• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The present invention relates to a self-propelled spraybar device (1), comprising a central part (6) having a fastening part on the self-propelled engine, up / down cylinders (10) and at least one central part distance (9), two variable geometry arms (7, 8) connected to the central part (6) and each comprising tilt cylinders (16, 17) and at least one arm distance sensor (12). , 18), and a main controller (3) connected by a main communication network (11) to the up / down cylinders (10) and the at least one central part sensor (9), spray nozzles ( 20), characterized in that each arm sensor (12, 13) comprises an on-board controller (21) directly controlling by an auxiliary communication network (18) the associated tilt cylinders (16, 17) to maintain an Programmable constant distance of the variable geometry arms (7, 8) from the ground.
    公开号:FR3019969A1
    申请号:FR1453572
    申请日:2014-04-18
    公开日:2015-10-23
    发明作者:
    申请人:ARTEC PULVERISATION；
    IPC主号:
    专利说明:

    [0001] The present invention relates to the field of sprayers, and in particular relates to a self-propelled spray boom device having distance sensors from the ground. In the agricultural field, it is necessary to spray various liquids on large-scale agricultural fields, directly on the ground or on plants, in order to weed, treat plants against diseases, destroy insects harmful to crops, or apply foliar fertilizers, the liquids being sprayed on the fields by means of a sprayer carried or towed by a self-propelled engine, the liquids possibly being biocides (herbicides, fungicides, pesticides, etc.) or chemical fertilizers (nitrates, phosphates, potassium, mixtures ...). In general, a spray boom 20 has two articulated arms pivotally attached to the frame of a motor vehicle to increase the spray surface of the spray boom and thereby reduce the time required to spray the entire field. with the liquid, the two arms being hinged to move up or down from the ground and thus prevent the arms from hitting the ground. The arms are also able to be fully raised, that is to say raised vertically, to minimize the width of the width of the spray boom and thus allow it to pass on roads.
    [0002] In addition, in order to obtain uniform spraying in the field, the spray nozzles arranged on the two articulated arms must be kept at a constant distance from the ground or the plants over which the surface of the bearing uniform ramp, the height and heights of the liquid is applied. Most of the ground of the field on which the self-propelled spray is moving not being part of the spray boom frame two articulated arms of the spray boom must be adjusted in real time in order to maintain a constant distance between the spray boom and the soil or plants in the field, the frame, the first articulated arm and the second articulated arm to be independently controlled to accommodate all possible soil configurations. Indeed, because of the very large width of the spray bars, the distance to the ground at one end of the spray boom is not necessarily identical to the distance to the ground at the other end of the spray boom. Many spraybar solutions include ultrasonic sensors to measure the distance between the spray boom and the soil or plants in the field, the ultrasonic sensors sending their measurements to a calculator which then controls the movements of the different parts of the field. the spray boom independently. U.S. Patent Application US2006 / 0118654 discloses a ground contactless spray boom height control system for a vehicle comprising a frame, a pair of spray boom structures extending laterally outwardly from opposite sides. frame for pivotal up and down movement relative to the frame controlled by a control device. The spray boom structures can each include an ultrasonic sensor to measure the distance between the spray boom structures and the ground, and the measurements are then sent to the controller to control the up / down movements of the spray boom structures. spray boom structures via cylinders. However, this system allows only the rise / fall of the frame and therefore of the entire spray boom, and the frame further comprising no spray nozzles, spraying the field is not optimal and therefore requires more time . In addition, the architecture of the system requires that the controller can calculate all the measurements of the ultrasonic sensors and control the two structures of the spray boom simultaneously, which increases the complexity and therefore the cost and size of the device. ordered. European Patent Application EP2186405 discloses a spray boom which has a controllable adjustment device which is attached to joints between outer segments and inner segments, ultrasonic sensors and / or angle indicators being attached to them. segments for detecting and transferring current values with respect to a relative position. A processing device is coupled to the ultrasonic sensors and / or angle indicators and provides signals for controlling elements to adjust the segments, always in relation to the remaining segments.
    [0003] However, the architecture of the device requires that the processing device can calculate all the measurements of the ultrasonic sensors and / or angle indicators and control all the segments simultaneously, which increases the complexity and therefore the cost and the size of the device. treatment device and therefore the spray boom as a whole. The present invention aims at solving the drawbacks of the prior art by proposing a self-propelled spraybar device comprising distance sensors with respect to the ground, the spraybar device comprising a central part and two arms. articulated variable geometry respectively comprising a distance sensor relative to the ground, the sensor of the central portion being connected to a main controller controlling the rise / fall of the central portion (and therefore of the entire spray boom) and the sensors of the two variable geometry arms respectively comprising an onboard controller adapted to control the inclination of the variable geometry arms in order to maintain a constant distance of the geometrically variable arms relative to the ground. Thus, ground-oriented nozzles preferably arranged on the lower portions of the central portion and the two variable-geometry arms remain at a programmable constant distance from the ground, which makes it possible to obtain a uniform spray on the ground or the plants of the field to be sprayed. In addition, the sensors of the two variable geometry arms directly control the inclination of the variable geometry arms, which simplifies the main controller of the spray boom device, thus reducing the cost and size of the main controller and thus the ramp. overall spray. The present invention also relates to a self-propelled vehicle equipped with such a spray boom device.
    [0004] The subject of the present invention is therefore a self-propelled spray bar device, comprising: a central part having a fastening part on the self-propelling device, up / down jacks with respect to the plane of the chassis of the self-propelled vehicle when the fixing part is fixed on the self-propelled, and at least one central part sensor, detecting the distance from the ground of the central part; two variable geometry arms respectively connected cantilevered at two opposite lateral sides of the central part and each comprising inclination cylinders in a vertical plane relative to the central part and at least one arm sensor , each detecting the distance from the ground of each arm; and a main controller connected by a main communication network to the up / down jacks and to the at least one central portion sensor for controlling the up / down jacks of the central portion as a function of the measurements made by the at least one core sensor for maintaining a programmable constant distance from the central portion with respect to the ground, spray nozzles directed towards the ground being distributed over the central portion and the two arms of variable geometry, characterized in that each arm sensor comprises an onboard controller directly controlling by an auxiliary communication network, independent of the main communication network, the associated tilt cylinders to maintain a programmable constant distance of the geometrically variable arms relative to the ground.
    [0005] Thus, a constant spray height is obtained over the entire width of the spray bar device without manual action of the user, the control of the up / down cylinders for the overall lifting of the spray boom and the independent control of the cylinders of inclination of the variable geometry arms left and right of the central part allowing the inclination in a vertical plane of the variable geometry arms.
    [0006] In manual operation, these three movements are effected by buttons arranged on a manipulator actuated by the user, while with the aid of the spray bar device comprising sensors of distance from the ground, these three movements are do it automatically. The main controller only controls the overall lift movement of the spray boom via the height measurements performed by the center sensor, the inclinations of the variable geometry arms are directly controlled by the arm sensors via of their embedded controllers. Thus, the variable geometry arms being directly controlled by their respective arm sensors, the main controller of the spray boom requires less computing capacity, which reduces the costs of the main controller, the architecture of the spray boom being thus globally more profitable.
    [0007] The main controller and on-board controllers can be one of a microprocessor, a microcontroller, a digital signal processor (DSP), a programmable field array (FPGA), or an application-specific component (ASIC). The attachment portion of the spray boom device may be formed integrally with the self-propelled, or detachable thereof. It can be fixed to the chassis of the self-propelled vehicle or to a three-point hitch system. The term "self-propelled" as used herein refers to a vehicle equipped with an engine, particularly a tractor-type agricultural vehicle, adapted to support a spray boom. The variable geometry arms are preferably perpendicularly perpendicular to the central portion, to allow easier handling of the spray boom device according to the invention during its transport, or even to allow the circulation on conventional roads. of the self-propelled equipped with the spray bar device, with the two variable geometry arms 20 raised at right angles to the central portion for overall overall width on the minimum route. The spray nozzles are preferably on the lower part of the spray boom to avoid any interference disturbing impingement between the nozzles and the object (soil or plants) to be sprayed. Each of the variable geometry arms and the central portion preferably includes a distance sensing sensor, but may also, without departing from the scope of the present invention, include more than one distance sensor. The number of distance sensors will be determined based on the overall width of the spray boom.
    [0008] According to a particular characteristic of the invention, each variable geometry arm further comprises a proportional hydraulic distributor connected to the tilt cylinders and to the auxiliary communication network in order to control the inclination of the tilt cylinders as a function of the measurements made by the associated variable geometry arm sensor, to maintain a programmable constant distance of the geometrically variable arms relative to the ground.
    [0009] Thus, the proportional hydraulic distributor with two slices makes it possible to precisely perform the left and right variable geometry movements of the two variable geometry arms, the two-slice proportional hydraulic distributor being directly controlled by the variable geometry arm sensors and not by the main controller, each slice controlling one of the two arms with variable geometry. According to a particular characteristic of the invention, the central part sensor (s) and the arm sensor (s) are ultrasonic sensors. Ultrasonic sensors are indeed a well-known technology and therefore advantageous in price. However, without departing from the scope of the present invention, any distance sensor generating a distance signal is contemplated within the scope of the present invention. Thus, the invention is particularly useful with optical distance sensors, measuring a distance by round-trip time of an optical beam. According to a particular characteristic of the invention, each sensor may further comprise a separate transmission module and a reception module in order to obtain a large range of distance detection.
    [0010] Thus, the distance sensors with respect to the ground of the spray boom device have a wide detection range, ranging from a few centimeters to several meters, unlike traditional ultrasonic sensors with a single transmission / reception module, which have either a very short detection distance or a very large detection distance and therefore do not allow to have a detection range ranging from a few centimeters to several meters, as in the case of the sensor of the invention transmission module and separate receiving module. The dead zone (zero value at minimum measurement) is thus very significantly reduced compared to traditional sensors. The transmission module and the reception module 15 are each advantageously constituted by a piezoelectric cell, in the case of an ultrasonic sensor. The cell will advantageously aluminum membrane waterproof and resistant to mechanical aggression. According to a particular characteristic of the invention, the main communication network and the auxiliary communication network may be one of a wired network, preferably a CAN network, a wireless network, preferably a Wifi network, a network ZigBee®, a Bluetooth® network, or a combination of these. Thus, the use of a multiplexed bus (CAN) makes it possible to reduce the quantity of cables between the various connected elements. According to a particular characteristic of the invention, the self-propelled spray bar device further comprises a manipulator and a control and control screen connected to the main controller, the manipulator allowing a user to manually control the lift cylinders. lowering of the central portion and / or the tilt cylinders of the two variable geometry arms, the control and control screen allowing the user to control the distance of the central portion and the two arms with variable geometry from on the ground. Thus, the manipulator comprising a handle and / or buttons allows the user to control the overall lift and variable geometries of the spray boom in a manual operation, for example at the beginning and end of use or during a maintenance of the device. In addition, the screen, which is preferably in color, displays the information of the main controller such as the distances of the central portion and of the geometrically variable arms relative to the ground to inform the user. According to a particular characteristic of the invention, the manipulator and the control and control screen are connected to the main communication network.
    [0011] The main controller may advantageously be on the auxiliary communication network, to allow a dialogue between the main communication network and the auxiliary communication network. Thus, all the messages that are received by the arm sensors on the auxiliary communication network are redirected on the main communication network by the central part sensor, and all messages from the main controller to the arm sensors are redirected to the arm sensors via the central part sensor. Thus, according to a particular characteristic of the invention, the self-propelled spray bar device comprises a first CAN bus connecting the main controller, the manipulator, the control and control screen and the up / down and up / down cylinders. tilt, and a second CAN bus connecting the core sensor and the arm sensors.
    [0012] Thus, the two arm sensors communicate with each other information on the current steering, in order to optimize and avoid the effects of the boom due to the width of the spray boom. In addition, the second CAN bus being independent, a cut of the second CAN bus on the variable geometry arms does not cause a general stop of the communication of the first CAN bus of the spraybar device, but only the loss of the two sensors ultrasound on arms with variable geometry.
    [0013] It should be noted that on the central part sensor, all the information that is received from the other two variable geometry arm sensors (for example, distance from the ground, supply voltage, state ...) by the second CAN bus are redirected to the main controller via the first CAN bus of the spray bar device, the main controller can thus send the information to the screen so that the latter displays this information to inform the user.
    [0014] Similarly, all the information received by the central part sensor from the main controller or the screen and intended for the variable geometry arms is redirected to the variable geometry arm sensors via the second CAN bus. . According to a particular characteristic of the invention, the main controller and each onboard controller comprise an algorithm for managing and adjusting one or more of: the feedback amplification level of the sensor signal; variable amplification of the sensor signal over time, - the threshold of detection of obstacles, - the rate of repetition of bursts of detection signals, in particular ultrasonic bursts for an ultrasonic sensor, and - the number of oscillations per burst detection signals, especially ultrasonic bursts for an ultrasonic sensor. Thus, the algorithm makes it possible to obtain an improvement in the servocontrol of the spraybar device, thus preventing the risks of instability of the servo loops. According to a particular characteristic of the invention, the control and control screen comprises an interface, preferably a touch-sensitive interface, for adjusting the distance of the central part and / or the two arms geometry variable with respect to the ground. screen downloading when starting the self-propelled spray boom device the default heights of the central and arm sensors, said default heights being changeable via the interface of the control and control screen . Thus, all the adjustment parameters of the various sensors are available on the screen and can be modified by the user, the user being able to modify, for example, the following settings on the sensors: - manual mode or automatic mode, - reference height in automatic mode, and - sensitivity / responsiveness of movements in automatic mode, the settings being entered by the user via the touch screen and then sent to the various sensors via the first CAN bus, then the second CAN bus. According to a particular characteristic of the invention, the main controller comprises an algorithm 10 for automatically adjusting the distance of the central part from the ground at the end of the row so that at the time of cutting the spray by the At the end of the row, in order to perform a U-turn or a similar maneuver, the distance from the central portion to the ground is increased by a value adjustable by the user during the maneuver, the central portion descending to a set distance from the ground when the user restarts the spraying. The value of the set distance is set by default in the main controller, but can obviously be modifiable by the user, for example by means of the control and control screen. Thus, this prevents the arms of variable geometry touch the ground during a half turn at the end of range 25 of a self-propelled spray boom device. The present invention also relates to a self-propelled vehicle characterized in that it is equipped with a self-propelled spray bar device according to the present invention. The spray boom device can easily be attached to a self-propeller at the central portion of the spray boom device, the manipulator and the screen of the spray boom device being disposed within the cabin of the spray boom. self-propelled near the user. It should be noted that the spray boom device could also include wheels disposed and fixed under the central portion of the spray boom device to be towed by a self-propelled vehicle, without departing from the scope of the present invention. According to a particular characteristic of the invention, the main controller of the spray bar device is connected to a controller of the self-propelled apparatus in order to take into account the parameters of the self-propelling device, so that the main controller of the device The self-propelled spray bar modifies in real time the sensitivity of the servo control of the self-propelled spray bar device according to the parameters of the self-propelled machine. Thus, if the main communication network 20 is a CAN network, it can easily interface with the CAN network of the self-propelled for an exchange of these parameters. Thus, during a turn of the self-propelled vehicle which tends to rapidly bring the variable-geometry arm inside the turn closer to the ground, because of the centrifugal force which tilts the pendulum frame about its axis, the ascent of the Spray boom is more reactive, while controlling the instability of the servo loop. Software processing may allow the replacement of a hardware stage of one of the sensors and the enhancement of sensitivity.
    [0015] The parameters of the self-propelled can be, for example, the speed of the self-propelled and the inclination of the steering wheels of the self-propelled. By integrating the values of the steering wheel pivot position sensor 5 signals and the speed signal value of the self-propelled vehicle, an algorithm in the main controller and / or in the on-board controllers can continuously modify the sensitivity of the steering wheel. servocontrol to make the rise of the spray boom more responsive, while controlling the instability of the servo loop. To better illustrate the object of the present invention, will be described below, by way of illustration and not limited to, a preferred embodiment, with reference to the accompanying drawings. In these drawings: FIG. 1 is a block diagram of a self-propelled spray boom device according to the present invention; FIG. 2 is a schematic view of the self-propelled spray bar device according to FIG. 1; FIGS. 3A and 3B are schematic views of the self-propelled spray bar device according to FIG. 1, before and after detection of the distance sensors with respect to the ground; and Figure 4 is a schematic sectional view of an arm sensor of the self-propelled spray boom device according to the present invention.
    [0016] Referring to Figures 1 and 2, it can be seen that there is shown a self-propelled spray bar device 1 according to the present invention. The self-propelled spray bar device 1 comprises a spray bar 2, a main controller 3, a manipulator 4 and a control and control screen 5. The spray bar 2 comprises a central portion 6 and first and second variable geometry arms 7, 8 respectively cantilevered at two opposite lateral sides of the central portion 6. Spray nozzles (not shown in Figures 1 and 2 so as not to overload the drawings) oriented to the ground are distributed over the lower parts of the central part 6 and the two variable geometry arms 7, 8 of the spray boom 2, 20 in order to spray a liquid on the ground or the plants of the field to be sprayed, the nozzles sprayers to be kept at a constant distance from the ground in order to achieve optimum spraying. The central portion 6 has a fastening portion on the self-propelled motor (not shown in FIGS. 1 and 2), a central portion sensor 9, detecting the distance from the ground of the central portion 6, and raising cylinders. downwardly 10 relative to the plane of the frame of the self-propelled vehicle when the attachment portion of the central portion 6 is fixed to the self-propelled vehicle. It should be noted that the central portion 6 could comprise several central portion sensors 9, without departing from the scope of the present invention.
    [0017] The main controller 3, the manipulator 4, the control and control screen 5 and the central part sensor 9 are connected together by a main communication network 11, the main communication network 11 being a first CAN bus. It should be noted that the main communication network 11 could also be one of a wired network, a wireless network, preferably a Wifi network, a ZigBee® network or a Bluetooth® network or a combination thereof, without departing from the scope of the present invention. The main controller 3 is connected to the raising / lowering cylinders 10 of the central part 6 by the main communication network 11, so the main controller 3 can control the raising / lowering cylinders 10 of the central part 6 as a function of the measurements made. by the central portion sensor 9 to maintain a programmable constant distance from the central portion 6 relative to the ground.
    [0018] The main controller 3 receives the height measurement data produced by the central part sensor 9 via the main communication network 11, then the main controller 3 processes the data and controls the up / down cylinders 10 of the central part. 6 in order to achieve an overall raising / lowering of the spray boom 2 according to the height measurements made by the central portion sensor 9 to maintain a programmable constant distance from the lower part of the central portion 6 relative to the ground. The main controller 3 is a microcontroller but could also be one of a microprocessor, a digital signal processor (DSP), a programmable gate array (FPGA) or an application-specific component (ASIC), without departing from the of the present invention. The first and second variable geometry arms 7, 8 each comprise an arm sensor 12, 13, each detecting the distance from the ground of the associated variable geometry arm 7, 8, a proportional hydraulic distributor 14, 15 and jacks 16, 17 in a vertical plane relative to the central portion 6. It should be noted that the first and second variable geometry arms 7, 8 could each comprise several arm sensors 12, 13, without departing of the scope of the present invention. As described in more detail in FIG. 4, the arm sensors 12, 13 each comprise an on-board controller (not shown in FIGS. 1 and 2) directly controlling by an auxiliary communication network 18, independent of the main communication network. 11, the tilt cylinders 16, 17 associated to maintain a programmable constant distance of the variable geometry arms 7, 8 relative to the ground, the auxiliary communication network 18 being a second CAN bus. It should be noted that the auxiliary communication network 18 could also be one of a wired network, a wireless network, preferably a Wi-Fi network, a ZigBee® network or a Bluetooth® network, or a combination thereof. ci, without departing from the scope of the present invention. The proportional hydraulic distributors 14, 30 are connected to the tilt cylinders 16, 17 associated and to the auxiliary communication network 18 to control the inclination of the tilt cylinders 16, 17 associated according to the height measurements made by the arm sensors 12, 13, independently of the core sensor 9 and the main controller 3. The core sensor 9 and the arm sensors 12, 13 are ultrasonic sensors. However, without departing from the scope of the present invention, any distance sensor generating a distance signal is contemplated within the scope of the present invention. Thus, the invention is particularly usable with optical distance sensors, measuring a distance by back-to-back time of an optical beam. The central portion sensor 9 and the arm distance sensors 12, 13 are connected together by the auxiliary communication network 18. Thus, the two arm sensors 12, 13 communicate with each other information about the current control, in order to optimize and avoid the effects of the balance of the spray boom 2 due to the width of the spray boom 2. The information received on the central part sensor 9 from the other two arm sensors 12, 13 (by for example, distance from the ground, supply voltage, state ...) via the second CAN bus 18 are redirected to the main controller 3 via the first CAN bus 11, the main controller 3 being able to thus send the information to the screen 5 so that it displays this information to inform the user. Likewise, all the information received by the central part sensor 9 from the main controller 3 or the screen 5 and intended for the variable geometry arms 7, 8 is redirected to the arm sensors 12, 13 by via the second CAN bus 18.
    [0019] The main controller 3 and each onboard controller of the arm sensors 12, 13 comprise an algorithm allowing the management and adjustment of one or more of the sensor signal feedback amplification level, the variable amplification profile in the time, the obstacle detection threshold, the ultrasound burst repetition rate and the number of oscillations per ultrasonic burst. The manipulator 4 comprises a handle and 10 buttons and allows the user to control, in manual operation, the raising / lowering cylinders 10 of the central portion 6 and the tilt cylinders 16, 17 of the variable geometry arms 7, 8, for example at the beginning and end of use or during maintenance of the device. The control and control screen 5 allows the user to control the distance of the central portion 6 and the two variable geometry arms 7, 8 from the ground, the screen 5 preferably being in color. The control and control screen 5 comprises an interface, preferably tactile, for adjusting the set distance of the central portion 6 and the two variable geometry arms 7, 8 with respect to the ground. When starting the self-propelled spray bar device 1, the screen 5 downloads from the main controller 3 the default heights of the core sensor 9 and the arm sensors 12, 13, said default heights being modifiable. through the interface of the screen 5. The main controller 3 further comprises an algorithm for automatically adjusting the distance of the central portion 6 from the ground at the end of the row so that at the moment when the user cuts the spray at the end of the row, in order to perform a half turn or a similar maneuver, the distance from the central portion 6 with respect to the ground is increased by a value adjustable by the user the time of the maneuver, the central portion 6 down to a set distance from the ground when the user restarts the spray. It should be noted that the central portion 6 and the variable geometry arms 7, 8 are made of metal, the central portion 6 being, preferably, a rectangular-shaped metal frame, the variable-geometry arms 7, 8 being, preferably , metal frames of triangular shape at right angles. The self-propelled spray bar device 1 thus makes it possible to automatically maintain a programmable constant distance between the entire spray bar 2, that is to say the central portion 6 and the two variable geometry arms 7, 8, and the soil surface 19 of a field or the like. Referring to FIGS. 3A and 3B, it can be seen that there is shown a self-propelled spray bar device 1 according to FIG. 1 before and after detection of the distance sensors with respect to the ground 9, 12, 13. A self-propelled vehicle, ie a vehicle equipped with an engine, in particular a tractor-type agricultural vehicle, may be equipped with the self-propelled spray bar device 1 according to the present invention, the spray-bar device for self-propelled means 1 being fixed to the self-propelled vehicle by means of the fixing part of the central part 6. Spray nozzles 20 are arranged on the lower parts of the central part 6 and of variable geometry arms 7, 8 for spraying a liquid on the surface of the soil 19 or plants disposed on the surface of the soil 19, the liquid being a biocide (herbicide, fungicide, pesticide, etc.) or a chemical fertilizer (nitrate, phosphate, potassium, mixture). .).
    [0020] In Figure 3A, the self-propelled user equipped with the self-propelled spray bar device 1 initiates the automatic mode of the self-propelled spray bar device 1 through the interface of the control screen and 5, which triggers the operation of the central portion sensor 9 of the central portion 6 and the arm sensors 12, 13 of the two variable geometry arms 7, 8, the sensors 9, 12, 13 emitting ultrasonic waves in direction of the surface of the ground 19 to measure their respective distances from the ground surface 19. The surface of the ground 19 is not flat, the arm sensor 13 of the second variable geometry arm 8 detects that the distance between the latter and the surface of the floor 19 is greater than a set distance. In FIG. 3B, in response to the detection by the arm sensor 13 that the distance between it and the ground surface 19 is greater than the set distance, the onboard controller of the arm sensor 13 controls, by 25 l. intermediate proportional hydraulic distributor 15, the tilt cylinders 17 of the second variable geometry arm 8 to tilt down the second variable geometry arm 8 so that the latter is at the set distance from the ground surface 19. It should be noted that the main controller 3 of the self-propelled spray bar device 1 can be connected to a controller of the self-propelled machine in order to take into account parameters of the self-propelled device, such as the speed of the self-propelled sprayer. self-propelled or the inclination of the steering wheels of the self-propelled, so that the main controller 3 changes in real time the sensitivity of the servo of the spray bar device for self-propelled 1 depending on the parameters of the self-propelled. It should be noted that in order to use the self-propelled spray bar device 1 in the automatic mode, the user must, for example, quickly and in sequence press the "Lift Raise" and "Raise Down" buttons located on the vehicle. manipulator 4, the screen 5 then indicating to the user that the central portion 6 and the two variable geometry arms 7, 8 are in automatic mode by changing, for example, the color thereof in red on the screen 5. Once in automatic mode, if the user presses a "Left geometry up" button located on the manipulator 4, the first variable geometry arm 7 goes blank on the screen 5, the automatic mode then being cut only on the first variable geometry arm 7. The user can therefore manually control one or more of the central part 6, the first variable geometry arm 7 and the second variable geometry arm 8, while leaving it open. nt in automatic mode the other elements. It should be noted that if the user has not manually restarted the lifting, the reference height of the arm sensors 12, 13 is the set height of the screen 5, and if the user has manually restarted the lifting , the reference height of the arm sensors 12, 13 is the height given by the central portion sensor 9, which makes it possible to ensure the parallelism of the variable geometry arms 7, 8 with the surface of the floor 19.
    [0021] Referring to Figure 4, it can be seen that there is shown an arm sensor 12 of the self-propelled spray bar device 1. The arm sensor 12 includes an on-board controller 21, as well as a transmission module 22 and a separate reception module 23 to obtain a large range of distance detection. The onboard controller 21 is a microcontroller but could also be one of a microprocessor, a digital signal processor (DSP), a programmable gate array (FPGA) or an application specific component (ASIC), without departing of the scope of the present invention. The transmission module 22 and the reception module 23 are connected to the on-board controller 21 in a wired manner. The on-board controller 21 controls the sending of an emission ultrasonic wave 24 by the transmitting module 22 to the surface of the ground 19, the ultrasonic emission wave 24 being reflected by the surface of the ground 19. receiving module 23 then receives the reflected ultrasonic wave 25 and informs the onboard controller 21, the onboard controller 21 then calculating the distance of the arm sensor 12 from the ground surface 19 by time difference between the instant transmitting ultrasonic wave 24 and the instant of reception of the reflected ultrasonic wave 25. The onboard controller 21 is connected to two wired networks 26 and 27, preferably CAN networks, in order to communicate with each other. with external components such as the proportional hydraulic distributor 14 or the other sensors 9, 13 of the spray boom 2.
    [0022] It should be noted that the arm sensor 13 and the central portion sensor 9 are identical to the arm sensor 12. In automatic mode, when driving the ascent of one of the two articulated arms, the servocontrol controls the sagging the opposite arm due to the gravity offset of the pendular frame by a control signal to the rise of the same opposite arm. Its settable value is implemented as a percentage of the original signal.
    [0023] The rising control signals for both arms are proportional. The control signals for the descent are fixed value and variable frequency. Advantageously, the manual recovery of one of the two arms does not deactivate the automatic servocontrol of the other. Advantageously, all the sensor adjustment parameters are available on the screen in the cabin. 20
    权利要求:
    Claims (4)
    [0001]
    CLAIMS1 - Self-propelled spraybar device (1), comprising: - a central portion (6) having a fixing portion on the self-propelled, up / down cylinders (10) relative to the plane of the frame of the self-propelled when the attachment part is fixed on the self-propelled vehicle, and at least one central part sensor (9), detecting the distance from the ground of the central part (6); - two variable geometry arms (7, 8) respectively connected cantilevered at two opposite lateral sides of the central portion (6) and each having tilt cylinders (16, 17) in a vertical plane with respect to the central portion (6) and at least one arm sensor (12, 18), each detecting the distance from the ground of each arm (7, 8); and - a main controller (3) connected by a main communication network (11) to the up / down jacks (10) and the at least one central portion sensor (9) for controlling the up / down jacks (10) of the central portion (6) as a function of measurements by the at least one core sensor (9) to maintain a programmable constant distance from the central portion (6) from the ground, spray nozzles (20) being distributed on the central part (6) and the two variable geometry arms (7, 8), characterized in that each arm sensor (12, 13) comprises an on-board controller (21) controlling directly by an auxiliary communication network (18), independent of the main communication network (11), the inclination jacks (16, 17) associated to maintain a programmable constant distance of the variable geometry arms (7, 8) by ground ratio.
    [0002]
    2 - self-propelled spray bar device (1) according to claim 1, characterized in that each variable geometry arm (7, 8) further comprises a proportional hydraulic distributor (14, 15) connected to the cylinders of tilting (16, 17) and the auxiliary communication network (18) to control the inclination of the tilt cylinders (16, 17).
    [0003]
    3 - self-propelled spray boom device (1) according to one of claims 1 and 2, characterized in that the central portion sensor (s) (9) and the arm sensor (s) (12, 13) are Ultrasonic sensors.
    [0004]
    4 - self-propelled spraybar device (1) according to claim 3, characterized in that each ultrasonic sensor (9, 12, 13) further comprises a transmitting module (22) and a receiving module 20 (23) to obtain a wide range of distance detection. - Self-propelled spray boom device (1) according to one of claims 1 to 4, characterized in that the main communication network (11) and the auxiliary communication network (18) are one of a wired network, preferably a CAN network, a wireless network, preferably a Wifi network, a ZigBee® network, a Bluetooth® network, or a combination thereof. 6 - device spray bar for self-propelled (1) according to one of claims 1 to 5, characterized in that it further comprises a manipulator (4) and a control screen and control (5) connected to the main controller (3), the manipulator (4) allowing a user to manually control the up / down cylinders (10) of the central portion (6) and / or the tilt cylinders (16, 17) of both variable geometry arm (7, 8), the control and control screen (5) allowing the user to control the distance of the central portion (6) and the two variable geometry arms (7, 8) relative to on the ground. 7 - Device for self-propelled spray bar (1) according to claim 6, characterized in that the manipulator (4) and the control and control screen (5) are connected to the main communication network (11). 8 - self-propelled spray bar device (1) according to one of claims 1 to 7, characterized in that the main controller (3) is on the auxiliary communication network (18). 9 - self-propelled spraybar device (1) according to one of claims 1 to 8, characterized in that the main controller (3) and each onboard controller (21) comprise an algorithm for managing and adjusting one or more of: - the feedback amplification level of the sensor signal, - the variable amplification profile of the sensor signal over time, - the obstacle detection threshold, - the repetition rate. bursts of detection signals, and - the number of oscillations per burst of detection signals. - Self-propelled spray bar device (1) according to one of claims 6 to 9, characterized in that the control and control screen (5) comprises an interface, preferably tactile, for adjusting the distance of the central portion (6) and / or the two variable geometry arms (7, 8) with respect to the ground, the screen (5) downloading when starting of the self-propelled spray boom device (1) the default heights of the central portion (9) and arm (12, 13) sensors, said default heights being modifiable via the interface of the control and control screen (5). 11 - self-propelled spray boom device (1) according to one of claims 1 to 10, characterized in that the main controller (3) comprises an algorithm for automatically adjusting the distance of the central portion (6) relative to the ground at the end of the row so that at the time of the cutoff of the spray by the user at the end of the row, in order to perform a half-turn or a similar maneuver, the distance from the central portion (6) relative to the ground is increased by a user-adjustable value the time of the maneuver, the central portion (6) descending to a set distance from the ground when the user restarts the spraying. 12 - Self-propelled car, characterized in that it is equipped with a self-propelled spray bar device (1) according to one of claims 1 to 11. 13 - Self-propelled car according to claim 12, characterized by the fact that the main controller (3) of the self-propelled spray boom device (1) is connected to a controller of the self-propeller in order to take into account parameters of the self-propelling device, so that the main controller (3) of the self-propelled device self-propelled spray boom (1) changes in real-time the servo sensitivity of the self-propelled spray boom device (1) according to the parameters of the self-propelled sprayer.
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    同族专利:
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    引用文献:
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    法律状态:
    2015-02-20| PLFP| Fee payment|Year of fee payment: 2 |
    2015-12-11| RN| Application for restoration|Effective date: 20151106 |
    2015-12-25| FC| Favourable decision of inpi director general on an application for restauration.|Effective date: 20151124 |
    2016-02-19| PLFP| Fee payment|Year of fee payment: 3 |
    2017-02-09| PLFP| Fee payment|Year of fee payment: 4 |
    2018-02-23| PLFP| Fee payment|Year of fee payment: 5 |
    2021-03-30| PLFP| Fee payment|Year of fee payment: 8 |
    优先权:
    申请号 | 申请日 | 专利标题
    FR1453572A|FR3019969B1|2014-04-18|2014-04-18|SPRAY RAMP DEVICE FOR AUTOMOTEUR COMPRISING DISTANCE SENSORS FROM THE GROUND|
    FR1453572|2014-04-18|FR1453572A| FR3019969B1|2014-04-18|2014-04-18|SPRAY RAMP DEVICE FOR AUTOMOTEUR COMPRISING DISTANCE SENSORS FROM THE GROUND|
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