U.S. patent application number 10/281608 was filed with the patent office on 2003-06-12 for agricultural vehicle.
Invention is credited to Aberneithy, Milton, Ferracin, Paolo, Paice, Mark.
Application Number | 20030109975 10/281608 |
Document ID | / |
Family ID | 9926827 |
Filed Date | 2003-06-12 |
United States Patent
Application |
20030109975 |
Kind Code |
A1 |
Paice, Mark ; et
al. |
June 12, 2003 |
Agricultural vehicle
Abstract
An electronic control system for use in an agricultural vehicle
having a hitch for towing an implement. The control system controls
any one or more of a plurality of sub-systems relating to the
vehicle operation. The electronic control system includes a memory,
a recording mode, and a playback mode. In one aspect of the
invention, the driver is enabled during the recording mode to
record a break signal in addition to, and without interruption of,
the recording of the sequence of control steps being executed by
the driver and in that during the playback mode automatic execution
of the recorded control steps is interrupted upon detection of a
break signal, execution of the remaining recorded control steps in
the sequence being resumed only in response to an instruction from
the vehicle driver.
Inventors: |
Paice, Mark; (Essex, GB)
; Ferracin, Paolo; (Ravarino, IT) ; Aberneithy,
Milton; (London, GB) |
Correspondence
Address: |
CNH INTELLECTUAL PROPERTY LAW DEPARTMENT
CASE NEW HOLLAND INC.
P.O. BOX 1895
MS 641
NEW HOLLAND
PA
17557
US
|
Family ID: |
9926827 |
Appl. No.: |
10/281608 |
Filed: |
October 28, 2002 |
Current U.S.
Class: |
701/50 ;
172/2 |
Current CPC
Class: |
G05B 2219/36482
20130101; G05B 2219/23423 20130101; G05B 2219/45017 20130101; A01B
63/00 20130101; G05B 2219/2663 20130101; A01B 63/111 20130101 |
Class at
Publication: |
701/50 ;
172/2 |
International
Class: |
G06F 019/00 |
Foreign Application Data
Date |
Code |
Application Number |
Dec 3, 2001 |
GB |
01.28.803.4 |
Claims
Having thus described the invention, what is claimed is:
1. An electronic control system for use by an operator in an
agricultural vehicle having a hitch for towing an implement, the
control system being operative to control any one or more of a
plurality of sub-systems serving to set the vehicle engine speed,
the selected transmission ratio, the hitch position to raise and
lower the implement, the estimated flow in electro-hydraulic remote
(EHR) lines connectable to actuators of the towed implement, and
the engagement state of the power take off shaft, the electronic
control system comprising: a memory; a recording mode during which
a sequence of control steps is stored in the memory while such
steps are being executed under instruction from the operator, said
control system being operable during the recording mode to record a
break signal in addition to, and without interruption of, the
storing of the sequence of control steps being executed by the
operator; and a playback mode during which a previously recorded
sequence of steps is read from the memory to produce control
signals to enable the correct sequence of steps to be executed
automatically by the control system, said control system being
operable to interrupt the automatic execution of the recorded
control steps during the playback mode upon detection of a break
signal, execution of the remaining recorded control steps in the
sequence being resumed only in response to an instruction from the
operator.
2. The control system as claimed in claim 1, wherein the control
system is able to record and replay several sub-sequences separated
by pauses.
3. The control system as claimed in claim 2, wherein the recording
of each sub-sequence includes a time of commencement of an event, a
length of duration of the event, and selected values of any
variable changed by the event at the commencement and termination
of the event.
4. An electronic control system for use by an operator in an
agricultural vehicle having a hitch for towing an implement, the
control system being operative to control any one or more of a
plurality of sub-systems serving to set the vehicle engine speed,
the selected transmission ratio, the hitch position to raise and
lower the implement, the estimated flow in electro-hydraulic remote
lines connectable to actuators of the towed implement, and the
engagement state of the power take off shaft, the electronic
control system comprising: a memory; a recording mode during which
a sequence of control steps is stored in the memory while such
steps are being executed under instruction from the operator; said
control system incorporating a display panel; and a playback mode
during which a previously recorded sequence of steps is read from
the memory to produce control signals to enable the correct
sequence of steps to be executed automatically by the control
system, said control system being operable to display icons on the
display panel during the playback mode to indicate to the operator
graphically a plurality or all of the steps of a sequence recorded
in the memory in their correct order of execution together with a
visual indication of the step in the recorded sequence currently
being executed.
5. The control system as claimed in claim 4, wherein the sequence
of recorded steps is displayed on a panel serving additionally to
provide an indication of the selected gear ratio.
6. The control system as claimed in claim 5, wherein a dedicated
area of the display of gears is allocated to a headland turn
system.
7. The control system as claimed in claim 6, wherein eight square
LCD matrix regions arranged vertically on the left hand side of the
display of gears is used to show icons related to headland turn
systme state, current subsystem involved and subsequent subsystems
in the sequence.
Description
BACKGROUND OF THE INVENTION
[0001] The present invention relates to a control system for an
agricultural vehicle.
[0002] Many field operations (in particular cultivation) require
the driver to repeat a set of operations each time he traverses the
field and turns the tractor at a headland. As implements become
more complicated these repeated operations become monotonous and
tiring. Tractors that have some or all of these operations under
electronic control lend themselves to the automation of this
repetitive task.
[0003] Several HTS (Headland Turn Sequence) systems have been
developed by tractor manufacturers with the aim of reducing the
number of repetitive movements that the driver is required to
perform. These systems range from simple automatic disabling of the
PTO (power take-off shaft) when the hitch is raised to recording
and playback of a complex sequence of operations. Systems differ in
the way in which the sequence is recorded and played back and the
aim of the present invention is to provide a control system that
allows experienced vehicle drivers a degree of control over the
recording and playing back of sequences while also permitting fully
automated operation, which is more suitable for inexperienced
drivers.
SUMMARY OF THE INVENTION
[0004] In accordance with a first aspect of the present invention,
there is provided an electronic control system for use in an
agricultural vehicle having a hitch for towing an implement, the
control system being operative to control any one or more of a
plurality of sub-systems serving to set the vehicle engine speed,
the selected transmission ratio, the hitch position to raise and
lower the implement, the estimated flow in electro-hydraulic remote
(EHR) lines connectable to actuators of the towed implement, and
the engagement state of the power take off shaft in which the
electronic control system includes a memory, a recording mode
during which a sequence of control steps is stored in the memory
while such steps are being executed under instruction from the
vehicle driver, and a playback mode during which a previously
recorded sequence of steps is read from the memory to produce
control signals to enable the correct sequence of steps to be
executed automatically by the control system, in which means are
provided for enabling the driver during the recording mode to
record a break signal in addition to, and without interruption of,
the recording of the sequence of control steps being executed by
the driver and in that during the playback mode automatic execution
of the recorded control steps is interrupted upon detection of a
break signal, execution of the remaining recorded control steps in
the sequence being resumed only in response to an instruction from
the vehicle driver.
[0005] It is preferred, as is already known, for control systems to
be able to record and replay several sub-sequences. For example,
the geometry of a field may be different at its opposite ends and
different sub-sequences may be needed for the different ends of the
field. To achieve this, the driver in the preferred embodiment of
the invention is able to pause recording after terminating a
sub-sequence for one end of the field and to resume recording when
approaching the other end of the field to store a second
sub-sequence.
[0006] Such pausing differs from the recording of a break signal as
proposed in the present invention because after a pause the
recording of all control steps is stopped and recording of the
control steps of the next sub-sequence only recommences after an
instruction is received from the driver, even though the control
system is still operating in the recording mode. By contrast, a
break signal does not interrupt the recording process and is
instead inserted within a sub-sequence rather than acting to
separate sub-sequences from one another. No action is required by
the driver in the recording mode after a break signal has been
stored. It is only in playback mode that an instruction is required
from the driver to permit resumption of the control steps stored in
the sub-sequence.
[0007] The provision of a break signal by the present invention
allows the driver to "step through" a series of steps, each step
commencing under driver instruction. In between break signals
within each sub-sequence, however, the previously recorded steps
are executed automatically.
[0008] Thus, an important concept in the present invention is the
resulting presence of "implicit" and "explicit" steps. During
recording, an implicit step for a given sub-system will end when
another sub-system is controlled. An explicit step will start when
a dedicated button (herein termed a sequence step button) is
actuated. When playing back the sequence, the system will wait for
the sequence step button switch to be pressed before explicit but
not implicit steps. In this way, the system can be used in a simple
way by an inexperienced driver without pressing the sequence step
button other than to start recording and playing. An experienced
driver on the other hand is able to add flexibility to the sequence
by inserting explicit steps when required.
[0009] It is important to be able to provide the driver a feedback
regarding the current state of the HTS system. With this aim in
mind, the present invention provides in accordance with a second
aspect, an electronic control system for use in an agricultural
vehicle having a hitch for towing an implement, the control system
being operative to control any one or more of a plurality of
sub-systems serving to set the vehicle engine speed, the selected
transmission ratio, the hitch position to raise and lower the
implement, the estimated flow in electro-hydraulic remote (EHR)
lines connectable to actuators of the towed implement, and the
engagement state of the power take off shaft, the electronic
control system including a memory, a recording mode during which a
sequence of control steps is stored in the memory while such steps
are being executed under instruction from the vehicle driver, and a
playback mode during which a previously recorded sequence of steps
is read from the memory to produce control signals to enable the
correct sequence of steps to be executed automatically by the
control system, wherein the control system incorporates a display
panel and such that during the playback mode icons are displayed on
the panel to indicate to the vehicle driver graphically a plurality
or all of the steps of a sequence recorded in the memory in their
correct order of execution together with a visual indication of the
step in the recorded sequence currently being executed.
[0010] Preferably, the sequence of recorded steps is displayed on a
panel serving additionally to provide an indication of the selected
gear ratio.
[0011] In a preferred embodiment of the invention, a dedicated area
of the Display Of Gears (DOG) is allocated to the HTS system. Eight
square LCD matrix regions arranged vertically on the left hand side
of the DOG may be used to show icons related to HTS state, current
subsystem involved and subsequent subsystems in the sequence.
[0012] When initiating HTS Playback with the sequence step button a
number, which is allocated sequentially to all sub-sequences by the
system during the recording phase, will be displayed. If the
sequence step button is held down, subsequent sub-sequence numbers
will be displayed in turn. Releasing the HTS Control button while a
sub-sequence number is displayed will select the indicated
sub-sequence. This function will allow the operator to select the
correct sub-sequence e.g. when restarting work at one end of a
field for which the sequence was previously recorded.
[0013] It is an advantage of the invention that this feature may
remain transparent to the inexperienced user and if only one
sub-sequence is stored the sub-sequence number will not be
displayed. It is to be noted that the sequence will remain stored
in non-volatile memory until overwritten.
[0014] These and other objects, features and advantages are
accomplished according to the instant invention by providing an
electronic control system for use in an agricultural vehicle having
a hitch for towing an implement. The control system controls any
one or more of a plurality of sub-systems serving to set the
vehicle engine speed, the selected transmission ratio, the hitch
position to raise and lower the implement, the estimated flow in
electro-hydraulic remote (EHR) lines connectable to actuators of
the towed implement, and/or the engagement state of the power take
off shaft. The electronic control system includes a memory, a
recording mode during which a sequence of control steps is stored
in the memory while such steps are being executed under instruction
from the vehicle driver, and a playback mode during which a
previously recorded sequence of steps is read from the memory to
produce control signals to enable the correct sequence of steps to
be executed automatically by the control system. In one aspect of
the invention, the driver is enabled during the recording mode to
record a break signal in addition to, and without interruption of,
the recording of the sequence of control steps being executed by
the driver and in that during the playback mode automatic execution
of the recorded control steps is interrupted upon detection of a
break signal, execution of the remaining recorded control steps in
the sequence being resumed only in response to an instruction from
the vehicle driver.
BRIEF DESCRIPTION OF THE DRAWINGS
[0015] The advantages of this invention will become apparent upon
consideration of the following detailed disclosure of the
invention, especially when taken in conjunction with the
accompanying drawings, wherein:
[0016] FIG. 1 shows a block diagram of a control system of the
invention for use in an agricultural vehicle;
[0017] FIG. 2 is an illustration of the display of gears;
[0018] FIG. 3 is a diagrammatic representation of the steps that
form a complete sequence that is made up of two sub-sequences to be
executed when working at opposite ends of a field; and
[0019] FIG. 4 is a chart illustrating a typical sub-sequence of
control steps as recorded and subsequently played back.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT
[0020] The control system is implemented in FIG. 1 as a
conventional on-board vehicle computer composed of a processing
unit 10, a memory 12 and an input/output unit 14. The computer
receives as inputs signals indicative of the status of various
sub-systems and components including the power take off (PTO), the
hitch, transmission, electro-hydraulic remote (EHR), the engine,
the hand brake and driver's seat occupancy switch. The system also
produces as outputs signals that control the same sub-systems
namely the PTO, the hitch, the transmission, the EHR and the
engine. For the purposes of implementing the present invention, the
control system receives in addition signals from an headland turn
sequence (HTS) control switch 16 and an sequence step button 20. An
output from the computer is also used to drive the display of gears
22 (DOG) to inform the driver of the status of the HTS.
[0021] The DOG 22 as shown in more detail in FIG. 2 is an LCD panel
with several display areas. Two numeric display areas 22a and 22b
indicate the currently selected forward and reverse gears. Three
icons 22c, 22d and 22e are used to indicate if the transmission is
set in forward, neutral or reverse and a strip 22f to the right of
these icons is used to provide an analogue like display of the
selected gears. Two further icons 22g and 22h indicate if the
vehicle is set for road use or field use and an icon 22j is used to
warn the driver of a problem requiring urgent attention. All the
above indicators are to be found on a convention DOG. In the
present invention, further display areas are provided on the DOG
and are associated with the HTS control system. In particular a
display area 22k is used to advise the driver if the HTS control
system is active and if so whether it is in record or playback
mode. Eight further display areas 22l arranged in row down the left
hand side of the DOG as viewed are used to display to the driver
the sub-sequence number and the steps that constitute the
sub-sequence in their order of execution.
[0022] FIG. 3 represents the steps involved in working the whole
length of a field and two headlands at its opposite ends. In
recording mode, on approaching the first headland, the driver
presses the HTS control switch to commence recording. All the steps
then taken by the driver such as changing gear, reducing speed,
raising the hitch and rotating the shears of a towed plough are
stored as implicit steps. In addition, whenever the driver so
wishes, he has the option of recording a break signal by pressing
the sequence step button. This makes the next control step explicit
and as will be explained this will result in the next step having
to be initiated by the driver rather than automatically during the
playback mode. On ending the turn at the first headland, the driver
can pause recording so that the control steps effected while
working the length of the field are not stored. On reaching the
opposite end of the field, the driver can commence recording a new
sub-sequence for the opposite headland in the same way as was done
for the first. Eventually, the driver can cease recording by once
again operating the HTS control switch.
[0023] A typical sub-sequence of control steps recorded by the
driver is shown in the upper half of FIG. 4. As well as recording
the selected gear, the engine speed, hitch position (for raising
the plough) and EHR flow (for rotating the shears) the system also
records the position of the sequence step button. In the
illustrated example, the stored sub-sequence shows three down
shifts of the gears, followed by a reduction in engine speed,
raising of the hitch and then operating of the EHR to rotate the
plough shears. The recording of the sub-sequence is commenced by
first pressing the HTS control switch to select the recording mode
and subsequently actuating the sequence step button. The gear
changes and the engine speed reduction are all implicit steps that
are repeated automatically when in playback mode without driver
intervention. However, as can be seen, the sequence step button was
operated prior to the raising of the hitch, making the latter an
explicit step.
[0024] During the playback mode, shown in the lower half of FIG. 4,
the driver commences playback by first operating the HTS control
switch to select the playback mode then actuating the sequence step
button. The first control step involves a down shifting of the
gears and this is commenced automatically as this constitutes an
implicit step. The last gear change in playback mode is effected at
the same time as the last gear change during the recording mode but
the three gear changes are spaced out evenly. Similarly, the
following control step which involves a drop in engine speed brings
the engine speed down to the same value at the same time following
commencement of the sub-sequence (from the trailing edge of the
signal of the sequence step button) but the engine speed change is
performed more evenly and does not exactly replicate the speed
change during the recording mode.
[0025] The next control step of raising the hitch was made explicit
by operating the sequence step button. Because of this, the hitch
is not raised in playback mode until the driver presses the HTS and
the raising of the hitch coincides exactly with the trailing edge
of the sequence step button signal. From this point on the implicit
steps, such as initiating EHR flow are performed automatically but
their timing is referenced to the trailing edge of the preceding
operation of the sequence step button rather than to the starting
of the sub-sequence.
[0026] The status of the HTS control system is always displayed to
the driver. During recording mode, as each implicit step is
executed by the driver an icon is added to the display areas on the
left of the DOG. In playback mode, the same icons are displayed
together with any break signals. The driver can therefore see at a
glance what step is being executed, which will be executed next and
which requires operation of the sequence step button before it can
be executed.
[0027] Requirements
[0028] A headland turn automation system needs to be capable of
adapting to changes in field shape and other variations in headland
topography. For example where tramlines meet the headland at an
acute angle in the corner of the field the operator may have to
reverse the tractor whereas this would not normally be part of the
sequence. The system must be safe and usable with a wide variety of
implement types.
[0029] It should be possible to end the sequence both implicitly
and explicitly i.e. by actuating a switch or by adjusting any
control that is not compatible with the sequence unless the
sequence has been first explicitly paused.
[0030] It is acceptable to stop the PTO but a system of interlocks
is required if it is to be allowed to restart automatically.
[0031] The first automatic stored sequence must require two actions
on the part of the driver to initiate.
[0032] Sub-systems involved in the headland turn sequencing may
include engine speed, transmission gear, hitch (rear and front),
PTO disengagement (rear and front), and auxiliary valves EHRs
(recording time and average flow rate). The sub-systems may also
include 4WD/DL.
[0033] Operator Interface
[0034] The HTS system of the preferred embodiment of the invention
includes the following elements.
[0035] HTS Control Switch
[0036] This is a three position rocker switch biased in the centre
position and allows the operator to select HTS "play" and "record"
modes.
[0037] Sequence Step Button
[0038] This is a momentary push button to allow the user to step
through the stored sequence.
[0039] Display of Gears (DOG)
[0040] This display has an area dedicated to the HTS system which
comprises eight reconfigurable icon areas each comprising an LCD
matrix (16.times.16) to show the current and next seven sub-systems
to be affected in the sequence. This display is also used to show
the sequence being constructed in "Record" mode. In addition, the
display includes a "bespoke" LCD icon to show that headland turn
sequencing is activated.
[0041] These various elements are connected to a programmed
computer which also receives input from and sends control signals
to the various sub-systems involved. The construction of the
computer and the program code are not described herein in detail,
and instead they are characterised by the functions that they carry
out, which are described below in more detail.
[0042] System Operation
[0043] A. Storing a Sequence
[0044] The HTS Control switch is held in the left position (showing
`record" icon (picture)) for five seconds. A short audible alarm
sounds and the DOG displays the bespoke "HTS" icon and the "Record
icon" flashing in the topmost dot matrix area region.
[0045] Recording does not start until the operator presses the
sequence step button. Each controlling action affecting a
particular sub-system of the tractor is stored as an implicit step
in the sequence. For example, a change of throttle position would
be a step even if the engine speed is still ramping when the next
step starts. A number of consecutive gear shifts on the bone would
be a single implicit step. At any time during recording the user
can press the sequence step button. This will insert an explicit
step in the sequence.
[0046] During playback, the sequence will pause after each explicit
step in the sequence. The recording state will be suspended when
the user presses and holds the sequence step button for two
seconds. The system will remain in record mode but no further
implicit or explicit steps will be added to the sequence.
[0047] During Recording the topmost icon of the dot matrix area
will display the "Record' symbol, the next icon will display the
symbol referring to the sub-system step currently being recorded
and the subsequent icons will display icons related to the
sub-systems previously recorded (topmost most recent).
[0048] B. Activating a Sequence
[0049] A sequence will enter a "Ready to play" state only when the
HTS control switch is put in the playback position. The DOG will
display icons relating to the sub-systems affected by the first six
steps in the sequence. The first icon will be displayed in
inverse.
[0050] C. Replaying a sequence
[0051] When the HTS Control switch is pressed to enable replaying,
the topmost icon of the DOG will show the "Play" icon flashing and
the subsequent icons will show the sub-systems to be controlled by
the sequence in order of topmost first.
[0052] When the sequence step button is actuated to start playing
the sequence, the first step in the sequence will be actioned and
its related icon will be displayed in inverse. The icon relating to
that step will be deleted from the display when the next step is
actioned and all the icons will move up one place and a new icon
may appear at the bottom (if there are more than 7 icons in the
sequence). Playback will be interrupted on explicit step boundaries
which will be shown on the display with a "break" icon.
[0053] Pressing the sequence step button again will action the next
step etc. Each time the sequence step button is pressed there will
be a short beep.
[0054] D. Suspending a Sequence
[0055] Sequence recording is temporarily suspended or paused by
holding down the sequence step button for some seconds. Pressing
the button again resumes recording the next sub-sequence. During
suspension or pausing of recording, the Record icon will be shown
in inverse in the topmost region of the dot matrix area. During
play mode, playback will be suspended at this point in the sequence
and only resumed when the sequence step button is pressed. This
allows manual operation in between opposite headlands with no risk
of accidentally going into automated steps. The system will treat
each set of steps separated by these pauses as separate
sub-sequences and it will be possible to select the sequence with
which to start field operations by pressing and holding the HTS
control switch in the "Playback" position, while monitoring the
sequence number on the display.
[0056] In the preferred embodiment of the invention, it is not
necessary to record every event to be replayed in such a manner as
to enable it to be replayed identically. It suffices instead to
record for each such event the overall duration, the time taken to
complete the control action and the final value of the variable
under control. Thus, if several gear changes are to be effected in
sequence, it is not essential to record when each gear change is
made during the recording mode, it suffices to note the moment at
which the first gear change occurs and to spread the appropriate
number of gear changes over the same length of time as in the
recording mode. The same would apply to a change in throttle
position or to variations in the flow in the hydraulic lines acting
to raised and lower the hitch.
[0057] The starting conditions during the playback for any given
sequence need not necessarily match identically the starting
conditions that prevailed during the recording mode. For example, a
gear changing sequence could in recording mode shift from sixth
gear to fourth gear, whereas, in playback mode, the sequence could
be commenced while the vehicle is in fifth gear. The system will
not in this case change down by two gear ratios but will change
down into fourth gear and remain there. The important criterion is
thus the engaged gear at the end of the sequence rather than the
number of steps required to reach it.
[0058] It should also be noted that by using CAN bus technology,
the system can determine during the recording phase the nature of
any actions taking place so that it can attach the right icon to
the proper sequence being effected, such as gear shifting up or
down, raising or lowering of the hitch, increasing or decreasing of
the engine speed, etc.
[0059] It will be understood that changes in the details,
materials, steps and arrangements of parts which have been
described and illustrated to explain the nature of the invention
will occur to and may be made by those skilled in the art upon a
reading of this disclosure within the principles and scope of the
invention. The foregoing description illustrates the preferred
embodiment of the invention; however, concepts, as based upon the
description, may be employed in other embodiments without departing
from the scope of the invention. Accordingly, the following claims
are intended to protect the invention broadly as well as in the
specific form shown.
* * * * *