Agricultural Tool Depth Control via Kinematic Feedback
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Solution Overview
Problem
Existing agricultural work machines face challenges in precisely adjusting and maintaining a defined operating status, particularly in terms of reaction behavior, adaptability, and accuracy, due to delays and non-linear responses in hydraulic systems and the need for individual adaptation of control systems for different soil types.
Innovation Solution
A procedure that adjusts the operating status of agricultural work machine tools based solely on kinematic properties and parameters, independent of load changes, using sensors to record and control the kinematic activity state of adjustment devices to set and maintain a defined position or depth of work.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If hydraulic systems are used to adjust working tool position based on load measurements, then the system can adapt to changing soil properties, but the response time increases and oscillation occurs due to delay behavior
Solution Approach 1:
The patent replaces the hydraulic actuation system with an electrically actuated system. Instead of using hydraulic cylinders that exhibit delay and oscillation behavior, the invention uses electric motors or actuators that can respond more quickly and precisely to control signals, thereby reducing response time while maintaining adaptability to soil conditions
Solution Approach 2:
The patent implements a feedback control system using sensors (such as position sensors or force sensors) that continuously monitor the working tool position or applied force and feed this information back to the control unit. This enables real-time adjustments to be made by the electrically actuated system, improving response time and preventing oscillation while maintaining adaptability to changing soil properties
2Measurement precision
If control systems are individually adapted for different work tool types, then precise control is achieved, but device complexity increases
Solution Approach 1:
The patent designs a universal control system with standardized interfaces and parameters that can be applied across different work tool types. The control unit uses a common control algorithm and sensor integration approach that works with various tools (seed coulters, cultivators, etc.), eliminating the need for completely separate control systems for each tool type while maintaining precise control through configurable parameters
3Adaptability or versatility
If hydraulic systems are used for working tool adjustment, then adaptability to load changes is achieved, but manufacturing precision of position setting deteriorates due to overshoot
Solution Approach 1:
The patent replaces hydraulic actuation with electrically actuated systems that offer more precise control over position. Electric motors and actuators can be controlled with higher resolution feedback and smoother acceleration/deceleration profiles, preventing overshoot and achieving more accurate position setting while still adapting to load changes through feedback control
Solution Approach 2:
The patent employs periodic or pulsed actuation of the electrically actuated system rather than continuous hydraulic pressure application. This allows for controlled, incremental adjustments to working tool position that prevent overshoot, with the system making small, precise movements based on feedback signals while maintaining adaptability to load conditions
Data Source
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AI summary
The invention relates to a method for setting a defined operating state, preferably a defined position, of a working tool (200) of an agricultural machine (1) for cultivating soil (B) and/or for introducing an agricultural product into the soil (B), wherein the working tool (200) is adjustably coupled to a machine frame (100) of the machine (1) by means of an adjusting device (310, 320).The method comprises detecting a kinematic actuation state of the adjusting device (310, 320), which in an operating state of the working machine (1) is associated with a first position of the working tool (200) with respect to the ground (B); actuating, preferably controlling and/or regulating, the adjusting device (310, 320) depending on the detected actuation state until a defined actuation state of the adjusting device (310, 320) is reached; and setting the defined operating state of the working tool (200) depending on the actuation of the adjusting device (310, 320). The invention further relates to an agricultural working machine (1).