DE2939987A1 - METHOD FOR ALIGNING MOBILE AGRICULTURAL DEVICES AND DEVICE FOR CARRYING OUT THE METHOD - Google Patents

Description

- 6 Introduction to the description

The invention relates to a method for aligning drivable vehicles agricultural facilities and a device for performing the method according to the preamble of claim 1.

In particular, the invention is based on a device for aligning agricultural implements that are self-propelled or can be connected to a tractor; the devices are in particular those that for plants growing in rows.

The plants just mentioned include, in particular, those that require cultivation very close to their location.

The either self-propelled or connected to a tractor The processing device or the device does not always correctly follow the row of plants. On the other hand, it is important that the processing equipment or agricultural facilities are precisely positioned in relation to the plants for use come to their damage or a loss or ineffectiveness of the means to be used, with a In other words, to avoid incorrect use of the agricultural equipment carried by the facility.

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Accordingly, it is the object of the invention to be taken from the claims to specify a method or means suitable for this purpose, around agricultural equipment or facilities depending on the respective direction of planting to be used close to the plants.

The procedure consists in first determining the respective planting direction of the plants to be treated determine a necessary correction of the side and, if necessary, the Carry out altitude and then use the actual equipment.

The device intended for carrying out the method can be self-propelled or connected to a tractor. The vor ^ direction has means for determining the planting direction of the plants to be treated, associated means for determining a possible lateral shift and / or the angular deviation between the advancing direction of the device and the direction in which the plants are planted, as well as drive means connected to said devices for acting either on the machine or its displacement device, so that the device can be brought into the correct position is.

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The actuating means can also act directly on the leading wheels of the self-propelled device or the tractor .

If the device is arranged in front of and / or behind a tractor, the device includes between the tractor and Device is a quadrangular joint that allows a transversal and, if necessary, a vertical displacement of the device with respect to the Tractor enables; Actuating means are used to pivot the quadrangle.

The means of determining the planting direction of the plants can be designed in a manner known per se and include, for example, a scanning roller that is below in a In a furrow or in a track that was made parallel to the rows of plants during sowing.

The locking means can also consist of sensors, which are arranged on both sides of the device and the task have to determine the physical presence or absence of plants, such as corn stalks, in their path.

The means for determining the lateral displacement of the device in relation to the correct position, if a feeler wheel is used, for example, consist of electrical contacts, which are arranged on both sides of the wheel; They have

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the task of determining the lateral displacement of the wheel and to regulate said drive means for corrective control of the device.

In the case of the sensors, there are means for determining the lateral displacement of the device, for example from means arranged on one side of the device, which determine that the sensor or sensors have not been acted upon and which also return the device to the correct position via the adjusting means.

Further details of the subject matter of the invention and the advantages achieved by it can be found in the following Description of exemplary embodiments and from the schematic drawing.

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- 10 description of the figures

In the drawing show:

Fig. 1,2

and 3 three ways of moving a device to an agricultural machine, which travels in a given path,

Fig. 4 shows a first embodiment of the invention Contraption,

FIG. 5 shows a second embodiment, FIG. 6 shows a third embodiment,

7 shows a device according to the invention for attachment via a conventional three-point support, in perspective Representation and

8 shows a generally kept control or regulation scheme for a device according to the invention.

Fig. 1 shows a first possibility of moving an agricultural implement, machine or device compared to the associated tractor 2, which in turn moves in the direction of the arrow.

The device, designated 1 from now on, is connected to the tractor 2 via a connection system 3 which, according to the invention with a device for correcting or compensating

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any relative movements of the device 1 transversely to the advancing direction is provided.

In the case of FIG. 2, the device 1 is tracked or pulled; it is behind the tractor 2 under interposing a connection system 3 'that the system 3 at least is similar, attached.

The connection system 3 can be on the tractor 2, i.e. in the connection level between device and tractor, or on the device (connection level between system and device) or on both be articulated.

As far as the type of joint is concerned, it can be one with one or more pivot axes, in particular vertical ones for a horizontal transversal shift, or about horizontal axes, and also a combination of the above Axes, ultimately those with further freedom of movement, depending on the connection system or the device.

3 illustrates the case of a self-propelled one agricultural machine 2 or one (or two) fixedly connected to a tractor device 1a (or 1b). what on comes out the same.

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Considered more precisely, Fig. 3 shows two devices 1a and 1b, which are in front of and behind a tractor 2 with interconnection each of a connection system 3 or 3 'are attached, the in this case transversely stiff, but adjustable in height by means of a three-point attachment known per se is.

In the case of FIG. 3, the device according to the invention also includes drive means which directly control the direction of travel of the Affect the tractor (or the steering system of the self-propelled device act); this happens depending on control commands issued by the detection means (detectors) proceed, whereby a lateral deviation of the entire facility in relation to the planting direction (not shown in Fig. 3) of the plants to be processed is balanced.

Working on the plants is not just about treating them directly (atomizing, spraying, picking, etc.) but also influencing them to understand the planting distance (hoeing, warping, weeding, etc.). For this reason, the subject of the invention is Applicable in the same way to agricultural machines, devices or facilities generally designated by 1.

With all of its configurations, the subject of the invention is fully automatic; it then contains a rule, control or

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Servo device. This includes means of detection (detectors or sensor) to determine the lateral offset of the device or the machine in relation to the Planting line of the plants, also control or adjusting means to automatically compensate for the offset by a movement appropriate to the case. This can be done directly on the device or on the machine (self-propelled or tractor) if the connection does not have a lateral offset of the device in relation to the longitudinal axis of the Tractor allowed.

Obviously, the control, regulating or servo device does not necessarily work as required Intervention in the system by hand, in particular the side sensors, can be carried out at any time can.

On the other hand, according to a simplified version of the system, the correction device can only have correction means for correcting the lateral offset of the device 1 as well as manually operated means for direct control of the correction device include.

FIG. 4 illustrates very schematically and only partially an exemplary embodiment of the device according to the invention in FIG

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Applied to the case of Fig. 1, i.e. an agricultural one Machine or a device 1, which is mounted in front of a tractor, of which only the frame is something at 4 was indicated.

The device, machine or device 1 is connected to the frame via an articulated coupling system, which is here as a movable Articulated square is formed, of which two elements on the one hand by the device and on the other hand by the tractor are formed. Coupling rods 5 (which may or may not be parallel to each other) serve as connecting elements can), which are connected to the device and the Tractor are connected. In place of the ball joint or joints 6, a pivot joint can, if necessary, also occur for example, the rod 5 is only movable in a horizontal plane.

Diagonally in the four-bar linkage mentioned, a hydraulic cylinder 7 that acts in two directions is arranged two ball joints 6 attached and so acted upon is that the device 1 can be moved transversely to the direction of travel 8 by moving the quadrangle. The end the piston rod to the cylinder 7 is not directly connected to the device, so the latter from the articulated square for example removed in the plane of the joints and replaced by another

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Device or machine 1 can be replaced without one this would also have to solve the end of the rod to the cylinder 7.

The hydraulic cylinder 7 is included in the control, regulating and servo circuit 10 to 14 as an adjusting means.

Such a circle is indicated schematically in FIG. Here is a system for mechanical correction of the Symbolizes the position of the agricultural machine or the device.

In the example according to FIG. 1, the mentioned system includes the cylinder 7, which acts directly on the device 1.

The system 10 is controlled by a distribution relay 11 (e.g. an electrical distributor), which in turn is controlled by a power amplifier 12, the Receives signals from an automatic actuator 13, which in turn is connected to the system 10.

The automatic actuator 13 includes, on the one hand, means for determining the exact course of the plant rows and on the other hand, means for determining a possible lateral migration of the machine or the device 1 in relation

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on the rows of plants.

The means for determining the position of the rows of plants can, for example, from a system known per se with a feeler roller that is carried by the machine and runs along a furrow or groove that is at the sowing was formed into the soil parallel to the row of plants.

In this case there are, for example, the means for determining a possible lateral migration of the machine or the device from electrical contacts that are on both sides are firmly attached to the roll. The roller can rotate freely around a vertical axis and is driven by the furrow that it constantly follows, in the event of a lateral deviation of the machine, sometimes driven from one side, sometimes from the other.

The lateral pivoting of the roller loads one of the electrical contacts, which then affects the correction system 10 controls so that the side deflection disappears and the machine is back in the correct position in relation to the furrow occupies.

Such sensing devices are known per se and require no further explanation.

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According to another embodiment, the means for determining the course of the rows of plants consist of buttons, which are attached on both sides of the machine or the device 1 and have the task of detecting the physical presence of Identify plants (e.g. stalks of maize). The means for detecting lateral drift of the machine are formed, for example, by means that detect the absence of signals from the sensor or sensors of a Go out side of the machine and control the correction system 10 in the appropriate sense, so that the not acted upon After the machine has moved sideways, the feelers come into lost contact with the plants.

The scheme shown in Fig. 8 also shows a manually operated one Actuator 14 (for example, an electrical control switch) that operates directly on power amplifier 12 by short-circuiting the corresponding parts of the control / regulating circuit 10 to 13 acts.

Fig. 5 shows a variant of the device according to FIG. 4. The diagonally lying cylinder 7 is here simple or by two Replaces double-acting cylinders 15, which are installed between the machine and tractor 4 on the outside of the four-bar linkage.

The two cylinders 15 deform the four-bar linkage and thus cause a transverse displacement of the machine or the Device 1 across the working direction.

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If the coupling rods 5 of the quadrangle are parallel to each other, the device 1 moves in parallel to itself, unless it is also pivoted during the transverse movement.

Fig. 6 shows another embodiment, which is mainly intended for the case that the machine 1 is pulled or is attached to the rear of the tractor symbolized by 16.

The connection is also established here by a four-bar linkage with coupling rods 5 and ball joints 6.

The deformation of the four-bar linkage is caused by a movement screw 17 together with one associated with the tractor 16 Nut 18 ensured. The screw 17 is through a Hydraulic or electric motor 19 is driven, which is attached to one of the coupling rods 5 by means of a support part 20 is.

The motor 19 is controlled automatically either by the control / regulating circuit according to FIG.

By the motor 19, the position of the screw 17 is changed in relation to the nut 18, whereby the motor 19 is the Tractor 16 either approaches or moves away from it.

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As a result, the coupling rods 5 pivot around the ball joints 6 of the tractor and move the device 1 sideways in one direction or the other.

FIG. 7 illustrates the application of the device according to FIG. 4 with a three-point suspension.

One in front of or behind a tractor by means of a rigid connection attached frame 21 has three fastening or connecting arms 22, 23 and 24 (Koppe! rods).

The two lower arms 22 and 23 are parallel to each other (but need not necessarily be) and form together with the appropriate one attached to the end of the arms 22, 23 and 24 Joints (ball or tenon joints) 6 attached device 1 is a movable quadrangle.

The joints between the frame 21 and the arms 22, 23 and are ball joints 6 which allow both horizontal and vertical displacements of the device in relation to the tractor (movements about the X ¹ , X and Y ¹ , Y axes).

The deformation of the quadrangle containing the arms 22 and 23 is effected by a diagonal hydraulic cylinder 25, which is connected to the frame 21 at one end

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a ball joint 6 and at the other end with one of the arms, for example 23, is also articulated.

The vertical displacement of the device is effected by two hydraulic cylinders 26, which are connected via ball joints 6, both with the frame 21 and with the arms 22 and 23 are articulated.

The cylinder 25 is driven by a hydraulic (or pneumatic) Controlled controller, which form part of the control / regulating circuit or can also be operated directly by hand can.

In the case of a trailing machine, the manual control includes the disadvantage that an additional manpower is required to monitor the correct position of this machine will.

If, on the other hand, there is a device in front of the tractor, its driver can either additionally use the Take over side control of the device with or also switch on the mentioned control / control circuit.

In the case of self-propelled agricultural equipment, or when an agricultural device is connected to a tractor without the possibility of side shifting, works

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the correction system 10 to the control / regulating circuit directly the steering of the self-propelled or the tractor. For this the control / regulating circuit can also be equipped with sensors for determining the direction to be observed according to the FR patent application 7 822 603 dated July 31, 1978.

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Claims (12)

P 78 P 100 applicant; Guy PAYEN, Chauchigny, MERY SUR SEINE, France Title; Method for aligning mobile agricultural equipment and device for carrying out the method (Claims) Method for aligning mobile agricultural equipment which is used for treating plants growing in rows and for bringing the equipment close to the plants, characterized by the following steps: 1.1 Determining the actual course of the series of plants, 1.2 Compare the actual direction of the device with the target direction given by the rows of plants and 1.3 Adjusting the device to the specified lateral distance from the plants to be treated. 2. The method according to claim 1, characterized by additional Liches controlling the device to a predetermined one Height of the facility. October 2, 1979 - 2 - 030017/0704 3. Apparatus for performing the method according to claim 1 or 2, whereby an agricultural facility is connected to the vehicle via connecting means is and to the connecting means at least one control part articulated on the vehicle and on the device heard, characterized by at least one possible lateral deviation of the agricultural facility (1) Sensory means determining from the row of plants and actuating means controlled by the sensing means and acting on the connecting means (3), e.g. (7,10,15 17.25). 4. Apparatus according to claim 3, characterized in that the connecting means (3) consists of at least two articulated, with their respective ends via joints (6) to the vehicle (e.g. tractor 2) or the agricultural facility (1) connected control rods (5,22,23,24) exist that this control rod is such a movable Form a four-bar linkage that the device (1) can be displaced at least transversely with respect to the vehicle (2), and that the actuating means (e.g. 7, 16, 15, 17, 25) are designed to deform the quadrilateral joints. 5. Apparatus according to claim 4, characterized in that the actuating means consists of at least one, in two P 78 P 100 October 2, 1979 -3 - 030017/0704 effective in opposite directions
hydraulic and / or pneumatic piston-cylinder unit (7) and that this cylinder unit is arranged along a diagonal in the parallelogram-shaped movable articulated square (Fig. 4). 6. Device according to any one of claims 3 to 5, characterized in that the device in such a way
a three-point hitch is included that two arms (e.g. 22,23) of this suspension two of the elements of the
form a movable quadrilateral joint (Fig. 7). 7. Device according to one of claims 5 or 6, characterized in that that the actuating means formed by two cylinder units (7; 15) and that these outside of the movable quadrangle are arranged (Fig.5). 8. Apparatus according to claim 4, characterized in that the actuating means by a motor (19) together with the movement screw (17) with nut (18) or a cylinder unit are formed that these actuating means to the Vehicle (e.g. tractor 16) or one of the arms (e.g. 5) of the articulated quadrilateral and that the motor (19) or the cylinder unit, the arm (e.g. 5) of the articulated quadrilateral or the vehicle (e.g. 16) is acted upon (Fig. 6). P 78 P 100 October 2, 1979 - 4 - 030017/0704 9. Apparatus according to claim 3, characterized in that the sensing means for determining the lateral deviation the agricultural facility (1) is a sensing roller and that this sensing roller at the bottom a furrow formed in the soil during sowing and parallel to the row of plants can be rolled off. 10. The device according to claim 3, characterized in that the means for determining the emigration of agricultural device (1) are formed from sensors that these sensors on both sides of the Device (1) arranged and that these feelers the presence or absence of plants (for example stems of maize) are established in their trajectory. 11. Device according to one of claims 3 or 9, characterized in that the means for determining the emigration the agricultural facility (1) from directly or indirectly on both sides of the feeler roller There are attached electrical contacts and that these contacts detect a drifting of the sensing roller and the actuating means for correcting the position of the device (1) are switched to control. P 78 P 100 October 2, 1979 - 5 - 030017/0704 12. The device according to claim 3, characterized in that the means for determining the emigration of agricultural establishment a non-loading of the lateral sensor or sensors and the actuating means are switched to control that the device (1) is guided into the correct position. P 78 P 100 October 2, 1979 - 6 - 030017/0704