WO2023104246A1

WO2023104246A1 - Method for automatically repositioning a soil working tool

Info

Publication number: WO2023104246A1
Application number: PCT/DE2022/100916
Authority: WO
Inventors: Josef VAN HAAREN; Nico Wittag
Original assignee: Lemken Gmbh & Co. Kg
Priority date: 2021-12-07
Filing date: 2022-12-06
Publication date: 2023-06-15
Also published as: DE102021213919A1; EP4444068A1

Abstract

The invention relates to a method for automatically repositioning a soil working tool, in particular a rotary plow, which moves at a speed, between a first working position and a second working position. The method has the steps of lifting the soil working tool into a lifted position by means of a lifting mechanism in the first working position, repositioning the soil working tool in the lifted position from the first working position into the second working position by means of a repositioning device, and lowering the soil working tool from the lifted position in the second working position by means of the lifting mechanism. According to the invention, it is determined whether the lifting mechanism has exceeded a working point of the lifting mechanism, whether the lifting mechanism has exceeded a rotational point of the lifting mechanism above the working point, and whether the speed has exceeded a minimum speed in order to start the repositioning process of the soil working tool.

Description

PROCEDURE FOR AUTOMATICALLY CONVERSION OF A TILLAGE IMPLEMENT

TECHNICAL AREA

The present invention relates to a method for automatically changing over a soil cultivation device moving at a speed, in particular a reversible plow, between a first working position and a second working position. The method includes raising the soil tillage implement in the first working position by means of a lifting gear to a raised position, switching the soil tillage implement in the raised position from the first working position to the second working position by means of a switching device and lowering the soil tillage implement by means of the lifting gear from the raised position in the second working position.

BACKGROUND

In the case of convertible soil cultivation devices, for example mechanical rotary plows, an automation of the conversion by lifting, turning and reinserting is only possible with headland management of the tractor pulling the soil cultivation device. The operator has to program the individual steps of the changeover into the tractor, then activate the changeover manually at the end and at the beginning of a run. An exemplary prior art sequence for rotating a reversible plow includes raising the reversible plow with a hoist and starting rotation when another triggering event occurs is reached e.g. B. reaching a lifting height, elapse of a defined period of time since lifting time, covering a defined distance since lifting or the like.

On some reversible plows, a packer is located downstream of the reversible plow. The release of the packer via the headland management is currently not very practical, since the integration of the combination of rotation and packer is very complex depending on the headland management system. The packer is addressed on non-ISOBUS plows with a separate control unit. With ISOBUS ploughs, the rotation has to be controlled separately, just like the packer, since ISOBUS AUX functions cannot be integrated into the headland management systems of the tractor manufacturers.

Examples of convertible soil cultivation implements are known, inter alia, from EP 2 907 369 A1 or from EP 3 050 416 A1.

These known methods are partially automated processes that depend on an action by the operator of a tractor, since the process has to be triggered and monitored by the user. This is relatively imprecise and leads to a relatively high workload for the user, for example when plowing in the headland.

PRESENTATION OF THE INVENTION

Against this background, an object of the present invention is to provide a method that enables improved field hygiene, increased efficiency, a reduction in the workload of the operator, a reduction in operating errors and more precise and more uniform cultivation of the soil.

This object is achieved by the method according to claim 1 and a soil cultivation device according to claim 10 . Advantageous refinements of the invention result from the dependent claims.

A method for automatically changing over a soil cultivation device moving at a speed, in particular a rotary plow, between a first working position and a second working position comprises raising the soil cultivation device in the first working position by means of a hoist into a raised position, changing the soil cultivation device in the raised position from the first working position to the second working position by means of a switching device and a lowering of the tillage implement by means of the lifting gear from the raised position to the second working position. In this case, it is determined whether the lifting gear exceeds an operating point of the lifting gear and whether the lifting gear exceeds a pivot point of the lifting gear above the operating point and whether the speed exceeds a minimum speed in order to start relocating the soil cultivation implement.

The method enables autonomous work that does not require any triggering actions by an operator and is more precise and safer than the procedures known from the prior art. This also enables improved field hygiene, increased effi ciency, and more precise and even tillage of the soil.

Relocating the tillage implement can be, for example, rotating, turning, tipping or moving the tillage implement.

In particular, if the soil tillage implement is a reversible plow, the switching means rotating or turning the reversible plow between a left-hand working position and a right-hand working position. Analogous working positions are assumed with other tillage implements. In this case, a working position is a position of the tillage implement in which it can till the soil, for which purpose both a lowered onto the soil, encroaching into the soil or used, as well as a raised position of the tillage implement is understood as a working position.

The first and second working positions preferably include a right-hand working position and a left-hand working position. These working positions are present in particular in the case of a reversible plough, but other soil cultivation implements turning to the right and left can also be switched over automatically using the preferred method.

A hoist in connection with the present invention is a device for raising and lowering the soil cultivation device, which can but does not have to be part of the soil cultivation device. In particular, a rear linkage of a tractor towing the soil tillage implement is a linkage in this sense. The lifting gear can preferably have lower links and upper links and, by selectively controlling the lower links and upper links, in addition to a translational lifting and lowering of the soil cultivation implement, can also induce a tilting movement in a vertical direction.

A switching device within the meaning of the present invention is a one-part or multi-part device that can apply a force suitable for the switching to the tillage implement. For example, the switching device is a device for rotating the soil cultivation implement, e.g. B. a reversible plow.

A hitch position can be known, for example, through a message from an ISOBUS/J1939 bus of the tractor, but this can also be determined in another way. On Based on the lifting gear position, it can then be determined whether the lifting gear has exceeded an operating point of the lifting gear. The working point is a point along the entire stroke of the linkage, often expressed as a percentage, which corresponds to the height at which the tillage implement normally tills the soil. In principle, the hoist can also be driven below this working point in order to allow the soil tillage implement to penetrate deeper into the soil. For the automatic changeover it is important that the hoist is at least above this working point.

This information is used, among other things, for the documentation and marking of the worked area, the activation and deactivation of regulations in the working state, which includes, in particular, putting processes into a working state or Adjust non-work state, for example, basic states before a turn at the reversible plow.

If the hoist exceeds the operating point of the hoist, i. H . occupies a higher position than the working position, it is further determined whether the hoist exceeds a pivot point of the hoist above the working point. The pivot point is analogous to the working point, for example a point specified as a percentage along the entire lifting path of the lifting gear, which corresponds to the height at which the soil tillage implement has enough ground clearance to be able to be moved without colliding.

If the lifting mechanism exceeds the pivot point of the lifting mechanism above the working point, it is determined whether the speed of the soil cultivation device exceeds a minimum speed. This prevents the changeover from being started while the soil tillage implement is stationary or moving too slowly. The Going below the minimum speed is an indicator of an interruption in processing for a break by the operator or maneuvering of the tillage implement, and in these cases moving the tillage implement is considered too risky. The speed can be determined from a wide variety of signal sources, for example a speed signal as a message from the tractor's ISOBUS/J1939 bus, a wheel sensor or a satellite navigation signal.

When the linkage exceeds both the working point and the pivot point of the linkage and the speed also exceeds the minimum speed , the tillage implement will start shifting .

In a preferred embodiment, turning is prevented or stopped if the speed is below the minimum speed for a predefined period of time. This prevents a tillage implement that is stopped just before or during rotation from being repositioned to reduce the risk of injury and damage to the implement or other property. This makes it possible, in particular, to carry out a change of direction without risk, for example at the headland.

In a preferred embodiment, turning is prevented or stopped when the hoist falls below its pivot point. This prevents a tillage implement that is lowered just before or during rotation from being relocated to reduce a risk of injury and damage to the implement or other property, which would otherwise be significantly increased by the reduction in ground clearance. Preferably, the lifting and/or lowering of the soil cultivation implement is carried out by means of the lifting mechanism in such a way that it also performs a tilting movement in addition to a translatory lifting movement. This preferred option can be implemented, for example, by an embodiment in which the lifting mechanism includes lower links and upper links, which can be actuated independently of one another, so that a tilting moment can be applied to the tillage implement. In this context, the soil cultivation implement is particularly preferably raised by the lower link of the lifting mechanism and, at the same time, the upper link of the lifting mechanism is extended far, so that first a part of the soil cultivation implement that is close to the lifting mechanism is lifted out of the ground, while a part that is further away from the lifting mechanism is lifted out later is lifted out of the ground, for example by retracting the top link of the hoist into a central position. When lowering the soil tillage implement, the top link can be retracted far, for example, while the lower links lower the soil tillage implement. As a result, the part of the soil tillage implement that is close to the lifting mechanism first engages in the soil and, by extending the upper link in the direction of a central position or an extended position, the parts of the soil tillage implement that are further away from the lifting mechanism later engage in the soil.

As a result, so-called insertion and excavation wedges at the end of the processing paths can be weakened, which otherwise result from a simultaneous lifting of all processing tools when the processing tools of the tillage implement, for example shares of a plough, are not only arranged next to each other, but also staggered one behind the other.

It is preferably determined whether the soil tillage implement reaches an area provided for the changeover or itself located in it to start moving the tillage implement . This can be a headland, for example. With this information, an automatic changeover can be reliably initiated as soon as the reversible plow or another soil tillage implement crosses a headland boundary line, for example, behind which the reversible plow should be turned between the right-hand and left-hand working position, before crossing the headland boundary line again on the Field to which the reversible plow is brought back into engagement with the soil by being lowered. For example, an entry into the field can also be evaluated and identified as correct or incorrect.

In a preferred embodiment, the soil cultivation implement is a reversible plow and a packer follows the reversible plow. The packer is put down before the rotary plow is raised, for example at the headland.

A soil cultivation device according to the invention, in particular a reversible plow, comprises a lifting gear and a switching device as well as means that are suitable for carrying out the steps of the method outlined above. The means can in particular be a controller or a general EDP device.

It is possible that the soil cultivation device also has sensors for detecting a lifting gear position, a speed and/or a ground clearance. The soil tillage implement is preferably suitable for communicating with a tractor on the basis of the ISOBUS/J1939 bus system and, among other things, for receiving this information from the tractor in this way.

The tillage implement can be equipped with its own control to carry out the procedure. The method can be used on mounted reversible ploughs, mounted swivel ploughs, On semi-reversible plows and other asymmetrical attachments that require a turning/turning or shifting process when reversing the direction of travel (e .g . also on slopes) . For attachments without their own electronics, the process can also be carried out on a carrier vehicle or Tractor can be integrated as a function.

This invention enables improved comfort and less stress on the driver in normal manned carrier vehicles.

The invention enables a plough, such as the LEMKEN Juwel 8i, to work autonomously and turn without the driver having to operate it. As a result, the invention enables use in conjunction with field robots in autonomous tilling.

The higher degree of automation reduces operating errors and saves time during the turning process. Furthermore, the invention enables a particularly even work pattern through targeted insertion/lifting, better field hygiene at the headland due to less overlapping of the wedges from inserting and lifting and, if necessary, an even work pattern of the packer, since double processing is largely avoided.

Further advantages and developments of the invention result from the following description of the figures and the entirety of the claims.

SHORT CHARACTER DESCRIPTION

Fig. 1 shows a flow chart of a preferred method for automatically converting a reversible plow.

Fig. 2 shows a schematic representation of a preferred method for automatically converting a reversible plow. WAYS TO CARRY OUT THE INVENTION

Fig. 1 shows a flow chart of a preferred method for automatically converting a reversible plow. The preferred method can be activated by an operator, but can also remain deactivated. In the deactivated state, the procedure is not carried out.

When activated, the reversible tractor electronic control unit (TECU) receives data and signals from a tractor, which it subjects to a plausibility check and processes if the data and signals are plausible.

The reversible plow receives a work order via these TECU data and signals or from another source. When the work order arrives, it is determined whether the reversible plow is in one of its two working positions - turn left or turn right. If a working position can be detected, the reversible plow starts tilling the soil. Otherwise, if no work position can be detected, an error message is issued or the reversible plow continues to wait for the work order.

When the reversible plow approaches a headland, the reversible plow is raised by a lifting mechanism and the tractor receives a signal that the lifting mechanism is above its working point. As the lifting progresses, the reversible plow receives the signal that the lifting gear has exceeded a pivot point above the working point as soon as this condition occurs. As long as the linkage has not passed the pivot point, the reversible plow will not turn.

As soon as the linkage also exceeds its pivot point, it is determined whether the reversible plow has a speed above a defined minimum speed. If yes, the turning, i . H . changing the reversible plow from one first of the two working positions started in a second of the two working positions. However, as long as the minimum speed is not reached, the rotation will not be initiated.

After turning, the reversible plow is lowered back into its other working position.

Fig. 2 shows a schematic representation of a preferred method for automatically converting a reversible plow.

In this figure is shown a plan view of a field with a headland and a headland boundary line between the field and the headland. The individual lanes and turning paths in the headland are also shown in idealized form.

At position 1, the reversible plow is still fully in the working position and in engagement with the ground, and a packer downstream of the reversible plow is in contact with the ground. With a packer section control for automatic placement of the packer at the headland ( TIM valve iQblue connect / iQplough without TIM - TIM stands for "Tractor Implement Management" in this context, a concept for communication between tractor and implement familiar to those skilled in the art ) the packer automatically deposited when approaching the headland.

At position 2, the reversible plow is raised by a Field In Field Out Section Control for automatic lifting at the headland (TIM Rear Hitch). An upper link control can optionally be used in this step to reduce excavation parts (TIM valve).

An automatic plow rotation takes place at position 3 (TIM valve iQblue connect / iQplough without TIM), which is similar to that shown in Fig. 1 shown scheme follows. At position 4, automatic deployment at the headland (TIM Rear Hitch) is effected by a Field In Field Out Section Control. As with lifting, an upper link control can be used to reduce the size of insert wedges (TIM valve).

Claims

PATENTAN'S JUDGMENTS

1 . Method for automatically changing over a soil cultivation device moving at a speed, in particular a rotary plough, between a first working position and a second working position, comprising raising the soil cultivation device in the first working position by means of a lifting mechanism into a raised position, changing over the soil cultivation device in the raised position from the first working position to the second working position by means of a switching device and lowering of the soil cultivation implement by means of the lifting mechanism from the raised position to the second working position, it being determined whether the lifting mechanism exceeds an operating point of the lifting mechanism and whether the lifting mechanism has exceeded a pivot point of the lifting mechanism above the Working point and whether the speed exceeds a minimum speed to start switching the tillage implement.

2 . The method of claim 1 , wherein the first and second operative positions include a right - turning operative position and a left - turning operative position .

3 . Method according to claim 1 or 2, wherein the turning is prevented or stopped if the speed is below the minimum speed for a predefined period of time.

4 . The method according to any one of claims 1 to 3, wherein the turning is prevented or stopped when the hoist falls below its pivot point.

5 . The method according to any one of claims 1 to 4, wherein the raising and / or lowering of the tillage device is carried out by means of the lifting gear in such a way that it also completes a tilting movement in addition to a translatory lifting movement.

6 . A method according to any one of claims 1 to 5, wherein it is determined whether the soil cultivating implement reaches or is located in an area intended for the switching in order to start the moving of the soil cultivating implement.

7 . 7 . The method of claim 6 , wherein the area is a headland of a field.

8th . Method according to one of Claims 1 to 7 , the switching being carried out by turning the soil cultivation implement .

9 . Method according to one of Claims 1 to 8, in which the soil-working implement is a rotary plow and a packer is trailed behind the rotary plow, and the packer is set down before the rotary plow is raised.

10 . Soil cultivation device, in particular a reversible plough, comprising a lifting gear and a switching device and means which are suitable for carrying out the steps of the method according to one of claims 1 to 9.