AGRICULTURAL COUPLING WITH A MANEUVERS MANAGEMENT AND GUIDANCE SYSTEM AND METHOD IMPLEMENTED THROUGH

专利摘要:
The present invention relates to an agricultural coupling with a system for managing and guiding maneuvers and a method implemented by this coupling. A hitch comprising a tractor and at least one agricultural machine hitched by at least one hinged connection, said hitch also comprising a maneuver management and guidance system comprising at least one calculation and control unit. Coupling (1) characterized in that the unit (5, 5 ') for calculating and controlling the (3) or one of the attached agricultural machine (s) constitutes the master unit of the system for management and guidance of maneuvers and preferably of the coupling, and in that it is fit and intended, under the control of a suitable maneuver management program: on the one hand, to calculate a set trajectory for at least one future maneuver, by implementing a trajectory prediction algorithm and an algorithm for optimizing trajectory setpoints and, on the other hand, to automatically execute said maneuver or to assist a semi-automatic execution of said maneuver by driving the tractor (2) and by raising, during the maneuver, the differences between the predefined target trajectory and the actual or currently estimated trajectory.
公开号:FR3042943A1
申请号:FR1560524
申请日:2015-11-03
公开日:2017-05-05
发明作者:Philippe Potier；Andrii Yatskul；Jean-Pierre Lemiere
申请人:Kuhn SAS；
IPC主号:

专利说明:

DESCRIPTION
The present invention relates to the field of agricultural machinery and more particularly that of the design, production and implementation of agricultural equipment for performing maneuvers and operations necessary for the cultivation of crop production. The invention more particularly relates to an agricultural hitch capable of performing automatically or semi-automatically maneuvers, and a method of management and guidance automated or semi-automated such maneuvers.
To accomplish the various agricultural tasks, it is usual to use animated agricultural machinery driven by tractors. These tractors are associated with worn tools, or semi-mounted machines, or a number of towed machines.
Such a tractor-machine (s) or tractor-tool (s) is generally referred to herein by agricultural coupling, or motorized or mechanized agricultural coupling.
In particular, it is a question, in the context of the present invention, to apply a system and a method for managing and guiding repetitive maneuvers in the case of a tractor-tool assembly preferably comprising up to four coupled operational components. (including the tractor). U-turns at the end of the field are a preferred, but not limiting, example of the maneuvers concerned by the present invention. The emergence of mechanization in agriculture since the beginning of the 20th century has led to the use of more and more powerful, faster and larger tractor-trailer couplings. This phenomenon has resulted in the need to gradually automate the operation, at least partially, a single human control becoming more and more random. The field of agricultural machinery has therefore been the subject of many technological innovations relating to its automation mainly through the use of electronic technologies and then embedded computer systems.
Currently, using the system known by the company Müller Elektronik under the designation "Headland Management System", it is possible to record and reproduce repetitive tasks (shifting, turn off or turn on the PTO tractor, lift or lower the hitch, ...) arriving at the end of the field. On the other hand, the turning maneuver is usually always performed by a driver. The driver follows an approximate path taking into account the width and turning radius of the agricultural machine (or the entire hitch). As the same combination of a tractor and a coupled (or semi-mounted) machine is used repeatedly, the operator will have better control of the maneuver and will empirically optimize the trajectory followed and the speed of the maneuver. However, the maneuvering times (especially at the end of the field) increase the duration of a construction site since the machine is not productive during the U-turns.
US Pat. Nos. 8131432B2 and 8346443B2 disclose a method and system for managing a vehicle's half-turn by setting limits on the work surface. The tractor moves itself during the U-turns and thus controls the coupled machine.
The mandatory prerequisites for the solutions disclosed in these patents are: - to give the limits of the parcel worked, - to indicate the potential obstacles, - to define the dimensions and parameters of the tractor (normally already present in the tractor's control module), - to define the dimensions and parameters of each coupled machine, - precisely geolocate agricultural machinery by a GPS-type system. The teaching of these two documents corresponds to the steering control system known under the designation "iTEC Pro" ("Intelligent Total Equipment Control" - "Total Intelligent Equipment Control") of the company John DEERE. This system is automated, but it remains necessary to indicate the direction in which the tractor must turn (right or left). It is also known to use automatic management of U-turns on combine harvesters. On such a self-propelled vehicle, the working members used (such as the cutter bar for example) are directly mounted on the self-propelled vehicle and easily controllable in position. Current systems of this type (for example the one known under the designation "GPS PILOT FLEX") require the use of geolocation systems to function.
Therefore, in accordance with the current state of the art, the half turn at the end of the field can be achieved according to the following types of methods: 1. Manual guidance (most common method). The driver estimates the "usable space" for usable space and tries to "register" the trajectory of the tractor-tool combination in this space. 2. Autoguiding by learning. This guidance system records a typical trajectory performed by the operator and repeats this trajectory. 3. Automated half-turn, assisted by a GPS-type geolocation device (the user is obliged to enter the geometry of the tractor-tool unit and the steering direction).
Thus, it follows from the above that automated guidance of agricultural tools during U-turns is a known method, but only in certain configurations, as shown for example in: US 8346443B2, US 8577558B2, EP 2659759A1, US 2013 / 0289883A1 , US 2012 / 0185139A1, US 2005 / 0015189A1.
In all these known solutions, the automatic guidance of maneuvers is controlled by the tractor (which integrates if necessary a complementary electronic element which is integrated) and it must use an external geolocation system.
Both manual operation and known automated solutions have disadvantages and limitations in their practical implementation that must be overcome.
Thus, the manual operation of sets with towed tools is a difficult and complex task, requiring the driver to be constantly attentive and vigilant. The increase in the working width (for example for growers, seeders or sprayers) and the increase in the number of towed elements, the increase in the speed of work in the field, make the driving of such equipment even more complicated and potentially accidentogenic. The most difficult point concerns mainly maneuvers at the end of the field, such as U-turns. Drivers or operators are, for example, obliged to reduce the speed of advancement and counterfeit to compensate for the low maneuverability of large machines, while registering the moving assembly in a reduced maneuvering zone at the headland (headland). Findings from the field show that almost 20% of working time can be lost during maneuvers at the headland. In addition, the ground in the headland area is more compacted because of maneuvering, which reduces crop yield. The width of the headlands must therefore be reduced to a minimum, which complicates the strategy of establishing maneuvering paths. It is difficult for a human operator to take all these parameters into account in order to determine a trajectory at the moment when he performs the maneuver.
Known automated solutions, based on an intelligence embedded in the tractor, also have their negative points.
Thus, when it is the tractor that manages the half-turn of a tractor-tool coupled assembly, the user must indicate a large number of data relating to the hitched (or semi-mounted) elements so that the tractor is capable of perform the U-turn in automatic mode. Indeed, it is the hitched equipment (or semi-mounted) which has the most variants of construction and settings parameters to achieve the desired technical operations. A data entry operation must therefore be performed at each change of machine and for each new machine, which is tedious, error-prone and time-consuming.
In the case of a takeover by the tractor, the current systems require a geolocation of the tractor and generally also towed elements. Such equipment is expensive and may have drifts in the case in particular of large parcels (due to the imperfect sphericity of the earth). In addition, the method for obtaining trajectories in the case of known solutions is not optimized: the trajectory established is first that of the tractor, whereas the important element for the agricultural operation to be performed is the positioning and the trajectories of working tools towed or semi-worn, which in addition are generally the widest elements (and therefore the least manoeuvrable).
Finally, in these known automatic systems, it is the trajectory of the tractor that is controlled, as well as the absence of contact between the tractor and the first coupled machine, by controlling the distance between them. Thus, in the case of U-turns, the positioning of machines or tools at the exit and at the entrance to the work area, which are the most important parameters, is not managed and therefore not guaranteed. The invention aims in particular to overcome at least the major drawbacks mentioned above.
Given the limitations of the existing systems described above, the main aims of the invention are the following: - to propose a system for management and guidance semi-automatic or automatic maneuvers (including half-turns at the head of the field) a tractor-machine assembly harnessed so that these maneuvers are carried out efficiently, quickly, safely and reliably, - make the sites more efficient in terms of speed, energy cost or soil protection (especially in the headlands) .
Thus, the present invention aims to provide a system capable of managing fully automatically or semi-automatically maneuvers, particularly U-turns, which is independent of the tractor, used with tractors with or without intelligence embedded and capable of managing half-turn maneuvers, with prediction of the trajectories for motorized agricultural couplers comprising indifferently one, two or three component (s) operational (s) coupled (s) to a tractor. To this end, the subject of the invention is a hitch comprising, as constitutive operational components, a tractor and at least one towed or semi-mounted agricultural machine, coupled directly to said tractor or to a preceding machine in the hitch by means of less an articulated connection, said hitch also comprising a system for managing and guiding maneuvers, in particular U-turns, comprising at least one computing and control unit, which is integrated with the one or one of the machines (s). ) coupled and which is connected, on the one hand, to at least one sensor informing it of the current mutual relative positions of the two components of each pair of operational components of the coupling connected to each other by an articulated connection, on the other hand, to a tractor management and control unit and / or to a communication interface, in particular display and possibly control, with the driver and, finally, to the ego ns a setting or programming means, these additional functional components, to which the aforementioned calculation and control unit is connected, also forming part of the maneuver management and guidance system.
This coupling is characterized in that the unit for calculating and controlling the one or one of the agricultural machine (s) coupled (s) constitutes a master unit of the management system and guide maneuvers and preferably the hitch, and in that it is fit and intended, under the control of a suitable maneuver management program: on the one hand, to calculate a target trajectory for at least one future maneuver, triggered automatically or by the driver on the basis of pre-programmed parameters relating to the characteristics and physical quantities of the tractor and of the coupled machine (s), to objectives and / or constraints related to the agricultural work to be carried out and the terrain to be treated and the operating choices of the hitch and by implementing a trajectory prediction algorithm and a trajectory guidance optimization algorithm and, on the other hand, automatically executing said maneuver or to assist a semi-automatic execution of said maneuver, this possibly repeatedly, by driving the tractor, directly or through the management unit and control of the latter, and by raising, in course of maneuver, the discrepancies between the predefined target trajectory and the actual or currently estimated trajectory, to correct them automatically or to report them to the driver in semi-automatic mode, possibly after calculating the course correction maneuvers to be performed by means of an adapted algorithm. The invention also relates to a method for automated or semi-automated management of maneuvers, in particular of U-turns, of an articulated or poly-articulated hitch comprising a tractor and at least one towed or semi-mounted agricultural machine coupled directly to said tractor , or to a previous machine in the hitch, by at least one articulated connection, as well as a system for managing and guiding maneuvers, in particular of half-turns, comprising a calculation and control unit, which is integrated in the or one of the coupled machine (s), and which is connected, on the one hand, to at least one sensor informing it of the current mutual relative positions of the two components of each pair of operational components of the coupling connected together by an articulated connection, on the other hand, to a tractor management and control unit and / or to a communication interface, in particular a display and possibly a control interface, with the and finally, at least one parameter setting or programming means, these additional functional components also forming part of the maneuver management and guidance system.
This method is characterized in that it consists, through the unit of calculation and control of the agricultural machine considered, acting as the master unit of the management system and guide the maneuvers of the coupling and by executing a suitable maneuver management program, calculating a target trajectory for at least one future maneuver, triggered automatically or by the driver, on the basis of pre-programmed parameters relating to the constructive, functional and dimensional characteristics of the tractor and of the coupled machine (s), to objectives and / or constraints related to the agricultural work to be carried out and the terrain to be treated and to the operating choices of the team and implementing a trajectory prediction algorithm and a trajectory guidance optimization algorithm, and then automatically executing said maneuver or assisting an execution semi-automatic said maneuver, this possibly repeatedly, by driving the tractor, directly or through his management unit and control of the latter, and by raising, during the maneuver, the differences between the predefined setpoint trajectory and the actual or currently estimated trajectory, to automatically correct them or to report them to the driver in semi-automatic mode, possibly after calculation of the trajectory correction measurements to be carried out by implementing a suitable algorithm. The invention will be better understood, thanks to the following description, which refers to preferred embodiments, given by way of non-limiting examples, and explained with reference to the appended diagrammatic drawings, in which:
FIGS. 1A and 1B are schematic top views of a hitch according to the invention comprising respectively three elements (tractor + two operational components) and four elements (tractor + three operational components) and equipped with a management and control system. guidance of maneuvers;
FIG. 2 is a global block diagram illustrating the routing and the processing of the information and instructions in the management and guidance system of the maneuvers according to the invention as a function of the control mode (modality 1: semi-automatic control, modality 2: automatic piloting);
FIG. 3 is a detailed block diagram illustrating the main functional elements forming part of the system for managing and guiding maneuvers according to the invention and their mutual exchanges;
FIG. 4 is a functional block diagram illustrating the possible interactions between the algorithms implemented by the master unit and the communication interfaces within the framework of the maneuver management and guidance system;
FIG. 5 is a flow chart (Grafcet) illustrating the main steps of the method according to the invention and corresponds to a so-called "normal operating" mode of the system, and,
FIG. 6 is a timing diagram of the execution of a maneuver with trajectory correction, with implementation of the method and system according to the invention.
FIGS. 1A and 1B show, in connection with FIG. 3 in particular, a coupling 1 comprising, as constituent operational components, a tractor 2 and at least one agricultural machine 3, 3 ', 3 "towed or semi-mounted, coupled directly to said tractor or to a previous machine 3, 3 'in the coupling by at least one articulated connection 4, 4', 4 ". This hitch 1 also comprises a system for managing and guiding maneuvers, including U-turns, comprising at least one unit 5, 5 'of calculation and control, which is integrated with the one or one of the machines (s). ) coupled 3, 3 ', 3 "and which is connected, on the one hand, to at least one sensor 6, 6', 6" informing it about the mutual mutual relative positions of the two components 2, 3; 3, 3 '; 3 ', 3 "of each pair of operational components 3, 3', 3" of the coupling 1 interconnected by an articulated connection 4, 4 ', 4 ", on the other hand, to a management unit and control 7 of the tractor 2 and / or at a communication interface 8, in particular display and possibly control, with the driver and, finally, at least one means 9 of parameterization or programming, these additional functional components 6, 6 6, 7, 8, 9, to which the above-mentioned calculation and control unit is connected, also part of the maneuver management and control system. The communication interface 8, for example in the form of a touch screen or the like, is preferably arranged, possibly displaceably or removably, in the tractor cab 2. A means 9 of parameterization and / or programming is mounted on the machine 3 comprising the master unit 5 of the hitch 1, or can be temporarily connected thereto. This parameter setting and / or programming means 9 may alternatively also be present in the tractor cab 2, and possibly integrated in the means 8. This means 9 for setting and / or programming, as well as the communication interface 8 , can also be duplicated on different elements of the hitch.
Of course, the links between the means 8 and 9 and the tractor 2 and the machine 3 respectively may be of wired or wireless nature.
According to the invention, the unit 5, 5 'of calculation and control of the 3 or one of the agricultural machine (s) 3', 3 "coupled (s) constitutes the master unit of the system management and guidance of maneuvers and preferably all of the coupling 1.
It is suitable and intended, under the control of a suitable maneuver management program: on the one hand, to calculate a target trajectory for at least one future maneuver, triggered automatically or by the driver, on the basis of pre-programmed parameters relating to the characteristics and physical quantities of the tractor 2 and the machine (s) 3, 3 ', 3 "coupled to objectives and / or constraints related to the agricultural work to be carried out and the terrain to be treated and the operating choices of the hitch 1 and by implementing a trajectory prediction algorithm and a trajectory guidance optimization algorithm and, on the other hand, to automatically execute said maneuver or to assist a semi-automatic execution of said maneuver, this possibly repeatedly, by driving the tractor 2, directly or through the unit 7 of management and control of the latter, and by raising, e n course of maneuver, the differences between the predefined target trajectory and the actual or currently estimated trajectory, to correct them automatically or to report them to the driver in semi-automatic mode, possibly after calculating the maneuvers of course corrections to be made by the driver. intermediate of an adapted algorithm.
The following advantages of the invention have been highlighted: - increase in the efficiency of the machine (s) via the reduction of the duration of a maneuver, - relief of the work of the operator and reduction of its fatigue when repeating monotonous spots requiring a lot of pmdence and concentration when done manually, - possibility of performing maneuvers at a high speed, - reduction of soil damage and its compaction during repetitive maneuvers (eg repeated half-turns at the headlands), in particular by reducing the lengths traveled or by observing steering or folding angles between hitched elements which promote a good rolling of the machines, - ensuring the accuracy of a maneuver independently external conditions (night, fog, etc.).
More specifically, compared to maneuvers managed or driven by the tractor 2, the invention has major advantages for the following reasons: - Most tractor drivers do not have an automated turn system (tricky maneuver). - The working bodies (as well as the associated control systems) are on the towed (or semi-mounted) operational components. The manufacturers of these materials (carrying the active working members during the agricultural operations concerned) are therefore better able to define the optimal operating conditions of the agricultural operation concerned and, consequently, to define the optimal parameter setting of the associated maneuvers. to the use of their equipment. - The machine 3, 3 ', 3 "hitched or semi-mounted will control with greater precision and with a higher speed its own mechanisms, the starting or the stop of its systems - The equipment harnessed (or semi-worn ) has many construction variants and setting parameters to carry out the various technical operations required.A data entry operation must be carried out for each machine (which is costly in time) if it is the electronic system of the tractor that The data relating to the tractor are much less numerous and less varied than those of the hitched machines, the data entry is therefore cheaper in time and simpler when the unit 5, 5 'of one of the machines. towed or semi-mounted pilot maneuvers.
Advantageously, the maneuver management and guidance system, and therefore the hitch 1, can also integrate at least one additional sensor 10 at the level of the tractor 2 adapted and intended to provide information on the steering angle of the directional wheels 2 ', the speed of rotation of the driving wheels 2' ', the absolute speed of travel, the height position of its three-point hitch and / or the speed of drive of its power take-off.
Although the hitch 1 may be constituted by an elementary assembly comprising the tractor and a single coupled machine 3 (not shown), the beneficial effects of the invention are particularly noticeable when the hitch comprises, as shown in FIGS. 1B, at least two agricultural machines 3, 3 'coupled in series one behind the other to the tractor 2, the first machine 3 of the series being connected directly to the tractor 2 being towed, carried or semi-mounted, the second machine 3 ', and any subsequent machines 3 ", being hingedly connected to the machine 3,3' which precedes respectively.
In addition, at least one sensor 6, 6 ', 6 "providing a signal indicative of the mutual relative position of two operational components 2, 3, 3', 3" interconnected by an articulated connection 4, 4 ', 4 " is associated with or mounted at the or each articulated connection 4, 4 ', 4 ".
Preferably, the or each articulated connection 4, 4 ', 4 "has at least one degree of freedom in the form of pivoting ability about a vertical axis of rotation and / or perpendicular to the ground and that the, some or each sensor (s) 6, 6 ', 6 "associated with the hinged connection (s) 4, 4', 4" provided (ssen) t a signal indicative of the configuration of the connection (s) (s) articulated (s) 4, 4 ', 4 "corresponding (s) around the axis of rotation concerned. It is in fact the orientation and the modification of the orientation in the horizontal plane or ground plane of the various hitched machines 3, 3 ', 3 "which determines the layout of the hitch 1 and therefore the treatment of the ground and / or plants encountered during the journey, for example at the headlands in the context of maneuvers U-turns.
When the coupling 1 comprises, as functional components, two machines (3 and 3 '- figure IA) or three machines (3, 3 "and 3" - figure IB), several situations may arise: - either one said machines (preferably the first of the hitch 1, directly connected to the tractor 2) comprises a calculation and control unit 5, which then acts as a master unit of the management system and guiding maneuvers, - or several of said machines comprise calculation and control units 5, 5 'and, in this case, the unit 5 of the first machine 3 of the coupling preferentially bears the role of master unit (the other unit or units 5 'can perform their usual function at the machine 3' she (they) team (s) and of course dialogue with the master unit 5).
In order to be able to geographically locate the hitch 1 or at least some of its constitutive components in the field to be treated and thus to allow a fully automated management of the maneuvers, it can be advantageously provided that the tractor 2 and / or the least one of the towed agricultural machines 3, 3 ', 3 "is equipped with a geolocation antenna 11, 11' whose data are transmitted to the control and calculation master unit 5 and processed by the latter, in automatic operation mode, and / or visualized on the communication interface 8.
Preferably, the master unit 5 for calculating and controlling, as well as, if appropriate, the geolocation antenna 11, is (are) mounted on the first agricultural machine 3 directly connected to the tractor 2, when it is towed or semi-span.
As shown in Figures 1 and 3 of the accompanying drawings and to allow automatic management of maneuvers, the master unit 5 is connected to a power control interface 12 of the tractor 2, or the management unit and control 7 from the latter, by a communication bus 13, this bus 13 also ensuring the transmission of data between this master unit 5 and the other functional components 8, 10, 11 'of the management and guidance system, possibly equipping the tractor 2. As a practical example of embodiment, the communication bus 13 may be of the type known under the designation ISOBUS (registered trademark) and the control of the tractor 2, equipped with the unit 7 (TECU -
Tractor Electronic Control Unit), can rely on the guidance technology known as TIM (Tractor Implement Management).
It may be noted that the functional elements constituting the system for managing and guiding / controlling the maneuvers are, with the possible exception of the sensors 6, 6 ', 6 ", constituted by elements already present on the tractor 2 or the machines 3 , 3 ', 3 "forming the hitch 1, the possibilities and performance of said system being conditioned by their level of equipment (presence or absence of a unit 7 at the tractor 2, presence or not of antennas 11, 11 geolocation, number and nature of the sensors on the machines and the tractor).
In accordance with an additional feature of the invention, the interface 8 further comprises means for selecting the operating mode between a fully automatic control operation, semi-automatic control or manual control. The invention also relates to a method for automated or semi-automated management of maneuvers, in particular of U-turns, of an articulated or poly-articulated hitch 1 comprising a tractor 2 and at least one agricultural machine 3, 3 ', 3 " towed or semi-mounted hitched directly to said tractor, or to a previous machine in the hitch, by at least one hinged connection 4, 4 ', 4 ", and a management system and maneuvering guide, including half -Tours. This system comprises a calculation and control unit 5, 5 ', which is integrated into the one or one of the coupled machine (s) 3, 3', 3 ", and which is connected, of a on the other hand, to at least one sensor 6, 6 ', 6 "informing it of the common mutual relative positions of the two components of each pair of operational components 2, 3, 3', 3" of the coupling 1 connected to each other by an articulated connection, on the other hand, to a unit 7 for managing and controlling the tractor 2 and / or to an interface 8 for communication, in particular for display and possibly control, with the driver and, finally, for at least setting or programming means 9, these additional functional components also forming part of the maneuver management and guidance system.
According to the invention, said method consists, via the calculation and control unit 5 of the agricultural machine 3 considered, acting as a master unit of the management and guidance system of the maneuvers of the coupling 1, and by executing a suitable maneuver management program, calculating a target trajectory for at least one future maneuver, triggered automatically or by the driver, on the basis of pre-programmed parameters relating to the constructive, functional characteristics and the relevant dimensions of the tractor 2 and the machine (s) 3, 3 ', 3 "coupled to the objectives and / or the constraints related to the agricultural work to be carried out and the land to be treated and to operating choices of the hitch 1 and implementing a trajectory prediction algorithm and a trajectory guidance optimization algorithm, and then automatically executing said maneuver or assisting a semi-automatic execution of said maneuver, this possibly repeatedly, by driving the tractor 2, directly or through its unit 7 management and control, and by raising, during the maneuver, the differences between the predefined target trajectory and the actual or currently estimated trajectory, to correct them automatically or to report them to the driver in semi-automatic mode, possibly after calculating the trajectory correction measurements to be carried out by implementing a suitable algorithm.
Of course, the hitch 1 and its constituent elements advantageously correspond to those described above.
In accordance with a first variant of possible execution of the method, the latter consists, in semi-automatic management mode of a maneuver, to display, for the operator installed in the tractor 2 and preferably by the intermediate of a display device forming part of the communication interface 8, a recommended setpoint trajectory, possibly adjusted or refreshed during operation according to the evolution of the position of the tractor 8, of an agricultural machine 3, 3 ', 3 "and / or the coupling 1, and to authorize the operator to perform the maneuver within the limits of circumstantial conditions and safety, as well as the physical, kinematic and mechanical possibilities of the coupling 1 , the unit 5 of calculation and control of the agricultural machine 3 considered providing a decision aid in the form of a recommended path and possibly more or less detailed indications for the realization of actions for maneuver steering and / or course correction.
According to a second possible embodiment of the invention, the method consists, in the automatic management mode of a maneuver by the master unit 5, to take into account data provided by at least one antenna 11, 11 of geolocation equipping the tractor 2 or at least one of the coupled machines 3, 3 ', 3 ".
In the context of a preparatory phase, the method may consist, prior to the processing of a worksite, preferably immediately after constitution of a hitch 1 for a simple or complex job, to set the algorithm for calculating the trajectories by indicating to the master unit 5 different functional, structural and dimensional characteristics of the tractor 2 and of the other agricultural machine (s) 3 ', 3 "of the link 1 considered.
In relation with the kinematic characteristics of the motorized agricultural coupling 1 and the connections between its various elements 2, 3, 3 ', 3 ", it is advantageously intended to take into account, at the level of the or each articulated link 4, 4 ', 4 ", at least one degree of freedom in the form of an ability to pivot about a vertical axis of rotation and / or perpendicular to the ground, the, some or each associated sensor (s) 6, 6', 6" (s) at the articulated connection (s) 4, 4 ', 4 "providing a signal indicative of the configuration of the corresponding articulated link (s) 4, 4', 4" ( s) around the respective axis of rotation.
Preferably, the following characteristics and quantities are given during the parameterization phase of the trajectory calculation algorithm: the maximum steering angle of the tractor 2, the maximum widths of the components 2, 3, 3 ', 3 " the coupling 1, - the desired forward speed when maneuvering, - the maximum steering angular speed of the steering wheels of the tractor 2, - the maximum bending or pivoting angles between the components of the coupling 2, 3, 3 ', 3 ", - the distance between the rear axle of a component of the coupling 1 and the coupling point of the next component connected to it, - the distance between the rear axle of a component coupled and its coupling point to the previous component, - the wheelbases of the components of the kinematic assembly formed by the coupling 1, - the steering direction (right or left).
Similarly, it may be provided to parameterize the trajectory optimization algorithm by providing desired optimization objectives, such as, for example, the minimization of the working time, the minimization of the distance traveled by one or the other. components 2, 3, 3 ', 3 "of the coupling 1 during the maneuvering and / or the minimization of at least one geometric dimension characterizing the maneuvering space, such as for example the width of the headland or the distance traveled by the tractor in the case of a half-turn.
According to a particularly preferred application of the method according to the invention, the latter may consist in parameterizing the trajectory optimization algorithm, in the case of management of the half-turns, by the indication of execution constraints such that for example, the imposition of an entry point and / or exit point in the tillage or cultivation work area, or the imposition of a maximum authorized headland width corresponding to a determined multiple, for example 2 or 3, of the working width of the agricultural machine 3, 3 ', 3 "the widest of the coupling 1.
According to a first operating mode, the method can consist in taking into account, during execution under control of the maneuver according to a calculated and optimized target trajectory, the data provided by various sensors 6, 6 ', 10 mounted on the tractor. 2 and / or the agricultural machine (s) 3, 3 ', 3 "and / or associated with the different link (s) articulated (s) 4, 4', 4" between the components 2, 3, 3 ', 3 "of the coupling 1.
According to a second operating mode, alternating or possibly complementary to the aforementioned first mode, the method may consist in taking into account, during execution under control of the maneuver in accordance with a calculated and optimized setpoint trajectory, the data provided by a geolocation system of which at least one corresponding antenna 11, 1Γ is mounted on the agricultural machine 3 comprising the master unit 5, on another agricultural machine 3 ', 3 "of the coupling 1 or on the tractor 2, and possibly to identify discrepancies with the recommended set-point trajectory and display them, and if necessary calculate them and indicate to the operator the compensatory measures and / or correct them automatically.
When the tractor 2 is equipped with a unit 7, the master unit 5 addresses its instructions to this unit for the execution of the maneuver.
When the tractor 2 does not have a unit 7, or when the latter can not or must not be requested for the execution of a maneuver, it may be provided to carry out the maneuver under the control of the master unit. 5 by transmitting instructions from the latter to a power control interface 12 of the tractor 2, controlling in particular the steering, acceleration and braking systems of said tractor 2.
Thus, thanks to the invention, it is possible to: - predict the paths optimized in travel time, distance traveled or according to another geometric criterion, the components of a tractor-machine combination (with trailed or semi agricultural machines -ported) during U-turns or other repeated maneuvers, - pilot the tractor in a semi-automated or automated way to follow the predefined optimized trajectory with or without the use of a GPS system or similar. As an illustration of the invention, a practical example of embodiment is described below without limitation, in connection with the accompanying figures.
It is recalled that the essential technical points which in combination form the preferred embodiment of the invention are the following points 1 to 4: 1. The use of a mathematical model for calculating and simulating trajectories (also designated by the term trajectory prediction algorithm adapted to agricultural operations) which is advantageously parameterized with: - physical quantities related to the tractor and to the agricultural machinery associated with it (for example up to three machines hitched one behind the other and pulled by the tractor). - Operating constraints related to the agricultural operation concerned. 2. The use of a mathematical model of trajectory optimization (also referred to as the optimization algorithm or trajectory setpoint calculation algorithm) which is advantageously parameterized with: Physical quantities related to the tractor and agricultural machinery associated with it (for example up to three machines hitched one behind the other and pulled by the tractor). Objective constraints linked to the agricultural operation concerned. Without further specification by the operator, a standard optimization mode may be applied depending on the maneuver performed. Among the constraints of possible objectives, there is the choice of the operational component of the tractor-machine combination whose trajectory must be primarily optimized. - Operational choices made by the operator. Without further specification by the operator, a standard operating mode may be applied depending on the maneuver performed.
Each calculated trajectory that must be respected during the maneuver is called the target trajectory. The optimization algorithm can, for example, in a simple or combined way: - Minimize the time spent during the maneuver. - Minimize the distance traveled by one of the components of the tractor-machine combination during the maneuver. - Minimize one of the geometric dimensions characterizing the maneuvering space (such as the width of the headland).
This optimization can be done under constraint: - for example, by respecting a point of entry and / or exit in the working zone of the ground or culture, and / or - by registering the maneuver in a pound the width is a multiple of the working width of the widest machine in the coupled assembly. 3. The semi-automated or automated control of the trajectory of the machines concerned during repeated maneuvers (such as half-turns) and to compensate automatically (thanks to a control algorithm and its associated electromechanical system) or by human supervision the deviations observed or estimated between the trajectories established instructions and the actual trajectories of the machines.
In the case of a semi-automated mode of operation with human supervision, several technological levels are usable. At the simplest level, an element will inform the operator on the trajectories to be respected (or on one or more directly associated variables such as values of angles of folding or pivoting to the articulations between two coupled elements, or else values of steering wheel angle). This corresponds to a "monitoring" type operation and the operator performs the necessary operations. At a higher level of assistance, the operator may also have information on the difference between the trajectories set (as it is possible to estimate or measure them) and the trajectories actually tracked (or on one or directly associated quantities). This information will make it possible to construct one or more variance variables that the operator will have to manually minimize by making the necessary changes of direction. The control unit of the system, namely the unit 5, will be able to propose to the operator adapted decision strategies through the man-machine interface interface 8 set up. This semi-automated mode of operation corresponds to a "driving assistance and decision-making" type of operation.
In the case of automated operation, the master unit 5 itself defines the corrective actions to be performed and, based on its control algorithm, the master unit 5 takes control of the organs necessary for the implementation. of these actions. For safety reasons, the operator can manually take control of the tractor-machine combination. 4. The unit 5 for calculating and controlling one or one of the machines 3, 3 ', 3 "(towed or semi-mounted) controls the operation or one of the desired technical operations (tillage, maintenance of crops, harvest, ...) and pilot the semi-automated or automated realization of desired maneuvers.
In the context of a semi-automatic mode of operation, it is provided: - that a unit 5 of one of the machines 3 coupled to the tractor 2 (for example the planter) or that a machine 3 semi-supported by the Tractor 2 makes the calculations necessary for the establishment of the trajectories to be followed and has an interface 8 for communication with the driver, - that all the machines concerned (tractor 2 included) have sensors and elements for transmitting the information. corresponding (via an electronic link, for example an "ISOBUS" link, or via a wireless link) to the master unit 5 in charge of the management of the U-turn operations.
In the context of an automatic mode of operation, it is provided: - that the unit 5, 5 ', 5 "of one of the machines 3, 3', 3" coupled to the tractor 2 (for example the drill) or a machine semi-supported by the tractor makes the calculations necessary for the establishment of the trajectories to follow and has an interface 8 of communication with the driver, - that the set of machines 3, 3 ', 3 " concerned (tractor 2 included) have the corresponding sensors and data transmission elements (via an electronic link, for example an "ISOBUS" link, or via a wireless link) to the master unit 5 in charge of managing the data. turn-around operations, - the unit 5 of one of the machines, coupled to the tractor (for example the planter) or a semi-mounted machine by the tractor, controls the tractor during repetitive maneuvers (for example when the machine 3 which drives the tractor 2 during these maneuvers of It is therefore necessary to take control of the necessary organs within the framework of a suitable technical device, for example a device of the "Tractor Implement Management" type. It does this via an electronic link (for example an "ISOBUS" link) or via a wireless link, in order to carry out the operations provided for by the control algorithm.
More precisely and as shown symbolically at least partly in FIGS. 1 to 4, the maneuver management and guidance system comprises: a trajectory calculation algorithm making it possible to predict the trajectories of the elements of the tractor-machine unit ( calculation engine making it possible to determine the trajectories of the coupled assembly). - An algorithm for optimizing trajectories (determination of trajectories selected according to a specific objective). - An algorithm for calculating trajectory corrections to be made during the maneuver, also called a control algorithm (optional for operation in semi-automatic mode). A management program whose role is notably to manage the relationships between the algorithms, to ensure a good exchange of information at the level of the input and output interfaces of the master unit 5 for calculation and control, and ensure the smooth running of expected functions at the system level (start or stop of a control sequence of a maneuver, emergency stop mode or degraded operating mode, etc.). - A master unit 5 for calculation and control (computing device) which is in particular programmed to perform the operations required by the aforementioned algorithms, processes the incoming and outgoing data flows. It is located on one of the towed machines or on a semi-mounted machine. - At least one programming interface 9 of the master unit 5 for calculation and control. One of these interfaces may possibly be deported at the tractor. At least one communication interface 8 with a display device for informing the operator and facilitating the man-machine dialogue. One of these display devices is advantageously offset at the tractor. An interface allowing the recovery by the master unit 5 of calculation and control of the information coming from sensors 6, 6 ', 6 ", 10 placed on the tractor or the machines of the coupled assembly; taking control of the power units required by the master unit 5 for calculation and control in the case of an automatic operating mode The algorithm for calculating the trajectories is parameterized by the operator with physical quantities related to the equipment used and linked to the agricultural operations carried out The parameterization values that the operator must fill in are those mentioned above The trajectory optimization algorithm is parameterized by the operator with the objective constraints desired by the operator (for example example the maximum width of the headland) and the choices of the operator in terms of optimization mode (precision, choice of algorithm, point of rt of the optimization, ...) The algorithm for calculating the trajectory corrections is also parameterized by the operator according to the operating mode used (semi-automatic or automatic mode) in particular: - In order to carry out calculations adapted course corrections (semi-automatic or automatic mode). A default setting can be proposed. - In order to ensure a good display of instructions and information for the operator (in semi-automatic mode). - To ensure a good display of information for the operator (in automatic mode) and to set the path correction algorithm (in automatic mode). It is recalled that the trajectory correction algorithm is optional in the case of a semi-automatic steering device.
The general management program is also parameterized by the operator to ensure the proper functioning of the input and output interfaces of the computer and, in general, to ensure the smooth running of expected functions at the level of the computer. management system and maneuver guidance.
A possible sequence of a piloting sequence is illustrated in FIG. 5 (in Grafcet form).
The control of the trajectory of the tractor-machine unit can be realized in semi-automatic mode or in automatic mode.
In all cases, a control and management sequence of the maneuver according to the invention follows the following cycle (see Figure 5): 0) Start up. The start-up is effective if the initial operating conditions are met and the operator requests the start of the maneuver management and guidance system. Switching on corresponds to the transition between step 0 and step 1. 1) System setting. It is possible to store a series of previous settings in memory and recall them to the system to save time. 2) Establishment of trajectories. The trajectory calculation algorithm tests trajectory simulations according to the instructions of the trajectory optimization algorithm. Once the objective criteria have been reached, the trajectories or trajectories are retained and stored. These trajectories can be defined by variables related to the relative position of the elements articulated to each other (folding angle, etc.). The trajectory instructions may include information on the speed of the vehicles. The established trajectories can be memorized and recalled for later use by avoiding the calculation phase. 3) Waiting for start of maneuver. There is then a step of waiting for the initiation of the maneuver during which the management and guidance system does not guide the tractor-toolset. It is the operator or an optional location system that triggers the start of the guide sequence of a maneuver by the system according to the invention. 4) Guidance phase. Once the maneuver is started and the guidance is activated, the management and guidance system is active and drives the tractor 2 in a semi-automated or automated manner in order to follow the predefined optimized trajectory with or without the use of a GPS system. The operator can be informed by the display device on the progress of operations controlled or calculated by the management and guidance system. According to an optional arrangement, it is possible to recalculate new trajectories during the maneuver in the event of an unforeseen event or to adjust the parameterization of the trajectory correction algorithm (in order to correct significant differences in trajectories).
Transition 4) - 5) Disabling the guidance step. The management and guidance system can be manually deactivated at any time and automatically deactivates once the maneuver is complete. The operator can, for example, disable the system at the end of the trajectory to manually correct any drift. Once the maneuver is completed, the management program returns to the waiting stage until the next maneuver. 5) Stopping the piloting device. The operator can stop the operation of the semi-automatic or automatic management and guidance system at any time (especially when field work is completed). Each step must therefore be connected to this stopping step (not shown in FIG. 5). The system stops under satisfactory safety conditions.
Grafcet which has just been described as an example corresponds to a so-called "normal" operating mode of the system. Emergency stop modes or degraded run modes (as they are usually called during an automation procedure using Grafcet tools) have not been described in this normal walking Grafcet, but may easily be deduced by the skilled person.
In the context of the execution of the operating phases of the method, the establishment of the set trajectories takes place after the parameterization phase. In a possible evolution of the invention, it can also take place during maneuvering in the event of an unforeseen event. The trajectory calculation algorithm follows the instructions sent by the trajectory optimization algorithm to make the first trajectory simulation (initial conditions of the computation), then to increment the simulations (to test new trajectories likely to give better results). ) or to stop a calculation or series of calculations when a satisfactory result is found. This result becomes the target trajectory (or trajectories) to be respected. The established trajectories can be memorized and recalled for later use by avoiding the calculation phase.
Using a model, the inventors were able to simulate U-turns (or other maneuvers of change of direction) for a tractor and several hitched machines with acceptable accuracy provided that the operator corrects the "drift" observed at the end of the race. The origin of the observed drift is related to the resistance of the soil which exerts reactions on the steering wheels which sink into the ground. The model used was based on fundamental equations disclosed in Zakin J. 1967, "Applied theory of the articulated lorry", Monograph // 3aKHH Ü.X. IIpHKjiattHaa Teopna / ιβη> κ6ηηη aBTonoe3Aa. - M .: TpaHcnopT, 1967 - 252 c. and has been adapted to the case of agricultural machinery. The model also takes into account the interactions between the ground and the wheels of the vehicles as well as the mechanical interactions that take place at the level of the joints between the machines (friction). This exemplary model is used in the following detailed embodiment as a mathematical engine of the trajectory calculation algorithm. Geometrically for any element of a polyarticulated assembly of the agricultural coupling type, the steering angle is the angle between the two axes, linking the instantaneous center of rotation and the centers of the front and rear axles (see Figure 7):
with: Ln - The wheelbase of the element n, γη - The steering angle of the element n,
Rn - The turning radius of element n,
On - The center of rotation at a given instant of the element n, On + i '- The point of articulation between the element n and the element n + 1.
In the above formula, there are: n = 2 for the tractor 2, n = 3 for the first hitched element 3, n = 4 for the second hitched element 3 ', etc. The angular speed ω2 of turning of the wheels 2 'direction of the tractor will define the behavior of the assembly tractor-lere harnessed machine, and consequently that of the following machines. This action is characterized by a magnitude kn (called the half-turn ratio parameter) which characterizes the change of trajectory curvature obtained as a function of the distance traveled on the steering curve, and is worth (after Zakin J. -1967) :
with: Sn - The distance traveled on a given trajectory.
In the case of the tractor, and considering that the movement is on an ideal and flat surface, without slippage or influence of the ground on the direction taken by the movement, one can consider (according to Zakin J. -1967) that:
The inventors have, within the framework of the present invention, developed equations and a specific method making it possible to take into account non-ideal cases, for which the trajectories of agricultural machines are influenced by their interactions with the ground. In this case, it is possible to replace the steering angle of the wheels of the tractor with a corrected angle y2 corrected (or "real") y2c which takes into account interactions with the ground.
If the tractor is equipped with a geolocation system, it is directly possible to replace y2 by y2c in the equation above since y2c can be measured by geolocation. In the absence of a geolocation system, a mathematical calibration law is defined between y2, 0) 2 and y2c of the type:
with: A, a, B, b and C corresponding to numerical adjustment parameters.
In all cases, the values of y2c are required to replace the values of y2 in the trajectory simulation equations when the interactions with the soil are estimated to be significant.
Indeed, such a calibration law makes it possible to approach the results obtained by the applicant and the inventors during field tests. It also makes it possible to respond to cases taking into account slip phenomena (or skidding) on agricultural soil. In the case of perfect adhesion (without lateral or longitudinal skidding), aa = b = 1 and only the resistance of the earth on each side of the tractor's steering wheels (which partially sink into the ground) is opposed. on the one hand, steering (direct effect on y2) and, on the other hand, the lateral displacement of the steering wheels when the steering wheel is turned (direct effect on ω2). This resistance of the earth on each side of the steered wheels thus creates a drift angle (y2c - 72) · The parameterization of the equation is done by adjustment with the experiment (successive approximation method), according to a base of data or calibration method when testing a typical maneuver.
The behavior of the trailed elements is conditioned by the change of direction of the traction force exerted on the corresponding coupling point. Analogously, the trajectory of the element n + 1 will be a derivative of the trajectory of the previous element. The differential equation of evolution of the folding angle between two elements can be deduced from the above-mentioned publication Zakin J. (1967):
In this equation, we have: an - the angle formed between the axis passing through the kinematic center of a tractor element n with the instantaneous center of rotation of the towed element n + 1, and the axis connecting the coupling point with this instantaneous center of rotational rotation of the towed element n + 1, in - The direct mechanical connection ratio of the coupled elements n and n + 1.
The mechanical connection ratio in allows to take into account the imperfections of the articulation points between hitched elements (friction, ...) in the transmission of movements and changes of direction. The inventors have developed equations and a method for taking into account non-ideal cases in the expression of in (or using other parameters not disclosed in the Zakin publication, 1967), when the trajectories of agricultural machines are influenced by
friction or mechanical resistance that may exist at the points of articulation between hitched elements.
The mechanical interactions that take place at the level of the joints between the machines (friction, ...) can thus be taken into account thanks to a mathematical function which modifies for example the value of in inc (corrected mechanical connection ratio or "real "). Therefore, we will use a general law (which is simplified in simple cases) to estimate inc, namely:
with: A ', a' and C corresponding to numerical adjustment parameters. For an ideal articulation, we have: A '= a' = C '= 7.
The movement of the element n + 1 can also be influenced by the ground behavior of the wheels of the previous element even if the latter is not the tractor (according to the same principle described above for the wheels of the tractor). Indeed, the direction of traction may be different from that given by the angle yn + 1 when a slip angle can be detected. Even if the wheels of the element n are not steered, the earth on each side of the wheels of the element n can exert a resistance to the turn. We can replace in the equations γη + ι by yn + ic according to a mathematical law of calibration similar to that of the aforementioned case of the tractor:
with: An, an, Bn bn and C corresponding to numerical adjustment parameters. If element n does not have steering wheels, B is zero.
These equations and the laws mentioned above make it possible to build simulations of trajectories for the tractor and the hitched elements, even for complex cases. In simple cases, it will not be necessary to change the values of the steering angles, bending angles or the mechanical linkage ratio to corrected values.
The table below gives an example of a developed model (calculation of the bending angle between the tractor 2 and the first coupled operational component 3). In this example, the tractor can describe any corner path. A half-turn called "horseshoe" is part of these trajectories. FIG. 8 shows examples of half-turns that can be used at the end of the field and can be simulated (FIG. 8A: half-turn in a cross-loop / FIG. 8B: half-turn in a semicircle / FIG. 8C:
turn around "horseshoe" or lace). For example, to make a U-turn in a horseshoe, the tractor 2 follows firstly a rectilinear trajectory, then a transient entry phase, then a phase of circular motion at a constant steering angle, then a phase of transient output to then find a straight trajectory. In the case presented, interactions with the soil or mechanical friction at the joints are initially considered negligible.
In this table, the following parameters and variables are mentioned: ^ 2max - The deviation angle of the tractor from the initial direction; k2 - The coefficient of speed linked to the tractor; L2, Ln + i - The wheelbases of the tractor element and a hitched element; 72 - The steering angle of the tractor; 7 ", 7n + i - The bending angles of two successive hitched elements; x0, y (h - The coordinates of the tractor trajectory xc, yc - The coordinates of the center of the circular trajectory;
R ^ πι ι η - The turning radius; aM - The angle formed by the axis linking the kinematic center of a tractor element with the instantaneous center of rotation and the axis linking the coupling bridge with this center of rotation; bi - The ratio of direct mechanical bonding elements as described by Zakin J. (1967).
If necessary, the interactions with the ground are then integrated in this model to determine the trajectory obtained thanks to a mathematical function which makes it possible to determine the consequences of the interactions between the ground and the tires (in particular related to the angle of steering of the wheels) . In this case, the steering angle y2 of the tractor wheels is replaced by a corrected (or "real") steering angle y2c which takes into account the interactions with the ground as previously described. The mechanical interactions that take place at the level of the joints between the machines (friction, ...) can be taken into account thanks to a mathematical function which modifies for example the value of in in inc (corrected mechanical connection ratio or "real "), or which modifies for example the value of the angle of folding yn corrected angle of bending (or real) ync. These modifications are carried out as described previously. At this stage, there is a means for simulating the trajectory of the tractor and its hitched elements. The trajectory optimization algorithm can operate according to several principles. First, it can work systematically on a bounded experimental domain (with limits) by incrementing each successive calculation by one step in advance. For a one-dimensional test this means, for example, testing a steering speed ranging from 0.01 rad / s to 1 rad / s with a pitch of 0.01 rad / s. Among the calculated trajectories, the set trajectory (or trajectories set if we speak of the set of trajectories of the machines 3, 3 ', 3 "and the tractor 2) retained by the optimization algorithm will be the one that maximizes the trajectories. objective set by the operator (eg minimizing the distance traveled during the maneuver).
It is possible, at the level of the optimization algorithm, to reduce the number of calculations to be performed using a "direct optimization method". By direct optimization method is meant a succession of trial-and-error aimed at a result while minimizing the number of tests to be performed. These methods are known, for example, from the following publications: Fiat, O. (2007), "Use and Development of the Simplex Method - New Procedures for Optimizing the Experimental Approach", Ph.D. Thesis, University of Limoges, 188 p. ; Porte, C. (2002), "Direct Methods of Optimization - Single Variable Methods and Simplex", Engineering Techniques, P228, 1-18; Porte, C. (2002), "Direct optimization methods - Methods derived from the Simplex method - Nelder and Mead (Modified Simplex) method", Engineering Techniques, P229, 1-15.
These methods work equally well for a single variable study as for a multivariable study. The most well-known methods for a monovariable study are those of the Fibonacci suite and the best-known method for a multivariable study is the simplex method. These methods are applicable in the context of the invention and as soon as acceptable trajectories (respecting the minimum objectives set by the operator) are reached, the optimization is completed and the trajectories set are fixed.
The following are described in more detail and by way of nonlimiting examples, the controls of trajectories running a maneuver, successively in semi-automatic and automatic operating modes of the management and guidance system. (piloting) maneuvers.
In the case of automated operation, the master unit 5 itself defines the corrective actions to be performed and on the basis of its control algorithm, the master unit 5 takes control of the organs necessary for the implementation of these corrective actions. For safety reasons, the operator can manually take control of the tractor-tool combination.
For example, control of the steering bar of the tractor 2 (or its equivalent) is taken over by the master unit 5 of the machine 3. The management and guidance system can also take control of the speed of the machine. progress of the tractor. The operator can be informed by a display device of a communication interface 8 on the progress of the operations controlled by the guidance system. The operator can, for example, disable the management system and guiding maneuvers end of trajectory to correct any drift.
It is possible to use for the calculation of the trajectory corrections in particular the following known parameters, illustrated in FIG. 6: a "tolerance band" (BT) without correction of trajectory is defined around the trajectory setpoint. The deviation at a time t between the reference trajectory of a machine 3, 3 ', 3 "and its theoretical trajectory is denoted Eta, with n the relative position of the machine concerned in the coupling (n = 1 for the tractor , n = 2 for the first coupled machine, etc.) There is no course correction if Etn is in the BT tolerance band - A "course correction band" (BC) around the trajectory If the difference between the actual trajectory and the target trajectory of tractor 2 is beyond this course correction band, the tractor will turn to the right or to the left as far as possible. d) which represents a maximum tolerable duration of exit of the tolerance band.In the event of deviation, the trajectories must be corrected in a time lower than d.In the inside of the band of correction of trajectory and outside the tolerance band, trapping corrections jectoire can be calculated according to a PID regulation mode, simplified in a linear combination of its components (Proportional action, Integral action, Derivative action), or can be calculated according to a fuzzy logic control mode.
In relation to the PID control, examples of application in position control (thus in trajectory tracking) are given by the following publication: Jacob D. (2004), Applications of the PID control - Temperature and position control, Techniques of the Engineer, S 7 718, 2-24. The use of fuzzy logic for guiding a vehicle is, for example, known from Yung, N.H.C. & Cang Y. (1999), "An Intelligent Mobile Vehicle Navigator Based on Fuzzy Logic and Reinforcement Learning" (an Intelligent Mobile Vehicle Browser Based on Fuzzy Logic and Reinforcement Learning), Systems, Man, and Cybernetics, Part B : Cybernetics, IEEE Transactions on, vol. 29, No. 2, 314-321. An attempt to apply fuzzy logic for agricultural sprayer guidance is described in Cho S. I. & Kl N. H. (1999), "Autonomous speed sprayer guidance using machine vision and fuzzy logic" (guidance of a fast autonomous sprayer using machine vision and fuzzy logic), Transactions of the ASAE, vol. 42, No. 4, 1137-1143. In general, these protocols correspond to the basic rules of fuzzy logic regulation as evoked for example in Bühler H. (1994), "Adjustment by fuzzy logic", Ed. Presses Polytechniques and Universitaires Romandes, 181p.
The parameterization of the path correction can be adjusted by the operator (tolerance band, path correction band, PID control parameters, fuzzy logic control parameters or other modality). In this regard, mention may be made of the successive approximation method (CERR M. (1991), Industrial Instrumentation, Volume 2, Col. Tec and Doc, Ed. Lavoisier, 747 p., In particular pages 273 and 274). It is also possible to carry out an identification process (Nyquist, Strejc, Broida, Ziegler and Nichols method, Dindeleux method) by manually making the poly-articulated assembly maneuver and then making it mathematical modeling.
The parameterization can also be done in auto-adaptive mode (the parameterization is self-optimizing as a function of the residual residual differences between the setpoint and the trajectories followed). Many self-adaptive correctors exist (M'Saad M. & Chebassier J. (2000), Adaptive Control Systems, Engineering Techniques, S7 426, 1-25). These methods apply to both PID control and fuzzy logic. The intelligent "layer" which optimizes the control law of the corrector can appeal to various principles including self-learning processes (for example of the neural network type). In general, the automatic correction modes proposed are part of the large servo families used in mobile robotics to guide a vehicle, as described for example in Fargeon C. & Quin J-P. (1993), "Mobile robotics", Ed. Teknea and DGA, 358 p., And in particular in chapters 5 and 9.
It is possible to propose a default automatic control mode. Due to the limited rotation speed of the steering wheel, an integral action is then necessary (because it would otherwise persist a small residual trajectory deviation). By associating the tractor gain (obtained by calibration or calculated using the manufacturer data) with the rotational speed of the fixed flywheel, it is possible, for example, to calculate a default correction value PI according to the method given by CERR (1991) which is based on on variables noted Tu and Tg obtained after a test. It is also possible to include a fuzzy logic control mode by default in the invention built on the same principle. Π is also recalled that in semi-automatic operation mode: - the setpoint is established by the master unit 5, - the mobilization of the actuators (at least of the tractor 2) is performed by the operator, it is possible that the The master unit 5 also gives information elements (following a calculation) on the corrective actions to be performed and their intensity (depending on the level of development of the driver assistance system).
In the case of a semi-automated mode of operation with human supervision, several technological levels are usable.
At the simplest level, an element will inform the operator on the trajectories to be respected (or on one or more directly related variables such as values of angles of folding to the articulations between two coupled components, or angle values of steer wheel steering). This corresponds to a "monitoring" type operation and the operator performs the operations necessary to obtain this result. At a higher level of assistance, the operator may also have information on the difference between the trajectories set (as it is possible to estimate or measure them) and the trajectories actually tracked (or on one or directly associated quantities). This information will make it possible to construct one or more variance variables that the operator will have to manually minimize by making the necessary changes of direction. The master unit 5 for calculating and controlling the system can offer the operator adapted decision strategies through the communication interface 8 and man-machine dialogue set up (for example he can indicate to turn the flying faster or slower in a given direction). This semi-automated mode of operation corresponds to a "driving assistance and decision-making" type of operation. The calculation methods are, for example, similar to those implemented in the case of automatic operation and can be used to propose actions to be performed by the operator in "driving assistance" mode. But a simplified calculation mode can also be used in semi-automatic mode. This simplified mode is based on a fuzzy logic corrector (see for example Kaufman A. (1992), Introduction to Fuzzy Logic, Engineering Techniques, A 120, R 7 032, 1-9).
During operation, the master unit 5 of the management and guidance system calculates the actions to be performed at the level of the power and steering components of the tractor 2 in order to follow the setpoint trajectory associated with the tractor and to respect the constraints set by the operator. This calculation may, optionally, be carried out using geolocation data provided for example by a GPS device. This calculation can be performed from the information provided by the sensors of the coupled assembly 1 independently of a geolocation system. The calculations made make it possible to compare the actual position of the tractor and the machines coupled to their theoretical positions (as defined by their trajectories). The difference between the actual trajectory and the set trajectory will be compensated by the management and guidance system. For this, the machine-related characteristics 3, 3 ', 3 "are stored in the memory via the interface 9 in the management and guidance system The acquisition of the characteristics of the equipment (independently of the parameterization of the device) The trajectory correction algorithm can also be performed by means of an experimental parameterization.The experimental setup consists of having the tractor perform an operation (for example a rotation of the steering wheel until it reaches the stop on the right and on the left followed by a displacement of the polyarticulate assembly with recording of the evolution of the angles of folding between coupled elements) and the software then determines the parameters necessary for its computations Additional sensors are arranged on the agricultural equipments to supplement or replace the information provided by the geolocation device (at least angle sensors fixed on the points of articulation 4, 4 ', 4 "of the coupling components or distance measuring devices attached to the coupling components).
Of course, the invention is not limited to the embodiments described and shown in the accompanying drawings. Modifications are possible, particularly from the point of view of the constitution of the various elements or by substitution of technical equivalents, without departing from the scope of protection of the invention.

权利要求:
Claims (19)
[1" id="c-fr-0001]
1) Hitch comprising, as constituent operational components, a tractor and at least one agricultural machine towed or semi-mounted, coupled directly to said tractor or to a previous machine in the hitch by at least one articulated connection, said hitch comprising also a system for managing and guiding maneuvers, including U-turns, comprising at least one calculation and control unit, which is integrated into the one or one of the machine (s) hitched and which is connected, on the one hand, to at least one sensor informing him of the current mutual relative positions of the two components of each pair of operational components of the hitch interconnected by an articulated link, on the other hand, to a unit management and control of the tractor and / or a communication interface, in particular display and possibly control, with the driver and finally at least one parametric means These additional functional components, to which the above-mentioned calculation and control unit is connected, also forming part of the maneuver management and control system, coupling (1), characterized in that the unit (5, 5 ') for calculating and controlling the (3) or one of the agricultural machine (s) (3', 3 ") hitched is the master unit of the management and guiding system of the maneuvers and preferably of the coupling (1), and in that it is fit and intended, under the control of a suitable maneuver management program: on the one hand, to calculate a set trajectory for at least one subsequent maneuver, initiated automatically or by the driver, on the basis of pre-programmed parameters relating to the characteristics and physical quantities of the tractor (2) and the coupled machine (s) (3, 3 ', 3 ") (s) ), objectives and / or constraints related to the agricultural work to be carried out and u terrain to be treated and to choices of operation of the hitch (1) and by implementing a trajectory prediction algorithm and an algorithm for optimizing trajectory setpoints and, secondly, to automatically execute said maneuver or assisting a semi-automatic execution of said maneuver, this possibly repeatedly, by driving the tractor (2), directly or through the unit (7) of management and control of the latter, and raising, during the maneuver, the differences between the predefined target trajectory and the actual or currently estimated trajectory, to correct them automatically or to signal them to the driver in semi-automatic mode, possibly after calculating the course correction maneuvers to be performed through a suitable algorithm.
[0002]
2) A coupling according to claim 1, characterized in that it also comprises at least one additional sensor (10) at the tractor (2) adapted and intended to provide information on the steering angle of the directional wheels (2 ' ), the speed of rotation of the driving wheels (2 "), the absolute speed of travel, the height position of its three-point linkage and / or the speed of drive of its power take-off.
[0003]
3) hitch according to any one of claims 1 and 2, characterized in that it comprises at least two agricultural machines (3, 3 ') coupled in series one behind the other to the tractor (2), the first machine (3) of the series being connected directly to the tractor (2) while being towed, carried or semi-mounted, the second machine (3 '), as well as any subsequent machines (3 "), being connected in an articulated manner to the machine (3, 3 ') which precedes them respectively and in that at least one sensor (6, 6', 6 ") providing a signal indicative of the mutual relative position of two operational components (2, 3, 3 ') , 3 ") interconnected by an articulated connection (4, 4 ', 4") is associated with or mounted at the or each articulated connection (4, 4', 4 ").
[0004]
4) Coupling according to any one of claims 1 to 3, characterized in that the or each articulated connection (4, 4 ', 4 ") has at least one degree of freedom as a faculty of pivoting about an axis vertical and / or perpendicular to the ground and in that the, some or each sensor (s) (6, 6 ', 6 ") associated with the hinged connection (s) (4, 4 ', 4 ") provided (ssen) t a signal indicative of the configuration of the corresponding hinge link (s) (4, 4', 4") around the axis of rotation concerned .
[0005]
5) Coupling according to any one of claims 1 to 4, characterized in that the tractor (2) and / or the or at least one of the agricultural machinery (s) towed (3, 3 ', 3 ") is (are) equipped with a geolocation antenna (11, 1Γ) whose data are transmitted to and processed by the master calculation and control unit (5) and processed by the latter automatic operation, and / or visualized on the communication interface (8).
[0006]
6) coupling according to claim 3 or any one of claims 4 and 5, as far as they depend on claim 3, characterized in that the master unit (5) for calculation and control, and the case Where appropriate, the geolocation antenna (11) is (are) mounted on the first agricultural machine (3) directly connected to the tractor (2), when it is towed or semi-mounted.
[0007]
7) Coupling according to any one of claims 1 to 6, characterized in that the master unit for calculation and control (5) is connected to a power control interface (12) of the tractor (2), or to the control and management unit (7) of the latter via a communication bus (13), this bus (13) also transmitting data between this master unit (5) and the other functional components (8, 10, 1Γ) of the management and guidance system, possibly equipping the tractor (2).
[0008]
8) Coupling according to any one of claims 1 to 7, characterized in that the interface (8) for communication with the conductor comprises a means for selecting the operating mode between a fully automatic control operation, semi-controlled automatic or manually operated.
[0009]
9) A method of automated or semi-automated management maneuvers, including U-turns, an articulated or poly-articulated hitch comprising a tractor and at least one agricultural machine towed or semi-mounted hitched directly to said tractor, or a previous machine in the hitch, by at least one articulated connection, and a management system and maneuvers guide, including U-turns, comprising a calculation and control unit, which is integrated in the or one of the coupled machine (s), and which is connected, on the one hand, to at least one sensor informing it of the current mutual relative positions of the two components of each pair of connected operational components of the linkage between them by an articulated connection, on the other hand, to a tractor management and control unit and / or to a communication interface, in particular display and possibly control, with the driver and, finally, at least s parameterizing or programming means, these additional functional components of the system also forming part of the management and guidance system of process maneuvers, characterized in that it consists, via the calculation and control unit ( 5) of the agricultural machine (3) considered, acting as the master unit of the system for managing and guiding the maneuvers of the coupling (1), and by executing a suitable maneuver management program, to be calculated a set path for at least one future maneuver, initiated automatically or by the driver, on the basis of pre-programmed parameters relating to the relevant design, functional and dimensional characteristics of the tractor (2) and the machine (s) (s) ( 3, 3 ', 3 ") coupled to objectives and / or constraints related to the agricultural work to be carried out and the terrain to be treated and to the operating choices of the team (1) e t by implementing a trajectory prediction algorithm and a trajectory set optimization algorithm, then automatically executing said maneuver or assisting a semi-automatic execution of said maneuver, this possibly repeatedly, while driving the tractor (2), directly or through its management and control unit (7), and by raising, during the maneuver, the differences between the predefined target trajectory and the actual or currently estimated trajectory, to correct them automatically or to report them to the driver in semi-automatic mode, possibly after calculation of the trajectory correction measurements to be performed by implementing a suitable algorithm.
[0010]
10) A method according to claim 9, characterized in that it consists, in semi-automatic management mode of a maneuver, to display for the operator installed in the tractor (2) and preferably by l intermediate of a display device forming part of the communication interface (8), a recommended setpoint trajectory, possibly adjusted or refreshed during operation according to the evolution of the position of the tractor (8), of an agricultural machine (3, 3 ', 3 ") and / or of the coupling (1), and to authorize the operator to perform the maneuver within the limits of circumstantial conditions and safety, as well as physical possibilities , kinematic and mechanical coupling (1), the unit (5) for calculating and controlling the agricultural machine (3) considered providing a decision aid in the form of a recommended path and possibly more or less indications detailed for the realization of act ions for piloting the maneuver and / or the correction of trajectory.
[0011]
11) Method according to claim 9, characterized in that it consists, in automatic management mode of a maneuver by the master unit (5), to take into account data provided by at least one antenna (11, 1Γ ) of geolocation equipping the tractor (2) or at least one of the coupled machines (3, 3 ', 3 ").
[0012]
12) A method according to claim 9 to 11, characterized in that it consists, prior to the treatment of a site, preferably immediately after constitution of a hitch (1) for a simple or complex work, to set the l algorithm for calculating trajectories by indicating to the master unit (5) different functional, structural and dimensional characteristics of the tractor (2) and of the other agricultural machine (s) (3 ', 3 ") of the coupling (1) considered.
[0013]
13) Method according to any one of claims 9 to 12, characterized in that it consists in taking into account, at the or each articulated connection (4, 4 ', 4 "), at least one degree of freedom in the form of an ability to pivot about an axis of vertical rotation and / or perpendicular to the ground, the, some or each sensor (s) (6, 6 ', 6 ") associated with the connection (s) ( s) articulated (4, 4 ', 4 ") providing a signal indicative of the configuration of the corresponding articulated link (s) (4, 4', 4") around the respective axis of rotation.
[0014]
14) Method according to claims 12 and 13, characterized in that the following characteristics and quantities are filled in during the parameterization phase of the algorithm for calculating the trajectories: the maximum steering angle of the tractor (2), the maximum widths of the components (2, 3, 3 ', 3 ") of the coupling (1), - the desired forward speed during the maneuver, - the maximum angular speed of the steering wheels of the tractor (2 ), - the maximum bending or pivoting angles between the coupling components (2, 3, 3 ', 3 "), - the distance between the rear axle of a component of the coupling (1) and the coupling point of the following component which is connected to it, - the distance between the rear axle of a coupled component and its coupling point to the preceding component, - the wheelbases of the components of the kinematic assembly formed by the coupling (1), - steering direction (right or left).
[0015]
15) Method according to any one of claims 11 to 14, characterized in that it consists in setting the trajectory optimization algorithm by providing desired optimization objectives, such as, for example, the minimization of time the minimization of the distance traveled by one of the components (2, 3, 3 ', 3 ") of the coupling (1) during the maneuvering and / or the minimization of at least one geometrical dimension characterizing the maneuvering space, such as for example the width of the headland in the case of a half-turn.
[0016]
16) Method according to any one of claims 11 to 15, characterized in that it consists in setting the trajectory optimization algorithm, in the case of the management of U-turns, by the indication of constraints of such as, for example, the imposition of an entry point and / or an exit point in the soil or crop working area, or the imposition of a maximum authorized width headstock corresponding to a given multiple, for example 2 or 3, of the working width of the widest agricultural machine (3, 3 ', 3 ") of the coupling (1).
[0017]
17) Method according to any one of claims 10 to 16, characterized in that it consists in taking into account, during the execution under control of the maneuver according to a calculated and optimized target trajectory, the data provided by different sensors (6, 6 ', 10) mounted on the tractor (2) and / or the agricultural machine (s) (3, 3', 3 ") and / or associated with the individual hinged link (s) (4, 4 ', 4 ") between the components (2, 3, 3', 3") of the coupling (1).
[0018]
18) Method according to any one of claims 11 to 17, characterized in that it consists in taking into account, during the execution under control of the maneuver in accordance with a calculated and optimized target trajectory, the data provided. by a geolocation system of which at least one corresponding antenna (11, 11 ') is mounted on the agricultural machine (3) comprising the master unit (5), on another agricultural machine (3', 3 ") of the hitch (1) or on the tractor (2), and possibly to record the deviations from the recommended set-point trajectory and to display them, if necessary to calculate and indicate to the operator the compensatory measures and / or the correct automatically.
[0019]
19) Method according to any one of claims 11 to 18, characterized in that it consists in performing the maneuver under the control of the master unit (5) by transmitting instructions from the latter to a control interface power unit (12) of the tractor (2), in particular driving the steering, acceleration and braking systems of said tractor (2).

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同族专利:

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公开号 | 公开日

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BR102016025674A2|2017-05-09|

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EP3165061A1|2017-05-10|

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US20170188505A1|2017-07-06|

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RU2016143189A3|2020-03-16|

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RU2720936C2|2020-05-14|

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EP3165061B1|2019-02-20|

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FR3042943B1|2017-11-10|

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RU2016143189A|2018-05-10|

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US10524406B2|2020-01-07|

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CN106612675A|2017-05-10|

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PL3165061T3|2019-08-30|

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法律状态:
2016-10-20| PLFP| Fee payment|Year of fee payment: 2 |

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2017-05-05| PLSC| Search report ready|Effective date: 20170505 |

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2017-10-20| PLFP| Fee payment|Year of fee payment: 3 |

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2019-11-25| PLFP| Fee payment|Year of fee payment: 5 |

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2021-08-06| ST| Notification of lapse|Effective date: 20210705 |

优先权:

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申请号 | 申请日 | 专利标题

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FR1560524A|FR3042943B1|2015-11-03|2015-11-03|AGRICULTURAL COUPLING WITH A MANEUVERS MANAGEMENT AND GUIDANCE SYSTEM AND METHOD IMPLEMENTED THROUGH THIS COUPLING|FR1560524A| FR3042943B1|2015-11-03|2015-11-03|AGRICULTURAL COUPLING WITH A MANEUVERS MANAGEMENT AND GUIDANCE SYSTEM AND METHOD IMPLEMENTED THROUGH THIS COUPLING|

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US15/299,629| US10524406B2|2015-11-03|2016-10-21|Agricultural hitch with a system for management and guidance of operations and a method thereof|

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RU2016143189A| RU2720936C2|2015-11-03|2016-11-02|Agricultural complex with system of control and direction of maneuvers and method implemented by such complex|

---

EP16306435.5A| EP3165061B1|2015-11-03|2016-11-02|Agricultural coupling with a system for managing and guiding manoeuvres and method implemented by said coupling|

---

PL16306435T| PL3165061T3|2015-11-03|2016-11-02|Agricultural coupling with a system for managing and guiding manoeuvres and method implemented by said coupling|

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CN201610959852.2A| CN106612675A|2015-11-03|2016-11-03|Agricultural coupling with a system for managing and guiding manoeuvres and method implemented by said coupling|

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BR102016025674A| BR102016025674A2|2015-11-03|2016-11-03|agricultural coupling with a shunt management and steering system and procedure applied by this coupling|