NL2011697C2 - Agricultural vehicle adapted for curve driving. - Google Patents

Abstract

The invention refers to an agricultural vehicle and to a method for operating such an agricultural vehicle. The vehicle comprises a frame (F) and at least one processing arrangement (PA.l, PA.r) mounted at a cantilever arm(CA.l, CA.r). A cantilever arm positioning unit (Pos.CA.l, Pos.CA.r) can rotate the cantilever arm (CA.l, CA.r) around a vertical cantilever arm rotating axis with respect to the frame (F). A processing arrangement positioning unit (Pos.PA.l, Pos.PA.r) can pivot the processing arrangement (PA.l, PA.r) with respect to the cantilever arm (CA.l, CA.r) around a vertical processing arm rotating axis. The two positioning units operate independently from each other.

Description

Agricultural Vehicle Adapted for Curve Driving Introduction

The invention refers to an agricultural vehicle with at least one laterally mounted processing arrangement. This processing arrangement may be a mower or a swathing unit, e.g. The invention further refers to a method for operating such an arrangement.

State of the Art

In EP 1364573 A2 a swathing arrangement with four rotary swathing units (“Kreiselschwader”) mounted at a frame (“Tragrahmen T”) is disclosed. The frame T is pulled by a tractor (“Schlepper S”) with steerable front wheels (“lenkbare Vorderrader 1”), cf. Fig. 1. The two front swathing units are mounted at the frame T by means of two units each comprising a pivoting arm (“Hubarm 5”) and an auxiliary pivoting arm (“Hubhilfsarm 5a”). The pivoting arm 5 can be rotated by means of a cylinder Z1 w.r.t. the frame T around a horizontal axis 6 parallel to the longitudinal axis T such that the swathing unit can be transferred between an operating position (“Arbeitsposition P1”) and a lifted non-operationg position (“angehobene Position P2”), e.g. when turning on the headland (“Vorgewende”). In addition the length of the pivoting arm 5 can be changed (“langenverstellbar”) by means of an actuator (cylinder Z3). The auxiliary pivoting arm 5a can be rotated w.r.t. the pivoting arm 5 around a vertical axis 7 by means of an actuator Z4. Two idler wheels (“Laufrader 10”) are pivotally mounted at the frame T such that the wheels 10 can rotate around two vertical steering axes (“bodensenkrechte Lenkachsen 12”). A driving arrangement (“Lenkvorrichtung L”) rotates the wheels 10 around the axes 12 by means of two coupling rods (“Koppelstangen 13”) and two hydraulic cylinders (“Hydraulikzylinder 15”).

The arrangement has the following sensors: an angle sensor (“Winkelsensor D1”) which measures the angle between the longitudinal axis of the tractor S and that of the frame T, sensors D2, D3, D6, D7 which measure the relative angle of the auxiliary pivoting arm 5a w.r.t. the pivoting arm 5 around the vertical axis 7 and the distance between the swathing unit and the frame T, a driving angle sensor (“Lenkwinkelsensor D5”) in the driving arrangement L, a sensor (“Laufrad-Lauflangen-Sensor D4”) for measuring the travel distance over which the idler wheel 10 is moved.

The arrangement of EP 1364573 A2 avoids that an unmown area U occurs during a travel around a curve, cf. Fig. 1. To achieve this, the driving arrangement L steers the idler wheels 10 either in the same direction as the curve movement (“Gleichrichtungs-Lenkmodus M1”) or in the opposite direction (“Gegenrichtungs-Lenkmodus M2”). As Fig. 1 shows a curve movement to the right the driving arrangement L steers the idler wheels 10 in the mode M1 to the right and in the mode to the left. The mode M1 is chosen if the swathing units are in the operating position P1 such that no unmown area U occurs. The mode M2 is chosen if the swathing units are in the lifted non-operating position P1 such that the turning circle (“Wendekreis”) is minimized. A control unit (“Lenksteuerung C”) controls the driving arrangement L, cf. Fig. 2.

Fig. 1 of US 2006/0191250 A1 shows an arrangement (mower 1) with a front working unit 4 and two lateral working units 5, 6 all mounted at a motor vehicle 2 and comprising a cutting device 8. A connecting unit 10 allows the front working unit 4 to perform a vertical translational movement as well as a rotational movement w.r.t. the motor vehicle 2. Every lateral working unit 5, 6 is mounted at the chassis 14 of the motor vehicle 2 by means of a support arm 12 which is mounted by means of two articulations 13, 15 both allowing rotations around a horizontal axis parallel to the travel direction 3. A third articulation 16 allows the support arm 12 to rotate around a vertical axis w.r.t. the chassis 14. The two lateral working units 5, 6 can be shifted laterally. The chassis 14 comprehends a traversal front bearing 14a, a traversal rear bearing 14b and two connecting rods 17 which are arranged in a parallelogram. An operating member (cylinder 18, ram 18) can change the distance between the two bearings 14a, 14b which causes the support arm 12 to be shifted laterally, cf. Fig. 4. An inclination sensor 21 of the arrangement of US 2006/0191250 A1 measures the roll angle - that is the inclination of the arrangement around its longitudinal axis 7. A control unit 20 controls the operating member 18 such that the slope of the arrangement is compensated.

In DE 19620070 A1 a carrier vehicle (“Tragerfahrzeug 2”) with a combination of agricultural processing devices (“Arbeitsaggregatekombination 2”) is described, cf. Fig. 1. The vehicle 2 has two front wheels (“Vorderrader 3”) and two rear wheels (“Hinterrader 4”). Two laterally mounted mowers 5, 6 and a front mower 7 together achieve a working width A. The laterally mounted mowers 5, 6 can be pivoted by means of two cantilever arms (“Ausleger- und Tragarme 13, 14”) and an articulation arrangement (“Gelenkanordnung 15”) which are mounted at the carrier vehicle 2. This pivotal connection allows moving the laterally mounted mowers 5, 6 from the operating position into a transport position and backwards around a longitudinal plane (“Schnittebene 25”)and to rotate these movers 5, 6 around a vertical axis (“vertikal ausgerichtete Schwenkachse 21”) in the middle of the respective mower 5, 6, cf. Fig. 1 and Fig. 5. Fig. 2 to Fig. 4 show the vehicle driving along a curve to the left where the trajectory describes a segment of a circle with the middle point (“Momentanpol”) M. The lateral mowers 5, 6 are rotated opposite to the curvature, i.e. to the right whereas the front mower 7 is rotated to the left. In an alternative embodiment also the left lateral mover 5 and the front mower 7 are rotated to the right. The mowers 5, 6, 7 can be locked (“arretierbar”) in their rotated position.

In EP 1321027 B1 a “gang mover assembly” with a driving unit 10, a front mower unit 11 and two “wing” mowers 12 being laterally mounted is described, cf. Fig. 1. When the assembly is moved straight forward no overlap between the front mower unit 11 and the two rear mowers 12 occur. When the assembly describes a curve to the right and no compensating adjustment is performed the right edge of the front mower unit 11 describes the curve B’ of Fig. 1 and the left edge of the right rear mower 12 describes the curve A such that an unmown area occurs.

Fig. 2 of EP 1321027 B1 shows an assembly 20 which inhibits this undesired effect. The driving unit 10 has a front chassis part 22, a rear chassis part 23 and a pivot type steering arrangement which allows steering the four wheels (two front wheels 29, rear wheels 30) around a vertical steering pivot axis 24. A small overlap between the front mower unit 25 and the two rear mower units 26 occurs. When entering the right curve shown in Fig. 2 at least one rear mowing unit 26 is adjusted laterally. For creating the proper adjustment signal the distance travelled and the steering angle is monitored. In a second embodiment the front wheels 29 are steered to the right and the rear wheels 30 are steered to the left for compensating the curve travelling. In a further embodiment the front mowing unit is shifted laterally. EP 1779715 B1 shows a mowing machine with a tractor (“Tragerfahrzeug”) at which two front mowers (“Frontmahwerke 2,3”) and two lateral mowers (“Seitenmahwerke 4,5”) are mounted, cf. Fig. 1. The mowers can be pivoted into an operating position and into a transport position. For pivoting a lateral mower 4, 5 into the transport position it is pivoted around three different axes. Fig. 2 to Fig. 5 show the step of pivoting around one axis being perpendicular to the traveling direction. The cantilever arm for the lateral mowers 4, 5 (“Teleskopausleger 12, 13”) is telescopically arranged such that the lateral mowers 4, 5 can be pivoted around an axis parallel to the traveling direction.

Fig. 1 of DE 4409113 C1 shows a propelled carrying vehicle (“Tragerfahrzeug 1”) with front wheels 2 and rear wheels 3, to laterally mounted processing arrangements (“Arbeitsaggregate 4, 5”) which are mounted at the left and the right side, resp., by means of two cantilever arms (“Ausleger 6, 7”) and to bearings (“Tragrahmen 8, 9”) mounted at the cantilever arms 6, 7. A front-mounted processing arrangement (“frontangebautes Arbeitsaggregat 10”) can be shifted vertically by means of a lifting device (“Hubvorrichtung 11”). The three processing arrangements process agricultural material on the ground, e.g. mow grass. In order to avoid unprocessed gaps between processed stripes of material the working stripes of the three processing arrangements overlap if the vehicle moves straight ahead. If the vehicle moves into a curve, the front-mounted processing arrangement 10 is shifted laterally by means of a coupling frame (“Koppelrahmen 12”). Two motion links (“Schwingen 24, 25”) are pivotally mounted at the coupling frame 12 such that a parallelogram of bearings is formed which can be shifted laterally in a horizontal direction. By this the front-mounted processing arrangement 10 is shifted laterally depending on the steering angle of the front wheels 2.

In DE 1031781 A2 an agricultural rotary swathing arrangement (“Kreiselschwader”) with several rotary swathing units (“Kreiselschwader 2”) mounted at a frame (“Fahrgestell 3”) is described. The frame 3 is pivotally connected with a tractor (“Zugfahrzeug 6”). At the rear end of the frame 3 two wheels 4, a pick-up unit 11 and a lateral conveying system with three conveying belts (“Förderbander 8, 9, 10”) are mounted. The wheels 4 are mounted at a frame (“Querrahmen 14”) such that every wheel 4 can rotate around the vertical rotating axis 16, 16’. A positioning unit (“Stelleinheit 38”) pulls and pushes and rods (“Spurstangen 18, 18”’) which intern are pivotally connected with guiding levers (“Lenkhebel 17, 17’”) which intern rotate two spigots (Achszapfen 41,4T”), cf. Fig. 2. The positioning unit 38 comprises a switching plate (“Umlenkplatte 19”) at which the two rods 18, 18’ are rotatably mounted such that they can rotate around two vertical axes 29, 29’. A guiding stick (“Lenkstock 42”) guides the two rods 18, 18-. A positioning drive (“Stellantrieb 33”) is connected with a steering lever (“Steuerhebel 48”) and can rotate this steering lever 48 around a vertical axis 26. This steering lever 48 can make a switching plate 19 rotating around the vertical axis which intern pivots the rods 18, 18’. The positioning unit 38 can achieve different angles of the wheel 4.

Fig. 1 and Fig. 2 of EP 2517543 A2 show an arrangement with a tractor and a device 2 for mounting implements (“Anbaugerate 3”) at the tractor 1. Fig. 1 shows a front-mounted mower and two laterally mounted mowers. A detecting device 16 on board of the tractor 1 automatically detects what implements 3 are currently mounted at the tractor 1. A scanning device 11 emits a laser beam and scans the contour of the surface over which the tractor 1 moves the implements 3. A positioning device 17 adjusts the scanning area of this scanning device 11 depending on the currently mounted implements 3.

Object

It is an object of the invention to provide an agricultural vehicle with at least one laterally mounted processing arrangement for processing agricultural material on the ground where the vehicle can be moved during operation such that a working area on the ground is covered by the laterally mounted processing arrangement and a front-mounted processing arrangement or a further laterally mounted processing arrangement without a non-processed stripe between two processed stripes even if the vehicle drives into a curve without the need of shifting the front-mounted processing arrangement. It is a further object to provide an operating method for operating such a vehicle.

Solution

The problem is solved by an agricultural vehicle with the features of claim 1 and an operating method with the features of claim 14. Preferred embodiments are specified in the dependent claims.

The invention refers to an agricultural vehicle which can be moved over ground in a travelling direction and in particular into a curve. The term “vehicle” refers to a self-propelled vehicle as well as to an implement without own drive which can be coupled to a tractor and pulled by this tractor. The invention further refers to a method for operating such a vehicle.

The vehicle according to the invention comprises at least one processing arrangement. When the vehicle is moved over ground, this processing arrangement is also moved over ground and processes material on the ground while being moved.

This processing arrangement is mounted laterally at a frame of the vehicle. The term “laterally” refers to the travelling direction of the vehicle.

The processing arrangement is not mounted directly at the frame of the vehicle but by means of a cantilever arm between the frame and the processing arrangement. The vehicle further comprises a cantilever arm positioning unit and a processing arrangement positioning unit.

The cantilever arm positioning unit can pivot the cantilever arm with respect to the frame around a vertical cantilever arm rotating axis. The term “vertical” refers to the ground. The processing arrangement positioning unit can pivot the processing arrangement with respect to the cantilever arm around a vertical positioning arrangement rotating axis. These two rotating axes are parallel to each other but are not identical. A control unit of the vehicle automatically controls both positioning units and generates the signals for the positioning units. The positioning units operate depending on these signals from the control unit. The pivotal movement of the cantilever arm with respect to the frame is performed independently from the pivotal movement of the processing arrangement with respect to the cantilever arm.

Advantages

According to the invention the position and/or orientation of the laterally mounted processing arrangement with respect to the frame can be changed by two different positioning means. These two positioning means are automatically controlled by a control unit and operate independently from each other. Every positioning means rotates the processing arrangement around a vertical axis as follows and does this independently of each other part of the vehicle:

The cantilever arm positioning unit rotates the cantilever arm together with the laterally mounted processing arrangement around the vertical cantilever arm rotating axis with respect to the frame.

The processing arrangement positioning unit rotates the laterally mounted processing arrangement around the vertical processing arrangement rotating axis with respect to the cantilever arm.

In particular it is possible to change the distance between the processing arrangement and the frame by two different means, namely the cantilever arm positioning unit and the processing arrangement positioning unit.

This change of position or of orientation is performed during the normal processing operation, e.g. during mowing or swathing, and not for the purpose of transferring the processing arrangement into a transport position. The change of position or orientation therefore contributes to properly process material on the ground without an unprocessed stripe between two processed stripes.

The control unit automatically controls both positioning units and achieves the desired position and orientation of the laterally mounted processing arrangement. The invention enables to position and orient the laterally mounted processing arrangement such that it covers and processes a strip on the ground which is as broad as possible.

It is possible to combine the processing arrangement mounted laterally to the frame with a further processing arrangement mounted at the front of a tractor pulling the implement with the frame. These two processing arrangements process a broad strip without a gap in the interior of this broad strip where the gap contains material which is not processed.

Thanks to the invention this desired result is achieved during a movement of the vehicle straight ahead forward as well as during a movement along a curve to the left or to the right. It is possible to permanently adapt the position and orientation of the laterally mounted processing arrangement by controlling both positioning units. In particular it is possible to orient the laterally mounted processing arrangement during a movement through a curve such that this processing arrangement has a desired orientation with respect to the trajectory of the movement. It is possible but not necessary to move the front-mounted processing arrangement laterally.

Embodiments

In one embodiment the vehicle comprises n laterally mounted processing arrangements and therefore n cantilever arms, n cantilever arm positioning units and n processing arrangement positioning units. The n cantilever arms and the n laterally mounted processing arrangements can be moved independently from each other, i.e. at least 2*n degrees of freedom occur.

In one embodiment one processing arrangement is mounted laterally at the left side of the frame and a further processing arrangement is mounted laterally at the right side of the frame. Every processing arrangement is mounted at a cantilever arm. The vehicle comprises four positioning units, two for the cantilever arms and two for the processing arrangements. Four different parallel rotating axes occur. Every positioning unit can be controlled independently from all other positioning units. Therefore the pivotal movement of the left cantilever arm with respect to the frame can be performed independently from the pivotal movement of the right cantilever arm with respect to the frame. The pivotal movement of the left processing arrangement with respect to the left cantilever arm can be performed independently from the pivotal movement of the right processing arrangement with respect to the right cantilever arm. This embodiment yields to a very broad processed strip without an interior gap.

In one embodiment a wheel carries the laterally mounted processing arrangement over ground. This wheel can be rotated around a wheel steering axis being perpendicular to the ground or sloping downwards with respect to the ground. The wheel steering axis is perpendicular to the horizontal rotational axis of this wheel. A wheel positioning unit obtains signals from the control unit and rotates the wheel around the vehicle wheel steering axis. This embodiment further enhances the ability and capability of positioning and orientating the laterally mounted processing arrangement.

Preferably this wheel is rotated such that the rotation of the wheel around the vertical wheel steering axis contributes to compensating the effect of a curve movement of a vehicle onto the laterally mounted processing arrangement. If it is discovered that the vehicle moves to the right, the wheel is rotated around the vertical steering axis to the left. Analogously the wheel is rotated around the vertical steering axis to the right if is discovered that the vehicle moves to the left.

Preferably the vehicle comprises a further processing arrangement which is mounted in a front position ahead of the frame. This further processing arrangement can be mounted at the front side of a tractor pulling the implement with the frame. Thanks to the invention this front-mounted processing arrangement can cooperate with the laterally mounted processing arrangement such that both processing arrangements together cover a strip on the ground being as broad as possible. A gap in the interior of this strip, i.e. a non-processed area, is avoided by positioning and orienting the laterally mounted processing arrangement in a proper way. This affect is achieved by rotating the cantilever arm and/or the laterally mounted processing arrangement in a controlled manner. It is possible but thanks to the invention not necessary to shift the front-mounted processing arrangement laterally. This is an advantage of the invention as the front of the tractor only allows a short lever which can be obtained.

One embodiment further enhances the ability to adapt the position and orientation of the laterally mounted processing arrangement. The processing arrangement comprises a bearing and at least one processing unit. The processing unit is mounted at the bearing. The bearing is pivotally mounted at the cantilever arm such that the processing arrangement positioning unit can rotate the bearing together with the processing unit around the vertical processing arrangement rotating axis. The bearing provides a lever such that the processing unit rotates around the vertical axis with a distance to the vertical rotating axis. This effect is achieved as the processing unit is mounted at the bearing with a distance to the processing arrangement rotating axis.

It is possible that two processing units are mounted at this bearing, preferably at two different sides of the bearing and preferably such that the processing arrangement rotating axis is between these two processing units. These two processing units can be rotated around two vertical axes independently from each other. The processing arrangement comprises two further positioning units. This embodiment further enhances the ability to adapt the vehicle to a curving movement during operation.

In one embodiment a sensor and evaluating arrangement automatically decides whether the vehicle currently moves straight on forward or to the left or to the right. The control unit processes signals from the sensor and evaluating arrangement and generates steering signals for the two positioning units such that the controlled positioning units continuously provide a proper position and orientation of the laterally mounted processing arrangement.

Preferably the sensor and evaluating arrangement automatically senses whether the vehicle moves straight ahead or to the left or the right into a curve. The control unit receives signals from the sensor and evaluating arrangement and automatically controls both positioning units depending on signals from the sensor and evaluating arrangement. This embodiment allows to automatically adapting the position and orientation of the processing arrangement to the curving movement.

One implementation of this sensor and evaluating arrangement is used in a vehicle with a left laterally mounted processing arrangement and a right laterally mounted processing arrangement. A pivotal left cantilever arm carries the left processing arrangement. A pivotal right cantilever arm carries the right processing arrangement. A reference element is mounted at the frame and is moved together with the frame. The sensor and evaluating arrangement measures the distance from the left processing arrangement to this reference element (called left distance) and from the right processing arrangement to this reference element (called right distance). The left distance is compared with the right distance for deciding whether the vehicle moves to the left or to the right or straight ahead. Preferably the angle between the left cantilever arm and the frame and the angle between the right cantilever arm and the frame are also used for this decision in order to compensate different rotating angles of the two cantilever arms.

This implementation provides a precise method for discovering whether the vehicle is moving straight ahead or to the left or to the right. It is further possible to determine the travelling angle of the vehicle. This embodiment further saves the need to measure a steering angle of the tractor and therefore saves the need to obtain and to process signals from the tractor controlled or a data network of the tractor. Therefore an implement with a sensor and evaluating arrangement according to the embodiment can be coupled with an arbitrary tractor which supplies sufficient torque.

The vehicle with the processing arrangement can be a self-propelled vehicle and the cantilever arm with the processing arrangement is mounted at a tractor or a further vehicle with an own drive. In a further embodiment the vehicle according to the invention is adapted as a movable implement without an own drive where this implement can be coupled with a tractor pulling the implement.

In one application the processing arrangement mows grass or hay on the ground. In a further application the processing arrangement creates swathes on the ground from material which is already cut off. The processing arrangement can also be arranged as a tedder. In a further application the processing arrangement cleans the ground, i.e. removes dirt from the ground. Or the processing arrangement provides parts to the ground, i.e. seed plans or distributes water.

Description of Embodiment

In the following and embodiment of the invention is described by referring to the following figures:

Fig. 1 shows the vehicle of the embodiment in a left curve;

Fig. 2 illustrates one embodiment of the sensor and evaluating arrangement.

In the embodiment the invention is used in an assembly comprising a tractor and an implement. The implement has no own drive and is coupled with the tractor and is pulled by the tractor. The tractor comprises a motor, two rear wheels driven by the motor and two steerable front wheels. The assembly moves over ground and mows grass on the ground.

The implement comprises five mowers which serve as five processing units which work simultaneously. A first mower is front-mounted at the tractor with two steerable front wheels and two driven rear wheels. A second mower and a third mower are mounted laterally at the left side of a frame. A fourth mower and a fifth mower are mounted laterally at the right side.

Fig. 1 shows: a tractor Tr a frame F of an implement, a front mower MU.f serving as a front-mounted processing arrangement, a left cantilever arm CA.I and a right cantilever arm CA.r, a left laterally mounted processing arrangement PA.I with an outer left mowing unit MU.I.o and an inner left mowing unit MU.I.i, and a right laterally mounted processing arrangement PA.r with an outer right mowing unit MU.r.o and an inner right mowing unit MU.r.i, and a control unit CU for controlling the positioning units.

The frame F is pivotally coupled at the rear side of the tractor Tr by means of a mechanical coupling unit. In Fig. 1 the frame F is coupled with the tractor Tr by means of a towing unit TU. In one embodiment a data bus (not shown), e.g. a CAN bus according to ISO 11783, connects sensors and controllers on board of the implement. In one embodiment this data bus further connects the sensors and the controllers of the implement with that on board of the tractor Tr.

The frame F extends along a longitudinal axis being parallel to the ground. The frame F can rotate with respect to the travelling direction TD of the tractor Tr around a vertical frame rotating axis by means of the pivotal mechanical coupling in the towing unit TU. In one embodiment a frame rotating sensor FRS measures the rotating angle of the frame axis with respect to the travelling direction TD of the tractor Tr. This frame rotating sensor FRS is sketched in Fig. 2.

Every processing arrangement PA.I, PA.r further comprises: an outer mowing unit MU.I.o, MU.r.o, an inner mowing unit MU.I.i, MU.r.i, a bearing B.l, B.r pivotally mounted at the cantilever arm CA.I, CA.r and carrying the outer mowing unit MU.I.o, MU.r.o and the inner mowing unit MU.I.i, MU.r.i, a wheel W.l, W.r pivotally mounted at the bearing B.l, B.r, a cantilever arm positioning unit Pos.CA.I, Pos.CA.r, a processing arrangement positioning unit Pos.PA.I, Pos.PA.r, two processing unit positioning units Pos.MU.I.o, Pos.MU.I.i and Pos.MU.r.o, Pos.MU.r.i for the two processing units (mowing units) MU.I.o, MU.I.i and MU.r.o, MU.r.i, resp., a wheel positioning unit Pos.W.I, Pos.W.r, and different sensors which are described below with reference to Fig. 2.

In a preferred embodiment every processing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i is mounted at the respective bearing B.l, B.r such that a distance between the mounting point of the processing unit and the vertical processing arrangement rotating axis occurs. This distance provides a lever for the processing unit. These distances and levers can be seen in Fig. 1. Preferably these two levers have different lengths, cf. Fig. 1.

Preferably the two processing units MU.I.o, MU.I.i and MU.r.o, MU.r.i are mounted at two different sides of the bearing B.l, B.r, cf. Fig. 1. The bearing B.l, B.r is not a linear rod but comprises two rods which are angularly connected with each other, cf. Fig. 1. During normal operation the cantilever arm CA.I, CA.r extends laterally and approximately perpendicular to the travelling direction TD. If the vehicle is moved straight on forward, the bearing B.l, B.r extends approximately perpendicular to the cantilever arm CA.I, CA.r and therefore parallel to the travelling direction TD. As the processing units are mounted at different sides of the bearing B.l, B.r, an outer processing unit MU.I.o, MU.r.o and an inner processing unit MU.I.i, MU.r.i are formed.

The cantilever arm CA.I, CA.r can be rotated around the vertical cantilever arm rotating axis with respect to the frame F. The bearing B.l, B.r can be rotated around the vertical processing arrangement rotating axis with respect to the cantilever arm CA.I, CA.r. Every laterally mounted processing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i can be rotated around the vertical processing unit pivoting axis with respect to the bearing B.l, B.r. The wheel W.l, W.r can be rotated around the vertical wheel steering axis with respect to the bearing B.l, B.r. These vertical pivoting axes are sketched in Fig. 1 by circles. In addition the wheel W.l, W.r can be rotated around its own horizontal rotating axis.

The control unit CU is installed on board of the tractor Tr or of the implement. In one implementation the control unit CU is mechanically coupled with the tractor, e. g. arranged in the driver’s cabin, but do not communicate with controllers of the tractor. This control unit CU can process sensor signals and can generate control signals for different positioning units Pos.CA.I, Pos.CA.r, Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i and can by this control these positioning units independently from each other. The control unit CU and the positioning units are connected via the data bus of the implement.

The cantilever arm positioning unit Pos.CA.I, Pos.CA.r can rotate the cantilever arm CA.I, CA.r in both rotating directions around its vertical cantilever arm rotating axis. The processing arrangement positioning unit Pos.PA.I, Pos.PA.r can rotate the bearing B.l, B.r in both rotating directions around its vertical processing arrangement rotating axis. Every processing unit positioning unit Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i can rotate the assigned processing unit MU.I.o, MU.I.i, MU.r.o, MU.r.i in both rotating directions around its vertical processing unit rotating axis. The wheel positioning unit Pos.W.I, Pos.W.r can rotate the wheel W.l, W.r in both directions around the vertical wheels steering axis. Every wheel W.l, W.r operates as an idler wheel, i.e. the wheel is not propelled by a motor around its own horizontal rotating axis but is rotated as the tractor Tr pulls the implement over ground.

The left cantilever arm CA.I is rotated with respect to the frame F independently from the right cantilever arm CAr. At every time only the left cantilever arm CA.I, only the right cantilever arm CA.r or both cantilever arms CA.I, CA.r can be rotated by the corresponding positioning unit(s).

At every time the angle β.Ι between the longitudinal axis of the left cantilever arm CA.I and the longitudinal axis of the frame F can differ from the angle βτ between the longitudinal axis of the right cantilever arm CA.r and the longitudinal axis of the frame F.

Pivoting the left cantilever arm CA.I around the vertical cantilever arm rotating axis changes the distance between the left processing arrangement PA.I and the frame F. Pivoting the right cantilever arm CA.r around the vertical cantilever arm rotating axis changes the distance between the right processing arrangement PA.r and the Frame F.

In one embodiment the positioning units are implemented by means of double-acting cylinders or electrical motors. In a preferred embodiment the cantilever arm positioning unit Pos.CA.I, Pos.CA.r is implemented by means of a hydraulic cylinder operating in both directions, i.e. expands as well as retracts in a horizontal direction. This cylinder is at one side pivotally connected with the frame F and at the other side pivotally connected with the cantilever arm CA.I, CA.r. A lever occurs between the pivoting point of the cantilever arm CA.I, CA.r and the connection point in which the cylinder is connected with the cantilever arm CA.I, CA.r. Expanding or retracting the cylinder makes the cantilever arm CA.I, CA.r rotating around the vertical cantilever arm rotating axis with respect to the frame F. In an alternative embodiment at least some positioning units comprises electrical motors.

Fig. 1 shows the tractor Tr and the vehicle moving in a curve to the left. Every wheel of the tractor Tr describes a trajectory being part of a circle with the middle point M. The wheels positioning units Pos.W.I, Pos.W.r have rotated the wheels W.l, W.r of the implement such that every wheel W.l, W.r of the implement also describes a trajectory of a circle with the middle point M.

The eight positioning units Pos.CA.I, CA.r, Pos.PA.I, Pos.PA.r, Pos.MU.I.o, Pos.MU.I.i, Pos.MU.r.o, Pos.MU.r.i have pivoted the cantilever arms CA.I, CA.r, the bearings B.l, B.r, and the four lateral mowing units MU.I.o, MU.I.i, MU.r.o, MU.r.i such that the four lateral mowing units MU.I.o, MU.I.i, MU.r.o, MU.r.i and the front mowing unit MU.f together process a broad strip on the ground without a gap in the interior of this strip. Only small overlaps between the processing areas of the mowing units occur. These processing areas are sketched in Fig. 1 and Fig. 2 by dotted lines.

The control unit CU generates signals for the positioning units. The positioning units rotate the cantilever arms CA.I, CA.r and the processing arrangements PA.I, PA.r such that the grass is mowed in this way without unprocessed strips in the interior. The control unit CU produces control signals depending on signals from a sensor and evaluating arrangement. This sensor and evaluating arrangement automatically decides if the vehicle moves straight on forward or to left or to the right, i.e. into a left curve or into a right curve. In one embodiment the sensor and evaluating arrangement further calculates an implement travelling angle, i.e. the angle between the current travelling direction TD and the longitudinal axis of the frame F. The sensor and evaluating arrangement further yields signals describing the pivoting angles of the cantilever arms CA.I, CA.rand of the processing arrangements PA.I, PA.r.

Fig. 2 shows a sensor and evaluating arrangement which automatically decides if the vehicle moves straight on forward or to the right or to the left. This sensor and evaluating arrangement also continuously measures an implement travelling angle, i.e. the current angle between the travelling direction TD and the longitudinal axis of the implement.

In the embodiment this sensor and evaluating arrangement comprises all or at least some of the following sensors: the frame rotating sensor FRS mounted at the frame F, a left cantilever arm rotating sensor CAS.I and a right cantilever arm rotating sensor CAS.r, a left bearing rotating sensor BS.I and a right bearing rotating sensor BS.r, a left receiving unit S.l mounted at the left outer mowing unit MU.I.o, a right receiving unit S.r mounted at the right outer mowing unit MU.r.o, and a central sending unit Ref mounted at the tractor Tr and operating as a reference element, and a steering angle sensor SAS mounted at the tractor Tr.

The sensor and evaluating arrangement further comprises an evaluating unit for evaluating the sensor signals. The evaluating unit automatically processes signals from the sensor units and may be part of the control unit.

The frame rotating sensor FRS measures an angle a between the longitudinal axis of the tractor Tr and the longitudinal axis of the frame F. The left cantilever arm rotating sensor CAS.I measures the angle β.Ι between the longitudinal axis of the frame F and the longitudinal axis of the left cantilever arm CA.I. The right cantilever arm rotating sensor CAS.r measures the angle βτ between the longitudinal axis of the frame F and the longitudinal axis of the right cantilever arm CA.r. The left bearing sensor BS.I measures the angle γ.Ι between the longitudinal axis of the frame F and the longitudinal axis of the left bearing B.l. The right bearing sensor BS.r measures the angle γτ between the longitudinal axes of the frame F and the longitudinal axis of the right bearing B.r.

The steering angle sensor SAS measures the steering angle of the tractor Tr. This steering angle equals the angle δ between the rotating axis of the rear wheels of the tractor Tr and the rotating axis of the steerable front wheels. The front wheels are steered such that the rotational axis of the front wheels can be changed with respect to the travelling direction of the tractor Tr. The rear wheels are rotated by the motor of the tractor but cannot be steered. In other words: The rotating axis of a rear wheel is always perpendicular to the tractor’s longitudinal axis.

Preferably every rotating sensor is implemented as a potentiometer which generates a voltage depending on the angle to be measured.

The sensor and evaluating arrangement further measures a left distance dist.I and a right distance dist.r. The left distance dist.I is the distance between the left receiving unit S.l and the central sending unit Ref. The right distance dist.r is the distance between the right receiving unit S.r and the central sending unit Ref. If the left distance dist.l equals the right distance dist.r, the vehicle moves straight ahead. In the situation shown in Fig. 2 the left distance dist.l is smaller than the right distance dist.r as the vehicle moves to the left.

The conclusion that the vehicle moves straight ahead if dist.l equals dist.r is valid if β.Ι equals βτ and γ.Ι equals γτ. In general the decision whether the vehicle moves straight ahead or to left or to the right is based on the two distances dist.I, dist.r and the four angles β.Ι, γ.Ι, βτ, γτ. The length of the cantilever arms CA.I, CA.r and the length of the lever arms of the bearings B.l, B.r are constant by construction and are known to the sensor and evaluating arrangement.

The embodiment with measuring the two distances dist.l, dist.r and the four angles β.Ι, γ.Ι, βτ, γτ by means of the central sending unit Ref and the two receiving units S.l, S.r saves the need to evaluate signals from the tractor control. In particular a steering angle sensor SAS can be used but is not required. Therefore the implement with the sensor and evaluating arrangement can be combined with every tractor provided the tractor can be mechanically be coupled with the frame and provides sufficient traction power and sufficient torque at its PTO shaft.

In one embodiment the central sending unit Ref. is mechanically mounted at the tractor Tr, e. g. on the roof of the driver’s cabin by means of a magnet. The central sending unit Ref sends signals to both receiving units S.l, S.r. In an alternative embodiment two sending units S.l, S.r are mounted at the two outer mowing units MU.I.o, MU.r.o and a receiving unit is mounted at the tractor Tr.

In a further embodiment a left mower distance sensor (not shown) measures the distance dist.MU.I between the left outer mowing unit MU.I.o and the frame F. A right mower distance sensor measures the distance dist.MU.r between the right outer mowing unit MU.r.o and the frame F. These two distances dist.MU.I and dist.MU.r are also use for determining whether the vehicle moves straight ahead or to the left or to the right and for determining the travelling angle.

The five mowing units MU.f, MU.I.o, MU.I.i, MU.r.o, and MU.r.i can in addition be rotated around horizontal rotating axes. A mowing unit is passively rotated around a horizontal axis for adapting the mowing unit to a sloping ground. A tilting unit can actively rotate a mowing unit, e.g. for transferring the mowing unit from the working position shown in Fig. 1 and Fig. 2 into a vertical transport position. The implement with the mowing units MU.I.o, MU.r.o, MU.I.i, MU.r.i in the vertical transport position has a smaller width and can be moved on a street. In Fig. 1 four tilting units TU.MU.I.o, TU.MU.I.i, TU.MU.r.o, and TU.MU.r.i are shown.

Preferably every cantilever arm CA.I, CA.r is arranged like a telescope such that the length of the cantilever arm CA.I, CA.r can be changed. A position unit obtains corresponding signals from the control unit CU and changes the length of the cantilever arm CA.I, CA.r.

Reference signs

Claims (15)

An agricultural vehicle, comprising a frame (F), at least one laterally arranged processing device (PA.I, PA.r), and a control unit (CU), wherein the or each laterally arranged processing device (PA.I, PA.r) is mechanically connected to the frame (F) and is designed to be moved over the soil and to process agricultural material lying on the soil, the vehicle comprising for each side-mounted processing device (PA.I, PA.r): a cantilevered arm (CA.I, CA.r), a positioning unit (Pos.CA.I, Pos.CA.r) for the cantilevered arm, and a positioning unit (Pos.PA.I, Pos.PA.r) for the processing device , wherein the cantilever arm (CA.I, CA.r) is pivotally mounted on the frame (F) such that the cantilever arm (CA.I, CA.r) can rotate about a vertical axis of rotation for the cantilever arm with respect to the frame (F), the laterally arranged processing device (PA.I, PA.r) is pivotally arranged on the other and corresponding cantilever arm (CA.I, CA.r) that the laterally arranged machining device (PA.I, PA.r) can rotate about a vertical axis of rotation of the machining device relative to the corresponding cantilever arm (CA.I, CA.r) .r), wherein the control unit (CU) is configured to automatically control the following: the positioning unit (Pos.CA.I, Pos.CA.r) for the cantilevered arm and the or each positioning unit (Pos. PA.I, Pos. PA.r) for the processing device, wherein the positioning unit (Pos.CA.I, Pos.CA.r) for the cantilever arm is arranged around the cantilever arm (CA.I, CA.r) automatically around the vertical axis of rotation for the cantilever arm, depending on signals from the control unit (CU), the positioning unit (Pos.PA.I, Pos.PA.r) for the processing device being designed around the laterally arranged processing device (PA.I, PA.r ) automatically rotates about the vertical axis of rotation for the processing device, depending on signals from the control unit (CU), and where the vehicle is designed such that the laterally arranged processing device (PA.I, PA.r) is independent of the cantilevered arm (CA.I, CA.r) can rotate about the vertical axis of rotation for the processing device. Agricultural vehicle according to claim 1, characterized in that the vehicle further comprises a sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, Sl, Sr, Ref) wherein the sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, Sl, Sr, Ref) has been implemented to automatically decide whether the vehicle moves straight ahead or a left or a left turn to the right, where the control unit (CU) is arranged around the positioning unit (Pos.CA.I, Pos.CA.r) for the cantilevered arm and the positioning unit (Pos.PA.I, Pos.PA.r) for the control device, depending on the decision of the sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, Sl, Sr, Ref). Agricultural vehicle as claimed in claim 2, characterized in that the processing device (PA.I, PA.r) arranged on the side comprises: • a wheel (W1, Wr) and • a wheel positioning unit (Pos.Wl, Pos.Wr), wherein the wheel (W1, Wr) is arranged such that the wheel (W1, Wr) • moves the laterally arranged processing device (PA.I, PA.r) over the bottom and • can rotate about its axis of symmetry, whereby the wheel (W1, Wr ) is further arranged such that the wheel (W1, Wr) can rotate about a wheel steering axle, the wheel steering axle being perpendicular to the bottom or obliquely downwards relative to the bottom and perpendicular to the axis of symmetry of the wheel, the control unit ( CU) is further configured to control the wheel positioning unit (Pos.Wl, Pos.Wr) depending on the decision of the sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r , S1, Sr, Ref), wherein the wheel positioning unit (Pos.WI, Pos.Wr) is arranged around the wheel (W1, Wr ) automatically rotates around the wheel steering axle, depending on signals from the control unit (CU). Agricultural vehicle as claimed in claim 3, characterized in that the vehicle is designed such that the wheel positioning unit (Pos.WI, Pos.Wr), the wheel (W1, Wr) rotates to the right about the wheel steering axle as the sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, Sl, Sr, Ref) determined that the vehicle makes a left turn and • the wheel (W1, Wr) turns left around the wheel steering axle as the sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, Sl, Sr, Ref) determined that the vehicle makes a right turn. Agricultural vehicle according to claim 3 or claim 4, characterized in that the wheel positioning unit (Pos.WI, Pos.Wr) is designed to rotate the wheel (W1, Wr), depending on corresponding signals from the control unit (CU) such that if the current trajectory of the wheel (W1, Wr) follows a circle segment on the bottom and the wheel (W1, Wr) is positioned such that the axis of rotation of the wheel (W1, Wr) is the center point (M) of this circle touches. Agricultural vehicle according to one of the preceding claims, characterized in that the vehicle comprises a further processing device (PA.r, MU.f), wherein the further processing device (MU.f) is arranged at the front, in a position for frame (F). Agricultural vehicle according to one of the preceding claims, characterized in that the vehicle comprises: • a cantilevered left arm (CA.I) mounted laterally on the left side of the frame (F), • a left-hand processing device (PA) .I) pivotally connected to the left-handed arm (CA.I), • a right-handed arm (CA.r), • a right-hand machining device (PA.r) pivotally connected to the right-handed arm (CA.r) r), • a positioning unit (Pos.CA.I) for the left-bearing arm that pivots around the left-handed arm (CA.I) about a vertical axis of rotation of the left-handed arm relative to the frame (F), • a positioning unit (Pos.PA.I) for the left-hand tool to rotate the left-hand tool (PA.I) about a vertical axis of rotation for the left-hand tool relative to the cantilevered left arm (CA.I); positioning unit (Pos.CA.r) for the cantilevered right arm rotating the cantilevered right arm (CA.r) about a vertical axis of rotation for the cantilevering right arm relative to the frame, and • a positioning unit (Pos.PA.r) for the right-hand machining device around the right-hand machining device (PA. r) pivoting about a vertical axis of rotation for the right-hand machining device relative to the cantilevered right arm (CA.r). Agricultural vehicle according to claim 7, characterized in that the vehicle further comprises a sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, Sl, Sr, Ref), wherein the sensor and evaluation device (FRS, CAS.I, CAS.r, BS.I, BS.r, S1, Sr, Ref) comprises: • a reference element (Ref) and • a measuring unit (SI, Sr) , wherein the reference element (Ref) is designed to be moved together with the frame (F) such that the distance between the reference element (Ref) and the frame (F) remains the same, the measuring unit (S1) , Sr) is designed to automatically measure the following: • a left distance (dist.dist.l), being the distance between the left-hand processing device (PA.I) and the reference element (Ref), and • a right distance (dist.r), being the distance between the right-hand processing device (PA.r) and the reference element (Ref), the sensor and evaluation device (FRS, CAS.I, CAS.r, BS). I, BS.r, S1, Sr, Ref) v It is also designed to decide whether the vehicle moves straight ahead or makes a left turn or a right turn by evaluating the two measured distances (dist.l, dist.r). Agricultural vehicle according to one of the preceding claims, characterized in that the or at least one laterally arranged processing device (PA.I, PA.r) comprises: • a bearing (B1, Br) and • at least one processing unit (MU. Io, MU.Ii, MU.ro, MU.ri), and wherein the or each processing unit (MU.Io, MU.Ii, MU.ro, MU.ri) is designed to be moved over the bottom and • for working agricultural material on the soil, the bearing (B1, Br) being pivotally mounted on the cantilever arm (CA.I, CA.r) such that the bearing around the vertical axis of rotation for the processing device relative to the cantilever bearing arm (CA.I, CA.r), whereby the positioning unit (Pos.PA.I, Pos.PA.r) for the processing device is arranged around the bearing (Bl, Br) about the vertical axis of rotation for the processing device and the or at least one processing unit (MU.Io, MU.Ii, MU.ro, MU.ri) is arranged at the bearing (Bl, Br) at a distance of the vertical axis of rotation for the processing device such that a lever for rotating the processing unit (MU.I.o, MU.I.i, MU.r.o, MU.r.i) is formed around the vertical axis of rotation for the processing device. An agricultural vehicle according to claim 9, characterized in that the laterally arranged processing device (PA.I, PA.r) furthermore has an assigned positioning unit (Pos) for each processing unit (MU.Io, MU.Ii, MU.ro, MU.ri) .MU.Io, Pos.MU.Ii, Pos.MU.ro, Pos.MU.ri) for the processing unit, the or each processing unit (MU.Io, MU.Ii, MU.ro, MU.ri) is arranged pivotally at the bearing (Bl, Br) such that the processing unit (MU.Io, MU.Ii, MU.ro, MU.ri) around a vertical axis of rotation of the processing unit relative to the bearing (Bl, Br Br) can rotate, and the or each positioning unit (Pos.MU.Io, Pos.MU.Ii, Pos.MU.ro, Pos.MU.ri) for the processing unit is arranged around the corresponding positioning unit (MU.Io, MU .I, MU.ro, MU.ri) about the vertical axis of rotation for the processing unit. An agricultural vehicle according to claim 9 or claim 10, characterized in that at least two positioning units (MU.Io, MU.Ii, MU.ro, MU.ri) are both arranged at the bearing (Bl, Br) such that machining unit (MU.Io, MU.Ii, MU.ro, MU.ri) can rotate around a vertical axis of rotation for the machining unit perpendicular to the bearing axis and • any machining unit (MU.Io, MU.Ii, MU .ro, MU.ri) can run independently of the other processing unit. An agricultural vehicle according to claim 10 or claim 11, characterized in that the assigned positioning unit (Pos.MU.Io, Pos.MU.Ii, Pos.MU.ro, Pos.MU.ri) for the processing unit is designed to machining unit (MU.Io, MU.Ii, MU.ro, MU.ri) around the axis of rotation of the vertical machining unit, the or at least one laterally arranged machining device two machining units (MU.Io, MU.Ii, MU .ro, MU.ri) which are pivotally mounted on two sides of the bearing (B1, Br) such that • an inner processing unit (MU.Ii, MU.ri) and • an outer processing unit (MU.Io, MU .ro) are formed relative to the frame (F) and these two processing units (MU.Io, MU.Ii, MU.ro, MU.ri) are pivotally arranged such that the inner processing unit (MU.Ii, MU.ri ) can run independently of the outer processing unit (MU.Io, MU.ro). Agricultural vehicle according to one or the preceding claims, characterized in that the cantilevered arm (CA.I, CA.r) is arranged so that the length of the cantilevered arm (CA.I, CA.r) can be changed, wherein the vehicle further comprises a shifting unit for the processing device, the shifting unit for the processing device being designed to laterally shift the processing device arranged laterally with respect to the frame (F) by the length of the cantilevered arm (CA.I, CA.r) modify. A method for operating an agricultural vehicle, wherein the agricultural vehicle comprises: • a frame (F) and • at least one laterally arranged processing device (PA.I, PA.r), wherein the vehicle for each laterally arranged processing device (PA. I, PA.r) comprises: • a cantilever arm (CA.I, CA.r), • a positioning unit (Pos.CA.I, Pos.CA.r) for the cantilever arm, and • a positioning unit ( Pos.PA.I, Pos.PA.r) for the processing device, wherein the or each laterally arranged processing device (PA.I, PA.r) and the corresponding cantilevered arm (CA.I, CA.r) are mechanically connected to the frame (F), the operating method comprising the following steps: • the vehicle is moved over soil over a path comprising at least one bend and • the laterally arranged processing device (PA.I, PA.r) processes agricultural material on the soil while it is being moved over the bottom, while passing through the bend movement of the vehicle the following further steps are performed: • the positioning unit (Pos.CA.I, Pos.CA.r) for the cantilever arm rotates the cantilever arm (CA.I, CA.r) around a vertical turning axis for the cantilevered arm with respect to the frame (F) and • the positioning unit (Pos.PA.I, Pos.PA.r) for the machining device, the laterally arranged machining device (PA.I, PA.r) rotates around a vertical axis of rotation of the machining device relative to the cantilevered arm (CA.I, CA.r) • so that the rotation of the laterally arranged machining device (PA.I, PA.r) independently of the rotation of the cantilevered arm (CA. I, CA.r) is executed. Method according to claim 14, characterized in that the processing device (PA.I, PA.r) arranged on the side comprises: • a wheel (W1, Wr) and • a wheel positioning unit (Pos.WI, Pos.Wr), the wheel (W1, Wr) is arranged such that the wheel (W1, Wr) can rotate • around its axis of rotation and • around a wheel steering axis running perpendicular to the bottom and perpendicular to the axis of rotation, the operating method further comprising the step wherein the rotating wheel (W1, Wr) advances the processing device (PA.I, PA.r) while the vehicle is being moved over the ground and the following steps are performed while the vehicle is moving through the bend, the wheel positioning unit (Pos. WI, Pos.Wr) • the wheel (Wl, Wr) turns to the right around the wheel steering axle when the vehicle makes a left turn and • a wheel (Wl, Wr) turns to the left around the wheel steering axle when the vehicle turns to the right makes.