Agricultural implement and method of controlling an agricultural implement

Abstract

This document sets out a method of adjusting an agricultural implement's orientation. The method comprises recording, while the agricultural implement is travelling, a series of orientation values corresponding to the orientation of the agricultural implement in at least one vertical plane, calculating a derived orientation value based on said series of values and, if the derived orientation value is outside a predetermined range, adjusting a mutual position relationship between at least two parts of the agricultural implement that can move relative to each other.

Claims

1. A method of adjusting an orientation of a soil-working agricultural implement, comprising: recording, while the agricultural implement is moving, a series of orientation values corresponding to an orientation of a frame or frame part of the agricultural implement in at least one vertical plane, calculating a derived orientation value based on said series of values and if the derived orientation value is outside a predetermined acceptable orientation value interval, adjusting a mutual positional relationship between at least two parts that can be moved relative each other on the agricultural implement and/or adjusting a mutual positional relationship between the agricultural implement and a traction vehicle fully or partially pulling it, wherein the derived orientation value comprises a mean value of at least a subset of said series of orientation values, and wherein a mean orientation value is calculated when the agricultural implement has travelled along a predetermined path, or a path along which the agricultural implement has moved back and forth in parallel rows, such that the derived orientation value is provided as a mean orientation of the agricultural implement for the predetermined path.

2. The method according to claim 1, wherein each of said orientation values are recorded in a form of an angular value based on a gravitational direction.

3. The method according to claim 1, wherein said series of orientation values is measured for at least one of the parts that can be moved relative to one another and wherein an actuator is activated to set a position of the parts relative to each other and to achieve an orientation value which is within the predetermined acceptable orientation value interval.

4. The method according to claim 1, also comprising: recording another orientation value corresponding to an orientation of another of the parts that can be moved relative to one another in said vertical plane; and calculating an adjusting value, said adjusting value based on which an actuator is to be set in order to achieve an orientation value which is within the predetermined acceptable orientation value range.

5. The method according to claim 4, wherein the mutual position relationship involves positions of a pair of frame parts relative to each other.

6. The method according to claim 1, also comprising recording a series of travel values which represent a travel of the agricultural implement, wherein each travel value is associated with a respective orientation value in said series of orientation values, and wherein an average orientation value is also derived on the basis of said travel value.

7. The method according to claim 6 wherein the travel value is selected from a group comprising a travel time, a travelled distance and geographical position.

8. The method according to claim 1, wherein the recording is carried out during a partial range of a travel of the agricultural implement.

9. The method according to claim 1, wherein the mutual position relationship involves a position of at least one soil-working part in relation to a frame or a part of the frame of the agricultural implement.

10. An agricultural implement for soil working comprising at least two parts that can be moved relative to each other, comprising: at least one sensor for detecting an orientation value of a frame or frame part of the agricultural implement in at least one vertical plane, at least one actuator for setting a mutual position of the parts and a control unit configured to: record a series of orientation values while the agricultural implement is travelling; calculate a derived orientation value based on said series of values; produce a control signal for the actuator to adjust said mutual position if the derived orientation value is outside a predetermined, acceptable orientation value interval range; and calculate the derived orientation value as a mean value of at least a subset of said series of orientation values; and calculate a mean orientation value when the agricultural implement has travelled along a predetermined path, or a path along which the agricultural implement has moved back and forth in parallel rows, such that an orientation of the agricultural implement for the predetermined path is provided.

11. The agricultural implement according to claim 10, wherein the parts are equipped with respective orientation sensors and wherein the control unit is configured to produce the control signal based on signals from said orientation sensors.

12. A system for soil working comprising a traction vehicle which at least partially pulls an agricultural implement for soil working, comprising: at least one sensor for detecting an orientation value of a frame or frame part of the agricultural implement in at least one vertical plane; at least one actuator for setting a mutual position between the traction vehicle and the agricultural implement; and a control unit configured to: record a series of orientation values while the agricultural implement is travelling; calculate a derived orientation value based on said series of values; produce a control signal for the actuator to adjust said mutual position if the derived orientation value is outside a predetermined, acceptable orientation value interval; calculate the derived orientation value as a mean value of at least a subset of said series of orientation values; and calculate a mean orientation value when the agricultural implement has travelled along a predetermined path, or a path along which the agricultural implement has moved back and forth in parallel rows, such that a mean orientation of the agricultural implement for the predetermined path is provided.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) FIG. 1 is a schematic side view of an agricultural implement in the form of a cultivator.

(2) FIG. 2 is a schematic perspective view of the agricultural implement in FIG. 1.

(3) FIG. 3 is a schematic perspective view of an agricultural implement in the form of a plough.

DETAILED DESCRIPTION

(4) The description is provided with reference to a disk cultivator 1 as shown in FIGS. 1 and 2. However, what is described herein can also be applied to other types of agricultural implements, such as harrows, ploughs, sowing machines or other machines for dispensing granular material to the soil or combinations thereof.

(5) A disk cultivator 1 comprises a frame 10, 11, 12, 13, 14 which can include several parts which are movable relative to each other, by way of joints for example. The movability can be controlled by one or more actuators which are normally in the form of a hydraulic actuator 171, 172, 173, 174.

(6) Hydraulic actuators and their control are known and will not be described in further detail.

(7) The frame 10, 11, 12, 13, 14 can for example comprise a main frame 10 and a towing device 13 for connection to a traction vehicle 2, such as a tractor, and, possibly, one or more side sections 14, one or more forward sections 11 and/or one or more rear sections 12. The main frame 10 and towing device 13 can be movable in a controlled manner relative to each other, such as the main frame 10 and one or more of the side sections 14, front sections and/or rear sections 12.

(8) One or more soil-working parts 181, 182, 183, 184, 185 can be arranged on the main frame, side sections, front section or rear sections. Such soil-working parts can comprise soil-working tools such as harrow tines, cultivator tines, levelling tools 181, disc tools 182, ploughshares 286, 286b (FIG. 3), pack wheels, rollers 184, sowing trucks, fertiliser trucks or row units for sowing or dispensing other material to the soil. Soil-working parts can also include support wheels 185, 285 for transporting and/or depth setting.

(9) One or more orientation sensors 15, 16 can be arranged on one or more of the frame parts 10, 13.

(10) Such an orientation sensor 15, 16 can be configured to detect the orientation of a frame part in one or more vertical planes, for example a vertical plane perpendicular to the direction of travel of the agricultural implement and/or a vertical plane parallel to the direction of travel of the agricultural implement. For example, respective orientation sensors can produce a signal corresponding to the agricultural implement's orientation relative to a gravitational direction. The signal can be processed so that instead it reflects the implement's angular position relative to a horizontal plane which is, as is known, perpendicular to the gravitational direction.

(11) The orientation sensors 15, 16 can be arranged in their associated frame section 10, 13 so that a predetermined orientation value is brought about when the frame section is in a desired position.

(12) The orientation sensors 15, 16 can have one axle, two axles or three axles and can be combined with other types of sensors such as accelerometers.

(13) For example an orientation sensor 15 of a frame section 10 can be configured to indicate an orientation of 0 in both the transverse and longitudinal plane when the main frame section 10 is horizontally orientated.

(14) Another frame section can also be provided with an orientation sensor. In the illustrated example the drawbar 13 is provided with an orientation sensor 16.

(15) It is evident that the agricultural implement can be be built up in many different configurations, usually as a main frame with one or two side section on each side, or as a frame divided along the agricultural implement's longitudinal midline, which thus consists of two side sections.

(16) In the shown example there are for instance side sections 14 which can be turned about longitudinal horizontal axes relative to the main frame 10 and which can be adjusted individually with the aid of a hydraulic actuator 171, a frame section can be adjusted individually relative to the main frame 10 with the aid of a hydraulic actuator 172 a drawbar 13 which can be adjusted relative to the main frame 10 with the aid of a hydraulic actuator 173 and a rear section 12 which can be adjusted relative to the main frame 10 with the aid of a hydraulic actuator 174.

(17) Through activating a hydraulic actuator 173 the angle of the drawbar relative to the main frame 10 can be adjusted which means that the angular position of the entire agricultural implement seen in a longitudinal vertical plane can be adjusted.

(18) It is clear that front and/or rear frame sections can be connected to the respective side sections, i.e. a front or rear frame section can be rotatably connected to a side section and thus controlled in a moveable manner relative to the side section.

(19) The orientation sensors 15, 16 are actively connected to a control unit 17 which receives the measuring values from the orientation sensors. The control unit can have a memory for storing the measurements and a processing unit for performing calculations based on the measurements and to producing output data based on the calculations. Examples of output data can be user information relating to the orientation of the agricultural implement and/or control signals for adjusting the settings of the agricultural implement. The control unit can also be connected to a user interface for inputting user commands and outputting feedback to the user. For example, such a user command can cancel or disregard commands produced by the control unit 19, such as adjusting the angular position of the frame sections 10, 11, 12, 13, 14.

(20) In turn, the control unit 17 can be connected via cables 175 or wirelessly to a main control unit on the traction vehicle and/or to a user interface. An user interface can for example be in the form of a computer, an e-reader (such as an iPad) 176 or similar device.

(21) Feedback to the user can include the setting status, such as an indication that the agricultural implement is correctly set. Alternatively, the feedback can involve showing a setting error and exhorting the user to manually input the correction value.

(22) While the agricultural implement 1 is travelling the control unit 17 receives a series of values from each and every one of the orientation sensors. The orientation values include the orientation value a transverse vertical plane and/or the orientation value in a longitudinal vertical plane.

(23) For example the orientation value in the transverse vertical plane can be produced for an agricultural implement 1 which is able to adjust soil-working parts differently over the breadth of the agricultural implement.

(24) In the same way the orientation value in the longitudinal vertical plane can be produced for an agricultural implement 1 which is able to adjust soil-working parts differently over the length of the agricultural implement.

(25) With each reading one orientation value can thus come about in the lateral direction and one orientation value in the longitudinal direction, which together can be said to form an orientation vector for the agricultural implement. Reading can take place at predetermined time intervals, for example with a frequency of 0.1-10 Hz or based on another criterion, such for example position or travel path, e.g. 5 times per metre travelled.

(26) The orientation values are stored in a data memory, whereby calculation of a mean orientation in respective vertical planes can be carried out in accordance with a predetermined criterion.

(27) For example, the mean orientation can be calculated on the basis of a predetermined number of orientation values. Such calculation can take place at predetermined intervals or as a movable mean value and is then based on a certain number of most recently gathered orientation values.

(28) Another alternative is to calculate the mean orientation value at even intervals or when the agricultural implement has completed a certain path.

(29) Yet another alternative is to calculate the mean orientation value when the agricultural implement has travelled along a predetermined path, such as closed path, or a path along which the agricultural implement has moved back and forth in parallel rows. A GPS or a similar positioning system can be used to record the agricultural implement's position and travel path.

(30) Combinations of the above criteria are possible.

(31) It is possible to set tolerances, meaning that adjustment only takes place if the calculated mean orientation value is outside a predetermined interval.

(32) Conceivable tolerance intervals can be +/5, +/3+/2 or +/1.

(33) Adjustment of the agricultural implement's orientation can take place as a response to a deviation from the acceptable tolerance interval being measured. The extent of the adjustment can be calculated on the basis of the magnitude of the orientation value.

(34) Adjustment can thus take place an even intervals, after a certain distance or when the agricultural implement has completed a certain path.

(35) In FIG. 3 an agricultural implement in the form of a plough 200 (more particularly a reversible plough) is shown. The plough 200 comprises a main frame 210 which carries a number of ploughshares 206a, 286b and a side frame and in some embodiments also a wheel frame 212 which carries a support wheel 285.

(36) As a rule the plough 200 has a coupling device 218 which is suspended in hydraulic arms 21 of the tractor 2. Such suspension can be torque-resistant in at the least vertical direction. Depending on the design of the plough (often related to its size) it can thus be fully or partially suspended on the hydraulic arms 21 of the tractor. Irrespective of which, the tractor's hydraulic arms can be used to fully or partially adjust the orientation of the plough.

(37) The main frame 210 can be rotatable about a horizontal axle which is essentially parallel to the direction of travel of the agricultural implement so that ploughshares 286a and 286b can alternately engage with the soil.

(38) An orientation sensor 214, 215 can be arranged on one or more of the frame parts in order to detect the orientation of the relevant frame section. In addition, a control unit 216 can be arranged on one of the frame sections, for example on a frame section which is configured to maintain its orientation irrespective of which of the ploughshares 286a, 286b is engaged in the soil.

(39) One or more actuators 217a, 217b can be arranged to control the mutual position of the frame parts 210, 211, 212.

(40) For this one or more actuators can be arranged to control the tractor's hydraulic arms which can also be used to fully or partially (for example together with a support wheel 285) control the orientation of the plough 200.

(41) In the shown example a first actuator 217a can be arranged for changing the plough's direction around an axle Cp parallel to the direction travel.

(42) Another actuator 217b can be provided for adjusting the furrow width, i.e. the angle of the main frame 210 relative to the direction of travel.

(43) A third actuator 217c can be provided for adjusting the height of the wheel 285 relative to the frame, i.e. to adjust the working depth of the plough.

(44) Furthermore, the hydraulic arms 21 of the traction vehicle 2 can be arranged to adjust the height of the frame relative to the traction vehicle.

(45) By adjusting the height position of the wheel 286 and the height position of the hydraulic arms 21 the orientation of the plough 200 can be controlled in a vertical plane parallel to the direction of travel.

(46) An agricultural implement 1, 200 can thus be clamped in a torque-resistant manner relative to the traction vehicle in at least one horizontal plane.

(47) In a fully caged agricultural implement (not shown) the upper fastening point 22 or the traction vehicle, which can be individually controlled by means of an actuator (not shown), can be used for adjusting the orientation of the agricultural implement in a vertical plane parallel to the direction of travel.

(48) An agricultural implement 1, 200 can thus also be clamped in a torque-resistant manner relative to the traction vehicle in a vertical plane.

(49) Through gathering and processing orientation data as described above, it can be ensured that the frame sections 10, 11, 12, 13, 14, 15, 210, 211, 212 can maintain a predetermined orientation through the activation of the actuators 171, 172, 173, 174, 217a, 217b, 217c.

(50) The plough 200 can be controlled via the same type of interface as the disk cultivator discussed above.

(51) It is clear that other types of soil-working agricultural implements can also be controlled in the same way.