WO2023012811A1

WO2023012811A1 - A system and a method for detecting headland turns in a farm vehicle

Info

Publication number: WO2023012811A1
Application number: PCT/IN2022/050300
Authority: WO
Inventors: N Saravanan; Partha Sarathi Singha; Pavithra Sundaram; A Sivakumar
Original assignee: Mahindra & Mahindra Limited
Priority date: 2021-08-06
Filing date: 2022-03-25
Publication date: 2023-02-09

Abstract

The farm vehicle comprises a three-point linkage mechanism (104) mechanically connected to a farm implement (102), a first sensor (106) is electronically connected to a first link (105) of the three-point linkage mechanism (104), a second sensor (108) is electronically connected to a second link (107) of the three-point linkage mechanism (104) and a controller (110). The speed of the farm implement (102) is detected (202) by a speed sensor. The speed of the farm implement (102) is then communicated (204) to the controller (110). The force on first link (105) and second link (107) is detected (206) through first sensor (106) and the second sensor (108) respectively. The difference in force detected between first link (105) and second link (107) is compared (208) with respect to a threshold and head land turn is detected (210) based on difference in force and speed of farm implement (102).

Description

“A SYSTEM AND A METHOD FOR DETECTING HEADLAND TURNS IN A FARM

VEHICLE”

CROSS REFERENCE TO RELATED APPLICATION

This application is based on and derives the benefit of Indian Application 202141035691 filed on 06^th August, 2021, the contents of which are incorporated herein by reference.

FIELD OF INVENTION

[001] The present invention relates to a method for detecting turns in a farm vehicle.

BACKGROUND OF INVENTION

[002] A headland in agriculture, is the area at each end of a cultivated field. It is used for turning around farm vehicles, with farm implements during agricultural operations. During headland turn condition, the farm vehicle is usually driven at low speeds to avoid stability issues in the farm vehicle. Also, the farm implement that is attached to the farm vehicle must be turned off during headland turn operation to prevent damage to the components of the farm implement. There is need to detect the occurrence of headland turn operation in the farm vehicle.

OBJECT OF THE INVENTION

[003] Some of the objects of the present disclosure, which at least one embodiment herein satisfies, are as follows:

[004] An object of the present invention is to detect headland turns in a farm vehicle.

[005] Another object of the present invention is to detect the time taken for completing headland turn in the farm vehicle.

[006] These and other objects and advantages of the present invention will become more apparent from the following description, when read with the accompanying figures of drawing, which are however not intended to limit the scope of the present invention in any way.

BRIEF DESCRIPTION OF DRAWING

[007] The foregoing and other features of embodiments of the present invention will become more apparent from the following detailed description of embodiments when read in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements.

[008] Reference will be made to embodiments of the invention, examples of which may be illustrated in accompanying figures. These figures are intended to be illustrative, not limiting. Although the invention is generally described in context of these embodiments, it is not intended to limit the scope of the invention to these embodiments.

[009] Figure 1 illustrates a system for detecting headland turn in a farm vehicle;

[0010] Figure 2 illustrates a method for detecting head land turn in a farm vehicle; and

[0011] Figure 3 illustrates a method for calculating the time taken during headland turn in the farm vehicle.

DETAILED DESCRIPTION OF THE INVENTION

[0012] In the following detailed description, reference is made to the accompanying drawings that form a part hereof, and in which shown by way of illustration specific embodiments that may be practiced. These embodiments are described in sufficient detail to enable a person skilled in the art to practice the invention, and it is to be understood that other embodiments may be utilized and that logical, mechanical, and other changes may be made within the scope of the embodiments. Also, the words “comprising,” “having,” “containing,” and “including,” and other similar forms are intended to be equivalent in meaning and be open ended in that an item or items following any one of these words is not meant to be an exhaustive listing of such item or items, or meant to be limited to only the listed item or items. The singular forms “a,” “an,” and “the” include plural references unless the context clearly dictates otherwise. The following detailed description is, therefore, not be taken as limiting the scope of the invention, but instead the invention is to be defined by the appended claims The terms “first sensor” and “second sensor” used herein in the specification is to be understood with respect to a reference object.

[0013] Figure 1 illustrates a system for detecting headland turn in a farm vehicle (100). In the example depicted in FIG. 1, a rotovator (102) is used herein as an example of a farm implement (102). The rotavator (102) is attached to the farm vehicle with the help of a three-point linkage mechanism (104). The function of the three-point linkage mechanism (104) is to support the rotavator (102) and to enable movement of the rotavator (102), the during traverse of the farm vehicle (100). A first sensor (106) is electronically connected to a first link (105) of the three-point linkage mechanism (104), and a second sensor (108) is electronically connected to a second link (107) of the three-point linkage mechanism (104). A controller (110) is provided in the farm vehicle (100). The controller (110) receives inputs from the first sensor (106) and the second sensor (108). A speed sensor is also provided in the farm vehicle to detect the speed of the farm vehicle. Additionally, the controller (110) is adapted to receive inputs from a speed sensor.

[0014] Figure 2 illustrates a method for detecting head land turn in a farm vehicle. The farm vehicle (100) comprises the three-point linkage mechanism (104) mechanically connected to the farm implement (102), the first sensor (106) electronically connected to the first link (105) of the three-point linkage mechanism (104), the second sensor (108) electronically connected to the second link (107) of the three-point linkage mechanism (104) and the controller (110). The speed of the farm implement (102) is detected (202) by the speed sensor. Alternately, the speed of the farm vehicle can also be detected using a Global positioning system (GPS) sensor (112). Alternately, hall effect sensor, Radar sensor or proximity sensors may be used to detect the speed of the farm vehicle. The speed of the farm implement (102) is then communicated (204) to the controller (110). The force on the first link (105) and said second link (107) is detected (206) through the first sensor (106) and the second sensor (108) respectively. In an embodiment herein, the first sensor (106) and the second sensor (108) may be a force sensor. Alternately, the force sensor may be an extended octagonal ring transducer (EORT), or a strain gauge transducer The difference in force detected between first link (105) and second link (107) is compared (208) by the controller (110) with respect to a threshold and the head land turn is detected (210) based on difference in force and speed of farm implement (102). In an embodiment, the threshold is a function of soil condition and tool geometry of the farm implement (102). Soil conditions in a farm, that is soft, hard, or coarse soil will determine the force with which the farm implement (102) contacts and impacts the soil. For example, when the farm implement (102) is working on hard soil the impact of farm implement (102) will be higher when compared to the farm implement (102) working on soft soil. The tool geometry of the farm implement (102) also decides the threshold because the actual area of contact of tool with the soil changes based on the tool geometry. In an example the threshold is in the range of 4-5KN. Additionally, the traction force of the farm vehicle, along with the soil condition and the tool geometry will define the threshold.

[0015] The working of farm vehicle with the disclosed method will be explained taking the example of rotavator (102) as a farm implement (102). The rotavator (102) is a rotary tillage machine, used to plow the farm by a series of blades that cuts, pulverizes mixes and level the soil. The rotavator (102) is connected to the three-point linkage mechanism (104) of the farm vehicle. The power to drive the rotavator (102) is delivered through a power take off (PTO) shaft. During farming operations, the farm vehicle (100) will drive the rotavator (102) along a track defined in the plot of land. Once the farm vehicle (100) reaches end of the track, an operation called headland turn needs to be performed, during this operation, the farm vehicle (100) with the help of three-point linkage mechanism (104) will lift the rotavator (102) away from the ground. The rotavator (102) or any other farm implement (102) should be lifted away from the ground surface to prevent damage to the components to the rotavator. Upon completion of the headland turn operation, the rotavator (102) will establish contact with the ground and start rotating. The proposed method herein detects the headland turn through the following steps.

[0016] Initially, the speed sensor detects at step (202) the speed of the farm implement (102). Additionally, the controller (110) detects the speed of the farm vehicle using GPS sensor (112). The use of GPS sensor (112) enables the controller (110) to determine the rate of change of distance in the farm vehicle with respect to time and hence arrive at the speed of the farm vehicle. The force on the first link (105) and the second link (107) is detected (206) through the first and second sensor respectively. When the farm vehicle (100) is travelling in a straight path, the force on the first link (105) will be equal to the force on the second link (107). However, when performing a headland turn, the force on the first link (105) and the second link (107) will be different, this is because as the farm vehicle (100) is about to take a turn, the individual speed of the wheels driving the farm vehicle will be different. This change in speed causes the force on the first link (105) the second link (107) to differ from each other and this difference in force is compared (106) by the controller (110) with respect to a threshold. The threshold is a function of soil condition and tool geometry of the farm implement (102). The threshold is in the range of 4-5KN, for symmetric farm implement (102) and approximately 3 KN for non- symmetric farm implement (102). Based upon the magnitude of force in the first sensor (106) and second sensor (108) the controller (110) computes if the farm vehicle is turning in a first direction or second direction respectively. The first and the second direction corresponding to left and right turns respectively. For example, if the for Once the change in speed of the wheels exceeds the threshold, then the controller (110) determines that a turn is being performed based on difference in force and speed of the farm implement (102) (which is the rotavator, in this example). Once the headland turn has been detected, the controller (110) will start a timer to detect the time taken for rotavator under headland turn condition. This detected time is then included in overall time for rotavator.

[0017] With the above-mentioned method, it is now possible to detect headland turns and additionally the time taken to complete headland turn operations. This will be useful in detecting the time taken by the farm implement (102) to complete the agricultural operations.

[0018] Figure 3 illustrates a method for calculating the time taken during headland turn in the farm vehicle (100). Upon detecting the headland turn as illustrated in the detailed description of FIG. 2, the next step is to detect the time taken during headland turn. The method comprises, at step (310), detecting the status of the farm implement (102) by the controller (110) as a first condition. The controller (110) then initiates (312) a timer in dependence of the status of the farm implement (102). The controller (110) then detects (314) change in status of the farm implement (102) from the first condition to a second condition, and calculating at step (316) by the controller (110) change in time taken for the farm implement (102) to achieve the second condition from the first condition. The first condition referred to herein is when the farm implement (102) speed reaches zero or standstill condition, when the headland turn is detected. The second condition referred to is when the farm implement (102) resumes operation, or the speed of the farm implement (102) is greater than zero after a time period as calculated by the controller (110).

[0019] The controller (110) uses the detection of headland turn condition as a factor to initiate the timer. As an example, upon detection of the headland turn, the controller (110) checks for the speed of the farm implement (102) this example, the farm implement (102) is a rotavator. The speed of the farm implement (102) reaches zero during the headland turn, this is because the farm implement (102) is lifted during headland turns to prevent damage to the components of the farm implement (102). The controller (110) initiates a timer at the instant of the speed of farm implement (102) reaching zero post detection of headland turn. The timer continues till there is change in status of farm implement (102) within a time period, the time being a function of area of land to be cultivated; for example, 45 seconds. If there is change in status of farm implement (102) within 45 seconds, that is if the speed of farm implement (102) is greater than zero, then the time as calculated by the controller (110) is recorded. This calculated time is then used to arrive at the overall time taken by the farm implement (102) for completing agricultural operations.

Advantages:

[0020] The proposed method helps in detecting headland turn in a farm vehicle.

[0021] The detection of head land turn helps in determining the time taken for resuming the operation of the farm implement (102) after completion of headland turn. [0022] The foregoing description of the specific embodiments will so fully reveal the general nature of the embodiments herein that others can, by applying current knowledge, readily modify and/or adapt, for various applications, such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments.

[0023] It is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative, of the invention and not as a limitation. The exemplary embodiments described in this specification are intended merely to provide an understanding of various manners in which these embodiments may be used and to further enable the skilled person in the relevant art to practice the invention.

[0024] Although, the embodiments presented in this disclosure have been described in terms of its preferred embodiments, the skilled person in the art would readily recognize that these embodiments can be applied with modifications possible within the spirit and scope of the present invention as described in this specification by making innumerable changes, variations, modifications, alterations and/or integrations in terms of materials and method used to configure, manufacture and assemble various constituents, components, subassemblies and assemblies, in terms of their size, shapes, orientations and interrelationships without departing from the scope and spirit of the present invention.

[0025] The numerical values given of various physical parameters, dimensions and quantities are only approximate values and it is envisaged that the values higher or lower than the numerical value assigned to the physical parameters, dimensions and quantities fall within the scope of the disclosure unless there is a statement in the specification to the contrary.

[0026] Throughout this specification, the word “comprise”, or variations such as “comprises” or “comprising”, shall be understood to imply including a described element, integer or method step, or group of elements, integers or method steps, however, does not imply excluding any other element, integer or step, or group of elements, integers or method steps.

[0027] The use of the expression “a”, “at least” or “at least one” shall imply using one or more elements or ingredients or quantities, as used in the embodiment of the disclosure in order to achieve one or more of the intended objects or results of the present invention.

[0028] These relative terms are for convenience of description and do not require that the corresponding apparatus or device be constructed or operated in a particular orientation.

Terms concerning attachments, coupling and the like, such as “first link” and “second link”, refer to a relationship, wherein structures are secured or attached to one another either directly or indirectly through intervening structures, as well as both movable or rigid attachments or relationships, unless expressly described otherwise.

Claims

STATEMENT OF CLAIMS We claim:

1. A method for detecting headland turn in a farm vehicle, said farm vehicle comprising a three-point linkage mechanism (104) mechanically connected to a farm implement (102), a first sensor (106) electronically connected to a first link (105) of said three-point linkage, a second sensor electronically connected to a second link (107) of said three-point linkage and a controller (110), said method comprising: detecting (202), by a speed sensor, speed of said farm implement (102); communicating (204), said speed to said controller (110); detecting (206) force of said first link (105) and said second link (107) through said first sensor (106) and said second sensor respectively; comparing (208), by said controller (110), said difference in said force detected between said first link (105) and said second link (107) with respect to a threshold; and detecting (210) said headland turn based on said difference in said force and speed of said farm implement (102).

2. The method of claim 1, wherein said threshold is a function of tool geometry of said farm implement (102) and soil condition.

3. The method of claim 1, wherein said farm vehicle (100) turns in a first direction or a second direction based upon the magnitude of force in said first sensor (105) and said second sensor (107).

4. The method of claim 1, wherein said first sensor (106) and said second sensor is one of a force sensor, and extended octagonal ring transducer (EORT) and Strain gauge transducer.

5. The method of claim 1, further comprising detecting, by said controller (110), speed of said farm vehicle (100) using at least one of a GPS sensor, and hall effect speed sensor, and radar sensor, and proximity sensor.

6. The method of claim 1, wherein the step of detecting (202) the headland turn further comprises: detecting (310) by said controller (110), status of said farm implement (102) as a first condition; initiating (312) by said controller (110), a timer in dependence of said status of said farm implement (102); detecting (314) by controller (110), change in status of said farm implement (102) from said first condition to a second condition; and calculating (316) by said controller (110) change in time taken for said farm implement (102) to achieve said second condition from said first condition.

7. The method of claim 6, further comprising communicating by said controller (110) said calculated time to a user of said farm vehicle (100).

8. A system for detecting headland turn in a farm vehicle (100), said system comprising; a farm implement (102) attached to a three-point linkage mechanism (104); a first sensor (106) electronically connected to a first link (105) of said three-point linkage mechanism (104), and a second sensor (108) electronically connected to a second link (107) of said three-point linkage mechanism (104); and a controller (110) in electronic communication with said first sensor (106) and said second sensor (108) respectively, said controller (110) adapted to detect headland turn based on the difference in force detected between said first link (105) and said second link (107) with respect to a threshold and speed of said farm implement (102).

9. The system of claim 8, wherein speed of farm implement is detected by a speed sensor.