Patent Application
20240032450
The invention relates to a tool system for agricultural processes and for soil cultivation.
Complex machines for different agricultural processes/tasks are known from the prior art. In general, machines are the more efficient the lower their downtimes. This applies also, and in particular, to agricultural and forestry technology since the limited harvesting times allow for only narrow time windows. In order to reduce downtimes, tools are often modularized and the downtime is thus transferred from the entire machines to storable tools.
U.S. Pat. No. 3,971,446 A discloses a multifunctional agricultural machine in this context. This multifunctional agricultural machine is intended for performing several agricultural tasks, such as planting, fertilizing and harvesting, if applicable “soil cultivation.” The multifunctional character eliminates the need to invest in individual specific machines. The disclosed agricultural machine in this case comprises a vehicle with a driver's cab for an operator, a motor which both moves the vehicle and delivers part of its power to a lateral interface. Furthermore, replaceable work units, such as sprayers, planters or harvesters, can be attached. These are supported by additional, removable and laterally extendable supporting arms which are controlled by the vehicle.
DE 10 2017 201 425 A1 discloses an autonomous agricultural robot machine for performing one or more agricultural operations. The machine has a frame with a length and an adjustable width. A plurality of soil engaging mechanisms are coupled to the frame for driving the machine in a running direction. The machine further comprises a controller, a power generating device and a generator, wherein the controller controls the machine. The generator receives mechanical power from the power generating device and generates electrical power. Furthermore, a docking assembly is coupled to the frame. Said docking assembly includes a power unit and at least one coupling for coupling a plurality of agricultural implements.
US 2013 0199 807 A1 describes an adaptable agricultural implement for soil cultivation. Said agricultural implement has a frame with a plurality of fastening or mounting surfaces. Here, it is provided to releasably couple a variety of replaceable soil cultivation modules to said mounting surfaces. Depending on soil cultivation requirements, the replaceable soil cultivation modules can be arranged in a given order.
DE 10 2010 005 183 B4 discloses a soil cultivation device. Said soil cultivation device comprises at least one attachable machine frame and is suitably coupled to a tractor. On the soil engaging tool unit formed in this way, various soil cultivation tools, in particular rows of tines and/or rows of disks or grubbers and/or harrows which are suspended on the machine frame, are connected by means of the attachable machine frame to a trailing roller and to a working-depth adjuster for adjusting the working depth of the soil engaging tool unit. In addition, the overall system has a trailing height adjuster for adjusting the height of the trailing roller relative to the machine frame. Both the working-depth adjuster and the trailing height adjuster have a pressure fluid drive, which thus ensures continuous working-depth adjustment and of the trailing height adjuster.
Tools for coupling or tool systems of this type are subject to a wide variety of signs of wear or can be at least heavily damaged, or even destroyed, during use for soil cultivation, as a result of which, in the absence of adequate correction, the individual tools lose their optimum operating condition within the scope of their application. Furthermore, the assembly and disassembly of the individual tools or tool modules is associated with a still considerable expenditure of time.
The object of the invention is to overcome the disadvantages of the prior art and to propose a user-friendly tool system.
The object is achieved by the features of the independent claims. Preferred embodiments are the subject of the dependent claims, which refer back in each case.
According to the invention, the device comprises at least one tool module having a quick-coupling interface, at least one support having a quick-coupling interface and designed to hold the at least one tool module, and at least one data processing unit designed for computer-assisted tool management. The support, which has at least one quick-coupling interface and is suitable for holding the tool module, comprises at least one support frame, at least one interface for computer-assisted tool module identification, and at least one sensor unit.
The support frame comprises at least one quick-coupling interface for a tool module. The tool module, in turn, comprises at least one implement, preferably for use outdoors, at least one suspension that is compatible with the quick-coupling point on the support frame, at least one computer-readable storage medium for computer-readable data and at least one interface for transmission of computer-readable data.
Tool management or a tool management system is understood to mean computer-assisted measures for managing and/or controlling the tool modules. This is implemented, for example, but not exclusively, by means of a database on a data processing system. The individual tools are each unambiguously identified and parameters relevant to the user are associated with the tools.
Tool module identification is understood to mean preferably computer-readable information which is suitable for storing and reproducing a wide variety of parameters of the tool module or even of the individual tools of the tool module. The computer-assisted tool module identification is preferably, but not exclusively, contactless so that the information for tool module identification can be transmitted wirelessly. The tool module identification is stored in the computer-readable storage medium.
A computer-readable storage medium is understood to mean local physical storage media (for example, but not limited to, hard disks, RFID tags, USB flash memories or QCR codes, barcodes) and also non-local memories (IT cloud solutions). The parameters relating to the tool module can be located on the storage medium.
Hereinafter, the parameters of the tool module are understood to mean, inter alia, tool module ID, usage time, working time, tool dimensions, nominal working speed, nominal working depth, working behavior of the tools (active/passive), particular setting parameters (for example rotational speed), number of individual tools/working regions, tool module wear, individual tool (EW) ID, EW: actual wear, wear limit, displacement, deformation, loss, position. These parameters of the tool module are intended to be stored in the computer-readable storage medium. It is also conceivable to store only a selection of said parameters. In concepts with non-local storage media (e.g., IT cloud solution), at least the tool ID must be stored.
The parameters of the tool control include, for example: positioning of the tool module in space, rotational speed/feed/slip of active (moving) tools, control of application rates. Adaptations in case of wear or repositioning during cornering and/or changes in the soil condition close to the tool are carried out, for example, on the basis of the parameters of the tool control.
Hereinafter, a quick-coupling interface is understood to mean a mechanical coupling between a tool module and the support frame. The mechanical coupling can be formed, for example, by a related bayonet lock or the like; coupling can take place without tools, for example, and coupling can take place automatically, for example. However, the coupling is not limited to the aforementioned examples.
Furthermore, at least one interface for data transmission and/or at least one interface for (electrical, hydraulic, pneumatic) energy transfer and/or at least one interface for media transfer (seed, fertilizer, etc.) is provided at defined locations relative to the mechanical coupling. These relative positions are preferably formed mirror-symmetrically on tool module and support frame.
In order to convey the tool modules, with and without storage boxes, construction, agricultural and municipal machines (for example, tractor with front/rear three-point hitch or front loader, telescopic, wheel and farm loader), floor conveyors (for example, forklifts, lift trucks) or other mobile or stationary lifting equipment (for example, hoists, cranes, winches) can be used.
The position of the working tools is dependent on the respective process and the geometry of the tools used. The position of the working tools in each case relates to the working height parameter in case of above-ground tool applications (for example, mower, mulcher) or to the working depth parameter in case of tool applications in the ground (e.g., grubber, plow, disk harrow). Active position guidance of the tools results in exact compliance with the parameters (working height/depth) and ensures a consistently good work result.
Depending on the work process and the desired work result, it may be necessary or expedient to use trailing rollers/packers. This is why the support is provided with an additional interface for holding a trailing roller/packer.
In embodiments of the invention, the support frame of the support is designed to be adjustable and/or controllable. Control units are provided for control. These control units are realized preferably, but not exclusively, through a data processing device.
In embodiments of the invention, the support for holding the tool module is designed to be adjustable mechanically, electromechanically or in a pressure-actuated manner. The adjusting devices also comprise combinations of the mechanical, electromechanical or pressure-actuated embodiments. For example, the support is supplied with hydraulic oil by means of a pump driven by an electric motor or an internal combustion engine, wherein the pressure and volume flow can be variable or constant. In case of need, a hydraulic actuator performs the adjustment of the support frame and tool module. Subsequently, a further actuator can set a bolt to secure the two parts. This is advantageous since robust adjustment mechanisms can be realized in this way.
In embodiments of the invention, the quick-coupling interface is designed to adapt the tool module to the soil profile and to operate it such as to be tiltable preferably along one axis, particularly preferably along two axes and, in particular, preferably in three axes. Furthermore, the tool module is movable and adjustable preferably along at least one additional degree of freedom. The tool module is in particular preferably designed to move in all of its six degrees of freedom (three axes of rotation and three translational axes). The interaction of sensor system and data processing unit recognizes the coupled tool and controls or adjusts automatically, by means of suitable actuators, its orientation and/or inclination relative to the surrounding terrain, in particular during cornering and/or in case of bumps in the ground.
For this purpose, the distance to the ground surface is determined by means of sensor units and adjusted by means of kinematics and, if necessary, controlled in such a way that the desired working depth is achieved. Since special devices, such as mulchers or mowers, are moved directly on the ground surface, it is thus possible to advantageously use a wide variety of tool modules with the support frame according to the invention. This, in turn, leads to an economic and logistical advantage since only the tool modules having only at least one support frame have to be procured.
In embodiments of the invention, the quick-coupling interface between the support and the tool module comprises at least one kinematics and/or at least one actuator. This is advantageous since it allows for variable depth guidance. Thus, depth guidance of the soil cultivation tools, for example, is controlled via the kinematics of the tool module. For this purpose, on the one hand, the distance between the ground and a reference point, for example on the support frame, is determined via a corresponding sensor system. This sensor system can operate in a contactless manner or with contact. On the other hand, the current position of the adjustment mechanisms or associated actuators is determined. The target working depth can be set through the position of the actuators of the kinematics, the geometric relationships of sensor system, tool and support frame, and the current distance between the ground and the one reference point. This makes it possible to respond to bumps in the ground, and it advantageously allows for an active change in height during operation.
This is advantageous since, due to traction-dependent working-depth changes which are caused by the resilience of the tools (e.g., tines/stone protection), are compensated for and result in reduced wear of the tools.
In embodiments of the invention, the sensor unit is selected from inductive sensors, capacitive sensors, acceleration sensors or optical sensors. This also includes, without limitation, sensor units of combinations of inductive, capacitive and/or optical sensors.
In embodiments of the invention, the support is designed to be mounted on a chassis or traveling assembly. The chassis or traveling assembly is associated with a tractive unit and/or comprises at least one means for coupling to a tractive unit. The chassis, traveling assembly or vehicle is designed for mechanical, electromechanical or pressure-induced adjustment of the working height of the tool module.
Chassis or parts of chassis also include trailing members such as, for example, but not limited to, trailing rollers or packers.
In embodiments of the invention, an additional support or tool support is designed as a storage device. This storage device is preferably designed to be stackable.
These easily transportable tools advantageously facilitate maintenance of the tool components.
This is advantageous since, in this way, stationary or mobile storage is possible during transport and maintenance, as necessary. In particular in an autonomous application in which the chassis or traveling assembly is designed for autonomous movement, a wide variety of tools can be kept available for the autonomous units in the immediate vicinity of their area of application.
In conjunction with the various adjustment mechanisms, the respective region to be maintained can advantageously be moved to a comfortable working height by suitably tilting or inclining the tool modules.
In embodiments of the invention, an additional support is designed as a storage device. The storage device is designed for preferred transport by lifting equipment, floor conveyors or agricultural machines is. For this purpose, the storage device has standardized connection points (e.g., tractor three-point hitch or Euro attachment front loader) and/or transport/lifting/forklift plates. This is advantageous since the selection of a suitable transport system is thus also highly modular.
In embodiments of the invention, the tool module comprises at least one interface for power transmission and/or an autonomous energy supply. This is advantageous since it allows for modularization of movable and/or active tools with a non-zero power input. Furthermore, simplified functional testing is made possible during maintenance operation.
Furthermore, these active tools can be used for additional momentum or for additional feed.
The method of computer-assisted tool management comprises the following steps:
The detection of the target condition takes place as follows:
In embodiments of the invention, the computer-readable information of the target and/or actual condition is selected from the list: type of at least one tool, area of application of the tool, previous operating time of the tool, geometric arrangement of at least one tool component, identification feature of the tool component and/or wear of the tool component.
In embodiments of the invention, the comparison of the target/actual information the condition detection takes place. It transmits the information (correction tool position, single tool deformed/missing . . . ) to the tool management. As a result, tool management responds by adapting the tool position and/or reporting to the operator and/or reporting to superordinate systems.
In embodiments of the invention, the parameters of the tool module are stored in a storage medium. After installation of the tool module in the support frame, the information is transmitted from the tool module to the data processing unit of the tool management. Tool management recognizes the following on the basis of the parameters: the type of tool, previous operating time, current measure of wear, which parameters for subsequent operation are to be assumed by the support platform. This is, for example, the working depth and/or the operating speed. During operation, the mounted sensor system monitors the tools operating in the process. Monitoring can take place continuously or sporadically. Sporadic monitoring is realized, for example, in that all parameters of the tools are assessed only when the tool module is taken off.
If changes are detected by the system, a recommendation for action may be given depending on the severity of the changes. The tool management system autonomously evaluates the severity of the change in that it performs, for example (but not exclusively), a data comparison with the history of the data stored in the storage medium. The wear can thus be detected on the basis of a long-term trend. Brief changes, such as contamination or destruction of the tool, can also be registered and detected in this way. Depending on the severity of the detected change, a direct feedback is given to the user, or this change is transferred as a new characteristic number into the tool management system. In any case, the changes are stored in the storage medium of the tool module. This has the advantage that a manipulation of tools is thus made more difficult.
In embodiments of the invention, the information is stored on an RFID tag. Possible information is the unique tool module ID, parameters on geometry, wear conditions, operating points, etc.
In embodiments of the invention, data relating to the geometric nature of the tool are stored in the storage medium. These can be measurement data of the new tool, digitized construction data or image data. This advantageously provides a stable comparison basis with respect to changes. This comparison basis is advantageously used for self-reference.
In order to realize the invention, it is also expedient to combine the above-described embodiments and features of the claims.
The invention is described below in figures as exemplary embodiments.
According to
In one exemplary embodiment, a drawn variant according to
The modular machine system is coupled to the towing vehicle (36) by means of a standard quick-coupling interface. The towing vehicle (36) supplies the machine system with energy (for example, electrically, hydraulically, mechanically) (37), has an interface (37) for communication and data transmission with the modular support, and generates the required traction to manage the task. In addition, actively driven tools (4), chassis or trailing members (2) can also serve to generate distribution and thus reduce the required traction of the tractor (36).
The replaceable tool module is connected to the modular support via a quick-coupling interface (19) according to the invention. After the tool module has been coupled, the storage medium (22) is read out via a data interface (21) of the machine system, and the information is transmitted to the ECU (5) and evaluated. This information is used, for example, to identify the tool module (4) and set various process parameters (including working depth, working speed, etc.). In addition, information relating to the tool module (2) and work process can also be stored in a non-local storage (6). In this case, the data are obtained via a corresponding interface (12).
A coupling mechanism (17) and, if applicable, a height-adjustable chassis and/or height-adjustable tractor standard interface (e.g., tractor three-point hitch) adjusts and controls the tool module (4) and, if applicable, the entire machine system in the vertical direction. During transport, the tool module (4) is moved such that a defined ground clearance arises between the tools and the ground. When in the working position, the tool module (4) is in a defined position relative to the ground. Referring to the example of soil cultivation, tool module (4) is guided at a defined working depth by the coupling mechanism (17). The working depth can be constant during the entire work process or can be variably adjusted in a location-specific manner. In this case, the machine system is supported in the front by the towing vehicle (36) and in the rear by the chassis or trailing members (2).
When exchanging or removing a tool, the tool module (4) is separated from the modular machine system at the quick-coupling interface (19) according to the invention. In this case, machine data and/or condition information of the tool module (4) or the individual tools can be stored in the storage medium (22) or the external storage (6) and used for further use, for transport and for storage, and for maintenance and repair.
The tool modules (4) can be stored in devices (26) according to the invention. They enable simple transportation and space-saving storage due to stackability. In addition, these devices can be used for the maintenance and repair of the tool modules (4). The information stored in the storage module (22) can be read out automatically and manually by operating, maintenance and repair staff. For example, a (mobile) reading device (29) can be used for manual reading. After maintenance and repair have taken place, the current tool characteristic values can be stored in the storage medium (22) and thus read out after installation into the modular machine system and used for setting the parameters.
The machine system can be designed as self-propelled, possibly autonomous machines. In this case, the interface to the standard tractor (36) is replaced by a module for energy supply (7) and (primary) drive (2). The further functions remain unaffected.
| Number | Date | Country | Kind |
|---|---|---|---|
| 10 2020 128 749.6 | Nov 2020 | DE | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2021/080269 | 11/1/2021 | WO |
