WO2022161904A1 - Autonomes landwirtschaftliches trägerfahrzeug und autonome landwirtschaftliche maschinenkombination - Google Patents
Autonomes landwirtschaftliches trägerfahrzeug und autonome landwirtschaftliche maschinenkombination Download PDFInfo
- Publication number
- WO2022161904A1 WO2022161904A1 PCT/EP2022/051459 EP2022051459W WO2022161904A1 WO 2022161904 A1 WO2022161904 A1 WO 2022161904A1 EP 2022051459 W EP2022051459 W EP 2022051459W WO 2022161904 A1 WO2022161904 A1 WO 2022161904A1
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- WO
- WIPO (PCT)
- Prior art keywords
- carrier vehicle
- working
- travel
- travel direction
- agricultural
- Prior art date
Links
- 238000010276 construction Methods 0.000 claims abstract description 60
- 238000000034 method Methods 0.000 claims abstract description 8
- 238000003860 storage Methods 0.000 claims description 4
- 239000000463 material Substances 0.000 claims description 3
- 230000007613 environmental effect Effects 0.000 claims description 2
- 238000011144 upstream manufacturing Methods 0.000 claims 1
- 230000011664 signaling Effects 0.000 abstract 1
- 238000011161 development Methods 0.000 description 10
- 230000018109 developmental process Effects 0.000 description 10
- 238000013461 design Methods 0.000 description 5
- 238000011156 evaluation Methods 0.000 description 5
- 239000000725 suspension Substances 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003337 fertilizer Substances 0.000 description 3
- 239000012773 agricultural material Substances 0.000 description 2
- 238000002485 combustion reaction Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000000704 physical effect Effects 0.000 description 2
- 238000009331 sowing Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000003971 tillage Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000003306 harvesting Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000000053 physical method Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000001931 thermography Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B73/00—Means or arrangements to facilitate transportation of agricultural machines or implements, e.g. folding frames to reduce overall width
- A01B73/005—Means or arrangements to facilitate transportation of agricultural machines or implements, e.g. folding frames to reduce overall width for endwise transportation, i.e. the direction of transport being substantially perpendicular to the direction of agricultural operation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
- A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
- A01B51/02—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor
- A01B51/026—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus propelled by a motor of the automotive vehicle type, e.g. including driver accommodation
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B79/00—Methods for working soil
- A01B79/02—Methods for working soil combined with other agricultural processing, e.g. fertilising, planting
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01M—CATCHING, TRAPPING OR SCARING OF ANIMALS; APPARATUS FOR THE DESTRUCTION OF NOXIOUS ANIMALS OR NOXIOUS PLANTS
- A01M7/00—Special adaptations or arrangements of liquid-spraying apparatus for purposes covered by this subclass
- A01M7/0082—Undercarriages, frames, mountings, couplings, tanks
Definitions
- the invention relates to an autonomous agricultural carrier vehicle.
- the invention also relates to an autonomous agricultural machine combination.
- the object of the invention is therefore to eliminate the disadvantages of the prior art described.
- an autonomous agricultural carrier vehicle and/or an autonomous agricultural machine combination is to be created, the handling of which is improved.
- an autonomous agricultural carrier vehicle is provided.
- the carrier vehicle comprises at least one frame structure with mounting devices that are designed to carry and guide at least one agricultural implement.
- the carrier vehicle includes at least two chassis structures, which are mounted on the frame structure.
- the carrier vehicle comprises at least one drive device with a drive train which is coupled (e.g. operatively connected) to the at least two chassis structures and is set up to specify a driving speed.
- the carrier vehicle also includes at least one control device and an environment sensor system that is and/or can be signal-connected to the control device.
- chassis constructions are each mounted such that they can rotate through at least 90° about upright axes.
- the invention makes use of the knowledge that the carrier vehicle can be used for a wide variety of purposes and expediently satisfies the functional safety requirements in each case by rotatably mounting the chassis constructions and by using an environment sensor system.
- the working travel direction and the road travel direction are essentially orthogonal to one another.
- the frame construction has a longitudinal extension and the road travel direction is essentially parallel to the longitudinal extension and the working travel direction is essentially orthogonal (eg essentially perpendicular) to the longitudinal extension.
- the carrier vehicle has at least three chassis structures, preferably at least four chassis structures, wherein the chassis structures can be arranged relative to one another in such a way that connecting lines from each upright axis to two of the respective upright oriented axis closest upright oriented axes form a substantially rectangular, trapezoidal or triangular basic shape.
- the frame construction In order to achieve a carrier vehicle with good driving characteristics, it is possible for the frame construction to extend transversely to the working travel direction and in the working travel direction in such a way that it forms an essentially rectangular, trapezoidal or triangular basic shape. It should be noted in this respect that a rectangular, trapezoidal or triangular basic shape is thus present in particular in a plan view.
- the frame construction comprises a main support construction and a joint device, with the frame construction having at least four side parts, one in the direction of travel and one transverse to the direction of travel essentially have a closed basic shape.
- the frame construction having at least four side parts, one in the direction of travel and one transverse to the direction of travel essentially have a closed basic shape.
- all four side parts are expediently connected together by means of at least one connecting strut.
- the connecting strut can in turn be designed in one or more parts.
- the closed basic shape thus provides a frame construction which essentially corresponds to a self-contained framework.
- the frame structure and/or the main support structure and the joint device can be constructed in one piece or in multiple parts and can be connected by, for example, detachable and/or non-detachable connections.
- the frame structure comprises a main support structure and a joint device, with assembly devices preferably being assigned exclusively to the main support structure.
- the running gear constructions are mounted on edge areas of the frame construction, in particular in such a way that the frame construction and/or the assembly devices attached to the frame construction have a height distance to a floor surface of at least 0 .5 meter or at least 1.0 meter.
- the carrier vehicle forms an essentially U-shaped and/or V-shaped basic shape in the direction of travel.
- the frame structure comprises a main support structure and a joint device and that at least two chassis structures are mounted on the joint device, with the articulation device is mounted on the main support structure by means of a rotary bearing oriented essentially in the working direction of travel.
- the pivoting range of the joint device can be limited and/or limitable in relation to the main support structure by means of a limiting device.
- the limiting device can be formed, for example, by mechanical stops, by actuators or the like. It should be pointed out that limiting can also include completely preventing pivoting.
- the running gear constructions are mounted on the frame construction in a height-adjustable manner, in particular in such a way that they are used to compensate for height adjustment in the event of uneven ground.
- the height can be adjusted by means of hydraulically and/or pneumatically and/or electrically operated linear drives (e.g. cylinders) and height compensation can take place, for example, with a known volume flow control and/or pressure control and/or force control.
- the carrier vehicle preferably comprises at least two chassis structures, at least one chassis structure being formed by a single wheel and/or a track drive and/or by two wheels or two track drives, which can have two wheels or two track drives, preferably a twin arrangement and/or a tandem arrangement.
- the carrier vehicle comprises four chassis structures and a frame structure, which frame structure has a main support structure and a joint device, with at least two chassis structures being mounted on the joint device and with at least two chassis structures being mounted on the main support structure, preferably in edge areas the articulation device and the main support structure.
- the carrier vehicle has at least four chassis constructions, which are arranged relative to one another in the working travel direction in such a way that they have at least one Train wheelbase and / or are arranged in such a way to each other in the direction of travel that they form at least two wheelbases that differ from one another.
- the carrier vehicle has at least four running gear structures which are arranged at least largely opposite one another transversely to the working travel direction in such a way that they form at least one track width and/or are arranged transversely to the working travel direction in such a way that they are at least two preferably have different track widths.
- the track widths relate to running gear structures arranged one behind the other, insofar as the running gear structures are formed by, for example, two wheels and/or caterpillar tracks, these are regarded as one lane according to the present document, with the track widths each referring to one In the middle of, for example, two wheels and/or caterpillar tracks.
- the chassis constructions are arranged relative to one another in such a way that the narrower track width is at the rear in the direction of travel and/or the chassis structures with the narrower track width are assigned to the joint device.
- the carrier vehicle it is possible for the carrier vehicle to be set up to be moved autonomously in the road travel direction and/or the working travel direction and/or to be moved in the road travel direction and/or the working travel direction by remote control.
- the control device comprises an operating unit (eg terminal, mobile end device, remote control and/or the like) or is signal-connected or can be signal-connected to such a type.
- control device is set up to provide control signals for the drive train based on signals provided by the environment sensors , wherein the environment sensor system is set up to detect obstacles and/or environment data and is arranged on the carrier vehicle in such a way as to detect an area in front of the carrier vehicle in a working direction of travel and/or to detect an area in front of the carrier vehicle in a road travel direction.
- the environment sensor system can be arranged, for example, rotatably on the carrier vehicle, for example, be mounted such that it can be rotated by at least 90°.
- a turning for example by means of actuators, can take place automatically and/or remotely and/or manually by an operator.
- the environment sensors can be identical or different in the direction of travel to work and in the direction of travel on the road, and in particular can be set up to detect identical or different obstacles and/or environment data (e.g. people).
- laser scanners and/or camera systems such as 3D thermal imaging cameras can be used as environment sensors.
- 3D cameras and/or 3D scanners and/or 3D rigs can also be used.
- Infrared sensors could also be used accordingly.
- two environmental sensors are used in each case.
- the two surroundings sensor systems can also recognize different objects, so that a common image can be determined using these, for example, using a control device.
- an evaluation of the type of obstacle and/or elements can then take place.
- the type can be, for example, an evaluation of living beings or plants. But also above the obstacle and/or elements that can/may not be driven over by means of the carrier vehicle, ie if it is a small plant, for example, it can be driven over, but if it is a living being, it must not be driven over.
- setpoint values for the type of obstacle and/or element determined by the environment sensors are stored in the control device.
- temperature specifications can be stored, on the basis of which the evaluation is carried out as to whether living beings or plants are involved.
- Movement parameters can also be stored, so that in turn an evaluation is carried out on the basis of a defined movement as to whether living beings or plants are involved.
- Contour parameters can also be stored, by means of which, for example, an evaluation can follow as to what type of living being or plant it is, in particular what size the obstacle and/or element has.
- the environment sensor system can also be signal-connected and/or signal-connectable to sensors of an unmanned flying object, for example (e.g. drone).
- an unmanned flying object for example (e.g. drone).
- the at least two chassis structures coupled to the drive train In order to achieve a defined movement and/or steerability of the carrier vehicle, it is possible for the at least two chassis structures coupled to the drive train to be drivable in a working travel direction at the same travel speeds or at different travel speeds, based on actuating signals provided by the control device. Alternatively or additionally, it is possible for the at least two chassis structures coupled to the drive train to be drivable in a direction of road travel at the same driving speeds or at different driving speeds, or to be operable when idling, based on control signals provided by the control device.
- the idling mode is used here in particular when the carrier vehicle is pulled in a road travel direction by a towing vehicle, that is to say it is expediently not moved autonomously or by remote control.
- At least one chassis construction preferably all chassis constructions
- At least one chassis construction can be oriented upright in relation to a working travel direction and/or in relation to a road travel direction Axis.
- at least one chassis construction preferably all chassis constructions
- a steering drive e.g. steering cylinder, steering linkage or the like.
- the carrier vehicle is to be moved along a defined movement route or travel route, which can be defined, for example, by means of a planning program (e.g. lane planning tool).
- a planning program e.g. lane planning tool.
- at least one chassis construction preferably at least two or all chassis constructions, can be actively steered about the upright axis by means of a steering drive (e.g.
- the control device being set up to provide control signals for the steering drive, the control device having at least two, preferably two positioned transversely to the direction of travel at a distance from one another, position determination systems are signal-connected and/or signal-connectable and are set up, a difference in an actual position of the carrier vehicle and/or one with the carrier vehicle to determine the coupled implement on an agricultural area in relation to a target position and to provide actuating signals for the drive train and/or for the steering drive based on a difference. If, for example, snaking movements occur, these can be detected by the position determination systems arranged at a distance from one another, and steering movements can then be carried out in such a way as to counteract these snaking movements.
- the position determination system or systems can be formed by satellite-based position determination systems (e.g. GPS system), alternatively or additionally, the position determination system can also be formed by sensors, for example, which are set up, for example, for lane detection, for example laser scanners for such sensors.
- a so-called geo-fencing system could also be used.
- a combination of the aforementioned position determination systems would also be conceivable.
- the upright axis can be oriented, for example, perpendicularly to the direction of travel for work, but can also be oriented inclined upright relative to the direction of travel for work and can accordingly form a steering angle.
- the drive device can be formed, for example, by one or more electric motors, internal combustion engines and/or the like.
- the drive train can also include a wide variety of components that are set up to transmit a motive force to the chassis structures.
- the assembly device can be formed, for example, by bolt connections, plug-in connections, screw connections, quick-release connections and/or the like.
- a specification according to the invention can also include a definition, calculation, generation and/or the like.
- providing can also include defining, calculating, generating and/or the like.
- the control device has, e.g /or control circuit is expediently designed for hydraulic and/or pneumatic and/or electrical signal and/or command transmission. Which signal and/or command transmission can also take place wirelessly (e.g. via WLAN).
- the control device also includes a corresponding open-loop and/or closed-loop control program.
- control device includes, in particular, the entirety of the components for signal and/or command transmission. Accordingly, computer units, CPUs and/or the like are also included. Control devices integrated in the respective sensors or sensor units or sensor arrangements are also included. It should also be pointed out that the signals and/or data from the sensors/measuring devices/detection devices and/or the like can each be used as feedback for a controlled and/or regulated variable. It should also be pointed out that the terms “control” and “regulation” and “control device” can refer to electronic and/or pneumatic and/or hydraulic controls or regulations which, depending on the training, can take on control tasks and/or regulation tasks. Also if the term “control” is used here, it can also expediently include “rules”. Similarly, when the term “rules” is used, “control” can also be included.
- the invention also includes an autonomous agricultural machine combination.
- the machine combination comprises an autonomous agricultural carrier vehicle as described in this document, in particular an autonomous agricultural carrier vehicle according to one of Claims 1 to 17.
- an agricultural working device with at least one agricultural working tool is coupled to the carrier vehicle, the working tool being set up to carry out an agricultural work process (e.g. distribution of distribution material, tillage measure, harvest measure and/or the like).
- an agricultural work process e.g. distribution of distribution material, tillage measure, harvest measure and/or the like.
- the working device or the working tools can be designed in a wide variety of ways.
- a field sprayer and/or fertilizer spreader so that a spray boom and/or a distribution boom can be attached to the support structure and the working tools can be designed as spray nozzles and/or impact elements and/or the like.
- Implements in the form of tillage implements would also be conceivable.
- control device for providing actuating signals for the drive train, for example and the control device is also set up to select a required control and/or regulation program depending on the respective implement.
- control and/or regulation programs can also be stored for corresponding work tools and the required control and/or regulation program can again be selected depending on the work tool used.
- the selection can be made, for example, automatically by a coding system assigned to the working device and the carrier vehicle and/or can be made manually by an operator.
- the implement has a maximum working width oriented transversely to the direction of travel and the implement is arranged relative to the carrier vehicle in such a way that it is transverse to the direction of travel opposite at least two sides of the frame construction and/or the outermost upright Axis has a minimum overhang area, the minimum overhang area being at least 10%, preferably at least 15% or at least 20% of the maximum working width.
- the minimum overhang area is located opposite at least two non-parallel sides of the essentially trapezoidal or essentially triangular basic shape of the frame construction.
- the machine combination in one direction of travel it has a maximum working width defined by the implement and oriented transversely to the direction of travel, and in a direction of travel on the road it has a minimum transport width defined by the carrier vehicle and oriented transversely to the direction of travel on the road.
- the maximum working width is greater than the minimum transport width, preferably at least twice as large, or at least three times as large, or at least four times as large as the minimum transport width.
- the maximum working width can preferably be at least 9 meters, or at least 12 meters, or at least 15 meters, or at least 18 meters or more.
- the carrier vehicle can have a maximum vehicle width of a maximum of 3 meters or a maximum of 4 meters or a maximum of 5 meters transverse to the direction of travel.
- the machine combination can have a minimum transport width of a maximum of 2.5 meters or a maximum of 3 meters or a maximum of 4 meters or a maximum of 5 meters.
- the implement is arranged between at least two running gear structures arranged one behind the other in the working direction of travel, preferably in such a way that the running gear structures can be pivoted by means of the upright axes at a swivel angle of at least 180° or at least 225° or at least 270° can be rotated, in particular at least approximately 360°.
- improved assembly of the working device on the carrier vehicle can be achieved in particular by mounting the working device, in particular the at least one agricultural working tool, with its entire vertical extension below the frame construction.
- the work process to be carried out using the machine combination includes a distribution of agricultural goods to be distributed, and that the carrier vehicle is assigned a storage container for storing and transporting agricultural goods to be distributed, with the working device assigned working tools are preferably designed as distribution devices and are set up to distribute the agricultural material to be distributed in the required manner on an agricultural area, and the reservoir is operatively technically connected to the distribution devices by means of connecting lines.
- At least one sensor of the environment sensor system may be assigned spatially and/or structurally to the implement and to be and/or be signal-connected to the control device, with the control device being set up to transmit control signals for the drive train based on signals from the implement provide associated sensors of the environment sensors.
- FIG. 1 shows a perspective view of a greatly simplified embodiment of an autonomous agricultural carrier vehicle according to the invention
- FIG. 2 shows a perspective view of an embodiment variant of a frame construction with a main support structure and a joint device
- Figure 3A to 3H different perspective views, top views and side views of an embodiment variant of an autonomous agricultural machine combination.
- FIGS. 1 to 3 correspond at least in part, so that similar or identical parts are provided with the same reference numbers and for their explanation reference is also made to the description of the other embodiments or figures in order to avoid repetition.
- the illustrated embodiments only represent examples of how the autonomous agricultural carrier vehicle according to the invention and the autonomous agricultural machine combination according to the invention can be designed and implemented and do not represent any final limitation.
- Figure 1 shows a perspective view of a greatly simplified embodiment of an autonomous agricultural carrier vehicle 10 according to the invention.
- the carrier vehicle 10 comprises at least one frame structure 20 with mounting devices, which are set up to carry and guide at least one agricultural implement 100 (see Figures 3).
- the carrier vehicle 10 also includes a drive device 40 in the form of a drive motor, wherein the drive motor can be designed as an internal combustion engine, for example, but can alternatively also be designed as an electric motor or as a hybrid motor.
- the drive motor can be designed as an internal combustion engine, for example, but can alternatively also be designed as an electric motor or as a hybrid motor.
- the carrier vehicle 10 also includes a drive train (not shown here) which is coupled (e.g. operatively connected) to at least two chassis structures 50 and is set up in particular to specify a driving speed of the carrier vehicle 10 .
- the drive train can be designed in a manner known per se.
- the carrier vehicle 10 comprises four chassis structures 50 which are mounted on the frame structure 20, but it would be only two or three chassis designs 50 are also conceivable, but five or more chassis designs 50 would also be conceivable.
- the carrier vehicle 10 includes a control device 150 and a signal-connected and/or signal-connectable environment sensor system 160 to the control device.
- the environment sensor system 160 according to FIG. 1 is formed by three sensors shown schematically.
- the carrier vehicle 10 provides that the chassis constructions 50 are each mounted such that they can rotate through at least 90° about upright axes 28 (compare FIG. 1 and, for example, 3C or FIGS. 3E and 3F).
- chassis structures 50 In order to enable good driving characteristics of the carrier vehicle 10, it is provided according to the exemplary embodiments that it has four chassis structures 50, with the chassis structures 50 being arranged relative to one another in such a way that connecting lines VL from each upright axis 28 to two of the respective upright axis 28 at each next lying upright axes 28 form a substantially trapezoidal or basic shape.
- connecting lines VL are drawn in schematically in the top view of FIG. 3E for better understanding.
- the joint device 26 is mounted on the main support structure 24 by means of a rotary bearing 36 oriented essentially in the direction of travel FA. It is possible that the pivoting range of the joint device is limited and/or can be limited in relation to the main support structure 24 .
- the running gear structures 50 are each formed by a single wheel 52, which single wheel 52 is rotatably mounted on the upright axis 28 by means of a wheel suspension 54. It would also be possible, for example, for the drive train to have a wheel motor which is coupled to at least two of the four individual wheels 52. Other types of drives for the individual wheels would also be conceivable or usable.
- the running gear construction 50 could be fitted with a caterpillar drive and/or with two wheels or two Crawler tracks, which form two wheels or two track tracks preferably a twin arrangement and / or a tandem arrangement is formed.
- the wheel suspension 54 is not designed to be adjustable in terms of its height, but height-adjustable wheel suspensions 54 would also be conceivable.
- the carrier vehicle 10 comprises four chassis structures 50 and a frame structure 20 with a main support structure 24 and a joint device 26, with at least two chassis structures 50 being mounted on the joint device 26 and with at least two chassis structures 50 being mounted on the main support structure 24, preferably in edge regions of the articulation device 26 and the main support structure 24 are mounted.
- the running gear structures 50, or the individual wheels 52 of the carrier vehicle 10 are arranged relative to one another in such a way that they form a wheelbase RS in a working direction of travel FA (see e.g. Figure 3G), although it is also conceivable that they are arranged in such a way that they have at least two or form more wheelbases RS that differ from one another.
- chassis constructions 50 or the individual wheels 52 of the carrier vehicle 10 are arranged at least largely opposite one another transversely to the direction of travel FA such that they have at least two track widths SB, which preferably differ from one another (see, for example, FIG. 3F).
- An arrangement would also be conceivable in which only one track width SB is produced.
- the track widths SB relate to chassis structures 50 arranged one behind the other in the direction of working travel, insofar as the chassis structures 50 are formed by, for example, two wheels 52 and/or crawler tracks, these are regarded as one lane according to the present document, with in this case, the track widths SB each relate to a center of, for example, two wheels and/or crawler tracks.
- FIG. 2 shows a perspective view of an embodiment variant of a frame construction 20 as is used, for example, in the carrier vehicle 10 according to FIG.
- the frame structure 20 is composed of a main support structure 24 and a joint device 26 .
- the mounting devices 22 are expediently assigned exclusively to the main support structure 24 .
- the basic shape of the frame construction 20 is adapted to the arrangement of the chassis constructions 40, as a result of which the frame construction 20 also forms an essentially trapezoidal basic shape according to the exemplary embodiments. It should also be noted here that the trapezoidal basic shape is present in the plan view.
- the frame construction 20 comprises a main support construction 24 and a joint device 26.
- the frame construction 20 also has at least four side parts 34, which side parts 34 form a closed basic shape in the working travel direction FA and in the road travel direction FS.
- the side parts 34 are also designed in several parts.
- the frame structure 20, expediently the main support structure 24 and the joint device 26, are each constructed in several parts and are connected by detachable connections (e.g. screw connection) and non-detachable connections (e.g. welding).
- the mounting devices 22 are designed as bolt connections, but plug connections, screw connections, quick-release connections and/or the like could also be used as an alternative or in addition.
- Figures 3A to 3H show different views of exemplary embodiments of an autonomous agricultural machine combination 100, which are described with joint reference to Figures 3A to 3H.
- the machine combination 100 can be moved in a drive travel direction FA (see Figures 3A; 3B; 3E; 3G) or in a road travel direction FS (see Figures 3C; 3D; 3F; 3H), with a travel direction FA; FS is defined by a position of the chassis constructions 50 in each case.
- Figures 3A; 3B; 3C; 3D also show a perspective view, FIGS. 3E and 3F each a top view, and Figures 3G and 3H each a side view of the machine combination 100.
- the autonomous agricultural machine combination 100 comprises an autonomous agricultural carrier vehicle 10 as described in this document, in particular an autonomous agricultural carrier vehicle 10 according to one of claims 1 to 17.
- the machine combination 100 also includes an agricultural implement 110 with at least one agricultural working tool 112, the working tool 112 being set up to carry out an agricultural working process.
- the working device 110 according to the exemplary embodiments is designed as a distribution machine in the form of a sowing machine, expediently a single-grain machine, with the working tools being designed accordingly as single-grain sowing coulters.
- implements 110 or implements would also be conceivable, e.g.
- the implement 110 expediently has a maximum working width Al oriented transversely to the direction of travel FA, with the implement 110 being arranged relative to the carrier vehicle 10 in such a way that it is transverse to the direction of travel FA (or in the direction of travel FS on the road) opposite at least two sides of the frame structure 20, preferably compared to at least two non-parallel sides of the essentially trapezoidal basic shape of the frame construction 20 and/or the respective outermost upright axis 28, has a minimum distance area A3, the minimum overhang area A3 being at least 10%, preferably at least 15% or at least 20% of the maximum working width is Al.
- the maximum working width Al is 12 meters, for example, and the minimum overhang area A3 is at least 1.2 meters on both sides, preferably at least 1.8 meters or at least 2.4 meters, which in this case means the maximum Vehicle width A4 of the carrier vehicle is a maximum of 9.6 meters, preferably a maximum of 8.4 meters or a maximum of 7.2 meters.
- implement 110 has a maximum working width Al oriented transversely to working travel direction FA (and thus in the road travel direction) and in a road travel direction FS a maximum working width Al defined by carrier vehicle 10 and transverse to road travel direction FS (and thus in working travel direction FA).
- the maximum working width Al is greater expediently many times larger than the minimum transport width A5, preferably at least twice as large, or at least three times as large, or at least four times as large.
- the working device 110 is arranged between at least two running gear structures 50 arranged one behind the other in the working travel direction FA.
- the chassis constructions 50 can be rotated by means of the upright axes 28 in a swivel angle a of at least 180° or at least 225° or at least 270°, in particular at least by approximately 360°.
- the swivel angle a in a working travel direction FA or a road travel direction FS can assume any values within the predefined maximum swivel angle a, in particular in order to carry out steering movements, for example.
- the machine combination 100 is used in particular for distributing agricultural material to be distributed, in particular seed, fertilizer or the like, ie the machine combination 100 can be used to distribute seed, fertilizer or the like as a work process.
- a reservoir 30 for storing and carrying along agricultural goods to be distributed is associated with the carrier vehicle 10, in particular spatially and structurally associated with it.
- the reservoir 30 can be functionally connected to distribution devices 114 of the implement 110 expediently by means of connecting lines (e.g. hoses, pipes or the like).
- At least one sensor or two or more sensors of surroundings sensor system 160 is/are spatially and/or structurally assigned to implement 110 and is and/or can be signal-connected to control unit 150 , wherein the control device 150 is set up to provide actuating signals for the drive train based on signals from the sensor of the surroundings sensor system 160 assigned to the implement 110 .
- the invention provides that depending on a 90 ° rotation of the chassis structures 50, the carrier vehicle in a Working travel direction FA or a road travel direction FS is movable.
- the direction of travel FA for work and the direction of travel FS on the road are arranged essentially orthogonally to one another.
- the frame construction 20 has a longitudinal extension 32 , the road travel direction FS being essentially parallel to the longitudinal extension 32 and the working travel direction FA being essentially orthogonal (eg perpendicular) to the longitudinal extension 32 .
- the chassis structures 50 are mounted on the edge areas of the frame structures, in particular in such a way that the frame structure 20 and/or the assembly devices 22 attached to the frame structure 20 are at a height distance from a floor surface (e.g. also the contact area of the chassis structures 50 ) that is at least 0.5 meter or at least 1.0 meter.
- the carrier vehicle 10 forms an essentially U-shaped and/or V-shaped basic shape in the working travel direction FA.
- the carrier vehicle 10 forms an essentially U-shaped and/or V-shaped basic shape transversely to the direction of travel.
- the chassis constructions can each be steered about the upright axis 28 by means of a steering drive 60 (e.g. formed by a steering cylinder), with the control device 150 in turn being set up to provide control signals for the steering drive 60 . It is thus possible for the carrier vehicle 10 or the machine combination 100 to be moved along a required and/or defined movement route or travel route.
- a steering drive 60 e.g. formed by a steering cylinder
- control device 150 In order to detect, for example, yawing or pitching movements or snaking movements of carrier vehicle 10 and/or implement 110 mounted on carrier vehicle 10, the invention also provides for control device 150 to be signal-connected to at least two positioning systems 170, preferably arranged spaced apart transversely to working travel direction FA and/or signal-connectable and is set up to determine a difference between an actual position of carrier vehicle 10 and/or an implement 110 coupled to carrier vehicle 10 on an agricultural area compared to a target position and control signals for the drive train and/or for the Provide steering drive 60 based on a difference.
- Position determination systems 170 can be assigned to carrier vehicle 10 and/or implement 110, or at least one position determination system 170 can be assigned to carrier vehicle 10 and at least one position determination system 1740 can be assigned to implement 110.
- Control device 20 Frame construction 22 Assembly device 160 Surroundings sensors 24 Main support structure 26 Joint device 170 Position determination system 28 Axle 30 Storage container A1 Maximum working width 32 Longitudinal extension A3 Minimum overhang 34 Side part A4 Maximum vehicle width 36 Pivot bearing A5 Minimum transport width
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Environmental Sciences (AREA)
- Mechanical Engineering (AREA)
- Soil Sciences (AREA)
- Insects & Arthropods (AREA)
- Pest Control & Pesticides (AREA)
- Wood Science & Technology (AREA)
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Abstract
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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US18/263,012 US20240081170A1 (en) | 2021-01-26 | 2022-01-24 | Autonomous agricultural carrier vehicle and autonomous agricultural machine |
Applications Claiming Priority (2)
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DE102021101629.0A DE102021101629A1 (de) | 2021-01-26 | 2021-01-26 | Autonomes landwirtschaftliches trägerfahrzeug und autonome landwirtschaftliche maschinenkombination |
DE102021101629.0 | 2021-01-26 |
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WO2022161904A1 true WO2022161904A1 (de) | 2022-08-04 |
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PCT/EP2022/051459 WO2022161904A1 (de) | 2021-01-26 | 2022-01-24 | Autonomes landwirtschaftliches trägerfahrzeug und autonome landwirtschaftliche maschinenkombination |
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US (1) | US20240081170A1 (de) |
DE (1) | DE102021101629A1 (de) |
WO (1) | WO2022161904A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024103172A1 (en) * | 2022-11-15 | 2024-05-23 | Ferme Pfister 2018 Inc. | Modular system for agriculture, related industrial vehicles and methods |
Citations (5)
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WO2016087535A1 (en) | 2014-12-04 | 2016-06-09 | Agco International Gmbh | Automated agriculture system |
US20170164548A1 (en) * | 2014-02-21 | 2017-06-15 | Dawn Equipment Company | Modular Autonomous Farm Vehicle |
DE102017007265A1 (de) * | 2017-08-01 | 2019-02-07 | Kalverkamp Innovation Gmbh | Selbstfahrende Arbeitsmaschine für die Landwirtschaft |
DE102018108025A1 (de) * | 2018-04-05 | 2019-10-10 | Horsch Maschinen Gmbh | Landwirtschaftliches Fahrzeug |
WO2019193080A1 (de) * | 2018-04-05 | 2019-10-10 | Horsch Maschinen Gmbh | Autonomes landwirtschaftliches trägerfahrzeug |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012019002B4 (de) | 2012-09-27 | 2015-05-28 | Bernhard Böckenhoff | Fahrzeug zur Verwendung in der Landwirtschaft |
-
2021
- 2021-01-26 DE DE102021101629.0A patent/DE102021101629A1/de active Pending
-
2022
- 2022-01-24 WO PCT/EP2022/051459 patent/WO2022161904A1/de active Application Filing
- 2022-01-24 US US18/263,012 patent/US20240081170A1/en active Pending
Patent Citations (5)
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US20170164548A1 (en) * | 2014-02-21 | 2017-06-15 | Dawn Equipment Company | Modular Autonomous Farm Vehicle |
WO2016087535A1 (en) | 2014-12-04 | 2016-06-09 | Agco International Gmbh | Automated agriculture system |
DE102017007265A1 (de) * | 2017-08-01 | 2019-02-07 | Kalverkamp Innovation Gmbh | Selbstfahrende Arbeitsmaschine für die Landwirtschaft |
DE102018108025A1 (de) * | 2018-04-05 | 2019-10-10 | Horsch Maschinen Gmbh | Landwirtschaftliches Fahrzeug |
WO2019193080A1 (de) * | 2018-04-05 | 2019-10-10 | Horsch Maschinen Gmbh | Autonomes landwirtschaftliches trägerfahrzeug |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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WO2024103172A1 (en) * | 2022-11-15 | 2024-05-23 | Ferme Pfister 2018 Inc. | Modular system for agriculture, related industrial vehicles and methods |
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DE102021101629A1 (de) | 2022-07-28 |
US20240081170A1 (en) | 2024-03-14 |
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