METHOD AND DEVICE FOR OPERATING AN AGRICULTURAL MACHINE

Abstract

The invention relates to a method (100) for operating an agricultural machine (1, 201) on a useful agricultural area (4, 5), comprising a traction vehicle (2) and a working appliance combination (3, 203) connected to the traction vehicle (2) in the form of a mower and/or rake, the harvest goods being processed with a plurality of working devices (33a-33d, 233a-233c), which are arranged so as to project from a carrying frame (31, 231a-231b) transversely with respect to the direction of travel (F) of the working device combination (3, 203), wherein the working appliances (33a-33d, 233a-233c) can each be raised and lowered independently of one another in order to move the working appliances either into a headland position or into engagement with the harvest goods, characterized in that when processing by means of a preferably satellite-assisted navigation system (21), position data of the working device combination (3, 203) is acquired continuously and, from the same, at least one already processed field area (41, 51) is determined and recorded (112), and in that the working devices (33a-33d, 233a-233c) are each raised automatically (113) on the basis of their positions when reaching the at least one already processed field area (41, 15) again, and/or in that the working devices (33a-33d, 233a-233c) are each automatically lowered (114) on the basis of their positions when moving out of the at least one already processed field area (41, 51 into a field area (42, 52) that is still to be processed.

Claims

1. A method (100) for operating an agricultural machine (1, 201) on an agricultural useful area (4, 5) with a tractor vehicle (2) and an implement combination (3, 203) connected to the tractor vehicle (2) in the form of a mower and/or swather, the crop being processed with a plurality of implements (33a-33d, 233a-233c) arranged to project from a support frame (31, 231a-231b) transversely to the direction of travel (F) of the implement combination (3, 203), the implements (33a-33d, 233a-233c) each being raised and lowered independently of one another to either bring them into a headland position or into engagement with the crop, wherein when working with a preferably satellite-supported navigation system (21), position data of the implement combination (3, 203) are continuously recorded (111) and at least one field area (41, 51) already worked is determined therefrom and recorded (112), and that the implements (33a-33d, 233a-233c) are each automatically raised (113) independently of one another on the basis of their positions when the at least one field area already worked (41, 51) is reached again, and/or that the implements (33a-33d, 233a-233c) are each automatically lowered (114) independently of one another on the basis of their positions when entering from the at least one field area (41, 51) already worked into a field area (42, 52) still to be worked.

2. The method (100) according to claim 1, wherein a covered travel distance (S) of the implement combination (3, 203) is determined from the continuously recorded position data of the navigation system (21) to determine the at least one worked field area (41, 51).

3. The method (100) according to claim 2, wherein prior to working a working width (A) is preferably defined by an operator, on the basis of which a distance of at least one of the implements (33a-33d, 233a-233c) from the support frame (31) is set, wherein the at least one field area (41, 51) already worked is determined from the working width (A) and the travel distance (S) covered.

4. The method (100) according to claim 1, wherein during working an outer field area which forms the already worked field area (41, 51) is worked first and then an inner field area is worked, which is at least partially enclosed by the outer field area and which forms the field area (42, 52) still to be worked.

5. The method (100) according to claim 1, wherein when a working limit (43) perpendicular to the direction of travel (F) is reached, two implements (33a, 33b/33c, 33d/233b, 233c) arranged opposite in pairs on the support frame (31) are automatically raised or lowered simultaneously.

6. The method (100) according to claim 1, wherein when a working limit (53) inclined relative to the direction of travel (F) is reached, two implements (33a, 33b/33c, 33d/233b, 233c) arranged opposite in pairs on the support frame (31) are automatically raised or lowered with respect to the working limit (53) on the basis of a calculation of position specifications of the implements (33a, 33b/33c, 33d/233b, 233c), in particular wherein first the implement (33a, 33c, 233b) closer to the working limit (53) is raised or lowered and then the implement (33b, 33d, 233c) further away from the working limit (53) is raised or lowered.

7. The method (100) according to claim 1, wherein the crop is raked together with at least four implements (33a-33d) constructed as rotary rakes, which are arranged in pairs opposite one another on the support frame (31), and wherein a first pair of rotary rakes (33a, 33b) is arranged further forward on the support frame (31) relative to a second pair of rotary rakes (33c, 33d) in the direction of travel (F), preferably wherein the first pair of rotary rakes (33a, 33b) projects from the support frame (31) wider than the second pair of rotary rakes (33c, 33d).

8. The method (100) according to claim 7, wherein when the at least one field area (41) already worked is reached again, at least one rotary rake (33a, 33b) of the first pair is first raised and then at least one rotary rake (33c, 33d) of the second pair is raised and/or wherein at least one rotary rake (33a, 33b) of the first pair is first lowered and then at least one rotary rake (33c, 33d) of the second pair is lowered when moving into the field area (42) still to be worked.

9. The method (100) according to claim 1, wherein when the already worked field area (41, 51) is reached again a first distance takes into account how far the implements can each move into the already worked field area (41, 51) before they are raised.

10. The method (100) according to claim 1, wherein when moving from the at least one field area (41, 51) already worked into the field area (42, 52) still to be worked a second distance takes into account how far the implements (33a-33d, 233a-233c) may still be in the field area (41, 52) already worked and are already lowered.

11. The method (100) according to claim 1, wherein a position of the implement combination (3) and/or positions of the respective implements (33a-33d) relative to the navigation system (21), preferably relative to an antenna of the navigation system (21), are taken into account when determining and recording the worked field area (41, 51) and/or when raising and/or lowering the implements (33a-33d, 233a-233c).

12. The method (100) according to claim 1, wherein the crop is processed with two, four or six implements (33a-33d, 233a-233c) arranged opposite one another in pairs on the support frame (31), each of which can be raised and lowered independently of one another.

13. An agricultural machine (1) with a tractor vehicle (2) and an implement combination (3) connected to the tractor vehicle (2) in the form of a mower or swather for processing crop on an agricultural useful area (4, 5), with a support frame (31), with a plurality of implements (33a-33d, 233a-233c) arranged to project transversely to the direction of travel (F), which can be raised and lowered independently of one another in order to bring them either into a headland position or into engagement with the crop, with a machine control (22) for controlling the raising and lowering of the implements (33a-33d, 233a-233c) and with a preferably satellite-supported navigation system (22) for recording position data of the implement combination (3), wherein the machine control (22) is designed to continuously record the position data of the navigation system (21) during working and to determine and record at least one already worked field area (41, 51) therefrom, and to control the lifting and lowering of the implements (33a-33d, 233a-233c) in such a way that the implements (33a-33d, 233a-233c) are automatically raised independently of one another on the basis of their positions when the at least one field area (41, 51) already worked is reached again, and/or that the implements (33a-33d, 233a-233c) are automatically lowered independently of one another on the basis of their positions when moving from the at least one field area already worked (41, 51) into a field area (42, 52) still to be worked.

14. A machine control (22) for an agricultural machine (1) with a tractor vehicle (2) and an implement combination (3) connected to the tractor vehicle (2) in the form of a mower or swather (3) with a plurality of implements (33a-33d, 233a-233c) for processing crop on an agricultural useful area (4, 5), wherein the machine control (22) is designed to continuously record position data of a preferably satellite-supported navigation system (21) during working and to determine and record at least one already worked field area (41, 51) therefrom, and to control a lifting and lowering of the implements (33a-33d, 233a-233c) in such a way that the implements (33a-33d, 233a-233c) are automatically raised independently of one another on the basis of their positions when the at least one field area (41, 51) already worked is reached again, and/or that the implements (33a-33d, 233a-233c) are automatically lowered independently of one another on the basis of their positions when moving from the at least one field area (41, 51) already worked into a field area (42, 52) still to be worked.

Description

[0040] Other features and benefits of invention are explained in further detail below on the basis of the embodiments shown in the figures. Brief description of the drawings:

[0041] FIG. 1A-1B shows an inventive embodiment of the agricultural machine in a plan view and in a perspective view;

[0042] FIG. 2 shows an inventive embodiment of the method for operating the agricultural machine as a flowchart;

[0043] FIG. 3 shows an exemplary working of a substantially rectangular field, using the method according to FIG. 2;

[0044] FIG. 4 shows an exemplary working of a substantially triangular field, using the method according to FIG. 2; and

[0045] FIG. 5 shows a further embodiment of the inventive agricultural machine in a plan view.

[0046] The features described in the following exemplary embodiments of FIGS. 1A-4 are exemplified for an implement combination in the form of a swather with the implements, formed as rotary rakes 33a-33d. Likewise, instead of the swather 3, it may be an implement combination in the form of a mower, formed with mowing bars and/or mower discs as implements instead of the rotary rakes 33a-33d. The mower discs may be arranged on the mowing bar. The mower may comprise a front, side, and/or rear mower arranged at the front, side, and/or rear of the tractor vehicle 2 by means of a corresponding hitch device. It is therefore understood that the features described below with reference to FIGS. 1A-4, individually or in any desired combinations, also apply mutatis mutandis to an implement combination in the form of a mower 203, which is illustrated as an exemplary embodiment in FIG. 5.

[0047] FIG. 1A shows an agricultural machine 1 with the tractor vehicle 2 and the hitched swather 3 in a plan view. A perspective view of the swather 3 is shown in FIG. 1B.

[0048] It shows an agricultural tractor commonly used as the tractor vehicle 2. It comprises a vehicle frame 23, having an engine and transmission, two wheels 24 driven thereby, and two steerable wheels 25. An operator may be seated in the cabin 26 to steer the tractor vehicle 2.

[0049] In addition, the machine control 22 is shown, formed with a CPU, memory, various interfaces, as well as a control unit and a display. The machine control 22 is connected with the swather 3 via an interface and/or control lines, not shown here, to automatically raise or lower the rotary rakes 33a-33d independently of one another. Furthermore, the machine control 22 is also connected to the navigation system 21 via a data interface for transmitting the position data. In addition, the operator can set parameters for fieldwork on the machine control 22. This includes setting the working width A of the swather 3.

[0050] In addition, the navigation system 21 is arranged on the tractor vehicle 2, which is formed here, for example, as a GPS system. It comprises an antenna on the roof of the cab 26 of the tractor vehicle 2 in order to enable the best possible satellite reception. An electronic unit for calculating the position data is also part of the navigation system 21. By means of the same, the signals of the satellites received by the antenna are evaluated, so that the position of the tractor vehicle 2 can be accurately calculated and transmitted to the machine control 22.

[0051] The support frame 31 of the swather 3 is attached to the tractor vehicle 2 by means of the hitch device 34 and is pulled by the same. In addition, the support frame 31 is supported by the wheels 35 on the ground between the first pair of rotary rakes 33a, 33b and the second pair of rotary rakes 33c, 33d. The power take-off shaft connection for transmitting the drive force, as well as hydraulic, electrical, and/or pneumatic connections are combined with the hitch device 34. It can also be seen that the rotary rakes 33a-33d are each connected to the support frame 31 by means of arms 32a-32d. The arms 32a-32d can each be raised and lowered independently of one another. For this purpose, hydraulic or electrical control signals are transmitted from the tractor vehicle 2 to respective actuators, mounted on the arms 32a-32d, whereby the rotary rakes 33a-33d can be pivoted into the headland position or into engagement with the crop. For example, in FIG. 1B, all rotary rakes 33a-33d are shown in engagement with the crop (so-called working position). For the headland position, the rotary rakes 33a-33d are raised accordingly.

[0052] In addition, the working width A can be set separately on the rotary rakes 33a, 33b of the first pair (front pair). As a result, an asymmetrical arrangement of the rotary rakes 33a, 33b is conceivable with respect to the support frame 31. The width of the rotary rakes 33c, 33d of the second pair can be set together. This will change the windrow width. Using the first pair of rotary rakes 33a, 33b, the crop is first pushed together somewhat towards the centre and then deposited as a windrow by the subsequent second pair 33c, 33d.

[0053] FIG. 2 shows an embodiment of a method according to the invention for operating an agricultural machine 100 in a flowchart in more detail.

[0054] The steps 101 and 102 serve to prepare the work and should therefore be regarded as optional for the invention:

[0055] Initially, the swather 3 in step 101 is in the headland position, with which the rotary rakes 33a-33d are raised in the headland position. The working width A may then be set by an operator or by an assistance system before reaching the agricultural useful area. Then, the power take-off shaft on the tractor vehicle 2 is started either automatically or manually so that the drive force is transferred to the hitched swather 3. As a result, the rotary rakes 33a-33d then rotate.

[0056] In step 102, the swather 3 is then brought into the working position and the automatic control is activated. For example, by an input of the operator on the machine control 22.

[0057] In step 110, the agricultural useful area is then worked. For this purpose, an outer field area, which extends along the outer boundary of the agricultural useful area as a whole or a subarea, is worked first. In the process, position data is continuously retrieved by the navigation system 21 in step 111 and processed in step 112 to obtain a covered travel distance of the swather 3. As a result, the distance covered in the worked field area is then known independently of a field map. Since the working width A according to FIG. 1A is substantially perpendicular to the direction of travel F, the field area already worked can be calculated by integrating the working width A over the travel path.

[0058] In step 113, when the field area already worked is reached again, the rotary rakes 33a-33d are automatically raised, based on their positions. In addition, in step 114, when entering a field area still to be worked from a field area already worked, the rotary rakes 33a-33d are automatically lowered independently of one another based on their positions.

[0059] For example, the front rotary rakes 33a, 33b, shown in FIG. 1A, arranged opposite in pairs on the support frame 31, are raised or lowered simultaneously when reaching a vertical working limit. Somewhat later, the two rear rotary rakes 33c, 33d, also arranged opposite in pairs on the support frame 31, are then also raised or lowered simultaneously.

[0060] In contrast, upon arriving at a working limit oblique to the direction of travel F, the rotary rakes 33a-33d are each raised or lowered independently of one another, based on a calculation of position information of the rotary rakes 33a-33d with respect to a working limit. Coordinates or vectors of the rotary rakes 33a-33d relative to the reference point R shown in FIG. 1A, which are stored in the machine control 22 or which are dynamically calculated by the machine control 22 at the current machine position, are taken into account for this purpose. Since the coordinate or the vector of the reference point R relative to the navigation system 21 is also stored in the machine control 22 or is dynamically calculated by it, the positions of the rotary rakes 33a-33d relative to the oblique working limit can be determined precisely. Consequently, the rotary rakes 33a-33d can each be automatically raised or lowered individually upon reaching the working limit.

[0061] It is conceivable that, in steps 113, 114, when the field area already worked is reached again, a first distance takes into account how far the rotary rakes 33a-33d can each move into the already worked field area before they are raised. Alternatively or additionally, when entering from the at least one field area already worked into the field area still to be worked a second distance can be taken into account to determine how far each of the rotary rakes 33a-33d may still remain in the field area already worked and may already be lowered.

[0062] Steps 111-114 are continuously repeated in a loop while working the agricultural useful area.

[0063] The method of FIG. 2 is executed as a computer program in the machine control 22 of FIGS. 1A-1B.

[0064] Using the example of a substantially rectangular agricultural useful area 4, FIG. 3 shows the execution of the method from FIG. 2 with the agricultural machine 1 from FIGS. 1A-1B.

[0065] It can be seen that the agricultural machine 1 with the tractor vehicle 2 and the swather 3 at the position P.sub.1 is about to enter the agricultural useful area 4. The swather 3 is brought into the headland position, the working width A is set, and the power take-off shaft on tractor vehicle 2 is started. The swather 3 is then brought into the working position and the automatic control is activated.

[0066] First, the agricultural machine 1 drives along the four field boundaries. The work is shown with the agricultural machine 1 at the position P.sub.2 by way of example. As a result, the outer field area is raked together (hatched area) and thus forms the field area already worked 41. Position data of the swather 3 are continuously recorded by the navigation system and the covered travel distance S is determined therefrom. Using the working width A, the field area already worked 41 is then determined.

[0067] In position P.sub.3, it can be seen that the swather 3 again reaches the field area already worked 41. Since the working limit 43 is substantially perpendicular to the direction of travel F, the rotary rakes of the front pair are first raised simultaneously while the rear pair continues to work. Then, the rear pair reaches the working limit 43 whereupon its rotary rakes are also raised simultaneously.

[0068] Next, the agricultural machine 1 turns to the position P.sub.4. Since the front pair is now the first to move out of the field area already worked 41 into the field area 42 still to be worked, its rotary rakes are lowered first. As a result, they already start working the field area 42 still to be worked while the rear pair is still located in the headland position. When the rear pair of rotary rakes then enters into the field area still to be worked 42, its rotary rakes are lowered as well.

[0069] Thereafter, the field area 42 still to be worked is traversed in parallel field lanes. The agricultural machine 1 is turned in the field area already worked 41, i.e. in the headland. There, the individual rotary rakes are each automatically raised or lowered again, using the method of FIG. 2.

[0070] With reference to FIG. 4, the working of a substantially triangular agricultural useful area 5 by the method according to FIG. 2 is shown. The work differs substantially from FIG. 3 in that the working limit 53 extends obliquely to the direction of travel F due to the triangular shape of the agricultural useful area 5.

[0071] Initially, the agricultural machine 1 is in the position P1 in the headland position, wherein the working width A is set and the power take-off shaft of the tractor vehicle 2 is started. Next, the work begins along the outer field boundaries, so that the hatched, outer field area is raked together, thus forming the field area already worked 51.

[0072] Position data of the swather 3 are continuously recorded by the navigation system and the covered travel distance S is determined therefrom. Using the working width A, the field area already worked 51 is then determined.

[0073] When the field area already worked 51 is reached again, the working limit 53, unlike in FIG. 3, extends obliquely to the direction of travel F. As a result, the rotary rakes are raised independently. It can be seen that, at position P.sub.3, the left front rotary rake is raised first, as it has reached the field area already worked 51. The opposite right rotary rake is raised later, once it also reaches the working limit 53. Independently therefrom, for the rear pair, the left rotary rake is raised first as well, followed by the right rotary rake. Depending on the configuration of the swather 3 and the course of the working limit 53 (as shown in FIG. 4), the two left rotary rakes are raised first, followed by the two right ones. However, if the working limit 53 is less oblique to the direction of travel F, the front pair is raised first, followed by the rear pair. If the working limit 53 extends in the reverse orientation, obliquely to the direction of travel, the right rotary rake of a pair is raised first, followed by the left rotary rake.

[0074] Subsequently, the agricultural machine turns to the position P.sub.4, wherein the rotary rakes enter from the field area already worked 51 into the field area 52 still to be worked.

[0075] It can be seen that, due to the oblique course of the working limit 53, the left front rotary rake is lowered first again and begins to work first. The front right rotary rake is then lowered later, correspondingly offset, upon arriving at the working limit 53. As before explained with respect to the position P.sub.3, the rear pair of rotary rakes is lowered as well, first on the left and then on the right. Depending on the obliqueness of the working limit 53, this happens either after the front pair or offset accordingly.

[0076] The calculation as to when the rotary rakes are each automatically raised or lowered is done in accordance with the method steps 113 and 114 described above, on the basis of position information of the rotary rake.

[0077] Subsequently, the field area 52 still to be worked is worked in parallel field lanes, with turning taking place in the outer field area. Here, the rotary rakes are then each automatically and independently raised or lowered based on their positions with respect to the field area already worked 51.

[0078] FIG. 5 shows a further embodiment of the inventive agricultural machine 201 in a plan view. It can be seen that here, instead of a swather, an implement combination in the form of a mower 203 is arranged on the tractor vehicle. The tractor vehicle 2 has the features previously described with reference to FIGS. 1A-1B. The features described above with reference to the swather 3 in FIGS. 1A-4 also apply mutatis mutandis to the mower 203.

[0079] It can be seen that a front mower 233a and two side mowers 233b, 233c are arranged on the tractor vehicle 2 as implements (butterfly arrangement). Within the working width A, the front mower 233a mows the central area and the side mowers 233b, 233c mow the two outer areas, to the right and left. It can also be seen that the front mower 233a and the two side mowers 233b, 233c each form a mowing bar with a number of mowing discs.

[0080] The support frame here is formed by a number of separate units 231a, 231b, connected to one another via the tractor vehicle 2.

[0081] Further, it can be seen that the front and side mowers 233a-233c are connected to the support frame 231a, 231b via arms 232a-232d. The arms 232a-232d can each be raised and lowered independently of one another. For this purpose, hydraulic or electrical control signals are transmitted from the tractor vehicle 2 to respective actuators, mounted on the arms 232a-232d, whereby the front and side mowers 233a-233d can be pivoted into the headland position or into engagement with the crop (mowing position). The method described above with reference to FIG. 2 can also be used mutatis mutandis in the agricultural machine 201 of FIG. 5, so that the agricultural useful area 4, 5 of FIGS. 3-4 can be worked accordingly.

[0082] Due to the fact that, in the method 100 according to the FIGS. 2-4, when raking together or mowing, the navigation system 21 continuously captures position data of the swather 3 or the mower 203, wherefrom the field area already worked 41, 51 is determined and recorded, after which the rotary rakes 33a-33d or the front and side mowers 233a-233c are automatically raised or lowered independently, based on their positions relative to the field area already worked, a windrow that has already been deposited in the worked field area 41, 51 is not raked again or affected. In addition, the rotary rakes 33a-33d or the front and side mowers 233a-233c are raised neither too early nor too late so that the crop is raked or mowed particularly precisely and with the least possible loss. Consequently, the method is particularly efficient.

[0083] This applies correspondingly to the machine control 22 or the agricultural machine 1, 201 of FIGS. 1A-1B and 5, respectively.

[0084] It is understood that features named in the embodiments described above are not limited to these specific combinations and are also possible individually or in any other combinations.