CN105700616B - Edge of a field operation control system - Google Patents
Edge of a field operation control system Download PDFInfo
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- CN105700616B CN105700616B CN201510932133.7A CN201510932133A CN105700616B CN 105700616 B CN105700616 B CN 105700616B CN 201510932133 A CN201510932133 A CN 201510932133A CN 105700616 B CN105700616 B CN 105700616B
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- edge
- controller
- control system
- operation control
- field operation
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Guiding Agricultural Machines (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
Abstract
The invention discloses a kind of edge of a field operation control systems (10), are used for the controlled operation of multiple mechanisms (16,18,20) associated with vehicle.Edge of a field operation control system (10) includes controller (12), the controller is configured for processing input signal (In1, In2, In3 and In4), the input signal (In1, In2, In3 and In4) come the predetermined minimum ground velocity of self-test velocity measuring device (S1) and with the associated sensor of corresponding mechanism (S2, S3 and S4).When the ground velocity of vehicle, which is detected, is greater than predetermined minimum ground velocity, controller triggers actuating component (14) can be moved to off-position from operating position.According to the off-position of actuating component (14) and operating position, controller (12) processing comes from the signal (In2, In3 and In4) of sensor (S2, S3 and S4), to generate output signal (Op2, Op3, Op4) with the desired operation of trigger mechanism (16,18,20).
Description
Technical field
The present invention relates to the controlled operation fields of multiple mechanisms associated with vehicle.
Background technique
Vehicle, especially working truck, such as tractor, for providing tractive force for the operation of various equipments.These equipments
Tractor can be connected to by coupling mechanism via power output shaft and coupling mechanism, or only.By utilizing working truck
Power makes power output (PTO) axis operate or operate.Power output shaft can be such that power transmits from working truck, with operation at least one
A equipment or Other and Agricultural Machines.These equipments and machinery such as prepare soil for cultivating, gathering in for executing several operations
Crop is leveled land.
However, it is preferred that being closed when working truck needs motor-driven on the edge of a field of arrival or head field (headland)
The operation of power output shaft.Tritionally, the operator of working truck needs to close to the power of power output shaft, and also raises
Equipment.In addition, some switches are remotely positioned, this requires operator to leave working truck to activate these switches.Operator
It needs to carry out these operations by (discreet) switch for operating multiple separation or control stick or combinations thereof.This causes to operate
Member's fatigue, fatigue may cause one unintentional failure in operator's actuating switch or control stick, so as to cause equipment
It damages and generates stress on power output shaft and equipment.
It is then desired to a kind of system, the system will can make while minimizing to fatigue caused by vehicle operator
Operation is synchronized to multiple mechanisms.
Summary of the invention
The present invention can make to realize following purpose, to overcome the deficiencies of existing technologies：
It is an object of the present invention to provide a kind of system, the system allows the vehicle to efficiently motor-driven at the edge of a field.
It is a further object to provide a kind of system, while the system operates at the edge of a field, suitably grasp
Make mechanism associated with vehicle.
A further object of the present invention is to provide a kind of system, the system it is easy to operate.
Of the invention a further object is that a kind of system that provides, the system ensure the safety operation at the edge of a field.
For of the invention one additionally the purpose is to reduce the fatigue that vehicle operator is endured, the fatigue is due to by less
Switch at the edge of a field simultaneously operate caused by multiple mechanisms.
It is a further object of the invention that damage when eliminating motor-driven at the edge of a field pair equipment associated with vehicle.
It is a further object to provide a kind of system, the system can be attached in existing system.
When in conjunction with attached drawing to study description of the invention carefully, other purposes of the invention be will be apparent.It mentions herein
The attached drawing of confession is merely illustrative, and is not intended to be limited to the scope of the present invention and boundary.
Vehicle, especially working truck, such as tractor need the motor-driven turning at the edge of a field.This requires the operator of vehicle
Several operations are performed simultaneously, such as the Four Wheel Drive of separation to the power supply of power output (PTO) axis, separation machinery and are passed through
The lift arm lifting means of tractor.The present invention provides a kind of edge of a field operation control system, manually to grasp at the edge of a field
Make at least one actuating switch and several mechanisms can be operated simultaneously.The edge of a field operation control system is suitable for being installed on vehicle.
According to the present invention, a kind of edge of a field operation control system is provided, with the controlled behaviour of at least one mechanism for vehicle
Make.Edge of a field operation control system includes controller, and the controller is suitable for receiving the predetermined minimum of vehicle from velocity measuring device
Ground velocity and from sensor associated with the mechanism receive input signal, receive the mechanism from associated sensor
Operative configuration and from actuating switch receive trigger signal.
The ground velocity of velocity measuring device sensing vehicle.Velocity measuring device includes sensor or global positioning system (GPS).
Velocity measuring device generates sensed speed signal corresponding with the predetermined minimum ground velocity of vehicle.Sensed speed signal is sent to control
Device processed.Controller is suitable for handling the sensed speed signal to generate output speed signal.
When receiving output speed signal, actuating component is suitable for running to operating position from off-position.Activate structure
Part transmits at least one trigger signal corresponding with the off-position of actuating component and operating position to controller.Actuating component
It is to be selected from the group including at least one of switch, control stick and knob.Actuating component cannot be than making a reservation for minimally
The smaller ground velocity of speed, runs to operating position from off-position.The movement of actuating component to operating position makes it possible to correspond to
The actuating of at least one mechanism is triggered in the output signal from controller.
The mechanism is suitable for moving between at least one operative configuration.The operative configuration of the mechanism is suitable for being associated
Sensor detect to provide corresponding signal to controller.Movement of the mechanism between operative configuration is to move horizontally
At least one of with vertical shift.Controller be suitable for processing trigger signal to generate corresponding control signal, with non-work
Make selectively to move between at least one of corresponding first operative configuration in position and operating position and second operative configuration
Move the mechanism.
Output signal is suitable for triggering the switching that the operation of vehicle is manipulated between manual steering mode and auto-steering mode.
Vehicle is suitable for advancing in auto-steering mode along predefined paths.
Optionally, controller is cooperated at least one module to handle at least one of trigger signal, to generate correspondence
Control signal, which is transmitted for operating at least one of described mechanism.
Additionally, override is provided with override trigger signal, so that the mechanism can be grasped by corresponding actuating component
Make.
When being studied carefully in conjunction with attached drawing, multiple features, aspects and advantages of the invention by it is according to the present invention in detailed below
Description and it is clear that the wherein similar component of similar digital representation.
Detailed description of the invention
The present invention will be described relative to attached drawing now, wherein：
Fig. 1 is shown connected to the preceding equipment and rear equipment of tractor；
Fig. 2 schematically illustrates the motor-driven turning that tractor carries out at the edge of a field；
Fig. 3 illustrates block diagram, illustrate it is according to the present invention, from multiple sensors to the signal stream of controller, the control
Device processed is for operating the control of operations associated element at the edge of a field；And
Fig. 4 illustrates the block diagram of Fig. 3, and which illustrates the moulds that signal is transmitted to controller or at least one of mechanism
Block.
Specific embodiment
Vehicle, especially working truck, such as tractor need the motor-driven turning at the edge of a field.This requires the operator of vehicle
Several operations are performed simultaneously, e.g., are separated to the power supply of power output (PTO) axis, separation Four Wheel Drive and by dilatory
The lift arm lifting machinery of machine.Operating multiple mechanisms simultaneously causes operator nervous and fatigue.It is contemplated by the invention that single by operation
A system is to operate multiple mechanisms of vehicle.Edge of a field operation control system of the invention can be attached in the existing system of vehicle.
Embodiment and its various feature herein and advantageous is described referring to the non-limiting embodiment that is described below
Details.The description of known elements and processing technique is omitted obscure to be not necessarily to make embodiment herein.
Referring to Fig. 1, tractor 1 is illustrated as via the preceding PTO at the front end and rear end for being respectively positioned at tractor 1
(not specifically depicted in figure) and rear PTO (not specifically depicted in figure) are connected to preceding equipment 2 and rear equipment 3.The skill of this field
Art personnel will be understood that preceding equipment 2 and rear equipment 3 can not need to be connected respectively to tractor 1 via preceding PTO and rear PTO, and
And tractor 1 can be connected to by corresponding coupling mechanism via lift arm 4.Tractor 1 is advanced along direction V on the ground.
Below, all instruction directions and position of tractor 1, preceding equipment 2 and rear equipment 3, such as forward, backward, afterwards, it is preceding, upper, upper
Side, under, left and right, below will be related to tractor 1 forward movement V direction.Although in addition, below by reference to tractor
The 1 description present invention, however those skilled in the art can consider that the present invention can be used in any vehicle.
Fig. 2 schematically illustrates the tractor 1 advanced in ground G.Fig. 1 diagram preceding equipment 2 and rear equipment 3 not by
It is specifically illustrating in Fig. 2.At the edge of a field, when tractor 1 needs to programme path P motor-driven from operation route A, operator will be dragged
Machine drawing 1 redirect to position 1c from position 1a via position 1b.As 1 in-position 1a of tractor, several mechanism needs are triggered
Tractor 1 can be made efficiently motor-driven to position 1c from position 1a.These mechanisms are needed in the first operative configuration and the second operation
Configuration.Normally, it needs to move between the first operative configuration and the second operative configuration for making tractor 1 from operation route
Effectively the motor-driven mechanism to programme path P includes but is not only restricted to A：The PTO mechanism 16 of Fig. 3 diagram, the PTO machine
Structure 16 is used to be disconnected to the power supply of preceding PTO and rear PTO；Coupling mechanism 20, the coupling mechanism pass through hydraulic machinery connector
Operation promotes preceding equipment 2 and rear equipment 3；With four-wheel drive mechanism 18, the four-wheel drive mechanism 18 is for separating four-wheel transmission
Device.PTO mechanism 16, four-wheel drive mechanism 18 and coupling mechanism 20 pass through the actuating structure for the actuating mechanism 10 being shown in FIG. 3
The operation of part 14 and driven.Actuating component 14 can move between off-position corresponding with certain parameters and operating position
Dynamic, this will be specifically described in this disclosure later.By actuating component 14 in off-position and operating position
Between respectively movement, drive said mechanism between the first operative configuration and the second operative configuration.The mechanism suitably
When operation, tractor 1 arrives position 1c by the way that position 1a is motor-driven.
When tractor 1 is at the 1c of position, actuating component 14 is moved to off-position from operating position by operator, with
Equipment 2 and/or rear equipment 3 are oriented to execute soil along programme path P by the operation of hydraulic machinery connector before capable of making
Operation.In addition, movement of the actuating component 14 from operating position to off-position also passes through the operation recovery of PTO mechanism 16 to preceding
The power supply of PTO and/or rear PTO, and Four Wheel Drive is engaged by the operation of four-wheel drive mechanism 18.
When tractor 1 is with predetermined minimum car speed movement, the actuating component 14 of actuating mechanism 10, as shown in figure 3, can
Operation is to be moved to operating position (operative position) from off-position (inoperative position).?
During preceding equipment 2 and rear equipment 3 are activated by actuating component 14, this ensures the personnel on ground, if truly having, position
In the safe distance from tractor 1 to avoid accident.The predetermined vehicle speed is the minimum speed that tractor is advanced on the ground
Degree.In the case where car speed is lower than predetermined vehicle speed, actuating component 14 can not be moved by operator from off-position
Position to operating position.Actuating component 14 includes switch, control stick or knob.
Predetermined vehicle speed is detected by velocity measuring device S1 to generate sensed speed signal In1.Velocity measuring device
It is sensor or global positioning system (GPS).Sensed speed signal In1 is sent to controller 12, the processing sensing of controller 12
Speed signal In1 is to determine predetermined minimum car speed.When determining predetermined vehicle speed, controller 12 generates output signal
Op1, output signal Op1 are sent to actuating component 14 so that actuating component 14 can be made to be moved to operating position from off-position.
According to the requirement of operator, actuating component 14 is moved to off-position from operating position.According to the working position of actuating component 14
It sets and off-position, actuating component 14 transmits trigger signal T to controller 12.
Controller 12 receives the PTO mechanism 16 of tractor 1 by associated sensor S2, S3 and S4 respectively, four-wheel drives
The first operative configuration and the second operative configuration of motivation structure 18 and coupling mechanism 20.Sensor S2, S3 and S4 are respectively to controller
12 transmission input signal In2, In3 and In4.Input signal In2, In3 and In4 correspond to the PTO mechanism 16 of tractor 1, four-wheel
The first operative configuration and the second operative configuration of driving mechanism 18 and coupling mechanism 20.
When actuating component 14 is at operating position, input signal In2, In3 and In4 are by the processing of controller 12 to generate pair
Output signal Op2, Op3 and the Op4 answered.Output signal Op2, Op3 and Op4 from controller 12 are respectively transmitted to corresponding
Mechanism, it is controlled motor-driven to be executed at the edge of a field such as PTO mechanism 16, four-wheel drive mechanism 18 or coupling mechanism 20.Thus, according to
The requirement of operator, when actuating component 10 at the edge of a field everywhere when operating position, PTO mechanism 16 be operated to preceding PTO and
The power-fail of PTO or deactivated afterwards, four-wheel drive mechanism 18 is disabled or deactivates, to operate tractor in two-wheel drive mode
1, and coupling mechanism 20 is operable to promote preceding equipment 2 and rear equipment 3 passes through predetermined position.
Referring to fig. 2, after the motor-driven 1c to position of position arm 1a, tractor 1 is positioned to along programme path P operation.
Programme path P is planned by automatic tracking system, or is determined by operator.It can be by means of automatic tracking mechanism (not shown)
Tractor 1 when manipulation is located at the 1c of position along programme path P in auto-steering mode.Do not intervene manually in operator
In the case where, in auto-steering mode, automatic tracking mechanism can make tractor 1 advance along programme path P.However, operation
Member can manually manipulate tractor 1 along programme path P the auto-steering mode of override tractor 1.
Fig. 4 illustrates the alternative embodiment of the actuating mechanism 10 of Fig. 3 diagram.In the alternative embodiment of actuating mechanism 10
In, as shown in figure 4, include with actuating mechanism 10 be integrally formed module 22, the module 22 be configured for from couple
The associated sensor S4 of mechanism 20 receives input signal In4, and receives trigger signal T from actuating component 14.Module 22 is suitable
According to actuating component 14 operating position and off-position, handle input signal In4, with generate sent out with by actuating component 14
The corresponding output signal In4 ' of the trigger signal T sent.Output signal In4 ' is sent to controller 12 associated with module 22
Or pilot controller 24.Output signal Op4 is with the operation of controller control mechanism 20 for the transmission control of pilot controller 24.By sensor
The input signal In2 and In3 of S2 and S3 transmission is handled by controller 12, as described above with respect to fig. 3.
Each mechanism associated with tractor 1 can also such as PTO mechanism 16, coupling mechanism 20 and four-wheel drive mechanism 18
It is operate separately by means of associated actuating component such as control stick or switch.Override (not shown) be provided with
Control signal Op2, Op3 for enabling operator's override (override) of tractor 1 to be transmitted by controller 12 or module 22 and
Op4, with the operation for controlling PTO mechanism 16, coupling mechanism 20 and four-wheel drive mechanism 18.It is specific that this can be such that operator is based on
It is required that selectively controlling the operation of PTO mechanism 16, coupling mechanism 20 or four-wheel drive mechanism 18 if truly having.
Thus, edge of a field operation control system of the invention can be such that multiple mechanisms operate by the operation of operating member 14.This
Reduce operator due to respectively activating fatigue caused by multiple mechanisms at the edge of a field.
Technological progress
The present invention has several technological progress points, including but is not only restricted to following aspect：
It is a kind of to allow the vehicle to the system efficiently motor-driven at the edge of a field；
While one kind operates at the edge of a field, the system of mechanism associated with vehicle is suitably operated；
A kind of system easy to operate；
A kind of system ensuring the safety operation at the edge of a field；
Reduce the fatigue that the operator of vehicle is endured at the edge of a field while when operating multiple mechanisms；
Eliminate the damage of the equipment associated with vehicle at the edge of a field；With
A kind of system being attached in existing system.
It, can be in the spirit and model of the disclosure although describing explanation above-mentioned about at least one embodiment
Enclose the interior further modification present invention.Therefore the application be intended to using its basic principle with cover any variation of the invention, purposes,
Or modification.Further, the application be intended to cover deviation with it is of the invention, fall into it is known in technical field belonging to the present invention
Or convention deviation.
Claims (10)
1. a kind of edge of a field operation control system (10), the controlled operation of at least one mechanism (16,18,20) for vehicle (1),
The edge of a field operation control system (10) includes：
Controller (12), the controller are suitable for connecing from sensor (S2, S3, S4) associated with the mechanism (16,18,20)
It receives input signal (In2, In3, In4)；
Velocity measuring device (S1), the velocity measuring device are adapted to determine that the predetermined minimum ground velocity of vehicle (1), are passed with generating
It is sent to the sensed speed signal (In1) of the controller (12), the controller (12) is suitable for handling the sensed speed signal
(In1) to generate output speed signal (Op1)；With
Actuating component (14), the actuating component is suitable for being triggered by the output speed signal (Op1), to move from off-position
It moves to operating position, the actuating component (14) is transmitted and the off-position and the working position to the controller (12)
At least one corresponding trigger signal (T) is set,
The controller (12) is suitable for handling the trigger signal (T) and the input signal (In2, In3, In4), with generation pair
The control output signal (Op2, Op3, Op4) answered, corresponding with the off-position and the operating position at least one
The selectively moved mechanism (16,18,20) between kind operative configuration.
2. edge of a field operation control system (10) according to claim 1, wherein：
The actuating component (14) is selected from the group being made of at least one of switch, control stick and knob.
3. edge of a field operation control system (10) according to claim 1, wherein：
The actuating component (14) can be moved to the ground velocity bigger than the predetermined minimum ground velocity from the off-position
The operating position.
4. edge of a field operation control system (10) according to claim 1, wherein：
The movement of the actuating component (14) to the operating position can correspond to the trigger signal (T) and activate at least one
A mechanism (16,18,20).
5. edge of a field operation control system (10) according to claim 1, wherein：
The mechanism (16,18,20) be and associated sensor (S2, S3, S4) cooperation power take-off mechanism (16), connection
At least one of mechanism (20) and four-wheel drive mechanism (18), the sensor (S2, S3, S4) mention to the controller (12)
For the input signal (In2, In3, In4).
6. edge of a field operation control system (10) according to claim 1, wherein：
The mechanism (16,18,20) by the movement of at least one operative configuration move horizontally in vertical shift
It is at least one.
7. edge of a field operation control system (10) according to claim 1, wherein：
The trigger signal (T) is suitable for triggering the operation for making vehicle (1) go to auto-steering mode from manual steering mode and cuts
It changes, the vehicle (1) is suitable for advancing in the auto-steering mode along predefined paths.
8. edge of a field operation control system (10) according to claim 1, wherein：
The controller (12) cooperates at least one module (22), to handle at least one of described trigger signal (T), with
Generate the corresponding control signal (Op4 ') that will be transmitted for operating at least one mechanism in the mechanism (16,18,20).
9. edge of a field operation control system (10) according to claim 1, which is suitable for being installed at
On vehicle (1).
10. edge of a field operation control system (10) according to claim 1, wherein：
Override is provided with trigger signal described in override, so that the mechanism (16,18,20) can be activated accordingly structure
Part operation.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| IN4028/MUM/2014 | 2014-12-15 | ||
| IN4028MU2014 | 2014-12-15 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105700616A CN105700616A (en) | 2016-06-22 |
| CN105700616B true CN105700616B (en) | 2018-11-30 |
Family
ID=56081996
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510932133.7A Active CN105700616B (en) | 2014-12-15 | 2015-12-15 | Edge of a field operation control system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN105700616B (en) |
| DE (1) | DE102015224747A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110139551A (en) * | 2016-12-27 | 2019-08-16 | 三菱马恒达农机有限公司 | Working vehicle |
| DE102019204255A1 (en) * | 2019-03-27 | 2020-10-01 | Zf Friedrichshafen Ag | Method and control device for steering an agricultural vehicle |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2451314A1 (en) * | 1974-10-29 | 1976-05-06 | Fahr Ag Maschf | Agricultural vehicle with automatic control of attachment - programme circuit with impulse transmitter controls at least part of operations |
| CN1301226A (en) * | 1998-04-17 | 2001-06-27 | 特拉克特－A－比勒牵引车公司 | Earth-based vehicle |
| CN102575455A (en) * | 2009-08-18 | 2012-07-11 | 卡特彼勒公司 | Implement control system for a machine |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10299720A (en) * | 1997-04-30 | 1998-11-10 | Mitsubishi Heavy Ind Ltd | Working machine control device |
| DE102009016919A1 (en) * | 2009-04-08 | 2010-10-21 | Jetter Ag | Control of a lifting device |
-
2015
- 2015-12-09 DE DE102015224747.3A patent/DE102015224747A1/en active Pending
- 2015-12-15 CN CN201510932133.7A patent/CN105700616B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2451314A1 (en) * | 1974-10-29 | 1976-05-06 | Fahr Ag Maschf | Agricultural vehicle with automatic control of attachment - programme circuit with impulse transmitter controls at least part of operations |
| CN1301226A (en) * | 1998-04-17 | 2001-06-27 | 特拉克特－A－比勒牵引车公司 | Earth-based vehicle |
| CN102575455A (en) * | 2009-08-18 | 2012-07-11 | 卡特彼勒公司 | Implement control system for a machine |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105700616A (en) | 2016-06-22 |
| DE102015224747A1 (en) | 2016-06-16 |
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