AGRICULTURAL COMPLEX WITH SYSTEM OF CONTROL AND DIRECTION OF MANEUVERS AND METHOD IMPLEMENTED BY SUCH COMPLEX Russian patent published in 2020 - IPC A01B69/00 G05D1/02 B62D13/00 A01B59/42 

FIELD: agriculture.

SUBSTANCE: complex includes, as composite working components, tractor and at least one towed or semi-mounted agricultural machine, engaged directly with said tractor or with previous machine in complex by means of at least one articulated joint. Complex comprises control and direction system of maneuvers, in particular, turns, comprising at least one calculation and control unit, built into towing machine or one of towing machines and connected to at least one sensor, transmitting into it current relative interdependent positions of two components of each pair of working components of the system, interconnected by hinged connection, as well as with tractor control and monitoring unit and/or with communication interface, in particular, indication and, possibly, control for communication with tractor driver, and also with at least one parameterization or programming device of additional functional components. Additional functional components, to which the said calculation and control unit is connected, are also part of the control and direction system of maneuvers. Computing and control unit of trailed agricultural machine or one of trailed agricultural machines represents main unit of control and direction system of maneuvers and preferably of complex. Main unit of control and direction system of maneuvers is made with possibility of controlled program adapted to control maneuvers, calculate a predetermined trajectory for at least one upcoming maneuver, started automatically or by a tractor driver, based on preprogrammed parameters, relating to characteristics and physical values of tractor and trailed machine or trailed machines, to tasks and/or conditions of agricultural work and to treated section, as well as to the complex operation selection, using the path prediction algorithm and the trajectory optimization algorithm, as well as automatically perform said maneuver or facilitate semi-automatic execution of said maneuver, and, possibly, repeatedly, by controlling tractor directly or through its control and monitoring unit and determining during maneuver deviation between predetermined given trajectory and real or current evaluation trajectory in order to automatically correct or notify a tractor driver in a semi-automatic mode, possibly after calculating maneuvers for trajectory correction using a corresponding algorithm. Method of automatic or semi-automatic control of maneuvers, in particular, turns of hinge or multi-hinged complex, including tractor and at least one towed or semi-mounted agricultural machine coupled directly with said tractor or with previous machine in complex by means of at least one articulated joint, as well as control and direction system of maneuvers, in particular, turns. Maneuver control and direction control system includes one calculation and control unit built into said towing machine or one of towing machines and connected to at least one sensor, transmitting into it current relative positions of two components of each pair of working components of complex, interconnected by hinged connection, as well as with tractor control and monitoring unit and/or with communication interface, in particular, indication and, possibly, control for communication with tractor driver, and also with at least one parameterisation or programming device. Said additional functional components associated with the unit of calculations and control are also part of said control and direction system. Using the calculation and control unit of the agricultural machine in question, which acts as the main unit of said system for controlling and guiding complex maneuvers, and when executing a program adapted to control maneuvers, calculating a predetermined trajectory for at least one upcoming maneuver, started automatically or by tractor driver, based on pre-programmed parameters related to proper structural, functional and dimensional characteristics of tractor and trailed machine or trailed machines, to tasks and/or conditions of agricultural work and to treated section, as well as to the complex operation selection, using the path prediction algorithm and the trajectory optimization algorithm. Then, said maneuver is automatically carried out or said maneuver is facilitated by semi-automatic execution, and, if necessary, repeatedly, at that tractor is controlled directly or through its control and monitoring unit and determining during maneuver deviation between predetermined preset path and real or current evaluation trajectory in order to automatically correct or alert tractor driver in semi-automatic mode, possibly, after calculation of trajectory correction parameters using corresponding algorithm.

EFFECT: higher efficiency of semi-automatic or automatic control and direction of tractor machine maneuvers.

19 cl, 11 dwg, 1 tbl