Tractor-trailer combinations

Patent metadata

Field	Value
Publication number	US-10925205-B2
Application number	US-201815975304-A
Country	US
Kind code	B2
Filing date	May 9, 2018
Priority date	May 9, 2017
Publication date	Feb 23, 2021
Grant date	Feb 23, 2021

Abstract

A movable tractor-trailer combination includes a self-powered tractor having a plurality of ground-engaging members and a steering mechanism for steering at least one the ground-engaging member; and a trailer that is towed behind the tractor and that is connected to the tractor by a drawbar that is pivotably connected at a tractor connection to the tractor. One or more sensors sense a line of a swath of crop material corresponding to a maximal quantity of crop material per unit length of the swath. The tractor-trailer combination includes a control apparatus that operates in dependence on at least one output of the one or more sensors to operate the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.

First claim

What is claimed is:

1. A movable tractor-trailer combination comprising:
a self-powered tractor comprising a plurality of ground-engaging members and a steering mechanism for steering at least one of the plurality of ground-engaging members so as to cause changes in a direction of movement of the tractor;
a trailer that is towed behind the tractor as the tractor moves forwardly;
a drawbar that is pivotably connected at a tractor connection to the tractor and at a location spaced along the drawbar to an attachment location on the trailer;
at least one actuator comprising a first end connected to the drawbar and a second end connected to the trailer, for steering the trailer relative to the tractor;
at least one sensor for sensing a line of a swath of crop material corresponding to a maximal quantity of crop material per unit length of the swath; and
a control apparatus configured for controlling:
the at least one actuator in dependence on at least one output of the at least one sensor in order to optimize a trajectory of the trailer relative to a transverse extent of the swath, and
the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.

2. The tractor-trailer combination according to claim 1 , wherein the trailer is a baler that comprises:
a pickup extending transversely relative to the baler for causing ingestion of crop material lying on the ground into the baler for baling; and
at least one chamber for receiving crop material ingested by the pickup and forming the crop material into bales,
wherein the control apparatus is further configured for controlling the at least one actuator to steer the baler relative to the tractor in order to further optimize the ingestion of crop material via the pickup.

3. The tractor-trailer combination according to claim 2 , wherein the at least one actuator extends between a forward location on the drawbar and a location on the baler disposed rearwardly of and offset transversely from the forward location such that operation of the at least one actuator causes steering of the baler relative to the tractor about the attachment location.

4. The tractor-trailer combination according to claim 1 , wherein the tractor further comprises a speed control mechanism for controlling a speed of forward movement of the tractor-trailer combination; and wherein the control apparatus additionally is operatively connected to the speed control mechanism and is further configured for controlling the forward speed of the tractor-trailer combination in dependence on the at least one output.

5. The tractor-trailer combination according to claim 1 , wherein the trailer comprises:
a main frame;
at least one steerable axle defining a pivot and at least one steering arm that is connected to the steerable axle; and
at least one further actuator being pivotably secured at each of two ends to extend between the steering arm and an anchor location that is fixed relative to the main frame such that operation of the at least one further actuator causes force to act on the steering arm to cause steering of the steerable axle about the pivot.

6. The tractor-trailer combination according to claim 1 , wherein the tractor further comprises:
a hitch defining a pivotable connection of the drawbar to the tractor, the hitch being moveable transversely relative to a remainder of the tractor; and
a hitch actuator for causing transverse movement of the hitch relative to the remainder of the tractor,
wherein the control apparatus is further configured for controlling the hitch actuator in dependence on the at least one output in order to further optimize the trajectory of the trailer relative to a transverse extent of the swath.

7. The tractor-trailer combination according to claim 1 , wherein the at least one sensor is supported by or forms part of the tractor.

8. The tractor-trailer combination according to claim 1 , wherein the at least one sensor is an optical device that generates an output derived from a two-dimensional image of a cross-section of the swath captured by the at least one optical device.

9. The tractor-trailer combination according to claim 8 , wherein the at least one optical device is operatively coupled to the control apparatus, wherein the control apparatus is further configured for generating a predicted line of the swath derived from a plurality of two-dimensional images of the cross-section or from a silhouette or outline of the swath captured sequentially by the at least one optical device as the tractor moves forwardly.

10. The tractor-trailer combination according to claim 9 , wherein the control apparatus is further configured for determining a deviation of a predetermined part of the trailer from the predicted line of the swath, generating an error signal proportional to the deviation, and transmitting the error signal to the at least one actuator such that the at least one actuator causes steering of the trailer relative to the tractor in a manner that minimizes the error signal.

11. The tractor-trailer combination according to claim 1 , wherein the control apparatus is further configured for controlling the steering mechanism of the tractor so as to maintain a predetermined minimum offset of a chosen location on the tractor from the line of the swath, the minimum offset corresponding to an integer or non-integer multiple of a widest transverse width of the tractor between ground-engaging members.

12. The tractor-trailer combination according to claim 1 , wherein the control apparatus includes a programmable device that is programmed and operatively coupled to effect steering of the tractor-trailer combination in dependence on the at least one output of the at least one sensor by causing the at least one actuator to steer the trailer relative to the tractor in order to optimize a trajectory of the trailer relative to a transverse extent of the swath, and to operate the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.

13. The tractor-trailer combination according to claim 1 , further comprising a computer-readable medium containing instructions for operation of a programmable device to cause the at least one actuator to steer the trailer relative to the tractor in dependence on the at least one output of the at least one sensor in order to optimize ingestion of crop material via the pickup, and to operate the steering mechanism of the tractor in dependence on the at least one output such that the tractor moves along the swath without any of the ground-engaging members running over the swath.

14. A baler towable behind a tractor along a swath of crop material, the baler comprising:
a pickup extending transversely for causing ingestion of crop material lying on the ground for baling;
at least one chamber for receiving crop material ingested by the pickup and for forming the crop material into bales;
at least one actuator comprising a first end connectable to a drawbar and a second end connected to a stationary part of the baler, the at least one actuator operable to steer the baler relative to a tractor;
an attachment location that is pivotably connectable to one end of the drawbar; and
a control apparatus configured for controlling:
the at least one actuator in dependence on at least one output of at least one sensor to steer the baler relative to the tractor in order to optimize the ingestion of crop material via the pickup, and
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Assignees

• Cnh Ind America Llc

Inventors

• Boydens Joachim
• Debbaut Thomas
• Verhaeghe Didier

Classifications

• A01B69/00

  Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track · CPC title

• A01B69/008 Primary

  automatic · CPC title

• A01D89/001

  Pick-up systems · CPC title

• A01B69/001

  Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163) · CPC title

• A01F15/08

  Details · CPC title