SYSTEM AND METHOD TO MEASURE AND CONTROL CONDITIONING

Abstract

Conditioning performance can be monitored while harvesting a crop to determine a level of conditioning. In response to deviations from normal conditioning, various components of an agricultural machine can be adjusted to improve conditioning performance. For instance, a roll gap of a conditioner may be adjusted. Further, engine speed or vehicle speed can be adjusted to improve conditioning.

Claims

1. A system for adjusting an agricultural machine, comprising: a controller that receives input data indicative of crop conditioning by the agricultural machine and outputs control signals to control the agricultural machine, wherein the controller includes: at least one processor; and a memory that stores instructions that, when executed by the at least one processor, configure the at least one processor to: determine a conditioning performance index based on the input data, the conditioning performance index indicative of a level of crop conditioning by the agricultural machine; and generate adjustment data indicative of an adjustment to one or more components of the agricultural machine in response to the conditioning performance index; and one or more actuators that adjust the one or more components of the agricultural machine based at least on the adjustment data.

2. The system of claim 1, wherein the one or more components include one or more of a conditioner or a vehicle drive system.

3. The system of claim 1, further comprising at least two actuators, wherein a first actuator couples to at least a first component and a second actuator couples to at least a second component, wherein the first component and the second component are respectively one of a header, a cutting element, a converging element, or a conditioning element, and the first component and the second component are different.

4. The system of claim 1, wherein the conditioning performance index indicates a level of conditioning, the level of conditioning being partitioned into at least three ranges corresponding to under-conditioning of a crop, over-conditioning of the crop, or optimal conditioning of the crop.

5. The system of claim 1, wherein the input data includes at least a load on a header actuator and a load on a conditioner actuator, wherein the memory further stores instructions that configure the processor to determine a quantity of crop based on the load on the header actuator, and wherein the memory further stores instructions that configure the processor to determine the conditioning performance index based on the quantity of crop and the load on the conditioner actuator.

6. The system of claim 1, wherein the input data includes a quantity of crop or a crop flow measured by a sensor.

7. The system of claim 6, wherein the sensor directly measures the quantity of crop or the crop flow.

8. The system of claim 1, wherein the memory further stores instructions that configure the processor to receive a target conditioning level via an operator interface.

9. The system of claim 1, wherein the memory further stores instructions that configure the processor to generate adjustment data indicative of an adjustment to a ground speed of an agricultural machine, and wherein the system further includes an electronic control unit that adjusts the ground speed of the agricultural machine based on the adjustment data.

10. The system of claim 1, wherein the adjustment data indicates an adjustment to a roll gap.

11. The system of claim 1, further comprising an operator interface, wherein the memory further stores instructions that configure the processor to output an indication to the operator interface.

12. The system of claim 1, wherein the indication includes at least one of the conditioning performance index, the adjustment data, or an action performed.

13. A method for controlling crop conditioning, comprising: acquiring a load on a header actuator of an agricultural machine and a load on a conditioner actuator of the agricultural machine; determining a conditioning performance index based on the load on the header motor and the load on the conditioner motor; and controlling at least one of a roll gap, disc speed, roll pressure, hood separation, conditioner speed, converging velocity, header tilt, lift, roll tension, or a vehicle ground speed of the agricultural machine based on the conditioning performance index.

14. The method of claim 13, wherein the conditioning performance index indicates a level of conditioning and proportionally indicates at least one of under-conditioning of a crop, over-conditioning of the crop, or optimal conditioning of the crop.

15. The method of claim 14, wherein controlling at least one of the roll gap or the ground speed includes at least one of reducing the roll gap or increasing the ground speed when the conditioning performance index indicates under-conditioning.

16. The method of claim 14, wherein controlling at least one of the roll gap or the ground speed includes at least one of increasing the roll gap or reducing the ground speed when the conditioning performance index indicates over-conditioning.

17. The method of claim 13, wherein acquiring the load on the header actuator and the load on the conditioner actuator includes acquiring the load on the header actuator and the load on the conditioner actuator at a plurality of interval locations in an area.

18. The method of claim 17, further comprising determining the conditioning performance index for each interval location of the plurality of interval locations based on respective loads associated with respective interval locations.

19. The method of claim 18, further comprising: acquiring position data indicative of a location of the agricultural machine at each interval location of the plurality of interval locations; and generating a map of conditioning performance indices for the area based on the position data and the conditioning performance index determined for each interval location.

20. A system for an agricultural machine, comprising: a set of sensors configured to sense at least a load on a header motor and a load on a conditioner motor; a header having a cutter bar; a conditioner having a first conditioner roller and a second conditioner roller, the first conditioner roller and the second conditioner roller arranged relative to each other to define a roll gap therebetween; an actuator coupled to at least one of the first conditioner roller or the second conditioner roller and configured to move the at least one of the first conditioner roller or the second conditioner roller away from or toward each other; an electronic control unit coupled to a drive system of the agricultural machine; and a controller configured to: receive sensor data from the set of sensors; determine a conditioner performance index based on the sensor data; generate one or more controls signals to at least one of the actuator or the electronic control unit based on the conditioner performance index; and communicate the one or more controls signals to at least one of the actuator or the electronic control unit.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Various non-limiting embodiments are further described in the detailed description given below with reference the accompanying drawings, which are incorporated in and constitute a part of the specification.

[0008] FIG. 1 illustrates a diagram of an exemplary, non-limiting implementation of a vehicle according to various aspects.

[0009] FIG. 2 illustrates a section view of the vehicle of FIG. 1 according to various aspects.

[0010] FIG. 3 illustrates a section view of the vehicle of FIG. 2 according to various aspects.

[0011] FIG. 4 illustrates a block diagram of an exemplary, non-limiting implementation of a system for the vehicle of FIGS. 1-3 according to one or more aspects.

[0012] FIG. 5 illustrates a block diagram of an exemplary, non-limiting implementation of a control system according to various aspects.

[0013] FIG. 6 is an input-process-output diagram associated with a control system according to various aspects.

[0014] FIG. 7 is a flow chart of an exemplary, non-limiting implementation for controlling a vehicle according to various aspects.

[0015] FIG. 8 is a schematic diagram of an exemplary, non-limiting implementation of a computing device according to various aspects.

DETAILED DESCRIPTION

[0016] As described above, some crops may be harvested by cutting the crop and forming windrows with an agricultural machine such as a self-propelled windrower or a mower-conditioner. Such machines may have a header with a cutter bar that operates to cut the crop. The machines may also have a conveyor such as an auger to carry cut crop material from the cutter bar to other components, such as a conditioner.

[0017] Conditioning crop, such as hay for example, accelerates dry down time of the crop to reduce a time from a cutting operation to a bale operation. For example, conditioning hay by crushing or bruising the stems can cut drying time by 30-50%, reducing exposure to bad weather and retaining color, vitamins, and nutrients. Consistency in soft hay makes hay more palatable to livestock. While conditioning is effective on coarse-stemmed, leafy hays, and particularly legumes, it is recognized that Conditioning fine-stemmed grass hay may also be beneficial. However, 1-4% of the potential crop may be lost during conditioning.

[0018] Adjustment of conditioning parameters (distance between conditioning rolls and force exerted on the crop from the rolls) is often a trial-and-error procedure. When starting a field, operators may adjust to a setting of their best guess, run the machine for a short period of time, stop the machine, then visually inspect the cut crop to check that the crop is not under or over conditioned. This can take a few iterations before the desired conditioning level is achieved. Crop yield and crop density can vary throughout the field. Accordingly, the optimal settings could vary with yield or crop quantity flow rate through the machine. Traditionally, operators do not change conditioning parameters throughout the field after the initial trial and error period. Thus, operators may not achieve optimal conditioning levels in some spots in the field.

[0019] According to an aspect, active monitoring of conditioning can occur on the agricultural machine during cutting. Via monitoring, data indicative of a conditioning level can be evaluated. The conditioning level can be output to an operator to perform adjustments. In another aspect, automatic adjustments may be made. For example, a controller of the machine can send control signals to components (e.g. actuators, other controllers, etc.) to change settings of the machine affecting conditioning. For instance, a roll gap (e.g. distance between conditioning rollers) and/or a speed of the vehicle may be adjusted. In yet another aspect, determined adjustments can be output to an operator for confirmation before execution.

[0020] In another aspect, automatic adjustment of roll gap and/or roll pressure may be based on crop quantity flow rate. Crop quantity flow rate is a function of crop yield and harvest speed and can be measured in a variety of ways including direct on-board measurement from power level of a tractor power take-off, pressure of the hydraulic motor powering a windrower platform, or force exerted on the swath flap from crop, and indirect or off-board measurements from aerial remote sensing or estimations based on previous mapped data layers. Roll gap and roll pressure can be adjusted hydraulically or electrically (e.g. via an electric actuator). An algorithm and controller will adjust the gap and pressure throughout a field based on the measured yield or crop quantity flow rate.

[0021] As described herein, automatic monitoring and control of conditioning provides optimal conditioning throughout a field despite variances in yield and density. Optimal conditioning is a normal conditioning level associated with a particular dry down time. Accordingly, optimal conditioning or normal conditioning level can vary depending on a type of crop. Over-conditioning, e.g. conditioning more than the normal level, may lead to excessive power use and nutrient loss in the crop. Under-conditioning, e.g. conditioning less than the normal level, may lead to longer drying times.

[0022] As noted above, crop density and/or growth may vary in a field based on soil quality and other environmental factors. Accordingly, the quantity of crop being cut and processed through a conditioner also varies. In one implementation, the quantity can be classified into three cases. In case 1, a normal or average amount of crop is being harvested. In case 2, a high-density or high-growth section of crop is being harvested. In case 3, a low density or low-growth section of crop is being harvested. This classification may be applicable to an agricultural machine having a header configuration where there are separate motors or actuators (e.g. hydraulic motors or actuators, electric motors or actuators, etc.) for the cutter bar/cutting element, for the auger, and for the conditioner elements. This classification may also be applicable to an agricultural machine having a header configuration where a combination of the functions of motors or actuator could be any of the cutter, auger, and/or conditioner. For example, a motor or actuator load for the cutter bar/cutting element (also referred to header) along with vehicle speed is a good representation of the quantity of crop being processed. Thus, the header motor or actuator load can be used to classify sections as cases 1, 2, or 3. This classification may be performed based on configured thresholds or via (trained) machine learning models. Further to this example, the load on the conditioning or auger motor or actuator represents another variable. These two signals can be utilized to determine a conditioning performance index which can aid operators or drive active controls for vehicle speed or roller gap (or both) to achieve optimal conditioning in all cases. Further adjustments to impact crop conditioning include disc speed, roll pressure, roll tension, hood separation, conditioner speed, converging (auger) velocity, header tilt, and/or lift.

[0023] In some implementations, the conditioning performance index can indicate one of optimal or normal conditioning, over-conditioning, or under-conditioning. According to an example, when a cutter bar motor or header motor indicates an average quantity of crop being harvested, the conditioner motor load can be utilized to determine the conditioning performance index. In this example, a nominal load on the conditioner motor may be indicative of normal or optimal conditioning. An above nominal load on the conditioner motor may be indicative of over-conditioning. A below nominal load on the conditioner motor may be indicative of under-conditioning.

[0024] In another example, the cutter bar motor or header motor load indicates a high quantity (e.g. high growth or high density) of crop is being harvested. In this example, a nominal load on the conditioner motor may be indicative of under-conditioning. An above nominal load on the conditioner motor may be indicative of normal or optimal conditioning. A below nominal load on the conditioner motor may be indicative of under-conditioning and, particularly, severe or significant under-conditioning.

[0025] In another example, the cutter bar motor or header motor load indicates a low quantity (e.g. low growth or low density) of crop is being harvested. In this example, a nominal load on the conditioner motor may be indicative of over-conditioning. An above nominal load on the conditioner motor may be indicative of over-conditioning and, particularly, severe, excessive, or significant over-conditioning. A below nominal load on the conditioner motor may be indicative of normal or optimal conditioning.

[0026] In some implementations, specific adjustments can improve conditioning outcomes in under-conditioning or over-conditioning situations. An under-conditioning situation may indicate that the roll gap is high relative to a quantity of crop being processed. In response, the roll gap can be reduced and/or a vehicle speed can be increased (e.g. to increase an amount of crop flowing into the conditioner). A visual aid to the operator may be utilized to inform the operator to execute the adjustment. Alternatively, automatic control of the vehicle and/or roll gap can autonomously execute the adjustment.

[0027] An over-conditioning situation may indicate that the roll gap is low relative to the quantity of crop being processed. In response, the roll gap can be increased and/or a vehicle speed (e.g. harvesting speed) can be decreased, which reduces an amount of crop flowing into the conditioner. A visual aid to the operator may be utilized to inform the operator to execute the adjustment. Alternatively, automatic control of the vehicle and/or roll gap can autonomously execute the adjustment.

[0028] The claimed subject matter is now described with reference to the drawings, wherein like reference numerals are generally used to refer to like elements throughout. In the following description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the claimed subject matter. It may be evident, however, that the claimed subject matter may be practiced without these specific details. In other instances, structures and devices are shown in block diagram form in order to facilitate describing the claimed subject matter.

[0029] As utilized herein, the term actuator includes linear or rotational actuators. Further, the term actuator may be interchangeably used with the term motor. In general, an actuator includes any type of linear or rotational actuator including a motor or a cylinder, and may be electrical, mechanical, hydraulic, pneumatic, or the like. Unless explicitly stated otherwise as a particular type (e.g. electrical motor), the term motor should be construed generally as any actuator. Similarly, the term actuator should be construed as any type of motor, or actuator, whether electrical, hydraulic, or otherwise.

[0030] Referring initially to FIG. 1, an exemplary, non-limiting implementation of a work vehicle 100 is illustrated. In the example shown in FIG. 1, vehicle 100 may be a harvesting work vehicle, such as a windrower 100. In some embodiments, the windrower 100 may be a self-propelled machine. However, the systems and methods described herein may be equally applicable to towed machines, or other configurations, as will be appreciated by those having skill in the art. Furthermore, although harvesting work vehicles that mow, condition and windrow crop materials are sometimes interchangeably referred to as mower-conditioners or windrowers, for the sake of simplicity, such machines will be referred to herein as windrowers. Further, one or more portions of the methods and systems described herein may apply to other harvesting work vehicles or to construction and forest harvester vehicles.

[0031] Machines that collect and condition crop material, and form a windrow from the same material are discussed according to implementations of the present disclosure; however, it will be appreciated that the present teachings may apply to machines that form windrows without necessarily conditioning the crop material. The present teachings may also apply to machines that condition (crimp, crush, etc.) crop material without necessarily forming a windrow. Furthermore, the systems and methods of the present disclosure may apply to harvesting of various types of crop materials, such as grasses, alfalfa, silage, or otherwise. Accordingly, it will be appreciated that a wide variety of machines, systems, and methods may fall within the scope of the present disclosure.

[0032] In some embodiments, the windrower 100 broadly comprises a self-propelled tractor 102 and a header 104 (i.e., header attachment). The header 104 may be attached to the front of the tractor 102. The tractor 102 may include a chassis 106 and an operator compartment 108 supported atop the chassis 106. The operator compartment 108 may provide an enclosure for an operator and for mounting various user control devices (e.g., a steering wheel, accelerator and brake pedals, etc.), communication equipment and other instruments used in the operation of the windrower 100, including a user interface providing visual (or other) user control devices and feedback. The tractor 102 may also include one or more wheels 110 or other traction elements for propelling the tractor 102 and the header 104 across a field or other terrain. The windrower 100 may form a windrow 112 as it moves along a travel direction indicated by the arrow 113.

[0033] The windrower 100 may define a coordinate system, such as a Cartesian coordinate system having a longitudinal axis 114, a lateral axis 116, and a vertical axis 118. The longitudinal axis 114 may be substantially parallel to the travel direction 113. The\ lateral axis 116 may be horizontal and normal to the longitudinal axis 114 to extend between opposing sides of the windrower 100. The vertical axis 118 may extend vertically and normal to the longitudinal axis 114, the lateral axis 116, and the ground 120.

[0034] The header 104 may generally include a frame 122, which is mounted to the chassis 106. The frame 122 may be mounted for movement relative to the chassis 106. For example, the frame 122 may move up and down, at least partly, along the vertical axis 118 relative to the chassis 106 and relative to crop material 136. In some embodiments, the frame 122 may tilt and rotate about an axis that is parallel to the lateral axis 116. Also, the frame 122 may comprise one or more support elements for supporting the implements (i.e., arrangement of implements, etc.) described below.

[0035] The frame 122 may generally include a front end 124 and a rear end 126. The rear end 126 may be spaced apart along the longitudinal axis 114 and may be attached to the chassis 106 of the tractor 102. The frame 122 may also include a top structure 128 and a lower area 130, which are spaced apart along the vertical axis 118. Furthermore, the frame 122 may include a first lateral side 132 and a second lateral side 134, which are spaced apart along the lateral axis 116.

[0036] In the embodiment shown and discussed below, the front end 124 is open to receive crop material 136 as the tractor 102 moves across the field. In some embodiments, the windrower 100 cuts the crop material 136, then conditions the crop material, and then shapes, places and/or arranges the crop material 136 into the windrow 112 as the tractor 102 moves.

[0037] Referring now to FIGS. 2 and 3, the windrower 100 may include one or more arrangements (i.e., arrangements of various implements, tools, etc.), which may be supported by the frame 122 and/or supported by the chassis 106. For example, the windrower 100 may include a cutting arrangement 140 for severing standing crop material 136 as the windrower 100 moves through the field. In some embodiments, the cutting arrangement 140 may include one or more blades 142 that are supported by a support structure 141, proximate the front end 124 of the frame 122. The cutting arrangement 140 may include rotating blades as shown in FIGS. 2 and 3; however, the cutting arrangement 140 may include reciprocating sickle-like blades or other configurations without departing from the scope of this disclosure.

[0038] The windrower 100 may further include a conveyor arrangement 144. The conveyor arrangement 144 may be an auger-like roller that is mounted for rotation about an axis 145. The axis 145 may be substantially parallel to the lateral axis 116 of the windrower 100. A support structure for the conveyor arrangement 144 is not shown specifically, but may be disposed proximate the first lateral side 132 and the second lateral side 134 of the frame 122 (FIG. 1). Once the crop material 136 has been cut by the cutting arrangement 140, the conveyor arrangement 144 may convey the crop material 136 rearward (generally along the longitudinal axis 114), away from the cutting arrangement 140 for further processing. It will be appreciated that the windrower 100 may include a different type of conveyor arrangement 144 without departing from the scope of the present disclosure. For example, the conveyor arrangement 144 may comprise a conveyor belt (e.g., a draper) in some embodiments.

[0039] Furthermore, the windrower 100 may additionally include at least one conditioning arrangement 146 (i.e., crop-conditioning implement, tool, etc.). In some embodiments, the conditioning arrangement 146 may comprise a conditioner roller and a member that opposes the conditioner roller, and crop material that passes between the roller and the opposing member are crimped, crushed, or otherwise conditioned by the pressure of the roller on the opposing member. In some embodiments represented in the figures, the conditioning arrangement 146 includes a first conditioner roller 148 and a second conditioner roller 150. The first and second conditioner rollers 148, 150 may include projections 147 that project radially and that extend helically about the respective roller. As will be discussed, crop material 136 may pass between the first and second conditioner rollers 148, 150 and the projections 147 may crimp, crush, or otherwise condition the crop material 136 (e.g., the stems of the crop material 136) as it passes between the rollers 148, 150. This conditioning may promote even drying of the crop material 136 as will be appreciated by those having ordinary skill in the art.

[0040] The first conditioner roller 148 may be elongated and may extend laterally between the first side 132 and the second side 134 of the frame 122. The ends of the first conditioner roller 148 may be mounted to the frame 122 (i.e., the support structure), proximate the first side 132 and the second side 134. The first conditioner roller 148 may be mounted for rotation relative to the frame 122 about an axis 149 that is substantially parallel to the lateral axis 116. In some embodiments, the rotation axis 149 of the first conditioner roller 148 may be disposed in a substantially fixed position relative to the frame 122. Thus, the first conditioner roller 148 may be referred to as a fixed roller.

[0041] The second conditioner roller 150 may be substantially similar to the first conditioner roller 148. The second conditioner roller 150 may be mounted to the frame 122 at each lateral end and may rotate about an axis 151. The axis 151 may extend substantially along the lateral axis 116. The second conditioner roller 150 may be spaced apart at a distance from the first conditioner roller 148. In other words, a gap 152 may be defined between the first and second conditioner rollers 148, 150. In the illustrated embodiment, the gap 152 is indicated between the axis 149 of the first conditioner roller 148 and the axis 151 of the second conditioner roller 150. However, the gap 152 may be measured from an outer radial boundary of the first conditioner roller 148 and an opposing outer radial boundary of the second conditioner roller 150. It will be appreciated that the dimension of the gap 152 may affect conditioning of the crop material 136 that passes between the first and second conditioner rollers 148, 150.

[0042] In addition to rotation about the axis 151, the second conditioner roller 150 may be supported for movement (linear or angular) relative to the first conditioner roller 148 to vary the dimension of the gap 152. In some embodiments, the second conditioner roller 150 may move at least partially along the vertical axis 118 relative to the first conditioner roller 148.

[0043] In the illustrated embodiment of FIGS. 2 and 3, the first and second conditioner rollers 148, 150 are shown at a neutral position relative to each other. The second conditioner roller 150 may be supported to move away from this neutral position (to a displaced position) to thereby increase the gap 152. In some embodiments, the conditioning arrangement 146 may further include at least one biasing member 154 (shown schematically). The biasing member 154 may be of any suitable type, such as a mechanical spring, a hydraulic biasing member, etc. The biasing member 154 may be mounted to the frame 122 and to the first and/or second conditioner roller 148, 150. More specifically, in some embodiments, the biasing member 154 may be mounted to the frame 122 and the second conditioner roller 150 such that the biasing member 154 biases the second conditioner roller 150 relative to the frame 122. The biasing member 154 may bias the second conditioner roller 150 toward the neutral position. Biasing force provided by the biasing member 154 may be relatively high so as to maintain the gap 152 (i.e., maintain the first and second conditioner rollers 148, 150 at the neutral position) as the crop material 136 moves through the conditioning arrangement 146. However, a large slug of crop material 136, rocks, or other objects may force the second conditioner roller 150 away from the first conditioner roller 148 against the biasing force of the biasing member 154, thereby increasing the gap 152. Once the material has cleared from between the first and second conditioner rollers 148, 150, the biasing member 154 may bias the second conditioner roller 150 back toward the neutral position.

[0044] The windrower 100 may further include at least one windrowing arrangement (i.e., windrow-shaping implement, tool, etc.) that is configured to shape, arrange, or otherwise form a windrow of the crop material 136. For example, as shown in FIGS. 2 and 3, the windrower 100 may include a first windrowing arrangement 156 (e.g., swath flap arrangement) and a second windrowing arrangement 158 (e.g., forming shield arrangement). In some embodiments, the first windrowing arrangement 156 may comprise a so-called swath flap 162 (i.e., swath board). Also, in some embodiments, the second windrowing arrangement 158 may comprise so-called forming shields 167.

[0045] As illustrated, the first windrowing arrangement 156 may include a support structure 160, such as a transversely extending tube, that is attached to the frame 122 at both ends. The first windrowing arrangement 156 may also include a swath flap 162. The swath flap 162 may be an elongated member that extends substantially along the lateral axis 116. The first windrowing arrangement 156 may be mounted to the support structure 160 and may extend rearward therefrom. The swath flap 162 may include a substantially wide, flat, and smooth deflecting surface 161. The swath flap 162 may be supported for rotation about a transverse axis 164 of the support structure 160 to change an angle of the surface 161 with respect to the ground. In some examples, the swath flap 162 may rotate between a raised position and a lowered position to change the position of the deflecting surface 161 relative to the crop material 136 received from the conditioning arrangement 146.

[0046] The second windrow shaping implement 158 may include at least one forming shield 167. The forming shield 167 may be substantially wide, flat, and smooth and may include at least one deflecting surface 165. The deflecting surface 165 may include a leading end 170 and a trailing end 172. The second windrow shaping implement 158, may include a first shield 166 and a second shield 168, each with a respective deflecting surface 165. The first shield 166 may be mounted proximate the first side 132 of the frame 122, and the second shield 168 may be mounted proximate the second side 134 of the frame 122. The deflecting surfaces 165 of the first and second shields 166, 168 may face each other and may converge rearward for shaping the crop material 136 into the windrow 112. The leading end 170 of the shields 166, 168 may flare outwardly to a slight extent, while the lower rear margins proximate the trailing end 172 may curl slightly inwardly. In other words, the deflecting surfaces 165 may cooperate to form a somewhat funnel-shaped passage to taper down the stream of crop material 136 issuing from the conditioning arrangement 146 and impinging upon the first and second shields 166, 168.

[0047] In some embodiments, the first and second shields 166, 168 may be supported for rotation about a vertical axis (i.e., an axis substantially parallel to the vertical axis 118). The first and second shields 166, 168 may be moved to change the amount of convergence provided by the shields 166, 168. The shields 166, 168 may rotate between a first position and a second position to change the amount of tapering of the deflecting surfaces 165 along the longitudinal axis 114. The shields 166, 168 may cooperate to define a wider funnel-like shape in the second position as compared to the narrower first position. The shields 166, 168 may be moved in a coordinated manner such that the windrow is formed generally along a longitudinal axis of the windrower 100. In some embodiments, one of the shields 166, 168 may be shifted closer to the longitudinal axis than the other shield 166, 168 such that the windrow is formed to one side of the longitudinal axis. Other movements of the shields 166, 168 also fall within the scope of the present disclosure.

[0048] If the swath flap 162 of the first windrowing arrangement 156 is raised and the shields 166, 168 are disposed in the first position, the stream may bypass the swath flap 162 and may be acted upon by the shields 166, 168 to form the windrow 112 in accordance with the position of the shields 166, 168. On the other hand, if the swath flap 162 is lowered and the shields 166, 168 are in the second position, the stream may be intercepted by the swath flap 162 and directed down to the ground without engaging the shields 166, 168. In some embodiments, in the first position, the windrow 112 may be formed narrower and more densely with crop material 136, and in the second position, the windrow 112 may be formed wider and less densely. However, it will be appreciated that the width, shape, or other characteristic of the windrow 112 may be controlled in other ways.

[0049] As shown in FIG. 3, the windrower 100 may additionally include an actuator system. The actuator system 174 may include at least one actuator, such as an electric motor, a hydraulic actuator, or a pneumatic actuator of a known type. The actuator(s) may be configured for actuating the various implements discussed above. In some embodiments, at least one actuator may be a linear actuator with a first member and a second member that actuates linearly with respect to the first member. The first member may be fixed to the frame 122 and/or the chassis 106, and the second member may be fixed to the respective implement. Thus, the second member and the respective implement may actuate together with respect to the first member. Also, in some embodiments, linear actuation of the actuator may rotate the respective implement about its axis of rotation. In some embodiments, all or most of the actuators of the actuator system are linear actuators. Furthermore, actuators of the actuator system may include integrated sensors and may be interconnected to a control system via a CAN bus connection or otherwise. In some embodiments, a suitable switch may be provided in the operator compartment 108 of the tractor 102 for providing a user input for actuating the actuator. In additional embodiments, the actuators may be in communication with a controller that automatically actuates the actuator. Accordingly, the actuators may be reliable, highly programmable, and may provide accurate and controlled movement of the implement. Also, in some embodiments, the actuators may provide position feedback data that corresponds to the actual and current position of the implement as will be discussed in greater detail below.

[0050] As shown in FIG. 3, the actuator system may include at least one first actuator 201, which is operably coupled to the conditioning arrangement 146 and is configured for varying one or more parameters of the conditioning arrangement 146. In some embodiments, there may be a plurality of first actuators 201 for changing settings, variable parameters, etc. for the conditioning arrangement 146. The first actuators 201 may include a gap-adjustment actuator 208 and a bias-adjustment actuator 206. Additionally, in some embodiments, the first actuators 201 may include additional actuators configured for rotating the conditioner rollers 148, 150 about their respective axes of rotation 149, 151.

[0051] More specifically, there may be at least one gap-adjustment actuator 208 that is configured for changing the gap 152 between the first and second conditioner rollers 148, 150. In some embodiments, the gap-adjustment actuator 208 may be operably connected to the frame 122 and the second conditioner roller 150, and the gap-adjustment actuator 208 may be configured to move the second conditioner roller 150 relative to the frame and relative to the first conditioner roller 148. As such, the gap-adjustment actuator 208 may selectively vary the dimension of the roll gap 152 at the neutral position of the first and second conditioner rollers 148, 150. In additional embodiments, the gap-adjustment actuator 208 may move the first conditioner roller 148 instead of or in addition to the second conditioner roller 150 to vary the gap 152.

[0052] The bias-adjustment actuator 206 may be operably coupled to the biasing member 154, and may be configured for selectively varying the biasing force that the biasing member 154 provides (e.g., the biasing force provided to the second conditioner roller 150) at the neutral position. For example, the bias-adjustment actuator 206 may actuate to change the length of the biasing member 154 when the conditioning arrangement 146 is in the neutral position to thereby vary the biasing force provided by the biasing member 154. In cases of a hydraulic biasing member, the bias-adjustment actuator 206 may change a fluid pressure for changing the biasing force.

[0053] Furthermore, the actuator system may include at least one second actuator 210. The second actuator 210 may be operably coupled to the swath flap 162 for rotating the swath flap 162 about the axis 164. For example, the second actuator 210 may move the swath flap 162 between the raised position and the lowered position.

[0054] Additionally, the actuator system may include at least one third actuator 212. The third actuator 212 may be operably coupled to one or both forming shields 167. The third actuator 212 may be configured for moving the forming shields 167 between the first position and the second position. In some embodiments, each forming shield 167 may respectively include an independent third actuator 212 such that the forming shields 167 may articulate independent of each other relative to the frame 122 of the windrower 100.

[0055] Moreover, the actuator system may include at least one fourth actuator 202. The fourth actuator(s) 202 may be operably coupled to the cutting arrangement 140 for actuating the blades 142 in some embodiments. Also, in some embodiments, the fourth actuator(s) 202 may be operably coupled to the conveyor arrangement 144 for rotating the conveyor arrangement 144. In another implementation, at least one fifth actuator 204 may be operably coupled to the conveyor arrangement 144. That is the cutting arrangement 140 and the conveyor arrangement 144 are operably coupled to independent actuators 202 and 204, respectively. The at least one fifth actuator 204, may be configured to rotate the conveyor arrangement 144 and/or to position the conveyor arrangement 144.

[0056] In further embodiments, the fourth actuator(s) 202 may be operably coupled to the frame 122 for controlled lifting and lowering of the frame 122 relative to the chassis 106 of the tractor 102. The fourth actuator(s) 202 may also rotate the wheels 110 of the tractor 102 or actuate another component. In this regard, the fourth actuator(s) 202 may receive power from a power plant, such as a diesel engine, an electrical power source, a hydraulic pump, etc.

[0057] In some embodiments, the first, second, and third actuators 201, 210, and 212 may re-configure, shift, and re-position the second conditioner roller 150, the swath flap 162, and/or the forming shields 167 on-demand by the user using user controls in some embodiments. These components may be shifted between the first positions and the second positions described herein. Also, these components may be shifted to various intermediate positions therebetween. Thus, the windrower 100 may be configured for windrowing/swathing quickly and easily while the windrower 100 is moving across a field and without the operator leaving the operator compartment 108.

[0058] The actuators 201, 210, and 212 may be stopped at any one of numerous positions by the operator without leaving the operator compartment 108. Accordingly, the amount of conditioning (i.e., the amount of crimp or compression) of the crop material 136 may be adjusted by moving the second conditioner roller 150 and changing the gap 152. Also, the amount of conditioning may be adjusted by changing the biasing force of the biasing member 154. Furthermore, the shape, arrangement, density, or other characteristic of the windrow 112 may be quickly and easily adjusted by moving the swath flap 162 and/or the forming shields 167. For example, the operator may choose to form a wider windrow 112 such that the crop material 136 dries more quickly. Similarly, if the freshly-cut crop material 136 is wetter than normal, the windrow 112 may be made wider for increased drying. Conversely, the windrow 112 may be made more narrow in consideration of subsequent processing that is to occur (e.g., chopping, raking, gathering, or other processing of the crop material 136 within the windrow 112). Also, the windrow 112 may be made more narrow and dense, for example, to avoid excessive sun bleaching of the crop material 136 within the windrow 112.

[0059] As shown in FIG. 3, the windrower 100 may additionally include a sensor system. The sensor system 184 may include one or more sensors that, for example, detect conditions related to the cutting arrangement 140, the conveying arrangement 144, the conditioning arrangement 146, the swath flap 162, and/or the forming shields 167. In some embodiments, the sensors may detect an actual (current) position or other setting (e.g. speed, motor load, motor pressure) of the cutting arrangement 140, the conveying arrangement 144, the conditioning arrangement 146, the swath flap 162, and/or the forming shields 167 as will be discussed. Other sensors may be included as well for detecting conditions related to the windrowing operations as discussed below.

[0060] The sensors of the sensor system may be of any suitable type. For example, sensors may include a potentiometer, a Hall Effect sensor, a proximity sensor, a microelectromechanical sensor (MEMS), a laser, an encoder, an infrared sensor, a camera, or other type. The sensors of the sensor system may be integrated sensors, which are combined or integrated with signal processing hardware in a compact device. The sensors of the system may also be operably connected to corresponding actuators of the actuator system for gathering data therefrom. In some embodiments, these sensors may detect a position or speed of an implement by detecting an electrical, magnetic, or other visual condition that is related to the position of the implement. Additionally, the sensor system may include one or more components that, for example, communicate with a global positioning system (GPS) that provides sensor input regarding the current position of one or more of the implements. The sensor input may be associated with stored data, such as maps, geo-coordinate markers, and so on, to reconcile the real-time machine and implement position in three-dimensional space with known objects and locations of a preset field.

[0061] Also, in some embodiments, the sensors may be incorporated within one of the actuators within the actuator system 174. Furthermore, while some sensors may be mounted to the windrower 100, other sensors of the sensor system may be remote from the windrower 100 as will be discussed.

[0062] As shown in FIG. 3, the sensor system may include at least one first sensor 203, which is operably coupled to the conditioning arrangement 146 and/or the first actuator(s) 201. The first sensors 203 may include a roller sensor 218 that is configured for detecting the position of the first and/or second roller 148, 150. The roller sensor 218 may also be configured for detecting the actual (current) dimension of the gap 152 between the first and second conditioner rollers 148, 150. The roller sensor 218 may also be configured for detecting the gap 152 as it changes over a predetermined time period. In other words, the roller sensor 218 may detect a dynamic position of the second conditioner roller 150 relative to the first conditioner roller 148. Furthermore, in some embodiments, the first sensors 203 may include a bias sensor 216 configured to detect the biasing load provided by the biasing member 154. Additionally, in some embodiments, the first sensors 203 may include a sensor that detects the angular speed or other related condition of the first and second conditioner rollers 148, 150.

[0063] The sensor system may further include at least one second sensor 220. The second sensor 220 may be operably coupled to the swath flap 162 in some embodiments. The second sensor 220 may detect the actual (current) position of the swath flap 162. For example, the second sensor 220 may detect the angle of the deflecting surface 161 relative to the frame 122 and/or relative to the ground.

[0064] Additionally, the sensor system may include at least one third sensor 222. The third sensor 222 may be operably coupled to one or more of the forming shields 167. The third sensor 222 may detect the position of the shields 167 with respect to each other, with respect to the frame 122, and/or with respect to the chassis 106.

[0065] Moreover, the sensor system may include at least one fourth sensor 212. In some embodiments, the fourth sensor 212 may be operably coupled to the cutting arrangement 140 for detecting the cutting speed of the blades 142. In additional embodiments, a fifth sensor 214 may be operably coupled to the conveyor arrangement 144 for detecting the angular speed of the conveyor arrangement 144. The fourth sensor 212 and/or the fifth sensor 214 may also be configured for detecting other conditions of the windrower 100 and/or tractor 102. For example, the fourth sensor 212 and/or the fifth sensor 214 may be configured as a speedometer that detects the ground speed of the tractor 102. The fourth sensor 212 and/or the fifth sensor 214 may also detect the current position of the frame 122 of the windrower 100 relative to the chassis 106 in some embodiments.

[0066] FIG. 4 illustrates an exemplary, non-limiting implementation of a system 400 for a vehicle according to various aspects. In one example, system 400 may be implemented by the vehicle of FIGS. 1-3 (e.g. windrower 100). In the exemplary implementation shown in FIG. 4, the system 400 includes a data input component 402, such as a database, crop model, user interface, cloud-based data, etc., (e.g., disposed remotely or in vehicle). The data input component 402 may also comprise a sensor array comprising one or more sensors to detect various conditions of components of the vehicle, such as the sensors described above and sensors that detect loads on various motors (e.g. auger motor, cutter motor, header motor, conditioner motor, conditioning roller motors, etc.) as described herein.

[0067] In FIG. 4, the input component 402 creates, includes, or receives data related to implements 350 such as cutting arrangement 140 or conditioning arrangement 146. As utilized herein, the cutting arrangement 140 may also be referred to as a cutter, cutter bar, or a header-particularly when motor load. Further, the conditioning arrangement 146 may also be referred to a conditioner.

[0068] For example, according to an aspect, the data input component 402 collects the input data 414 indicative respective loads on a header (or cutter) motor and a conditioner motor. The load may be indicative of a pressure on the motor, a force output to maintain a particular reciprocal or rotational speed, and/or a power input to the motor. As noted above, respective loads on the header motor and conditioning motor may be indicative of a conditioning performance level. Therefore, input data 414 can include a load of a header motor (from a sensor associated with the header motor) and a load of a conditioner motor (from another sensor associated with the conditioner motor). In another example, the input data 414 may be direct measurements of a quantity of crop flowing through the agricultural machine from sensors such as mass flow sensors, optical sensors, infrared sensors, or the like.

[0069] In FIG. 4, the example system 400 includes a control module 406 that is configured to receive the input data 414 and transmits adjustment data 416. For example, the control module 406 comprises a computer processor 408 that is configured to process data and instructions, and provide resulting data based on the processed data and instructions Additionally, the control module 406 comprises memory 410 (e.g., computer memory, such as a device or system that is used to store information for use in a computer or related computer hardware and digital electronic devices, including short and long-term memory, temporary and permanent memory, and the like).

[0070] In this implementation, the memory 410 stores instructions 412 that are configured to, when processed by the computer processor 408, generate a conditioning performance index indicative of level of conditioning being performed on a crop based on the input data 414 and generate adjustment data 416 indicative of an adjustment to one or more of implements 350, or to a drive system 424, to improve conditioning performance. Memory 410 may also store models 420, which may be configured thresholds utilized to determine the conditioning performance index based on input data 414 or trained machine learning models. Models 420 may be crop specific such that different types of crop have associated machine learning models or configured thresholds.

[0071] In the example system 400, one or more actuators 404 can be used to adjust one or more implements 350 of a vehicle to improve conditioning performance. Actuators 404 can include any of actuators 202, 204, 206, 208, 210, and/or 212 described above with reference to FIG. 3. In addition, an ECU 422 associated with a vehicle drive system 424 can be signaled to effect a change in a vehicle or engine speed.

[0072] According to some examples, the conditioning performance index may indicate normal conditioning, under-conditioning, or over-conditioning. Over-conditioning may be resolved by increasing a roll gap and/or reducing a vehicle speed. Under-conditioning may be resolved by decreasing a roll gap and/or increasing a vehicle speed. Adjustment data 416 may include signals or commands to actuators 404 and/or ECU 422 to adjust the roll gap and/or adjust the speed of the vehicle. The conditioning performance index may be continuous measurement of a level of crop conditioning. Accordingly, under-conditioning, over-conditioning, and/or normal or optimal conditioning may be respective ranges within a broader measurement range. The ranges may be dependent on crop type or machine type. Further, the ranges may be configured or modified. Still further, the ranges may be further dependent on an operator-selectable target conditioning level.

[0073] Further control scenarios may be available through separate and independent actuators for at least the cutter bar, the auger, and/or the conditioner as shown in FIG. 3.

[0074] In another aspect, control module 406 can acquire a position of the vehicle. The position, together with determined conditioning performance indices as various times, is utilized to generate a conditioning map. The conditioning map indicates a conditioning performance at various locations in an area (e.g. a field). In an example, sensor signals (e.g. loads on the header motor and/or loads on a conditioner motor) may be continuously collected for a period of time corresponding to a traversal time for an interval. The signals are aggregated over the interval. An area (e.g. field) may be partitioned into a plurality of intervals. A location of each interval may be determined from the acquired position of the vehicle. In another example, the control module 206 polls sensors with a period corresponding to the interval (e.g. once per interval, twice per interval, . . . . N-times per interval where N is any integer greater than or equal to one).

[0075] In another implementation, system 400 may be a closed-loop control. As shown in FIG. 4, feedback from implement 350 and/or drive system 424 may be acquired via respective sensor arrays associated with implement 350 and/or drive system 424. The feedback may be provided as an additional element of data input 402 and/or input data 414. For example, adjustment data 416 may be indicative of a particular target values associated with the components (e.g. implements 350 and drive system 424). The feedback information may provide actual values associated with the components. Accordingly, the control module 406 may make further changes to adjustment data 416 to account for variance from the target values, or verify the adjustments, based on the feedback information.

[0076] While collecting data from sensors, the control module 406 acquires positioning signals from a global navigation satellite system (GNSS) or other positioning system. A position of the agricultural machine or vehicle may be acquired for each interval. In one aspect, the interval may be configured based on a resolution of positioning.

[0077] Control module 406 associates, for each interval, the conditioning performance index determined from input data from sensors with a position acquired. Thus, once the association is made for each interval, control module 406 generates the set of data that includes conditioning performance indices per interval over the crop field combined with respective locations of each interval. The set of data may be a map that may be indicative of the conditioning performance over a harvested area in combination with acquired location information. The map, for example, can facilitate predicting a conditioning level in subsequent years (e.g. harvests).

[0078] Turning now to FIG. 5, illustrated is a schematic block diagram of a control system 500 according to various aspects. Control system 500 may be implemented by the work vehicle or windrower 100 described herein. As shown in FIG. 5, system 500 includes a controller 510 and some implements or components of vehicle 100 such as a conditioner 520, a header or cutter 530, a roll gap actuator 550, an engine control unit 560, and an operator interface 570. Operator interface 570 may include various types of different operator interface mechanisms that generate outputs for an operator and allow an operator to provide inputs to control a machine. Controller 510 may include functional modules such as a monitoring module 512 and adjustment module 514. In an example, the functional modules may be implemented by computer-executable instructions that are executed by at least one computer processor of control system 510.

[0079] According to an example, monitoring module 512 can receive input such as a conditioner motor load 522 and a header or cutter bar motor load 532 from conditioner 520 and header 530, respectively. With these inputs, the monitoring module 512 determines and monitors a conditioning performance of the agricultural machine or vehicle harvesting crop. The monitoring module 512 may be configured with a predetermined values for the loads, one or more threshold values for the loads, and machine learning models that identify a conditioning performance based on monitored motor loads. Monitoring module 512 may determine whether received motor loads are within configured nominal ranges, below nominal ranges, or above nominal ranges. Monitoring module 512 can determine a conditioning performance as described above. For instance, monitoring module 512 can indicate conditioning performance with a conditioning performance index. In some implementations, the conditioning performance index indicates normal conditioning, under-conditioning, or over-conditioning.

[0080] In response conditioning performance, the adjustment module 514 determines adjustment data and/or control signals to one or more implements or components of the vehicle. For instance, adjustment module 514 may generate controls signals or commands for actuators of implements or components. Such signals may include a roll gap actuator command or signal 554 to adjust a roll gap maintained by roll gap actuator 550 and/or an engine speed or transmission speed command 564 to ECU 560 to adjust an engine speed or transmission speed (and by extension a vehicle speed). Further, adjustment module 514 may provide output to operator interface 570 to inform an operator of adjustments to be made either automatically or manually and the current status of the conditioning system and performance state. In generating the adjustment data and/or control signals, the adjustment module 514 may receive inputs such as a position or status 552 of roll gap actuator 550 and/or a current engine speed 562 from ECU 560.

[0081] Operator interface 570 may display feedback regarding current conditioning level. This may include a continuous gauge of conditioning performance. The operator 570 may also display a target condition level, which may be modified by the operator. The operator interface 570 may provide a wizard interface that guides the operator with recommendations or changes to conditioning level.

[0082] FIG. 6 illustrates an input-process-output diagram for a control system implementing conditioning level automation. As shown, inputs to the automation system may include data inputs, control inputs, and/or inputs from enablers. Data inputs may include, for example, vehicle model, implement model, display architecture, software version, settings, crop type, crop quantity, field conditions, time, and/or forecast. Control inputs may include, for example, operator input, adaptive vehicle settings, actuator input, machine sensor inputs (e.g. actuator loads, crop quantity, flow sensors, etc.), power control and distribution input, navigation system input, and/or production pass or operational definition. Enabler inputs may include, for instance, input from crop sensing technology, control software (e.g. an automatic adjustment software (TouchSet), a differential GPS (StarFire), etc.), production planning systems (operations software), energy provision, cloud storage, mobile telematics, or the like. As shown in FIG. 6, outputs can include, but are not limited to, completed work (cut fields, conditioned crop, windowed yield), collected data, disrupted fields, emissions and byproducts, component wear, and the like.

[0083] The information described above respectively provides measures that ascertain crop conditioning. These measures may be utilized to predict, for example, a relative number of conditioning marks on a length of stem and severity of conditioning marks, which may be another example of a conditioning index. Such data can be utilized to build, train, and execute a control system to automate crop conditioning to achieve optimal output. For example, control system may implement an autonomous mode that determine an optimal level of conditioning based on crop and/or other conditions. This mode may include automatic determination of a set point (e.g. a target condition level).

[0084] Turning to FIG. 7, various features and operations of the systems described above are illustrated with an exemplary flowchart. The example in this figure are illustrative of some features of systems 400 and 500, and vehicle 100, but is not exhaustive. In FIG. 7, an exemplary, non-limiting implementation for monitoring and controlling conditioning performance of an agricultural machine (e.g. an agricultural vehicle or windrower) is illustrated.

[0085] The method can begin at 600 where input data from one or more components of an agricultural machine are acquired. The input data may be respective loads or pressure on a header motor and a conditioner motor. In other implementations, the input data may include data indicative of crop flow. The crop flow may be directly sensed by, for example, mass flow sensors or other directing sensing techniques (e.g. optical, infrared, near-infrared, etc.) With direct sensing, a direct measurement of an amount of crop may be determined. At 602, the input data is evaluated and a conditioning performance index is determined. The conditioning performance index indicates a level of conditioning such as, but not limited to, normal conditioning, over-conditioning, or under-conditioning.

[0086] At 604, the method branches based on the conditioning level determined. For instance, if over-conditioning is determined, the method transitions to 606, where adjustment data is generated. In an example, for over-conditioning, the adjustment data may indicate an increase in roll gap and/or a decrease in vehicle speed. If under-conditioning is determined, the method transitions to 608, where adjustment data for under-conditioning is generated. For example, the adjustment data may indicate a decreased in roll gap and/or an increase in vehicle speed. At 610, after either step 606 or 608, components of the agricultural machine are controlled in accordance with the adjustment data. For instance, an ECU is controlled to adjust a speed of the vehicle. In another example, a roll gap actuator is controlled to adjust a roll gap. After adjusting components, or in the case of normal conditioning, the method may return to 600 to continue monitoring of conditioning performance.

[0087] Turning to FIG. 8, illustrated is a schematic block diagram of an exemplary, non-limiting implementation for a computing device 700. Computing device 700 may be utilized to implement system 100, control module 406, controller 510, or other controller of an agricultural machine. Computing device 700 includes a processor 702 configured to execute computer-executable instructions 706 such as instructions composing a control system to monitor and adjust conditioning performance as described herein. Such computer-executable instructions 706 can be stored on one or more computer-readable media including non-transitory, computer-readable storage media such as memory 704. Memory 704 can also include other data (working data, sensor data, adjustment data, input data, or variables) or portions thereof during execution of instructions 706 by processor 702.

[0088] The computing device 700 can also include storage 708 that can be, according to an embodiment, non-volatile storage to persistently store instructions 706, settings 710 (e.g. configuration settings) and/or data 712 (e.g., operational data, sensor data, adjustment data, input data, machine inputs, etc.).

[0089] The computing device 700 may also include a user interface 716 that comprises various elements to obtain user input and to convey user output. For instance, user interface 716 can comprise of a touch display, which operates as both an input device and an output device. In addition, user interface 716 can also include various buttons, switches, keys, etc. by which a user can input information to computing device 700; and other displays, LED indicators, etc. by which other information can be output to the user. Further still, user interface 716 can include input devices such as keyboards, pointing devices, and standalone displays.

[0090] The computing device 700 further includes a communications interface 714 to couple computing device 700, via the communications network, to various devices such as, but not limited to, other computing devices 700, work vehicles, agricultural machines, sensors, drive systems, other controllers, servers, sensors, or Internet-enabled devices (e.g., IoT sensors or devices). Communication interface 714 can be a wired or wireless interface including, but not limited, a WiFi interface, an Ethernet interface, a Bluetooth interface, a fiber optic interface, a cellular radio interface, a satellite interface, etc.

[0091] A component interface 718 is also provided to couple computing device 700 to various components such as sensors 720, implements 730, and/or other components of work vehicles. Component interface 718 can include a plurality of electrical connections on a circuit board or internal bus of computing device 700 that is further coupled to processor 702, memory 704, etc. Component interface 718, in another embodiment, can be an interface for a CAN bus of work vehicle. Further, the component interface 718 can implement various wired or wireless interfaces such as, but not limited to, a USB interface, a serial interface, a WiFi interface, a short-range RF interface (Bluetooth), an infrared interface, a near-field communication (NFC) interface, etc.

[0092] According to an aspect, a system for adjusting an agricultural machine is provided. The system includes a controller that receives input data indicative of crop conditioning by the agricultural machine and outputs control signals to control the agricultural machine. The controller includes at least one processor. The controller also includes a memory that stores instructions. The instructions, when executed by the at least one processor, configure the at least one processor to: determine a conditioning performance index based on the input data, the conditioning performance index indicative of a level of crop conditioning by the agricultural machine; and generate adjustment data indicative of an adjustment to one or more components of the agricultural machine in response to the conditioning performance index. Still further, the system can include one or more actuators that adjust the one or more components of the agricultural machine based at least on the adjustment data.

[0093] In an example, the one or more components include one or more of a conditioner or a vehicle drive system. In another example, the system includes at least two actuators. A first actuator couples to at least a first component and a second actuator couples to at least a second component. The first component and the second component are respectively one of a header, a cutting element, a converging element, or a conditioning element, and the first component and the second component are different.

[0094] In another example, the conditioning performance index indicates a level of conditioning. The level of conditioning is partitioned into at least three ranges corresponding to under-conditioning of a crop, over-conditioning of the crop, or optimal conditioning of the crop.

[0095] In another example, the input data includes at least a load on a header actuator and a load on a conditioner actuator. The memory further stores instructions that configure the processor to determine a quantity of crop based on the load on the header actuator and to determine the conditioning performance index based on the quantity of crop and the load on the conditioner actuator.

[0096] In another example, the input data includes a quantity of crop or a crop flow measured by a sensor. In another example, the sensor directly measures the quantity of crop or the crop flow.

[0097] In another example, the memory further stores instructions that configure the processor to receive a target conditioning level via an operator interface.

[0098] In another example, the memory further stores instructions that configure the processor to generate adjustment data indicative of an adjustment to a ground speed of an agricultural machine. The system can further include an electronic control unit that adjusts the ground speed of the agricultural machine based on the adjustment data.

[0099] In another example, the adjustment data indicates an adjustment to a roll gap.

[0100] In another example, the system can include an operator interface. The memory further stores instructions that configure the processor to output an indication to the operator interface.

[0101] In another example, the indication includes at least one of the conditioning performance index, the adjustment data, or an action performed.

[0102] According to another aspect, a method for controlling crop conditioning is provided. The method includes acquiring a load on a header actuator of an agricultural machine and a load on a conditioner actuator of the agricultural machine. The method further includes determining a conditioning performance index based on the load on the header motor and the load on the conditioner motor. In addition, the method also includes controlling at least one of a roll gap, disc speed, roll pressure, hood separation, conditioner speed, converging velocity, header tilt, lift, roll tension, or a vehicle ground speed of the agricultural machine based on the conditioning performance index.

[0103] According to an example, the conditioning performance index indicates a level of conditioning and proportionally indicates at least one of under-conditioning of a crop, over-conditioning of the crop, or optimal conditioning of the crop.

[0104] According to another example, controlling at least one of the roll gap or the ground speed includes at least one of reducing the roll gap or increasing the ground speed when the conditioning performance index indicates under-conditioning.

[0105] In another example, controlling at least one of the roll gap or the ground speed includes at least one of increasing the roll gap or reducing the ground speed when the conditioning performance index indicates over-conditioning.

[0106] According to another example, acquiring the load on the header actuator and the load on the conditioner actuator includes acquiring the load on the header actuator and the load on the conditioner actuator at a plurality of interval locations in an area.

[0107] According to another example, the method also includes determining the conditioning performance index for each interval location of the plurality of interval locations based on respective loads associated with respective interval locations.

[0108] According to yet another example, the method also includes acquiring position data indicative of a location of the agricultural machine at each interval location of the plurality of interval locations and generating a map of conditioning performance indices for the area based on the position data and the conditioning performance index determined for each interval location.

[0109] According to yet another aspect, a system for an agricultural machine is provided. The system includes a set of sensors configured to sense at least a load on a header motor and a load on a conditioner motor. The system can also include a header having a cutter bar and a conditioner having a first conditioner roller and a second conditioner roller. The first conditioner roller and the second conditioner roller are arranged relative to each other to define a roll gap therebetween. In addition, the system includes an actuator coupled to at least one of the first conditioner roller or the second conditioner roller and configured to move the at least one of the first conditioner roller or the second conditioner roller away from or toward each other. The system also includes an electronic control unit coupled to a drive system of the agricultural machine. Still further, the system includes a controller. The controller is configured to receive sensor data from the set of sensors; determine a conditioner performance index based on the sensor data; generate one or more controls signals to at least one of the actuator or the electronic control unit based on the conditioner performance index; and communicate the one or more controls signals to at least one of the actuator or the electronic control unit.

[0110] The foregoing description and examples has been set forth merely to illustrate the disclosure and are not intended as being limiting. Each of the disclosed aspects and embodiments of the present disclosure may be considered individually or in combination with other aspects, embodiments, and variations of the disclosure. In addition, unless otherwise specified, none of the steps of the methods of the present disclosure are confined to any particular order of performance. Modifications of the disclosed embodiments incorporating the spirit and substance of the disclosure may occur to persons skilled in the art and such modifications are within the scope of the present disclosure. Furthermore, all references cited herein are incorporated by reference in their entirety.

[0111] Terms of orientation used herein, such as top, bottom, horizontal, vertical, longitudinal, lateral, and end are used in the context of the illustrated embodiment. However, the present disclosure should not be limited to the illustrated orientation. Indeed, other orientations are possible and are within the scope of this disclosure. Terms relating to circular shapes as used herein, such as diameter or radius, should be understood not to require perfect circular structures, but rather should be applied to any suitable structure with a cross-sectional region that can be measured from side-to-side. Terms relating to shapes generally, such as circular or cylindrical or semi-circular or semi-cylindrical or any related or similar terms, are not required to conform strictly to the mathematical definitions of circles or cylinders or other structures, but can encompass structures that are reasonably close approximations.

[0112] Conditional language used herein, such as, among others, can, might, may, e.g., and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that some embodiments include, while other embodiments do not include, certain features, elements, and/or states. Thus, such conditional language is not generally intended to imply that features, elements, blocks, and/or states are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without author input or prompting, whether these features, elements and/or states are included or are to be performed in any particular embodiment.

[0113] Conjunctive language, such as the phrase at least one of X, Y, and Z, unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.

[0114] The terms approximately, about, and substantially as used herein represent an amount close to the stated amount that still performs a desired function or achieves a desired result. For example, in some embodiments, as the context may dictate, the terms approximately, about, and substantially may refer to an amount that is within less than or equal to 10% of the stated amount. The term generally as used herein represents a value, amount, or characteristic that predominantly includes or tends toward a particular value, amount, or characteristic. As an example, in certain embodiments, as the context may dictate, the term generally parallel can refer to something that departs from exactly parallel by less than or equal to 20 degrees.

[0115] Unless otherwise explicitly stated, articles such as a or an should generally be interpreted to include one or more described items. Accordingly, phrases such as a device configured to are intended to include one or more recited devices. Such one or more recited devices can be collectively configured to carry out the stated recitations. For example, a processor configured to carry out recitations A, B, and C can include a first processor configured to carry out recitation A working in conjunction with a second processor configured to carry out recitations B and C.

[0116] The terms comprising, including, having, and the like are synonymous and are used inclusively, in an open-ended fashion, and do not exclude additional elements, features, acts, operations, and so forth. Likewise, the terms some, certain, and the like are synonymous and are used in an open-ended fashion. Also, the term or is used in its inclusive sense (and not in its exclusive sense) so that when used, for example, to connect a list of elements, the term or means one, some, or all of the elements in the list.

[0117] Overall, the language of the claims is to be interpreted broadly based on the language employed in the claims. The language of the claims is not to be limited to the non-exclusive embodiments and examples that are illustrated and described in this disclosure, or that are discussed during the prosecution of the application.

[0118] Although systems and methods for monitoring and controlling conditioning have been disclosed in the context of certain embodiments and examples, this disclosure extends beyond the specifically disclosed embodiments to other alternative embodiments and/or uses of the embodiments and certain modifications and equivalents thereof. Various features and aspects of the disclosed embodiments can be combined with or substituted for one another in order to form varying modes of systems and methods for vehicle or implement control for improving conditioning performance. The scope of this disclosure should not be limited by the particular disclosed embodiments described herein.

[0119] Certain features that are described in this disclosure in the context of separate implementations can be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can be implemented in multiple implementations separately or in any suitable sub-combination. Although features may be described herein as acting in certain combinations, one or more features from a claimed combination can, in some cases, be excised from the combination, and the combination may be claimed as any sub-combination or variation of any sub-combination.

[0120] While the methods and devices described herein may be susceptible to various modifications and alternative forms, specific examples thereof have been shown in the drawings and are herein described in detail. It should be understood, however, that the invention is not to be limited to the particular forms or methods disclosed, but, to the contrary, the invention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the various embodiments described and the appended claims. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with an embodiment can be used in all other embodiments set forth herein. Any methods disclosed herein need not be performed in the order recited. Depending on the embodiment, one or more acts, events, or functions of any of the algorithms, methods, or processes described herein can be performed in a different sequence, can be added, merged, or left out altogether (e.g., not all described acts or events are necessary for the practice of the algorithm). In some embodiments, acts or events can be performed concurrently, e.g., through multi-threaded processing, interrupt processing, or multiple processors or processor cores or on other parallel architectures, rather than sequentially. Further, no element, feature, block, or step, or group of elements, features, blocks, or steps, are necessary or indispensable to each embodiment. Additionally, all possible combinations, sub-combinations, and rearrangements of systems, methods, features, elements, modules, blocks, and so forth are within the scope of this disclosure. The use of sequential, or time-ordered language, such as then, next, after, subsequently, and the like, unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to facilitate the flow of the text and is not intended to limit the sequence of operations performed. Thus, some embodiments may be performed using the sequence of operations described herein, while other embodiments may be performed following a different sequence of operations.

[0121] Moreover, while operations may be depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or in sequential order, and all operations need not be performed, to achieve the desirable results. Other operations that are not depicted or described can be incorporated in the example methods and processes. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations. Further, the operations may be rearranged or reordered in other implementations. Also, the separation of various system components in the implementations described herein should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems can generally be integrated together in a single product or packaged into multiple products. Additionally, other implementations are within the scope of this disclosure.

[0122] Some embodiments have been described in connection with the accompanying figures. Certain figures are drawn and/or shown to scale, but such scale should not be limiting, since dimensions and proportions other than what are shown are contemplated and are within the scope of the embodiments disclosed herein. Distances, angles, etc. are merely illustrative and do not necessarily bear an exact relationship to actual dimensions and layout of the devices illustrated. Components can be added, removed, and/or rearranged. Further, the disclosure herein of any particular feature, aspect, method, property, characteristic, quality, attribute, element, or the like in connection with various embodiments can be used in all other embodiments set forth herein. Additionally, any methods described herein may be practiced using any device suitable for performing the recited steps.

[0123] The methods disclosed herein may include certain actions taken by a practitioner; however, the methods can also include any third-party instruction of those actions, either expressly or by implication.

[0124] The ranges disclosed herein also encompass any and all overlap, subranges, and combinations thereof. Language such as up to, at least, greater than, less than, between, and the like includes the number recited. Numbers preceded by a term such as about or approximately include the recited numbers and should be interpreted based on the circumstances (e.g., as accurate as reasonably possible under the circumstances, for example 5%, 10%, 15%, etc.). For example, about 1 V includes 1 V. Phrases preceded by a term such as substantially include the recited phrase and should be interpreted based on the circumstances (e.g., as much as reasonably possible under the circumstances). For example, substantially perpendicular includes perpendicular. Unless stated otherwise, all measurements are at standard conditions including temperature and pressure.

[0125] In summary, various embodiments and examples of systems and methods for monitoring and controlling conditioning performance have been disclosed. Although the systems and methods for monitoring and controlling conditioning performance have been disclosed in the context of those embodiments and examples, this disclosure extends beyond the specifically disclosed embodiments to other alternative embodiments and/or other uses of the embodiments, as well as to certain modifications and equivalents thereof. This disclosure expressly contemplates that various features and aspects of the disclosed embodiments can be combined with, or substituted for, one another. Thus, the scope of this disclosure should not be limited by the particular disclosed embodiments described herein, but should be determined only by a fair reading of the claims that follow.