• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    A foreign body detection device for an agricultural harvesting machine (10) has a throughput change sensor (70) for detecting a variable related to the change in throughput over time in a channel through which harvested material can flow and an evaluation device (78) for generating a signal indicating that a foreign body has been picked up Equipped with a signal value. A vibration sensor (72) detects vibrations that occur when a foreign body hits a surface. The evaluation device (78) generates the signal value indicating that a foreign body has been picked up on the basis of a time correlation between the signals of the throughput change sensor (70) and the signals of the vibration sensor (72).
    公开号:BE1023101B1
    申请号:E2013/0843
    申请日:2013-12-17
    公开日:2016-11-21
    发明作者:Karl-Josef Willeke；Martin Schäfer；Richard Wübbels
    申请人:Deere & Company；Maschinenfabrik Kemper Gmbh & Co. Kg；
    IPC主号:
    专利说明:

    Foreign body detection device for an agricultural harvester
    The invention relates to a foreign body detection device for an agricultural harvesting machine, comprising a flow rate sensor for detecting a variable related to the time change of the flow rate in a channel through which the crop can flow and an evaluation device connected to the flow rate sensor for generating a signal value indicative of the reception of a foreign body.
    State of the art
    In the prior art, various detection devices have been described for foreign matter taken up by the crop in agricultural machines:
    Commonly used are metal detectors (EP 0 702 248 A2), which act on a feed channel of the harvester with a magnetic field. Induction coils detect changes in the magnetic field caused by a ferromagnetic foreign body received by the crop, and are connected to a detection circuit which, if necessary, causes the harvesting elements of the harvesting machine to stop. With these metal detectors foreign bodies of non-ferromagnetic materials can not be detected.
    In addition, vibration sensors have been described which detect vibrations occurring in the event of an impact of a foreign body on a feed roller in the intake channel (DE 10 2011 007 843 A1).
    Finally, it has been proposed to equip a pre-press roller moving up and down depending on the thickness of the crop mat with a position or accelerometer (EP 1 900 273 A2 and the prior art cited therein). If a certain acceleration value of the pre-press roller is exceeded, it is assumed that a foreign body, eg. As a stone, is contained in the Erntegutmatte, and it is automatically causes a stop of the intake elements of the harvester.
    Object of the invention
    The problem with the conventional vibration sensors is that the response threshold must be set relatively low in order to obtain a sufficient probability of detection and, for example, to be able to detect stones embedded in a crop mat. This low response threshold results in an unsatisfactorily high rate of false triggering because other sounds detected by the vibration sensor are sometimes associated with a picked up stone. Similar problems exist with the foreign body sensors detecting the thickness of the crop mat, because unevenly shaped swaths, e.g. in the headlands, similar to erratic movements of the pre-press roller as taken with the swath stones.
    The object underlying the invention is seen to provide a detection means for recorded with the crop foreign body of the type mentioned, the sensitivity to false triggering is reduced.
    This object is achieved by the teaching of claim 1, wherein in the other claims features are listed, which further develop the solution in an advantageous manner.
    A foreign matter detection device for an agricultural harvester includes a flow rate change sensor for detecting a quantity related to the rate of change in throughput in a crop permeable channel and an evaluation device coupled to the flow rate sensor for generating a signal value indicative of foreign matter picking. Furthermore, a vibration sensor is provided for detecting vibrations which occur in the event of a foreign body impacting on a surface and which is connected to the evaluation device in a signal-transmitting manner. The evaluation device is set up to indicate the signal value indicative of the pickup of a foreign body on the basis of a temporal correlation between the signals of the throughput change sensor and the signals of the
    To generate vibration sensor. Accordingly, it is proposed to combine the signals of the flow rate change sensor and of the vibration sensor and to emit a signal value indicative of the pickup of a foreign body only if the signals of both sensors within a time window respectively indicate that a foreign body has been picked up.
    In this way, the likelihood of false triggering of the foreign object detection device is substantially reduced because it is relatively unlikely that the two sensors sensing different parameters will respond almost simultaneously due to non-foreign object events.
    The throughput change sensor preferably cooperates with a conveyor roller arranged in the channel and detects its position, speed or acceleration transversely to the crop flow direction. For this purpose, in particular a pre-press roller in the feeder channel of a forage harvester or a vertically movable arranged lower feeder roller in the feeder of a combine harvester in question, which can be actively driven or run freely with the crop and is preferably arranged in the intake conveyor of the harvester. However, it may also cooperate with the Erntegutmatte, separate Tastbügel or feeler o.ä. which are not used to actively convey the crop, or the crop surface is optically scanned (e.g., by a laser scanner). The flow rate change sensor can detect the throughput, i. senses the height of the Erntegutmatte, and it is the evaluation means the first, second, third or fourth, etc. transmitted time derivative of the throughput, i. information about the rate of change of throughput or a time derivative thereof. This speed changes relatively strongly when a foreign body has been picked up and can be compared by the evaluation device with a threshold value. If the threshold value is exceeded, it can be assumed that a foreign object has been taken up and the corresponding signal value output. In another embodiment, the flow rate change sensor is implemented as an acceleration sensor (i.e., inertial sensor) and detects the rate of change of throughput.
    The signal value of the evaluation device is expediently used to automatically stop a feed conveyor of the harvesting machine when the evaluation device emits a signal value indicative of the picking up of a foreign body.
    The vibration sensor can be arranged within a conveyor roller whose lateral surface forms the surface on which impacting foreign bodies trigger vibrations that can be detected by the vibration sensor.
    The evaluation device can assign incoming signals of the throughput change sensor and the vibration sensor to a single foreign body within a defined, temporal window and thus emit a signal value indicative of the pickup of a foreign body, if the signals of both sensors within the window each point to a recognized foreign body. The temporal size of this window depends on the respective speed of the harvested crop in the channel, which can be detected by a sensor or driven by the rotational speed in the channel, and the distance between the surface on which impacting foreign bodies trigger detectable vibrations by the vibration sensor and the point at which the flow rate change sensor cooperates with the crop, as well as the respective reaction times of the flow rate change sensor and the vibration sensor.
    embodiment
    With reference to the figures, an embodiment of the invention will be explained. Show it:
    1 is a side view of a self-propelled harvester in the form of a forage harvester with a crop receiver,
    Fig. 2 is a side view of the feed housing of the harvester, and
    Fig. 3 is a Flußdiägramm, after which the evaluation device operates.
    FIG. 1 shows a harvesting machine 10 in the manner of a self-propelled forage harvester. The harvester 10 is built on a frame 12 supported by front driven wheels 14 and steerable rear wheels 16. The operation of the harvesting machine 10 takes place from a driver's cab 18, from which a harvesting attachment in the form of a crop receiver 20 can be viewed. By means of the Gutaufnehmers 20 picked up from the ground crop, z. As grass or the like is fed via a feed conveyor 42 with pre-press rollers, which are arranged within a feed housing 52 on the front side of the forage harvester 10, a chopper drum 22, which chops it into small pieces and gives it a conveyor 24. The crop leaves the harvester 10 to a traveling trailer on a rotatable about an approximately vertical axis and adjustable in inclination discharge shaft 26. Between the chopper drum 22 and the conveyor 24 extends a Nachzerkleinerungsvorrichtung 28 with two grain processor rollers, through which the material to be conveyed the conveyor 24 is supplied tangentially.
    The Gutaufnehmer 20 is designed as a so-called pick-up. The Gutaufnehmer 20 is built on a frame 32 and is supported on both sides mounted support wheels 38 which are mounted on a support 46 on the frame 32, on the ground from. The task of Gutaufnehmers 20 is to record stored on the bottom of a field in a swath 50 crops and supply it to the harvester 10 for further processing. For this purpose, the crop picker 20 is moved during the harvesting operation with a small distance to the ground over the field, while it is raised for transport on a road or on routes by means of a hydraulic cylinder 48, which the collection housing 52 and the attached Gutaufnehmer 20 about the axis of rotation of the cutterhead 22 pivots. The hydraulic cylinder 48 also serves to adjust the height of the Gutaufnehmers 20 above the ground, or for adjusting the contact pressure of the support wheels 38 on the ground. For Gutaufnehmer 20 includes a discharge conveyor 36 in the form of a screw conveyor, which promotes the recorded Good from the sides of Gutaufnehmers 20 to a located in the middle, not shown discharge opening, behind which the intake conveyor 42 follows. The Gutaufnehmer 20 also has a, as well as the discharge conveyor 36, rotatably driven Aufnehmerrotor 34 which is disposed below the discharge conveyor 36 and with its feed tines the
    Lifting well from the ground to hand it to the discharge conveyor 36. In addition, a holding-down device 40 in the form of a sheet arranged above the pickup rotor 34 is fastened to the frame 32.
    In the following, directional details, such as laterally, downwardly and upwardly, refer to the forward movement direction V of the crop receiver 20, which extends to the left in FIGS. 1 and 2.
    FIG. 2 shows details of the intake conveyor 42 and the chopper drum 22 arranged in the intake housing 52. The intake conveyor 42 includes two front pre-press rollers 54, 56, which cause a pre-compression of the incoming crop at A crop. A homogeneous compaction and continuation of the crop then takes place between the two rear pre-press rollers 58, 60, which have a variable distance d to each other.
    The rear lower pre-press roller 60 is fixedly mounted while the shaft of the rear upper pre-press roller 58 is guided in lateral slots 62. At the two ends of the rear upper Prepresswalze 20 each a non-co-rotating flange 64 is arranged. The two flanges 64 carry a transverse strut 66 parallel to the pre-press roller 58, which moves up and down with the pre-press roller 58 and whose ends are likewise guided in the lateral slots 62. The rear upper pre-press roller 58 can move substantially vertically between a lower stop and an upper stop 68. The upper pre-compression rollers 54, 58 are biased in a conventional manner by the force of a spring and / or a hydraulic cylinder down, while the lower pre-compression rollers 56, 60 are rigidly mounted on the feeder housing 52.
    At the crossbar 66, a flow rate change sensor 70 is mounted. The throughput change sensor 70 is embodied here as an acceleration sensor and comprises a mass which can deflect against a spring force against an acting acceleration and whose position is detected. Such a sensor is described for example in DE 10 2011 007 843 A1. The flow rate change sensor 70 thus outputs a signal directly from the acceleration of the pre-press roller 58 transversely to the flow direction of the crop in the
    Feed conveyor 42 depends. This acceleration is a measure of the time derivative of the change in the thickness d of Erntegutmatte in the feed conveyor 42. Unlike shown in the drawing, instead of the rear Vorpresswalze 58, the front upper Vorpresswalze 54, which is also biased by spring down with the Throughput change sensor 70 may be connected. It would also be conceivable to mount both upper pre-press rollers 54, 58 together on a rocker and to detect their acceleration with the throughput change sensor 70.
    The rate of change sensor 70 could also be replaced by a sensor for detecting the position of one or both of the upper pre-press rollers 54, 58 (see EP 1 900 273 A2) whose output is time-differentiated one or two times, the rate change or its time derivative to evaluate.
    The evaluation device 78 is thus supplied via a line 76 from the flow rate change sensor 70, a signal that is related to the change over time of the throughput in a flow-through by crop channel (here: in the intake conveyor 42).
    Furthermore, the evaluation device 78 is connected via a line 74 to an output of a vibration sensor 72 which is mounted within the lower, front pre-press roller 56 at the axis thereof. The vibration sensor 72 may detect vibrations occurring upon impact of a foreign body on the shell of the pre-press roller 56, which vibrations are transmitted mechanically (via the shell, the bearings and the shaft) and / or the air to the vibration sensor 72. For the mechanical structure of a possible embodiment of the vibration sensor 72 reference is made to the disclosure of DE 10 2011 007 843 A1.
    The evaluation device 78 is connected to a device 80 for stopping the intake conveyor 42. This device 80 may include a disconnectable clutch in the drive train of the pre-compression rollers 54-60 and a pawl in a conventional manner, which is engageable to stop the feed conveyor 42 into engagement with a gear wheel drivingly connected to the pre-compression rollers 54-60. It would also be conceivable to hydraulically or electrically drive the pre-compression rollers 54-60 and to automatically stop or even reverse the drive by means of suitable valves or switching elements.
    FIG. 3 shows a flowchart according to which the evaluation device 78 proceeds during operation. After the start in step 100, a query is made in step 102 as to whether the signal of the vibration sensor 72 exceeds a threshold value. This threshold may be fixed or entered by an operator or may be higher by a certain percentage (e.g., 50%) than the average upward accelerations detected by the vibration sensor 72 over a particular period of time (e.g., 10 seconds). This results in an automatic adjustment of the threshold to the respective harvest conditions. If the result of step 102 is negative, this step follows again, otherwise step 104.
    In step 104 it is queried whether the signal of the flow rate change sensor 70 exceeds a threshold within a time window after the response of the vibration sensor 72. This threshold may be fixed or entered by an operator or may be higher by a certain percentage (e.g., 50%) than the average upward accelerations detected by the flow rate sensor 70 over a particular period of time (e.g., 10 seconds). This results in an automatic adjustment of the threshold to the respective harvest conditions.
    The time window is to ensure that the signals of the vibration sensor 72 and the flow rate change sensor 72 are assigned to one and the same foreign body. The time size of this window depends on the respective speed of the crop in the infeed conveyor 42 and the distance between the lower pre-press roller 54 at which impacting foreign bodies trigger detectable vibrations by the vibration sensor 72 and the rear upper pre-press roller 58 at which the flow rate change sensor 70 with the Crop cooperates, as well as the respective reaction times of the flow rate change sensor 70 and the vibration sensor 72 from. The reaction times and the distances are known or can be determined by experiments and the speed of the crop in the intake conveyor 42 can be determined by the speed of the pre-press rollers 54 to 60, which with a
    Speed sensor 82 can be measured.
    Thus, the time window in step 104 opens slightly (e.g., several tens of milliseconds) earlier than would be expected upon detection of a foreign object by the vibration sensor 72, a signal from the rate of change sensor 70, and closes slightly (e.g., several tens of milliseconds) later. Only signals of the flow rate change sensor 70 incoming within this time window are taken into account, all others are ignored. If, within the window, the signal of the flow rate change sensor does not exceed the threshold value, step 102 follows again.
    Otherwise, it can be assumed that a foreign body has been detected. This is followed by step 106, in which the evaluation circuit 78 causes the means 80 for stopping the intake conveyor 42 to stop the latter, possibly because a foreign body has been picked up. In addition, the operator in the driver's cab 18 is informed of the response of the foreign object detection device by means of a suitable display and / or acoustic signal. The operator (or a corresponding automatic) can then initiate a reversing of the intake conveyor 42 and preferably of the crop receiver 20. After removal of the foreign body then follows again step 102.
    The evaluation circuit 78 and / or the means 80 for stopping the intake conveyor 42 may also be connected to a conventional metal detector (not shown) disposed in the pre-press roller 56 for detecting ferromagnetic materials.
    If the flow rate change sensor 70 were spatially located (e.g., on the header) to detect a foreign object ahead of the vibration sensor 72, steps 102 and 104 would have to be reversed. In step 104, the window would then have to be selected according to the then applicable distances and positions of the sensors 70, 72. Furthermore, it would be possible in each case to make one of the sensors (vibration sensor 72 and throughput change sensor 70) switchable by the operator in order to be able to react to particular harvesting conditions.
    权利要求:
    Claims (7)
    [1]
    claims
    A foreign matter detection device for an agricultural harvesting machine (10), comprising a flow rate change sensor (70) for detecting a variable associated with the change in throughput in a crop permeable channel and an evaluation device (78) associated with the flow rate change sensor (70) Generation of a signal value indicative of the reception of a foreign body, characterized in that the foreign body detection device further comprises a vibration sensor (72) for detecting vibrations arising on impact of a foreign body on a surface which is signal transmitting connected to the evaluation device (78), and the evaluation device (78) is set up to generate the signal value indicating the picking up of a foreign body on the basis of a temporal correlation between the signals of the throughput change sensor (70) and the signals of the vibration sensor (72) n.
    [2]
    2. debris detection device according to claim 1, wherein the throughput change sensor (70) arranged in the channel, driven or freely revolving conveyor roller (58) cooperates and detected their position, speed or acceleration transversely to Erntegutflussrichtung.
    [3]
    3. foreign body detection device according to one of the preceding claims, wherein the channel is associated with a feed conveyor (42) of the harvester (10).
    [4]
    4. Foreign body detection device according to one of the preceding claims, wherein the evaluation device (78) is connected to a device (80) for stopping a intake conveyor (42) of the harvesting machine (10).
    [5]
    5. foreign body detection device according to any one of the preceding claims, wherein the vibration sensor (72) within a conveyor roller (56) is arranged, whose lateral surface forms the surface on which impinging foreign bodies trigger vibrations that are detectable by the vibration sensor (72).
    [6]
    A foreign object detection device according to any one of the preceding claims, wherein the evaluation means (78) is arranged within a time window whose size depends on the respective speed of the crop in the channel and the distance between the surface on which impacting foreign bodies are impacted by the vibration sensor (72). trigger detectable oscillations, and the location at which the flow rate change sensor (70) interacts with the crop, and the respective response times of the flow rate sensor (70) and the vibration sensor (72), incoming signals of the flow rate change sensor (70) and the vibration sensor (72) Assign a single foreign body, if the signals of both sensors within the window each point to a detected foreign body.
    [7]
    7. harvesting machine (10), in particular forage harvester, with a foreign body detection device according to one of the preceding claims.
    类似技术:
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    同族专利:
    公开号 | 公开日
    DE102012223768A1|2014-06-26|
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    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    EP1731019A1|2005-06-10|2006-12-13|CNH Belgium N.V.|Acoustic stone detection for a feeder house on an agricultural combine.|
    EP1731020A1|2005-06-10|2006-12-13|CNH Belgium N.V.|Stone detection method and apparatus for a harvester|
    EP1900273A2|2006-09-08|2008-03-19|Deere & Company|Foreign body detection device for an agricultural harvester|
    DE102011007843A1|2011-04-21|2012-10-25|Deere & Company|Device for detecting a foreign body that has entered a harvester|
    DD247118A3|1985-10-04|1987-07-01|Fortschritt Veb K|FOREIGN BODY DETECTION DEVICE FOR AGRICULTURAL HARVEST MACHINES|
    US5504428A|1994-09-16|1996-04-02|Deere & Company|Magnetic metal detector mounted in a feed roll of a harvisting machine|DE102017204511A1|2017-03-17|2018-09-20|Deere & Company|Agricultural harvester for processing and conveying crop with a sensor assembly for detecting unwanted hazardous substances and ingredients in the crop|
    US11178818B2|2018-10-26|2021-11-23|Deere & Company|Harvesting machine control system with fill level processing based on yield data|
    US11240961B2|2018-10-26|2022-02-08|Deere & Company|Controlling a harvesting machine based on a geo-spatial representation indicating where the harvesting machine is likely to reach capacity|
    US11079725B2|2019-04-10|2021-08-03|Deere & Company|Machine control using real-time model|
    US11234366B2|2019-04-10|2022-02-01|Deere & Company|Image selection for machine control|
    US20220046852A1|2020-08-11|2022-02-17|Deere & Company|Mechanism for sensing vibration in conditioner rollers|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102012223768.2A|DE102012223768B4|2012-12-19|2012-12-19|Foreign body detection device for an agricultural harvester|
    DE122237682|2012-12-19|
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