• 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:
    This document shows a procedure for setting the orientation of an agricultural implement. The method comprises, during driving of the agricultural implement, registering a series of orientation values corresponding to the orientation of the agricultural implement in at least one vertical plane, calculating a derived orientation value based on said series of values, and if the derived orientation value is outside a predetermined acceptable orientation value interval. two relatively movable portions of the agricultural implement.
    公开号:SE1550989A1
    申请号:SE1550989
    申请日:2015-07-07
    公开日:2017-01-08
    发明作者:Stark Crister
    申请人:Väderstad Holding Ab；
    IPC主号:
    专利说明:

    TECHNICAL FIELD This document relates to a procedure for controlling the orientation of an agricultural implement. The document also relates to agricultural agricultural implements and more specifically to which agricultural implements are intended to be used as agricultural implements.
    Background When using agricultural implements, such as cultivators, harrows, plows and seed drills, or combinations thereof, it is often desirable to maintain a predetermined orientation of the frame of the agricultural implement relative to the ground surface.
    In the case of cultivators or harrows, for example, this aims to ensure even cultivation over the entire width and / or length of the implement.
    In the case of seed drills, this aims to ensure even sowing depth over the width and / or length of the complete implement.
    This often means that you want the frame of the agricultural implement, or part of it, to be completely horizontally oriented, given that the agricultural implement is on a horizontal surface.
    From, for example, WO2012125109A1, it is known to control working depths frame height for tillage agricultural implements by means of a hydraulic system.
    However, it can be difficult to detect if an agricultural implement is incorrectly set, especially for a driver who is in a tractor cab.
    It is possible to measure the orientation of the agricultural implement with the help of a spirit level or similar devices, but for such a measurement the agricultural implement is required to stand still on a horizontal surface, which can be difficult to achieve when you are in a field to be worked and / or otherwise.
    There is thus a need for solutions that make it easier to achieve the correct setting of agricultural implements.
    Summary One purpose is to establish a procedure that makes it easier for users to ensure that the agricultural implement is set up correctly. A special object is to provide a method which can be used in automatic adjustment of the agricultural implement. The invention is defined by the appended independent claims.
    Embodiments appear from the dependent claims, from the following description and from the drawings.
    According to a first aspect, a procedure is provided for setting the orientation of an agricultural implement. The method comprises, during driving the agricultural implement, registering a series of orientation values corresponding to the orientation of the agricultural implement in at least one vertical plane, calculating a derived orientation value based on said series of values, and if the derived orientation value is outside a predetermined acceptable orientation value interval. moving parts of the agricultural implement and / or adjust a mutual position relationship between the agricultural implement and a towing vehicle which is fully or partially supported. l / led "orientation" here refers to an angular position. Vertical planes can suitably extend across the longitudinal direction of the agricultural implement and the longitudinal direction of the longitudinal agricultural implement, respectively, and parallel to a direction of gravity.
    A "derived orientation value" can be an average orientation value, which can, but must not be weighted using one or more factors.
    The registration can be done with the help of one or more orientation sensors. The calculation can take place in a control unit and the adjustment can be effected by the control unit providing a signal to an actuator, such as a hydraulic actuator, or to a control device for hydraulic actuators.
    The orientation sensor can be some form of angle sensor, for example a gyro.
    By deriving an orientation value based on a series of deorientation values, it is possible to calculate the orientation of the agricultural implement under the assumption that when the agricultural implement moves sufficiently far or long, its average orientation should be horizontal with certain tolerances.
    The orientation value range can be determined arbitrarily. For example, it may be desirable for the agricultural implement to be poured horizontally, with certain tolerances, in the transverse and / or longitudinal direction. Alternatively, it may be desirable for the frame to be inclined at a predetermined angle, with certain tolerances, in the transverse and / or longitudinal direction.
    This applies in particular to agricultural implements that are driven according to a single pattern where it returns to essentially the same position and direction of travel, as in the case of row patterns ("back and forth") or circular patterns, where the shape of the hose field is followed.
    For example, in a travel pattern where the agricultural implement is driven substantially parallel and adjacent rows, back and forth, it can be assumed that the average orientation of the agricultural implement 1 is horizontal, both in the transverse direction and the longitudinal direction, since it was driven in opposite directions and returned to essentially the same place.
    The same can also apply when driving along other substantially closed pathways. Said orientation values can be registered in the form of angular values based on the direction of gravity. For example, an angular value can be registered with respect to a transverse vertical plane and / or an angular value can be registered relative to a longitudinal vertical plane. The number of angular values can be determined from the configuration and setting options of the agricultural implement.
    The series of orientation values can be measured for one of the moving portions, and an actuator can be actuated to adjust the position of the portions relative to each other to achieve an orientation value that is within the predetermined range.
    The actuator can be actuated based on a user command, or automatically as a result of the derived orientation value being outside the acceptable orientation range.
    The method may further comprise registering a second orientation value corresponding to a second of the moving parts' orientation in said vertical plane and calculating an adjustment value, based on which actuator shell is set to achieve an orientation value which is within the predetermined range.
    By obtaining orientation value for the other batch, it is possible to calculate how much adjustment needs to be made. The option to adjust with feedback only from the frame section to which the adjustment is intended should entail a long time between the adjustment and the feedback.
    The derived orientation value may comprise an average of at least a subset of said series of orientation values.
    The method may further comprise registering a series of advance values representing the advance of the agricultural implement, each advance value being associated with a respective orientation value in said series of orientation values, and wherein said average orientation value can be derived based also on said advance values.
    The travel value can be selected from a group consisting of travel time, travel distance and geographical position.
    The registration can be performed during a sub-interval of the driving of the agricultural implement. l / led "sub-interval" refers, for example, to a predetermined time, a predetermined distance, a predetermined road or a predetermined area.
    For example, a calibration can be initiated automatically according to a predetermined criterion or through a user input.
    Such a predetermined criterion may, for example, include that the agricultural implement has been driven for a certain time, a certain distance or that it returns to a certain position and possibly also a certain direction of travel.
    Time, distance and position criteria can be selected to maximize the probability that the implement moves over a sufficiently large area for unreliable measurement to be made.
    The mutual position relationship may comprise the position of at least one earthing gripping part in relation to a frame or a frame portion of the agricultural implement. According to a second aspect, an agricultural implement for tillage is provided, comprising at least two relatively movable portions. The agricultural implement comprises at least one sensor for sensing an orientation value of the agricultural implement in at least one vertical plane, at least one actuator for setting the mutual position of the lots, and a control unit, arranged to: underrunning the agricultural implement register a series of orientation values, calculate a derived value based on orientation of values, and providing a control signal to the actuator for adjusting said mutual position about the derived orientation value is outside a predetermined acceptable range.
    The portions may be provided with respective orientation sensors and the control unit may be arranged to provide the control signal based on signals from said orientation sensors.
    According to a third aspect, a tillage system is provided, comprising a towing vehicle, which at least partially carries an agricultural implement for tillage, comprising at least one sensor for sensing an orientation value of the agricultural implement in at least one vertical plane, at least one actuator for setting a mutual position and the intermediate towing vehicle, a control unit. The control unit is arranged to register a series of deorientation values while driving the agricultural implement, calculate a derived orientation value based on a series of values, and provide a control signal to the actuator) for adjusting the said mutual position if the derived orientation value is outside a predetermined well.
    It is understood that the actuator may be arranged on the towing vehicle and / or the agricultural implement or in between. The control unit can also be arranged on the towing vehicle and / or on the agricultural implement.
    Brief description of the drawings Fig. 1 is a schematic side view of an agricultural implement in the form of a cultivator.
    Fig. 2 is a schematic perspective view of the agricultural implement in Fig. 1.
    Fig. 3 is a schematic perspective view of an agricultural implement in the form of a plow.
    Detailed Description The description will be made with reference to a disc cultivator 1 shown in Figures 1 and 2. It will be appreciated, however, that what is described herein is applied to other types of agricultural implements, such as harrows, plows, seeders, or other machines for discharging granular material to the soil. , and combinations thereof.
    A disc cultivator 1 comprises a frame 10, 11, 12, 13, 14, which can comprise a plurality of portions which are movable relative to each other, for example bypasses. The mobility can be controlled by one or more actuators, which normally consist of a hydraulic actuator 171, 172, 173, 174.
    Hydraulic actuators and their control are known and will not be described in more detail.
    The frame 10, 11, 12, 13, 14 may for instance comprise a main frame 10 and a towing device 13 for coupling to a towing vehicle 2, such as a tractor, and possibly one or more side sections 14, one or more front sections 11 and / or one or more rear sections 12. The main frame 10 and the traction device 13 may be controllably movable relative to each other, as may the main frame 10 and one or more of the side sections 14, front sections 11 and / or rear sections 12.
    On main frame, side sections, front sections or rear sections, one or more ground engaging parts 181, 182, 183, 184, 185 can be arranged. Such ground engaging parts may comprise tillage tools, such as harrow tines, cultivator tines, leveling tools 181, disc gear 286, 3 plows 286, plow 28 ), packer wheels, rollers 184, beetles, fertilizer beetles or row units for sowing or discharging other material into the soil. Interlocking parts may also include support wheels 185, 285 for transport and / or depth adjustment.
    One or more orientation sensors 15, 16 may be arranged on one or more of the frame portions 10, 13.
    Such an orientation sensor 15, 16 may be arranged to sense the orientation of the frame portion in one or more vertical planes, for example a vertical plane perpendicular to the direction of travel of the agricultural implement and / or a vertical plane parallel to the direction of travel of the agricultural implement. For example, each orientation sensor is treated in such a way that it instead reflects the tool's angular bearing relative to a horizontal plane, which is of course perpendicular to the direction of gravity.
    The orientation sensors 15, 16 may be arranged on their associate frame section 10, 13 so that a predetermined orientation value is to be achieved when the frame section is in a desired position.
    The orientation sensors 15, 16 may be uniaxial, biaxial or triaxial and may be combined with other types of sensors, such as accelerometers.
    For example, the orientation sensor 15 of a main frame section 10 may be arranged to indicate orientation 0 ° in both the transverse and longitudinal planes when the main frame section 10 is horizontally oriented.
    Furthermore, a second frame section may be provided with a orientation sensor. In the illustrated example, the drawbar 13 is provided with an orientation sensor 16.
    It will be appreciated that the agricultural implement may be constructed in a variety of configurations, usually such as a main frame having one or two side sections on each side, or a frame divided along the longitudinal centerline of the agricultural implement, which thus consists of two side sections. In the example shown there are, for example, side sections 14 which are rotatable about longitudinal horizontal axes relative to the main frame 10 and which can be adjusted individually by means of a hydraulic actuator 171, a front section can be adjusted individually relative to the main frame 10 by means of a hydraulic actuator 172, a drawbar 13 which can be adjusted relative to the main frame 10 by means of a hydraulic actuator 173 and a rear section 12 which can be positioned relative to the main frame 10 by means of a hydraulic actuator 174.
    By actuating the hydraulic actuator 173, the angle of the drawbar relative to the main frame 10 can be adjusted, which means that the angular position of the entire agricultural implement seen in a longitudinal vertical plane can be adjusted.
    It will be appreciated that front and / or rear frame sections may be connected to respective side sections, ie. a front or frame section may be rotatably connected to a side section and thus controllably movable relative to the side section.
    The orientation sensors 15, 16 are operatively connected to a unit control unit 17, which receives measured values from the orientation sensors. The control unit may have a memory for storing the measured values and a single processing unit for performing calculations based on the measured values and for generating output data based on the calculations. Examples of output can be user information regarding the orientation of the agricultural implement and / or control signals for adjusting the settings of the agricultural implement. Furthermore, the control unit can be connected to a user interface for inputting user commands and outputting feedback to the user. For example, such user commands can cancel or override the commands 17 generated commands, such as setting the frame sections 10,11, 12, 13, 14 angular positions.
    The control unit 17 can in turn be connected via cabling 175 or wirelessly to a main control unit of the towing vehicle and / or to a user interface. For example, user interfaces may be provided in the form of a computer, a tablet (for example, an iPad) 176 or similar device. Feedback to the user may include setting status, as an indication that the agricultural implement is set correctly. Alternatively, the channel feedback includes displaying setting errors and prompting the user to manually enter correction values.
    When advancing the agricultural implement 1, the control unit 17 receives a series of values from each of the orientation sensors. The orientation values may comprise orientation values in a transverse vertical plane and / or orientation values in a longitudinal vertical plane.
    For example, orientation values in transverse vertical planes can be achieved for agricultural implements 1 which have the possibility of placing interlocking parts differently over the width of the agricultural implement.
    In the same way, orientation values in longitudinal vertical planes can be achieved for agricultural implements 1, which have the possibility of placing engaging parts differently over the length of the agricultural implements.
    In each reading, an orientation value in the transverse direction and an orientation value in the longitudinal direction can thus be obtained, which together can be said to form an orientation vector for the agricultural implement. Reading can take place with predetermined time intervals, for example with a frequency of 0.1-10 Hz. Or based on another criterion, such as for example position or route, for example 5 times per meter driven.
    The orientation values are saved in a data memory, whereby the calculation of an average orientation in each vertical plane can be achieved according to a predetermined criterion.
    For example, average orientation can be calculated based on a predetermined number of orientation values. This calculation can be made with predetermined intervals, or as a moving average and then based on a certain number of recently obtained orientation values.
    Another alternative is to calculate average orientation values at regular intervals or when the agricultural implement has traveled a certain distance.
    Another alternative is to calculate average orientation values when the agricultural implement travels along a predetermined path, such as a closed path, or a path where the agricultural implement moves back and forth parallel lines. For example, GPS or similar positioning systems can be used to register the position and route of the agricultural implement.
    Combinations of the above criteria are possible.
    It is possible to set tolerances, meaning that adjustment takes place only if the calculated average orientation value is outside a predetermined interval.
    Possible tolerance intervals can be +/- 5 °, +/- 3 ° +/- 2 ° or +/- 1 °.
    Adjustment of the orientation of the agricultural implement can take place in response to a deviation from the acceptable tolerance interval being measured. The size of the adjustment is calculated based on the size of the orientation value.
    Thus, adjustment can be made at regular intervals, after a certain distance or when the agricultural implement has traveled a certain road. Fig. 3 shows an agricultural implement in the form of a plow 200 (more specifically a reversible plow). The plow 200 comprises a main frame 210 which carries a plurality of plow inserts 206a, 286b and a side frame 211 and in some embodiments also a wheel frame 212 which supports a support wheel 285.
    The plow 200 as a rule has a coupling device 218 which is suspended in the hydraulic arms 21 of the tractor 2. Since then, the suspension can be torque-fixed in at least the vertical direction. Depending on the design of the plow (often related to its size), this can therefore be completely or partially suspended on the tractor's hydraulic arms 21. Regardless, the tractor hydraulic arms can be used to fully or partially adjust the orientation of the plow.
    The main frame 210 can be rotatable about a horizontal axis which is substantially parallel to the direction of travel of the agricultural implement, so that the plow inserts 286a and 286b can alternately engage the ground.
    On one or more of the frame parts an orientation sensor 214, 215 can be arranged to sense the orientation of the respective frame part. Furthermore, a control unit 216 may be arranged on one of the frame parts, for example on a frame part which is arranged to maintain its orientation regardless of which of the plow inserts 286a, 286 are in engagement with the ground.
    One or more actuators 217a, 217b may be arranged relative to the relative positions of the control frame members 210, 211, 212.
    In addition, one or more actuators can be arranged to control the tractor hydraulic arms, which can also be used to completely or partially (for example together with support wheels 285) control the orientation of the plow 200.
    In the example shown, a first actuator 217a can be arranged to confuse the direction of travel of the plow about an axis Cp parallel to the direction of travel.
    A second actuator 217b may be provided for adjusting the color width, ie. the angle of the main frame 210 relative to the direction of travel. A third actuator 217c may be provided for adjusting the height of the wheel 285 relative to the frame, i.e. for setting the working depth of the plow.
    Furthermore, the hydraulic arms 21 of the towing vehicle 2 can be arranged for presetting the height of the frame relative to the towing vehicle.
    By adjusting the height position of the wheel 286 and the height position of the hydraulic arms 21, the orientation of the plow 200 in a vertical plane parallel to the direction of travel can be controlled.
    Thus, an agricultural implement 1, 200 can be torque-resistant clamping relative to the towing vehicle seen in at least one horizontal plane.
    In the case of a fully carried agricultural implement (not shown), the upper attachment point 22 of the towing vehicle, which can be individually steerable by means of an actuator (not shown), can also be used for setting the agricultural implement orientation in a vertical plane parallel to the direction of travel.
    Thus, an agricultural implement 1, 200 can be torque-resistant clamping relative to the towing vehicle even in a vertical plane.
    By collecting and processing orientation data as described above, it can be ensured that the frame portions 10, 11, 12, 13, 14, 15,210, 211, 212, by actuating the actuators 171, 172, 173, 174,217a, 217b, 217c pour a predetermined orientation.
    The plow 200 can be controlled by the same type of interface as the undiscussed disc cultivator.
    It will be appreciated that other types of tillage agricultural implements may be controlled in the same manner.
    权利要求:
    Claims (13)
    [1]
    A method for setting the orientation of an agricultural implement (1), comprising, during driving of the agricultural implement, registering a series of de-orientation values corresponding to the orientation of the agricultural implement in at least one vertical plane, calculating a derived orientation value based on said series of values, and if the derived non-orientation value predetermined acceptable orientation value range, adjust an interrelationship between at least two relatively movable portions (10, 11, 12, 13, 14, 210, 211,212) of the agricultural implement and / or adjust an interrelationship between the agricultural implement and a fully or partially supported vehicle.
    [2]
    A method according to claim 1, wherein said orientation values are recorded in the form of angular values based on a direction of gravity.
    [3]
    A method according to claim 1 or 2, wherein said series of de-orientation values are measured for at least one of the moving portions (10, 11, 12,13,210, 211, 212), and wherein an actuator (171,172,173,174,217a, 217b, 217c) is actuated for adjustment. of the position of the parties relative to each other to obtain an orientation value which is within the predetermined range.
    [4]
    A method according to any preceding claim, further comprising registering a second orientation value corresponding to a second of the orientation of the moving portions in said vertical plane and calculating an adjustment value, based on which the actuator (171, 172, 173, 174, 210, 211, 212) shall be set to achieve an orientation value that is within the predetermined range. 13
    [5]
    A method according to any one of the preceding claims, wherein the derived orientation value comprises an average value of at least a subset of said series of orientation values.
    [6]
    A method according to any preceding claim, further comprising registering a series of advance values representing the advance of the agricultural implement, each advance value being associated with a respective orientation value in said series of orientation values, and wherein said average orientation value is also derived from said derivative value.
    [7]
    A method according to claim 6, wherein the driving value is selected from the mixed group consisting of driving time, driving distance and geographical position.
    [8]
    A method according to any one of the preceding claims, wherein the registration is performed during a sub-interval of the driving of the agricultural implement.
    [9]
    A method according to any one of the preceding claims, wherein the relative position relationship comprises at least one ground engaging part (181, 182, 183, 184,185) position in relation to a frame (10, 11, 12, 13, 14, 210, 211, 212) or frame section at the agricultural implement.
    [10]
    A method according to any one of claims 1-8, wherein the mutual positioning relationship comprises a position of a pair of frame portions (10, 11, 12, 13, 14, 210, 211,212) relative to each other.
    [11]
    Agricultural implements (1) for tillage, comprising at least transversely movable portions (10, 11, 12, 13, 14, 210, 211, 212), comprising, at least one sensor (15, 16, 214, 215) for sensing an orientation value of the agricultural implement (1) in at least one vertical plane, 14 at least one actuator (171, 172, 173, 174, 210, 211, 212) for setting the relative position of the portions (10, 11, 12, 13, 14, 210, 211, 212), and a control unit (17), arranged to: during driving of the agricultural implement register a series of de-orientation values, calculate a derived orientation value based on said series of values, and provide a control signal to the actuator (171, 172, 173, 174, 210 , 211,212) for adjusting said mutual position if the derived orientation value is outside a predetermined acceptable range.
    [12]
    Agricultural implement according to claim 11, wherein the portions (10, 11, 12, 13, 14, 210, 211, 212) are provided with respective orientation sensors (15, 16, 214, 215) and wherein the control unit (17) is arranged to provide the control signal. based on signals from said orientation sensors (15, 16).
    [13]
    A tillage system, comprising a towing vehicle, which at least partially carries an agricultural implement (1) for tillage, comprising: at least one sensor (15, 16,214, 215) for sensing an orientation value of the agricultural implement (1) in at least one vertical plane, at least one actuator ( 171, 172, 173, 174, 210, 211, 212) for setting a mutual position between the towing vehicle and the agricultural implement, and a control unit (17), arranged to: during driving of the agricultural implement register a series of de-orientation values, calculate a derived orientation value based on said series values, and provide a control signal to the actuator (171, 172, 173, 174, 210, 211,212) for adjusting said relative position if the derived orientation value is outside a predetermined acceptable range.
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    SE1550989A|SE541432C2|2015-07-07|2015-07-07|Agricultural implements and procedure for controlling an agricultural implement|SE1550989A| SE541432C2|2015-07-07|2015-07-07|Agricultural implements and procedure for controlling an agricultural implement|
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    PCT/SE2016/050685| WO2017007412A1|2015-07-07|2016-07-05|Agricultural implement and method of controlling an agricultural implement|
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