WO2013086351A1

WO2013086351A1 - Speed correction support system and method

Info

Publication number: WO2013086351A1
Application number: PCT/US2012/068488
Authority: WO
Inventors: Luiz HENRIQUE DE MOURA MASSIS
Original assignee: Valtra Do Brasil; Agco Corporation
Priority date: 2011-12-08
Filing date: 2012-12-07
Publication date: 2013-06-13
Also published as: BR102012017584B1; BR102012017584A8; BR102012017584A2

Abstract

A system and method to support the harvesting process, having a system to identify the speed of a second vehicle involved in the harvest, preferably used as a transport vehicle (4), to assist the operator of the second vehicle in maintaining a travelling speed that is essentially identical to that of the harvester (1). The speed correction support system and method for agricultural machines uses transmission and receiver equipment; the transmission equipment comprises a positioning system (2) and the receiver equipment comprises a secondary positioning system (5) and an indicator (7). The speed correction support system is capable of controlling an indicator (7) in order to communicate the need to increase or reduce the machine's speed to position the elevator arm of the combine harvester (9) correctly for unloading the harvest into the dump trucks (10).

Description

SPEED CORRECTION SUPPORT SYSTEM AND METHOD

BACKGROUND OF THE INVENTION

Field of Invention This invention concerns a speed correction support system and method for agricultural machinery, comprising a system to identify the relative position of a transport vehicle with regard to a combine harvester. The purpose of said system and method is to assist the vehicle operator in maintaining a travelling speed that is essentially identical to that of the harvester; as a result, the relative position should always be equal to the pre-established distance between the vehicles.

Description of Related Art

This invention concerns a support system for the harvesting pro- cess, comprising a system to identify the relative position of a second harvest vehicle in comparison to a combine harvester. Ideally, the system will be used to assist the operator of a transport tractor in maintaining a travelling speed that is almost identical to that of the harvester, thereby ensuring that the relative position is always as determined in a preset.

Prior art harvest systems generally comprise automatic speed controls and, as a result, are expensive. The PCT of patent no. WO 99/18482, for example, exhibits an automatic speed control system that additionally controls the steering of the vehicle used for transportation; the vehicle is therefore unmanned. This results in a system with significant production and maintenance costs.

Similarly, US patent no. 7,277,784 describes an automatic speed control system for a harvester. The system is configured to control the steering of a second vehicle, preferably used for transportation; once again, the vehicle's system would be unmanned and, consequently, the system would be very expensive.

Likewise, German document no. 10,064,862, proposes a high- cost system in which the correct positioning of the transport vehicle in comparison to the combine harvester is based on the use of sensors, with an automatic speed control installed in both vehicles.

Meanwhile, PCT patent no. WO 2009/1 15404 solely controls the transport vehicle's steering, using sensors that measure the distance of the vehicle from the combine harvester. This increases system costs further still by maintaining the tractor's dependence on automatic or electronic drive. Systems that use sensors as set out in PCT patent no. WO 2009/1 15404 generally use ultrasound sensors, preferably installed on the arm of the com- bine harvester's elevator and on the transport vehicle's dump truck.

Systems designed to control tractors, for example, drastically increase costs as they use electronic injection engines. As injections can vary depending on the electronic signal, the automatic electronic system may require the engine to increase or decrease the level of fuel injection. This elec- tronic engine control system is already used in vehicles equipped with advanced technology, with just a network command required to control the vehicle's speed.

Unfortunately, this is not an option for mechanical engines, commonly used in countries that do not regulate the emission of diesel pollu- tants, such as African countries, Brazil, Argentina, Chile, Colombia, Peru and Australia, among others. Tractors used in agriculture in these countries use an injector pump system that is controlled by a cable. In such systems, the only way of automating control of these tractors requires the use of a complex mechanical device linked to a control system; this, however, entails sig- nificant adaptation costs that are not feasible when compared to other systems.

Thus, the use of automatic-drive tractors, as seen in the systems above, is uncommon given that implementation and production costs are significantly higher than less automated systems.

SUMMARY OF THE INVENTION

One of the objectives of this invention is to provide a low-cost system capable of simplifying and adjusting the control of a transport vehicle's speed compared to that of a combine harvester.

Additionally, in order to overcome the issues presented in the prior art, another objective of this invention is to provide equipment to assist in the harvesting process that can be installed on low-tech systems, with no automatic speed control.

The system should preferably include a way to identify the relative position of a transport vehicle in relation to a combine harvester, to assist the operator of the transport vehicle in maintaining a travelling speed that is almost identical to that of the harvester. The purpose of this is to ensure that the combine harvester's elevator arm is maintained at a pre-determined position when compared to the transport vehicle's dump truck, preferably established in a preset applied by the transport vehicle's operator.

The above-mentioned objectives are met by means of a speed correction support system for agricultural machines, installed on a combine harvester and a transport vehicle. The combine harvester is fitted with transmission equipment comprising a positioning system, whereas the transport vehicle is fitted with receiver equipment comprising a secondary positioning system. Thus, the speed correction support system is configured to indicate the need for the transport vehicle to either reduce or increase speed by means of controlling the receiver equipment's indicator.

Furthermore, a speed correction support method for agricultural machines is also proposed; this is to be applied to a combine harvester and a transport vehicle. The method comprises the following stages:

A. Begin the harvest

B. Calculate the position of the combine harvester and the transport vehicle, and

C. Calculate the relative distance between the current and desired positions of the transport vehicle and indicate the speed that the transport vehicle must be driven at based on the position indicated in stage B.

BRIEF DESCRIPTION OF THE DRAWINGS This invention will be described in more depth below, based on an example of use presented in the designs. The figures display:

Figure 1 - a depiction of this invention used on a combine harvester

Figure 2 - a depiction of this invention used on a transport vehicle

Figure 3 - a depiction of this invention on a transport vehicle when the speeds are almost identical

Figure 4 - a depiction of this invention on a transport vehicle when the speed of the harvester is greater than that of the transport vehicle

Figure 5 - a depiction of this invention on a transport vehicle when the speed of the harvester is lower than that of the transport vehicle.

DESCRIPTION OF EXAMPLE EMBODIMENTS

Figures 1 and 2 illustrate this invention's system; the speed cor- rection support system is installed on two different agricultural vehicles. The first vehicle is a combine harvester (1 ), equipped with an elevator arm (9) to unload the harvest, a positioning information system, preferably a high precision GPS system, and positioning information transmission equipment. The second vehicle is a transport vehicle (4), with dump trucks (10) to collect the harvest and receiver equipment, comprising an indicator (7); this should preferably be a vertical light bar with luminous colours.

It is worth noting that although the receiver equipment may comprise an indicator (7), it could also be separate pieces of equipment that communicate with one another by any possible means, such as via wiring, network cable, radio frequency and Bluetooth, among others.

As regards communication between agricultural machines, the speed correction support system proposed in this invention only requires the transmission equipment, comprising a transmission component (3) and receiver equipment, including a receiver component (6). Communication should preferably be by radio wave, though this is not obligatory.

This equipment should preferably be connected to the power supply of the combine harvester (1 ) and the transport vehicle (4). Information is received from the positioning equipment (2) on the combine harvester (1 ) and a secondary positioning system (5) on the transport vehicle (4), respectively.

Both positioning systems should preferably include highly accu- rate GPS equipment generally fitted with serial ports for communication purposes; said ports may represent the preferred communication method. Nonetheless, any other form of communication, such as wireless or USB, may also be employed.

Combine harvester positioning information (1 ) is sent continuous- ly throughout the harvest, from the transmission equipment (preferably using the transmission component (3)) to the receiver equipment fitted in the transport vehicle (4) (preferably using the receiver component (6)). In general, this communication is achieved by radio and is unidirectional (from the harvester (1 ) to the transport vehicle (4)).

Both sets of equipment should preferably be independent units that may be mounted on the corresponding agricultural machines in a variety of ways, such as by being suctioned to the vehicle's window or pillar, for example. The transmission equipment, as with the receiver equipment, can easily be transported by the combine harvester (1 ). It is worth noting, howev- er, that if the indicator (7) is separated from the receiver equipment, it must be visible to the operator of the transport vehicle (4) and therefore, mounting it on the transport vehicle's window (4) using suction is the preferred application method for this invention. Other constructions may integrate the machines' components, such as integrating the light bar onto the transport vehi- cle's instrument panel (4) or even using receiver equipment on the roof, within the liner, with only the indicator (7) visible to the operator.

Furthermore, although not strictly necessary, bidirectional communication is planned to be applied to the system, configured so that the transport vehicle (4) is also fitted with similar transmission equipment to that installed on the combine harvester (1 ); the latter would also be fitted with receiver equipment, as installed on the transport vehicle (4). Under such a configuration, equipment may be located within a single component that facili- tates exchanging messages and other information by means of an LCD or LED screen.

Thus, for a more simple make-up of this invention, only a positioning system (2) and a transmission component (3) would be required for the combine harvester (1 ), and a secondary positioning system (5), a receiver component (6) and an indicator (7) for the receiver equipment to be installed on the transport vehicle (4). Obviously, nothing would prevent the positioning system (2) and the secondary positioning system (5) from being used on agricultural machines, provided that they are equipped with some form of feature that facilitates the communication of data to the transmission component (3) and the receiver component (6).

For example, it is planned that a single transmission unit will be used, comprising the positioning system (2) and the transmission component (3) on the combine harvester (1 ). Likewise, a single receiver unit will be used on the transport vehicle (4), comprising the secondary positioning system (5), the receiver component (6) and the indicator (7).

As previously described, other configurations not shown may employ microcontrollers or touch sensitive LCD or LED displays, among other options, as equivalent components used on the equipment.

The purpose of the system is to indicate to the operator of the transport vehicle (4), most commonly a tractor to which trailers with dump trucks (10) are connected to unload the harvest, whether the speed of the transport vehicle (4) should be reduced or increased.

Ideally, the elevator arm (9) on the combine harvester (1 ) con- stantly discharges the harvest to the same place in the dump truck (10) and under such a configuration, the indicator (7) must inform the operator of the transport vehicle (4), when necessary, to increase or reduce the speed of the transport vehicle (7) to change the position of the elevator arm (9). If the transport vehicle's position is correct, the indicator (7) may also show that the operator should maintain the transport vehicle's (4) speed.

This invention's system makes mathematical calculations based on the positioning information of the combine harvester (1 ) provided by a po- sitioning system (2), preferably a high precision GPS unit, and the positioning information of the transport vehicle (4) provided by a secondary positioning system (5), which would also ideally be a high precision GPS unit.

To this end, the operator of the transport vehicle (4) must align the combine harvester (1 ) and the transport vehicle (4) so that the elevator arm (9) is aligned with the dump trucks (10), prior to starting the harvest. The operator must then press the alignment button (8), ideally located on the indicator (7), to establish the ZERO point, i.e., the relative preset position between the elevator arm (9) and the dump trucks (10). The system thus makes calculations based on the relative difference in position of the two agricultural machines using the ZERO point information introduced.

Specialist software is capable of controlling the indicator (7), which must be visible to the operator of the transport vehicle (4) to show how far the transport vehicle (4) is from the desired position, in order to align the elevator arm (9) with dump trucks (10) as established in the preset carried out.

This information coupled with the speed of the combine harvester (1 ) and the transport vehicle (4), provided by the positioning systems on each vehicle, is used to calculate the speed required for the transport vehicle to be placed in the desired position; in other words, it is used to calculate how much faster or slower the transport vehicle (4) must travel in order for the elevator arm (9) to align with the dump trucks (10), as established in the preset.

Although the preset is the simplest and cheapest configuration to be used, other models for controlling the position of the elevator arm (9) in relation to the dump trucks (10) are planned, such as position sensors, cameras, ultrasound sensors, magnetic sensors and Hall effect sensors that indicate the movement of the elevator arm (9), among others.

The indicator (7) comes in various forms, such as light bars, warning sounds, analogical bars and speed indicators etc. Ideally, a vertical light bar like the indicator (7) is used (although this is not obligatory), where the operator must control the machine's speed so that the indicator lights converge towards the centre of the bar, indicating that the position of the transport vehicle (4) in relation to the combine harvester (1 ) is correct.

The indicator lights should preferably be LED lights, as they allow for colours to be changed, they reduce the size of the system and, further- more, they reduce costs when compared to commonly used lights.

Thus, the system does not depend on an additional sensor, and can even use GPS systems already employed on harvesters (1 ) and transport vehicles (4), such as the positioning system (2) and secondary positioning system (5).

Figures 3, 4 and 5 show how the indicator (7) works, when the vertical light bar with LEDs is employed. The number of lit LED varies depending on the relative distance between the combine harvester (1 ) and the transport vehicle (4). In the event that the elevator arm is in the correct position X in relation to the dump truck (10), only the central LED will remain on.

As the relative position moves towards Y or Z, the LEDs light up proportionately, with the number of lit LEDs increasing in the direction of the difference in position between the transport vehicle (4) and the combine harvester (1 ). As a result, the operator will either brake or accelerate the transport vehicle (4) until only the central LED is lit, thereby, aligning the transport vehicle (4) with the combine harvester (1 ) as established in the preset.

The LEDs should have a combination of different colours to ensure the operator understands their function, for example, the central LED is green, the first four upper and lower LEDs are yellow and the remaining LEDs are red. Thus, based on the colours shown on the vertical light bar, the operator has a qualitative idea of a high (red), medium (yellow) or low (green) need to change the speed of the transport vehicle (4).

This invention offers a speed correction support system to agricultural machines that assists the operator of the transport vehicle (4) in maintaining a travelling speed that is almost identical to that of the harvester (1 ), to ensure that the relative distance between the vehicles is always a pre- established distance. The system is of great value to mechanically driven tractors on which speed control is not possible by means of electrical commands sent to the engine. Furthermore, its use is significantly important to transport operations, given that it offers greater operator comfort, as it can prioritise transport vehicle (4) and combine harvester (1 ) operations, rather than having to visually ensure the elevator arm (9) is positioned correctly in relation to the dump truck (10).

The system in question also offers financial benefits in decreasing the amount of harvest wastage that is generally discharged from the dump truck (10) when the position of the elevator arm (9) is incorrect. Furthermore, it preserves mechanical components, given that there is no risk of collision between the dump truck (10) and the elevator arm (9), as is the case with manual techniques.

Additionally, this invention further improves harvest efficiency, given that during the harvest, the preset can be used to reposition the elevator arm (9) to discharge in a space in which the dump truck (10) is not full, thereby filling dump trucks (10) uniformly. For example, as the front half of the first dump truck (10) starts to fill, the operator of the transport vehicle (4) can move the position of the elevator arm (9) to an empty section of the dump truck (10) and press the preset button, thereby creating a new alignment between the elevator arm (9) and the dump truck (10).

Finally, a method of controlling agricultural machines that use the system described above is planned. The method controls the relative position of a transport vehicle (4) based on the position of the combine harvester (1 ), consisting of the following stages:

A. Begin the harvest

B. Calculate the position of the combine harvester (1 ) and the transport vehicle (4), and

C. Calculate the relative difference between the position of the transport ve- hide (4) and the desired position of the transport vehicle (4), and indicate the speed at which the transport vehicle (4) should be driven based on the position indicated in stage B. Furthermore, an alignment stage prior to stage A is planned, comprising an initial alignment between the combine harvester (1 ) and the transport vehicle (4); this alignment is then used to indicate the speed that at which the transport vehicle (4) should be driven during stage C, in addition to the position indicated in stage B. Finally, all equipment and indicators described above are earmarked for use as part of the system that can be employed to implement the method.

Having given an example of the preferred set-up, it is essential to remember that the scope of this invention covers other possible variations that are limited only by the content of the appended claims, and therefore include possible equivalents.

Claims

1 . Speed correction support system for a combine harvester (1 ) and a transport vehicle (4);

the harvester is fitted with transmission equipment com- prising a positioning system (2), and the transport vehicle (4) is fitted with receiver equipment comprising a secondary positioning system (5); and

the speed correction support system is characterised by its configuration that indicates the need to reduce or increase the speed of the transport vehicle (4) by controlling an indicator (7) on the receiver equipment.

2. The speed correction support system pursuant to claim 1 , characterised by the combine harvester (1 ) that is fitted with an elevator arm (9) and the transport vehicle (4) that is fitted with dump trucks (10);

the speed correction support system is configured to control the indicator (7) of the receiver equipment in order to maintain the transport vehicle's (4) dump trucks (10) at a constant position in relation to the combine harvester's (1 ) elevator arm (9).

3. The speed correction support system pursuant to claim 2, characterised by the constant position maintained between the transport vehicle's (4) dump trucks (10) and the combine harvester's (1 ) elevator arm (9) in a preset position to unload the harvest.

4. The speed correction support system pursuant to claim 1 , 2 or 3, characterised by the indicator (7) as an LED indicator light.

5. The speed correction support system pursuant to claim 1 , characterised by the indicator light's LEDs that illuminate proportionately, with the number of lit LEDs increasing in the direction of the position differ- ence between the transport vehicle (4) and the combine harvester (1 ).

6. The speed correction support system pursuant to claim 1 , characterised by the indicator light's LEDs, which will be equipped with a qualitative indication as regards changing the speed of the transport vehicle (4) using different colours.

7. The speed correction support method for a combine harvester (1 ) and a transport vehicle (4); the method is characterised by the following stages:

A. Begin the harvest

C. Calculate the relative difference between the position of the transport vehicle (4) and the desired position of the transport vehicle (4), and indicate the speed at which the transport vehicle (4) should be driven based on the position indicated in stage B.

8. The speed correction support method pursuant to claim 1 , characterised by the combine harvester (1 ) that is fitted with an elevator arm

(9) and the transport vehicle (4) that is fitted with dump trucks (10);

the speed correction support method is configured to indicate the speed at which the transport vehicle (4) should be driven based on the position of the combine harvester (1 ) and the transport vehicle (4). It is calculated in stage B in order to keep the transport vehicle's (4) dump trucks (10) at a constant position in relation to the combine harvester's (1 ) elevator arm (9).

9. The speed correction support method pursuant to claim 7 or 8, characterised by the implementation of an alignment stage prior to stage A, in which there is an initial alignment between the combine harvester (1 ) and the transport vehicle (4); this alignment is then used to indicate the speed at which the transport vehicle (4) should be driven during stage C, in addition to the position indicated in stage B.