• 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:
    A method for operating an agricultural harvesting vehicle (1), wherein the harvesting vehicle (1) has a carrier vehicle (2) and a front attachment (3), wherein driving over a local change in ground level, in particular driving over a local elevation (13) and / or a local Ground depression (12), with the help of at least one acceleration sensor (14) is detected by measurement, and depending on this, by driving over the local change in ground level, in particular the ground elevation (13) and / or the local ground depression (12), stimulated pitching movements and / or rolling movements of the Attachment device (3) is counteracted.
    公开号:BE1023408B1
    申请号:E2016/5224
    申请日:2016-03-30
    公开日:2017-03-09
    发明作者:Josef Fischer
    申请人:Claas Saulgau Gmbh；
    IPC主号:
    专利说明:

    Method for operating an agricultural harvesting vehicle and control device
    The invention relates to a method for operating an agricultural harvesting vehicle according to the preamble of claim 1. Furthermore, the invention relates to a control device for carrying out the method.
    FIG. 1 shows a front view and FIG. 4 shows a side view of an agricultural harvesting vehicle 1 designed as a forage harvester. Harvesting vehicle 1 has a carrier vehicle 2 and an attachment 3 coupled to the carrier vehicle 2 in the front area thereof, in the case of attachment 3 a forage harvester is a so-called maize header.
    Figs. 1 and 4 show the trained as a forage harvester, agricultural harvesting vehicle 1 at a harvesting operation on a farmland 4 with a homogeneous bottom contour. For harvesting, the so-called working height X of the attachment 3 is set relative to the soil 4 by means of a Hubwerkzylinders 5. In order to be able to maintain an identical working height X7 or X8 of the attachment 3 relative to the field soil 4 at the opposite ends or sides 7, 8 of the attachment 3, as seen transversely to the direction of travel 6 of the harvester 1, the attachment 3 is in the range his two sides 7, 8 each have a so-called button 9 and 10, which detects the respective working height X7 and X8 on the respective side 7 and 8 of the attachment 3 by measurement, so that at a deviation between these working heights X7, X8 a transverse compensation cylinder 11 can be controlled to eliminate this deviation between these working heights X7, X8.
    It is thus known from practice that the harvesting operation or harvesting operation of an agricultural harvesting vehicle 1, which comprises a carrier vehicle 2 and an attachment 3, with the aid of the Hubwerkzylinders 5 a defined working height X of the attachment 3 is set to the soil 4.
    Further, it is known, then the sides 7, 8 of the attachment 3 associated buttons 9, 10 on the sides 7, 8 of the attachment 3, the respective working heights X7 and X8 can capture, then when viewed transversely to the direction 6 of Emtefahrzeugs 1 adjusts across the width of the attachment 3, a different working height to the soil 4, to compensate for this by driving the Querausgleichzylinders 11.
    With the procedure known from practice gradual changes in the bottom contour of the field 4 can be compensated. Then, however, if local, suddenly occurring or singular ground level change, especially soil elevations or soil depressions, the bottom contour of the field 4 are overrun by the harvester 1, thereby caused changes in the working height X across the width of the attachment 3 not fast enough and therefore only with Delay can be compensated, whereby a swinging of the attachment 3 can be caused. This can e.g. then be the case when the harvester 1 when retracted into a bottom well delayed with a lifting movement for the header 3 then governed when the harvester 1 just leaves the bottom well again.
    Thus, FIGS. 2 and 5 show a situation that occurs in practice when a wheel of the carrier vehicle 2 passes over a local bottom depression 12. 3 and 6 respectively show views of a harvester 1 when driving over a local soil elevation 13 of the field 4. By driving over a local, suddenly occurring depression 12 or bottom elevation 13 caused pitching or rolling movements of the carrier vehicle 2, since the same by using the Button 9, 10 and by conventional use of the transverse compensation cylinder 11 can not be compensated fast enough, completely transferred to the attachment 3. For example, as shown in FIG. 2, 5, the harvesting vehicle 1 with a wheel passes through the local soil depression 12, the side 7 of the attachment 3 facing this depression 12 lowers to the ground, whereas the opposite side 8 of the attachment 3 descends from the soil 4 is lifted, so that over the width of the attachment 3, a very different working height X is formed.
    The same applies to FIG. 3 and 6 when driving over a local bottom elevation 13, wherein when passing a local bottom elevation 13, the bottom elevation 13 facing side 8 of the attachment 3 is more remote from the bottom contour, whereas the opposite side of the attachment 3 is stronger in the direction lowers to the bottom contour of the soil 4. Here, too, then turns on the attachment 3 a malposition.
    There is a need for a method and a control device for operating an agricultural harvesting vehicle, with the aid of rolling movements and / or pitching movements of the carrier vehicle in the region of the attachment device caused by the crossing of a local soil level change, in particular a local soil elevation and / or local soil depression do not lead to different working heights across the width of the attachment.
    On this basis, the present invention has the object to provide a novel method for operating an agricultural Emtefahrzeugs and a control device for performing the method.
    This object is achieved by a method for operating an agricultural harvesting vehicle according to claim 1.
    According to the invention, the crossing over of a local ground level change, in particular of a local soil elevation and / or a local soil depression, is detected by means of at least one acceleration sensor, depending on this by driving over the local soil level change, in particular the local soil elevation and / or the local soil depression, excited pitch movements and / or rolling movements of the attachment is counteracted.
    With the present invention, it is proposed for the first time that with the aid of at least one acceleration sensor it is detected whether an agricultural harvesting vehicle passes over a local soil level change, in particular a local soil elevation and / or local soil depression. If the crossing over of a local ground level change, in particular a local ground elevation and / or a local bottom depression, is determined, then measures are taken on the control side so that excited pitch movements and / or rolling movements are not transmitted to the attachment or do not affect the working height of the attachment , As a result, the achievable harvest result can be improved. Furthermore, damage to the attachment can be prevented, in particular a striking of the attachment on the ground.
    The passing over of a local ground level change, in particular of a local ground elevation and / or local soil depression, is preferably detected from the measurement signal of the or each acceleration sensor by virtue of the fact that the measurement signal has a characteristic course with respect to intensity and duration.
    Then, when the measurement signal of the or each acceleration sensor with respect to intensity and duration has a characteristic course, the control side can be concluded simply and reliably on the crossing of a local soil level change, in particular a local soil elevation and / or a local soil depression. As a result, it is then possible to take measures simply and reliably such that roll movements and / or pitching movements of the carrier vehicle caused thereby are not transmitted to the attachment, so that the working height of the attachment, over the width thereof, is not impaired.
    According to an advantageous development, by overtravel of a local ground level change, in particular a local bottom elevation and / or a local bottom depression, excited pitching movements of the attachment are actively compensated by driving a hoist cylinder. By driving over a local ground level change, in particular a local soil elevation and / or a local soil depression, excited rolling movements of the attachment device is counteracted passively by actuation of a transverse compensation cylinder.
    Nick movements are preferably actively compensated by controlling the Hubwerkzylinders. Wank movements of the attachment, however, are compensated passive by driving the Querausgleichszylinders by the transverse compensation cylinder is preferably transferred to a so-called floating position to decouple the attachment relative to the Querausgleichszylinders from the carrier vehicle. The inertia of the attachment then prevents rolling movements of the carrier vehicle are transmitted to the attachment.
    The control device for carrying out the method is defined in claim 9.
    Preferred embodiments of the invention will become apparent from the dependent claims and the description below. Embodiments of the invention will be described, without being limited thereto, with reference to the drawings. Showing:
    Fig. 1 is a front view of an agricultural Erntefahr zeugs;
    Fig. 2 is the front view of Figure 1 when driving over a loka len bottom well.
    Fig. 3 is the front view of Figure 1 when driving over a loka len bottom elevation.
    Fig. 4 shows a side view of the agricultural harvesting vehicle;
    5 shows the side view of Figure 4 when driving over a loka len bottom well.
    Fig. 6 is the side view of Figure 4 when driving over a loka len bottom elevation.
    Fig. 7 is the front view of Figure 1 when passing a loka len bottom elevation using the invention.
    Fig. 8 shows the front view of Figure 1 when driving over a loka len bottom well using the invention.
    Fig. 9 is the side view of Figure 4 when driving over a loka len soil survey using the invention. and
    Fig. 10 shows the side view of Fig. 4 when driving over a loka len bottom well using the invention.
    The present invention relates to a method for operating an agricultural harvesting vehicle and to a control device for carrying out the method.
    As already explained in connection with FIGS. 1 to 6, an agricultural harvesting vehicle 1 comprises a carrier vehicle 2 and an attachment 3. Then, when the agricultural harvesting vehicle 1 is a forage harvester, the attachment 3 is preferably designed as a corn header.
    In the harvesting operation, the agricultural harvesting vehicle 1 is moved along a farmland 4. Such a farmland 4 typically has a homogeneous ground contour, which changes only relatively slowly.
    As already described in connection with FIGS. 1 to 6, effects of a slowly changing ground contour can be compensated for by the lifting cylinder 5 fixed working height X of the attachment 3 via the transverse compensation cylinder 11, so seen over the width of the implement 3 at the opposite Pages 7, 8 of the same identical working heights X7, X8 can be adjusted. For this purpose, the attacking on the sides 7, 8 of the attachment 3 buttons 9, 10 are used.
    The present invention now relates to such details, with which it can be prevented that when driving over a local ground level change, in particular when driving over a local bottom recess 12 or when driving over a local ground elevation 13, caused pitching and / or rolling movements of the host vehicle 2 so negative impact the header 3, namely such that when driving over a local soil level change, in particular a local soil depression or local soil increase over the width of the attachment 3 on its sides 7, 8 different working heights relative to the soil 4 form and thus the attachment 3 a Misalignment occupies.
    A local soil level change, in particular a local soil depression or soil elevation, should be understood to mean a suddenly, spontaneously occurring, spatially limited soil level change, in particular soil elevations or soil depressions, of the soil contour of the field soil. A local soil level change can also be a step-like lowering or raising of the soil contour of the field soil.
    With the present invention, it is now proposed that the crossing of a local ground level change, in particular a local soil elevation 13 and / or a local soil depression 12, is detected metrologically by means of at least one acceleration sensor 14. Depending on the measurement signal provided by the o-of each inclination sensor 14, by driving over the local ground level change, in particular the local bottom elevation 13 and / or local bottom recess 12, excited pitching movements and / or rolling movements of the attachment 3 are counteracted. Accordingly, if the attachment 2 of the agricultural harvester 1 passes over a local ground level change, in particular a local ground elevation 13 and / or a local ground elevation 12, it is ensured according to the invention that the working height X thereof does not change as much as seen over the width of the attachment 3 in that, on both sides 7, 8 thereof and between them, an approximately identical working height X relative to the soil 4 can be maintained.
    In the exemplary embodiments shown in FIGS. 7 to 10, the overrunning of a local bottom recess 12 or local bottom elevation 13 is detected with the aid of an acceleration sensor 14 assigned to the carrier vehicle 2, and in the embodiment shown it can simultaneously detect accelerations in several directions.
    In contrast, it is also possible to provide a plurality of acceleration sensors 14, which can detect an acceleration in only one direction depending on their installation position. The use of such one-dimensional acceleration sensors 14 is less expensive. However, multiple acceleration sensors must be used in this case.
    Furthermore, in contrast to the exemplary embodiments of FIGS. 7 to 10, it is possible that the passing over of a local bottom elevation 13 and / or local bottom recess 14 is detected metrologically by means of at least one acceleration sensor 14, which is part of the attachment 3.
    As already stated, the or each acceleration sensor 14 provides a measurement signal. Then, when the measurement signal has a characteristic, defined course in terms of intensity and duration, it can be concluded that a local bottom elevation 13 or a local bottom well 12 is passed over.
    As already stated, a local soil elevation or local soil depression is to be understood as meaning a sudden change in the contour deviating from the homogeneous course of the ground contour, which therefore occurs suddenly and not gradually.
    Such a local bottom elevation or local bottom well generates in the signal of the respective acceleration sensor 14 a characteristic signal course which has a relatively high intensity over a relatively short period of time. So can be closed easily and reliably on the crossing of a local, suddenly or spontaneously occurring bottom elevation 13 or bottom recess 12.
    Then, if it is concluded on the basis of the measurement signal of the or each acceleration sensor 14 on the passing of such a local bottom elevation 13 and / or local bottom recess 12, control measures are taken according to the invention taken to prevent that thereby induced pitching movements and / or rolling movements across the width of the attachment 3 have a negative effect on the working height X thereof relative to the soil 4.
    Then, if it is determined on the basis of the measurement signal of the or each acceleration sensor 14 that as a result of overrunning a local bottom elevation 13 or local bottom recess 12, the attachment 3 is excited to pitching movements, the Hubwerkzylinder 5 is driven to actively compensate for these pitching movements on the attachment 3 , namely the fact that the active compensation of such pitching movements on the attachment 3 is actively raised by the hoist cylinder 5 and / or actively lowered. If, on the other hand, it is ascertained on the basis of the measurement signal of the or each acceleration sensor 14 that the attachment 3 is caused to roll as a result of passing over a local bottom depression 12 or local bottom elevation 13, this rolling movement is preferably counteracted passively by actuation of the transverse compensation cylinder 11. For this purpose, the transverse compensation cylinder 11 is driven such that the same preferably occupies a so-called floating position, so that the attachment 3 is then decoupled from the carrier vehicle 2 with respect to the transverse compensation cylinder 11, in this case inertia forces of the attachment 3 are used to passively counteract rolling movements, so they do not be transferred to the header 3.
    FIGS. 7 and 9 show effects of the method according to the invention when driving over a local ground elevation 13. By means of the decoupling of the attachment 3 from the carrier vehicle 2, based on the transverse compensation cylinder 11, it is possible to determine that rolling movements 15 of the carrier vehicle 2 are caused by the overrun of the local bottom elevation 13 on the carrier vehicle 2 are excited, are not transmitted to the attachment 3 and therefore do not adversely affect the working height X of the attachment 3 over the width thereof.
    According to FIG. 9, in order to compensate or compensate for pitching movements 16 which are induced by passing over the local bottom elevation 13, the attachment 3 is first actively lowered via the lifting cylinder 5, namely in comparison to the dashed line position of the attachment in FIG 3, which would form according to the prior art, and actively lowered again when leaving the bottom elevation 13. Lifting speed and lifting time are determined depending on the measured acceleration.
    FIGS. 8 and 10 show the effect of the method according to the invention when driving over a local bottom depression 12. In this case, rolling movements 15 which are caused by the passing over of the local depression 12 on the carrier vehicle 2 are not transmitted to the attachment 3 by activation of the transverse compensation cylinder 11 in that the same is decoupled from the carrier vehicle 2 by appropriate activation of the transverse compensation cylinder 11. Mass inertia forces of the attachment 3 thus counteract rolling movements of the same. Nick movements 16 can in turn be compensated for by displacing the attachment 3 via the lifting cylinder 5, namely according to FIG. 10 in that the attachment 3 is actively raised via the lifting cylinder 5, namely in comparison to the position shown dashed in FIG , which would adjust to the state of the art.
    The invention further relates to a control system for carrying out the method according to the invention. The control system comprises means for carrying out the method according to the invention, namely at least one acceleration sensor 14 and a control unit, not shown.
    The acceleration sensor 14 may be part of the attachment 3 or part of the carrier vehicle 2.
    The control unit evaluates measuring signals of the or each acceleration sensor 14, recognizes on the basis of this evaluation whether a local bottom elevation 13 and / or bottom recess 12 is run over, and then controls the hoist cylinder 5 to prevent the transmission of pitching movements and / or rolling movements on the attachment 3 and / or the transverse compensation cylinder 11. About the hoist cylinder 5 pitching movements can be compensated, namely by active lifting and / or lowering of the attachment 3 using the Hubwerkzylinders 5. About the Querausgleichszylinder 11 Wankbe movements can be counteracted passively, namely the fact that by appropriate controls the Querausgleichszylinders 11 on the Control unit of the transverse balancing cylinder 11 is transferred to a so-called floating position to decouple the attachment 3 from the carrier vehicle 2 with respect to the transverse compensation cylinder 11, so that inertia forces of the attachment 3 passively counteract the transmission of a rolling motion on the attachment 3.
    It is also possible to actively counteract rolling movements, namely by appropriate activation of the transverse compensation cylinder 11. For active compensation of rolling movements, the attachment 3 is actively pivoted by activating the transverse compensation cylinder 11.
    LIST OF REFERENCE NUMERALS 1 harvester 2 carrier vehicle 3 attachment 4 farmland 5 hoist cylinder 6 direction of travel 7 page 8 page 9 button 10 buttons 11 cross-compensating cylinder 12 local bottom recess 13 local bottom elevation 14 acceleration sensor 15 rolling motion 16 pitching motion
    权利要求:
    Claims (17)
    [1]
    claims
    A method of operating an agricultural harvesting vehicle (1), wherein the harvesting vehicle (1) comprises a carrier vehicle (2) and an attachment (3), characterized in that passing over a local ground level change, in particular driving over a local ground elevation (13) and / or a local soil depression (12), by means of at least one acceleration sensor (14) is metrologically detected, and that depending thereon by crossing the local soil level change, in particular the local soil elevation (13) and / or the local soil depression (12), excited Nick movements and / or roll movements of the attachment (3) is counteracted.
    [2]
    2. The method according to claim 1, characterized in that the driving over a local ground level change, in particular the crossing of a local bottom elevation (13) and / or a local bottom well (12), by means of at least one acceleration sensor (14) of the carrier vehicle (2) by measurement is detected.
    [3]
    3. The method according to claim 1, characterized in that the crossing of a local soil level change, in particular the crossing of a local soil survey (13) and / or a local soil depression (12), is detected by means of at least one acceleration sensor of the attachment by measurement
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that the passing over local ground level change, in particular the crossing of a local bottom elevation (13) and / or local bottom recess (12), from the measurement signal of the or each acceleration sensor (14) thereby detected is that the measurement signal of the respective acceleration sensor (14) has a characteristic course in terms of intensity and duration.
    [5]
    5. The method according to any one of Ansprüchel to 4, characterized in that pitching movements of the attachment (3) by driving a Hubwerkzylinders (5) are actively compensated.
    [6]
    6. The method according to claim 5, characterized in that for this purpose the attachment (3) by driving the Hubwerkzylinders (5) actively raised and / or actively lowered.
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that rolling movements of the attachment (3) by driving a transverse compensation cylinder (11) is passively counteracted.
    [8]
    8. The method according to claim 7, characterized in that in this case the attachment (3) by driving the Querausgleichzylinders (11) from the carrier vehicle (2) is decoupled, so that inertia forces counteract the rolling movements passively.
    [9]
    9. The method according to any one of claims 1 to 6, characterized in that rolling movements of the attachment (3) by driving a transverse compensation cylinder (11) are actively compensated.
    [10]
    10. The method according to claim 9, characterized in that for this purpose the pre-record device (3) by activating the transverse compensation cylinder (11) is actively pivoted.
    [11]
    11. A control system for controlling and / or regulating the operation of an agricultural harvesting vehicle, wherein the harvesting vehicle (1) comprises a carrier vehicle (2) and an attachment (3), characterized by means for carrying out the method according to one of claims 1 to 10,
    [12]
    12. Control system according to claim 11, characterized in that it comprises at least one acceleration sensor (14) and a control unit.
    [13]
    13. Control system according to claim 12, characterized in that the control unit for active compensation of pitching movements of the attachment (3) controls a Hubwerkzylinder (5).
    [14]
    14. Control system according to claim 12 or 13, characterized in that the control unit for the passive avoidance of rolling movements of the attachment (3) controls a transverse compensation cylinder (11).
    [15]
    15. Control system according to claim 12 or 13, characterized in that the control device for active compensation of rolling movements of the attachment (3) controls a transverse compensation cylinder (11).
    [16]
    16. Control system according to one of claims 12 to 15, characterized in that the or each acceleration sensor (14) is part of the attachment (3).
    [17]
    17. Control system according to one of claims 12 to 15, characterized in that the or each acceleration sensor (14) is part of the carrier vehicle (2).
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    同族专利:
    公开号 | 公开日
    DE102015105217A1|2016-10-13|
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    US20160295796A1|2016-10-13|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102015105217.2|2015-04-07|
    DE102015105217.2A|DE102015105217A1|2015-04-07|2015-04-07|Method for operating an agricultural harvesting vehicle and control device|
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