Method for automatically detecting a loading process for a working vehicle

Abstract

A method for automatically detecting a loading process to be carried out by a working vehicle includes switching, via a control unit, a drive characteristic of the travel drive from a normal operating mode to a loading operating mode in a first checking step when the control unit detects an impending loading process for picking up a load material with a loading device, maintaining, via the control unit, the loading operating mode in a subsequent, second checking step when the control unit detects a loading process already taking place, and switching, via the control unit, from the normal operating mode to the loading operating mode when the control unit detects the switch was not performed in the first checking step.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to European Patent Application No. 25155483.8, filed Feb. 3, 2025, which is hereby incorporated by reference.FIELD OF THE DISCLOSURE

[0002] The disclosure relates to a method for automatically detecting a loading process to be carried out by a working vehicle, which comprises a loading device for picking up a load material.BACKGROUND

[0003] Working vehicles intended or suitable for carrying out loading work are known in a wide variety of designs from the agricultural or forestry sector, but also from the construction machinery sector. For agricultural tractors, it is usually possible to attach a loading device, which is designed as a front loader and has a loading tool for picking up a load material and a hydraulically adjustable loader linkage for pivoting and for raising and lowering the loading tool, in the front region of the agricultural tractor as an attachment.SUMMARY

[0004] According to an aspect of the present disclosure, a method for automatically detecting a loading process to be carried out by a working vehicle includes switching, via a control unit, a drive characteristic of the travel drive from a normal operating mode to a loading operating mode in a first checking step when the control unit detects an impending loading process for picking up a load material with a loading device, maintaining, via the control unit, the loading operating mode in a subsequent, second checking step when the control unit detects a loading process already taking place, and switching, via the control unit, from the normal operating mode to the loading operating mode when the control unit detects the switch was not performed in the first checking step.

[0005] According to an aspect of the present disclosure, the travel drive includes an IVT gearbox with a continuously variable transmission ratio, wherein the control unit determines the drive characteristic by a gearbox ratio to be set due to the motor load, motor speed and driver-side travel speed specifications.

[0006] According to an aspect of the present disclosure, the method further includes detecting, via the control unit, an impending loading process by evaluating information regarding the position and trajectory of a loader boom and a loading tool of the loading device, a current speed and direction of movement of the working vehicle, a current motor speed of a drive motor included in the travel drive connected to driven wheels of the working vehicle, and an actuation state of an operating lever for manually controlling the loading device.

[0007] According to an aspect of the present disclosure, the method further includes detecting, via the control unit, a loading process already taking place by evaluating information regarding the position and trajectory of a loader boom and the loading tool of the loading device, actuation forces occurring on a loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and a motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, the actuation state of the operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle.

[0008] According to an aspect of the present disclosure, the method further includes evaluating, via the control unit, information from an image acquisition system for identifying the load material for the purpose of detecting the impending loading process and the loading process already taking place.

[0009] According to an aspect of the present disclosure, the method further includes maintaining, via the control unit, the loading operating mode when the control unit detects the loading process already taking place in the second checking step.

[0010] According to an aspect of the present disclosure, the method further includes switching, via the control unit, from the loading operating mode to the normal operating mode when the control unit detects a termination of the loading process in a third checking step.

[0011] According to an aspect of the present disclosure, the method further includes detecting, via the control unit, a completed loading process by evaluating information regarding the position and trajectory of the loader boom and the loading tool of the loading device, actuation forces occurring on the loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and the motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, the actuation state of the operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle.

[0012] According to an aspect of the present disclosure, the method further includes deriving, via a hand detection device, the actuation state of the operating lever.

[0013] According to an aspect of the present disclosure, a system for automatically detecting a loading process to be carried out by a working vehicle includes a loading device for picking up a load material, a travel drive with a drive characteristic which can be switched between a loading operating mode and a normal operating mode, and a control unit configured to switch the drive characteristic of the travel drive from the normal operating mode to the loading operating mode in a first checking step when the control unit detects an impending loading process, maintain the loading operating mode in a subsequent, second checking step when the control unit detects a loading process already taking place, and switch from the normal operating mode to the loading operating mode when the control unit detects the switch to the loading operating mode was not performed in the first checking step.

[0014] According to an aspect of the present disclosure, the travel drive includes an IVT gearbox with a continuously variable transmission ratio, wherein the control unit determines the drive characteristic by a gearbox ratio to be set due to the motor load, motor speed, and driver-side travel speed specifications.

[0015] According to an aspect of the present disclosure, the control unit is configured to detect an impending loading process by evaluating information regarding the position and trajectory of a loader boom and a loading tool of the loading device, a current speed and direction of movement of the working vehicle, a current motor speed of a drive motor included in the travel drive connected to driven wheels of the working vehicle, and an actuation state of an operating lever for manually controlling the loading device.

[0016] According to an aspect of the present disclosure, the control unit is configured to detect a loading process already taking place by evaluating information regarding the position and trajectory of a loader boom and the loading tool of the loading device, actuation forces occurring on a loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and a motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, an actuation state of an operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle.

[0017] According to an aspect of the present disclosure, the control unit is configured to evaluate information from an image acquisition system for identifying the load material for the purpose of detecting the impending loading process and the loading process already taking place.

[0018] According to an aspect of the present disclosure, the control unit is configured to maintain the loading operating mode when the control unit detects the loading process already taking place in the second checking step.

[0019] According to an aspect of the present disclosure, the control unit is configured to switch from the loading operating mode to the normal operating mode when the control unit detects termination of the loading process in a third checking step.

[0020] According to an aspect of the present disclosure, the control unit is configured to evaluate information regarding the position and trajectory of the loader boom and the loading tool of the loading device, actuation forces occurring on the loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and the motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, an actuation state of an operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle for the purpose of detecting a completed loading process.

[0021] According to an aspect of the present disclosure, the actuation state of the operating lever is derived via a hand detection device.

[0022] The above and other features will become apparent from the following detailed description and accompanying drawings.BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The method according to the disclosure for automatically detecting a loading process to be carried out by a working vehicle will be explained in more detail below with reference to the appended drawings, in which:

[0024] FIG. 1 shows an example embodiment, illustrated as a block diagram, of the method according to the disclosure for automatically detecting a loading process to be carried out by a working vehicle; and

[0025] FIG. 2 shows an example embodiment of an arrangement for carrying out the method according to the disclosure in accordance with FIG. 1.

[0026] Like reference numerals are used to indicate like elements throughout the several figures.DETAILED DESCRIPTION

[0027] The embodiments or implementations disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the present disclosure to these embodiments or implementations.

[0028] Such front loaders are used to transfer inter alia bulk or stalk-like load material by means of a loading tool which is designed as a bucket or loading fork and is located on a free end of the front loader or a loader boom included in the latter. In this case, the loading tool can be adjusted, in terms of its height relative to the ground and in terms of its inclination about a pivot axis running transversely to the longitudinal extent of the agricultural tractor, by actuating hydraulic actuating devices, which are component parts of the loader linkage, thus allowing targeted immersion of the loading tool into a load material supply for the purpose of picking up load material.

[0029] Owing to the required coordination between the control of the travel movement of the agricultural tractor, that is to say the maneuvering of the agricultural tractor, and the loading movement of the loader boom and the loading tool which is to be carried out by appropriately actuating the hydraulically adjustable loader linkage, efficiently picking up the load material from the load material supply by means of the loading tool imposes increased demands on the operator.

[0030] In view of this, it is the object of the present disclosure to specify a method of the type stated at the outset such that this method assists an operator with carrying out a loading process.

[0031] This object is achieved by a method for automatically detecting a loading process to be carried out by means of a working vehicle having the features of one or more embodiments disclosed herein.

[0032] In the method according to the disclosure for automatically detecting a loading process to be carried out by means of a working vehicle, which comprises a loading device for picking up a load material and a travel drive with a drive characteristic which can be switched between a loading operating mode and a normal operating mode, provision is made for a control unit (e.g., a controller including a processor and memory) to switch the drive characteristic of the travel drive from the normal operating mode to the loading operating mode in a first checking step when an impending loading process is detected, and to maintain the loading operating mode in a subsequent, second checking step when a loading process that is already taking place is detected, or for a subsequent switch from the normal operating mode to the loading operating mode to take place if it is detected that the switch has not been performed in the first checking step.

[0033] According to some embodiments, due to the presence of two consecutive checking steps, redundant and thus particularly reliable loading process detection is ensured as the basis for a driver-independent adaptation of the drive characteristic of the travel drive and thus of the travel behavior of the working vehicle, which adaptation is oriented to the requirements of a loading process.

[0034] The working vehicle intended to carry out the loading process may be of any design. For example, it can be a working vehicle from the agricultural or forestry sector, but also from the construction machinery sector. Examples which may be mentioned here include telescopic loaders, agricultural tractors with a front loader attached thereto, shovel loaders or the like.

[0035] Advantageous developments of the method according to the disclosure for automatically detecting a loading process to be carried out by means of a working vehicle emerge from one or more embodiments disclosed herein.

[0036] Depending on the type of working vehicle, the travel drive may have a drive motor in the form of an electric motor and / or an internal combustion engine as well as a gearbox with a variable transmission ratio which is downstream of the drive motor and is connected to driven wheels of the working vehicle, wherein the drive characteristic of the travel drive is adapted by modifying a control algorithm which is provided for the purpose of controlling the motor and / or gearbox and converts the travel commands specified on the driver's side via associated travel operating elements, for example in the form of corresponding travel speed specifications, into corresponding drive and / or gearbox control commands.

[0037] For example, it is conceivable for the travel drive to comprise a gearbox in the form of an IVT gearbox (IVT—Infinitely Variable Transmission) with a continuously variable transmission ratio, wherein the drive characteristic is significantly determined by a gearbox ratio to be set due to the motor load, motor speed and driver-side travel speed specifications. By means of appropriate parameterization, the control algorithm provided for the purpose of controlling the motor and / or gearbox can therefore be adapted in the loading operating mode to the special requirements of a loading process to be carried out with the respective loading device in such a way that the loading operating mode is distinguished from the normal operating mode, among other things, in terms of achieving the most agile travel and deceleration behavior possible in the range of travel speeds typical for carrying out loading work, but also in terms of avoiding excessive wheel slip or a drop in the motor speed. The associated control algorithm is optimized in this case in order to achieve an efficient (energy-saving) travel behavior of the working vehicle that assists the operator in carrying out the loading process.

[0038] According to some embodiments, information regarding the position and trajectory of a loader boom and / or a loading tool included in the loading device, a current speed of movement or direction of movement of the working vehicle, a current motor speed of a drive motor included in the travel drive or a current transmission ratio of a gearbox connected to driven wheels of the working vehicle, and / or an actuation state of an operating lever for manually controlling the loading device is evaluated by the control unit for the purpose of detecting an impending loading process.

[0039] The above-mentioned information allows a conclusion as to whether a loading process can be conceivably expected to be carried out. The typical signs include preparatory or preliminary measures such as moving the loader boom and / or loading tool into a position suitable for immersion in a load material supply in conjunction with corresponding driver-side actuation of the operating lever, a speed of movement in the range of a few kilometers per hour or a corresponding motor speed / transmission ratio combination of the drive motor and the gearbox.

[0040] Furthermore, it is possible for information regarding the position and trajectory of a loader boom and / or a loading tool included in the loading device, actuation forces occurring on a loader linkage of the loading device, a current speed of movement or direction of movement of the working vehicle, a current motor speed and / or motor load of a drive motor included in the travel drive or a current transmission ratio of a gearbox connected to driven wheels of the working vehicle, an actuation state of an operating lever for manually controlling the loading device, and / or wheel slip occurring on driven wheels of the working vehicle to be evaluated by the control unit for the purpose of detecting a loading process that is already taking place. In addition to the information already mentioned, the actuation forces occurring on the loader linkage, the motor load as well as the wheel slip for example allow a reliable conclusion to be drawn about load-related influences that occur when carrying out a loading process. An example of this that may be mentioned here is an increase in the wheel slip on the driven wheels of the working vehicle due to an opposing travel resistance when the loading tool is immersed in the load material supply. The actuation forces occurring on the loader linkage can also be derived by sensing and evaluating the pressure conditions in hydraulic actuating devices provided for adjusting the loader boom or loading tool.

[0041] In addition, information from an image acquisition system for identifying the load material can be additionally evaluated by the control unit for the purpose of detecting an impending loading process and / or a loading process that is already taking place. The image acquisition system for identifying the load material can be, for example, a camera system which is attached in the front region of the working vehicle or a camera system which is attached to the loading device and has an optical acquisition region oriented in the load material pick-up direction. The image acquisition system for identifying the load material comprises an image processing device that can be used to detect a targeted approach of the loading tool to a load material supply or immersion of the loading tool into the load material supply, thus resulting in a further indication of (intended) execution of corresponding loading work.

[0042] The loading operating mode can be maintained by the control unit as long as a loading process that is already taking place is detected in the second checking step. If this is no longer the case, there is an immediate switch from the loading operating mode to the normal operating mode.

[0043] On the other hand, the switch from the loading operating mode to the normal operating mode can also be carried out in a third checking step, subject to a termination of the loading process detected by the control unit. In order to detect a completed loading process, it is possible for information regarding the position and trajectory of a loader boom and / or a loading tool included in the loading device, actuation forces occurring on a loader linkage of the loading device, a current speed of movement or direction of movement of the working vehicle, a current motor speed and / or motor load of a drive motor included in the travel drive or a current transmission ratio of a gearbox connected to driven wheels of the working vehicle, an actuation state of an operating lever for manually controlling the loading device, and / or wheel slip occurring on driven wheels of the working vehicle to be evaluated by the control unit. Typical signs of the termination of the loading work are inter alia transfer of the loader boom and / or loading tool into a raised position intended for road travel while simultaneously reversing, but also a prolonged neutral position or the absence of driver-side actuation of the operating lever.

[0044] The information evaluated in the above-mentioned checking steps is present in the form of corresponding data on a CAN bus of the working vehicle, wherein the control unit evaluates these data with regard to characteristics occurring for the respective status of the loading process. In this respect, the evaluation can be carried out on the basis of a previously (empirically) learnt model that is stored in a storage unit connected to the control unit or in a data cloud, to which the control unit has access via a wireless interface.

[0045] Furthermore, it is possible for the actuation state of the operating lever to be derived by a hand detection device. The hand detection device is designed to detect when the hand completely grips the operating lever. This can be achieved using electromechanical means, for example in the form of a manual flap which is arranged in a grip region of the operating lever and is pivoted away to the side when gripping the grip region while actuating an electrical switch, or by sensing a change in the dielectric constant, or an associated change in capacitance, caused in the grip region when grasped by the hand. The operating lever remains fully gripped for the duration of the loading process, which, conversely, allows a reliable conclusion to be drawn about termination of the loading work as soon as this is no longer the case.

[0046] FIG. 1 shows an example embodiment, illustrated as a block diagram, of the method according to the disclosure for automatically detecting a loading process to be carried out by means of a working vehicle, wherein this method shall be described below with reference to the arrangement according to FIG. 2 provided for carrying it out.

[0047] Starting from FIG. 2, the arrangement 10 is a component part of a working vehicle 12 in the form of an agricultural tractor 14 with a loading device 18 which is designed as a front loader 16 and has a loading tool 20 for picking up a load material 22 and a hydraulically adjustable loader linkage 24 for pivoting and for raising and lowering the loading tool 20. In this case, the front loader 16 is attached in the front region 26 of the agricultural tractor 14 as a removable attachment.

[0048] More specifically, the front loader 16 is used to transfer inter alia bulk or stalk-like load material 22 by means of a loading tool 20 which is designed in the present case as a bucket 28 (or as a loading fork) and is located on a free end 30 of the front loader 16 or a loader boom 32 included in the latter. The loading tool 20 can be adjusted, in terms of its height relative to the ground 38 and in terms of its inclination about a pivot axis 42 running transversely to the longitudinal extent 40 of the agricultural tractor 14, by actuating first and second hydraulic actuating devices 34, 36, which are component parts of the loader linkage 24, thus allowing targeted immersion of the loading tool 20 into a load material supply 44 for the purpose of picking up load material 22.

[0049] The load material 22 comprises materials such as straw, hay, silage, manure, cereals, maize, gravel, sand, soil or the like.

[0050] It should be noted that the working vehicle 12 intended for carrying out the loading process does not necessarily have to be designed as an agricultural tractor 14, but rather can be any working vehicle 12 from the agricultural or forestry sector, but also from the construction machinery sector. Examples which may be mentioned here include telescopic loaders, shovel loaders or the like.

[0051] According to FIG. 2, the arrangement 10 comprises a microprocessor-controlled control unit 46 which is connected, via a CAN data bus 48, to a plurality of wheel speed sensors 50 that serve to provide data regarding the wheel speeds arising at associated front and rear wheels 52, 54 of the agricultural tractor 14.

[0052] In addition, the control unit 46 communicates, via the CAN bus 48, with a user interface 58 designed as a touch-sensitive display 56 and with a storage unit 60, and, via a wireless interface 62a, 62b, with a data cloud 64.

[0053] The front loader 16 is operated using an operating lever 66 which is in the form of a joystick and is also connected, via the CAN bus 48, to the control unit 46 for evaluating a deflection sensed at the operating lever 66, wherein the first hydraulic actuating device 34 can be actuated for the purposes of raising and lowering the loader boom 32, and the second hydraulic actuating device 36 can be actuated for the purposes of inclining the loading tool 20 and its pivot axis 42 in accordance with the sensed deflection.

[0054] In order to prevent unintentional actuation of the front loader 16, the operating lever 66 is equipped with a hand detection device 68. The hand detection device 68 is designed to detect when the hand completely grips the operating lever 66. According to the example, this is carried out using electromechanical means in the form of a manual flap 70 which is arranged in a grip region of the operating lever 66 and is pivoted away to the side when gripping the grip region while actuating an electrical switch (not shown), or by sensing a change in the dielectric constant, or an associated change in capacitance, caused in the grip region when grasped by the hand.

[0055] Furthermore, an image acquisition system 72 for identifying the load material is provided. The image acquisition system 72 for identifying the load material is a camera system 74 which is attached in the front region 26 of the agricultural tractor 14 or a camera system which is attached to the front loader 16 and has an optical acquisition region 76 oriented in the load material pick-up direction. The image acquisition system 72 for identifying the load material comprises an image processing device (not shown) that is used to detect a targeted approach of the loading tool 20 to the load material supply 44 or immersion of the loading tool 20 into the load material supply 44 and to output it as a corresponding load status indication.

[0056] A travel drive 78 included in the agricultural tractor 14 has a drive motor 80 in the form of an electric motor and / or an internal combustion engine as well as a gearbox 82, in the present case an IVT gearbox (IVT-Infinitely Variable Transmission) with a continuously variable transmission ratio, which is downstream of the drive motor 80 and is connected to the rear wheels 54 of the agricultural tractor 14. A drive management system 84 allows the control unit 46 to adapt the drive characteristic of the travel drive 78 by modifying a control algorithm which is provided for the purpose of controlling the motor and / or gearbox and converts the travel commands specified on the driver's side via associated travel operating elements 86, for example in the form of corresponding travel speed specifications at an accelerator pedal or travel operating lever, into corresponding drive and / or gearbox control commands.

[0057] In the present case, the drive characteristic of the travel drive 78 can be switched between a loading operating mode and a normal operating mode at the request of the control unit 46. The drive characteristic of the travel drive 78 is significantly determined by a gearbox ratio to be set due to the motor load, motor speed and driver-side travel speed specifications. By means of appropriate parameterization, the control algorithm provided for the purpose of controlling the motor and / or gearbox is therefore adapted to the special requirements of a loading process to be carried out with the front loader 16 in such a way that the loading operating mode is distinguished from the normal operating mode, among other things, in terms of achieving the most agile travel and deceleration behavior possible in the range of travel speeds typical for carrying out loading work, but also in terms of avoiding excessive wheel slip or a drop in the motor speed. The associated control algorithm is simultaneously optimized in order to achieve an efficient (energy-saving) travel behavior of the agricultural tractor 14 that assists the operator in carrying out the loading process.

[0058] Feedback on the current actuation state of the front loader 16 to the control unit 46 is provided on the basis of data provided by a sensor arrangement 88, assigned to the front loader 16, for detecting the pressure conditions in the two hydraulic actuating devices 34, 36 and the current position or movement of the loader boom 32 and the loading tool 20.

[0059] According to FIG. 1, the method carried out by the control unit 46 and stored as corresponding program code in the storage unit 60 is started in a start step 100 by the operator by calling the corresponding assistance function via the user interface 58 in a first secondary step 102 in the normal operating mode (“Reset”).

[0060] At the same time, the control unit 46, in a second secondary step 104, derives, by evaluating the data present on the CAN bus 48, information with regard to

[0061] the position (substep 104-A) and trajectory (substep 104-B) of the loader boom 32 and / or the loading tool 20 included in the front loader 16 from the current position or movement of the loader boom 32 and the loader tool 20, as detected by means of the sensor arrangement 88,

[0062] actuating forces (substep 104-C) occurring on the loader linkage 24 of the front loader 16 on the basis of the pressure conditions in the hydraulic actuating devices34, 36, as detected and evaluated by means of the sensor arrangement 88,

[0063] a current speed of movement (substep 104-D) and direction of movement (substep 104-E) of the agricultural tractor 14 by evaluating the wheel speeds detected by means of the wheel speed sensors 50,

[0064] a current motor speed (substep 104-F) and / or motor load (substep 104-G) of the drive motor 80 or a current transmission ratio (substep 104-H) of the gearbox 82 by reading out the control algorithm provided for the purpose of controlling the motor and / or gearbox,

[0065] the load status indication (substep 104-I) output by the image acquisition system 72 for identifying the load material,

[0066] an actuation state (substep 104-J) of the operating lever 66, as determined by the hand detection device 68, and / or

[0067] wheel slip (substep 104-K) occurring on the driven rear wheels 54 of the agricultural tractor 14 by evaluating the wheel speeds detected by means of the wheel speed sensors 50 by comparing the driven rear wheels 54 and the front wheels 52 not driven at present

[0068] and provides said information on the CAN bus 48 in the form of corresponding data.

[0069] The data provided in the first secondary step 102 on the CAN bus 48 is accessed by the control unit 46 in multiple successive checking steps to a partly varying extent, with the aim of making a decision as to whether it is necessary to switch from the normal operating mode to the loading operating mode (and vice versa) in order to adapt the drive characteristic of the travel drive 78 accordingly.

[0070] First, in a first checking step 106 following the start step 100, the control unit 46 evaluates the information determined in the second secondary step 104 in substeps 104-A, 104-B, 104-D, 104-E, 104-F, 104-H, 104-J with regard to the position and trajectory of the loader boom 32 and / or the loading tool 20, the current speed of movement or direction of movement of the agricultural tractor 14, the current motor speed of the drive motor 80 or the current transmission ratio of the gearbox 82, and / or the actuation state of the operating lever 66 for the purpose of detecting an impending loading process.

[0071] The above-mentioned information allows a conclusion as to whether a loading process can be conceivably expected to be carried out. The typical signs include preparatory or preliminary measures such as moving the loader boom 32 and / or loading tool 20 into a position suitable for immersion in the load material supply 44 in conjunction with corresponding driver-side actuation of the operating lever 66, a speed of movement in the range of a few kilometers per hour or a corresponding motor speed / transmission ratio combination of the drive motor 80 and the gearbox 82.

[0072] If it is revealed in the first checking step 106 that a loading process can be expected to be carried out with adequate probability, the drive characteristic of the travel drive 78 is switched from the normal operating mode to the loading operating mode by the control unit 46 in a third secondary step 108; otherwise, the first secondary step 102 is continued while maintaining the normal operating mode.

[0073] The first checking step 106 is followed by a second checking step 110, in which the control unit 46 evaluates the information determined in the second secondary step 104 in substeps 104-A, 104-B, 104-C, 104-D, 104-E, 104-F, 104-G, 104-H, 104-I, 104-J, 104-K with regard to the position and trajectory of the loader boom 32 and / or the loading tool 20, the actuation forces occurring on the loader linkage 24, the current speed of movement or direction of movement of the agricultural tractor 14, the current motor speed and / or motor load of the drive motor 80 or the current transmission ratio of the gearbox 82, the actuation state of the operating lever 66, and / or wheel slip occurring on the driven rear wheels 54 of the agricultural tractor 14 for the purpose of detecting a loading process that is already taking place.

[0074] In addition to the information already mentioned in connection with the first checking step 106, the actuation forces occurring on the loader linkage 24, the motor load as well as the wheel slip for example allow a reliable conclusion to be drawn about load-related influences that occur when carrying out a loading process. An example of this that may be mentioned here is an increase in the wheel slip on the driven rear wheels 54 of the agricultural tractor 14 due to an opposing travel resistance when the loading tool 20 is immersed in the load material supply 44.

[0075] If it is revealed in the second checking step 110 that a loading process is currently being carried out, the control unit 46 checks whether the travel drive 78 is already in the loading operating mode. If this does not apply, there is a switch from the normal operating mode to the loading operating mode in the third secondary step 108. Otherwise, the first secondary step 102 is also continued here while maintaining the normal operating mode.

[0076] In addition, in the first and second checking step 106, 110, the control unit 46 evaluates the information provided by the image acquisition system 72 for identifying the load material. This results in a further indication of (intended) execution of corresponding loading work.

[0077] The second checking step 110 is followed by a third checking step 112. In this, the control unit 46 checks whether the loading process is no longer being carried out and therefore the travel drive 78 needs to be reset to the normal operating mode in the first secondary step 102. The switch from the loading operating mode to the normal operating mode therefore takes place in the third checking step 112, subject to a termination of the loading process detected by the control unit 46. In order to detect a completed charging process, the control unit 46 evaluates the information determined in the second secondary step 104 in substeps 104-A, 104-B, 104-C, 104-D, 104-E, 104-F, 104-G, 104-H, 104-I, 104-J, 104-K with regard to the position and trajectory of the loader boom 32 and / or the loading tool 20, the actuation forces occurring on the loader linkage 24, the current speed of movement or direction of movement of the agricultural tractor 14, the current motor speed and / or motor load of the drive motor 80 or the current transmission ratio of the gearbox 82, the actuation state of the operating lever 66, and / or wheel slip occurring on the driven rear wheels 54 of the agricultural tractor 14.

[0078] Typical signs of the completion of the loading work are inter alia transfer of the loader boom 32 and / or loading tool 20 into a raised position intended for road travel while simultaneously reversing, but also a prolonged neutral position or the absence of driver-side actuation of the operating lever 66.

[0079] Subsequently, the method according to the disclosure is completed in a final step 114 or returns to the first checking step 106 in order to be run through again.

[0080] The third checking step 112 is optional and can be replaced by the loading operating mode being maintained by the control unit 46 as long as a loading process that is already taking place is detected in the second checking step 110. If this is no longer the case, there is an immediate switch from the loading operating mode to the normal operating mode starting from the first checking step 106 by executing the first secondary step 102.

[0081] In order to predict an impending loading process and to detect a loading process that is already taking place or has been completed, the information determined in the second secondary step 104 in substeps 104-A to 104-K in the form of the data provided in this respect on the CAN bus 48 is evaluated by the control unit 46 with respect to characteristics occurring for the respective status of the loading process. The evaluation is carried out on the basis of a previously (empirically) learnt model that is stored in the storage unit 60 connected to the control unit 46 or in the data cloud 64, to which the control unit 46 has access via the wireless interface 62a, 62b.

[0082] In summary, it is thus provided that a control unit 46 switches the drive characteristic of the travel drive 78 from the normal operating mode to the loading operating mode in the first checking step 106 when an impending loading process is detected, and maintains the loading operating mode in the subsequent, second checking step 110 when a loading process that is already taking place is detected, or a subsequent switch from the normal operating mode to the loading operating mode takes place if it is detected that the switch has not been performed in the first checking step 106.

[0083] According to some embodiments due to the presence of the consecutive first and second checking steps 106, 110, redundant and thus particularly reliable loading process detection is ensured as the basis for a driver-independent adaptation of the drive characteristic of the travel drive 78 and thus of the travel behavior of the agricultural tractor 14, which adaptation is oriented to the requirements of a loading process.

[0084] The terminology used herein is for the purpose of describing example embodiments or implementations and is not intended to be limiting of the disclosure. As used herein, the singular forms “a,”“an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the use of the terms “has,”“includes,”“comprises,” or the like, in this specification, identifies the presence of stated features, integers, steps, operations, elements, and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0085] Those having ordinary skill in the art will recognize that terms such as “above,”“below,”“upward,”“downward,”“top,”“bottom,” etc., are used descriptively for the drawings, and do not represent limitations on the scope of the present disclosure, as defined by the appended claims. Furthermore, the teachings may be described herein in terms of functional and / or logical block components or various processing steps, which may include any number of hardware, software, and / or firmware components configured to perform the specified functions.

[0086] Terms of degree, such as “generally,”“substantially,” or “approximately” are understood by those having ordinary skill in the art to refer to reasonable ranges outside of a given value or orientation, for example, general tolerances or positional relationships associated with manufacturing, assembly, and use of the described embodiments or implementations.

[0087] As used herein, “e.g.,” is utilized to non-exhaustively list examples and carries the same meaning as alternative illustrative phrases such as “including,”“including, but not limited to,” and “including without limitation.” Unless otherwise limited or modified, lists with elements that are separated by conjunctive terms (e.g., “and”) and that are also preceded by the phrase “one or more of” or “at least one of” indicate configurations or arrangements that potentially include individual elements of the list, or any combination thereof. For example, “at least one of A, B, and C” or “one or more of A, B, and C” indicates the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

[0088] While the above describes example embodiments or implementations of the present disclosure, these descriptions should not be viewed in a restrictive or limiting sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.

Claims

1. A method for automatically detecting a loading process to be carried out by a working vehicle, comprising:switching, via a control unit, a drive characteristic of the travel drive from a normal operating mode to a loading operating mode in a first checking step when the control unit detects an impending loading process for picking up a load material with a loading device;maintaining, via the control unit, the loading operating mode in a subsequent, second checking step when the control unit detects a loading process already taking place; andswitching, via the control unit, from the normal operating mode to the loading operating mode when the control unit detects the switch was not performed in the first checking step.

2. The method of claim 1, wherein the travel drive comprises an IVT gearbox with a continuously variable transmission ratio, wherein the control unit determines the drive characteristic by a gearbox ratio to be set due to the motor load, motor speed and driver-side travel speed specifications.

3. The method of claim 1, further comprising:detecting, via the control unit, an impending loading process by evaluating information regarding the position and trajectory of a loader boom and a loading tool of the loading device, a current speed and direction of movement of the working vehicle, a current motor speed of a drive motor included in the travel drive connected to driven wheels of the working vehicle, and an actuation state of an operating lever for manually controlling the loading device.

4. The method of claim 3, further comprising:detecting, via the control unit, a loading process already taking place by evaluating information regarding the position and trajectory of a loader boom and the loading tool of the loading device, actuation forces occurring on a loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and a motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, the actuation state of the operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle.

5. The method of claim 4, further comprising:evaluating, via the control unit, information from an image acquisition system for identifying the load material for the purpose of detecting the impending loading process and the loading process already taking place.

6. The method of claim 4, further comprising:maintaining, via the control unit, the loading operating mode when the control unit detects the loading process already taking place in the second checking step.

7. The method of claim 4, further comprising:switching, via the control unit, from the loading operating mode to the normal operating mode when the control unit detects a termination of the loading process in a third checking step.

8. The method of claim 7, further comprising:detecting, via the control unit, a completed loading process by evaluating information regarding the position and trajectory of the loader boom and the loading tool of the loading device, actuation forces occurring on the loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and the motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, the actuation state of the operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle.

9. The method of claim 8, further comprising:deriving, via a hand detection device, the actuation state of the operating lever.

10. A system for automatically detecting a loading process to be carried out by a working vehicle, comprising:a loading device for picking up a load material;a travel drive with a drive characteristic which can be switched between a loading operating mode and a normal operating mode; anda control unit configured to switch the drive characteristic of the travel drive from the normal operating mode to the loading operating mode in a first checking step when the control unit detects an impending loading process, maintain the loading operating mode in a subsequent, second checking step when the control unit detects a loading process already taking place, and switch from the normal operating mode to the loading operating mode when the control unit detects the switch to the loading operating mode was not performed in the first checking step.

11. The system of claim 10, wherein the travel drive comprises an IVT gearbox with a continuously variable transmission ratio, wherein the control unit determines the drive characteristic by a gearbox ratio to be set due to the motor load, motor speed, and driver-side travel speed specifications.

12. The system of claim 10, wherein the control unit is configured to detect an impending loading process by evaluating information regarding the position and trajectory of a loader boom and a loading tool of the loading device, a current speed and direction of movement of the working vehicle, a current motor speed of a drive motor included in the travel drive connected to driven wheels of the working vehicle, and an actuation state of an operating lever for manually controlling the loading device.

13. The system of claims 12, wherein the control unit is configured to detect a loading process already taking place by evaluating information regarding the position and trajectory of a loader boom and the loading tool of the loading device, actuation forces occurring on a loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and a motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, an actuation state of an operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle.

14. The system of claim 13, wherein the control unit is configured to evaluate information from an image acquisition system for identifying the load material for the purpose of detecting the impending loading process and the loading process already taking place.

15. The system of claim 13, wherein the control unit is configured to maintain the loading operating mode when the control unit detects the loading process already taking place in the second checking step.

16. The system of claim 13, wherein the control unit is configured to switch from the loading operating mode to the normal operating mode when the control unit detects termination of the loading process in a third checking step.

17. The system of claim 16, wherein the control unit is configured to evaluate information regarding the position and trajectory of the loader boom and the loading tool of the loading device, actuation forces occurring on the loader linkage of the loading device, the current speed and direction of movement of the working vehicle, the current motor speed and the motor load of the drive motor included in the travel drive connected to driven wheels of the working vehicle, an actuation state of an operating lever for manually controlling the loading device, and wheel slip occurring on driven wheels of the working vehicle for the purpose of detecting a completed loading process.

18. The system of claims 17, wherein the actuation state of the operating lever is derived via a hand detection device.

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