Abstract
An autonomous tractor for autonomously crossing farmland, includes one or more sensors for detection of an obstacle when crossing the farmland, and a central processing unit (CPU) for receiving input signals from the the sensors and for controlling movement of the tractor based on the input signals in order to avoid the obstacle, a coupler for coupling an agricultural machine able to be coupled to the tractor, and the agricultural machine includes one or more additional sensors for detection of the obstacle, wherein coupling of the agricultural machine operatively connects the additional sensors to the CPU and automatically provides data to the CPU regarding the location of each of the additional sensors on the agricultural machine and one or more specifications of each of these additional sensors.
Claims
1. An autonomous tractor for autonomously crossing farmland, comprising: a tractor, one or more sensors on the tractor for detection of an obstacle when crossing the farmland, a central processing unit (CPU) for receiving input signals from the one or more sensors and for controlling movement of the tractor based on the input signals in order to avoid an obstacle, a coupler for coupling an agricultural machine chosen from a group of agricultural machines to the tractor, and one or more additional sensors for detection of the obstacle on each of the agricultural machines, wherein the one or more additional sensors are operatively connected to the CPU when the agricultural machine is operatively connected to the tractor, and automatically providing data to the CPU regarding the location of each of the one or more additional sensors on the agricultural machine and one or more specifications of each of these one or more additional sensors.
2. An autonomous tractor according to claim 1, wherein the output signal of each said sensor is under the control of the CPU.
3. An autonomous tractor according to claim 1, wherein the controlling movement of the tractor calculated by the CPU is additionally based on one or more environmental circumstances of the tractor.
4. An autonomous tractor according to claim 3, wherein the environmental circumstances are chosen from the group comprising 1) the presence of an agricultural machine adjacent the sensor, 2) the type of agricultural machine present, 3) the operating conditions of the agricultural machine, 4) the presence of a second autonomous tractor, 5) the physical properties of the farmland, 6) the weather conditions, 7) the presence of a human being in the vicinity of the tractor, and 8) the type of said human being.
5. An autonomous tractor according to claim 1, wherein the tractor comprises a connector for connecting the tractor to a road haulage truck for transport of the tractor over a road, wherein the direction of movement of the tractor for crossing the farmland is perpendicular to the direction of movement when the tractor is transported over the road.
6. An autonomous tractor according to claim 5, wherein the coupler is operable to move a coupled agricultural machine between two positions, the first of which is a position lateral to the tractor for cultivating the land, and the second of which is a position above the tractor.
7. An autonomous tractor according to claim 6, wherein the second position coincides with a footprint of the tractor.
8. An autonomous tractor according to claim 5, wherein the tractor has a first set of wheels corresponding to the movement when crossing the farmland, and a second set of wheels corresponding to transport of the tractor over the road.
9. An autonomous tractor according to claim 8, wherein the second set of wheels is arranged to be movable away from the farmland to prevent contact therewith when the tractor crosses the farmland.
10. An autonomous tractor according to claim 5, wherein the connector comprises a drawbar, and the drawbar is arranged to be put in an upright position when the tractor crosses the farmland.
11. An autonomous tractor according to claim 5, wherein the agricultural machine has a fixed length of at least 3 meters.
12. A method to cultivate farmland comprising autonomously crossing the farmland with an autonomous tractor according to claim 1.
Description
FIG. 1
[0044] FIG. 1 is a schematic top plan view of an autonomous tractor 1 for autonomously crossing farmland. The tractor crosses the farmland in the direction indicated as X. At is trailing end, coupled to the tractor via common triangle coupler 3 is a power harrow 2. The triangle has standard dimensions and drive axle such that various common agricultural machines can be coupled to the tractor. During the autonomous crossing of the farmland in direction X, the power harrow rests on the land for cultivating it. The tractor has an internal engine (not depicted) which drives the wheels 6 and the power harrow. For making sure the tractor is not principally hindered by any obstacles, the front side is provided with several sensors (not depicted) for detection of such obstacles when crossing the farmland. Laterally, the tractor is provided with a drawbar 4 and opposite thereof, with a second set of wheels 5. The drawbar and second set of wheels are not in use when the tractor crosses the farmland. They serve to help in transporting the tractor over the road. To enable thus, the drawbar can be used for connecting the tractor to a road haulage truck for transport of the tractor over the road, whereas the set of wheels 5 acts to provide rolling support. According to the invention, the direction of movement of the tractor for crossing the farmland (X) is perpendicular to the direction of movement when the tractor is transported over the road. The latter direction is indicated in FIG. 2.
FIG. 2
[0045] FIG. 2 is a schematic top plan view of the autonomous tractor of FIG. 1 with the agricultural machine 2 in an elevated position. The coupler 3 is operable to move the coupled harrow between two positions (not excluding that the harrow can be put in any intermediate position), the first of which is the position lateral to the tractor for cultivating the land (as depicted in FIGS. 1 and 3), and the second of which is a position above the tractor. This is the position as depicted in FIG. 2. A corresponding side view is shown in FIG. 4. As a result of taking the second position above the tractor, the second position coincides with the footprint of the tractor, i.e. the harrow's footprint overlaps completely (over the width of the tractor) with the footprint of the tractor. The result is that the combination in the direction of transport indicated as Y, is not wider than the width of the tractor itself.
FIG. 3
[0046] FIG. 3 is a schematic side view of the tractor, corresponding to FIG. 1. In this side view the set of wheels 5 and the drawbar 4 are arranged in an elevated position so as to not interfere with the autonomous operation of the tractor.
FIG. 4
[0047] FIG. 4 is a schematic side view of the tractor, corresponding to FIG. 2. In this side view the set of wheels 5 and the drawbar 4 are arranged in a lowered position so as to be able and support the road haulage of the tractor. The drawbar is used for connecting to a human operated truck. The wheels 5 serve to provide a rolling support of the tractor during road haulage (see FIGS. 6, 7 and 8 for a combination of autonomous tractors with a human operated truck for road haulage).
FIG. 5
[0048] FIG. 5, consisting of FIG. 5A and 5B, provide a schematic view of an alternative autonomous tractor 1. In FIG. 5A the tractor is shown in “cultivation” mode with a front end and trailing end agricultural machines 2 and 2′ attached. Drawbar 4 and wheels 5 are in elevated position so as to not interfere with the cultivation of the farmland. FIG. 5B shows the same tractor with the machines 2 and 2′ in elevated position, and the drawbar 4 and wheels 5 in lowered position enabling road haulage. As can be seen, the advantage of a lack of a cabin for a human operator is that the machines can be elevated to a completely upright position, leading to the smallest width possible during road haulage and also, leading to less stringent mechanical demands for the couplers: the forces exerted on these couplers during transport are much smaller when the machines are right above the couplers, when compared to a situation wherein the machines are coupled under an angle of for example 45°.
FIG. 6
[0049] FIG. 6 is a schematic view of two autonomous tractors 1 as depicted in FIG. 5, pulled by human operated tractor 10 serving as a road haulage truck for transport over the road. Both tractors 1 have the agricultural machines elevated to an upright position to provide for the smallest width possible.
FIG. 7
[0050] FIG. 7 is a schematic view of an alternative arrangement of the combination as shown in FIG. 6. In this embodiment, the tractor 10 pulls two autonomous tractors 1 and 1′to which different agricultural machines are coupled.
FIG. 8
[0051] FIG. 8 is a schematic view of a further alternative arrangement of the combination as shown in FIGS. 6 and 7. In this combination the drawbars 4 and wheels set 5 are arranged on opposite sides of each tractor (when compared to each other), providing the advantage that the agricultural machines during transport over the road are present at opposite sides of each tractor. This decreases the risk that the machines mechanically interfere with the road transport.
FIG. 9
[0052] FIG. 9 schematically depicts an example of an autonomous tractor suitable for autonomous transport over the road. In this embodiment at least one of the axles of wheels 5 is actuated by the motor of the tractor, and this axle, and/or the other one, may be arranged as a steering axle that can be used to navigate the road. The technology for the autonomous transport/driving of this tractor over the road may be the same as present day technology used for autonomous cars.
FIG. 10
[0053] FIG. 10, comprising sub-figures 10A, 10B and 10C schematically shows the implantation of various sensors in line with the invention. In FIG. 10A an autonomous tractor without an agricultural machine coupled thereto is depicted. The sensors (not shown) create a virtual cage 30 in an area 20. If an obstacle, for example a person, is sensed in the virtual cage 30, the CPU will react to control the movement of the tractor to avoid overriding the person, e.g. by stopping the machine, or by (anticipating) slowing down and at the same time providing a light and sound signal to warn the person of the vicinity of the tractor.
[0054] FIG. 10B shows the situation wherein an agricultural machine 2 is connected to the tractor (the machine 2 itself is not depicted in FIG. 10B for reasons of clarity; see FIG. 100 for the actual machine 2 being present). In line with the invention, as soon as the machine is (electronically) connected to the CPU of the tractor (which maybe via a hardware connection using a connector/ISOBUS etc., or via a wireless connection) the CPU is provided automatically with data regarding the location of each of the one or more additional sensors on the agricultural machine and one or more specifications of each of these one or more additional sensors. In this embodiment, the CPU automatically shuts off the sensors of the tractor that sense the agricultural machine leading to adjusted virtual cage 30′ (as depicted in FIG. 10B). This virtual cage 30′ is in fact the same cage as 30, minus the part facing the agricultural machine. Once connected, the CPU also automatically shuts on the sensors of the agricultural machine. This leads to the virtual cage 30″ as depicted in FIG. 100. As a consequence, the combination of tractor and machine can operate with the combined sensors on the tractor and machine, in essence “seeing” the combination of the tractor and agricultural machine as one unit for crossing the farmland.
[0055] In practice it may be that several independent tractors will cross the same lot of farmland simultaneously to cultivate the land together. If so, it is important that the various tractors (plus machines) do not see each other as regular obstacles, which could lead to a situation that they react to each other, stop and don't continue to work. So as soon as various autonomous tractors are working close to each other there should be communication between the combinations about position, speed, and travel direction but also about dimensions implements have. The sensors can be useful in this respect.
[0056] Another aspect of the invention is that the tractors may be able to distinguish between (curious) spectators and an operator. Where the machine has to be 100% safety proof for general public, the operator sometimes has to observe the tractor and/or machine closely to real time adjust and verify the result of the cultivation job executed by the machine. This could for example lead to a system wherein if a common spectator is sensed within 10 meters of the tractor at a certain speed, the machine starts providing light and sounds signals, or even stops if the spectator is within 5 meters of the tractor, whereas for an operator such actions are only undertaken at 3 and 1 meter respectively when the tractor travels at the same speed. An operator could for example be recognised via wireless communication between the CPU of the tractor and a smartphone, or other hand held device of the operator, or by sensing a physical property of the operator (such as the iris, face, or any other physical characteristic). Also, output signals of one or more sensors connected to an operator may be used as input for the CPU. In an embodiment, as soon as the operator is present in the virtual cage, he (or she) receives a signal thereabout. This improves the safety of the operating conditions.
FIG. 11
[0057] FIG. 11 schematically depicts the arrangement of sensors 41 through 45 and CPU 40 in a combination of a tractor and agricultural machine according to the invention. The sensors 41, 42 and 43 are part of the tractor and have a fixed connection with the CPU 40. They provide an output signal to the CPU, which on its turn controls and actuated the motor 50 of the tractor (“M”), a light and sound warming system 51 (“LS”) and/or a (virtual) steering wheel 52 (“W”). The sensors 44 and 45 are part of the agricultural machine and connected to the CPU via connector 60.
