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1. WO2020193129 - METHOD AND CONTROL DEVICE FOR STEERING AN AGRICULTURAL VEHICLE

Publication Number WO/2020/193129
Publication Date 01.10.2020
International Application No. PCT/EP2020/056421
International Filing Date 11.03.2020
IPC
A01B 69/04 2006.01
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
04Special adaptations of automatic tractor steering, e.g. electric system for contour ploughing
B62D 15/02 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators
B62D 1/28 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
1Steering controls, i.e. means for initiating a change of direction of the vehicle
24not vehicle-mounted
28non-mechanical
B62D 7/15 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
7Steering linkage; Stub axles or their mountings
06for individually-pivoted wheels, e.g. on king-pins
14the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
15characterised by means varying the ratio between the steering angles of the steered wheels
CPC
A01B 69/008
AHUMAN NECESSITIES
01AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
BSOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
69Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
007Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
008automatic
B62D 1/28
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
1Steering controls, i.e. means for initiating a change of direction of the vehicle
24not vehicle-mounted
28non-mechanical ; , e.g. following a line or other known markers
B62D 15/0285
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
027Parking aids, e.g. instruction means
0285Parking performed automatically
B62D 7/1509
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
7Steering linkage; Stub axles or their mountings
06for individually-pivoted wheels, e.g. on king-pins
14the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
15characterised by means varying the ratio between the steering angles of the steered wheels
1509with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
Applicants
  • ZF FRIEDRICHSHAFEN AG [DE]/[DE]
Inventors
  • IKONEN, Tommy
  • KUHN, Jan-Frederik
  • MARTYNENKO, Roman
Priority Data
10 2019 204 255.427.03.2019DE
Publication Language German (DE)
Filing Language German (DE)
Designated States
Title
(DE) VERFAHREN UND STEUEREINRICHTUNG ZUM LENKEN EINES LANDWIRTSCHAFTLICHEN FAHRZEUGS
(EN) METHOD AND CONTROL DEVICE FOR STEERING AN AGRICULTURAL VEHICLE
(FR) PROCÉDÉ ET DISPOSITIF DE COMMANDE AUX FINS DE DIRECTION D'UN VÉHICULE AGRICOLE
Abstract
(DE)
Die Erfindung beschreibt ein Verfahren zum automatisierten Lenken eines landwirtschaftlichen Fahrzeugs auf einer landwirtschaftlichen Nutzfläche. Das landwirtschaftliche Fahrzeug weist mindestens zwei lenkbare Achsen auf. Ein Pfad zum automatisierten Befahren der landwirtschaftlichen Nutzfläche mit dem landwirtschaftlichen Fahrzeug wird vorbestimmt. Eine geometrische Verlaufseigenschaft des vorbestimmten Pfads wird zudem bestimmt. Mindestens eine lenkbare Achse des landwirtschaftlichen Fahrzeugs wird in Abhängigkeit der geometrischen Verlaufseigenschaft automatisiert ausgewählt. Die Erfindung beschreibt auch eine Steuereinrichtung zum Durchführen eines derartigen Verfahrens, ein automatisiertes Lenkungssystem mit zwei lenkbaren Achsen und einer derartigen Steuereinrichtung sowie ein landwirtschaftliches Fahrzeug mit einem solchen automatisierten Lenkungssystem.
(EN)
The invention relates to a method for the automatic steering of an agricultural vehicle on agricultural acreage. The agricultural vehicle has at least two steerable axles. A route for the automatic travel of the agricultural vehicle over the agricultural acreage is predefined. A geometrical course characteristic of the predefined route is also determined. At least one steerable axle of the the agricultural vehicle is automatically selected in accordance with the geometrical course characteristic. The invention also relates to a control device for carrying out a method of this type, to an automatic steering system comprising two steerable axles and a control device of this type, and to an agricultural vehicle comprising an automatic steering system of this type.
(FR)
L'invention concerne un prodédé de direction automatisée d'un véhicule agricole sur une surface de culture agricole. Le véhicule agricole présente au moins deux essieux dirigeables. Un chemin de parcours automatisé de la surface de culture agricole avec le véhicule agricole est prédéfini. De plus, une propriété de tracé géométrique du chemin prédéfini est déterminée. Au moins un essieu dirigeable du véhicule agricole est sélectionné de manière automatisée en fonction de la propriété de tracé géométrique. L'invention concerne également un dispositif de commande permettant d'exécuter un tel procédé, un système de direction automatisé avec deux essieux dirigeables et un tel dispositif de commande ainsi qu'un véhicule agricole doté d'un tel système de direction automatisé.
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