Harvesting device

Abstract

A harvesting system or device formed with an agricultural harvesting machine having a crop transfer device that that swivels about a swivel angle (?) for transferring crop and allows for setting a setpoint swivel angle (? .sub.soll) for discharging the crop, and a hauling vehicle that receives the crop. The crop that is discharged from the agricultural harvesting machine impacts the hauling vehicle at an adjustable impact point. If the deflection of the transfer device deviates from the setpoint swivel angle (? .sub.soll), a return of the transfer device to the setpoint swivel angle (? .sub.soll) is regulated by changing the ground speed (V.sub.E) of the agricultural harvesting machine, the ground speed (V.sub.T) of the hauling vehicle or bother while maintaining a position of the impact point substantially unchanged.

Claims

1. A harvesting system or device, comprising: a crop discharging agricultural harvesting machine having a transfer device configured to swivel about a swivel angle (?), for transferring crop to a hauling vehicle, wherein a setpoint swivel angle (? .sub.soll) for discharging the crop is set so that a longitudinal axis of the transfer device is at a right angle to a longitudinal axis of the agricultural harvesting machine; a sensor device configured for determining the swivel angle (?), a deflection of the transfer device or both; and an evaluation and control device connected to the sensor device, the evaluation and control device being configured for controlling the transfer device and the ground speed (V.sub.E) of the harvesting machine, the ground speed (V.sub.T) of the hauling vehicle, or both; wherein the hauling vehicle receives the crop that is discharged from the agricultural harvesting machine such that the discharged crop impacts the hauling vehicle at an adjustable impact point; wherein if the sensor device detects that a deflection of the transfer device deviates from the setpoint swivel angle (? .sub.soll), the evaluation and control device then automatically effects a return of the transfer device to the setpoint swivel angle (? .sub.soll) by decreasing a ground speed (V.sub.E) of the agricultural harvesting machine, by increasing a ground speed (V.sub.T) of the hauling vehicle, or both, if the swivel angle (?) is less than the setpoint swivel angle (? .sub.soll), such that a position of the adjustable impact point remains substantially unchanged; wherein if a new impact point is set that is located behind a previous impact point in a direction of travel, the control and evaluation unit swivels the transfer device to the new impact point, which causes a deflection from the setpoint swivel angle (? soll) to an actual swivel angle (? .sub.ist) and in response to the sensor detecting a difference between the setpoint swivel angle (? .sub.soll) and the actual swivel angle (? .sub.ist), the transfer device is automatically returned to the setpoint swivel angle (? .sub.soll), from the actual swivel angle (? .sub.ist), by the evaluation and control device decreasing the ground speed (V.sub.E) of the agricultural harvesting machine, increasing the ground speed (V.sub.T) of the hauling vehicle, or both, nearly simultaneously with the swiveling, while the new impact point is retained.

2. The harvesting device according to claim 1, wherein a clearance (x) between a free end of the transfer device that discharges the crop and the ground is varied depending on the swivel angle (?).

3. The harvesting device according to claim 2, wherein the setpoint swivel angle (? .sub.soll) is reached, the free end of the transfer device has the greatest clearance from the ground.

4. The harvesting device according to claim 1, wherein the adjustable impact point of the crop is set automatically by use of the evaluation and control device, manually or both.

5. The harvesting device according to claim 1, wherein the transfer device automatically tracks the adjustable impact point that was set.

6. The harvesting device according to claim 1, wherein an operator selects at least one of the agricultural harvesting machine and the hauling vehicle to be used to return the transfer device, and wherein the evaluation and control device regulates the ground speed (V.sub.E, V.sub.T) of said agricultural harvesting machine, hauling vehicle or both.

7. The harvesting device according to claim 1, wherein the adjustable impact point of the crop is determined and set by the evaluation and control device.

8. A method for regulating a ground speed of a harvesting system comprising a crop discharging agricultural harvesting machine with an evaluation and control device, a transfer device that swivels about a swivel angle (?) for transferring crop, a hauling vehicle that receives the crop at an impact point and a sensor connected to the evaluation and control device for detecting an actual swivel angle (? .sub.ist) of the transfer device, the method comprising steps of: setting a setpoint swivel angle (? .sub.soll) and the impact point for discharging the crop, so that a longitudinal axis of the transfer device is at a right angle to a longitudinal axis of the crop discharging agricultural harvesting machine; detecting with the sensor if the deflection of the transfer device deviates from the setpoint swivel angle (? .sub.soll), and automatically returning the transfer device to the setpoint swivel angle (? .sub.soll) with the automation and control device by decreasing a ground speed (V.sub.E) of the agricultural harvesting machine, by increasing a ground speed (V.sub.T) of the hauling vehicle or both, if the swivel angle (?) is less than the setpoint swivel angle (? .sub.soll), while a position of the impact point remains substantially unchanged; and if a new impact point is set, swiveling the transfer device to the new impact point, causing a deflection from the setpoint swivel angle (? soll) to the actual swivel angle (? .sub.ist) and in response to the sensor detecting a difference between the setpoint swivel angle (? .sub.soll) and the actual swivel angle(? .sub.ist), automatically decreasing the ground speed (VE) of the agricultural harvesting machine, increasing the ground speed (V.sub.T) of the hauling vehicle, or both, nearly simultaneously with the swiveling, if the swivel angle (?) is less than the setpoint swivel angle (? .sub.soll), to return the transfer device to the setpoint swivel angle (? soll), from the actual swivel angle (? .sub.ist), while retaining the new impact point.

9. The method according to claim 8, further comprising a step of varying a clearance (x) between a free end of the transfer device that discharges the crop and the ground depending on the swivel angle (?).

10. The method according to claim 9, wherein the setpoint swivel angle (? .sub.soll) is set such that the free end of the transfer device has the greatest clearance from the ground.

11. The method according to claim 8, wherein the impact point, the deflection of the transfer device or both are set manually by the operator or are set automatically by the evaluation and control device.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

(1) Further features and advantages of the invention will become apparent from the description of embodiments that follows, with reference to the attached figures, wherein:

(2) FIG. 1: shows a schematic top view of a harvesting device comprising an agricultural harvesting machine and a hauling vehicle;

(3) FIG. 2: shows a schematic side view of a harvesting machine comprising a transfer device, which is depicted in different positions;

(4) FIG. 3: shows a top view of the harvesting device depicted in FIG. 1; and

(5) FIG. 4: shows a top view of the harvesting device depicted in FIG. 3, comprising a transfer device disposed at a setpoint swivel angle.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

(6) The following is a detailed description of example embodiments of the invention depicted in the accompanying drawings. The example embodiments are presented in such detail as to clearly communicate the invention and are designed to make such embodiments obvious to a person of ordinary skill in the art. However, the amount of detail offered is not intended to limit the anticipated variations of embodiments; on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the present invention, as defined by the appended claims.

(7) FIG. 1 shows a harvesting system or device 10 comprising an agricultural harvesting machine 12 and a hauling vehicle 14 in a top view on a field during harvesting. The agricultural harvesting machine 12 shown is embodied as a combine harvester 16, the basic features of which are familiar to a person skilled in the art, and therefore a description of the usual assemblies thereof, such as the front attachment 18, the threshing mechanism, the cleaning unit, the grain tank 20, and the transfer device 22 can be largely omitted. The front attachment 18 picks up crop 24, at least a portion of which is accommodated in the grain tank 20 after processing. The crop 24 can be wheat, for example, wherein the threshed-out wheat kernels are accommodated in the grain tank 20 after processing. A different front attachment 18 can be selected and installed depending on the crop 24 to be harvested.

(8) The crop 24 is transferred from the grain tank 20 of the combine harvester 16 to the hauling vehicle 14 discontinuously in intervals by the transfer device 22. The hauling vehicle 14 can be, for example, a truck or a tractor 26 having a trailer 28, as shown. An agricultural harvesting machine 12 within the meaning of the invention can be any self-propelled or externally propelled agricultural working machine that picks up and discharges crop 24, such as a forage harvester or the depicted combine harvester 16.

(9) The transfer device 22 of the combine harvester 16 is mounted so as to be swivellable about at least one swivel axis 23. In order to transfer the crop 24, the transfer device 22 is swivelled about the swivel axis 23 out of an inoperative position into an operative position. The transfer device 22 is disposed, in the operative position, at a swivel angle ? relative to the longitudinal axis 36 of the harvesting machine 12, wherein the swivel angle ? of the transfer device 22 in an operative position is greater than 0?. The swivel angle ? of the transfer device 22 that sets in is the actual swivel angle ? .sub.ist.

(10) Combine harvesters 16 (FIG. 2) typically have only one transfer device 22 that can swivel about a swivel axis 23, wherein the swivel axis 23 of the transfer device 22 is disposed so as to be slanted relative to the harvesting machine 12 and/or the ground 31. The swivel axis 23 of the combine harvester 16 depicted in FIG. 2 is slanted relative to the vertical such that the transfer device 22 moves on a correspondingly slanted circular trajectory. Due to the inclination of the circular trajectory, the free end 30 of the transfer device 22 is moved on a curved trajectory, for example, when the transfer device 22 is swivelled relative to the ground 31, wherein the clearance x (e.g., x.sub.1, x.sub.2, x.sub.3) of the free end 30 from the ground 31 varies depending on the swivel angle ?.

(11) The transfer device 22 is depicted in four different positions P.sub.1, P.sub.2, P.sub.3 and P.sub.4. In a first position P.sub.1, which corresponds to a transport position of the transfer device 22, the transfer device 22 is disposed substantially parallel to the longitudinal axis 36, wherein the swivel angle ? .sub.ist is substantially 0?. In the transport position P.sub.1, a free end 30 of the transfer device 22 that discharges the crop 24 has a clearance x.sub.1 from the ground 31. The clearance x.sub.1 is measured, for example, between a lower edge of the free end 30 and the ground 31.

(12) In a second, a third, and a fourth position P.sub.2, P.sub.3 and P.sub.4, respectively, the transfer device 22 is depicted as having been swivelled in each case about a corresponding swivel angle ? relative to the longitudinal axis 36. In the second position P.sub.2, and, in particular, in the third and the fourth position P.sub.3 and P.sub.4, the transfer device 22 is swivelled into an operative position in order to transfer crop 24. The fourth position P.sub.4 can be, for example, a particularly preferred setpoint position of the transfer device 22 for transferring crop 24, wherein, in the setpoint position of the transfer device 22, the corresponding swivel angle ? corresponds to a setpoint swivel angle ? .sub.soll.

(13) Due to the slanted swivel axis 23, the transfer device 22 is swivelled on a circular trajectory that is also slanted, whereby, when the transfer device 22 swivels, the clearance x between the free end 30 of the transfer device 22 and the ground 31 varies depending on the swivel angle ?. For example, when the transfer device 22 is swivelled out of the fourth position P.sub.4, the setpoint position, into the third position P.sub.3, the clearance x between the free end 30 of the transfer device 22 and the ground 31 can decrease, wherein, in the fourth position P.sub.4, the clearance x.sub.4 between the free end 30 and the ground is greater than the clearance x.sub.3 in the third position P.sub.3. In this case, the clearance change, ?x, corresponds to the difference of the clearance x.sub.4 in the fourth position P.sub.4 and the clearance x.sub.3 in the third position P.sub.3. When the transfer device 22 is swivelled from the fourth position P.sub.4 into the third position P.sub.3, the transfer device 22 is swivelled from the setpoint position having the setpoint swivel angle ? .sub.soll into an operative position having the actual swivel angle ? .sub.ist. In this case, the swivel-angle change ?? corresponds to the difference between the setpoint swivel angle ? .sub.soll in the fourth position P.sub.4 and the actual swivel angle ? .sub.ist in the third position P.sub.3, wherein the setpoint swivel angle ?.sub.soll is greater than the actual swivel angle ?.sub.ist in the third position P.sub.3.

(14) Since a hauling vehicle 14 (FIG. 1) is disposed under or at least adjacent to the free end 30 of the transfer device 22 when crop 24 is transferred, the clearance between the free end 30 and the hauling vehicle 14 therefore also changes when the transfer device 22 swivels. As such, a collision may occur between the transfer device 22 and the hauling vehicle 14, for example, with a sideboard of the hauling vehicle 14. In addition, by swivelling the transfer device 22, it is possible, in particular, to swivel the free end 30 of the transfer device 22 out of the operator's direct field of vision, which can make it difficult to monitor the transfer process. In the direct field of vision, the operator can directly see and therefore monitor the transfer device 22, in particular the free end 30 of the transfer device 22, without much effort, for example. by a turn of the head.

(15) In order to reduce the risk of a collision of the transfer device 22 with the hauling vehicle 14 or to avoid more difficult monitoring, a setpoint swivel angle ? .sub.soll can be set for the transfer of the crop 24, in which the transfer device 22 (in particular the free end 30 of the transfer device 22) has the greatest possible clearance from the ground 31 and, therefore, also from the hauling vehicle 14 and/or is disposed in the operator's direct field of vision. The adjustable setpoint swivel angle ? .sub.soll can also be a setpoint swivel angle range in which the transfer device 22 should be disposed, in particular, for transferring the crop 24.

(16) The swivel angle of the transfer device 22 that sets in, namely, the actual swivel angle ? .sub.ist, is measured using a sensor device 32. The sensor device 32 is designed as an electro-optical sensor device, for example, in the form of a stereo camera or a time-of-flight camera. An electro-optical sensor device 32 is disposed on the transfer device 22, for example, in the region of the free end 30 and connected to at least one evaluation and control device 34.

(17) The agricultural harvesting machine 12 in the form of a combine harvester 16 depicted in FIG. moves at a ground speed V.sub.E across the field to be harvested and picks up crop 24 via the front attachment 18 thereof, for further processing. The ground speed V.sub.E of the harvesting machine 12 is automatically regulated, for example by the at least one evaluation and control device 34. In addition, the ground speed V.sub.E is held substantially at a settable constant value by a Tempomat function. The processed crop 24 is stored in the grain tank 20 and transferred to the trailer 28 by the transfer device 22. The transfer device 22 has already been swivelled into the operative position, wherein the transfer device 22 is disposed at an actual swivel angle ? .sub.ist, which corresponds to the setpoint swivel angle ? .sub.soll that was set. In this case, the transfer device 22 is swivelled substantially at a right angle to the longitudinal axis 36 of the harvesting machine 12.

(18) When transferred, the crop 24 impacts the hauling vehicle 14, which is the trailer 28 in this case, at a first impact point 38 (FIGS. 1 and 3). Depending on the available loading volume of the hauling vehicle 14 and the quantity of crop 24 that is transferred or will be transferred, it may be necessary to continue the transfer at at least a second impact point 40 (FIGS. 1, 3 and 4). In order to switch from the first impact point 38 to the second impact point 40 for transferring the crop 24, the transfer device 22 must be deflected by a certain angle. In this case, the deflection of the transfer device 22 corresponds to the swivel-angle difference ??, wherein the swivel-angle difference ?? is the difference between the swivel angle ?, in particular the setpoint swivel angle ? .sub.soll, that is associated with the first impact point 38, and the swivel angle ?, in particular the actual swivel angle ? .sub.ist, that is associated with the second impact point 40.

(19) The deflection and/or swivel-angle difference ?? can be determined by the sensor device 32, in particular an electro-optical sensor device. The sensor device 32, which optically detects the first impact point 38 and the second impact point 40, can determine the path between the first impact point 38 and the second impact point 40 and, on the basis of the length of the transfer device 22, can determine the deflection and/or the swivel-angle difference ?? that is required to swivel the transfer device 22 from the first impact point 38 to the second impact point 40. The conveyance of the crop 24 can be continued uninterrupted in this case. The deflection also can be determined by the evaluation and control unit 34, which is connected to the sensor device 32.

(20) The transfer device 22, which has been swivelled to the second impact point 40, is shown as a dashed line in FIG. 1, wherein the clearance between the free end 30 and the hauling vehicle 14 has been diminished, since the transfer device 22 has been swivelled out of the setpoint swivel angle ? .sub.soll having the greatest possible clearance between the free end 30 and the ground 31 into the actual swivel angle ? .sub.ist having a smaller clearance between the free end 30 and the ground 31.

(21) In order to return the transfer device 22, which is shown in a deflected position in FIG. 3, to the setpoint swivel angle ? .sub.?and the setpoint position while retaining the second impact point 40, the at least one evaluation and control unit 34 can regulate the ground speed V.sub.E of the harvesting machine 12 and/or the ground speed V.sub.T of the hauling vehicle 14 depending on the deflection, i.e., the swivel-angle difference ?? between the actual swivel angle ? .sub.ist and the setpoint swivel angle ? .sub.soll of the transfer device 22.

(22) The at least one evaluation and control device 34 can be disposed on the agricultural harvesting machine 12. In order to enable the ground speed V.sub.T of the hauling vehicle 14 to be regulated, the hauling vehicle 14, for example, the tractor 26, can comprise a further evaluation and control device 34. The further evaluation and control device 34 can be used, at the least, to regulate the ground speed V.sub.T of the hauling vehicle 14. A plurality of evaluation and control devices 34 can wirelessly communicate with one another and exchange data, in particular, regarding the ground-speed regulation, by communication modules (not illustrated).

(23) In order to return the transfer device 22 to the setpoint swivel angle ? .sub.soll, the ground speed V.sub.E can be temporarily reduced, for example, until the transfer device 22 is disposed at the setpoint swivel angle ? .sub.soll once more, wherein the crop 24 also impacts the second impact point 40 at the setpoint swivel angle ? .sub.soll (FIG. 4). As an alternative, the ground speed V.sub.T of the hauling vehicle 14 also can be temporarily increased until the transfer device 22, which remains oriented onto the second impact point 40, has returned to the setpoint swivel angle ? .sub.soll.

(24) It is further possible to regulate the ground speeds V.sub.E, V.sub.T of both vehicles in order to return the transfer device 22 to the setpoint swivel angle ? .sub.soll. That is, the operator sets which vehicle 12, 14 or which vehicles 12, 14 should be regulated in terms of the ground speed V.sub.E, V.sub.T, respectively, in order to return the transfer device 22. The operator can therefore select whether the harvesting machine 12, the hauling vehicle 14, or both vehicles 12, 14 should be regulated for the return.

(25) In order to minimize the reduction in harvesting output of the harvesting machine 12 caused by the transfer, for example, due to a ground speed V.sub.E having been reduced in order to transfer the crop 24, it is advantageous to leave unchanged, if possible, the ground speed V.sub.E at which the harvesting machine 12 performs harvesting and to only regulate the ground speed V.sub.T of the hauling vehicle 14. The transfer device 22, which is oriented onto the second impact point 40 and has been returned to the setpoint swivel angle ? .sub.soll, is depicted in FIG. 4, wherein the actual swivel angle ? .sub.ist corresponds to the setpoint swivel angle ? .sub.soll. Due to the displacement of the impact point 38, 40 counter to the direction of travel, the hauling vehicle 14 is positioned further forward relative to the harvesting machine 12 in this case than when transferring onto the first impact point 38 with a transfer device 22 that has been swivelled into the setpoint swivel angle ? .sub.soll.

LIST OF REFERENCE CHARACTERS

(26) 10 harvesting device 12 agricultural harvesting machine 14 hauling vehicle 16 combine harvester 18 front attachment 20 grain tank 22 transfer device 23 swivel axis 24 crop 26 tractor 28 trailer 30 free end 31 ground 32 sensor device 34 evaluation and control unit 36 longitudinal axis 38 first impact point 40 second impact point P position ? swivel angle ?? swivel-angle difference ? .sub.soll setpoint swivel angle ? .sub.ist actual swivel angle x clearance ?x clearance change V.sub.E ground speed of harvesting machine V.sub.T ground speed of hauling vehicle

(27) As will be evident to persons skilled in the art, the foregoing detailed description and figures are presented as examples of the invention, and that variations are contemplated that do not depart from the fair scope of the teachings and descriptions set forth in this disclosure. The foregoing is not intended to limit what has been invented, except to the extent that the following claims so limit that.