阅读说明：本技术 自主拖拉机及使用该拖拉机耕种农田的方法 (Autonomous tractor and method for cultivating farmland by using same ) 是由 劳伦修斯·许贝特斯·玛格丽塔·施米茨 约里斯·简·希德玛 于 2019-11-20 设计创作，主要内容包括：本发明涉及一种用于自主穿越农田的自主拖拉机,包括一个或多个传感器,用于在穿越农田时检测障碍物；联接器,用于联接从一组农业机器中选择的农业机器,农业机器中的每一个都能够联接到拖拉机,以及连接器,用于将拖拉机连接到道路运输卡车,以便在道路上运输拖拉机,其中,用于穿越农田的拖拉机的运动方向与拖拉机在道路上运输时的运动方向垂直。本发明还涉及使用这种拖拉机的方法。(The invention relates to an autonomous tractor for autonomously traversing a farmland, comprising one or more sensors for detecting obstacles while traversing the farmland; a coupler for coupling an agricultural machine selected from a group of agricultural machines, each of the agricultural machines being capable of being coupled to a tractor, and a coupler for coupling the tractor to a road transport truck for transporting the tractor over a road, wherein a direction of movement of the tractor for traversing an agricultural field is perpendicular to a direction of movement of the tractor when transported over the road. The invention also relates to a method of using such a tractor.)

1. An autonomous tractor for autonomously traversing an agricultural field, comprising one or more sensors for detecting obstacles while traversing the agricultural field; a coupler for coupling an agricultural machine selected from a group of agricultural machines, each of the agricultural machines being coupleable to a tractor; and a connector for connecting the tractor to a road transport truck to transport the tractor on a road, wherein a movement direction of the tractor for crossing the farm is perpendicular to a movement direction of the tractor when the tractor is transported on the road.

2. The autonomous tractor of claim 1, wherein the coupling is operable to move the coupled agricultural machine between two positions, the first position being a lateral position of the tractor for tilling the ground, the second position being a position above the tractor.

3. The autonomous tractor of claim 2, wherein the second position coincides with a footprint of the tractor.

4. An autonomous tractor according to any preceding claim, wherein the tractor has a first set of wheels corresponding to movement when traversing an agricultural field, and a second set of wheels corresponding to transport of the tractor over a roadway.

5. The autonomous tractor of claim 4, wherein the second set of wheels is arranged to be movable away from the field to prevent contact with the field as the tractor traverses the field.

6. An autonomous tractor as claimed in any preceding claim wherein the coupling comprises a tow bar, characterised in that the tow bar is arranged to be in an upright position when the tractor traverses an agricultural field.

7. The autonomous tractor of any preceding claim, wherein the agricultural machine has a fixed length of at least 3 metres.

8. The autonomous tractor of any preceding claim, wherein the tractor comprises a Central Processing Unit (CPU) for receiving input signals from the one or more sensors and controlling movement of the tractor to avoid an obstacle based on the input signals, wherein each of the set of agricultural machines includes one or more additional sensors for detecting the obstacle, wherein the coupling of the agricultural machine comprises operatively connecting the one or more additional sensors to the CPU and automatically providing the CPU with data regarding the position of each of the one or more additional sensors on the agricultural machine and one or more specifications for each of the one or more additional sensors.

9. The autonomous tractor of claim 8, wherein the output signal of the sensor is controlled by the CPU.

10. The autonomous tractor of claim 8 or 9, wherein the control of the movement of the tractor calculated by the CPU is further based on one or more environmental conditions of the tractor.

11. The autonomous tractor of claim 10, wherein the environmental condition is selected from the group consisting of: 1) whether an agricultural machine is present near the sensor, 2) the type of agricultural machine present, 3) operating conditions of the agricultural machine, 4) whether a second autonomous tractor is present, 5) physical characteristics of the field, 6) weather conditions, 7) whether a person is present near the tractor, 8) the type of person.

12. A method of cultivating a field comprising attaching an agricultural machine to an autonomous tractor according to any preceding claim, attaching the agricultural machine to which the tractor is attached to a road transport truck for transporting the tractor over a road to a plurality of fields, unloading the tractor from the road transport truck and allowing the tractor to autonomously traverse the fields as the agricultural machine cultivates the land.

13. A method according to claim 12, wherein the agricultural machine is located in a position above the tractor during road transport and in a position lateral to the tractor when tilling the ground.

Technical Field

The present invention generally relates to autonomous tractors for autonomous traversal and cultivation of agricultural fields.

Background

The adoption of agricultural technology today improves the methods used by farmers in the field. Modern agriculture enables farmers to easily obtain high yield with less investment. With the application of technology in agriculture, the future of agriculture is of high interest. For example, agricultural mechanization reduces the overuse of manpower in some agricultural activities. As a result, agricultural machines are becoming larger and more dedicated to one mode of cultivation. The introduction of autonomous tractors is considered the next step in the future of agriculture, and it is expected that the trend of larger and more specialized (dedicated) agricultural machines will continue using autonomous tractors.

It is now common to drive automobiles automatically. Based on the trend of technological progress, it is expected that this technology will also be used for farming farmlands. Currently, farmers in developed countries are providing a strategy for how to plant, harvest and maintain crops. A good example of a new strategy approach is the use of autonomous tractors in agriculture. The concept of autonomous tractors dates back to the 80 s before the introduction of the concept of precision agriculture. On these days, farmers use GPS technology to guide tractors across the field. The aim of this method is to reduce fuel consumption and to increase the efficiency of tractors and agricultural activities. Thus, these initial steps have laid the foundation for the development of autonomous tractors after the introduction of improved wireless device communication technology. Autonomous tractors employ much the same approach as unmanned vehicles, i.e., use advanced control systems and sensors. With the addition of automatic steering capabilities, such tractors have increased control capabilities. Obviously, the introduction of autonomous tractors represents a wide range of agricultural technologies to a great extent.

The benefits to farmers are obvious. Undeniably, agriculture is not an easy task, involving long-term work and hard work in inclement weather conditions. In view of the general situation of farmers, most of them do not have employees in the farmland to schedule their jobs, and therefore they must do everything by themselves. An autonomous tractor may be a positive result. In addition, accuracy and precision are important aspects of agriculture in various aspects such as planting. For example, for such planting, the autonomous tractor may be equipped with an automatic planting system to ensure high accuracy in planting. With such capability, farmers can ensure that the seeds are preserved. In sum, use of such tractors may result in higher return on investment due to increased accuracy.

One of the factors impeding agricultural production in developed and developing countries is labor shortness. Usually, farmers grow a small plot of land and they must manage with limited labor. However, with the adoption of autonomous tractors, the problem of insufficient labor is solved because the number of employees required to cultivate the farm field can be reduced.

In addition, the data also plays an important role in deciding the decisions of farmers. Often, the lack of unambiguous and reliable data interferes with the decisions made by the farmer and subsequently adversely affects the results obtained from the field. The sources and types of data required by farmers to succeed in agricultural activities are diverse. For example, data about soil is important because it can help farmers determine which crops grow well on a given land by determining the moisture and nutrient content of the soil. Autonomous tractors may be equipped with various sensors for collecting data on soil conditions, thereby providing a platform for improving the yield of existing crops. Thus, it may be advantageous to eliminate human-to-human interactions in agriculture after use of an autonomous tractor. Over-stressed personnel are unable to achieve the desired level of efficiency on site. Similarly, it is often difficult for humans to manage various tasks on farms, particularly where large fields of farming are involved. Autonomous tractors are equipped with appropriate sensors to provide the necessary assistance in managing multiple tasks in the farm, thereby relieving the farm from stress and effort.

These autonomous tractors employ high level technology and can be used to gather high profile information. For example, some models have automatic steering capabilities and GPS technology to enhance control over the trailers' travel path. Advanced sensors are very useful in determining soil moisture levels, planting and harvesting activities, current production, and the amount of fuel required for a given area of land. In addition, other models of autonomous tractors can instruct farmers how to fertilize.

Autonomous tractors allow for precise control of work and agricultural equipment. This makes it possible for farmers to extend working hours. Sensors fitted on the tractor can guide the tractor to travel correctly even in conditions of reduced visibility and at night: even in windy, dusty and foggy conditions, work continues. In addition, tractors reduce the workload and stress on employees with increased working hours during the day, as farmers have greater flexibility in managing planting tasks.

Clearly, an autonomous tractor can greatly improve agriculture. However, autonomous tractors have not been approved, and the technology itself does not seem to be a major obstacle for large autonomous tractors to cultivate land, so legislation is necessary. Autonomous movement to and from the field is clearly a significant obstacle. Furthermore, legislation also prohibits the transport of wide width machines on roads. For example, european union regulations limit the width of agricultural machines to 2.55 meters. In fact, automatic folding of wider machines has been part of today's technology, but this adds considerably to the complexity, thus raising the price, inherently driving the machines further more professional, especially larger. This, in turn, would make legislation more complex and may even mean that, in practice, autonomous tractors would only be suitable for remote, wide areas, even for unoccupied areas.

Disclosure of Invention

The object of the present invention is to alleviate the drawbacks of the autonomous tractors of the prior art and their use, in particular allowing an easier practical use without requiring a large number of new legislations.

To achieve the objects of the present invention, an autonomous tractor for autonomous traversal of an agricultural field is designed, the tractor including one or more sensors, a coupling, and a connector. One or more sensors are used to detect obstacles as they traverse the field. The coupler is for coupling an agricultural machine selected from a group of agricultural machines, each of which is capable of being coupled to a tractor. The connector is used to connect the tractor to a road transport truck for transporting the tractor on a road, wherein the tractor for traversing the farm field moves in a direction perpendicular to the direction of movement of the tractor when transported on the road.

In this way, the inventors overcome the long-term trend of machines becoming larger and more specialized. This is based on the recognition that autonomous tractors are economically attractive, miniaturised and multi-functional may be sufficient: the miniaturization means that the tractor in principle does not need to be a universal device that converts energy into motion ("motor on wheels"). It is not necessary to have an integrated device for cultivating the ground (such as large combine harvesters and other harvesters) because the tractor can be connected to a variety of different agricultural machines for farm work. This means that the invention allows the tractor to be kept relatively small. Nevertheless, since the tractor and the agricultural machine are autonomous in operation, a good return on investment is obtained (despite its small size) since it can be operated 24 hours a day, 7 days a week. For small machines that are in operation, current legislation imposes far fewer restrictions. However, many machines only require a working width of at least 3 meters in order to be economically viable. Even more strongly, many modern machines work over widths of 5-6 meters, and even 20 meters or more. This in itself makes the machine unsuitable for road transport, and there is no solution in legislation. This problem is also associated with autonomous tractors: many machines require at least 3 meters for working width. However, the applicant has realised that this problem can also be overcome by designing a tractor whose arrangement is such that the direction of movement of the tractor as it traverses the ground is perpendicular to the direction of movement during road transport. This means that when driving along a road, the agricultural machine will extend in the transport direction and thus in the longitudinal direction of the road, which means that legal restrictions are much less. For example, according to eu regulations, the combined length of a truck and trailer may reach 18.75 meters. At the same time, when the length of the autonomous tractor is kept below 2.55 (and therefore very small), its width will not exceed 2.55 during transport, which means that eu regulations are met during road transport. Nevertheless, to realize the tractor of this invention, a third recognition is required: automatic driving on public roads requires new legislation and is far from being realized. However, equipping the tractor with a cab so that the operator can drive the tractor would greatly increase the cost, and may even be entirely against the economic advantages of autonomous driving. To address this problem, the inventors have recognized that mechanically simple couplers (tow bar, spare wheel coupler, winch, etc.) for connecting a tractor to a road transport truck for transporting the tractor over a road will serve the following functions: when transported on the road, tractors are considered trailers or cargo rather than motor vehicles. This, combined with the smaller width, due to the vertical transport direction, ensures that the tractor according to the invention complies with the most important legal regulations currently applicable in europe and north america.

Thus, based on some insights and insights, the inventors were able to design an autonomous tractor that overcomes many of the problems that have prevented the use of such tractors in practice, particularly in densely populated areas. This new equipment is contrary to the long-term trend (i.e. bigger and bigger agricultural machines, more and more specialized) starting in the 30 s of the 20 th century. In addition to this, as an additional important advantage, the present invention seems to be able to cultivate land with little to no risk of soil compaction. Wheel traffic is undoubtedly the main cause of soil compaction. For large four wheel drive units, the tractor weight has increased from less than 3 tons in the 40's of the 20 th century to about 20 tons today. This is a particular concern because spring planting is often done before the soil is dry enough to support heavy planting equipment. Depending on the type of agricultural machine to be coupled, the present invention can return the tractor to less than 10 tons, and even less than 5 tons.

The invention is also embodied in a method of farming agricultural fields comprising coupling an agricultural machine to the autonomous tractor of the invention, connecting the agricultural machine to which the tractor is coupled to a road transport truck for transporting the tractor over roads to a plurality of agricultural fields, unloading the tractor from the road transport truck, and allowing the tractor to autonomously traverse the agricultural fields while the agricultural machine is farming the fields.

Definition of

A tractor is an agricultural vehicle used to tow an agricultural machine and provide the machine with the energy required to cultivate the land, including any harvesting operations. It is usually, but not necessarily, a powerful vehicle with a gasoline or diesel engine and large rear wheels or endless belt tracks (so-called tracks).

An autonomous tractor is a tractor that is able to sense its environment, make decisions based on what it senses and recognizes, and then drive movement or maneuvering within that environment. These decision-based actions include, but are not limited to, starting, stopping, and maneuvering around obstacles in their course. The tractor can traverse the field without continuous control by the operator, and when the agricultural machine is operatively connected to the tractor, it can autonomously cultivate land.

A road transport truck is a motor vehicle designed to be able to transport items on public roads, either by pulling the item (if it has wheels for transport on the road) or by (semi-) towing the item. For example, the road transport truck may be a conventional manually operated tractor, or a truck-trailer combination (the trailer being, for example, a flatbed trailer).

A road is a long, narrow, flat, paved, hard surface between two or more points for the movement of motor vehicles, horses, etc. A road also refers to a street or (highway) road.

Farmlands are land used or suitable for cultivation.

A sensor is a device that responds to a physical stimulus (such as heat, light, sound, pressure, magnetism, or a specific motion) and transmits the resulting pulse, for example, for measurement or operational control.

An obstacle is any item that prevents or hinders an object from moving freely in the environment. The obstacle may be a fixed physical object such as a large stone or river, a movable object such as an animal or human, but it may also be an imaginary object such as a border or a lot of land.

Above means somewhere or somewhere higher than someone or somewhere.

The occupied area of the object is the space occupied by the object when viewed from above.

A wheel is an item that rotates on an axle, such as a conventional spoked wheel or track, for converting the rotation (of the axle) into translation of the vehicle.

The specifications of the sensor represent parameters related to the ability of the sensor to pick up signals and deliver corresponding outputs. Typical specifications are "range", "accuracy", "resolution", "repeatability", "drift", "hysteresis", "stability", "response time", "settling time", "required voltage", "current consumption", "output" and "sensor noise estimate".

Automatic means that no (manual) operator intervention is required. Automatic does not exclude the case of an operator start or stop, as long as the process can be completed without operator intervention.

A central processing unit, or CPU, is an electronic circuit in a computer system that executes instructions of a computer program by performing basic arithmetic, logical, control, and input/output (I/O) operations specified by the instructions. The term "CPU" may refer to a tangible (single) processor, more specifically to its processing unit and Control Unit (CU), but may also refer to a plurality of processors distributed over a (wireless) network system that operates as part of one single processor (e.g. partly present on tractors, machines and remote servers via a cloud system).

In an embodiment of the autonomous tractor according to the invention, the coupling is operable to move the coupled agricultural machine between two positions, the first position being a lateral position of the tractor for tilling the ground and the second position being a position above the tractor. In this embodiment, the agricultural machine may be lifted to and from the field between a position to operate on the ground and a position above the tractor and away from the ground. Preferably, the second position, i.e. the position above the tractor, corresponds to the footprint of the tractor. In this preferred embodiment, the machine may be lifted directly above the tractor. This is very advantageous for the transport process of the tractor to which the machine is coupled on the road, since it means that the width in the transport direction is not greater than the width of the tractor, and since a greater weight (for example the weight of an agricultural machine) is maintained directly above the article, the conditions required for the machine are less severe than when maintaining the angular position of a greater weight above the article, i.e. less than 90 ° (for example 45 °).

In another embodiment, the tractor has a first set of wheels corresponding to movement while traversing an agricultural field and a second set of wheels corresponding to transportation of the tractor over a roadway. Even though one set of wheels may be used in the tractor of the invention, it has been found advantageous to use two sets of wheels, each set corresponding to the direction of movement when traversing an agricultural field or the direction of transport on a road, for example when arranged to be able to pivot such that its axis undergoes a 90 ° rotation to cater for movement in a vertical direction. In another embodiment, the second set of wheels is arranged to be movable away from the field to prevent contact with the field as the tractor traverses the field.

In another embodiment, the coupling comprises a tow bar such that the tractor can be towed to or connected to be towed as a trailer, the tow bar being arranged to be in an upright position when the tractor traverses an agricultural field.

In another embodiment, the agricultural machine has a fixed length of at least 3 meters. The advantage of this embodiment is that it has a considerable working width while still being able to be transported over roads without the need for folding. Although folding large agricultural machinery is a common technique, it results in a complex and expensive machine, which is prone to loss of reliability due to the increased number of parts.

In another embodiment, wherein the tractor includes a Central Processing Unit (CPU) for receiving input signals from the one or more sensors and controlling movement of the tractor to avoid the obstacle based on the input signals, wherein each of the agricultural machines in the group includes one or more additional sensors for detecting the obstacle, the coupling of the agricultural machines includes operatively connecting the one or more additional sensors to the CPU and automatically providing the CPU with data regarding the position of each of the one or more additional sensors on the agricultural machine and data regarding one or more specifications of each of the one or more additional sensors. Applicants have recognized that great advances may be made in obstacle sensing. While it is known in the art to use sensors on autonomous vehicles for obstacle detection and sensors on a portion of a tractor to hold an actual farming machine (as part of a dedicated tractor), small utility tractors designed to be coupled with a variety of different agricultural machines have not been appreciated. The applicant has appreciated that advantageously, in such a case, the coupling of the agricultural machine comprises operatively connecting the sensor of the coupled agricultural machine to the CPU of the tractor and automatically providing to the CPU of the tractor data regarding the position of each of one or more additional sensors on the agricultural machine and data of one or more specifications of each of these one or more additional sensors. This means that the sensors of the agricultural machine are integrated into the system so that the system as a whole can operate autonomously in the best possible way.

In another embodiment, the output signal of the sensor is controlled by the CPU.

In another embodiment, the control of the movement of the tractor as calculated by the CPU is also based on one or more environmental conditions of the tractor. Preferably, the environmental condition is selected from the group comprising: 1) whether an agricultural machine is present near the sensor, 2) the type of agricultural machine present, 3) operating conditions of the agricultural machine, 4) whether a second autonomous tractor is present, 5) physical characteristics of the field, 6) weather conditions, 7) whether a person is present near the tractor, 8) the type of person.

The method according to the invention may be adjusted using any of the above described embodiments of the tractor. In particular, in a preferred embodiment, the agricultural machine is located in a position above the tractor during road transport and in a lateral position of the tractor when cultivating the ground.

Drawings

The invention will now be further explained using the following figures.

Fig. 1 is a schematic top view of an autonomous tractor.

Fig. 2 is a schematic top view of the autonomous tractor of fig. 1 with the agricultural machine in a lift position.

Fig. 3 is a schematic side view of a tractor, corresponding to fig. 1.

Fig. 4 is a schematic side view of a tractor, corresponding to fig. 2.

Fig. 5 is a schematic view of an alternative autonomous tractor.

Fig. 6 is a schematic view of two autonomous tractors towed by a manually operated tractor vehicle, which is a road transport truck for road transport.

Fig. 7 is a schematic view of an alternative arrangement of the combination shown in fig. 6.

Fig. 8 is a schematic view of another alternative arrangement of the combination shown in fig. 6 and 7.

Fig. 9 is an example of an autonomous tractor suitable for autonomous transport on a roadway.

FIG. 10 schematically illustrates the implantation of various sensors according to the present invention.

Fig. 11 schematically shows the arrangement of the sensors and the CPU.

Detailed Description

Fig. 1 is a schematic plan view of an autonomous tractor 1 that autonomously traverses an agricultural field. The tractor traverses the field in the direction indicated by X. At the rear end of the tractor, coupled to the tractor by a conventional triangular coupling 3 is a power rake 2. The triangle has a standard size and drive shaft so that various common agricultural machines can be coupled with the tractor. During the automatic crossing of the farmland along the X direction, the power harrow is depending on the land for cultivation. The tractor has an internal combustion engine (not shown) that drives the wheels 6 and the power rake. To ensure that the tractor is largely unobstructed by any obstacles, sensors (not shown) are provided on the front side for detecting such obstacles as they traverse the field. Laterally, the tractor is provided with a tow bar 4, opposite the tow bar 4, a second set of wheels 5. The tractor does not use the tow bar and the second set of wheels when traversing the field. They are used to assist in transporting tractors on the road. To this end, the tow bar may be used to connect the tractor to a road transport truck for transporting the tractor over the road, with the set of wheels 5 serving to provide rolling support. According to the invention, the direction of movement (X) of the tractor for traversing the farm is perpendicular to the direction of movement of the tractor when it is transported on the road. The latter direction is shown in fig. 2.

Fig. 2 is a schematic top view of the autonomous tractor of fig. 1 with the agricultural machine 2 in a lift position. The coupler 3 is operable to move the coupled rake (without excluding that the rake may be placed in any intermediate position) between a first position, which is a lateral position of the tractor for tilling the ground (as shown in figures 1 and 3), and a second position, which is a position above the tractor. This is the position shown in figure 2. The corresponding side view is shown in fig. 4. As a result of the second position being taken above the tractor, the second position coincides with the footprint of the tractor, i.e. the footprint of the rake completely overlaps (across the width of the tractor) with the footprint of the tractor. As a result, the combined width in the transport direction indicated by Y is not greater than the width of the tractor itself.

Fig. 3 is a schematic side view of a tractor, corresponding to fig. 1. In this side view, the set of wheels 5 and the tow bar 4 are arranged in a raised position so as not to interfere with the autonomous operation of the tractor.

Fig. 4 is a schematic side view of a tractor, corresponding to fig. 2. In this side view, the set of wheels 5 and the tow bar 4 are arranged in a lowered position so as to be able to support road transport of the tractor. The tow bar is used to connect to a manually operated truck. The wheels 5 are used to provide rolling support for the tractor during road transport (see fig. 6, 7 and 8 for a combination of an autonomous tractor and a manually operated truck for road transport).

Fig. 5, which includes fig. 5A and 5B, provides a schematic illustration of an alternative autonomous tractor 1. In fig. 5A, the tractor is shown in a "tilling" mode, in which the front and rear agricultural machines 2 and 2' are connected. The traction bar 4 and wheels 5 are in a raised position to prevent interference with the farming of the field. Fig. 5B shows the same tractor with machines 2 and 2' in a raised position and tow bar 4 and wheels 5 in a lowered position to enable road transport. It can be seen that the advantage of the cab not being given to the operator is that the machine can be lifted to a fully upright position, thereby obtaining as little width as possible during road transport, and that the mechanical requirements on the coupling are less stringent: when the machine is positioned directly above the couplings, the forces exerted on these couplings during transport are much smaller (compared to the case where the machine is coupled at a 45 ° angle).

Fig. 6 is a schematic view of two autonomous tractors 1 shown in fig. 5, towed by a manually operated tractor 10, which is a road transport truck. Both tractors 1 lift the agricultural machine to an upright position to provide as little width as possible.

Fig. 7 is a schematic view of an alternative arrangement of the combination shown in fig. 6. In the present embodiment, the tractor 10 pulls two autonomous tractors 1 and 1', in which different agricultural machines are coupled.

Fig. 8 is a schematic view of another alternative arrangement of the combination shown in fig. 6 and 7. In this combination, the tow bar 4 and the set of wheels 5 are arranged on opposite sides of each tractor (when compared to each other), which has the advantage that the agricultural machine is located on both sides of each tractor during road transport. This reduces the risk of the machine mechanically interfering with road transport.

Figure 9 schematically shows an example of an autonomous tractor suitable for automatic transport on roads. In the present embodiment, at least one of the axles of the wheels 5 is driven by the motor of the tractor, and the axle and/or the other axle may be arranged as a steering axle which can be used for driving on the road. The automated transport/driving technology of the present tractor on the road may be the same as that currently used for automated driving of automobiles.

Fig. 10, including sub-diagrams 10A, 10B, and 10C, schematically illustrates the implantation of various sensors according to the present invention. In fig. 10A, an autonomous tractor without an agricultural machine attached thereto is shown. Sensors (not shown) create a virtual cage 30 in the area 20. If an obstacle (e.g., a person) is detected in the virtual cage 30, the CPU will react to control the movement of the tractor, for example by stopping the machine, or by slowing down (anticipatorily), while providing lights and sound signals to alert persons in the vicinity of the tractor to avoid driving over the person.

Fig. 10B shows the case where the agricultural machine 2 is connected to a tractor (for the sake of clarity, the machine 2 itself is not depicted in fig. 10B; see the actual machine 2 of fig. 10C). According to the invention, once the machine is connected (electronically) to the tractor's CPU (possibly through a hardware connection using a connector/ISOBUS or the like or through a wireless connection) the CPU is automatically provided with data regarding the location of each of one or more additional sensors on the agricultural machine and data of one or more specifications of each of these one or more additional sensors. In this embodiment, the CPU automatically turns off the tractor's sensor that senses the agricultural machine leading to the adjusted virtual cage 30' (as shown 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 turns off the sensors of the agricultural machine. This leads to a virtual cage 30 "as shown in fig. 10C. Thus, the tractor and machine combination can be operated by the combination sensors on the tractor and machine, essentially treating the tractor and agricultural machine combination as a unit to traverse the field.

In practice, several independent tractors may be moved simultaneously across the same field and cultivated together. If so, it is important that the various tractors (plus machines) do not view each other as a regular obstacle, which may cause them to react with each other, stop and no longer continue to operate. Therefore, once the respective autonomous tractors work close to each other, communication should be made between combinations regarding position, speed, and traveling direction, and also communication should be made between combinations regarding size implementation. The sensor is useful in this regard.

Another aspect of the invention is that the tractor is able to distinguish (curious) spectators from the operator. If the machine must be 100% safe to the public, the operator must sometimes closely observe the tractor and/or machine to adjust and verify in real time the results of the work carried out by the machine. For example, this may result in a system: if a general audience is sensed at a speed within 10 meters of the tractor, the machine starts to provide light and sound signals, if the audience is within 5 meters of the tractor, the machine even stops, and for the operator, such operations are performed only at 3 meters and 1 meter when the tractor is traveling at the same speed. For example, the operator may be identified by wireless communication between the tractor's CPU and a smartphone or other handheld device of the operator, or by sensing a physical characteristic of the operator (e.g., iris, face, or any other physical characteristic). Furthermore, the output signals of one or more sensors connected to the operator may be used as input to the CPU. In an embodiment, once the operator is present in the virtual cage, he (or she) receives a signal there. This improves the safety of the operating conditions.

Fig. 11 schematically shows the arrangement of the sensors 41 to 45 and the CPU 40 in the combination of the tractor and the agricultural machine according to the present invention. The sensors 41, 42 and 43 are part of the tractor and are fixedly connected to the CPU 40. They provide output signals to the CPU which controls and drives the tractor's motor 50 ("M"), acousto-optic warning system 51 ("LS") and/or (virtual) steering wheel 52 ("W") when turning. Sensors 44 and 45 are part of the agricultural machine and are connected to the CPU through connector 60.