distances defined according to a predetermined coordinate system, that is, the x-y axes shown in Fig. 1, or the lateral and / or longitudinal displacements can be defined
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    14/21 as a distance and a direction, that is, left or right or front or rear, from a predetermined point, that is, winch 114 or tongue 116.
    [033] The vehicle alignment control system hitch can then determine or calculate the appropriate tractor or vehicle path (step 408) in view of the tractor's GPS position and lateral and / or longitudinal displacements. In addition, the vehicle alignment control system can receive information regarding the forward movement direction of the tractor in order to determine the route. The calculated route can include both forward and reverse direction based on the tractor's GPS location when connecting to the vehicle alignment control system. A forward steering path may be necessary when there is not enough longitudinal distance between the tractor and the implement to make the necessary lateral adjustments.
    [034] After determining the tractor or vehicle path, the tractor is moved along the calculated path (step 410). The automatic guidance system provides the appropriate control signals with reference to the steering valves based on the calculated paths and the tractor's present GPS position to adjust the tractor's position. In an example mode, the speed and direction of the tractor, that is, going forward or in reverse, can be further controlled by the automatic guidance system. In another example, the tractor's speed and direction, that is, going forward or in reverse, can be controlled by the operator.
    [035] By completing the movement of the tractor along the calculated route, the alignment of the tractor and implement can be evaluated (step 412). If the tractor and the alignment are aligned, that is, the alignment can be fixed next to the tractor, the process ends. If the alignment of the tractor and the implement does not occur, the process begins again with the engagement of the system
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    15/21 of automatic orientation and the entry of lateral and / or longitudinal displacements.
    [036] In an example mode, the operator can enter a distance indicating how far the vehicle is to the left or right of the implement, after there is a manual attempt to maneuver the vehicle to the appropriate position for connection with the implement. In this opportunity, the operator can engage the system for automatic directional operation. The operator can then command the vehicle to move it forward using the appropriate device for the given vehicle, for example, by adjusting the shift lever for forward and releasing the shift pedal (clutch). The operator does not need to touch or operate the steering wheel (except for emergency situations) allowing the automatic guidance system to steer the vehicle. If the vehicle has to be moved backwards, the automatic guidance system can provide or make it available with an indication of when the vehicle has moved far enough from the implement. When an indication has been given, the operator can stop the vehicle and reverse it towards the implement. The automatic guidance system can then proceed with the automatic steering of the vehicle along the calculated route to adjust the positioning of the vehicle along the required distance to the left or right of the implement. Again, the automatic guidance system can provide or provide with an indication of when the vehicle came to a standstill and check the alignment, that is, if the vehicle came to end its routes. If the operator determines that the vehicle is still located on the left or right of the implement, perhaps due to an inaccuracy in the distance estimate, the operator can repeat the process by entering a new distance estimate.
    [037] In another type of example mode, the operator can enter a distance to the left or right from the vehicle's current position without having to enter the vehicle's front end. The front of 870190000871, from 04/01/2019, p. 22/28
    16/21 the vehicle's direction can be determined using the self-orientation direction used by the vehicle when approaching the implement. The position of the implement, that is, the current position of the vehicle for more or less in the distance to the left or to the right, does not come to be stored permanently, being used only for a short term task of approaching the implement.
    [038] In yet another example mode, when the operator enters the distance to the implement, the vehicle can be parked and the GPS position of the vehicle can be weighted over several seconds, improving the accuracy in determining the calculated route. The accuracy of the calculated route can then also be improved in relation to the typical results found with self-guidance systems, since the time between saving positions from the initial route and returning to the corresponding positions next to the The calculated route can be very short since the distance to be covered is relatively small. The self-guidance system can be further refined to determine the vehicle's position, that is, the GPS positioning of the vehicle, in relation to the route as the vehicle approaches the implement, once the vehicle moves slowly and the GPS system is able to make further determinations regarding the position of the tractor.
    [039] In a type of example modality, in some types of vehicles, such as tractors for rural work incorporating variable transmissions continuously, the positioning of the vehicle in relation to the implement can be controlled not only to the left or to the right, more also back and forth. The continuous transmission of the variable (CVT) can allow the control of the speed and optionally the position of the vehicle very precisely, since the CVT makes use of a hydrostatic pump and motor to control the speed consisting of an infinite variable. The speed sensors employed with the
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    CVT can be configured to measure not only speed but also position, and finding solutions under high precision.
    [040] In an example mode, the speed of the tractor can be determined using a “cogwheel” type sensor. In a “cogwheel” sensor, the sensor provides a signal each time a gear tooth passes through the sensor. Gear gears can be configured so that many pulses or signals will occur per revolution of the gear and the corresponding wheel. The speed can be calculated by totaling the number of pulses or signals in a given period of time. Positioning can be calculated simply by the total number of pulses or signals, corresponding to a distance covered. In another type of modality, the “cogwheel” sensor may be able to detect the direction of rotation of the gear, so that the positioning calculations can be accurate even in the case of the tractor or vehicle reversing direction.
    [041] In vehicles containing CVT transmission, the vehicle may automatically become slow and stop close to the position where the lateral error, that is, left or right, came to be registered with the start of automatic steering for additional assistance with the operator in the ready positioning of the vehicle. In contrast, a tractor transmission containing fixed gear gears and a clutch may not assume precise speed control when approaching a stop due to the clutch having to be requested to maintain slower speeds (by pressing the clutch pedal) , since the engine speed can only be reduced to a lower limit (neutral) or the engine will drown. In an additional mode, the operator can move the vehicle containing a CVT transmission backwards or forwards through discrete increments of position. For example, the operator may need to momentarily press a key to go forward or some other key
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    18/21 to go back.
    [042] In an example mode, the operator can store the front front direction and GPS position in relation to the tractor when the implement is disconnected from the tractor, that is, immediately after the implement is disconnected. Then, when the implement must be reconnected to the tractor, the operator can again request the front front direction and the tractor's GPS positioning and the automatic guidance system can then direct and / or move the tractor to the proper position for connection with the implement. In another type of mode, as the manually operated tractor approaches the implement, the operator can initiate a special automatic steering mode that can approach the implement using the stored position information and the tractor's current position. In another mode, the special steering mode can only be allowed when the vehicle is properly positioned close to the implement, that is, the tractor has a predetermined front front and is located within a predetermined distance from the implement.
    [043] In another type of example modality, the vehicle alignment control system can be used to align the tractor or the vehicle containing an implement or component to be connected or installed on the front of the tractor, that is, in the area near the steering wheels 108. The vehicle alignment control system works in general terms according to the description given above, however the operator has to indicate which connection area is at the front of the tractor or vehicle, in the rear, and with the switching of travel directions for the tractor or vehicle.
    [044] It should be noted that the request is not limited to the details or methodology established by the description below or illustrated by the figures. It should also be noted that the terminology and technical explanation currently employed
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    19/21 are intended for descriptive purposes only and should not be viewed as restrictive.
    [045] The present order includes methods, systems and program products together with any machine-readable media for carrying out its operations. The modalities of the present application can be implemented using existing computer processors, or through a special purpose computer processor applied to an appropriate system, or through a wired system.
    [046] The modalities that fall within the scope of the present application include program products including machine-readable media for conducting or executing instructions executable by machine or data structures stored therein. Machine-read media can comprise any type of non-transitory media available that can be accessed for a general purpose or special purpose computer or other type of machine containing a processor. As an example, machine-read media can include RAM, ROM, EPROM, EEPROM, CD-ROM or other optical disk storage devices, magnetic disk storage or other magnetic storage devices, or any other type of media that can be used to drive or store the desired program code in the form of instructions or data structures executable by machine and that can be accessed by a computer for generic or special purpose or some other type of machine incorporating a processor. When information is transferred or made available over a work network or another communication connection next to a machine (either by wiring, without wiring, or a combination of wired or wireless connection), the machine properly displays the connection in the form of machine-readable media. The combinations of the above are still included within the scope of reading by
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    20/21 machine. The instructions executable by machine comprise, for example, instructions and data that lead a computer intended for general or special purposes, or that processing machines aimed at special purposes come to perform certain types of functions or group of functions.
    [047] Although the current figures may emphasize a specific order in reference to the steps of the method, the order of the steps may differ from that presented. In addition, two or more steps can be performed simultaneously or partially, the variations in the performance of the step may depend on the software and hardware systems chosen and the designer's choice. All variations fall within the scope of the order. Likewise, software implementations can be carried out using standard programming techniques incorporating rules-based logistics and other types of logistics for the execution of the various connection stages, processing stages, comparison stages and decision stages.
    [048] In addition to considering the drawings in this application and analyzing those drawings and the elements currently shown, it should also be understood and appreciated that, for the purpose of clarifying said drawings, pluralities of generally similar elements positioned close to each other others or extending over a certain distance, sometimes, if not frequently, may come to be described as one or more representative elements containing prolonged dotted lines indicating the general extent of such similar elements. In such circumstances, the various elements thus represented can, in general, be regarded as generically similar to the representative element described and functioning generically in a similar manner and for a purpose similar to the representative element described.
    [049] Many of the bonding or connection processes and components used in the order are widely known and used, the nature or type of exPETITION 870190000871, of 04/01/2019, p. 27/28
    21/21 are not necessary for experts in the field to understand the request. In addition, any mention presently referring to the words "left" or "right" is used as a mere convenience, being determined by the fact that it is located at the rear of the machine confronting its normal direction of travel. In addition, the various components shown or described in this report for any specific modality in the order can be varied or changed as anticipated by the order and the practice of a specific modality for any element can already be widely known or used by specialists in the field.
    [050] It should be understood that changes in the details, materials, steps and provisions of parts that have been described and illustrated to explain the nature of the request will occur and may be carried out by experts in the field by reading this report within of the principles and scope of the request. The previous description illustrates an exemplary embodiment of the invention, however, the concepts, based on the specification, can be used in other embodiments without deviating from the scope of the order.
    [051] Although the order was described with reference to an example modality, it should be understood by the specialist in the field that several changes and substitutions of equivalent elements can be carried out without deviating from the scope of the order. In addition, many modifications can be made to adapt to a particular situation or material together with the teachings related to the order without deviating from the essential scope of the same. Therefore, it should be understood that the request is not limited to the particular mode described as the best mode contemplated for the execution of this request, however the invention includes all types of modalities coming within the scope of the attached claims.
    权利要求:
    Claims (9)
    [1]
    1. Method for aligning a tractor (100) and an implement (102), FEATURED by the fact that the method comprises:
    determination (404) of tractor positioning (100);
    determination of implement positioning (102);
    calculation (408) of a path (320) for the tractor (100) using the implement positioning, with the calculated path being operational for the movement of the tractor (100) towards the determined positioning of the implement (102); and automatic steering (410) of the tractor (100) along the calculated route (320) incorporating a control system (200).
    [2]
    2. Method, according to claim 1, CHARACTERIZED by the fact that it also includes:
    determining (412) whether the tractor (100) is in alignment with the implement (102); and repeating the steps for determining (404) a tractor positioning, determining an implement positioning, calculating a path (408) for the tractor, automatically steering the tractor (410), and determining whether the tractor is aligned with the implement (412) until the tractor is aligned with the implement.
    [3]
    3. Method, according to claim 1, CHARACTERIZED by the fact that the determination of a tractor position (404) comprises the determination of a position using a global positioning system device.
    [4]
    4. Method, according to claim 1, CHARACTERIZED by the fact that the determination of an implement positioning includes:
    storage in a memory device (218) of the positioning of the
    Petition 870180125066, of 9/3/2018, p. 27/32
    2/3 global tractor positioning system when the implement is disconnected from the tractor; and restoring the stored position from the memory device.
    [5]
    5. Method, according to claim 1, CHARACTERIZED by the fact that an implement positioning (102) comprises determining the position of the implement in relation to the positioning of the tractor (100).
    [6]
    6. Method, according to claim 5, CHARACTERIZED by the fact that the determination of the implement's position (102) in relation to the tractor's position (100) consists of the determination of a lateral distance (LAD) present between a connection point on the implement (104) and a corresponding connection point (114) next to the tractor and / or a longitudinal distance (LOD) present between a connection point on the implement (104) and a corresponding connection point (114) next to the tractor (100).
    [7]
    7. Method, according to claim 1, CHARACTERIZED by the fact that the calculation of a path for the tractor comprises:
    calculation of a first positioning of the path (310) corresponding to the movement of the tractor in a forward direction; and calculating a second portion of the path (320) corresponding to the tractor moving in the opposite direction.
    [8]
    8. Method, according to claim 1, CHARACTERIZED by the fact that the automatic steering of the tractor comprises the adjustment of the steering actuator (206) to adjust the steering angle of the wheels (108) of the tractor (100) following the path calculated (320) and for adjusting a steering actuator comprising adjusting a position of a steering valve (204) controlling the steering actuator in response to a control signal generated in response to the calculated stroke.
    [9]
    9. Method, according to claim 1, CHARACTERIZED by the fact that
    Petition 870180125066, of 9/3/2018, p. 28/32
    3/3 further understand a previous path (310) used by the tractor to approach the implement, and with the calculation of a path in reference to the tractor comprising calculating a path for the tractor using the previous stored path and a calculated difference between the positioning of the tractor (100) and the positioning of the implement (102).
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    法律状态:
    2017-10-17| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2018-02-06| B25D| Requested change of name of applicant approved|Owner name: CNH INDUSTRIAL AMERICA LLC (US) |
    2018-06-05| B07A| Application suspended after technical examination (opinion) [chapter 7.1 patent gazette]|
    2018-10-09| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2019-04-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2019-04-24| 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 03/05/2012, OBSERVADAS AS CONDICOES LEGAIS. (CO) 20 (VINTE) ANOS CONTADOS A PARTIR DE 03/05/2012, OBSERVADAS AS CONDICOES LEGAIS |
    2022-03-03| B21F| Lapse acc. art. 78, item iv - on non-payment of the annual fees in time|Free format text: REFERENTE A 10A ANUIDADE. |
    优先权:
    申请号 | 申请日 | 专利标题
    US13/099.858|2011-05-03|
    US13/099,858|US20120283909A1|2011-05-03|2011-05-03|System and method for positioning a vehicle with a hitch using an automatic steering system|
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