WO2023104246A1 - Procédé de repositionnement automatique d'un outil de travail du sol - Google Patents

Procédé de repositionnement automatique d'un outil de travail du sol Download PDF

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Publication number
WO2023104246A1
WO2023104246A1 PCT/DE2022/100916 DE2022100916W WO2023104246A1 WO 2023104246 A1 WO2023104246 A1 WO 2023104246A1 DE 2022100916 W DE2022100916 W DE 2022100916W WO 2023104246 A1 WO2023104246 A1 WO 2023104246A1
Authority
WO
WIPO (PCT)
Prior art keywords
soil
working
lifting mechanism
implement
working position
Prior art date
Application number
PCT/DE2022/100916
Other languages
German (de)
English (en)
Inventor
Josef VAN HAAREN
Nico Wittag
Original Assignee
Lemken Gmbh & Co. Kg
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 Lemken Gmbh & Co. Kg filed Critical Lemken Gmbh & Co. Kg
Publication of WO2023104246A1 publication Critical patent/WO2023104246A1/fr

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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
    • A01B3/00—Ploughs with fixed plough-shares
    • A01B3/46—Ploughs supported partly by tractor and partly by their own wheels
    • A01B3/464—Alternating ploughs with frame rotating about a horizontal axis, e.g. turn-wrest ploughs
    • 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
    • A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
    • A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
    • A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
    • A01B63/111—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means regulating working depth of implements
    • 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
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic

Definitions

  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • turning is prevented or stopped if the speed is below the minimum speed for a predefined period of time.
  • 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.
  • 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.
  • 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.
  • the top link can be retracted far, for example, while the lower links lower the soil tillage implement.
  • 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.
  • 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.
  • 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.
  • 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.
  • an entry into the field can also be evaluated and identified as correct or incorrect.
  • 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 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.
  • 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) .
  • 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.
  • 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.
  • the reversible tractor electronic control unit 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.
  • TECU reversible tractor electronic control unit
  • 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.
  • the reversible plow 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.
  • Fig. 2 shows a schematic representation of a preferred method for automatically converting a reversible plow.
  • FIG. 1 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.
  • 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.
  • TIM Rear Hitch a Field In Field Out Section Control for automatic lifting at the headland
  • 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.
  • position 4 automatic deployment at the headland (TIM Rear Hitch) is effected by a Field In Field Out Section Control.
  • an upper link control can be used to reduce the size of insert wedges (TIM valve).

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Lifting Devices For Agricultural Implements (AREA)

Abstract

L'invention concerne un procédé de repositionnement automatique d'un outil de travail du sol, en particulier d'une charrue rotative, qui se déplace à une certaine vitesse, entre une première position de travail et une seconde position de travail. Le procédé comprend les étapes consistant à soulever l'outil de travail du sol dans une position soulevée au moyen d'un mécanisme de levage dans la première position de travail, à repositionner l'outil de travail du sol dans la position soulevée de la première position de travail vers la seconde position de travail au moyen d'un dispositif de repositionnement et à abaisser l'outil de travail du sol de la position soulevée vers la seconde position de travail au moyen du mécanisme de levage. Selon l'invention, il est déterminé si le mécanisme de levage a dépassé un point de travail du mécanisme de levage, si le mécanisme de levage a dépassé un point de rotation du mécanisme de levage au-dessus du point de travail et si la vitesse a dépassé une vitesse minimale afin de démarrer le processus de repositionnement de l'outil de travail du sol.
PCT/DE2022/100916 2021-12-07 2022-12-06 Procédé de repositionnement automatique d'un outil de travail du sol WO2023104246A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021213919.1 2021-12-07
DE102021213919.1A DE102021213919A1 (de) 2021-12-07 2021-12-07 Verfahren zum automatischen Umstellen eines Bodenbearbeitungsgeräts

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Publication Number Publication Date
WO2023104246A1 true WO2023104246A1 (fr) 2023-06-15

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DE (1) DE102021213919A1 (fr)
WO (1) WO2023104246A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0807373A1 (fr) * 1996-05-15 1997-11-19 Agco SA Réglage pour charrue semi-portée
EP2907369A1 (fr) 2014-02-17 2015-08-19 Amazonen-Werke H. Dreyer GmbH & Co. KG Système électronique de gestion de machines pour des machines de travail agricoles
EP3050416A1 (fr) 2015-01-27 2016-08-03 PÖTTINGER Landtechnik GmbH Appareil de travail du sol
EP3837940A1 (fr) * 2019-12-19 2021-06-23 CNH Industrial Sweden AB Procédé de commande d'une machine agricole

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0807373A1 (fr) * 1996-05-15 1997-11-19 Agco SA Réglage pour charrue semi-portée
EP2907369A1 (fr) 2014-02-17 2015-08-19 Amazonen-Werke H. Dreyer GmbH & Co. KG Système électronique de gestion de machines pour des machines de travail agricoles
EP3050416A1 (fr) 2015-01-27 2016-08-03 PÖTTINGER Landtechnik GmbH Appareil de travail du sol
EP3837940A1 (fr) * 2019-12-19 2021-06-23 CNH Industrial Sweden AB Procédé de commande d'une machine agricole

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DE102021213919A1 (de) 2023-06-07

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