Controlling Harvesting Parameters on a Header of a Combine

Abstract

A method for automatically controlling a harvesting parameter on a header of a combine harvester. The combine harvester includes the header, a feeder, and a downstream processing device. Crop is cut by the header, transferred to the feeder, and then transported to the processing device. The method includes steps of detecting at least one crop property in the feeder by at least one sensor and outputting at least one corresponding crop property signal; receiving the at least one crop property signal by a control unit; processing the at least one crop property signal in the control unit; transmitting at least one control signal by the control unit to at least one actuator on the header; and executing the at least one control signal in the at least one actuator so as to automatically control the harvesting parameter on the header

Claims

1. A method for automatically controlling a harvesting parameter on a header connected to a combine harvester, the combine harvester comprising the header, a feeder, and a downstream processing device, wherein crop is cut by the header, transferred to the feeder, and then transported to the processing device, the method comprising steps of: detecting at least one crop property in the feeder by at least one sensor and outputting at least one corresponding crop property signal; receiving the at least one corresponding crop property signal by a control unit; processing the at least one corresponding crop property signal in the control unit; transmitting at least one control signal by the control unit to at least one actuator on the combine harvester; and executing the at least one control signal in the at least one actuator so as to automatically control the harvesting parameter on the header.

2. The method according to claim 1, wherein the processing step includes comparing, in the control unit, the at least one corresponding crop property signal with an upper threshold or a lower threshold for the at least one crop property.

3. The method according to claim 1, further comprising displaying, by the control unit, an indication of the at least one property to an operator.

4. The method according to claim 1, wherein the at least one crop property is selected from the group consisting of: thickness or thickness distribution of a crop layer across a cross-section of the feeder, density or density distribution of the crop layer across the cross-section of the feeder, and humidity of the crop.

5. The method according to claim 4, wherein the processing step includes comparing the detected thickness or the detected density with a target thickness or a target density, or the detected thickness distribution or the detected density distribution with a target thickness distribution or a target density distribution.

6. The method according to claim 5, wherein the target thickness distribution or the target density distribution is constant over a width of the feeder and proportional to a crop intake.

7. The method according to claim 4, further comprising a step of estimating a target distribution of the thickness of the crop layer or a target distribution of the density of the crop layer over a width of the feeder based on the detected thickness distribution or the detected density distribution over a width of the header.

8. The method according to claim 7, wherein the target distribution of the thickness or the target distribution of the density of the crop layer over the width of the feeder is estimated using a mathematical model or an experimental model of a flow of the crop in the header to the feeder.

9. The method according to claim 7, wherein the target distribution of the thickness or the target distribution of the density of the crop layer over the width of the feeder is estimated based on data of previously measured distributions of thickness or density of the crop layer over the width of the feeder.

10. The method according to claim 4, wherein the step of processing includes comparing the detected thickness distribution or the detected density distribution of the crop layer across a width of the feeder with a target distribution.

11. The method according to claim 1, wherein the step of executing includes: adjusting an auger speed or a belt speed relating to movement of the crop on the header transverse to a driving direction of the combine harvester; adjusting a clearance of a stripper plate; adjusting a position of a crop guiding plate; adjusting a feeder opening; or adjusting a belt speed relating to a longitudinal movement of the crop from the header into the feeder.

12. The method according to claim 11 wherein any of the steps of adjusting is executed at least partially on a right side or on a left side of the header.

13. The method according to claim 1, further comprising before the step of processing, estimating, in the control unit, a crop intake distribution over a width of the header based on: data collected by a forward looking sensor, a position of the combine harvester and satellite info, or geographic information about a current harvested area and a non-harvested area.

14. The method according to claim 13, wherein the forward looking sensor is a camera, a radar sensor, or a lidar sensor.

15. The method according to claim 1, further comprising a step of monitoring the step of executing the at least one control signal in the at least one actuator by detecting at least one actuator property by an actuator sensor and outputting at least one actuator property signal to the control unit.

16. A combine harvester having a header, a feeder, a processing unit downstream of the feeder, at least one sensor for detecting at least one crop property, at least one actuator, and a control unit configured to perform the steps of: detecting at least one crop property in the feeder by the at least one sensor and outputting at least one corresponding crop property signal; receiving the at least one corresponding crop property signal by the control unit; processing the at least one corresponding crop property signal in the control unit; transmitting at least one control signal by the control unit to the at least one actuator; and executing the at least one control signal in the at least one actuator so as to automatically control a harvesting parameter on the header.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0020] So that the manner in which the above recited features of the present disclosure can be understood in detail, a more particular description of the disclosure, briefly summarized above, may be had by reference to embodiments. The accompanying drawings relate to embodiments of the disclosure and are described in the following:

[0021] FIG. 1 illustrates a side view of an exemplary embodiment of a combine harvester having a header in which an embodiment of the method according to the invention may be executed;

[0022] FIG. 2 shows a perspective view of an auger type header in which an embodiment of the method according to the invention may be executed;

[0023] FIG. 3 shows a top view of a draper type header in which an embodiment of the method according to the invention may be executed; and

[0024] FIGS. 4 and 5 show a front view of a feeder as a detail of a combine harvester in which an embodiment of the method according to the invention may be executed.

DETAILED DESCRIPTION OF EMBODIMENTS

[0025] The terms “grain”, “straw” and “tailings” are used principally throughout this specification for convenience but it is to be understood that these terms are not intended to be limiting. Thus “grain” refers to that part of the crop material which is threshed and separated from the discardable part of the crop material, which is referred to as non-grain crop material,

[0026] MOG, or straw. Incompletely threshed crop material is referred to as “tailings”. Also, the terms “forward”, “rearward”, “left” and “right”, when used in connection with the agricultural harvester and/or components thereof are usually determined with reference to the direction of forward operative travel of the harvester, but again, they should not be construed as limiting. The terms “longitudinal” and “transverse” are determined with reference to the fore-and-aft direction of the agricultural harvester and are equally not to be construed as limiting. The terms “downstream” and “upstream” are determined with reference to the intended direction of crop material flow during operation, with “downstream” being analogous to “rearward” and “upstream” being analogous to “forward.”

[0027] Referring now to the drawings, and more particularly to FIG. 1, there is shown an embodiment of an agricultural harvester 100 in the form of a combine which generally may include a chassis 101, ground engaging wheels 102 and 103, header 110, feeder housing 120, operator cab 104, threshing and separating system 130, cleaning system 140, grain tank 150, and unloading conveyance 160. A central control unit (not shown) may be provided, usually near the operator cab 104, which is configured to be connected to all sensors, actuators, systems and operator interfaces such that all functions of the combine harvester may be controlled from the operator and/or automatically. Front wheels 102 can be larger flotation type wheels, and rear wheels 103 smaller steerable wheels. Motive force may be selectively applied to front wheels 102 through a power plant in the form of a diesel engine 105 and a transmission (not shown). Although combine 100 is shown as including wheels, it is also to be understood that combine 100 may include tracks, such as full tracks or half tracks.

[0028] Header 110 is mounted to the front of combine 100 and includes a cutter bar 111 for severing crops from a field during forward motion of combine 100. A rotatable reel 112 directs the crop onto header 110, and a double auger 113 feeds the severed crop laterally inwardly from each side toward feeder housing 120. Feeder housing 120 conveys the cut crop to threshing and separating system 130, and is selectively vertically movable using appropriate actuators, such as hydraulic cylinders (not shown).

[0029] Threshing and separating system 130 of the combine 100 as shown in FIG. 1 is of the axial-flow type, and generally includes a threshing rotor 131 at least partially enclosed by a rotor cage and rotatable within a corresponding perforated concave 132. The cut crops are threshed and separated by the rotation of rotor 131 within concave 132, and larger elements, such as stalks, leaves and the like are discharged from the rear of combine 100. Smaller elements of crop material including grain and non-grain crop material, including particles lighter than grain, such as chaff, dust and straw, are discharged through perforations of concave 132. Threshing and separating system 130 can also be a different type of system, such as a system with a transverse threshing rotor rather than an axial threshing rotor, more than one threshing rotor, etc.

[0030] Grain which has been separated by the threshing and separating assembly 130 falls onto a grain pan 133 and is conveyed toward cleaning system 140. Cleaning system 140 may include an optional pre-cleaning sieve 141, an upper sieve 142 (also known as a chaffer sieve or sieve assembly), a lower sieve 143 (also known as a cleaning sieve), and a cleaning fan 144. Grain on sieves 141, 142 and 143 is subjected to a cleaning action by fan 144 which provides an air flow through the sieves to remove chaff and other impurities such as dust from the grain by making this material airborne for discharge from a straw hood 171 of a residue management system 170 of combine 100. Optionally, the chaff and/or straw can proceed through a chopper 180 to be further processed into even smaller particles before discharge out of the combine 100 by a spreader assembly 200. It should be appreciated that the “chopper” 180 referenced herein, which may include knives, may also be what is typically referred to as a “beater”, which may include flails, or other construction and that the term “chopper” as used herein refers to any construction which can reduce the particle size of entering crop material by various actions including chopping, flailing, etc. Grain pan 133 and pre-cleaning sieve 141 oscillate in a fore-to-aft manner to transport the grain and finer non-grain crop material to the upper surface of upper sieve 142. Upper sieve 142 and lower sieve 143 are vertically arranged relative to each other, and likewise oscillate in a fore-to-aft manner to spread the grain across sieves 142, 143, while permitting the passage of cleaned grain by gravity through the openings of sieves 142, 143.

[0031] Clean grain falls to a clean grain auger 145 positioned crosswise below and toward the front of lower sieve 143. Clean grain auger 145 receives clean grain from each sieve 142, 143 and from a pan 146A of cleaning system 140. Clean grain auger 145 conveys the clean grain laterally to a generally vertically arranged grain elevator 151 for transport to grain tank 150. Tailings from cleaning system 140 fall to another pan 146 and a tailings auger trough 147. The tailings are transported via tailings auger 147 and return auger 148 to the upstream end of cleaning system 140 for repeated cleaning action. A pair of grain tank augers 152 at the bottom of grain tank 150 convey the clean grain laterally within grain tank 150 to unloader 160 for discharge from combine 100. Located on or around operator cab 104 may be a camera 160 or other forward-looking sensor such as a radar sensor or a lidar sensor which may detect image data so that the crop intake distribution over the width of the header may be estimated.

[0032] FIG. 2 is a detailed perspective view of header 110 of the auger type which may include a housing 203 supporting a cutter bar 201 for cutting crop above the earth, and having an opening 204 at the feeder housing 120 for feeding the cut crop into the feeder housing 120. The shape of the opening 204 may be substantially rectangular in cross-section. Header 110 may also include auger 202 mounted within header housing 203 on respective ends. At least one end of auger 202 may be mechanically connected to drive train 205. During operation, drive train 205 rotates auger 202 such that auger 202 pulls the cut crop from cutter bar 201 and feeds the cut crop into feeder housing opening 204 for further processing. Drive train 205 may include a geared mechanism that is driven by at least one of an internal combustion engine (not shown) of the combine, a hydraulic motor (not shown), an electric motor (not shown), or the like. In the embodiment of FIG. 2 the header comprises a number of actuators which may receive control signals from the control unit such that the harvesting parameter(s) on the header may be automatically controlled. Possible examples of such actuators are the drive train 205 of the auger 202, i.e. the auger drive speed, the drive of the cutter bar 201, i.e. the cutter bar drive speed, the drive for controlling the height of the cutter bar 201, the drive for the reel (not shown in FIG. 2), i.e. the reel drive speed and reel height, and other possible drives located close to the feeder housing opening 204 which are configured for transporting the cut crop into the feeder housing substantially in the driving direction. Alternatively to the auger 202 shown in the embodiment, the auger may be divided into a left auger component and a right auger component each driven by separate drivetrains so that differing crop distributions on the right or left side detected by one of the image sensors or other sensors may be transported at different speeds.

[0033] Shown in FIG. 3 is an alternative embodiment for header 110: instead of an auger type header as in FIG. 2, FIG. 3 depicts a draper header. Header 110 may comprise a main frame 222 including a horizontal main support beam extending along the length of the header along a first end 225 to a second end 224 of the header 110. The main frame 222 may include forwardly extending frame members 226 at the ends 224, 225 of the header together with similarly arranged frame members intermediate the width of the header. At the front end of the frame members 226 there may be mounted a cutter bar 223 which carries a sickle knife construction of a conventional nature. The frame 222 may be attached to an adapter structure 220 configured to be attached to the feeder housing 120 of the combine harvester.

[0034] The header 110 may include a crop transportation system for transferring the crop from the cutter bar to the feeder housing 120. This may include two drapers belts 230 and 232 each of which may comprise a canvas extending from an outer guide roller 227 to an inner guide roller 235 so as to define an upper run of the canvas which carries the crop inwardly toward the center of the header 110. The canvas of the draper belts 230 and 232 may carry a plurality of transverse slats (not shown).

[0035] At the center of the header 110 there may be provided an infeed draper belt 238 which has a front roller 234 just behind the cutter bar 223 and a rear roller 236 thus defining an upper run of the canvas which carries the crop rearwardly toward the feeder housing 120. The infeed draper belt 238 may also carry slats (not shown).

[0036] In a similar fashion as explained for the auger header depicted in FIG. 2, the draper header according the embodiment of FIG. 3 comprises a number of actuators which are configured to be controlled by a central control unit of the combine harvester. These actuators may include a drive of the cutter bar 223 wherein the speed of the cutter bar knive movement may be controlled, a drive for the left and right draper belts 230, 232 which are separately controllable in their speed so that different amounts of crop may be transported from the outer sides to the feed draper 238 located at the center of the draper header 110. Further actuators on the draper header 110 may include the drive of the infeed draper belt 238 and the drives of the front roller 234 and rear roller 236, wherein each of these drives is controllable in speed. Furthermore, the reel (not shown) may also comprise a drive which may be controlled in speed, and in addition the height of the reel may be set by a drive which is controllable by the control unit of the combine harvester. It should further be noted that the header on a combine harvester configured to perform the method according to the invention may be a combination of both mentioned types, i.e. it may comprise combinations of features of an auger type header and of a draper type header to ensure an optimized intake of crop from all areas of a header into the feeder housing at the center of the header.

[0037] FIGS. 4 and 5 shows a front view of a feeder housing 120 configured for performing an embodiment of the method according to the invention. The feeder housing 120 may include a substantially rectangular feeder frame 400 comprising and enclosing a feeder opening 410. The feeder opening 410 includes in the shown embodiment a feeding mechanism which may be comprised of four feeder chains 430 running substantially perpendicular to the drawing plane of FIGS. 4 and 5 wherein a number of parallel feeder slats 420 are each attached between two feeder chains 430. Crop material entering the feeder opening 410 is transported perpendicular to the drawing plane by the movement of the feeder slats 420, as can be seen in the respective portion of FIG. 1 showing the feeder housing 120. The feeder slats 420 compress the crop material which is pushed onto the bottom plate of the feeder frame 400 and thus transported away from the feeder opening 410 into the direction towards the processing device.

[0038] The crop distribution inside the feeder is crucial for the subsequent processing and thus the overall harvesting productivity of the combine harvester. It is essential that the crop properties inside the feeder be as smooth and even as possible such that the feeding speed can be optimized to the processing speed of the threshing and separating assembly. In order to further control the crop intake of the feeder opening 410, sliding plates 440 may be provided on both sides of the feeder opening 410 opposing each other. The sliding plates 440 may be horizontally moveable in order to control and adjust the cross-sectional area of the feeder opening 410, as is indicated by the arrows below each of the sliding plates 440. In FIG. 4 the sliding plates 440 are in a position towards full enlargement of the feeder opening 410. In FIG. 5 the sliding plates 440 are in a position significantly reducing the area of the feeder opening 410. It should be noted that the sliding plates 440 may be individually moveable by singular drives or, alternatively, in parallel by a common drive. This facilitates a very flexible control of the cross-sectional area of the feeder opening 410 by the control unit in that the operation of the actuators on the header have a direct influence on the conditions within the feeder housing 120.

[0039] In order to ensure an optimal performance of the method according to the invention, a number of sensors must be provided, preferably within and/or on the feeder housing so as to detect at least one crop property while the crop is in the feeder. Each sensor shall be configured for outputting at least one crop property signal. The crop properties to be measured by the sensors may be selected from the not limited group comprising, for example: thickness and/or thickness distribution of the crop layer across a cross-section of the feeder, density and/or density distribution of the crop layer across the cross-section of the feeder and humidity of the crop. According to the invention, the sensors which are preferably be provided in and on the feeder housing are configured to detect one or more of the above listed crop properties.

[0040] The sensors may include optical/image sensors, mechanical sensors, temperature sensors, electrical sensors, electromechanical sensors, force sensors, acoustic sensors, moisture sensors, magnetic sensors, pressure sensors and other sensors configured for detecting the above mentioned crop properties.

[0041] According to one embodiment, the method according to the invention may be performed along the following lines.

[0042] Firstly, the thickness distribution of the crop layer over the width of the feeder is measured by at least one sensor within and/or on the feeder housing as a function f(x) wherein x is a variable representing the horizontal distance from one side of the feeder housing to the other side with the origin of the coordinates in the middle of the feeder opening: [0043] f(x) with −Wf/2<x<Wf/2 with Wf being the full width of the feeder

[0044] Then, the measured thickness distribution f(x) is compared with a target distribution function F(x): [0045] F(x) with −Wf/2<x<Wf/2 with Wf being the full width of the feeder

[0046] If the difference between the measured distribution function f(x) and the target distribution function F(x) for a certain x value exceeds a predetermined threshold, the control unit issues a corresponding control signal in order to adjust at least one of the actuators on the header such that the above difference is minimized. This could be done by sending control signals from the control unit to the respective actuators in order to adjust the speed of the (transverse) belts (in case of a draper header), the auger speed, clearance stripper plates (in case of an auger header), the size or area of the feeder opening, i.e. width, shape, position of sliding plates on the side of the feeder opening, speed (longitudinal) belt in front of the feeder.

[0047] In particular, when the difference between the measured distribution and the target distribution on the left side exceeds a predetermined threshold, the control signals are especially directed to the actuator(s) on the left side of the header; and when the difference between the measured distribution and the target distribution on the right side exceeds a predetermined threshold, the control signals are especially directed to the actuator(s) on the right side of the header. Of course, other configurations are possible depending on the effect of the operation of each single actuator.

[0048] Instead of evaluating if the difference between the measured distribution f(x) and the target distribution F(x) exceeds a predetermined threshold for a certain value of x, so evaluating a local difference, the difference between the measured distribution and the target distribution can also be evaluated as a total difference, so over the width of the feeder, for example by integrating the absolute value of the difference over the width of the feeder, and comparing it with a predetermined threshold. A weighing function can be used to give a higher weight to the difference in a certain zone, for example when it's known that a difference in that zone has more effect on the subsequent processing.

[0049] In particular embodiments, if the local difference or total difference is below or above a certain threshold, the control unit issues a warning signal to the operator of the combine to warn about a local or total feeding issue. Likewise, if the local or total difference is below or above a certain threshold for a time longer than a certain predetermined time, a warning signal is issued to the operator of the combine to warn about a local or total feeding issue. Such local or total feeding issue can be, for example: knife breakage, blockage, bulldozing crop, etc.

[0050] In particular embodiments, the thickness target distribution for the crop layer in the feeder is determined as being constant over the width. F(x) at time T is then determined by estimating the total crop intake as cut at the front of the header at time T−ΔT, whereby ΔT is the average time it takes for crop to travel after being cut by the header into the feeder. AT can be determined by experiments and will typically be depending on operating parameters of the header. The constant thickness target distribution F(x) is then calculated by multiplying the total crop intake as cut at the front of the header with a factor which takes into account that the crop flow is squeezed over the width as it passes from the header to the feeder, and possibly also squeeze over the thickness as it gets compressed in the feeder. This factor can be determined by experiments.

[0051] In particular embodiments, the thickness target distribution for the crop layer in the feeder is determined as being depending on x. F(x) at time T is then determined by estimating the crop intake at the front of the header in position x/Wf*Wh, whereby: Wh=width of the header, at time T−ΔTx wherein ΔTx is the time to travel from intake position x/Wf*Wh to feeder position x. ΔTx can be determined by experiments, for example by painting a narrow strip of crop transverse to the driving direction of the combine and monitoring the flow of the painted crop.

[0052] In particular embodiments, the crop intake is estimated by quantifying the standing crop just in front of the header, for example by one or more forward looking sensors (camera, radar, lidar) and/or satellite info, and taking into account the header width and combine forward speed.

[0053] In particular embodiments, the thickness target distribution for the crop layer in the feeder is determined by doing multiple experiments whereby the crop intake distribution at the front of the header is estimated over the width of the header, and the thickness distribution of the crop layer in the feeder is measured. By using various techniques, including but not limited to signal processing, autocorrelation, convolution and/or adaptive filtering, neural network, a relation is determined between the crop intake distribution at the front of the header and the thickness distribution of the crop layer in the feeder. This relation is determined for various settings of operational parameters of the header. In this way, the thickness target distribution for the crop layer in the feeder can be calculated based on the estimated crop intake distribution at the front of the header.

[0054] In particular embodiments, the settings of the operational parameters of the header can be altered by known optimization techniques using the above mentioned relation so that the thickness target distribution for the crop layer in the feeder is closer to a desirable thickness target distribution of the crop layer in the feeder, whereby desirably typically means the thickness distribution of the crop layer in the feeder is so that it can be more efficiently processed in the combine, for example more efficiently threshed.

[0055] In a similar way as for thickness distribution, the invention may be performed for density distribution or humidity distribution.