DE102018108025A1 - Agricultural vehicle - Google Patents

Abstract

An agricultural vehicle (10) is disclosed, comprising a frame (12) to each of which an auxiliary frame (14) is mounted on the left and right, to which at least one front wheel (16) and one rear wheel (18) are rotatably mounted, the Subframe (14) by means of a horizontal transverse axis (22) pivotally to the frame (12) are arranged to provide an agricultural vehicle (10) which has a great smoothness in a simplified structure is provided that the frame (12) one to a horizontal pivot axis (24) rotatably mounted pivot guide (26) is mounted, wherein by means of the pivot guide (26) on the left subframe (14) and on the right subframe (14) pivotally mounted connecting strut (28, 30) is stored and / or guided ,
The invention also relates to a method for controlling an agricultural vehicle (10).

Description

The present invention relates to an agricultural vehicle having the features of independent claim 1. The invention also relates to a method of controlling an agricultural vehicle having the features of independent claim 29.

Such an agricultural vehicle is, for example, from the EP 0 501 585 B1 already apparent. In order to create a springy adaptable to bumps vehicle, as well as to create a frame construction which is quietly guided even in bumps a frame is initially provided, to each of which left and right a pivotable on the frame subframe is attached to which subframe respectively front and rear wheels are arranged. The agricultural vehicle also comprises a compensation beam in the form of an additional frame which is arranged above the frame, wherein the compensation beam comprises a transverse lever, which are connected by means of downwardly directed arms with the subframe. Although both the suspension of this and the smoothness of this can be substantially improved with such an agricultural vehicle, however, the construction of such a vehicle is very complicated and expensive due to the additionally required frame. In addition, varying the track width in turn, the height difference between the frame and the additional frame which in turn a work by means of the agricultural vehicle can be adversely affected and the smoothness can also worsen.

The aim of the present invention is thus to provide an agricultural vehicle which achieves a great smoothness in a simplified structure.

These objects are achieved by an agricultural vehicle having the features of independent claim 1, and by a method of controlling an agricultural vehicle. Advantageous developments are specified in the dependent claims and the description.

To solve the above objects, the invention proposes an agricultural vehicle, the vehicle comprises a frame to which left and right respectively a subframe is arranged to which at least one front wheel and a rear wheel are rotatably mounted, said subframe by means of a horizontal transverse axis to the Frame are arranged

To create an agricultural vehicle which achieves great smoothness in a simplified structure is provided that the frame is mounted about a horizontal longitudinal axis rotatably mounted pivot guide, wherein by means of the pivot guide mounted on the left subframe and pivotally mounted on the right subframe connecting strut and / or is guided.

The agricultural vehicle may, for example, be a self-propelled agricultural machine, for example a self-propelled sprayer or a self-propelled fertilizer spreader, or the vehicle may be an agricultural towing vehicle. The vehicle may, for example, be a vehicle attached to a towing vehicle. The agricultural vehicle can also be an autonomous vehicle. In contrast to the autonomous vehicle, the self-driving vehicle is assigned a cabin or a driver's cab for an operator. Furthermore, the agricultural vehicle may be a carrier vehicle to which carrier vehicle in turn a variety of agricultural implements can be grown, so if a carrier vehicle is described below, so this vehicle equally includes an inventive agricultural vehicle, since the carrier vehicles described in particular according to the present agricultural Vehicle can be executed.

The vehicle comprises a frame, which frame extends, for example, in the longitudinal direction. On the left and right of the frame, subframes are attached to which subframes, in turn, at least one front wheel and one rear wheel are mounted.

The subframes are arranged by means of a horizontal transverse axis, pivotally to the frame, wherein the transverse axis in this case, for example, extends transversely to the direction of travel. The transverse axis or the connection between the subframe and the transverse axis can take place here, for example, by means of a pipe attached to the frame.

In addition, the respective track width of the wheels can be adjustable, ie it can be the respective distance between the subframe or between the subframe and the frame adjustable. To adjust the track of the wheels this could be provided a variety of control elements, for example. Electric and / or hydraulic and / or pneumatic control elements, for example. Hydraulically operated or driven cylinder. Wherein the adjusting elements can in turn be controlled or actuated by means of a control device. The respectively required gauge of the vehicle can be used as a position-dependent work instruction in a Be deposited control device. However, it would also be conceivable for sensors or the like to be mounted on the vehicle by means of which in each case the surroundings, in particular the respective lanes, are detected and, on the basis of this gauge, the lane is correspondingly varied by means of the control device.

The wheels, that is to say the at least one front wheel and / or the at least one rear wheel, can for example be mounted or arranged so as to be pivotable about an upright axle on the auxiliary frame and thus be steerable. To steer the wheels here a wide variety of control elements could be provided, for example. Electric and / or hydraulic and / or pneumatic control elements, such as. Steering cylinder. Wherein the adjusting elements can in turn be controlled or actuated by means of a control device.

It should be noted that instead of a front wheel and / or rear wheel and a crawler undercarriage can be used, for the sake of simplicity, however, below caterpillars are defined with the term front wheel and / or rear wheel, which terms do not preclude the use of crawler tracks. In addition, it should be noted that the term crawler undercarriage can be any caterpillar vehicles included, so also caterpillars or tape drives made of rubber and / or plastic or the like.

The front wheels and / or the rear wheels can be height adjustable to the frame or subframe. The wheels for this purpose, for example, can be mounted by means of an independent suspension on the subframe. Also, the wheels for this example could be. By means of a so-called. Shock mounted on the subframe. Other suspension devices would be conceivable. To adjust the height of the wheels or the independent suspensions or the struts or the suspension device a variety of control elements could be provided, for example. Electrical and / or hydraulic and / or pneumatic control elements, for example. Hydraulically operated or driven cylinder. Wherein the adjusting elements can in turn be controlled or actuated by means of a control device. The respectively required height of the vehicle can, for example, be stored as a position-dependent work instruction in a control device. However, it would also be conceivable that the vehicle sensors or the like. Measuring means are mounted by means of which the environment, in particular a plant height of agricultural land is detected and in turn based on this plant height, the height is varied by driving means of the control device. In addition, the independent suspension and / or the strut and / or the suspension device may be associated with a motor or a hub motor. Also, the front wheels and / or rear wheels could be driven by other drive elements, or be connected to other drive elements.

To create an agricultural vehicle which achieves great smoothness in a simplified structure is also provided that the frame is mounted about a horizontal longitudinal axis rotatably mounted pivot guide, by means of which pivot guide pivotally mounted on the left subframe connecting strut and a pivotally mounted on the right subframe Connecting strut is stored and / or guided.

The horizontal longitudinal axis in this case extends in particular at least largely parallel to the direction of travel.

By means of the pivoting guide and the pivotally mounted on the left subframe connecting strut and pivotally mounted on the right subframe connecting struts thus takes place a compound or coupling of the subframe. Wherein the pivoting guide can be mounted in particular in a rear area of the vehicle. However, it would also be an arrangement in a front vehicle area or another vehicle area conceivable.

The bearing and / or guiding the left connection strut and the right connecting strut is done, for example. By means of a mounted in the pivot guide or integrated pivot point, wherein the fulcrum may be the horizontal longitudinal axis, but also each may be an additional mounted on the pivot guide axis of rotation , which can also be horizontal or upright.

In a further development, the left connecting strut and the right connecting strut can be made telescopic.

The storage and / or management of the left connecting strut and the right connecting strut by means of the pivot guide can also be done as a sliding bearing or as a linear guide. This may be necessary in particular if the subframe or the track of the wheels is adjustable. Thus, it can be provided that the cross-sections, or circumferences of the pivot guide and the left connecting strut and the right connecting strut are matched to one another such that they can slide into each other at least in sections, so that a corresponding storage and / or leadership arises. To improve this storage and / or leadership, the pivot guide and / or the left connection strut and / or the right connecting strut can also from a Material be made with appropriate sliding properties, but these can also be equipped with such a material and / or coated. As a sliding material, for example, plastics can be used. In addition, the pivoting guide and / or the left connecting strut and / or the right connecting strut can be made of different materials.

In order to achieve the longest possible sliding surface or guide surface and also allow a track adjustment, it can also be provided that the left and right connecting strut are offset in the direction of travel or arranged one behind the other and / or they are arranged one above the other.

However, the plane of the horizontal transverse axis and the plane of the horizontal longitudinal axis may also have a height distance from each other, wherein this height distance is less than or equal to 500mm, but in particular less than or equal to 250mm and in particular less than 100mm. Other, in particular larger height intervals would be conceivable. Also, the horizontal longitudinal axis and the horizontal transverse axis can lie on a plane. What a very flat construction, little space-consuming frame construction or a very flat construction, little space required frame is feasible, creating a compact vehicle is created, which thus has a much simplified structure compared to the known from the prior art vehicles.

In particular, the left connecting strut and the right connecting strut are in a quiescent position, i. if the subframes are not pivoted an at least largely horizontal orientation or orientation. This is also achieved in that the pivot axes are on the subframe for connection to the connecting struts on a plane to the horizontal longitudinal axes, or that these levels have a height distance which is less than or equal to 500mm, but in particular less than or equal to 250mm and in particular less than 100mm is.

In particular, no additional frames, as known from the prior art required by the inventive storage and / or leadership.

By means of the inventive compound of the subframe by means of the left and the right connecting strut by means of the pivoting guide with the frame, the deflections or movements of the frame generated by the subframe can thus be substantially reduced, whereby a great smoothness of the vehicle adjusts. In particular, no additional frames are required by the inventive compound, but it can, due to the achieved smoothness or due to the low existing on the frame deflections, are grown on this variety of implements.

Wherein this is achieved in particular by a transmission of the respective pivoting movement of a subframe by means of the connecting struts and the pivoting guide on the opposite subframe.

By means of the coupling according to the invention can be achieved, for example, that if, for example, the left subframe with 10 ° deflects and the right subframe with 0 ° Auslenk, the frame eg. Only with 5 ° Auslenk, so that its actual deflection halved accordingly.

The vehicle may also have a variety of mounting devices by means of which a variety of agricultural implements can be mounted on the vehicle. In addition, an environment sensor system may be present on the vehicle, which serves to detect obstacles and / or elements present in the surroundings of the vehicle. For controlling the vehicle and / or a work implement mounted on the vehicle, a control device is provided on the vehicle, the control device having a , a position detecting and / or dispensing position determining system is connectable, or wherein the control device may be equipped with a position detecting and / or dispensing position determining system.

Moreover, in order to create an autonomous vehicle in which no operator is absolutely necessary during a field work, or must be permanently present, it can also be provided that position-dependent work instructions for the vehicle are preferably stored in the control device.

The agricultural vehicle according to the invention is used in particular for carrying at least one agricultural implement. In addition, the vehicle may also serve to guide at least one agricultural implement over an agricultural area, wherein the vehicle and the at least one implement may have a fixed connection.

In the case of at least one agricultural working implement, it may be, for example, a distributing machine, for example in the form of a field sprayer and / or a sowing machine. Also, it may be at least one implement to a fertilizer spreader. Furthermore, the implement may, for example, be a transport container, so that the Vehicle, for example, forms a transfer vehicle. Also can be attached to the vehicle tillage tools or tillage equipment as implements. Also as tools cutting tools such as cutters or mowers or the like. Can be used. In general, therefore, any known in agriculture implements and / or work tools are conceivable.

The agricultural vehicle comprises a frame, to which in particular the components and assemblies of the vehicle can be mounted and attached to which mounting devices for mounting work equipment.

The frame and / or the subframe can also be made in one or more parts. The connection of the frame and / or subframe can also be force and / or cohesive. The non-positive and / or positive connection may include, for example, screw, rivet and / or clamping connections or the like. The cohesive connection may include, for example, welding, adhesive and / or solder joints or the like. Alternatively, combinations of a positive, positive and / or material connection would also be conceivable.

At least part of the wheels or the front wheels and / or rear wheels can be driven. In particular, however, at least two wheels are each driven. For this purpose, at least one drive unit with a drive train is provided on the vehicle, by means of which drive train the vehicle can be operated at different driving speeds. For example, an internal combustion engine can be used as drive, but hydraulic and / or electric drive units would also be conceivable. Also, a hybrid drive would be conceivable, so that, for example, as a drive unit, an internal combustion engine is used, the other components of the drive train, however, can be operated electrically. In this case, for example, so-called. Diesel electric drives could be used.

However, it would also be conceivable to use purely electrical and / or hydraulic drive trains which do not require an internal combustion engine.

In addition, the drive train may include corresponding hub motors. Also, for example, two opposing wheels could be connected by means of joint or drive shafts, which in turn are part of the drive train.

In one development of the invention, the wheels may have an arrangement and / or a width, which are adapted to the arrangement of the working tools of the at least one implement. So that, for example, the wheels or their lanes between two work tools or laterally next to a working tool are located, or are guided along the agricultural area.

For mounting or in particular fixed connection of the at least one working device with the frame or with the vehicle, at least one mounting device is associated with the frame. The mounting device may in particular be a so-called 2-point recording and / or a 3-point recording. Thus, it can be achieved that the at least one implement is at least partially connected in the direction of travel fixed to the frame. The mounting device can also be a two-point power lift and / or three-point power lift and / or double two-point power lift.

By means of the mounting device, at least one implement can be connected to the vehicle via at least two and / or three points. Also, the mounting device may include four points, so that the implement can, for example, be connected by means of a parallelogram with the vehicle.

In addition, the mounting device may comprise at least one electric and / or hydraulic and / or pneumatic actuator such as a cylinder or a spindle drive or the like.

The connection between the vehicle and the at least one implement by means of the mounting device can be designed so that the implement is adjustable in height. In addition, the mounting device can be designed so that an adjustment of the implement in the direction of travel is not possible or only by a small angle, the angle is in particular less than 25 ° or 15 ° or 5 °, this can also the implement by at least one upright axis are connected to the vehicle. Whereby this height adjustment and / or this angular adjustment, for example, by means of, the mounting device associated adjusting elements can take place but also by means of the implement associated electrical and / or hydraulic and / or pneumatic control elements such as. Cylinder or spindle drives can be done.

In order to detect unpredictable or not stored in the control device or in the work instructions obstacles and / or elements during field work, an environment sensor is provided on the vehicle and / or on at least one agricultural implement. The environment sensor is in this case designed such that can be monitored or detected by means of this the entire work area of at least one agricultural implement.

Obstacles such as trees, shrubs or the like can therefore be detected by means of environmental sensors, for example, plant obstacles and / or elements, but in particular also living beings such as animals and / or humans.

For example, laser scanners and / or camera systems such as, for example, 3D thermal imaging cameras can be used as environmental sensors. Also, 3D cameras and / or 3D scanners and / or 3D rig can be used. Infrared sensors could also be used accordingly. In particular, two environmental sensors are used in each case. Also, the two environmental sensors can detect different objects, so that on the basis of these in turn a common image can be determined by means of, for example, a control device. Thus, it can also be provided that the two environment sensors have different physical measurement properties or can detect different physical properties.

On the basis of, for example, various physical properties or on the basis of the detected by means of environmental sensor object properties can then be carried out an evaluation of the nature of the obstacle and / or elements. The species may be, for example, an evaluation of living beings or plants. But also above the obstacle and / or elements, can be run over by means of the vehicle / not or not, i. if, for example, it is a small plant, it may be overrun, but if it is a living being, it must not be run over.

In addition, it can be provided that setpoint values for the type of obstacle and / or element determined by the environmental sensor system are stored in the control device. Thus, for example, temperature specifications can be stored on the basis of which the evaluation takes place whether they are living beings or plants. Also, motion parameters can be stored, so that in turn based on a defined movement, an evaluation is carried out whether it is sentient beings or plants. Contour parameters can also be stored, by means of which, for example, an evaluation can follow which type of living organism or plant it is, in particular which size has the obstacle and / or element.

In order to control the respective components of the vehicle, at least one control device is provided. The control device also serves to regulate the vehicle but also the at least one attached to this possibly working implement.

It should be noted that the terms "control device" and "control device" may refer to electronic and / or mechanical and / or pneumatic and / or hydraulic controls that can take over control tasks and / or control tasks depending on the training. Although the term "control" is used herein, it may be convenient to include "rules" as well. Similarly, when using the term "control" as it also includes a "control" so.

In this case, the control device may in particular be in operative connection with, or comprise, a control and / or circuit based on electrical and / or pneumatic and / or hydraulic and / or a combination of these energy and signal transmission types. For example. For controlling the control elements, an electrical BUS system such as, for example, a CAN bus system can be provided. Also wireless communication interfaces, such as. Wifi connections would be conceivable.

The control device can also comprise one or more computer units in which computer units control programs or a corresponding control algorithm can be stored. Also, for example, the vehicle and the at least one implement a computer unit or a control device may be assigned, which, however, in turn may form a control device by the coupling.

In a further development of the invention, the mounting device for fixed connection of the electrical and / or pneumatic and / or hydraulic elements of the vehicle and the at least one working device could also have corresponding interfaces. The connection or coupling by means of the mounting device or its interfaces thus again creates a control device.

In order to detect or output the actual position of the vehicle, this can be, or the control device can be connected to a position determination system, or be connectable. For this purpose, the control device can also be associated with a receiving and / or transmitting unit for connection to this. The position determination system may, for example, be a GPS system (Global Positioning System). In addition, however, further or other position determination systems would be conceivable or usable, for example the Russian GLONASS system and / or or the European Union system GALILEO and / or the Chinese BEIDOU system and / or the Indian INDIAN REGIONAL NAVIGATION SATELLITE SYSTEM and / or the Japanese QUASI-ZENIT SATELLITE SYSTEM. Other positioning systems would be conceivable or usable. The position determination system can in each case determine or record the current actual position of the vehicle on a particularly agricultural area and, for example, transmit it to the control device, or the actual position of the vehicle by means of the position determination system to an output device or input device spaced therefrom For example, a mobile terminal or a computer unit or the like can be issued.

In order to be able to execute the vehicle as an autonomous vehicle, in which no operator is absolutely necessary or permanently present during field work, it is provided that position-dependent work instructions for the vehicle and / or the at least one implement are preferably stored in the control device.

The work instructions may include in particular setpoint specifications for the steering and / or the vehicle speed. The work instructions can also comprise further setpoint specifications for further elements or control elements of the vehicle. Thus, as work instructions also defined lanes or routes can be defined, i. Fixed routes can be defined on the agricultural area along which the vehicle is respectively to be moved and / or moved.

Thus, for example, the work instructions for cornering can define at which driving speed the vehicle is to be moved and with which steering angle or curve radius the vehicle is to be moved in this case. The work instructions are stored for this purpose in the control device or can be stored in the control device and a corresponding control program. Based on the current, detected by the positioning system actual position and the stored in the control direction routes then the drive unit or the drive train and the components of the steering of the vehicle are then controlled or regulated. Thus, the movements of the vehicle are respectively controlled and / or controlled on the basis of the actual position determined by the position determination system and the defined routes by means of the control device.

The routes and the resulting work instructions can be stored, for example, by an operator in the control device or entered in this. Also, the work instructions can be defined by means of a simulation system. The routes thus defined in the simulation system and the resulting work instructions can then be stored in turn in the control device, or the simulation system can be connected to the control device. In addition, a control algorithm can be stored in the simulation system, which converts the positions determined by an operator into positions and / or coordinates to be processed for the position determination system. Thus, the operator does not have to define coordinates, but only the specification of the travel path is sufficient. The simulation system can also output or calculate suggestions about optimized routes and / or work instructions, which in turn can then be set accordingly by an operator. The simulation system can also include 3D data, which can output or include the respective real environment of the arable area, so that an optimized planning is made possible.

By means of the vehicle or by means of the control device, an implementation of the work instructions defined or predetermined by the simulation system, in particular resulting from the routes, thus takes place.

In addition, a variety of actuators may be attached to the at least one implement. Such as, for example, electrical and / or hydraulic and / or pneumatic control elements, motors, valves or the like., Which can also be controlled and / or regulated by means of the control device. The actuators are used in particular for controlling the work tools present on at least one implement. Thus, a wide variety of actuators may be attached to the at least one working device for, for example, distribution of agricultural material to be spread and / or for depth adjustment of seed and / or tillage tools or the like. Position-dependent work instructions can in turn also be stored in the control device for these actuators, so that, for example, an application rate is increased, reduced or interrupted depending on the current actual position, or a working depth is increased or reduced.

In order to achieve the greatest possible impact force by means of the vehicle or by means of the at least one work implement mounted thereon, it can also be provided that side parts or supports extending in a working position with a large working width are respectively arranged on the left and right of the vehicle. At these side parts or on the carriers of the side parts can also have a Be assigned to a plurality of controllable by actuators and / or controllable work tools.

In addition, it can be provided that the carriers can be pivoted in such a way for each transport about pivot axes in the direction of the vehicle that by means of the vehicle or by means of at least one implement a transport width permissible for a road trip is reached, or is not exceeded.

In order to achieve a large impact force by means of at least one implement, they can sometimes have large working widths of 6 meters or 9 meters or 12 meters or more. However, in order nevertheless to comply with the country-specific traffic regulations for a road transport such as transport width and transport height, these or the carrier or the side parts of these respectively in relation to a central part and / or with respect to the vehicle pivoted accordingly to thus, for example, a required in Germany maximum transport width of three meters and the required maximum transport height of four meters. In particular, the implements for this purpose can be divided into, for example, two, three or more individual machine sections, which machine sections can each be assigned carriers and corresponding actuators operated working tools or working and / or distribution elements.

In one embodiment variant, the at least one working device could be a distributor for the discharge of liquid and / or solid materials such as, for example, seed, fertilizer or the like. Wherein the implement for carrying and providing the Verteilguts may be associated with a reservoir, which reservoir may also be connected to the mounting device. Likewise, the implement may be a tillage machine, which in this case may not have a reservoir. A combination of a tillage machine and a distributor would be conceivable. In addition, various other agricultural implements such as hay tedders, rakes, mowers or the like. As a working device this.

In particular, the machine has a central part, which central part can preferably be connected to the vehicle by means of the mounting device. Inasmuch as the at least one implement is a distributor, this can also have a reservoir. Where in such an embodiment, the reservoir can be connected by means of the mounting device with the autonomous mobile vehicle and wherein the middle part can also be attached to the reservoir in this case. Also, both the middle part and the reservoir can be connected by means of separate and / or common mounting devices to the vehicle.

To horizontal and / or upright axes pivotally to the middle part can be arranged on the left and right side part. The side parts may in turn have carriers, to which carrier working tools or working elements and / or dispensing elements can be assigned. Also, the middle part such working elements and / or Ausbringelemente be assigned. In turn, the side parts can be composed of several segments, which can be pivoted about horizontal and / or upright axes to each other.

In order to be able to transfer such implements into a transport position, the side parts or their segments are preferably pivoted about upright axes to each other and then in turn pivoted about upright axes with respect to the central part.

Also, a variant would be conceivable in the first of the middle part and the side parts about transverse to the direction of travel axes by about 90 ° or. be pivoted upwards by approximately 90 ° and the side parts are then pivoted in relation to the central part about now upright axes forward and / or backward, in an at least substantially parallel position to the direction of travel.

Also, a folding would be conceivable in which the side parts are pivoted relative to each other in the direction of travel or about horizontally extending axes to each other, wherein the side parts can be pivoted, for example, about 90 ° or 180 ° to the central part.

Telescopic sliding elements and / or sliding frames would be conceivable.

It could also be provided that the side parts composed of a plurality of segments are in turn first pivoted by 180 ° relative to one another in the direction of travel or about horizontally extending axes, and in that they also extend over and / or behind one another in the direction of travel or travel to be pivoted about horizontal axes about 90 ° with respect to the vehicle upwards.

A combination of the aforementioned folding and swivel kinematics or telescope kinematics would also be conceivable.

Regardless of the type of folding, the side parts or their carrier in each direction the vehicle pivoted so that the at least one implement for a transport journey does not have to be decoupled from the vehicle or solved.

Regardless of the type of at least one implement by means of the vehicle on the one hand to achieve a uniform weight distribution to the wheels, but also on the wheels which must transmit the respective tensile force on the ground surface to produce sufficient ballast and beyond during the transfer From a working into a transport position to cause no negative support loads is provided in a development that the drive unit is arranged in particular opposite to at least one implement, the drive unit is considered here in the direction of travel in particular a front area of the vehicle. Wherein the drive unit is also connected to the frame. Subsequent to the drive unit can also be assigned to the frame structure, for example, followed by a cabin for an operator and / or the mounting devices. Furthermore, the wheels may be arranged laterally to the mounting devices and / or to the drive unit.

In particular, it can be provided that the implements are arranged on the vehicle by means of the mounting devices such that the center of gravity of the vehicle FS or the vertical load of the vehicle, which by the weight of the vehicle FGT and the weight of the implement FGA is caused in the direction of travel between the at least two successively arranged wheels.

This is achieved in particular in that the drive unit is located in the front area of the vehicle and the mounting devices in the rear area. In addition, this can be further improved by various positions of mounting devices on the frame. Although the center of gravity can shift between the wheels depending on whether the implement is in the working position or in the transport position, it is always in between, or always in front of the rear wheel.

The center of gravity of the vehicle is defined independently of the type of implement in each case such that a moment which acts on the rear wheel in the direction of the vehicle is always greater than or equal to in the direction of, behind the rear wheel arranged implement. Whereby this is also independent of the respective folding position of the implement. To improve this, the mounting devices may be mounted at different positions of the frame.

Mathematically, this means:
FS × IS ≥ FGT × IGT + FGA × IGA
In which
LS is the lever between the center of gravity and the rear wheel,
LGT is the lever between the center of gravity of the vehicle and the rear wheel,
LGA is the lever between the center of gravity of the weight of the at least one implement and the rear wheel.

An embodiment variant, for example, an agricultural vehicle designed as an autonomous vehicle, may, for example, provide that the drive unit is initially provided in a transport position in a front region. By means of the frame close to the drive unit mounting devices in such a way that at least one agricultural implement is attached to this. Insofar as this has a storage container and / or a transport container, this is subsequently arranged on the drive unit on the vehicle. Laterally next to the drive unit and / or next to the reservoir and / or transport container subframe with associated wheels are mounted. The side parts or the carrier, on which the respective working tools or the working and / or Ausbringelemente are mounted are also in such a variant in the transfer to a transport position in particular pivoted such that they are laterally to the drive unit and / or Extend reservoir and / or to the transport container. In addition, the carrier and / or side parts are pivoted such that they are in a transport position above at least individual wheels or at least in sections above individual wheels.

The vehicle may provide a first operating mode in which the work instructions are respectively controlled and / or regulated by means of the control device on the basis of the actual position determined by the position determination system.

In addition, the agricultural vehicle can provide a second operating mode, wherein the control device can be used to override the first operating mode. And wherein the second operating mode is carried out in particular based on the detected by the environmental sensors obstacles and / or elements. Also, the second operating mode can be defined by means of sensors or measuring means detected malfunction of the actuators and / or the driving speed and / or the steering.

Furthermore, a third operating mode can be provided, wherein by means of the control device an override of the first operating mode and the second operating mode can be done. And wherein the third operating mode is carried out in particular based on predetermined by an operator work instructions. For example, the third operating mode can comprise a coupling to an input device by means of which input device the actuators and / or the elements of the vehicle can be manually operated, in particular independently of the first or second operating mode, in particular independently of the obstacles detected by the surroundings sensor system and / or Elements.

The manual operation in the third operating mode can be carried out independently of the obstacles and / or elements determined by the environment sensor system, although it can still be provided that the input device outputs a warning signal or a hint at the input device for a detected obstacle and / or element, or an additional release by an operator is required.

The input device can be, for example, an operating console mounted on the vehicle and / or in a cabin. Also, the input device may be a control panel, which may be mounted on the vehicle, but may also be designed as a remote control. Furthermore, the input device may be an electronic handheld device. The input device can also serve both for inputting setpoint specifications or for controlling and for outputting or for displaying information of the vehicle and / or the implement. A radio remote control would be conceivable. The input device can also be a mobile terminal, such as a tablet. The input device can be connected to the control device by means of a wire connection, but it would also be a wireless connection, for example by means of WLAN or Bluetooth or the like.

In order to design a wireless connection securely, it would also be conceivable for the communication between the control device and the input device to take place via two parallel channels, so that redundancy is ensured.

Likewise, it can be provided that, in the event of interrupted and / or faulty communication between the control device and the position-determining system or between the control device and the input device or within the control device of the vehicle and / or the at least one working device, the vehicle and / or the implement are placed in a safe In particular, operational safe condition is transferred.

The safe or the operationally safe state includes, for example, a shutdown of the traction drive or a termination of the distribution process in a working device designed as a distributor. Other functions can be controlled accordingly. This is done by means of the control device.

In addition, an emergency-off switch or an emergency-off element can be provided on the input device, which emergency stop can in particular form the third operating mode. Thus, after the emergency stop has been actuated by means of the third operating mode, it can also be provided that the vehicle is transferred to a safe state, i. the example. The traction drive is stopped. It can also be provided that, for example, the distribution of distribution goods is switched off. Other functions can be controlled accordingly. This is done by means of the control device.

In addition, the emergency stop can be defined such that operation of the vehicle is possible only after acknowledgment of this and / or after release by an operator.

In a further development, it can be provided that a change from the third to the second operating mode or from the second to the first operating mode or from the third to the first operating mode can be done only by means of a release by an operator, this release, for example. can be done by means of the input device. In addition, it can be provided that corresponding release parameters are stored in the control device, on the basis of which the respective operating modes can be controlled or actuated. For example, an acknowledgment of the emergency stop can serve as a release parameter. Also, for example, serve as a release parameter whether the environment sensor detects obstacles and / or elements.

In addition, it could be provided that two identical measuring systems are used as environment sensors by means of which the same environmental characteristics are detected in each case. Whereby again it can be provided that, in the case of a defined deviation of the environmental characteristics detected by means of these measuring systems, the vehicle and / or the at least one working device is transferred to a safe state.

Also, priorities may be stored in the control device for various environmental sensors and / or sensors of the implement, so that, for example, based on the detected obstacles and / or elements or based on the detected malfunction of the vehicle and / or the implement, the vehicle and / or the Worker is transferred to a safe state or the vehicle and / or the implement is still operated. Here, for example, an adaptation of the work instructions could be provided, so that, for example, in Dependence of the detected malfunction the vehicle, for example, continues to operate at reduced speed.

The transitions between the modes of operation may normally occur within a bandwidth of a transition region, in particular the boundaries between the modes of operation are fluent, so that the transitions must preferably take place with not exactly limited boundaries between the modes of operation. Where, for example, the operation of the emergency stop this transition can not be fluent but almost abruptly.

Also, the transitions between the work instructions can normally take place within a bandwidth of a transition region, in particular, the boundaries between the work instructions are to be seen flowing, so that the transitions preferably have to take place with not exactly limited boundary between the work instructions. Thus, it can also be provided that, for example, the future defined travel speed and / or the steering angle required in the future is stored on the basis of the position determination system or the routes stored in the control device, and, for example, an acceleration or deceleration already takes place in a preceding work instruction, that, when the desired position for a further work instruction has been reached, the target travel speed has already been reached, which in turn in particular leads to continuous transitions between the work instructions. Likewise, it is possible to proceed with the actuators and the other actuating elements.

In a further development, a towing device can be assigned to the vehicle or the frame, or assigned, so that the vehicle can be transported by means of a towing vehicle by means of the towing device.

It should also be pointed out that all the features defined in advance with respect to the direction of travel at the front could equally well be the other way around, so that, for example, the drive unit is located in the direction of travel at the rear.

If the agricultural vehicle according to the invention has been described previously, it should be emphasized at this point that all aspects and variants which have been explained in connection with the vehicle can equally relate to or be part of the following inventive method. Therefore, if at a point in the description or in the claim definitions of the vehicle according to the invention is mentioned, this applies equally to the inventive method. Conversely, the same applies, so that all aspects which are explained in connection with the method according to the invention can equally be partial aspects of the vehicle.

• - Ermittlung von im Umfeld des Fahrzeug vorhandener Hindernisse und/oder Elemente mittels einer an diesem angebrachten Umfeldsensorik,
• - Steuern des Fahrzeug und/oder des zumindest einen Arbeitsgerät mittels einer Steuereinrichtung, wobei die Steuereinrichtung mit einem, eine Position erfassenden und/oder ausgebenden Positionsbestimmungssystem verbindbar ist und wobei in der Steuereinrichtung vorzugsweise positionsabhängige Arbeitsanweisungen für das Fahrzeug hinterlegt sind.

To solve the problems, the invention also proposes a method for controlling an agricultural vehicle. The method first comprises providing an agricultural vehicle. Wherein this vehicle corresponds in particular to the vehicle described above. In addition, the method comprises the following procedural steps:

• Determination of obstacles and / or elements present in the surroundings of the vehicle by means of an environment sensor attached thereto,
• - Controlling the vehicle and / or the at least one working device by means of a control device, wherein the control device with a, a position detecting and / or issuing position determination system is connectable and wherein in the control device preferably position-dependent work instructions for the vehicle are stored.

The method steps according to the invention can in this case be carried out in particular continuously.

The method may provide a first operating mode in which the work instructions are respectively controlled and / or regulated by means of the control device on the basis of the actual position determined by the position determination system.

In addition, the method can provide a second operating mode, wherein the control device can be used to override the first operating mode. And wherein the second operating mode is carried out in particular based on the detected by the environmental sensors obstacles and / or elements. Also, the second operating mode can be defined by means of sensors or measuring means detected malfunction of the actuators and / or the driving speed and / or the steering.

Furthermore, a third operating mode can be provided, wherein by means of the control device an override of the first operating mode and the second operating mode can take place. And wherein the third operating mode is carried out in particular based on predetermined by an operator work instructions. For example, the third operating mode can comprise a coupling with an input device by means of which input device the actuators and / or the elements of the carrier vehicle can be manually operated, in particular independently of the first or second operating mode, in particular independently of the obstacles and / or elements determined by the environmental sensor system.

The manual operation in the third operating mode can be carried out independently of the obstacles and / or elements determined by the environment sensor system, although it can still be provided that the input device outputs a warning signal or a hint at the input device for a detected obstacle and / or element, or an additional release by an operator is required.

• 1 eine Perspektivansicht eines landwirtschaftlichen Fahrzeug
• 2 eine weitere Perspektivansicht eines landwirtschaftlichen Fahrzeug gemäß der 1, wobei Teile der Schwenkführung ausgeblendet sind.
• 3 eine Seitenansicht eines landwirtschaftlichen Fahrzeug gemäß der 1.
• 4 eine Draufsicht eines landwirtschaftlichen Fahrzeug gemäß der 1.
• 5 eine Vorderansicht eines landwirtschaftlichen Fahrzeug gemäß der 1, wobei mittels Pfeilen jeweils eine Höhenverstellung und eine Spurverstellung dargestellt wird.
• 6 eine Ansicht von hinten eines landwirtschaftlichen Fahrzeug gemäß der 1.
• 7 eine Detailansicht der Schwenkführung bzw. der Verbindungsstreben.
• 8A eine Seitenansicht eines landwirtschaftlichen Fahrzeug mit einem Aufbau einer Feldspritze in Transportstellung.
• 8B eine Seitenansicht eines landwirtschaftlichen Fahrzeug mit einem Aufbau einer Feldspritze in Arbeitsstellung.
• 9 ein Blockschaltbild einer Ausführungsform einer Steuerung und/oder Regelung des landwirtschaftlichen Fahrzeug.

The preferred embodiments and features of the invention described above can be combined with one another as desired. Further details and advantages of the invention will be described below with reference to the accompanying drawings. The proportions of the individual elements to one another in the figures do not always correspond to the actual size ratios, since some shapes are simplified and other shapes are shown enlarged in relation to other elements for better illustration. Show it:

• 1 a perspective view of an agricultural vehicle
• 2 another perspective view of an agricultural vehicle according to the 1 , wherein parts of the pivot guide are hidden.
• 3 a side view of an agricultural vehicle according to the 1 ,
• 4 a plan view of an agricultural vehicle according to the 1 ,
• 5 a front view of an agricultural vehicle according to the 1 , by means of arrows in each case a height adjustment and a track adjustment is shown.
• 6 a rear view of an agricultural vehicle according to the 1 ,
• 7 a detailed view of the pivot guide and the connecting struts.
• 8A a side view of an agricultural vehicle with a structure of a field sprayer in transport position.
• 8B a side view of an agricultural vehicle with a structure of a field sprayer in working position.
• 9 a block diagram of an embodiment of a control and / or regulation of the agricultural vehicle.

The in the 1 to 9 shown embodiments are at least partially consistent, so that similar or identical parts are provided with the same reference numerals and reference is also made to the explanation of the description of the other embodiments or figures to avoid repetition. The illustrated embodiments merely represent examples of how the agricultural vehicle according to the invention and the method according to the invention can be designed and do not constitute a final limitation.

An embodiment of an agricultural vehicle 10 goes from the different views of 1 to 7 out. The vehicle 10 includes a frame 12 , where each left and right to this one subframe 14 is appropriate. On the subframe 14 are each a front wheel 16 and a rear wheel 18 attached, the wheels in each case by means of an independent suspension 20 be attached to the subframe.

The subframes 14 are by means of a horizontal transverse axis 22 swiveling to the frame 12 appropriate. Where the transverse axis is transverse to the direction of travel 32 is oriented and designed as a pipe construction.

In addition, the frame is 12 one around a horizontal longitudinal axis 24 rotatably mounted pivoting guide 26 stored, wherein by means of the pivot guide 26 one on the left subframe 14 and one on the right subframe 14 pivotally mounted connecting strut 28 30 is stored and / or guided.

The agricultural vehicle 10 can, for example, be a self-propelled agricultural machine, for example. A self-propelled sprayer or a self-propelled fertilizer spreader or the like. Also, the vehicle 10 for example, be attached to a towing vehicle. The agricultural vehicle can also, as in the embodiments of the 1 to 8th shown to be an autonomous vehicle and thus in particular have no cabin. Furthermore, the agricultural vehicle may be a vehicle 10 be on which vehicle 10 In turn, a variety of agricultural implements can be grown, so the vehicle 10 also make an agricultural towing vehicle.

In addition, the respective gauge of the wheels 16 ; 18 be adjustable, ie it can be the distance between the subframe 14 or between the subframes 14 and the frame 12 be adjustable. For adjusting the gauge of the wheels 16 ; 18 In this case, a wide variety of adjusting elements could be provided, for example, electrical and / or hydraulic and / or pneumatic adjusting elements, according to the 1 to 8th Find Here, for example, hydraulically operated or driven cylinder 30 Use. Wherein the adjusting elements can in turn be controlled or actuated by means of a control device. The required track width of the vehicle 10 can be stored as a position-dependent work instruction in a control device. However, it would also be conceivable that sensors or the like. Measuring means are mounted on the vehicle and / or on the device by means of which in each case the environment in particular the respective lanes are detected and in turn based on this track willow the lane is varied accordingly by means of the control device.

The wheels, so the front wheel 16 and / or the rear wheel 18 can, for example, an upright axis 36 swiveling on the subframe 14 be stored or arranged and thus steerable. To steer the wheels 16 ; 18 This could be provided a variety of control elements, for example. Electrical and / or hydraulic and / or pneumatic control elements, such as. Steering cylinder 38 , Wherein the adjusting elements can in turn be controlled or actuated by means of a control device.

The front wheels 16 and / or the rear wheels 18 can be height adjustable to the frame 12 or to the subframe 14 be. Where the wheels 16 ; 18 for example, by means of an independent suspension 20 can be attached to the subframe.

To an agricultural vehicle 10 To create which achieves a great smoothness in a simplified structure is also provided that on the frame 12 one around a horizontal longitudinal axis 24 rotatably mounted pivoting guide 26 is mounted, by means of which pivoting guide 24 one on the left subframe 14 pivotally mounted connecting strut 28 and one at the right subframe 14 pivotally mounted connecting strut 30 stored and / or guided.

The horizontal longitudinal axis 24 extends here in particular at least largely parallel to the direction of travel 32 ,

By means of the pivoting guide 26 as well as the left subframe 14 pivotally mounted connecting strut 28 and the one on the right subframe 14 pivotally mounted connecting struts 30 Thus, a connection of the subframe takes place 14 , Where the pivoting guide 26 this may be appropriate in particular in a rear vehicle area. However, it would also be an arrangement in a front vehicle area or another vehicle area conceivable.

The storage and / or management of the left connection strut 28 and the right connection strut 30 takes place, for example by means of one in the pivoting guide 26 mounted or integrated pivot point, wherein the pivot point and the horizontal longitudinal axis 24 may be, but each may be an additional attached to the pivot guide axis of rotation, which may also be horizontal or upright.

The storage and / or management of the left connection strut 28 and the right connection strut 30 by means of the pivoting guide 26 But can also be done as a plain bearing or as a linear guide, such a design is in the 1 to 7 each shown, in particular in the detail view of 7 , in which case also the left subframe 14 in relation to the frame 12 has been moved and the right subframe 14 Not. Thus it can be provided that the cross sections, or circumferences of the pivot guide 26 and the left connection strut 28 and the right connecting strut 30 are coordinated with each other so that they can slide into each other at least in sections, so that a corresponding storage and / or leadership arises. To improve this storage and / or leadership, the pivot guide 26 and / or can the left connection strut 28 and the right connecting strut 30 also be made of a material with appropriate sliding properties but also be equipped with such a material. As a sliding material, for example, plastics can be used. In order to achieve the longest possible sliding surface or guide surface and also allow a track adjustment, it can also be provided that the left and right connecting strut are offset in the direction of travel or arranged one behind the other and / or they are arranged one above the other.

The horizontal longitudinal axis 24 and the horizontal transverse axis 22 lie at least approximately on a plane, this also has the effect that a very flat-building, little space-consuming frame construction or a very flat-building, little space required frame 12 is feasible, creating a compact vehicle 10 be implemented.

The frame 12 are beyond mounting device 40 assigned, by means of which in each case at least one agricultural implement 42 with the vehicle 10 can be firmly connected. At the frame 12 In this case, in particular two or more mounting device 40 be provided. At the mounting device 40 it may in particular be a so-called 2-point recording and / or a 3-point recording.

At least part of the wheels 16 ; 18 can be driven. In particular, however, at least two wheels each 16 ; 18 driven, this being the vehicle 10 at least one drive unit 44 with a powertrain 46 assigned. By means of the drive train 46 can thus the vehicle 10 be operated at different speeds. As a drive unit 44 For example, an internal combustion engine can be used. The powertrain 46 can be next to the drive unit 44 Also include hydraulic and / or electric drives by means of which the respective wheels and / or crawler tracks can be driven. The powertrain 46 can thus form a hybrid drive in particular. However, it would also be conceivable to use purely electrical and / or hydraulic drive trains which do not require an internal combustion engine.

The 8A shows a side view of an autonomous vehicle 10 executed agricultural vehicle according to the invention 10 on which a working device 42 in the form of a distributor or a field sprayer for applying liquid and / or solid active ingredients of agricultural distribution goods is attached. The working device 42 is in accordance with the 8A in transport position. In addition, the shows 8B this working device 42 in a working position

Regardless of the type of at least one implement 42 by means of the vehicle 10 on the one hand a uniform weight distribution on the wheels 16 ; 18 to reach, but also on the wheels 16 ; 18 which have to transfer the respective tensile force to the ground surface, to produce sufficient ballast and, moreover, to cause during the transfer from a working to a transport position no negative support loads is in accordance with 8th provided that the work tools 42 at the vehicle 10 by means of the mounting devices 40 are arranged such that the center of gravity of the vehicle FS or the vertical load of the vehicle, which by the weight of the vehicle FGT and the weight of the implement FGA is caused, in the direction of travel 32 between the at least two wheels arranged one behind the other 16 ; 18 lies.

This is achieved in particular by the fact that the drive unit 44 in the front of the frame 12 located and the mounting devices 40 behind the drive unit 44 , In addition, this may be due to different positions of mounting devices 40 at the frame 12 be further improved. The focus FS may vary depending on whether the implement 42 is in working position or in transport position between the wheels 16 ; 18 shift, but is still always in between.

The focus FS of the vehicle 10 is independent of the type of implement 42 each defined such that a moment which on a rear wheel 18 acts in the direction of the vehicle 10 always greater than or equal to, behind the rear wheel 18 arranged working device 42 , Whereby this also independent of the respective folding position of the implement 42 is.

Further details of a possible control and / or regulation of the agricultural vehicle 10 go out of the block diagram of 9 out. The control of the vehicle 10 takes place in each case by means of a control device 48 , In this control device 48 In particular, position-dependent work instructions are stored. These work instructions can, for example, define or can define setpoint specifications with which travel speed the vehicle 10 is to be moved along the agricultural area or along predefined routes and / or with what steering angle the vehicle 10 to go through a curve. Thus, by means of the control device 48 various elements or control elements of the vehicle 10 according to the actual position of this driven and / or regulated, for example, the steering T _L and / or the driving speed T _F or various other elements T _N or adjusting elements of the vehicle 10 ,

The control device 48 according to the 9 is here greatly simplified and shown only by a rectangle, the controller 48 but may in particular be in operative connection with an electrical and / or pneumatic and / or hydraulic and / or a combination of these energy and signal transmission types based control and / or circuit or include or include this. The control device 36 may also include one or more computer unit (s), in which computer units control programs or a corresponding control algorithm can be stored.

The control device 48 can also use a positioning system 50 be connected, or connectable. In the position determination system 50 it may, for example, be a so-called GPS (Global Positioning System). In addition, however, other or other positioning systems would be 50 conceivable or usable. Where by means of the positioning system 50 each the current position or actual position of the vehicle 10 can be determined or recorded on a particular agricultural area and, for example, to the control device 48 can be transmitted.

In addition, the vehicle is 10 and / or on at least one implement 42 an environment sensor 52 available, for the determination of in the environment of the vehicle 10 existing obstacles and / or elements. The environment sensor 52 is in this case designed such that means of this the entire Working area of the at least one agricultural implement 42 can be monitored. By means of the environment sensor 52 Thus, for example, obstacles such as trees, bushes or the like. Plant-related obstacles and / or elements can be detected, but in particular also living beings such as animals and / or humans.

As environment sensors 52 For example, laser scanners and / or camera systems such as, for example, 3D thermal imaging cameras can be used. Also, 3D cameras and / or 3D scanners and / or 3D rig can be used. Infrared sensors could also be used accordingly. In particular, two environment sensors each come 52 for use. Also, the two environment sensors can 52 recognize different objects, so that on the basis of this in turn a common image by means of the control device 48 can be determined. So can also be provided that the two environment sensors 52 determine various physical properties, from which physical properties then an evaluation of the nature of the obstacle and / or elements takes place. The species can here, for example, information about living things - yes / no; Animal - yes / no or the like.

The work instructions can, for example, by an operator manually in the control device 48 be deposited. Also, the work instructions can initially by means of a control software or by means of a simulation system 54 To be defined. The thus in the simulation system 54 defined work instructions can then turn into the controller 48 can be entered, or the control device 36 with the simulation system 54 be connectable, which in turn the work instructions accordingly in the control device 48 can be deposited.

In a further development, at least one working device can be used 42 various actuators 56 for example, distribution of agricultural distribution material and / or for depth adjustment of seed and / or tillage tools or the like. Be appropriate. Also for these actors 56 can turn position-dependent work instructions in the controller 48 be deposited so that, for example, depending on the current actual position increases a spread rate, reduced or application is completely interrupted, or a working depth is increased or decreased.

The agricultural vehicle 10 may provide a first mode of operation in which the respective work instructions are respectively based on the position determining system 50 determined actual position by means of the control device 48 controlled and / or regulated.

In addition, the agricultural vehicle 10 provide a second mode of operation, wherein by means of the control device 36 an override of the first mode of operation can take place. And wherein the second mode of operation, in particular based on the environment sensors 52 detected obstacles and / or elements. Also, the second operating mode by means of sensors 58 detected malfunctions of the actuators 56 and / or the driving speed T _F and / or the steering T _L and / or the other control elements of the vehicle F _N To be defined.

Furthermore, a third operating mode can be provided, wherein by means of the control device an override of the first operating mode and the second operating mode can take place. And wherein the third operating mode, in particular on the basis of predetermined by an operator control commands 60 he follows.

The invention is not limited to the preferred embodiments described above. Rather, a variety of variants and modifications is possible, which also make use of the inventive idea and therefore fall within the scope. In particular, the invention also claims protection of the subject matter and the features of the subclaims independently of the claims referred to. In particular, the features of the independent claims are each disclosed independently of each other. In addition, the features of the subclaims are independent of all features of the respective independent claim 1 or the method claim 29 disclosed.

LIST OF REFERENCE NUMBERS

10

vehicle

12

frame

14

subframe

16

front wheel; bikes

18

rear wheel; bikes

20

independent suspension

22

horizontal transverse axis

24

horizontal longitudinal axis

26

pivoting guide

28

left connection strut

30

right connecting strut

32

direction of travel

34

cylinder

36

upright axle

38

steering cylinder

40

mounter

42

implement

44

drive unit

46

powertrain

48

control device

50

Positioning System

52

environmental sensors

54

simulation system

56

actuators

58

sensors

60

control command

T _L

Steering vehicle

T _F

Vehicle speed vehicle

T _N

Element vehicle; Control element vehicle

FS

Support load, center of gravity

FGT

Weight force vehicle

FGA

Weight working tool

QUOTES INCLUDE IN THE DESCRIPTION

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

Cited patent literature

• EP 0501585 B1 [0002]

Claims (29)

An agricultural vehicle (10) with a frame (12), to each of which an auxiliary frame (14) is arranged on the left and right, to which at least one front wheel (16) and one rear wheel (18) are rotatably mounted, wherein the auxiliary frame (14) a horizontal transverse axis (22) are pivotally mounted to the frame (12), characterized in that on the frame (12) about a horizontal longitudinal axis (24) rotatably mounted pivot guide (26) is mounted, wherein by means of the pivot guide (26) has an on left subframe (14) and a right subframe (14) pivotally mounted connecting strut (28; 30) stored and / or guided. Vehicle (10) to Claim 1 , characterized in that it is a self-propelled agricultural machine and / or an agricultural towing vehicle and / or an autonomous vehicle (10). Vehicle (10) to Claim 1 or 2 , characterized in that the horizontal transverse axis (22) extends transversely to the direction of travel (32) and that the horizontal longitudinal axis (24) extends at least substantially parallel to the direction of travel (32). Vehicle (10) according to one of the preceding claims, characterized in that the plane of the horizontal transverse axis (22) and the plane of the horizontal longitudinal axis (24) have a height distance from each other which is less than or equal to 500mm, but in particular less than or equal to 250mm and especially smaller than 100mm. Vehicle (10) according to one of the preceding claims, characterized in that the horizontal transverse axis (22) and the horizontal longitudinal axis (24) lie on one plane. Vehicle (10) according to one of the preceding claims, characterized in that the left connecting strut (28) and the right connecting strut (30) in a rest position, have an at least substantially horizontal orientation. Vehicle (10) according to one of the preceding claims, characterized in that the bearing of the left connecting strut (28) and the right connecting strut (30) takes place by means of a pivoting guide (26) integrated pivot point. Vehicle (10) to Claim 7 , characterized in that the fulcrum is the horizontal longitudinal axis (24). Vehicle (10) according to one of the preceding claims, characterized in that the guide of the left connecting strut (28) and the right connecting strut (30) by means of the pivot guide (26) takes place as a slide bearing and / or linear guide. Vehicle (10) to Claim 9 , characterized in that the cross sections of the pivot guide (26) and the left connecting strut (28) and the right connecting strut (30) are coordinated with each other in such a way that they can slide into each other at least in sections. Vehicle (10) to Claim 9 , characterized in that the pivoting guide (26) and / or the left connecting strut (28) and / or the right connecting strut (30) are made of a material with corresponding sliding properties and / or that they are equipped or coated with such a material, and / or they are made of different materials. Vehicle (10) according to any one of the preceding claims, characterized in that the left connecting strut (28) and the right connecting strut (30) are arranged offset in the direction of travel (32) and / or that they are arranged one above the other. Vehicle (10) according to one of the preceding claims, characterized in that the frame (12) is associated with at least one mounting device (42) for connection to at least one agricultural implement. Vehicle (10) according to one of the preceding claims, characterized in that it is provided with an environment sensor (52) for detecting obstacles and / or elements present in the environment of the vehicle (10) and with a control device (48) for controlling the vehicle (10 ), wherein the control device (48) is connectable to a position determining and detecting system (50). Vehicle (10) according to any one of the preceding claims, characterized in that in the control device (48) preferably position-dependent work instructions for the vehicle (10) are stored. Vehicle (10) according to one of the preceding claims, characterized in that the front wheels (16) and / or the rear wheels (18) are arranged about upright axles (36) steerable to the subframe (14). Vehicle (10) according to one of the preceding claims, characterized in that the Wheels (16; 18) are height adjustable to the subframe (14). Vehicle (10) according to one of the preceding claims, characterized in that the track width of the wheels (16; 18) is adjustable. Vehicle (10) to Claim 17 or 18 , characterized in that an adjustment is made on the basis of a position-dependent work instruction and / or that an adjustment based on the vehicle (10) and / or on at least one implement (42) mounted sensors or measuring means. Vehicle (10) according to one of the preceding claims, characterized in that it comprises a drive unit (44) with a drive train (46), by means of which drive train (46) the vehicle (10) can be operated at different driving speeds. Vehicle (10) according to any one of the preceding claims, characterized in that the work instructions include at least setpoint specifications for the steering and / or the driving speed and / or that the work instructions comprise setpoint data for specified routes. Vehicle (10) according to one of the preceding claims, characterized in that at least one working device (42) at least one actuator (56) is mounted, wherein the working instructions include setpoint specifications for the actuators (56). Vehicle (10) according to one of the preceding claims, characterized in that this comprises a first operating mode, wherein in the first operating mode, the work instructions based on the determined by the position determining system (50) actual position by means of the control device (48) controlled and / or regulated , Vehicle (10) according to any one of the preceding claims, characterized in that this comprises a second operating mode, wherein by means of the control device (48) takes place an override of the first operating mode. Vehicle (10) according to any one of the preceding claims, characterized in that the second operating mode is defined in particular on the basis of the environmental sensors (52) detected obstacles and / or elements and / or the second operating mode by means of sensors (58) detected malfunctions the actuators (56) and / or the driving speed and / or the steering is defined. Vehicle (10) according to any one of the preceding claims, characterized in that it comprises a third operating mode, wherein by means of the control device (48) an override of the first operating mode and the second operating mode takes place. Vehicle (10) according to any one of the preceding claims, characterized in that the third operating mode is defined in particular based on predetermined by an operator control commands. Vehicle (10) according to one of the preceding claims, characterized in that based on the position determination system (50) and / or the control device (48) stored routes the future defined travel speed and / or the steering angle required in the future is deposited, and an acceleration or delay already takes place in a previous work instruction in such a way that when the desired position for a further work instruction is reached, the setpoint driving speed has already been reached. Method for controlling an agricultural vehicle (10), comprising providing an agricultural vehicle according to one of the preceding claims, characterized by the further method steps: - determination of obstacles and / or elements present in the surroundings of the vehicle (10) by means of an environment sensor attached thereto (52), - controlling the carrier vehicle (10) and / or the at least one implement (42) by means of a control device (48), wherein the control device (48) with a position detecting and / or dispensing position determining system (50) is connectable and wherein in the control device (48) preferably position-dependent work instructions for the vehicle (10) are stored.

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