IMPLEMENT CONTROL

Abstract

Systems and methods are provided for controlling operation of an agricultural vehicle-implement combination. An orientation of the vehicle, the implement and/or the vehicle-implement combination is used to determine whether an adjustment in a lateral position of the implement is required. An actuator mechanism is provided for controlling the lateral position of the implement in accordance with any determined adjustment.

Claims

1. A control system for controlling operation of an agricultural vehicle-implement combination, the control system comprising one or more controllers, and being configured to: receive data indicative of an orientation of the vehicle, the implement and/or the vehicle-implement combination; determine, in dependence on the received data, an adjustment in a lateral position of the implement; and generate and output a control signal for controlling an actuator mechanism for controlling the lateral position of the implement in accordance with the determined adjustment.

2. A control system as claimed in claim 1, wherein the orientation comprises: a direction of travel of the vehicle or vehicle-implement combination; a turning angle of the vehicle-implement combination; and/or a pitch or tilt of the vehicle, implement and/or vehicle implement combination.

3. A control system as claimed in claim 1, configured to receive location data from a positioning system indicative of the position of the vehicle-implement combination within an environment.

4. A control system as claimed in claim 3, wherein the environment comprises a mapped environment comprising data indicative of the terrain type and/or slope at each of a plurality of positions within the environment.

5. A control system as claimed in claim 4, configured to determine the orientation of the vehicle, implement and/or vehicle-implement combination in dependence on the location data and the mapped environment.

6. A control system as claimed in claim 1, configured to determine the adjustment for the lateral position of the implement in dependence on a magnitude of the difference between the determined orientation and a control orientation.

7. A control system as claimed in claim 6, configured to determine the adjustment proportional to the magnitude of the difference between the determined orientation and the control orientation

8. A control system as claimed in claim 7, wherein: where the orientation comprises a direction of travel of the vehicle or vehicle-implement combination, the control orientation comprises a direction which is substantially parallel to a field boundary or the like; where the orientation comprises a turning angle of the vehicle-implement combination the control orientation comprises a direction substantially parallel to a longitudinal axis of the vehicle or vehicle implement combination; and/or where the orientation comprises an angle of the vehicle, implement and/or vehicle-implement combination with respect to a horizontal axis, the control orientation is substantially parallel to that horizontal axis.

9. A control system of claim 1, configured to control a lifting function of the implement.

10. A control system as claimed in claim 9, wherein the lifting function includes lifting the implement vertically upon request by an operator of the vehicle-implement combination.

11. A control system as claimed in claim 9, configured to automate the lifting function in dependence on data received from a location system.

12. A control system of claim 9, operable to center the implement as part of the lifting function.

13. A control system of claim 1, configured to: receive operational data indicative of an operational state of the vehicle and/or implement; and enable or disable the adjustment of the lateral position of the implement in dependence on the operational data.

14. A control system of claim 1, wherein the vehicle comprises a tractor having front and rear hitches for mounting implements thereto.

15. A control system of claim 1, wherein the implement comprises a front mowing unit mountable or otherwise coupleable to the front of the vehicle.

16. A control system of claim 1, wherein the vehicle-implement combination forms a butterfly mower arrangement with a front mowing unit mounted or otherwise coupled at the front hitch of the vehicle and a pair of rear mowing units mounted or otherwise coupled to the rear of the vehicle and positioned laterally either side of the vehicle.

17. A system for controlling operation of an agricultural vehicle-implement combination, comprising the control system of claim 1; and an actuator mechanism for controlling the lateral position of the implement in dependence on the orientation of the vehicle, implement or vehicle-implement orientation as determined by the control system.

18. An agricultural vehicle comprising the control system of claim 1.

19. A vehicle-implement combination comprising the control system of claim 1.

20. A method of controlling operation of an agricultural vehicle-implement combination, the method comprising: receiving data indicative of an orientation of the vehicle, the implement and/or the vehicle-implement combination; determining, in dependence on the received data, an adjustment in a lateral position of the implement; and controlling an actuator mechanism for controlling the lateral position of the implement in accordance with the determined adjustment.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0047] One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0048] FIG. 1 is a top down schematic view illustrating a vehicle-implement combination embodying aspects of the present disclosure;

[0049] FIG. 2 is a further top down schematic view of the vehicle-implement combination shown in FIG. 1;

[0050] FIG. 3 is a schematic view of an embodiment of a control system; and

[0051] FIGS. 4A-5B are a series of schematic top down views illustrating various operational uses of aspects of the present disclosure.

DETAILED DESCRIPTION

[0052] The figures illustrate embodiments of a control system 100 and vehicle-implement combination 2 controllable under operation of the control system 100 in the manner described herein.

[0053] FIG. 1 is a schematic top down view of a vehicle-implement combination 2 formed of a vehicle in the form of a tractor 4, and an implement in the form of a front mowing unit 6. In the illustrated embodiment, tractor 4 comprises front and rear wheels 16, 18, any or all of which may be steerable as will be appreciated, along with an operator cab 19.

[0054] The combination 2 forms a “butterfly-mower” arrangement which additionally includes first and second rear mowing units 8, 10. The front mowing unit 6 is operably coupled at a front hitch 12 of the tractor 4 and is moveable (in the manner described hereinbelow) under the operation of an actuator mechanism 13. The first and second rear mowing units 8, 10 are operably coupled to a rear hitch 14 of the tractor 4 by respective mounting mechanisms 22, 24. As will be appreciated, the mounting mechanisms 22, 24 may be configured to allow the rear mowing units 8, 10 to be folded between operating (e.g. as shown in FIG. 1) and a storage position—e.g. folded upwardly and inwards for transport and/or storage of the combination 2. As shown in FIG. 1, in an operating positon, first and second rear mowing units 8, 10 are positioned such that they are laterally spaced either side of a longitudinal axis of the tractor 4.

[0055] The invention is not limited in terms of the design and configuration of the front mowing unit 6, and rear mowing units 8, 10 in themselves. The skilled person will appreciate that a number of different mowing unit setups are possible and appropriate, including a variety of different cutting mechanisms and the like.

[0056] FIG. 2 is a further schematic top down view of the vehicle implement combination 2 of FIG. 1.

[0057] Each of the front and rear mowing units 6, 8, 10 have respective working areas corresponding substantially to the width of the mowing units with respect to a lateral axis of the combination 2 (i.e. in the direction of axis “X” of FIG. 1). When used herein and throughout the specification, the term “working area” is intended to cover the area over which the respective mowing unit interacts with (and cuts) the crop/material in operation. In effect, the working area for each mowing unit 6, 8, 10 will define a strip of cut/mown land as the combination 2 traverses the working environment.

[0058] FIG. 2 illustrates two separate regions L, R where the working area of the front mowing unit 6 overlaps with the working areas of the first and second rear mowing units 8, 10. Specifically, a region L on the left hand side of the tractor 4 (when viewed from the perspective of FIG. 2) corresponding to the overlap between the front mowing unit 6 and the first rear mowing unit 8, and a region Ron the right hand side of the tractor 4 (again, when viewed from the perspective of FIG. 2) corresponding to the overlap between the front mowing unit 6 and the second rear mowing unit 10. As discussed herein, in order to maximize efficiency of the mowing operation, these overlaps should be kept to a minimum as such overlaps effectively reduce the area of uncut material encountering the rear mowing units 8, 10. However, and as discussed herein, optimizing the setup by removing any overlap results in further issues where the vehicle-implement combination 2 is travelling in any direction other than directly ahead (as shown in FIG. 2).

[0059] FIGS. 4A-5B illustrate the operational use of the present invention in overcoming such issues. Specifically, these figures illustrate how the present invention utilizes an orientation (either an absolute measurement of the real time orientation or a change in orientation, e.g. upon turning) of the tractor 4, or combination 2 as a whole, to determine an adjustment to be made to the lateral position of the front mowing unit 6.

[0060] In FIG. 4A, the vehicle-implement combination 2 is shown performing a turn, here to the right from the perspective of FIG. 4A. As shown, with increasing turn angle, the width of the overlap region L on the outside of the turn, here on the left hand side, increases. As discussed herein, an increase in the overlap between the front mowing unit 6 and either rear mowing unit 8, 10 is detrimental to the efficiency of the operation as a whole. Furthermore, and again as shown in FIG. 4A, with increasing turn angle the width of the overlap region R on the inside of the turn decrease. Up to a point this can be advantageous, however at large enough steering angles a gap is created (in a lateral direction) between the working area of the front mowing unit 6 and the respective rear mowing unit 8, 10. This results in a strip of land being left uncut/unmowed as the tractor 4 traverses the working environment.

[0061] FIG. 4B illustrates operation of the present invention. Here, and as discussed in detail herein, data indicative of an orientation, here the steering angle, of the tractor 4 is obtained and used to determine an adjustment in the lateral position of the front mowing unit 6. The data is obtained from a suitable sensor configured to measure an angle of a steering wheel, or indeed one or more steerable wheels 16, 18 of the tractor 4. This adjustment is then applied by controlling the actuator mechanism 13 to cause a shift in the lateral position of the front mowing unit 6 by the determined adjustment. In the illustrated embodiment, with the combination 2 determined to be making a turn to the right (from the perspective of FIG. 4B), an adjustment is determined and applied which causes a shift in the position of the front mowing unit 6 inwardly, with respect to the direction of the turn, in the direction X. In doing so, the extent to which the working areas of the front mowing unit 6 and rear mowing unit 8 overlap is reduced (compared with FIG. 4A). Whilst the extent to which the working areas of the front mowing unit 6 and rear mowing unit 10 overlaps is increased (compared with FIG. 4A), having the size of the overlap regions L, R roughly uniform is preferable to the scenario in FIG. 4A and also prevents the instance discussed above where there might be strips of land missed at higher steering angles.

[0062] The magnitude of the adjustment in the lateral position is determined in dependence on the magnitude of the steering angle when compared with a “control orientation,” here being straight ahead.

[0063] In FIG. 5A, the vehicle-implement combination 2 is shown travelling along a slope, illustrated graphically in the figures. As shown, due to the slope, the rear axle of the tractor 4, primarily under the weight of the axle plus rear mowing units 8, 10 etc. is caused to slip down the slope. This results in the combination 2 pointing at an angle with respect to the slope and indeed to its direction of travel (here roughly perpendicular to the direction of the slope) which in turn affects the overlap between the front and rear mowing units 6, 8, 10 in the manner shown. Specifically, in the illustrated embodiment, the width of the overlap region R, corresponding to the side of the combination 2 higher up the slope, increases. Again, as discussed herein, an increase in the overlap between the front mowing unit 6 and either rear mowing unit 8, 10 is detrimental to the efficiency of the operation as a whole. Furthermore, and again as shown in FIG. 5A, with increasing slope the width of the overlap region L corresponding to the side of the combination 2 down the slope decreases. As with turning angle, up to a point this can be advantageous, however at large enough slopes a gap again is created (in a lateral direction) between the working area of the front mowing unit 6 and the respective rear mowing unit 8, 10. Again, this results in a strip of land being left uncut/unmowed as the tractor 4 traverses the working environment.

[0064] FIG. 5B illustrates a further operation of the present invention. Here, and as discussed in detail herein, data indicative of an orientation, here the inclination (pitch/tilt), of the tractor 4 and/or mowing unit 6, 8, 10 is obtained and used to determine an adjustment in the lateral position of the front mowing unit 6. The data is obtained from a suitable sensor configured to measure the inclination, and could include an accelerometer, gyroscope or the like. This adjustment is then applied by controlling the actuator mechanism 13 to cause a shift in the lateral position of the front mowing unit 6 by the determined adjustment. In the illustrated embodiment, with the combination 2 determined to be tilted to the left (from the perspective of FIG. 5B), an adjustment is determined and applied which causes a shift in the position of the front mowing unit 6 downwards, with respect to the slope, in the direction X. In doing so, the extent to which the working areas of the front mowing unit 6 and rear mowing unit 10 overlap is reduced (compared with FIG. 5A). Whilst the extent to which the working areas of the front mowing unit 6 and rear mowing unit 8 overlaps is increased (compared with FIG. 5A). Again this results in the width of the overlap regions L, R being roughly uniform and prevents the instance where there might be strips of land missed at larger inclinations.

[0065] The magnitude of the adjustment in the lateral position is determined in dependence on the magnitude of the inclination when compared with a “control orientation”, here being a horizontal axis.

[0066] In a variant of the invention, the arrangement may be configured to determine the orientation of the tractor 4, or combination 2 as a whole, utilizing a positioning module (e.g. a GPS unit or the like) and a mapped environment. Utilizing terrain data, e.g. of slope and terrain type etc. a position and orientation of the tractor 4/combination 2 may be determined and an appropriate adjustment made to the position of the front mowing unit 6 without requiring real time monitoring of the steering angle or inclination of the tractor 4, for example. Utilizing such data from the positioning module, the arrangement can be configured to be proactive rather than reactive, and adjust the lateral position of the front mowing unit 6 ahead of time to further increase efficiency.

[0067] FIG. 3 illustrates the control system 100. As shown, control system 100 comprises a controller 102 having an electronic processor 104, electronic inputs 106, 110, 113 and an electronic output 108. The processor 104 is operable to access a memory 112 of the controller 102 and execute instructions stored therein to perform the steps and functionality of the present invention discussed herein, e.g. by determining and applying the adjustment in the lateral position of the front mowing unit 6.

[0068] The processor 104 is operable to receive sensor data via input 106 which, in the illustrated embodiment, takes the form of input signals 105 received from a sensor 20 associated with the steering system of tractor 4, and in particular steerable front wheels 16 of the tractor 4. Utilizing this data, the processor 104 is configured to analyze the data and determine therefrom a measure of the steering angle (magnitude and direction) of the tractor 4. As discussed above, the determined steering angle it utilized, here by the processor 104, to determine an adjustment to be made to the lateral position of the front mowing unit 6. This may include retrieving information from a look up table stored in memory 112 detailing adjustments to be made for any given observed steering angle.

[0069] In the illustrated embodiment, the processor 104 is further operable to receive sensor data in the form of input signals 111 via input 110 from an inclination sensor 26 (e.g. an accelerometer, gyroscope or the like) operably coupled to the tractor 4 and configured to measure an inclination of the tractor 4 with respect to a horizontal axis, e.g. a magnitude and direction of a tilt or pitch of the tractor 4. The processor 104 is configured to determine the inclination of the tractor 4 from the data received from sensor 26 and use this to determine an adjustment to be made to the lateral position of the front mowing unit 6. Again, this may include retrieving information from a look up table stored in memory 112 detailing adjustments to be made for any given inclination. It will be appreciated that the sensor 20 and second 26 can be utilized in combination or separately, and the invention is not limited in that sense.

[0070] Output 108 is operably coupled to the actuator mechanism 13. The control system 100 is operable to control operation of actuator mechanism 13, in the illustrated embodiment through output of control signals 109 via output 108 for receipt at the actuator mechanism (e.g. at a local control unit thereof) for controlling operation of the mechanism 13 for adjusting the position of the front mowing unit 6 in accordance with the determined adjustment.

[0071] FIG. 3 additionally illustrates a further feature of embodiments of the control system 100, and a variant of the present invention. Specifically, controller 102 includes an electronic input 114 configured to receive positional data, here in the form of input signals 113 from a positioning module 28. The processor 104 is configured to determine based on the data received from the positioning module 28 a location of the combination 2 within a mapped environment. The mapped environment may include data relating to the terrain type, slope etc. at various locations within the corresponding real world environment, and may be stored in a memory accessible to the processor 104, e.g. memory 112. In this way, the processor 104 may be configured to determine the orientation of the tractor 4 directly from the tractors position, or indeed an upcoming change in the orientation of the tractor based on its direction of travel and positon within the mapped environment. This may enable the processor 104 to initiate a movement in the position of the front mowing unit 6 in a proactive manner.

[0072] In an extension of the illustrated embodiments, control system 100 may be further configured to control a lifting function of the front mowing unit 6. This may include lifting the front mowing unit 6 vertically upon request by an operator of the tractor 4, e.g. when performing a headland turn. In an alternative, the control system 100 may be configured to automate the lifting function, for example, in dependence on data received from the positioning module 28 e.g. where the location of the combination is determined by the processor 104 to be at or proximal to a headland within the working environment. The control system 100 may be operable to center the front mowing unit 6 as part of the lifting function.

[0073] In a further extension, the control system 100 may be configured to receive operational data indicative of an operational state of the tractor 4, front mowing unit 6 or first and/or second rear mowing units 8, 10. Utilizing this information, the control system 100 may enable or disable the adjustment of the lateral position of the front mowing unit 6. The control system 100 may, for example, be configured to prevent any lateral adjustment of the front mowing unit 6 where a PTO of the tractor 4 is disabled and/or where the tractor 4 is not moving in a forwards direction, e.g. over a threshold speed value.

[0074] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.