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    • 专利摘要:
    An arrangement for estimating the degree of filling when overloading agricultural crop material from a harvesting machine (10) onto a transport vehicle (12) comprises a transfer device (40) of the harvesting machine (10) successively following a predetermined loading strategy different loading points (P1 to P10) of a loading container ( 18) of the transport vehicle loaded with crop. A computer device (112) calculates the respective loading point (P1 to P10) of the loading container (18) and uses the loading points (P1-P10) and signals of a flow rate sensor (118) to calculate the filling level successively for a plurality of points of the loading container (18) , The fill level is calculated in each case only for the centers of a virtual grid (138), which is laid out via cells (Z) and placed over the loading container (18).
    公开号:BE1020086A3
    申请号:E201200111
    申请日:2012-02-28
    公开日:2013-04-02
    发明作者:Johannes Zametzer；Folker Beck
    申请人:Deere & Co；
    IPC主号:
    专利说明:

    Arrangement and method for estimating the degree of filling when overloading agricultural crop material from a harvester onto a transport vehicle
    description
    The invention relates to an arrangement for estimating the degree of filling when overloading agricultural crop from a harvester to a transport vehicle, comprising: a transfer device of the harvester, which is set up and operable to successively apply different loading points of a loading container of the transport vehicle with Emtegut following a given loading strategy Throughput sensor for detecting the respective throughput of the harvester, and a computer device which is signal transmitting connected to the flow rate sensor and programmed, based on the loading points and the signals of the flow rate sensor successively for a plurality of points of the loading container on the basis of the filling of the loading container according to the Beladestrategie to calculate the current level of crop and a corresponding procedure.
    State of the art
    When harvesting crop-grown crops in a field, it is common practice for a harvester to load a harvested crop transport truck in addition to the harvester. A loading container of the transport vehicle, which is, for example, a tractor with a trailer or a truck is loaded while driving through a transfer device of the harvester with the harvested good, for example in a forage harvester through a discharge shaft and a combine harvester through a Abtankrohr. The transfer device is usually mounted rotatably about a vertical axis on the harvester and pivotable between a rest position in which it is oriented approximately parallel to the longitudinal axis of the harvester, and a working position in which it extends transversely to the direction of travel of the harvester. In addition, the height of the discharge-side end of the transfer device may be variable, as well as the position of a discharge flap which defines the angle at which the harvested crop is discharged.
    In unloading devices that are not adjustable in their dispensing position, as they are commonly used on combines, the driver of the transport vehicle has to ensure the uniform and complete filling of the loading container by gradually positioning different points of the loading container below the transfer device. This task is relatively demanding and tedious because crop losses due to crop falling on the field are to be avoided.
    In adjustable Überlädeeinrichtungen as they are commonly used on forage harvesters, the position of the transfer device is controlled in the simplest case manually by the driver of the harvester, including input devices in the cabin are available, which control the adjustment of the transfer device serving actuators. In this case, the driver of the harvester has to take care that the entire loading container of the transport vehicle is sufficiently filled, which is carried out by successively aligning the transfer device to different points on the loading bin out. If the transport vehicle deviates forwards or backwards or sideways from its nominal position, the position of the transfer device must be readjusted manually. It is disadvantageous that the control of the position of the transfer device occupies a considerable part of the attention of the driver, which leads to tedious work for the driver of the harvester.
    In order to avoid these disadvantages, systems for automatic filling of the trailer have been proposed, which detect the fill level in the loading container and optical or acoustic distance measurements between a mounted on the transfer device sensors and accumulating in the loading container crop (EP 066 018 A1, DE 10 2007 009 666 A1, EP 2 020 174 A1) or a detection of the crop in the loading container by means of a stereo camera based (EP 2 138 027 A1). The level values are used for automatic activation of the transfer device and / or the relative position of the vehicles. Here is to be regarded as a disadvantage that not in all cases an unrestricted view of the transfer device on the contents of the cargo box is possible, because certain, especially in the United States used cargo containers are equipped with an upper roof and are filled from the side. In addition, the sensors are located at a position affected by vibration and crop dust, resulting in inaccurate readings and reduced life. An attachment of the camera approximately in the middle of the length of the Überladeeinrichtung reduces these problems, but does not allow a view of the bottom of the hopper.
    Furthermore, it has been proposed that the transfer device be automatically timed to move gradually over the loading container (EP 2 245 916 A1, DE 10 2008 002 006 A1), which has the disadvantage that stored at different Erntegutdurchsätzen too high or too small Erntegutmengen on the loading container can be. Although the throughput-dependent propulsion speed control of the harvester described in DE 10 2008 002 006 A1 leads to the desired filling, it is unfavorable in that continuous accelerations and delays both in the harvester and in the transport vehicle, tiring the material and the operators, take place.
    DE 10 2009 027 245 A1 proposes to detect the relative position between the harvesting machine and the loading container on the basis of a camera and the filling level at the location of the loading container which is acted upon by the crop in each case on the basis of a throughput sensor.
    The publication of G. Happich et al. ("Development of model-based loading strategies for agricultural transfer processes", VDI-Berichte 2045 (2008), pages 289 to 294) describes a model-based loading control for agricultural goods, which includes a calculation of the current load point based on the relative position of the vehicles and the orientation of the transfer device. Based on a detection of Erntegutdurchsatzes by means of a measurement of the deflection of the pre-press rollers and on the Gutkanalgeometrie the volume and mass flow of the crop are detected. The loading state in the loading container is simulated from the throughput and the loading point by means of a software model. In this case, the loading container is divided into discrete partial volumes, which can be filled by suitable definition of loading points until the trailer is completely filled. The software model represents bulk material of the crop and includes the angle of repose of different bulk materials, the geometric shape of the crop
    Schüttkegel, the temporal behavior of the cone during its formation and the
    Interaction between individual bulk material cones. The bulk material cones are mapped either by mathematical functions (so-called quadrics) or in a model, incremental volumes are filled virtually. The inclusion of the exact shape of the bulk material cone in the software model therefore requires a large amount of computation, which is difficult to handle in real time.
    Object of the invention
    The object underlying the invention is seen to provide an arrangement for estimating the degree of filling when overcharging agricultural crop from a harvester to a Transpörtfahrzeug that can estimate the level in a simple and fast way.
    solution
    This object is achieved by the teaching of claims 1,11 and 12, which are listed in the other claims features that further develop the solution in an advantageous manner.
    An arrangement for estimating the degree of filling when overloading agricultural crop material from a harvester onto a transport vehicle comprises an unloading device of the harvesting machine, which successively loads different loading points of the loading container with crop during operation following a predetermined loading strategy. A throughput sensor is used to detect the respective throughput of the harvester. A computer device is supplied with signals from the flow rate sensor.
    The computer device calculates the respective fill level in succession for a multiplicity of points of the loading container on the basis of the loading points (which are successively activated when filling the loading container in accordance with the loading strategy) and the signals of the throughput sensor. These points are in each case the centers of a virtual grid placed over the loading container and constructed of, in particular, rectangular cells.
    It is thus a very simple, consisting of a grid model for the loading container used to determine the level of the individual cells of the grid at the center and to check based on whether the part of the cell of the grid associated partial volume already sufficiently filled with crop is or not. In this way, the level and thus the filling volume for a number of cells of the container is determined. The cells corresponding to the loading points are filled directly by the transfer device according to the loading strategy. Other cells of the grid which are adjacent to each filled cell and which do not correspond to the loading points are filled by slipping material, which can be taken into account by very simple models for the flow behavior of the crop. These calculations can be done in a relatively quick and easy way, so that the computer device is not particularly complex to design and their tasks can even be met by already existing on-board computer systems. On the basis of a positive result of the test as to whether a desired filling level has been reached, it is possible to switch automatically or manually to the next loading point of the loading strategy. In addition, it can be recognized when a loading strategy has been completed and a change of the transport vehicle can be initiated manually or automatically.
    In one possible embodiment, a sensor system is provided for determining the orientation of the transfer device relative to the harvesting machine, while a relative position determining device determines the relative position of a loading container of the transport vehicle relative to the harvesting machine. In operation, the computing device calculates based on the signals of the sensors and the
    Relativpositionsbestimmungseinrichtung the respective Beladepünkt the loading container. In another embodiment, the loading device and the desired value for the respective loading point are known to the computer device, so that it is not necessary to resort to the sensor system and the relative position determination device.
    In particular, the grid is selected such that the loading points of the loading strategy lie respectively in the middle of one cell of the grid and adjacent loading points in adjacent cells. The loading points may in turn be in line with even or uneven distances. The number of cells in the longitudinal direction of the line thus corresponds to the number of loading points of the line. The number of cells of the grid in the direction transverse to the line on which the loading points lie is preferably a single digit natural number, e.g. Three. At five loading points in the longitudinal direction of the container, the grid would then contain fifteen cells, the level of which is calculated.
    Conveniently, the individual cells of the cargo container are different in size depending on their position in the loading strategy. Thus, a cell of the lattice in the first place of the loading strategy can be larger than a following cell. Analogously, the loading strategy of the transfer device of the harvester can provide a double (or multiple) shutdown of the length of the loading container in opposite directions. Then, a filling level assigned to the first shutdown of the length of the loading container will be smaller than a fill level assigned to the second shutdown of the length of the loading container.
    Furthermore, the computer device can send a signal for further advancement of the transfer device into the respective next position of the loading strategy to actuators for adjusting the transfer device relative to the harvesting machine and / or for automatically changing the position of the loading container relative to the harvester, as soon as the computer device has determined that at one Cell reaches a certain level. It is also conceivable to display to the operator of the harvester corresponding signals to cause him to manually perform the relevant Verstellvorgänge the transfer device and / or give the driver of the transport vehicle an indication to change the relative position of both vehicles.
    The computer device can be connected to a display device and signal by means of the display device that the loading container is completely filled as soon as the computer device has determined that the filling levels of all cells are sufficiently high. It is also possible for the computer device to be connected to a steering device for the automatic steering of the transport vehicle and to allow the transport vehicle to be unscrewed when it is determined that the fill levels of all the cells are sufficiently high.
    The computer device can be acted on with a manually entered or automatically detected information regarding the dimensions of the loading container. For manual input, an operator interface (keyboard or other input device and display) may be provided, while automatic loading may be done by, for example, an RFID chip of the load container and an associated reader on the harvester. Based on the dimensions of the loading container, the loading strategy with their loading points and the individual cells of the grid are determined.
    The relative position determination device preferably comprises in each case a receiver for signals of a satellite-based position determination system on the harvesting machine and the transport vehicle and a transmission device for transmitting the position of the transport vehicle to the harvesting machine. However, it would also be conceivable to implement the relative position determination device as a camera (two-dimensional or stereo) or with range finders (PMD or ultrasound or laser or radio waves, eg with RFID circuits).
    Ausführunasbeispiel
    In the drawings, an embodiment of the invention described in more detail below is shown. It shows:
    1 is a side view of a self-propelled harvester and a transport vehicle,
    Fig. 2 is a schematic plan view of the harvester and the
    Transport vehicle that collectively carry out a harvesting and transfer operation on a field,
    3 is a schematic rear view of the harvester and the transport vehicle during the transfer,
    4 shows a schematic illustration of the position-determining devices of the two vehicles and the elements interacting therewith,
    5 is a flow chart according to which the computing device of the harvesting machine operates.
    6 shows a side view of the loading container with a reproduction of the individual cells of a virtual grid considered by the computer device in the filling degree estimation,
    Fig. 7 is a plan view of the loading container with the cells and
    Fig. 8 is a front view of the loading container with the cells.
    A combination of two agricultural machines illustrated in FIG. 1 comprises a self-propelled harvesting machine 10 in the manner of a forage harvester and a transport vehicle 12 such as a self-propelled tractor pulling a trailer 16 by means of a drawbar 14 comprising a loading container 18.
    The harvester 10 is built on a frame 20 supported by front driven wheels 22 and steerable rear wheels 24. The operation of the harvesting machine 10 is carried out by a driver's cab 26, from which a header 28 in the form of a maize header attachment is visible, which is attached to a feeder channel 30 on the front side of the forage harvester 10. By means of the header 28 from a field 34 aüfgenommenes crop is fed via a feed channel 30 arranged feed conveyor with pre-press rollers a chopper drum 36, which chops it into small pieces and gives it a Nachbeschleuniger 38. Between the chopper drum 36 and the post-accelerator 38, a post-shredder 42 extends with two grain processor rollers. The drive of the mentioned, drivable aggregates of the harvester 10 and the Emtevorsatzes 28 by means of an internal combustion engine 44. The output from the Nachbeschleuniger 38 Good leaves the harvester 10 to the adjacent moving loading container 18 via a first, power-operated actuator 46 about an approximately vertical axis rotatable and by means of a second, externally operated actuator 48 in the inclination adjustable transfer device 40 in the form of a discharge elbow, the discharge direction is changed by a flap 50, the inclination of which is adjustable by means of a third, power-operated actuator 52.
    The transport vehicle 12 and the trailer 16 are of conventional construction. The transport vehicle 12 includes front steerable wheels 64 and rear driven wheels 66 that are supported on a supporting structure 68 that supports a cab 70.
    FIG. 2 shows the harvesting machine 10 and the transport vehicle 12 in a plan view. It can be seen that the harvester 10 travels along a crop carcass 54 that forms a boundary between the harvested area 56 of the field 34 and the still standing corn 60 stock 60 of the field 34, and which harvested the crops 58. The transport vehicle 12 travels on the harvested part 56 of the field parallel to the harvesting machine 10 along a path on which the plants shredded by the harvesting machine 10 pass through the transfer device 40 into the loading container 18. The transport vehicle 12 therefore always has to travel in parallel next to the harvesting machine 10; but especially when entering the field, the transport vehicle 12 but also drive behind the harvester 10, since there is no abgeemteter part 56 of the field 34 is present, on which the transport vehicle 12 could drive without damaging the plants standing there.
    The harvesting machine 10 is steered by a driver seated in the driver's cab 18 or by a self-acting steering device known per se. The transport vehicle 12 is also equipped with a steering device described in more detail below to facilitate the parallel driving to the harvester 10 or automate. The harvester 10 could also be any other self-propelled harvester, such as a combine harvester or beet harvester.
    The harvester 10 is equipped with a first position determining device 72 located on the roof of the cab 26. There is also a first radio antenna 74 is positioned. The transport vehicle 12 is equipped with a second position determination device 76, which is located on the roof of the cabin 70. There is also a second radio antenna 78 is positioned.
    FIG. 3 shows a rear view of the harvesting machine 10 and the transport vehicle 12 with the loading container 18 and a crop cone forming thereon.
    Referring now to Figure 4, where u.a. the individual components of the position-determining devices 72, 76, a computer 112, actuators 46, 48, 52 for the adjustment of the transfer device 40, a sensor 128-132 for detecting their actual position and the steering devices of the transport vehicle 12 and the harvesting machine 10 are shown schematically. On board the harvesting machine 10 is the first position determination device 76, which comprises an antenna 80 and an evaluation circuit 82 connected to the antenna 80. The antenna 80 receives signals from satellites of a positioning system, such as GPS, Galileo or Glonass, which are fed to the evaluation circuit 82. Based on the signals from the satellites, the evaluation circuit 82 determines the current position of the antenna 80. The evaluation circuit 82 is further connected to a correction data receiving antenna 84 which receives radio waves radiated from reference stations at known locations. On the basis of the radio waves, the evaluation circuit 82 generates correction data for improving the accuracy of the position-determining device 72.
    The evaluation circuit 82 sends its position data to a control device 88 via a bus line 86. The control device 88 is connected via an interface 90 to a receiving and transmitting device 92, which in turn is connected to the radio antenna 74. The receiving and transmitting device 92 receives and generates radio waves which are picked up by the antenna 74.
    Analogously, aboard the transport vehicle 12 is the second position determination device 76, which comprises an antenna 94 and an evaluation circuit 96 connected to the antenna 94. The antenna 94 receives signals from satellites of the same positioning system as the antenna 80 which are fed to the evaluation circuit 96. On the basis of the signals of the satellites, the evaluation circuit 96 determines the current position of the antenna 94. The evaluation circuit 96 is further connected to a correction data receiving antenna 98, which from
    Reference stations in known locations radiated radio waves receives. The evaluation circuit 96 uses the radio waves to generate correction data for improving the accuracy of the position-determining device 76.
    The evaluation circuit 96 sends its position data to a control device 102 via a bus line 100. The control device 102 is connected via an interface 104 to a receiving and transmitting device 106, which in turn is connected to the radio antenna 78. The receiving and transmitting device 106 receives and generates radio waves that are picked up by the antenna 78. By the receiving and transmitting devices 90,106 and the radio antennas 74, 78 data can be transmitted from the control device 88 to the control device 102 and vice versa. The connection between the radio antennas 74, 78 may be direct, e.g. B. in an approved radio range such as CB radio o. Ä., Or via one or more relay stations are provided, for example, if the receiving and transmitting devices 90, 106 and the radio antennas 74, 78 according to the GSM or UMTS standard or a other suitable standard for mobile phones work.
    The control device 102 is connected to a steering device 108 which controls the steering angle of the front, steerable wheels 64! In addition, the sends
    Control device 102 speed signals to a speed setting device 110, which controls the speed of the transport vehicle 12 via a variation of the engine speed of the transport vehicle 12 and / or the gear ratio. In addition, the control device 102 is connected to a permanent memory 120.
    On board the harvesting machine 10, the control device 88 is connected to a computer device 112, which together with the controlled by her actuators and their associated sensors an arrangement for estimating the degree of filling in the loading container 18 and also a control arrangement for controlling the Überladens Emteguts of the Harvesting machine 10 forms on the loading container 18 of the transport vehicle 12. The computing device 112 is connected to a steering device 114 which controls the steering angle of the rear steerable wheels 24. In addition, the computer 112 transmits speed signals to a
    Speed setting device 116, which controls the speed of the harvester 10 via a variation of the gear ratio. The computing device 112 is further provided with a flow rate sensor 118 which detects the distance between the pressure rollers in the feed channel 30 with a sensor for detecting the position of at
    Parting tip of the header 28 mounted Tastbügeln 62, a permanent memory 122, via (valve means not shown) with the actuators 46, 48 and 50 and with sensors 128,130, 132 connected, each detecting the position of one of the actuators 46, 48 and 50.
    FIG. 5 shows a flowchart according to which the computer device 112 of the harvesting machine 10 proceeds during the harvesting operation.
    After the start in step 200, step 202 follows, in which the computer device 112 causes the control device 88 to query the contents of the memory 120 from the control device 102. This data is included, for example, in terms of engine performance of the transport vehicle 12, its type (here: tractor or tractor) and the tires (width, diameter, profile size). Furthermore, by inputting an operator into an input device, the control device 102 obtains data regarding the dimensions of the loading container 18 and the carrying capacity of the trailer 16. This data could also be contained in the memory 120 or in the memory 122 such data are stored for different trailers 16, can be selected by the driver of the harvester 10 or by means of a bar code reader 124 which detects suitable markings on the trailer 16 or on the outer wall of the cargo box 18. The bar code reader 124 could also be replaced or supplemented by an RFID or transponder chip reader (not shown) that can read RFID or transponder chips attached to the tag 16 or to the loading bin 18. These chips contain the mentioned data regarding the dimensions of the loading container 18 and the carrying capacity of the trailer 16 or (analogous to the barcode) only identification data from which the mentioned data can be read from the memory 122. Furthermore, the computing device 112 still receives data on soil properties: this is the lateral slope and the slope of the soil in the forward direction, and data regarding the traction characteristics of the soil (eg, whether loose sandy soil or relatively firm soil or wet soil). These data regarding the soil properties are read from a map stored in the memory 122 on the basis of a path planned for the coming harvesting process, stored in the memory 122.
    In the subsequent step 204, the loading strategy is determined based on which the loading container 128 is to be filled. The loading strategy defines the positions and associated time periods over which the transfer device 40 will unload the crop.
    The horizontal and vertical dimensions of the loading container 18 and its load capacity are taken into account, wherein the density of the crop can be derived from experience or measured by suitable sensors. In addition, the nature of the transport vehicle 12 is taken into account. In the case shown here, the loading of the loading container 18 will first take place in its front region in order to ensure a sufficient load on the rear, driven wheels 66 of the transport vehicle 12 via the drawbar 14. On the other hand, a truck with a driven rear axle and a loading container (not shown) arranged above it would first be filled in the rear area. The engine power of the transport vehicle 12, the data relating to the tires and the traction characteristics of the soil go into the intended filling level of the crop in the loading container 18, to avoid in unfavorable cases, a sinking of the wheels 66 in the ground or spinning. The slope of the floor is also in the loading strategy to fill the slope side of the hopper 18 each higher than the hangäb gelegen page. The data required in step 204 were supplied to the computer 112 in step 202. The loading strategy may provide that the loading container 18 is filled according to defined patterns, which are traversed once or several times. Examples of such patterns are in the forward direction and then in the opposite direction successively to be controlled Beladepunkte along the center of the loading container. Such patterns can also be traversed multiple times, wherein the position of the loading point in the lateral direction can be maintained or varied. However, any other patterns are conceivable. In one possible embodiment, two basic, different loading strategies are stored, one of which begins at the front and the other behind with the loading of the loading container 18, and which are selected on the basis of the type of transport vehicle or the position of its driven wheels. The other data mentioned then serve to adapt the selected loading strategy to the respective working conditions.
    After the loading strategy has been determined in step 204 and stored in memory 122, step 206 is followed, in which the harvesting machine 10 is steered along the crop edge 54 by the computer device 112 giving steering signals to the steering device 114 which are based on the signals from the position determining device 72 and a map stored in the memory 122 defining a path planned for the coming harvest, or signals from the styluses 62 or a combination of both. Alternately or additionally, the crop edge 54 is detected with a two- or three-dimensional camera and an image processing system or a laser or ultrasonic sensor or scanner and used to generate the steering signal for the
    Steering device 114 used. The path of the harvester 10 may not necessarily be dead straight, but may include curves depending on the shape of the field. In addition, turning operations are provided at the field end.
    The propulsion speed of the harvester 10 may be dictated by its driver, or the computer 112 may use the throughput signals from the flow rate sensor 118 to control the speed default 116 to achieve a desired throughput through the harvester 10.
    In addition, in step 208, the transport vehicle 12 is guided parallel to the harvesting machine 10 by the computer 112 via the control device 88 and the radio antennas 74, 78 sends data regarding the position to be controlled by the transport vehicle 10 to the control device 102. The control device 1 × 2 then controls the steering device 108 and the speed setting device 110 accordingly by comparing the position detected by the position determining device 76 with the position to be controlled and, depending on the result of the comparison, outputting suitable steering signals to the steering device 108. This comparison and the generation of the steering signal for the steering device 108 could also be carried out by the control device 88 and / or the computer device 112 on board the harvesting machine 10, the position data being transmitted from the position determining device 76 of the transport vehicle via the radio antennas 74, 78 to the harvesting machine 10 be transmitted while the steering signals in the reverse direction back to the transport vehicle 12. The transport vehicle 12 follows the harvester 10 also when driving on curves and turning at the field end.
    In step 21Ö, the actuators 46, 48 and 52 for adjusting the position of the discharge end of the transfer device 40 and the discharge direction are driven in accordance with the loading strategy planned in step 204, so that the loading container 18 is filled in the planned manner. The values of the sensors 128-132 serve as feedback values to the computing device 112 to actually place the transfer device 40 in its desired position. In this case, the relative position between the harvester 10 and the loading container 18 is also determined from the positions of the antennas 80, 94 transmitted by the position-determining devices 72, 76 and control devices 88 and 102 to the computer 112 and an offset between the antenna 94 and 94 known from the step 202 the loading container 18 and taken into account in the control of the actuators 46, 48, 52. Additionally or alternatively to the adjustment of the actuators 46, 48 and 52 (this applies in particular for combine harvester with a non-displaceable in the transfer position on the frame arranged transfer device in the form of a Abtankschneckenförderers or the like.), The position of the transport vehicle 12 in the forward direction and / or in the lateral direction relative to the harvester 10 varies by the computer 112 via the control device 88 and the radio antennas 74, 78 corresponding data with respect to the to be controlled by transport vehicle 10 position to the control device 102 sends. As a result, the path of the crop between the discharge end of the transfer device 40 and the loading container 18 can be kept relatively short, which has the advantages that little wind crop losses occur in the wind and the crop is pre-compressed on the loading container 18.
    In the following step, the computer device 112 finds out the respective loading point PT to P10. This can be done from the values of the sensors 128 to 132 for determining the position of the transfer device 40, the offset between the antenna 94 and the load container 18 known from step 202, and the position signals from the controllers 88 and 102, the latter being in position sends the control device 88 and this in turn passes them to the computer 112. From this, the computer device 112 can find out the current loading point of the loading container 18, which is being charged with crop material. On the other hand, the respective loading point is also already known from step 210, so that this loading point can be used.
    The loading points P1 to P5 lie on a running in the direction of travel line L1, which is located between the longitudinal center axis of the loading container 18 and the harvester 10 adjacent wall and go from front to back. The subsequent loading points P6 to P10 lie on the longitudinal central axis of the loading container 18 and go from back to front. They lie in the forward direction exactly laterally next to the points P1 to P6.
    In step 214 it is then determined which cells Z of a virtual lattice 138 placed over the loading container 18 are being filled. The grid 138 is constructed here of rectangular cells Z and extends in the horizontal direction. There are three cells Z in the forward direction next to each other and five cells arranged one behind the other. The loading container 18 is thus divided into fifteen cells of the virtual grid 138.
    The cells Z are selected such that the loading points P1 to P10 are each in the middle of a cell. Is the Überladeeinrichtung 40 in a position that the
    Loading point P1 is filled, therefore, in a first approximation, the cells Z11, Z21, Z22 and Z12 are filled (the first index indicates the position of the cell in the forward direction and the second index the position of the cell in the transverse direction). It would also be readily possible not to place the loading points P1 to P10 in the middle of the cells Z and to take into account the offset in the calculation of the level of the center of the cell Z.
    This is followed by step 216, in which the level of the currently filled cells Z is calculated. For this purpose, the values of the flow rate sensor 118 are highly integrated over the loading time associated with the loading point P1 to P10. These values may be supplemented by signals from a camera 136, attached to the transfer device 40, attached to the transfer device 40 and located in the loading container 18, from which the fill level in the loading container 18 is determined, or supplement its fill level values.
    Simple models take into account how much crop can slip into neighboring cells. In this case, the level of the adjacent cells is taken into account. By means of a display device (not shown) in the cab 26, the fill levels of the cells Z of the loading container 18 can be displayed graphically to the driver.
    In step 218, a comparison is then made as to whether the fill level of one or more filled cells (n) is greater than or equal to a desired fill level. If this is not the case, the step 216 follows again, otherwise the step 220. When filling the loading point P1, for example, only the level of the cell Z11 is compared with a desired value. This setpoint depends on the respective loading point P1 to P10. Thus, the set value of the filling level of the cell Z11 for the loading point P1 is smaller than the setpoint value of the filling level of the cell Z12 for the loading point P10.
    In step 220, a query is made as to whether the loading strategy has been completed. If this is not the case, the step 206 again follows. Otherwise, the step 222 follows. Since the loading strategy is then completed, the driver of the transport vehicle 12 in this step by one of the computer device 112 via the computer devices 88, 102 to an optical or acoustically operating information device 134 causes to take control of the transport vehicle 12 and to clear the space next to the harvester 10 to make room for a subsequent transport vehicle. Alternatively, the steering unit 108 of the transport vehicle 12 is caused to laterally move the latter, whereupon the driver of the transport vehicle 12 takes over the control. The subsequent transport vehicle (not shown) is positioned next to the harvester 10 by its driver and again step 202 follows.
    If this step 202 is to be repeated for the same or a similar transport vehicle 12, the computer device 112 can also refer to the previously stored loading strategy.
    It should be noted that in a simplified embodiment of the invention, the operator of the harvester 10 steers it and sets its speed, while the driver of the transport vehicle 12 steers it and dictates its speed. The computing device 112 then controls only the actuators 46, 48 and 52 corresponding to a loading strategy selected according to steps 202 and 204 of FIG. 5 or manually selected by the driver of the harvester under at least two available loading strategies, preferably from the position of the driven wheels of the transport vehicle 12 depends as mentioned above. These loading strategies may be modified manually by the operator of the harvester 10 in accordance with the size of the cargo box 18, for example by initially positioning the transfer device 40 on the front and rear walls of the cargo box 18. According to the steps 212 to 218 of the flowchart of FIG. 5, with the described arrangement for estimating the filling level of the loading container, the respective loading point P1 to P10 is displayed and estimated in the cabin 26 by a display device (not shown) to the driver of the harvesting machine 10. whether the respective level has been reached. If this is the case, the display device also indicates that the driver should direct the transfer device 40 to the next loading point. After the end of the loading strategy, the driver is further signaled that he may cause a change of each loaded cargo box 18 may.
    权利要求:
    Claims (22)
    [1]
    Patent Office
    [2]
    1. Anordnung zur Abschätzung des Füllgrades beim Überladen landwirtschaftlichen Ernteguts von einer Erntemaschine (10) auf ein Transportfahrzeug (12) with:
    [3]
    einer Überladeeinrichtung (40) der Erntemaschine (10), eingerichtet und regibbar ist, einer vorgegegnen Load strategy folgend sukzessive unterschiedliche Beladepunkte (P1 bis P10) eines Ladebehälters (18) des Transportfahrzeugs büttschuteau zu Erntegutlagen,
    [4]
    a Durchsatz sensor (118) zur Erfassung des jeweiligen Durchsatzes der Erntemaschine (10),
    [5]
    und einer Rechnereinrichtung (112), which connected signal with the Durchsatz sensor (118) and programming, by hand of the Befüllung des Ladebehälters (18) entsprechend der Beladestrategy sukzessive angesteuerten. für eine Vielzahl von Punkten des Ladebehälters (18) unter Berücksichtigung des Fließverhaltens des Ernteguts the works Füllstand mit Emtegut zu trechnen,
    [6]
    dadurch charactnzeichnet, dass die Rechnereinrichtung (112) is programming, that Berechnung des Füllstands jeweils nur für die Mittelpunkte eines virtuellen, über den Ladebehälter (18) laid, aus Zellen (Z) aufgebauten Gitters (138) durchzufüren.
    [7]
    2. Anordnung nach Anspruch 1, dadurch (18) gegenüber der Erntemaschine (10) verbunden und programmiert ist, based on Signals der Sensorik (128-132) und der Relativpositionsbestimmungseinrichtung den jeweiligen Beladepunkt (P1 - P10) des Ladebehälters (18) zuberchchen.
    [8]
    3 Anordnung nach Anspruch 1 or 2, dadurch charactnzeichnet, dass die Beladepunkte (P1 - P10) jeweils in the Mitte einer Zelle (Z) des Gitters (138), wobei benachbarte Beladepunkte (P1 - P10) in benachbarten Zellen (Z) lying .
    [9]
    4. Anordnung nach einem der Ansprüche 1 bis 3, dadurch charactnzeichnet, dass die Beladepunkte (P1 bis P10) mit gleichmäßigen oder ungleichmäßigen Abstândèn auf einer Linie (L1, L2) lying.
    [10]
    5. Anordnung nach Anspruch 4, dadurch charactnzeichnet, das that Anzahl der Zellen (Z) des Gitters (138) lie in Querrichtung zu der Linie (L1, L2), on the Beladepunkte (P1-P10), eine einstellige natürliche Zahl ist .
    [11]
    6. Anordnung nach einem der Ansprüche 1 bis 5, dadurch charactnzeichnet, dass die Rechnereinrichtung (112) concernib, istoren (46, 48, 52) zur Verstellung der Überladeeinrichtung (40) gegenüber der Erntemaschine (10) und / oder zur oder selbsttätt manuellen Veränderung der Position des Ladebehälters (18) gegenüber der Erntemaschine (10) ein Signal zur Weiterstellung der Überladeeinrichtung (40) in those jeweils nächste Position der Beladestrügel zu übersenden, sobald die Rechnereinrichtung (112) für erstichttt er er ertichtichttün er ertichtichttün er ertichtstünt ert ert erstichtstünt ert ert erstichtt ert ert erstichtt ert.
    [12]
    7. Anordnung nach einem der Ansprüche 1 bis 6, dadurch charactnzeichnet, dass die
    [13]
    Rechnereinrichtung (10) mit einer Anzeigeeinrichtung (134) verbunden und programmiert ist, mittels der Anzeigeeinrichtung (134) zu signalisieren, dass der Ladebehälter (18) komplett gefüllt ist, sobald die Rechnereinrichtung (112) festgestell hat, dass in allen (all) des Gitters (138) a Gewünschter Füllstand erreicht ist.
    [14]
    8. Anordnung nach einem der Ansprüche 1 bis 7, dadurch charactnzeichnet, dass die Rechnereinrichtung (112) mit einer Lenkeinrichtung (108) zur selbsttätigen Lenkung des Transportfahrzeugs (12) verbunden und programmiert ist, das Transportfahrzeug (12) ab sobrealdhen Rechnereinrichtung (112) festgestellt hat, that in all Zellen (Z) des Gitters (138) a Gewünschter Füllstand erreicht ist.
    [15]
    9. Anordnung nach einem der Ansprüche 1 bis 8, dadurch charactnzeichnet, dass die Rechnereinrichtung (112) mit einer manuell eegenegoten oder automatically heredments Information hinsichtlich der Abmessungen des Ladebehälters (118) beaufschlagbar ist.
    [16]
    10. Anordnung nach einem der Ansprüche 2 bis 9, Dadurch zur Übertragung der Position des Transportfahrzeugs (12) zur Erntemaschine (10) umfasst.
    [17]
    11. Combination of a selection of machines (10), a transport machine (12) with a loading platform (18) and a container after the previous Ansprüche.
    [18]
    12. Verfahren zur Abschätzung des Füllgrades beim Überladen landwirtschaftlichen Emteguts von einer Erntemaschine (10) auf ein Transportfahrzeug (12) mit folgenden Schritten:
    [19]
    sukzessives Beaufschlagen unterschiedlicher Beladepunkte eines Ladebehälters (18) des Transportfahrzeugs (12) mit Erntegut durch eine Überladeeinrichtung (40) der Erntemaschine (10) nach einer vorgegegenen Loading strategy,
    [20]
    Erfassen des jeweiligen Durchsatzes der Erntemaschine (10),
    [21]
    Berechnen des aktuellen Füllstands mit Erntegut für eine Vielzahl von Punkten des Ladebehälters (18) by the Befüllung des Ladebehälters (18) entsprechend der Beladestrategie sukzessive angesteuerte Beladepunkte (P1 Sign desigens dersensigs dessensigs dessensigs desfens dessensigs desfens dessensigs desfens dessensigs desfens dessensigs desfens (s) desigens desfens (P1) Unsighers of the past (P1 - Signage) Unsatisfied (P1) Unsatisfied (P1) Unsatisfied (P1) Ernteguts,
    [22]
    dadurch charactnzeichnet, dass die Berechnung des Füllstands jeweils nur für die Mittelpunkte eines virtuellen, über den Ladebehälter (18) laid, aus Zellen (Z) aufgebauten Gitters (138) durchgeführt wird.
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    引用文献:
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102011005400|2011-03-11|
    DE102011005400.6A|DE102011005400B4|2011-03-11|2011-03-11|Arrangement and method for estimating the degree of filling when overloading agricultural crop from a harvester onto a transport vehicle|
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