Harvester header mounting system for agricultural vehicles

Abstract

A coupling system for agricultural vehicles with implements is described. The system can use one or more machine learning models to determine driving parameters that control the orientation of the agricultural vehicle and adjust the orientation of a coupling interface on the agricultural vehicle as the vehicle moves between relative position thresholds. The driving parameters, associated with different relative position thresholds, can refine the movement of the agricultural vehicle as it approaches the implement, thus supporting precise alignment of the agricultural vehicle and its coupling interface with the implement. The system can also utilize recorded location and actuator settings to support the coupling process.The system can also include optional manual overrides for final positioning and coupling operations.

Description

AREA OF REVELATION

[0001] The present disclosure relates generally to the attachment of implements to agricultural vehicles and in particular to an attachment system for at least partially automatic alignment of at least one part of an agricultural vehicle with an implement during an attachment process. BACKGROUND

[0002] Agricultural vehicles, such as combine harvesters, can be configured for selective coupling, including attachment to a detachable implement. For example, combine harvesters are designed to carry headers that can be coupled to the front of the combine, either directly or indirectly. The specific implement, such as a header, coupled to the agricultural vehicle can be changed or at least temporarily detached. For instance, different types of implements, including headers, can be selectively mounted to a combine harvester for use with different types of crops and / or agricultural operations. After completing an agricultural operation, such headers, along with other types of implements, can be detached from the combine at a specific location, such as...The header can be detached and stored or otherwise remain in place until it is reattached to the combine harvester during a subsequent reattachment process. This storage location can be permanent, such as placement on the ground or on a bracket, or temporary, such as a mobile trailer that can transport the header to a desired location. SUMMARY

[0003] The present disclosure may include one or more of the following features and combinations thereof.

[0004] In one embodiment of the present disclosure, a method for coupling an agricultural vehicle to an implement is provided. The method can include, by means of a controller, determining a first relative position threshold, a first driving parameter corresponding to a first guided movement, to align the agricultural vehicle with the implement. Additionally, the method can further include implementing the first driving parameter in response to the fulfillment of the first relative position threshold. Furthermore, the controller can determine a second relative position threshold, a second driving parameter corresponding to a second guided movement, to align the agricultural vehicle with the implement.The second driving parameter may differ from the first driving parameter and may also include an orientation parameter, which comprises one or more settings for the orientation of a first connection interface of the agricultural vehicle relative to a second connection interface of the implement. Furthermore, the second relative position threshold differs from the first relative position threshold. The second driving parameter may be implemented in response to the fulfillment of the second relative position threshold. The implementation of the second driving parameter may include adjusting the orientation of the first connection interface, at least based on the orientation parameter.

[0005] In one embodiment of the present disclosure, a method for coupling an agricultural vehicle to an implement is provided. The method can include determining a driving parameter for each relative position threshold of a plurality of relative position thresholds by means of a controller. Each relative position threshold can correspond to a different relative position between the agricultural vehicle and the implement. The driving parameter for one or more relative position thresholds of the plurality of relative position thresholds can differ from the driving parameter for at least one other relative position threshold of the plurality of relative position thresholds. Furthermore, the driving parameter for at least one relative position threshold of the plurality of relative position thresholds can include an orientation of a first connection interface of the agricultural vehicle.In response to the fulfillment of one of the multiple relative position thresholds, the driving parameter corresponding to the threshold determined to be fulfilled can be implemented. Furthermore, the driving parameter for one or more relative position thresholds can refine the driving parameter for one or more other relative position thresholds that correspond to a greater variance in the relative positions of the agricultural vehicle and the implement. Upon fulfillment of each distinct relative position threshold, the procedure can include the driving parameter for that specific threshold. The procedure can also include adjusting the orientation of the first connection interface when it is determined that at least one relative position threshold is fulfilled.

[0006] In another embodiment of the present disclosure, a system for coupling an agricultural vehicle with an implement is provided. The system may include an implement actuator for adjusting the orientation of a first connection interface of the agricultural vehicle, as well as a guidance system and a steering system, wherein the steering system is configured to execute a guidance instruction specified by the guidance system. The system may further include a storage device, which may be coupled to at least one processor.The storage device can contain instructions which, when executed by the at least one processor, cause the system to determine a first driving parameter for a first relative position threshold, corresponding to a first guided movement using the guidance and steering systems to align the agricultural vehicle with the implement, and to implement the first driving parameter in response to the first relative position threshold being met. The storage device can further contain instructions which, when executed by the at least one processor, cause the system to determine a second driving parameter for a second relative position threshold, corresponding to a second guided movement using the guidance and steering systems to align the agricultural vehicle with the implement.The second driving parameter can be a refinement of at least one parameter of the first driving parameter with respect to at least one first value and tolerance of the at least one parameter, and the second relative position threshold can differ from the first relative position threshold. The storage device can further contain instructions which, when executed by the at least one processor, cause the system to implement the second driving parameter in response to the fulfillment of the second relative position threshold, wherein the implementation of the second driving parameter includes adjusting the orientation of the first connection interface relative to a second connection interface of the implement using the implement actuator.

[0007] These and other features of the present disclosure will become more apparent through the following description of exemplary embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] The revelation contained herein is illustrated in the accompanying figures by way of example and without limitation. For the sake of simplicity and clarity, the elements depicted in the figures are not necessarily to scale. For instance, for clarity, the dimensions of some elements may be exaggerated relative to others. Furthermore, where deemed appropriate, reference symbols are repeated in the figures to indicate corresponding or analogous elements. Fig. Figure 1 shows a top view of a simplified and exemplary representation of parts of an exemplary agricultural vehicle being aligned for coupling with an implement. Fig. Figure 2 shows a simplified block diagram of a fastening system for attaching an implement 2 to an agricultural vehicle. Fig. Figure 3 shows an exemplary representation of an agricultural vehicle separated from an implement by a multitude of relative position thresholds. Fig. Figure 4 shows a simplified exemplary representation of a procedure involving control logic for the fastening system in connection with the alignment and fastening of a first connection interface of the agricultural vehicle with a second connection interface of the implement.

[0009] In the various views, consistent reference symbols are used to designate corresponding parts. DETAILED DESCRIPTION

[0010] Although various modifications and alternative forms are possible for the concepts of the present disclosure, specific embodiments have been shown by way of example in the drawings and are described in more detail here. It is understood, however, that the intention is not to limit the concepts of the present disclosure to the specific disclosed forms, but rather, on the contrary, to cover all modifications, equivalents, and alternatives that are consistent with the present disclosure and the accompanying claims.

[0011] References in the specification to "(exactly) one embodiment," "(any) embodiment," "an exemplary embodiment," etc., indicate that the described embodiment may include a specific feature, structure, or property; however, any embodiment may, but does not necessarily, include this specific feature, structure, or property. Furthermore, such formulations do not necessarily refer to the same embodiment. Moreover, when a specific feature, structure, or property is described in connection with an embodiment, it is assumed that it is within the knowledge of a person skilled in the art to implement such a feature, structure, or property in connection with other embodiments, whether expressly described or not.Furthermore, it is understood that elements contained in a list of the form "at least one of A, B and C" can mean (A); (B); (C); (A and B); (A and C), (B and C) or (A, B and C). Similarly, elements contained in a list of the form "at least one of A, B or C" can mean (A); (B); (C); (A and B); (A and C), (B and C) or (A, B and C).

[0012] The drawings may show certain structural or process features in specific arrangements and / or sequences. However, it is understood that such specific arrangements and / or sequences are not required. Instead, in some embodiments, such features may be arranged in a different manner and / or sequence than that shown in the illustrative figures. Furthermore, the inclusion of a structural or process feature in a particular figure should not imply that such a feature is required in all embodiments, and in some embodiments it may not be included or it may be combined with other features.

[0013] Implements can be attached to the agricultural vehicle in various ways and at different locations. For example, certain implements can extend directly or indirectly from the front or rear of the agricultural vehicle. Other implements may include wheels or other ground-contacting elements, with the agricultural vehicle pushing or pulling the implement. Furthermore, the direct or indirect attachment of the implement to the agricultural vehicle, referred to here collectively as the attachment, may involve one or more connection points. For example, certain implements may be attached to an agricultural vehicle by engaging a connection interface of the vehicle with a connection interface of the implement at a single connection or attachment point, such as...a coupling bolt or ball coupling, while other attachments may have one or more multiple connection interfaces and multiple connection points.

[0014] The difficulty of attaching an implement to an agricultural vehicle can increase with the number of connection points. These difficulties in achieving a secure connection, including a positive engagement, between the implement's interfaces and the agricultural vehicle can further increase with greater spacing between the connection points. For example, a header's connection interface may have multiple connection points distributed at various locations along a portion of the header's width.While such distances between the connection points when attaching the combine harvester to the header can be advantageous, at least with regard to controlling the angle of the header relative to the combine, the distance between the connection points can also increase the difficulty of securely attaching the connection interfaces at each of these connection points. For example, when connecting a header to a combine harvester, the connection between the header and combine connection interfaces might require that one or more header connection interfaces be precisely aligned with one or more connection interfaces on the header, for instance, with respect to a parallel relationship between the connection interfaces.Such a parallel relationship can include, for example, the horizontal alignment, vertical height, pitch angle, yaw angle, and / or roll angle of the connection interfaces. Furthermore, such proper alignment can involve engaging the connection interfaces of the agricultural vehicle and the implement in such a way as to prevent relative movement, such as sliding or tipping, and allowing for the insertion of one or more pins at certain connection interfaces to securely couple the interfaces.

[0015] Achieving a parallel alignment between the connection interfaces of the agricultural vehicle and the implement can be challenging for the operator. In some cases, proper alignment may result from a trial-and-error process, requiring the operator to make multiple attempts to achieve correct alignment and subsequent connection. However, this approach can reduce productive harvesting time, potentially damage one or both connection interfaces, and / or increase operator strain.

[0016] The embodiments discussed here provide a fastening system capable of managing driving parameters, including one or more driving parameters relating to the positioning, speed control, and maneuvering of an agricultural vehicle and / or the orientation of a connection interface of the agricultural vehicle for a fastening process. In addition, such driving parameters can be implemented automatically or semi-automatically and / or output as suggested parameters during manual control of the fastening process.Furthermore, based on predefined settings, including, for example, settings provided by an operator, default settings, tables or models and / or derived by one or more machine learning models, the system can generate one or more driving parameters that can be adjusted or changed when the relative positions of the agricultural vehicle and the implement change, such as in response to the fulfillment of one or more relative position thresholds, which may be predetermined.According to certain embodiments, one or more driving parameters can be implemented and adjusted, for example, regarding the orientation of the agricultural vehicle and / or the orientation of the first connection interface, until a specific relative position threshold is reached. At this point, the operator can optionally take over manual control to make the final adjustments to the agricultural vehicle and / or its connection interface. As mentioned previously, with regard to such embodiments, one or more of these final adjustments can be based on suggestions provided by the system to the operator. Instead of operator control, such final adjustments can also be determined and automatically implemented by the system, for example, regarding the interaction of the connection interfaces between the agricultural vehicle and the implement.

[0017] Therefore, according to certain embodiments, the system can, at least initially, target a connection interface or another part of the implement, such as a central frame of the implement, to align the agricultural vehicle with the implement. The system can further refine the alignment of the agricultural vehicle as it approaches the implement, for example, with respect to a course, speed, and / or target position of the agricultural vehicle or parts thereof, including the connection interface.

[0018] The embodiments of the header mounting system discussed here can provide a comprehensive solution for the precise and efficient coupling of agricultural vehicles with implements, including the coupling of combine harvesters and headers. Furthermore, the mounting system discussed here can simplify the fastening process between the connection interfaces of agricultural vehicles and implements, thereby reducing operator intervention and minimizing trial-and-error approaches. The mounting system can also utilize a combination of sensor technologies, such as sensor data that can provide both geospatial and geographic information, and advanced algorithms, including machine learning models, to accurately and efficiently guide, align, and couple the agricultural vehicle with the implement.The increased efficiency achievable through the fastening system can contribute to higher productivity, at least when using the attachment with the agricultural vehicle.

[0019] Fig. Figure 1 shows a top view of a simplified and exemplary representation of parts of an exemplary agricultural vehicle 100, which is oriented for coupling with an implement 102. A variety of different vehicle types can be used as an agricultural vehicle 100, e.g., combine harvesters, harvesting vehicles, rakes, construction machinery, forestry machinery and / or tractors, as well as other types of vehicles. Furthermore, the agricultural vehicle 100 can be an autonomous, semi-autonomous, or manually operated vehicle and can be supported by a variety of ground-contacting elements 108, such as wheels and / or tracks.

[0020] A variety of different attachment types can be used as the implement 102, which is to be selectively and detachably coupled to the agricultural vehicle 100. The type of implement 102 to be coupled to the agricultural vehicle 100 can depend, for example, on the type of agricultural vehicle 100 and / or the type of agricultural, construction, and / or forestry activity to be carried out with the implement 102. For example, according to certain embodiments, the implement 102 can be a corn picker, a draper header, a grain header, an auger header, a flex header, a pick-up header, and / or a sunflower header, among other types of headers and implements.Accordingly, the agricultural vehicle 100 can be attached to a first implement 102 for one operation and to another implement 102, such as a second or third, for a different operation.

[0021] In the Fig. In the embodiments shown in Figure 1, the agricultural vehicle 100 is a combine harvester coupled to an inclined conveyor 104 extending from the front end of the combine. The inclined conveyor 104 can receive crop from the implement 102 (e.g., the header) and, in the illustrated example, convey the collected crop to the rear of the combine to a threshing and cleaning system 106. The threshing and cleaning system 106 can be configured to thresh and clean the crop received from the implement 102. The threshing and cleaning system 106 can therefore, for example, include a rotor and a set of chaff screens or sieves for separating the crop in order to temporarily store the filtered crop in a storage tank.

[0022] The agricultural vehicle 100 is configured for direct or indirect coupling with an implement 102 via a first connection interface 110. In the Fig. In the example shown in Figure 1, where an inclined conveyor 104 is connected to the combine harvester, a first connection interface 110 of the combine harvester (e.g., of the agricultural vehicle 100) is located on the inclined conveyor 104. In such an example, the implement 102 (e.g., the header) is indirectly coupled to the agricultural vehicle 100 (e.g., the combine harvester) via the inclined conveyor 104. However, according to other embodiments or in other situations, the first connection interface 110 can be directly coupled to the agricultural vehicle 100 to enable a direct coupling of the implement 102 to the agricultural vehicle 100.

[0023] The first connection interface 110 of the agricultural vehicle 100 is configured for a detachable connection with a corresponding second connection interface 112 of the implement 102. For example, the first connection interface 110 can comprise one or more connection interfaces 110 with one or more first connection points 114 arranged at different locations, for example, spaced apart. The first connection points 114 can include one or more hooks, clevises, rods, and / or mounting holes, as well as combinations thereof, in addition to other types of connection points which, when securely engaged with one or more matching second connection points 116 of the second connection interface 112, can prevent unintentional or uncontrolled movement, such as displacement, pivoting, or rotation, of the implement 102 relative to the agricultural vehicle 100.Thus, one or more second connection points 116 along the second connection interface 112 can be arranged in a similar configuration to the first connection points 114 along the first connection interface 110, for example spaced apart, so that the first and second connection points 114, 116 are aligned for a suitable engagement at least when the first connection interface 110 is in a correct or appropriate alignment with the second connection interface 112.

[0024] One or more attachment actuators 118 ( Fig. 2) The agricultural vehicle 100, including, inter alia, hydraulic actuators, pneumatic actuators and / or electric motors, can be used to adjust the orientation of the inclined conveyor 104 and / or the first connection interface 110 in one or more directions relative to at least the implement 102. Such adjustment of the orientation of the first connection interface 110 can include adjusting one or more of its position, height, inclination, pitch, roll and / or yaw angles to align the first connection interface 110 with the second connection interface 112 and, furthermore, to align the connection points 114, 116 to enable coupling of the agricultural vehicle 100 with the implement 102.

[0025] Fig. Figure 2 shows a simplified block diagram of a mounting system 120 for attaching an implement 102 to an agricultural vehicle 100. As shown, the mounting system 120 can include the implement 102 and optionally an external system 152. Furthermore, the mounting system 120 can include one or more controllers 122, 154, which may be located, inter alia, on the agricultural vehicle 100 and / or the external system 152. The one or more controllers 122, 154 can have one or more processors and one or more memory devices 126, 148. The processors 124, 156 can be configured to follow instructions, including control instructions, that are contained in or part of one or more of the memory devices 126, 148, for example, a non-transient machine-readable medium.

[0026] The processor 124, 156 can be implemented as any type of processor or other computing circuit capable of performing various tasks. In some embodiments, each processor 124, 156 can be implemented as a single-core or multi-core processor, a microcontroller, or another processing / control circuit. Furthermore, in some embodiments, each processor 124, 156 can be configured as, include, or be otherwise coupled to an FPGA, an application-specific integrated circuit (ASIC), a reconfigurable hardware or hardware circuit arrangement, or other specialized hardware to enable the performance of the functions described herein. In some embodiments, each processor 124, 156 can be implemented as a high-performance processor, an accelerator coprocessor, an FPGA, or a memory controller.

[0027] The storage devices 126, 148 can be one or more types of non-transient, computer-readable media, such as solid-state memory, electromagnetic memory, optical memory, or a combination thereof. Furthermore, the storage devices 126, 148 can be volatile and / or non-volatile. It is understood that the storage devices 126, 148 can store information that is processed by the operating logic of the processors 124, 156, such as information representative of incoming signals, in addition to or instead of storing programming instructions that define the operating logic. Each storage device 126, 148 can store various software and information used during the operation of the fastening system 120, such as applications, programs, libraries, and drivers.Thus, the storage devices 126, 148 can include, among other things, information, including algorithms and lookup tables, which can be used by the processor 124, 156, for example, regarding features corresponding to adjustments of the orientation of at least the agricultural vehicle 100, such as orientation, position and / or speed, among other adjustments.

[0028] The mounting system 120 can include a sensor system 136, at least part of which can be arranged on the agricultural vehicle 100. The sensor system 136 can include one or more sensors, including various types of sensors, that can provide information about the location, spatial positioning, course, orientation, and / or travel speed of the agricultural vehicle 100 and / or the implement 102, as well as for various components thereof, in the first and / or second connection interfaces 110, 112, which can enable precise alignment and coupling of the agricultural vehicle 100 with an implement 102.

[0029] According to certain embodiments, the sensor system 136 can comprise one or more geosensors 142, including sensors capable of providing location information for at least the agricultural vehicle 100. According to certain embodiments, the geosensor 142 can, for example, comprise one or more location sensors or systems, including, for example, a GPS (Global Positioning Satellite) system and others. According to such an embodiment, the geosensor 142 can comprise one or more sensors, including receivers, that can be arranged on the agricultural vehicle 100 and can, among other things, receive information from a GPS satellite.For example, according to certain embodiments, the geosensor 142 can provide information that identifies coordinate information, such as latitude and longitude, of a current, past and / or predicted location of at least the agricultural vehicle 100.

[0030] As explained below, information provided by the geosensor 142 of the agricultural vehicle 100 or another agricultural vehicle can be recorded in connection with a location where the associated agricultural vehicle 100 detaches an implement 102 from the agricultural vehicle 100. This location information can further include, or be used to determine, the location of the agricultural vehicle 100 when the first and second connection interfaces 110, 112, including connection points 114, 116, were disengaged.If the agricultural vehicle 100 or another agricultural vehicle is to be coupled with the implement 102 again, the respective location, including the coordinates, of the agricultural vehicle 100 at the time of the separation between the agricultural vehicle 100 and the implement 102 can help to guide the current agricultural vehicle 100 to a location where the agricultural vehicle 100 can be coupled with the implement 102.

[0031] Additionally or alternatively, the information provided by the geosensor 142 when the agricultural vehicle 100 detaches from the implement 102 can provide or be used to determine the location of the implement 102. For example, information about the location of the first connection interface 110 relative to the geosensor 102 of the agricultural vehicle 100 can, according to certain embodiments, be used to determine a corresponding location of the second connection interface 112 and / or the implement 102 at the time of detachment. Like other location information provided by the geosensor 142, such location information regarding the detached implement 102 can be used to guide the agricultural vehicle and / or to orient the first connection interface 110 of the agricultural vehicle 100 or of another agricultural vehicle relative to the implement 102.

[0032] Additionally or alternatively, the sensor system 136 can comprise one or more geographic sensors 140. According to certain embodiments, the geographic sensor 140 can obtain information about the geographic characteristics of the area in which the agricultural vehicle 100 is located, through which it travels, and / or toward which it is approaching. Such geographic information can include, for example, terrain information such as elevation, slope, and / or gradient of the terrain. Additionally or alternatively, the geographic sensor 140 can comprise further sensors that can indicate the orientation of the agricultural vehicle 100 or parts thereof, including, for example, the first connection interface 110, at least relative to the adjacent and / or upcoming terrain.According to certain embodiments, the geographic sensor 140 may, for example, include an accelerometer and / or a gyroscope that can provide information about the altitude, inclination, pitch, roll, and / or yaw angles of the agricultural vehicle 100 and / or parts thereof, including, for example, the first connection interface 110. According to certain embodiments, when the agricultural vehicle 100 or another agricultural vehicle is detached from the implement 102, information provided by the geographic sensor 140, including, for example, information about the altitude, inclination, pitch, roll, and / or yaw angles of at least a part of the agricultural vehicle 100, including, for example, the first connection interface 110, can be recorded at the time of detachment.This recorded information, which allows identification of the orientation of the first connection interface 110 in the state coupled to or decoupled from the second connection interface 112, can be retrieved later to assist in attaching the implement 102 to the agricultural vehicle 100 or to another vehicle.

[0033] According to certain embodiments, the geographic sensor 140 can provide information relating to the orientation of the implement 102 or parts thereof, including the second connection interface 112, at least when the implement 102 is detached from the agricultural vehicle 100, or which can be used by the controller 202 to determine this orientation. Furthermore, this information can also be used to identify the current orientation of the detached implement 102. According to certain embodiments, information provided by the geographic sensor 140 can, for example, provide information about the inclination, pitch, roll, and / or yaw angles of the implement 102 or a part thereof, including the second connection interface 112, when the detached implement 102 is positioned on a ground surface, a trailer, a support structure, or at another location.Furthermore, information supplied by the geographic sensor 140 can provide information about the vertical height at which the implement 102 was located, at least at the time of its detachment from the agricultural vehicle 100. Such a vertical height, which can also be used to identify the current vertical height of the detached implement 102, can, for example, correspond to the vertical position at which the implement 102 is currently located on the lawn, a trailer, or another structure.

[0034] According to certain embodiments, the sensor system 136 can also include one or more proximity sensors 144, which can provide information that the controller 122 can use to determine a position or distance of the implement 102 or a part thereof, including the second connection interface 112, relative to / from the agricultural vehicle 100 or a part thereof, including, for example, the first connection interface 110, with relative accuracy. A variety of different sensor types or combinations of sensor types can be used for the proximity sensor 144.According to certain embodiments, the proximity sensor 144 may, for example, include a capacitance sensor that can provide information, such as information about a change in capacitance, which can be used to determine the proximity of the agricultural vehicle 100 or parts thereof, including, for example, the first connection interface 110, to the implement 102 or parts thereof, such as the second connection interface 112. Additionally or alternatively, the proximity sensor 144 may include one or more distance sensing sensors, including, for example, optical or visual sensors and others.Various types of distance perception sensors can be used, including, but not limited to, stereo depth cameras, stereo sensors, RGBD (red, green, blue, depth) cameras, three-dimensional sensors, LiDAR, radar, and three-dimensional cameras, as well as combinations thereof, among other types of distance perception sensors. Furthermore, according to certain embodiments, the distance perception sensor(s) can be part of an optical detection system that can be integrated into the agricultural vehicle 100 and / or otherwise communicatively coupled with the controller 122.

[0035] The sensor system 136 can also include one or more vehicle sensors 138 that can provide information about the driving or movement of the agricultural vehicle 100. For example, the sensor system 108 can include one or more vehicle sensors 138 that can provide information regarding the current speed and / or heading of the agricultural vehicle 100. Furthermore, according to some embodiments, the heading of the agricultural vehicle 100 can be displayed by the vehicle sensor 138 in the form of a transmission sensor, which can indicate whether a transmission system 132 of the agricultural vehicle 100 is engaged, allowing the agricultural vehicle 100 to move forward or backward.As explained below, information provided by at least the vehicle sensor 138 can be used, for example, by the controller 122 to proactively determine, for example, estimate or predict, when the agricultural vehicle 100 will be at or within certain predetermined relative position thresholds to the implement 102. Such a determination by the controller 122 can be used, based on a specific relative position, including but not limited to a predetermined distance, between the agricultural vehicle 100 and the implement 102, when the agricultural vehicle 100 should begin to adjust and / or implement certain driving parameters and / or transition from one driving state to another (e.g.,

[0036] Fig. 3).

[0037] As also in Fig. As shown in Figure 2, the fastening system 120, according to certain embodiments, can also utilize a guidance system 128 and / or a steering system 130 of the agricultural vehicle 100 to achieve precise alignment of the agricultural vehicle 100 and the implement 102 during the fastening process. The steering system 130 can be configured to execute navigation or guidance instructions determined by the guidance system 128, including adjusting one or more steering mechanisms of the agricultural vehicle 100 in a manner that can change the angular orientation of at least some of the ground-contacting elements 108 in order to align the agricultural vehicle 100 with a guidance path derived from the guidance system 128.As explained below, the fastening system 120 can use a variety of different types of information in conjunction with one or more signals generated by the control unit 122 and / or information from the sensor system 136 to dynamically adjust a travel path of the agricultural vehicle 100, at least on the basis of changes in the relative positions, including, for example, the distance, between the agricultural vehicle 100 and the implement 102, as well as with regard to operator preferences, if any.For example, the controller 102 can be configured to use one or more tables, databases, operator settings, or algorithms, including one or more machine learning models, including algorithms developed by a neural network 162 or an AI (Artificial Intelligence) engine 160, in addition to or instead of information from the sensor system 136 and other inputs, to dynamically adjust the path of the agricultural vehicle 100. These adjustments can include, as variances, including but not limited to distances, in the relative positions of the agricultural vehicle 100 and the implement 102 decrease, fine-tuning of steering angles and the orientation of the agricultural vehicle 100, to control the agricultural vehicle 100 or a part thereof, such as, for example,to align the first connection interface 110 with the attachment 102 or parts thereof, such as the second connection interface 112, relatively accurately.

[0038] At least in certain situations, the location where the agricultural vehicle 100 or another vehicle last detached from the implement 102, which can be indicated, for example, by the coordinate information supplied by the geosensor 142, can be recorded, for example, stored in a storage device 126, 158 and / or a database 166, 170. In such situations, the guidance system 128 can retrieve or otherwise receive the recorded location and use current location information for the agricultural vehicle 100, as can be provided by the geosensor 142, to compare the retrieved recorded last location and the current position of the agricultural vehicle 100 in order to guide the agricultural vehicle 100 to the implement 102 and beyond to the recorded location, or otherwise to determine a route.In certain situations, such a journey of the agricultural vehicle 100 to the implement 102 can be automated in such a way that at least guidance information provided by the guidance system 128 can be used to operate the steering system 130 when steering or controlling the movement of the agricultural vehicle 100.

[0039] In other cases where information regarding the location where the agricultural vehicle 100 or another vehicle was last uncoupled from the implement 102 was not recorded, or where the implement 102 was subsequently moved to a different, unrecorded location, the fastening system 120 can use one or more of the proximity sensors 144 to detect and / or identify the implement 102. In such situations, the guidance system 128 and / or the control unit 122 can use information supplied by the proximity sensor(s) 144 to guide the agricultural vehicle 100 towards the implement 102.

[0040] In addition to using at least some information provided by the geosensor 140 and / or the proximity sensor 144, the guidance system 128 can also use information provided by the geographic sensor 140. While the geosensor 142, for example, can provide location information according to a coordinate system alongside other types of location information, the geographic sensor 140, alone or in combination with information from the proximity sensor 144, can provide information for fine-tuned navigation and precise positioning of the agricultural vehicle 100.As mentioned previously, the geographic sensor 140 can, for example, provide terrain information that takes into account the terrain on which the agricultural vehicle 100 is currently driving and / or will drive, and which can take into account local variables such as local terrain elevations and slopes, as well as other variables.

[0041] As in Fig. As indicated in Figure 2, the mounting system 120 can utilize the transmission system 132 and / or a drive unit 134, including an engine, of the agricultural vehicle 100 to modulate the driving speed and, if necessary, the course of the agricultural vehicle 100. Generally, the transmission system 132 is configured to transmit power generated by the drive unit 134 to propel the movement or travel of the agricultural vehicle 100.As explained below, the fastening system 120 can be configured such that the controller 122 generates one or more signals based on determinations made, for example, using one or more lookup tables, databases, operator preferences and / or algorithms, including one or more machine learning models provided by the neural network 162, among other inputs or information sources, to make adjustments in the operation of the transmission system 132 and / or the drive machine 134, for example, adjusting the travel speed of the agricultural vehicle 100 at least on the basis of identified changes in the relative positions of the agricultural vehicle 100 and the implement 102.

[0042] The mounting system 120 can also include an input device 148 and an output device 150 of the agricultural vehicle 100. The input and output devices 148, 150 can be located on or away from the agricultural vehicle 100, for example, also in relation to autonomous or semi-autonomous agricultural vehicles 100. A variety of different device types can be used for the input and output devices 148, 150. In addition, according to certain embodiments, the input and output devices 148, 150 can be part of the same device (e.g., an input / output (I / O) device).The input device 148 can provide the operator of the agricultural vehicle 100 with an interface for entering commands or other information to be communicated to at least the controller 122, including, but not limited to, the use of a graphical user interface (GUI). According to certain embodiments, the input device 148 can, for example, include one or more keyboards, touchscreens, microphones, joysticks, switches and / or buttons, and other devices. The output device 150 can provide an interface for transmitting information from at least the controller 122 to the operator. For example, the output device 150 can include one or more displays, screens, touchscreens, speakers, lights, and / or haptic devices.

[0043] According to certain embodiments, the mounting system 120 can include an off-board system 152. The off-board system 152 can have a variety of different configurations, such as a cloud-based server, a remote database, and / or a central system, as well as other configurations. As mentioned previously, the off-board system 152 can also include a controller 156 with at least one processor 156 and at least one memory device 158, which are generally similar to the corresponding controller 122, processor(s) 124, and memory device(s) 126 discussed above in relation to the agricultural vehicle 100. Furthermore, the controller 156 of the off-board system 152 can be communicatively coupled to the controller 122 of the agricultural vehicle 100, for example, via a wired and / or wireless connection.According to certain embodiments, for example, communication between the control unit 156 of the on-board system 152 and the control unit 122 of the agricultural vehicle 100 can be exchanged via a wireless connection over a network.

[0044] The external system 152 can include an AI (Artificial Intelligence) engine 160, which may include a neural network 162. The external system 152 can use information collected from multiple agricultural vehicles to train and retrain one or more machine learning models, including algorithms, of the neural network 162. According to certain embodiments, the machine learning model(s) and optional updates of such models can be transmitted to the controller 122 of the agricultural vehicle 100 and stored in the agricultural vehicle 100, for example, in the storage device 126. Alternatively or additionally, the AI ​​engine 160 and the neural network 162 can be located on the agricultural vehicle 100 and communicatively coupled to the controller 122.

[0045] The neural network 162 can use machine learning models, including algorithms, designed to improve the precision and efficiency of the fastening process for coupling the agricultural vehicle 100 with the implement 102. As explained below, such machine learning models can be used to determine and / or adjust one or more driving parameters when a relative position or driving state of the agricultural vehicle 100 changes. Furthermore, one or more relative position thresholds, which may correspond, for example, to different distances and / or different relative positioning between the agricultural vehicle 100 and the implement 102, can also be determined by using the machine learning model(s) according to certain embodiments.Additionally or alternatively, the relative position thresholds can be based on operator preferences or derived from the machine learning model(s) taking operator preferences into account. According to another embodiment, these relative position thresholds can correspond to default settings.

[0046] According to certain embodiments, the architecture of the neural network 162 can comprise one or more input layers capable of processing raw information, including data, from one or more sensors 138, 140, 142, 144, 146 of the sensor system 136 and identified operator preferences, among other information. The neural network 162 can further comprise multiple hidden layers of interconnected neurons capable of processing input information, such as input data, including the application of nonlinear transformations to extract complex patterns and relationships within the information. For example, the hidden layers can employ activation functions to introduce nonlinearity and enhance the neural network 162's ability to model intricate dependencies.The neural network 162 can further include an output layer that can generate information for guiding and / or adjusting one or more of the position, orientation and speed of the agricultural vehicle 100, among other driving parameters, and / or an identification of the relative position thresholds in connection with the orientation of the agricultural vehicle 100 or a part thereof, such as the first interface connection 110, with the implement 102 or a part thereof, such as the second interface connection 112.Adjustments to the driving parameters can be made in response to changes in the relative positions, including, for example, the distance, orientation and / or alignment, between the agricultural vehicle 100 and the implement 102, for example during the movement of the agricultural vehicle 100 and the reaching of various identified relative position thresholds, as explained below.

[0047] The machine learning model(s) of the neural network 162 can be trained and / or retrained in various ways, e.g., through supervised learning, adaptive learning, and / or generative models. With regard to supervised learning, for example, historical information, which may be stored in a historical database 164, may include labeled examples of previous fastening processes in which at least an attempt was made to successfully couple the agricultural vehicle 100 with the implement 102, and optimization models, such as gradient descent or Adam optimizers, may be used to minimize the error between predicted and actual results. With regard to adaptive learning, the neural network 162 may, for example, continuously learn adaptively from information that is available at least in near real-time, e.g.,from information provided by one or more sensors 138, 140, 142, 144, 146 of the sensor system 136, and refine the accuracy or efficiency of the machine learning model by updating applied weights based on feedback information. With regard to generative machine learning models, the neural network 162 can, for example, simulate various fastening processes that couple the agricultural vehicle 100 with the implement 102, including the first connection interface 110 with the second connection interface 112, based on existing data in order to predict potential difficulties and develop strategies to mitigate these difficulties.

[0048] The controller 102 can be configured, for example using the machine learning model of the neural network 162, among other information sources, to dynamically correct alignment errors when the position of the agricultural vehicle 100 relative to the implement 102 changes, for example when the distance between the two decreases and / or when the agricultural vehicle exceeds certain relative position thresholds or assumes certain driving conditions. Such dynamic error corrections can include, for example, adjusting one or more angular orientations of the agricultural vehicle 100 or parts thereof, including the first connection interface 110, relative to known or predicted corresponding angular orientations of the implement 102 or parts thereof, including, for example, the second connection interface 112.Such error correction can be based, for example, on the fact that a detected or predicted relative alignment of the agricultural vehicle 100 and the implement 102 or parts thereof, including the first and second connection interfaces 110, 112, is identified as not conforming to a corresponding predefined tolerance level.Such fulfillment of predefined tolerance levels can be determined in various ways, for example by comparing alignment feedback information, including angle or orientation information, which can be obtained from one or more sensors 138, 140, 142, 144, 146 of the sensor system 136 or derived by the controller 122 using this information, with the corresponding actual relative alignments of the agricultural vehicle 100 and the implement 102, including parts thereof, such as the first and second connection interfaces 110, 112.Such systematic fine-tuning can reduce the error margin with respect to the relative alignments of the agricultural vehicle 100 and the implement 102, especially when the first connection interface 110 is in a position where it can engage appropriately with, or is approaching, the second connection interface 112.

[0049] Furthermore, the neural network 162 can be configured to align the strategies for aligning the agricultural vehicle 100, which are to be obtained from the information supplied by the machine learning model(s), with operator preferences by learning and adapting the machine learning model(s) to specific control inputs from the operator and manual interventions that may have been preset by the operator and / or recorded during other, for example, previous, fastening processes. Such an approach can at least help to enable a semi-autonomous mode that combines the automatic precision targeted by the machine learning model(s) with the operator's expertise.

[0050] The off-board system 152 can include a variety of databases 164, 166, 168, 170 that can store a variety of different types of historical, operator preference, and / or identification information that can be used when training or retraining the machine learning model(s) of the neural network 162. For example, the off-board system 152 can include a historical database 164 that can store information about previous commands generated by one or more machine learning models of the neural network 162 in conjunction with previous fastening processes.For example, the historical database 164 may contain information about previous commands that involved an adjustment of one or more driving parameters, including, for example, the speed, orientation and / or course of the agricultural vehicle 100, when the relative positions, including the distance, between the agricultural vehicle 100 and the implement 102 changed and / or when relative position thresholds were met, when at least an attempt was made to enable a relatively accurate alignment of the agricultural vehicle 100 with the implement 102 and, furthermore, an associated alignment of the first interface connection 110 with the second interface connection 112.Thus, the historical database 164 can include, among other types of information, records of past specific adjustments to the speed, orientation and / or course of the agricultural vehicle 100, among other driving parameters, during the fastening process based on one or more determinations issued by the machine learning models of the neural network 162.

[0051] The historical database 164 can also include feedback information relating to previous fastening processes in which one or more provisions based on an output of the machine learning model of the neural network 162 were used. Such feedback information can, for example, include information obtained from one or more sensors of the sensor system 136 during previous coupling operations, including measurements of the distance between the agricultural vehicle 100 and the implements 102, actual speeds of the agricultural vehicle 100, and / or identified orientation parameters (e.g., horizontal and vertical positioning) and orientation angles (e.g., approach or steering angle, height, tilt, pitch, yaw, and / or roll angles) as provided by the geosensor 142.The feedback information may also include adjustments made by the operator or other systems to one or more operations of the agricultural vehicle 100, based on information from the machine learning model of the neural network 162, as well as other possible variables that may be present in connection with these operator-initiated adjustments, including, for example, terrain information that may be displayed by information from the geographic sensor 140, among other variables.

[0052] The feedback information stored in the historical database 164 may also include performance indicators that may provide an indication of the success or failure of previous coupling operations, including the time and / or number of attempts required to achieve alignment between the agricultural vehicle 100 and the implement 102 or parts thereof, including the first and second connection interfaces 110, 112, the number, type and / or extent of adjustments required, including the implement actuator 118, and instances of operator intervention.

[0053] The historical database 164 can also contain additional information that may affect the agricultural vehicle 100 when it is moved in alignment with the implement 102. Such additional information may include, for example, information about environmental conditions during past operations, such as the pitch / roll angle and / or the downward pressure of the implement 102 (e.g.,of the harvesting header), an inclination of the inclined conveyor, a front / rear position of the inclined conveyor 104, a position of a measuring wheel, a moisture content of the soil and / or amounts of precipitation, among other information that may affect the interaction of the ground-contacting elements 108 with the soil and may influence the performance or operation of the guidance, steering and / or transmission systems 128, 130, 132, including, for example, an influence on the turning, stopping and / or speed adjustments of the agricultural vehicle 100.

[0054] The information provided by the historical database 164 enables the neural network 162 to utilize past fastening processes to optimize future fastening processes, including optimizing the driving parameters associated with different relative position thresholds. By analyzing patterns identified by the neural network 162, at least from the information stored in the historical database 164, the neural network 162 can refine the machine learning model(s) to increase prediction accuracy and improve the efficiency of the fastening process, also with respect to the driving parameters obtained by using the machine learning model(s) for different driving conditions, as described above.Furthermore, the historical database 164 can support the adaptive learning described above by enabling the neural network 162 to update its models in real time based on information acquired, for example, by the one or more sensors 138, 140, 142, 144, 146 of the sensor system 136 and / or by operator input via the input device 148 during operation. Such a continuous learning process can help to adapt the orientation achieved by the agricultural vehicle 100 during the alignment process to different conditions and operator preferences.

[0055] The external system 152 can also include one or more databases, such as an attachment database 166, which can contain various pieces of information about at least the attachment 102 and other attachments that are to be involved in a current or upcoming fastening process. The specific attachment 102 for which information stored in the attachment database 166 is to be retrieved and / or used in connection with a fastening process, including a current or upcoming fastening process, can be identified in various ways. For example, according to certain embodiments, an attachment 102 that is or will be involved in the fastening process and for which information is to be retrieved can be identified by an operator who enters one or more identifiers for the attachment 102 via the input device 148.Furthermore, according to certain embodiments, one or more of the proximity sensors 144 can capture information, including images, from which unique features of the attachment 102 can be extracted. Such extracted information can include identification codes, symbols, or markings and / or enable the controller 122, 154 to analyze the shape and / or size of the attachment 102 or a part thereof based on the captured information.

[0056] The implement database 166 can store a variety of information about different implements 102, which can facilitate an attachment process for the identified implement. For example, the implement database 166, including an identification database 168, can store an identification of the implement type, such as a header type, and at least certain physical dimensions of the implement 102. Such dimensions can include, for example, information about the location, orientation, and spacing of the second connection interface 112 and / or the associated second connection points 114 of an identified implement 102.

[0057] The implement database 166, including a location database 170, can store information about the recorded location of the implement 102, including information recorded by the geosensor 142 when the implement 102 was last detached from the agricultural vehicle 100 or another vehicle. Furthermore, the location database 170 can include, for example, coordinates (e.g., latitude and longitude), among other location information, of the implement 102 and / or the agricultural vehicle 100, or parts thereof, at the time of the last detachment, identified using information provided by the geosensor 142. This geodata can be used to determine a precise location of the implement 102 for future reattachment procedures.Such location information may also include recorded information obtained by the geographic sensor 140 regarding the angular orientation (e.g., height, inclination, pitch, roll, and / or yaw angles) and / or vertical height, among other information, of the implement 102 and / or the agricultural vehicle 100 or parts thereof, at the time of the last disconnection. Such information may further assist in determining driving parameters to achieve correct alignment between the agricultural vehicle 100 and the implement 102 or parts thereof, including the first and second connection interfaces 110, 112, in order to couple the agricultural vehicle 100 with the implement 102.

[0058] The location database 170 can also contain information about the settings of one or more actuators 148 at the time the implement 102 was last detached from the agricultural vehicle 100. This information can include parameters relating to the position, orientation, and / or state of the actuators 148 at the time the implement 102 was last detached. These settings can provide information that enables the actuators 148 to regain these positions, orientations, and / or states for a subsequent reattachment of the implement 102 to the agricultural vehicle 100 or another vehicle 100.

[0059] While the above discussion concerned information that may be stored in the implement database 166, including the identification and location database 168, 170, such information or similar information may also include one or more of the storage devices 126, 148.

[0060] Fig. Figure 3 shows an exemplary representation of an agricultural vehicle 110, which is separated from an implement 102 by a plurality of relative position thresholds (e.g., X1-X5), each of which in this example can represent a different distance between the agricultural vehicle 110 and the implement 102. While the in Fig. As discussed in the example shown in Figure 3 regarding relative position thresholds in relation to distances, the relative position thresholds may relate to other factors that can be used to evaluate the position of the agricultural vehicle 110 in relation to the implement 102, including, for example, while the agricultural vehicle 110 is moving towards a generally stationary implement 102. For example, according to certain embodiments, in addition to or instead of distance, the relative position threshold may correspond to locations or positions depending on time and / or the duration of the operation.

[0061] In the Fig. In the example shown in Figure 3, where the relative position thresholds correspond to intervals, each relative position threshold, which may be predetermined, can coincide with the beginning of another driving state (e.g., state 1 to state 4). Thus, each driving state can extend between two successive relative position thresholds. Furthermore, in such an example, the length or distance of each driving state between different relative position thresholds can decrease with successively increasing proximity of each driving state to the attachment 102. In other embodiments, the distance over which each driving state extends between successive relative position thresholds can generally be the same. Fig. Figure 3 shows five relative position thresholds corresponding to four driving states, but the number of relative position thresholds and driving states can vary.

[0062] The location and / or the corresponding distance covered by each relative position threshold and / or driving state can be determined in various ways and based on different factors. For example, according to certain embodiments, the locations and number of relative position thresholds and / or driving states can be determined by the machine learning model(s) of the neural network 162, as described above. Additionally or alternatively, the locations, positions, and / or distances covered by the relative position thresholds and / or driving states can be based, at least in part, on operator preferences or settings that the operator can provide to the controller 122 using the input device 148, and / or at least in part on default settings, as also described above.

[0063] The location of each relative position threshold and / or the corresponding distance covered by each driving condition can be used to operate the agricultural vehicle 100 according to associated driving parameters, which are generally configured to align the agricultural vehicle 100 with the implement 102 and / or to position the first connection interface 110 for appropriate engagement with the second connection interface 112. Thus, such relative position thresholds can be used to determine when the agricultural vehicle 100 should transition from one driving condition and / or driving parameters to another driving condition and / or other driving parameters.For example, when a first relative position threshold (X1) is met, the movement of the agricultural vehicle 100 in conjunction with the alignment of the agricultural vehicle 100 or its components to the implement 102 can be based on at least one or more first driving parameters of a first driving condition, and then, when the agricultural vehicle 100 subsequently meets a second threshold distance (X2), on one or more second driving parameters of a second driving condition.

[0064] In connection with the alignment of the agricultural vehicle 100 with the implement 102, including the orientation of the first connection interface 110 for proper engagement with the second connection interface 112, during a fastening process, a variety of parameters and / or associated parameter tolerances can be set and / or adjusted. Driving parameters can include, for example, a driving speed and / or heading, the orientation of the agricultural vehicle 100, and / or the orientation (e.g., height, inclination, pitch, roll, and / or yaw angle) of the first connection interface 110, as well as one or more associated tolerances for such parameters, among others. Furthermore, the driving parameters, including their adjustments, can be determined in different ways and based on various factors.For example, according to certain embodiments, the driving parameters for one or more relative position thresholds can be determined by the machine learning model(s) of the neural network 162, as described above, including the use of information, including near real-time and / or updated information, provided by the sensor system 136. Furthermore, the driving parameters for one or more driving states can be based at least partially on commands issued by an operator of the controller 122 using the input device 148, and / or at least partially on default settings, as also described above.

[0065] The driving parameters can differ and change for various relative position thresholds and / or driving conditions. Such differences can include, for example, the number, types, and / or values, including tolerances, of the driving parameters. For example, the driving parameters for at least some driving conditions and / or relative position thresholds can include one or more driving speeds, headings, and / or orientations of the agricultural vehicle 100. Additionally or alternatively, the driving parameters for other driving conditions or corresponding relative position thresholds can include parameters relating to the orientation (e.g., height, inclination, pitch, roll, and / or yaw angles) of the first connection interface 110, as well as one or more associated tolerances.The driving parameters for the various driving conditions can be based on a variety of considerations, such as the size and capabilities of the agricultural vehicle 112. For example, the driving parameters for different driving conditions can be based, at least in part, on dimensions or measurements of the agricultural vehicle 112 (e.g., height, length, width, wheelbase) that can influence the speed, position, and / or steering of the agricultural vehicle 112 as its relative position changes while it moves toward or approaches the implement 102.

[0066] According to certain embodiments, the driving parameters can be automatically implemented for at least some driving conditions and / or upon fulfillment of certain relative position thresholds, for example, via one or more signals generated by the controller 124 for the operation of one or more of the guidance system 128, the steering system 130, the transmission system 132, and / or the drive motor 134, as well as other components or systems of the agricultural vehicle 100. Additionally or alternatively, at least some, if not all, of the specific driving parameters can be output to the output device 150 as suggestions, for example, in response to one or more signals generated by the controller 122. These suggestions can be implemented by the operator or not. Whether at least some, if not all, of the driving parameters are implemented during a fastening process can depend on operator settings.As explained below, in certain situations, for example, operator settings may specify that the driving parameters should be implemented automatically until the agricultural vehicle 102 is within a certain distance of the implement 102, at which point the operator can manually complete the fastening process using or not using the suggested driving parameters issued via the input device 148.

[0067] In the Fig. In the example shown, the first threshold distance (X1) can correspond to the furthest distance of the relative position thresholds to the implement 102, such as a distance of approximately 150 meters, while the fifth threshold distance (X5) is closest to the implement 102. The fifth threshold distance (X5) can, for example, be approximately zero meters to the implement 102. Furthermore, in this example, the fifth threshold distance (X5) can correspond to a situation in which the agricultural vehicle 100 is located at a position where the first connection interface 110, via the actuation of the implement actuator(s) 118, can cause the first connection interface 110 to engage, for example, with the second connection interface 112, for example, via a coupling at contact points 114, 116.Thus, each other relative position threshold (X2, X3, X4) in this example can correspond to a different distance between the first and fifth relative position thresholds (X1, X5). Accordingly, in a non-restrictive example, the second relative position threshold (X2) could be approximately ten meters from the implement 102, the third relative position threshold (X3) could be approximately six meters from the implement 102, and the relative position threshold (X4) could be approximately three meters from the implement 102.Furthermore, according to such an example, a first driving state can extend between the first and the second relative position threshold (X1, X2), a second driving state can extend between the second and the third relative position threshold (X2, X3), a third driving state can extend between the third and the fourth relative position threshold (X3, X4), and a fourth driving state can extend between the fourth and the fifth relative position threshold (X4, X5).

[0068] Each relative position threshold and / or driving condition can enable a hierarchical approach to positioning and aligning the agricultural vehicle 100 and the first connection interface 110 with the implement 102, including the second connection interface 112. Such an approach can make it possible to use different driving parameters, determined at least by the machine learning model(s), to move from coarse positioning, such as at least at one or more relatively distant distance thresholds, to fine positioning via more precise alignment at one or more relative position thresholds located in relative proximity to the implement 102.Such an approach of more precise refinement of the alignment of the agricultural vehicle 100 and the first connection interface 110, as the agricultural vehicle 100 moves closer to the fastening system 120, can provide an at least partially automated system 120 that brings the agricultural vehicle 100 and the first connection interface 110 into the correct alignment relatively smoothly and accurately during the fastening process.

[0069] As also in the example of Fig. As can be seen in Figure 3, the depicted first driving state (state 1) is relatively far from the implement 102, given the first relative position threshold (X1). According to certain embodiments, the fastening system 120 can be operated with standard settings and / or under the operator's control such that the agricultural vehicle 100 is generally guided in the direction of the implement 102, for example, using the guidance system 128 and knowledge of the general location of the implement 102, as provided by the implement database 166 and / or the storage device 126, 158, the proximity sensor 144 and / or visual identification by the operator.For example, in certain situations where the location of the implement 102 was not recorded during the last uncoupling operation, or where the implement 102 was subsequently moved to a different location, the proximity sensor 144, including, for example, a distance perception or vision system, can be used to detect and identify at least part of the frame of the implement 102, including, for example, the middle frame, in addition to other visual markers or indicators. In such a situation, the detected frame, or part thereof, or another visual marker can be used to guide the agricultural vehicle 100, at least initially, to the implement 102.

[0070] Thus, in this example, the first driving state may not be linked to specific driving parameters, including initial driving parameters relating to the driving speed, course, or orientation of the agricultural vehicle 100, as well as the orientation (e.g., height, inclination, pitch, roll, and / or yaw angle) of the first connection interface 110. Instead, during the first driving state, a preliminary alignment of at least the agricultural vehicle 100 with the implement 102 may occur, guided by the recorded location of the implement 102 and the location of the agricultural vehicle 102 as indicated by the geosensor 142, by information provided by the proximity sensor 144, and / or by manual steering by the operator.Upon reaching the second relative position threshold (X2) and / or upon entering the second driving state, the machine learning model(s) can be used to determine one or more second driving parameters using information provided by the sensor system 136 (e.g., the geosensor 142, the geographic sensor 140, and / or the proximity sensor 144), including near-real-time information obtained from at least one or more sensors of the sensor system 136. In such an embodiment, at least the second driving parameters can relate to a generally coarse adjustment of the orientation of the agricultural vehicle 100 relative to the implement 102, but not specifically to the orientation of the first connection interface 110.According to certain embodiments, the second driving parameters may, for example, relate to one or more of the speed, heading, and orientation (e.g., approach or steering angle) of the agricultural vehicle 100 relative to the implement 102 or a part thereof, e.g., the central frame of the implement 102 and / or the position of the second connection interface 112. However, in such an example, the second driving condition parameters may not include parameters relating to adjusting the orientation of the first connection interface 110, including, for example, the vertical height, inclination, pitch, roll, and / or yaw angle of the first connection interface 110.

[0071] Upon reaching or exceeding the third relative position threshold (X3), the machine learning model(s) can use information provided by the sensor system 136 (e.g., the geosensor 142, the geographic sensor 140, and / or the proximity sensor 144), including updated information or information received at least in near real-time from one or more sensors of the system 136, to determine one or more third driving parameters. Similar to the second driving parameters, the third driving parameters in the illustrated example can relate to general adjustments to the movement of the agricultural vehicle 100, but not specifically to the orientation of the first connection interface 110.However, at least some of the third driving parameters or associated tolerances may deviate from similar driving parameters of the second driving parameters in order to attempt to bring the movement and / or orientation of the agricultural vehicle 100 closer to what the agricultural vehicle 100 is intended to be if at least the agricultural vehicle 100 is to be aligned relative to the implement 102 when the first and second connection interfaces 110, 112 are to engage appropriately. For example, with a continuously decreasing distance between the agricultural vehicle 100 and the implement 102, when the agricultural vehicle 100 reaches the third relative position threshold (X3) and / or is operating in the third driving state (state3), the driving speed of the agricultural vehicle 100 may be reduced compared to at least the second driving parameters for the third driving parameters.Furthermore, compared to at least the second driving parameters, the third driving parameters can further refine the course and orientation of the vehicle and / or the associated tolerances, so that they more accurately correspond to the course and orientation that the agricultural vehicle 100 will eventually achieve when the first connection interface 110 is to engage with the second connection interface 112.

[0072] Upon reaching or exceeding the fourth relative position threshold (X4) and / or the fourth driving condition (condition4), information provided by the sensor system 136, including, for example, updated and / or near-real-time information, can be used with the machine learning model(s) to identify fourth driving parameters. Similar to the third driving parameters, the fourth driving parameters can further refine one or more of the driving parameters, including associated tolerances, for example, adjusting them, which corresponds to a movement of the agricultural vehicle 100 in alignment with the implement 102.Furthermore, the fourth driving parameters, compared to at least the third driving parameters, can further refine one or more driving parameters, including associated tolerances, to further improve the accuracy of the alignment and / or course of the agricultural vehicle 100 and thus ensure that the agricultural vehicle 100 is properly aligned with the implement 102 when the first connection interface 110 is to engage with the second connection interface 112. Since the fourth relative position threshold is closer to the implement 102 than the third relative position threshold, the fourth driving parameters can include a further reduction in the driving speed of the agricultural vehicle 100.

[0073] Since the fourth relative position threshold corresponds to a further approach of the agricultural vehicle to the implement 102, the fourth driving parameters may further include one or more parameters to adjust the orientation (e.g. vertical height, inclination, pitch, roll and / or yaw angle) of the first connection interface 110 so that the first connection interface 110 is generally moved into the correct orientation for an upcoming engagement with the second connection interface 112.Such adjustments to the orientation of the first connection interface 110 can, at least under certain circumstances, be based at least partially on information obtained from the storage device 126, 158 and / or the attachment database 166, including the location database 170, which can specify the previous settings, including positioning, orientation and / or the states of the actuating actuator(s) 118, so that such settings can be repeated for the re-engagement of the first connection interface 110 with the second connection interface 112 and, furthermore, for the re-attachment of the attachment 102 to the agricultural vehicle 100.Additionally or alternatively, the fourth driving parameters relating to the positioning of the first connection interface 110 can be based on or adapted using a variety of information, including, for example, knowledge of the configuration or dimensions of the attachment 102 and the corresponding second connection interface 112, as may be provided by the storage device 126, 158 and / or the attachment database 166, including the identification database 168.Furthermore, such orientation parameters for the fourth driving parameters can be determined at least partially using an identification of the location and / or orientation, including relative locations and / or orientations, of the second connection interface 112, which is received from one or more sensors of the sensor system 136, including, for example, the geosensor 142, the geographic sensor 140 and / or the proximity sensor 144.Furthermore, according to the embodiment shown, information provided by the sensor system 136, including at least near real-time information, for example from one or more of the geosensor 142, the geographic sensor 140 and / or the proximity sensor 144, can be determined, updated and / or refined using the machine learning model(s) described above, in addition to or instead of historical information regarding the settings for the implement actuator(s) 118.

[0074] In the example shown, upon reaching the fifth relative position threshold (X5), the agricultural vehicle 100 should have reached a position in which it is aligned with the implement 102 such that the first connection interface 110 can engage with the second connection interface 112 via the implement actuator 118. In such a case, the fifth driving parameters can include parameters designed to stop the agricultural vehicle 100 at a position where the first connection interface 110 can be appropriately coupled with the second connection interface 112.According to certain embodiments, in which the fastening system 120 is to bring the first connection interface 110 into engagement with the second connection interface 112 and, in addition, is to couple the first and second connection interfaces 110, 112 along the first and second connection points 114, 116, the control 122 can generate one or more commands to actuate the attachment actuator 118 in such a way that the first connection interface 110 engages with the second connection interface 112.

[0075] Alternatively, according to other embodiments, the system 120 may have previously received information indicating that an operator preference has specified that, upon reaching the fifth relative position threshold, the operator should at least actuate the implement actuator 118 to appropriately engage the first connection interface 110 with the second connection interface 112. Additionally or alternatively, according to certain embodiments, the operator preference may also include the fifth relative position threshold being a predetermined distance to the implement 112, allowing the operator to steer or move the agricultural vehicle 100 over a final distance before the first connection interface 110 appropriately engages with the second connection interface 112.In such an embodiment, the final path along which the operator is to move the agricultural vehicle 100 from the fifth relative position threshold can be predetermined, for example, based on a default setting or operator preference. According to such embodiments, the controller 122 can generate one or more signals to notify the operator, for example, via the output device 150, that the first connection interface 110 and / or the agricultural vehicle is ready to engage with the second connection interface 112. The controller 122 can further generate one or more signals to provide the operator with recommendations on how to move the agricultural vehicle 100 along the final path and / or operate the implement 118 to establish the appropriate engagement between the first and second connection interfaces 110, 112.Such recommendations can be achieved in a similar manner as above with regard to the determination of at least the fifth driving parameters and can therefore be based on one or more, or a combination of, information provided by one or more sensors of the sensor system 136, the machine learning models and / or recorded historical information, including information from the storage device 126, 158 and / or the crop database 166.

[0076] While in the preceding example at least the fastening system 120 is used for the automatic operation of the agricultural vehicle 100 using driving parameters based on the fulfillment of at least some, if not all, driving thresholds, according to certain embodiments the driving parameters generated by the fastening system can instead be made available to the operator as suggestions when the operator manually controls the movement and orientation of the agricultural vehicle 100. According to such an embodiment, the driving parameters generated by the fastening system 120 can, for example, be output at the output device 150 in response to one or more signals generated by the controller 122.

[0077] Fig. Figure 4 shows a simplified exemplary representation of a method 400 involving a control logic for the fastening system 120 in connection with aligning and fastening the first connection interface 110 of the agricultural vehicle 100 to the second connection interface 112 of the implement 102. The method 400 corresponds to the implementation of the in Fig. 4 illustrated sequence shown and described in connection therewith, or is otherwise related to it and can, for example, be derived from the one shown in at least Fig. The exemplary fastening system 120 shown in 2 can be carried out, including, for example, by one or more of the processors 124, 156 using information stored in at least one or more memory devices 126, 158. It is understood, however, that the method 400 can be carried out in one or more sequences different from the illustrative sequence. Furthermore, the control logic mentioned below may include other or additional steps or processes than those discussed below.

[0078] In block 402, the mounting system 120 is activated, for example, in response to a command entered by an operator via the input device 148. In block 404, information about the implement 102 to be coupled with the agricultural vehicle 100 can be identified and / or retrieved, for example, from the controller 122, the storage device 126, 158, or the implement database 166, including the identification database 168, as described above. This retrieval can, for example, include queries of the storage device 126, 158 to obtain stored parameters of the implement 102, or access to the implement database 166 to determine specific attributes of the implement 102, including, for example, by entering or capturing an identifier of the implement 102.Additionally, the input device 148 can include a graphical user interface (GUI) that provides the operator with options for selecting the implement 102 from a predefined list. According to certain embodiments, the identified implement 102 can then be checked against parameters stored in the identification database 168 to ensure compatibility with the agricultural vehicle 100, also with regard to the compatibility of the first and second connection interfaces 110, 112.

[0079] The information retrieved in block 404 may further include location and / or orientation information relating to the identified implement 102 to be coupled to the agricultural vehicle 100, and / or relating to the agricultural vehicle 100 at the time the implement 102 was last subjected to the uncoupling process. Such location and / or orientation information may be retrieved, for example, from the storage device 126, 158 and / or the implement database 166, including the location database 170, as described above.The information retrieved in block 404 may also include, where available, information on the positioning, orientation and / or state of the actuators 148 at the time when the implement 102 was last coupled to the agricultural vehicle 102, which may be available, for example, to the storage device 126, 158 and / or the implement database 166, including the location database 170, as discussed above.

[0080] In block 406, the controller 122 can retrieve one or more operator preferences, e.g., from the storage device 126, 158 or a database 164, 166. As discussed previously, such operator preferences can be taken into account when attaching the agricultural vehicle 100 to the implement 102 and can be used, for example, by the machine learning model and / or the controller 122. According to certain embodiments, the operator can, for example, specify a preference—received via the input device 148 or stored in the storage device 126, 158 or in the historical database 164—regarding the extent to which the attachment process should be automated or controlled by the operator.For example, certain operators may prefer that the fastening system 120 autonomously controls or handles the entire fastening process, whereas operators may also choose a semi-automatic approach in which the automated system 120 takes over the alignment of the agricultural vehicle 100 with the implement 102 until the agricultural vehicle 100 is at a certain distance from the implement 102 and / or until a specific operation is to take place in the fastening process. For example, as described above, the operator may specify a preference for the operator to take control of the fastening process with regard to moving the first connection interface 110 into engagement with the second connection interface 112, as described above.

[0081] The mounting system 120 can receive or retrieve a variety of other operator preferences in block 406, including, for example, speed preferences based on different relative position thresholds between the agricultural vehicle 100 and the implement 102. Thus, the operator can, for instance, define different speed setting preferences or thresholds as the agricultural vehicle 100 approaches certain relative position thresholds to the implement 102. Such speed preferences can be tailored to the operator's comfort level and / or typical field conditions, as well as other experience or knowledge of the operator.

[0082] The fastening system 120 can also receive or retrieve operator preferences in block 406 regarding the orientation of the agricultural vehicle 100 and the implement 102 and / or parts thereof, e.g., an orientation between the first and the second connection interface 110, 112. As with the speed settings, according to certain embodiments, such orientation preferences can relate to different tolerances regarding the orientations of the agricultural vehicle 100 and the implement 102 and / or parts thereof at different distances between the agricultural vehicle 100 and the implement 102, for example, also regarding different relative position thresholds between the agricultural vehicle 100 and the implement 102.For example, the operator can specify preferences such as allowing a greater misalignment between the agricultural vehicle 100 and the implement 102 at certain distances, and to what extent such tolerances should be reduced as the distance between the agricultural vehicle 100 and the implement 102 decreases. Such preferences can therefore relate to the aggressiveness of the mounting system 100 when it comes to alignment adjustments, including adjustments that may be necessary due to varying terrain characteristics at different distances from the implement 102.

[0083] In block 408, one or more relative position thresholds and / or corresponding driving states, as well as the corresponding driving parameters, can be determined. As mentioned previously, the identification of the relative position thresholds, driving parameters, and / or driving states can be determined in various ways, including, for example, using one or more machine learning models, operator preferences, and / or default settings, as well as combinations thereof. For example, if machine learning models of the neural network 162 are used, the relative position thresholds can be determined dynamically based on historical information and at least near-real-time information input from the sensor system 136, including one or more of the geosensor 142, the geographic sensor 140, and / or the proximity sensor 144.According to such an embodiment, the machine learning model(s) can be based on recognized patterns from previous fastening operations, including information about previous fastening operations stored in the historical database 164, and predict optimal relative position thresholds. Furthermore, the machine learning models can be configured to refine the precision of the relative position thresholds by incorporating feedback information such as the condition and performance metrics of previous fastening procedures.

[0084] As previously mentioned, the operator preferences recorded via input device 148 can also be used to define relative position thresholds. For example, the operator can specify one or more relative position thresholds at which they retain or take over manual control of the agricultural vehicle 100, as well as preferences for automatic adjustments of orientation and speed.Furthermore, an operator can set wider tolerances for the agricultural vehicle 100's travel at greater distances from the implement 102 to at least accelerate the initial approach of the agricultural vehicle 102 to the implement 102, and progressively narrow these tolerances for finer control, including adjustments to the speed, orientation, and / or alignment of the agricultural vehicle 100 relative to the implement 102 as the vehicle 100 approaches the implement 102. Operators can also input preferred speeds and approach or steering angles, which may be based, for example, on the operator's comfort level and / or field conditions, and which may be reflected in the generated driving parameters, as described above.

[0085] Default settings can provide predefined relative position thresholds and associated driving conditions, which can serve as a fallback solution, for example, when machine learning model specifications are unavailable and / or when no operator preferences are defined. These default settings can be based on standard operating parameters for typical field conditions, vehicle types, and implement types.For example, a first relative position threshold could be set at one hundred and fifty meters to begin with a rough alignment of the agricultural vehicle 100 with the implement 102, a second threshold at fifteen meters for initial alignment adjustments of the agricultural vehicle 100, a third threshold at ten meters for a refined alignment and a reduced driving speed of the agricultural vehicle 100, a fourth threshold at six meters for further precision of the agricultural vehicle 100 and / or the first connection interface 110, and a final threshold at three meters to fine-tune the alignment of the agricultural vehicle 100 and / or the first connection interface 110 and to prepare for coupling.

[0086] In block 410, the distance between the agricultural vehicle 100 and the implement 102 can be determined, for example, by the controller 122. According to certain embodiments, the distance between the agricultural vehicle 100 and the implement 102 can be based, at least partially, on the current location of the agricultural vehicle 100, which can be determined using information provided by the geosensor 142. The distance can also be based, at least in part, on a recorded position of the implement 102 or the recorded location where the agricultural vehicle 100 or another vehicle was last uncoupled from the implement 102, which may be stored in the implement database 166 or the associated position database 170 and / or in a storage device 126, 158.According to such an embodiment, a comparison of the current location or position of the agricultural vehicle 100 with the recorded last known location or position of the implement 102, or an associated location of the agricultural vehicle 100 at the time of its last disconnection from the implement 102, can be used to determine the distance between the agricultural vehicle 100 and the implement 102 or parts thereof. Alternatively, the distance between the agricultural vehicle 100 and the implement 102, or parts thereof, can be determined using information supplied by the proximity sensor 144.

[0087] The determination of the distance between the agricultural vehicle 100 and the implement 102, as identified in Block 410, can further be used in conjunction with the information obtained in Block 408 to identify whether the agricultural vehicle 100 is located at a position associated with or meeting at least one of the relative position thresholds. Furthermore, such information can be used, for example by the controller 122 and / or by using the machine learning model, to generate the corresponding driving parameters described above in Block 412.

[0088] In block 414, the agricultural vehicle 100 can initiate or continue its movement towards the implement 102. As previously discussed, such movement of the agricultural vehicle 100 can be based, at least in part, on one or more of the identified parameters from block 412, which can either be implemented automatically by the fastening system 120 using the control unit 122 and / or provided as suggestions output to the operator via the output device 150. Furthermore, while the agricultural vehicle 100 is moving towards the implement 102, its position and / or the distance between the agricultural vehicle 100 and the implement 102 can be continuously monitored and / or determined.

[0089] During the operation of the agricultural vehicle 100, the controller 122 can use information from one or more sensors of the sensor system 136 to determine whether one or more driving parameters are met, including compliance with a predetermined tolerance. Such a determination can, for example, include whether the agricultural vehicle 100 is within a predetermined range, including tolerance, for alignment with the implement 102, or whether it meets this range. If the controller 122 determines in block 416 that a driving parameter is not met, the operation of one or more of the guidance system 128, the steering system 130, the transmission system 132, and / or the drive motor 134 can be adjusted in block 418 according to such an embodiment. The extent or nature of such an adjustment can be determined in various ways and can be based, at least in part, on the nature of the parameter(s) not met.According to certain embodiments, for example, information provided by the sensor system 136 in near real time can be applied to the machine learning model to obtain one or more updated driving parameters, including, for example, an update of one or more driving parameters that can adjust the operation of the guidance and / or steering system 128, 130 to adjust the alignment or lack thereof that has been or is to be achieved relative to the attachment 102.

[0090] In block 420, the controller 122 can use at least the information provided in block 414 and the relative position thresholds determined in block 408 to determine whether the agricultural vehicle 100 has moved to a location where another relative position threshold has been met. If the controller 122 decides in block 416 that no further relative position threshold has been met, the procedure 400 can return to block 414, where at least the distance traveled by the agricultural vehicle 100 can continue to be monitored to determine when another relative position threshold has been met.However, if the controller 122 detects in block 420 that a relative position threshold has been met, the controller 122 can determine whether meeting a further relative position threshold allows a change in the operation of the fastening system 120, for example, whether the alignment of the agricultural vehicle 100 and / or the first connection interface 110 should continue to be performed automatically via the fastening system 120 or whether control should be taken over by the operator. Furthermore, the fastening system 120 can optionally be configured so that the operator can override the automated system 120 when the agricultural vehicle 100 is at any predefined distance from the fastening point, or at any other time.Such a manual control option can be particularly advantageous for operators who prefer an active approach, at least for the final alignment and coupling of the agricultural vehicle 100 with the implement 102.

[0091] Fig. Figure 4 shows, for example, an exemplary scenario in which the operator preference can specify that the movement of the agricultural vehicle 100 and all associated adjustments to the orientation of the first connection interface 112 should be carried out automatically by the operation of the fastening system 120 until the agricultural vehicle reaches a location or has met a relative position threshold at which the agricultural vehicle 100 is adjacent to and aligned with the implement 102. For illustration, such a position is shown in Fig. 4 is referred to as an intervention position and can, with reference to the in Fig.In the example shown, the fifth threshold distance (X5) corresponds to the control 122. If, in this example, the controller 122 determines in block 420 that a relative position threshold has been met, but the met relative position threshold does not correspond to the engagement position (e.g., fifth threshold distance (X5)), the procedure 400 can return to block 412, where driving parameters can be identified and subsequently implemented that correspond to the next threshold distance and / or the associated next driving state. However, if, in this example, the controller 122 determines in block 422 that the met relative position threshold corresponds to the engagement position (e.g., fifth threshold distance (X5)), then the controller 112 can use the operator preferences in block 422, e.g., the preferences retrieved in block 406, to determine whether control of the fastening process should be transferred to the operator.

[0092] In this example, if the controller 122 in block 422 determines that control should not be transferred to the operator and that the engagement of the first connection interface 110 with the second connection interface 112 should occur automatically, and furthermore, automatically via the mounting system 120, the controller 122 in block 424 can activate the attachment actuators 118. As already discussed, such activation of the attachment actuators 118 can, at least in certain situations, include a refinement of the orientation, including the alignment, of the first connection interface 110 relative to the second connection interface 112. As already mentioned, such activation of the attachment actuators 118 can also mean that the settings of the attachment actuators 118 are restored, which were recorded when the attachment actuators were last attached to the attachment 102.Furthermore, as also discussed previously, based on information provided by one or more sensors of the sensor system 136, one or more of the machine learning models can be used to refine the settings to be implemented by the attachment actuators when making the engagement of the first connection interface 110 with the second connection interface 112.

[0093] If the controller 122 determines in block 422 that the control of the fastening process should be transferred to the operator, the controller 122 can alternatively generate a signal in block 434 to facilitate the provisions discussed above in relation to block 424 regarding the settings for the attachment actuators 118, which are output to the output device 150 for consideration by the operator. Furthermore, instead of automatically implementing the settings retrieved, determined, and / or refined in block 424, these settings can instead be made available to the operator for implementation via the output device 150.

[0094] The automatic activation of the implement actuators 118, as described, for example, in block 424, or the manual activation by the operator, as described, for example, in block 434, can cause the first and second connection interfaces 110, 112 to engage appropriately in block 426, so that the implement 102 is coupled to the agricultural vehicle 100 in block 426. After the implement 102 has been coupled to the agricultural vehicle 100 in block 426, the fastening system 120 or parts thereof can be deactivated in block 428.

[0095] Although the revelation has been illustrated and described in detail in the preceding drawings and description, it is to be understood in its character as exemplary and not limiting, whereby it is understood that only illustrative embodiments of it have been shown and described, and that all changes and modifications which come into the essence of the revelation are to be protected.

Claims

[1] Method (400) for coupling an agricultural vehicle (100) with an implement (102), wherein the method (400) comprises: Determining (412) a first driving parameter corresponding to a first guided movement by means of a control (122, 154) for a first relative position threshold value in order to align the agricultural vehicle (100) with the implement (102); Implementing (414) the first driving parameter in response to the first relative position threshold being met; Determining (412) a second driving parameter corresponding to a second guided movement by means of the control (122, 154) for a second relative position threshold value in order to align the agricultural vehicle (100) with the implement (102), wherein the second driving parameter differs from the first driving parameter and further comprises an orientation parameter comprising one or more settings for an orientation of a first connection interface (110) of the agricultural vehicle (100) relative to a second connection interface (112) of the implement (102), wherein the second relative position threshold value differs from the first relative position threshold value; and Implementing the second driving parameter in response to the fulfillment of the second relative position threshold, wherein the implementation of the second driving parameter includes adjusting the orientation of the first connection interface (110) at least on the basis of the orientation parameter. [2] Method (400) according to claim 1, wherein at least one of the first driving parameter and the second driving parameter each comprises at least one of a steering angle and one of an approach angle of the agricultural vehicle (100). [3] Method (400) according to claim 1, wherein at least one of the first driving parameter and the second driving parameter further comprises a driving speed of the agricultural vehicle (100). [4] Method (400) according to claim 1, wherein the second driving parameter comprises a refinement of the first driving parameter with respect to at least one of a range and tolerance of one or more parameters of the first and the second driving parameter. [5] Method (400) according to claim 1, further comprising: Retrieving (404) a previous location for at least one of the implement (102) and the agricultural vehicle (100), wherein the previous location is a location where the agricultural vehicle (100) or another vehicle was previously uncoupled from the implement (102); and where the first and second relative position thresholds comprise a distance between the agricultural vehicle (100) and the previous location. [6] Method (400) according to claim 1, further comprising: Retrieving (404) a previous actuator setting for one or more actuators (118) of the agricultural vehicle (100), wherein the previous actuator setting corresponds to a setting of the one or more actuators (118) at at least one of (1) a previous time when the first connection interface (110) was appropriately engaged with the second connection interface (112), or (2) a time when the first connection interface (110) had been disengaged from the second connection interface (112), and where the orientation parameter includes the previous actuator setting. [7] Method (400) according to claim 1, wherein the first driving parameter does not include a parameter for adjusting the orientation of the first connection interface (110) using an attachment actuator (102). [8] Method (400) according to claim 1, further comprising determining (412) at least one of the first driving parameter and the second driving parameter using information provided by a geographic sensor (140) relating to terrain on which the agricultural vehicle (100) is driving. [9] Method (400) according to claim 1, wherein determining (412) the first driving parameter comprises determining the first driving parameter by the controller (122, 154) using a machine learning model of a neural network (162) and wherein determining (412) the second driving parameter comprises determining the second driving parameter by the controller (122, 154) using the machine learning model of the neural network (162). [10] Method (400) according to claim 1, further comprising adjusting (412) at least one of the first driving parameter and the second driving parameter based on an operator preference. [11] System (120) for coupling an agricultural vehicle (100) with an implement (102), wherein the system (120) comprises: an implement actuator (102) to adjust the orientation of a first connection interface (110) of the agricultural vehicle (100); a guidance system (128) and a steering system (130), wherein the steering system (130) is configured to execute a guidance instruction specified by the guidance system (128); a storage device (126) coupled to at least one processor (120), wherein the storage device (126) contains instructions which, when executed by the at least one processor (120), cause the system (120) to: for a first relative position threshold value a first driving parameter is determined which corresponds to a first guided movement using the guidance system (128) and the steering system (130) to align the agricultural vehicle (100) with the implement (102); The first driving parameter is implemented in response to the fulfillment of the first relative position threshold; for a second relative position threshold, a second driving parameter is determined which corresponds to a second guided movement using the guidance system (128) and the steering system (130) to align the agricultural vehicle (100) with the implement (102), wherein the second driving parameter is a refinement of at least one parameter of the first driving parameter with respect to at least one value and tolerance of the at least one parameter, wherein the second relative position threshold differs from the first relative position threshold; and In response to the fulfillment of the second relative position threshold, the second driving parameter is implemented, wherein the implementation of the second driving parameter includes an adjustment of the orientation of the first connection interface (110) relative to a second connection interface (112) of the attachment (102) using the attachment actuator (102). [12] System (120) according to claim 11, further comprising a proximity sensor (144) configured to provide information indicating a position or distance of the implement (102) relative to the agricultural vehicle (100), and wherein the storage device (126) further comprises instructions which, when executed by the at least one processor (120), cause the system (120) to determine whether the first relative position threshold has been met. [13] System (120) according to claim 11, wherein the at least one parameter of the first driving parameter comprises one or more of a steering angle and an approach angle of the agricultural vehicle (100). [14] System (120) according to claim 11, wherein the first driving parameter comprises a driving speed of the agricultural vehicle (100). [15] System (120) according to claim 11, wherein the storage device (126) further comprises instructions which, when executed by the at least one processor (120), cause the system (120) to retrieve a previous location for at least one of the implement (102) and the agricultural vehicle (100), wherein the previous location corresponds to a location at which the agricultural vehicle (100) or another vehicle was previously uncoupled from the implement (102), and where the first and second relative position thresholds each comprise a distance between the agricultural vehicle (100) and the previous location.

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