WO2022253703A1 - Attelage de véhicule utilitaire agricole avec tracteur autonome - Google Patents

Attelage de véhicule utilitaire agricole avec tracteur autonome Download PDF

Info

Publication number
WO2022253703A1
WO2022253703A1 PCT/EP2022/064414 EP2022064414W WO2022253703A1 WO 2022253703 A1 WO2022253703 A1 WO 2022253703A1 EP 2022064414 W EP2022064414 W EP 2022064414W WO 2022253703 A1 WO2022253703 A1 WO 2022253703A1
Authority
WO
WIPO (PCT)
Prior art keywords
implement
vehicle combination
joint
tractor
working
Prior art date
Application number
PCT/EP2022/064414
Other languages
German (de)
English (en)
Inventor
Michael Horsch
Original Assignee
Horsch Maschinen Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Horsch Maschinen Gmbh filed Critical Horsch Maschinen Gmbh
Priority to DE112022002922.6T priority Critical patent/DE112022002922A5/de
Publication of WO2022253703A1 publication Critical patent/WO2022253703A1/fr

Links

Classifications

    • 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
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/04—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor
    • A01B59/041—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor preventing or limiting side-play of implements
    • 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
    • A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
    • A01B59/04—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor
    • A01B59/042—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines pulled or pushed by a tractor having pulling means arranged on the rear part of the tractor
    • 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
    • A01B61/00—Devices for, or parts of, agricultural machines or implements for preventing overstrain
    • A01B61/02—Devices for, or parts of, agricultural machines or implements for preventing overstrain of the coupling devices between tractor and machine
    • 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
    • A01B73/02—Folding frames
    • A01B73/06—Folding frames foldable about a vertical axis
    • A01B73/065—Folding frames foldable about a vertical axis to a position essentially forward of the axis, in relation to the direction of travel
    • 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
    • A01B69/003—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection
    • A01B69/004—Steering or guiding of machines or implements pushed or pulled by or mounted on agricultural vehicles such as tractors, e.g. by lateral shifting of the towing connection 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
    • 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
    • A01B73/00—Means or arrangements to facilitate transportation of agricultural machines or implements, e.g. folding frames to reduce overall width
    • A01B73/02—Folding frames
    • A01B73/04—Folding frames foldable about a horizontal axis
    • A01B73/044—Folding frames foldable about a horizontal axis the axis being oriented in a longitudinal direction

Definitions

  • the invention relates to an agricultural utility vehicle combination having an autonomous tractor and a towed implement.
  • DE 10 2019 211496 A1 discloses an agricultural vehicle combination comprising a traction module designed as an implement carrier with a ground-engaging drive element and a working implement attached to the traction module by means of a coupling device with a folding axle supporting the working implement at least during transport operation relative to the ground.
  • the coupling device has a slewing ring to provide a degree of rotational freedom between the traction module and the implement along a longitudinal axis of the implement and a swivel joint to provide a degree of pivoting freedom between the traction module and the implement along a vertical axis of the traction module.
  • the swivel joint can be adjusted with respect to its swivel angle by means of a steering actuator.
  • the invention is based on the object of creating an improved agricultural utility vehicle combination with an autonomous tractor.
  • the commercial vehicle combination has a joint that articulatedly connects the tractor with the working device at work.
  • the utility vehicle combination has a steering actuator device, by means of which a position of the joint for steering the utility vehicle combination can be adjusted.
  • the implement can be moved between a working position and a transport position. In the transport position, the implement protrudes over the joint counter to a forward travel direction of the commercial vehicle combination. In the transport position, the working device preferably also protrudes over the steering actuator device and/or the towing vehicle, counter to the direction of forward travel.
  • the agricultural utility vehicle combination can enable a particularly compact transport position of the utility vehicle combination by utilizing a space above the joint for a section of the implement, with which the utility vehicle combination can be moved, for example, over public roads.
  • the utilization of the space above the articulation can also make it possible for the implement to have a large working width in the working position and/or a construction that enables the implement to be converted between the working position and the transport position can be set up comparatively easily, since e.g .fewer movable segments must be provided.
  • Each of these advantages can be further enhanced by using a space above the steering actuator device and the tractor by the portion of the implement in the transport position.
  • the agricultural utility vehicle combination also has a further joint, preferably a slewing ring, which connects the towed implement to the tractor so that it can rotate about a longitudinal axis of the towed implement.
  • the implement In the transport position and optionally in the working position, the implement protrudes over the further joint counter to the forward direction of travel.
  • a compact design can thus also advantageously be favored, preferably also in the working position.
  • the further joint is attached to the end face of a frame of the implement illustrated.
  • the steering actuator device is supported on the further joint, preferably on the front side.
  • the implement has a tank for storing agricultural distribution material for distribution by means of the implement, the tank protruding over the further joint counter to the forward direction of travel.
  • the working device has at least one support wheel for supporting the working device in the working position.
  • the at least one support wheel In the transport position, the at least one support wheel is positioned above the joint, above the steering actuator device and/or in a free space between the tractor and the implement, preferably with an alignment plane perpendicular to a longitudinal axis of the implement.
  • a compact construction of the commercial vehicle combination in the transport position can thus also advantageously be promoted.
  • the tractor has a towing device for towing the commercial vehicle combination, the towing device being arranged on the front of the tractor.
  • the towing device is arranged below an environment detection sensor system of the tractor.
  • a favorable relative positioning of the towing device and environment detection sensor system can thus advantageously be achieved, which enables the environment to be detected without being impaired by the towing device and also allows easy access to the towing device.
  • the working device in the working position does not protrude over the joint, the steering actuator device and/or the tractor in the opposite direction to the forward direction of travel.
  • the implement can be folded in from the working position to the transport position and/or folded out from the transport position to the working position.
  • the working device has a total working width in the working position, and the working device protrudes beyond the joint in the transport position against the forward travel direction by >5%, >10% or >25% of the total working width.
  • a large overall working width of the implement can be achieved in comparison to the overall length of the commercial vehicle combination, which does not impair the transport of the commercial vehicle combination or only insignificantly.
  • a section of the implement that protrudes beyond the joint in the transport position in the forward direction of travel has a weight that is 5% to 25% of the total weight of the implement.
  • a center of gravity of the implement that is favorable for maneuvering the working device can thus be achieved.
  • the implement protrudes beyond the joint in the transport position in such a way that the mobility of the joint is unaffected by the implement, or a maximum steering angle range provided by the joint for steering the commercial vehicle combination is at least 90°, at least 120° or at least 150° amounts to. Adequate maneuverability of the commercial vehicle combination during transport can advantageously be achieved in this way.
  • the steering actuator device is switched to inactive, preferably depressurized, in the transport position of the implement, and/or the steering actuator device is switched to active, preferably pressurized, when the implement is in the working position.
  • the steering of the commercial vehicle combination can be taken over by the towing vehicle during transport.
  • the steering actuator device can be activated in the transport position of the implement, preferably with pressure applied (and, for example, to be controlled in the transport position via a communication interface of the commercial vehicle combination).
  • the steering actuator device can advantageously support the steering of the commercial vehicle combination during transport, e.g. B. together with a steering of the towing vehicle that tows the Nutzmalege span.
  • the tractor has a drive train for driving the tractor, and the drive train is switched to inactive when the implement is in the transport position.
  • the drive train is preferably actively switched when the implement is in the working position.
  • the commercial vehicle combination can thus advantageously be driven by the towing vehicle during transport.
  • the towing vehicle and/or the working device has a braking device for braking, and the braking device is actively switched or can be operated in the transport position and the working position of the working device (and is e.g. in the transport position via a communication interface of the commercial vehicle combination).
  • Braking of the commercial vehicle combination can be advantageously supported during transport, e.g. B. together with a braking of the towing vehicle.
  • the joint is (e.g. only) designed to rotate about a vertical axis.
  • the steering actuator device has only one piston-cylinder unit or a plurality of piston-cylinder units.
  • the steering actuator device can be arranged between the tractor and the implement.
  • a further aspect relates to an agricultural utility vehicle combination comprising an autonomous tractor and a towed implement for agricultural soil or plant treatment.
  • the utility vehicle combination has a joint that articulately connects the tractor unit to the working device, and a steering actuator device, by means of which a position of the joint for steering the utility vehicle combination can be adjusted.
  • the commercial vehicle combination has a position determination device, preferably a GNSS position determination device, the position determination device being designed to determine a current position of the commercial vehicle combination.
  • the commercial vehicle combination has a control unit that is configured to operate the steering actuator device as a function of a predetermined route line and the determined current position.
  • Autonomous navigation of the commercial vehicle combination on an agricultural area can thus advantageously be made possible.
  • the autonomous navigation can ensure that the commercial vehicle combination follows the specified route line exactly. In this way, a work result of the implement can be improved in relation to the agricultural area.
  • the predetermined travel route line can preferably have a plurality of parallel lanes to be traveled one after the other, with at least two adjacent lanes being connected to one another at the end by means of a headland.
  • the webs can be straight at least in sections and/or curved at least in sections.
  • the position determination device has at least one GNSS antenna, preferably a GPS antenna.
  • the at least one GNSS antenna is arranged on the towing vehicle, on the articulation and/or on the implement.
  • the at least one GNSS antenna is arranged essentially centrally on the tractor and/or the implement with respect to a transverse axis of the commercial vehicle combination (e.g. transverse axis of the tractor or implement).
  • a transverse axis of the commercial vehicle combination e.g. transverse axis of the tractor or implement.
  • control unit is configured to operate the steering actuator device as a function of the specified route line and the determined current position in such a way that the tractor is guided transversely in such a way that a center point of the tractor follows the specified route line with respect to a transverse axis of the tractor , preferably essentially free of deviations.
  • control unit is configured to operate the steering actuator device, depending on the specified route line and the determined current position, in such a way that the towed implement is guided transversely in such a way that a center point of the towed implement is in relation to a transverse axis of the towed implement follows the predetermined travel route line, preferably essentially free of deviations.
  • this can result in the implement following the travel route line as precisely as possible.
  • control unit is configured to operate the steering actuator device additionally based on predetermined geometry information relating to a dimension of the tractor, the towed implement and/or the truck/trailer combination.
  • the steering maneuvers can thus be further optimized.
  • the specified geometry information assigns a relative position of the at least one GNSS antenna to the joint, to a longitudinal center plane of the commercial vehicle combination, to a longitudinal center plane of the tractor, to a longitudinal center plane of the work device, to the center of the tractor and/or the center of the implement.
  • the longitudinal center plane can extend along a vertical axis of the tractor or implement and be arranged centrally on the tractor or implement with respect to a transverse axis of the tractor or implement.
  • the specified geometry information has a plurality of sets of geometry information relating to different work devices that can be coupled to the tractor. This can advantageously be achieved in that the commercial vehicle combination can be steered as a function of a configuration of the respectively coupled implement.
  • the joint is designed to rotate about a vertical axis.
  • the steering actuator device has only one piston-cylinder unit or a plurality of piston-cylinder units.
  • the utility vehicle combination also has a sensor device that is designed to determine a current position of the joint, preferably directly or indirectly. A further optimization of the steering and an optimized planning of future steering maneuvers can thus advantageously be made possible.
  • the sensor device has an angle potentiometer and/or the sensor device has a position sensor which is coupled to the steering actuator device, preferably for detecting a currently effective length of the steering actuator device.
  • control unit is configured to operate the steering actuator device additionally based on a signal from the sensor device.
  • the route line is specified by a lane planning program that can be operated on an external computing unit.
  • control unit is configured to operate at least one actuator of the implement as a function of the specified route line and the current position determined.
  • control unit can refer to electronics (e.g. with microprocessor(s) and data memory) and/or a mechanical, pneumatic and/or hydraulic controller, which, depending on the training, can perform control tasks and/or control tasks and/or Even if the term “control” is used here, “regulations” or “control with feedback” and/or “processing” can also be included or meant.
  • FIG. 1 shows a perspective view of an agricultural vehicle combination with an implement in a working position according to an exemplary embodiment of the present disclosure
  • FIG. 2 shows a side view of the exemplary agricultural vehicle combination with the implement in the working position
  • FIG. 3 shows a plan view of the agricultural utility vehicle combination, with only one chassis being shown of the working device in question;
  • FIG. 4 shows a plan view of the exemplary agricultural utility vehicle combination with the implement in the working position when driving straight ahead;
  • FIG. 5 shows a plan view of the exemplary agricultural vehicle combination with the implement in the working position during steering
  • FIG. 6 shows a perspective view of the exemplary agricultural utility vehicle combination with the implement in a transport position
  • FIG. 7 shows a side view of the exemplary agricultural vehicle combination with the implement in the transport position
  • FIG. 8 shows a front view of the exemplary agricultural vehicle combination with the implement in the transport position.
  • the embodiments shown in the figures 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.
  • FIGS 1 to 8 show an agricultural utility vehicle combination 10.
  • the agricultural utility vehicle combination 10 has an autonomously operable power car or an autonomously operable tractor 12 and an implement 14 pulled by the tractor 12. It is possible, please include that the implement 14 can be uncoupled from the tractor 12, e.g. B. for coupling another implement to the tractor 12.
  • the tractor 12 is preferably designed without a driver's platform or driver's cab/driver's cab.
  • the tractor 12 is operable autonomously without a driver, as discussed in more detail herein.
  • the tractor 12 can have locomotion elements or traction elements 16 and an environment detection sensor system 18 .
  • the locomotion elements 16 can, for example, be in the form of caterpillar drives or caterpillar drives, as shown in the figures. For the sake of clarity, only the crawler chain or caterpillar chain is shown in the figures, without, for example, showing a drive wheel or a deflection wheel.
  • the tractor 12 can have a drive train that drives the locomotion elements 16 .
  • the drive train can, for example, have an internal combustion engine, an electric motor or a diesel-electric drive. Other drive concepts are also conceivable.
  • the surroundings detection sensor system 18 is designed to determine or detect debris and/or elements present in the area surrounding the agricultural utility vehicle combination 10 .
  • the environment detection sensor system 18 can be designed in such a way that it can detect an environment in the direction of travel in front of and optionally next to the towing vehicle 12 .
  • the environment can preferably be detected over an entire working width of the implement 14 .
  • obstacles such as trees, bushes, other plant obstacles and/or elements and the like can be detected, but preferably also living beings such as animals and/or people.
  • the environment detection sensor system 18 can have, for example, a laser scanner and/or a camera system with, for example, a 3D thermal imaging camera.
  • the environment detection sensor system 18 can alternatively or additionally have at least one 3D camera and/or at least one 3D scanner and/or at least one 3D rig.
  • the environment detection sensor system 18 can alternatively or additionally have at least one infrared sensor.
  • the environment detection sensor system 18 can have at least two environment sensors.
  • the two surroundings sensors can preferably be designed to detect different objects.
  • signals from both environment sensors can thus be evaluated by a control unit of the agricultural commercial vehicle combination 10, e.g. B. as a composite or joint image or generally in the form of an evaluation of a sensor fusion.
  • the two surroundings sensors can preferably detect different physical properties, from which, for example, an evaluation of a type of detected obstacle or element then follows.
  • the type can be evaluated here, for example, in such a way that a statement is possible as to whether the detected obstacle or element is a living being (yes/no), an animal (yes/no), a person (yes/no) etc. acts.
  • the working device 14 it is also possible that such an evaluation is already possible with means of a single environment sensor, e.g. B. with a 3D camera and corresponding picture recognition algorithms. It is additionally or alternatively possible for the working device 14 to have an environment detection sensor system corresponding to the environment detection sensor system 18 .
  • the tractor 12 it is possible for the tractor 12 to have a towing device 19 .
  • the Abschleppvor direction 19 can be arranged on the front of the tractor 12, z. B. below the To environment detection sensors 18 of the tractor 12.
  • At the towing device 19 can, for example, a tow bar for towing the commercial vehicle combination 10 are attached. Before given to the tow bar can be attached to the towing device 19 articulated.
  • a tow truck (not shown) towing the commercial vehicle combination 10 to the Ab towing device 19, z. B. for transporting the commercial vehicle combination 10 on public roads such. B. from a depot to an agricultural field and back.
  • the utility vehicle combination 10 can have a communication interface for communication with the towing vehicle.
  • the communication interface can, for example, enable wireless or wired communication between the towing vehicle and the commercial vehicle combination 10, e.g. B. to transmit information between the towing vehicle and the commercial vehicle combination 10.
  • a drive train of the tractor 12, a braking device of the tractor 12 and/or the implement 14, a steering actuator device 24 of the commercial vehicle combination 10 and/or a Actuator of the implement 14 are controlled.
  • the implement 14 is designed for agricultural soil and/or plant treatment, preferably in several rows.
  • the implement 14 is designed, for example, as a seed drill.
  • the implement can be designed as any other agricultural implement for soil and/or plant treatment, e.g. B. for distributing agricultural distribution goods and / or tillage.
  • the implement 14 is articulated to the tractor 12 .
  • the articulated connection has a joint 20 and optionally a further joint 22 .
  • the joint 20 can allow rotation about a vertical axis.
  • the vertical axis can run through the joint 20 .
  • the vertical axis can be essentially perpendicular to a horizontal plane.
  • the vertical axis can essentially be perpendicular to a longitudinal axis and to a transverse axis of the commercial vehicle combination 10 (the tractor 12 or the implement 14).
  • the joint 20 preferably has a swivel joint, articulated joint and/or universal joint.
  • the joint 20 can enable the commercial vehicle combination 10 to be steered.
  • FIG. 4 shows the commercial vehicle combination 10 driving straight ahead and cornering in FIG.
  • the utility vehicle combination 10 has a steering actuator device 24, as shown in FIG. 3, for example.
  • the steering actuator device 24 can have at least one piston-cylinder unit, for example.
  • the steering actuator device 24 can be operated electromagnetically, hydraulically or pneumatically, for example.
  • a position of the joint 20 about its vertical axis for steering the commercial vehicle combination 10 can be adjustable by means of the steering actuator device 24 .
  • the steering actuation device 24 can be supported on the one hand on the tractor 12 and on the other hand on the implement 14 .
  • the steering actuator device 24 can particularly preferably be located on the end face of the further joint 22, e.g. B. an end plate of the other joint 22, support.
  • the additional joint 22 can couple the implement 14 to the tractor 12 such that it can be rotated about a longitudinal axis of the implement 14 .
  • a relative rolling movement between the tractor 12 and the implement 14 can preferably be made possible in this way.
  • the other joint 22 can be preferably designed as a slewing ring.
  • the further joint 22 can preferably be attached to the front of a frame of the implement 14 .
  • a tank 26 for agricultural distribution material e.g. seed, fertilizer or crop protection agent protrudes over the further joint 22 counter to a forward direction of travel, as is shown in FIG. 2, for example.
  • At least one sensor device 21 can be assigned to the joint 20 and/or the further joint 22 .
  • the sensor device 21 is designed to determine a current position of the joint 20 or of the further joint 22 . The determination can be made directly at the respective joint 20, z. B. by means of an angle potentiometer. However, it is also possible for the sensor device 21 to determine the current position only indirectly.
  • the sensor device 21 can have a position sensor for indirectly determining a current position of the joint 20 .
  • the position sensor can be coupled to the steering actuator device 24, preferably for detecting a currently effective length of the steering actuator device 24.
  • the implement 14 can have at least one traction element or locomotion element 28 in order to support itself on the ground. As shown by way of example, the at least one locomotion element 28 can be designed as a wheel.
  • the implement 14 can have at least one actuator, such as an electrical, hydraulic and/or pneumatic actuating element, a motor, a valve, etc.
  • the actuators can be preferably designed to operate working tools of the working device 14 . For example, actuators for distributing agricultural material to be distributed and/or for adjusting the depth of seed and/or tillage tools or the like can be included.
  • the tool 14 can preferably be moved between a working position and a transport position, preferably by means of at least one actuator of the tool 14.
  • FIGS. 1, 2, 4 and 5 show the tool 14 in the working position.
  • Figures 6 to 8 show the implement 14 in the transport position.
  • the implement 14 In the working position, the implement 14 is positioned for field work. In the transport position, the implement 14 is for transport, z. B. on public roads positioned. In the transport position, a width of the implement 14 can be significantly reduced compared to a (working) width of the implement 14 in the working position. In the transport position, the commercial vehicle can span 10, for example. Be towed by the towing device 19.
  • the movement between the working position and the transport position can, for example, have a folding or pivoting movement.
  • the implement 14 can be folded out from the transport position to the working position and folded in from the working position to the transport position.
  • the movement can preferably be brought about by actuators.
  • the actuators can be, for example, electromagnetic actuators, hydraulic actuators and/or pneumatic actuators.
  • a portion of the implement 14 can protrude against a forward direction of the commercial vehicle combination 10 via the joint 20, the additional joint 22, the steering actuator device 24 and/or the tractor 12.
  • the section of the working device 14 cannot protrude beyond the tractor 12, the steering actuator device 24 and the steering linkage 20. Instead, in the working position, this section can be positioned at a rear end of the implement 14 in relation to the forward direction of travel, preferably at opposite outer end regions of the implement 14.
  • the section of the implement 14 that protrudes in the transport position is dimensioned such that it protrudes beyond the joint by >5%, >10% or >25% of a total working width of the implement 14 in the working position along a longitudinal axis of the commercial vehicle combination 10 . It is also possible for the section of the implement 14 that protrudes in the transport position to be dimensioned in such a way that it weighs 5% to 25% of the total weight of the implement 14, e.g. B. > 5%, > 10% or > 20% of the total weight.
  • the implement 14 preferably protrudes beyond the joint 20 in the transport position in such a way that the mobility of the joint 20 about its vertical axis is unaffected by the implement 14 .
  • a steering angle made available by the joint 20 for steering the commercial vehicle combination 10 can still be at least 90°, at least 120° or at least 150°.
  • the working device 14 can particularly preferably have at least one support wheel 30 for supporting the working device 14 only in the working position.
  • the at least one support wheel 30 can be arranged on that section of the implement 14 which protrudes over the joint 20 when the implement 14 is in the transport position.
  • the at least one support wheel 30 can be positioned in the transport position in a free space between the tractor 12 and the implement 14 above the joint 20 Ge without touching the ground.
  • the at least one support wheel 30 preferably does not restrict the mobility of the joint 20 in the transport position of the implement 14 or at least only within the scope of the steering angle ranges already mentioned above.
  • the at least one support wheel 30 can be positioned, preferably at a rear end of the implement 14 with respect to a forward direction of travel of the commercial vehicle combination 10, preferably at opposite outer end regions of the implement 14.
  • the orientation of the at least one support wheel can preferably change 30 between tween the transport position and the working position of the implement 14 change.
  • the at least one support wheel 30 can be aligned in an alignment plane parallel to a longitudinal axis of the implement 14 .
  • the at least one support wheel 30 can be aligned perpendicularly thereto or in an alignment plane perpendicularly to a longitudinal axis of the implement 14 .
  • steering actuator device 24 can be switched to be inactive, preferably depressurized, and/or the drive train of tractor 12 can be switched to inactive, and/or a braking device of tractor 12 and/or implement 14 can be activated be.
  • steering actuator device 24 can be switched to be active, preferably under pressure, and/or the drive train of tractor 12 can be switched to be active, and/or a braking device of tractor 12 and/or implement 14 can be actively switched.
  • the utility vehicle combination 10 can have a position determination device 32 .
  • the position determination device 32 can continuously determine a current position or actual position of the commercial vehicle combination 10 .
  • the position determining device 32 is a GNSS (Global Navigation Satellite System) position determining device, e.g. B. a GPS positioning device.
  • GNSS Global Navigation Satellite System
  • the position determination device 32 can have one or more GNSS antennas, preferably GPS antennas.
  • the at least one GNSS antenna may be disposed on the tractor 12 (as shown), the implement 14, and/or the articulation 20.
  • the at least one GNSS antenna is preferably arranged essentially centrally on the commercial vehicle combination 10 with respect to a transverse axis of the commercial vehicle combination 10 .
  • the commercial vehicle combination 10 also has a control unit 34 .
  • the control unit 34 is preferably arranged in the tractor 12 .
  • the commercial vehicle combination 10 can be operated autonomously by means of the control unit 34 .
  • the control unit 34 for operating the commercial vehicle combination 10 can be in communication with the drive, the braking device, the communication interface, the steering actuator device 24, the sensor device 21 and/or the at least one actuator of the implement 14, e.g. B. to catch information and / or issue control commands.
  • the control unit 34 can enable autonomous operation of the commercial vehicle combination 10 .
  • the control unit 34 can operate the commercial vehicle combination 10 in a first or autonomous operating mode.
  • the control unit 34 can operate the commercial vehicle combination 10 in a second and/or third operating mode.
  • the control unit 34, the commercial vehicle combination 10 to follow a predetermined route line, z. B. operate on an agricultural area.
  • the travel route line can, for example, be specified in a computer-aided manner by means of a so-called lane planning program.
  • the travel route line can be created on an external computing unit.
  • the route line can be transmitted to the control unit 34, e.g. B. by means of the communication interface of the commercial vehicle combination 10.
  • Following the specified travel route line can have a longitudinal guidance and a lateral guidance of the commercial vehicle combination 10 .
  • control unit 34 can be configured to the drive and the Bremsvor direction of the commercial vehicle combination 10 depending on the specified route line and the respective current position of the commercial vehicle combination 10, which is determined by the device 32 Positiondeterminationsvor to operate.
  • control unit 34 can be configured to operate the steering actuator device 24 to steer the commercial vehicle combination 10 depending on the specified route line and the respective current position of the commercial vehicle combination 10, which is determined by the position determination device 32.
  • the transverse guide can be implemented in different ways. In the case of transverse guidance, the control unit 34 can use signals from the sensor device 21 which indicate a position of the joint 20 .
  • the steering actuator device 24 can be operated in such a way that a center point of the tractor 12 with respect to a transverse axis of the tractor 12 follows the specified travel route line, preferably essentially without deviation with respect to the lateral guidance.
  • the GNSS antenna of the tractor 12 or the joint 20 associated GNSS antenna can be arranged at this center, or the GNSS antenna of the tractor 12 or the joint 20 associated GNSS antenna can with the center in a be positioned in common longitudinal center plane of the tractor 12.
  • control unit 34 can, for example, additionally use specified geometry information relating to a dimension of tractor 12, preferably a position of the GNSS antenna relative to joint 20, to the longitudinal center plane and/or to the center point of tractor 12 .
  • the steering actuator device 24 can be operated in such a way that a center point of the implement 14 with respect to a transverse axis of the implement 14 follows the specified travel route line, preferably essentially without deviation with respect to the lateral guidance.
  • the GNSS antenna of implement 14 may be positioned at this midpoint, or the GNSS antenna of implement 14 may be positioned with the midpoint in a common longitudinal center plane of implement 14 .
  • the GNSS antenna of the working device 14 it is also possible, for example, for the GNSS antenna of the working device 14 to be positioned eccentrically with respect to the longitudinal center plane of the working device 14 .
  • control unit 34 can additionally use, for example, predetermined geometry information relating to a dimension of implement 14, preferably a relative position of the GNSS antenna to the longitudinal center plane and/or to the center point of implement 14, for lateral guidance. If the control unit 34 uses the geometry information, it is possible for the control unit 34 to have several sets of geometry information for different implements (e.g. implement 14) that can be coupled to the tractor 12.
  • control unit 34 in the first operating mode can also operate the at least one actuator of the implement 14, if present, depending on the specified travel route line and the determined current position.
  • Position-dependent work instructions can be stored for the at least one actuator of implement 14, so that, for example, depending on the current position, an application quantity of a material to be distributed is adjusted (e.g. reduced, increased or interrupted) and/or a working depth of the Implement 14 adjusted (e.g. increased or decreased).
  • the first operating mode can be overridden temporarily and autonomously.
  • the control unit 34 can operate the commercial vehicle combination 10 depending on obstacles and/or elements detected by the environment detection sensor system 18 . For example, in the second operating mode, a detected obstacle can be avoided, the driving speed of the commercial vehicle combination 10 can be reduced, or an emergency stop of the commercial vehicle combination 10 can be initiated.
  • the first operating mode and the second operating mode can be overridden.
  • the third operating mode can preferably be executed as a function of work instructions specified by an operator using a user interface.
  • the third operating mode can include coupling to an input device with which commercial vehicle combination 10, preferably the drive, the braking device, the communication interface, the steering actuator device 24 and/or the at least one actuator of implement 14 can be operated in a manually controlled manner.
  • the third operating mode can preferably be carried out independently of the first or second operating mode and/or of obstacles and/or elements detected by the environment detection sensor system 18 .
  • the invention is not limited to the preferred embodiments described above. Rather, a large number of variants and modifications are possible, which also make use of the idea of the invention and therefore fall within the scope of protection.
  • the invention also claims protection for the subject matter and the features of the subclaims independently of the claims referred to.
  • the individual features of independent claim 1 are each disclosed independently of one another.
  • the features of the subclaims are also independent of all features of the independent Claim 1 disclosed. All ranges disclosed herein are understood to mean that all values falling within each range are equally disclosed, e.g. B. also as the respective preferred narrower outer limits of the respective area.

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Soil Sciences (AREA)
  • Environmental Sciences (AREA)
  • Zoology (AREA)
  • Soil Working Implements (AREA)
  • Guiding Agricultural Machines (AREA)

Abstract

L'invention concerne un attelage de véhicule agricole (10) comprenant un tracteur autonome (12) et un dispositif de travail remorqué (14) pour le traitement agricole du sol ou des plantes. Dans une position de transport, le dispositif de travail (14) fait saillie au-dessus d'une articulation (20) entre l'unité tracteur (12) et le dispositif de travail (14) à l'opposé de la direction de déplacement avant de l'attelage de véhicule agricole (10).
PCT/EP2022/064414 2021-06-04 2022-05-27 Attelage de véhicule utilitaire agricole avec tracteur autonome WO2022253703A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112022002922.6T DE112022002922A5 (de) 2021-06-04 2022-05-27 Landwirtschaftliches nutzfahrzeuggespann mit autonomer zugmaschine

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE202021103034.8U DE202021103034U1 (de) 2021-06-04 2021-06-04 Landwirtschaftliches Nutzfahrzeuggespann mit autonomer Zugmaschine
DE202021103034.8 2021-06-04

Publications (1)

Publication Number Publication Date
WO2022253703A1 true WO2022253703A1 (fr) 2022-12-08

Family

ID=82067621

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2022/064414 WO2022253703A1 (fr) 2021-06-04 2022-05-27 Attelage de véhicule utilitaire agricole avec tracteur autonome

Country Status (2)

Country Link
DE (2) DE202021103034U1 (fr)
WO (1) WO2022253703A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018108024A1 (de) * 2018-04-05 2019-10-10 Horsch Maschinen Gmbh Autonomes landwirtschaftliches Trägerfahrzeug
WO2020106143A1 (fr) * 2018-11-22 2020-05-28 Agxeed B.V. Tracteur autonome et procédé pour cultiver des terres agricoles à l'aide de ce tracteur
DE102019211496A1 (de) 2019-08-01 2021-02-04 Deere & Company Landwirtschaftliches Fahrzeuggespann

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102018108024A1 (de) * 2018-04-05 2019-10-10 Horsch Maschinen Gmbh Autonomes landwirtschaftliches Trägerfahrzeug
WO2020106143A1 (fr) * 2018-11-22 2020-05-28 Agxeed B.V. Tracteur autonome et procédé pour cultiver des terres agricoles à l'aide de ce tracteur
DE102019211496A1 (de) 2019-08-01 2021-02-04 Deere & Company Landwirtschaftliches Fahrzeuggespann

Also Published As

Publication number Publication date
DE112022002922A5 (de) 2024-03-14
DE202021103034U1 (de) 2022-09-06

Similar Documents

Publication Publication Date Title
EP3772879B1 (fr) Véhicule porteur agricole autonome
EP2621257B1 (fr) Combinaison constituée d'un véhicule tracteur et d'un appareil
DE102010021178B3 (de) Kraftfahrzeug mit Achsschenkel- und Knicklenkung
DE102018108025A1 (de) Landwirtschaftliches Fahrzeug
EP2821322B1 (fr) Véhicule doté de plusieurs programmes de direction
DE102020209832A1 (de) Knickgelenktes arbeitsfahrzeug mit lenkungsauswahl
DE102019119008A1 (de) System zur objekterfassung und arbeitsaufsatzstellungserfassung
EP3732945B1 (fr) Technique de la génération d'un profil de terrain à l'aide d'une machine agricole
DE102020210178A1 (de) Verbesserung der automatischen führungsleistung und transport mit knickgelenkter maschinenform
EP3469898B1 (fr) Machine d'épandage agricole et procédé de commande d'une telle machine d'épandage
WO2022253703A1 (fr) Attelage de véhicule utilitaire agricole avec tracteur autonome
DE102021114420A1 (de) Landwirtschaftliches Nutzfahrzeuggespann mit autonomer Zugmaschine
WO2022161904A1 (fr) Véhicule porteur agricole autonome, et combinaison de machines agricoles autonomes
EP0905008B1 (fr) Véhicule porteur
DE102021129248A1 (de) Landwirtschaftliches Nutzfahrzeug mit verbesserter Lenkung
DE60004040T2 (de) Zugeinrichtung für ein landwirdschaftliches gerät
EP3584142B1 (fr) Procédé de détermination d'une trajectoire de consigne pour la réalisation d'une man uvre d'un attelage de véhicule
EP3469899A1 (fr) Machine d'épandage agricole et procédé de commande d'une telle machine d'épandage
DE69608946T2 (de) Selbstangetriebenes Fahrzeug
DE102013107419B4 (de) Zugeinrichtung für ein Bodenbearbeitungsgerät
EP3469897B1 (fr) Machine d'épandage agricole et procédé de commande d'une telle machine d'épandage
DE102022112166A1 (de) Selbstfahrende Arbeitsmaschine für die Landwirtschaft
DE102020132836A1 (de) Landwirtschaftliches Fahrzeuggespann
DE102021130011A1 (de) Selbstfahrende landwirtschaftliche Arbeitsmaschine
DE102020213979A1 (de) Automatisches Führen eines Regelpunktes eines Fahrzeuggespannes entlang einer Soll-Trajektorie

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22730854

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 112022002922

Country of ref document: DE

REG Reference to national code

Ref country code: DE

Ref legal event code: R225

Ref document number: 112022002922

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 22730854

Country of ref document: EP

Kind code of ref document: A1