RU-2861567-C2 - METHOD FOR PRE-OPTIMISATION OF AGRICULTURAL WORK PROCESSES FOR AGRICULTURAL ASSEMBLIES AND UNIT FOR CARRYING OUT SUCH PROCESS

RU2861567C2RU 2861567 C2RU2861567 C2RU 2861567C2RU-2861567-C2

Abstract

FIELD: agriculture. SUBSTANCE: method is proposed for pre-optimisation of agricultural work processes for agricultural assemblies (7) comprising an agricultural working machine (1) and corresponding various agricultural implements (3), a sensor device (8) for determining the absolute working height of the agricultural implements (3). Agricultural assembly (7) comprises an assembly control unit (11). Sensor device (8) comprises a sensor (12) for obtaining measurement data of the absolute working height, a sensor holder (13) and a sensor control unit (10). Sensor (12) records measurement data of the absolute working height of the corresponding implement (3) in a mounted state in a mounting position (15) and transmits them to the assembly control unit (11). Assembly control unit (11) during execution of the work process controls machine parameters and/or adjusts machine parameters of the corresponding agricultural assembly (7) based on an optimisation data set and measurement data. Provided is an optimisation control unit (16) which, during an optimisation procedure before execution of the work process, determines the optimisation data set from competing optimisation goals, non-assembly-related optimisation data, and assembly (7)-related optimisation data, and transmits it to the assembly control unit (11). Optimisation data set contains proposals for optimised settings of machine parameters of the agricultural assembly (7) in accordance with the optimisation goals depending on other machine parameters of the agricultural assembly (7) and/or measurement data of the agricultural assembly (7). Sensor device (8) is configured to measure the absolute working height of several different implements (3) by means of the same sensor (12). Optimisation data set contains a proposal for optimising the working height of the implement (3) in accordance with the optimisation goals and/or proposals for optimised settings of other machine parameters of the agricultural assembly (7), dependent on the set working height, in accordance with the optimisation goals. Pre-optimisation control unit (16) for agricultural work processes for agricultural assemblies (7) comprising an agricultural working machine (1) and corresponding various agricultural implements (3), a sensor device (8) for determining the absolute working height of the agricultural implements (3). Agricultural assembly (7) comprises an assembly control unit (11). Sensor device (8) comprises a sensor (12) for obtaining measurement data of the absolute working height, a sensor holder (13) and a sensor control unit (10). Sensor (12) records measurement data of the absolute working height of the corresponding implement (3) in a mounted state in a mounting position (15) and transmits them to the assembly control unit (11). Assembly control unit (11) during execution of the work process controls machine parameters and/or adjusts machine parameters of the corresponding agricultural assembly (7) based on an optimisation data set and measurement data. Sensor device (8) is configured to measure the absolute working height of several different implements (3) by means of the same sensor (12). Optimisation data set contains a proposal for optimising the working height of the implement (3) in accordance with the optimisation goals and/or proposals for optimised settings of other machine parameters of the agricultural assembly (7), dependent on the set working height, in accordance with the optimisation goals. Optimisation control unit (16) during an optimisation procedure before execution of the work process determines the optimisation data set from competing optimisation goals, non-assembly-related optimisation data, and assembly (7)-related optimisation data, and transmits it to the assembly control unit (11). Optimisation data set contains proposals for optimised settings of machine parameters of the agricultural assembly (7) in accordance with the optimisation goals depending on other machine parameters of the agricultural assembly (7) and/or measurement data of the agricultural assembly (7). EFFECT: simplification of determining optimised settings of machine parameters. 13 cl, 2 dwg

Inventors

BIRKMANN, CHRISTIAN
WIECKHORST, JAN CARSTEN
Pieper, Jona
SCHAUB, CHRISTIAN
EHLERT, CHRISTIAN
Meyer, Lennart

Dates

Publication Date: 20260506
Application Date: 20220803
Priority Date: 20210810

Claims (13)

1. A method for pre-optimizing agricultural work processes for agricultural units (7) comprising an agricultural working machine (1) and corresponding various agricultural attachments (3), wherein a sensor device (8) is provided for determining the absolute working height (9) of the agricultural attachments (3), wherein the agricultural unit (7) comprises an unit control unit (11), wherein the sensor device (8) comprises a sensor (12) for receiving measurement data of the absolute working height (9), a sensor holder (13) and a sensor control unit (10), wherein the sensor (12) records the measurement data of the absolute working height (9) of the corresponding attachment (3) in a mounted state in a mounting position (15) and transmits them to the unit control unit (11), wherein the unit control unit (11) during the execution of the work process controls the machine parameters and/or regulates the machine parameters of the corresponding agricultural unit (7) on the basis of a set of data for optimization and the measurement data, wherein a control unit (16) is provided optimization, which, during the optimization procedure, before executing the workflow, determines a set of optimization data from competing optimization goals, optimization data not associated with the unit, and optimization data associated with the unit (7), and transmits it to the unit control unit (11), wherein the set of optimization data contains proposals for optimized settings of the machine parameters of the agricultural unit (7) in accordance with the optimization goals depending on other machine parameters of the agricultural unit (7) and/or measurement data of the agricultural unit (7), characterized in that the sensor device (8) is configured to measure the absolute working height (9) of several different mounted implements (3) by means of the same sensor (12), wherein the set of data for optimization contains a proposal for optimizing the working height (9) of the mounted implement (3) in accordance with the optimization goals and/or proposals for optimized settings of other machine parameters of the agricultural unit (7), dependent on the set working height (9), in accordance with the optimization goals.
2. The method according to claim 1, characterized in that the sensor (12) can be installed with the possibility of disconnecting on the mounted implement (3), wherein the sensor (12) is used to determine the working height (9) of several mounted implements (3) and for this purpose is installed on the corresponding mounted implement (3), wherein, preferably, the sensor (12) is installed with the possibility of disconnecting in the mounting position (15) on different mounted implements (3) by means of at least one sensor holder (13), wherein the sensor holder (13) is designed with the possibility of being installed separately from the sensor (12) on different mounted implements (3), and the sensor (12) can be installed with the possibility of disconnecting on the sensor holder (13).
3. The method according to claim 1 or 2, characterized in that the sensor (12) is, in particular, a contactless distance sensor, wherein, preferably, the distance sensor operates on the basis of electromagnetic waves, acoustic waves or mechanical scanning, wherein, preferably, the distance sensor is a radar sensor, a lidar sensor, an optical sensor or an ultrasonic sensor, or the sensor (12), in particular, in the form of a force sensor or a displacement sensor, is mounted on a structural element touching the ground surface, in particular on a follower bracket, on skids or on a support roller.
4. The method according to one of the preceding paragraphs, characterized in that the set of data for optimization contains characteristic fields that reflect the dependencies of the settings of machine parameters, in particular the working height (9), of the agricultural unit (7) on other machine parameters of the agricultural unit (7) and/or measurement data of the agricultural unit (7), wherein the unit control unit (11) controls the agricultural unit (7) in the working area of the characteristic fields based on the characteristic fields and, upon exiting the working area of the characteristic fields, corrects the characteristic fields.
5. The method according to one of the preceding claims, characterized in that the set of data for optimization is dependent on the installation position, wherein, preferably, the set of data for optimization contains at least one characteristic field dependent on the installation position, wherein, preferably, the characteristic field dependent on the installation position displays the settings of the machine parameters of the agricultural unit (7) depending on the working height (9) in the installation position (15).
6. The method according to one of the preceding claims, characterized in that the set of data for optimization contains proposals for settings dependent on the set working height (9), for regulating the operation of the engine, and/or regulating the driving mode, and/or regulating the transmission, and/or regulating the fan, and/or regulating the coupling device (2), preferably for regulating the traction force, and/or regulating the slip, and/or regulating the position, and/or mixed regulating the traction force and position, and/or regulating the tire pressure according to the contact area, and/or regulating the reconsolidation pressure, and/or regulating the seeding density carried out by the agricultural mounted implement (3).
7. The method according to one of the preceding claims, characterized in that the optimization control unit (16) during the optimization procedure determines proposals for the optimized selection of one or more agricultural working machines (1), and/or agricultural mounted implements (3), and/or agricultural units (7) for performing the work process, and/or the optimization control unit (16) during the optimization procedure determines proposals for the optimized selection of one or more sensors (12) and/or types of sensors, and/or mounting positions (15), and/or the number of sensors of the sensor device (8).
8. The method according to one of the preceding claims, characterized in that the optimization control unit (16) during the optimization procedure determines a set of data for optimization depending on the weighting factors of the planned goals, wherein, preferably, the weighting factors of the planned goals are included in the characteristic fields, wherein, preferably, changes in the weighting factors of at least some of the planned goals during the execution of the work process do not require changes in the characteristic fields.
9. The method according to one of the preceding claims, characterized in that the user (17) during the execution of the work process has the possibility to set, on the basis of a dialogue, weighting factors of the planned goals for controlling the agricultural unit (7) and/or regulating the agricultural unit (7), wherein the set of data for optimization contains a working height (9) optimized depending on the planned goal, wherein the unit (11) for controlling the unit, on the basis of the set of data for optimization and the planned goals, proposes and/or regulates the optimized working height (9), wherein, preferably, the unit (11) for controlling the unit, on the basis of the set of data for optimization, the planned goals and the optimized working height (9), proposes and/or regulates other optimized machine parameters.
10. The method according to one of the preceding claims, characterized in that the optimization control unit (16) during the optimization procedure determines proposals for preliminary settings of the agricultural working machine (1) and/or the agricultural mounted implement (3), wherein, preferably, the set of data for optimization, in particular the characteristic fields, are dependent on these proposals.
11. The method according to one of the preceding claims, characterized in that the optimization control unit (16) during the optimization procedure determines a set of data for optimization, preferably a field of characteristics and/or proposals based on the properties of the field, preferably the type of soil and/or the moisture of the field and/or the field crop and/or the crop rotation, as data for optimization not associated with the unit, and/or the optimization control unit (16) during the optimization procedure determines a set of data for optimization, preferably a field of characteristics and/or proposals based on the planned size of the machine park for performing the work process and/or the planned time frames for performing the work and/or the planned additional processing steps and/or the additional time periods planned for processing as data for optimization not associated with the unit.
12. The method according to one of the preceding claims, characterized in that the optimization control unit (16) during the optimization procedure determines a set of data for optimization, preferably a characteristic field, and/or proposals based on the measurement data of the sensor (12) obtained during previous work processes.
13. A control unit (16) for preliminary optimization of agricultural work processes for agricultural units (7) comprising an agricultural working machine (1) and corresponding various agricultural attachments (3), wherein a sensor device (8) is provided for determining the absolute working height (9) of the agricultural attachments (3), wherein the agricultural unit (7) comprises an unit control unit (11), wherein the sensor device (8) comprises a sensor (12) for obtaining measurement data of the absolute working height (9), a sensor holder (13) and a sensor control unit (10), wherein the sensor (12) records measurement data of the absolute working height (9) of the corresponding attachment (3) in the mounted state in the mounting position (15) and transmits them to the unit control unit (11), wherein the unit control unit (11) during the execution of the work process controls the machine parameters and/or regulates the machine parameters of the corresponding agricultural unit (7) on the basis of a set of data for optimization and measurement data, wherein the sensor device (8) is configured to measure the absolute working height (9) of several different mounted implements (3) by means of the same sensor (12), wherein the set of optimization data comprises a proposal for optimizing the working height (9) of the mounted implement (3) in accordance with the optimization goals and/or proposals for optimized settings of other machine parameters of the agricultural unit (7) dependent on the set working height (9), in accordance with the optimization goals, characterized in that the optimization control unit (16) during the optimization procedure before executing the workflow determines a set of optimization data from competing optimization goals, optimization data not associated with the unit, and optimization data associated with the unit (7), and transmits it to the unit control unit (11), wherein the set of optimization data contains proposals for optimized settings of the machine parameters of the agricultural unit (7) in accordance with the optimization goals depending on other machine parameters of the agricultural unit (7) and/or measurement data of the agricultural unit (7).

Description

Field of technology to which the invention relates The present invention relates to a method for pre-optimisation of agricultural work processes for agricultural units according to the introductory part of claim 1 of the invention, as well as to an optimisation control unit according to claim 13 of the invention. State of the art Agricultural machinery, particularly grain harvesters, forage harvesters, and tractors, can be combined with various attachments. These attachments are connected to the agricultural machinery via a coupling device. In this case, we are primarily talking about agricultural units consisting of an agricultural machinery and an agricultural attachment, whereby such an agricultural attachment can be, for example, an independent vehicle. It is preferably pulled by the agricultural machinery. Such mounted implements are typically used to perform agricultural work, primarily field work. This can include, for example, seeding or fertilizing, applying crop protection products, soil cultivation, such as plowing, or harvesting, such as harvesting. What these field tasks have in common is that the mounted implements are usually set at a specific working height. Working height, for example during plowing, can also take a negative value, thus representing the working depth. The success and, to some extent, the energy consumption of field work often depend significantly on the working height. At the same time, they are influenced by various machine parameters of the mounted implements and the agricultural machinery. In principle, it's difficult to find parameters for optimally adjusting the fuel consumption, productivity, costs, or performance of an agricultural implement. These parameters depend on the properties of the respective agricultural implement and the corresponding agricultural attachment, as well as the field characteristics and the overall context of the farm. For example, an optimized adjustment of an agricultural unit cannot be made directly on-site during the work process unless the cost factors operating at the enterprise, such as labor costs, maintenance costs of machinery and equipment, fuel costs, etc., are known. For example, DE 102017116593 A1 and DE 102018111076 A1 describe user support for adjusting machine parameters of agricultural machinery. Systems for pre-evaluating optimized settings are also known. In principle, non-unit-related optimization data such as equipment costs, personnel costs, raw materials costs, etc., soil types, field crop rotation, general planning, etc. can be taken into account to define an optimization data set that can be used to adjust the machine parameters of the agricultural unit. Determining optimized machine parameter settings is a complex problem. Working height is a particularly important machine parameter, and determining and adjusting it is complex and therefore expensive in terms of the required hardware and software. Disclosure of the essence of the invention The object of the invention is to develop and improve known methods to ensure further optimization in relation to the said problem. This problem is solved using a method with the features disclosed in the distinguishing part of paragraph 1 of the invention formula. An important fundamental consideration is that one sensor can be used to determine the absolute working height of several different implements and to define a set of optimization data in such a way as to connect optimization goals, non-implement-related optimization data, and implement-related optimization data, and to propose an optimized working height based on user settings, measurement data, or the like, or to optimize other machine parameters based on the set working height in accordance with the optimization goals. By using the sensor multiple times, absolute working height can be determined cost-effectively. Because this important machine parameter is linked to other optimization data, improved overall workflow optimization can be achieved. Of particular interest is the ability to optimize working height for various attachments. In particular, it is proposed that the sensor device ensures the determination of the absolute working height of several different mounted implements using the same sensor, and that the set of data for optimization contains a proposal for the working height of the mounted implement, optimized in accordance with the optimization goals, and/or proposals for settings of other machine parameters of the agricultural unit, dependent on the set working height and optimized in accordance with the optimization goals. In one preferred embodiment, according to claim 2, the sensor can be detachably mounted on a mounted implement and used to determine the working height of multiple mounted implements. Such a modular sensor device enables cost-effective measurement of the working height of various mounted implements. Furthermore, if the sensor holder can be mounted separately from the sensor on the moun