device for the discharge of fluid active materials and process for the control of such a device

专利摘要:
DEVICE FOR THE DISCHARGE OF FLUID AND / OR SOLID ACTIVE MATERIALS AND PROCESS FOR THE CONTROL OF SUCH DEVICE Device (01) for the discharge of fluid and / or solid active materials, as well as a process for the control of such device (01) . The device (01) includes: a support vehicle (10); an articulated system of rods (02, 21, 22) pivotably arranged around an axis of rotation (20); a sensor arrangement (25, 26) for detecting a rotation speed (w) of the articulated rod system (02, 21, 22) around the axis of rotation (20); a sensor arrangement for detecting a rotational position (alpha1, d_alpha1) of the articulated rod system (02, 21, 22) around the axis of rotation (20); a regulation device that processes output signals (alpha0) and an actuator (03) that influences the momentary rotational position (alpha0) of the articulated rod system (02, 21, 22) according to the control signals of the regulation device. For the determination of a rotational position (alpha0) of the articulated rod system (02, 21, 22) in relation to an initial alignment, the adjustment device, through the temporal integration of the rotation speed (w), calculates a rotational position (alpha2) of the articulated rod system (02, 21, 22) in relation to a reference plane and merges the (...).
公开号:BR112016001745B1
申请号:R112016001745-5
申请日:2014-09-18
公开日:2021-01-12
发明作者:Theodor Leeb；Otto Hirthammer
申请人:Horsch Leeb Application Systems Gmbh；
IPC主号:

专利说明:

[0001] The present invention relates to a device for the discharge of fluid and / or solid active materials, according to the preamble of independent claim 1, as well as a process for the control of movement and / or regulation of movement of a device for the discharge of fluid and / or fixed active materials, according to the preamble of claim 11.
[0002] Sprayers and articulated spray rod systems attached to work machines, such as tractors, have partially very large operating ranges of more than twenty meters. For transport journeys, these wide articulated spray rod systems are bent and contracted. In the field, on both sides of the work machine are symmetrical arms of several meters in length, which have a variable distance from the ground depending on the properties of the surface and the terrain relief. Since the nozzles for the discharge of a spraying agent, such as a pesticide, for example, arranged on the arms and directed downwards, have a spray cone, respectively, from a variable distance between the nozzles and the ground. uneven coverage of the ground by the sprayed agent results. It also greatly increases the risk of a deviation of the sprayed agent with the increasing distance of the spray nozzles from the ground, as the finely sprayed droplets are already negatively influenced by small air movements.
[0003] For this reason, with the increasing dimensions of the arms and the corresponding increasing range of operation, there is a need to drive the articulated system of spray rods as far as possible from the ground, as small inclinations of the articulated spray rod system already leads to large differences in distance from the nozzles to the ground.
[0004] For this, it is known the procedure of hanging an articulated system of spray rods, rotating around a central point at least around an axis of rotation, in a support vehicle. In that case, preferably, the axis of rotation runs parallel to the longitudinal axis of the support vehicle. In order to guarantee a uniform discharge of the spraying agent, the distance between the upper edge of the stock and the spray nozzles must be regulated as constant over a defined distance. In horizontal agricultural areas, this can be achieved basically through self-leveling, in which the articulated system of spray rods aligns itself horizontally, insofar as the center of gravity of the articulated system of spray rods is provided below from the central point and that the articulated spray rod system is suspended, for example, in a rotating manner, hanging freely. However, the desired effect is not established in the case of agricultural areas that extend along a slope.
[0005] In order for the distance between the top corner of the stock and the spray nozzles arranged in an articulated system of spray rods swiveling around a central point to be regulated as constant over a defined distance in agricultural areas that are extend in any case, it is known to rotate an articulated system of spray rods, suspended, for example, at a desired distance from the ground, around an axis of rotation that runs through the central point, in such a way that this distance is optimized over the entire operating range. For that, it is necessary that a moment of rotation of change of alignment around an axis of rotation that runs through the central point is exerted on the articulated system of spray rods. This occurs by means of at least one actuator, which, at least when necessary, transmits a force or a pair of forces that causes a moment of rotation of change of alignment around the axis of rotation, from the support vehicle to the system. spray rods to change its alignment.
[0006] This moment of change of alignment rotation accelerates the spray rod articulated system in a desired nominal rotation direction. Even after the action of the moment of change of alignment rotation has ended, the spray rod articulated system would continue to rotate around the rotation axis without any contrary measures, as it maintains its momentum of rotation as a function of the moment of mass inertia. . Therefore, to brake the articulated spray rod system again, it is necessary to introduce a moment of rotation of the brake opposite to the moment of previous rotation of change of alignment. This braking rotation moment acts against the rotation movement driven by the change of alignment rotation moment and, thus, dampens the system of the spray rod articulated system swiveling around the central point.
[0007] Until now, for the application of the moment of braking rotation, usual mechanical dampers are used, which are installed between the support vehicle and the spray rod articulated system. Assuming that a relative movement occurs between the support vehicle and the spray rod articulated system in the form of a rotation around the axis of rotation, then a mechanical damper installed between them will act against the relative rotation, respectively against the movement of rotation of the spray boom articulated system and will brake it as desired. However, if the support vehicle rotates around the axis of rotation due, for example, to unevenness and if the articulated spray boom system remains stationary, then there will also be a relative rotation between the support vehicle and the system articulated spray rods. A mechanical shock absorber, installed between the support vehicle and the spray boom articulated system, would act against this relative rotation and, consequently, transmit to the spray boom articulated system a moment of rotation active around the axis of rotation, causing a coupling to be established between the support vehicle and the spray boom articulated system.
[0008] This coupling is also established if a measurement system that measures a relative angle and / or a relative rotation between the support vehicle and the spray boom articulated system is used to adjust the moment of rotation.
[0009] In addition, measurement systems are known that employ tilt sensors arranged in the spray boom articulated system to determine the position of the spray boom articulated system. Through the temporal derivation of the inclination, the rotation speed of the articulated spray rod system can be obtained independently of the support vehicle. However, inclination sensors provide poor inclination in the case of transverse accelerations as, for example, they occur in the case of curve travel. Consequently, a poor rotation speed is also calculated.
[0010] US 2011/0282554 A1 provides a device for the discharge of fluid active materials. This device includes: - a support vehicle; - an articulated system of spray rods arranged on the support vehicle, including an adjustable central part and changeable in its distance from the ground, as well as, arranged in this, two arms, spaced laterally from the support vehicle and independently movable each other around respective respective axes of rotation that run parallel to a longitudinal axis of the support vehicle; - distance sensors arranged on both arms to detect the positions or distances of the extremities of arms in relation to the ground; - at least one distance sensor arranged on the center piece between the arms for detecting the distance of the center piece from the ground; - a regulation device that processes the output signals from the sensors to transform them into control signals; - respectively an actuator acting on one of the two arms, in the form of a hydraulic cylinder for the individual suspension and lowering of each arm end, depending on the control signals of the adjustment device, as well as - a rotation angle sensor or rotation rate sensor arranged on the support vehicle independently of the articulated spray rod system, which detects the oscillation angle or the rate of oscillation of the support vehicle around its longitudinal axis.
[0011] In the case of distance sensors it may be a LIDAR sensor (Light Detection And Ranging), a RADAR sensor (RAdio Detection And Ranging) or ultrasound sensors, or sensors based on an interference measurement process or on a radio frequency, such as GPS sensors. In the case of the rotation angle or rotation rate sensor, it can be a rotating instrument (gyroscope). To keep the arm ends at a constant distance from the ground, such as the centerpiece, a height error of the two arm ends is initially calculated based on a comparison of the output signals from the distance sensors. If this height error is different from zero for one or both arm ends, then an initialization control signal will be generated to trigger an actuator associated with a corresponding arm and to adjust the arm end that has the height error again to the predetermined distance from the ground. In this case, when one of the arms is raised, then this will result in an oscillating movement of the support vehicle in the direction of the arm to be lifted, causing, without further action, the remaining arm to present a height error that results in a lowering. . In order for a regulation circuit composed of distance sensors, regulation device and actuators to be stable in terms of regulation technique and, for example, not to swing uncontrollably and / or lead to a lateral tipping of the support vehicle, it is foreseen that, through the regulation device, a compensation control signal is generated which acts against an instability of the regulation circuit, based on the output signal of the rotation angle sensor or rotation rate sensor that detects the oscillation angle or the rate of oscillation of the support vehicle around its longitudinal axis, and that the actuators are given a control signal determined based on the initialization control signal and the compensation control signal.
[0012] Through WO 2012/146255 A a device for the discharge of fluid active materials is also known. This device includes: - a support vehicle; - an articulated system of spray rods arranged on the support vehicle in a mobile way around an axis of rotation that runs parallel to a longitudinal axis of the support vehicle, with arms spaced on both sides of the support vehicle; - one or more sensors arranged in the articulated spray rod system, to detect the distances of the arms from the ground, such as, for example, one or more acceleration sensors, gyroscopes and / or distance sensors; - a regulation device that processes the output signals from one or several sensors to transform them into control signals; - a stabilization device that dampens vibrations from the articulated spray rod system, including two guides that run along the two arms, as well as a block that can be moved along one of the guides, and - a drive device that influences the positions of the two blocks along the guides according to control signals from the regulating device.
[0013] In response to undesirable vertical movements, which in a regulation circuit without damping can cause the articulated spray rod system to rotate vibrations around the longitudinal axis of the support vehicle, damping and compensation is provided by a mass displacement based on a displacement of the blocks along the two arms. Initial quantities of the regulating device that flow to the control signals in the drive device serve initial signals from acceleration sensors attached to the arms that detect vertical vibrations from the spray boom articulated system. There is no evidence of a constant distance between the arms and the ground.
[0014] DE 10 2007 045 846 A1 provides a device for the discharge of fluid active materials. This device includes: - a support vehicle; - an articulated system of spray rods arranged on the support vehicle in an articulated system of spray rods in the form of a parallelogram with adjustable height and movable around an axis of rotation that runs parallel to a longitudinal axis of the support vehicle; - an acceleration sensor arranged in the articulated spray rod system; - an acceleration sensor arranged in the articulated system of spray rods in the form of a parallelogram, as well as - a first reference sensor arranged in the support vehicle, in the form of an acceleration sensor, and - a second reference sensor, arranged in the region of a support vehicle frame, in the form of a gyrostat or rotation rate sensor; - a control device that processes the initial signals from one or more sensors to transform them into control signals; - an actuator in the form of a hydraulic cylinder that influences the rotational position of the articulated spray rod system as a function of control signals from the regulating device, as well as - an actuator in the form of a hydraulic cylinder that influences the distance of the articulated system of spray rods in the form of a parallelogram in relation to the ground, in function of control signals from the regulation device.
[0015] The control signals generated by the regulation device prevent changes of position from a position adjusted once manually and from an alignment of the articulated system of spray rods when braking, accelerations, compression and decompression of the support vehicle occur, or also, in case of going through unevenness in the ground. Errors that occur based on the different positioning of the acceleration sensors and the reference sensors can be precisely compensated for with the reference sensors. There is no evidence of a constant distance adjustment of the spray boom articulated system in relation to the ground.
[0016] In order to have a complete idea, it is worth mentioning that, in addition, articulated systems of spraying rods, made up of adjustable segments in relation to each other, are known to enable adaptation by sections to the soil profile in the case of very wide amplitudes. great work. An articulated system of spray rods with an arm composed of segments is known as DE 32 02 569 A1. In this case, individual segments are connected with each other, with the movement of the individual segments in relation to each other occurring passively. For this mechanism, a support element is required on the outside of each arm, to enable the pivoting process.
[0017] It is an objective of the invention to develop a device for the discharge of fluid and / or solid active materials, with a support vehicle and at least one articulated system of rods pivotally arranged at least around an axis of rotation that runs, preferably, parallel to a longitudinal axis of the support vehicle, this system with arms spaced from both sides of the support vehicle, such as, for example, field sprayer, which, even in the case of uneven terrain and a moving or oscillating support, makes it possible to maintain the most accurate possible distance between the arms and the surface of the ground, as well as a process for the control of such a device, with the help of which, even in the case of uneven terrain and a vehicle in motion or oscillating, it is possible to maintain the most accurate possible distance of the arms from the ground surface.
[0018] This objective is achieved, respectively, through the characteristics of the independent claims.
[0019] Characteristics of advantageous forms of development of the invention result from the dependent claims, the following general descriptive part, the drawings and the corresponding descriptive part of the figures.
[0020] In this sense, a first object of the invention refers to a device for the discharge of fluid and / or solid active materials. The device includes: - a support vehicle; - at least one articulated rod system pivotably arranged at least around an axis of rotation which preferably runs parallel to a longitudinal axis of the support vehicle, such as, for example, a spray rod articulated system, with arms spaced on both sides of the support vehicle, as well as discharge elements arranged in it and connected and / or connectable with a reservoir for at least one fluid and / or solid active material, such as connected spray nozzles and / or connectable with a spray agent tank; - at least one sensor arrangement for detecting a rotation speed of the articulated rod system around the axis of rotation in relation to the reference plane; - at least one sensor arrangement for detecting a rotational position of the articulated rod system around the axis of rotation in relation to the reference plane; - a regulation device that processes output signals from the sensor arrangements to transform them into control signals; - at least one actor, also called an actuator, which, due to control signals from the regulating device, influences the rotational position of the articulated rod system around the axis of rotation in relation to the support vehicle, which actuator has the shape of one or more hydraulic cylinders that converts control signals into mechanical movement or into another physical quantity, such as pressure, for example and, consequently, generates a force that exerts a moment of rotation on the articulated system of rods or a pair of forces that exert a moment of rotation on the articulated system of rods, and for the determination of a rotational position of the articulated system of rods around the axis of rotation in relation to an initial alignment that coincides, for example, with the plane reference device, the adjustment device: - through the temporal integration of the rotation speed, calculates the rotational position of the articulated rod system in relation to the reference plane , causing, on the one hand, neither the supporting vehicle nor translation accelerations to disturb the calculation of the rotational position, although, on the other hand, measurement errors are also integrated and cause a drift of the rotational position, the hereinafter also called angular drift, and - merges the rotational position of the articulated rod system, calculated based on the rotation speed, to compensate for the angular drift, with the detected rotational position of the articulated rod system to determine the rotational position momentary moment of the articulated rod system in relation to the reference plane, to generate a control signal that takes the articulated rod system from its momentary rotational position back to a nominal rotational position in relation to the reference plane.
[0021] Through a temporal integration of the rotation rate, called rotation speed, a rotation angle is obtained that reproduces a rotational position of the articulated system of rods in relation to the reference plane. In this case, disturbances due to the support vehicle or due to translational accelerations have no influence on the calculation, whereas measurement errors are also integrated and cause an angular drift of the rotation angle.
[0022] A measurement of the rotational position in relation to the reference plane, such as, for example, by measuring the relative rotation between the support vehicle and the articulated rod system or by measuring the angle of inclination in relation to the acceleration of the earth has, in fact, the disadvantage of the influence of disturbances due to rotation movements of the support vehicle or due to translational accelerations, as it happens, for example, in a curve displacement, being, however, to that the advantage is that this type of detection of the rotational position is not subjected to any angular drift.
[0023] By merging the calculated rotational position and the measured rotational position, also called the detected rotational position, the momentary rotational position in relation to the reference plane is determined very precisely, taking advantage of only the advantages of the respective measurement methods without having to accept its disadvantages.
[0024] Advantages in relation to the technical state are obtaining a measuring system based on at least one sensor arrangement for detecting a rotation speed of the articulated rod system around the axis of rotation in relation to a reference plane, in at least one sensor arrangement for detecting a rotational position of the articulated rod system around the axis of rotation in relation to the reference plane, and in the control device that processes the output signals of the sensor to transform them into control signals, a measurement system that reproduces momentary rotational position and rotation movements of the articulated rod system in relation to the reference plane, regardless of the support vehicle and from there generates control signals for regulation constant alignment of the articulated rod system in relation to the reference plane. For the determination of the momentary rotational position, two measurement systems are used and cast based on different physical fundamentals. In this way, the disadvantages of each measurement method are respectively eliminated.
[0025] The at least one sensor arrangement for detecting a rotation speed of the rod articulated system around the axis of rotation with respect to a reference plane may include a rotation rate sensor arranged in the rod articulated system which detects the rotation speed of the articulated rod system.
[0026] In this case, for the detection of the rotation speed, a rotation rate sensor is used, which is mounted directly on the articulated rod system. Therefore, rotation movements of the support vehicle have no influence on determining the rotation speed of the articulated rod system. An output signal from a rotation rate sensor proportional to or reflecting the measured quantity thus corresponds to the rotation movement of the rod articulated system in relation to any reference plane, such as, for example, in relation to terrestrial surface, respectively orthogonal to the Earth's acceleration or a long-term alignment of the support vehicle that reflects an average soil profile.
[0027] This measurement variable, respectively an output signal proportional to or that reflects this measurement variable, serving as the input variable of the regulation device that flows to the control signals on the actuator (s), this output signal is a rotation rate sensor that detects rotation speeds of the articulated rod system, can be used to obtain an active damping of the articulated rod system in the form of an actively introduced braking moment.
[0028] Alternatively or in addition, the at least one sensor arrangement for detecting a rotation speed of the articulated rod system around the axis of rotation with respect to a reference plane may include at least one rotation rate sensor arranged on the support vehicle, to measure rotation speeds of the support vehicle at least around its axis of rotation and, thereby, the rotation movements of the support vehicle that represent disturbing movements.
[0029] Additionally, in this case, the - at least one - sensor arrangement for detecting a rotation speed of the rod articulated system around the axis of rotation in relation to a reference plane may include at least one sensor of rotation angle or rotation angle speed sensor that detects the relative rotation between the support vehicle and the articulated rod system, such that from the two measured values, the rotation speed of the support vehicle in relation to to its longitudinal axis, as well as the relative rotation between the support vehicle and the articulated rod system, it is then possible to determine the absolute rotation speed of the articulated rod system around the axis of rotation.
[0030] Alternatively or in addition to a rotation rate sensor, at least one sensor arrangement for detecting a rotation speed of the rod articulated system around the axis of rotation in relation to a reference plane may include a rotation acceleration sensor. Through the temporal integration of its output signal, it is possible to obtain a measurement for the speed of rotation.
[0031] Alternatively or in addition to a rotation rate sensor and / or a rotation acceleration sensor, at least one sensor arrangement for detecting a rotation speed of the articulated rod system around the axis of rotation in relation to a reference plane it can typically include at least two acceleration sensors arranged in the region of the arms of the articulated system of rods, such as, for example, at their ends. However, it is worth mentioning here that it may already suffice just one sensor that can be arranged in the region of one of the arms of the articulated system of rods, such as, for example, at one end. Its output signal or the output signals of various sensors reflect the translation accelerations at the ends of the arms. The difference in the output signals of two acceleration sensors arranged at the opposite ends of the arms, multiplied by the width of the articulated rod system, provides the rotation accelerations, through whose temporal integration the rotation speed is obtained again.
[0032] In summary, in this sense it is evident that the means for determining a rotation speed of the rod articulated system around the axis of rotation in relation to a reference plane may include one or more inertial sensors arranged in the articulated system of stems.
[0033] Inertial sensors are used to measure accelerations and rotation rates. Through the combination of several inertial sensors in an inertial measurement unit, also called “inertial measurement unit”, IMU, it is possible to measure accelerations of up to six degrees of freedom that a rigid body can present (three degrees of freedom of translation and three degrees of freedom of rotation). An IMU is a major component of an inertial navigation system, also called an inertial navigation system.
[0034] Examples of inertial sensors are the acceleration sensors and the rotation rate sensors.
[0035] A rotation rate sensor detects the rotation speed, respectively rotation speed, of a body around a predetermined axis of rotation or pivot, being preferably an output signal from a rate sensor of rotation is clearly proportional to a detected rotation speed.
[0036] By integrating the rotation speed over a period of time, it can be deduced from which angle a body rotated within the period of time. The rotation rates around the three spatial axes are characterized as: - yaw rate (rotation around the vertical axis; yaw, in English); - inclination rate (rotation around the transverse axis); pitch, in English); - oscillation rate (in vehicles not supported on the ground it is also called the rolling rate (rotation around longitudinal axis; roll, in English).
[0037] The measurement principle is based on two measurement principles: on the one hand, the Coriolis force, which acts on a mechanically moved system and, on the other hand, the Sagnac effect that is observed in light.
[0038] Examples of mechanically driven systems that use Coriolis force are: - Foucault pendulum; - gyrocompaste; - Dynamically Tuned Gyro (DTG), measurement error <1 ° / h; - vibration gyroscope, measurement error <10 ° / h; - vibration piston.
[0039] Examples of optical systems that use the Sagnac effect are: - ring laser (RLG), measurement error <0.001 ° / h; - fiber gyroscope (FOG), measurement error <1 ° / h.
[0040] Inertial measurement units generally contain the following types of sensors: - three acceleration sensors arranged orthogonally (also characterized as translation sensors) detect linear acceleration on the x axis, respectively the y axis, respectively the z axis. From this it is possible to calculate the translation movement by means of a double integration; - three rotation rate sensors arranged orthogonally (also characterized as gyroscopic sensors) measure the angular velocity around the x axis, respectively the y axis, respectively the z axis. From this, it is possible to calculate the rotation movement by means of a simple integration.
[0041] In order to determine the integration constants and / or to improve the accuracy and / or to correct a drift of the sensors, additionally, for example, magnetic field sensors, such as, for example, compass sensors , and / or for receiving signals from an existing or future global navigation satellite system, also called the Global Navigation Satellite System, GNSS, such as: - GPS (Global Positioning System) of the United States of America, and / or - GLONASS (GLObal NAvigation Satellite System) from the Russian Federation, and / or - Galileo from the European Union and / or - Beidou from the People's Republic of China.
[0042] The at least one sensor arrangement for detecting a rotational position of the articulated rod system around the axis of rotation with respect to the reference plane may include at least one sensor that detects a relative rotation between the support vehicle and the articulated rod system in relation to the axis of rotation.
[0043] At least one sensor for detecting a relative rotation between the support vehicle and the articulated rod system can be an angle of rotation sensor arranged between the articulated rod system and the support vehicle.
[0044] Alternatively or additionally, a detection of a relative rotation between the support vehicle and the articulated rod system can be performed based on at least one tilt sensor that detects an angle between the support vehicle and the reference plane and based on at least one inclination sensor that detects an angle between the articulated rod system and the reference plane, the difference in the angle detected by the sensors between the supporting vehicle and the reference plane with respect to the angle between the articulated rod system and the reference plane is proportional to a relative rotation between the support vehicle and the articulated rod system.
[0045] Based on a fusion of the rotational position of the articulated rod system, calculated by means of a sensorially detected rotation speed, with a relative rotation between the support vehicle and the articulated rod system, sensed directly by means of a rotation angle sensor or indirectly by forming a difference in the inclinations of the articulated rod system and the support vehicle in relation to the reference plane, a reference plane that reflects a soil profile can be taken as a reference medium and that corresponds to a long-term alignment of the support vehicle.
[0046] The at least one sensor arrangement for detecting a rotational position of the articulated rod system around the axis of rotation in relation to the reference plane may alternatively or additionally include at least one inclination sensor that detects a angle between the articulated rod system and the reference plane.
[0047] Based on a fusion of the rotational position of the articulated rod system, calculated based on a rotation speed, with a rotational position of the articulated rod system detected based on a detection of an angle between the articulated rod system and the reference plane, a reference plane corresponding to an artificial horizon can be taken as reference.
[0048] Inclination sensors have, in fact, the disadvantage that they are subject to transverse accelerations. However, this disadvantage is compensated by merging with the rotational position of the articulated rod system, calculated based on a rotation speed.
[0049] In summary, in this sense, in the case of the reference plane it may be an artificial horizon, with at least one sensor arrangement for detecting a rotational position around the axis of rotation in relation to a plane The reference model preferably includes a tilt sensor, or it may be a long-term alignment of the support vehicle, with at least one sensor arrangement for detecting a rotational position of the articulated rod system around of the axis of rotation in relation to a reference plane preferably includes a detection of a relative rotation between the support vehicle and the articulated rod system, based, for example, on a rotation angle sensor that detects the angle between the articulated rod system and the support vehicle.
[0050] For the determination of the momentary rotational position of the rod articulated system around the axis of rotation in relation to the reference plane, based on a fusion of the rotational position of the rod articulated system, calculated based on a rotation speed , with the rotational position of the articulated rod system detected directly sensorially or indirectly through the formation of a difference, the regulation device is preferably provided with means that perform a Kalman filter.
[0051] Alternatively or additionally, the adjustment device for determining the momentary rotational position of the rod articulated system around the axis of rotation in relation to the reference plane, based on a fusion of the rotational position of the rod articulated system, calculated by means of a rotation speed, with the rotational position of the articulated rod system, sensory sensed directly or indirectly through the formation of a difference, can be equipped with means for the low-pass filtering of the sensorially detected rotational position, as well as with means for comparing the rotational position, sensorially detected and low pass filtered, by means of permanent leveling to zero with the rotational position calculated based on a rotation speed, to compensate for the angular drift.
[0052] The regulating device, by means of at least one actuator that includes, for example, at least one hydraulic cylinder, regulates and / or controls the rotational position of the articulated rod system around the axis of rotation along the direction displacement of the support vehicle.
[0053] The adjustment device can allow a manual operating state, in which the actuator that influences the rotational position of the articulated rod system around the axis of rotation in relation to the support vehicle does not perform any active control and the articulated system of rods to be driven, for example, with almost no adjusting force.
[0054] In the manual operating state, at least part of the articulated rod system, such as, at least, a central part arranged between the arms, follows the movement of the support vehicle over a longer period of time, as this support vehicle basically follows the terrain relief and, consequently, the contour of the field.
[0055] However, high-frequency oscillation movements of the support vehicle should have no influence on the rotational position of the articulated rod system in relation to a reference plane corresponding to the long-term alignment of the support vehicle or to a artificial horizon.
[0056] In addition, the adjustment device allows an automatic operational state, in which the actuator does not perform any active movement, in order to adapt the rotational position of the articulated rod system in relation to the reference plane.
[0057] The invention allows a very accurate determination of a momentary rotational position of the articulated rod system in relation to a reference plane. This is less expensive and less cost-intensive compared to a determination of the rotational position based on various ultrasound sensors.
[0058] The device may additionally include an actuator, for example, in the form of one or more hydraulic cylinders, which, due to control signals from the regulating device, influences an average distance of the articulated rod system in relation to the ground or in relation to the cover, and that converts control signals into mechanical movement or into another physical quantity such as pressure, for example, and thus exerts a force on the articulated system of rods, a force that raises or lowers the system articulated rods. Basically, instead of hydraulic cylinders, other suitable actuators can also be used, such as, for example, pneumatic, electromechanical or electromotor actuators.
[0059] In addition, the device may include at least one sensor arrangement for detecting at least an average distance of the articulated rod system in relation to the ground or in relation to the cover. Preferably, such a sensor arrangement includes, respectively and typically, at least one distance sensor disposed at each end of the arms of the articulated rod system. By means of distance sensors arranged at the ends of the arms of the articulated rod system and by means of a corresponding consideration of their output signals in the generation of control signals through the regulation device, it is possible to increase the reliability with which it can prevent the articulated rod system or the discharge means arranged therein for solid and / or fluid active materials, such as, for example, spray nozzles, from coming into contact with the ground and / or in contact with the cover. It should be noted that the sensor arrangement can only selectively include a single distance sensor at one end of one of the arms of the articulated rod system. By means of such a distance sensor arranged at one end of one of the arms of the articulated rod system and through a corresponding consideration of its output signal in the generation of control signals through the regulation device, it is possible to increase reliability with which can prevent the articulated rod system or the discharge means disposed there for solid and / or fluid active materials, such as spray nozzles, from coming into contact with the ground and / or in contact with the cover .
[0060] Alternatively or additionally, such a sensor arrangement may include at least one distance sensor disposed on the part of the articulated rod system that does not protrude from the supporting vehicle in its width.
[0061] Based on the distance signals from the sensors, the regulation device can generate control signals provided for at least one actuator that influences an average distance of the articulated rod system in relation to the ground or the cover.
[0062] To exclude as much as possible the influences of unequal mass distributions of the articulated rod system, the rotation axis preferably runs through the center of gravity of the articulated rod system.
[0063] The at least one articulated rod system can be replaced, in a replaceable way, in the support vehicle, in a lasting way or against another device for the agricultural treatment of the soil and / or the cover.
[0064] In this case, the support vehicle can be operated or pulled, in such a way that the device: - in the case of a support vehicle driven with a articulated system of rods disposed in a lasting manner, constitutes an automotive agricultural device, respectively a agricultural automobile apparatus; - in the case of a support vehicle pulled with an articulated system of rods disposed in a lasting manner, it constitutes a pulled agricultural device, such as, for example, an agricultural trailer, and - in the case of a support vehicle driven with an articulated system of rods arranged , in a replaceable manner, against another device for the agricultural treatment of soil and / or cover, such as, for example, in a three-point power lift or over a load area provided for this, constitutes an accessory device or an appliance structural.
[0065] Additional advantages to the advantages already mentioned in relation to the state of the art result from a complete solution of the proposed objective, by overcoming all the disadvantages of the state of the art.
[0066] In addition, by maintaining the exact distances of the arms from the ground surface and / or from the cover, regardless of the moving and / or oscillating support vehicle, it is safely prevented that the arms come into contact contact with the ground.
[0067] A second object of the invention relates to a process for the control of a device previously described, based on a regulation of the rotational position of the articulated system of rods of the device, movably arranged around an axis of rotation in a support vehicle, in function of a momentary rotational position, and for determining the momentary rotational position it is foreseen: - to detect a rotation speed of the articulated rod system around the rotation axis in relation to a reference plane; - regardless of the rotation speed, detect a rotational position of the articulated rod system around the axis of rotation in relation to the reference plane; - calculate the rotational position of the articulated rod system in relation to the reference plane, through the temporal integration of the rotation speed, making, on the one hand, neither the device's support vehicle nor the translation accelerations disturbingly influence the calculation of the rotational position, although, on the other hand, measurement errors are also integrated and cause a drift of the rotational position, hereinafter characterized as angular drift, and - fusing the rotational position of the articulated system of rods, calculated based on the speed of rotation to compensate for angular drift, with the detected rotational position of the articulated rod system, to determine the momentary rotational position of the articulated rod system in relation to the reference plane.
[0068] Through a fusion of the calculated rotational position and the measured rotational position, characterized as the detected rotational position, the momentary rotational position in relation to the reference plane is determined very precisely, taking advantage of only the advantages of the respective methods without having to accept its disadvantages.
[0069] Preferably, the process provides that based on the fusion of the rotational position of the articulated rod system, calculated by means of the rotation speed, with the detected rotational position, regardless of the rotation speed, of the articulated rod system, respectively in relation to the reference plane, a control signal is generated which will lead the rod articulated system from its momentary rotational position back to a nominal rotational position in relation to the reference plane.
[0070] The process can provide for the rotation speed to be detected based on a rotation rate sensor arranged in the articulated rod system that detects the rotation speed of the articulated rod system.
[0071] In this case, for the detection of the rotation speed a rotation rate sensor is used, which is mounted directly on the articulated system of rods. As a result, rotating movements of the support vehicle have no influence on determining the rotation speed of the articulated rod system. In this way, an output signal from a rotation rate sensor, proportional to or reflecting the measured quantity, corresponds to the rotation movement of the rod articulated system in relation to any reference plane, such as, for example, in relation to to the earth's surface, respectively orthogonal to the acceleration of the earth or a long-term alignment of the support vehicle, which reflects a medium soil profile.
[0072] That measurement quantity, respectively an output signal from a rotation rate sensor that detects rotation speeds, a signal that is proportional to that measurement quantity or that reflects this and that flows to or from the control, can be used to obtain an active damping of the articulated rod system in the form of an actively introduced braking moment.
[0073] The process may provide, alternatively or additionally, that the rotation speed of the articulated rod system is detected based on a rotation speed of the support vehicle around its longitudinal axis that runs parallel to the axis of rotation, together with a relative rotation between the support vehicle and the articulated rod system, such that from the two measured values, that is, the rotation speed of the support vehicle in relation to its longitudinal axis, as well as the rotation between the support vehicle and the articulated rod system, it is possible to calculate, then, the absolute rotation speed of the articulated rod system around the axis of rotation.
[0074] For this, it can be provided that a rotation rate sensor is installed in the support vehicle of the device, to detect the rotation speed of the support vehicle, also called oscillation rate, around its longitudinal axis, and that an angle of rotation sensor or angle of rotation speed sensor be provided between the support vehicle and the articulated rod system.
[0075] Alternatively or additionally, it can be provided for this that a rotation acceleration is detected and that the rotation speed is obtained through temporal integration.
[0076] Alternatively or additionally, it can be provided that translation accelerations are detected in the arm region of the articulated rod system, preferably at the opposite ends of the arms, and that based on a difference in the translation accelerations at the opposite ends of the arms the rotation acceleration of the articulated rod system is initially calculated and, through temporal integration, the rotation speed again.
[0077] In addition to or instead of the preceding execution examples which include a relative rotation detection between the support vehicle and the articulated rod system, the process may provide for the detection of relative rotation between the support vehicle and the articulated support system rods, based on the difference between the rotational position of the articulated rod system around the axis of rotation in relation to the reference plane and the rotational position of the support vehicle around its longitudinal axis, which runs parallel to the axis of rotation, in relation to the reference plane, the difference between the angle detected by the sensors between the support vehicle and the reference plane and the angle between the articulated rod system and the reference plane is proportional to a relative rotation between the vehicle support system and the articulated rod system. For detecting the rotational position of the articulated rod system around the axis of rotation in relation to the reference plane and the rotational position of the support vehicle around its longitudinal axis, which runs parallel to the axis of rotation, in relation to the plane For reference, inclination angle sensors can be provided, respectively in the articulated rod system and in the support vehicle, sensors that detect inclination angles between the articulated rod system and the vertical and / or horizontal ones, respectively between the vehicle support and vertical and / or horizontal.
[0078] Based on a fusion of the rotational position of the articulated rod system, calculated by means of a detected rotation speed, with a calculated and / or detected relative rotation between the support vehicle and the articulated rod system, the process it can provide that a reference plane that corresponds to a long-term alignment of the support vehicle and that reflects an average soil profile will be taken as reference.
[0079] For the detection of a position of rotation of the articulated system of rods around the axis of rotation in relation to the reference plane, the process can provide that, for example, by means of a tilt sensor, an angle is detected inclination that reflects an angle between the articulated rod system and the reference plane.
[0080] Based on a fusion of the rotational position of the articulated rod system, calculated based on a rotation speed, with a rotational position of the articulated rod system, detected by detecting an angle between the articulated rod system and the reference plane, it is possible to refer to a reference plane corresponding to an artificial horizon.
[0081] The process can provide for Kalman filtration to be performed to determine the momentary rotational position of the articulated rod system around the axis of rotation in relation to the reference plane, based on a fusion of the rotational position of the system articulated rod, calculated based on a rotation speed, with the rotational position of the articulated rod system, detected directly or indirectly through the construction of a difference.
[0082] Alternatively or additionally, the process may provide that, for the determination of the momentary rotational position of the articulated system of rods around the axis of rotation in relation to the reference plane, based on a fusion of the rotational position of the articulated system of rods, calculated based on a rotation speed, with the rotational position of the articulated rod system, detected directly or indirectly through the construction of a difference, a low-pass filtering of the detected rotational position is performed, as well as a comparison of the rotational position detected by low-pass filtering through a permanent leveling to zero with the rotational position calculated based on a rotation speed, to compensate for the angular drift.
[0083] The process allows all the advantages of the described device to become useful.
[0084] In addition to being used in connection with a device previously described, for the discharge of fluid and / or solid active materials, the process is also suitable for use with any device for the agricultural treatment of soil and / or cover, where - be it for the improvement of the soil or the roof - there is no need for devices supported on the ground and, even so, it is necessary to have a high precision of conduction in a predetermined rotational position, such as, perpendicular or parallel to the ground.
[0085] Both the device and the process can have, alternatively or additionally, individual characteristics or a combination of several characteristics described at the beginning in connection with the state of the art and / or in one or more documents mentioned by the state of the art.
[0086] In addition, the device may have, alternatively or additionally, individual characteristics or a combination of several characteristics described previously in connection with the process, just as the process may alternatively or additionally have individual characteristics or a combination of various characteristics described previously in connection with the device.
[0087] It is evident that the invention can be accomplished through a regulation of the articulated spray rod system, by means of at least one inertial sensor, such as, for example, a rotation rate sensor, such as a gyroscope, which be provided with or in the spray boom articulated system and / or in a part of a spray boom articulated system, such as a central part. The inertial sensor detects an effective rotation speed of the spray boom articulated system and / or a part of a spray boom articulated system, regardless of a movement of the support vehicle. Based on the detected rotation speed, active damping and / or regulation occurs. By means of a time integral over the rotation speed, it is possible to calculate an effective torsion angle characterized as a rotational position in relation to a reference plane.
[0088] By means of an angle sensor, such as, for example, a rotation angle sensor, the rotational position of the spray boom articulated system and / or a part of an articulated articulation system is additionally detected spray rods in relation to the support vehicle, causing the absolute position of rotation angle of the spray rod articulated system or the part of a spray rod articulated system to be determined in relation to the support vehicle.
[0089] Based on a fusion of the sensor data obtained based on the output signals from the sensors, namely the rotation speed, respectively the rotation rate, and the absolute position of the rotation angle, respectively the rotation position and the corresponding filtering, using, for example, a Kalmann filter, it is possible to conduct the articulated spray rod system or part of an articulated spray rod system provided with an inertial sensor together with the support vehicle, without the highly frequent oscillating movements disturbing the position and alignment of the spray rod articulated system or part of a spray rod articulated system.
[0090] Alternatives to a rotation rate sensor, for example in the form of a gyroscope, can be one or more rotation acceleration sensors or rotation acceleration sensors symmetrically arranged, whose output signals are counted. For example, if two rotation acceleration sensors are arranged symmetrically in different directions, then, based on the rotation accelerations of one or the other rotation acceleration sensor, it is possible to detect, respectively, the rotation acceleration in one direction and , through a time integral along the detected acceleration of rotation it is possible to calculate the rotation speed in the corresponding direction.
[0091] In summary, the invention provides to relate the current position of the articulated rod system to a reference plane, in order to adjust the rotational position of the articulated rod system, respectively to adjust the articulated rod system to an independently defined angle support vehicle movements. This reference plane can be a horizontal plane that runs orthogonal to Earth's acceleration, or a long-term alignment of the support vehicle.
[0092] For this purpose, the invention provides for a fusion of two measurement signals obtained based on measurement methods independent of each other, namely, on the one hand, a calculated rotational position of the articulated rod system and, on the other hand, a rotational position of the measured articulated rod system, respectively detected, to form a fused control signal, respectively a fused measurement signal.
[0093] The fused measurement signal represents the momentary rotational position of the rod articulated system in relation to a reference plane, correspondingly to a rotation angle between the rod articulated system and the reference plane. In this case, preferably, the reference plane corresponds to an artificial horizon or to a long-term alignment of the support vehicle. The result is insensitive to rotation and translation movements of the support vehicle and is not subject to any angular drift. In addition, this fused measurement signal is not time-delayed in relation to the actual rotation movement and is therefore excellently suited for regulation that is not undesirably coupled with the support vehicle, especially coupled with high frequency.
[0094] It is important to note that the arrangement of the articulated rod system in the support vehicle, which is pivotable and, preferably, runs parallel to the longitudinal axis of the support vehicle, includes both a pivotable arrangement, which preferably runs parallel to the longitudinal axis of the support vehicle, an articulated system of rods in itself rigid or articulated, as well as a pivotable arrangement running, preferably, parallel to the longitudinal axis of the support vehicle, of two arms of an articulated system of rods arranged pivotally in the support vehicle or in a central part of the articulated rod system, respectively around proper axes of rotation that run parallel to the longitudinal axis of the support vehicle.
[0095] In the following, the invention and its advantages will be explained in detail based on examples of execution represented in the figures. The dimension relationships of each element in relation to each other in the figures do not always correspond to the relationships of real dimensions, since in the figures some shapes are shown in a simplified way and other shapes are shown enlarged in relation to other elements to facilitate understanding. For equal or equally active elements of the invention, identical reference numbers are used. In addition, to facilitate observation, the figures show only those reference numbers that are necessary for the description of the respective figure. The exposed embodiments represent only examples of how the delivery mechanism according to the invention can be configured and do not represent any conclusive limitation. In schematic exhibition it is shown:
[0096] Fig. 1: a perspective view of a device designed as an automotive field sprayer, for the discharge of fluid and / or solid active materials.
[0097] Fig. 2: an isometric view of an articulated rod system of a device for the discharge of fluid and / or solid active materials.
[0098] Fig. 3: a perspective detail view of an arrangement of an articulated rod system, pivotably arranged around an axis of rotation that preferably runs parallel to a longitudinal axis of the support vehicle, of a device for the discharge of fluid and / or solid active materials.
[0099] Fig. 4: a front view of an articulated rod system of a device for the discharge of fluid and / or solid active materials.
[0100] Fig. 5: a detail view of an arrangement of an articulated rod system, pivotably arranged around an axis of rotation, which preferably runs parallel to a longitudinal axis of the support vehicle, from one device for the discharge of fluid and / or solid active materials, in a front view.
[0101] Fig. 6: a detail view of a part of a device for discharging fluid and / or solid active materials, in perspective, which represents an arrangement of an articulated system of rods pivotably arranged around an axis of rotation which preferably runs parallel to a longitudinal axis of the support vehicle.
[0102] Fig. 7: a first example of carrying out an evolution of the determination of a momentary rotational position of the articulated rod system in relation to a reference plane, according to a process for the control of a device for the discharge of active materials fluids and / or solids, based on an adjustment of the rotational position of the articulated system of rods of the device, this system is movably arranged around an axis of rotation in a support vehicle, depending on a momentary rotational position.
[0103] Fig. 8: a second example of executing an evolution of the determination of a momentary rotational position of the articulated rod system in relation to a reference plane, according to a process for the control of a device for the discharge of active materials fluids and / or solids, based on an adjustment of the rotational position of the articulated system of rods of the device, this system is movably arranged around an axis of rotation in a support vehicle, depending on a momentary rotational position.
[0104] A device 01, shown in figures 1, 2, 3, 4, 5, 6, in whole or in part, for the discharge of fluid and / or solid active materials, includes: - a support vehicle 10; - at least one rod articulated system 02 pivotably arranged around an axis of rotation 20 which preferably runs parallel to a longitudinal axis of the support vehicle 10, such as, for example, an articulated system of rods spray, with arms 21, 22 spaced on both sides of the support vehicle 10, as well as discharge means arranged thereon and connected and / or connectable with a reservoir 11 for at least one fluid and / or solid active material, such as, for example, spray nozzles connected and / or connectable with a spray agent tank; - at least one sensor arrangement for detecting a rotation speed of the rod articulated system or parts of the rod articulated system 02, such as, for example, its arms 21, 22, around at least one axis of rotation 20 with respect to a reference plane; - at least one sensor arrangement for detecting a rotational position of the articulated rod system 02 about the axis of rotation 20 with respect to the reference plane; - a regulation device that processes output signals from the sensor arrangements to transform them into control signals; - at least one actor 03, also called an actuator, in the form, for example, of one or more hydraulic cylinders, which, due to control signals from the regulating device, influences the rotational position of the articulated system of rods 02 around of the axis of rotation in relation to the support vehicle 10, and which converts control signals into mechanical movement or other physical quantity, such as pressure, for example, and thereby generates a force that exerts a moment of rotation on the articulated system of rods 02 or a pair of forces that exert a moment of rotation on the articulated system of rods 02, and for the determination of a rotational position of the articulated system of rods 2 around the axis of rotation 20 in relation to an initial alignment coinciding, for example, with the reference plane, the adjustment device: - through the temporal integration of the rotation speed w calculates the alpha2 rotational position of the articulated rod system 02 in relation to the plane the reference one, causing, on the one hand, neither the supporting vehicle 10 nor translational accelerations to disturb the calculation of the rotational position, although, on the other hand, measurement errors are also integrated and cause a drift of the rotational position , called angular drift, and - merges the rotational position alpha2 of the articulated rod system 02 calculated based on the rotation speed w, to compensate for the angular drift, with the rotational position alpha1 detected, respectively d_alfa1, of the articulated rod system 02 to determine the rotational position of the articulated rod system 02 in relation to the reference plane, to generate a control signal that takes the articulated rod system 02 from its momentary rotational position back to a nominal rotational position in relation to the reference plane.
[0105] For the detection of a rotation speed w of the rod articulated system 02 or parts of the rod articulated system 02, such as, for example, its arms 21, 22, in relation to a reference plane, at least at least one sensor arrangement may include one or more rotation rate sensors 25, 26, which are arranged in the rod pivot system 02 and which detect the rotation speed w of the pivot system 02 or parts of the pivot system 02, such as, for example, its arms 21, 22, around at least one axis of rotation.
[0106] For the detection of the rotation speed, in this case, preferably, at least one rotation rate sensor 25, 26 is used, which is mounted directly on the articulated system of rods 02, respectively in its part central, or on a part, pivotably arranged around an axis of rotation 20, of the articulated rod system 02, such as, for example, an arm 21, 22 of the articulated rod system 02 arranged pivotably around of a proper axis of rotation 20. In this way, rotation movements of the support vehicle 10 have no influence on determining the rotation speed of the rod articulated system 02 or the rotation speeds of parts of the rod articulated system 02. An output signal from a rotation rate sensor 25, 26, proportional to or reflecting the measured quantity, thus corresponds to the rotation movement of the rod articulated system 02 or a part of the rod articulated system 02 f shaped, for example, by an arm 21, 22, in relation to any reference plane, such as, for example, in relation to the Earth's surface, respectively orthogonal to the Earth's acceleration or a long-term alignment of the support vehicle 10 that reflects an average soil profile.
[0107] This measurement quantity, respectively an output signal from a rotation rate sensor 25, 26 that detects rotation speeds of the rod articulated system 02 or parts of the rod articulated system 02 formed by the arms 21, 22, This signal that is proportional to this measurement quantity or reflects it and that serves as the input quantity of the regulation device that flows to the control signals on the actuator (s) 03, can be used to obtain an active damping of the articulated system of rods 02 in the form of an active braking moment.
[0108] At least one sensor arrangement for detecting a rotation speed of the rod articulated system 02 or parts of the rod articulated system 02, such as, for example, its arms 21, 22, around at least at least one axis of rotation 10 with respect to a reference plane, can include at least two acceleration sensors 27, 28 arranged in the region of the arms 21, 22 of the articulated system of rods 02, as, for example, in their ends 23, 24. Its output signals reflect translation accelerations at the ends 23, 24 of the arms 21, 22. Unlike the output signals from two acceleration sensors 27, 28 arranged at the opposite ends 23, 24 of the arms 21, 22, multiplied by the amplitude of operation and / or amplitude of the articulated rod system, respectively multiplied by the distance between the two acceleration sensors 27, 28 provides as a result the rotation accelerations, through whose temporal integration is obtained, once again, the speed of rotation.
[0109] At least one sensor arrangement for detecting a rotational speed of the rod articulated system 02 or parts of the rod articulated system 02, such as, for example, its arms 21, 22, around at least at least one axis of rotation 20 with respect to a reference plane, may alternatively include at least one rotation rate sensor, also called the angle of rotation speed sensor, arranged on the supporting vehicle 10, for measuring speeds of rotation of the support vehicle 10, at least about its longitudinal axis that runs parallel to at least one axis of rotation 20 and, consequently, measure the rotation movements of the support vehicle 10 that represent disturbing movements. In that case, for detecting a rotation speed of the rod articulated system 02 about the axis of rotation with respect to a reference plane, the at least one sensor arrangement preferably also includes at least one angle sensor. of rotation or a rotation angle speed sensor that detects a relative rotation between the support vehicle 10 and the rod articulation system 02 or between the support vehicle 10 and parts of the rod articulation system 02, such as, for example, formed by the arms 21, such that from the two measured values, namely, the rotation speed of the support vehicle 10 in relation to its longitudinal axis, as well as the relative rotation between the support vehicle 10 and the system articulated rod 02 or between the support vehicle 10 and, for example, parts of the rod articulated system 02 formed by the arms 21, 22 of the rod articulated system 02, it is possible to determine the absolute rotation speed of the articulated system of rods 02 or parts of the articulated system of rods 02 formed, for example, by the arms 21, 22, around the respective at least one axis of rotation 20. In this case, based on an angle sensor of rotation the relative rotation between the support vehicle 10 and the rod articulated system 02 is directly detected, respectively of parts of the rod articulated system 02 formed, for example, by arms 21, 22, respectively arranged around axes of rotation pivotally in the support vehicle 10, while, based on a rotation angle speed sensor, the relative rotation between the support vehicle 10 and the articulated rod system 02 is indirectly detected, respectively of parts of the articulated system of rods 02 formed, for example, by arms 21, 22, respectively pivotable around their own rotation axes in the support vehicle 10, through the temporal integration of the speed and rotation.
[0110] For detecting a rotation speed of the rod articulated system 02 or parts of the rod articulated system 02, such as, for example, its arms 21, 22, around at least one axis of rotation in relation to to a reference plane, the at least one sensor arrangement includes, instead of or in addition to a rotation rate sensor, a rotation acceleration sensor. Through the temporal integration of its output signal, it is possible to obtain a measurement for the speed of rotation.
[0111] For detecting a rotational position of the rod articulated system 02 or parts of the rod articulated system 02, such as, for example, its arms 21, 22, around at least one axis of rotation 20 in relation to to the reference plane, the at least one sensor arrangement may include at least one sensor that detects a relative rotation between the support vehicle 10 and the rod articulation system 02 or between the support vehicle 10 and parts of the rod articulation system 02, such as, for example, its arms 21, 22, in relation to at least one axis of rotation 20.
[0112] For the detection of a relative rotation between the support vehicle 10 and the rod articulation system 02 or between the support vehicle 10 and parts of the rod articulation system 02, such as, for example, its arms 21, 22 , the at least one sensor can: - include at least one angle of rotation sensor disposed between the rod articulation system 02 or parts of the rod articulation system 02, such as, for example, its arms 21, 22, and the support vehicle 10 and / or - include at least one tilt sensor that detects an angle between the support vehicle 10 and the reference plane and at least one tilt sensor that detects an angle between the rod link 02 or parts of the articulated system of rods 02, such as, for example, its arms 21, 22, and the reference plane.
[0113] In this case, the difference in the angle detected by the inclination sensors between the support vehicle 10 and the reference plane in relation to the angle between the rod articulated system 02 or parts of the rod articulated system 02, such as, for example , its arms 21, 22, and the reference plane is proportional to a relative rotation between the support vehicle 10 and the rod articulated system 02, respectively to a relative rotation between the support vehicle 10 and parts of the articulated support system. rods 02, such as, for example, their arms 21, 22, pivotably arranged around their own rotation axes 20.
[0114] Based on a fusion of the alpha2 rotational position, calculated by means of a sensorially detected rotation speed, of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a pivotable way around their own rotation axes 20, such as, for example, its arms 21, 22, with relative rotation d_alpha1, between the support vehicle 10 and the rod articulation system 02, respectively between the support vehicle 10 and parts of the rod articulation system 02 pivotally arranged around proper rotation axes 20, such as, for example, their arms 21, 22, relative rotation of alpha_ 1 which is sensory sensed directly by means of a rotation angle sensor or indirectly by formation difference in inclination alfa_g of the articulated system of rods 02 or parts of the articulated system of rods 02 pivotally arranged around specific axes of rotation 20, such as, for example example, its arms 21, 22, and the alpha_t inclination of the support vehicle 10 in relation to the reference plane, it is possible to refer to a reference plane that corresponds to a long-term alignment of the support vehicle 10 and that reflects a average soil profile.
[0115] At least one sensor arrangement for detecting a rotational position of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a pivotable manner around specific axes of rotation 20, such as, for example , its arms 21, 22, about the axis of rotation 20 with respect to the reference plane, may include at least one inclination sensor that detects an angle alpha_g between the stem articulation system 02 or parts of the stem articulation system 02 arranged pivotally around specific axes of rotation 20, such as, for example, its arms 21, 22, and the reference plane.
[0116] Based on a fusion of the rotational position alpha2, calculated by means of a rotation speed w, of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a pivotable manner around the rotation axes 20 , such as, for example, its arms 21, 22, with an alpha1 rotational position of the rod pivot system 02 or parts of the pivot system of rods 02 pivotably arranged around specific axes of rotation 20, such as, for example, its arms 21, 22, rotational position alpha1 is detected based on a detection of an alpha angle between the articulated system of rods 02 and the reference plane or between parts of the articulated system of rods 02 arranged so pivotable around specific axes of rotation 20, such as, for example, its arms 21, 22, and the reference plane, a reference plane corresponding to an artificial horizon can be taken as a reference.
[0117] For the determination of the momentary rotational position of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22 , around at least one axis of rotation 20 with respect to the reference plane, based on a fusion of the rotational position, calculated on the basis of a rotation speed, rod joint system 02 or parts of rod joint system 02 movably arranged around their own rotation axes 20, such as, for example, their arms 21, 22, with the rotation position, sensory sensed directly or indirectly through difference formation, articulated system of rods 02 or parts of the articulated system of rods 02 arranged movably around their own rotation axes 20, such as, for example, their arms 21, 22, the adjusting device can: - include means for executing a thread Kalman traction and / or - include means for the low-pass filtering of the sensorially detected rotational position, as well as means for the comparison of the sensorially detected and low-pass rotational position, by means of permanent leveling to zero with the calculated rotational position based on a rotation speed, in order to compensate for the angular drift.
[0118] The regulating device, by means of at least one actuator 03 which includes, for example, at least one hydraulic cylinder, regulates and / or controls the rotational position of the articulated rod system 02 or parts of the articulated rod system 02 arranged movably around proper rotation axes 20, such as, for example, their arms 21, 22, around at least one axis of rotation 20 along the direction of travel of the support vehicle 10. Basically , instead of the hydraulic cylinders, other suitable actuators 03 can also be used at any time, such as pneumatic, electromechanical or electromotor actuators 03, or adjustment elements.
[0119] The adjustment device allows an automatic operational state, in which the actuator 03 performs an active movement in order to adapt the rotational position of the articulated system of rods 02 or parts of the articulated system of rods 02 movably arranged around of own axes of rotation 20, such as, for example, their arms 21, 22, in relation to the reference plane.
[0120] The invention allows a very accurate determination of a momentary rotational position of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around own axes of rotation 20, such as, for example, its arms 21, 22, in relation to a reference plane. This is less expensive and less cost-intensive compared to a determination of the rotational position based on various ultrasound sensors.
[0121] The at least one articulated rod system 02 can be disposed on the support vehicle 10 permanently or can be replaced by another device for the agricultural treatment of the soil and / or cover.
[0122] In this case, the support vehicle 10 can be operated or pulled, in such a way that the device 01: - in the case of a supported vehicle 10, with articulated system of rods 02 permanently arranged, constitutes an apparatus agricultural vehicle, respectively an agricultural automobile device; - in the case of a pulled support vehicle 10, with an articulated rod system 02 permanently arranged, it constitutes a pulled agricultural device, such as, for example, an agricultural trailer, and - in the case of a driven support vehicle 10, with system articulated rods 02 and can be replaced by another device for the agricultural treatment of the soil and / or cover, for example, in a three-point power elevator or over a load area foreseen, constitutes an accessory device or an appliance structural.
[0123] The device 01 allows a process for its control based on a regulation of the rotational position of the articulated system of rods 02 arranged around an axis of rotation 20 in a movable way in a support vehicle 10 or articulated system of rods 02 or parts of the articulated system of rods 02 arranged movably around their own rotation axes 20, such as, for example, their arms 21, 22, depending on a momentary rotational position.
[0124] In this case, for determining the momentary rotational position exposed in different examples of execution in figures 7 and 8, it is provided: - to detect a rotation speed w of the rod articulated system 02 or parts of the rod articulated system 02 movably arranged around proper axes of rotation 20, such as, for example, their arms 21, 22, around at least one axis of rotation 20 with respect to a reference plane; - preferably, regardless of the rotation speed w, detecting a rotational position alpha1, respectively d_alpha1 of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable manner around their own rotation axes 20, such as, for example, its arms 21, 22, about at least one axis of rotation 20 with respect to the reference plane; - by means of temporal integration of the detected rotation speed w, calculate the alpha2 rotational position of the rod joint system 02 or parts of the rod joint system 02 arranged in a movable way around specific axes of rotation 20, such as, for example , its arms 21, 22, in relation to the reference plane, causing, on the one hand, neither the support vehicle 10 of the device nor the translational accelerations disturbingly influence the calculation of the rotational position, although, on the other hand , measurement errors are also integrated and cause a drift, hereinafter called angular drift, of the alpha1 rotational position, respectively d_alfa1, and - melt the alpha2 rotational position, calculated based on the rotation speed w, of the rod articulated system for compensation of angular drift, with the detected rotational position alpha1, respectively d_alfa1 of the rod joint system 02 or parts of the rod joint system 02 movable axes around their own rotation axes 20, such as, for example, their arms 21, 22, for determining the momentary rotation position alpha0 of the rod joint system 02 or parts of the rod joint system 02 movably arranged around their own rotation axes 20, such as, for example, their arms 21, 22, in relation to the reference plane.
[0125] By merging the calculated rotational position alpha2 with the measured rotational position alpha1, respectively d_alpha1, characterized as the detected rotational position, the momentary rotational position in relation to the reference plane is determined very precisely, with only the advantages of the respective measurement methods are used, without having to accept its disadvantages.
[0126] Based on the fusion of the rotational position alpha2, calculated by means of the rotation speed w, the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around 20 own rotation axes, such such as, for example, its arms 21, 22, with the rotational position alpha1, respectively d_alpha1, detected independently of the rotation speed w, the rod articulated system 02 or parts of the rod articulated system 02 arranged movably around of proper rotation axes 20, such as, for example, their arms 21, 22, respectively related to the reference plane, it is possible to generate a control signal that takes the articulated system of rods 02 or parts of the articulated system of rods 02 arranged movably around their own rotation axes 20, such as, for example, their arms 21, 22, their, respectively, their momentary rotational positions alfa0 back to a rot position nominal value in relation to the reference plane.
[0127] According to the invention, the rotation speed w can be detected in several ways and ways.
[0128] For example, the rotation speed w can be detected based on at least one rotation rate sensor 25, 26 arranged in the rod articulated system 02 or in parts of the rod articulated system 02 arranged in a mobile way around of own axes of rotation 20, such as, for example, its arms 21, 22, and which detects the rotation speed of the rod pivot system 02 or parts of the pivot system of rods 02 arranged movably around axes rotating elements 20, such as, for example, their arms 21, 22.
[0129] In this sense, for the detection of the rotation speed w, it is possible to insert a rotation rate sensor 25, 26 that is mounted directly on the articulated system of rods 02 or on parts of the articulated system of rods 02 arranged movable mode around specific axes of rotation 20, such as, for example, its arms 21, 22. In this way, rotation movements of the support vehicle 10 have no influence on determining the rotation speed w of the articulated system of rods 02 or parts of the articulated system of rods 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22. With this, an output signal from a rate sensor of rotation 25, 26 proportional to the measured quantity or reflecting this corresponds to the rotation movement of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around proper rotation axes 20, such as, for example, its arms 21, 22, in relation to any reference plane, such as, for example, in relation to the earth's surface, respectively orthogonal to the earth's acceleration or a long-term alignment of the support vehicle 10 that reflects the average soil profile.
[0130] That measured quantity, respectively an output signal proportional to that measuring quantity or that reflects this and that flows to or from the control signals, of at least one rotation rate sensor 25, 26 that detects speeds of rotation of the articulated system of rods 02 or parts of the articulated system of rods 02 movably arranged around their own rotation axes 20, such as, for example, their arms 21, 22, can be used to obtain a active damping of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22, in the form of a moment of rotation actively introduced.
[0131] The rotation speed w can be detected alternatively or additionally based on a rotation speed of the support vehicle 10 around its longitudinal axis that runs parallel to the axis of rotation 20 and based on a relative rotation between the vehicle of support 10 and the rod articulation system 02 or between the support vehicle 10 and parts of the rod articulation system 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22 , such that from the two measured values, namely, rotation speed of the support vehicle 10 in relation to its longitudinal axis, as well as relative rotation between the support vehicle 10 and the articulated system of rods 02, respectively relative rotation between the support vehicle 10 and parts of the articulated system of rods 02 arranged in a movable manner around their own rotation axes 20, such as, for example, their arms 21, 22, then it is possible o, determine the absolute rotation speed w of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable manner around their own rotation axes 20, such as, for example, their arms 21, 22, around at least one axis of rotation 20.
[0132] To detect the rotation speed w of the rod articulated system 02 or of parts of the rod articulated system 02 arranged in a movable way around specific rotation axes 20, such as, for example, its arms 21, 22 , based on a rotation speed of the support vehicle 10 around its longitudinal axis that runs parallel to the axis of rotation 20 and based on a relative rotation d_alfa1 between the support vehicle 10 and the rod articulated system 02, respectively based on one or more relative rotations d_alpha1 between the support vehicle 10 and parts of the rod articulated system 02 arranged movably around own axes of rotation 20, such as, for example, its arms 21, 22, can be provided that a rotation rate sensor to detect the rotation speed, also called oscillation rate, of the support vehicle 10 around its longitudinal axis is provided in the support vehicle 10 of the device 01, and that a rotation angle sensor or rotation angle speed sensor is provided between the support vehicle 10 and the rod articulated system 02, respectively a respective rotation angle sensor or rotation angle speed sensor between the vehicle support 10 and parts of the articulated system of rods 02 arranged in a movable manner around their own rotation axes 20, such as, for example, their arms 21, 22.
[0133] The rotation speed w can be detected alternatively or additionally based on a temporal integration of a rotation acceleration, and / or based on a temporal integration of a rotation acceleration determined by means of translation accelerations.
[0134] For example, to detect the rotation speed w, translational accelerations can be detected in the region of the arms 21, 22 of the articulated system of rods 02, preferably at the opposite ends 23, 24 of the arms 21, 22, and, based on a difference in translation accelerations at opposite ends 23, 24 of arms 21, 22, by knowing the width of the articulated rod system, also called the operating amplitude, one can initially calculate the rotation acceleration of the articulated system of rods 02 or parts of the articulated system of rods 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22, and through temporal integration the speed can be calculated again of rotation w.
[0135] The rotational position alpha1 of the articulated system of rods 02 or parts of the articulated system of rods 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22, around at least one axis of rotation 20 in relation to the reference plane can be detected on the basis of an alpha tilt angle between the stem pivot system 02 or parts of the stem pivot system 02 arranged movably around the axis of rotation themselves, such as, for example, their arms 21, 22, and the horizontal or the vertical (fig. 8).
[0136] The relative rotation d_alfa1 between the support vehicle 10 and the rod articulated system 02, respectively between the support vehicle and parts of the rod articulated system 02 arranged in a movable way around own axes of rotation 20, such as , for example, its arms 21, 22 can be detected, for example, directly based on a torsion angle d_alfa1 between the articulated rod system 02 and the support vehicle 10 or indirectly based on the difference between the rotational position alfa_g the articulated system of rods 02 around the axis of rotation 20, in relation to the reference plane, and the rotational position alfa_t of the transport vehicle 10 around its longitudinal axis, which runs parallel to the axis of rotation 20, in relation to the plane of reference. The difference in the angle d_alpha1, detected by the sensors, between the support vehicle 10 and the reference plane, and the angle between the articulated rod system and the reference plane, is proportional to a relative rotation d_alfa1 between the support vehicle 10 and the rod articulated system 02. This relative rotation d_alfa1 corresponds to an inclination of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around own axes of rotation 20, such as, for example, its arms 21, 22, in relation to a reference plane formed by the support vehicle 10, for example, by its long-term alignment. For detecting the alpha_g rotational position of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22 around the at least one axis of rotation 20 in relation to the reference plane and the rotational position alfa_t of the supporting vehicle 10 around its longitudinal axis which runs parallel to at least one axis of rotation 20, in relation to the reference plane, can be inclination angle sensors are provided respectively in the articulated rod system 02 and in the support vehicle 10 which detect inclination angles alfa_g between the articulated rod system 02 and the vertical and / or horizontal ones, respectively inclination angles alfa_t between the vehicle support 10 and vertical and / or horizontal (fig. 7).
[0137] For the direct detection of the relative position d_alpha1, a rotation angle sensor can be provided between the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around specific rotation axes 20, such as , for example, its arms 21, 22, and the support vehicle 10.
[0138] Based on a fusion of the alpha2 rotational position, calculated by means of a detected rotation speed w, of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, its arms 21, 22, with a relative rotation d_alpha1, calculated and / or detected, between the support vehicle 10 and the articulated system of rods 02 or parts of the articulated system of rods 02 arranged movable mode around specific axes of rotation 20, such as, for example, its arms 21, 22, a reference plane is taken as reference which corresponds to a long-term alignment of the support vehicle 10 and which reflects a average soil profile.
[0139] Based on a fusion of the rotational position alpha2, calculated by means of a detected rotation speed w, the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, its arms 21, 22, with an alpha1 rotational position of the rod pivot system 02 or parts of the rod pivot system 02 arranged in a movable manner around specific axes of rotation 20, such as , for example, its arms 21, 22, detected by detecting an alpha angle between the rod articulation system 02 or parts of the rod articulation system 02 arranged in a movable way around own axes of rotation 20, such as, for example, its arms 21, 22 and the reference plane, a reference plane corresponding to an artificial horizon is taken as a reference.
[0140] For the determination of the momentary rotational position alpha0 of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22 around at least one axis of rotation 20 in relation to the reference plane, based on a merger of the rotational position alf2, calculated based on a rotation speed w, of the rod joint 02 or parts of the joint of rods 02 arranged movably around their own rotation axes 20, such as, for example, their arms 21, 22, with the rotational position alpha1 or d_alpha1, detected directly or indirectly through the formation of a difference, in the system articulation of rods 02 or parts of the articulated system of rods 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22, it is preferable to perform a Kalman filtering and / or low-pass filtering - to compensate for the angular drift - of the rotational position alpha 1, respectively d_alpha1, as well as a comparison of the rotational position alpha1, respectively d_alfa1, detected and filtered in a low-pass manner, through permanent leveling to zero with the alpha2 rotational position calculated based on a rotation speed w.
[0141] In this case, for the detection of the rotation speed w, preferably at least one rotation rate sensor 25, 26 is used, which is mounted directly on the articulated system of rods 02, such as, for example , on its central part or on parts of the articulated system of rods 02 arranged in a movable way around their own rotation axes 20, such as, for example, their arms 21, 22. With this, the vehicle's rotation movements support elements 10 have no influence on the determination of the rotation speed w of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around their own rotation axes 20, such as, for example, its arms 21, 22. An output signal proportional to the measurement quantity or that reflects this corresponds, therefore, to the rotation movement of the rod articulated system 02 or parts of the rod articulated system 02 arranged in a movable way around axes d and rotation 20, such as, for example, its arms 21, 22, in relation to any reference plane, such as, for example, in relation to the Earth's surface, respectively orthogonal to the earth's acceleration.
[0142] It is important to mention that for determining the rotation speed w, a rotation rate sensor 25, 26 is preferably used, which is mounted directly on the articulated rod system 02. Due to this, the movements of rotation of the support vehicle 10 have no influence on the measurement. As a result, its measurement quantity corresponds to the rotation movement of the articulated rod system in relation to the earth's surface, respectively orthogonal to the Earth's acceleration.
[0143] The invention also includes a rotation rate sensor 25, 26 on a support vehicle 10 for measuring the rotation movements (disturbing movements) of the support vehicle, in addition to the relative rotation d_alfa1 between the vehicle bracket 10 and an articulated rod system 02, preferably designed as an articulated spray rod system, can be measured using an angular sensor, characterized as a detector or rotation angle sensor, or through an angular speed sensor , characterized with a rotation rate detector or sensor, and from the two measured values it is possible to determine the absolute rotation speed w of the spray boom articulated system.
[0144] In this sense, the invention also includes a support vehicle 10 with an articulated rod system 02 mounted there and a rotation rate sensor 25, 26.
[0145] The invention can be used commercially especially in the production area of agricultural devices for the discharge of fluid and / or solid active materials.
[0146] The invention has been described with reference to a preferred embodiment. However, for a specialist it is evident that it is possible to make variations or alterations of the invention, without leaving the field of protection of the claims that follow.

权利要求:
Claims (16)
[0001]
1. Device (01) for the discharge of fluid active materials, which includes: - a support vehicle (10); - at least one articulated rod system (02, 21, 22) pivotably arranged around at least one axis of rotation (20), where the axis of rotation (10) is an axis of rotation that runs parallel to the longitudinal axis of the support vehicle, the articulated rod system (02, 21, 22) being an articulated spray rod system, with arms spaced on both sides of the support vehicle, as well as with discharge elements disposed in it and connected and / or connectable with a reservoir for at least one fluid active material, characterized by the fact that it also includes - at least one sensor arrangement (25, 26) for the detection of a rotation speed (w) and / or an acceleration the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to a reference plane; - at least one sensor arrangement for detecting a rotational position (alpha1, d_alpha1) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to the reference plane; - a control device that processes output signals (alpha0) from the sensor arrangements to transform them into control signals; - at least one actuator (03) that influences the momentary rotational position (alpha0) of the articulated rod system (02, 21, 22) around the axis of rotation (20) according to control signals from the regulating device, being that for the determination of a rotational position (alpha0) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to an initial alignment, the adjustment device: - through the temporal integration of the rotation speed (w), calculates at least one rotational position (alpha2) of the articulated rod system (02, 21, 22) in relation to a reference plane.
[0002]
2. Device according to claim 1, characterized by the fact that the adjustment device merges the rotational position (alpha2), calculated based on the rotation speed (w), with the detected rotational position (alpha1, d_alfa1) for the determination of the momentary rotational position (alpha0) of the articulated rod system (02, 21, 22) in relation to the reference plane, in order to generate a control signal that leads the articulated rod system (02, 21, 22) from its momentary rotational position (alpha0) back to a nominal rotational position in relation to the reference plane.
[0003]
Device according to claim 1 or 2, characterized in that the at least one sensor arrangement includes at least one rotation rate sensor (25, 26) arranged in the articulated rod system (02, 21, 22 ) for detecting a rotation speed (w) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to a reference plane.
[0004]
Device according to any one of claims 1 to 3, characterized in that the at least one sensor arrangement includes at least one acceleration sensor (27, 28) arranged in at least one extreme region (23, 24) of the articulated rod system (02, 21, 22) to detect a rotation speed (w) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to a plane of reference.
[0005]
Device according to any one of claims 1 to 4, characterized in that the at least one sensor arrangement includes at least one rotation rate sensor arranged in the support vehicle (10) for detecting a speed of rotation (w) of the support vehicle (10) about the axis of rotation (20) in relation to the reference plane.
[0006]
Device according to claim 5, characterized in that the at least one sensor arrangement includes at least one rotation angle speed sensor that detects a relative rotation (d_alpha1) between the support vehicle (10) and the articulated rod system (02, 21, 22), for detecting a rotation speed (w) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to a plane of reference.
[0007]
Device according to any one of claims 4 to 6, characterized in that the at least one sensor arrangement includes a rotation acceleration sensor in place of or in addition to a rotation rate sensor (25, 26) , for detecting a rotation speed (w) of the rod articulated system (02, 21, 22) around the axis of rotation (20) in relation to a reference plane.
[0008]
Device according to any one of the preceding claims, characterized in that the at least one sensor arrangement includes at least one sensor that detects a relative rotation (d_alpha1) between the support vehicle (10) and the articulated system of rods (02, 21, 22), for detecting a rotational position (alpha1, d_alpha1) of the articulated rod system around the axis of rotation (20) in relation to the reference plane.
[0009]
9. Device according to claim 8, characterized in that the at least one sensor for detecting a relative rotation (d_alpha1) between the support vehicle (10) and the articulated rod system (02, 21, 22 ) includes: - at least one angle of rotation sensor arranged between the articulated rod system (02, 21, 22) and the support vehicle (10) and / or - at least one angle sensor that detects an angle (alfa_t ) between the support vehicle (10) and the reference plane and at least one inclination sensor that detects an angle (alpha_g) between the articulated rod system (02, 21, 22) and the reference plane.
[0010]
Device according to any one of the preceding claims, characterized in that the at least one sensor arrangement includes at least one inclination sensor that detects an angle (alpha) between the articulated rod system (02, 21, 22 ) and the reference plane, for detecting a rotational position (alpha1, d_alpha1) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to the reference plane.
[0011]
11. Device according to any one of the preceding claims, characterized by the fact that the adjustment device includes: - an element that performs Kalman filtering, and / or - element for the low-pass filtering of the rotational position (alpha1 , d_alfa1) sensorially detected, as well as element for the comparison of the rotational position (alpha1, d_alfa1) sensorially detected and submitted to low-pass filtering, under permanent leveling to zero, with the rotational position (alpha2) calculated based on a speed of rotation (w).
[0012]
12. Process for controlling a device as defined in any of claims 1 to 11, based on an adjustment of the rotational position of the articulated rod system (02, 21, 22), movably arranged around an axis of rotation (20) in a support vehicle (10), depending on a momentary rotational position (alpha0), in which the axis of rotation (10) is an axis of rotation that runs parallel to the longitudinal axis of the support vehicle, the articulated system of rods (02, 21, 22) being an articulated system of spray rods, with arms spaced on both sides of the support vehicle, as well as with discharge elements disposed in it and connected and / or connectable with a reservoir for at least one fluid active material, characterized by the fact that for determining the momentary rotational position (alpha0) it is provided: - to detect a rotation speed (w) of the articulated rod system (02, 21, 22) around the rotation axis (20) with respect to reference plan; - detecting a rotational position (alpha1, d_alpha1) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to the reference plane; - calculate a rotational position (alpha2) of the articulated rod system (02, 21, 22) in relation to the reference plane, through temporal integration of the rotation speed (w) and - merge the rotational position (alpha2) of the articulated system of rods (02, 21, 22), calculated based on the speed of rotation (w), with the detected rotational position (alpha1, d_alfa1) of the articulated system of rods (02, 21, 22), to determine the rotational position momentary (alpha0) of the articulated rod system (02, 21, 22) in relation to the reference plane.
[0013]
13. Process according to claim 12, characterized by the fact that based on the fusion of the rotational position (alpha2) of the articulated rod system (02, 21, 22), calculated through the rotation speed (w), with the detected rotational position (alpha1, d_alpha1) of the articulated rod system (02, 21, 22), respectively in relation to the reference plane, a control signal is generated that drives the articulated rod system (02, 21, 22) from its momentary rotational position (alpha0) back to a nominal rotational position in relation to the reference plane.
[0014]
Process according to claim 12 or 13, characterized in that: - the rotation speed (w) is detected based on at least one rotation rate sensor (25, 26) which is arranged in the articulated system of rods (02, 21, 22) and detecting the rotation speed (w) of the rod articulated system (02, 21, 22), and / or - the rotation speed (w) of the rod articulated system (02 , 21, 22) is detected based on a rotation speed of the support vehicle (10) around its longitudinal axis that runs parallel to the axis of rotation (20) and based on a relative rotation (d_alpha1) between the vehicle support (10) and the articulated rod system (02, 21, 22), and / or - the rotation speed (w) is detected based on a temporal integration of a rotation acceleration, and / or - the speed of rotation (w) is detected based on a temporal integration of a rotation acceleration determined by means of translation accelerations (25, 26), and / or - the position Rotational rotation (alpha1) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to the reference plane is detected based on an angle of inclination (alpha) between the articulated rod system (02, 21, 22) and the horizontal or vertical.
[0015]
15. Process according to any one of claims 12 to 14, characterized by the fact that: - based on a fusion of the rotational position (alpha2) of the articulated rod system (02, 21, 22), calculated using a detected rotation speed (w), with a relative rotation between the support vehicle (10) and the articulated rod system (02, 21, 22), a reference plane corresponding to a long-term alignment is taken as reference of the support vehicle (10), or - based on a fusion of the rotational position (alpha2), calculated by means of a detected rotation speed (w), of the articulated rod system, with a rotational position (alpha1) of the system articulated rod (02, 21, 22) detected by detecting an angle (alpha) between the articulated rod system (02, 21, 22) and the reference plane, a reference plane corresponding to an artificial horizon.
[0016]
16. Process according to any one of claims 12 to 15, characterized by the fact that for determining the momentary rotational position (alpha0) of the articulated rod system (02, 21, 22) around the axis of rotation (20) in relation to the reference plane, based on a fusion of the rotational position (alpha2) of the articulated rod system (02, 21, 22), calculated based on a rotation speed (w), with the rotational position (alpha1, d_alfa1) of the articulated rod system (02, 21, 22) detected directly or indirectly through difference formation, is performed: - Kalman filtering and / or - low-pass filtering of the detected rotational position (alpha1, d_alfa1), as well as a comparison of the rotational position (alpha1, d_alfa1) filtered by detected low-pass filtering, through permanent leveling to zero with the rotational position (alpha2) calculated based on a rotation speed (w).

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同族专利:

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公开号 | 公开日

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EP3183963B1|2018-05-16|

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EP3928618A4|2021-12-29|

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EP3183963A1|2017-06-28|

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DK3007553T3|2017-06-19|

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US20160316617A1|2016-11-03|

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US10470361B2|2019-11-12|

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WO2015040133A1|2015-03-26|

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EP3308643B1|2021-08-11|

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EP3007553A1|2016-04-20|

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EP3007553B1|2017-03-01|

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EP3928618A1|2021-12-29|

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RU2630703C2|2017-09-12|

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DE202014011022U1|2017-05-16|

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BR112016001745A2|2017-08-01|

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EP3308643A1|2018-04-18|

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RU2016101425A|2017-07-24|

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DK3308643T3|2021-10-25|

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法律状态:
2019-08-06| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-04-07| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|

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2020-11-10| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-01-12| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 18/09/2014, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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DE102013110304|2013-09-18|

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DE102013110304.9|2013-09-18|

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PCT/EP2014/069937|WO2015040133A1|2013-09-18|2014-09-18|Device for discharging fluid and/or solid active materials and method for controlling such a device|

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