DE202012103730U1 - Harvesting machine with a transfer device - Google Patents

Abstract

Harvester (1) with - a base body (8), -; a transfer device (3) movably arranged on the base body (8) for transferring harvested crop material from the harvesting machine (1) into a transport container (2a) of a transport vehicle (2), -; at least one sensor device (9) by means of which a position of the transport container (2a) relative to the transfer device (3) or the base body (8) can be determined, a data processing device (4a), which is connected to the at least one sensor device (9) and has the control logic, by means of which an image (5) can be generated, on which the position of the transport container (2a) relative to the transfer device (3) or the Basic body (8) is shown, and -. A display device (10) connected to the data processing device (4a) for displaying the image (5), characterized in that the data processing device (4a) has control logic, by means of which, depending on which side of the base body (8) the transport container (8) is located. 2a) or the transfer device (3) is a mirror image ...

Description

TECHNICAL FIELD OF THE INVENTION

The invention relates to a harvesting machine, in particular a self-propelled harvesting machine, having a base body and a transfer device movable relative to the base body. About the transfer device harvested and possibly already processed in the harvester crop can be overloaded in a transport container of the harvester accompanying transport vehicle. In this case, a position of the transport container is displayed relative to the transfer device or to the main body of the harvester via a display device. This allows the driver to visually monitor the process of loading the crop into the transport container in a simple manner and u. U. engage in the process of overcharging or control the process of overcharging, in particular with regard to the point of impact of the crop on the transport vehicle. Furthermore, the invention relates to a system for transferring crop from a harvester to a transport vehicle and one of the data processing device.

STATE OF THE ART

From the US 6,097,425 is a harvesting machine with a base body and a swivel arranged on the base body arranged Überladeeinrichtung, wherein the transfer device can be pivoted to both sides of the main body out. As a result, regardless of which side of the harvester the trailer is on, harvested crop material can be overloaded via the transfer device onto a trailer forming a transport container. Arranged on the harvester transfer device is a camera which receives an image (which may include a single image or image sequence) from the tag and the impact site of the overloaded crop onto the trailer. This image is digitally processed to generate a trailer and impact plot for the driver. The generated image is displayed to the driver of the harvester in a cab of the harvester via a display device.

• – Zum einen muss er die Erntemaschine derart lenken, dass ein Arbeitsgerät oder Kopfstück der Erntemaschine, das z. B. mit einem Mähwerk gebildet ist, in geeigneter Weise relativ zu dem noch nicht geernteten Erntegut positioniert ist (sofern kein GPS-basiertes Führungssystem und keine Einrichtung zur Erfassung von Erntegut vorgesehen ist).
• – Zum anderen muss er das Überladen des geernteten Ernteguts und insbesondere das Füllen des Anhängers eines Transportfahrzeugs überwachen und steuern. Auf das Überladen und das Füllen kann der Fahrer dabei Einfluss nehmen, indem er die Erntemaschine in eine andere Position relativ zu dem Transportfahrzeug bringt oder eine Geschwindigkeit der Erntemaschine gegenüber dem Transportfahrzeug anpasst. Der Fahrer kann den Vorgang des Überladens auch (alternativ oder kumulativ) dadurch steuern, dass er die Überladeeinrichtung in geeigneter Weise verschwenkt oder ausfährt, sodass eine bestimmungsgemäße Verteilung des Ernteguts in dem Anhänger und damit eine optimale Beladung des Anhänger erreicht wird. Hierbei kann bspw. gewünscht sein, dass bestimmungsgemäß das Erntegut über den Transportbehälter in vorbestimmter Weise verteilt wird oder (unabhängig von einer Fahrgeschwindigkeit des Transportfahrzeugs) das Erntegut an derselben Stelle oder in einem vorbestimmten Bereich auftrifft.

The harvester operator must be aware of the harvester operation in several respects. In particular, when the crop is stagnant crop such as grain or the like, or the harvester is a forage harvester or forage harvester, the driver must, among other things, monitor and / or control the following operations:

• - First, he must steer the harvester so that a working device or head of the harvester, the z. B. is formed with a mower, is positioned in a suitable manner relative to the crop not yet harvested (unless a GPS-based guidance system and no means for detecting crop is provided).
• - On the other hand, he must monitor and control the overloading of the harvested crop, and in particular the filling of the trailer of a transport vehicle. Overloading and filling may be influenced by the driver by moving the harvesting machine to a different position relative to the transport vehicle or by adjusting a speed of the harvesting machine relative to the transport vehicle. The operator can also control (alternatively or cumulatively) the operation of overcharging by appropriately swiveling or extending the transfer device so that proper distribution of the crop in the trailer and thus optimum trailer loading are achieved. In this case, for example, it may be desired that the crop is intended to be distributed in a predetermined manner via the transport container or (regardless of a travel speed of the transport vehicle) the crop hits the same location or in a predetermined area.

Consequently, the harvester operator must observe the crop overload displayed on the display on the trailer, while at the same time keeping an eye on the harvested crop that has not yet been harvested.

According to US 6,097,425 In order to assist the driver, an indication is provided in the graph showing an optimum next point of impact of the crop on the trailer for optimum loading of the trailer. In addition to this display, a number of other displays are provided, which are indicated below the graphical representation of the trailer as arrows. These other indications indicate a vehicle speed and / or direction required to reach the optimum next impact location. This information must be additionally observed and taken into account by the driver of the harvester, which increases the demands on the driver and a potential for error. This is the case, in particular, when the harvester has just turned, with which pivoting of the transfer device to the other side has occurred and with which the transport vehicle is now on the other side of the harvester.

OBJECT OF THE INVENTION

The invention has for its object to show a harvester whose operation can be monitored and controlled in a simple and less error-prone manner by a driver. In particular, it should be possible in the harvester in a simple manner to monitor and control an overloading of harvested crop, which is overloaded via a transfer device of the harvester into a transport container of a transport vehicle. Another object of the invention is to provide a system and / or one of the data processing device, with which it is possible in a simple manner to monitor an overloading of crops, which is overloaded via a transfer device of a harvester in a transport container of a transport vehicle, and to control or regulate.

SOLUTION

The object of the invention is achieved with the features of independent claims 1, 6 and 7. Further preferred embodiments of the invention can be found in the dependent claims 2 to 5 protection.

DESCRIPTION OF THE INVENTION

The invention relates to a harvester having a base body with a transfer device movably arranged on the base body. Via the transfer device crop harvested by the harvester can be overloaded into a transport container such as a trailer of a transport vehicle. By the transfer device, for example, is pivotally mounted on the base body and can be pivoted to both sides of the base body, the crop can be overloaded on the transport container regardless of which side of the body is the transport vehicle with the transport container.

For detecting the position of the transport container relative to the transfer device or the base body, the harvester has (at least) a sensor device. The sensor device can basically be configured as desired and detect the position in any manner. For example, the position of the sensor device as a two- or three-dimensional image, as a distance and / or as an angle u. Ä. Be detected. Preferably, the sensor device is formed with a camera, in particular a CCD camera. The camera can be arranged at any point of the harvester. Preferably, the camera is arranged on the transfer device. Alternatively or cumulatively, the coordinates, distances or angles of reference points of the transport container and the transfer device or the basic body can also be detected by the sensor device. It is also possible that the position of reference points is detected via GPS sensors.

The sensor device is connected to a data processing device of the harvesting machine, by means of which the data collected by the sensor device about the position of the transport container relative to the transfer device or the base body can be processed. For this purpose, the data processing device is equipped with suitable control logic with which an image can be generated on the basis of the position detected by the sensor device, on which the position of the transport container relative to the transfer device or the main body is shown. To name just a few examples of the image produced according to the invention, this can be a section of the image taken by the sensor device, u. U. with a supplementary post-processing or treatment, act. However, it is also possible that characteristic signals for the position are automatically derived from the signal of the sensor device, which are then processed in a suitable form graphically to the image.

The data processing device also has suitable control logic, via which, depending on which side of the body is the transport container, a mirrored image is generated. For this purpose, the control logic can take into account a signal given by the driver via which the driver informs on which side of the basic body the transport container is located. However, it can also be detected by a sensor device on which side of the main body is the transport container. For this purpose, the sensor device can be used, which also detects the position of the transport container relative to the transfer device or the body. However, a separate sensor device can also be provided for this purpose.

To display the image generated by the data processing device, the harvesting machine has a display device which is connected to the data processing device. The display device can be, for example, a screen via which a driver in a driver's cab of the harvesting machine is shown the position of the transport container relative to the transfer device or the main body.

Depending on whether the transport vehicle is on the left or right side of the harvester, the image or the mirrored image is displayed, the driver of the Harvesting machine easier to recognize what actions are to be taken to a designated place of impact, where the crop to impinge on the transport container to drive, without the driver to notice or consult other displays. In particular, the driver does not have to reorient himself after turning the harvester on the field after the transport vehicle is on the other side relative to the direction of travel of the harvester. If, unlike the embodiment according to the invention, the driver always displays the unsmoothed image (as is the case with the prior art mentioned at the beginning), the driver must take into account, for example, that the direction of travel changes relative to the orientation of the image with a turn and thus reflect the mirrored image mentally to determine in which direction he z. B. must swivel the transfer device or change the speed, so that the crop is overloaded in the new place of impact on the transport container. In other words, without the use of the mirror image according to the invention, the same change in the image displayed to the driver requires opposite actions of the driver, depending on which side the transport vehicle is on.

Further solutions of the object underlying the invention are given by a system for controlling or regulating an overloading of crop from a harvester of the type described above to a transport vehicle and a data processing device.

Advantageous developments of the invention will become apparent from the claims, the description and the drawings. The advantages of features and of combinations of several features mentioned in the description are merely exemplary and can take effect alternatively or cumulatively, without the advantages having to be achieved by embodiments according to the invention. Without altering the subject matter of the attached claims, the following applies with respect to the disclosure content of the original application documents and the utility model: Further features can be found in the drawings - in particular the geometries shown and the relative dimensions of several components relative to one another and their relative arrangement and operative connection. The combination of features of different embodiments of the invention or of features of different protection claims is also different from the chosen relationships of the protection claims possible and is hereby stimulated. This also applies to those features which are shown in separate drawings or are mentioned in their description. These features can also be combined with features of different protection claims. Likewise, features listed in the claims for further embodiments of the invention can be omitted.

The features mentioned in the claims and the description are to be understood in terms of their number that exactly this number or a greater number than the said number is present, without requiring an explicit use of the adverb "at least". If, for example, a sensor device or a data processing device is mentioned, it should be understood that exactly one sensor device or one data processing device, two sensor devices or two data processing devices or more sensor devices or data processing devices can be present. These features may be supplemented by other features or be the only characteristics that make up the product in question.

The reference numerals contained in the claims do not represent a limitation on the scope of the protected by the claims objects. They only serve the purpose of making the protection claims easier to understand.

BRIEF DESCRIPTION OF THE FIGURES

In the following the invention will be further explained and described with reference to preferred embodiments shown in the figures.

1a shows a harvesting machine in a first relative arrangement to a transport vehicle and

1b shows an associated generated image that is displayed to a driver of the harvester via a display device.

2a shows the harvester according to 1a in a second relative arrangement to the transport vehicle and

2 B shows an associated image that is displayed to the driver of the harvester without the use of a mirror.

3a shows a harvesting machine according to the invention in the second relative arrangement according to 2a ,

3b shows an associated generated image, which is displayed to the driver of the harvesting machine according to the invention with the use of a mirror.

DESCRIPTION OF THE FIGURES

Harvested crop needs to be from a harvester 1 , For example, a self-propelled forage harvester or a forage harvester, on a suitable transport container 2a a transport vehicle 2 , as in 1a represented z. B. overloaded on a pulled by a tractor trailer.

For overloading the harvested and u. U. in the harvester 1 already processed crop shows the harvester 1 an overload device 3 on, on either side of a body 8th the harvester 1 can be pivoted. To monitor and control the overcharging points the harvester 1 a sensor device 9 , here a camera 4 , on, at the transfer device 3 is arranged and moves together with this. The camera 4 captures image data for an image 5 (of which here also a film with a picture sequence is included), which via a data processing device 4a to a display device 10 , here a display 6 , which are transmitted in a cab 1a the harvester 1 is arranged. In 1 is symbolic a sensor device 12 , in particular a rotation angle sensor, which (r) shows the swivel angle of the transfer device 3 opposite the main body 8th detected and its signal the data processing device 4a is supplied. With the harvester 1 and the transport vehicle 2 is a system 13 formed, which can be used to overladen the crop.

In 1b is a schematic view of the display 6 shown. The picture 5 is shown in simplified form as a plane or a projected representation, while it is quite possible that a perspective image is displayed.

The field of view of the camera 4 is in 1a and 1b by dashed lines 5a and 5b shown. In the picture 5 are in addition a collection 7a from overcrowded crop that is on the trailer at a current impact location of overloaded crop, and an accumulation 7b shown schematically at a future point of impact, the image data by means of the data processing device 4a be overlaid graphically.

As mentioned earlier, the driver of the harvester 1 on the one hand, the harvester 1 control appropriately, leaving a headboard 11 the harvester 1 (eg their mower) is properly positioned relative to the harvested crop yet to be harvested. At the same time, the driver has to overload the already harvested crop onto the transport container 2a , here the trailer, the transport vehicle 2 monitor and control. The driver must therefore both before him lying, still harvested crop and the image produced 5 on the display 6 observe.

Starting from the in 1 shown relative position of the harvester 1 to the transport vehicle 2 would the driver of the harvester 1 due to the on display 6 shown picture 5 the speed of the harvester 1 compared to the speed of the transport vehicle 2 Collapse to the point of impact of a recent accumulation 7a in a direction indicated by an arrow A to a future location for accumulation 7b to move. This results for the driver from the fact that one direction DD1 of the harvester 1 in the picture 5 corresponds to a direction from left to right. Alternatively, the driver could also via a movement of the transfer device 3 controlling a displacement of the point of impact, in particular by pivoting the transfer device 3 around the angle α.

2a shows the harvester 1 according to 1a after a turn in the field, taking the transport vehicle 2 now on the other side of the harvester 1 located. To overload the crop must also the transfer device 3 be moved (manually or automatically) to the corresponding other side.

If the driver now the overload device 3 in a direction B relative to the transport container 2a would like to move from the transport container 2a seen from a direction A according to 1a the driver must again set the speed of the harvester 1 reduce. Instead of reducing the speed, the driver can also use the transfer device 3 pivot. Unlike in 1a , the transfer device must 3 for the in 2a shown case in the opposite direction by the angle α are pivoted to the transfer device 3 towards the rear of the harvester 1 to move.

In 2 B is that on display 6 pictured associated image 50 shown. Compared to 1b has the in 2 B corresponding direction of travel DD2 reversed and points in the picture 50 according to 2 B from right to left. As a result, the driver must be aware of each turn and the on-display 6 displayed information with regard to the direction of travel changing with each turn. However, this procedure is cumbersome for the driver and errors can easily occur. For example, it can easily happen that the driver is the Überladeeinrichtung 3 moved in the wrong direction and this with the transport container 2a collides because the driver is not has taken into account that the direction of travel, as shown on the display 6 is shown, u. U. changed.

To prevent this, the invention provides that the image as a function of the position of the transport container 2a relative to the harvester 1 , ie relative to the transfer device 3 or the main body 8th , is mirrored and the driver the mirrored image 500 over the display device 10 , here the display 6 , is shown. The relative position can in particular be based on the orientation of the transfer device 3 relative to the main body 8th the harvester 1 be recorded.

An in 3a shown location of the transfer device 3 relative to the transport container 2a exactly matches the in 2a shown location. However, the display shows 6 the harvesting machine according to the invention 1 according to 3b one opposite the picture 50 according to 2 B mirrored image 500 at. This ensures that a direction DD3 in the picture 500 the direction from left to right, as well as the picture 5 according to 1b the case is.

The in the pictures 5 and 500 indicated driving directions DD1 and DD3 on the display 6 So regardless of a turn or the direction of travel along the field or a change in the relative position of the harvester 1 and the transport container 2a in the same direction.

For both pictures 5 . 500 For example, without the rethink required for changing which side of the harvester the transport vehicle is on, the driver can view the images 5 . 500 take the hint that the desired change in the point of impact can be brought about by reducing the speed and / or a pivoting of the transfer device to the rear, which then leads to the desired result.

LIST OF REFERENCE NUMBERS

1

harvester

1a

driver's cab

2

transport vehicle

2a

transport container

3

Transfer device

4

camera

4a

Data processing device

5

image

5a, 5b

lines

50

image

500

mirrored image

6

display

7a

collection

7b

collection

8th

body

9

sensor device

10

display device

11

headboard

12

sensor device

13

system

DD1

direction of travel

DD2

direction of travel

DD3

direction of travel

A

direction

B

direction

α

angle

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• US 6097425 [0002, 0005]

Claims (7)

Harvesting machine ( 1 ) with - a basic body ( 8th ), - one on the main body ( 8th ) movably arranged transfer device ( 3 ) for transferring harvested crop from the harvester ( 1 ) in a transport container ( 2a ) of a transport vehicle ( 2 ), - at least one sensor device ( 9 ), by means of a position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ), - a data processing device ( 4a ) connected to the at least one sensor device ( 9 ) and has the control logic by means of which a picture ( 5 ) is producible, on which the position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ), and - one with the data processing device ( 4a ) connected display device ( 10 ) to display the image ( 5 ), characterized in that the data processing device ( 4a ) Has control logic, by means of which, depending on which side of the basic body ( 8th ) the transport container ( 2a ) or the transfer device ( 3 ), a mirrored image ( 500 ) which can be generated on the display device ( 10 ) is shown. Harvesting machine ( 1 ) according to claim 1, characterized in that a sensor device ( 12 ) is provided, by means of an orientation of the transfer device ( 3 ) relative to the body ( 8th ) can be determined. Harvesting machine ( 1 ) according to claim 1 or 2, characterized in that the sensor device ( 9 ) for determining the position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ) with a camera ( 4 ) is formed. Harvesting machine ( 1 ) according to one of the preceding claims, characterized in that the sensor device ( 9 ) for determining the position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ) at the transfer device ( 3 ) is arranged. Harvesting machine ( 1 ) according to one of claims 2 to 4, characterized in that the sensor device ( 12 ) for determining the orientation of the transfer device ( 3 ) relative to the body ( 8th ) a relative movement between the transfer device ( 3 ) and the basic body ( 8th ) of the harvester ( 1 ) detected. System ( 13 ) for controlling or regulating the unloading of crop from a harvester ( 1 ), in particular a harvester ( 1 ) according to one of the claims 1 to 5, to a transport vehicle ( 2 ), the harvester ( 1 ) one opposite a base body ( 8th ) movable transfer device ( 3 ) and the transport vehicle ( 2 ) a transport container ( 2a ), in which the crop via the transfer device ( 3 ) is overloaded, with - at least one sensor device ( 9 . 12 ), by means of a position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ) and an orientation of the transfer device ( 3 ) relative to a body ( 8th ) of the harvester ( 1 ), - a data processing device ( 4a ) connected to the at least one sensor device ( 9 . 12 ) and has the control logic by means of which a picture ( 5 ) is producible, on which a position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ), and - one with the data processing device ( 4a ) connected display device ( 10 ) to display the image ( 5 ), characterized in that - the data processing device ( 4a ) Has control logic, by means of depending on the location of the harvester ( 1 ) relative to the transport vehicle ( 2 ) a mirrored image ( 500 ) is producible, and - the display device ( 10 ) depending on the location of the harvester ( 1 ) relative to the transport vehicle ( 2 ) the mirrored image ( 500 ) or the non-mirrored image ( 5 ). Data processing device ( 4a ) for controlling or regulating the unloading of crop from a harvester ( 1 ) to a transport vehicle ( 2 ), the harvester ( 1 ) one opposite a base body ( 8th ) movable transfer device ( 3 ) and the transport vehicle ( 2 ) a transport container ( 2a ), in which the crop via the transfer device ( 3 ) is overloaded, with a) at least one connection of the data processing device ( 4a ) for at least one sensor device ( 9 . 12 ), by means of which or which a position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ) and an orientation of the transfer device ( 3 ) relative to a body ( 8th ) of the harvester ( 1 ) can be determined, b) control logic of the data processing device ( 4a ), by means of which a picture ( 5 . 50 ) is producible, on which a position of the transport container ( 2a ) relative to the transfer device ( 3 ) or the basic body ( 8th ), and c) a connection of the data processing device ( 4a ) for a display device ( 10 ) to display the image ( 5 ), characterized in that d) the data processing device ( 4a ) Has control logic, by means of da) depending on the position of the harvester ( 1 ) relative to the transport vehicle ( 2 ) a mirrored image ( 500 ) and db) to the connection for the display device ( 10 ) depending on the location of the harvester ( 1 ) relative to the transport vehicle ( 2 ) the mirrored image ( 500 ) or the non-mirrored image ( 5 ) is transferable.

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