• 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:
    method for discharging a harvested crop from a cultivation accumulator, and, combination of a combine and a cultivation accumulator. a combine harvester and a cultivation accumulator. the harvester is configured to transfer a harvested crop to the crop accumulator. the cultivation accumulator comprises at least one actuator to selectively discharge the crops harvested over a field. a gps unit is configured with at least one virtual route line. an uce is in communication with the gps unit. the uce is configured to selectively control the actuator of the crop accumulator to discharge the crop harvested over the field when the uce receives a signal from the gps unit when at least one of the virtual path line is approaching, the virtual route is being crossed, and the virtual route line has been crossed.
    公开号:BR102015016945B1
    申请号:R102015016945-0
    申请日:2015-07-15
    公开日:2020-09-29
    发明作者:Timothy J. Kraus
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    Description Field
    [001] The present description generally refers to crop cultivation systems. More particularly this description refers to crop cultivation systems, which employ a combine and an accumulator to accumulate cultivation. Specifically, the description refers to such a system, in which a virtual path line is provided to deposit cultivation material in a predetermined location (s). Description Basics
    [002] A recognized problem with agricultural baling using round and / or square balers is that the bales are typically discharged from the baler over the field in a random manner. This requires an operator to subsequently drive across the field to collect the bales and return them to the final storage location. This proposal is time consuming; it can cause additional soil compaction, potential crop damage, and excessive wear on transport equipment.
    [003] Bale accumulators were used to collect the bales together in batches. When the accumulator is full, it is common to dump the harvested crop in the place where it is already full. Description Summary
    [004] In one embodiment, a method for discharging a crop harvested from a crop accumulator is described. At least one virtual path line is established using a Global Positioning System ("GPS") unit, a laser transmitter and receiver, an embedded wire, a light beam transmitter and receiver, a sonar transmitter and receiver, or other device. A harvest operation is started. The harvested crop is transferred to the cultivation accumulator. It is reported that at least one of the virtual route line is approaching, the virtual route line is being crossed, and the virtual route line has been crossed. A cultivator accumulator discharge system is actuated in response to the communication to discharge a portion of the harvested crop or all of the harvested crop. The harvested crop is deposited on the virtual path line, adjacent to the virtual path line, in an area defined by a predetermined distance from the virtual path line, or outside an area defined by a predetermined distance from the virtual path line. virtual route.
    [005] In another embodiment, a combination of a harvester and a cultivation accumulator are described. The harvester is configured to transfer a harvested crop to the crop accumulator. The cultivation accumulator comprises at least one actuator to selectively discharge crops harvested over a field. A GPS unit is configured with at least one virtual route line. An Electronic Control Unit (“UCE”) is in communication with the GPS unit. The ECU is configured to selectively command the actuator of the crop accumulator to discharge the crop harvested over the field when the ECU receives a signal from the GPS unit when the virtual path line is approaching, the virtual path line is being cross, or the virtual route line has been crossed.
    [006] In general a virtual path line system is provided to automatically or manually activate a bale accumulator whenever the virtual path line is crossed. The system consists of a GPS unit and an ECU that is attached to the actuators that are used to tilt the accumulator cradle to dump the bales. With this system, the operator defines a virtual route line using a GPS unit and the GPS system then generates a “virtual route line” in the field. Each time the tractor / uniform / accumulator combination exceeds the virtual path line, the accumulator can be automatically actuated to dump all of the bales it has stored on it or, alternatively, an alarm is activated to allow the operator to act manually the accumulator when the virtual route line is crossed. The end result is that the bales are deposited in a row that corresponds to the virtual path line and the tractor / baler / accumulator does not need to be operated in a straight line, but can follow a row when necessary. The software can feed the virtual route line based on topography or other factors (for example, soil compaction, expected harvest yield, current harvest yield).
    [007] Virtual path lines can be of various widths. An operator can drop the harvested crop on either side of a virtual route line in order to park a truck in the center of the virtual route line and load from either side. A virtual travel line width range of 0-15.2 meters (0-50 feet) typically works on hay trucks. Lanes above 18.28 meters (60 feet) work well for larger vehicles. Virtual path lines can also be spaced at intervals based on current crop yields or predicted crop yields.
    [008] Although the modality described in detail below refers to a combination of round baler and round bale accumulator, it is contemplated that the virtual path line can be used in conjunction with other combinations of combine and accumulator.
    [009] Other features and aspects will become apparent by considering the detailed description and attached drawings. Brief Description of the Drawings
    [0010] Figure 1 is a partial schematic side view of a tractor-uniform-bale accumulator combination.
    [0011] Figure 2 is a partial schematic side view of the combination of figure 1 showing an enlarged detail of the baler and that of the bale accumulator.
    [0012] Figure 3 is a plan view of a field of cultivation in which the virtual route lines according to the description are used.
    [0013] Figure 4 is a flowchart that represents the control logic to activate the accumulator in relation to the virtual path line.
    [0014] Before any modalities are explained in detail, it should be understood that the description is not limited, in its application, to the details of construction and the arrangement of the components described in the following description or illustrated in the following drawings. The description is capable of other modalities and can be practiced or performed in several ways. Other embodiments of the invention can include any combination of features from one or more dependent claims, and such features can be incorporated, collectively or separately, into any independent claim. Detailed Description
    [0015] Figure 1 illustrates a combination of tractor-baler-bale accumulator 10 according to one modality. The tractor-baler-bale accumulator combination 10 includes a tractor 12, a baler 14, and a bale accumulator 16. Tractor 12 has a frame 18 supported on wheels 20, at least one of which is driven by a machine drive, such as a diesel engine, through a powertrain (not shown). The tractor 12 also includes a coupling and / or extraction bar 22 and an operating station 24.
    [0016] The baler 14 has a main frame 26 supported on a pair of ground wheels 28. A pull tab 30 has a rear end, attached to a frame 26, and has a front end, defined by a hook arrangement of U-shaped security 32, adapted to be coupled to the extraction bar 22 of the tractor 12. A pair of vertical side walls 34 is fixed to the main frame 26 and defines front regions of opposite side walls of a baling chamber. Mounted to pivot vertically around a horizontal pivot arrangement 36, positioned at an upper rear location of the side walls 34 is a discharge gate 38 including opposite vertical side walls 40, which define opposite sides of a rear region of a baling chamber . A cylindrical gate arrangement (not shown) is coupled between the main frame 26 and the opposite side walls 40 of the discharge gate 38 and is selectively operable to move the discharge gate 38 between a closed baling position and an open discharge position . The baler 14, as shown, is of a chamber design of variable size and thus comprises a plurality of longitudinally extending side-to-side straps 42, supported on a plurality of rollers 44 (only a few of which are shown). A bale forming chamber is defined by side walls 34, 40, rollers 44 and straps 42.
    [0017] At least one UCE 50 is provided to electronically control the functions of the baler 12 and the accumulator 16. The UCE 50 is configured to receive signals from various sensors in the baler and the accumulator (for example, determining the bale diameter , bale shape, bale weight) and to initiate various baler functions (for example, lashing or wrapping cycle, bale ejection, accumulator discharge). More particularly, it must be understood that the ECU is configured to provide a signal for the actuation of several actuators in the accumulator to, among other functions, unload bales from the accumulator only if a burden is present.
    [0018] In its general operation, the baler 14 is pulled through a field by the tractor 12 attached to the tongue 30. The cultivation material 52 is fed to a cultivation entrance 54 of the bale forming chamber from a row of cultivation on the soil by a pickup 56. In baler 14, cultivation material 52 is wound in a spiral shape to form a cylindrical bale B. In conclusion, bale B is wrapped with string or other appropriate wrapping material and is discharged by actuation of the gate cylinders, which open gate 38, allowing the completed cylindrical bale B to be discharged from baler 14 to bale accumulator 16. Baler 14 can further be equipped with means to determine when the bale is in an ejection cycle. Such means could be in the form of sensors 57 associated with one or more of the string wrapping system or baler net 14, the gate, the gate lock, the belt tensioning system, etc., all of which could provide a indication of the completion of a burden, as is well known in the art. The illustrated baler 14 is shown as an example only, it being understood that baler 14 could be of any number of configurations, including, but not limited to, fixed chamber round balers, small square balers, and large square balers.
    [0019] With reference to figures 1 and 2, the bale accumulator 16 has a main frame 58 supported on the ground wheels 60. One or more traction elements 62 are provided at one end of the main frame 58 to affix the accumulator of bale 16 to baler 14 in a towed form. The bale accumulator 16 is provided with a bale cradle 64 pivotably attached to a frame 58. The bale cradle 64 is provided with one or more actuators 66 to elevate the front portion of the cradle 64 in relation to the frame 58 to allow the bales roll back and forth from cradle 64 when bale accumulator 16 is being unloaded. These actuators 66 can be in the form of hydraulic, electrical, pneumatic or similar configurations, and are selectively controlled in response to signals received from the UCE 50. The particular round bale accumulator 16 shown receives a completed cylindrical bale B from the baler. 14 in a central position 68 (figure 2). Depending on whether or not the other positions in the bale accumulator 16 are occupied, the bale accumulator 16, through the UCE 50, selectively uses actuators 70 to transfer the bale from the first central position 68 to any of the second 72 or third 74 positions, to the left and right of the central position, respectively. Again, it should be noted that actuators 70 could be of any known configuration (for example, electrical, hydraulic, pneumatic). Consequently, when the bale accumulator 16 is full, three of the bales are aligned side by side on the cradle 64 and can be simultaneously discharged onto the ground in the same configuration side by side.
    [0020] It is contemplated that the bale accumulator 16 could be provided with sensors 76 of various known configurations (for example, electromechanical switches, non-contact sensors, load cells) to determine whether or not a bale is present on the bale accumulator 16 and in which position. The output of such sensors 76 can be connected to UCE 50 for purposes that will become apparent as the description continues. It should also be noted that it is possible to unload the bale accumulator 16 when it has less than three bales on it. Likewise, it would be conceivable to provide a bale accumulator 16, in which individual bales could be unloaded selectively by providing a multi-part cradle having individual actuators for each part. The bale accumulator 16 illustrated is just one example of a bale accumulator 16 capable of supporting three round bales. However, it is contemplated that the bale accumulator 16 could be of any number of shapes, sizes, capacities and configurations to accumulate a plurality of bales of various shapes and sizes, such as round bales, small squares and large squares.
    [0021] The tractor-baler-bale accumulator combination 10 is also provided with a GPS receiver 78 in wired or wireless communication with the UCE 50, which is in turn connected to a display 80 at the operator 24 of tractor 12. Alternatively, a standalone GPS unit could be provided having a dedicated ECU and display or a cell phone with GPS and / or software capabilities or a laser transmitter and receiver, a built-in wire, a transmitter and receiver light beam, a sonar transmitter and receiver, or other device. For the purposes of this description, such a standalone GPS unit requires at least one wired or wireless output, capable of communicating with baler 14 and bale accumulator 16 UCE 50.
    [0022] The operation of the system and the method of the description will now be described with reference to figures 3 and 4. Before starting a baling operation, an operator will determine the desired location (s) in which (s) ) he (she) would like to deposit the bales for later recovery and later storage. The selection of the deposit location (s) is generally made for the convenience of the operator, considering, for example, such factors as the need to reduce soil compaction by reducing traffic over the field, proximity to the storage location , and the topography of the terrain (for example, the desire to deposit the bales on the top or bottom of a hill, instead of on the side of a hill, the desire to deposit the bales on the headlands, along ditches or grassy waterways). The number and frequency of deposit locations along the baling path (s) are also limited by crop yield versus accumulator capacity. In other words, if a field or a particular portion of a field has a higher yield of cultivation material, more harvest will be fed into the baler per unit covered and thus more bales will be completed over a shorter distance, thus requiring the establishment of virtual routes that are closest to each other. Harvest yield for a particular field and harvest could be determined from historical yield data to generate predicted harvest yield or, for example, during baling operation by monitoring harvest flow into the baler using sensors appropriate and / or by monitoring the number of bales being produced per unit of distance from the current harvest yield could be used. Once the operator has determined the desired deposit location (s), he or she will set a virtual route line on the GPS unit 78.
    [0023] As shown in figure 3, an example cultivation field 82 has a plurality of cultivation rows 84, from which cultivation material will be baled. The operator has set a first virtual path line Ti between points la and 1b. Additional path lines T2, T3, T4, T5, and Te are also established between points 2a and 2b, 3a and 3b, 4a and 4b, 4b and 4c, and 4d and 4e, respectively. From the illustration, it will be evident that the virtual path lines can be established generally perpendicular to the rows 84, as shown in the Ti path line illustration or they can be established at various angles with respect to the rows, as shown in the illustration of the course line T3. In addition, it will be noted, with reference to virtual path lines T4, T5, and TÔ, that a single virtual path line does not need to cross the entire field and virtual path lines T can be created to align with the terrain topography or for other reasons. More particularly, it can be seen that a virtual path line T4 is established between points 4a and 4b, an additional virtual path line T5 connects points 4b with 4c, and another virtual path line T6 connects points 4d and 4e to generally form a multiangulated virtual path line across the entire field to follow, for example, a topographic contour, such as a grassy waterway 85. Therefore, an operator can follow a row and does not worry about a straight line for yet crossing virtual path lines T.
    [0024] With the virtual path lines T adjusted, it should be apparent that the system can be configured, as described in more detail below, to automatically deposit any of the bales present in the accumulator on the field at the moment the virtual path line is crossed. This is usually accomplished by communicating the GPS receiver 78 with the UCE 50, which in turn controls the actuation of the accumulator actuators 66 to pivot the accumulator cradle 64 to discharge the bales, when a signal has been received from the GPS receiver 78 that a virtual route line T has been crossed.
    [0025] With reference to the flowchart of figure 4, it can be seen that the logic for the virtual path line system starts at 100 when the system is turned on. Then, at 102, the operator selects whether to start a baling operation, in the "auto dump" mode, in which the bales are automatically dumped or ejected from the accumulator every time a virtual path line is crossed . Otherwise, the "auto dump" feature is turned off by 104. If the answer in 102 is "yes", then the operator establishes a first virtual route line, which is stored in memory in 110. Then, in 112 , it is determined whether additional route lines are desired. If the answer in 112 is “yes”, the logic returns to 110, in which additional route lines will be established and stored. If in 112 the answer is "no", then, in 114, a baling operation is started. In 116, logic determines whether a completed burden is present in the accumulator. If in 116 the answer is "no", logic 10 returns to 114. If in 116 the answer is "yes" the logic proceeds to 118, in which it is determined whether the accumulator is full. If the answer in 118 is “yes”, a notification is sent in 120 to the operator by means of a visual or audible alarm, so that the operator can make a decision as to whether to establish additional course lines, to deposit the bales on the field at the present location, or transport the bales to another location for storage. If, however, in 118, the answer is "no", then the logic proceeds to 122, in which it is determined whether a virtual course line has been reached.
    [0026] Here, it should be noted that the determination of whether there are bales present in the accumulator and whether the accumulator is full can be done in several ways. As mentioned above, the accumulator can be configured with sensors 76 that communicate with the UCE 50 to indicate the presence of the bales in the accumulator. Alternatively, it is contemplated that instead of, or in addition to, the sensors, it is possible to maintain in the ECU 50 a running count of total bales completed and more particularly the number of completed bales since the accumulator 16 was last dumped.
    [0027] If in 122 the answer is "no", the logic goes back to 114. If the answer in 122 is "yes", it is determined in 124 if the baler has completed the process of ejecting a burden onto the accumulator. If the answer in 124 is "no", the system waits for the completion of the ejection cycle in 126 and then proceeds to 128. If the answer in 124 is "yes", then the logic immediately goes to 128, where the bales are deposited on the field. It should be noted that steps 124 and 126 of the logic are only necessary for non-continuous balers, such as conventional round balers, in which a baling process is temporarily stopped during the ejection cycle. In such systems, it is undesirable to open the rear baler gate while the accumulator is being dumped and vice versa, due to the possible interference of the gate with the accumulator cradle. For large and small square balers and / or continuous round balers, steps 124 and 126 may not be necessary. After 128, the logic is reversed to 114.
    [0028] In view of the foregoing, it can be seen that the description provides a method and apparatus for automatically dumping the accumulated bales through predetermined locations. More particularly, as a baling operation progresses up and down the crop rows, the tractor-baler-bale accumulator combination periodically crosses the preset virtual path lines, at which time any of the bales present in the accumulator are deposited on the ground. This method results in the bales being positioned closer to each other at the deposit locations chosen by the operator, resulting in a more convenient and efficient recovery of the bales during the collection and storage operation. The time required for collecting the bale is reduced, thus also reducing the time of operation and wear and fatigue on the equipment. In addition, soil compaction and crop damage can be reduced by using the system to reduce traffic over the field during bale collection. The system is compatible with conventional baling equipment and techniques, in which the operator is allowed to use conventional balers and accumulators and perform a baling operation, without having to deviate from the row during baling to deposit the bales in more advantageous, since this is done automatically when the pre-determined virtual route lines are crossed.
    [0029] Several characteristics are exposed in the following claims.
    权利要求:
    Claims (13)
    [0001]
    1. Method for unloading one or more bales (B) from a cultivation accumulator (16), comprising the steps of: establishing at least one virtual path line (T), defined by a line; start a harvesting operation with a baler (14); transferring one or more bales (B) from the baler (14) to the cultivation accumulator (16); communicate that at least one of the following: the virtual path line (T) is approaching, the virtual path line (T) is being crossed, and the virtual path line (T) has been crossed; determining whether the transfer from the baler (14) to the cultivation accumulator (16) is completed using a sensor (57, 76) associated with one of the baler (14) and the cultivation accumulator (16); pause temporarily until the transfer from the baler (14) to the cultivation accumulator (16) is complete; and, actuate a discharge system (38) of the cultivation accumulator (16), in response to the communication, to discharge one of: a bale (B) and more than a bale (B), characterized by simultaneously depositing the one or more bales (B) on the virtual path line (T).
    [0002]
    2. Method according to claim 1, characterized by the fact that the step of establishing at least one virtual path line (T) is performed by using at least one of: a GPS unit (78), a transmitter and receiver laser, a built-in wire, a light beam transmitter and receiver, and a sonar transmitter and receiver.
    [0003]
    3. Method according to claim 1, characterized by the fact that it further comprises determining whether one or more bales (B) is present in the cultivation accumulator (16) before the discharge system (38) is activated.
    [0004]
    4. Method according to claim 1, characterized by the fact that it further comprises determining whether the cultivation accumulator (16) is full before the virtual path line (T) has been crossed.
    [0005]
    5. Method according to claim 1, characterized by the fact that it also comprises monitoring the presence of one or more bales (B) in the cultivation accumulator (16) using at least one sensor (57, 76) in the cultivation accumulator ( 16).
    [0006]
    6. Method according to claim 1, characterized by the fact that it also comprises monitoring the presence of one or more bales (B) in the cultivation accumulator (16) keeping an account of the quantity of bales (B) in the cultivation accumulator ( 16) since the cultivation accumulator (16) was last discharged.
    [0007]
    7. Method according to claim 1, characterized by the fact that it also comprises providing at least one among: an audible signal and a visual signal for an operator that the cultivation accumulator (16) is full and that the virtual path line (T) has not yet been crossed.
    [0008]
    8. Method according to claim 1, characterized by the fact that it comprises still waiting for the completion of the harvesting operation before the discharge system is activated (38).
    [0009]
    9. Method according to claim 1, characterized by the fact that it also comprises establishing the course line based on at least one among: proximity to a storage location and a topography of a field (82).
    [0010]
    10. Method according to claim 1, characterized by the fact that it also comprises establishing intervals between virtual path lines (T) based on one of: a current crop yield and a predicted crop yield.
    [0011]
    11. Method according to claim 10, characterized by the fact that it also comprises determining the expected cultivation yield based on a historical yield data for a field (82) and a type of cultivation.
    [0012]
    12. Method according to claim 10, characterized in that it further comprises determining the current crop yield based on a detected crop flow rate during the harvesting operation.
    [0013]
    13. Method according to claim 10, characterized by the fact that it further comprises determining the current crop yield based on a quantity of bales (B) produced per unit of displacement over the field (82).
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    法律状态:
    2016-01-19| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-07-10| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-08-27| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-07-07| B09A| Decision: intention to grant|
    2020-09-29| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 15/07/2015, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US14/333669|2014-07-17|
    US14/333,669|US9635814B2|2014-07-17|2014-07-17|Strategic crop placement using a virtual trip line for a harvester and crop accumulator combination|
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