The present disclosure generally relates to agricultural implements and, more particularly, to a sensor support assembly for an agricultural implement.
It is well known that, to attain the best agricultural performance from a field, a farmer must cultivate the soil, typically through a tillage operation. Modern farmers perform tillage operations using a tillage implement being pulled behind an agricultural work vehicle, such as a tractor. In general, tillage implements include ground-engaging tools, such as shanks, disks, and/or the like, supported on its frame. Each ground-engaging tool, in turn, is configured to be moved relative to the soil within the field as the tillage implement travels across the field. Such movement of the ground-engaging tools loosens and/or otherwise agitates the soil to prepare the field for subsequent planting operations. Moreover, such movement of the ground-engaging tools may size and/or bury residue present on the field surface.
Upon completion of the tillage operation, it is generally desirable that the surface of the field have certain characteristics or parameters, such as a given surface profile or levelness, soil clod size distribution, and/or the like. In this respect, systems for monitoring field characteristics/parameters have been developed. While such systems work well, further improvements are needed. For example, many such systems rely on a sensor (e.g., a LiDAR sensor, a RADAR sensor, etc.) to generate data indicative of the field characteristics/parameters. However, bumps, divots, and other impediments within the field may cause movement of the sensor relative to the frame of the implement. Such movement may, in turn, impact the quality of the data generated by the sensor.
Accordingly, an improved sensor support assembly for an agricultural implement would be welcomed in the technology.
Aspects and advantages of the technology will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology.
In one aspect, the present subject matter is directed to an agricultural implement including a frame extending in a transverse direction between a first side of the frame and a second side of the frame. Furthermore, the agricultural implement includes a ground-engaging tool supported on the frame and a sensor configured to generate data indicative of a field parameter. Additionally, the agricultural implement includes a sensor support assembly configured to support the sensor relative to the frame. The sensor support assembly includes a first support arm extending along a longitudinal axis of the first support arm from a first end of the first support arm to a second end of the first support arm, with the first end of the first support arm coupled to the frame and the second end of the first support arm coupled to the sensor. Moreover, the sensor support assembly includes a second support arm extending along a longitudinal axis of the second support arm from a first end of the second support arm to a second end of the second support arm, with the first end of the second support arm coupled to the frame and the second end of the second support arm coupled to the sensor. In addition, an oblique angle is defined between the longitudinal axis of the first support arm and the longitudinal axis of the second support arm.
In another aspect, the present subject matter is directed to a tillage implement including a frame extending in a transverse direction between a first side of the frame and a second side of the frame. Furthermore, the tillage implement includes a vertical tillage tool supported on the frame and a sensor configured to generate data indicative of a field parameter. Additionally, the tillage implement includes a sensor support assembly configured to support the sensor relative to the frame. The sensor support assembly includes a first support arm extending along a longitudinal axis of the first support arm from a first end of the first support arm to a second end of the first support arm, with the first end of the first support arm coupled to the frame and the second end of the first support arm coupled to the sensor. Moreover, the tillage implement includes a second support arm extending along a longitudinal axis of the second support arm from a first end of the second support arm to a second end of the second support arm, with the first end of the second support arm coupled to the frame and the second end of the second support arm coupled to the sensor. In addition, an oblique angle is defined between the longitudinal axis of the first support arm and the longitudinal axis of the second support arm.
These and other features, aspects and advantages of the present technology will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.
A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.
Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield still a further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents.
In general, the present subject matter is directed to a sensor support assembly for an agricultural implement. As will be described below, the agricultural implement includes a frame extending in a transverse direction between a first side and a second side. Furthermore, the agricultural implement includes one or more ground-engaging tools (e.g., a disk blade or other vertical tillage tool, a shank, a leveling blade, a basket assembly, etc.) supported on the frame. Additionally, the agricultural implement includes a sensor (e.g., a transceiver-based sensor, such as a LiDAR sensor, a RADAR sensor, etc.) configured to generate data indicative of a field characteristic or parameter, such as surface profile, soil clod size distribution, and/or the like.
In several embodiments, the sensor support assembly is configured to support the sensor relative to the frame. More specifically, the sensor support assembly includes a first support arm extending along a longitudinal axis from a first end to an opposed second end. The first end of the first support arm is, in turn, coupled to the frame (e.g., at a first location). Conversely, the second end of the first support arm is coupled to the sensor. Moreover, the sensor support assembly includes a second support arm extending along a longitudinal axis from a first end to an opposed second end. The first end of the second support arm is, in turn, coupled to the frame (e.g., at a second location). Conversely, the second end of the second support arm is coupled to the sensor. In addition, an oblique angle is defined between the longitudinal axis of the first support arm and the longitudinal axis of the second support arm. As such, in some embodiments, the first and second locations are spaced apart from each other in the transverse direction. Furthermore, in one embodiment, the first location may be positioned forward of the second location relative to the direction of travel of the implement.
The disclosed sensor support assembly improves the quality of the data being captured by the LiDAR sensor. More specifically, bumps, divots, and other impediments within the field may cause movement of the sensor relative to the frame of the implement. For example, in certain instances, the field impediments may cause the sensor to rotate relative to the frame (e.g., about a vertical axis). Such relative rotation may, in turn, cause the sensor to generate reduced quality data. However, as described above, the sensor support assembly includes first and second support arms coupled between the implement frame and the sensor such that an oblique angle is defined between their respective longitudinal axes. Such positioning of the arms (i.e., with the oblique angle defined therebetween) improves the torsional strength of the sensor support assembly, thereby reducing or eliminating rotation of the sensor when the implement encounters a field impediment. Thus, the disclosed sensor support assembly improves the ability of the LiDAR sensor to monitor the performance of the agricultural implement by allowing the LiDAR sensor to generate high quality data.
Referring now to the drawings,
As shown, the work vehicle 12 includes a pair of front track assemblies 16, a pair of rear track assemblies 18, and a frame or chassis 20 coupled to and supported by the track assemblies 16, 18. An operator's cab 22 may be supported by a portion of the chassis 20 and may house various input devices (e.g., a user interface) for permitting an operator to control the operation of one or more components of the work vehicle 12 and/or one or more components of the agricultural implement 10. Furthermore, the work vehicle 12 includes an engine 24 and a transmission 26 mounted on the chassis 20. The transmission 26 may be operably coupled to the engine 24 and may provide variably adjusted gear ratios for transferring engine power to the track assemblies 16, 18 via a drive axle assembly (not shown) (or via axles if multiple drive axles are employed).
Additionally, the agricultural implement 10 includes a frame 28 configured to be towed by the work vehicle 12 via a pull hitch or tow bar 30 in the direction of travel 14. As shown, the frame 28 extends in a longitudinal direction 32 between a forward end 34 of the frame 28 and an aft end 36 of the frame 28. The frame 28 also extends in a transverse direction 38 between a first side 40 of the frame 28 and a second side 42 of the frame 28. In general, the frame 28 may include a plurality of structural frame members 44, such as beams, bars, and/or the like, configured to support or couple to a plurality of components.
Moreover, the frame 28 may be configured to support a plurality of ground-engaging and/or ground-penetrating tools, such as a plurality of shank assemblies, vertical tillage tools (e.g., disk blades), leveling blades, basket assemblies, tines, spikes, and/or the like. In one embodiment, the various ground-engaging and/or ground-penetrating tools may be configured to perform a tillage operation or any other suitable ground-engaging operation on the field across which the agricultural implement 10 is being towed. For example, in the illustrated embodiment, the frame 28 is configured to support various assemblies or gangs 46 of disk blades 48, a plurality of shank assemblies 50, a plurality of leveling blades 52, and a plurality of crumbler wheels or basket assemblies 54. However, in alternative embodiments, the frame 28 may be configured to support any other suitable ground-engaging tool(s), ground-penetrating tool(s), or combinations of such tools.
It should be further appreciated that the configuration of the agricultural implement 10 and the work vehicle 12 described above and shown in
Furthermore, in several embodiments, one or more sensors 102 are mounted or otherwise supported on the agricultural implement 10. In general, and as will be described below; each sensor 102 is supported relative to the implement frame 28 by a sensor support assembly 100. As such, each sensor 102 has a field of view or a sensor detection range directed at a portion of a field across which the implement/vehicle 10/12 is traveling. Thus, each sensor 102 is configured to generate data indicative of one or more field parameters or characteristics associated with the field across which the implement/vehicle 10/12 is traveling. For example, such parameters/characteristics may include the surface profile or levelness of the field, the soil clod size distribution, the residue coverage, and/or the like.
In several embodiments, the sensor(s) 102 may correspond to a transceiver-based sensor(s). In such embodiments, the sensor(s) 102 may generally correspond to any suitable sensing device(s) configured to emit output signals for reflection off objects (e.g., the field surface) within an associated field of view and receive or sense the return signals. For example, in some embodiments, each sensor 102 may correspond to a LiDAR sensor configured to emit light/laser output signals for reflection off of the portion of the field surface present within its field of view. In such an embodiment, each sensor may receive the reflected return signals and generate point cloud data based on the received return signal(s). The point cloud data may, in turn, include a plurality of data points, with each point indicative of the distance between the sensor and the portion of the field surface off which one of the return signals is reflected. However, in other embodiments, the sensor(s) 102 may correspond to a RADAR sensor(s), an ultrasonic sensor(s), a camera(s), or any other suitable type of transceiver-based or non-transceiver-based sensor(s).
Additionally, in the illustrated embodiment, the agricultural implement 10 includes two sensors 102 supported thereon. However, in alternative embodiments, the implement 10 may include any other suitable number of sensors 102, such as a single sensor 102 or three or more sensors 102.
Referring now to
As shown, the sensor support assembly 100 includes various components that support the sensor 102 relative to the implement frame 28. More specifically, the sensor support assembly 100 includes first and second support arms 104, 106. Furthermore, in several embodiments, the sensor support assembly 100 includes a mounting arm 108. Additionally, in some embodiments, the sensor support assembly 100 includes a brace 110.
In general, the first and second sensor support arms 104, 106 are coupled between the frame 28 and the sensor 102. More specifically, the first support arm 104 extends along a longitudinal axis 112 (
Moreover, the brace 110 is coupled between the frame 28 and the sensor 102. More specifically, the brace 110 extends along a longitudinal axis 128 (
Additionally, as mentioned above, in some embodiments, the brace 110 is coupled to the frame 28. Specifically, in such embodiments, the first end 130 of the brace 110 is coupled to one of the frame members 44 of the frame 28 at a third location 142. In general, the third location 142 is different from the first and second locations 138, 140. For example, as shown, in one embodiment, the third location 142 is positioned aft of the first location 138 relative to the direction of travel 14 of the implement 10. Additionally, the third location 142 is spaced apart from first and second locations 138, 140 in the transverse direction 38. In the illustrated embodiment, the brace 110 is coupled to a different frame member 44 than the first and second support arms 104, 106. However, in alternative embodiments, the brace 110 may be coupled to the same frame member 44 as the first and second support arms 104, 106.
In the illustrated embodiment, the first, second, and third mounting locations 138, 140, 142 are positioned adjacent to the aft end 36 of the implement 10. As such, the first, second, and third mounting locations 138, 140, 142 may be selected such that the sensor 102 is positioned aft of one or more ground-engaging tools of the implement 10 relative to the direction of travel 14. For example, in one embodiment, the sensor 102 supported on the sensor support assembly 100 is positioned aft of the disk gangs 46 of the implement 10. However, in alternative embodiments, the first, second, and third mounting locations 138, 140, 142 may be positioned at any other suitable locations on the implement 10.
Furthermore, the brace 110 is oriented relative to the first and second support arms 104, 106 to provide additional torsional strength. Specifically, as shown, the first end 130 of the brace 110 is spaced apart from the first and second support arms 104 in the transverse direction 38. Conversely, the second end 132 of the brace 110 is generally positioned adjacent to the second ends 116, 122 of the first and second support arms 104, 106. In this respect, a second oblique angle 146 is defined between the longitudinal axes 112, 128 of the first support arm 104 and the brace 110. In some embodiments, the first and second oblique angles 144, 146 are different. For example, in one embodiment, the second oblique angle 146 is greater than the first oblique angle 144. Such positioning of the brace 110 relative to the first support arm 104 (i.e., with the second oblique angle 146 defined therebetween) further improves the torsional strength of the sensor support assembly 100.
Referring again to
Moreover, as mentioned above, the bracket 136 may be coupled to the mounting arm 108, such as on a forward side of the mounting arm 108. In this respect, the second end 132 of the brace 110, which is coupled to the bracket 136, may be positioned above the second ends 116, 122 of the first and second support arms 104, 106 in the vertical direction 111.
Additionally, in one embodiment, a shield 148 may be coupled to the mounting arm 108. As such, the shield 148 is configured to shield or otherwise protect the sensor 102 from solar radiation. Shielding the sensor 102 from solar radiation, in turn, protects the sensor 102 from heating due to direct solar exposure. Moreover, the shield 102 blocks light that could cause sensor interference.
Furthermore, in some embodiments, the mounting arm 108 may be foldable. As such, the mounting arm 108 allows the sensor 102 to move between an operational position shown in
In several embodiments, the sensor support assembly 100 includes a hinge 150 positioned between a first portion 152 of the mounting arm 108 and a second portion 154 of the mounting arm 108 such that the sensor 102 is movable between the operational and stowed positions. The first portion 152 of the mounting arm 108 is, in turn, coupled to the second ends 116, 122 of the first and second support arms 104, 106. Conversely, the second portion 154 of the mounting arm 108 is coupled to the sensor 102. However, in other embodiments, the mounting arm 108 may have any other configuration that permits movement of the sensor 102 between the operational and stowed positions. In the embodiment illustrated in
However, as shown in
In the illustrated embodiment, the actuator 156 is configured as a fluid-driven actuator, such as a hydraulic or pneumatic cylinder. However, in alternative embodiments, the actuator 156 may be configured as any suitable device capable of folding the mounting arm 108 about the hinge 150, such an electric linear actuator.
Additionally, the actuator 156 may be controlled in any suitable manner. For example, in one embodiment, the actuator 156 may be controlled based on operator inputs (e.g., inputs provided to a user interface (not shown) positioned within the cab 22 of the work vehicle 12). In other embodiments, the actuator 156 may be controlled based on sensor data (e.g., sensor data indicative of whether the implement 10 is in the folded or unfolded position, whether the implement 10 is performing an agricultural operation, etc.).
Alternatively, in other embodiments, the sensor support assembly 100 may have any other suitable configuration that allows the sensor 102 to move between the operational and stowed positions. For example, in some embodiments, the second portion 154 of the mounting arm 108 may extend/retract or otherwise telescope in the vertical direction 111 relative to the first portion 152 of the mounting arm 108 to move the sensor 102 between the operational and stowed positions. Additionally, the actuator 156 may be oriented such that the actuator 156 extends and retracts in the vertical direction 111 to move the sensor 102 between the operational and stowed positions.
This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.