Security sensor

Abstract

An agricultural harvester including a sensor for measuring a position of an object in surroundings of the harvester. The sensor is connected to a processor for defining at least two different danger zones respectively corresponding to at least two different sets of harvester driving parameter values. The processor can determine actual harvester driving parameter values, and the processor can compare the actual harvester driving parameter values with the different sets to select a matching set and to select a corresponding one of the danger zones. The processor outputs a warning signal if the position is in the corresponding danger zone.

Claims

1. An agricultural harvester comprising: a sensor adapted for measuring a position of an object in surroundings of the harvester; a memory storing at least two different sets of harvester driving parameter values in relation to at least two different danger zones in the surroundings; and a processor operationally connected to the sensor, to the memory, and to the agricultural harvester for determining actual harvester driving parameter values, wherein the processor is configured for comparing the actual harvester driving parameter values with the two different sets of harvester driving parameters stored in the memory to select a matching set and to select a corresponding one of the at least two different danger zones, wherein the processor is further configured for outputting a warning signal if the position of the object is determined to be in the selected danger zone.

2. The agricultural harvester of claim 1, wherein the harvester driving parameter values comprise a harvester steering wheel position.

3. The agricultural harvester of claim 1, wherein the harvester driving parameter values comprise an unloading tube position.

4. The agricultural harvester of claim 1, wherein harvester driving parameter values comprise gearbox settings.

5. The agricultural harvester of claim 1, wherein harvester driving parameter values comprise residue spreading system settings.

6. The agricultural harvester of claim 1, wherein the warning signal is output to the operator via at least one of visual and acoustic outputting devices.

7. The agricultural harvester of claim 1, wherein the warning signal causes the agricultural harvester to enter an operational safe mode.

8. The agricultural harvester of claim 1, wherein the sensor is comprises at least one radar sensor placed at a back end of the agricultural harvester.

9. The agricultural harvester of claim 8, wherein the sensor comprises multiple radar sensors arranged alongside each other to scan the surroundings of the harvester.

10. The agricultural harvester of claim 1, further comprising a display in the cabin of the harvester to visualize a corresponding one of the at least two different danger zones together with the position of the object.

11. A method for sending a warning signal in an agricultural harvester, the harvester comprising a sensor adapted for measuring a position of an object that is situated in surroundings of the harvester, the method comprising: defining in the surroundings at least two different danger zones respectively corresponding to at least two different sets of harvester driving parameter values; detecting an object in the surroundings via the sensor; wherein the method further comprises, upon detection of the object: measuring the position of the object in the surroundings; comparing actual harvester driving parameter values with the at least two different sets of harvester driving parameter values to select a matching one of the at least two different sets of harvester driving parameter values and selecting a corresponding one of the at least two different danger zones; determining whether the position of the object is in the corresponding danger zone; and sending the warning signal if the position of the object is determined to be in the corresponding danger zone.

Description

[0026] The invention will now be described in more details with respect to the drawings illustrating some preferred embodiments of the invention. In the drawings:

[0027] FIG. 1 illustrates an agricultural harvester with position sensors according to an embodiment of the invention;

[0028] FIGS. 2, 3 and 4 illustrate the agricultural harvester of FIG. 1 with different sets of driving parameter values, and illustrate the corresponding danger zones.

[0029] In the drawings a same reference number has been allocated to a same or analogous element.

[0030] FIG. 1 shows a schematic top view of an agricultural harvester 1. The agricultural harvester 1 comprises a header 2 that is connected to a body 3. In operation, when the harvester 1 is harvesting a field, the header cuts crop material and transports the crop material into the body 3 of the harvester 1. In the body 3 of the harvester, the crop material is threshed to separate the harvest from the residue material. The residue is distributed onto the field via the residue spreading system 4, that is located at the back end of the body 3 of the harvester 1. The harvest can be stored in the body 3 of the harvester, and can periodically be transported out of the harvester body 3 via the unloading tube 5. Thereby, the unloading tube 5 is rotatable with respect to the harvester body 3, so that the harvest can be unloaded into a filling wagon driving behind or adjacent the harvester 1.

[0031] Typically, agricultural harvesters 1 are steered over a field via turnable back wheels 6. The harvester 1 further comprises front wheels 7, that are typically in a fixed rotational angle with respect to the body 3. The rear wheel steering has as a result that the movement of parts of the agricultural harvester 1 (such as the back end of the agricultural harvester or the unloading tube 5) cannot be easily predicted (especially for an unexperienced driver). When the agricultural harvester 1 is in a straight forward driving mode (as illustrated in FIG. 1 with arrow 8), dangerous situations can easily be seen by the operator. In the FIGS. 2-4 different situations are illustrated, wherein dangerous situations are much harder to predict, especially by an unexperienced driver.

[0032] The agricultural harvester 1 of the invention is provided with at least one sensor adapted for measuring the position of one or more objects in surroundings of the harvester 1. Thereby, it will be clear that the position of the object is defined as the relative position of the object with respect to the body 3 of the harvester 1. In the example of FIG. 1, two sensors 9, 10 are placed at the harvester body 3 at respective lateral sides thereof. Each of the sensors 9, 10 is adapted to scan the surroundings over a large angular range, and is capable of measuring object positions from multiple directions in the angular range. Such sensor is known, for example the sonar sensor described in WO 2013/132038, which is referred to for the purpose of explaining the sonar sensor. As an alternative, radar sensors can be placed along the outer periphery of the agricultural harvester to detect objects in surroundings of the harvester. Such radar sensors are widely used as parking sensors, and based on the present description, the skilled person will be able to configure a radar system comprising one or multiple radar sensors that is able to detect objects in the surroundings of the harvester 1. Thereby, it will be clear that the example shown in FIG. 1, wherein two sensors 9, 10 are shown that scan the surroundings over a substantially wide angle, is only one possible example of a sensor system. A skilled person will recognize that multiple sensor systems can be used to achieve the same or at least a similar effect. Possible sensors are radar sensors, sonar sensors or cameras (light sensors). In the further description, it is assumed that the sensors 9, 10 measure the position of one or more objects in the surroundings of the harvester, and communicate the position thereof to a processor that is operationally connected to the sensor 9, 10 and to the agricultural harvester 1. When multiple objects are present in the surroundings of the harvester, the sensor 9, 10 preferably communicates the position of each one of the objects in the surroundings of the harvester 1.

[0033] In the FIGS. 1-4, three objects are shown in surroundings of the agricultural harvester. A first object 13 is located (considering the harvester in forward driving mode) at the left hand side of the body 3 and behind the header 2 of the harvester 1. A second object 14 is located directly behind the body 3 of the harvester 1, being at the back end of the harvester 1. A third object 15 is located at the right hand side of the body 3 of the harvester 1. Whether these objects 13, 14, 15 are in a danger zone, depends on the driving parameter values of the harvester 1, as will be clear from the further description.

[0034] Driving parameter values of the harvester 1 are defined as the combination of settings that determine the movement of the harvester 1 and the corresponding extent (coverage on the ground surface) of the agricultural harvester 1 during that movement. Particularly, the harvester driving parameter values comprise gearbox settings (forward, backward), steering settings (straight, right, left, degree of steering), unloading tube position settings (since the position of the tube influences the coverage on the ground surface) and residue spreading system settings. The skilled person will recognize that further settings can also be taken into account.

[0035] Danger zones, in the FIGS. 2-4 being illustrated with dotted lines having reference numbers 12, 17, 18 and 20, are defined as locations where an object is likely to be hit by the agricultural harvester 1 when the harvester 1 moves further with the corresponding driving parameter values. According to the invention, the danger zone is dynamically defined. Particularly, different danger zones are defined for different sets of driving parameter values. Thereby, the skilled person will understand that there are different ways of achieving such dynamic danger zones. According to one example, a look-up table is provided wherein for each combination of sets of driving parameter values (or sets of ranges of driving parameter values), a danger zone is defined. According to another example, different danger zones are assigned to different driving parameter values and wherein a set of driving parameter values corresponds to a danger zone that is the sum of the danger zones of each parameter. According to a further example, danger zone formulas are defined, wherein driving parameter values are variables that determine the danger zone. According to each of these examples, danger zones can be dynamically defined based on harvester driving parameter values.

[0036] FIG. 1 shows a first example of a harvester 1 that is set in forward driving mode 8, and wherein the residue spreading system 4 is inactive. With such settings, the danger zone is minimal (and therefore not shown in FIG. 1). Particularly, objects 13, 14 and 15 will not be hit when the harvester moves in a straight forward direction. As a result none of the objects 13, 14 and 15 is found to be in the danger zone that corresponds to the forward driving mode 8 settings.

[0037] In the example of FIG. 2, the harvester 1 is set to make a forward turn to the right (indicated by arrow 11). Taking into account the harvester driving parameter values corresponding to such turn 11, particularly the angular position of the rear wheels 6 influences the danger zone, which in the example of FIG. 2 is danger zone 12. Indeed, when the harvester 1 would make a turn to the right as is indicated with arrow 11, the back end of the harvester 1 will swing towards object 13. As can be seen in FIG. 2, object 13 is in the danger zone 12. Objects 14 and 15 are not in a danger zone, since these objects will not be hit when the harvester makes the turn 11. When the situation as shown in FIG. 2 occurs, a warning signal is sent to the operator of the harvester 1. The warning signal can be sent in the form of an audible signal (a sound), a visual signal (a lamp), or a combination of the above.

[0038] In the example of FIG. 3, the harvester is in forward driving mode, and the residue spreading system is activated. Furthermore, the unloading tube 5 is rotated to a lateral side of the harvester 1. In such a situation, the rotated unloading tube 5 will result in a danger zone 17, so that object 13 is in danger. The activation of the residue spreading system will result in a further danger zone 18, so that the second object 14 is in danger. This example shows that the danger zone, according to the invention should not be continuous.

[0039] In the example of FIG. 4, the harvester 1 is in rearward driving mode, indicated by arrow 19. In this mode, all of the objects 13, 14 and 15 are in danger zone 20. Indeed, when the harvester would drive in the rearward direction, all of these objects 13, 14, 15 will be hit by the harvester.

[0040] The examples show that an object 13, 14, 15 can be in a danger zone in one situation, while it is not in a danger zone in another situation. According to the invention, each of these situations can be individually handled and the operator can be warned when a dangerous situation occurs. This significantly improves the safety of the agricultural harvester 1 according to the invention. In an embodiment of the system, the warning elements in the harvester comprise a display being provided in the cabin of the harvester, communicating with the processor and adapted to visualize the corresponding danger zone together with the position of the object

[0041] The above described embodiments and the shown figures are illustrative and serve only for a better understanding of the invention. The invention is not limited to the described embodiments. Different alternatives, and preferred features described in the text can be freely combined by a skilled person and developed in more detail to form an operational whole without departing from the claimed invention. The scope of protection of the invention will therefore be defined solely by the claims.