Self-propelled agricultural working machine |
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申请号 | EP08163030.3 | 申请日 | 2008-08-27 | 公开(公告)号 | EP2158799B9 | 公开(公告)日 | 2012-12-26 |
申请人 | CLAAS Tractor S.A.S.; | 发明人 | Volk, Matthias; Jeppe, Eckehard; | ||||
摘要 | |||||||
权利要求 | |||||||
说明书全文 | The invention relates to a self-propelled agricultural working machine according to the preamble of Claim 1. Furthermore, it is known from the practice that the mirrors on agricultural working machines, e.g. tractors, combine harvesters or forage harvesters, can be adjusted by means of an electric drive, which is actuated by a control lever operated correspondingly by the driver. During the work operation, however, it is not possible for the driver of the working machine constantly to adjust the mirrors to the prevailing work situation because he has to perform the actions required to perform the work task, for example steering, changing gear, monitoring work units, monitoring transfer processes etc. The mirrors therefore generally remain in a certain position once selected. In summary, the prior art provides no satisfactory possibility that provides the driver of the self-propelled agricultural working machine with an improvement of his view of the driving and working area, as well as preventing an impairment in the visibility of the drivers of oncoming vehicles. From It is an object of the present invention to avoid disadvantages of cited prior art and, in particular, to develop a self-propelled agricultural working machine that improves the visibility for the driver of the working machine under a plurality of different operating conditions in a comfortable way. This object is achieved according to the invention by the characterising features of Claim 1. Because in a self-propelled agricultural working machine with at least one active and/or passive optical element the at least one active and/or passive optical element is automatically controllable and/or adjustable by means of at least one signal processing unit arranged on the working machine depending on current working conditions of the agricultural working machine, an adaptation of the at least one active and/or passive optical element of the agricultural working machine to the current operating condition, and hence also to the current driving and/or work situation of the working machine, always takes automatically and without any required driver intervention. This results in a considerable improvement in visibility for the driver since his view of the fields of vision important for the respective driving and/or work situation on and/or around the working machine is improved by means of the at least one active and/or passive optical element and his concentration on the important points is increased. In order to provide the driver of the agricultural working machine with the possibility of assigning the optical elements required in his opinion to the individual driving and working conditions of the working machine, the at least one active and/or passive optical element can be assigned to the individual operating conditions of the working machine by means of at least one input unit and the assignment can be stored in the signal processing unit so that it can be recalled. In an advantageous development of the invention the control and/or adjustment of the at least one active and/or passive optical element includes an adjustment, for example swivelling about a horizontal or vertical axis or displacement along a straight or bent path, and/or an activation, e.g. switching on an active optical element, and/or a deactivation, e.g. switching off an active optical element, and/or influencing the work parameter of the at least one active and/or passive optical element, for example dimming an active optical element. In order to provide the driver of the agricultural working machine with the possibility of adapting the control and/or adjustment of the at least one active and/or passive optical element to the optimum degree, in his view, to the individual driving and working conditions of the working machine, the control and/or adjustment of the at least one active and/or passive optical element assigned to the respective operating conditions can be set by at least one input unit and the setting can be stored in the signal processing unit so that it can be recalled in an advantageous development of the invention. So that the driver of the working machine is able to adapt the assignment and/or setting to the current driving and working conditions exactly to prevailing operating conditions, the assignment and/or setting takes place within the framework of a teach-in drive in an advantageous development of the invention. The signal processing unit can then be set automatically to the assignment and/or setting carried out during journeys subsequently undertaken. The assignment and/or setting can advantageously be simulated by means of the signal processing unit so that the driver of the working machine is able to check the assignment of the at least one active and/or passive optical element to individual operating conditions and/or the setting of the control and/or adjustment of the at least one active and/or passive optical element assigned to the respective operating conditions without having to concentrate on other working tasks. In an advantageous development of the invention the simulation can be graphically represented on a display unit, so that the driver is able, very comfortably and quickly, to determine the effects of the assignment and/or setting undertaken by him. To allow optimum and fast, automatic control and/or adjustment of the at least one active and/or passive optical element, the signal processing unit, in an advantageous development of the invention, detects changing operating conditions of the agricultural working machine on the basis of at least one sensor signal, for example the cutter bar height of a combine harvester, on the basis of which the signal processing unit establishes whether the cutter bar is in the operating position or in the non-operating position. Additionally or alternatively, the signal processing unit detects changing operating conditions on the basis of at least one manual actuation of a control element, for example the switch for raising or lowering the cutter bar of a combine harvester, on the basis of which the signal processing unit establishes whether the cutter bar is in the operating position or in the non-operating position. Additionally or alternatively, the signal processing unit detects changing operating conditions on the basis of the lapse of a defined time, for example the lapse of a time determined in a so-called teach-in drive for lifting a plough attached to a tractor, escaping from the processing lane, turning of the tractor in the headland whilst simultaneously turning the plough, driving into a new processing lane and lowering the plough. In subsequent repetitive processing runs the signal processing unit then monitors the time determined in the teach-in drive and obtains from this information on changing operating conditions. Additionally or alternatively the signal processing unit detects changing operating conditions on the basis of the covering of a definable distance of a processing lane, e.g. a distance entered and/or determined during a teach-in drive, so that after the distance is covered the signal processing unit detects that the operating conditions change because the processing lane is changed, for example. The operating conditions influencing the control and/or adjustment of the at least one active and/or passive optical element include, in an advantageous development, at least road travel, so that a mirror, for example, is automatically set during travel on public highways, so that the driver has an optimum view and is able to monitor the traffic situation alongside and behind his vehicle. Alternatively or additionally, the operating conditions include at least the field travel, so that a work light fitted to a tractor, for example, is automatically activated in field travel, i.e. off public highways, so that the driver has an optimum view and is able to monitor a working implement attached to the tractor when in the operating position. Alternatively or additionally, the operating conditions include at least the position of the working machine, so that the signal processing unit, for example, detects on the basis of GPS coordinate data received, in connection with a stored field survey, that a forage harvester is at the exit from a driving lane and the signal processing unit automatically activates further work lights arranged on the forage harvester, which headlights optimally illuminate the headland. Alternatively or additionally, the operating conditions include at least the passage through a processing area of the working machine, so that the curved course of a crop swath lying on a field, for example, is automatically illuminated by means of a swivel work light arranged on the forage harvester, so that the driver is able to follow the course continuously and easily. Alternatively or additionally, the operating conditions include at least the working operation of at least one working mechanism actively connected to the working vehicle, so that a work light, for example, is automatically activated when a grain tank drain pipe of a combine harvester is swung out, so that the slewing area and the transfer area are optimally eliminated and both the driver of the combine harvester and the driver of the filler vehicle have a good view of the area. Alternatively or additionally the operating conditions include the non-working operation of at least one working mechanism actively connected to the working vehicle, so that when a straw chopper arranged on a combine harvester is switched off, for example, rear side work lights can be automatically deactivated. Alternatively or additionally, the operating conditions include at least the circumnavigation of an obstruction in field travel, so that a work light is swivelled during the circumnavigation of the obstruction, for example, so that it illuminates the obstruction at all times to enable the drive to determine, to the optimum degree, when he has circumnavigated the obstruction and can return to his original driving lane. Alternatively or additionally, the operating conditions include at least turning at the end of the field, so that the mirrors on a tractor with an attached plough are automatically swivelled upwards when turning, for example, so that the driver is able to monitor the plough even during the rotation of the plough to the optimum degree by means of the mirrors. Alternatively or additionally, the operating conditions include at least the escape from the driving lane on the field, so that in the case of a combine harvester, for example, a plurality of front and side work lights are automatically activated as soon as the combine harvester escapes from the driving lane, so that the driver has an optimum view of the headland. Alternatively or additionally, the operating conditions include at least a transfer process from one working machine to a second working machine, for example a tractor with an attached trailer, or vice versa, so that work lights arranged on the working machines, for example, are automatically activated during the transfer process so that the drivers of the working machines are able to monitor the transfer process to the optimum degree. Alternatively or additionally, the operating conditions include at least the attachment of additional devices to the working machine, so that during the attachment or disconnection of a cutter bar on a combine harvester, for example, the work lights of the combine harvester can be automatically activated to illuminate the attachment area for the cutter bar. Alternatively or additionally the operating conditions include at least the movement of attachments on the working machine so that in the case of a tractor with an attached plough, for example, the mirrors of the tractor are swivelled downwards when the plough is lowered into the working position so that the driver has an optimum view of the working area of the plough in the field soil. Alternatively or additionally, the operating conditions include at least the actuation of a hydraulic control valve so that towing hose bars attached to an attached manure container, for example, is swivelled outwards by the actuation of a control valve fitted to a tractor, and the signal processing unit automatically adjusts the mirrors of the tractor so that the driver of the tractor is able to see the outer ends of the towing hose bars. Alternatively or additionally, the operating conditions include at least the actuation of an actuator, so that the signal processing unit, for example, detects the actuation of an adjusting drive for the crop feed elements of a chopped crop distributor on a combine harvester and swivels a rear swivel work light of the combine harvester automatically so that the distribution area of the chopped crop is illuminated on the field soil. Alternatively or additionally, the operating conditions include at least the direction of travel of the working machine, so that in the case of a tractor with attached plough, for example, the mirrors are automatically swivelled upwards as soon as the tractor is reversed, providing the driver with an optimum view of the rear area. Alternatively or additionally, the operating conditions include at least the ambient brightness or visibility so that the driving light on a combine harvester, for example, is activated as soon as the signal processing unit detects, by means of a coupled brightness or visibility sensor, that the brightness or visibility lie below a defined value. Alternatively or additionally, the operating conditions include at least the maintenance and/or filling of the working machine, so that in the case of a combine harvester, for example, the work lights are automatically activated when a maintenance mode is set, which work lights improve visibility on and in the combine harvester during maintenance and/or filling of the combine harvester, and the work lights which are not required for maintenance and/or filling are simultaneously and automatically deactivated. To relieve the load from the driver of the working machine still further, the control and/or adjustment of the at least one active and/or passive optical element is/are integrated in an advantageous development of the invention in a field end management system so that the at least one active and/or passive optical element is automatically controlled and/or adjusted simultaneously with or dependently on other functional processes at the end of the field. The at least one active optical element is advantageously a vehicle headlight or a vehicle light. The at least one passive optical element is advantageously a vehicle mirror or a wide angle lens. The invention is explained in greater detail below with reference to the attached drawings.
Signal processing unit 8 detects, from a sensor 13 arranged on steering axle 12, which sensor is connected by means of a signal cable 15 to signal processing unit 8, that the rear wheels of forage harvester 2 are locked in order to change direction of travel F1. Signal processing unit 8 then automatically actuates work light A1, which illuminates a lateral front illuminated area L1 so that the visibility of the driver in the headland is improved even further. Now if forage harvester 2, as shown in the left half of The statements made similarly apply to a combine harvester, not shown, in which work lights arranged correspondingly on the combine harvester are also automatically activated by a signal processing unit, for example in the operating condition "Swivel out grain tank unloading tube", in order to illuminate the swivel and working area of the grain tank unloading tube. It is also conceivable, in the case of a combine harvester, for the signal processing unit to detect the width of the cutter bar automatically, as a function of the cutter bar attached, and to actuate swivel work lights on the combine harvester so that their illuminated area illuminates the outer edges of the cutter bar. As a further example it is conceivable for a fruit-dependent adjustment of the work lights and/or mirrors to be carried out by means of the signal processing unit. For example, the driver of the working machine sets a particular fruit currently to be harvested, for example maize or wheat, at a control terminal, so that the working units of the working machine are set directly by means of suitable actuators. This fruit-dependent operating condition is also simultaneously detected by the signal processing unit and adjust the work lights and/or mirrors correspondingly. It is also conceivable, for example on a combine harvester, but also on other agricultural working machines, for the attached work lights to be adjusted automatically according to the crop parameters, e.g. the crop height, so that the illuminated area of the work lights are set higher when harvesting maize than when harvesting corn. The examples mentioned represent a multiplicity of working situations and operating conditions on a combine harvester in which the signal processing unit automatically controls and/or adjusts the active and/or passive optical elements installed on the combine harvester. As soon a tractor 3 then enters the headland, plough 5 is automatically raised by means of a headland management system, is also turned during turning of tractor 3, and is lowered automatically when the tractor enters the new driving lane. During this process signal processing unit 8 automatically controls mirrors Sp1, Sp2 so that the outer dimensions of plough 5 are visible to the driver through mirrors Sp1, Sp2 at all times. For this purpose mirrors Sp1, Sp2 can be swivelled both about a horizontal and about a vertical axis. The coordination of the individual work steps, and hence of the individual operating conditions of the headland management system and control steps of signal processing unit 8, takes place in such a manner, for example, that a defined setting of both mirrors Sp1, Sp2 can be assigned to each individual operating condition within the headland management system. When the plough is raised mirrors Sp1, Sp2 can therefore be raised simultaneously in order to be able to monitor plough 5 through mirrors Sp1, Sp2, even in the raised position. When plough 5 turns, mirrors Sp1, Sp2 are swivelled inwards so that the movement of plough 5 can be monitored through the mirrors. As soon as plough 5 has completed the turning movement, mirrors Sp1, Sp2 are automatically swivelled outwards again so that the raised position of plough 5 can be monitored through mirrors Sp1, Sp2. Finally, mirrors Sp1, Sp2 are swivelled automatically downwards when plough 5 is lowered into the working position, so that the outer regions of plough 5 can again be monitored through mirrors Sp1, Sp2. The setting or actuation of mirrors Sp1, Sp2 can be assigned to the individual operating conditions, for example, as part of a teach-in drive in which mirrors Sp1, Sp2 are set once manually in each operating condition and signal processing unit 8 stores the setting carried out in conjunction with the respective operating condition. Now as soon as the respective operating condition recurs during operation of the agricultural working machine 1, signal processing unit 8 actuates mirrors Sp1, Sp2 so that they automatically assume the stored setting. In the lower representation of In the upper representation of Now when tractor 3 enters the headland and the driver turns tractor 3, a headland management system automatically raises cutting mechanisms 43, 44 and 45 slightly. As a function of this raising of cutting mechanisms 43, 44, 45 and the resultant change in operating condition, signal processing unit 8 now actuates work light A7 in such a manner that the illuminated area L7b produced by it illuminates the outer edge of lateral cutting mechanism 45 to enable the driver to detect any obstructions present in the turning area of lateral cutting mechanism 45 and influence the turning manoeuvre in such a manner that a collision of lateral cutting mechanism 45 with the obstruction is prevented. Similarly, signal processing unit 8 actuates work light A8 so that illuminated area L8b produced by it illuminates the outer edge of lateral cutting mechanism 44. After the turning manoeuvre is completed the headland management system lowers cutting mechanisms 43, 44 and 45 back into the operating position and commences a new harvesting run. This operating condition, which changes again, is in turn detected by signal processing unit 8, which then again actuates work lights A7 and A8 so that illuminated area A7a and A8a produced by them again illuminate the respective swaths 29. In the lower representation of The actuation of work lights A7 and A8 described in the upper representation of Two work lights A1 and A2 are arranged on a front region of tractor 3. A further four work lights A3, A4, A5 and A6 are arranged on an upper front region of the cab of tractor 3. Three work lights A7, A8 and A9 are additionally attached to an upper rear region of the cab of tractor 3. Work lights A1, A2, A3, A4, A5, A6, A7, A8, A9 are actively connected, by means of control cables not shown here, to a signal processing unit 8 arranged on tractor 3, which unit adapts the control of work lights A1, A2, A3, A4, A5, A6, A7, A8, A9 according to the current operating conditions. During the harvesting run on the field, signal processing unit 8 automatically actuates work lights A1 and A2 in such a manner that illuminated areas L1 and L2 produced by them illuminate the area in front of front cutting mechanism 43 so that the driver of tractor 3 is able to monitor this area to the optimum degree. Furthermore, signal processing unit 8 automatically actuates work light A3 in such a manner that illuminated area L3 produced by it is aligned so that the driver of tractor 3 is able to monitor both the area to be covered by cutting mechanism 45 for foreign bodies and/or obstructions, and is able to detect the stand edge 46 between grass already mowed and grass yet to be harvested in order to control tractor 3 accordingly. Work light A9 is controlled during the harvesting run by signal processing unit 8 in such a manner that illuminated area L9 produced by it is aligned so that the driver of tractor 3 is able to see and monitor swath 29 produced by front cutting mechanism 43 and lateral cutting mechanism 45 as a work inspection. Work lights A5, A6, A7 and A8 are deactivated during the harvesting run by signal processing unit 8 because they are not required. Now when tractor 3 enters the headland and the driver turns tractor 3, a headland management system automatically raises cutting mechanisms 43 and 45 slightly. As a function of this raising of cutting mechanisms 43, 45 and the resultant change in operating condition, signal processing unit 8 now actuates work light A7 so that it is activated and the illuminated area L7 produced by it illuminates the outer edge of lateral cutting mechanism 45 to enable the driver to detect any obstructions present in the turning area of lateral cutting mechanism 45 and influence the turning manoeuvre in such a manner that a collision of lateral cutting mechanism 45 with the obstruction is prevented. Furthermore, signal processing unit 8 actuates work light A4 so that it is activated and illuminated area L4 produced by it illuminates the outer edge of front cutting mechanism 43. Since the raised front cutting mechanism 43 at least partially shades illuminated areas L1 and L2 of work lights A1 and A2, these are deactivated by signal processing unit 8 and work lights A5 and A6 are simultaneously activated, the illuminated areas L5 and L6 of which work lights then illuminate the area in front of front cutting mechanism 43 so that the driver of tractor 3 is able to monitor this area to the optimum degree during the turning manoeuvre. After the turning manoeuvre is completed the headland management system lowers cutting mechanisms 43 and 45 back into the operating position and commences a new harvesting run. This operating condition, which changes again, is in turn detected by signal processing unit 8, which then again actuates work lights A1 and A2 and again deactivates work lights A4, A5, A6 and A7. The above-mentioned examples represent a multiplicity of working situations and operating conditions in which the signal processing unit controls and/or adjusts active and/or passive optical elements to improve visibility on a working machine. The examples can also be transferred, after suitable adaptation, to combine harvesters or other self-propelled agricultural working machines without departing from the essence of the invention. For the menu-driven assignment display unit 30 has a display area 31 which in one column 32 indicates the operating conditions of the respective working situation and in a second column 33 indicates the respective selection of the work lights for the individual operating conditions. For a better understanding for the driver the operating condition preceding the current operating condition and the assignment of the work lights undertaken are also displayed on a first line 34 of display area 31. In the example shown for the working situation of picking up a swath on a field, according to the description of The current operating condition is displayed on a second line 35 of display area 31 and the driver can assign a certain control of the work lights to this operating condition. For visual support line 35 is highlighted so that the driver intuitively detects that he is able to make changes to this assignment. In the example shown the operating condition is the switching on of the front attachment. The driver has assigned the fact that work lights A1 and A2 are to be switched on and work lights A3 and A4 are not to be activated to this operating condition. In order to be able to make this selection display unit 30 has a selection area 37 in which selection fields 38 are assigned to the individual work lights A1, A2, A3, A4. By touching selection fields 38a and 38b the signal processing unit learns that work lights A1 and A2 are to be activated. To confirm the selection fields 38a and 38b are visually highlighted and the selection is also indicated textually in column 33 of line 35. So that the driver is able to carry out the assignment even more easily his working machine 1 is represented graphically in display unit 30 in an elevation. Illuminated areas 39 of work lights A1, A2, A3, A4 are also represented graphically, illuminated area 39a belonging to work light A1, illuminated area 39b belonging to work light A2, illuminated area 39c belonging to work light A3 and illuminated area 39d belonging to work light A4. Illuminated areas 39a and 39b are also visually highlighted by the described contact of selection fields 38a and 38b, so that the driver intuitively detects what the total illumination of his selection will be. On a third line 36 of display area 31 the next operating condition is displayed to inform the driver the extent to which the assignment made to the current operating condition could also influence the next operating condition. In the example shown the next operating condition is the raising of the front attachment into a non-operating position, where no control of the work lights is yet assigned to this operating condition. After work light controls have been assigned to individual operating conditions, the driver is able to simulate the complete process of a working situation by means of signal processing unit 8 and to have the respective assignment displayed graphically in display unit 30. With the assignment, however, it is not only possible to switch static lighting elements on and off, according to the equipment of working machine 1, but it is also conceivable to adapt the mode of operation of dynamic lighting modules. For example, it is conceivable for a work light to be designed so that it can be swivelled and focussed. An example of the possibilities of assigning and controlling such a work light, not shown here, illuminated area 40 of the work light is represented in Instead of making the selection and/or adjustment of illuminated areas 39, 40 by means of selection fields 38 or control fields 41, it is also conceivable for the illuminated areas 39, 40 to be selected and/or adjusted by directly touching the display. By means of a menu field 42, the driver then leave the displayed menu area after the assignment is made and use display unit 30 for indicating information relevant to the working situation. The procedure for controlling work lights A1, A2, A3, A4 described above is similarly also transferrable to the control of passive optical elements such as mirrors. The coordination described between operating conditions in an implement management system and the control steps within signal processing unit 8 must considered to be by way of example only and represents a multiplicity of possible dependencies between an implement control and a control of active and/or passive optical elements 6,7.
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