Agricultural vehicle with an adjustable working implement

p0001The invention relates to an agricultural vehicle according to the preamble of claim 1.

p0002Agricultural vehicles such as harvesters, tractors etc. are usually equipped with a processing device, which is in its spatial position and orientation of movable and / or adjustable. Such processing devices are for example the cutting of a harvester, the plow to a tractor and equipment for projecting fertilizers or pesticides. The location and orientation of the treatment device to the vehicle are influenced by manual control by the driver or by automatic control based on sensors for position and orientation determination.

p0003There are further agricultural vehicles are known in which, in addition to the position and orientation of the treating device relative to the vehicle, also the position and orientation of the treating device relative to the ground is variable. Thus, in a combine harvester, a device and a method is known according to which the cutting height is the height of the cutter bar from the ground, can be adjusted and controlled. In the control and regulation of the position and orientation of the treatment device command and limit values ​​for the parameters that describe the position and orientation are often given. Thus, desired values ​​for the average height of a combine harvester in dependence on the crop material are known. A lower limit for the height of cut is given to prevent damage to the mower. An upper limit is given by the maximum height of the crop.

p0004The location and orientation of the treatment device relative to the vehicle and relative to the ground are interdependent. The function is determined by the nature of the ground and is therefore the appropriate publicity generally. but the location and orientation of the treatment device relative to the ground is decisive for the function of the agricultural vehicle. There are therefore methods known to measure the position and orientation of the treatment device relative to the ground and to be regulated by adjusting the position and orientation of the vehicle. This is given for the operation of a combine harvester for example, by the auto-CONTOUR method of the Applicant. In many cases, however, is offset by manually controlling the change of ground of the vehicle driver.

p0005Furthermore, from <patcit id="pcit0001" dnum="DE4431824C1"><text>DE 44 31 824 C1</text></patcit> discloses a method that operating data of a combine associated with the respective location coordinates, detected in a historic data cadastre and it pretends target or limit operating data for a new editing of the field. The location coordinates are determined according to the prior art using a satellite navigation system on the vehicle.

p0006Furthermore, from <patcit id="pcit0002" dnum="DE19544112"><text>DE 195 44 112.5</text></patcit> a method for generating three-dimensional digital terrain models with a vehicle having a satellite navigation system, known. For the generation of digital terrain models and the generation of data registers the position of a point on the vehicle is used as a basis in the processes mentioned. However, for the operation of the utility vehicle, the position and orientation of the treatment device decisive The accuracy of the terrain models generated is therefore no better than permitted by the dimensions of the utility vehicle. This can especially for large machines with widely spread processing devices lead to inaccuracies in the terrain model or the data register. The high accuracy of the currently available satellite navigation systems is not fully utilized in this process. Should also the operating data register to control the position and orientation of the treatment device to be used, so the uncertainty makes the position of the processing device control and possibly the action of the driver needed. Because these uncertainties, especially over uneven terrain come to fruition, in which the concentration of the driver is already demanded more, this can cause the performance of the agricultural vehicle is not fully utilized, or even breakdowns caused.

p0007It is therefore the object of the invention to enable an optimization of the operation of an agricultural utility vehicle, by an absolute position of a reference point of the machining device is detectable for a movable in its position and orientation relative to the vehicle processing unit.

p0008The object is achieved by the characterizing features of Patentansspruches. 1 The determination of the absolute position is carried out by a known calculation algorithm, which processes the transmission data from GPS satellites. In order to achieve sufficient accuracy for determining the absolute position, the skilled artisan can further use of the prior art known means to reduce the error rate of the GPS location information. Here there are, for example, additional vehicle sensors that measure the yaw angle, wheel speeds or the speed over ground, or the analysis of reference signals, which are emitted by other radio stations at. The subsequent sub-claims contain advantageous and beneficial embodiments of the invention. The inventive device allows the processing unit based on the determined values ​​currently exclusively using the determined position data to control in connection with a historical data register and / or other machine-side sensors or store the determined position data in a historical data register to reflect subsequent edits to the same or other agricultural vehicles to control with controllable processing devices based on the historic data cadastre.

p0009According to the invention the agricultural utility vehicle, an evaluation unit, which from the data of the satellite navigation receiving unit (GPS), the absolute position (Pb1, Pb2, ...) of at least one reference point (b1, b2, ...) to the processing apparatus (B) in the terrestrial reference frame (xyz) determined. This allows in the known methods for creating operating data registers and terrain models, the exact position of the reference point to replace the position of the vehicle to the processing unit and so a higher precision of the methods mentioned for an agricultural vehicle with a in position and orientation adjustable processing unit to to accomplish. If the satellite navigation receiving unit positioned elsewhere an agricultural vehicle as the reference points (b1, b2, ...) are, the calculation algorithm must take into account any of the other positions of the reference points (b1, b2, ...) corresponding coordinate transformation.

p0010In an advantageous embodiment of the invention is a sequence of positions of at least one point on the processing unit, which is taken while driving the agricultural vehicle through the impact, used as a basis for creating a precise terrain model. When it is used again the agricultural vehicle at the same impact can be made to the operating data stored in the historic data cadastre. The stored operating data are then partially or fully determine the control of the position and orientation of the treatment device. the operation of the agricultural vehicle is optimized and at the same time relieves the driver in this way.

p0011An advantageous embodiment of the invention provides that characteristic reference lines are determined for the operation of the treatment device. These serve to refine the terrain profile by the gradient or the slope of the terrain in the direction of travel and / or the slope of the land is determined transversely to the direction of the orientation of said reference lines. According to the invention, such a reference line (L1) is given by the absolute position (Pb1) of the reference point (b1) and another point or a vector. An advantageous embodiment of the invention provides to use the velocity vector (vb1) of the reference point (b1) determining the reference line (L1). The velocity vector can either GPS data or a separate speed sensor be directly taken with the direction sensor, or can be determined from two consecutive positions of the reference point (b1). In the case of a constant ground clearance (d1) of the Referenzpuktes (b1) is the angle of the reference line (L1) with the horizontal plane (xy), the slope or the slope of the ground in the direction of travel. The reference line (L1) can also the direction of movement of one or more reference points of the machining tool, preferably whose boundary points representing the terrain. For this purpose, the evaluation unit (AWE) with suitable software either congruent reference point and boundary point from the current position of the reference point, and other sensor data as Example as wheel lock angle, speed and yaw angle, which is preferably determined by means of an inertial sensor, an optical fiber gyro or a Piezogyro ,, the motion vector as a reference line (L1) to calculate or derive at apart lying reference and to berechnendem limiting point, additionally from the distance data of the reference point for the boundary point from the geometry conditions, the position data of the boundary point from which the reference point and then the motion vector as a reference line (L1) is calculated. Depending Plotrate and speed of the agricultural vehicle, the motion vector of limit points can also exclusively by offsetting the position data are determined, for example, when each position of the utility vehicle at intervals of less than 20 m distance traveled can be determined or the aid and settlement of other sensor data is only when the Plotrate beyond the said propriety. The choice of the minimum distance is of course on the degree of desired accuracy of the motion vectors and the requirements of the work made landwirtschafltichen in factual and economic terms dependent. The reference line (L1) can be further processed as a steering signal in an electronic control unit of an automatic steering device. As directional vector, the reference line (L1) can be for example of a boundary point or reference point of pulling on a target lane or working edge along. The control electronics of the automatic steering device then compares the actual position values ​​of the boundary or reference point with the nominal position values ​​along the reference line (L1) and are at a determined deviation, a control signal to the steering device, which is suitable for further priority, the difference between nominal - and Istpositionswerten along the reference line (L1) to decrease.

p0012A further advantageous embodiment of the invention provides another typical for the intended use of the treatment device reference line (L2) to determine transverse to the preferred direction of travel. According to the reference line passing through the reference point (b1) and a further point or vector is determined. The invention provides to use a second reference point (b2) for determining the reference line. With the same distance from the ground, the angle of the reference points of the reference line (L2) is at the horizontal plane (xy) of the cross slope of the ground.

p0013According to the invention shall be known on the ground of points on the reference line or the determined height. the amount as is known, when the ground clearance is determined by an unsprung suspension or by a known control loop (eg by soil pressure sensors). In addition, agent or sensors are known to determine the amount of machining equipment above the ground. Such agents include mechanical distance meter or echo sounders. An advantageous embodiment of the invention envisages providing such means for determining the ground clearance of at least two points of the reference line (L2). Such means also allow upon a tilting of the treatment device relative to the ground to carry out a precise determination of the lateral inclination of the ground.

p0014A further advantageous embodiment of the invention includes a data register, in which case changes in position of the processing device, the slope or the slope and cross slope with the position (Pb1, Pb2, ...) of at least one of the reference points (b1, b2, ...) is stored linked. In this way one obtains a refined terrain model, which facilitates the adjustment of Betriepsparameter the utility vehicle at a reprocessing of the blow.

p0015The invention is described herein with reference to agricultural vehicles.

p0016Based on the accompanying drawings, the inventive agricultural utility vehicle will be described in greater detail below with in its position and orientation adjustable processing device using the example of a harvester with projecting cutting. Show it:<dl id="dl0001" compact="compact"><dt>figure 1</dt><dd>a view of a harvesting machine from the side,</dd><dt>figure 2</dt><dd>a view of a harvesting machine from the front,</dd><dt>figure 3</dt><dd>a view of a harvesting machine from above,</dd><dt>figure 4</dt><dd>a block diagram of an evaluation unit,</dd><dt>figure 5</dt><dd>a block diagram of a further evaluation,</dd><dt>figure 6</dt><dd>a block diagram of a further evaluation,</dd><dt>figure 7</dt><dd>a harvester on the field.</dd></dl>

p0017<figref idrefs="f0001">Fig. 1</figref> shows a view of the harvesting machine as an example of an agricultural vehicle (LNF) from the side. The longitudinal axis of the vehicle and of the treating device in this case have the same orientation, but the mowing unit (B) relative to the vehicle (F) is adjustable in height. The horizontal plane of the terrestrial coordinate system is indicated by the line (xy). In contrast, the ground below the reference point (b1) on the machining unit by a pitch angle (W1) is inclined. This may be different from the slope of the ground below the vehicle completely. This causes the velocity vector (vf1) of a reference point (Pf1) on the vehicle even with unchanged setting of the height may have a different orientation than the speed vector (vb1) of the reference point (b1) on the treatment device. If the distance (d) of the reference point (b1) to the ground at change of position (Pb1, Pb1 ') consistently, so the angle between the velocity vector (vb1) and the horizontal plane (xy) corresponding to the pitch angle (W1) of the ground below the reference point ( b1). The reference line (L1) is here represented by the absolute position (Pb1) of the reference point (b1) and the velocity vector (vb1), which in turn through the reference point (Pb1 ') set The values ​​of the reference line (L1) can be deemed tax base for control of the processing unit (B), or be used as a parameter for the bottom contour for storing the historical data register.

p0018There are schematically a height sensor (HS) and a slope sensor (QNS) eingezeichet. These Senoren can the relative altitude and slope of the processing unit (B) to the vehicle (F), at which it is mounted, determine. Likewise indicated only schematically is a ground clearance sensor (AS1), by which the distance of the reference point can be determined from the ground. On the roof of the combine (F) point (Pf 1) is associated with schematically shown a GPS antenna. the detected on satellite navigation absolute position of the point (Pf 1) at reference points (Pb1, ..) on the treatment device (B) is transformed via the evaluation unit (AWE), further details results from the explications<figref idrefs="f0006">Fig. 6</figref>,

p0019<figref idrefs="f0002">Fig.2</figref> shows a view of the harvesting machine from the front. In this view, a tilting of the machining apparatus is shown relative to the harvesting machine and against the floor and explained the related parameters. The horizontal plane of the terrestrial coordinate system is indicated in turn by the line (xy). In contrast, the ground below the machining apparatus in the middle by an angle (Wq) is inclined. This tendency may be the inclination of the ground beneath the vehicle quite different from what is indicated here by a tilt of the vehicle in the opposite direction. The reference line (L2) is obtained as the line connecting the two reference points (b1, b2) on the treatment device. The distance sensors (AS1, AS2) determine the distance (DA1, DA2) of two points of the treating device (A1, A2) from the ground. From the geometrical conditions thereof can be the distances (d1, d2) calculating the reference points (b1, b2) from the ground. is the distance of the reference points from the ground in the ideal case, with the sum of the minimum distance (d0) of the reference points (b1, b2) from the ground, ie the distance between the reference points when resting on the ground cutter bar, and the preset Bodenabstands- and a sectional height (da ( x)) identical. At equal distances (d1, d2) of the reference points (b1, b2) is the angle of the reference line (L2) with the horizontal plane (xy) directly to the central tilt angle (Wq) of the soil under the processing unit. In this Ausführunsform of the invention each is a GPS antenna at the reference points (b1, b2). With a difference of the distances (d1, d2) can be calculated from the geometrical conditions of the mean inclination angle (Wq)

p0020<figref idrefs="f0003">Fig. 3</figref> shows a view of the harvesting machine from above. The figure also shows that a reference line (L1), which is determined from the velocity vector (vb1) and the reference point (b1), is not necessarily aligned parallel to the longitudinal axis of the vehicle or the treating device.

p0021<figref idrefs="f0004">Fig. 4</figref> shows a block diagram of the simplest version of the evaluation according to the invention (AWE). It is presumed that the receiver (antenna) mounted a GPS satellite navigation receiving unit (GPS1) directly to a reference point (b1) of the processing unit (B). In this case the function of the evaluation unit (AWE) is limited with analyzing the data from the GPS receiver so that the absolute position (Pb1), and optionally the absolute speed (vb1) of the reference point (b1) to an output unit (AGE) displayed , are stored in a height data register (HDK) and / or a control device (not shown) for the level / bank of the cutting unit (B) are fed .. to generate and store a digital terrain model (GM) in the data register, it is sufficient in this simplest case, the distance (d1) of the point (b1) from the ground to the distance (d 0) and the pre-set cutting height (dSH) calculated by adding and subtracted from the height coordinate of the position (Pb1). The size of (d 0) depends on where the reference point is located on the cutting unit (B); (D0) can also have nearly the value zero.

p0022<figref idrefs="f0005">Fig. 5</figref> shows a block diagram of an advantageous embodiment of the evaluation unit of the invention. Here are the functions of the in<figref idrefs="f0004">Fig. 4</figref> illustrated version of the evaluation completed. The evaluation unit determines from the data of GPS receivers (GPS1, GPS2) the absolute position (Pb1, Pb2) between two reference points (b1, b2) and the speed vector (vb1) of the reference point (P1). From these data in turn, the reference line (L1) and / or (L2) is generated. In addition, measure two distance sensors (AS1, AS2), the distances of the points (a1, a2) from the ground. From the geometry conditions of the evaluation unit interpolates therefrom the distances (d1, d2) of the reference points (b1, b2) from the ground and the angle (Wq), to the ground to the horizontal plane occupies. the evaluation unit also determines from the inclination of the reference line (L1) and two consecutive measurements of the ground clearance (d1, d1 ') of the pitch angle (W1) of the ground. From the positions of the points (b1, b2) is produced in such a refined terrain model, which is stored in the data register for reprocessing of the blow is a agricultural vehicle available.

p0023In <figref idrefs="f0006">Fig.6</figref> is a block diagram of a further advantageous embodiment of the evaluation unit (AWE) shown In this case, there is a satellite receiver unit (GPS1) on the vehicle (F) - cf. <figref idrefs="f0001">Fig.1</figref> - And not to the relation to the vehicle adjustable cutter (B). The thus determined position of a specific point on the vehicle (F) is supplied to the evaluation unit (AWE). Simultaneously, the evaluation unit (AWE) is supplied to the signal of the height sensor (HS), which indicates the relative levels of the cutting unit (B) to the vehicle (F). Moreover, it is provided, the evaluation unit (AWE), the signal of the transverse inclination sensor (QNS) supply, indicative of the relative transverse inclination of the cutting unit (B) to the vehicle (F). From these data, the evaluation unit (AWE) determines the absolute position of reference points and / or lines on the treatment device (B) in the terrestrial reference system. Using the at the machining device (B) arranged floor distance sensors (AS1, AS2) is prepared for the reference Erdbodenprofil.

p0024In <figref idrefs="f0007">figure 7</figref> is schematically shown a combine harvester in a field of (b2 b1) receives from 4 earthbound, fixed base stations positioning signals to determine the position of the reference points on the treatment device / cutting. The base stations whose position is measured in the terrestrial reference system very closely, send out as so-called pseudo-satellite GPS signals; in equivalence to Satellitennavigaton with in space orbiting satellite. The signals of such pseudo-satellites can be used as a correction factor for a highly accurate working GPS system. The combine according to this embodiment has on both sides of the cutting unit per a satellite dish

p0025The embodiment in the <figref idrefs="f0001 f0002 f0003 f0004 f0005 f0006 f0007">Figures 1-7</figref> is explained with the aid of a combine. For the expert it is an easily detachable with its notorious professional knowledge object to transfer the proposed inventive device to other agricultural vehicles. So it is conceivable, for example, to imagine as agricultural vehicle a tractor with a plow and as reference points to define the framework of the plow points (b1, b2, ...), its working height is determined. With the device according to the invention can then be controlled with the aid of an existing historic data cadastre the working depth of a plow with simultaneous or alternative preparation, correction and / or. Instead of a plow are of course all other combinations of a tractor with known processing devices such as drills, seeders, harrows, cultivators, manure application equipment, balers, mowers, turners, rakes, where each appropriate reference points (b1, b2, ...) can be selected, imaginable. Similarly, the device according to other agricultural vehicles such as forage harvesters, beet lifters, Kartoffellege- and harvesters can be applied. In order for various agricultural vehicles or removable devices, such as different processing equipment to be used on a tractor or changing reapers or corn headers on a combine harvester, the evaluation unit (AWE) should also have an input facility, through which their respective be determined reference points (b1 , b2, ...) can be adapted, so far as the reference points are fixed not automatically an attachment switch and / or access to a memory.