Patent Application
20250024769
The present disclosure relates generally to agricultural machines, such as farm tractors with implements attached thereto or self-propelled harvesters such as a forage harvester or combine and to systems for controlling drives on such agricultural machines.
An agricultural machine, such as a tractor or a forage harvester, is an arrangement used for transportation or agricultural operation. To perform such operations, motion drives are provided to move working components of the agricultural machine, e. g. tools or implements. These motion drives may be translational motion drives such as hydraulic cylinders or rotational motion drives such as hydraulic motors. In some implements, those motion drives may be energized by pneumatic or electric drives instead.
Some of these motion drives may be used to operate a three point linkage or hitch of a tractor; the three point linkage most frequently consist of two lower lifting arms to which an implement is attached. The lower lifting arms can be pivoted by one or more respective hydraulic actuating cylinders to adjust the height position of the implement relative to the tractor. An additional top link in the three point linkage connects the implement to the tractor above the lower lifting arms. This top link is used to pivot the implement about a horizontal transverse axis and is typically adjustable by means of a threaded connection or a hydraulic cylinder. Similar to the three point linkage, self-propelled harvesters are provided with header lift systems comprising lifting arms pivoted by hydraulic actuating cylinders to adjust the height position of the header relative to the self-propelled harvesters. Further motion drives may be provided on implements such as front loaders used with tractors, or headers used with self-propelled harvesters.
To control these motion drives, modern tractors or self-propelled forage harvesters are commonly equipped with electronic control systems. Such electronic control systems may improve work quality and operator comfort during an operation, for example to operate a tractor having a front end loader as an implement. Such control systems typically include a user-operable control device in the form of a multi-position switch, lever or joystick, having a first degree of freedom for moving the user-operable control device in a first control direction (e. g. away from the operator). The operation of the user-operable control device may effect a movement of a motion drive in a first control direction, e. g. to lower a tool holder or any other implement. Movement of the user-operable control device in a second control direction (e. g. towards the operator) may effect a movement of a motion drive in a second control direction, e. g. to raise the tool holder or any other implement. Suitably, a cessation of operator movement of the user-operable control device results in that the user-operable control device is biased back into neutral position, e. g. a central position, so that the motion drive is automatically held at its current position.
Furthermore, a user-operable control device may be provided to allow a movement in a first degree of freedom and a second degree of freedom wherein the first degree of freedom is approximately lateral (i. e. perpendicular) to the second degree of freedom. In other words, the user-operable control device can be moved in a direction away or towards from the operator, but also in a left or right direction from the operator. Such control devices may be cross-gate levers for example. In this case, the first degree of freedom may be used to control the movement of the motion drives raising and lowering the implement while the second degree of freedom may be used to control the movement of the motion drives to tilt the tool, e.g. a front end loader or pallet fork to dump the load therefrom.
Further examples of these types of control systems for hitches are described in patent publication WO 2021/001100 A1 and WO 2021/001101 A1, both published 7th Jan. 2021 and filed in the name of AGCO International GmbH.
In terms of hydraulic motion drives, these are most frequently controlled by hydraulic valves supplied with fluid by a pump. Dependent of the movement of the user-operable control device, the valve opens or blocks the flow of hydraulic fluid to the motion drive. Dependent on the degree the movement (e. g. the deviation angle) of the user-operable control device, the valve forwards a certain oil flow rate to the motion drive. The higher the oil flow rate is the faster the motion drive is moving (dependent on the load to be moved). A high flow rate may be suitable to quickly provide a movement of the motion drive, while a lower flow rate may be suitable to control an exact positioning of a motion drive, e. g. to adjust a height of an implement attached to a tractor.
Operation of an agricultural machine may be very difficult when a constant oil flow or a speed of a motion drive shall be kept especially when the control device is shaking due to the agricultural machine running on uneven ground or shocks which may occur when a front end loader is pushed into bulk material. Furthermore as the oil flow may be set very high to enable fast movement of a working component, e. g. to a move a front end loader to maximum height for dumping material of a front end loader, it may be difficult in other situations to precisely position a front end loader with the high oil flow rate. So, the operator may need to take an average oil flow to provide fast and precise control. This results in a compromise which does not enable optimal operation. The operator may change the oil flow via settings but this requires to take the hands from the user-operable control device and may interrupt the operation.
It is an objective to provide a control system for motion drives of a working component which enable fast movement and precise control by means of a control device in a simple and safe manner. In detail, the operator shall be enabled to change the oil flow without releasing the hand from the control device. Thereby comfort and safety is increased.
According to an aspect of the invention there is provided an agricultural machine comprising a working component, a first motion drive for adjusting a position of the working component, operator controls with a user-operable control device moveable in a first control direction from a first operating range to a second operating range and a control unit. The control unit is configured to determine a first speed demand dependent on a first current operating range of the user-operable control device out of the first and second operating ranges and to control the speed of the first motion drive according to the first speed demand. The first speed demand changes in a first discrete step in response to a movement of the user-operable control device from the first operating range to the second operating range.
The agricultural machine may be any vehicle or vehicle combination such as a tractor, a forage harvester, a combine, a sprayer, etc. The working component may be a front or rear hitch, or any implement connected to a hitch as for example a shovel or a plough. The working component may be a front end loader attached to the agricultural machine. The working component can also be a spout assembly attached to a harvester or a combine. The motion drive may be any adjustable drive such as an electric, hydraulic or pneumatic drive. For example, the motion drive may be a hydraulic cylinder or an electric motor. The motion drive may be attached to a corresponding working component and may be controlled by the control unit. The user-operable control device may be any movable input device rotatable about an axis such as a joystick or slidable along an axis such as a slider. When the user-operable control device is operated far enough in a control direction, for example if a joystick is rotated about a specific angle, the user-operable control device moves from the first operating range to the second operating range. The user-operable control device can be moved back to the first operating range if the user-operable control device is operated in the opposite direction.
The first speed demand corresponds to a speed value by which a motion drive shall be adjusted. For example, the speed demand may be defined by an oil flow in case of a hydraulic motion drive, a current or voltage level in case of an electric motion drive or any other control signal representing a speed value. The speed demand assigned to the first operating range may correspond to a speed value appropriate for a slower but precise control of the working component whereas the speed demand assigned to the second operating range may correspond to a speed value appropriate for a quicker control of the working component. Since the first speed demand changes in a discrete step in response to a movement of the user-operable control device from the first operating range to the second operating range, the speed of the motion drive will be adjusted accordingly. Due to the discrete step, the speed demand will be changed nonlinearly. Thus, a quicker adjustment of the speed of the motion drive can be achieved when the user-operable control device is moved to the other operating range in contrast to a linear change of the speed demand.
The user-operable control device may be moveable in a second control direction opposite to the first control direction from a third operating range to a fourth operating range. The control unit may be configured to determine a first speed demand dependent on a first current operating range of the user-operable control device out of the first to fourth operating ranges. The first speed demand may change in a second discrete step in response to a movement of the user-operable control device from the third operating range to the fourth operating range.
When the user-operable control device is moved in the first or second operating ranges, the motion drive may be driven in a first movement direction. The motion drive may be driven in a second movement direction contrary to the first movement direction when the user-operable control device is moved in the third or fourth operating range. Hence, a working component such as a front end loader may be raised up or lowered down. In case of a spout assembly, a spout bow of the spout assembly may be rotated in a left or right direction. Due to the first and second discrete steps, the speed demand is changeable nonlinearly for moving operations of the motion drive in the first and in the second movement direction. Thus, a quick adjustment of the speed of the motion drive for a precise or quick control of the working component is provided for both movement directions of the working component.
The user-operable control device may comprise a neutral position between the first operating range and the third operating range.
When the user-operable control device is moved in the neutral position, the movement of the motion drive may be stopped. The control unit may determine a corresponding speed demand and control the motion drive accordingly. When the user-operable control device is actuated in the first or in the third operating range, a releasing of the user-operable control device may result in a self-actuated recapture of the neutral position to avoid that the motion drive controlled by the user-operable control device is supplied when the operator (unintentionally) releases the user-operable control device.
The first discrete step may have a different value than the second discrete step.
The first discrete step may be higher or lower than the second discrete step to achieve a faster or slower adjustment of the speed of the motion drive when the user-operable control device is operated in the first control direction compared to an operation in the second control direction.
The agricultural machine may comprise a second motion drive for adjusting a position of the working component. The user-operable control device may be moveable in a third control direction lateral to the first control direction from a fifth operating range to a sixth operating range. The control unit may be configured to determine a second speed demand dependent on a second current operating range of the user-operable control device out of the fifth and sixth operating ranges and control the speed of the second motion drive according to the second speed demand. The second speed demand may change in a third discrete step in response to a movement of the user-operable control device from the fifth operating range to the sixth operating range.
The working component may comprise a tool holder and a tool relatively movable in respect of the tool holder. The tool holder may be driven by one the first and second motion drives and the tool may be driven by the other motion drive.
Analogously to the first motion drive, the second motion drive may be any adjustable drive such as an electric, hydraulic or pneumatic drive. The second motion drive may be attached to the same working component as the first motion drive or to a different working component. In case of a front end loader as working component for example, the first motion drive may adjust the height of a tool holder of the front end loader and the second working component may adjust an orientation of a tool (e. g. a shovel or fork) of the front end loader. Alternatively, the first motion drive may adjust the rear hitch and the second motion drive may adjust the front end loader. Based on the fifth and sixth operating ranges, a second speed demand may be determined for controlling the second motion drive with a different speed than the first motion drive. But both speed demands can be controlled by the same user-operable control device dependent on the control direction the user-operable control device is moved in. It is possible to move the user-operable control device in the first (or second) control direction and in the third control direction simultaneously to control the first and second motion drives simultaneously. Analogously to the first and second discrete steps of the first speed demand, the second speed demand can be adjusted by the third discrete step. The user-operable control device may be moveable in a fourth control direction opposite to the third control direction for moving the user-operable control device in a seventh and eight operating range. I. e., the first and second control directions are each provided by a first degree of freedom of the user-operable control device and the third and fourth control directions are each provided by a second degree of freedom of the user-operable control device. The transition of the user-operable control device from the seventh to the eight operating range (or vice versa) may change the speed demand by a fourth discrete step analogously to the other discrete steps.
One of the first and second motion drives may be a rotational motion drive providing a rotational movement. The other motion drive may be a translational motion drive providing a translational movement.
For example, the rotational motion drive may be a rotational motor and the translational motion drive may be a hydraulic cylinder. The rotational motion drive may rotate a spout assembly and the translational motion drive may adjust the height of a spout bow or the position of a spout flap of the spout assembly. Thus, depending on which control direction the user-operable control device is moved in, a rotational movement or a translational movement of the working component can be controlled. If the user-operable control device is moved in two control directions simultaneously (e. g. the first and third control direction) the working component may be moved rotationally and translationally simultaneously.
The user-operable control device may be configured to provide a haptic feedback due to a movement of the user-operable control device from the first operating range to the second operating range.
The haptic feedback may increase the operating force needed for a transition of the user-operable control device from the first operating range to the second operating range. So, the operator may feel a slight resistance when he moves the user-operable control device close to a transition point between the one operating range and the other operating range. This resistance must be overcome to move the user-operable control device from the first operating range to the second operating range. The mechanical resistance provides a haptic feedback to the operator to indicate that the transition point is reached. Thus, an unintentional movement of the user-operable control device from the one operating range to the other operating range can be avoided. The haptic feedback may be provided by a mechanical spring or any other actuator integrated in the user-operable control device. For example, resistance may be provided by a notch provided on a movable part of the user-operable control device which engages with a matching contour of the base part of user-operable control device, preferable biased by a spring. Alternatively, the haptic resistance position may be provided by a force-feedback system which uses electric energy to provide a resistance.
The first operating range and the second operating range may be each configured for demanding a constant speed value.
Thus, the motion drive controllable by the first and second operating range can move with a constant speed even when the user-operable control device is (unintentionally) moved within one of the first or second operating range because the same constant speed value is demanded within the one operating range. The user-operable control device may be manipulated unintentionally by the operator within an operating range due to vibrations of the operating agricultural machine or a tremor of the hand of the operator.
Alternatively, one of the first and second operating ranges may be configured for demanding a constant speed value and the other operating range may be configured for demanding an increasing or decreasing speed value.
Thus, the speed of the motion drive can be adjusted according to a movement of the user-operable control device within the operating range configured for demanding an increasing or decreasing speed value. This configuration may be used for lower speeds of the motion drive which may cause less vibrations than higher speeds of the motion drive. For operating the motion drive with high speed, the operating range configured for demanding a constant speed value may be used since this operating range is insensitive in respect of vibrations and unintentional manipulations of the user-operable control device due to such vibrations.
The first operating range may be configured for demanding a higher speed value than the second operating range.
Thus, the speed of the movement of the first motion drive will be reduced when the user-operable control device is moved from the first to the second operating range. In other words, the speed of the movement of the first motion drive will be reduced when the user-operable control device is moved away from the neutral position and will be increased when the user-operable control device is moved towards the neutral position.
The first operating range may be configured for demanding a higher speed value than the fifth operating range.
The first operating range is configured for demanding a speed value for the first motion drive. The fifth operating range may be configured for demanding a speed value for the second motion drive. Thus, the first motion drive can be controlled to move faster than the second motion drive. For example, the tool holder may be adjusted by the first motion drive for a rough but fast adjustment of the height of the tool whereas the tool may be adjusted by the second motion drive for a slower but more precise adjustment of the orientation of the tool.
The second operating range may be configured for demanding a floating mode for a self-adjustment of the position of the working component in dependence of a weight of the working component and/or forces applied vertically on said working component.
When the user-operable control device is moved in the first operating range, the speed of the motion drive is controlled according to the speed demand assigned to the first operating range. When the user-operable control device is moved in the second operating range, the floating mode (FLOAT mode) is demanded and the control unit controls the motion drive so that external forces acting on the working component can manipulate the position or orientation of the working component driven by the motion drive, for example moving the working component upwards or downwards. In case of a front end loader as working component for example, the floating mode may be advantageous when loading bulk material from the ground. The front end loader can rest on the ground to be pushed into the bulk material when the agricultural machine moves towards the bulk material. Even if the ground is undulated, the front end loader can follow the ground to scrap all material from ground into the shovel of the front end loader. If the operator returns the user-operable control device from the second operating range in the first operating range, the tool holder of the front end loader can be lifted with the speed demand assigned to the first operating range. Further examples such applications for operating a front end loader are described in patent publication WO 2013/020856 A1, published Feb. 14, 2013, and filed by AGCO International GmbH. The floating mode can also be advantageous for controlling implements or headers of a forage harvester which must be run smoothly over ground.
The operator controls may comprise a mode switch for activating the floating mode. The second operating range may be configured for demanding the floating mode when the floating mode is active and demanding a speed value when the floating mode is inactive.
When the mode switch for activating the floating mode is pressed by the operator, the working component may move into a floating position, in which external forces can manipulate the position or orientation of the working component as exemplarily described above. The mode switch may be designed as a toggle switch for switching between an active and an inactive state of the floating mode. The inactive floating mode may correspond to a selective mode. Depending on whether the floating mode is active or not, a different speed value may be assigned to the second operating range.
The first operating range may be configured for demanding a lower speed value when the floating mode is inactive and demanding a higher speed value when the floating mode is active.
Thus depending on whether the floating mode is active or not, a different speed value may be assigned to the first operating range analogously to the second operating range. Whereas the speed value assigned to the first operating range may be lower when the floating mode is inactive instead of active, the speed value assigned to the second operating range may be higher when the floating mode is inactive instead of active. Thus, the working component can be operated faster with an active floating mode when the user-operable control device is moved in the first operating range compared to an inactive floating mode.
The first operating range may be configured to move an element of the working component parallel to a driving direction of an agricultural machine. The fifth operating range may be configured to move the element of the working component lateral to the driving direction of the agricultural machine.
The operator controls may comprise a mode switch for activating a path mode. When the path mode is active, not only a speed value is demanded when the user-operable control device is moved in the first or fifth operating range but also a movement direction of the working component. The working component may be driven by two or more motion drives. Both motion drives may be actuated simultaneously when the user-operable control device is moved either in the first or the fifth operating range for moving the working component parallel or lateral to the driving direction. For example, the working component may be a spout assembly having a rotational motion drive for rotating a spout bow of the spout assembly and a translational motion drive such as a hydraulic cylinder for adjusting an axial position of the spout bow. The control unit may control the two motion drives so that the rotational movement and the translational movement of the spout bow result in the parallel or lateral movement direction as demanded by the user-operable control device. The speed of the two motion drives may be controlled by the control unit such that the speed of the spout bow in parallel direction corresponds to the speed value assigned to the first operating range and the speed of the spout bow in lateral direction corresponds to the speed value assigned to the fifth operating range.
Another aspect includes a method of controlling a working component. The method comprises steps for determining a first speed demand dependent on a first current operating range of a user-operable control device out of first and second operating ranges and controlling a speed of a first motion drive according to the first speed demand. The first speed demand changes in a first discrete step in response to a movement of the user-operable control device from the first operating range to the second operating range.
The control unit is configured to carry out the method steps for controlling the working component as described above. The method may comprise any actions for which the control unit is configured to execute. Thus, the method may additionally comprise at least one of the steps of determining a first speed demand dependent on a first current operating range of the user-operable control device out of the first to fourth operating ranges wherein the first speed demand may change in a second discrete step in response to a movement of the user-operable control device from a third operating range to a fourth operating range, determining a second speed demand dependent on a second current operating range of the user-operable control device out of a fifth and sixth operating ranges wherein the second speed demand may change in a third discrete step in response to a movement of the user-operable control device from the fifth operating range to the sixth operating range, controlling the speed of the second motion drive according to the second speed demand and providing a haptic feedback due to a movement of the user-operable control device from the first operating range to the second operating range.
Within the scope of this application it should be understood that the various aspects, embodiments, examples and alternatives set out herein, and individual features thereof may be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible.
Several aspects of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
The function of the user-operable control devices 35, 36, 38, 40 and mode switches 37, 39, 41 is explained later on.
With reference to
The motion drives can be of different types. Here, the motion drives are designed as hydraulic cylinders 54, 70, 74, 86, 88, 130 and 134 (see
As can be seen in
Each valve 44, 46, 48 serves to direct pressurized fluid from high pressure hydraulic line 50 to the respective hydraulic cylinders in order to either extend or retract the respective piston rods. To complete the hydraulic circuit during actuation, the valves 44, 46, 48 direct exhausted fluid to the low pressure hydraulic line 52. In the example shown in
Further, the ECU 26 is electrically connected with the operator controls 28 and thus with each user-operable control device of the operator controls 28. Thus for example, a rocker control device 40 (shown separately for reasons of clarity) is electrically connected to the ECU 26. The rocker control device 40 can be deflected around a pivot axis either side of a neutral position A1. The lever portion of the rocker control device 40 is suitably biased into the neutral position A1, e. g. by a mechanical spring.
As shown in
As also shown in
So, regardless whether a user-operable control device is operated by a rotational or linear movement, the different user-operable control devices provide similar functionality as described above. A user-operable control device may be operated in a rearward or forward direction wherein the terms rearward and forward must be seen in relation to the driving direction of the vehicle indicated in
Depending on the movement of the user-operable control devices 35, 36, 38, 40 and 43, valves 44, 46, 48 are operated by the solenoid control to provide a respective oil flow to hydraulic cylinder 54.
As can be seen in
At position B1 and position D1, the user-operable control devices 35, 36, 40 and 43 provide a haptic feedback to the operator, for example in form of a haptic resistance, to indicate that the position B1 or D1 has been reached.
In-between these positions A1, B1, C1, D1 and E1, the user-operable control devices 35, 36, 40 and 43 provide operating ranges indicated with RAB1, RBC1, RAD1, RDE1, wherein:
For example, the user-operable control device can be moved in the first control direction CD1 from operating range RAB1 to operating range RBC1 (and back) or in the second control direction CD2 from operating range RAD1 to operating range RDE1 (and back). The neutral position A1 is between the operating range RAB1 and the operating range RAD1.
The hitch 20 driven by double-acting hydraulic cylinder 54 can be raised according to a deflection of one of the user-operable control devices 35, 36, 40, 43 in-between positions A1 and C1 of the first control direction CD1, or lowered according to a deflection of one of the user-operable control devices 35, 36, 40, 43 in-between positions A1 and E1 of the second control direction CD2. If the hydraulic cylinder 54 is a single-acting hydraulic cylinder, only first control direction CD1 is provided, and second direction CD2 can be omitted. As a consequence, only positions A1, B1, C1 are presented and accordingly, operating ranges RAB1 and RBC1. In this case, the hitch 20 is lifting the working component by actuation of one of the user-operable control devices while lowering is be provided only by the weight resting on hitch 20.
Settings for the user-operable control devices as the rocker control device 40, the scroll wheel control devices 35, 36 or the linear control device 43 can be defined by using the turn-and-press control device 29 or the touch-sensitive display 32 showing a graphical use interface (GUI) divided in different GUI portions 33a to 33h. Possible settings are shown with reference to
With reference to
Hence, when the operator moves the user-operable control device in control direction CD1 in the operating range RAB1, the ECU 26 determines a speed demand of a constant oil flow of 60 l/min assigned to operating range RAB1 and controls the speed of the cylinder 54 accordingly. When the operator pushes the user-operable control device further in the operating range RBC1, the ECU 26 determines a speed demand of a constant oil flow of 90 l/min assigned to operating range RBC1 and controls the speed of the cylinder 54 accordingly. Thus, in response to a movement of the user-operable control device from the operating range RAB1 to operating range RBC1, the speed demand is increased in a first discrete step of 30 l/min from an oil flow of 60 l/min assigned to operating range RAB1 up to an oil flow of 90 l/min assigned to operating range RBC1. The same applies in response to a movement of the user-operable control device in control direction CD2 from the operating range RAD1 to operating range RDE1 wherein the speed demand is increased in a second discrete step of 30 l/min from an oil flow of 60 l/min assigned to operating range RAD1 up to an oil flow of 90 l/min assigned to operating range RDE1.
Here, both discrete steps have the same value of 30 l/min irrespectively the user-operable control device is moved in the first control direction CD1 from operating range RAB1 to RBC1 or in the second control direction CD2 from operating range RAD1 to RDE1. But the user-operable control device may be configured in such a way that the first and the second discrete steps have different values as exemplarily shown in GUI portion 33c and GUI portion 33d in
If the other of the two rocker control devices 40 is chosen for controlling the hydraulic cylinder 54, the operator may enter the settings in GUI portion 33b:
Hence, when the operator moves the user-operable control device in control direction CD1 in the operating range RAB1, the ECU 26 determines a speed demand of a constant oil flow of 40 l/min assigned to operating range RAB1 and controls the speed of the cylinder 54 accordingly. When the operator pushes the user-operable control device further in the operating range RBC1, the ECU 26 determines a speed demand of a constant oil flow of 70 l/min assigned to operating range RBC1 and controls the speed of the cylinder 54 accordingly. Thus, in response to a movement of the user-operable control device from the operating range RAB1 to operating range RBC1, the speed demand is increased in a discrete step from an oil flow of 40 l/min assigned to operating range RAB1 up to an oil flow of 70 l/min assigned to operating range RBC1. But the values of the oil flows will be different when the operator moves the user-operable control device in control direction CD2. Then, if user-operable control device is in the operating range RAB1, the ECU 26 determines a speed demand of a constant oil flow of 60 l/min assigned to operating range RAD1 and controls the speed of the cylinder 54 accordingly. When the operator pushes the user-operable control device further in the operating range RDE1, the ECU 26 determines a speed demand of a constant oil flow of 90 l/min assigned to operating range RDE1 and controls the speed of the cylinder 54 accordingly. Thus, in response to a movement of the user-operable control device from the operating range RAD1 to operating range RDE1, the speed demand is increased in a discrete step from an oil flow of 60 l/min assigned to operating range RAD1 up to an oil flow of 90 l/min assigned to operating range RDE1.
If the cylinder 54 is to be operated by movement of the scroll wheel control device 35, the operator may enter the settings for operating ranges in GUI portion 33c accordingly. If the cylinder 54 is to be operated by movement of scroll wheel control device 36, the operator may enter the settings for the operating ranges in GUI portion 33d.
The settings are then saved in memory 160 of the ECU 26. Alternatively, the settings as described above have already been saved during a previous operation so that the settings can be accessed by the ECU 26 via memory 160.
After finishing settings, the operator can start the method (step S100). Firstly, the operator may couple the first working component 22 to the hitch 20. Therefore, the tractor 10 approaches the first working component 22 while the operator uses one of the user-operable control devices, for example rocker control device 40, to precisely position the hitch 20 to match with the coupling point of the first working component 22. During this operation, the operator uses the user-operable control device in operating ranges RAB1 or RAD1 for triggering a lower oil flow to enable precise positioning of the hitch 20. As mentioned above, the hitch 20 is raised by actuating the user-operable control device from the neutral position A1 in control direction CD1 and lowered by actuating the user-operable control device from the neutral position A1 in control direction CD2.
Based on these operator inputs, the ECU 26 determines a first speed demand dependent on the first current operating range RAB1 or RAD1 of the user-operable control device (step S101) and controls the speed of the motion drive, here cylinder 54, according to the first speed demand (step S102).
If the position of the hitch 20 matches with the coupling point of the first working component 22, the operator may preferably move the user-operable control device, e. g. rocker control device 40, to operating range RBC1 to trigger a higher oil flow for quickly lifting the first working component 22 off the ground 15 for transportation.
In response to this movement of the user-operable control device from the first operating range RAB1 to the second operating range RBC1, the ECU 26 determines a second speed demand dependent on the second current operating range RBC1 of the user-operable control device (step S103) and controls the speed of the motion drive, here cylinder 54, according to the second speed demand (step S104) wherein the first speed demand changes in a discrete step.
On the agricultural field, the operator slowly moves the first working component 22 down on or into ground 15 by moving one of the user-operable control devices, e. g. rocker control device 40 to the operating range RAD1 in a slow movement. When the first working component 22 is to be lifted from ground, e. g. when a stone is in the agricultural field, the operator moves the rocker control device 40 to operating range RBC1 to quickly lift the working component off the ground. So according to these operator inputs, method steps S101 to S104 will be repeated.
As a result, the operator can operate the hitch 20 with different oil flows without requiring to take hands off the user-operable control device, e. g. to change settings in the display 32. As the oil flow remains constant when the user-operable control device is moved within a specific operating range RAB1, RBC1, RAD1 or RDE1, an unintentional change of oil flow is avoided even if the user-operable control device is shaking when the agricultural machine runs on an uneven ground 15 or when shocks occur when pushing the second working component 23, e. g. a front end loader, into bulk material. Even if the shocks may be stronger, the haptic feedback of the user-operable control device provided at positions B1 and C1 may impede further unintentional changes.
Furthermore, in case of conscious movement, the operator receives a haptic feedback at positions B1 and C1 of the user-operable control device in which the oil flow may be increased or decreased. With the hand permanently remaining on the user-operable control device, the operator can fully concentrate on viewing the operation of the working component and does not need to look at the operator controls 28 to find the respective user-operable control device. So, operator comfort and safe operation of motion drives can be increased.
With reference to
For operating the second working component 23, the cross-gate control device 38 can be operated to provide control to
A parallel guidance for the tool 75 can be used so that the tool 75 remains in the previously orientation (to ground or vehicle driving direction DD) even if the tool holder 72 is moved.
As can be seen in
At position B1 and position D1, the cross-gate control device 38 provides a haptic feedback to the operator, for example in form of a haptic resistance, to indicate that the position B1 or D1 has been reached.
In-between these positions A1, B1, C1, D1 and E1, the cross-gate control device 38 provides operating ranges indicated with RAB1, RBC1, RCD1, RDE1, wherein:
In addition, the cross-gate control device 38 is operable in a third and fourth control direction CD3 and CD4, so that the cross-gate control device 38 can be moved into different positions, indicated with A2, B2, C2, D2 and E2 to control the valve 46 and tool cylinder 74, wherein:
Hence, the user-operable control device can be moved in the first control direction CD1 from operating range RAB1 to operating range RBC1 (and back) or in the second operating control direction CD2 from operating range RAD1 to operating range RDE1 (and back) to control valve 44 and cylinder 70. Additionally, the user-operable control device can be moved in third control direction CD3 from operating range RAB2 to operating range RBC2 (and back) or in fourth control direction CD4 from RAD2 to RDE2 (and back) wherein third and fourth control directions CD3 and CD4 are oriented laterally to the first and second control directions CD1 and CD2 to control valve 46 and cylinder 74 (see
At position B2 and position D2, the cross-gate control device 38 provides a haptic feedback to the operator, for example in form of a haptic resistance, to indicate that the position B2 or D2 has been reached.
In-between these positions A2, B2, C2, D2 and E2, the cross-gate control device 38 provides operating ranges indicated with RAB2, RBC2, RCD2, RDE2, wherein:
Prior to starting an operation of the second working component 23, the operator may enter settings for the cross-gate control device 38 by entering a menu in the display 32 to adjust the oil flow for the cylinder 70 and cylinder 74. Operating ranges RAB1, RBC1, RCD1, RDE1 are assigned to valve 44 and cylinder 70 and operating ranges RAB2, RBC2, RAD2 and RDE2 are assigned to valve 46 and cylinder 74.
As the second working component 23 is advantageously operated in two operating modes selectable by pushing cross-gate mode switch 39, a first setting is necessary for a first mode, also referred to as the SELECTIVE mode, for selecting different oil flows for each operating range RAB1, RBC1, RCD1, RDE1. So, the operator firstly adjusts the oil flow for operating range RAB1, RBC1, RAD1 and RDE1 in the SELECTIVE mode. As depicted with GUI portion 33e (see
Since the settings of GUI portion 33e correspond to the settings of GUI portion 33a, the settings of GUI portion 33e have the same effect on the control of the motion drive. Thus, in response to a movement of the user-operable control device from the operating range RAB1 to operating range RBC1, the speed demand is increased in a first discrete step of 30 l/min from an oil flow of 60 l/min assigned to operating range RAB1 up to an oil flow of 90 l/min assigned to operating range RBC1. So, method steps S101 to S104 will be executed by the ECU 26 analogously as described above.
The same applies in response to a movement of the user-operable control device in control direction CD2 from the operating range RAD1 to operating range RDE1 wherein the speed demand is increased in a second discrete step of 30 l/min from an oil flow of 60 l/min assigned to operating range RAD1 up to an oil flow of 90 l/min assigned to operating range RDE1. So, method steps S101 to S104 will be repeated by the ECU 26 analogously for the operating ranges RAD1 and RDE1.
Analogously to the operating ranges RAB1, RBC1, RCD1, RDE1, the operator may enter settings for the operating ranges RAB2, RBC2, RAD2 and RDE2. The operator may choose a lower oil flow for the cylinder 74 compared to cylinder 70 to avoid excessive jerking, e. g. when using a pallet fork as the tool 75 connected with cylinder 74 (see
Hence, when the operator moves the user-operable control device in control direction CD3 in the operating range RAB2, the ECU 26 determines a speed demand of a constant oil flow of 30 l/min assigned to operating range RAB2 and controls the speed of the cylinder 74 accordingly. When the operator pushes the user-operable control device further in the operating range RBC2, the ECU 26 determines a speed demand of a constant oil flow of 60 l/min assigned to operating range RBC2 and controls the speed of the cylinder 74 accordingly. Thus, in response to a movement of the user-operable control device from the operating range RAB2 to operating range RBC2, the speed demand is increased in a third discrete step of 30 l/min from an oil flow of 30 l/min assigned to operating range RAB2 up to an oil flow of 60 l/min assigned to operating range RBC2. So, method steps S101 to S104 will be repeated by the ECU 26 analogously for the operatng ranges RAB2 and RBC2.
The same applies in response to a movement of the user-operable control device in control direction CD4 from the operating range RAD2 to operating range RDE2 wherein the speed demand is increased in a fourth discrete step of 30 l/min from an oil flow of 30 l/min assigned to operating range RAD2 up to an oil flow of 60 l/min assigned to operating range RDE2. So, method steps S101 to S104 will be repeated by the ECU 26 analogously for the operating ranges RAD2 and RDE2.
Here, the third and fourth discrete steps have the same value of 30 l/min irrespectively the user-operable control device is moved in the third control direction CD3 from operating range RAB2 to RBC2 or in the fourth control direction CD4 from operating range RAD2 to RDE2. But the user-operable control device may be configured in such a way that the third and the fourth discrete steps have different values as exemplarily shown in GUI portion 33c and GUI portion 33d in
Next to the SELECTIVE mode, a second setting is necessary for a second mode, also referred to as floating mode or also called FLOAT mode. The operator firstly adjusts the oil flow for operating range RAB1 and RAD1 only. In the FLOAT mode, operating ranges RBC1 and RDE1 are not adjustable since operating range RBC1 and RDE1 adjust valve 44 into a floating position in which external forces (e. g. by weight or ground contact) can freely move the tool holder 72. As depicted with GUI portion 33g (see
Similarly, the operator may enter settings for the operating ranges RAB2 and RDE2 only. In the FLOAT mode, operating range RBC2 and RDE2 are not adjustable since operating ranges RBC2 and RDE2 adjust valve 46 into a floating position in which external forces (e. g. by weight or ground contact) can freely move the tool 75. As depicted with GUI portion 33h (see
For the FLOAT mode, the operator has chosen higher oil flow values as this mode is mostly used when no load is carried. The settings are then saved in memory 160 of the ECU 26. Alternatively, the settings as described above have already been saved during a previous operation, so that the settings can be accessed by the ECU 26 via memory 160. After settings have been completed, the operator may start an operation with the second working component 23, here front end loader, as described above.
Hence in case of an active FLOAT mode, when the operator moves the user-operable control device in control direction CD1 in the operating range RAB1, the ECU 26 determines a speed demand of a constant oil flow of 90 l/min assigned to operating range RAB1 and controls the speed of the cylinder 70 accordingly. When the operator pushes the user-operable control device further in the operating range RBC1, the ECU 26 determines a FLOAT demand assigned to operating range RBC1 and controls the cylinder 70 accordingly. Analogously, when the operator moves the user-operable control device in control direction CD3 in the operating range RAB2, the ECU 26 determines a speed demand of a constant oil flow of 50 l/min assigned to operating range RAB2 and controls the speed of the cylinder 74 accordingly. When the operator pushes the user-operable control device further in the operating range RBC2, the ECU 26 determines a FLOAT demand assigned to operating range RBC2 and controls the cylinder 74 accordingly.
So, depending on whether FLOAT mode or SELECTIVE mode is active, the ECU 26 is configured to determine different demands for the same operating range. As shown by the GUI portion 33e and GUI portion 33g, the speed values assigned to operating ranges RAB1 and RAD1 are higher for the FLOAT mode than for the SELECTIVE mode. The same applies to the operating ranges RAB2 and RAD2 as shown by the GUI portions 33f and 33h.
The operator firstly selects the mode SELECTIVE or FLOAT by pushing cross-gate mode switch 39. Based on this selection, the ECU 26 activates the corresponding mode for the operating ranges of both first/second control direction CD1/CD2 and third/fourth control direction CD3/CD4 (step S105). Alternatively, the mode may be selected for first/second control direction CD1/CD2 and third/fourth control direction CD3/CD4 by an additional cross-gate mode switch 47 (see
For positioning the second working component 23 quickly at a certain height, for example at position 24a applicable for driving the tractor 10 to bulk material to be loaded as exemplarily shown in
If the tool 75 is fully loaded, the operator moves the cross-gate control device 38 within the operating ranges RAB1 and RAD1 to slightly lift the tool holder 72 and further within the operating ranges RAB2 or RAD2 to pivot the tool 75 to a slightly inclined position as indicated by position 76b to avoid loss of material during fast driving. Then, the tractor 10 drives away to a place for unloading. If the bulk material is to be loaded e. g. in a dumper truck, the operator moves the cross-gate control device 38 within the operating ranges RBC1 or RDE1 to quickly adjust the position of the tool holder 72 from the position 24a to a higher height as indicated by position 24c to be positioned over a tipping body of the dumper truck. With the tool 75 still in position 76b, the operator then moves the cross-gate control device 38 within the operating ranges RBC2 or RDE2 to quickly position the tool 75 from position 76b to a maximum unloading position indicated by position 76c. Alternatively, the operator can move the cross-gate control device 38 within the operating ranges RAB2 or RAD2 to smoothly unload tool 75 in an slightly downwards position as indicated by position 76d. The loading process is then started again.
In general, if precise positioning is needed, the operator can select the operating ranges RAB1, RAD1, RAB2 or RAD2 to slowly operate the tool holder 72 or the tool 75 with low oil flow and, if fast movement is required, the operating ranges RBC1, RDE1, RBC2 or RDE2 to operate the tool holder 72 or the tool 75 with high oil flow. As the operator can select the different operating ranges without taking hands off, this is very comfortable. As the operating ranges with higher oil flow will be reached when the haptic feedback at positions B1, D1, B2, D2 has been overcome, unintentional increase of speed can be avoided. The operator can fully concentrate on the loader operation and does not need to adjust settings in the display 32.
If the bulk material must be scraped from ground 15, the operator may switch to the FLOAT mode by using cross-gate mode switch 39 directly on cross-gate control device 38 without taking hands off. Since the oil flow values for the operating ranges RAB1, RAD1, RAB2 and RAD2 in FLOAT mode are higher compared to the oil flow values for the same operating ranges in SELECTIVE mode as can be seen in the respective GUI portions 33g and 33h assigned to the FLOAT mode and the respective GUI portions 33e and 33f assigned to the SELECTIVE mode, the tool holder 72 and together with the tool 75 can be quickly moved close to ground 15 (see position 24b of the tool holder 72 in
It is envisaged that the provision of cross-gate mode switch 39 on cross-gate control device 38 to select between different operating modes, herein FLOAT mode and SELECTIVE mode, also enables the operator to change the dynamic behavior of the second working component 23 without taking hands off to provide a further improvement in terms of comfort and safety.
A further operation is now described referring to an agricultural machine in the form of a forage harvester 100 as depicted in
With reference to
With reference to
The overloading or unloading operation can be proceeded in two different operating modes: In a DIRECT mode, the operator directly manipulates the oil flow to the rotational hydraulic spout drive 126 for vertically rotating spout bow 128 about the axis AXS1 and to a hydraulic spout flap cylinder 134 (see
For the DIRECT mode, the operator may use two adjacent rocker control devices 40, two scroll wheel control devices 35, 36 on drive lever 34 or two adjacent linear control devices 43 as shown in
Facing this and as the DIRECT mode requires a permanent coordination of the movement of the spout bow 128 (by moving cross-gate control device 38 in first or second direction CD1 or CD2) and the spout flap 132 (by moving cross-gate control device 38 in third or fourth direction CD3 or CD4) to keep the virtual target point 133 within the loading space of loading wagon 207, an additional mode is available to increase operator comfort. In this mode, referred to as PATH mode, the operator is released from permanent coordination of the movement of the spout bow 128 and the spout flap 132 as described hereinafter:
Initially the operator may position the spout assembly 122 to match target point 133 with path start point 193 in DIRECT mode. The operator of the forage harvester 100 then may switch to PATH mode by pushing cross-gate mode switch 39. The activation of PATH mode chances the control of the spout assembly 122 in that the ECU 26 now controls rotational hydraulic spout drive 126, hydraulic spout bow cylinder 130 and hydraulic spout flap cylinder 134 to guide the virtual target point 133 along a crop discharge path 191 and perpendicular to driving direction DD. Doing so, an element of the working component, here the spout flap of the spout assembly 122 is moved parallel and lateral to the driving direction DD. As shown in
If the operator now pushes lever of cross-gate control device 38 in second direction CD2 (e. g. in operating range RAD1), the spout flap 132 would be moved parallel to driving direction DD. Thus, target point 133 would be moved along path portion 195 also being parallel to driving direction DD. At the end of the path portion 195, operator would move the cross-gate control device 38 in third direction CD3 (e. g. in operating range RAB2) to move the spout flap 132 lateral to the driving direction DD. Thus, the target point 133 will be moved along a path portion 197 being perpendicular to driving direction DD. At the end of the path portion 197, the operator would move the cross-gate control device 38 in first direction CD1 (e. g. in operating range RAB1) to move the spout flap 132 parallel to driving direction DD again. Thus, the target point 133 will move along a path portion 199 being aligned with driving direction DD. In this way, the operator can move the spout flap 132 as well as the target point 133 along a S-shaped crop discharge path 191 until end point 201 is reached by the target point 133. During this process, the ECU 26 determines the control signals for the rotational hydraulic spout drive 126, the hydraulic spout bow cylinder 130 and the hydraulic spout flap cylinder 134 according to a kinematic model based on a spout reference point 185 aligned with axis AXS1 (and on defined height) and the geometric properties of the spout assembly 122, the settings of target point 133 on virtual plane 183. Other than in DIRECT mode, following the crop discharge path 191 in PATH mode requires simultaneous control of the rotational hydraulic spout drive 126, the hydraulic spout bow cylinder 130 and the hydraulic spout flap cylinder 134 provided by ECU 26.
The operator can adjust oil flow or speed settings for the PATH mode and the DIRECT mode to increase comfort. With reference to
So, the operator may have chosen a lower oil flow for the spout flap cylinder 134 preferably to ease precise positioning of target point 133 in this mode (see GUI portion 33j).
Additionally, operating ranges RAB1, RBC1, RAD1 and RDE1 and operating ranges RAB2, RBC2, RAD2 and RDE2 for PATH mode are set as depicted in GUI portions 33k and 33l. In contrast to the kinematic model for simultaneous control of the rotational hydraulic spout drive 126, the hydraulic spout bow cylinder 130 and the hydraulic spout flap cylinder 134 used by the ECU 26 for moving the target point 133 along the crop discharge path 191 as described before, the operator does not directly impact on the oil flow in the PATH mode. Thus, the operator may enter relative speed values as percentage values in respect of the maximum speed instead of absolute oil flow values:
The operator may have chosen a lower oil flow for operating ranges in the third and fourth control directions CD3 and CD4 as the transverse positioning along crop discharge path 191 requires finer positioning over smaller distances. With the settings adjusted, the operator can start harvesting operation.
With the operating ranges RAB1, RAD1, RAB2 or RAD2 pre-set with lower oil flow in both DIRECT and PATH mode (see
It may also be advantageous to enable the operator to switch between the modes by means of the cross-gate mode switch 39. Especially when the forage harvester 100 is operated in PATH mode, it may be necessary to quickly rotate the spout assembly 122 about vertically axis AXS1 to a position 181b for avoiding a collision with a (high voltage) transmission tower 173. As in PATH mode, the movement may take longer time (due to calculations based on the kinematic model) or be restricted by kinematic limitations (as target point 133 cannot be moved close to longitudinal centre axis of the forage harvester 100, mainly due to motion limits of spout flap 132), the operator may switch to DIRECT mode to quickly move the spout assembly 122 out of the collision area by a rotation about axis AXS1 using the user-operable control device, e. g. cross-gate control device 38, in the high speed/oil flow operating ranges. The same advantageous functionality can be used during headland operation when the agricultural machine 203 changes to drive parallel at the other side of the forage harvester 100. The operator can comfortably switch to quickly move the spout assembly 122 to a mirrored position about axis AXS1 using the user-operable control device in the high speed/oil flow operating ranges.
Depending on whether the operator selected the PATH mode or the DIRECT mode, the ECU 26 activates the corresponding mode for the operating ranges of both first/second control direction CD1/CD2 and third/fourth control direction CD3/CD4 (step S106).
As the operator can select the different operating ranges without taking hands off, a comfortable operation of the operator controls 28 is provided. As the operating ranges with higher oil flow will be reached when the haptic feedback at positions B1, D1, B2, D2 has been overcome, unintentional increase of speed can be avoided. The operator can fully concentrate on the harvesting operation and does not need to adjust settings in the display 32.
The method may comprise additional method steps, such as step S107. The method may stop with step S110 when the operator has finished his operation.
As can be seen in
As can be seen in
By usage of the turn-and-press control device 29 or the touch sensitive display 32, the operator may manipulate the speed or oil flow settings to define alternative graphs as indicated by graph 257 having a discrete step 258, graph 259 having a discrete step 260, graph 261 having a discrete step 262 and graph 263 having a discrete steps 264 as illustrated in
The discrete steps may have a minimum value. For example, discrete step 254 has a minimum value of at least 10%, 20%, 35%, 50% or 75% of the value assigned to the operating range RBC1 (see graph 253). Analogously, discrete step 256 has a minimum value of at least 10%, 20%, 35%, 50% or 75% of the value assigned to the operating range RDE1 (see graph 255).
The speed or oil flow settings assigned to the operating ranges RAB1 and RAD1 are set with lower values compared to the operating ranges RBC1 and RDE1 and the speed or oil flow settings assigned to the operating ranges RAB2 and RAD2 are set with lower values compared to the operating ranges RBC2 and RDE2 as depicted in
Alternatively, as depicted in
Furthermore, the values for the operating ranges in opposite direction may be asymmetrical as exemplarily depicted with graphs 257/259, 261/263, 269/271, and 273/275 in contrast to graphs 253/255 and 265/267.
With reference to
Furthermore as depicted in
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.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2311002.6 | Jul 2023 | GB | national |
