EP3276579A1 - Method and system for determining a load state of a vehicle, in particular an agricultural vehicle - Google Patents

Abstract

A method for determining a load condition of a, in particular, agricultural vehicle (10) having a plurality of components (36), a sensor system (38) for generating at least one sensor signal (S), and a rating unit (50) for detecting and processing sensor signals (S) and at least one additional parameter (P), wherein according to the invention, the evaluation unit (50) based on the actual load load value (WB) at least one, in particular selectable, component (36) of the vehicle (10) based on at least one Sensor signal (S) and / or at least one parameter (P) determined, the determined load value (WB) with a stored reference value (WR) compares, and based on the comparison of the load value (WB) with the reference value (WR) a state value (WZ ) for the component (36) which is representative of the current load condition of the component (36).

Description

The invention relates to a method and a system for determining a load condition of a, in particular agricultural, vehicle according to the independent claims 1 and 11.

As with all types of machinery, vehicles are also subject to wear due to stresses associated with their use, which may require, in addition to regular maintenance, replacement of wearing parts or even repair. Especially in agricultural machinery, the loads occurring during their use are high, which may be due to the often required high performance and thus large forces, such as in soil cultivation, and the usually uneven terrain. Due to the versatile applicability of agricultural vehicles such as tractors, greatly different loads can occur from vehicle to vehicle, for example when plowing or operating a baler, which can have very different effects on the individual components and their life. A reliable determination of the condition of individual components or the entire vehicle is based on the vehicle documents and a superficial assessment difficult, so often a costly disassembly and examination of the respective components would be required.

From the DE 100 29 634 A1 a method for detecting, displaying and registering service intervals of a motor vehicle is known. In addition to the wear part to be monitored, its operating media, for example oil or windshield washer fluid, are monitored by appropriate test equipment. In a control device, an entry with characteristic parameters is maintained for each wearing part and operating media to be monitored, which, in addition to data on the original state, also contain parameters which are characteristic of a specific wear and / or aging. If in a comparison a measured parameter has a predetermined degree of deviation from the corresponding characteristic parameter, a corresponding maintenance action is required, which is indicated by a signal. This method allows timely maintenance of a machine or its components to avoid failure of the machine. An evaluation of the current load condition of a machine or a vehicle based on the loads incurred in the previous work is not possible with the method.

It is therefore the object of the present invention to provide a method and a system which enable an objective determination of an actual load condition of a, in particular agricultural, vehicle or individual components of the vehicle.

The object is achieved by the features of claim 1 and by the features of claim 11. Advantageous embodiments of the invention are specified in the dependent claims.

A method for determining a load condition of a, in particular agricultural vehicle, with a plurality of components, a sensor system for generating at least one sensor signal, and a rating unit for detecting and processing sensor signals and at least one additional parameter. According to the invention, the evaluation unit determines a load value based on the actual load of at least one, in particular selectable, component of the vehicle based on at least one sensor signal and / or at least one parameter, compares the determined load value with a stored reference value, and determined based on the comparison of the Load value with the reference value, a state value for the component, which is representative of the current load state of the component. The continuously and / or discontinuously determined state value of the component is an objective statement about its technical load state, on the basis of which a statement about the previous load and in particular an objective statement about the expected service life of the component can be made possible. It is also possible due to the determined load condition of the component to make an improved statement about the probability of failure of the component.

It is particularly advantageous if the load values and / or state values of a plurality of, in particular selectable, components are combined to form a load value and / or a state value for the entire vehicle. By determining a load and / or condition value for the entire vehicle, an improved statement about the current state and in particular the expected service life of the vehicle can be made. It is likewise advantageous that the determined load and / or state values for the entire vehicle are based on the values of individual components, as a result of which a load-based and / or status-value-based selection of a vehicle for future work assignments can take place. This allows vehicles to be more evenly loaded, thus allowing a longer service life.

In a particularly preferred embodiment of the method, a design value, a value determined by simulation and / or an empirically determined value is used as the reference value. Design values, which serve as a reference value for the determined load values, correspond to the requirements and / or load cycles underlying the design of the component. These have the advantage that the values already exist and can be used without further time-consuming and expensive experiments. By using simulation values and / or empirically determined reference values, the accuracy of the determined load condition can be further improved.

In a further preferred embodiment of the method, the load values and / or state values of individual components are weighted, in particular in the case of a summary of a load value and / or state value for the entire vehicle. The weighting of individual and / or all loading and / or condition values makes it possible to take account of special load situations in which, for example, individual components which can cause high repair costs are particularly heavily loaded.

In a preferred embodiment of the method, the parameters used are a period of time, operating hours, an operator input, an operating event, and / or maintenance data for individual components and / or the entire vehicle. The consideration of parameters allows a further improvement of the accuracy of the determined load condition of a component and / or the entire vehicle.

In a preferred embodiment of the method, load values and / or state values are determined for a definable period of time and / or over the service life of the vehicle and / or at least one, in particular selectable, component. The determination of the load for a definable period, for example, for the duration of processing a field, allows a more detailed determination of the load, for example, for certain work of the vehicle. Since loads on the vehicle and / or individual components are also subject to wear and resulting in costs, costs can be allocated by the time-related load values and / or state values to specific work and / or periods of time.

Preferably, based on the determined load value, a change in the state value of at least one, in particular selectable component and / or the entire vehicle is determined and displayed. As a result, effects of a load of the vehicle, such as the life or the time to a necessary maintenance, especially during the execution of the work can be displayed. This has the advantage that a load of the vehicle can be better estimated and the effects in the use of the vehicle can be better taken into account, for example, to avoid unnecessary early maintenance or simultaneous maintenance of multiple vehicles.

In a further preferred embodiment of the method, a determined load value is compared with a stored limit value and / or an approximation value, and an indication of this is output upon reaching and / or exceeding the limit value and / or the approximate value. By indicating that the limit value has been exceeded, unnecessary damage to the vehicle and / or the component can be avoided. Because of that, for example an operator is a distance to a limit value, the approximate value, definable, upon reaching an indication, in particular visually, acoustically or electronically by the evaluation unit, can be output, damage or overloading of a component can be avoided in good time. In addition, this offers the possibility, in particular when determining load values of selected components, to use vehicles in time for other work in order to achieve the most uniform possible loading of all components and of the vehicle.

Preferably, based on the state value of selected components and / or the entire vehicle, a monetary evaluation of the entire vehicle and / or individual components is performed and a currency-based value is determined. Additional parameters such as a purchase price, repair costs or used vehicle prices can be taken into account for the monetary valuation. This has the advantage that based on the actual, objectively recorded load condition of the vehicle, for example, a reasonable resale price can be found.

Furthermore, it is advantageously determined based on the determined state value of at least one, in particular selectable, component and / or the entire vehicle, when a selected component and / or the entire vehicle should be maintained. On the basis of the determined state values, in particular of individual components, and by displaying a time until the required maintenance, maintenance work can be planned early and spare parts required can be ordered, so that the downtimes of the vehicle can be reduced.

The invention relates to a system for determining a load condition of a, in particular agricultural, vehicle having a plurality of components, a sensor system for generating at least one sensor signal, and a rating unit for detecting and processing sensor signals and at least one additional parameter. According to the invention, the evaluation unit based on the actual load based load value of at least one, in particular selectable, component of the vehicle determined on at least one sensor signal and / or at least one parameter, the determined load value is comparable to a stored reference value, and based on the comparison of the load value with the reference value, a state value for the component is determined, which is representative of the current load state of the component. The continuously and / or discontinuously determined state value of the component is an objective statement about its technical load condition, on the basis of which a statement about the previous load and in particular an objective statement about the expected service life of the component can be made possible. In addition, it is possible to make an improved statement about the failure probability of the component on the basis of the determined load condition of the component.

The invention furthermore relates to a vehicle, in particular an agricultural vehicle, having a system designed as described above for determining a load condition, in particular by means of a method according to a method as described above.

The invention will be explained in more detail with reference to the accompanying drawings.

Fig. 1:

eine schematische Seitenansicht eines landwirtschaftlichen Fahrzeuges;

Fig. 2:

ein schematisches Diagramm zur Durchführung des Verfahrens zur Bestimmung eines Belastungszustandes eines, insbesondere landwirtschaftlichen, Fahrzeuges; und

Fig. 3:

ein schematisches Diagramm eines Teilverfahrens zur Bestimmung eines Belastungszustandes einer Komponente des, insbesondere landwirtschaftlichen, Fahrzeuges.

Show it:

Fig. 1:

a schematic side view of an agricultural vehicle;

Fig. 2:

a schematic diagram for carrying out the method for determining a load condition of a, in particular agricultural, vehicle; and

3:

a schematic diagram of a sub-method for determining a load condition of a component of, in particular agricultural, vehicle.

In Fig. 1 is an agricultural vehicle 10 in the form of a tractor shown schematically from the side, the basic structure of a tractor than that Specialist is accepted. An agricultural vehicle 10 within the meaning of the invention can be any vehicle that can be used for agricultural work, for example a tractor, a truck or a self-propelled harvester. The tractor has a driver's cab 12 for receiving an operator, wherein an operator terminal 14 for displays and inputs of the operator for operating the agricultural vehicle 10 is arranged within the driver's cab 12. The tractor has a plurality of ground engaging means in the form of wheels arranged on a front axle 16 and a rear axle 18. The wheels are driven via a drive train 20 by a drive motor 22, which is designed in the form of an internal combustion engine, and a cooperating with this gear 24. In this case, the transmission 24 can be designed in the form of a hydraulically-mechanically power-split transmission, which has hydrostatic drives 26 in the hydraulic power branch. An output torque of the transmission 24 is transmitted via the drive train 20, which is shown schematically, to the wheels, wherein the illustrated agricultural vehicle 10 is an all-wheel drive vehicle. About the gear 24, a PTO shaft 28 is also driven, which can serve in the illustrated embodiment, the drive of a rear side arranged on the tractor attachment.

For supplying the vehicle 10 and / or a working device with hydraulic energy, the vehicle 10 has a hydraulic system 30. For attaching and / or pulling an agricultural implement (not shown), the vehicle on the rear side a rear linkage 32 and a drawbar 34. The individual components of the vehicle 10 each represent a component 36, for example, the front and rear axle 16,18, the drive train 20, the drive motor 22, the gear 24, the PTO 28 or the hydraulic system 30. The vehicle 10 also has a Sensor system 38, which comprises at least one sensor. The sensor system 38 of the illustrated vehicle 10, in addition to speed sensors 40 and torque sensors 42, which are arranged, inter alia, on the front and rear axle 16, 18, the gear 24, and the PTO shaft 28, also a tensile force sensor 44 on the drawbar 34. Furthermore, the sensor system 38 includes temperature sensors 46, for example, to measure an oil temperature of the drive motor 22 and / or the transmission 24, and a pressure sensor 48, which measures the pressure generated by the hydraulic pump 30. For collection and processing of the sensor system 38 generated sensor signals is provided connected to the sensor system 38 evaluation unit 50 which may be spaced from or integrated into the control unit 14 may be arranged.

According to the invention, the evaluation unit 50 determines a load value W _B of at least one component 36 based on the actual load. This component 36 can be selected in order, for example, to record particularly heavily loaded components 36 depending on the work input. The determination of the load value W _B is based on at least one sensor signal s, which is generated by the sensor system 38, and / or at least one parameter P. By comparing the load value W _B with a, for example, in the evaluation unit 50, stored reference value W _R. for the determined load, a state value Wz for the considered component 36 can be determined, which is representative of the current load state of the component 36. The determined load state includes not only wear of the component 36, for example by material removal, but also, for example, a material fatigue, the component 36, which would be difficult to detect especially by a superficial examination. By determining a plurality of load values W _B and / or load conditions Wz, an overall load condition W _ZF for the entire vehicle 10 can be determined.

In FIG. 2 a sequence of the method for determining a load condition of a vehicle 10 in the form of a tractor is shown. The method can be carried out, in particular automatically, continuously or discontinuously, in particular at predeterminable times. The tractor 10 has a plurality of components 36, such as the drive motor 22 and the transmission 24. During operation of the vehicle 10, these components 36 are subjected to a load, which may be caused for example by the use of an attached to the vehicle 10 implement 52 , By means of the sensor system 38 of the vehicle 10, sensors assigned to the individual components 36 can generate sensor signals s corresponding to a load on the respective component 36.

In a first step, the components 36 to be considered are to be selected. In this case, all available components 36 can be selected and, for example be continuously considered, for example, to be able to determine the most accurate load condition of the vehicle 10 over its lifetime. It is also conceivable to select certain components 36, for example, depending on the type of use of the vehicle 10, and to determine their load condition continuously, for a specific period of time, or discontinuously. As a result, for example, maintenance work for particularly heavily loaded components 36 can be better planned.

For the selected components 36, a load value W _{B is then} determined in each case based on at least one sensor signal s and / or at least one parameter P. In this case, the evaluation unit 50 can detect sensor signals s from sensors which detect, for example, an input and output rotational speed of the transmission 24, a transmission oil temperature and / or torques acting in the transmission 24. The sensor signals s are converted by the evaluation unit 50 into load values W _B usable for a comparison with reference values W _R , for example into a torque / time profile or the duration of a load with a torque above a predetermined value. A reference value W _R for the load value W _{B of} a component 36 may be a theoretical design value W _RA , which was based on the construction of the relevant component 36, a reference value W _RS determined by simulation and / or an empirically determined reference value W _RE . These reference values W _R , in particular the empirically determined values W _RE , can be generated, for example, by telematics systems on a work machine or on a fleet of work machines and / or from large data quantities, so-called big data.

In addition to sensor signals s, the evaluation unit 50 can also use parameters P for determining a load value W _{B of} a component 36. Parameter P can thereby definable periods of time t, the theoretical life T is designed for the one component 36 or the vehicle 10, operating hours t _B , an operator input P _B , maintenance data Pw individual components 36 and / or the entire vehicle 10, and / or Operating event P _E such as particularly heavy load changes, gear shift 24 or accident damage.

The determined load values W _B for each selected component 36 are then each compared with a corresponding reference value W _R. The reference value W _R can be stored in the evaluation unit 50. Based on the comparison, the evaluation unit 50 then determines 100 a state value W _ZK for each selected component 36 which is representative of the current load state of the respective component 36. In this case, a load state W _{ZK of} the drive motor 22, the transmission 24, the PTO shaft 28 or the hydraulic system 30 can be determined and displayed. The state value W _{ZK of} a component 36 can be specified as a relative value and / or absolute value, for example in the form of an hour counter for the remaining operating hours, for example up to a maintenance measure. Thus, for example, a state value W _{ZK of} a component 36 may indicate the remaining number of operating hours up to its theoretical end of life based on the construction design, whereby a replacement time of this component 36 can be better planned.

A mere change of the relevant value can be displayed, for example, continuously or by retrieval by an operator, whereby the influence of a performed operation of the vehicle 10 on the load value W _B and / or the state value Wz can be displayed directly to an operator. Particularly in the case of a continuous determination of the load value W _{B of} at least one component 36, an indication to an operator can be output by comparing the current load value W _B with a limit value W _BG , for example in the evaluation unit 50, in order to overload the component 36 to avoid. It is also conceivable that in addition to the limit value W _BG for a load, in particular adjustable, approximate value W _BN can be stored for comparison, upon reaching or exceeding the approximate value W _BN first an indication to the operator can be issued so early to avoid exceeding the limit value W _BG . The threshold W _BG for the load and / or the approximate value W _BN may also be used for automatic control of the vehicle 10 so as to relieve the operator and prevent damage.

In order to be able to make a statement about the actual load state of the entire vehicle 10, the state values W _{ZK of} the selected components 36 are combined to form a state value W _{ZF of} the entire vehicle 10. When a component is replaced by a new component, the relevant state value W _{ZK can be} reset to an initial value. When exchanged by a used component, the relevant state value W _{ZK of} the used used component can be adapted to its state of use. In this case, individual state values W _{ZK can be} weighted, for example depending on how high the repair costs of the individual components 36 would be. The state value W _{IF of} the entire vehicle 10, which is representative of the load state of the vehicle 10, may be, for example, a dimensionless number, which enables an objective assessment of a used vehicle 10, for example, by comparison with a corresponding number of a new vehicle.

In a, for example, by an operator or work-related defined period t for which a load value W _B and / or a state value W _{ZK, ZF of} a component 36 and / or the vehicle 10 is determined, a change in the load value WB and / or state value W _{ZK, ZF} based on the work performed and displayed. This makes it possible to provide a direct connection between a work carried out with the vehicle 10 and the consequences of the resulting load on the vehicle 10 and / or its components 36. Based on the state value W _{ZK, ZF of} a component 36 or of the entire vehicle 10, a monetary evaluation of the load state of the component 36 and / or of the vehicle 10, in particular by the evaluation unit 50, can also be performed. For this additional parameters such as a new price or estimated selling price can be deposited.

In FIG. 3 is a sequence of determining a load value W _{B of} a component 36, in this case the transmission 24, shown. A load acting on the vehicle 10 causes in the drive motor 22, the gear 24, the PTO 28 and the hydraulic system 30, so the individual components 36 of the vehicle 10, different loads. The sensor system 38 comprises, in addition to a rotational speed sensor 40, a torque sensor 42, a temperature sensor 46, which are associated with the transmission 24. The sensors 40, 42, 46 respectively generate sensor signals S ₁ , S ₂ , S ₃ , which are first of all converted 110, in particular also by means of one or more parameters P such as the operating hours t _B , to load values W _B comparable to reference values W _BR . Here, for the transmission 24 as the first load value W _B1 a course of the torque over time, as a second load value W _B2 a curve of the torque over time and speed, and as a third load value W _B3 a duration of a torque load of the transmission 24 above definable values , for example, 90% and / or 95% of the allowable load. A fourth load value W _B4 for the transmission 24 can be determined on the basis of a parameter P _E , which counts, for example as a function of sensor signals S, an occurrence of special operating events. In the illustrated example, this may be a number of exceedances of permissible rotational speeds, operating temperatures or permissible torque values. Operating events P _E can also be determined and recorded independently of the sensor signals S.

The determined load values W _B1 , ₂ , ₃ , ₄ are subsequently compared by the evaluation unit 50 with corresponding reference values W _{BR in} order to determine a state value W _{ZK of} the "transmission" component 100, which is representative of the current load state of the transmission 24. When determining the state value WZK, further parameters P can be taken into account. These parameters P may be, for example, maintenance data Pw, which information about maintenance times or maintenance, or operator inputs P _B , for example, with information about a used implement, be. Condition values WZ for further components 36 can be determined accordingly. The determined state value W _{ZK of} the transmission 24 can then be used to determine the state value W _{ZF of} the entire vehicle 10.

LIST OF REFERENCE NUMBERS

10

vehicle

12

cab

14

operating terminal

16

Front

18

rear axle

20

powertrain

22

drive motor

24

transmission

26

hydrostats

28

PTO

30

hydraulic system

32

Rear linkage

34

drawbar

36

component

38

sensor system

40

Speed sensor

42

torque sensor

44

Tension sensor

46

temperature sensor

48

pressure sensor

50

assessment unit

52

implement

54

system

100

Determination of state value

110

Determination of load value

S

sensor signal

P

parameter

W _B

load value

_BG

limit

W _BN

Approximation

W _R

reference value

W _RA

design value

W _RS

Simulated value

W _RE

Empirical value

W _z

state value

W _ZK

Condition value component

W _ZF

Condition value vehicle

t

Period

t _B

operating hours

T

lifespan

P _B

operator input

P _E

operational event

P _W

maintenance data

Claims (12)

Method for determining a load state of a, in particular, agricultural vehicle (10) having a multiplicity of components (36), a sensor system (38) for generating at least one sensor signal (S), and a valuation unit (50) for detecting and processing sensor signals ( S) and at least one additional parameter (P),
characterized in that
the evaluation unit (50) determines a load value (W _B ) of at least one, in particular selectable, component (36) of the vehicle (10) based on at least one sensor signal (S) and / or at least one parameter (P), comparing the determined load value (W _B ) with a stored reference value (W _R ), and based on the comparison of the load value (W _B ) with the reference value (W _R ) determines a state value (Wz) for the component (36) which is representative for the current load condition of the component (36). A method according to claim 1, characterized in that load values (W _B ) and / or state values (Wz) of several, in particular selectable, components (36) to a load value (W _B ) and / or state value (W _ZF ) for the entire vehicle ( 10). Method according to Claim 1 or 2, characterized in that the reference value (W _R ) used is a design value (W _RA ), a value (W _RS ) determined by simulation and / or an empirically determined value (W _RE ). Method according to one of the preceding claims, characterized in that load values (W _B ) and / or state values (W _ZK ) of individual components (36) are weighted, in particular in a summary to a load value (W _B ) and / or state value (W _ZF ) for the entire vehicle (10). Method according to one of the preceding claims, characterized in that a time span (t), operating hours (t _B ), an operator input (P _B ), an operating event (P _E ) and / or maintenance data (Pw) may be used for individual components (36) and / or the entire vehicle (10). Method according to one of the preceding claims, characterized in that load values (W _B ) and / or state values (Wz) for a definable period (t) and / or over the life (T) of the vehicle (10) and / or at least one, in particular selectable, component (36) can be determined. Method according to one of the preceding claims, characterized in that based on the determined load value (W _B ) a change in the state value (W _Z , W _ZK , W _ZF ) at least one, in particular selectable, component (36) and / or the entire vehicle (10) is determined and displayed. Method according to one of the preceding claims, characterized in that a determined load value (W _B ) with a stored limit value (W _BG ) and / or an approximation value (W _BN ) is compared, and upon reaching and / or exceeding the limit value (W _BG ) and / or the approximate value (W _BN ) an indication of this is output. Method according to one of the preceding claims, characterized in that based on the state value (W _Z , W _ZK , W _ZF ) of selected components (36) and / or of the entire vehicle (10) a monetary evaluation of the entire vehicle (10) and / or individual components (36) and a currency-based value is determined. Method according to one of the preceding claims, characterized in that based on the determined state value (W _Z , W _ZK , W _ZF ) at least one, in particular selectable, component (36) and / or the entire vehicle (10) is determined when a selected component (36) and / or the entire vehicle (10) should be maintained. System for determining a load condition of a, in particular agricultural, vehicle (10) having a plurality of components (36), a sensor system (38) for generating at least one sensor signal (S), and a valuation unit (50) for detecting and processing sensor signals ( S) and at least one additional parameter (P), characterized in that by the evaluation unit (50) based on the actual load load value (W _B ) at least one, in particular selectable, component (36) of the vehicle (10) based on at least a sensor signal (S) and / or at least one parameter (P) can be determined, the determined load value (W _B ) is comparable to a stored reference value (W _R ), and based on the comparison of the load value (W _B ) with the reference value ( W _R ) a state value (Wz) for the component (36) can be determined, which is representative of the current load state of the component e is (36). Vehicle, in particular agricultural vehicle (10), with a system (54) for determining a load condition, in particular by means of a method according to one of the preceding claims 1 to 10.

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