CN111726981B - Lateral compensation method for agricultural machine and agricultural machine - Google Patents
Lateral compensation method for agricultural machine and agricultural machine Download PDFInfo
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- CN111726981B CN111726981B CN201880059463.1A CN201880059463A CN111726981B CN 111726981 B CN111726981 B CN 111726981B CN 201880059463 A CN201880059463 A CN 201880059463A CN 111726981 B CN111726981 B CN 111726981B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D75/00—Accessories for harvesters or mowers
- A01D75/28—Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/10—Harvesting of standing crops of sugar cane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- Mechanical Engineering (AREA)
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Abstract
The present invention relates to a new method for performing an immediate lateral compensation of an agricultural machine of harvester type, in particular provided with a crawler group as traction means. The method comprises steps arranged to be substantially simplified in terms of operator behaviour while ensuring effective control of the traction means to avoid skidding which may adversely affect harvest quality. More specifically, the present lateral compensation method comprises the steps of: checking for a request to increase or decrease compensation; confirming activation; a reference indication is sent to the control unit of the machine in order to increase or decrease the compensation and wait a period of time at 1 to return to the initial step for a new check. The invention also relates to an agricultural machine of the harvester type.
Description
Technical Field
The present invention relates generally to a lateral compensation method applied to agricultural machines, such as so-called cane harvesters, and more particularly it is intended for machine models provided with a set of tracks responsible for the movement of the equipment.
Background
Many models of agricultural machinery and equipment are known that aim to facilitate harvesting in diverse fields that can be highly irregular and increasingly require new resources to adjust the operating parameters of these machinery in order to increase crop productivity of the various types of plant crops currently known.
It is well known that the field working conditions vary widely from site to site and, in particular with respect to the land, it is noted that the planting area ranges relatively large, so that the final footprint inevitably contains variations as well as slopes, inclined and flat areas, etc. over which the machine rolls up and down during operation.
Especially in areas where agricultural machines eventually work in a sideways inclined condition, these machines of course eventually slip, skid and slide sideways, especially when tracks are used, which ultimately impairs productivity and effectiveness of the passage in the rows of crops. In addition, these types of events are aggressive and very detrimental to the maintenance of plants, trees and shrubs, since in the case of a sugarcane harvester the machine will eventually work with an impact on the cutting position of the bottom cutterhead.
In fact, when the agricultural machine starts to slide in these inclined areas, the operator is ultimately responsible for controlling and maintaining the displacement in alignment with the crop rows. Typically, this is controlled by a joystick, steering wheel or other equivalent means of controlling the steering of the machine, that is, on laterally inclined terrain, for example when the machine starts to spin sideways to the right, the operator gives a steering command in the opposite direction (i.e. to the left) and vice versa, with constant manual correction.
Although this type of correction is effective and practical in practice, it is noted that this type of adjustment is very laborious for the operator who needs to control other devices of the machine at the same time. Therefore, it is necessary to obtain a specific control for the lateral compensation of the machine when it works on sloping terrain.
Disclosure of Invention
In view of the above, it is therefore an object of the present invention to provide a lateral compensation method for an agricultural machine of the harvester type, in particular provided with a crawler group as traction means, which is under development and comprises steps arranged to obtain a substantial simplification in the driving mode, while at the same time ensuring an effective control of the traction combination to avoid skidding that may affect the harvesting quality.
One of the objects of the present invention is also to provide a lateral compensation method for an agricultural machine which seeks to ensure immediate intervention and control of the lateral compensation level of the machine when harvesting on sloping terrain.
A further object of the present invention is to obtain an effective and simple solution by applying a method dedicated to guarantee a sufficient lateral compensation of the agricultural machine during its displacement, eliminating or reducing the need to use traditional controls such as a joystick or a steering wheel to control the steering of the machine.
In addition, the object of the present invention is also to obtain an agricultural machine, in particular of the harvester type, having a set of tracks as traction means and having means able to carry out the compensation method of the invention.
Therefore, in order to achieve the above objects and technical and functional results, the present invention relates, though in any other way, to a lateral compensation method for an agricultural machine, comprising the steps of: initially detecting any loss of control of the traction, for example in the track group, and from this moment it mainly comprises the following steps:
i) checking whether a button for increasing compensation is turned on;
i.a) if yes, checking whether the button remains on;
i.a.1) if so, sending a reference signal to the control unit of the machine to facilitate the increase in compensation, and waiting a period of time Δ t1 to return to step (i.a);
i.a.2) otherwise, sending a reference signal to the control unit of the machine and returning to step (i);
i.b) otherwise, checking whether the button for reducing the compensation is on;
i.b.1) if yes, checking whether the button remains on;
i.b.1.a) if so, sending a reference signal to the control unit of the machine to facilitate the reduction of the compensation, and waiting a period of time Δ t1 to return to step (i.b.1);
i.b.2) otherwise, sending a reference signal to the control unit of the machine and returning to step (i).
In addition, the object of the present invention is also to obtain an agricultural machine, in particular of the harvester type with a crawler group as traction means, having means able to perform the compensation method of the invention.
According to an embodiment of the present invention, the time interval Δ t1 may be between 30ms and 90ms, and according to a more specific embodiment of the present lateral compensation method, the time interval Δ t1 is equal to 60 ms.
In addition, according to another embodiment of the lateral compensation method of an agricultural machine, said buttons of increasing compensation and decreasing compensation are of the mechanical type, comprising a three-level switch. Alternatively, these buttons are of the numeric type and are provided on the interface of a screen of the "touch screen" type, with icons or bars activated by the sliding of the operator.
Furthermore, according to another particular embodiment of the invention, during steps (i.a.1) and (i.b.1), the lateral compensation method comprises the following supplementary steps performed by the control unit of the agricultural machine:
ii) checking whether there is a compensation adjustment;
ii.a) if so, updating the compensation with the value of the compensation parameter selected by the operator and checking whether the selected value is greater than a maximum value, which may be about 20%, in particular about + 10%;
ii.a.1) if so, defining a compensation adjustment with a maximum value of the compensation parameter and returning to step (ii);
ii.a.2) otherwise, checking whether the selected value is below a minimum value, which can be about-20%, in particular about-10%;
ii.a.2.1) if so, defining a compensation adjustment with a minimum value of the compensation parameter and returning to step (ii);
ii.a.2.2) otherwise, returning to step (ii);
ii.b) otherwise, returning to step (ii).
According to another particular embodiment of the invention, during step (ii.a), the present compensation method comprises the following supplementary steps:
iii) checking whether the value of the operator-selected compensation parameter is greater than the actual compensation visualization;
iii.a) if yes, increasing the compensation by X% and checking if the difference between the value of the compensation parameter selected by the operator and the actual compensation visualization is less than a preset value Y;
iii.a.1) if yes, defining a compensation adjustment with the value of the operator-selected compensation parameter and waiting a period of time Δ t2 to return to step (iii);
a.2) otherwise, waiting a period of time Δ t2 and returning to step (iii);
iii.b) otherwise, checking whether the value of the operator-selected compensation parameter is lower than the actual compensation visualization;
iii.b.1) if so, reducing the compensation by X%, X for example being between 0.1 and 1, and checking whether the difference between the value of the compensation parameter selected by the operator and the actual compensation visualization is less than a preset value Y;
b.1.1) if so, defining a compensation adjustment with the value of the operator-selected compensation parameter and waiting a period of time Δ t2 to return to step (iii);
b.1.2) otherwise, waiting a period of time Δ t2 and returning to step (iii);
b.2) otherwise, waiting a period of time Δ t2 and returning to step (iii).
According to an embodiment of the present invention, the time interval Δ t2 may be between 50ms and 150ms, and according to a more specific embodiment of the present lateral compensation method, the time interval Δ t2 is equal to 100 ms.
Further, according to another embodiment of the invention, the control unit of the agricultural machine is a monitoring and driving module of the mechanisms and functions of the agricultural machine, which includes facilitating the speed adjustment of the track set when lateral compensation is required.
In another particular embodiment of the invention, the lateral compensation method comprises the functions of reverse compensation and tuning adjustment, which comprise the step of activating complementary buttons responsible for reversing the compensation parameters from one crawler to the opposite crawler and facilitating the resetting of the compensation parameters, respectively.
According to another specific embodiment of the present invention, the compensation method further comprises: the means for visualizing the level of compensation are performed by means of a mechanism capable of generating light signals, bar graphs or further real field images.
Furthermore, according to another embodiment of the invention, the method comprises an arrangement of preset compensation adjustment buttons defined and programmed with compensation scales, such as "low compensation", "medium compensation" and "high compensation".
Finally, according to a further embodiment of the invention, there is provided a sugarcane harvester type and/or sweet sorghum agricultural machine formed by: a structural chassis mounted on a track set, the track set being disposed on a side of the chassis; a drive engine; an operating and control room; a front section comprising a divider, knock-down rolls and a bottom deck, primary and secondary cleaning extractor systems interconnected by a lifting device, the machine being arranged to perform a lateral compensation method as defined above.
Drawings
The above features, advantages and technical effects of the present invention will be better and more clearly understood by those skilled in the art on the basis of the following detailed description, which is made on the basis of a possible embodiment of the invention, given purely by way of example and not by way of limitation, and on the basis of the accompanying schematic drawings, in which:
FIG. 1 is a schematic side view of a farm machine, such as a sugar cane harvester, having a track set as a traction device;
FIG. 2 shows a schematic flow chart of a lateral compensation method for agricultural machines, object of the present invention;
FIG. 3 shows another schematic flow chart of the supplementary steps of the lateral compensation method for agricultural machines according to the present invention; and
fig. 4 shows another schematic flow diagram of further supplementary steps of the lateral compensation method for agricultural machines according to the invention.
Detailed Description
The present invention will now be described with respect to specific embodiments with reference to the accompanying drawings of exemplary embodiments. Reference numerals have been repeated among the figures to indicate the same or similar features in all of the various views. Further, the terms used herein should be interpreted in accordance with the guidance provided in FIG. 1, such as: upper, lower, lateral, right, left, anterior, posterior, and variations thereof.
Fig. 1 shows a schematic view of an agricultural machine (a) of the sugarcane harvester type. The agricultural machine (a) may be, for example, a machine known in the art, such as a sugar cane harvester manufactured by CNH Industrial n.v. commercialized under the trade mark Case IH.
The agricultural machine (A) includes: a structural chassis (F) mounted on a set of tracks (E) arranged at the sides thereof; a drive engine (M); an operating and control room (C); a front section (P) on which the respective line splitter (D) is arranged and where, for example, a separate platform can be associated with the knock-down roller and the bottom cutterhead. In addition, the agricultural machine (a) has a primary cleaning extractor system (L1) and a secondary cleaning extractor system (L2) interconnected by a lifting device (L).
As mentioned above, the need for compensation is particularly useful for agricultural machines having a set of tracks (E) as traction means rather than wheels with tyres, since the wheels can be compensated simply by controlling the steering wheel and the front wheels. In the case of a track set, compensation is obtained by adjusting the relative speed of one track with respect to the other.
The method of the invention is described below in relation to fig. 2 to 4, with the aim of identifying some uncontrolled start in the pulling combination, i.e. detecting the start of any slippage caused by any unevenness/inclination in the crop row. This so-called runaway can be done by recognizing the difference in linear speed of the left and right tracks if the machine is not performing a cornering manoeuvre. As will be appreciated by those skilled in the art, in the case of a machine moving on laterally inclined ground, if the machine has a tendency to slide left or right, the speeds of the tracks will also differ from one another. Generally, it should be noted that when the speed difference between the tracks is about 5%, runaway occurs, i.e. when the machine is effectively slipping sideways. However, silk does not at all hinder the sensitivity of identifying such runaway from a higher or lower percentage difference (e.g., 2% or 10%). The runaway can be recognized, for example, by a signaling system arranged inside the control room (C). Alternatively, the loss of control may be identified by empirical means only, for example by an operator.
Thus, the steps are as follows:
i) checking whether a button for increasing compensation is turned on;
i.a) if yes, checking if the button remains on;
i.a.1) if so, sending a reference signal to the control unit of the machine to facilitate the increase in compensation, and waiting a period of time Δ t1 to return to step (i.a);
i.a.2) otherwise, sending a reference signal to the control unit of the machine and returning to step (i);
i.b) otherwise, checking whether the button for reducing the compensation is on;
i.b.1) if yes, checking whether the button remains on;
i.b.1.a) if so, sending a reference signal to the control unit of the machine to facilitate the reduction of the compensation and waiting a period of time Δ t1 to return to step (i.b.1);
i.b.2) otherwise, sending a reference signal to the control unit of the machine and returning to step (i).
According to an embodiment of the invention, Δ t1 may be between 30ms and 90 ms. More specifically, Δ t1 is equal to 60 ms.
It is important to clarify that the increase in compensation performed by the control unit of the machine is a change in the relative speed (percentage level) of one track with respect to the other.
Furthermore, according to some possible embodiments of the invention, said buttons of increasing and decreasing compensation may be of the mechanical type, for example constituted by three-stage switches, formed by a neutral position, a right drive and a left drive, respectively increasing and decreasing the compensation level manually selected by the operator. Alternatively, the said buttons of these increase and decrease compensations can be digital and provided on an interface of a "touch screen" type screen with icons or bars activated by the sliding of the operator.
According to the invention, said control unit of the agricultural machine is the module responsible for monitoring and activating the vast majority of the mechanisms and functions of the machine, including for example the ability to adjust the speed of the track set in order to facilitate appropriate lateral compensation when necessary.
According to an embodiment of the method, in particular compensation, according to the invention and as shown in fig. 3, during the above-mentioned steps (i.a.1) and (ib1.a), the control unit of the agricultural machine performs the following supplementary steps:
ii) checking whether there is a compensation adjustment;
ii.a) if so, updating the compensation with the value of the operator-selected compensation parameter and checking whether the selected value is greater than the maximum value;
ii.a.1) if so, defining a compensation adjustment with a maximum value of the compensation parameter and returning to step (ii);
a.2) otherwise, checking whether the selected value is below a minimum value;
ii.a.2.1) if so, defining a compensation adjustment with a minimum value of the compensation parameter and returning to step (ii);
ii.a.2.2) otherwise, returning to step (ii);
ii.b) otherwise, returning to step (ii).
According to the invention, the maximum and minimum values of the compensation parameter can vary between + 20% and-20%. According to a particular embodiment of the invention, the maximum and minimum values of these compensation parameters are + 10% and-10%.
Further, according to another embodiment of the invention illustrated in fig. 4, the method comprises, during the above step (ii.a) (involving updating the lateral compensation with the value of the operator-selected compensation parameter), the steps of:
iii) checking whether the value of the operator selected compensation parameter is greater than the actual compensation level;
iii.a) if so, increasing the compensation by X% and checking whether the difference between the value of the compensation parameter selected by the operator and the actual compensation level is less than a preset value Y, which varies between 0.5% and 2%;
a.1) if so, defining a compensation adjustment with the value of the operator-selected compensation parameter and waiting a period of time Δ t2 to return to step (iii);
a.2) otherwise, waiting a period of time Δ t2 and returning to step (iii);
iii.b) otherwise, checking whether the value of the operator-selected compensation parameter is lower than the actual compensation level;
iii.b.1) if so, reducing the compensation by X% and checking whether the difference between the value of the compensation parameter selected by the operator and the actual compensation level is less than a preset value Y, said preset value varying between 0.5% and 2%;
b.1.1) if so, defining a compensation adjustment with the value of the operator-selected compensation parameter and waiting a period of time Δ t2 to return to step (iii);
b.1.2) otherwise, waiting a period of time Δ t2 and returning to step (iii);
b.2) else, wait a period of time Δ t2 and return to step (iii).
According to an embodiment of the invention, X is equal to the adjustment level and varies according to the desired precision, and may vary in scale by integer or fractional values, and corresponds to a percentage calculated to facilitate the speed adjustment of the track set of the machine. According to one of the embodiments of the present invention, X may vary from 0.1 to 1.
According to an embodiment of the invention, Δ t2 may vary from 50ms to 150 ms. More specifically, Δ t2 is equal to 100 ms.
In addition, the lateral compensation method for an agricultural machine may comprise a step of reverse lateral compensation, activated by a complementary button which, when activated, facilitates the reversal of the lateral compensation by the control unit of the agricultural machine. In other words, if the lateral compensation is actuated on the track arranged on the right side of the machine, the same parameters are transferred to the track arranged on the left side of the machine when said reversing button is activated. This option is most useful to the operator when he is at the end of a crop row, where the machine is rotated 180 ° to start harvesting a new crop row, and if the rows are on the same slope and therefore would cause the same runaway in the traction device, so that the operator does not need to adjust the lateral compensation of the opposite side again, and as long as this reverse option is selected, the machine can continue to actuate and promote the proper preset compensation (but on the opposite side).
Another option of the compensation method according to the invention is to provide tuning adjustments as a preliminary step, with the aim of facilitating a resetting of the compensation, which will determine that the agricultural machine is in flat terrain, without any lateral compensation. Logically, although it is recommended to perform this preliminary tuning before starting the harvesting process, it does not prevent the operator from making new tuning along the pass through the crop row during harvesting to adjust and improve accuracy during potential slippage.
Alternatively, the compensation method of the invention may comprise a mechanism to visualize the level of compensation performed and may be represented by a light signal, a bar graph or a monitor also with a real field image.
Furthermore, according to another embodiment of the invention, the compensation adjustment buttons may be arranged so as to obtain pre-programmed compensations, such as "low compensation", "medium compensation" and "high compensation", by means of a parameterized level, in which case the mechanical control unit will make the appropriate compensation according to the selected scale.
Finally, as mentioned above, the invention also relates to an agricultural machine, such as a harvester (a), comprising: a structural chassis (F) mounted on a set of tracks (E) arranged at the sides thereof; a drive motor (M); an operating and control room (C); a front portion (P) on which the splitter (D) is positioned and which may also be adapted to receive a coupling, for example, of a separate platform carrying the knockdown rollers and the bottom cutterhead. Furthermore, the machine comprises a primary cleaning extractor system (L1) and a secondary cleaning extractor system (L2) interconnected by a lifting device (L), the machine being arranged to perform a lateral compensation method according to the invention.
According to a particular embodiment of the invention, the harvester (a) is designed for harvesting sugar cane and/or sweet sorghum.
Thus, from the above discussion, it can be seen that the lateral compensation method for agricultural machines according to the present invention enables a considerable simplification of the operations performed by the commanders and operators of these machines, and in particular facilitates an effective adjustment of the traction means in order to facilitate a sufficient compensation during displacements of the machine on the wanted crop row in the case where the machine is on sloping terrain and the machine may easily slip.
In view of the above, it is important to clarify that the present description is only intended to propose and define an example of a preferred embodiment of the lateral compensation method for agricultural machines according to the present invention. Thus, as will be understood by those skilled in the art, various modifications and constructive and operative combinations of equivalent elements and steps are possible, without departing from the scope of protection defined by the appended claims.
Claims (21)
1.A lateral compensation method for an agricultural machine having a set of tracks as traction devices, starting from the moment when it detects an uncontrolled movement of the traction devices, characterized in that it comprises the following steps:
i) checking whether a button for increasing compensation is turned on;
i.a) if yes, checking whether the button remains on;
i.a.1) if so, sending a reference signal to a control unit of the agricultural machine to facilitate an increase in compensation, and waiting a period of time Δ t1 to return to step (i.a);
i.a.2) otherwise, sending a reference signal to a control unit of the agricultural machine and returning to step (i);
i.b) otherwise, checking whether the button for reducing the compensation is on;
i.b.1) if yes, checking whether the button remains on;
i.b.1.a) if so, sending a reference signal to a control unit of the agricultural machine to facilitate a reduction in compensation, and waiting a period of time Δ t1 to return to step (i.b.1);
i.b.2) otherwise, sending a reference signal to a control unit of the agricultural machine and returning to step (i).
2. The method of claim 1, wherein Δ t1 is between 30ms and 90 ms.
3. The method of claim 2, wherein Δ t1 is equal to 60 ms.
4. Method according to claim 1, characterized in that said buttons of increasing and decreasing compensation are of the mechanical type, constituted by three-stage switches.
5. Method according to claim 1, characterized in that said buttons of increase and decrease compensation are of the digital type and are provided on an interface of a screen of the touch screen type, with icons or bars activated by the sliding of the operator.
6. Method according to claim 1, characterized in that during steps (i.a.1) and (i.b.1), the control unit of the agricultural machine performs the following supplementary steps:
ii) checking whether there is a compensation adjustment;
ii.a) if so, updating the compensation with the value of the operator-selected compensation parameter and checking whether the selected value is greater than the maximum value;
ii.a.1) if so, defining the compensation adjustment with the maximum value of a compensation parameter and returning to step (ii);
a.2) otherwise, checking whether the selected value is below a minimum value;
ii.a.2.1) if so, defining the compensation adjustment with the minimum value of a compensation parameter and returning to step (ii);
ii.a.2.2) otherwise, returning to step (ii);
ii.b) otherwise, returning to step (ii).
7. The method of claim 6, wherein the maximum value and the minimum value of the compensation parameter are between + 20% and-20%.
8. The method of claim 7, wherein the maximum value and the minimum value of the compensation parameter are + 10% and-10%, respectively.
9. The method according to claim 6, characterized in that it comprises, in the above step (ii.a), the step of:
iii) checking whether the value of the operator-selected compensation parameter is greater than an actual compensation level;
iii.a) if so, increasing the compensation by X% and checking whether the difference between the value of the operator-selected compensation parameter and the actual compensation level is less than a preset value Y;
iii.a.1) if so, defining the compensation adjustment with the value of the compensation parameter selected by the operator and waiting a period of time Δ t2 to return to step (iii);
a.2) otherwise, waiting a period of time Δ t2 and returning to step (iii);
iii.b) otherwise, checking whether the value of the operator-selected compensation parameter is lower than the actual compensation level;
iii.b.1) if so, reducing the compensation by X% and checking whether the difference between the value of the operator-selected compensation parameter and the actual compensation level is less than a preset value Y;
iii.b.1.1) if so, defining the compensation adjustment with the value of the compensation parameter selected by the operator and waiting a period of time Δ t2 to return to step (iii);
b.1.2) otherwise, waiting a period of time Δ t2 and returning to step (iii);
b.2) otherwise, waiting a period of time Δ t2 and returning to step (iii).
10. The method according to claim 9, characterized in that said preset value Y is comprised between 0.5% and 2%.
11. The method of claim 9, wherein X is between 0.1 and 1.
12. The method of claim 9, wherein Δ t2 is between 50ms and 150 ms.
13. The method of claim 12, wherein Δ t2 is equal to 100 ms.
14. The method of claim 1, wherein the control unit is a monitoring and drive module of the mechanism and function of the agricultural machine that includes the ability to adjust the speed of a track set.
15. The method of claim 1, further comprising an inverse lateral compensation function, the lateral compensation function comprising the steps of: the complementary button is turned on to reverse the compensation parameter from one track to the opposite track.
16. The method of claim 1, further comprising a tuning adjustment function, the tuning adjustment function comprising the steps of: the complementary button is turned on to facilitate resetting the compensation parameter.
17. Method according to claim 1, characterized in that it comprises a visualization of the level of compensation carried out by means of a mechanism capable of generating light signals, bar graphs or further real field images.
18. The method of claim 1, comprising a preset compensation adjustment button having a compensation scale.
19. The method of claim 18, wherein the compensation scale comprises a low compensation, a medium compensation, and a high compensation.
20. An agricultural machine of the sugarcane harvester type, comprising: a structural chassis (F) mounted on a set of tracks (E) arranged at the sides of the structural chassis; a drive motor (M); an operating and control room (C); a front portion (P) where the respective splitter (D) and cutting mechanism are positioned; a primary cleaning extractor system (L1) and a secondary cleaning extractor system (L2) interconnected by a lifting device (L), characterized in that the agricultural machine is arranged to perform the lateral compensation method according to any one of claims 1-19.
21. An agricultural machine according to claim 20, wherein the cutting mechanism is a knock down roller and a bottom cutter head.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| BR102017019863-4 | 2017-09-15 | ||
| BR102017019863-4A BR102017019863B1 (en) | 2017-09-15 | 2017-09-15 | LATERAL COMPENSATION METHOD APPLIED IN AGRICULTURAL MACHINERY AND AGRICULTURAL MACHINE |
| PCT/BR2018/050332 WO2019051574A1 (en) | 2017-09-15 | 2018-09-11 | Lateral compensation method applied to agricultural machines and agricultural machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111726981A CN111726981A (en) | 2020-09-29 |
| CN111726981B true CN111726981B (en) | 2022-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880059463.1A Active CN111726981B (en) | 2017-09-15 | 2018-09-11 | Lateral compensation method for agricultural machine and agricultural machine |
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| Country | Link |
|---|---|
| CN (1) | CN111726981B (en) |
| BR (1) | BR102017019863B1 (en) |
| WO (1) | WO2019051574A1 (en) |
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| JPS59220464A (en) * | 1983-05-27 | 1984-12-11 | Kubota Ltd | Lateral slip preventing device for working vehicle |
| JPS59220465A (en) * | 1983-05-27 | 1984-12-11 | Kubota Ltd | Lateral slip preventing device for working |
| US5995895A (en) * | 1997-07-15 | 1999-11-30 | Case Corporation | Control of vehicular systems in response to anticipated conditions predicted using predetermined geo-referenced maps |
| JP2005125987A (en) * | 2003-10-27 | 2005-05-19 | Sanei Kogyo Kk | Wheel steering angle control method for towed vehicle, control device, towed harvester, side slipping detection method for vehicle and detection sensor |
| US7051498B2 (en) * | 2004-05-21 | 2006-05-30 | Textron Inc. | Traction enhancement system for turf mowers |
| US9403536B2 (en) * | 2013-08-12 | 2016-08-02 | Deere & Company | Driver assistance system |
| US9265199B2 (en) * | 2013-11-21 | 2016-02-23 | Deere & Company | Side hill compensation for a harvesting head |
| US9989976B2 (en) * | 2015-12-22 | 2018-06-05 | Deere & Company | Vehicle control system with track temperature sensing |
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2017
- 2017-09-15 BR BR102017019863-4A patent/BR102017019863B1/en active IP Right Grant
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2018
- 2018-09-11 CN CN201880059463.1A patent/CN111726981B/en active Active
- 2018-09-11 WO PCT/BR2018/050332 patent/WO2019051574A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| BR102017019863B1 (en) | 2022-12-20 |
| CN111726981A (en) | 2020-09-29 |
| BR102017019863A2 (en) | 2019-04-16 |
| WO2019051574A1 (en) | 2019-03-21 |
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Effective date of registration: 20230707 Address after: 150060 No. 78, Songhua Road, core area of Hanan industrial new town, Harbin, Heilongjiang Patentee after: Keisnew Netherlands Industrial (Harbin) Machinery Co.,Ltd. Address before: 200131 10th floor, No.2 Maji Road, Waigaoqiao Free Trade Zone, Pudong New Area, Shanghai Patentee before: Cnh (CHINA) Management Co.,Ltd. |