Tractor Implement Control via Inertial Sensing
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Current tractor control systems for attachments are expensive due to the need for force measuring bolts and ground sensors, which are complex and time-consuming to install and adjust, especially when dealing with uneven terrain.
Innovation Solution
A control device that uses a sensor device to detect the rate of change in the tractor's position, including rotation rates, to adjust the inclination and height of the lifting mechanism, eliminating the need for expensive force measuring bolts and ground sensors by directly controlling the lifting gear's length and pivoting via hydraulic cylinders.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If force measuring bolts and ground sensors are used for implement control, then measurement precision is improved, but device complexity and cost increase
Solution Approach 1:
The invention extracts the measurement function from complex force measuring bolts and ground sensors, replacing them with a simple accelerometer mounted on the implement. This extraction principle removes the disturbing complexity while retaining the essential measurement capability through alternative means (acceleration-based inference).
Solution Approach 2:
The invention replaces the mechanical force measurement system (force measuring bolts) with an accelerometer-based system. This substitution uses inertial measurement instead of direct mechanical force sensing, thereby simplifying the device while maintaining measurement capability through mathematical inference of draft force from acceleration data.
2Measurement precision
If sensors are installed on each implement for position control, then measurement precision is improved, but ease of operation deteriorates
Solution Approach 1:
The invention makes the accelerometer universal by mounting it on the implement itself rather than requiring separate ground sensors for each implement. The accelerometer serves multiple functions: measuring implement position, orientation, and acceleration, thereby eliminating the need for implement-specific sensor installation and calibration.
Solution Approach 2:
The implement serves itself by mounting the accelerometer directly on its structure. This self-service approach eliminates the need for external sensor installation on the ground and complex calibration procedures, as the implement's own motion and position data are captured by its attached sensor.
3Device complexity
If a single pair of sensors is shared across multiple implements, then device complexity is reduced, but productivity deteriorates
Solution Approach 1:
The accelerometer is pre-mounted on the implement during manufacturing, so that when the implement is attached to the tractor, the sensor is already in position and configured. This preliminary action eliminates the time-consuming process of removing and reattaching sensors when changing implements, thereby improving productivity without increasing system complexity.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution simplifies and cost-reduces the control of attachment height and inclination, effectively compensating for ground unevenness without the need for complex sensor setups, ensuring consistent plowing depth and pattern while reducing operational costs.
Implementation Method 1
a sensor device by means of which, in particular for adjusting the inclination and/or height of the implement relative to the surface, a rate of change of position of the tractor can be detected
Data Source
Figure 1~2
Figure 3~4
AI summary
A control device for a tractor (1) for pulling at least one implement (4) over a surface (18) is disclosed, the control device comprising a sensor device (6) wherein the rate of change of position of the tractor (1) can be detected by means of the sensor device (6). A tractor for pulling at least one implement (4) over a surface (18) with a control device (7) according to the invention is further disclosed. A method for controlling a tractor is also disclosed, comprising a detection step (38) for detecting a rate of change of position of the tractor (1), and an adjustment step (46) for adjusting an inclination and/or height of at least one implement (4) pulled by the tractor (1) over a surface (18) as a function of the detected rate of change of position.