Apparatus for the detection of a loading wagon

p0001The invention relates to a device for determining the distance of a herfahrenden addition of an agricultural working or harvesting machine vehicle according to the preamble of claim 1. In particular, the invention arrives at self-propelled harvesting machines for the application, the harvested crop material during the harvesting operation in a transport container, such as for example, a loading wagon, have overcharged.

p0002During a harvesting operation several tons are harvested at crop. The Erntegutmengen possibility to be included only partially in a dedicated memory, said at a complete filling of this memory an emptying process must be initiated, which often leads to interruption of the harvesting operation. This is in self-propelled combine harvesters, which some of them have a grain tank with a capacity of some 10 tons, known. Unlike a self-propelled combine, there are also other agricultural harvesters who work due to the very rapid harvesting process such a large quantity of crop that an integrated memory for receiving the processed crop is inadequate to ensure efficient harvesting operation. For example, harvesting a self-propelled forage harvester over 200 tonnes of crop per hour so that an integrated Erntegutspeicher would filled after a few minutes. A permanent unloading on the memory would this affect a hindrance. Therefore is passed at harvest by a forage harvester, the crop immediately after its processing in a nebenherfahrendes transport vehicle. In order not unnecessarily losing time at harvest with a self-propelled combine, except as permitted by the external conditions, also drove the Abtankvorgang with a load vehicle next to the combine ago, the harvesting operation is continued at the same time. A problem in all cases, without loss to pass the crop into the transport vehicle. The movement of the propelled agricultural machine and the transport vehicle and the different filling of the transport vehicle of the transfer process is considerably more difficult, so that partially large quantities are conveyed to crop to the transport vehicle over and a loss remain on the field soil.

p0003The <patcit id="pcit0001" dnum="DD109975"><text>DD 109 975</text></patcit> discloses another means for determining the position of vehicles, particularly between harvesters and transport vehicles during the handover of harvested produce. Here are mounted on the transport vehicle Light brands which reflect the incident sunlight. The reflected beams are two arranged on the harvesting machine scanning received whereby the distance of the transport vehicle can be determined. A problem with this invention is that the reflection in dry as well as in damp crop conditions is severely limited. So occur which adhere to both the harvester as well as to the transport vehicle, so that the Light brands pollute beyond recognition and the sun's rays can not be reflected in dry harvesting conditions of dust and dirt swirling. In wet harvesting conditions and especially when it is raining, the reflected rays are deflected by the drop and can not be received from the scanner. Ultimately separates the harvesting operation from during dusk or night.

p0004An automatic transfer device is in the <patcit id="pcit0002" dnum="GB2073914A"><text>GB 2073914 A</text></patcit> described. A transmitter unit is arranged on a self-propelled forage harvester and connected to the discharge chute. The transmitting unit transmits an optical signal to an attached to a solid transport vehicle receiving unit which reflects the optical signal to the sending unit. In dependence on the received signals, the discharge chute is aligned with the harvested crop to the transport vehicle. Here, too, in turn, is problematic in that the sent and received signals which are deflected to and the different transmitting and receiving units do not reach through occurring dust turbulence, particularly in the rear region of the forage harvester. In addition, the receipt or Reflektiereinheit contaminated by the array immediately below the rear tires through the mud thrown up by the rear tire of the forage harvester very strong. In humid working conditions these problems are exacerbated.

p0005It is therefore the object of the underlying invention to provide an apparatus for determining the distance between the agricultural working or harvesting machine and a transport vehicle, which solves the problems of the prior art and a flawless detection of the transport vehicle and thus a low-loss transfer of the crop material, even under difficult conditions of use guaranteed.

p0006This object is solved by the characterizing features of claim 1.

p0007By an evaluation as a parameter for determining the distance between the agricultural working or harvesting machine and another vehicle evaluates the falling edge of a reflected signal, the reflected signal are exclusively recorded and evaluated. This can be determined exactly where the reflection point is accurate.

p0008The fact that the evaluated falling edge of the reflected signal is the last falling edge of the sensor signal, the last falling edge corresponds to the light reflected at the vehicle signal and is detected by the evaluation, a precise distance determination can be carried out to the car since the last falling edge always comes from the decisive Nutzreflex.

p0009Further parameters for distance determination are the constant speed of the seconded signal, the duration of the seconded signal and the strength of the reflected signal. By evaluating these parameters can always be found on the harvester, the current actual distance of the transport vehicle.

p0010Accordingly, it behaves in the reflection strength of the signal. Each reflector (dust particles, Lieschen sheet vehicle) has a constant reflectance. In this way, it is detected whether the reflected signal actually comes from the transport vehicle or not.

p0011Due to the adjustability of the target runtime and target strength of the signal, the driver of the agricultural working or harvesting machine may make an adjustment to reflect the actual field conditions. Herewith the overcharge process is further optimized.

p0012By the Istlaufzeit begins with the dispatching of the signal from the transmitting unit of the sensing device and to the impingement of the reflected signal from the vehicle ends in the receiver, the exact distance of the vehicles is judged to each other.

p0013By evaluating the conditions of the actual values ​​to the desired values ​​the control of the Erntegutübergabevorrichtung is made via a transmitter. For a lossless overloading of the crop is guaranteed, without any disturbances, such as by different driving speeds to changing vehicle positions have a negative impact on the overcharge operation.

p0014Switches the set values, such as runtime or signal strength significantly from the actual values, sets the control of the transfer device from. This false signals can not pass lead to erroneous overcharging of the crop to the transport vehicle.

p0015By entering at least a minimum distance of the agricultural working machine and the transport vehicle to each other in the evaluation, are signals that are reflected within this distance and fall into the receiving unit, hidden. The selected minimum distance is selected so that the signal travels within this distance a distance which is too low to each other for the distance between the vehicles, so that the coexistence of vehicles is excluded within this distance. False signals in this range are therefore excluded from the outset.

p0016By sending out a sheet-like signal dirt particles which are located between the agricultural working or harvesting machine and the vehicle can not interfere with the reception of the reflected signal. Thus, only a deflected part of the transmitting signal or the reflection signal of disruptive bodies due to the broad signal, so that the other part of the transmission signal is always the vehicle reaches and is reflected from there and reaches the receiving unit.

p0017The sensing device sends the signals with a frequency at which an overlap of the transmission signals is excluded from the reflected signals. This is the distance determination further optimized and noise is further reduced.

p0018By the transmitting unit is spaced from the receiving unit of the sensing device, the insensitivity and the functionality of the sensing device is increased.

p0019The horizontal and vertical dispatching and receiving the signals by the sensing device enables accurate detection of the distance and the profile of the vehicle. Accordingly, an accurate overcharge operation, regardless of the positions of the harvester and the vehicle to each other is performed.

p0020Characterized that in dependence on the signals received and analyzed, the control of the transfer device is made as a loss-free transfer of the processed crop is achieved.

p0021Further advantageous embodiments are subject matter of further dependent claims and are explained in more detail with reference to drawings.

p0022Show it:<dl id="dl0001" compact="compact"><dt>Figure 1:</dt><dd>the schematic representation of a self-propelled forage harvester in addition to a transport vehicle runs with the inventive device in rear view </dd><dt>Figure 2:</dt><dd>the diagram of the transmitted and received signal of the device according to the invention</dd></dl>

p0023<figref idrefs="f0001">Figure 1</figref> shows a rear view of a self-propelled forage harvester 1 which runs alongside a transport vehicle. 2 The forage harvester 1 moves with the front-side attachment 3 a laid-down to a swath harvested 4 and edited it. The processed crop 4 is then passed over a about the vertical axis rotatable and height-adjustable discharge chute 5 to the transport vehicle. 2 At the discharge end of the spout 5 a Auswurfkrümmerklappe 6 is arranged, which is adjustable via a Auswurfkrümmerklappensteuerung. 8 By adjusting the Auswurfkrümmerklappe 6 of Erntegutaustrittsstrahl is steered with a swung-Auswurfkrümmerklappe 6 the emerging crop 4 further throws and a lowered Auswurfkrümmerklappe 6 the crop 4 draws down and thus shortens the throw.

p0024To detect the distance of the transport vehicle 2 to the forage harvester 1, the sensing device 7 according to the invention is arranged on the forage harvester. 1 This can be arranged at any location on the forage harvester 1, for example, as shown in the lower portion of the spout 5 of the forage harvester 1 or on the body 18 of the forage harvester 1. The sensing device 7 also communicates with the actuator 22 of the spout 5 and the Auswurfkrümmerklappensteuerung 8 in known manner in connection. The sensing device 7 is composed of a transmitter unit and a receiver unit 9 10th The transmitting unit 9 sends out signals that are reflected from the transport vehicle 2nd The receiving unit 10 receives the reflected signals. Due to the rough surface of the sidewall 21 of the transport vehicle 2 is ensured that always signals are reflected in the direction of receiving unit 10, so regardless of the incident angle of the transmission signal a. To enable trouble-free deployment of the signal and interference-free reception, it has proven advantageous proved the transmitting unit 9 and the receiving unit 10 spaced from each other to arrange. Here, a distance of about 120 mm has proven to be particularly suitable. For accurate detection of the transport vehicle 2 pivots the sensing device 7 in the vertical and in the horizontal direction about an axis 23. This will permanently sends the signals horizontally and vertically oscillating. Therefore, the sensing device 7 is arranged movable on a fixed to the chute 5 pivot axis 23rd In the vertical pivoting indicated by the arrows 19, the lower edge 12 and the upper edge 13 of the transport vehicle 2 is detected by the sensor signals and used as a parameter for setting the Auswurfkrümmerklappe 6th The vertical oscillation of the distance of the transport vehicle 2 is determined to the forage harvester. 1 The recognition of the distance of the forage harvester 1 to the transport vehicle 2 is necessary to control over the Auswurfkrümmerklappe 6, the throw so that the processed crop 4 meets the loading area of ​​the transport vehicle 2 and is not promoted to the transport vehicle 2 over. However, it is also conceivable for the sensing device 7 set so that not only the side wall 21 of the transport vehicle 2, but also in the filled transport vehicle 2 through the side wall 21 projecting crop is detected to continue to achieve optimum filling of the transport vehicle 2nd

p0025The horizontal oscillation is used to record the profile of the transport vehicle 2. The detection of the profile of the transport vehicle 2 is required to drive the actuator 22 of the spout 5 so that the transport vehicle 2 is completely filled from front to back by the pivoting of the spout. 5 Although single vertical pivoting detects the bottom edge 12 and top 13 of the transport vehicle 2, but it may occur due to the different speeds of the transport vehicle 2 and the forage harvester 1 and in related permanent position in vehicle, that the transport vehicle 2 is not on a height with the forage harvester 1 is and no longer recognized the vertically oscillating beam the transport vehicle. 2 In these cases would the unchanged position of the spout 5 and 6 Auswurfkrümmerklappe the crop are 4 conveyed to the transport vehicle 2 over and a loss remain on the field soil. By combining the vertically oscillating beam with the horizontal oscillating beam this problem is solved. Through the horizontal pivot, the lateral outer edges 14, 14a of the side wall 21 of the transport vehicle 2, and thus the length and the exact position of the transport vehicle 2, regardless of the different speeds and thereby changing positions of the transport vehicle 2, and the forage harvester 1 with each other, detects , Another problem with the harvesting operation is in the accurate reception of the reflection signals. So moving dust particles and precipitation have a negative effect on the course of the sensor signals. In conventional Sensiervorrichtungen punctiform laser transmitters are used which have a signal diameter of less than or equal to 1 mm. This results in most cases, already by smaller dust particles or raindrops both despatched and the reflected signal reflected, so that the signal is deflected and measuring the lateral distance of the forage harvester 1 is impossible to the transport vehicle 2 and is biased because early reflection suggests a shorter distance. It has therefore to be used as advantageous to provide a signal diameter which sends not a punctual but a sheet-like signal. This sheet-like signal may for example have a diameter of 40 mm. The broad signal to dust particles or other disturbances not affect the determination of the distance between the forage harvester 1 and the transport vehicle. 2 Thus, only a part of the wide sensor signal is deflected by dirt particles, so that a large part of the sensor signal is incident on the side wall 21 of the transport vehicle 2 and is reflected. Since the proportion of the reflected signals due to the wider distribution through the enlarged laser signal is also larger, always occurs to a reflected signal in the receiving unit 10, so that it is immaterial whether more reflected part signals to be deflected or not.

p0026To explain the variation of a signal, and the determination of the distance closer, is in the <figref idrefs="f0002">figure 2</figref> shown a diagram of the course of a seconded and reflected signal. On the x - axis, the running time is t, and the y - mutatis mutandis shown the radiation intensity E of the signal axis. The transmission signal a itself is at a constant speed v and a constant radiation intensity E (mW) sent. Overall, the course of the signal from the time of Entsendens, reflection and reception is shown. Here, the signal a is the transmission signal and the signal b represents the reflected signal.

p0027Based on different reflected signal is detected via an installed in the transmitter 15 software, in which the reflected signal it is reflected from the side wall 21 of the transport vehicle 2 signal. therefore the evaluation is in particular important because the signal from different between the forage harvester 1 and the transport vehicle 2 flying particles such as dust particles or Lie leaves, can be reflected and is incident in this way in the receiving unit 10, without reaching the side wall 21 of the transport vehicle 2 to have. This would arise false signals that would have an incorrect distance determination result. The mapping of the reflected signal to the associated reflector due to the constant signal strength E of seconded signal and on the basis of approximately constant thickness e of the reflection signal of the different reflectors are detected. To have the strength of a dust particle c, where a relative strength of a Lie leaf d and the strength of the reflected from the side wall 21 of the transport vehicle 2 signal e to the respective reflector, approximately constant size, enter the value in the software is. When receiving a reflection signal, the software evaluates this reflection signal and assigns it a reflector (dust particles, Lieschen sheet or transport vehicle) to. In this way, the light reflected on the transport vehicle 2 signal can be determined based on the reflectance E.

p0028In a further step, the travel time for calculating the distance t and v of the despatched signal A and the detected reflection signal calculates the speed by the software. must To enable the overcharge operation of the crop on the transport vehicle 2, the transport vehicle 2 herfahren at a certain distance next to the forage harvester 1, so that the chute 5 and the Auswurfkrümmerklappe 6 occupy a position in which the crop is 4 lossless passed. The distance to the transport vehicle 2, derives from the term t that the despatched signal a for the deferment of the return path from the transmitter unit 9 to the transport vehicle 2, and ultimately requires striking in the receiving unit 10 and from the present constant speed of signal. The reflector signal to the transport vehicle 2 forms the relevant Nutzreflex.

p0029From these three parameters, the software can determine the distance to the transport vehicle 2 in a known manner.

p0030In order to the relevant Nutzreflex - the reflection signal to the transport vehicle 2 - to be able to specify exactly the falling edge of the reflected signal f e is used according to the invention.

p0031As is clear from the <figref idrefs="f0002">figure 2</figref> result, the signal at a rising edge of a, from different reflection points c, d, e and different falling edges composes. As a parameter for determining the distance is only the falling edge of f The falling edge of f is crucial because it the last falling edge of the signal is always b and therefore the decisive Nutzreflex -. The reflection on the transport vehicle - comes. Since no other reflectors of the side wall 21 downstream and therefore can follow no further falling edges, as well as due to the known and established reflectivity E of the reflection signal e of the side wall may, for the exact distance to the transport vehicle 2 are detected by the detection of the falling edge. In addition, the frequency with which the sensing device 7, the signals sent so selected that never intersect the posted signals with the signals received and / or reflected, that is, until a new signal sent when the last reflected signal has been received.

p0032In order to receive a clear signal and therefore in order to perform accurate distance determination trigger the reflection signal e f conducted on the falling edge as the trailing edge of f always comes from Nutzreflex. The trailing edge will always be recognized by the fact that the predecessor is less than the successor. When rising edge situation is exactly reversed. In practice, it has proven particularly advantageous triggering at 2/3 of the maximum value of the falling edge to make. From the totality of the reflected input signals can thus be determined, an accurate determination of the last falling edge of f and thus the accurate determination of the distance of the transport vehicle 2 to the forage harvester. 1

p0033Overall, the determination of the distance of the improvement of the harvested crop is used at the transport vehicle 2. When a distance change is detected, corrective action being taken to be in the handover. That means decreases the distance, for example, the Auswurfkrümmerklappe 6 must be lowered so that the crop is not 4 conveyed via the transport vehicle away. If the distance of the forage harvester 1 to the transport vehicle 2 the Auswurfkrümmerklappe 6 must be pivoted so that the crop 4 not bounce off the sidewall 21 of the transport vehicle. 2

p0034The above principles shall be applied with regard to the determination of the profile of the transport vehicle 2 accordingly. Here, the distance to the outer edges 14, 14a of the side wall 21 of the transport vehicle 2 using the parameter signal strength E, travel time t, calculated speed v and falling edge. Hereby the transport vehicle 2 is detected regardless of its relative vehicle speed to the forage harvester 1 and filled evenly over the entire area from the front 16 to the rear side 17 and without charging losses.

p0035It is within the scope of the invention as an alternative to the transit time measurement described above to enter a minimum distance in the transmitter 15, this minimum distance is so small that a transport vehicle 2 can not enter this area. Meaning this minimum distance is hide reflected signals within this range so that reflections can not lead to false signals within this range because they are irrelevant. This improves the accuracy is increased.

p0036It is transmitted to the here described using the example of a forage harvester invention in any agricultural work or harvesting equipment within the skill of the art. Thus, the invention finds, for example, mutatis mutandis in the harvest work of a self-propelled combine harvester, which empty the full grain tank and the crop in has passed to a parallel moving transport vehicle.

LIST OF REFERENCE NUMBERS

p0037<dl id="dl0002" compact="compact"><dt>1</dt><dd>Self-propelled forage harvester</dd><dt>2</dt><dd>transport vehicle</dd><dt>3</dt><dd>header</dd><dt>4</dt><dd>crop</dd><dt>5</dt><dd>chute</dd><dt>6</dt><dd>Auswurfkrümmerklappe</dd><dt>7</dt><dd>sensing device</dd><dt>8th</dt><dd>Auswurfkrümmerklappensteuerung</dd><dt>9</dt><dd>transmitting unit</dd><dt>10</dt><dd>receiving unit</dd><dt>12</dt><dd>lower edge</dd><dt>13</dt><dd>top</dd><dt>14</dt><dd>Lateral outer edges</dd><dt>15</dt><dd>evaluation</dd><dt>16</dt><dd>front</dd><dt>17</dt><dd>back</dd><dt>18</dt><dd>body</dd><dt>19</dt><dd>Vertical oscillation</dd><dt>20</dt><dd>Horizontal Oszilation</dd><dt>21</dt><dd>Side wall</dd><dt>22</dt><dd>actuator</dd><dt>23</dt><dd>pivot axis</dd></dl><dl id="dl0003" compact="compact"><dt>A</dt><dd>transmission signal</dd><dt>B</dt><dd>reflected signal</dd><dt>C</dt><dd>Dust reflector signal</dd><dt>D</dt><dd>Lieschen sheet reflector signal</dd><dt>e</dt><dd>Sidewall reflector signal</dd><dt>F</dt><dd>Falling edge</dd></dl>