DE102015108054B4 - Method and control device for operating an agricultural loading wagon - Google Patents

Abstract

Method for operating an agricultural loading wagon (1), wherein the loading wagon (1) has a loading unit (2) with the aid of which, during a loading process of the loading wagon (1), crops can be picked up and transferred into a loading space (3) of the loading wagon (1), wherein the loading wagon (1) further has a transport device (4) with the aid of which, during the loading process of the loading wagon (1), the crops can be transported within the loading space (3) in the direction of an unloading flap (6) of the loading wagon (1), and wherein the loading wagon (1) further has at least one sensor with the aid of which a loading state of the loading wagon (1) can be detected, namely a sensor (13) for detecting a measurement signal dependent on the mass of the loading wagon (1) and a sensor (14) for detecting a measurement signal dependent on a free loading space (3) of the loading wagon (1), characterized in that an increase in the mass of the loading wagon (1) and a free Loading space (3) of the loading wagon (1) are determined, wherein the increase in mass and the free loading space (3) of the loading wagon (1) are offset against a predetermined target total weight of the loading wagon (1) to determine a feed rate for the transport device (4) such that the loading wagon (1) is loaded while maintaining the target total weight of the loading wagon (1) and with predetermined utilization of the free loading space (3), wherein the feed rate for the transport device (4) is further determined depending on a loading strategy that can be preselected by the operator, namely a loading strategy that protects the crop, a loading strategy according to which more crop is loaded into the front area of the loading space (3) and less into the rear area, or a loading strategy according to which more crop is loaded into the rear area of the loading space (3) and less into the front area.

Description

The invention relates to a method for operating an agricultural loading wagon according to the preamble of claim 1. Furthermore, the invention relates to a control device for operating an agricultural loading wagon.

Agricultural loader wagons with a loading unit for loading the loader wagon with crops such as cut grass, cut hay or cut straw are well known. Such an agricultural loader wagon is typically pulled by a towing vehicle such as a tractor along a crop that has been gathered into a swath on a surface.

The loading unit of such an agricultural loading wagon typically comprises a receiving device, a conveying device and a cutting device, whereby the harvested crop can be picked up from the ground with the aid of the receiving device of the loading unit, particularly when the loading wagon is moving along a swath. Such a receiving device is also referred to as a pickup. The conveying device of the loading unit serves to convey the harvested crop picked up with the aid of the receiving device towards the cutting device of the loading unit, whereby the conveying device is also referred to as a rotor. The cutting device of the loading unit comprises several cutting blades with the aid of which the harvested crop can be chopped up.

The harvested crop, which is picked up and chopped using the loading unit of the loading wagon, can be transferred to a loading area of the loading wagon. The harvested crop can be transported further in the loading area of the loading wagon in the direction of an unloading flap, preferably using a transport device of the loading wagon designed as a scraper floor that extends along the loading area of the loading wagon.

In addition to the loading unit and the transport device, an agricultural loading wagon has a filling flap, which, like the loading unit, is positioned in a front area of the loading wagon. While the loading unit is arranged in a lower front area of the loading wagon, the filling flap is positioned in an upper front area of the loading wagon. During the loading process of the loading wagon, the crop can be pressed against the filling flap to compact it. During the loading process of the loading wagon, the filling flap then presses against the chopped crop with a force to compact it.

Such a loading wagon is from the DE 41 22 024 A1 The loading wagon known from this state of the art has a loading unit in a lower front area, a filling flap in an upper front area, which is also referred to as a pressing flap, and a transport device designed as a scraper floor, with the help of which the crop can be cyclically transported towards the unloading flap, which is closed during the loading process of the loading wagon.

Another agricultural loading wagon is from the DE 10 2007 057 645 B4 From this prior art it is known that an agricultural loading wagon has means for detecting a loading state of the loading wagon, these means being DE 10 2007 057 645 B4 is designed as an ultrasonic sensor, with the help of which a free loading space of the loading wagon can be measured.

When loading an agricultural loading wagon, the loading process should be carried out optimally, preferably in such a way that, on the one hand, the target total weight of the loading wagon is used as far as possible, and that the loading of the loading wagon with crops is carried out as gently as possible, with maximum use of the loading space of the loading wagon and as little compression of the crops as possible. This is not possible automatically with loading wagons known from the state of the art; instead, the use of the free loading space while maintaining the target total weight is left to the skill of the operator or driver.

There is therefore a need for a method for operating an agricultural loading wagon and for a control device for carrying out the method, by means of which the loading process can be improved.

Proceeding from this, the present invention is based on the object of creating a novel method for operating an agricultural loading wagon and a corresponding control device.

This object is achieved by a method for operating an agricultural loading wagon according to claim 1.

According to the invention, an increase in mass of the loading wagon and a free loading space of the loading wagon are determined, whereby the increase in mass and the free loading space of the loading wagon are compared with a predetermined target total weight of the loading wagon to determine a feed rate for the transport device must be calculated in such a way that the loading wagon is loaded in compliance with the target total weight of the loading wagon and with a specified utilisation of the free loading space.

The invention allows an agricultural loading wagon to be automatically loaded up to the target total weight of the loading wagon and with maximum use of the free loading space. For this purpose, an increase in the mass of the loading wagon and a free loading space of the loading wagon are recorded depending on measurement signals. These recorded values are offset against the target total weight of the loading wagon in order to calculate a typically cyclical feed for the transport device of the loading wagon, which is typically designed as a scraper floor, in such a way that the loading wagon is loaded while maintaining the specified target total weight, preferably with maximum use of the free loading space and with as little compression of the crop as possible. This means that an optimal loading result for the agricultural loading wagon can then be achieved automatically, regardless of the skill of the driver.

According to one embodiment of the invention, the loading wagon is preferably loaded at least at the beginning of the loading process when the transport device is at a standstill until the crop presses against a filling flap of the loading wagon with a defined force and/or until a defined fill level of the loading wagon is reached and/or until a defined period of time has elapsed, wherein the increase in mass of the loading wagon and the free loading space of the loading wagon are then recorded in order to determine the feed for the transport device depending on this. This makes it possible to easily and reliably record the increase in mass of the loading wagon at the beginning of the loading process in correlation with a part of the loading space of the loading wagon filled by the loaded crop mass in order to automatically determine the feed for the transport device of the loading wagon depending on this.

According to the invention, the feed rate for the transport device is also determined depending on a loading strategy selected by the operator. If a loading strategy that protects the crop is specified by the operator, the use of the free loading space is given higher priority than the use of the target total weight of the loading wagon when determining the feed rate for the transport device. This allows a loading wagon to be loaded automatically in a way that protects the crop, using the free loading space of the loading wagon, with the mass of the crop being distributed almost evenly in the loading space.

According to another loading strategy, the support force on the trailer drawbar of the loading wagon can be increased so that the drive wheels of the towing vehicle have a greater friction force available for propulsion. In this case, the invention specifies that more crops are loaded into the front area of the loading area and less into the rear area. In order to achieve this load distribution, the feed rate for the transport device is determined accordingly.

According to a further loading strategy, more weight can be supported by the wheels of the loading wagon in order to make better use of their braking force. In this case, the invention specifies that more crops should be loaded into the rear area of the loading area and less into the front area. In order to achieve this load distribution, the feed rate for the transport device is determined accordingly.

The desired load distribution or the utilization of the loading space could, for example, be specified as a percentage, for example by specifying what percentage of the specified target total weight or the loaded weight should be in the front or rear half of the loading space.

Preferably, according to the invention, a pre-selection option is provided for the loading strategy which is gentle on the crop, the loading strategy according to which more crop is loaded into the front area of the loading space and less into the rear area, and the loading strategy according to which more crop is loaded into the rear area of the loading space and less into the front area.

According to an advantageous further development, the increase in mass of the loading wagon and the free loading space of the loading wagon are measured cyclically at intervals in order to cyclically adjust the feed for the transport device depending on this. This allows a particularly advantageous loading of the loading wagon.

The control device for operating the agricultural loading wagon is defined in claim 4.

• 1 einen landwirtschaftlichen Ladewagen nach dem Stand der Technik;
• 2 ein Blockschaltbild zur weiteren Verdeutlichung der Erfindung.

Preferred developments of the invention result from the subclaims and the following description. Embodiments of the invention are given without being limited to be explained in more detail using the drawing. It shows:

• 1 an agricultural loading wagon according to the state of the art;
• 2 a block diagram to further clarify the invention.

The present invention relates to a method and a control device for operating an agricultural loading wagon.

1 shows the basic structure of an agricultural loading wagon 1, whereby the loading wagon 1 shown is a loading wagon 1 pulled by a towing vehicle. The agricultural loading wagon 1 can be coupled to the towing vehicle via an articulated drawbar 9. To load the loading wagon 1 with crop, the loading wagon 1 is pulled by a towing vehicle (not shown) along the crop combined into a swath, whereby a loading unit 2 of the loading wagon 1 serves to pick up the crop from a surface and to load a loading space 3 of the loading wagon 1 with the crop.

The loading unit 2 of the loading wagon 1 is positioned at the bottom in a front area 11 of the loading wagon 1 and comprises a receiving device 2a, which serves to pick up the crop from a subsoil or ground. This receiving device 2a is also referred to as a pickup. The loading unit 2 also has a conveyor device 2b and a cutting device 2c, whereby the conveyor device 2b serves to transport the crop from the receiving device 2a in the direction of the cutting device 2c. In the area of the cutting device 2b, the crop can be chopped up and conveyed as chopped crop into the loading space 3 of the transport wagon 1.

A transport device 4, which is preferably designed as a scraper floor, is used to transport the harvested crop in the loading space 3. The scraper floor typically has link chains and transport strips in order to transport the harvested crop picked up by the loading unit 2 at the bottom in the front area 11 adjacent to a front wall 5 of the loading wagon 1 in the direction of a rear area 12 or in the direction of an unloading flap 6 of the loading wagon 1.

The transport device 4 designed as a scraper floor has in the embodiment of the 1 adjacent to the loading unit 2, a section 7 which can be pivoted about an axis 10 in the direction of arrow 8.

While the loading unit 2 is only active during a loading process of the loading wagon 1, the transport device 4 is active during a loading process and an unloading process. During a loading process, the transport device 4, which is preferably designed as a scraper floor, is used to transport the crop in the direction of the closed unloading flap 6. During an unloading process, the transport device 4 is used to transport the crop in the direction of the open unloading flap 6.

The transport trolley 1 preferably also has a filling flap 18 positioned in the upper front area 11 thereof (see 2 ). The filling flap 18 can be pivoted or moved about an axis 19. The filling flap 18 can form an upper section of the front wall 5 of the loading wagon 1 or can be designed as a separate assembly separated from the front wall 5.

The present invention now relates to such details with the aid of which an agricultural loading wagon 1 can be operated in such a way that an optimal loading state for the loading wagon 1 can be realized automatically.

For this purpose, an increase in mass of the loading wagon 1 and the free loading space 3 of the loading wagon 1 are determined by measurement.

The increase in mass of the loading wagon 1 is preferably determined with the aid of a sensor 13, which serves to detect the mass of the loading wagon 1 or a measurement variable dependent thereon.

The free loading space 3 of the loading wagon 1, ie the area not yet filled or not yet covered with crops, can be detected, for example, with the help of an ultrasonic sensor 14, which is positioned in the area of the unloading flap 6 of the loading wagon 1 or in the rear area 12 of the loading wagon 1. Such an ultrasonic sensor is known, for example, from the DE 10 2007 057 645 B4 known.

Of course, other measuring signals can also be provided to detect the loading space 3 or a still free loading volume or an area of the loading wagon 1 that can still be occupied with cargo.

The loading space 3 can be recorded, for example, with a camera that takes three-dimensional images. By evaluating the images, the free loading space can be determined or it can be determined how much of the loading space is not yet occupied by crops.

Likewise, for example, a laser sensor could be provided to detect the loading space 3.

From the recorded increase in mass of the loading wagon 1 and from the determined or measured free loading space 3 of the loading wagon 1, a feed for the transport device 4 is calculated depending on the specified target total weight of the loading wagon 1, with the aid of which a drive 15 of the transport device 4 is controlled, namely in such a way that the loading wagon 1 is loaded until the target total weight of the loading wagon 1 is reached and with the specified utilization of the free loading space 3 of the same.

2 shows a highly schematic view of the loading space 3 of the loading wagon 1 with the sensor 13 for detecting the increase in mass of the loading wagon 1 and with the sensor 14 for detecting the free loading space 3 of the loading wagon 1. As already explained, the increase in mass of the loading wagon 1 and the free loading space 3 of the same are measured. To do this, at the start of the loading process, with the transport device 4 stationary, the loading wagon 1 is loaded until the crop 16, which is transferred into the loading space 3 at the start of the loading process with the transport device 4 stationary, presses against the filling flap 18 of the loading wagon 1 with a defined force and/or until a defined fill level of the loading wagon 1 is reached and/or until a defined period of time of the loading process has elapsed.

As soon as one or more of these criteria are met, the start of the loading process is completed and then the resulting increase in mass of the loading wagon 1 and the remaining free loading space 3 of the loading wagon 1 are determined with the aid of the quantities measured by the sensors 13 and 14.

The measurement signals provided by the sensors 13, 14 are evaluated in a control device 17 and offset against the target total weight of the loading wagon 1 in order to determine the feed for controlling the drive 15 for the transport device 4, namely in such a way that the target total weight of the loading wagon 1 is not exceeded during the loading process and/or the free loading space 3 of the loading wagon 1 is used to the maximum.

Preferably, the feed rate for the transport device 4 of the loading wagon 1 is determined by the control device 17 in such a way that the target total weight of the loading wagon 1 is utilized as much as possible, and that the free loading space 3, i.e. the part of the loading space 3 that is not yet filled, is utilized to such an extent as to ensure that the loading wagon 1 is loaded as far as possible up to its target total weight while protecting the crop as much as possible. This means that the invention specifies that the loading space 3 is utilized in such a way that the crop is distributed as evenly as possible in the loading space 3, at least after the loading process has been completed.

When determining the feed rate for the transport device 4, it is intended to continue to take into account an operator-side loading strategy, whereby the operator can, for example, determine a loading strategy that is as gentle on the crop as possible or a loading strategy that maximizes mass.

If the operator defines a loading strategy that protects the crop, i.e. if the crop is to be loaded into the loading space 3 of the loading wagon 1 with as little pressure as possible, the maximum utilization of the free loading space 3 is given higher priority when determining the feed rate for the transport device 4 of the loading wagon 1 than the maximum utilization of the target total weight of the loading wagon 1. Depending on the recorded increase in mass during the loading process and the available free loading space 3, a higher feed rate is then determined for the transport device 4, which is preferably designed as a scraper floor, than if a mass-maximizing loading strategy is selected by the driver.

According to an advantageous development of the invention, it can be provided that the increase in mass of the loading wagon 1 and the free loading space 3 thereof are recorded cyclically at defined time intervals in order to then recalculate the feed for the transport device 4 in a cyclically adjusted manner in order to take account of changing boundary conditions, for example a changing mass of the crop.

The invention therefore allows an optimal loading of an agricultural loading wagon 1 in an automated manner. At the beginning of the loading process, a certain learning phase takes place in which an increase in the mass of the loading wagon 1 and the free loading space 3 of the loading wagon 1 are recorded. Depending on these recorded values and depending on the target total weight of the loading wagon 1 and possibly depending on a loading strategy selected by the operator, the feed for the transport device 4 is determined in order to provide an optimal loading result for the loading wagon 1. In particular, this is done in such a way that the target total weight is used as far as possible, namely with maximum use of the available free loading space 3, in order to have as large a mass of crop as possible in the loading space 3 of the loading wagon 1 and, on the other hand, to carry out this loading in a way that is as gentle on the crop as possible.

The invention further relates to a control device 17 for carrying out the method. The control device 17 is preferably an electrical or electronic control device that has means for carrying out the method. These means are hardware-side means and software-side means. The hardware-side means include data interfaces for exchanging data with the components involved in carrying out the method according to the invention, in particular with the sensors 13, 14 and the drive 15. The hardware-side means also include a memory for storing data and a processor for processing data. The software-side means include program modules for carrying out the method according to the invention.

list of reference symbols

1

loading wagon

2

charging unit

2a

reception facility

2b

conveyor system

2c

cutting device

3

cargo space

4

transport device

5

front wall

6

unloading hatch

7

Section

8

Movement

9

articulated drawbar

10

axis

11

front area

12

rear area

13

sensor

14

sensor

15

drive

16

crop

17

control device

18

filling flap

19

axis

Claims (4)

Method for operating an agricultural loading wagon (1), wherein the loading wagon (1) has a loading unit (2) with the aid of which, during a loading process of the loading wagon (1), crops can be picked up and transferred into a loading space (3) of the loading wagon (1), wherein the loading wagon (1) further has a transport device (4) with the aid of which, during the loading process of the loading wagon (1), the crops can be transported within the loading space (3) in the direction of an unloading flap (6) of the loading wagon (1), and wherein the loading wagon (1) further has at least one sensor with the aid of which a loading state of the loading wagon (1) can be detected, namely a sensor (13) for detecting a measurement signal dependent on the mass of the loading wagon (1) and a sensor (14) for detecting a measurement signal dependent on a free loading space (3) of the loading wagon (1), characterized in that an increase in the mass of the loading wagon (1) and a free Loading space (3) of the loading wagon (1) are determined, wherein the increase in mass and the free loading space (3) of the loading wagon (1) are offset against a predetermined target total weight of the loading wagon (1) to determine a feed rate for the transport device (4) such that the loading wagon (1) is loaded while maintaining the target total weight of the loading wagon (1) and with predetermined utilization of the free loading space (3), wherein the feed rate for the transport device (4) is further determined depending on a loading strategy that can be preselected by the operator, namely a loading strategy that protects the crop, a loading strategy according to which more crop is loaded into the front area of the loading space (3) and less into the rear area, or a loading strategy according to which more crop is loaded into the rear area of the loading space (3) and less into the front area. procedure according to claim 1 , characterized in that when a loading strategy which protects the crop is determined by the operator, when determining the feed for the transport device (4), a higher priority is given to utilizing the free loading space (3) than to utilizing the target total weight of the loading wagon (1). procedure according to claim 1 or 2 , characterized in that the increase in mass of the loading wagon (1) and the free loading space (3) of the loading wagon (1) are cyclically recorded at time intervals in order to cyclically adapt the feed for the transport device (4) depending thereon. Control device (7) for operating an agricultural loading wagon (1), with means for carrying out the method according to one of the Claims 1 until 3 .

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