GB2497577A - Linkage control systems for agricultural tractor - Google Patents
Linkage control systems for agricultural tractor Download PDFInfo
- Publication number
- GB2497577A GB2497577A GB1121616.5A GB201121616A GB2497577A GB 2497577 A GB2497577 A GB 2497577A GB 201121616 A GB201121616 A GB 201121616A GB 2497577 A GB2497577 A GB 2497577A
- Authority
- GB
- United Kingdom
- Prior art keywords
- text
- tractor
- implement
- signal
- lateral displacement
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 28
- 238000004891 communication Methods 0.000 claims description 2
- 238000010276 construction Methods 0.000 description 5
- 238000005520 cutting process Methods 0.000 description 5
- 230000009977 dual effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 244000025254 Cannabis sativa Species 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
- A01B69/006—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection derived from the steering of the tractor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Environmental Sciences (AREA)
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
An implement position control system 10 comprises an agricultural tractor (21) and an attached implement 22. A controller 40 controls lateral displacement apparatus 34 which is arranged to displace an active part (22a) of the implement relative to a longitudinal axis of the tractor. A steering angle sensor 42 is arranged to generate a steering signal which is representative of a steering angle of the tractor and communicate the steering signal to the controller. The controller generates and transmits a lateral positioning signal in response to the steering signal. The active part of the implement is automatically shifted laterally as bends and curves in the crop edge are encountered.
Description
DESCRIPTION
LINKAGE CONTROL SYSTEM FOR AGRICULTURAL TRACTOR
The invention relates to the positional control of tractor mounted implements especially, but not exclusively so, implements mounted in an offset fashion so as to have an active part outside the track width of the tractor.
Farmers are known to use a host of different implements for carrying out various field related tasks-Due to the natural evolution of the horse-drawn plough implements have traditionally been mounted to the rear of the tractor. In more recent years however front mounted implements have become more widely used.
One drawback of rear mounted implements is the tractor preceding the implement carrying out the task. This is especially problematic for mowers and toppers which cut a crop of grass for example. A mower mounted directly behind a tractor encounters a crop which has been partially flattened by the wheels thus degrading the quality of the cutting process. To overcome this problem the active cutting part of rear mounted mowers or toppers are often offset to one side of the tractor so that the wheels do not precede the cut swath. In operation, a fieLd will be divided into sections, or cants, wherein the tractor is driven alongside the edge of the uncut cant.
Figure 1 illustrates a crop area 100 within a field. The worked, or cut, area is referenced at 110. A tractor with a rear mounted mower is shown in three different positions around the crop area 100. It should be appreciated that the princip'es explained hereinafter wil] apply to any offset rear mounted implement.
In a first position, referenced at 111, a tractor 121 has mounted thereto a rear mounted offset mower 122. Although shown as offset to the right-hand side of tractor 1211 mower 122 may instead be offset to the left.
In operation the driver steers the tractor 121 to maintain a substantially fixed distance between the right-hand front wheel 123 and the edge of the crop area 100. The lateral position of mower 122 is fixed so as to reside just outside the track width of the tractor 121. In most scenarios the steering is carried out manually. However, modern systems such as crop edge recognition may be employed to automatically steer the tractor 121 so as to maintain said fixed distance.
The distance at which the right-hand front wheel is maintained from the crop edge is determined through experience and trial and error.
In the scenario of a straight crop edge as shown in position 111 the mower 122 behaves in a predictable manner. However, when curves and bends in the crop edge are encountered the driver is often caught unawares with regard to the resultant positioning of the mower. For example, in the position 112 the driver is encountering a bend in the crop edge to the left. Instinctively, the driver maintains the required distance between the right hand front wheel and the crop edge. The turning circle of the front wheels is larger than the turning circle of the rear wheels. Therefore, the mower does not follow the exact path of the front wheels, but tend to shortcut the corner'-Furthermore, the mower is mounted to the tractor at a position radially distanced from the turning axis of the tractor and so initial movement of the mower is to the right as the tractor is steered to the left-As a result the mower 122 commonly misses a strip of crop referenced at 115 thus requiring the driver to make another pass causing lost time and inconvenience.
In another scenario referenced at 113 the driver encounters a right-hand bend If the normal fixed distance is maintained between the right hand front wheel 123 and the crop edge then the mower 122 temporarily moves to the left as the wheels are steered to the right. The result is a narrow swath being cut.
Ultimately any bends in the crop edge are amplified by this effect leading to inefficient cutting of the crop area.
The aforementioned problems are compounded further when a rear mounted implement is used in conjunction with a front mounted implement as in known systems. With reference to Figure 2, a crop area 200 is shown with a tractor 221 having rear and front mounted mowers 222, 224 in two different positions. In a first position referenced at 211 the tractor 221 is driven along a straight crop edge. The rear mounted mower 222 is fixed in position relative to tractor 221 so that a minimal overlap exists between the respective footprints of the front mounted mower 224 and the rear mounted mower 222.
In a second position referenced at 212 the driver encounters a right-hand bend wherein initially the rear mounted mower 222 moves to the left so as to re-cut part of the swath cut by front mower 224. As the right-hand bend continues the turning circle of the rear mounted mower 222 is smaller than the front mounted mower 224 to an extent where a strip of crop 215 is missed by the rear mounted mower 222.
In the example of a single rear-mounted mower in Figure 1 a driver can theoreticalLy adjust the positioning of the tractor to counter the effects of lateral movement of the mower around bends in the crop edge. However, in the dual mower system shown in Figure 2 the driver cannot do this-Instead, the only practical option is to increase the overlap between the respective footprints of the front and rear mounted mowers.
However, this has the detrimental effect of reduce cutting width when working in a straight line as per the vast of majority of any field.
It is an object of the invention to alleviate the aforementioned problems and provide an implement position control system which delivers improved implement accuracy.
It is a further object of the invention to provide an implement position control system that assists the driver in positioning the implement in an optimum position with respect to a crop area.
In accordance with the present invention there is provided an implement position control system comprising an agricultural tractor, a controller for controlling lateral displacement apparatus which are arranged to displace an active part of an attached implement relative to a longitudinal axis of the tractor, and a steering angle sensor arranged to generate a steering signal which is representative of a steering angle of the tractor and communicate the steering signal to the controller, wherein the controller generates and transmits a lateral positioning signal in response to the steering signal. By moving an attached implement laterally in response to the steering angle of the tractor the footprint thereof can better match the edge of the unworked crop area. This dispenses with the need for the driver to change the distance at which he drives from the edge of the uncut crop when encountering bends and curves.
The lateral displacement apparatus preferably comprises a hydraulic cylinder wherein the lateral positioning signal is electro-hydraulic. Alternatively, the hydraulic cylinder may be replaced with an electric motor for example.
The lateral displacement apparatus for displacing the active part of the implement may take many different forms. In a first construction a hydraulic cylinder and appropriate mechanics may be associated with the implement itself wherein the active part of the implement is moved laterally with respect to a linkage assembly.
In a second construction the tractor comprises three point linkage having a pair of lift arms and a top link. The lift arms have freedom to swing laterally about joints connected to the tractor and the system comprises said lateral displacement apparatus which are disposed on the tractor and comprise a hydraulic cylinder connected between one lift arm and a frame member to form a triangulating connection which controls swinging movement of the lift arms and hence lateral movement of the implement. In this case, therefore, the lateral displacement apparatus is associated with the tractor itself. Ln any case the system preferably further comprises an electro-hydraulic spool valve in communication with the controller and hydrauhoally connected to the hydraulic cylinder whether that be on the tractor or the implement.
Preferably the lateral displacement apparatus further comprises a position sensor which generates a position signal which is representative of a position status of the lateral displacement apparatus, the position signal being received by the controller.
The implement position control system according to the invention may be implemented solely on a tractor. Alternatively, the system may be implemented on a tractor-implement combination. In the latter case the implement may be attached to the rear of the tractor working a ground area that is laterally offset from a track of the tractor.
The system preferably further comprises a groundspeed sensor to generate a groundspeed signal which is representative of groundspeed of the tractor and communicate the groundspeed signal to the controller, wherein The lateral positioning signal is generated in response to both the steering signal and the groundspeed signal. Advantageously, a superior control of the lateral displacement apparatus can be obtained when taken into account the real time groundspeed of the tractor. For example, as explained in the introduction, a rear mounted offset implement may initially move in the opposite direction to the steering direction. However, when encountering a bend of constant curvature it may be desirable to shift the implement in a direction opposite to the steering direction.
With the groundspeed data and steering angle data the controller may generate and store a virtual two dimensional map of a worked area, wherein the lateral displacement apparatus are controlled to maintain said active part of the attached implement within a predefined distance from an edge of a crop area. The system may thus go through a recording phase in which the groundspeed and steering angle signals are used to map out a crop area. Furthermore, the system may calculate and update in real time a tractor position on the two dimensional map, again using received steering signals and groundspeed signals. The virtual map may be utilised to improve the integrity of the lateral positioning signal wherein the actual position of the tractor relative to the crop area is taken into account.
In one embodiment of the invention The system comprises two implements wherein a first implement is attached to the front of the tractor and a second implement is attached to the rear of the tractor, wherein at least one of the first and second implements has associated therewith a respective one of said lateral dispLacement apparatus, preferably the rear implement. In this case the lateral displacement apparatus is controlled to adjust any overlap in the respective footprints of the front and rear mounted implements.
In a further embodiment the system further comprises a third implement attached to the rear of the tractor, the second implement being mounted offset to the left-hand side and the third implement being mounted offset to the right-hand side. Triple-implement systems are known and are common particularly for tractor-mower systems to maximise the working width.
Preferably, the overlap between respective implement footprints can be defined by a user via a user interlace device. Furthermore, the system may be selectively activated and deactivated by a user.
Further advantages of the invention will become apparent from reading the following description of specific embodiments with reference to the appended drawings in which:-Figures 1 and 2 illustrate known tractor-mower systems in various scenarios in a crop
field;
Figure 3 shows schematically in plan view a tractor with dual-mounted implements and having an implement position control system in accordance with an embodiment of the invention; Figure 4 illustrates the steering angle and implement shift of the tractor of Figure 3; Figure 5 is a schematic illustration of an implement position control system in accordance with the invention in operation in a field: Figure 6 shows diagrammatically an implement position control system filled to the tractor of Figure 3; Figure 7 is a flow chad illustrating a first example process flow followed by a system in accordance with the invention, and Figure 8 is a flow chart illustrating a second example process flow followed by a system in accordance with the invention.
Relative terms such as longitudinal', left', right1 and lateral used in the foltowing description will be made with reference to the normal forward direction of travel of the tractor. For example, the term lateral' is intended to cover left-right, or sideways, movement relative to the forward direction of the tractor.
With reference to Figures 3, 4 and 6 an implement position control system 10 comprises an agricultural tractor 21, a rear mounted mower 22 and front mounted mower 24. In more detail, tractor 21 includes a pair of front steerable wheels 23, 25 and rear wheels 26. The rear mounted mower 22 is mounted to the rear of tractor 21 by means of three-point linkage 28 which is known in the art. The three-point linkage 28 comprises a pair of lower lift arms 29 and a top link 30. The linkage is raised and lowered to move the rear mower 22 between a raised non-ground-engaging position and a lowered ground-engaging position.
With particular reference to Figure 6, which shows the rear mounted mower in greater detail, the active part 22a is mounted to the three-point linkage 28 by a transverse beam 32. It should be appreciated that the construction of the rear mounted mower 22 is represented schematically and that many different construction arrangements will be envisaged by one skilled in the art.
Lateral displacement apparatus 34 are provided and comprise a hydraulic cylinder 35 mounted to the transverse beam 32. Adjustment of the hydraulic cylinder 35 moves the active part 22a laterally from left to right as illustrated by arrow X. In an alternative embodiment (not illustrated) lateral displacement of the active part 22a may be carried out by forcibly swinging the lower links 29 from left to right by means of a hydraulic cylinder connected to a tractor frame.
Although illustrated with three point linkage 28, the rear mounted mower 22 may be of the trailed construction, that is pulled by a drawbar.
Front mounted mower 24 is attached to tractor 21 by front linkage 38 as is known in the art. Lifting and lowering of both the front and rear mounted mowers 24, 22 is controlled by the driver as in known tractor-mower systems.
The system 10 further comprises a controller 40 which typically comprises electronic processing means. The controller may be a single electronic module embedded in the control apparatus of the tractor 21 or may instead comprise several components distributed over the tractor. It should be appreciated that Figure 6 is highly schematic and that the controller 40 may take various different forms.
A steering angle sensor 42 generates a steering signal which is representative of a steering angle of the steerable wheels 23, 25. The steering signal is communicated to the controller 40 by wired or wireless means. Sensing of the steering angle may be done in a host of different ways known in the art but is represented schematically in Figure 6 as a simple sensor associated with one of the steerable wheels 23.
A position sensor 44 is mounted adjacent the hydraulic cylinder 35 and generates a position signal that is representative of position status of the lateral displacement apparatus. The position signal is transmitted to the controller 40 via a wired or wireless link.
As shown in the flow chart of Figure 7 the controller 40 receives the steering signals from sensor 42 and generates a lateral positioning signal in response to the steering signal. The Fateral positioning signal is communicated to the lateral displacement apparatus 34 so as to control the hydraulic cylinder 35 accordingly. The lateral positioning signal may be electro-hydraulic wherein the signal generated by the controller 40 is electrical which, in turn, controls a spool valve which generates a hydraulic signal transmitted to the cylinder 35.
In the most simplistic embodiment the active area 22a of the rear mounted mower 22 is shifted to the left or to the right in a proportional response to the real time steering signals. This is illustrated in Figure 5.
In a first scenario referenced at 311 the driver is encountering a right-hand bend in the edge of crop area 300. In response to sensing the front wheels 23, 25 turning to the right by a measured angle, the active part 22a is shifted to the left by a predefined amount dependant upon the steering angle as indicated by arrow L. The effect of this shift to the left is to increase the longitudinal overlap of the front and rear mower foot prints thus maintaining continuity in the overall cut swaths.
In a second scenario referenced at 312 the driver is encountering a left-hand bend.
In response to the sensed steering angle of front wheels 23,25 the active part 22a of rear mounted mower 22 is shifted to the right so as to optimise the cutting width of the mower combination around the left-hand bend.
In an alternative embodiment the lateral positioning signal may be dependant upon both the sensed steering angle and the ground speed of the tractor. In such a system the lateral geometric relationship between the front and rear implements can be optimised more accurately thus increasing efficiency and reducing working time.
Although illustrated as a dual implement system, the advantages of the invention can be reaped by a single implement system, for example one having on a rear mounted mower as shown in Figure 1. In this case, when activated, the implement position control system can be set to adjust the lateral position of the mower to cater for bends in the crop area edge whilst allowing the driver to focus on maintaining a fixed distance between the front wheel and crop edge.
In a more complex embodiment of the invention illustrated by the flow chart of Figure 8, the controller 40 may generate a two dimensional map of the crop area 300 based upon steering signals, groundspeed signals and position signals received in a period corresponding to a circuit of the (polygon) crop area. In real time the tractor position can be calculated and updated on the two dimensional map also using the received steering and groundspeed signals, Once the Iwo dimensional map is generated the lateral displacement apparatus can be controlled to maintain the active part 22a of the rear mounted mower 22 within a predefined distance from an edge of the unworked crop area 300. This system applies to both single, dual and triple implement systems.
The lateral displacement apparatus may instead be associated with a front mounted implement as per that manufactured under the FELLA brand (registered trade mark), disc mower model SM31OFZ.
Furthermore, a triple implement system is envisaged having a front mounted implement and two offset rear mounted implements wherein each of the rear mounted implements comprise lateral displacement apparatus controEled in accordance with the invention.
Claims (1)
- <claim-text>CLAIMS1. An implement position control system comprising an agricultural tractor, a controller for controlling lateral displacement apparatus which are arranged to displace an active part of an attached implement relative to a longitudinal axis of the tractor, and a steering angle sensor arranged to generate a steering signal which is representative of a steering angle of the tractor and communicate the steering signal to the controller, wherein the controller generates and transmits a lateral positioning signal in response to the steering signal.</claim-text> <claim-text>2. A system according to Claim 1, wherein the lateral displacement apparatus comprises a hydraulic cylinder and wherein the lateral positioning signal is efectro-hydraulic.</claim-text> <claim-text>3. A system according to Claim 1 or 2, wherein the tractor comprises three-point linkage having a pair of]ift arms and a top link, the lift arms having freedom to swing laterally about joints connected to the tractor, the system comprising said lateral displacement apparatus which are disposed on the tractor and comprise a hydraulic cylinder connected between one lift arm and a frame member to form a triangulating connection that controls swinging movement of the lifts arms and hence lateral movement of the implement.</claim-text> <claim-text>4 A system according to Claim 2 or 3, further comprising an electro-hydraulic spool valve in communication with the contintler and hydraulically connected to the hydraulic cylinder.</claim-text> <claim-text>5. A system according to any preceding claim, wherein the lateral displacement apparatus further comprises a position sensor which generates a position signal that is representative of position status of the lateral displacement apparatus, the position signal being received by the controller.</claim-text> <claim-text>6. A system according to any preceding claim, comprising said implement attached to the tractor and said lateral displacement apparatus.</claim-text> <claim-text>7. A system according to Claim 6, wherein the implement is attached to the rear of the tractor and works a ground area that is laterally offset from a track of the tractor.</claim-text> <claim-text>8. A system according to any preceding claim, further comprising a groundspeed sensor to generate a groundspeed signal which is representative of groundspeed of the tractor and communicate the groundspeed signal to the controller, wherein the Lateral positioning signal is generated in response to both the steering signal and the groundspeed signal.</claim-text> <claim-text>9. A system according to Claim 8, wherein the controller generates and stores a virtual two-dimensional map of a crop area, and wherein the lateral displacement apparatus are controlled to maintain said active part of the attached implement within a predefined distance from an edge of the crop area.</claim-text> <claim-text>10. A system according to any preceding claim, comprising two implements wherein a first implement is attached to the front of the tractor and a second implement is attached to the rear of the tractor, at least one of the first and second implements having associated therewith a respective one of said lateral displacement apparatus.</claim-text> <claim-text>11. A system according to Claim 10, further comprising a third implement attached to the rear of the tractor, the second implement being mounted offset to the left-hand side and the third implement being mounted offset to the right-hand side.</claim-text> <claim-text>12. A system according to Claim 10 or 11, wherein the first implement works a first worked area and the second implement works a second worked area, wherein the lateral displacement apparatus are controlled to maintain a predetermined overlap between the first and second worked areas.</claim-text> <claim-text>13. A system according to Claim 12, wherein the overlap can be defined by a user via a user-interface device.</claim-text> <claim-text>14. A system according to any preceding claim which can be selectively activated and deactivated by a user.</claim-text> <claim-text>15. A system according to any preceding claim wherein the implement, or implements, comprises a mower</claim-text>
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1121616.5A GB2497577A (en) | 2011-12-15 | 2011-12-15 | Linkage control systems for agricultural tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| GB1121616.5A GB2497577A (en) | 2011-12-15 | 2011-12-15 | Linkage control systems for agricultural tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| GB201121616D0 GB201121616D0 (en) | 2012-01-25 |
| GB2497577A true GB2497577A (en) | 2013-06-19 |
Family
ID=45560536
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB1121616.5A Withdrawn GB2497577A (en) | 2011-12-15 | 2011-12-15 | Linkage control systems for agricultural tractor |
Country Status (1)
| Country | Link |
|---|---|
| GB (1) | GB2497577A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2918157A3 (en) * | 2014-02-18 | 2015-11-04 | Amazonen-Werke H. Dreyer GmbH & Co. KG | Agricultural machine with part width control |
| DE102017216196A1 (en) * | 2017-09-13 | 2019-03-14 | Deere & Company | Method for the transverse displacement of a mower deck of an agricultural vehicle |
| EP3837952A1 (en) * | 2019-12-19 | 2021-06-23 | AGCO International GmbH | Mower combination |
| US20210352848A1 (en) * | 2020-05-18 | 2021-11-18 | Claas Saulgau Gmbh | Merger Control Device and Merger |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2438960A1 (en) * | 1978-10-17 | 1980-05-16 | Lestradet M C J | Alignment correction between trailer and tractor - uses sensing tow-bar angle to provide hydraulic powered compensation for steering drive to prevent crop damage |
| FR2611415A1 (en) * | 1987-02-24 | 1988-09-09 | Gastelais Jean Paul | Movable and directional rear hitch for agricultural tractor |
| DE4409113C1 (en) * | 1994-03-17 | 1995-09-07 | Fortschritt Erntemaschinen | Steered work unit combination on front-steered support vehicle |
| US20020134558A1 (en) * | 2001-03-22 | 2002-09-26 | Deere & Company, A Delaware Corporation | Control system for a vehicle/implement hitch |
| US20090032273A1 (en) * | 2007-08-02 | 2009-02-05 | Klaus Hahn | Implement/vehicle steering control system and method |
| DE102009047585A1 (en) * | 2009-12-07 | 2011-06-09 | Deere & Company, Moline | Combination of a towing vehicle and a device |
-
2011
- 2011-12-15 GB GB1121616.5A patent/GB2497577A/en not_active Withdrawn
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2438960A1 (en) * | 1978-10-17 | 1980-05-16 | Lestradet M C J | Alignment correction between trailer and tractor - uses sensing tow-bar angle to provide hydraulic powered compensation for steering drive to prevent crop damage |
| FR2611415A1 (en) * | 1987-02-24 | 1988-09-09 | Gastelais Jean Paul | Movable and directional rear hitch for agricultural tractor |
| DE4409113C1 (en) * | 1994-03-17 | 1995-09-07 | Fortschritt Erntemaschinen | Steered work unit combination on front-steered support vehicle |
| US20020134558A1 (en) * | 2001-03-22 | 2002-09-26 | Deere & Company, A Delaware Corporation | Control system for a vehicle/implement hitch |
| US20090032273A1 (en) * | 2007-08-02 | 2009-02-05 | Klaus Hahn | Implement/vehicle steering control system and method |
| DE102009047585A1 (en) * | 2009-12-07 | 2011-06-09 | Deere & Company, Moline | Combination of a towing vehicle and a device |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2918157A3 (en) * | 2014-02-18 | 2015-11-04 | Amazonen-Werke H. Dreyer GmbH & Co. KG | Agricultural machine with part width control |
| DE102017216196A1 (en) * | 2017-09-13 | 2019-03-14 | Deere & Company | Method for the transverse displacement of a mower deck of an agricultural vehicle |
| EP3456164A1 (en) * | 2017-09-13 | 2019-03-20 | Deere & Company | Method for transverse movement of an agricultural vehicle |
| EP3837952A1 (en) * | 2019-12-19 | 2021-06-23 | AGCO International GmbH | Mower combination |
| US11950533B2 (en) | 2019-12-19 | 2024-04-09 | Agco International Gmbh | Mower combination |
| US20210352848A1 (en) * | 2020-05-18 | 2021-11-18 | Claas Saulgau Gmbh | Merger Control Device and Merger |
| US12058961B2 (en) * | 2020-05-18 | 2024-08-13 | Claas Saulgau Gmbh | Merger control device for adjusting conveyor speed or pickup speed as a function of steering angle |
Also Published As
| Publication number | Publication date |
|---|---|
| GB201121616D0 (en) | 2012-01-25 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| WAP | Application withdrawn, taken to be withdrawn or refused ** after publication under section 16(1) |