ARRANGEMENT AND METHOD FOR MONITORING AND/OR CONTROLLING THE DRIVING STATE OF A SELF-PROPELLED AGRICULTURAL WORKING MACHINE

• US 20170339822A1
• Filed: 05/03/2017
• Published: 11/30/2017
• Est. Priority Date: 05/30/2016
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Gresch, Valentin, Kremmer, Martin
• Granted Patent: US 10,448,556 B2
• Time in Patent Office: Days
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: B60D 1/141 Arrangements or frames adapted to allow the connection of trailers to tractor three point hitches coupling of multipurpose tractors with equipment B62D49/065
• CPC Class Codes: B60D 1/30 for sway control , e.g. stabilising or anti-fishtail devices; Sway alarm means
• CPC Class Codes: B60W 2040/1315 Location of the centre of gravity
• CPC Class Codes: B60W 40/13 Load or weight
• CPC Class Codes: B62D 49/02 modified to take lifting devices
• CPC Class Codes: B62D 49/08 having means for preventing overturning or tipping safety devices for propulsion-unit control, specially adapted for, or arranged in, vehicles B60K28/00
• CPC Class Codes: B62D 6/002 computing target steering angles for front or rear wheels B62D7/159 takes precedence
• CPC Class Codes: Y02P 60/14 Measures for saving energy, e.g. in green houses

Abstract

An arrangement for monitoring and or controlling the driving state of a self-propelled agricultural working machine comprising a variable-position interface for attaching an implement that is provided with a control device. Vehicle-specific data, a position signal regarding the position of the interface, and implement data regarding physical properties of an implement mounted on the interface can be supplied to the control device. The control device is operated to evaluate at least one the driving state of the working machine, taking into consideration the above-mentioned signals and data to control the working machine.

Claims

1. An arrangement for monitoring and or controlling a driving state of a self-propelled agricultural working machine, the arrangement comprising:

a variable-position interface for attaching an implement, the variable-position interface having a control device to which machine data, interface position data, and implement data can be supplied, where the machine data comprises vehicle-specific data regarding physical properties of the working machine and movement state-specific data regarding the movement of the working machine relative to an environment, where the interface position data comprises a position signal regarding the position of the interface, and where the implement data comprises implement data regarding physical properties of an implement mounted on the interface; and

the control device operated to evaluate the driving state of the working machine, taking into consideration the supplied machine data, the interface position data and the implement data, where the control device is programmed to output steering signals or speed signals for control of the working machine based on the evaluated driving state.

2. The arrangement according to claim 1, wherein the control device can be supplied with environment signals regarding the environment of the working machine, and the control device can also be operated to evaluate the information regarding the driving state of the working machine on the basis of the environment signals.

3. The arrangement according to claim 1, wherein the control device can be programmed to output steering and speed signals for manual or automatic control of the working machine based on the evaluated driving state that are optimized for one or more of the following:

driving safety, fuel economy, driver comfort, the maintenance of a predetermined speed, or a predetermined distance from a preceding vehicle.

4. The arrangement according to one of claims 2, wherein the environment signals relate to one or more of the following features of the environment:

the distance from a preceding vehicle;

the measured or expected speed of the preceding vehicle;

the distance from a vehicle that is following or traveling alongside;

the measured or expected speed of a vehicle that is following or traveling alongside;

the visibility;

a measured or expected coefficient of friction of the ground under the vehicle;

the width of a road lane being driven on;

the inclination of a road lane being driven on;

the maximum speed applicable to a road lane being driven on; and

the radius of a curve on a road lane being driven on.

5. The arrangement according to one of claims 1, wherein the vehicle specific data relates to one or more of the following features of the working machine:

dimensions, mass, geometry of the steering, mass distribution, position of the center of gravity, width of the tires, diameter of the tires, engine configuration, permissible maximum speed of the working machine with attached implement, properties of any existing suspension of the working machine and/or the implement, the ballasting of the working machine and properties of the working machine'"'"'s brakes.

6. The arrangement according one of claims 1, wherein the movement state-specific data relates to one or more of the following features of the working machine:

current speed, current acceleration, current steering angle.

7. The arrangement according to one of the preceding claims, wherein the position signal relates to the vertical or lateral position of the interface, the position of the interface on the working machine, and a physical property of the interface.

8. The arrangement according to claim 1, wherein the equipment data relates to one or more of the following features of the implement:

mass, dimensions, mass distribution and position of the center of gravity in relation to the interface.

9. The arrangement according to claim 1, wherein the implement data can be stored in a storage element of the implement and transmitted by means of a bus system to the control device, or input into the control unit by a user, or can be queried from a remote position based on an implement identifier, or can be detected by means of a sensor.

10. (canceled)

11. A method for monitoring or controlling the driving state of a self-propelled agricultural working machine comprising a variable-position interface for attaching an implement, the method comprising:

supplying to a control device vehicle-specific data regarding physical properties of the working machine, movement state-specific data regarding the movement of the working machine relative to the environment, a position signal regarding the position of the interface, and implement data regarding physical properties of an implement mounted on the interface; and

evaluating, by the control device, the driving state of the working machine, taking into consideration the vehicle-specific data, the movement state-specific data, the position signal and the implement data; and

output steering signals or speed signals for control of the working machine based on the evaluated driving state.