WO2019101876A1 - Engin de travail automoteur muni d'au moins deux dispositifs de commande - Google Patents

Engin de travail automoteur muni d'au moins deux dispositifs de commande Download PDF

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Publication number
WO2019101876A1
WO2019101876A1 PCT/EP2018/082250 EP2018082250W WO2019101876A1 WO 2019101876 A1 WO2019101876 A1 WO 2019101876A1 EP 2018082250 W EP2018082250 W EP 2018082250W WO 2019101876 A1 WO2019101876 A1 WO 2019101876A1
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WO
WIPO (PCT)
Prior art keywords
control
drive
safety
self
working
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2018/082250
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German (de)
English (en)
Inventor
Christian Meltebrink
GEB. MALEWSKI Benjamin WEGMANN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
B Strautmann and Sohne GmbH and Co KG
Original Assignee
B Strautmann and Sohne GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Application filed by B Strautmann and Sohne GmbH and Co KG filed Critical B Strautmann and Sohne GmbH and Co KG
Priority to EP18807961.0A priority Critical patent/EP3713392A1/fr
Publication of WO2019101876A1 publication Critical patent/WO2019101876A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01K—ANIMAL HUSBANDRY; AVICULTURE; APICULTURE; PISCICULTURE; FISHING; REARING OR BREEDING ANIMALS, NOT OTHERWISE PROVIDED FOR; NEW BREEDS OF ANIMALS
    • A01K5/00—Feeding devices for stock or game ; Feeding wagons; Feeding stacks
    • A01K5/001—Fodder distributors with mixer or shredder
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/18—Safety devices for parts of the machines
    • A01D75/185—Avoiding collisions with obstacles
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01D—HARVESTING; MOWING
    • A01D75/00—Accessories for harvesters or mowers
    • A01D75/20—Devices for protecting men or animals
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
    • A01F25/00—Storing agricultural or horticultural produce; Hanging-up harvested fruit
    • A01F25/16—Arrangements in forage silos
    • A01F25/20—Unloading arrangements
    • A01F25/2027—Unloading arrangements for trench silos

Definitions

  • the invention relates to a self-propelled work machine for autonomous or semi-autonomous work, in particular a self-propelled agricultural machine, for example a self-propelled feed mixer according to the preamble of claim 1.
  • the milking robot is an established component that fully automates the most time-consuming process in addition to feeding. Also in the field of feeding various approaches are already being pursued, in which the machine control partly (assistance systems) or even completely (autonomous systems) from the feed extraction from a flat silo to the feed template operator-independent works.
  • EP 3 023 004 B1 discloses a self-propelled feed mixer wagon which comprises a drive motor, an autonomously movable and controllable chassis and working members in the form of a removal device for feed, a mixing device for the filled feed and a discharge device for the mixed feed.
  • the feed mixer wagon is navigated autonomously using GPS data in a control unit, which is a computer integrated in the feed mixer wagon.
  • the computer compares the determined GPS position data with predefined target points, determines on this basis a route and transmits the necessary control commands to the steering and Drive devices For the implementation and monitoring of work and
  • Driving processes are provided various sensors, which also transmit data to the control unit and serve as a basis for subsequent control commands.
  • the object of the invention is to eliminate the disadvantages described and to propose a working machine whose adaptation to new tasks or individual circumstances at the site Occupational safety is not impaired.
  • the work machine should be able to ensure safe operation regardless of the complex autonomous functions. This object is achieved by a work machine having the features of claim 1.
  • the work machine according to the invention enables a control concept in which process-related adaptations to the autonomous functions of the work machine can be carried out independently of the safety control.
  • Adjustments to the autonomy functions present on the work machine for example the implementation of improved algorithms or the elimination of logic errors, do not affect the safety control and thus do not require any change in the security software.
  • the self-propelled machine for autonomous or semi-autonomous work which may be in particular a self-propelled agricultural machine, includes a chassis with a drive and a supported by the chassis structure with working units.
  • the work equipment may be, for example, an excavator bucket, a fertilizer device, a feed removal device or else.
  • the traction drive and the work units are driven by a drive device, which is preferably an internal combustion engine or an electric motor.
  • the working units can also be driven indirectly via the drive device, for example via a hydraulic motor, or via additionally provided drive devices, for example battery-powered electric motors.
  • the machine includes safety devices to avoid dangerous situations and a control device which the drive device or the drive means and / or driven by the drive device traction drive and the working units and controls the safety devices. These safety devices are controlled exclusively by a safety controller.
  • control device comprises at least two separate controllers, wherein:
  • a first control device for controlling the drive device and / or the traction drive driven by the drive device and / or the work aggregates and
  • a second control device for interrupting the control signals which can be transmitted by the first control device to the drive device and / or the travel drive and / or the work aggregates
  • the second control device thus forms the already mentioned safety control, by means of which the drive device and / or the traction drive and / or the working units can be switched in dangerous situations, preferably switched off.
  • the control concept according to the invention thus enables the interaction of vehicle control, autonomy control, safety control and sensors and actuators. Based on this control concept, an autonomous work process is possible through the work machine. If necessary or adverse environmental conditions, the working machine can still be operated manually.
  • the safety controller can independently interrupt any control commands transmitted by the autonomous control to the drive device and / or work units.
  • the control commands triggered by the backup controller take precedence over the control commands triggered by the autonomous controller.
  • the priority commands of the safety controller can not be bypassed, bypassed, or influenced by adverse interactions of programs installed on a single system, because the second controller is a safety controller that is not coupled to the first controller, but completely independent acted by this.
  • a big advantage of the independent safety control is that changes to the first control device can, and in principle, be performed at will, without affecting the safety concept.
  • the work machine thus includes an autonomous control as well as an autonomous control independent of the autonomy control, which ensures safe operation. If the work process is performed by the unmanned vehicle, the safety controller detects possible hazards by means of additional sensors.
  • the autonomy control, the vehicle control and the safety control are also separated from one another with regard to the hardware required for this purpose.
  • Each controller thus has its own processors, which are housed separately in separate housings.
  • At least two controllers can be combined in a housing in terms of hardware.
  • a safety controller comprising a "safe area” and a "non-safe area”
  • the safety functions of the previously separate safety controller are implemented in the "safe area” and the "non-safe area” is additionally implemented Functionalities of the previously separate vehicle control and / or the autonomy control is occupied
  • a "safe area” is understood as that area of the control which corresponds to the normative requirements for the operational reliability to be realized.
  • This "safe area” may be certified in its installed form, as required by law, for example.
  • the term “non-safe area” refers to that area of the control which allows for individual adjustments and ensures that any adjustments made have no effect on the "safe area”.
  • the entire autonomous operation is assessed.
  • the working machine is an agricultural machine
  • the assumption is that autonomous operation may only be carried out on a farm, a semi-public space.
  • the security concept according to the invention thus divides an action space into two areas.
  • all feed intake points form a person-free space.
  • This area is protected by non-contact stationary sensors and a stationary safety controller.
  • the non-contact sensor is combined with a separating protection, such as a fence surrounding the work area or a gate, so that the security level is further increased and possible downtime and interference can be reduced.
  • the stationary safety controller can communicate with the mobile safety controller on the feed mixer via a wireless CAN bus connection. Outside this range, the components of the feed mixer wagon must be in a defined position. A method of working hydraulics is not allowed there. The safety controller opens appropriate relays and can thus ensure that these movements are no longer possible.
  • tactile safety sensors are designed according to the requirements of Social insurance used for agriculture, forestry and horticulture. Such tactile safety sensors are also referred to as safety edges or bumpers. When the bumpers are triggered, an automatic restart is possible according to the rules of social insurance.
  • a combination of bumpers or contact strips with non-contact safety sensors for outdoor use or a system based on pure non-contact sensor technology for outdoor use can also be used.
  • the non-contact safety sensors enable the detection of a collision hazard prior to contacting or collision.
  • the non-contact sensors also independently, that is, without the inclusion of tactile sensors, meet the required safety requirements.
  • the combination of safety edge and non-contact sensor has the significant advantage that a failure of non-contact sensor or tactile sensor does not lead to a work interruption or disruption, since the other, still functional, system meets the safety requirements alone.
  • a failure of non-contact sensor or tactile sensor does not lead to a work interruption or disruption, since the other, still functional, system meets the safety requirements alone.
  • short-term, environmental failures of non-contact sensors for example, in insufficient visibility, be bridged.
  • the machine can be driven in such a case with reduced, the reaction time of the safety edge adapted speed.
  • Another advantage of a combination of non-contact and tactile sensors is that they can be verified by one system to obstruct the other system. As a result, possible “misdetections” can be recognized as such and overridden with appropriate measures.
  • a control command may be provided, which only reduces the speed of the vehicle upon detection of an obstacle. If the switch list hits the obstacle as the drive continues, the vehicle is stopped only when the threshold for stopping the machine is exceeded by the obstacle contacted by the switch list. If this threshold, which is preferably adjustable, not exceeded, the machine runs over the obstacle. Thus, the vehicle could also drive with residual feed in the stable at a reduced speed.
  • any safety function will permanently shut down the feed mixer wagon.
  • the farmer must release the system directly on the vehicle.
  • posts or by means of a fence the boundaries of the working space are defined.
  • a limitation of the working space is also possible in other ways, for example by means of induction loops laid in the ground. It is essential in this context that a limitation is provided and not the way in which this limitation is realized.
  • contactless protection sensors can also be replaced from a technical point of view.
  • the system according to the invention is applicable not only for self-propelled feeder mixers, but also for other self-propelled agricultural machines such as self-propelled fertilizers, harvesters or tractors.
  • the system with, depending on the particular machine, if necessary, necessary adaptation measures on other machines, such as road construction machinery or transport and logistics machines used.
  • the first control device comprises two separate controllers, wherein the first separate controller is an autonomous controller.
  • Control is provided for the provision of control signals in an autonomous ferry operation and is provided as a second separate control vehicle control for processing the control signals provided by the autonomy control.
  • the division of the first control into a preferably physically separated autonomous control and a vehicle control further reduces the complexity of the overall system and the error probability.
  • such a separation opens up the possibility of completely switching off the autonomy control if necessary and of operating the work machine in purely manual mode.
  • the parked autonomy control system can have no influence on any drive systems or work units. An unwanted, for example caused by an internal program error starting or changing manual control commands can thus be excluded.
  • a switching device preferably a safety relay, is provided between the first control device and the drive device and / or the traction drive and / or the working units, by means of which the drive device and / or the traction drive and / or the working units are switchable, preferably switched off, are.
  • the safety controller thus has a direct influence on the drives due to the shutdown device. As a result, a very short chain of command between a safety sensor and a drive is realized. The only intermediate point between the sensor and the drive is the safety controller, which processes the signal received by the sensor and transmits a control command resulting from this directly to one or possibly several drives.
  • one or possibly also a plurality of safety relays between the vehicle control system and the drive devices, which can also be referred to as vehicle actuators, are provided as the switching device.
  • a switching device or such a safety relay can also be provided between the safety control and the parking brake. The safety control thus makes it possible predefined drives, or the machine as a whole, without stopping additional Aktorik in a dangerous situation and to bring the vehicle in a safe state.
  • a wireless CAN bus connection may be provided to enable communication with a stationary controller.
  • a stationary control for example, when it is in the self-propelled work machine is an autonomous feed mixer, be housed in an office of a farm and communicate from there with the mobile safety controller.
  • separate sensors for detecting safety-relevant hazardous situations are provided. These sensors detect safety-relevant data and transmit it directly and directly to the second control device, where they can be used to control the switching devices.
  • the separate sensors thus form another module for decoupling the safety control of the required for the work processes drives and actuators.
  • an emergency stop circuit is actuated, so that the vehicle can only be operated with functioning safety sensors in autonomous mode.
  • a commercially available industrial PC or a mobile control is preferably provided.
  • industrial PCs are relatively inexpensive. Since the safety control is not formed by this industrial PC, it is irrelevant whether the industrial PC in case of failure or damage meets the relevant safety requirements for an autonomous ferry operation.
  • the switching devices switch off the drive device and / or the travel drive and / or the work aggregates.
  • the work machine can thus only then operate in autonomous mode when the safety controller is operational.
  • a switching device is provided, by means of which the autonomy control can be activated, so that the working machine can be operated either in a manual driving mode or in a partially autonomous or in an autonomous driving mode.
  • a driving mode is understood to mean both a mode in which
  • the work machine moves from one location A to another location B and only the traction drive is activated;
  • the working machine is stationary and working functions are performed when the machine is stationary, such as the removal of feed from a storage warehouse;
  • the work machine while driving performs work functions, such as mixing or spreading feed.
  • the work machine is thus suitable for all three operating modes mentioned (manual, semi-autonomous, autonomous) and can be optionally offset by an operator or, depending on the situation, by means of the switching device in one of said modes.
  • To exclude the simultaneous operation of different driving or operating modes can be provided that several locks are provided for several different modes that can be activated with only a single key. If you want to switch from the "manual" operating mode to the "partially autonomous” operating mode, this must be actuated by the one key.
  • the solution “multiple locks that can be closed with a single key” compared to the solution “rotary switch” additional safety advantages can be realized.
  • the locks can be positioned so that the lock for activating the autonomous mode can only be operated from the outside.
  • a "ride” in the Driver's cab be prevented.
  • the second lock is arranged for manual operation in the driver's cab. Since only one key is provided, an unintentional start of the autonomous mode during the manual mode can thus be excluded.
  • predefined safety sensors are activated and the safety control based on the data transmitted by the predefined safety sensors not all, but only certain drives affected.
  • Fig. 1 is a self-propelled machine on the example of a self-propelled feed mixer wagon.
  • Fig. 2 is a control concept for a self-propelled machine, also using the example of a self-propelled feed mixer wagon.
  • Fig. 1 shows a self-propelled working machine 10 using the example of a self-propelled feed mixer wagon.
  • the feed mixer comprises a chassis 11 which carries a body 13.
  • the structure 13 essentially comprises a car 2, a drive device 15, which is an internal combustion engine, and a plurality of working units 14.
  • the working units 14 are essentially a removal device 16, a mixing device 18 and an application device 17.
  • the removal device 16 is used for removal of feed from storage warehouses (not shown).
  • the mixing device 18 is a mixing container 33 in which two rotating vertical screws mix feed stuffed.
  • the filling of the mixing container 33 takes place in that the feed to be loaded is first released from the supply store by the removal device 16, which in the exemplary embodiment is a milling cutter.
  • the removal device 16 directs the feed to the conveying arm 27, in which a circulating conveyor belt is mounted, which promotes the feed into the mixing container 33.
  • the mixing container 33 has in the direction of travel F front region of the wall on a closable with a flap opening, through which after completion of the mixing process, the feed of the dispensing device 17 can be supplied.
  • the dispensing device 17 is a circumferential cross-belt, which promotes the Techmande feed to the left or right side seen in the direction of travel F.
  • the advancing feed mixer wagon therefore places the feed to be applied in a swath-shaped area in the area provided for feeding and laterally next to the feed mixing wagon.
  • the control of the feed mixer comprises a first control device 20 and a second control device 30, which may also be referred to as a safety controller.
  • the first control device 20 an autonomy controller 21 and a vehicle controller 22.
  • the interaction of the control devices is shown in Figure 2.
  • FIG. 2 shows a control concept in which the autonomous control 21 and the vehicle control 22 are connected to one another via a Can connection 29 and jointly form the first control 20.
  • the first controller 20 is connected on the one hand to a switch 26 which is mounted on a control panel. Via the switch 26, three operating modes can be activated. These modes of operation are a fully autonomous drive mode, a semi-autonomous drive mode, and a manual drive mode. In the fully autonomous driving mode, operation of the feed mixer wagon without operator is possible. All functions are controlled in this case via the autonomy controller 21.
  • the autonomy controller 21 thus supplies control signals which are transmitted via the Can connection 29 to the vehicle control unit 22 and from there to the working units 14.
  • the control system forms an assistance system for the operator.
  • assistance systems can take on different tasks and on the one hand relieve the operator and on the other hand optimize the completion of the tasks.
  • an assistance system for the removal of feed from the Vorrastlager be provided, by means of which the parameters Fräsnaviere and lowering speed of the conveying arm 27 are matched to each other during the removal process.
  • an assistance system for the feed application can be provided, which adjusts the application rate to the distance covered and thus ensures a uniform feed pattern.
  • vehicle sensors 35 are mounted, their attachment and operation basically already known as the prior art Feed mixer is known.
  • vehicle sensors are pressure sensors to record the pressures in the hydraulic system, position sensors to determine, for example, the discharge openings (metering slide), angle sensors for detecting the Radeinschlagwinkel etc.
  • the vehicle sensors 35 acquire data and transmit this data to the vehicle controller 22.
  • the data thus transmitted are transmitted in autonomous or semi-autonomous mode to the autonomous controller 22, where they form the basis for the determination of the control signals, which are then returned to the factory from the autonomous controller control ng be transferred.
  • the aforementioned second controller 30 is mounted on the feed mixer and may also be referred to as a mobile safety controller. It is independent of the first controller 20. However, it may be provided that the mobile safety controller 30 is connected via bus connection, for example an Ethernet connection 31 to the vehicle controller 20.
  • the Ethernet connection 31 is a one-way connection that is used for informational purposes only for a user interface. When safety controller 30 performs a safety function, it communicates this via the Ethernet interface of the user interface (vehicle control) so that they then send a message to an operator. There is no connection in the other direction.
  • Separate security sensors 24 are coupled to the mobile security controller 30.
  • An example of such safety sensors 24 are so-called bumpers 34, which are tactile safety sensors mounted near the ground around the vehicle.
  • the bumpers 34 are an example of a safety device 25.
  • non-contact sensors may also be provided. An advantage of the non-contact sensors is the smaller space requirement and the resulting smaller external dimensions of the feed mixer wagon.
  • the mobile safety controller 30 is connected to the brake 28 and can act on it as needed.
  • a connection to the drive device 15, or to the engine control in principle possible, for example, to automatically switch off the motor to a corresponding control command of the safety circuit in case of need.
  • the vehicle controller 22 is connected to the working units 14 via transmission lines, which in the exemplary embodiment is an electrical line.
  • Switching devices 23 in the form of switching relays are integrated in these connecting lines.
  • the switching relays are controlled by the mobile safety controller 30, which is thus able to act in recognized by the safety sensors 24 hazardous situations on the working units and their drive and these if necessary, completely shut down if necessary.
  • a further stationary safety controller 30 may be provided.
  • Such a stationary safety device 30 can be connected, for example, to the mobile safety controller 30 via a CAN bus.
  • the system described is thus able to carry out the complete feeding process independently with a manual, self-propelled feeder mixer.
  • the mode for autonomous operation is first activated via the switch 26.
  • the entire feeding process is carried out autonomously from the feed intake in various silos (silo, high silage, feed house) via the navigation on the farm to the feed discharge in the barn.

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  • Life Sciences & Earth Sciences (AREA)
  • Environmental Sciences (AREA)
  • Birds (AREA)
  • Animal Husbandry (AREA)
  • Biodiversity & Conservation Biology (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un engin de travail automoteur destiné à être utilisé de manière autonome ou partiellement autonome, en particulier un engin agricole automoteur, par exemple un véhicule automoteur mélangeur de fourrage. L'engin de travail (10) comprend un châssis (11) muni d'un système de propulsion (12) et d'une structure (13) portée par le châssis (11) et munie d'unités de travail (14). L'invention vise à réduire la complexité, en particulier pour le contrôle relatif à la technique de la sécurité après la mise en œuvre de mesures d'adaptation. À cet effet, la commande comprend au moins deux commandes séparées (20, 30), le premier dispositif de commande (20) étant conçu pour la commande de dispositifs d'entraînement (15) et/ou d'un système de propulsion (12) et/ou d'unités de travail, et le second dispositif de commande (30) étant conçu pour interrompre les signaux de commande pouvant être transmis par le premier dispositif de commande (20) aux dispositifs d'entraînement (15) et/ou au système de propulsion (12) et/ou aux unités de travail (14). Le second dispositif de commande (30) constitue ainsi une commande de sécurité permettant de commuter, de préférence d'arrêter, les dispositifs d'entraînement (15) et/ou le système de propulsion (12) et/ou les unités de travail (14) dans des situations dangereuses.
PCT/EP2018/082250 2017-11-24 2018-11-22 Engin de travail automoteur muni d'au moins deux dispositifs de commande Ceased WO2019101876A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP18807961.0A EP3713392A1 (fr) 2017-11-24 2018-11-22 Engin de travail automoteur muni d'au moins deux dispositifs de commande

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102017127824.9 2017-11-24
DE102017127824.9A DE102017127824B3 (de) 2017-11-24 2017-11-24 Selbstfahrende Arbeitsmaschine mit wenigstens zwei Steuerungseinrichtungen

Publications (1)

Publication Number Publication Date
WO2019101876A1 true WO2019101876A1 (fr) 2019-05-31

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PCT/EP2018/082250 Ceased WO2019101876A1 (fr) 2017-11-24 2018-11-22 Engin de travail automoteur muni d'au moins deux dispositifs de commande

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EP (1) EP3713392A1 (fr)
DE (1) DE102017127824B3 (fr)
WO (1) WO2019101876A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202022106085U1 (de) * 2022-10-28 2024-02-05 Mayer Verwaltungs Gmbh & Co. Kg Elektro-hydraulisches Geschwindigkeitsregelsystem

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019113355A1 (de) * 2019-05-20 2020-11-26 Hochschule Osnabrück Prüfverfahren für ein berührungsloses Sensorkonzept
NL2023390B1 (en) * 2019-06-26 2021-02-01 Lely Patent Nv Method of feeding a group of animals at a feeding location and system for performing the method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1400162A1 (fr) * 2002-09-19 2004-03-24 Deere & Company Dispositif de sécurité pour une machine de récolte
EP1967931A2 (fr) * 2007-03-06 2008-09-10 Yamaha Hatsudoki Kabushiki Kaisha Véhicule
EP2292085A1 (fr) * 2009-09-08 2011-03-09 CNH Italia S.p.A. Contrôle d'outil de prise de mouvement de tracteur
EP2301322A2 (fr) * 2009-09-25 2011-03-30 Deere & Company Combinaison constituée d'un appareil agricole et d'un véhicule porteur ou de traction et dotée d'un capteur destiné à la détection d'une situation de danger et d'un arrêt automatique de la prise de force
EP3125061A1 (fr) * 2014-03-28 2017-02-01 Yanmar Co., Ltd. Véhicule de chantier à déplacement autonome
EP3023004B1 (fr) 2014-11-18 2017-08-02 B. Strautmann & Söhne GmbH u. Co. KG, Wagon a melanger le fourrage et procede de commande d'un wagon a melanger le fourrage

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1400162A1 (fr) * 2002-09-19 2004-03-24 Deere & Company Dispositif de sécurité pour une machine de récolte
EP1967931A2 (fr) * 2007-03-06 2008-09-10 Yamaha Hatsudoki Kabushiki Kaisha Véhicule
EP2292085A1 (fr) * 2009-09-08 2011-03-09 CNH Italia S.p.A. Contrôle d'outil de prise de mouvement de tracteur
EP2301322A2 (fr) * 2009-09-25 2011-03-30 Deere & Company Combinaison constituée d'un appareil agricole et d'un véhicule porteur ou de traction et dotée d'un capteur destiné à la détection d'une situation de danger et d'un arrêt automatique de la prise de force
EP3125061A1 (fr) * 2014-03-28 2017-02-01 Yanmar Co., Ltd. Véhicule de chantier à déplacement autonome
EP3023004B1 (fr) 2014-11-18 2017-08-02 B. Strautmann & Söhne GmbH u. Co. KG, Wagon a melanger le fourrage et procede de commande d'un wagon a melanger le fourrage

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202022106085U1 (de) * 2022-10-28 2024-02-05 Mayer Verwaltungs Gmbh & Co. Kg Elektro-hydraulisches Geschwindigkeitsregelsystem

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DE102017127824B3 (de) 2018-12-13
EP3713392A1 (fr) 2020-09-30

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