Detection system for inter-row hoes

Abstract

The invention relates to a sensitive and self-adjusting detection system for inter-row hoes that comprises a motor (1) with a shaft (2), a sensing rod (3) joined to the shaft (2), and a sensor (5) that determines at least one of the following parameters: speed, rotation, angular position or torque of the shaft (2). The system also includes a control element (10) for varying the position of the sensing rod (3), and a control unit (6) that receives signals from the sensor (5), from the control element (10) and, optionally, from other sensors (8, 9). The control unit (6) processes the signals and allows automatic regulation of the position, sensitivity and dead centre of the sensing rod (3), improving weeding precision and adapting operation to the working conditions of the terrain.

Description

[0001] DETECTION SYSTEM FOR INTER-ROW PLOWS

[0002] DESCRIPTION

[0003] Field of invention

[0004] The present invention relates to a detection system for inter-row plows, which is a sensitive and self-regulating detection system.

[0005] Background of the invention

[0006] Inter-row plows are a globally widespread solution in the mechanization of high-value crops, allowing for weed control in the plantation in a sustainable and environmentally friendly way, avoiding the use of pesticides or glyphosate that are likely to cause a negative impact on the environment.

[0007] In addition, inter-row plows allow for precision work in the part of the crop where the impact of these weeds is most detrimental to the proper development of the crop, and can be combined with other sustainable and regenerative practices such as cover crops.

[0008] Weed control using inter-row plows has been carried out for decades, during which inter-row systems have undergone a remarkable evolution.

[0009] Initially, inter-row plows consisted of purely mechanical systems that achieved their function by means of blades that, thanks to their specific design, could impact the plant and return after avoiding it to a working position in which they would remove the grass as they passed.

[0010] These unreliable systems evolved into somewhat more complex systems that began to incorporate shafts and springs that facilitated the movement of the blade both in retraction and return, but they were still quite simple systems with a rather imprecise operation that frequently resulted in damage to the plant.

[0011] In the 1970s, hydraulics burst onto the scene of agricultural machinery, and the first automatic inter-row plows emerged, combining hydraulic actuators with the first plant sensing and detection systems that generally used rods or shafts that, when colliding with the plant trunk, caused the activation of a push button or electrical detector that generated the signal that allowed the hydraulic actuator to operate.

[0012] These systems brought about a complete revolution within the sector, especially in vineyard cultivation, where their use quickly became popular, as they provided the great advantage over their predecessors of working in anticipation of the presence of the plant, detecting it thanks to a sensor system that prevented the blade from impacting the trunk and potentially causing damage to the crop.

[0013] The technology of these inter-row plows prevailed for decades, with as many variations as there were manufacturers, and continuing to the present day.

[0014] However, all inter-row plowing systems currently manufactured share a number of weaknesses that make the system improvable and that often prevent these systems from reaching their full potential in terms of working speeds or detection of very young plants.

[0015] These weaknesses are concentrated precisely around the sensor system, which is responsible for detecting the plant, generating the signal that triggers the actuator to retract the blade and, once the plant has passed, return it to its original position. For this system to function optimally, it needs to be adjusted, and this adjustment will be affected by, among other things:

[0016] - Terrain conditions

[0017] - The morphology of the crop

[0018] - The distance between plants - The age of the crop

[0019] - Working speeds

[0020] These adjustments will always be necessary, and making them correctly will determine the optimal functioning of the inter-row plow. Therefore, ultimately, it is up to the user or the technician who starts up and calibrates the equipment to ensure the system functions correctly. Incorrect adjustment of the inter-row plow's sensor system can cause:

[0021] - Poor work (because the blade does not get close enough to remove the grass next to the trunk at the entrance or exit)

[0022] - Damage to the plant (from impacts or collisions of the blade with the trunk)

[0023] - Low working speeds (because the probe response is not precise)

[0024] Therefore, current inter-row plow detection systems require a series of adjustments to electromechanical elements such as rods, springs, and sensors. These adjustments must be made when the machine is first started, but they need to be adjusted throughout the machine's life on multiple occasions and for various reasons, which implies a significant economic cost.

[0025] For example, for the probe rod, its length, its position relative to the direction of travel, its height, its sensitivity, and its dead point of travel must be adjusted.

[0026] However, these adjustments can be involuntarily changed during the use of the inter-row plow, for example, due to wear or misalignment from use, changes in working speeds, working on different crops or crops of different ages, low precision in weeding, damage to plants, low working speeds, etc.

[0027] Description of the invention

[0028] Therefore, one objective of the present invention is to provide a detection system for inter-row plows that allows for their automatic regulation or adjustment, making life easier for the user and ensuring the optimal functioning of the system regardless of working conditions.

[0029] The detection system for inter-row plows of the invention solves the aforementioned problems, presenting other advantages that will be described below.

[0030] The detection system for inter-row plows according to the present invention is described in claim 1, and the dependent claims include additional features that are optional.

[0031] In particular, the detection system for inter-row plows comprises:

[0032] - a motor equipped with a shaft;

[0033] - a feeler rod connected to said shaft;

[0034] - a sensor that determines at least one of the speed, rotation, angular position, or shaft torque;

[0035] - a control element to detect the position of the feeler rod; and

[0036] - a control unit, which receives signals from the sensor, the control element and, if installed, from other sensors.

[0037] It should be noted that the control element can be a joystick, any type of control, or a push-button panel, among others.

[0038] According to a preferred embodiment, the motor is a stepper servo motor, and the sensor or sensors and a base plate are integrated into said motor.

[0039] The detection system for inter-row plows according to the present invention may also comprise a forward speed sensor and a pressure sensor installed on the inter-row plow and connected to the control unit.

[0040] Furthermore, it preferably also includes a junction box that connects the motor base plate, the forward speed sensor, the pressure sensor, and / or the control element to the control unit. Preferably, the control element is powered by a battery.

[0041] In this way, the system according to the present invention allows for an automatic adjustment of the inter-row plow settings using the motor as an actuator and also as a sensor, as well as other sensors that allow for the evaluation of working conditions.

[0042] In particular, with the system according to the present invention, the following can be regulated automatically:

[0043] - The position of the probe rod with respect to the direction of advance, thanks to the motor, the system will know the position of the probe rod at all times, and since the probe rod is connected to the shaft, it will be possible to place it in the optimal position knowing additional information such as the speed of advance or the distance between plants.

[0044] - The sensitivity of the probe rod, as a result of the adaptations made to the motor, makes it possible to quantify the torque from which the probe rod begins to move by rotating the shaft and it is also possible to adjust this force so that for adult plants with thicker and harder trunks it is possible to increase the force needed to move the probe rod, while for young plants with thin trunks it is possible to improve the sensitivity by reducing the torque needed to operate the probe rod.

[0045] - The dead point of the travel, thanks to the motor, makes it possible to know the exact position of the probe rod and, through programming, determine the exact angle from when the probe rod detects the trunk, until the signal that activates the hydraulic actuator has to be generated, making it possible to also modify this angle and therefore this dead travel automatically during work.

[0046] All these automatic adjustments will result in improved work completion times for the user, as well as a significant increase in work quality, while also enhancing equipment durability and thus constituting a more sustainable solution. Description of the drawings

[0047] For a better understanding of what has been explained, some drawings are included which, schematically and only as a non-limiting example, represent a practical case of implementation.

[0048] Figure 1 is a perspective view of the detection system for inter-row plows according to the present invention; and

[0049] Figure 2 is a block diagram of the components connected to the motor of the detection system for inter-row plows according to the present invention.

[0050] Preferred embodiment of the invention

[0051] The detection system for inter-row plows comprises a motor (1) provided with a shaft (2) and a feeler rod (3) connected to said shaft (2).

[0052] The motor (1) is preferably a stepper servo motor, which incorporates a base plate (4) that allows, on the one hand, varying the power supply to the motor (1) and influencing its operation as needed, moving only a specific number of degrees, varying the speed of action, reversing the direction of rotation and all this with total control.

[0053] Furthermore, this base plate (4) comprises a sensor (5) that, by reading the rotation of the shaft (2) of the motor (1), is able to provide information about the position of the probe rod (3), the rotational speed, and the torque required to move it. This sensor (5), for example, can detect the speed, rotation, angular position, and torque of the shaft (2) of the motor (1).

[0054] The base plate (4) also includes a terminal block to which cables are connected, for example, two power cables, positive and negative, and two additional data transfer cables. For example, communication between the different components can be established using the CAN J3919 protocol. The system according to the present invention also includes a control unit (6), which is programmable and connected to the motor (1) via a junction box (7), enabling the management and control of its operation, as well as the reception and interpretation of the information it generates.

[0055] The control unit (6) receives, on the one hand, signals from different sensors (8, 9), such as a forward speed sensor or GPS (8) and a pressure sensor (9) from an actuator cylinder, represented in figure 2, and also receives signals generated in a control element (10) powered by a battery (11) that is used to operate the system, allowing, among other things, the remote positioning of the probe rod (3).

[0056] It should be noted that the control element (10) can be a joystick, any type of control, or a push-button panel, among others.

[0057] The signals that reach the control unit (6) are processed and output signals are generated that go to the different actuators of the system, including the feeler rod itself (3).

[0058] Based on the control unit (6), a program is created in the programming language supported by it, which will be responsible for processing the input signal information and generating the output signals.

[0059] The wiring system and junction box (7) allow interconnection and information transfer between the motor (1), the control unit (6) and the sensors (5, 8, 9), as well as with other control and drive organs of the inter-row plow.

[0060] Inside the connection box (7) there are connection strips to join the different component cables, allowing communication between them.

[0061] The sensing rod (3) is an elongated, flexible element that makes contact with the plant trunk to detect its presence. In this case, this sensing rod (3) does not activate any springs or sensors and is directly connected to the shaft (2) of the motor (1).

[0062] The control element (10) mentioned above is the system's control mechanism, which may include a push-button panel and allows control of the system's moving parts. Specifically, it allows the probe rod (3) to be positioned remotely, generating signals that, after being processed by the control unit (6), act on the motor (1), rotating the shaft (2) in one direction or the other, by a greater or lesser degree depending on which buttons on the control element (10) are pressed.

[0063] The operation of the control unit (6) is explained below as an example only.

[0064] The following signals arrive at the control unit (6):

[0065] • From the engine (1):

[0066] • The rotational speed of the shaft (2);

[0067] • The angular position of the shaft (2) and, therefore, of the feeler rod (3) that is attached to this shaft (2);

[0068] • The couple of forces that the shaft (2) drags.

[0069] • From the other sensors (8, 9):

[0070] • The working pressure of an actuator cylinder that activates a weeding blade to avoid the trunk of a plant;

[0071] • The forward speed of a tractor where the machine with the system is coupled, for example, based on the GPS position.

[0072] It should be noted that the control unit (6) can also receive signals from other sensors, such as temperature sensors, oil level sensors, filter clogging sensors, etc., but these signals do not influence the operation of the system according to the present invention.

[0073] • From the control element (10):

[0074] • Button activations;

[0075] • Power supply, for example, at 12 V.

[0076] In the control unit (6) a variable assignment is programmed, that is, each input signal from a sensor must be associated with a variable and in many cases it is necessary to perform scaling or unit conversions.

[0077] Just as an example, a temperature sensor does not directly provide a temperature value, but rather an electrical signal, which can be either voltage or current. This signal must be scaled and converted into a temperature value based on the sensor's specifications and associated with a variable created within the control unit (6) called "temperature." This ensures that when displaying and working with this variable, we have an interpretable temperature value.

[0078] On the other hand, the interpretation of the signals from the control element (10) is also programmed so that each input signal generates an output signal that activates the system function that is pre-established based on its design.

[0079] For example, when an upper button on the control element's control panel (10) is pressed, the motor (1) is to move the probe rod (3) forward, and when a lower button is pressed, the probe rod (3) is to move backward. For the motor (1) to respond, a relevant sequence must be programmed into the control unit (6), which will be, for example:

[0080] If a signal is received from the upper button of the control element (10), a signal of intensity X1 or voltage Y1 is generated and emitted through output N of the control unit (6), which is the output to which the motor (1) is connected. If the lower button is pressed, instead of generating signal X1 or Y1, the signal to be generated is X2 or Y2 with different intensity or voltage values.

[0081] Finally, in the control unit (6) automation is also programmed based on establishing conditions between the variables that allow certain operations to be automated.

[0082] For example, to enable the system to self-regulate, conditions such as the following can be established: if the inter-row plow has a forward speed between 2 and 4 km / h, the feeler rod (3) should be at a 50° angle to the direction of travel. If this condition is not met, the feeler rod (3) is positioned accordingly, but if the speed increases to between 4 and 7 km / h, it automatically adjusts to 52° to ensure optimal actuator response. To position the feeler rod (3), its current position and the required displacement to reach the desired position must be known, thus generating the necessary signals to actuate the motor (1).

Claims

CLAIMS 1. Detection system for inter-row plows, comprising: - a motor (1) provided with a shaft (2); and - a feeler rod (3) connected to said shaft (2), characterized in that it also comprises: - a sensor (5) that determines at least one of the speed, rotation, angular position or torque of the shaft (2); - a control element (10) for detecting the position of the feeler rod (3); and - a control unit (6), which receives signals from the sensor (5) and the control element (10).

2. Detection system for inter-row plows according to claim 1, wherein the motor (1) is a stepper servomotor, which incorporates said sensor (5) and a base plate (4).

3. Detection system for inter-row plows according to any one of the preceding claims, which also comprises a forward speed sensor (8) and a pressure sensor (9) connected to the control unit (6).

4. Detection system for inter-row plows according to any one of claims 2 or 3, further comprising a connection box (7) connecting the base plate (4) of the motor (1), the forward speed sensor (8), the pressure sensor (9) and / or the control element (10) with the control unit (6).

5. Detection system for inter-row plows according to claim 1, wherein the control element (10) is powered by a battery (11).

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