Patent Description:
Agricultural machines use sensors for measuring many different things. For e.g. an air seeder, sensors may measure parameters such as how fast the seeder is moving, the flow of material (seed), and the amount of seed that remains in the seed tank on the seeder. Other agricultural machines comprising sensors may e.g. be drills, combines, cultivators, plows, and manure spreaders. On such agricultural machines, the sensors may also, or alternatively, measure other parameters.

Since each of the sensors on an agricultural machine is normally specific for its intended purpose, a farmer needs to have spares for each sensor, or wait until a new sensor is delivered if a sensor breaks down. There is then always a risk that the farmer orders the wrong sensor, or has the wrong sensor delivered, or mounts the sensor in the wrong position. Relevant agricultural machines are disclosed in <CIT> and <CIT>.

There is thus a need for an improved agricultural machine.

The above described problem is addressed by the agricultural machine according to claim <NUM>.

The above described problem is further addressed by the method according to claim <NUM>.

This enables the use of the same universal sensor device in each sensor position, so that a farmer only needs to have spares for this universal sensor device. This also provides the possibility to move a sensor device from a less vital to a more vital sensor position, if a sensor device in a very vital sensor position breaks down and the farmer has no spare. When the sensor device has been moved, the sensor device only needs to be initialized (e.g. by the system being restarted) so that the sensor device receives the unique set of sensor programming instructions it needs to perform the necessary functions in the new sensor position. In embodiments, the automatic transferring of the unique set of sensor programming instructions from a sensor programming device to a sensor device takes place when the agricultural machine is started. However, there may be a sensor initialization routine that may instead be run at any suitable point in time. Alternatively or additionally, there may be sensor initialization means on each sensor device, so that the unique set of sensor programming instructions are automatically transferred from a sensor programming device to a sensor device when e.g. a button or a switch on the sensor device is actuated.

In embodiments, a sensor device that is arranged to be mounted in a sensor position comprises a reader that automatically reads the unique set of sensor programming instructions from the sensor programming device.

In embodiments, at least one of the sensor programming devices comprises a passive RFID tag comprising sensor programming instructions, and the corresponding sensor device comprises an RFID reader. The automatic transferring of the unique set of sensor programming instructions may then comprise activating the RFID tag and reading the unique set of sensor programming instructions using the RFID reader.

In embodiments, at least one of the sensor programming devices comprises a visual code comprising sensor programming instructions, such as e.g. a bar code or a QR tag, and the corresponding sensor device comprises an optical reader. The automatic transferring of the unique set of sensor programming instructions may then comprise reading the unique set of sensor programming instructions using the optical reader.

In embodiments, at least one of the sensor programming devices comprises a number of magnets, where the position pattern of the magnets comprises the sensor programming instructions, and the corresponding sensor device comprises a reader that detects the position pattern of the magnets. The automatic transferring of the unique set of sensor programming instructions may then comprise reading the unique set of sensor programming instructions by detecting the position pattern of the magnets.

In embodiments, each of the sensor devices comprises a radar sensor, an IR sensor, an angle sensor, and/or an accelerometer. There may of course also be other types of sensor devices on the agricultural machine.

In embodiments, each of the sensor devices measures at least one of a speed of movement of the agricultural machine, a level of substance filling in a tank of the agricultural machine, a speed of feeding out substance from the agricultural machine, and/or a distance to surrounding objects. There may of course also be other types of sensor devices, measuring other parameters, on the agricultural machine.

In embodiments, the unique set of sensor programming instructions in each sensor programming device is fixed and cannot not be updated by any system in the agricultural machine.

In this application, the term "agricultural machine" means any type of implement that may be used for agriculture and comprises at least one sensor device. It may be a vehicle comprising its own driving means, or it may be an implement intended to be pulled or carried by a vehicle such as e.g. a tractor.

In this application, the feature that the programming position is "adjacent" a sensor position means that the programming position is close enough to ensure that a reader arranged in a sensor device that is mounted in the sensor position is able to read the unique set of sensor programming instructions from the sensor programming device that is mounted in the programming position, without the risk of accidentally reading the sensor programming instructions from a sensor programming device mounted in another programming position.

A unique set of sensor programming instructions may be unique just in relation to the unique sensor identification code or number comprised in the unique set of sensor programming instructions. The rest of the sensor programming instructions may be the same for two different unique sets of sensor programming instructions.

The scope of the invention is defined by the claims, which are incorporated into this section by reference. A more complete understanding of embodiments of the invention will be afforded to those skilled in the art, as well as a realization of additional advantages thereof, by a consideration of the following detailed description of one or more embodiments. Reference will be made to the appended sheets of drawings that will first be described briefly.

There are often a number of sensors on an agricultural machine. For e.g. an air seeder, sensors may measure parameters such as how fast the seeder is moving, the flow of material (seed), and the amount of seed that remains in the seed tank on the seeder. Other agricultural machines comprising sensors may e.g. be drills, combines, cultivators, plows, and manure spreaders. Since each of the sensors used on an agricultural machine is normally specific for its intended purpose, a farmer needs to have spares for each sensor, or wait until a new sensor is delivered if a sensor breaks down. There is then always a risk that the farmer orders the wrong sensor, or has the wrong sensor delivered, or mounts the sensor in the wrong position.

The claimed invention solves this problem by using programmable universal sensor devices, that are the same in each position, and programming each of these sensor devices for its specific purpose. The sensor devices are preferably programmed in position, using sensor programming devices comprising unique sets of sensor programming instructions. The agricultural machine may of course also comprise "normal" sensors, in addition to the claimed sensor devices. Embodiments of the disclosed solution are presented in more detail in connection with the figures.

<FIG> shows an agricultural machine <NUM>, <FIG> schematically illustrates a sensor programming device <NUM> and a sensor device <NUM>, and <FIG> schematically illustrates a sensor device <NUM>, in accordance with one or more embodiments described herein.

On the agricultural machine <NUM> shown in <FIG>, there are a number of sensor positions <NUM> where sensor devices <NUM> may be mounted. As illustrated schematically in <FIG>, for each sensor position <NUM>, there is a sensor programming device <NUM> that is mounted in a programming position <NUM>, located next to the sensor position <NUM> for the corresponding sensor device <NUM>. Each of the sensor programming devices <NUM> comprises a unique set of sensor programming instructions for the corresponding sensor device <NUM>. Each sensor device <NUM> preferably automatically receives the unique set of sensor programming instructions from the corresponding sensor programming device <NUM>, when the sensor device <NUM> is mounted in the sensor position <NUM>, so that if a sensor device <NUM> is moved from one sensor position <NUM> to another sensor position <NUM>, it automatically receives a different set of programming instructions.

This enables the use of the same universal sensor device <NUM> in each sensor position <NUM>, so that a farmer only needs to have spares for this universal sensor device <NUM>. This also provides the possibility to move a sensor device <NUM> from a less vital to a more vital sensor position <NUM>, if a sensor device <NUM> in a very vital sensor position <NUM> breaks down and the farmer has no spare. When the sensor device <NUM> has been moved, the sensor device <NUM> only needs to be initialized (e.g. by the system being restarted) so that the sensor device <NUM> receives the unique set of sensor programming instructions it needs to perform the necessary functions in the new sensor position <NUM>. This ensures that if a sensor device <NUM> is moved from one sensor position <NUM> to another sensor position <NUM>, it automatically receives a different set of programming instructions.

The sensor positions <NUM> illustrated in <FIG> are intended for sensor devices <NUM> that measure different parameters.

The sensor positions <NUM> located in the corners of the agricultural machine <NUM> may e.g. be used for mounting sensor devices <NUM> that measure the distance above the ground for each corner of the agricultural machine <NUM> - this may be especially useful on uneven fields.

The sensor position <NUM> located near the front end of the agricultural machine <NUM> may e.g. be used for mounting a sensor device <NUM> that measures the speed of movement of the agricultural machine <NUM> in relation to the ground.

Sensor positions <NUM> near the rear end of the agricultural machine <NUM> may e.g. be used be used for mounting sensor devices <NUM> that detect obstacles when moving the agricultural machine <NUM> rearwards.

Sensor positions <NUM> on a tank <NUM> of the agricultural machine <NUM> may e.g. be used be used for mounting sensor devices <NUM> that measure the filling level of the tank <NUM>.

Sensor positions <NUM> near an outlet <NUM> (e.g. a seed outlet) close to the ground and/or near an outlet from a tank <NUM> of the agricultural machine <NUM> may e.g. be used be used for mounting sensor devices <NUM> that monitor the flow of substance such as e.g. fertilizer or seed from the tank <NUM> of the agricultural machine <NUM>. <FIG> shows two hoses <NUM> (e.g. seed hoses) running from outlets on the tank <NUM> to outlets <NUM>. There is normally a hose <NUM> for each outlet <NUM>, but for clarity only two hoses <NUM> are shown in <FIG>.

The agricultural machine may of course comprise a number of different sensors that measure exactly the same parameters in exactly the same way. However, in order for the system to be able to differentiate between different sensors, each sensor needs to have a unique sensor identification code or number. Two different unique sets of sensor programming instructions may thus differ only in the unique sensor identification code or number comprised in the unique set of sensor programming instructions. The agricultural machine may of course also comprise sensor programming devices that do not each comprise a unique set of sensor programming instructions.

Each sensor programming device <NUM> may comprise e.g. a passive RFID tag comprising sensor programming instructions, a visual code comprising sensor programming instructions, such as e.g. a bar code or a QR tag, and/or a number of magnets, where the position pattern of the magnets comprises sensor programming instructions.

Each sensor device <NUM> may comprise a reader <NUM>, as illustrated schematically in <FIG>. The reader <NUM> may e.g. be an RFID reader, an optical reader, or a reader that detects a position pattern of magnets.

If the sensor programming device <NUM> comprises a passive RFID tag comprising the sensor programming instructions, and the corresponding sensor device <NUM> comprises an RFID reader <NUM>, the automatic transferring of the unique set of sensor programming instructions from the sensor programming device <NUM> to the sensor device <NUM> may comprise using the RFID reader <NUM> to activate the RFID tag and read the unique set of sensor programming instructions. The RFID tag preferably contains the programming that the sensor device <NUM> needs to perform the necessary functions in the particular sensor position <NUM>.

If the sensor programming device <NUM> comprises a visual code comprising sensor programming instructions, such as e.g. a bar code or a QR tag, and the corresponding sensor device <NUM> comprises an optical reader <NUM>, the automatic transferring of the unique set of sensor programming instructions from the sensor programming device <NUM> to the sensor device <NUM> may comprise using the optical reader <NUM> to read the unique set of sensor programming instructions. The visual code preferably contains the programming that the sensor device <NUM> needs to perform the necessary functions in the particular sensor position <NUM>.

If the sensor programming device <NUM> comprises a number of magnets, where the position pattern of the magnets comprises the sensor programming instructions, and the corresponding sensor device <NUM> comprises a reader <NUM> that detects the position pattern of the magnets, the automatic transferring of the unique set of sensor programming instructions from the sensor programming device <NUM> to the sensor device <NUM> may comprise reading the unique set of sensor programming instructions by detecting the position pattern of the magnets. The position pattern of the magnets preferably contains the programming that the sensor device <NUM> needs to perform the necessary functions in the particular sensor position <NUM>.

The programming is preferably effected by the reader <NUM> automatically reading the unique set of sensor programming instructions from the sensor programming device <NUM>.

The programming is preferably effected automatically at each system start. However, there may be a sensor initialization routine that may instead be run at any suitable point in time. Alternatively or additionally, there may be sensor initialization means on each sensor device <NUM>, so that the unique set of sensor programming instructions are automatically transferred from the sensor programming device <NUM> to the sensor device <NUM> when e.g. a button or a switch on the sensor device <NUM> is actuated.

The sensor device <NUM> is preferably a programmable sensor device. Such a programmable sensor device normally comprises software that handles the various sensor functionalities. However, when such a programmable sensor device is connected to a system, it must be configured to communicate with the system.

<CIT> describes a universal sensor that is enabled to receive context specific operating instructions via a short range communication network. The sensor type in <CIT> may e.g. be accelerometer, gyroscope, GPS device, humidity sensor, temperature sensor, barometer sensor, altitude sensor, magnetic sensor, time sensor, pressure sensor, weight sensor, sound-level sensor, microphone sensor, visual sensor, camera, video-camera, IR-camera, UV-camera. A sensor device <NUM> mounted in a sensor position <NUM> on the agricultural machine <NUM> may e.g. comprise the universal sensor described in <CIT>.

A sensor device <NUM> mounted in a sensor position <NUM> on the agricultural machine <NUM> may e.g. comprise a radar sensor, an IR sensor, an angle sensor, an accelerometer, and/or any of the other sensor types described in <CIT>. There may of course also be other types of sensor devices <NUM> on the agricultural machine <NUM>.

<CIT>, <CIT>, <CIT>, <CIT>, <CIT>, <CIT> and <CIT> show examples of the use of sensors in agricultural machines.

A sensor device <NUM> mounted in a sensor position <NUM> on the agricultural machine <NUM> may e.g. measure at least one of a speed of movement of the agricultural machine <NUM>, a level of substance filling in a tank <NUM> of the agricultural machine <NUM>, a speed of feeding out substance from the agricultural machine <NUM>, and/or a distance to surrounding objects, or any other of the parameters measured using the sensors described in <CIT>, <CIT>, <CIT>, <CIT>, <CIT>, <CIT> or <CIT>. There may of course also be other types of sensor devices <NUM>, measuring other parameters, on the agricultural machine <NUM>.

Many substances in tanks <NUM> of agricultural machines <NUM> are not of the kind that automatically levels to a plane surface - this applies to e.g. fertilizer and seed. This means that the level of substance filling in a tank <NUM> of the agricultural machine <NUM> may be difficult to measure without using weighing cells in the tank <NUM>. However, the level of substance filling in the tank <NUM> may be measured e.g. by using radar sensors positioned at various positions in the tank <NUM>.

<FIG> schematically illustrates a method for programming a sensor device <NUM> using a sensor programming device <NUM> that may e.g. comprise a passive RFID tag comprising the unique set of sensor programming instructions. The passive RFID tag may e.g. be a plastic tag that may be printed with a printer and placed in a programming position <NUM> adjacent or next to a sensor position <NUM> on the agricultural implement.

The sensor programming device <NUM> may comprise the instructions needed by the sensor device <NUM>. This information may e.g. be:.

The programming may thus tell the sensor device <NUM> e.g. what it is expected to measure and within what range, message IDs, report frequency, and whether there are any thresholds that should trigger alarms. A programming may thus e.g. be "Use radar to monitor the flow through a pipe. The range is <NUM>. Report any messages using CAN-ID 0x40111. Report status each second". This programming may be effected by a code that is comprised in the unique set of sensor programming instructions. As explained above, different unique sets of sensor programming instructions may differ only in the unique Instance ID (sensor identification code or number) comprised in the unique set of sensor programming instructions.

The method <NUM> may comprise:
Step <NUM>: Initializing the sensor device <NUM>, by starting the system or by separately running a sensor initialization routine, e.g. by actuating sensor initialization means such as a button or a switch on the sensor device <NUM>. The sensor device <NUM> is preferably programmed to automatically initialize at power-up, at any suitable point in time, and/or when sensor initialization means is actuated.

Step <NUM>: Using the reader <NUM> to read the sensor programming instructions, e.g. by activating the RID tag and reading the sensor programming instructions with an RFID reader. The range of the reader <NUM> is preferably short, so that there is a low risk that the reader <NUM> accidentally reads the sensor programming instructions from the wrong sensor programming device <NUM> (e.g. RFID tag). The programming position <NUM> is preferably adjacent the sensor position <NUM>, which means that the programming position <NUM> is close enough to ensure that a reader <NUM> arranged in a sensor device <NUM> that is mounted in the sensor position <NUM> is able to read the unique set of sensor programming instructions from the sensor programming device <NUM> that is mounted in the programming position <NUM>, without the risk of accidentally reading the sensor programming instructions from a sensor programming device <NUM> mounted in another programming position <NUM>. There may also be programming in the reader <NUM> to ensure that the highest signal is always selected.

Step <NUM>: Determining whether the reading of the sensor programming instructions has been successful. The sensor device <NUM> may be programmed to automatically re-initialize if the reading has not been successful.

Step <NUM>: Applying the new programming in the sensor device <NUM>.

When the method <NUM> has been carried out, the sensor device <NUM> has been programmed with the unique set of sensor programming instructions from the sensor programming device <NUM>.

<FIG> schematically illustrates a method <NUM> for arranging sensor devices <NUM> on an agricultural machine. The method <NUM> may comprise:
Step <NUM>: Arranging a number of sensor programming devices <NUM>, each comprising a unique set of sensor programming instructions, in a programming position <NUM> adjacent a sensor position <NUM> for a corresponding sensor device <NUM>.

Step <NUM>: For each sensor programming device <NUM>, arranging one single corresponding sensor device <NUM> in the sensor position <NUM>.

Step <NUM>: For each sensor programming device <NUM>, automatically transferring the unique set of sensor programming instructions from the sensor programming device <NUM> to the sensor device <NUM>, so that if a sensor device <NUM> is moved from one sensor position <NUM> to another sensor position <NUM>, it automatically receives a different set of programming instructions.

In embodiments, the automatic transferring <NUM> of the unique set of sensor programming instructions from a sensor programming device <NUM> to a corresponding sensor device <NUM> takes place when the agricultural machine <NUM> is started.

In embodiments, each sensor device <NUM> comprises a radar sensor, an IR sensor, an angle sensor, and/or an accelerometer. There may of course also be other types of sensor devices <NUM> on the agricultural machine <NUM>.

In embodiments, each sensor device <NUM> measures at least one of a speed of movement of the agricultural machine <NUM>, a level of substance filling in a tank <NUM> of the agricultural machine <NUM>, a speed of feeding out substance from the agricultural machine <NUM>, and/or a distance to surrounding objects. There may of course also be other types of sensor devices <NUM>, measuring other parameters, on the agricultural machine <NUM>.

In embodiments, the unique set of sensor programming instructions in each sensor programming device <NUM> is fixed and cannot not be updated by any system in the agricultural machine <NUM>.

In embodiments, the method <NUM> further comprises at least one of the following:
Step <NUM>: Arranging a sensor device <NUM> to comprise a reader <NUM> that automatically reads the unique set of sensor programming instructions from the sensor programming device <NUM>.

Step <NUM>: Arranging at least one of the sensor programming devices <NUM> to comprise a passive RFID tag comprising sensor programming instructions, and the corresponding sensor device <NUM> to comprise an RFID reader <NUM>. The automatic transferring <NUM> of the unique set of sensor programming instructions may then comprise activating the RFID tag and reading the sensor programming instructions using the RFID reader <NUM>.

Step <NUM>: Arranging at least one of the sensor programming devices <NUM> to comprise a visual code comprising sensor programming instructions, such as e.g. a bar code or a QR tag, and the corresponding sensor device <NUM> to comprise an optical reader <NUM>. The automatic transferring <NUM> of the unique set of sensor programming instructions may then comprise reading the sensor programming instructions using the optical reader <NUM>.

Step <NUM>: Arranging at least one of the sensor programming devices <NUM> to comprise a number of magnets, where the position pattern of the magnets comprises the sensor programming instructions, and the corresponding sensor device <NUM> to comprise a reader <NUM> that detects the position pattern of the magnets. The automatic transferring <NUM> of the unique set of sensor programming instructions may then comprise reading the sensor programming instructions by detecting the position pattern of the magnets.

Claim 1:
Agricultural machine (<NUM>) wherein the agricultural machine (<NUM>) comprises a number of sensor programming devices (<NUM>), each comprising a unique set of sensor programming instructions, and the agricultural machine is arranged to comprise one single corresponding sensor device (<NUM>) for each of the sensor programming devices (<NUM>), wherein each of the sensor devices is a programmable universal sensor device comprising sensors, wherein each sensor programming device (<NUM>) is mounted in a programming position (<NUM>) adjacent a sensor position (<NUM>) for the corresponding sensor device (<NUM>), and each sensor device (<NUM>) is arranged to be mounted in the sensor position (<NUM>) and is arranged to automatically receive the unique set of sensor programming instructions from the corresponding sensor programming device (<NUM>) for programming each of the sensor devices for its specific purpose, so that if a sensor device (<NUM>) is moved from one sensor position (<NUM>) to another sensor position (<NUM>), it automatically receives a different set of programming instructions.