Claims:We claim:
1. A system (1000) for controlling an implement (110) for a vehicle (100), comprising:
at least a force sensor (400);
an angle sensor (300); and
a control unit (600) comprising a detector and an actuator to enable a vertical movement of the implement (110) to avoid damage to the implement (110).
2. A system (1000) for controlling an implement (110) for a vehicle (100), comprising:
at least a force sensor (400);
an angle sensor (300);
an image capturing unit (701 or 702); and
a control unit (600) comprising a detector and an actuator to enable a vertical movement of the implement (110) to avoid damage to the implement (110).
3. The system (1000) as claimed in claim 1 or 2, wherein the force sensor (400) is placed on an arm of the vehicle (100) and the angle sensor (300) is placed on a joint (302) of the vehicle (100).
4. The system (1000) as claimed in claim 2, wherein the image capturing unit (701) is placed on a front facade of the vehicle (100).
5. The system (1000) as claimed in claim 2, wherein the image capturing unit (702) is placed on a bottom of the vehicle (100) between front wheel and rear wheel.
6. A method (2000) of controlling an implement (110) for a vehicle (100), the method comprising :
detecting a draft force value from a force sensor (400);
comparing the detected draft force value with a set value;
measuring a turning angle of the vehicle by an angle sensor (300); and
comparing the detected turning angle with a preset range,
wherein actuating a motor (700) to rotate to a position where a control lever (250) lifts the implement to a protected position (X) when the detected draft force value is greater than the set value and the detected turning angle is with in the preset range.
7. The method (2000) as claimed in claim 6, the method further comprises monitoring by a control unit (600) the detected draft force value and the turning angle value in a time interval in a range from about 5 milliseconds to about 500 milliseconds.
8. A method (2000) of controlling an implement (110) for a vehicle (100), the method comprising :
detecting a draft force value from a force sensor (400);
comparing the detected draft force value with a set value;
measuring a turning angle of the vehicle by an angle sensor (300);
comparing the detected turning angle with a preset range;
capturing an image of a field;
detect a size of object in the captured image; and
comparing the detected size of the object with a predetermined size,
wherein actuating a motor (700) to rotate to a position where a control lever (250) lifts the implement to a protected position (X), when the detected draft force value is greater than the set value, the detected turning angle is with in the preset range and the detected size of the object is greater than the predetermined size.
9. The method (2000) as claimed in claim 6 or 8 , wherein the set value is in a range from 100 kgf to 250 kgf and the preset range is in a range from 15 degrees to 35 degrees.
10. The method (2000) as claimed in claim 8 , wherein the predetermined size is in a range from 15 cm to 50 cm height from ground surface.
11. The method (2000) as claimed in claim 8 , the method further comprises monitoring by a control unit (600) the detected draft force value, the detected turning angle value and the detected size of the object in a time interval in a range from about 5 milliseconds to about 500 milliseconds.
, Description: TECHNICAL FIELD
[001] The present disclosure relates to a system and a method for auto lifting an implement. More particularly, the disclosure relates to autolifting an implement while a vehicle navigates a turn.
BACKGROUND
[002] Off-highway vehicles such as tractors, wheel loaders and truck loaders may include an implement, for example a bucket or other implements to move the soil or other objects.
[003] While navigating a turn, the vehicle having the implement may face several challenges. Typically, the challenges include damage to the implement, injury to person and / or property in the vicinity of the vehicle and creating damage to surrounding portions of the land.
[004] Traditionally, efforts have been made to overcome this problem. Most of implements move to a fixed height when the vehicle turns, by which it often causes damage to the implement or to a person and property around the vehicle. Usually, the controls for the implement is situated in the front of the vehicle proximal to the operator of the vehicle, while the implement is located on the rear side of the vehicle. This may cause more chances of human errors.
[005] Conventional systems with an implement is placed on the ground, whenever a headland turn is to be made, the implement also tends to turn with vehicle, which may cause problems such as damages to implement parts for example the blade of the implement, or it may also cause damage to a person or property in the vicinity the vehicle and may also disturb the surrounding area. During a manual operation, requiring the implement to raise above the ground level, accompanied by a headland turn of the vehicle, the operator may be required to perform both the operations i.e. lifting of the implement and negotiating a headland turn simultaneously. This may not be advisable. Several solutions have been tried one of them being an autolift mechanism, which helps to raise the implement to a fixed height. Typically, every agricultural crop is not in of the same height, hence if the implement raised to a fixed height, it will may cause damage the crops or property in the surroundings having different height.
[006] In a vehicle with an autolift mechanism, a control mechanism is present in the vehicle to autolift the implement. Generally, the control mechanism is present to sense the position of the implement support structure and compare the position of the implement support structure to a command value set by an operator using a command device. Based upon this comparison, the control system generates a control signal. The control signal is applied to a valve which in turn controls the flow of a hydraulic fluid to and from an actuator. The actuator is configured to vertically move, along with the implement mounted on it, to the fixed height.
[007] Known control systems, however, may experience a problem which causes the implement to drop or raise up in a hazardous manner, with a rate of movement exceeding a desired rate.
[008] Therefore, there still exists a need for a system for auto lifting an implement while a vehicle navigates a turn.
OBJECTS
[009] Some of the objects of the present disclosure are described herein below:
[0010] One object of the present disclosure is to provide an auto lift system on the arm mechanism for a vehicle.
[0011] Another object of the present disclosure is to provide a system that effectively controls the implement during a headland turn of the vehicle.
[0012] Other objects and advantages of the present disclosure will be more apparent from the following description, which is not intended to limit the scope of the present disclosure.
SUMMARY
[0013] In one embodiment, a system for controlling an implement for a vehicle is described. The system includes a force sensor, an angle sensor, and a control unit. The control unit includes a detector and an actuator to enable a vertical movement of the implement to a protected position (X).
[0014] In another embodiment, a system for controlling an implement for a vehicle is described. The system includes a force sensor, an angle sensor, an image capturing unit and a control unit. The control unit includes a detector and an actuator to enable a vertical movement of the implement to a protected position (X).
[0015] In another embodiment, a method for controlling of an implement for a vehicle is described. The method includes detecting a draft force value from at least one force sensor, comparing the detected draft force value with a set value. The method further includes the step of measuring a turning angle of the vehicle by an angle sensor. The method includes the step of actuating a motor to rotate to a position where a control lever lifts the implement to a protected position (X), when the detected draft force value is greater than the set value which is in a range from about 100 kgf to about 250 kgf and the value of the turning angle is within a preset range which is in a range from about 15 degrees to about 35 degrees.
[0016] In another embodiment, a method for controlling of an implement for a vehicle is described. The method includes detecting a draft force value from at least one force sensor, comparing the detected draft force value with a set value. The method further includes the step of measuring a turning angle of the vehicle by an angle sensor. The method further includes the step of capturing an image of field from the vehicle by an image capturing unit and to measure a size of a object in the image. The method includes the step of actuating a motor to rotate to a position where a control lever lifts the implement to a protected position (X), when the detected draft force value is greater than the set value which is in a range from about 100 kgf to about 250 kgf and the value of the turning angle is in a range from about 15 degrees to about 35 degrees and the size of the object in the image is greater than the predetermined size which is in a range from about 15 cm to about 50cm height from the ground surface.
BRIEF DESCRIPTION OF ACCOMPANYING DRAWING
[0017] The foregoing and other features of embodiments will become more apparent from the following detailed description of embodiments when read in conjunction with the accompanying drawings. In the drawings, like reference numerals refer to like elements.
[0018] Figure 1 illustrates an isometric view of an implement placed at a ground level attached to a vehicle according to an embodiment as disclosed herein;
[0019] Figure 2 illustrates an isometric view of an implement placed at a protected level attached to a vehicle according to an embodiment as disclosed herein;
[0020] Figure 3 illustrates a process flow chart for controlling an autolift mechanism according to an embodiments as disclosed herein;
[0021] Figure 4A illustrates a side view view of a vehicle including a force sensor and an angle sensor according to an embodiment as disclosed herein;
[0022] Figure 4B illustrates a side view of a vehicle including force sensor and an angle sensor according to an embodiment as disclosed herein;
[0023] Figure 4C illustrates a side view of a vehicle including an image capturing unit according to an embodiment as disclosed herein;
[0024] Figure 5 illustrates an arm of the vehicle with a force sensor and an angle sensor according to an embodiments as disclosed herein; and
[0025] Figure 6 illustrates the placement of an angle sensor on a vehicle according to an embodiments as disclosed herein.

DETAILED DESCRIPTION
[0026] The foregoing and other features of embodiments as disclosed herein will become more apparent from the following detailed description of embodiments when read in conjunction with the accompanying drawings.
[0027] While various embodiments as disclosed herein have been shown and described herein, it will be obvious to those skilled in the art that such embodiments are provided by way of example only. Numerous variations, changes, and substitutions may occur to those skilled in the art without departing from the disclosure as disclosed herein. It should be understood that various alternatives to the embodiments described herein may be employed.
[0028] Embodiments are provided so as to thoroughly and fully convey the scope of the present disclosure to the person skilled in the art. Numerous details are set forth, relating to specific components, and methods, to provide a complete understanding of embodiments of the present disclosure. It will be apparent to the person skilled in the art that the details provided in the embodiments should not be construed to limit the scope of the present disclosure. In some embodiments, well-known processes, well-known apparatus structures, and well-known techniques are not described in detail.
[0029] The terminology used, in the present disclosure, is only for the purpose of explaining a particular embodiment and such terminology shall not be considered to limit the scope of the present disclosure. As used in the present disclosure, the forms “a,”“an,” and “the” may be intended to include the plural forms as well, unless the context clearly suggests otherwise. The terms “comprises,”“comprising,”“including,” and “having,” are open ended transitional phrases and therefore specify the presence of stated features, elements, modules, units and/or components, but do not forbid the presence or addition of one or more other features, elements, components, and/or groups thereof. The particular order of steps disclosed in the method and process of the present disclosure is not to be construed as necessarily requiring their performance as described or illustrated. It is also to be understood that additional or alternative steps may be employed.
[0030] When an element is referred to as being “mounted on,”“engaged to,”“connected to,” or “coupled to” another element, it may be directly on, engaged, connected or coupled to the other element.
[0031] In one embodiment, a system (1000) for controlling an implement (110) for a vehicle (100) is described. The system (1000) includes at least a force sensor (400), an angle sensor (300), and a control unit (600) comprising a detector and an actuator to enable a vertical movement of the implement to a protected position (X).
[0032] In another embodiment, the system (1000) for controlling the implement (110) for the vehicle (100) is described. The system (1000) includes at least a force sensor (400), the angle sensor (300), at least an image capturing unit (701) and a control unit (600) comprising a detector and an actuator to enable a vertical movement of the implement to a protected position (X).
[0033] The expression “protected position (X)” as used herein refers to a distance from a ground surface to a lower link (110L) maximum lift. In one embodiment, “protected position (X)” as used herein refers to, lifting the implement (110) in a range from about ground level to about 700 mm by a vertical movement. In another embodiment, “protected position (X)” as used herein refers to, lifting an implement in a range from about 100 mm to about 700 mm by a vertical movement. The maximum lifting height of the implement is ranging from 800 mm to 950 mm from the ground surface. This protected position (X) is a intermediatery safe position for the implement to avoid damage to the implement blades and also person and / or property in the vicinity of the vehicle navigating the turn.
[0034] In one embodiment, the vehicle (100) can include at least one agricultural implement (110). In an embodiment, the implement (110) can be attached to the vehicle (100) permanently. In another embodiment, the implement (110) can be attached to the vehicle (100) using a detachable means. Non limiting examples of the detachable means for attaching the implement (110) to the vehicle (100) include a hitch, a linkage, a hinge and the like. Examples of the implement (110) include, but is not limited to, rotavators, sprayers, harrows, plows, planters, harvesters, reapers, spreader, grader, auger, broom, bucket, trencher, backhoe, telehandler, mower, hopper, digger, grapple, breaker, planer, compactor, ripper, scraper, seeder, roller, chipper, boom, plough, cultivator and the like.
[0035] In one embodiment, the vehicle may include at least one force sensor (400). In one embodiment, the force sensor (400) can be configured to measure a force, a load, a draft force of the vehicle (100). In one embodiment, the force sensor (400) can be mounted on the vehicle at locations selected from a top arm (410) of the vehicle (100). In another embodiment, the vehicle may include a force sensor (400, 500A, 500B) which can be mounted on the vehicle at locations selected from a top arm (410), a right lower arm (510) and a left lower arm (520), to measure the draft force. In one embodiment the force sensor may include an upper force sensor (400) and lower force sensors (500A, 500B) placed on the vehicle (100). The upper force sensor (400) is placed at locations selected from a top arm (410) of the vehicle (100).In another embodiment, the lower force sensor includes a right lower force sensor (500A) and a left lower force sensor (500B – Not shown in the figure) can be mounted on a right lower arm (510) and a left lower arm (520) of the vehicle (100).
[0036] In another embodiment, the right lower force sensor (500A) and a left lower force sensor (500B) can be configured to measure a force, a load, a draft force of the vehicle (100). In another embodiment, the right lower force sensor (500A) and the left lower force sensor (500B) can be mounted on a right lower arm (510) and a left lower arm (520) of the vehicle (100). In another embodiment, the force sensor (400, 500A, 500B) can be selected from a pneumatic sensor, a hydraulic sensor, a strain gauge sensor, a capacitance sensor and combination thereof.
[0037] The angle sensor (300) can be used to measure an angle or turning of the vehicle (100). In one embodiment, the angle sensor (300) can be mounted on the front wheel of the vehicle (100). In one embodiment, the angle sensor (300) can measure an angle or turning of the vehicle (100), while the vehicle (100) takes a turn.
[0038] In an embodiment, the angle sensor (300) can be selected from a capacitance sensor, an eddy current sensor, a photoelectric sensor, ultrasonic sensors, an inductive sensor, a hall effect sensor, a magneto resistive sensor, a variable reluctance sensor and combination thereof.
[0039] In another embodiment, the image capturing unit (701) can be mounted on the vehicle at locations selected from front facade of the vehicle (100). In another embodiment, the vehicle may include the image capturing unit (701) which can be mounted on the vehicle at locations selected from bottom of the vehicle (100) between front and rear wheel.
[0040] In an embodiment, the image capturing unit (701, 702) can be a digital camera with or without flash light.
[0041] In one embodiment, Figure 1 illustrates a vehicle (100) with the implement (110) placed at the ground level. In the depicted embodiment, the implement (110) at this point of time can perform its normal operations such as but not limited to ploughing or moving the soil.
[0042] Typically, when the vehicle (100) reaches to a corner or an end of a field or an area, the vehicle (100) needs to perform a headland turn with the implement (110) attached to it. In one embodiment, at when the vehicle is heading for a turn, a control lever (250) autolifts the implement to a protected position (X) as illustrated in an example embodiment shown in Figure 2.
[0043] In yet another embodiment, refer Figure 3, the method (2000) of controlling the implement (110) of the vehicle (100) by means of autolift mechanism is shown. When the vehicle (100) reaches to a corner or an end of a field or an area, the vehicle (100) needs to perform a headland turn with the implement (110) attached to it. The Figure 3 illustrates the method (2000) of controlling the implement when the vehicle (100) with the implement (110) tends to perform a headland turn.
[0044] In one embodiment, the force sensor that may include at least one of the upper force sensor (400), the right lower force sensor (500A), the left lower force sensor (500B) or a combination thereof, detects the draft force and compares the detected draft force value with a set value. In another embodiment, the angle sensor (300) measures a turning angle of the vehicle (100). In another embodiment, the system includes a motor (700) (not shown in the figure) to rotate to a position where a control lever (250) lifts the implement to a protected position (X), when the detected draft force value is greater than the set value and the value of the turning angle is in a range from about 15 degrees to about 35 degrees. In yet another embodiment, the system includes a motor (700) to rotate to a position where a control lever (250) lifts the implement to a protected position (X), when the detected draft force value is greater than the set value and the value of the turning angle is in a range from about 5 degrees to about 50 degrees.
[0045] In yet another embodiment, the upper force sensor (400) or the right lower force sensor (500A) and the left lower force sensor (500B) detects the draft force and compares the detected draft force value with a set value. In another embodiment, the angle sensor (300) measures a turning angle of the vehicle (100).
[0046] In one embodiment, if the detected draft force value is lesser than the set value and the value of the turning angle is greater than the from about 15 degrees to about 35 degrees, the implements remains at the ground level. In another embodiment, the force sensor (400, 500A, 500B) and angle sensor (300), detect the draft force value and the turning angle value respectively at periodic intervals of time. In one embodiment, the force sensor (400, 500A, 500B) and angle sensor (300), detect the draft force value and the turning angle value respectively in a time interval range from about 5 milliseconds to about 500 milliseconds.
[0047] In one embodiment, the implement is lifted to a protected position, the height to which the implement is lifted is not fixed and may vary according to requirements, while navigating the turn to avoid damage to the implement and also person and / or property in the vicinity of the vehicle navigating the turn. Typically, in one embodiment, “protected position (X)” as used herein refers to lifting an implement in a range from about ground level to about 700 mm by a vertical movement. In yet another embodiment, the protected position (X) is not at a fixed height, it can vary based on the different types of corps, density of corps and size of field.
[0048] The Figure 3 is the flow chart representation of the method (2000) for controlling the implement (110) of the vehicle (100) according to an example embodiment as disclosed herein.
[0049] The vehicle (100) with the implement (110) operates at ground level on the agricultural field, whenever there is a need for the vehicle (100) to navigate a headland turn (2002) operator may rotate a steering device of the vehicle (100). The path 50 activates and send the signal to the path 54 and the path 52, the path 54 triggers step (2006), where the detected draft force value is greater than the set value which is in a range from about 100 kgf to about 250 kgf. If the detected draft force value is greater than the set value, then path 64 is activated while path 66 is triggered. If the detected draft force value is not greater than the set value, then path 60 is activated and a signal is sent to (2004) to keep the control lever of the implement down.
[0050] The path 52 leads to the step (2008) where a checking of the angle sensor value is carried out to check if the angle sensor value is in a range from about 15 degrees to about 35 degrees. If the detected angle sensor value is in a range from about 15 degrees to about 35 degrees, then path 62 is activated and leading to the path 66. If the detected angle sensor value is not in a range from about 15 degrees to about 35 degrees, then path 58 is activated and a signal is sent to step (2004) to keep the control lever of the implement down.
[0051] A signal is sent at path 66 to control unit (2010) when detected draft force value is greater than the set value and detected angle sensor value is in a range from about 15 degrees to about 35 degrees. By means of path 68, the control lever (2012) lifts the implement (110) up to the protected position (X).
[0052] In yet another embodiment, through the path 56 and path 70 the detection of implement (110) is monitored from about 5 milliseconds to about 500 milliseconds through path 72.
[0053] In one of the embodiment as disclosed herein, the autolift mechanism may be performed as shown in Figure 4A. In the given example embodiment as shown in Figure 4A,the force sensor (400)to detect the draft force of the vehicle (100), the force sensor (400) which is placed on an arm (410) at the rear side of the vehicle (100) and the angle sensor (300) placed on the front wheel of the vehicle (100). The force sensor (400) detects the draft force value and sends to the control unit (600) (which is not shown in the Figure 4A). The control unit (600) compares the detected draft force value with a set value. The angle sensor (300) measures the turning angle of the vehicle (100) and sends it to control unit (600). In one embodiment, when the detected draft force value is greater than the set valuewhich is in the range from about 100 kgf to about 250 kgf and the value of the turning angle is in the range from about 15 degrees to about 35 degrees, the control unit (600) actuates the motor (700) to rotate to a position where the control lever (250) lifts the implement to a protected position (X).
[0054] In another embodiment, refer Figure 4B, the right lower force sensor (500A) and the left lower force sensor (500B) to detect the draft force of the vehicle (100). In one embodiment, the right lower force sensor (500A) and the left lower force sensor (500B) be placed on adjacent sides of the arms (510 and 520) at the rear side of the vehicle (100). In an embodiment, the angle sensor (300) is placed on the front wheel of the vehicle (100). In yet another embodiment, the angle sensor (300) senses the data and sends the same to the control unit (600) (which is not shown in the Figure 4B). In another embodiment, the right lower force sensor (500A) and the left lower force sensor (500B) detects the draft force value and sends to the control unit (600). In another embodiment, the control unit (600) calculates an average draft force value received from the right lower force sensor (500A) and the left lower force sensor (500B). In an another embodiment, the control unit (600) compares the average draft force value with a set value. In yet another embodiment, the angle sensor (300) measures the turning angle of the vehicle (100) and sends the value of the turning angle to the control unit (600).In another embodiment, when the average draft force value is greater than the set value which is in the range from about 100 kgf to about 250 kgf and the value of the turning angle is in a range from about 15 degrees to about 35 degrees the control unit (600) actuates a motor (700) to rotate to a position where the control lever (250) to lift the implement to a protected position.
[0055] In another embodiment, the autolift mechanism may be performed as shown in Figure 4C. In the given example embodiment as shown in Figure 4C, the force sensor (400) to detect the draft force of the vehicle (100), the force sensor (400) which is placed on an arm (410) at the rear side of the vehicle (100), the angle sensor (300) is placed on the front wheel of the vehicle (100) and an image capturing unit (701) is placed in a front facide of the vehicle (100). The force sensor (400) detects the draft force value and sends to the control unit (600). The control unit (600) compares the detected draft force value with a set value. The angle sensor (300) measures the turning angle of the vehicle (100) and sends it to control unit (600). The image capturing unit (701) is capturing an image of a field and sends it to control unit (600) to measure a size of object in the image. In one embodiment, when the detected draft force value is greater than the set valuewhich is in the range from about 100 kgf to about 250 kgf and the value of the turning angle is in the range from about 15 degrees to about 35 degrees and the size of the object in the image is greater than the predetermined size, the control unit (600) actuates the motor (700) to rotate to a position where the control lever (250) lifts the implement to a protected position (X).
[0056] Figure 5 depict the force sensor (400) comprising the upper force sensor is placed on the top arm (410) and the right lower force sensor (500A) is placed on the right lower arm (510) and the left lower force sensor (500B) is placed on the left lower arm (520) according to an embodiment as disclosed herein. In one embodiment, the force sensors (400, 500A, 500B) may be selected from a draft sensor or a force sensor or a load cells, and the like.
[0057] In another embodiment as shown in Figure 6, the angle sensor (300) is mounted on the front wheel of the vehicle (100). In yet another embodiment, the angle sensor (300) is placed on the joint (302) with a bracket (304) on the front wheel of the vehicle (100) to sense the turning angle of the vehicle and send the data to the control unit (600).
[0058] In another embodiment, as shown in Figure 7, a image capturing unit (701) is mounted on a front facide of the vehicle (100). In another embodiment, the image capturing unit (702) is mounted on a bottom of the vehicle (100) between the front and rear wheels.
[0059] In one embodiment, the control unit (600) monitors the force sensor and the angle sensor for at a regular time interval. In another embodiment, the control unit (600) monitors the force sensor and the angle sensor in a time interval in a range of about 5 milliseconds to 500 milliseconds.
[0060] In another embodiment, the motor (700) is a hydraulic motor or a stepper motor.
[0061] In one embodiment,if the detected draft force value is lesser than the set value and the value of the turning angle is lesser or greater than the range from about 15 degrees to about 35 degrees, the implements remains at the ground level.
[0062] In one embodiment, the system has several technical advantages including, but not limited to, the realization of a system for controlling an implement of a vehicle, that:
• autolift to a protected height, which is safer for the persons and property around the vehicle;
• does not damage the implement; and
• effectively performs the operation to targeted land.
[0063] The foregoing description of the specific embodiments so fully reveals the general nature of the embodiments herein that others may, by applying current knowledge, readily modify and/or adapt for various applications such specific embodiments without departing from the generic concept, and, therefore, such adaptations and modifications should and are intended to be comprehended within the meaning and range of equivalents of the disclosed embodiments.
[0064] While considerable emphasis has been placed herein on the components and component parts of the preferred embodiments, it will be appreciated that many embodiments may be made and that many changes may be made in the preferred embodiments without departing from the principles of the disclosure. These and other changes in the preferred embodiment as well as other embodiments of the disclosure will be apparent to those skilled in the art from the disclosure herein, whereby it is to be distinctly understood that the foregoing descriptive matter is to be interpreted merely as illustrative of the disclosure and not as a limitation.