WO2015065174A1 - Agricultural vehicle adapted for curve driving - Google Patents

Agricultural vehicle adapted for curve driving Download PDF

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Publication number
WO2015065174A1
WO2015065174A1 PCT/NL2014/050740 NL2014050740W WO2015065174A1 WO 2015065174 A1 WO2015065174 A1 WO 2015065174A1 NL 2014050740 W NL2014050740 W NL 2014050740W WO 2015065174 A1 WO2015065174 A1 WO 2015065174A1
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WO
WIPO (PCT)
Prior art keywords
pos
vehicle
cantilever arm
processing arrangement
unit
Prior art date
Application number
PCT/NL2014/050740
Other languages
French (fr)
Inventor
Cornelis Christianus Franciscus Havermans
Martin Arnold
Original Assignee
Forage Innovations B.V.
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Forage Innovations B.V. filed Critical Forage Innovations B.V.
Publication of WO2015065174A1 publication Critical patent/WO2015065174A1/en

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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
    • A01B69/004—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 automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D78/00—Haymakers with tines moving with respect to the machine
    • A01D78/08—Haymakers with tines moving with respect to the machine with tine-carrying rotary heads or wheels
    • A01D78/10—Haymakers with tines moving with respect to the machine with tine-carrying rotary heads or wheels the tines rotating about a substantially vertical axis
    • A01D78/1042—Steering devices

Definitions

  • the invention refers to an agricultural vehicle with at least one processing arrangement mounted at a cantilever arm.
  • This processing arrangement may comprise at least one mower or a swathing unit, e.g.
  • the vehicle is moved over ground in a travelling direction and can be moved along a curve. It is desired that the vehicle can process a brought area on the ground extending along the travelling direction such that no unprocessed strip in the interior of the area remains.
  • the pivoting arm 5 can be rotated by means of a cylinder Z1 with respect to the frame T around a horizontal axis 6 parallel to the longitudinal axis T such that the swathing unit can be transferred between an operating position ("Arbeitsposition P1 ”) and a lifted non-operationg position ("an Institutione Position P2”), e.g. when turning on the headland ("Vorge Liste").
  • an operating position (“Arbeitsposition P1 ")
  • an officiale Position P2 e.g. when turning on the headland
  • the length of the pivoting arm 5 can be changed (“ GmbHver combin") by means of an actuator (cylinder Z3).
  • the auxiliary pivoting arm 5a can be rotated with respect to the pivoting arm 5 around a vertical axis 7 by means of an actuator Z4.
  • Two idler wheels (“Laufrader 10") are pivotally mounted at the frame T such that the wheels 10 can be steered by a rotation around two vertical steering axes ("bodensenkrechte Lenkachsen 12").
  • a steering arrangement (“Lenkvorraum L”) rotates the wheels 10 around the axes 12 by means of two coupling rods (“Koppelstangen 13”) and two hydraulic cylinders (“Hydraulikzylinder 15”).
  • EP 1364573 A2 has the following sensors:
  • Winkelsensor D1 which measures the angle between the longitudinal axis of the tractor S and that of the frame T
  • sensors D2, D3, D6, D7 which measure the relative angle of the auxiliary pivoting arm 5a with respect to the pivoting arm 5 around the vertical axis 7 and the distance between the swathing unit and the frame T
  • the arrangement of EP 1364573 A2 avoids that an unmown area U occurs during a travel around a curve, cf. Fig. 1 .
  • the steering arrangement L steers the idler wheels 10 either in the same direction as the curve movement ("Gleichides-Lenkmodus M1") or in the opposite direction ("Gegenurgis-Lenkmodus M2").
  • Fig. 1 shows a curve movement to the right wherein the steering arrangement L steers the idler wheels 10 in the mode M1 to the right and in the mode M2 to the left.
  • the mode M1 is chosen if the swathing units are in the operating position P1 such that no unmown area U occurs.
  • the mode M2 is chosen if the swathing units are in the lifted non-operating position P2 such that the turning circle ("Wende Vietnamese") is minimized.
  • a control unit (“Lenk Tavernung C") controls the driving arrangement L, cf. Fig. 2.
  • WO 201 1/1 12078 A1 discloses a hay making machine.
  • Two satellite frames 6a, 6b are mounted at a main beam 2. Every satellite frame 6a, 6b carries two circular rakes 7a, 8a and 7b, 8b. Every satellite frame 6a, 6b is connected with the main beam 2 by means of a side arm 4a, 4b. The side arms 4a, 4b are further connected with the main beam 2 by means of holding rods 10a, 10b.
  • Telescopic drive shafts 52a, 52b can pivot the satellite frames 6a, 6b.
  • Fig. 1 of US 2006/0191250 A1 shows an arrangement (mower 1 ) with a front working unit 4 and two lateral working units 5, 6 all mounted at a motor vehicle 2 and comprising a cutting device 8.
  • a connecting unit 10 allows the front working unit 4 to perform a vertical translational movement as well as a rotational movement with respect to the motor vehicle 2.
  • Every lateral working unit 5, 6 is mounted at the chassis 14 of the motor vehicle 2 by means of a support arm 12 which is mounted by means of two articulations 13, 15. Both articulations 13, 15 allow rotations around a horizontal axis parallel to the travel direction 3.
  • a third articulation 16 allows the support arm 12 to rotate around a vertical axis with respect to the chassis 14. The two lateral working units 5, 6 can be shifted laterally.
  • the chassis 14 comprehends a traversal front bearing 14a, a traversal rear bearing 14b and two connecting rods 17 which are arranged in a parallelogram.
  • An operating member (cylinder 18, ram 18) can change the distance between the two bearings 14a, 14b which causes the support arm 12 to be shifted laterally, cf. Fig. 4.
  • An inclination sensor 21 of the arrangement of US 2006/0191250 A1 measures the roll angle - that is the inclination of the arrangement around its longitudinal axis 7.
  • a control unit 20 controls the operating member 18 such that the slope of the arrangement is compensated.
  • a carrier vehicle with a combination of agricultural processing devices (“Arbeitsaggregatekombination 2") is described, cf. Fig. 1.
  • the vehicle 2 has two front wheels (“Vorderrader 3") and two steerable rear wheels (“Hinterrader 4").
  • Two laterally mounted mowers 5, 6 and a front mower 7 together achieve a working width A.
  • the laterally mounted mowers 5, 6 can be pivoted by means of two cantilever arms (“Ausleger- und Tragarme 13, 14") and an articulation arrangement ("Gelenkan Aunt 15”) which are mounted at the carrier vehicle 2. This pivotal connection allows moving the laterally mounted mowers 5, 6 from the operating position into a transport position and backwards around a longitudinal plane ("Schnittebene 25").
  • a control means can rotate these movers 5, 6 around a vertical axis ("vertikal currently collectede Schwenkachse 21 ") in the middle of the respective mower 5, 6, cf. Fig. 1 and Fig. 5.
  • Fig. 2 to Fig. 4 show the vehicle driving along a curve to the left where the trajectory describes a segment of a circle with the middle point ("Momentanpol”) M.
  • the lateral mowers 5, 6 are rotated opposite to the curvature, i.e. to the right whereas the front mower 7 is rotated to the left.
  • the left lateral mover 5 and the front mower 7 are rotated to the right.
  • the mowers 5, 6, 7 can be locked (“arretierbar”) in their rotated position.
  • Fig. 2 of EP 1321027 B1 shows an assembly 20 which inhibits this undesired effect.
  • the driving unit 10 has a front chassis part 22 with a front wheel set 29, a rear chassis part 23 with a rear wheel set 30, and a pivot type steering arrangement. This steering arrangement pivots the rear chassis part 23 with respect to the front chassis part 22 around a vertical steering pivot axis 24. A small overlap between the front mower unit 25 and the two rear mower units 26 occurs.
  • At least one rear mowing unit 26 is adjusted laterally. For creating the proper adjustment signal the distance travelled and the steering angle is monitored.
  • the front wheels 29 are steered to the right and the rear wheels 30 are steered to the left for compensating the curve travelling.
  • a mowing unit is mounted at a trailed vehicle and is shifted laterally to the left or to the right.
  • the front mowing unit is shifted laterally.
  • EP 1779715 B1 shows a mowing machine with a tractor ("Tragerjan”) at which two front mowers (“Frontmahtechnike 2,3”) and two lateral mowers (“Thatnmahtechnike 4,5”) are mounted, cf. Fig. 1 .
  • the mowers can be pivoted into an operating position and into a transport position.
  • For pivoting a lateral mower 4, 5 into the transport position it is pivoted around three different axes.
  • Fig. 2 to Fig. 5 show the step of pivoting around one axis being perpendicular to the traveling direction.
  • the cantilever arm for the lateral mowers 4, 5 (“Teleskopausleger 12, 13”) is telescopically arranged such that the lateral mowers 4, 5 can be pivoted around an axis parallel to the traveling direction.
  • Fig.1 of DE 44091 13 C1 shows a propelled carrying vehicle
  • the front-mounted processing arrangement 10 is shifted laterally by means of a coupling frame ("Koppelrahmen 12").
  • Two motion links (“Schwingen 24, 25") are pivotally mounted at the coupling frame 12 such that a parallelogram of bearings is formed which can be shifted laterally in a horizontal direction.
  • the front-mounted processing arrangement 10 is shifted laterally depending on the steering angle of the front wheels 2.
  • the guiding levers 17, 17' are pivotally connected with guiding levers ("Lenkhebel 17, 17"') which in turn rotate two spigots (Achszapfen 41 , 41 "'), cf. Fig. 2.
  • the positioning unit 38 comprises a switching plate ("Umlenkplatte 19") at which the two rods 18, 18' are rotatably mounted such that they can rotate around two vertical axes 29, 29'.
  • a guiding stick guides the two rods 18, 18'.
  • a positioning drive (“Stellantrieb 33”) is connected with a steering lever ("Steuerhebel 48") and can rotate this steering lever 48 around a vertical axis 26. This steering lever 48 can make a switching plate 19 rotating around the vertical axis which in turn pivots the rods 18, 18'.
  • the positioning unit 38 can achieve different angles of the wheel 4.
  • Fig. 1 and Fig. 2 of EP 2517543 A2 show an arrangement with a tractor and a device 2 for mounting implements ("Anbaugerate 3") at the tractor 1 .
  • Fig. 1 shows a front-mounted mower and two laterally mounted mowers.
  • a detecting device 16 on board of the tractor 1 automatically detects what implements 3 are currently mounted at the tractor 1 .
  • a scanning device 1 1 emits a laser beam and scans the contour of the surface over which the tractor 1 moves the implements 3.
  • a positioning device 17 adjusts the scanning area of this scanning device 1 1 depending on the currently mounted implements 3. 3.
  • a problem solved by the invention is to provide an agricultural vehicle with the features of the preamble of claim 1 and an operating method with the features of the preamble of claim 19 wherein the risk is reduced that a non- processed stripe between two processed stripes remains even if the vehicle drives into a curve wherein there is no need for shifting a front-mounted processing arrangement laterally.
  • the agricultural vehicle according to the invention can be moved over ground in a travelling direction and can in particular perform a movement through a curve to the left or to the right.
  • the operating method according to the invention refers to operating such an agricultural vehicle during its movement.
  • the agricultural vehicle according to the invention comprises a frame and
  • the or every processing arrangement processes agricultural material on the ground.
  • the processing arrangement is mounted at the frame by means of a cantilever arm positioned between the frame and the processing arrangement.
  • the cantilever arm When the vehicle is moved in the travelling direction, the cantilever arm extends laterally from the frame.
  • the processing arrangement being mounted at the cantilever arm is positioned laterally besides the frame.
  • the term "laterally" refers to the travelling direction.
  • the cantilever arm can rotate with respect to the frame around a vertical cantilever arm rotating axis.
  • the processing arrangement can rotate with respect to the cantilever arm around a vertical processing arrangement rotating axis.
  • vertical refers to the ground.
  • the vertical axes are oriented perpendicular to the ground.
  • a cantilever arm positioning unit belongs to the vehicle and can rotate the cantilever arm with respect to the frame around the vertical cantilever arm rotating axis.
  • a processing arrangement positioning unit belongs to the vehicle and can rotate the processing arrangement with respect to the cantilever arm around the vertical processing arrangement rotating axis.
  • the both positioning units can operate independently from each other. Therefore at least two degrees of freedom are achieved for positioning and orientating the processing arrangement with respect to the frame:
  • the processing arrangement positioning unit can rotate the processing arrangement around the vertical processing arrangement rotating axis with respect to the cantilever arm.
  • the cantilever arm positioning unit can rotate the cantilever arm carrying the processing arrangement around the vertical cantilever arm rotating axis.
  • These two positioning units can operate independently from each other and can rotate the assigned vehicle part around a rotating angle different to the other rotating angles. Thanks to the invention the two positioning units ensure that the processing arrangement mounted at the cantilever arm achieves a desired position and orientation with respect to the frame. Thanks to the at least two positioning units this desired position can be achieved during normal operation, i.e. achieving it does not require an input from a human operator.
  • the feature that the processing arrangement can be rotated around a first vertical axis with respect to the cantilever arm and the cantilever arm together with the rotatable processing arrangement can be rotated with respect to the frame around a second vertical axis increases the ability of the vehicle to adapt the position and orientation of the processing arrangement with respect to the frame and to the travelling direction. A distance between these two parallel axes occurs. Two degrees of freedom are provided. This enables performing a movement of the vehicle into a curve without the risk that an unprocessed strip of material on the ground remains.
  • the overall working width yielded by the processing arrangement and by a further processing arrangement can be used in an optimal way.
  • the invention it is possible to change the distance - seen in a direction perpendicular to the travelling direction - between the laterally mounted processing arrangement and the frame by two different actuators, namely the cantilever arm positioning unit and the processing arrangement positioning unit.
  • This position change can be performed automatically during the agricultural operation and not or not only for the purpose of transferring the agricultural vehicle into a transport position.
  • the feature with changing the distance further reduces the risk that an unprocessed strip remains on the ground.
  • a desired result is that the vehicle processes a broad area on the ground extending along the travelling direction without an unprocessed strip within the area. Thanks to the invention this desired result can be achieved during a movement of the vehicle over ground straight ahead forward as well as during a curved movement to the right or to the left. Thanks to the two positioning units and the two parallel vertical rotating axes it is possible to permanently and remotely adapt the position and the orientation of the processing arrangement relative to the frame during operation. In particular it is possible to orient the processing arrangement at the cantilever arm during a curved movement such that the processing arrangement has a desired distance and orientation with respect to the trajectory of the movement.
  • a front processing arrangement is positioned in front of the processing arrangement when the vehicle is moved in the travelling direction.
  • the front processing arrangement can be mounted at a front edge of the frame or at the front of a propelled vehicle which pulls the frame and thereby the entire vehicle with the processing arrangement. Thanks to the invention the front processing arrangement needs not to be shifted laterally with respect to the travelling direction. Nevertheless no unprocessed strip remains on the ground. This is of advantage as only a shorter lever arm can be obtained for the front processing arrangement.
  • a vehicle according to the invention comprises a front processing arrangement which can be shifted laterally with respect to the travelling direction and/or can be pivoted around a vertical rotating axis.
  • the cantilever arm can pivot with respect to the frame around a horizontal pivoting axis parallel to the travelling direction.
  • the processing arrangement can pivot with respect to the cantilever arm around a further horizontal pivoting axis. Both embodiments can be combined. These two embodiments make it easier that the vehicle can adapt to a hilly environment while the vehicle is moved over ground and the processing arrangement rests on the ground.
  • an actuator can pivot the cantilever arm around the horizontal axis. This actuator can therefore transfer the processing arrangement from an operating position into a transport position.
  • the vehicle with the processing arrangement in the transport position has a smaller width.
  • a left processing arrangement is mounted at a left lateral cantilever arm.
  • a right processing arrangement is mounted at a right lateral cantilever arm.
  • the vehicle comprises four positioning units:
  • the left processing arrangement can be positioned and operated independently from the right processing arrangement.
  • the four positioning units operate independently from each other, i.e. every positioning unit can be controlled and can rotate the assigned vehicle part around a rotating angle different from the other rotating angles independently from the other positioning units.
  • This control unit operates in a fully automated manner, i.e. does not rely on inputs from a human operator. This feature further increases the ability of the vehicle to adapt to a curve movement.
  • the embodiment with the two lateral processing arrangement and the four vertical rotating axes provides an agricultural vehicle which can process a very broad area on the ground without the risk of an unprocessed strip in the interior of the area.
  • the vehicle can comprise n processing arrangements mounted at n cantilever arms.
  • the 2*n positioning units provide 2*n degrees of freedom.
  • a control unit is mounted on board of the vehicle. This control unit processes input signals and can generate as an output control inputs for the cantilever arm positioning unit and for the or every processing arrangement positioning unit.
  • the control unit is connected with the positioning units via a data network, e.g. a CAN bus. This data network can include wireless data connections.
  • the cantilever arm positioning unit rotates the cantilever arm around the vertical cantilever arm rotating axis depending on control inputs.
  • the processing arrangement positioning unit rotates the processing arrangement around the processing arrangement rotating axis depending on further control inputs.
  • control unit As the control unit is mounted on board of the vehicle itself, no data connection between the vehicle with the processing arrangement and a further vehicle, e.g. a pulling tractor, needs to be established. This makes it easier to connect the same processing vehicle with different pulling vehicles, in particular different vehicles from different vehicle producers.
  • the control unit can also be mounted on board of a further vehicle mechanically connected with the vehicle according to the invention, e.g. on board of a tractor pulling the vehicle. Often the control unit is better protected when being on board of the further vehicle.
  • a data connection between the control unit on board of the further vehicle and the positioning units is preferably established by means of a standardized connection between different vehicles, i.e. a data connection according to ISOBUS (ISO 1 1783).
  • ISOBUS ISO 1 1783
  • a human operator can select an automatic mode in which the control unit automatically generates control inputs depending on measured operating parameters of the agricultural vehicle.
  • the human operator can further select a manual mode in which the control unit generates the control inputs depending on inputs from the human operator.
  • a sensing and evaluating arrangement is entirely or at least partially mounted on board of the vehicle. It is possible that at least one part of the sensing and evaluating arrangement is mounted on board of the vehicle with the processing arrangement and at least one further part is mounted on board of a further vehicle, e.g. a tractor, which is mechanically connected with the vehicle according to the invention.
  • the different parts of the sensing and evaluating arrangement are preferably connected by means of a data network.
  • This sensing and evaluating arrangement senses the vehicle movement by means of at least one sensor mounted on board of the vehicle.
  • the sensing and evaluating arrangement generates signals which are indicative whether the vehicle moves straight on forwards or to the left or to the right.
  • the sensing and evaluating arrangement further measures a value indicative of the current radius or curvature of the curve long which the vehicle moves. Thanks to this embodiment no signal from a sensor positioned outside of the vehicle needs to be transmitted to the agricultural vehicle. No data connection to a further vehicle or system with the sensor needs to be established. No data about the vehicle with the processing arrangement needs to be stored on board of a further vehicle. This makes it easier to connect the vehicle with different further vehicles, e.g. with pulling vehicles from different vehicle producers.
  • the control unit processes signals indicative of the measured vehicle movement and generates control inputs depending on the measured vehicle movement.
  • a sensor mounted on board of the vehicle transmits signal to a control unit mounted on board of a further vehicle.
  • a distance sensor comprises a sender and a receiver wherein the sender is mounted on board of the vehicle with the processing arrangement and the receiver is mounted on board of a further vehicle. Or the sender is mounted on board of the further vehicle and the receiver is mounted on board of the vehicle with the processing arrangement.
  • the agricultural vehicle comprises the control unit and the sensing and evaluating arrangement.
  • the control unit is in data connection with the sensing and evaluating arrangement and processes signals from the sensing and evaluating arrangement wherein the signals are indicative of a curve movement of the vehicle.
  • no data connection for control inputs and no data communication for sensor signals achieved outside of the vehicle need to be established.
  • the vehicle can operate in an autonomous manner. If the vehicle is not self-propelled, only a mechanical connection and a drive connection to a pulling or pushing vehicle need to be established. This is in particular of advantage if the same processing vehicle is to be connected with different pulling vehicles, e.g. from different producers.
  • the sensing and evaluating arrangement is entirely or at least partially mounted on board of the agricultural vehicle and the control unit is positioned outside of the vehicle, e.g. is mounted on board of a further vehicle which is mechanically connected with the agricultural vehicle according to the invention.
  • a data connection between the sensing and evaluating arrangement on board of the agricultural vehicle and a further vehicle is established, e.g. in a wireless manner or via a data cable.
  • the sensing and evaluating arrangement on board of the vehicle measures repeatedly, i.e. with a given sampling rate, a value indicative of whether the vehicle moves straight on forwards or the left or to the right.
  • the sensing and evaluating arrangement measures repeatedly a value indicative of the current radius or curvature of the vehicle movement.
  • the control unit on board of the vehicle generates repeatedly, e.g. with a given sampling rate, control inputs for the positioning units. This embodiment implements a closed loop control for the positioning and orientation of the processing arrangement without the need of establishing a data connection to a further vehicle.
  • the agricultural vehicle with the processing arrangement is pulled by a propelled vehicle, e.g. by a tractor.
  • the propelled vehicle comprises at least one steerable wheel set and a steering angle sensor. This sensor measures a value indicative of the current angle between the travelling direction of the propelled vehicle and the direction in which the steerable wheel set moves. The measured steering angle value is transmitted to the control unit. The control unit uses this steering angle value for calculating control inputs for the positioning units.
  • a cantilever arm rotating sensor on board of the vehicle measures a value indicative of the current rotational position of the cantilever arm with respect to the frame.
  • a processing arrangement rotating sensor measures a value indicative of the current rotational position of the processing arrangement with respect to the cantilever arm.
  • the control unit generates control inputs for the cantilever arm depending on the measured rotating angle value or values.
  • One implementation of the sensing and evaluating arrangement is implemented on a vehicle with two cantilever arms which are mounted on two sides of the frame, i.e. a left and a right cantilever arm.
  • a left processing arrangement is mounted at the left cantilever arm.
  • a right processing arrangement is mounted at the right cantilever arm.
  • a reference element is mounted at the frame and is therefore moved together with the frame without being moved relative to the frame.
  • the reference element is mounted at a further vehicle, e.g. at a tractor, which is mechanically connected with the vehicle comprising the processing arrangement.
  • the reference element can be a sender.
  • Two receivers are mounted at the two processing arrangements.
  • the sensing and evaluating arrangement measures a value indicative of a left distance and a value indicative of a right distance.
  • the left distance is the distance between the left processing arrangement and the referent element.
  • the right distance is the difference between the right processing arrangement and the reference element.
  • the sensing and evaluating arrangement compares these two distances.
  • the difference between the two distances is a value indicative whether the vehicle moves to the right or to the left or straight ahead.
  • the difference can be used as a value indicative of the current travelling angle - that is the angle between the travelling direction and the longitudinal axis of the frame. If the travelling angle equals zero, the longitudinal axis of the frame extends along the travelling direction and the left distance is equal to the right distance.
  • the current rotational position of the cantilever arms with respect to the frame are measured. If the rotational positions differ from each other, a difference between the left and right distances will occur also if the vehicle travels straight ahead. Therefore the distances and in addition two current rotational positions are used for determining the vehicle movement.
  • the travelling angle can also be measured if the vehicle comprises one lateral processing arrangement.
  • a distance between the reference element and the one lateral processing arrangement is measured and is compared with a reference distance. This reference distance is obtained if the vehicle moves straight ahead. If the processing arrangement is positioned at the right-hand side of the frame and if the measured distance is smaller than the reference distance, the sensing and evaluating arrangement automatically concludes that the vehicle moves to the right. The difference between the measured distance and the reference distance is a value indicative of the travelling angle.
  • This implementation can also be used if the vehicle comprises two lateral processing arrangements but one distance cannot be measured as no suitable sensor is implemented or due or to a sensor failure. In one implementation the current rotational position of the or every cantilever arm is further used.
  • the embodiment with the reference element and the step of comparing two distances provides a reliable measuring unit.
  • the embodiment does not require measuring a steering angle of a pulling vehicle or a pivoting angle between the pulled agricultural vehicle and a pulling vehicle in a mechanical connection between the two vehicles.
  • the embodiment further saves the need of establishing a data connection between the control unit and a sensor outside of the vehicle.
  • One implementation copes with the problem that the agricultural vehicle is moved in a curve with a small radius such that the two controlled positioning units cannot fully compensate the effect of this curve movement.
  • the rotating angles around which the cantilever arm and the processing arrangement can be rotated are mechanically limited.
  • an upper threshold for the travelling angle is given. This upper threshold depends on the construction of the agricultural vehicle, in particular
  • control unit compares the measured value indicative of the travelling angle with the given threshold. If the measured value is above the threshold, the control unit generates an alert. Preferably this alert is output in a form in which a human operator can recognize the alert. The human operator can perform a change of the steering angle such that the curve radius is increased.
  • the vehicle rolls over ground by means of at least one steerable wheel, preferably two parallel steerable wheels.
  • the or every steerable wheel can be rotated around its respective vertical wheel steering axis.
  • This vertical steering axis is perpendicular to the horizontal symmetrical axis of the wheel.
  • a wheel positioning unit is mounted on board of the vehicle and can rotate the wheel around the wheel steering axle.
  • Preferably two wheel positioning units rotate both steerable wheels around the respective wheel steering axis. It is also possible that one wheel positioning unit rotates both steerable wheels.
  • the embodiment with the steerable wheel(s) increases the ability of the vehicle to adapt to a movement into a curve.
  • the steerable wheel carries the cantilever arm or the processing arrangement. If this carrying wheel is steered while the vehicle is moved over ground, the carried processing arrangement is preferably rotated around at least one vertical rotating axis with respect to the frame.
  • a wheel rotating angle sensor measures a value indicative of the current rotational position of the wheel around the vertical wheel steering axis.
  • the control unit generates control inputs for the wheel positioning unit depending on the measured wheel rotating angle value.
  • control inputs for the wheel positioning unit further depend on signals indicative of the vehicle movement, e.g. the current travelling angle, and/or on the rotational position of the cantilever arm.
  • a path sensor measures the distance over which the vehicle with the processing arrangement is moved over ground. In one implementation this path sensor measures the rotations of the wheel around the wheel's symmetrical axis. This number of rotations serve as a value indicative of the distance travelled.
  • the control unit processes signals indicative of the distance travelled and generates control inputs depending on the distance travelled.
  • a movement of the or every steerable wheel contributes to compensate the effect of a current movement. If it is detected that the vehicle moves to the right, the or every wheel is rotated around the wheel steering axis to the left. If it is detected that the vehicle moves to the left, the or every wheel is rotated around the wheel steering axis to the right.
  • the angle around which the wheel is rotated can depend on the curve radius and/or on the travelling angle and/or of the distance travelled.
  • the detection that the vehicle moves to the left or to the right can be made by means of a sensing and evaluating arrangement mounted on board of the vehicle. It is also possible that the vehicle is pulled by a further vehicle and that a sensor on board of the further vehicle measures the curve movement of the further vehicle.
  • the wheel positioning unit processes control inputs from a control unit. This control unit can be mounted on board of the vehicle or on board of a further vehicle pulling or pushing the processing vehicle. If not only the wheel positioning unit(s) but also the sensing and evaluating arrangement and the control unit are mounted on board of the vehicle, the steerable wheel(s) can contribute to compensate the curve movement effect without the need of establishing a data connection to a further vehicle.
  • the agricultural vehicle measures the distance over which the vehicle is moved over ground.
  • a sensor on board of the vehicle counts the number of revolutions of the or of at least one wheel.
  • the control unit processes the counted numbers and uses this number for generating control inputs.
  • the processing arrangement comprises a bearing and at least one processing unit.
  • the bearing is mounted at the cantilever arm and can rotate with respect to the cantilever arm around the vertical processing arrangement rotating axis.
  • the cantilever arm is arranged between the bearing and the frame.
  • the processing arrangement positioning unit can rotate the bearing around this vertical axis.
  • the processing unit is mounted at the bearing in a mounting point and can process agricultural material on the ground. A distance and therefore a lever arm between the vertical processing arrangement rotating axis and the mounting point between the processing unit and the bearing occur.
  • the bearing is rigidly connected with the rotatable cantilever arm.
  • the processing unit can be rotated with respect to the bearing around a vertical processing unit rotating axis, i.e. an axis parallel to the rotating axis around which the bearing can rotate with respect to the cantilever arm.
  • a processing unit positioning unit can actively rotate the processing unit with respect to the bearing around this vertical processing unit axis. This feature further increases the ability of the vehicle to adapt to a curve movement.
  • the position and orientation of the processing unit with respect to the frame can be changed by means of three degrees of freedom, namely three rotational positions. Three controlled positioning units can operate independently from each other, i.e. can rotate the assigned implement part around different rotating angles.
  • a control unit receives signals from a sensing and evaluating arrangement which are both mounted on board of the vehicle.
  • the control unit generates control inputs for the processing unit positioning unit depending on the obtained signals. This embodiment saves the need to establish a data connection between the vehicle and a further vehicle. It is also possible that the control unit is mounted on board of a further vehicle connected with the vehicle.
  • two processing units are mounted at the bearing, preferably at two different sides of the bearing.
  • the vertical processing arrangement rotating axis is positioned between the two mounting points in which these two processing units are mounted at the bearing.
  • two processing unit positioning units can rotate the two processing units with respect to the bearing wherein the two positioning units operate independently from each other.
  • a control unit generates control inputs for these two processing unit positioning units.
  • the cantilever arm is telescopic, i.e. the length of the cantilever arm can be changed. Changing the cantilever arm length changes the distance between the processing arrangement and the frame without rotating the cantilever arm. This embodiment provides a further degree of freedom for the processing arrangement.
  • a controllable cantilever arm actuator can actively change the length of the cantilever arm.
  • the bearing at which the or at least one processing unit is mounted is telescopic.
  • the distance between the mounting point for the processing unit and the vertical processing arrangement rotating axis can be changed without rotating the processing unit with respect to the bearing or the bearing with respect to the cantilever arm or the cantilever arm.
  • the cantilever arm as well as the bearing can be telescopic.
  • the agricultural vehicle according to the invention comprises an own motor which moves the vehicle over ground.
  • the agricultural vehicle comprises a mechanical coupling element, e.g. a towing unit, which can be connected with a corresponding mechanical coupling unit of a propelled vehicle, e.g. of a tractor or combine harvester or field chopper. The tractor pulls or pushes the connected agricultural vehicle.
  • the processing arrangement at the cantilever arm mows grass or other plants on the ground.
  • the processing arrangement moves agricultural material over ground when the material is already cut off, e.g. for shifting together the material to stripes.
  • One application is a rake arrangement of a haymaking machine.
  • a further application is a grubber.
  • One application is an arrangement with creates swathes from grass or hay.
  • the processing arrangement cleans the ground, i.e. removes dirt and waste from the ground.
  • the processing arrangement provides parts or a fluid to the ground, e.g. distributes seed corns or seed plants or water for irrigation or fertilizer or herbicide.
  • Fig. shows the vehicle of the embodiment when moving along a left curve
  • Fig. illustrates one embodiment of the sensing and evaluating arrangement. 2
  • the invention is used in a combination comprising a tractor and an implement.
  • the implement serves as the vehicle according to the invention, has no own drive, is mechanically coupled with the tractor, and is pulled by the tractor.
  • the tractor comprises
  • a steering member for steering the front wheels.
  • the combination moves over ground and mows grass on the ground.
  • the implement comprises a frame connected with the tractor and five mowers which serve as five processing units. These five processing units process simultaneously grass on the ground by cutting it.
  • a first mower is front-mounted at the tractor with two steerable front wheels and two driven rear wheels.
  • a second mower and a third mower are mounted laterally at the left-hand side of a frame.
  • a fourth mower and a fifth mower are mounted laterally at the right-hand side.
  • Fig.1 shows:
  • a front mower MU.f serving as a front-mounted processing arrangement,- a left cantilever arm CA.I and a right cantilever arm CA.r,
  • a laterally mounted left processing arrangement PA I with an outer left mowing unit MU.I.o and an inner left mowing unit MU.I.i,
  • control unit CU for controlling the positioning units (to be described below).
  • the frame F is pivotally coupled at the rear side of the tractor Tr by means of a mechanical coupling unit.
  • the frame F is coupled with the tractor Tr by means of a towing unit TU comprising a tractor hitch and a corresponding element at the implement.
  • the tractor Tr supplies the mowing units of the implement with electric energy.
  • a data bus (not shown), e.g. a CAN bus according to ISO 1 1783, connects sensors and positioning units on board of the implement with each other.
  • this data bus further connects the sensors and the controllers of the implement with the control unit CU on board of the tractor Tr.
  • the frame F extends along a longitudinal axis being parallel to the ground.
  • the frame F can rotate with respect to the travelling direction TD of the tractor Tr around a vertical frame rotating axis (perpendicular to the drawing plane of Fig. 1 ) by means of the pivotal mechanical coupling in the towing unit TU.
  • a frame rotating sensor FRS measures the rotating angle of the frame axis with respect to the longitudinal axis of the tractor Tr.
  • the sensor FRS measures the pivoting angle between the two elements of the towing unit TU.
  • This frame rotating sensor FRS is sketched in Fig. 2.
  • PA.r further comprises: the respective outer mowing unit MU. I.o, MU.r.o,
  • a bearing B. I, B.r pivotally mounted at the cantilever arm CA. I, CA.r and carrying the respective outer mowing unit MU. I.o, MU.r.o and the respective inner mowing unit MU.I.i, MU.r. i,
  • Every cantilever arm CA.I, CA.r can rotate with respect to the frame F around a vertical cantilever arm rotating axis.
  • Every processing arrangement PA. I, PA.r can rotate in its entirety with respect to the respective cantilever arm CA.I, CA.r around a vertical processing arrangement rotating axis.
  • every mowing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i is mounted at the respective bearing B.I, B.r such that a distance between the mounting point of the mowing unit and the vertical processing arrangement rotating axis occurs.
  • This distance provides a lever for the mowing unit when rotating the bearing around the vertical processing arrangement rotating axis.
  • these distances and levers can be seen in Fig.1 .
  • these two levers have different lengths, cf. Fig. 1 .
  • every mowing unit can rotate with respect to the bearing around a vertical processing unit pivoting axis running through the connecting point of the mowing unit.
  • the two mowing units MU. I.o, MU.I.i and MU.r.o, MU.r. i are mounted at two different sides of the bearing B.I, B.r, cf. Fig. 1 .
  • the bearing B.I, B.r can be implemented as one rod.
  • the bearing B.I, B.r is not a linear rod but comprises two bearing parts which are angularly connected with each other, cf. Fig. 1 . Every bearing part carries one mowing unit by means of an articulation.
  • the bearing parts are rigidly connected with each other.
  • one bearing part together with the mounted mowing unit can be rotated with the other bearing part of the same bearing around a vertical bearing part rotating axis.
  • a controllable positioning unit can cause this rotation.
  • a mowing unit is carried as follows by a bearing part: One end of a rod is pivotally mounted at one end of a bearing part via the articulation. The other end of the rod is connected with a central point of the respective mowing unit. Preferably the mowing unit can rotate with respect to the rod around a horizontal axis.
  • the cantilever arm CA.I, CA.r extends laterally and approximately perpendicular to the travelling direction TD. If the implement is moved straight on forward, the bearing B.I, B.r extends approximately perpendicular to the cantilever arm CA.I, CA.r and therefore parallel to the longitudinal axis of the frame F. As the mowing units are mounted at different sides of the bearing B.I, B.r, an outer mowing unit MU.I.o, MU.r.o and an inner mowing unit MU. I. i, MU.r.i are formed.
  • the cantilever arm CA.I, CA.r can be rotated around the vertical cantilever arm rotating axis with respect to the frame F.
  • the bearing B.I, B.r and therefore also the mowing units mounted at it can be rotated around the vertical processing arrangement rotating axis with respect to the cantilever arm CA.I, CA.r.
  • Every laterally mounted mowing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i can be rotated around the vertical processing unit pivoting axis with respect to the bearing B.I, B.r.
  • These vertical pivoting axes are sketched in Fig.1 by circles.
  • the wheel W.I, W.r can be rotated around the vertical wheel steering axis with respect to the bearing B.I, B.r. Therefore the embodiment provides three parallel vertical rotating axes. In addition the wheel W.I, W.r can be rotated around its own horizontal rotating axis. The embodiment therefore provides at least four degrees of freedom of the mowing units with respect to the frame, namely the four rotational positions around the four vertical rotating axes. A further degree of freedom can be provided if one bearing part can rotate with respect to the other bearing part of the same bearing.
  • control unit CU is installed on board of the tractor Tr or on board of the implement.
  • control unit CU is mechanically coupled with the tractor Tr, e. g. arranged in the driver's cabin, but do not communicate with controllers of the tractor Tr.
  • the control unit CU can be a part of a user terminal which processes user inputs and displays messages to a human operator.
  • This control unit CU can process sensor signals and can generate control inputs for different positioning units Pos.CA.I, Pos.CA.r, Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i and can by this control these positioning units independently from each other. Every positioning unit can rotate the assigned part around a rotating angle which can be different from the respective rotating angles of the other positioning units.
  • the control unit CU and the positioning units are connected via the data bus of the implement. In one implementation a data cable connects the control unit CU on board of the tractor with the implement.
  • the cantilever arm positioning unit Pos.CA.I, Pos.CA.r can rotate the cantilever arm CA.I, CA.r with respect to the frame F in both rotating directions around its vertical cantilever arm rotating axis.
  • the processing arrangement positioning unit Pos.PA.I, Pos.PA.r can rotate the bearing B.I, B.r with respect to the cantilever arm CA.I, CA.r in both rotating directions around its vertical processing arrangement rotating axis. Every processing unit positioning unit Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i, Pos. W.I, Pos.
  • W.r can rotate the assigned mowing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i with respect to the bearing B.I, B.r in both rotating directions around its vertical processing unit rotating axis.
  • the processing unit positioning unit rotates the rod for a mowing unit with respect to the bearing B.I, B.r.
  • the wheel positioning unit Pos.W.I, Pos.W.r can rotate the wheel W.I, W.r with respect to the bearing B.I, B.r in both directions around the vertical wheel steering axis. Every wheel W.I, W.r operates as an idler wheel, i.e. the wheel is not propelled by a motor around its own horizontal rotating axis but is rotated as the tractor Tr pulls the implement over ground.
  • the left cantilever arm CA.I is rotated with respect to the frame F independently from the right cantilever arm CA.r. At every time only the left cantilever arm CA.I, only the right cantilever arm CA.r or both cantilever arms CA.I, CA.r can be rotated by the corresponding positioning unit(s) around rotating angles calculated by the control unit CU.
  • the positioning units are implemented by means of double-acting piston-cylinder devices or electrical motors.
  • the cantilever arm positioning unit Pos.CA.1, Pos.CA.r is implemented by means of a hydraulic piston-cylinder device operating in both directions, i.e. expands as well as retracts in a horizontal direction. This piston-cylinder device is at one side pivotally connected with the frame F and at the other side pivotally connected with the cantilever arm CA. I, CA.r. A lever occurs between the pivoting point of the cantilever arm CA. I, CA.r and the connection point in which the piston- cylinder device is connected with the cantilever arm CA. I, CA.r. Expanding or retracting the piston-cylinder device makes the cantilever arm CA. I, CA.r rotating around the vertical cantilever arm rotating axis with respect to the frame F. In an alternative embodiment at least some positioning units comprise electrical motors.
  • Fig.1 shows the tractor Tr and the pulled implement moving in a curve to the left. Every wheel of the tractor Tr describes a trajectory being part of a circle with the middle point M.
  • the wheels positioning units Pos.W.I, Pos.W.r have rotated the wheels W.I, W.r of the implement such that every wheel W. I, W.r of the implement also describes a trajectory of a circle with the middle point M.
  • the eight positioning units Pos.CA.I, CA.r, Pos. PA.1, Pos. PA.r, Pos.MU. I.o, Pos.MU. I. i, Pos.MU.r.o, Pos.MU.r.i have pivoted the cantilever arms CA.I, CA.r, the bearings B.I, B.r, and the four lateral mowing units MU.I.o, MU.I.i, MU.r.o, MU.r.i such that the four lateral mowing units MU. I.o, MU. I. i, MU.r.o, MU.r.
  • i and the front mowing unit MU.f together process a broad area extending on the ground along the travelling direction TD without an unmown strip in the interior of this area.
  • the five strips processed by the five mowing units are sketched in Fig. 1 and Fig. 2 by dotted lines. As only small overlaps between the processed strips of the mowing units occur, the working widths of the mowing units are fully used.
  • the control unit CU processes signals from sensors (to be described below) and in one embodiment user inputs.
  • the control unit CU generates control inputs, i.e. signals for the positioning units.
  • the positioning units receive these control inputs via the data network and rotate the cantilever arms CA.I, CA.r and the processing arrangements PA. I, PA.r such that the grass is mowed in this way without unprocessed strips in the interior.
  • the control unit CU automatically produces control inputs depending on signals from a sensing and evaluating arrangement. This sensing and evaluating arrangement automatically decides if the implement moves straight on forward or to left or to the right, i.e. into a left curve or into a right curve. In one embodiment the sensing and evaluating arrangement further calculates an implement travelling angle, i.e.
  • the sensing and evaluating arrangement further yields signals indicative of the current pivoting angles of the cantilever arms CA. I, CA.r and of the processing arrangements PA. I, PA.r.
  • Fig. 2 shows the sensing and evaluating arrangement which automatically decides if the implement moves straight on forward or to the right or to the left.
  • this sensing and evaluating arrangement continuously measures an implement travelling angle, i.e. the current angle between the travelling direction TD of the tractor Tr and the longitudinal axis of the implement's frame F.
  • the sensing and evaluating arrangement further comprises an evaluating unit for evaluating the sensor signals.
  • the evaluating unit automatically processes signals from the sensor units.
  • this evaluating unit is a part of the control unit CU mounted on board of the tractor Tr.
  • the evaluating unit is mounted on board of the implement.
  • the sensors operate as follows, cf. Fig. 2:
  • the frame rotating sensor FRS measures an angle a between the longitudinal axis of the tractor Tr and the longitudinal axis of the frame F.
  • the left cantilever arm rotating sensor CAS. I measures the angle ⁇ . ⁇ between the longitudinal axis of the frame F and the longitudinal axis of the left cantilever arm CA.I.
  • the right cantilever arm rotating sensor CAS.r measures the angle ⁇ between the longitudinal axis of the frame F and the longitudinal axis of the right cantilever arm CA.r.
  • the left bearing sensor BS. I measures the angle ⁇ . ⁇ between the longitudinal axis of the frame F and the longitudinal axis of the left bearing B. I.
  • the right bearing sensor BS.r measures the angle y.r between the longitudinal axes of the frame F and the longitudinal axis of the right bearing B.r.
  • the steering angle sensor SAS measures the steering angle of the tractor Tr.
  • This tractor steering angle equals the angle ⁇ between the rotating axis of the rear wheels of the tractor Tr and the rotating axis of the steerable front wheels.
  • the front wheels are steered such that the rotational axis of the front wheels can be changed with respect to the travelling direction TD of the tractor Tr.
  • the rear wheels are rotated by the motor of the tractor Tr but cannot be steered. In other words: The rotating axis of a rear wheel is always perpendicular to the tractor's longitudinal axis.
  • every rotating sensor is implemented as a potentiometer which generates a voltage depending on and therefore being indicative of the angle to be measured.
  • the sensing and evaluating arrangement further measures a left distance dist. l and a right distance dist.r.
  • the left distance dist.l is the distance between the left receiving unit S.I at the left outer mowing unit MU. I.o and the central sending unit Ref.
  • the right distance dist.r is the distance between the right receiving unit S.r at the right outer mowing unit MU.r.o and the central sending unit Ref. If the left distance dist. l equals the right distance dist.r, the implement moves straight ahead. In the situation shown in Fig. 2 the left distance dist. l is smaller than the right distance dist.r as the implement moves to the left.
  • the distances dist.l, dist.r only change depending on the travelling angle, i.e. on the angle between the longitudinal axis of the tractor Tr and the longitudinal axis of the frame F.
  • the embodiment with measuring the two distances dist.l, dist.r and the four angles ⁇ . ⁇ , ⁇ . ⁇ , ⁇ . ⁇ , y.r by means of the central sending unit Ref and the two receiving units S.I, S.r and the rotating angle sensors of the implement saves the need to evaluate signals from the tractor control unit CU.
  • a steering angle sensor SAS can be used but is not required. Therefore the implement with the sensing and evaluating arrangement can be combined with every tractor provided the tractor comprises a central sending or receiving element Ref and can be mechanically be coupled with the frame F and provides sufficient traction power and sufficient torque at its PTO shaft.
  • the reliability of the measuring procedure is improved by a redundant construction.
  • a reference distance dist_ref is given.
  • the distance between the left receiving unit S.I and the central sending unit Ref as well as the distance between the right receiving unit S.r and the central sending unit Ref are equal to the reference distance dist_ref if the implement moves straight ahead and the two lateral processing arrangements PA.I, PA.r have the same rotational position with respect to the frame (and if the sensor works properly).
  • Both measured distances dist.l, dist.r are compared with the reference distance dist_ref.
  • the central sending unit Ref. is mechanically mounted at the tractor Tr, e. g. on the roof of the driver's cabin by means of a magnet.
  • the central sending unit Ref sends signals to both receiving units S. I, S.r.
  • two sending units S. I, S.r are mounted at the two outer mowing units MU. I.o, MU.r.o and a receiving unit Ref is mounted at the tractor Tr.
  • the central sending unit Ref or the receiving unit Ref is mounted at the frame F of the implement.
  • the distances dist. l, dist.r can be used for measuring the rotating angles of the cantilever arms CA.I, CA.r and the bearings B.I, B.r.
  • a left mower distance sensor (not shown) measures the distance dist.MU.I between the left outer mowing unit MU. I.o and the frame F, preferably in a distance perpendicular to the longitudinal axis of the frame F.
  • a right mower distance sensor measures the distance dist.MU.r between the right outer mowing unit MU.r.o and the frame F.
  • the five mowing units MU.f, MU. I.o, MU. I.i, MU.r.o, MU.r.i can in addition be rotated around horizontal rotating axes.
  • a mowing unit MU.f, MU. I.o, MU.I. i, MU.r.o, MU.r.i is passively rotated around at least one horizontal axis for adapting the moved mowing unit to a sloping ground.
  • the horizontal axis can be parallel or perpendicular to the longitudinal direction of the respective bearing B. I, B.r. It is also possible that a mowing unit can rotate around two different horizontal rotating axes.
  • a tilting unit can actively rotate a mowing unit, e.g. for transferring the mowing unit from the working position shown in Fig. 1 and Fig. 2 into a vertical transport position.
  • the implement with the mowing units MU. I.o, MU.r.o, MU.I.i, MU.r.i in the vertical transport position has a smaller width and can be moved on a street.
  • Fig.1 four tilting units TU. MU. I.o, TU. MU.I. i, TU. MU.r.o, and TU. MU.r. i are shown. Every tilting unit tilts the assigned mowing unit by rotating it around a horizontal axis running through the rod which is mounted at the bearing B. I, B.r and carries the mowing unit.
  • every cantilever arm CA. I, CA.r is arranged like a telescope such that the length of the cantilever arm CA.I, CA.r can be changed.
  • a cantilever arm actuator (not shown) obtains corresponding control inputs from the control unit CU and changes the length of the cantilever arm CA.I, CA.r.
  • This embodiment provides a further degree of freedom for the mowing units. It is also possible that a bearing B.I, B.r is telescopically arranged.
  • B.I bearing of the left processing arrangement PA. I carries the two left mowing units MU.I. i, MU.I.o
  • B.r bearing of the right processing arrangement PA.r carries the two right mowing units MU.r.i, MU.r.o
  • CA.I left cantilever arm carries the left processing arrangement
  • CA.r right cantilever arm carries the right processing arrangement
  • FRS frame rotating sensor measures the angle a
  • PA.I left laterally mounted processing arrangement comprises the left outer mowing unit MU.I.o, the left inner mowing unit MU.I.i, the left bearing B.I, the left idler wheel W.I, and the assigned left positioning units
  • PA.r right laterally mounted processing arrangement comprises the right outer mowing unit MU.r.o, the right inner mowing unit MU.r.i, the right bearing B.r, the right idler wheel W.r, and the assigned right positioning units
  • Ref central sensor unit operates as the reference element
  • SAS steering angle sensor measures the angle ⁇ , mounted at the tractor Tr
  • TU towing unit connects the frame F with the tractor Tr

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Abstract

The invention refers to an agricultural vehicle and to a method for operating such an agricultural vehicle. The vehicle comprises a frame (F) and at least one processing arrangement (PA.l, PA.r) mounted at a cantilever arm(CA.l, CA.r). A cantilever arm positioning unit (Pos.CA.l, Pos.CA.r) can rotate the cantilever arm (CA.l, CA.r) around a vertical cantilever arm rotating axis with respect to the frame (F). A processing arrangement positioning unit (Pos.PA.l, Pos.PA.r) can pivot the processing arrangement (PA.l, PA.r) with respect to the cantilever arm (CA.l, CA.r) around a vertical processing arm rotating axis. The two positioning units operate independently from each other.

Description

Agricultural Vehicle Adapted for Curve Driving
1. FIELD OF THE INVENTION
The invention refers to an agricultural vehicle with at least one processing arrangement mounted at a cantilever arm. This processing arrangement may comprise at least one mower or a swathing unit, e.g. The vehicle is moved over ground in a travelling direction and can be moved along a curve. It is desired that the vehicle can process a brought area on the ground extending along the travelling direction such that no unprocessed strip in the interior of the area remains.
2. BACKGROUND OF THE INVENTION
In EP 1364573 A2 a swathing arrangement with four rotary swathing units ("Kreiselschwader") mounted at a frame ("Tragrahmen T") is disclosed. The frame T is pulled by a tractor ("Schlepper S") with steerable front wheels ("lenkbare Vorderrader 1"), cf. Fig. 1 . The two front swathing units are mounted at the frame T by means of two units each comprising a pivoting arm ("Hubarm 5") and an auxiliary pivoting arm ("Hubhilfsarm 5a"). The pivoting arm 5 can be rotated by means of a cylinder Z1 with respect to the frame T around a horizontal axis 6 parallel to the longitudinal axis T such that the swathing unit can be transferred between an operating position ("Arbeitsposition P1 ") and a lifted non-operationg position ("angehobene Position P2"), e.g. when turning on the headland ("Vorgewende"). In addition the length of the pivoting arm 5 can be changed ("langenverstellbar") by means of an actuator (cylinder Z3). The auxiliary pivoting arm 5a can be rotated with respect to the pivoting arm 5 around a vertical axis 7 by means of an actuator Z4. Two idler wheels ("Laufrader 10") are pivotally mounted at the frame T such that the wheels 10 can be steered by a rotation around two vertical steering axes ("bodensenkrechte Lenkachsen 12"). A steering arrangement ("Lenkvorrichtung L") rotates the wheels 10 around the axes 12 by means of two coupling rods ("Koppelstangen 13") and two hydraulic cylinders ("Hydraulikzylinder 15").
The arrangement of EP 1364573 A2 has the following sensors:
an angle sensor ("Winkelsensor D1 ") which measures the angle between the longitudinal axis of the tractor S and that of the frame T, sensors D2, D3, D6, D7 which measure the relative angle of the auxiliary pivoting arm 5a with respect to the pivoting arm 5 around the vertical axis 7 and the distance between the swathing unit and the frame T,
a steering angle sensor ("Lenkwinkelsensor D5") in the steering arrangement L,
a sensor ("Laufrad-Lauflangen-Sensor D4") for measuring the traveling distance over which the idler wheel 10 is moved.
The arrangement of EP 1364573 A2 avoids that an unmown area U occurs during a travel around a curve, cf. Fig. 1 . To achieve this goal, the steering arrangement L steers the idler wheels 10 either in the same direction as the curve movement ("Gleichrichtungs-Lenkmodus M1") or in the opposite direction ("Gegenrichtungs-Lenkmodus M2"). Fig. 1 shows a curve movement to the right wherein the steering arrangement L steers the idler wheels 10 in the mode M1 to the right and in the mode M2 to the left. The mode M1 is chosen if the swathing units are in the operating position P1 such that no unmown area U occurs. The mode M2 is chosen if the swathing units are in the lifted non-operating position P2 such that the turning circle ("Wendekreis") is minimized. A control unit ("Lenksteuerung C") controls the driving arrangement L, cf. Fig. 2.
WO 201 1/1 12078 A1 discloses a hay making machine. Two satellite frames 6a, 6b are mounted at a main beam 2. Every satellite frame 6a, 6b carries two circular rakes 7a, 8a and 7b, 8b. Every satellite frame 6a, 6b is connected with the main beam 2 by means of a side arm 4a, 4b. The side arms 4a, 4b are further connected with the main beam 2 by means of holding rods 10a, 10b. Telescopic drive shafts 52a, 52b can pivot the satellite frames 6a, 6b.
Fig. 1 of US 2006/0191250 A1 shows an arrangement (mower 1 ) with a front working unit 4 and two lateral working units 5, 6 all mounted at a motor vehicle 2 and comprising a cutting device 8. A connecting unit 10 allows the front working unit 4 to perform a vertical translational movement as well as a rotational movement with respect to the motor vehicle 2. Every lateral working unit 5, 6 is mounted at the chassis 14 of the motor vehicle 2 by means of a support arm 12 which is mounted by means of two articulations 13, 15. Both articulations 13, 15 allow rotations around a horizontal axis parallel to the travel direction 3. A third articulation 16 allows the support arm 12 to rotate around a vertical axis with respect to the chassis 14. The two lateral working units 5, 6 can be shifted laterally. The chassis 14 comprehends a traversal front bearing 14a, a traversal rear bearing 14b and two connecting rods 17 which are arranged in a parallelogram. An operating member (cylinder 18, ram 18) can change the distance between the two bearings 14a, 14b which causes the support arm 12 to be shifted laterally, cf. Fig. 4. An inclination sensor 21 of the arrangement of US 2006/0191250 A1 measures the roll angle - that is the inclination of the arrangement around its longitudinal axis 7. A control unit 20 controls the operating member 18 such that the slope of the arrangement is compensated.
In DE 19620070 A1 a carrier vehicle ("Tragerfahrzeug 2") with a combination of agricultural processing devices ("Arbeitsaggregatekombination 2") is described, cf. Fig. 1. The vehicle 2 has two front wheels ("Vorderrader 3") and two steerable rear wheels ("Hinterrader 4"). Two laterally mounted mowers 5, 6 and a front mower 7 together achieve a working width A. The laterally mounted mowers 5, 6 can be pivoted by means of two cantilever arms ("Ausleger- und Tragarme 13, 14") and an articulation arrangement ("Gelenkanordnung 15") which are mounted at the carrier vehicle 2. This pivotal connection allows moving the laterally mounted mowers 5, 6 from the operating position into a transport position and backwards around a longitudinal plane ("Schnittebene 25"). For compensating the effect of a curve movement a control means (Stellm ittel 43) can rotate these movers 5, 6 around a vertical axis ("vertikal ausgerichtete Schwenkachse 21 ") in the middle of the respective mower 5, 6, cf. Fig. 1 and Fig. 5. Fig. 2 to Fig. 4 show the vehicle driving along a curve to the left where the trajectory describes a segment of a circle with the middle point ("Momentanpol") M. The lateral mowers 5, 6 are rotated opposite to the curvature, i.e. to the right whereas the front mower 7 is rotated to the left. In an alternative embodiment also the left lateral mover 5 and the front mower 7 are rotated to the right. The mowers 5, 6, 7 can be locked ("arretierbar") in their rotated position.
In EP 1321027 B1 a "gang mover assembly" with a driving unit 10, a front mower unit 1 1 and two "wing" mowers 12 being laterally mounted is described, cf. Fig. 1. When the assembly is moved straight forward no overlap between the front mower unit 1 1 and the two rear mowers 12 occur. When the assembly describes a curve to the right and no compensating adjustment is performed the right edge of the front mower unit 1 1 describes the curve B' of Fig. 1 and the left edge of the right rear mower 12 describes the curve A' such that an unmown area occurs.
Fig. 2 of EP 1321027 B1 shows an assembly 20 which inhibits this undesired effect. The driving unit 10 has a front chassis part 22 with a front wheel set 29, a rear chassis part 23 with a rear wheel set 30, and a pivot type steering arrangement. This steering arrangement pivots the rear chassis part 23 with respect to the front chassis part 22 around a vertical steering pivot axis 24. A small overlap between the front mower unit 25 and the two rear mower units 26 occurs. When entering the right curve shown in Fig. 2 at least one rear mowing unit 26 is adjusted laterally. For creating the proper adjustment signal the distance travelled and the steering angle is monitored. In a second embodiment the front wheels 29 are steered to the right and the rear wheels 30 are steered to the left for compensating the curve travelling. In a third embodiment a mowing unit is mounted at a trailed vehicle and is shifted laterally to the left or to the right. In a further embodiment the front mowing unit is shifted laterally.
EP 1779715 B1 shows a mowing machine with a tractor ("Tragerfahrzeug") at which two front mowers ("Frontmahwerke 2,3") and two lateral mowers ("Seitenmahwerke 4,5") are mounted, cf. Fig. 1 . The mowers can be pivoted into an operating position and into a transport position. For pivoting a lateral mower 4, 5 into the transport position it is pivoted around three different axes. Fig. 2 to Fig. 5 show the step of pivoting around one axis being perpendicular to the traveling direction. The cantilever arm for the lateral mowers 4, 5 ("Teleskopausleger 12, 13") is telescopically arranged such that the lateral mowers 4, 5 can be pivoted around an axis parallel to the traveling direction.
Fig.1 of DE 44091 13 C1 shows a propelled carrying vehicle
("Tragerfahrzeug 1 ") with front wheels 2 and rear wheels 3, two laterally mounted processing arrangements ("Arbeitsaggregate 4, 5") which are mounted at the left and the right side, resp., by means of two cantilever arms ("Ausleger 6, 7") and two bearings ("Tragrahmen 8, 9") mounted at the cantilever arms 6, 7. A front- mounted processing arrangement ("frontangebautes Arbeitsaggregat 10") can be shifted vertically by means of a lifting device ("Hubvorrichtung 1 1"). The three processing arrangements process agricultural material on the ground, e.g. mow grass. In order to avoid unprocessed gaps between processed stripes of material, the working stripes of the three processing arrangements overlap if the vehicle moves straight ahead. If the vehicle moves into a curve, the front-mounted processing arrangement 10 is shifted laterally by means of a coupling frame ("Koppelrahmen 12"). Two motion links ("Schwingen 24, 25") are pivotally mounted at the coupling frame 12 such that a parallelogram of bearings is formed which can be shifted laterally in a horizontal direction. By this the front-mounted processing arrangement 10 is shifted laterally depending on the steering angle of the front wheels 2.
In DE 1031781 A2 an agricultural rotary swathing arrangement ("Kreiselschwader") with several rotary swathing units ("Kreiselschwader 2") mounted at a frame ("Fahrgestell 3") is described. The frame 3 is pivotally connected with a tractor ("Zugfahrzeug 6"). At the rear end of the frame 3 two wheels 4, a pick-up unit 1 1 and a lateral conveying system with three conveying belts ("Forderbander 8, 9, 10") are mounted. The wheels 4 are mounted at a frame ("Querrahmen 14") such that every wheel 4 can rotate around the vertical rotating axis 16, 16'. A positioning unit ("Stelleinheit 38") pulls and pushes guiding rods ("Spurstangen 18, 18"'). The guiding levers 17, 17' are pivotally connected with guiding levers ("Lenkhebel 17, 17"') which in turn rotate two spigots (Achszapfen 41 , 41 "'), cf. Fig. 2. The positioning unit 38 comprises a switching plate ("Umlenkplatte 19") at which the two rods 18, 18' are rotatably mounted such that they can rotate around two vertical axes 29, 29'. A guiding stick ("Lenkstock 42") guides the two rods 18, 18'. A positioning drive ("Stellantrieb 33") is connected with a steering lever ("Steuerhebel 48") and can rotate this steering lever 48 around a vertical axis 26. This steering lever 48 can make a switching plate 19 rotating around the vertical axis which in turn pivots the rods 18, 18'. The positioning unit 38 can achieve different angles of the wheel 4.
Fig. 1 and Fig. 2 of EP 2517543 A2 show an arrangement with a tractor and a device 2 for mounting implements ("Anbaugerate 3") at the tractor 1 . Fig. 1 shows a front-mounted mower and two laterally mounted mowers. A detecting device 16 on board of the tractor 1 automatically detects what implements 3 are currently mounted at the tractor 1 . A scanning device 1 1 emits a laser beam and scans the contour of the surface over which the tractor 1 moves the implements 3. A positioning device 17 adjusts the scanning area of this scanning device 1 1 depending on the currently mounted implements 3. 3. SUMMARY OF THE INVENTION
A problem solved by the invention is to provide an agricultural vehicle with the features of the preamble of claim 1 and an operating method with the features of the preamble of claim 19 wherein the risk is reduced that a non- processed stripe between two processed stripes remains even if the vehicle drives into a curve wherein there is no need for shifting a front-mounted processing arrangement laterally.
This problem is solved by an agricultural vehicle with the features of claim 1 and by an operating method with the features of claim 19. Preferred embodiments are specified in the depending claims.
The agricultural vehicle according to the invention can be moved over ground in a travelling direction and can in particular perform a movement through a curve to the left or to the right. The operating method according to the invention refers to operating such an agricultural vehicle during its movement.
The agricultural vehicle according to the invention comprises a frame and
at least one processing arrangement.
When the vehicle is moved over ground in the travelling direction, the or every processing arrangement processes agricultural material on the ground.
The processing arrangement is mounted at the frame by means of a cantilever arm positioned between the frame and the processing arrangement. When the vehicle is moved in the travelling direction, the cantilever arm extends laterally from the frame. The processing arrangement being mounted at the cantilever arm is positioned laterally besides the frame. The term "laterally" refers to the travelling direction.
The cantilever arm can rotate with respect to the frame around a vertical cantilever arm rotating axis. The processing arrangement can rotate with respect to the cantilever arm around a vertical processing arrangement rotating axis.
The term "vertical" refers to the ground. The vertical axes are oriented perpendicular to the ground.
A cantilever arm positioning unit belongs to the vehicle and can rotate the cantilever arm with respect to the frame around the vertical cantilever arm rotating axis. A processing arrangement positioning unit belongs to the vehicle and can rotate the processing arrangement with respect to the cantilever arm around the vertical processing arrangement rotating axis.
The both positioning units can operate independently from each other. Therefore at least two degrees of freedom are achieved for positioning and orientating the processing arrangement with respect to the frame:
the rotational position of the cantilever arm with respect to the frame and the rotational position of the processing arrangement with respect to the cantilever arm. 4. ADVANTAGES
According to the invention the processing arrangement positioning unit can rotate the processing arrangement around the vertical processing arrangement rotating axis with respect to the cantilever arm. The cantilever arm positioning unit can rotate the cantilever arm carrying the processing arrangement around the vertical cantilever arm rotating axis. These two positioning units can operate independently from each other and can rotate the assigned vehicle part around a rotating angle different to the other rotating angles. Thanks to the invention the two positioning units ensure that the processing arrangement mounted at the cantilever arm achieves a desired position and orientation with respect to the frame. Thanks to the at least two positioning units this desired position can be achieved during normal operation, i.e. achieving it does not require an input from a human operator.
The feature that the processing arrangement can be rotated around a first vertical axis with respect to the cantilever arm and the cantilever arm together with the rotatable processing arrangement can be rotated with respect to the frame around a second vertical axis increases the ability of the vehicle to adapt the position and orientation of the processing arrangement with respect to the frame and to the travelling direction. A distance between these two parallel axes occurs. Two degrees of freedom are provided. This enables performing a movement of the vehicle into a curve without the risk that an unprocessed strip of material on the ground remains. The overall working width yielded by the processing arrangement and by a further processing arrangement can be used in an optimal way.
Thanks to the invention it is possible to change the distance - seen in a direction perpendicular to the travelling direction - between the laterally mounted processing arrangement and the frame by two different actuators, namely the cantilever arm positioning unit and the processing arrangement positioning unit. This position change can be performed automatically during the agricultural operation and not or not only for the purpose of transferring the agricultural vehicle into a transport position. The feature with changing the distance further reduces the risk that an unprocessed strip remains on the ground.
A desired result is that the vehicle processes a broad area on the ground extending along the travelling direction without an unprocessed strip within the area. Thanks to the invention this desired result can be achieved during a movement of the vehicle over ground straight ahead forward as well as during a curved movement to the right or to the left. Thanks to the two positioning units and the two parallel vertical rotating axes it is possible to permanently and remotely adapt the position and the orientation of the processing arrangement relative to the frame during operation. In particular it is possible to orient the processing arrangement at the cantilever arm during a curved movement such that the processing arrangement has a desired distance and orientation with respect to the trajectory of the movement.
5. PREFERED EMBODIMENTS
In one embodiment a front processing arrangement is positioned in front of the processing arrangement when the vehicle is moved in the travelling direction. The front processing arrangement can be mounted at a front edge of the frame or at the front of a propelled vehicle which pulls the frame and thereby the entire vehicle with the processing arrangement. Thanks to the invention the front processing arrangement needs not to be shifted laterally with respect to the travelling direction. Nevertheless no unprocessed strip remains on the ground. This is of advantage as only a shorter lever arm can be obtained for the front processing arrangement.
It is also possible that a vehicle according to the invention comprises a front processing arrangement which can be shifted laterally with respect to the travelling direction and/or can be pivoted around a vertical rotating axis.
In one embodiment the cantilever arm can pivot with respect to the frame around a horizontal pivoting axis parallel to the travelling direction. In a further embodiment the processing arrangement can pivot with respect to the cantilever arm around a further horizontal pivoting axis. Both embodiments can be combined. These two embodiments make it easier that the vehicle can adapt to a hilly environment while the vehicle is moved over ground and the processing arrangement rests on the ground.
In one implementation an actuator can pivot the cantilever arm around the horizontal axis. This actuator can therefore transfer the processing arrangement from an operating position into a transport position. The vehicle with the processing arrangement in the transport position has a smaller width.
In one embodiment a left processing arrangement is mounted at a left lateral cantilever arm. A right processing arrangement is mounted at a right lateral cantilever arm. The vehicle comprises four positioning units:
a left processing arrangement positioning unit,
a right processing arrangement positioning unit,
a left cantilever arm positioning unit, and
- a right cantilever arm positioning unit.
Four different vertical rotating axes occur, namely two left and two right axes.
According to the embodiment with the two processing arrangements the left processing arrangement can be positioned and operated independently from the right processing arrangement. The four positioning units operate independently from each other, i.e. every positioning unit can be controlled and can rotate the assigned vehicle part around a rotating angle different from the other rotating angles independently from the other positioning units. This control unit operates in a fully automated manner, i.e. does not rely on inputs from a human operator. This feature further increases the ability of the vehicle to adapt to a curve movement.
The embodiment with the two lateral processing arrangement and the four vertical rotating axes provides an agricultural vehicle which can process a very broad area on the ground without the risk of an unprocessed strip in the interior of the area.
In general the vehicle can comprise n processing arrangements mounted at n cantilever arms. The 2*n positioning units provide 2*n degrees of freedom. In one embodiment a control unit is mounted on board of the vehicle. This control unit processes input signals and can generate as an output control inputs for the cantilever arm positioning unit and for the or every processing arrangement positioning unit. The control unit is connected with the positioning units via a data network, e.g. a CAN bus. This data network can include wireless data connections. The cantilever arm positioning unit rotates the cantilever arm around the vertical cantilever arm rotating axis depending on control inputs. The processing arrangement positioning unit rotates the processing arrangement around the processing arrangement rotating axis depending on further control inputs. As the control unit is mounted on board of the vehicle itself, no data connection between the vehicle with the processing arrangement and a further vehicle, e.g. a pulling tractor, needs to be established. This makes it easier to connect the same processing vehicle with different pulling vehicles, in particular different vehicles from different vehicle producers.
The control unit can also be mounted on board of a further vehicle mechanically connected with the vehicle according to the invention, e.g. on board of a tractor pulling the vehicle. Often the control unit is better protected when being on board of the further vehicle. A data connection between the control unit on board of the further vehicle and the positioning units is preferably established by means of a standardized connection between different vehicles, i.e. a data connection according to ISOBUS (ISO 1 1783). In one implementation data about the vehicle with the processing arrangement, in particular dimension data, are transmitted to the control unit triggered by establishing the data connection and before operating the vehicle.
In one embodiment a human operator can select an automatic mode in which the control unit automatically generates control inputs depending on measured operating parameters of the agricultural vehicle. The human operator can further select a manual mode in which the control unit generates the control inputs depending on inputs from the human operator.
In one embodiment a sensing and evaluating arrangement is entirely or at least partially mounted on board of the vehicle. It is possible that at least one part of the sensing and evaluating arrangement is mounted on board of the vehicle with the processing arrangement and at least one further part is mounted on board of a further vehicle, e.g. a tractor, which is mechanically connected with the vehicle according to the invention. The different parts of the sensing and evaluating arrangement are preferably connected by means of a data network.
This sensing and evaluating arrangement senses the vehicle movement by means of at least one sensor mounted on board of the vehicle. The sensing and evaluating arrangement generates signals which are indicative whether the vehicle moves straight on forwards or to the left or to the right. In one implementation the sensing and evaluating arrangement further measures a value indicative of the current radius or curvature of the curve long which the vehicle moves. Thanks to this embodiment no signal from a sensor positioned outside of the vehicle needs to be transmitted to the agricultural vehicle. No data connection to a further vehicle or system with the sensor needs to be established. No data about the vehicle with the processing arrangement needs to be stored on board of a further vehicle. This makes it easier to connect the vehicle with different further vehicles, e.g. with pulling vehicles from different vehicle producers. The control unit processes signals indicative of the measured vehicle movement and generates control inputs depending on the measured vehicle movement.
In a further embodiment a sensor mounted on board of the vehicle transmits signal to a control unit mounted on board of a further vehicle. In yet a further embodiment a distance sensor comprises a sender and a receiver wherein the sender is mounted on board of the vehicle with the processing arrangement and the receiver is mounted on board of a further vehicle. Or the sender is mounted on board of the further vehicle and the receiver is mounted on board of the vehicle with the processing arrangement.
In one embodiment the agricultural vehicle comprises the control unit and the sensing and evaluating arrangement. The control unit is in data connection with the sensing and evaluating arrangement and processes signals from the sensing and evaluating arrangement wherein the signals are indicative of a curve movement of the vehicle. In this embodiment no data connection for control inputs and no data communication for sensor signals achieved outside of the vehicle need to be established. The vehicle can operate in an autonomous manner. If the vehicle is not self-propelled, only a mechanical connection and a drive connection to a pulling or pushing vehicle need to be established. This is in particular of advantage if the same processing vehicle is to be connected with different pulling vehicles, e.g. from different producers. In a further embodiment the sensing and evaluating arrangement is entirely or at least partially mounted on board of the agricultural vehicle and the control unit is positioned outside of the vehicle, e.g. is mounted on board of a further vehicle which is mechanically connected with the agricultural vehicle according to the invention. A data connection between the sensing and evaluating arrangement on board of the agricultural vehicle and a further vehicle is established, e.g. in a wireless manner or via a data cable.
Preferably the sensing and evaluating arrangement on board of the vehicle measures repeatedly, i.e. with a given sampling rate, a value indicative of whether the vehicle moves straight on forwards or the left or to the right. In one implement the sensing and evaluating arrangement measures repeatedly a value indicative of the current radius or curvature of the vehicle movement. The control unit on board of the vehicle generates repeatedly, e.g. with a given sampling rate, control inputs for the positioning units. This embodiment implements a closed loop control for the positioning and orientation of the processing arrangement without the need of establishing a data connection to a further vehicle.
In one implementation the agricultural vehicle with the processing arrangement is pulled by a propelled vehicle, e.g. by a tractor. The propelled vehicle comprises at least one steerable wheel set and a steering angle sensor. This sensor measures a value indicative of the current angle between the travelling direction of the propelled vehicle and the direction in which the steerable wheel set moves. The measured steering angle value is transmitted to the control unit. The control unit uses this steering angle value for calculating control inputs for the positioning units.
In one embodiment a cantilever arm rotating sensor on board of the vehicle measures a value indicative of the current rotational position of the cantilever arm with respect to the frame. In addition a processing arrangement rotating sensor measures a value indicative of the current rotational position of the processing arrangement with respect to the cantilever arm. The control unit generates control inputs for the cantilever arm depending on the measured rotating angle value or values.
One implementation of the sensing and evaluating arrangement is implemented on a vehicle with two cantilever arms which are mounted on two sides of the frame, i.e. a left and a right cantilever arm. At the left cantilever arm a left processing arrangement is mounted. At the right cantilever arm a right processing arrangement is mounted. A reference element is mounted at the frame and is therefore moved together with the frame without being moved relative to the frame. In a further implementation the reference element is mounted at a further vehicle, e.g. at a tractor, which is mechanically connected with the vehicle comprising the processing arrangement. The reference element can be a sender. Two receivers are mounted at the two processing arrangements.
The sensing and evaluating arrangement measures a value indicative of a left distance and a value indicative of a right distance. The left distance is the distance between the left processing arrangement and the referent element. The right distance is the difference between the right processing arrangement and the reference element. The sensing and evaluating arrangement compares these two distances. The difference between the two distances is a value indicative whether the vehicle moves to the right or to the left or straight ahead. In addition the difference can be used as a value indicative of the current travelling angle - that is the angle between the travelling direction and the longitudinal axis of the frame. If the travelling angle equals zero, the longitudinal axis of the frame extends along the travelling direction and the left distance is equal to the right distance. In one implementation the current rotational position of the cantilever arms with respect to the frame are measured. If the rotational positions differ from each other, a difference between the left and right distances will occur also if the vehicle travels straight ahead. Therefore the distances and in addition two current rotational positions are used for determining the vehicle movement.
The travelling angle can also be measured if the vehicle comprises one lateral processing arrangement. A distance between the reference element and the one lateral processing arrangement is measured and is compared with a reference distance. This reference distance is obtained if the vehicle moves straight ahead. If the processing arrangement is positioned at the right-hand side of the frame and if the measured distance is smaller than the reference distance, the sensing and evaluating arrangement automatically concludes that the vehicle moves to the right. The difference between the measured distance and the reference distance is a value indicative of the travelling angle. The other cases are handled in an analogous way. This implementation can also be used if the vehicle comprises two lateral processing arrangements but one distance cannot be measured as no suitable sensor is implemented or due or to a sensor failure. In one implementation the current rotational position of the or every cantilever arm is further used.
The embodiment with the reference element and the step of comparing two distances provides a reliable measuring unit. The embodiment does not require measuring a steering angle of a pulling vehicle or a pivoting angle between the pulled agricultural vehicle and a pulling vehicle in a mechanical connection between the two vehicles. In one implementation the embodiment further saves the need of establishing a data connection between the control unit and a sensor outside of the vehicle.
One implementation copes with the problem that the agricultural vehicle is moved in a curve with a small radius such that the two controlled positioning units cannot fully compensate the effect of this curve movement. The rotating angles around which the cantilever arm and the processing arrangement can be rotated are mechanically limited. In this implementation an upper threshold for the travelling angle is given. This upper threshold depends on the construction of the agricultural vehicle, in particular
on the maximal possible rotating angles and
- on dimension of the cantilever arm and of the processing arrangement.
For reducing the risk of an unprocessed strip the control unit compares the measured value indicative of the travelling angle with the given threshold. If the measured value is above the threshold, the control unit generates an alert. Preferably this alert is output in a form in which a human operator can recognize the alert. The human operator can perform a change of the steering angle such that the curve radius is increased.
In one embodiment the vehicle rolls over ground by means of at least one steerable wheel, preferably two parallel steerable wheels. The or every steerable wheel can be rotated around its respective vertical wheel steering axis. This vertical steering axis is perpendicular to the horizontal symmetrical axis of the wheel. A wheel positioning unit is mounted on board of the vehicle and can rotate the wheel around the wheel steering axle. Preferably two wheel positioning units rotate both steerable wheels around the respective wheel steering axis. It is also possible that one wheel positioning unit rotates both steerable wheels. The embodiment with the steerable wheel(s) increases the ability of the vehicle to adapt to a movement into a curve.
Preferably the steerable wheel carries the cantilever arm or the processing arrangement. If this carrying wheel is steered while the vehicle is moved over ground, the carried processing arrangement is preferably rotated around at least one vertical rotating axis with respect to the frame.
In one embodiment a wheel rotating angle sensor measures a value indicative of the current rotational position of the wheel around the vertical wheel steering axis. The control unit generates control inputs for the wheel positioning unit depending on the measured wheel rotating angle value.
Preferably the control inputs for the wheel positioning unit further depend on signals indicative of the vehicle movement, e.g. the current travelling angle, and/or on the rotational position of the cantilever arm.
In one embodiment a path sensor measures the distance over which the vehicle with the processing arrangement is moved over ground. In one implementation this path sensor measures the rotations of the wheel around the wheel's symmetrical axis. This number of rotations serve as a value indicative of the distance travelled. The control unit processes signals indicative of the distance travelled and generates control inputs depending on the distance travelled.
In one implementation a movement of the or every steerable wheel contributes to compensate the effect of a current movement. If it is detected that the vehicle moves to the right, the or every wheel is rotated around the wheel steering axis to the left. If it is detected that the vehicle moves to the left, the or every wheel is rotated around the wheel steering axis to the right. The angle around which the wheel is rotated can depend on the curve radius and/or on the travelling angle and/or of the distance travelled.
The detection that the vehicle moves to the left or to the right can be made by means of a sensing and evaluating arrangement mounted on board of the vehicle. It is also possible that the vehicle is pulled by a further vehicle and that a sensor on board of the further vehicle measures the curve movement of the further vehicle. Preferably the wheel positioning unit processes control inputs from a control unit. This control unit can be mounted on board of the vehicle or on board of a further vehicle pulling or pushing the processing vehicle. If not only the wheel positioning unit(s) but also the sensing and evaluating arrangement and the control unit are mounted on board of the vehicle, the steerable wheel(s) can contribute to compensate the curve movement effect without the need of establishing a data connection to a further vehicle.
In one embodiment the agricultural vehicle measures the distance over which the vehicle is moved over ground. According to one implementation a sensor on board of the vehicle counts the number of revolutions of the or of at least one wheel. The control unit processes the counted numbers and uses this number for generating control inputs.
One embodiment further enhances the ability of the vehicle to adapt the position and orientation of the processing arrangement to a curve movement of the vehicle. According to the embodiment the processing arrangement comprises a bearing and at least one processing unit. The bearing is mounted at the cantilever arm and can rotate with respect to the cantilever arm around the vertical processing arrangement rotating axis. Preferably the cantilever arm is arranged between the bearing and the frame. The processing arrangement positioning unit can rotate the bearing around this vertical axis. The processing unit is mounted at the bearing in a mounting point and can process agricultural material on the ground. A distance and therefore a lever arm between the vertical processing arrangement rotating axis and the mounting point between the processing unit and the bearing occur.
It is possible that the bearing is rigidly connected with the rotatable cantilever arm. In an alternative implementation the processing unit can be rotated with respect to the bearing around a vertical processing unit rotating axis, i.e. an axis parallel to the rotating axis around which the bearing can rotate with respect to the cantilever arm. A processing unit positioning unit can actively rotate the processing unit with respect to the bearing around this vertical processing unit axis. This feature further increases the ability of the vehicle to adapt to a curve movement. The position and orientation of the processing unit with respect to the frame can be changed by means of three degrees of freedom, namely three rotational positions. Three controlled positioning units can operate independently from each other, i.e. can rotate the assigned implement part around different rotating angles. Preferably a control unit receives signals from a sensing and evaluating arrangement which are both mounted on board of the vehicle. The control unit generates control inputs for the processing unit positioning unit depending on the obtained signals. This embodiment saves the need to establish a data connection between the vehicle and a further vehicle. It is also possible that the control unit is mounted on board of a further vehicle connected with the vehicle.
In one implementation two processing units are mounted at the bearing, preferably at two different sides of the bearing. Preferably the vertical processing arrangement rotating axis is positioned between the two mounting points in which these two processing units are mounted at the bearing. Preferably two processing unit positioning units can rotate the two processing units with respect to the bearing wherein the two positioning units operate independently from each other. Preferably a control unit generates control inputs for these two processing unit positioning units.
In one embodiment the cantilever arm is telescopic, i.e. the length of the cantilever arm can be changed. Changing the cantilever arm length changes the distance between the processing arrangement and the frame without rotating the cantilever arm. This embodiment provides a further degree of freedom for the processing arrangement. Preferably a controllable cantilever arm actuator can actively change the length of the cantilever arm.
In a further embodiment the bearing at which the or at least one processing unit is mounted is telescopic. Thereby the distance between the mounting point for the processing unit and the vertical processing arrangement rotating axis can be changed without rotating the processing unit with respect to the bearing or the bearing with respect to the cantilever arm or the cantilever arm. Of course the cantilever arm as well as the bearing can be telescopic.
In one embodiment the agricultural vehicle according to the invention comprises an own motor which moves the vehicle over ground. In a further embodiment the agricultural vehicle comprises a mechanical coupling element, e.g. a towing unit, which can be connected with a corresponding mechanical coupling unit of a propelled vehicle, e.g. of a tractor or combine harvester or field chopper. The tractor pulls or pushes the connected agricultural vehicle. In one application the processing arrangement at the cantilever arm mows grass or other plants on the ground. In a further application the processing arrangement moves agricultural material over ground when the material is already cut off, e.g. for shifting together the material to stripes. One application is a rake arrangement of a haymaking machine. A further application is a grubber. One application is an arrangement with creates swathes from grass or hay. In just a further application the processing arrangement cleans the ground, i.e. removes dirt and waste from the ground. A further application is that the processing arrangement provides parts or a fluid to the ground, e.g. distributes seed corns or seed plants or water for irrigation or fertilizer or herbicide.
These and other aspects of the invention and of the preferred embodiment will be even more apparent from the detailed embodiment as described below and will be elucidated in detail there. 6. BRIEF DESCRIPTION OF THE DRAWINGS
In the following an embodiment of the invention is described by referring to the following figures:
Fig. shows the vehicle of the embodiment when moving along a left curve; 1
Fig. illustrates one embodiment of the sensing and evaluating arrangement. 2
7. DETAILED DESCRIPTION OF EMBODIMENT
In the embodiment the invention is used in a combination comprising a tractor and an implement. The implement serves as the vehicle according to the invention, has no own drive, is mechanically coupled with the tractor, and is pulled by the tractor. The tractor comprises
a motor,
- two rear wheels driven by the motor,
two steerable front wheels, and
a steering member for steering the front wheels.
The combination moves over ground and mows grass on the ground. The implement comprises a frame connected with the tractor and five mowers which serve as five processing units. These five processing units process simultaneously grass on the ground by cutting it. A first mower is front-mounted at the tractor with two steerable front wheels and two driven rear wheels. A second mower and a third mower are mounted laterally at the left-hand side of a frame. A fourth mower and a fifth mower are mounted laterally at the right-hand side.
Fig.1 shows:
a tractor Tr currently moving in the travelling direction TD,
a frame F of an implement,
a front mower MU.f serving as a front-mounted processing arrangement,- a left cantilever arm CA.I and a right cantilever arm CA.r,
a laterally mounted left processing arrangement PA. I with an outer left mowing unit MU.I.o and an inner left mowing unit MU.I.i,
a laterally mounted right processing arrangement PA.r with an outer right mowing unit MU.r.o and an inner right mowing unit MU.r.i, and
- a control unit CU for controlling the positioning units (to be described below).
The frame F is pivotally coupled at the rear side of the tractor Tr by means of a mechanical coupling unit. In Fig.1 the frame F is coupled with the tractor Tr by means of a towing unit TU comprising a tractor hitch and a corresponding element at the implement. The tractor Tr supplies the mowing units of the implement with electric energy. In one embodiment a data bus (not shown), e.g. a CAN bus according to ISO 1 1783, connects sensors and positioning units on board of the implement with each other. In one embodiment this data bus further connects the sensors and the controllers of the implement with the control unit CU on board of the tractor Tr.
The frame F extends along a longitudinal axis being parallel to the ground. The frame F can rotate with respect to the travelling direction TD of the tractor Tr around a vertical frame rotating axis (perpendicular to the drawing plane of Fig. 1 ) by means of the pivotal mechanical coupling in the towing unit TU. In one embodiment a frame rotating sensor FRS measures the rotating angle of the frame axis with respect to the longitudinal axis of the tractor Tr. The sensor FRS measures the pivoting angle between the two elements of the towing unit TU. This frame rotating sensor FRS is sketched in Fig. 2.
Every processing arrangement PA.I, PA.r further comprises: the respective outer mowing unit MU. I.o, MU.r.o,
the respective inner mowing unit MU.I.i, MU.r. i,
a bearing B. I, B.r pivotally mounted at the cantilever arm CA. I, CA.r and carrying the respective outer mowing unit MU. I.o, MU.r.o and the respective inner mowing unit MU.I.i, MU.r. i,
a steerable wheel W.I, W.r pivotally mounted at the bearing B. I, B.r and carrying the bearing B.I, B.r,
a cantilever arm positioning unit Pos.CA.I, Pos.CA.r,
a processing arrangement positioning unit Pos. PA. I, Pos. PA.r,
- two processing unit positioning units Pos. MU.I.o, Pos. MU. I.i and Pos. MU.r.o, Pos. MU.r. i for the two processing units (mowing units) MU.I.o, MU.I.i and MU.r.o, MU.r.i, resp. ,
a wheel positioning unit Pos. W.I, Pos. W.r, and
different sensors which are described below with reference to Fig. 2.
Every cantilever arm CA.I, CA.r can rotate with respect to the frame F around a vertical cantilever arm rotating axis. Every processing arrangement PA. I, PA.r can rotate in its entirety with respect to the respective cantilever arm CA.I, CA.r around a vertical processing arrangement rotating axis.
In a preferred embodiment every mowing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i is mounted at the respective bearing B.I, B.r such that a distance between the mounting point of the mowing unit and the vertical processing arrangement rotating axis occurs. This distance provides a lever for the mowing unit when rotating the bearing around the vertical processing arrangement rotating axis. These distances and levers can be seen in Fig.1 . Preferably these two levers have different lengths, cf. Fig. 1 . In the embodiment every mowing unit can rotate with respect to the bearing around a vertical processing unit pivoting axis running through the connecting point of the mowing unit.
Preferably the two mowing units MU. I.o, MU.I.i and MU.r.o, MU.r. i are mounted at two different sides of the bearing B.I, B.r, cf. Fig. 1 . The bearing B.I, B.r can be implemented as one rod. In the embodiment the bearing B.I, B.r is not a linear rod but comprises two bearing parts which are angularly connected with each other, cf. Fig. 1 . Every bearing part carries one mowing unit by means of an articulation. In one implementation the bearing parts are rigidly connected with each other. In a further implementation one bearing part together with the mounted mowing unit can be rotated with the other bearing part of the same bearing around a vertical bearing part rotating axis. A controllable positioning unit can cause this rotation.
In one implementation a mowing unit is carried as follows by a bearing part: One end of a rod is pivotally mounted at one end of a bearing part via the articulation. The other end of the rod is connected with a central point of the respective mowing unit. Preferably the mowing unit can rotate with respect to the rod around a horizontal axis.
During normal operation the cantilever arm CA.I, CA.r extends laterally and approximately perpendicular to the travelling direction TD. If the implement is moved straight on forward, the bearing B.I, B.r extends approximately perpendicular to the cantilever arm CA.I, CA.r and therefore parallel to the longitudinal axis of the frame F. As the mowing units are mounted at different sides of the bearing B.I, B.r, an outer mowing unit MU.I.o, MU.r.o and an inner mowing unit MU. I. i, MU.r.i are formed.
The cantilever arm CA.I, CA.r can be rotated around the vertical cantilever arm rotating axis with respect to the frame F. The bearing B.I, B.r and therefore also the mowing units mounted at it can be rotated around the vertical processing arrangement rotating axis with respect to the cantilever arm CA.I, CA.r. Every laterally mounted mowing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i can be rotated around the vertical processing unit pivoting axis with respect to the bearing B.I, B.r. These vertical pivoting axes are sketched in Fig.1 by circles.
The wheel W.I, W.r can be rotated around the vertical wheel steering axis with respect to the bearing B.I, B.r. Therefore the embodiment provides three parallel vertical rotating axes. In addition the wheel W.I, W.r can be rotated around its own horizontal rotating axis. The embodiment therefore provides at least four degrees of freedom of the mowing units with respect to the frame, namely the four rotational positions around the four vertical rotating axes. A further degree of freedom can be provided if one bearing part can rotate with respect to the other bearing part of the same bearing.
In the embodiment the control unit CU is installed on board of the tractor Tr or on board of the implement. In one implementation the control unit CU is mechanically coupled with the tractor Tr, e. g. arranged in the driver's cabin, but do not communicate with controllers of the tractor Tr. The control unit CU can be a part of a user terminal which processes user inputs and displays messages to a human operator.
This control unit CU can process sensor signals and can generate control inputs for different positioning units Pos.CA.I, Pos.CA.r, Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i and can by this control these positioning units independently from each other. Every positioning unit can rotate the assigned part around a rotating angle which can be different from the respective rotating angles of the other positioning units. The control unit CU and the positioning units are connected via the data bus of the implement. In one implementation a data cable connects the control unit CU on board of the tractor with the implement.
The cantilever arm positioning unit Pos.CA.I, Pos.CA.r can rotate the cantilever arm CA.I, CA.r with respect to the frame F in both rotating directions around its vertical cantilever arm rotating axis. The processing arrangement positioning unit Pos.PA.I, Pos.PA.r can rotate the bearing B.I, B.r with respect to the cantilever arm CA.I, CA.r in both rotating directions around its vertical processing arrangement rotating axis. Every processing unit positioning unit Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i, Pos. W.I, Pos. W.r can rotate the assigned mowing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i with respect to the bearing B.I, B.r in both rotating directions around its vertical processing unit rotating axis. In the embodiment the processing unit positioning unit rotates the rod for a mowing unit with respect to the bearing B.I, B.r. The wheel positioning unit Pos.W.I, Pos.W.r can rotate the wheel W.I, W.r with respect to the bearing B.I, B.r in both directions around the vertical wheel steering axis. Every wheel W.I, W.r operates as an idler wheel, i.e. the wheel is not propelled by a motor around its own horizontal rotating axis but is rotated as the tractor Tr pulls the implement over ground.
The left cantilever arm CA.I is rotated with respect to the frame F independently from the right cantilever arm CA.r. At every time only the left cantilever arm CA.I, only the right cantilever arm CA.r or both cantilever arms CA.I, CA.r can be rotated by the corresponding positioning unit(s) around rotating angles calculated by the control unit CU.
At every time the angle β.Ι between the longitudinal axis of the left cantilever arm CA.I and the longitudinal axis of the frame F can differ from the angle β.Γ between the longitudinal axis of the right cantilever arm CA.r and the longitudinal axis of the frame F, cf. Fig. 2. Rotating the left cantilever arm CA. I around the left vertical cantilever arm rotating axis changes the distance between the left processing arrangement PA. I and the frame F. Rotating the right cantilever arm CA.r around the right vertical cantilever arm rotating axis changes the distance between the right processing arrangement PA.r and the Frame F.
In one embodiment the positioning units are implemented by means of double-acting piston-cylinder devices or electrical motors. In a preferred embodiment the cantilever arm positioning unit Pos.CA.1, Pos.CA.r is implemented by means of a hydraulic piston-cylinder device operating in both directions, i.e. expands as well as retracts in a horizontal direction. This piston-cylinder device is at one side pivotally connected with the frame F and at the other side pivotally connected with the cantilever arm CA. I, CA.r. A lever occurs between the pivoting point of the cantilever arm CA. I, CA.r and the connection point in which the piston- cylinder device is connected with the cantilever arm CA. I, CA.r. Expanding or retracting the piston-cylinder device makes the cantilever arm CA. I, CA.r rotating around the vertical cantilever arm rotating axis with respect to the frame F. In an alternative embodiment at least some positioning units comprise electrical motors.
Fig.1 shows the tractor Tr and the pulled implement moving in a curve to the left. Every wheel of the tractor Tr describes a trajectory being part of a circle with the middle point M. The wheels positioning units Pos.W.I, Pos.W.r have rotated the wheels W.I, W.r of the implement such that every wheel W. I, W.r of the implement also describes a trajectory of a circle with the middle point M.
The eight positioning units Pos.CA.I, CA.r, Pos. PA.1, Pos. PA.r, Pos.MU. I.o, Pos.MU. I. i, Pos.MU.r.o, Pos.MU.r.i have pivoted the cantilever arms CA.I, CA.r, the bearings B.I, B.r, and the four lateral mowing units MU.I.o, MU.I.i, MU.r.o, MU.r.i such that the four lateral mowing units MU. I.o, MU. I. i, MU.r.o, MU.r. i and the front mowing unit MU.f together process a broad area extending on the ground along the travelling direction TD without an unmown strip in the interior of this area. The five strips processed by the five mowing units are sketched in Fig. 1 and Fig. 2 by dotted lines. As only small overlaps between the processed strips of the mowing units occur, the working widths of the mowing units are fully used.
The control unit CU processes signals from sensors (to be described below) and in one embodiment user inputs. The control unit CU generates control inputs, i.e. signals for the positioning units. The positioning units receive these control inputs via the data network and rotate the cantilever arms CA.I, CA.r and the processing arrangements PA. I, PA.r such that the grass is mowed in this way without unprocessed strips in the interior. The control unit CU automatically produces control inputs depending on signals from a sensing and evaluating arrangement. This sensing and evaluating arrangement automatically decides if the implement moves straight on forward or to left or to the right, i.e. into a left curve or into a right curve. In one embodiment the sensing and evaluating arrangement further calculates an implement travelling angle, i.e. the angle between the current travelling direction TD of the tractor Tr and the longitudinal axis of the frame F. The sensing and evaluating arrangement further yields signals indicative of the current pivoting angles of the cantilever arms CA. I, CA.r and of the processing arrangements PA. I, PA.r.
Fig. 2 shows the sensing and evaluating arrangement which automatically decides if the implement moves straight on forward or to the right or to the left. In addition this sensing and evaluating arrangement continuously measures an implement travelling angle, i.e. the current angle between the travelling direction TD of the tractor Tr and the longitudinal axis of the implement's frame F.
In the embodiment this sensing and evaluating arrangement comprises all or at least some of the following sensors:
the frame rotating sensor FRS mounted at the frame F,
a left cantilever arm rotating sensor CAS. I and a right cantilever arm rotating sensor CAS.r,
- a left bearing rotating sensor BS. I and a right bearing rotating sensor BS.r, a left receiving unit S.I mounted at the left outer mowing unit MU. I.o, a right receiving unit S.r mounted at the right outer mowing unit MU.r.o, a central sending unit Ref mounted at the tractor Tr and operating as a reference element, and
- a steering angle sensor SAS mounted at the tractor Tr.
The sensing and evaluating arrangement further comprises an evaluating unit for evaluating the sensor signals. The evaluating unit automatically processes signals from the sensor units. In one embodiment this evaluating unit is a part of the control unit CU mounted on board of the tractor Tr. In a further embodiment the evaluating unit is mounted on board of the implement.
The sensors operate as follows, cf. Fig. 2:
The frame rotating sensor FRS measures an angle a between the longitudinal axis of the tractor Tr and the longitudinal axis of the frame F.
The left cantilever arm rotating sensor CAS. I measures the angle β. Ι between the longitudinal axis of the frame F and the longitudinal axis of the left cantilever arm CA.I.
The right cantilever arm rotating sensor CAS.r measures the angle βτ between the longitudinal axis of the frame F and the longitudinal axis of the right cantilever arm CA.r.
The left bearing sensor BS. I measures the angle γ.Ι between the longitudinal axis of the frame F and the longitudinal axis of the left bearing B. I.
- The right bearing sensor BS.r measures the angle y.r between the longitudinal axes of the frame F and the longitudinal axis of the right bearing B.r.
The steering angle sensor SAS measures the steering angle of the tractor Tr. This tractor steering angle equals the angle δ between the rotating axis of the rear wheels of the tractor Tr and the rotating axis of the steerable front wheels. The front wheels are steered such that the rotational axis of the front wheels can be changed with respect to the travelling direction TD of the tractor Tr. The rear wheels are rotated by the motor of the tractor Tr but cannot be steered. In other words: The rotating axis of a rear wheel is always perpendicular to the tractor's longitudinal axis.
Preferably every rotating sensor is implemented as a potentiometer which generates a voltage depending on and therefore being indicative of the angle to be measured.
The sensing and evaluating arrangement further measures a left distance dist. l and a right distance dist.r. The left distance dist.l is the distance between the left receiving unit S.I at the left outer mowing unit MU. I.o and the central sending unit Ref. The right distance dist.r is the distance between the right receiving unit S.r at the right outer mowing unit MU.r.o and the central sending unit Ref. If the left distance dist. l equals the right distance dist.r, the implement moves straight ahead. In the situation shown in Fig. 2 the left distance dist. l is smaller than the right distance dist.r as the implement moves to the left.
The conclusion that the implement moves straight ahead if dist. l equals dist.r is valid if β.Ι equals βτ and γ.Ι equals γ . In general the decision whether the implement moves straight ahead or to left or to the right is based on the two measured distances dist. l, dist.r and the four measured angles β.Ι, γ.Ι, β. Γ, y.r. The length of the cantilever arms CA.I, CA.r and the length of the lever arms of the bearings B.I, B.r are constant by construction and are stored in a storage of the sensing and evaluating arrangement. As the elements S.I, S.r, and Ref are stationary mounted at the respective part of the combination, the distances dist.l, dist.r only change depending on the travelling angle, i.e. on the angle between the longitudinal axis of the tractor Tr and the longitudinal axis of the frame F.
The embodiment with measuring the two distances dist.l, dist.r and the four angles β.Ι, γ.Ι, β.Γ, y.r by means of the central sending unit Ref and the two receiving units S.I, S.r and the rotating angle sensors of the implement saves the need to evaluate signals from the tractor control unit CU. In particular a steering angle sensor SAS can be used but is not required. Therefore the implement with the sensing and evaluating arrangement can be combined with every tractor provided the tractor comprises a central sending or receiving element Ref and can be mechanically be coupled with the frame F and provides sufficient traction power and sufficient torque at its PTO shaft.
In one embodiment the reliability of the measuring procedure is improved by a redundant construction. A reference distance dist_ref is given. The distance between the left receiving unit S.I and the central sending unit Ref as well as the distance between the right receiving unit S.r and the central sending unit Ref are equal to the reference distance dist_ref if the implement moves straight ahead and the two lateral processing arrangements PA.I, PA.r have the same rotational position with respect to the frame (and if the sensor works properly). Both measured distances dist.l, dist.r are compared with the reference distance dist_ref. By evaluating the two comparison results a sensor failure can be detected. Even in the case of one sensor failure the results from the other sensor can further be used for delivering the travelling angle.
In one embodiment the central sending unit Ref. is mechanically mounted at the tractor Tr, e. g. on the roof of the driver's cabin by means of a magnet. The central sending unit Ref sends signals to both receiving units S. I, S.r. In an alternative embodiment two sending units S. I, S.r are mounted at the two outer mowing units MU. I.o, MU.r.o and a receiving unit Ref is mounted at the tractor Tr.
It is also possible that the central sending unit Ref or the receiving unit Ref is mounted at the frame F of the implement. In this case the distances dist. l, dist.r can be used for measuring the rotating angles of the cantilever arms CA.I, CA.r and the bearings B.I, B.r.
In a further embodiment a left mower distance sensor (not shown) measures the distance dist.MU.I between the left outer mowing unit MU. I.o and the frame F, preferably in a distance perpendicular to the longitudinal axis of the frame F. A right mower distance sensor measures the distance dist.MU.r between the right outer mowing unit MU.r.o and the frame F. These two distances dist.MU.I and dist.MU.r are also used for determining rotating angles.
The five mowing units MU.f, MU. I.o, MU. I.i, MU.r.o, MU.r.i can in addition be rotated around horizontal rotating axes. When the implement is moved, a mowing unit MU.f, MU. I.o, MU.I. i, MU.r.o, MU.r.i is passively rotated around at least one horizontal axis for adapting the moved mowing unit to a sloping ground. The horizontal axis can be parallel or perpendicular to the longitudinal direction of the respective bearing B. I, B.r. It is also possible that a mowing unit can rotate around two different horizontal rotating axes.
A tilting unit can actively rotate a mowing unit, e.g. for transferring the mowing unit from the working position shown in Fig. 1 and Fig. 2 into a vertical transport position. The implement with the mowing units MU. I.o, MU.r.o, MU.I.i, MU.r.i in the vertical transport position has a smaller width and can be moved on a street. In Fig.1 four tilting units TU. MU. I.o, TU. MU.I. i, TU. MU.r.o, and TU. MU.r. i are shown. Every tilting unit tilts the assigned mowing unit by rotating it around a horizontal axis running through the rod which is mounted at the bearing B. I, B.r and carries the mowing unit.
Preferably every cantilever arm CA. I, CA.r is arranged like a telescope such that the length of the cantilever arm CA.I, CA.r can be changed. A cantilever arm actuator (not shown) obtains corresponding control inputs from the control unit CU and changes the length of the cantilever arm CA.I, CA.r. This embodiment provides a further degree of freedom for the mowing units. It is also possible that a bearing B.I, B.r is telescopically arranged.
Reference signs used in the claims will not limit the scope of the claimed invention. The term "comprises" does not exclude other elements or steps. The articles "a", "an", and "one" do not exclude a plurality of elements. Features specified in several depending claims may be combined in an advantageous manner.
8. LIST OF REFERENCE SIGNS
a angle between the longitudinal axis of the frame F and the longitudinal axis of the tractor Tr, measured by the sensor FRS β.Ι angle between the longitudinal axis of the frame F and the longitudinal axis of the left cantilever arm CA.I, measured by the sensor CAS.I
β.Γ angle between the longitudinal axis of the frame F and the longitudinal axis of the right cantilever arm CA.r, measured by the sensor CAS.r
B.I bearing of the left processing arrangement PA. I, carries the two left mowing units MU.I. i, MU.I.o
B.r bearing of the right processing arrangement PA.r, carries the two right mowing units MU.r.i, MU.r.o
BS.I left bearing rotating sensor, measures the angle γ.Ι
BS.r right bearing rotating sensor, measures the angle y.r
γ.ι angle between the longitudinal axis of the frame F and the longitudinal axis of the left bearing B.I, measured by the sensor BS.I
γ. Γ angle between the longitudinal axis of the frame F and the longitudinal axis of the right bearing B.r, measured by the sensor BS.I
CA.I left cantilever arm, carries the left processing arrangement
PA. I
CA.r right cantilever arm, carries the right processing arrangement
PA.r
CAS. I left cantilever arm rotating sensor, measures the angle β. Ι
CAS.r right cantilever arm rotating sensor, measures the angle βτ δ angle between the rotating axis of the steered front wheels and a rotating axis of the driven rear wheels of the tractor Tr, measured by the sensor SAS
dist.l left distance; distance between the left receiving unit S.I and the reference element (sending unit) Ref
dist.r right distance; distance between the right receiving unit S.r and the reference element (sending unit) Ref dist.MU.I distance between the frame F and the left outer mowing unit
MU.I.o
dist.MU.r distance between the frame F and the right outer mowing unit
MU.r.o
F frame of the implement
FRS frame rotating sensor, measures the angle a
M midpoint of every circle on which the trajectories of the tractor wheels and the implement wheels W.I, W.r lies
MU.f front-mounted mowing unit
MU.I.i left inner mowing unit
Mil. I.o left outer mowing unit
MU.r.i right inner mowing unit
MU.r.o right outer mowing unit
PA.I left laterally mounted processing arrangement, comprises the left outer mowing unit MU.I.o, the left inner mowing unit MU.I.i, the left bearing B.I, the left idler wheel W.I, and the assigned left positioning units
PA.r right laterally mounted processing arrangement, comprises the right outer mowing unit MU.r.o, the right inner mowing unit MU.r.i, the right bearing B.r, the right idler wheel W.r, and the assigned right positioning units
Pos.Pos.CA.I positioning unit for the left cantilever arm CA.I
Pos.Pos.CA.r positioning unit for the right cantilever arm CA.r
Pos.Pos.MU.I.i positioning unit for the left inner mowing unit MU.I.i
Pos.Pos. MU.I.o positioning unit for the left outer mowing unit MU.r.i
Pos.Pos. MU.r.i positioning unit for the right inner mowing unit MU.I.i Pos.Pos. MU.r.o positioning unit for the right outer mowing unit MU.r.i
Pos.W.I wheel positioning unit for the left idler wheel W. I
Pos.W.r wheel positioning unit for the right idler wheel W.r
Ref central sensor unit, operates as the reference element
S.I left receiving unit mounted at the left outer mowing unit MU. I.o
S.r right receiving unit mounted at the right outer mowing unit
MU.r.o
SAS steering angle sensor, measures the angle δ, mounted at the tractor Tr
TD travelling direction of the tractor Tr
Tr tractor, pulls the frame F of the implement
TU towing unit, connects the frame F with the tractor Tr
TU. MU. I.o tilting unit for the left outer mowing unit MU. I.o
TU.MU. I. i tilting unit for the left inner mowing unit MU. I.i
TU. MU.r.i tilting unit for the right inner mowing unit MU.r. i
TU. MU.r.o tilting unit for the right outer mowing unit MU.r.o
W.I idler wheel for the left processing arrangement PA. I
W.r idler wheel for the right processing arrangement PA.r

Claims

9. CLAIMS
1 . Agricultural vehicle comprising
a frame (F),
- a processing arrangement (PA.I, PA.r),
a cantilever arm (CA. I, CA.r),
a cantilever arm positioning unit (Pos.CA.I, Pos.CA.r), and
a processing arrangement positioning unit (Pos.PA.I, Pos.PA.r),
wherein the cantilever arm (CA.I, CA.r) is rotatably mounted at the frame (F) around a cantilever arm rotating axis,
wherein the processing arrangement (PA.I, PA.r) is rotatably mounted at the cantilever arm (CA.I, CA.r) around a processing arrangement rotating axis, wherein the vehicle is movable over ground in a travelling direction (TD), wherein
- the cantilever arm (CA. I, CA.r) extends laterally from the frame (F) and
the processing arrangement (PA. I, PA.r) is positioned laterally besides the frame (F)
when the vehicle is moved in the travelling direction (TD),
wherein the cantilever arm positioning unit (Pos.CA. I, Pos.CA.r) is arranged to rotate the cantilever arm (CA. I, CA.r) with respect to the frame (F) around the cantilever arm rotating axis,
wherein the processing arrangement positioning unit (Pos.PA.I, Pos.PA.r) is arranged to rotate the processing arrangement (PA.I, PA.r) with respect to the cantilever arm (CA.I, CA.r) around the processing arrangement rotating axis, and wherein the processing arrangement (PA. I, PA.r) is arranged to process agricultural material on the ground when the vehicle is moved,
characterized in that
the cantilever arm rotating axis and the processing arrangement rotating axis both are vertical axes
which are positioned
perpendicular to the travelling direction (TD) and
perpendicular to the ground,
wherein a distance between the two parallel vertical axes occurs.
2. Agricultural vehicle according to claim 1 , characterized in that
a control unit (CU) is mounted on board of the vehicle or on board of a further vehicle (Tr) being mechanically connected with the vehicle
wherein the control unit (CU) is arranged to control
the processing arrangement positioning unit (Pos. PA. I, Pos.PA.r) and the cantilever arm positioning unit (Pos.CA.I, Pos.CA.r)
depending on signals indicative of whether the vehicle moves
straight forwards or
in a curve to the left or
- in a curve to the right,
wherein the cantilever arm positioning unit (Pos.CA.I, Pos.CA.r) is arranged to rotate the cantilever arm (CA.I, CA.r) around the vertical cantilever arm rotating axis depending on control inputs from the control unit (CU), and
wherein the processing arrangement positioning unit (Pos.PA.I, Pos.PA.r) is arranged to rotate the processing arrangement (PA.I, PA.r) around the vertical processing arrangement rotating axis depending on control inputs from the control unit (CU).
3. Agricultural vehicle according to claim 2,
characterized in that
a sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is entirely or at least partially mounted on board of the vehicle,
wherein the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is arranged to automatically generate signals indicative of whether the vehicle moves
- straight forwards or
in a curve to the left or
in a curve to the right, and
wherein the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is in data connection with the control unit (CU).
4. Agricultural vehicle according to claim 3,
characterized in that
the sensing and evaluating arrangement (FRS, CAS.I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is arranged to measure a value indicative of the current travelling angle, wherein the travelling angle is the angle between the travelling direction (TD) and
the longitudinal direction of the frame (F).
5. Agricultural vehicle according to claim 4,
characterized in that
the control unit (CU) is arranged to control
the processing arrangement positioning unit (Pos.PA.I, Pos.PA.r) and the cantilever arm positioning unit (Pos.CA.I, Pos.CA.r)
depending on signals indicative of the measured travelling angle.
6. Agricultural vehicle according to claim 4 or claim 5,
characterized in that
the control unit (CU) is arranged
to compare a measured value indicative of the travelling angle with a given travelling angle threshold and
to generate an alert if the measured travelling angle value is above the travelling angle threshold.
7. Agricultural vehicle according to one of the claims 3 to 6,
characterized in that
the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) comprises
- a reference element (Ref) and
a distance measuring unit (S. I, S.r)
wherein the reference element (Ref) is mounted at a further vehicle (Tr) which is mechanically connected with the vehicle,
wherein the measuring unit (S. I, S.r) is arranged to measure a value indicative of the distance between
the processing arrangement (PA.I, PA.r) and
the reference element (Ref) and
wherein the sensing and evaluating arrangement is arranged to generate signals indicative of the vehicle movement and/or traveling angle depending on the measured distance value.
8. Agricultural vehicle according to one of the preceding claims,
characterized in that
the vehicle further comprises a wheel (W.I, W.r) mounted at the cantilever arm (CA.I, CA.r) or at the processing arrangement (PA. I, PA.r) and
a wheel positioning unit (Pos.W.I, Pos.W.r),
wherein the wheel (W.I, W.r)
- is arranged to carry the processing arrangement (PA. I, PA.r) when the processing arrangement (PA. I, PA.r) processes agricultural material and is rotatably around a wheel steering axis,
wherein the wheel steering axis is also a vertical axis which is perpendicular to the travelling direction (TD) and perpendicular to the ground and
wherein the wheel positioning unit (Pos.W.I, Pos.W.r) is arranged to rotate the wheel (W.I, W.r) around the vertical wheel steering axis.
9. Agricultural vehicle according to claim 8,
characterized in that
the vehicle comprises
- a further processing arrangement (PA.r, PA.I),
a further cantilever arm (CAr, CA.I),
a further cantilever arm positioning unit (Pos.CA.r, Pos.CA.I),
a further processing arrangement positioning unit (Pos.PA.r, Pos.PA.I), a further wheel (W. r, W. I) and
- a further wheel positioning unit (Pos.W.r, Pos.W.I),
wherein the further wheel (W.r, W.I)
is arranged to carry the further processing arrangement (P r, PA.I) while the further processing arrangement (PA.r, PA.I) processes agricultural material and
- is rotatably mounted around a further vertical wheel steering axis, and wherein the further wheel positioning unit (Pos.W.I, Pos.W.r) is arranged to rotate the further wheel (W.r, W.I) around the further wheel steering axis.
10. Agricultural vehicle according to claim 8 or claim 9,
characterized in that
the vehicle is arranged to be moved over ground
in a curve to the left and
in a curve to the right, wherein the or every wheel positioning unit (Pos.W.I, Pos.W.r) is arranged to rotate the or the assigned wheel (W.I, W.r) around the respective wheel steering axis
to the right if the vehicle is moved in a curve to the left and
- to the left if the vehicle is moved in a curve to the right.
1 1 . Agricultural vehicle according to one of the claims 8 to 10,
characterized in that
a sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is entirely or at least partially on board of the vehicle and
a control unit (CU) is mounted on board of the vehicle or on board of a further vehicle (Tr) connected with the vehicle,
wherein the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is arranged to automatically generate signals indicative of whether the vehicle moves
- straight forwards or
in a curve to the left or
in a curve to the right,
wherein the control unit (CU) is arranged to control the or every wheel positioning unit (Pos.W.I, Pos.W.r) depending on the measured vehicle movement, and wherein the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS.I, BS.r, S.I, S.r, Ref) is in data connection with the control unit (CU).
12. Agricultural vehicle according to one of the preceding claims,
characterized in that
the processing arrangement (PA. I, PA.r) comprises
- a bearing (B.I, B.r) and
at least one processing unit (MU.I.o, MU.I.i, MU.r.o, MU.r.i),
wherein the bearing (B.I, B.r) is rotatably mounted at the cantilever arm (CA.I, CA.r) around the vertical processing arrangement rotating axis,
wherein the processing arrangement positioning unit (Pos.PA.I, Pos.PA.r) is arranged to rotate the bearing (B.I, B.r) with respect to the cantilever arm (CA.I, CA.r) around the vertical processing arrangement rotating axis,
wherein the processing unit (MU.I.o, MU.I.i, MU.r.o, MU.r.i) is arranged to process agricultural material when the vehicle is moved over ground, wherein the processing unit (MU.I.o, MU.I.i, MU.r.o, MU.r. i) is mounted at the bearing (B.I, B.r) in a processing unit mounting point, and
wherein a distance between
the processing unit mounting point and
- the vertical processing arrangement rotating axis occurs.
13. Agricultural vehicle according to claim 12,
characterized in that
the processing arrangement (PA. I, PA.r) comprises a further processing unit (MU.r.o, MU.r. i, MU.I.o, MU.I.i),
wherein the further processing unit (MU.r.o, MU.r. i, MU.I.o, MU. I.i)
is also arranged to process agricultural material and
is rotatably mounted at the bearing (B. I, B.r) in a further processing unit mounting point,
wherein a distance between
- the further processing unit mounting point and
the vertical processing arrangement rotating axis
occurs and
wherein the vertical processing arrangement rotating axis is positioned between the two processing unit mounting points.
14. Agricultural vehicle according to claim 13,
characterized in that
the processing unit and
the further processing unit
are mounted on different sides of the bearing (B. I, B.r).
15. Agricultural vehicle according to one of the claims 12 to 14,
characterized in that
the processing arrangement (PA.I, PA.r) further comprises a processing unit positioning unit (Pos. MU. I.o, Pos.MU.I. i, Pos. MU.r.o, Pos. MU.r. i),
wherein the processing unit (Pos. MU. I.o, Pos.MU. I.i, Pos. MU.r.o, Pos.MU.r.i) is rotatably mounted at the bearing (B. I, B.r) around a processing unit rotating axis, wherein the processing unit rotating axis
runs through the processing unit mounting point and
is parallel to the vertical processing arrangement rotating axis, and wherein the processing unit positioning unit (Pos.MU. I.o, Pos.MU. I.i, Pos.MU.r.o, Pos.MU.r.i) is arranged to rotate the processing unit with respect to the bearing (B.I, B.r) around the vertical processing unit rotating axis.
16. Agricultural vehicle according to claim 15,
characterized in that
a control unit (CU) is mounted on board of the vehicle or on board of a further vehicle (Tr) connected with the vehicle,
wherein the control unit (CU) is arranged to control the processing unit positioning unit (Pos.MU.I.o, Pos.MU. I. i, Pos.MU.r.o, Pos.MU.r. i),
depending on signals indicative of whether the vehicle moves
straight forwards or
in a curve to the left or
in a curve to the right,
wherein the processing unit positioning unit (Pos.MU. I.o, Pos.MU. I.i, Pos.MU.r.o, Pos.MU.r.i) is arranged to rotate the processing unit (MU. I.o, MU.I. i, MU.r.o, MU.r.i) around the vertical processing unit rotating axis
depending on control inputs from the control unit (CU).
17. Agricultural vehicle according to claim 16,
characterized in that
the vehicle comprises a sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS. I, BS.r, S. I, S.r, Ref) being entirely or at least partially mounted on board of the vehicle,
wherein the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS. I, BS.r, S.I, S.r, Ref) is arranged to automatically generate signals indicative of whether the vehicle moves
straight forwards or
in a curve to the left or
in a curve to the right,
wherein the sensing and evaluating arrangement (FRS, CAS. I, CAS.r, BS. I, BS.r, S.I, S.r, Ref) is in data connection with the control unit (CU).
18. Agricultural vehicle according to one of the preceding claims,
characterized in that
the cantilever arm (CA.I, CA.r) is arranged in a telescopic manner and
the vehicle comprises a cantilever arm actuator, wherein the cantilever arm actuator is arranged to change the length of the telescopic cantilever arm (CA.I, CA.r).
19. Method for operating an agricultural vehicle comprising
a frame (F),
- a processing arrangement (PA. I, PA.r),
a cantilever arm (CA. I, CA.r),
a cantilever arm positioning unit (Pos.CA.I, Pos.CA.r), and
a processing arrangement positioning unit (Pos.PA.I, Pos.PA.r),
wherein the cantilever arm (CA.I, CA.r) is rotatably mounted at the frame (F) around a cantilever arm rotating axis,
wherein the processing arrangement (PA. I, PA.r) is rotatably mounted at the cantilever arm (CA.I, CA.r) around a processing arrangement rotating axis, wherein the vehicle is movable over ground,
wherein
- the cantilever arm (CA.I, CA.r) extends laterally from the frame (F) and
the processing arrangement (PA. I, PA.r) is positioned laterally besides the frame (F)
when the vehicle is moved in a travelling direction (TD),
wherein the method comprises the steps that
the vehicle is moved over ground in a travelling direction (TD) along a trajectory comprising at least one curve and
the processing arrangement (PA. I, PA.r) processes agricultural material on the ground while the vehicle is moved,
wherein the movement of the vehicle through the curve comprises the steps that - the cantilever arm positioning unit (Pos.CA.I, Pos.CA.r) rotates the cantilever arm (CA.I, CA.r) around the cantilever arm rotating axis with respect to the frame (F) and
the processing arrangement positioning unit (Pos.PA.I, Pos. PA.r) rotates the processing arrangement (PA.I, PA.r) around the processing arrangement rotating axis with the respect to the frame (F),
characterized in that
the cantilever arm rotating axis and the processing arrangement rotating axis both are vertical axes
which are positioned perpendicular to the travelling direction (TD) and
perpendicular to the ground,
wherein a distance between the two parallel vertical axes occurs.
20. Operating method according to claim 19,
characterized in that
the movement of the vehicle through the curve comprises the further steps that at least one time a value indicative of whether the vehicle moves
straight forwards or
in a curve to the left or
- in a curve to the right,
is measured,
the cantilever arm positioning unit (Pos.CA.1, Pos.CA.r) rotates the cantilever arm (CA.I, CA.r) depending on the measured vehicle movement value, and
the processing arrangement positioning unit (Pos.PA.I, Pos.PA.r) rotates the processing arrangement (PA.I, PA.r) depending on the measured vehicle movement value.
21 . Operating method according to claim 19 or claim 20,
characterized in that
the step of measuring the vehicle movement comprises the step that
at least one time a value indicative of the travelling angle is measured,
wherein the travelling angle is the angle between
the travelling direction (TD) and
the longitudinal direction of the frame (F), and
the method comprises the further steps that
- the cantilever arm positioning unit (Pos.CA.I, Pos.CA.r) rotates the cantilever arm (CA.I, CA.r) depending on the measured travelling angle, and
the processing arrangement positioning unit (Pos.PA.I, Pos.PA.r) rotates the processing arrangement (PA.I, PA.r) depending on the measured travelling angle.
22. Operating method according to one of the claims 19 to 21 ,
characterized in that
the vehicle comprises a wheel (W. I, W.r) mounted at the cantilever arm (CA. I, CA.r) or at the processing arrangement (PA. I, PA.r) and
a wheel positioning unit (Pos.W.I, Pos.W.r),
wherein the wheel (W.I, W.r)
- carries the processing arrangement (PA.I, PA.r) when the processing arrangement (PA.I, PA.r) processes agricultural material and
is rotatably around a vertical wheel steering axis,
wherein the movement of the vehicle through the curve comprises the further steps that the wheel positioning unit (Pos.W.I, Pos.W.r)
- rotates the wheel (W. I, W.r) around the vertical wheel steering axis to the left if the vehicle is moved to the right and
rotates the wheel (W. I, W.r) around the vertical wheel steering axis to the right if the vehicle is moved to the left.
PCT/NL2014/050740 2013-10-29 2014-10-28 Agricultural vehicle adapted for curve driving WO2015065174A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NL2011697A NL2011697C2 (en) 2013-10-29 2013-10-29 Agricultural vehicle adapted for curve driving.
NL2011697 2013-10-29

Publications (1)

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WO2015065174A1 true WO2015065174A1 (en) 2015-05-07

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NL (1) NL2011697C2 (en)
WO (1) WO2015065174A1 (en)

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