Field of Invention
Embodiment of present application illustrate an apparatus for farming specifically to an
Autonomous Tractor.
Background:
For driving with high precision and accuracy, the technology is required which will be
controlling the tractor aggregates. Driving the tractor in straight line is a major issue for the
farmer. Even if the farmer holds steering wheel straight at starting position to follow a straight
line, because of the ground forces from undulated land, the tractor continuously deviates from
the initial set position. And farmer fails to maintain a proper straight line drive from one end
to other end of the field. Which finally results in over or under treatment of complete land and
hence it hampers overall productivity.
As all of us know that the world population is expanding exponentially and with that, the food
security threat rises. So, there is more pressure on farmers to grow more from the same land.
So, the idea of precision farming pitches in, where the ultimate goal is to increase the
productivity by improving the field operational practices and optimizing soil and crop
management.
Indian Agriculture & Farming requires practices to get higher yield per hectare for food to ever
growing population. This is possible through extensive mechanization and precision based agro
solutions only. Currently, looking at the global scenario, we need to double the amount of the
food that is being currently produced by the motherland. Therefore a need to switch towards a
mechanization solution that will not only help in avoiding potential food security threat but
also help farmer in easing the burden on his shoulders is required.
Though there are multiple solutions available in market, an affordable solution for this problem
is still a challenge for the farmers across globe especially in India.
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Summary
In order to overcome the problems existed, there is provided a solution by an automated tractor
for precision farming by managing variations in the field accurately to grow more food using
fewer resources and reducing production costs.
Embodiments of the application provide combination of hardware which are performing
various functions such as the present invention by an embodiment generated a Geo-fence of
the field and performs a real-time operation with a real-time view.
The embodiments of the present invention also enables a user to select an application, a path
pattern and selection of implementing width.
The embodiments of the present invention through various hardware features such as by
electro-hydraulic, electro-pneumatic, sensors, actuators enables auto selection of RPM and
Gear based upon the implement as selected by a user and also provides auto implement lift and
split braking operation at turns.
The embodiments of the present invention through various hardware features enables to switch
ON/OFF the automation through HMI.
Brief Description of Figures
The detailed description is described with reference to the accompanying figures.
Figure 1 illustrates the configuration of various structural components
involved in an automated tractor.
Figure 2 illustrates the architecture of the operation of different components
involved in the functioning of an automated tractor.
Description
The following discussion provides a brief, general description of an Automated Tractor. The
embodiments described herein.
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Exemplary embodiments now will be described with reference to the accompanying drawings.
The disclosure may, however, be embodied in many different forms and should not be
construed as limited to the embodiments set forth herein; rather, these embodiments are
provided so that this disclosure will be thorough and complete, and will fully convey its scope
to those skilled in the art. The terminology used in the detailed description of the particular
exemplary embodiments illustrated in the accompanying drawings is not intended to be
limiting. In the drawings, like numbers refer to like elements.
The specification may refer to “an”, “one” or “some” embodiment(s). This does not necessarily
imply that each such reference is to the same embodiment(s), or that the feature only applies to
a single embodiment. Single features of different embodiments may also be combined to
provide other embodiments.
As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms
as well, unless expressly stated otherwise. It will be further understood that the terms
“includes”, “comprises”, “including” and/or “comprising” when used in this specification,
specify the presence of stated features, integers, steps, operations, elements, and/or
components, but do not preclude the presence or addition of one or more other features,
integers, steps, operations, elements, components, and/or groups thereof. It will be understood
that when an element is referred to as being “connected” or “coupled” to another element, it
can be directly connected or coupled to the other element or intervening elements may be
present. Furthermore, “connected” or “coupled” as used herein may include wirelessly
connected or coupled. As used herein, the term “and/or” includes any and all combinations and
arrangements of one or more of the associated listed items.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have
the same meaning as commonly understood by one of ordinary skill in the art to which this
disclosure pertains. It will be further understood that terms, such as those defined in commonly
used dictionaries, should be interpreted as having a meaning that is consistent with their
meaning in the context of the relevant art and will not be interpreted in an idealized or overly
formal sense unless expressly so defined herein.
The figures depict a simplified structure only showing some elements and functional entities,
all being logical units whose implementation may differ from what is shown. The connections
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shown are logical connections; the actual physical connections may be different. It is apparent
to a person skilled in the art that the structure may also comprise other functions and structures.
It should be appreciated that the functions, structures, elements and the protocols used in
communication are irrelevant to the present disclosure. Therefore, they need not be discussed
in more detail here.
In addition, all logical units described and depicted in the figures include the software and/or
hardware components required for the unit to function. Further, each unit may comprise within
itself one or more components, which are implicitly understood. These components may be
operatively coupled to each other and be configured to communicate with each other to perform
the function of the said unit.
The features of the present invention is fitted with an Automatic Manual Transmission System.
Further, the present invention enables a user to configure the tractor for an automatic path
generation as per implement and field size for farming work, which can be controlled by a
mobile application.
The present invention also enables by a novel architecture to auto steer, auto implement lift,
auto PTO control, auto headland turns, split braking as well supporting 8 I field applications.
An embodiment of the present invention provides an apparatus (100) for farming comprises of
a master electronic control unit (101) which controls and instructs at least a steering system
(102), a braking system (103), a transmission system (104), an implement control (105), a path
control system (106) and an engine electronic control unit (107), based on an input received by
a human machine interface (108), wherein the master electronic control unit configured to
receive and process sensory signals generated by sensors, said sensory signals being generated
in real-time based on characteristics of a farm and a geofencing of said farm configured by a
user wherein said sensory signals are processed by the master electronic control unit to generate
proportional signals to control said systems by comparing the user input and the real-time
sensory signals.
In the operation of the claimed invention, the master electronic control unit (101) transmits a
signal to the engine electronic control unit (107) and to the transmission system (104), said
engine electronic control unit (107) and the transmission system then proportionally generates
a first processing signal based on the signal transmitted by the master electronic control unit
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(101) wherein the first processing signal controls the speed and torque of the apparatus. It is
also understood that the electronic engine control unit is configured to control RPM of an
engine of the apparatus.
The transmission system (104) is also configured to transmit a second processing signal to a
shift lever unit, generated in proportion with the signal generated by the sensor. Further, the
shift lever unit generates a first command to a pneumatic clutch actuator, second command to
speed actuator and a third command to a range actuator for moving the apparatus in a desired
direction and speed based on the input received by the user.
In an embodiment of the present invention, the steering system (102) is coupled with sensors
for providing real-time statistics of the farm to the master electronic control unit, and upon
receiving said statistics the master electronic control unit generates a control signal to control
the steering system. The steering system (102) is guided by a GPS system, said GPS system is
in communication with an inertia measuring unit and a wheel angle sensor for providing the
real-time statistics of the farm.
It is understood that the sensors can be configured to assist different farming requirements.
The master electronic control unit (101) also configured to generate lift signal based on input
provided by the user to control an implement at headland turn, wherein the implement is
selected by the user for farming the farm.
The braking system (103) is configured to independently control individual brakes of the
apparatus with a braking control signal. The braking system also comprises of a PWM control
valve system for controlling the brakes independently and to perform a split brake operation.
Further, the processing signal, control signal and sensory signals are could be electric and/or
pneumatic signals, as these signals activates/deactivates different units of the present invention
in order to perform the invention.
In another embodiment of the present invention there is also provided a method of farming
comprising wherein at least a steering system, a braking system, a transmission system, an
implement control, a path control system and an engine electronic control unit controlled and
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instructed through an electronic master control unit based on an input received by a human
machine interface. Further, in another step, the master electronic control unit receives and
processes sensory signals generated by sensors in real-time based on characteristics of a farm
and a geofencing of said farm configured by a user; processing said sensory signals by the
master electronic control unit. The master electronic control unit also generates proportional
signals to control said systems by comparing the user input and the real-time sensory signals
and then transmitting a signal to the engine electronic control unit and to the transmission
system.
Further, engine electronic control unit and the transmission system generates a first processing
signal wherein the first processing signal is proportional to the signal transmitted by the master
electronic control unit. The function of the first processing signal is to control the speed and
torque of the apparatus. A second processing signal is also transmitted by the transmission
system to a shift lever unit which is generated in proportion with the signal generated by the
sensor. A first command is generated by the shift lever unit to a pneumatic clutch actuator and
generating a second command to a speed actuator and a third command to a range actuator for
moving the apparatus in a desired direction and speed based on the input received by the user.
Further, the steering system is controlled by the master electronic control unit based on realtime statistics of the farm.
A lift signal is generated by the master electronic control unit, based on input provided by the
user to control an implement at headland turn, wherein the implement is selected by the user
for farming the farm.
The brakes is controlled independently through a braking control signal wherein controlling
the brakes of the apparatus, by a PWM control valve system of the braking system
independently and to performing a split brake operation.
It is also to be understood that the steering system is guided by a GPS system while said GPS
system is in communication with an inertia measuring unit and a wheel angle sensor for
providing the real-time statistics of the farm.
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While various structural feature of the present invention provides multi-functionality
depending on the user input and farming requirement, the basic requirement of the farming
through the present invention provides various advantages over the existing art and techniques
existed at the time of the claimed invention:
1. Enhances vehicle operational efficiency
2. Helps to enhance yield output
3. Keeps the tractor within the fixed boundary using geo fencing
4. Enables the tractor to orient itself for Auto headland turning and maintains straight line
control during operations (AB Line of control)
5. Ensures safer operating conditions with automatic implement and Independent Power
Take-Off control
6. Reduces dependency on human skills.
The embodiment of the present invention is an approach to farm management that uses
information technology (IT) to ensure that the crops and soil receive exactly what they need
for optimum health and productivity. The ultimate goal is to ensure profitability, sustainability
and protection of the environment.
Figure 2 provides an insight into different structural elements which are performing the present
invention and are collectively performing the technical advanced operation in order to perform
the desired farming method by a user.
As it can be seen that the master controller performs the operation of master electronic control
unit wherein all the major units are in communication with such controller and wherein a GPS
provides signal based on the input provided by a user. The GPS provides signal based on the
latitude and longitude and therefore provides an active position sensing wherein real-time data
is processed in order to farm a desired location.
Further, it is also provided that the vehicle sensors such as wheel angle sensor, brake sensor
are also in real-time communication with the master controller. The embodiment also provides
that a solenoid valve and graduated actuator may be used for implementing the feature of lift
in an automatic operation.
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Further, an additional 3/2 solenoid valve graduated actuator could also be used to perform the
operation of implement control which depends upon the desired farming by the user.
In order to perform the operation of the steering an e-HSU valve steering control unit may be
used so that an accurate and controlled steering could be provided.
Further, in order to provide efficient braking, the brake pedal input is processed by PWM valve
and pull type cylinder wherein an air reservoir desirably 15 liter capacity may be used.
Further, the most important part of the invention i.e. transmission automation which is
automatic in nature comprises of different technical elements such as acceleration pedal input
which is controlled by the master controller. Also, the gear input is also provided by the master
controller which is performed by a gear shift actuator which is supplied by a 24v power supply.
Further, a range actuator is also provided and a shift lever unit is also operable by 24 volt.
In order to perform the invention, it is also disclosed in the figure 2 that for forward/reverse
lever a 3/2 solenoid valve can be used along with a pressure sensor.
As will be appreciated by one of skill in the art, the present invention may be embodied as a
method, system, or computer program product but not limited thereto. Accordingly, the present
invention may take the form of an entirely hardware embodiment or an embodiment combining
software and hardware aspects all generally referred to herein as an "apparatus" or "unit."

We Claim:
1. An apparatus (100) for farming comprising:
a master electronic control unit (101) controlling and instructing at least a steering system
(102), a braking system (103), a transmission system (104), an implement control (105),
a path control system (106) and an engine electronic control unit (107), based on an input
received by a human machine interface (108), wherein the master electronic control unit
configured to receive and process sensory signals generated by sensors, said sensory
signals being generated in real-time based on characteristics of a farm and a geofencing
of said farm configured by a user wherein said sensory signals are processed by the
master electronic control unit to generate proportional signals to control said systems by
comparing the user input and the real-time sensory signals.
2. The apparatus as claimed in claim 1, wherein the master electronic control unit transmits
a signal to the engine electronic control unit and to the transmission system, said engine
electronic control unit and the transmission system proportionally generates a first
processing signal based on the signal transmitted by the master electronic control unit
wherein the first processing signal controls the speed and torque of the apparatus.
3. The apparatus as claimed in claim 2, wherein the transmission system configured to
transmit a second processing signal to a shift lever unit, generated in proportion with the
signal generated by the sensor.
4. The apparatus as claimed in claim 3, wherein the shift lever unit generates a first
command to a pneumatic clutch actuator, second command to speed actuator and a third
command to a range actuator for moving the apparatus in a desired direction and speed
based on the input received by the user.
5. The apparatus as claimed in claim 1, wherein the steering system is coupled with sensors
for providing real-time statistics of the farm to the master electronic control unit, and
upon receiving said statistics the master electronic control unit generates a control signal
to control the steering system.
6. The apparatus as claimed in claim 1, wherein the master electronic control unit generates
lift signal based on input provided by the user to control an implement at headland turn,
wherein the implement is selected by the user for farming the farm.
7. The apparatus as claimed in claim 1, wherein the braking system is configured to
independently control individual brakes of the apparatus with a braking control signal.
8. The apparatus as claimed in claim 5, wherein the steering system is guided by a GPS
system, said GPS system is in communication with an inertia measuring unit and a wheel
angle sensor for providing the real-time statistics of the farm.
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9. The apparatus as claimed in claim 7, wherein the braking system comprising a PWM
control valve system for controlling the brakes independently and to perform a split brake
operation.
10. The apparatus as claimed in claim 1, wherein the electronic engine control unit is
configured to control RPM of an engine of the apparatus.
11. The apparatus as claimed in claim 1, wherein processing signal, control signal and
sensory signals are electric and pneumatic signals.
12. A method of farming comprising the steps of:
controlling and instructing at least a steering system, a braking system, a transmission
system, an implement control, a path control system and an engine electronic control unit
through an electronic master control unit based on an input received by a human machine
interface;
receiving and processing sensory signals by the master electronic control unit, generated
by sensors in real-time based on characteristics of a farm and a geofencing of said farm
configured by a user; processing said sensory signals by the master electronic control
unit;
generating proportional signals to control said systems by comparing the user input and
the real-time sensory signals;
transmitting a signal to the engine electronic control unit and to the transmission system
by the master electronic control unit,
generating a first processing signal by said engine electronic control unit and the
transmission system wherein the first processing signal is proportional to the signal
transmitted by the master electronic control unit;
controlling the speed and torque of the apparatus based on the first processing signal;
transmitting a second processing signal by the transmission system to a shift lever unit,
generated in proportion with the signal generated by the sensor.
generating a first command by the shift lever unit to a pneumatic clutch actuator,
generating a second command to a speed actuator and a third command to a range
actuator for moving the apparatus in a desired direction and speed based on the input
received by the user.
13. The method as claimed in claim 12, comprising:
controlling the steering system, by the master electronic control unit based on real-time
statistics of the farm.
14. The method as claimed in claim 12, comprising:
generating a lift signal, by the master electronic control unit, based on input provided by
the user to control an implement at headland turn, wherein the implement is selected by
the user for farming the farm.
15. The method as claimed in claim 12, comprising:
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controlling brakes of the apparatus independently through a braking control signal.
16. The method as claimed in claim 12, comprising:
guiding the steering system by a GPS system, said GPS system is in communication with
an inertia measuring unit and a wheel angle sensor for providing the real-time statistics
of the farm.
17. The method as claimed in claim 12, comprising:
controlling the brakes of the apparatus, by a PWM control valve system of the braking
system independently and to performing a split brake operation.