Arrangement and method for monitoring and/or controlling the driving state of a self-propelled agricultural working machine

Patent metadata

Field	Value
Publication number	US-10448556-B2
Application number	US-201715586053-A
Country	US
Kind code	B2
Filing date	May 3, 2017
Priority date	May 30, 2016
Publication date	Oct 22, 2019
Grant date	Oct 22, 2019

Abstract

An arrangement for monitoring and or controlling the driving state of a self-propelled agricultural working machine comprising a variable-position interface for attaching an implement that is provided with a control device. Vehicle-specific data, a position signal regarding the position of the interface, and implement data regarding physical properties of an implement mounted on the interface can be supplied to the control device. The control device is operated to evaluate at least one the driving state of the working machine, taking into consideration the above-mentioned signals and data to control the working machine.

First claim

The following is claimed:

1. An arrangement for monitoring and or controlling a driving state of a self-propelled agricultural working machine, the arrangement comprising:
a variable-position hitch interface for attaching an implement, the variable-position hitch interface having a control device to which machine data, hitch interface position data, and implement data can be supplied, where the machine data comprises vehicle-specific data regarding physical properties of the working machine and movement state-specific data regarding the movement of the working machine relative to an environment, where the hitch interface position data comprises a position signal regarding the position and orientation of a reference point of the hitch interface, and where the implement data comprises implement data regarding physical properties of an implement mounted on the hitch interface; and
the control device operated to evaluate the driving state of the working machine, taking into consideration the supplied machine data, the hitch interface position data and the implement data, where the control device is programmed to output steering signals or speed signals for control of the working machine based on the evaluated driving state.

2. The arrangement according to claim 1 , wherein the control device can be supplied with environment signals regarding the environment of the working machine, and the control device can also be operated to evaluate the information regarding the driving state of the working machine on the basis of the environment signals.

3. The arrangement according to claim 2 , wherein the environment signals relate to one or more of the following features of the environment: the distance from a preceding vehicle; the measured or expected speed of the preceding vehicle; the distance from a vehicle that is following or traveling alongside; the measured or expected speed of a vehicle that is following or traveling alongside; the visibility; a measured or expected coefficient of friction of the ground under the vehicle; the width of a road lane being driven on; the inclination of a road lane being driven on; the maximum speed applicable to a road lane being driven on; and the radius of a curve on a road lane being driven on.

4. The arrangement according to claim 1 , wherein the control device can be programmed to output steering and speed signals for manual or automatic control of the working machine based on the evaluated driving state that are optimized for one or more of the following: driving safety, fuel economy, driver comfort, the maintenance of a predetermined speed, or a predetermined distance from a preceding vehicle.

5. The arrangement according to claim 1 , wherein the vehicle specific data relates to one or more of the following features of the working machine: dimensions, mass, geometry of the steering, mass distribution, position of the center of gravity, width of the tires, diameter of the tires, engine configuration, permissible maximum speed of the working machine with attached implement, properties of any existing suspension of the working machine and/or the implement, the ballasting of the working machine and properties of the working machine's brakes.

6. The arrangement according to claim 1 , wherein the movement state-specific data relates to one or more of the following features of the working machine: current speed, current acceleration, current steering angle.

7. The arrangement according to claim 1 , wherein the position signal relates to the vertical or lateral position of the hitch interface, the position of the hitch interface on the working machine, and a physical property of the hitch interface.

8. The arrangement according to claim 1 , wherein the equipment data relates to one or more of the following features of the implement: mass, dimensions, mass distribution and position of the center of gravity in relation to the hitch interface.

9. The arrangement according to claim 1 , wherein the implement data can be stored in a storage element of the implement and transmitted by means of a bus system to the control device, or input into the control unit by a user, or can be queried from a remote position based on an implement identifier, or can be detected by means of a sensor.

10. The arrangement according to claim 1 further comprising:
a first sensor to detect a first position of a lower link of the hitch interface or a first angle of rotation of the lower link about a horizontal axis that is arranged transversely to a forward direction of travel of the working machine.

11. The arrangement according to claim 10 further comprising:
a second sensor to detect a second position of an upper link of the hitch interface or a second angle or rotation of the upper link about a forward axis of rotation that is arranged transversely to the forward direction of travel of the working machine.

12. The arrangement according to claim 11 further comprising:
a third sensor to detect a third position of the upper link that defines a length of the upper link, wherein the control device is configured to determine the position and the orientation of the reference point on a retaining element of the hitch interface based on signals representative of the detected first position, second position and third position.

13. The arrangement according to claim 1 further comprising:
the hitch interface having an upper link and a lower link;
an upper actuator associated with defining a length of the upper link; and
a lower actuator associated with the lower link for adjusting a coupling position of the lower link for coupling to the implement.

14. The arrangement according to claim 1 further comprising:
one or more environment sensors for detecting environment signals related to a distance from a vehicle that is following or traveling alongside the work machine and a measured or an expected speed of a vehicle that is following or traveling alongside the work machine.

15. The method according to claim 14 further comprising:
determining, by the control device, a position and an orientation of the reference point on a retaining element of the hitch interface based on signals representative of the detected first position, second position and third position.

16. A method for monitoring or controlling the driving state of a self-propelled agricultural working machine, comprising a variable-position hitch interface for attaching an implement, the method comprising:
supplying to a control device vehicle-specific data regarding physical properties of the working machine, movement state-specific data regarding the movement of the working machine relative to the environment, a position signal regarding the position and orientation of a reference point of the hitch interface, and implement data regarding physical properties of an implement mounted on the hitch interface; and
evaluating, by the control device, the driving state of the working machine, taking into consideration the vehicle-specific data, the movement state-specific data, the position signal and the implement data; and
output steering signals or speed signals for control of the working machine based on the evaluated driving state.

17. The method according to claim 16 further comprising:
detecting, by a first sensor, a first position of a lower link of the hitch interface or a first angle of rotation of the lower link about a horizontal axis that is arranged transversely to a forward direction of travel of the working machine;
detecting, by a second sensor, a second position of an upper link of the hitch interface or a

Assignees

• Deere & Co

Inventors

• Gresch Valentin
• Kremmer Martin

Classifications

• A01B79/005

  Precision agriculture · CPC title

• A01B69/008 Primary

  automatic · CPC title

• B62D49/02

  modified to take lifting devices · CPC title

• B60D1/30

  for sway control {; Sway alarm means} · CPC title

• B60W2040/1315

  Location of the centre of gravity · CPC title