• 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:
    collector height control system. A collector height control system with an operator input device is described. To select a desired offset height from an above-ground agricultural harvest collector, the system controls the agricultural harvest collector height based on at least one collector height control algorithm that is selected based on at least the desired travel height.
    公开号:BR102013020395B1
    申请号:R102013020395
    申请日:2013-08-09
    公开日:2019-08-27
    发明作者:L Wiltse Daniel；J Bollin Douglas；Bollin Sean
    申请人:Deere & Co；
    IPC主号:
    专利说明:

    [0001] This invention relates to circuits for controlling the height of above-ground agricultural harvesters as they travel through the crop harvest field.
    BACKGROUND OF THE INVENTION [0002] Agricultural harvesters are composed of a self-propelled agricultural harvesting vehicle often called a combination that supports an agricultural harvesting head also known as a collector. The collector separates the crop from the soil and drives it backwards through an opening in the collector. The crop is then sent to the agricultural harvest vehicle where it is threshed, separated and cleaned.
    [0003] For many crops, it is important that the collector moves very close to the ground, so that he collects all the crop being harvested. This is particularly important for crops, such as soybeans, which are small shrub-like plants only thirty or sixty centimeters (one or two feet) high. For crops like these, the collector is often positioned to crawl along the soil or bounce off the soil slightly to ensure it captures the entire crop. One of the dangers of operating a collector in this proximity to the ground is the risk of collision with the ground or of an obstruction in the ground and of being damaged.
    [0004] Other crops, like wheat or corn, are much higher. The growing parts of these plants are much higher in the air. To harvest these crops, the collector can be operated relatively high in the air, away from all obstructions. The risk of collision with the ground is limited and therefore the agricultural harvester can be operated at a higher travel speed across the field.
    [0005] Different control systems are used to control the height of the collector above the ground.
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    2/18 [0006] In a system, such as US2011 / 0154795, a height sensor that generates a signal that indicates the distance between the base of the collector and the ground and provides a feedback signal to control the height of the collector 104 If the height sensor shows that the collector is very close to the ground, a control circuit energizes actuators that raise the collector until the appropriate height is reached.
    [0007] In another system, the fluid pressure in the hydraulic or pneumatic elements that support the collector, and raise and lower it, is monitored. When this pressure decreases, it indicates that the collector is colliding with the ground. Then, a control circuit raises the collector until the pressure returns to its nominal value, which indicates that the collector is being supported above the ground.
    [0008] None of these control systems is sufficient to control the height of the collector over a wide range of collector heights.
    [0009] What is needed is a control system that will provide more precise control of the height of the collector in a wider range of height definitions.
    [00010] The invention described in claim 1 of this application provides this benefit. The other arrangements described in the dependent claims provide additional advantages which are discussed below.
    SUMMARY OF THE INVENTION [00011] In accordance with one aspect of the invention, a collector height control circuit is provided with an agricultural collector further comprising a self-propelled harvest vehicle and an agricultural harvest head supported on the self-propelled harvest vehicle; an ECU; at least one height sensor coupled to the ECU to provide a signal to the ECU indicative of a collection height above the ground; at least one load sensor coupled to the ECU to provide a signal to the ECU indicative of a load applied to the collector; and an operator input device coupled to the ECU configured to generate a signal indicating a desired height of
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    3/18 collector path above ground when manipulated by the operator; and at least one collector support arranged to change the height of the agricultural harvest head in relation to the self-propelled harvesting vehicle, said at least one collector support being coupled to the ECU so that the ECU can drive at least one collector support to raise and lower the agricultural harvest head in relation to the self-propelled harvest vehicle; and that the ECU is configured to (a) read the operator input device and input the signal indicating the desired height of the path from there, (b) select between a first collector height control algorithm and a second algorithm collector height control based on the value of the signal indicating the desired travel height, and (c) activate at least one collector support for the desired travel height using the first and second height control algorithms.
    [00012] The first collector height control algorithm can be associated with the first plurality of desired height heights selectable by the operator, and the second collector height control algorithm can be associated with the second plurality of desired height heights selectable by the operator.
    [00013] The first plurality of desired travel heights selectable by the operator may be greater than the second plurality of desired travel heights selectable by the operator.
    [00014] The first collector height control algorithm can be at least responsive to a height error signal.
    [00015] The ECU can derive the height error signal by calculating a difference between the signal indicating the desired travel height and a collector height indicated by at least one height sensor.
    [00016] The first collector height control algorithm can also be responsive to a load error signal, and in addition the ECU calculates the load error signal based on a difference between the indicative signal of
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    4/18 a load applied by the collector and a reference load signal derived by the ECU from a sequence of signals in time from at least one load sensor.
    [00017] The second collector height control algorithm can be responsive to a load error signal.
    [00018] The ECU can derive the load error signal by calculating a difference between a reference load value and a collector load indicated by at least one load sensor.
    [00019] The ECU can calculate the reference load by averaging a sequence over time of load signals taken from at least one load sensor.
    [00020] The ECU can calculate the reference load value by selecting the reference load value from a predetermined load value and a second predetermined load value, and that the second predetermined load value is indicative of a signal received from the hair less a load sensor when operating at substantially its lowest operating height when traveling through plantation harvest crops.
    [00021] The ECU can be configured to (a) read the operator's input device and enter the signal indicating the desired path height through them, (b) select between a first collector height control algorithm, a second collector height control algorithm, and a third collector height control algorithm based on the value of the signal indicating the desired travel height using the algorithm selected from the first collector height control algorithm, from the second control height algorithm collector height, or the third collector height control algorithm.
    [00022] The first collector height control algorithm can be associated with a first plurality of desired height heights selectable by the operator, wherein the second collector height control algorithm is associated with a second plurality of desired height heights
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    5/18 selectable by the operator, and that the third collector height control algorithm is associated with a third plurality of desired path heights selectable by the operator.
    [00023] The first plurality of desired travel heights selectable by the operator can be greater than the second plurality of desired travel heights selectable by the operator, and the second plurality of desired travel heights selectable by the operator can be greater than the third plurality of desired travel heights selectable by the operator.
    [00024] The first collector height control algorithm can be predominantly responsive to a height error signal, whereas the second collector height control algorithm can be predominantly responsive to a height error signal and an error signal load, and that the third collector height control algorithm is predominantly responsive to a load error signal.
    [00025] The height error signal can be derived from a difference between a desired travel height selected by the collector operator and the signal indicating a height of the collector provided by at least one height sensor.
    [00026] The load error signal can be derived from a difference between a reference load value and the signal indicating a load applied by the collector.
    [00027] The first collector height control algorithm may not be derived from a collector load error, and the third collector height control algorithm may not be derived from a collector height error.
    BRIEF DESCRIPTION OF THE DRAWINGS [00028] Figure 1 is a plan view of an agricultural harvester according to the present invention.
    [00029] Figure 2 is a side view of the agricultural harvester in figure 1. [00030] Figure 3 is a schematic representation of a circuit for controlling the height of the collector with the agricultural harvester in figures 1-2.
    [00031] Figure 4 is a flow chart of the operation of the circuit
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    6/18 collector height control in figure 3.
    DETAILED DESCRIPTION [00032] In figures 1 and 2, an agricultural harvester 100 is shown which comprises a self-propelled harvesting vehicle 102 to which a feeder housing 103 is attached and extends in front of it. An agricultural harvest collector (here called a collector) 104 is supported in the feeder housing. Collector 104 has a cutter bar 106 arranged substantially across the entire front edge of collector 104. This cutter bar 106 separates the plants from the crop at their roots, causing the plants to fall back onto conveyor belts 108 that lead the cultivation backwards through an opening 110 in the frame 112 of the collector 104. The separate cultivation plants are deposited in a conveyor arranged inside the feeder housing 103 which transports them backwards into the self-propelled harvesting vehicle 102. Once in the Inside vehicle 102, the crop plants are threshed, separated and cleaned.
    [00033] Height sensors 114,116 are arranged on each opposite side end of the collector 104. These sensors are supported on cultivation dividers 118, 120 arranged on each end of the collector 104. Each of these sensors has a sensor arm 122 that rests on the ground. As the collector 104 moves across the field, and the collector 104 rises and falls in relation to the ground, the sensor arms pivot up and down at their rear ends, rotating a sensor element 124 that generates a mutable indicative signal of the height change of the collector 104 above the ground.
    [00034] Two measuring wheels 126, 128 are arranged on each side of the collector 104 to assist in the support of the collector 104 as it travels through the field. These measuring wheels 126, 128 are supported for rotation on floating pivot arms 130, 132. Floating pivot arms 130, 132 are supported on frame 112 to pivot in relation to this in
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    7/18 front ends of the floating arms 130, 132. Each floating arm has a sensor element 134 that senses the pivot of the floating arms in relation to the frame 112 of the collector 104. Thus, as the collector 104 rises and falls as it moves over the ground, the measuring wheels 126, 128 remain in contact with the ground. The floating arms 130, 132 thus pivot up and down to maintain this contact with the ground of the measuring wheels 126, 128. This pivoting causes the sensor elements 134 on each floating arm to generate a changeable signal. The sign indicates the height of the collector 104 above the ground. Therefore, the sensor elements 134 function as height sensors that indicate the height of the collector 104.
    [00035] Support cylinders 136, 138 are coupled between the frame 112 of the collector 104 and the floating pivot arms 130, 132 to apply downward pressure on the floating pivot arms 130, 132 and thus at least partially support the weight of the collector 104 on the measuring wheels 126, 128. Support cylinders 136, 138 are typically hydraulic cylinders coupled to one or more gas-charged accumulators 140. This arrangement works collectively as a spring support on each of the measuring wheels 126, 128 to at least partially support the weight of the collector 104 in some modes of operation. Figure 2 shows the arrangement of the measuring wheel 128, the support cylinder 138, the floating arm 132 and the sensor element 134 on the right side of the collector 104. The arrangement on the left side of the collector 104 is identical, but in the form of a mirror image. .
    [00036] Collector supports 142, 144 (incorporated here as hydraulic cylinders) are arranged between the chassis of the self-propelled harvesting vehicle 102 and the feeder housing 103 to support the front end of the feeder housing 103. The rear end of the feeder housing 103 it is attached to a pivot on the chassis of the self-propelled harvesting vehicle 102. As the collector supports 142, 144 increase and decrease in length (for example, the cylinders
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    8/18 extend and retract), the front end of the feeder housing pivots up and down around the pivot geometry axis 146 defined by the pivot connection at the rear of the feeder housing
    103 on the chassis of the self-propelled harvesting vehicle 102. Since the weight of the collector 104 is supported in the feeder housing, and since the feeder housing is supported by the collector supports 142, 144, the pressure of the hydraulic fluid in the collector supports 142, 144 is indicative of the weight of the collector 104. If the collector 104 is lowered slowly, gradually transferring its weight to the ground (by releasing hydraulic fluid from the collector supports 142, 144), the pressure in the collector supports 142, 144 it will gradually drop to zero, since the full weight of the collector 104 ultimately rests on the ground.
    [00037] In figure 3, an electronic control unit (ECU) 148 is coupled to the sensor elements 124 and the sensor elements 134. The sensor elements 124 indicate the height of the collector 104 at opposite ends of the collector 104. The sensor elements 134 indicate the height of the collector
    104 on the measuring wheels 126, 128. A load sensor 150 (shown here as a hydraulic pressure sensor) is coupled to the hydraulic circuit that extends and retracts the collector supports 142, 144. The load sensor 150 generates a signal indicative of the pressure in the collector supports 142, 144. Therefore, the sign also indicates the part of the weight of the collector 104 that is supported in the feeder housing. Alternatively, the load sensor may be a strain gauge coupled to a load-bearing element of the combined, feeder housing or collector 104 which similarly indicates the load of collector 104 in the feeder housing.
    [00038] For a typical collector that moves close to the ground (that is, at a very low collector height setting, for example, 5 cm or less), a sudden and sharp decrease in load (indicated by a load sensor , such as the load sensor 150) is almost always due to a
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    9/18 collector collision with the ground. When this occurs, the collector must be immediately raised to prevent damage to the collector.
    [00039] For a typical collector moving across the field with a collector height significantly above the ground (that is, when there is 10-20 centimeters of space between the alternating knife 106 and the ground surface), it is highly unlikely that a fluctuation in the load is due to a collision with the ground. This is particularly true if the sensor elements 124, 134 indicate that the collector is significantly above the ground. In such a case, strong immediate action does not need to be taken to raise the collector in the air and away from the ground.
    [00040] ECU 148 is configured to control the height of the collector 104 above the ground by varying the amount of hydraulic fluid in the collector supports 142, 144. To raise the collector 104, hydraulic fluid is inserted into the cylinder side of the collector 142, 144. To lower the collector 104, hydraulic fluid is removed from the cylinder side of the collector brackets 142, 144.
    [00041] A hydraulic pump 152 is arranged in the self-propelled harvesting vehicle 102 and is driven by the engine of this vehicle. The hydraulic pump 152 receives hydraulic fluid from a reservoir of hydraulic fluid 154. It applies hydraulic fluid under pressure in a pipe 156.
    [00042] Valve 158 is controlled by ECU 148 both to drive hydraulic fluid under pressure from hydraulic pump 152 into the cylinder side of manifold supports 142, 144, to keep valve 158 closed and to keep hydraulic fluid in the support manifold 142, 144, and to release hydraulic fluid under pressure from the cylinder side of the manifold supports 142, 144 back to the hydraulic fluid reservoir 154. In the first of these modes, it extends the manifold supports 142, 144, pivoting the feeder housing 103 upwards and raising the collector 104 supported in the feeder housing. In the third of these modes, it retracts the
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    10/18 collector 142, 144, pivoting the feeder housing 103 downwards, thereby lowering the collector 104 closer to the ground.
    [00043] ECU 148 applies a control signal to valve 158 via signal line 160. A valve driver circuit or other signal conditioning circuit can be provided between ECU 148 and valve 158 to amplify and / or condition the signal in relation to valve 158.
    [00044] ECU 148 comprises a digital microprocessor, electronic memory circuits (for example, ROM) that store instructions for the digital controller or microprocessor, and a working memory (for example, RAM) to temporarily store sensor signal values and various computations performed by the digital microprocessor. The ECU 148 illustrated here can be a single digital microprocessor with associated memory, or it can comprise a plurality of digital microprocessors (with memory) coupled together via communications media, such as a controller area network, an area network site, wide area network or an Internet cloud. In the event that ECU 148 comprises a plurality of digital microprocessors, the functions described here that are performed by ECU 148 can be divided between each of the plurality of digital electronic controllers, in such a way that each of the plurality of digital electronic controllers performs a subset of the functions described here.
    [00045] An operator input device 162 is provided in the operator's cabin of the self-propelled harvesting vehicle 102. The operator input device 162 is coupled to ECU 148 to allow the operator to enter a desired height of the collector 104 above the ground in which the ECU 148 must hold the collector 104. The operator input device can be any of a variety of input devices, such as buttons, keypads, touch screens, levers or levers. Whatever the particular arrangement of the operator input device
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    11/18
    162, its function is to generate a signal in response to operator input that operator input device 162 then transmits to ECU 148.
    [00046] Figure 4 shows the programmed steps performed by ECU 148 as it controls the height of the collector. ECU 148 is programmed to perform these programmed steps repeatedly every 5 - 100 milliseconds during travel through the crop harvest field.
    [00047] At the start of the control loop, ECU 148 reads the sensor elements in step 164, including the sensor elements 124, the sensor elements 134 and the load sensor 150. These values are stored for later use in the control algorithm of the height of the collector, in step 168.
    [00048] In step 166, ECU 148 reads the operator input device to determine the height of the collector 104 above the ground desired by the operator. This value is stored for later use in the collector height control algorithm, in step 168.
    [00049] In step 168, ECU 148 calculates the control signal that it will apply to valve 158 in order to drive manifold 104 to the desired height.
    [00050] In step 170, after calculating the control signal in step 168, ECU 148 applies the control signal that it has just calculated in valve 158 to both raise and lower the collector 104 closer to the desired height.
    [00051] The steps of figure 4 are carried out continuously and repetitively while the agricultural harvester 100 is in operation, moving through the crop harvest field.
    [00052] To calculate the control signal, in step 168, first, ECU 148 determines which algorithm it will use to control the height of the collector 104. The algorithm is selected, at least in part, based on the height of the collector 104 above desired ground level (which the operator selects using operator input device 162 in step 166).
    [00053] ECU 148 compares the desired height with at least one value
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    12/18 of predetermined height stored in the memory circuits of ECU 148. If the desired height is above the predetermined height value, then ECU 148 performs a first collector height control algorithm to control the height of the collector 104. If the desired height is below the predetermined height value, then ECU 148 performs a second collector height control algorithm to control the height of the collector 104.
    [00054] In one embodiment, ECU 148 compares the desired height with two height values, an upper height value and a lower (that is, lower) height value. If the desired height is above the upper height value, ECU 148 selects a first control algorithm. If the desired height is below the upper height value and above the lower height value, ECU 148 selects a second control algorithm. If the desired height value is below the lower height value, ECU 148 selects a third control algorithm.
    [00055] Therefore, the two desired height values divide the total range of operating heights into three desired height zones: a high zone in which the ECU 148 controls the height of the collector using a first algorithm, a low zone in which the ECU 148 controls the height of the collector using a third algorithm and an intermediate zone between the high and low zones, where the ECU 148 controls the height of the collector using a second algorithm.
    [00056] The first algorithm depends, primarily, on the signals of the height of the collector provided by the sensor elements 124 or 134. The second algorithm depends, primarily on the signals of the height of the collector provided by the sensor elements 124, 134, but also on the load signal provided by load sensor 150 to prevent collisions with the ground. The third algorithm depends, primarily, on the load signal provided by the load sensor 150.
    THE FIRST ALGORITHM [00057] In the first algorithm, ECU 148 calculates the difference between the height signals from one or more of the sensor elements 124, 134
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    13/18 and the desired height value to determine a height error signal. The ECU 148 then processes the height error signal using a first control function (for example, a P, PD, PID or PI function) to generate a valve control signal that the ECU 148 then applies (on step 170) on valve 158. This valve control signal is based exclusively on the height of the collector 104 above the ground. The control function coefficients will vary based on the dynamics of the second algorithm.
    THE SECOND ALGORITHM [00058] In the second algorithm, the height of the collector is controlled based primarily on both the height of the collector and the load signal.
    [00059] ECU 148 calculates a first partial control signal from the valve based on the height of the collector. The ECU 148 then calculates a second partial control signal from the valve based on the manifold load. The ECU 148 then combines the two to make a complete control signal from the valve. Then, ECU 148 applies this complete valve control signal to valve 158 in step 170.
    [00060] ECU 148 calculates the first partial control signal of the valve in a substantially equal way it calculates the valve control signal in the first exposed algorithm: calculating a height error and then processing it using a second control function ( which is preferably the same as the first control function).
    [00061] ECU 148 calculates the second partial control signal from the valve by determining a charge signal error and processing the charge signal error using a third control function (for example, a P, PD, PID function or PI).
    [00062] ECU 148 calculates the load signal error by subtracting a reference load value from a load signal (which ECU 148 reads from the load sensor 150, in step 164). ECU 148 calculates the reference load value by low pass filtering for a time sequence of
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    14/18 signals from previous readings of ECU 148 of load sensor 150. This reference load value is a uniform or time-weighted load signal and indicates (in physical terms) the average load applied by the collector 104 in the feeder housing. It is likely that any sudden or extreme changes in the instantaneous load (read from the sensor 150) in relation to this reference load value are due to the collector 104 colliding with the ground and the very fast drop of the load signal as that the weight is transferred from the feeder housing to the ground.
    [00063] In physical terms, therefore, the second partial control signal of the valve is a response to the occasional collision of collector 104 with the ground. The parameters of its control function are selected to provide a fast and strong excursion of the collector 104 upwards whenever the load signal indicates that the collector 104 has hit the ground. In summary, the second partial control signal from the valve provides a great upward force that serves to knock the collector off the ground to prevent significant injury to the collector.
    [00064] Once the collision has ended, the load signal measured by the load sensor 150 will resume close to the reference load value (ie the average time value), the second valve partial control signal will drop close to zero and the second algorithm resumes again for a predominant height control based on the height of the collector (ie, the system resumes for height correction based on the first partial control signal from the valve).
    THE THIRD ALGORITHM [00065] In the third algorithm, the height of the collector is controlled based, primarily, on the load signal. The load signal is an indicator of how much weight of the collector is carried by the feeder housing, and by inversion, how much weight of the collector is carried on the ground. For low collector heights, such as 0-30 mm, a part of the collector 104 is resting lightly on the ground at all times and is gliding smoothly
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    15/18 along the surface of the soil without diving down and getting deeply embedded in the soil. Thus, when the collector 104 is set at a height of approximately 0 - 30 mm, parts of the collector 104 are actually running smoothly along the ground, and therefore a part of the collector's weight is resting on the ground.
    [00066] As a result, the load signal generated by the load sensor 150 indicates a gradually decreasing load as the collector 104 is lowered these last 30 mm (approximately), until the collector 104 rests completely on the ground. The collector 104 cannot be operated with a zero load indicated by the load sensor 150. A zero load indicated by the load sensor 150 occurs when the full (or substantially full) of the weight of the collector 104 is resting on the ground. Any forward movement when the entire weight of the collector 104 is resting on the ground will immediately and substantially damage the collector 104.
    [00067] Therefore, during normal operations, a substantial amount of the weight of the collector must be carried in the feeder housing and, thus, the load sensor must indicate a substantially non-zero load at all times during the operation.
    [00068] In the third algorithm, ECU 148 controls the height of the collector 104 based, substantially or exclusively, on the collector load applied to the feeder housing.
    [00069] First, ECU 148 calculates a reference load value based on the desired height, then calculates a load signal error by subtracting the reference load value from the load signal provided by the load sensor 150. Then , ECU 148 processes the load signal error using a first control function (for example, a P, PD, PID or PI function) to generate a valve control signal. Then, ECU 148 applies (in step 170) this valve control signal to valve 158. This valve control signal is based on the load that collector 104 applies to the
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    16/18 feeder housing 103. The load that the collector 104 applies to the feeder housing 103 also indicates the load that the collector 104 applies to the ground, since the sum of the load applied by the collector 104 (1) to the feeder housing; and (2) on the ground; is, in general, equal to the weight of the collector 104.
    [00070] If the operator selects a desired height, which is the minimum possible height selectable by the operator, in step 166, ECU 148 will select a reference load value equal to the value generated by the load sensor 150 when the collector 104 is applying its maximum operating weight on the ground (and while it is still being substantially supported by feeder housing 103). Typically, this maximum operating weight on the ground will be in the range of 90 - 227 kilograms (200 - 500 pounds) of the collector's weight on the ground. This reference load value is the minimum possible load value at which the collector 104 can be operated.
    [00071] If the operator selects a desired height that is the maximum desired height possible for use in real harvest, while still remaining in the desired height range for which the third algorithm is used, in step 166, ECU 148 will select a value reference load equal to the load signal generated by the load sensor 150 when the collector 104 is fully supported by the feeder housing 103. One way of determining this reference load value is by using the previously calculated reference load value in the second algorithm (and described above) by the low pass filtering of a time sequence of the signals from previous readings of the ECU 148 of the load sensor 150. This reference load value is the maximum possible load value for the third algorithm.
    [00072] If the operator selects a desired height between these two desired heights (the minimum selectable height in the low zone and the maximum selectable height in the low zone), the ECU 148 will calculate a reference load value for the third algorithm which is proportionally scaled between the minimum possible load value and the maximum possible load value for the
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    17/18 third algorithm.
    [00073] Thus, at the maximum height selectable in the low zone, the feeder housing 103 will substantially support the entire weight of the collector 104. At the minimum height selectable in the low zone, the soil will support the maximum weight of the collector possible without damaging the collector 104. At all intermediate heights selectable in the low zone, the ECU 148 will scale the amount of weight supported by the feeder housing proportionally between these two reference loads.
    [00074] Many modifications and other modalities of the inventions presented here will come to the mind of those skilled in the art to which these inventions refer with the benefit of the precepts presented in the exposed descriptions and in the associated drawings. Inventions are not limited to the specific modalities disclosed. Modifications and other modalities are included in the scope of the attached claims. Different combinations of elements and / or functions can be provided by alternative modalities other than those described above, and will still be covered by the claims. Although specific terms are used here, they are used in a generic and descriptive sense only, and not for purposes of limitation.
    [00075] For example, in the exposed description, the first algorithm depended entirely on the height of the collector and was responsive to the feedback provided only by the height sensors. It is possible to add other feedback control functions based on other physical parameters, including the load of the collector in the feeder housing or on the ground, provided that the control function based on the height of the collector above the ground predominates.
    [00076] As another example, in the description described, the third algorithm depends entirely on the collector load in the feeder housing (which, considered from a different perspective, is the inverse of the collector load applied to the ground). It is possible to add other feedback control functions based on other physical parameters,
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    18/18 including the height of the collector above the ground, provided that the control function based on the load of the collector predominates.
    [00077] As another example, three different algorithms that are used for the full height control range of the collector are described above. Instead of three height bands (or three zones), one of these zones and one of these algorithms can be omitted. For example, the full range of the collector height control system can be divided into a high zone and a low zone, with the first algorithm or second algorithm used for the high zone and the second or third algorithm, respectively , used for the low zone. Alternatively, the high zone can use the first algorithm and the low zone can use the third algorithm. When using the first and third algorithms, ECU 148 can be programmed to calculate a reference load during height control in the high zone, and this reference load can be used as an initial reference load when the operator subsequently selects a desired height in the low zone.
    [00078] As yet another example, the second algorithm can be used for the top and the third algorithm can be used for the bottom.
    [00079] In another arrangement, one or more of the signals provided by height sensors 124, 134 can be combined by ECU 148 (such as by averaging) to provide a resulting height signal that is used in the control algorithm of the collector height, as exposed. Alternatively, ECU 148 can be configured to dynamically select one of the height sensors 124, 134 based on a predetermined criterion. The predetermined criterion may be to select the signal from the height sensor that shows the lowest height above the ground. In this way, ECU 148 can guarantee that each part of the collector 104 is kept at a certain minimum distance above the ground.
    权利要求:
    Claims (13)
    [1]
    1. Collector height control system, comprising:
    an agricultural harvester (100) which further comprises a self-propelled harvest vehicle (102) and an agricultural harvest collector (104) supported on said self-propelled agricultural vehicle;
    an ECU (148);
    at least one height sensor (124, 134) coupled to the ECU (148) to provide a signal to the ECU (148) indicative of a height of the collector (104) above the ground;
    at least one load sensor (150) coupled to the ECU (148) to provide a signal to the ECU (148) indicative of a load applied by the collector (104);
    an operator input device (162) coupled to the ECU (148) configured to generate a signal indicating a desired collector travel height (104) above the ground when manipulated by the operator; and at least one collector support (142, 144) arranged to change the height of the agricultural harvesting collector (104) in relation to the self-propelled harvesting vehicle (102), said at least one collector support (142, 144) being coupled to the ECU (148) in such a way that the ECU (148) can guide at least one collector support (142, 144) to raise and lower the agricultural harvesting collector (104) in relation to the self-propelled harvesting vehicle ( 102);
    where the ECU (148) is configured to (a) read the operator input device (162) and insert the signal indicating the desired travel height from there, (b) select between a first collector height control algorithm and a second collector height control algorithm based on the value of the signal indicating the desired travel height, and (c) conducting at least one collector support
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    [2]
    2/5 (142, 144) to the desired travel height using the first or second selected height control algorithms, characterized by the fact that:
    the first collector height control algorithm is predominantly responsive to a height error signal, where the second collector height control algorithm is predominantly responsive to a height error signal and a load error signal, and where the third collector height control algorithm is predominantly responsive to a load error signal;
    the height error signal is derived from a difference between a desired collector offset height selected by the operator and the signal indicating a collector height (104) provided by at least one height sensor (124,134); and, the load error signal is derived from a difference between a reference load value and the signal indicating a load applied by the collector (104) indicated by the load sensor (150).
    2. Collector height control system according to claim 1, characterized by the fact that the first collector height control algorithm is associated with a first plurality of desired displacement heights selectable by the operator, and the second Collector height control is associated with a second plurality of desired travel heights selectable by the operator.
    [3]
    Collector height control system according to claim 2, characterized by the fact that the first plurality of desired travel heights selectable by the operator are greater than the second plurality of desired travel heights selectable by the operator.
    [4]
    4. Collector height control system according to claim 3, characterized by the fact that the first
    Petition 870190070721, of 7/24/2019, p. 26/30
    3/5 collector height control is at least responsive to a height error signal.
    [5]
    5. Collector height control system according to claim 4, characterized by the fact that the ECU (148) derives the height error signal by calculating a difference between the signal indicating the desired travel height and a height of the collector indicated by at least one height sensor (124, 134).
    [6]
    6. Collector height control system according to claim 5, characterized by the fact that the first collector height control algorithm is also responsive to a load error signal, and in addition to that the ECU (148) calculates the load error signal based on a difference between the signal indicating a load applied by the collector and a reference load signal derived by the ECU (148) from a time sequence of signals from at least one sensor loading (150).
    [7]
    7. Collector height control system according to claim 4, characterized by the fact that the second collector height control algorithm is at least responsive to a load error signal.
    [8]
    8. Collector height control system according to claim 7, characterized by the fact that the ECU (148) derives the load error signal by calculating a difference between a reference load value and a collector load indicated by at least one load sensor (150).
    [9]
    9. Collector height control system according to claim 8, characterized by the fact that the ECU (148) calculates the reference load value by calculating the average of a time sequence of the load signals taken from the at least one load sensor (150).
    [10]
    10. Collector height control system according to claim 9, characterized by the fact that the ECU (148) calculates the reference load value by selecting the reference load value from among
    Petition 870190070721, of 7/24/2019, p. 27/30
    4/5 predetermined load value and a second predetermined load value, where the second predetermined load value is indicative of a signal received from at least one load sensor (150) when it is operating at its lowest operating height while traveling through the crop harvest field.
    [11]
    11. Collector height control system according to claim 1, characterized by the fact that the ECU (148) is configured to (a) read the operator's input device (162) and insert the signal indicating the height of the desired displacement from there, (b) select between a first collector height control algorithm, a second collector height control algorithm and a third collector height control algorithm based on the value of the signal indicating the height of desired displacement, and (c) driving the at least one collector support (142, 144) to the desired displacement height using the collector height control algorithm selected from the first collector height control algorithm, the second collector height control or the third collector height control algorithm.
    [12]
    12. Collector height control system according to claim 11, characterized by the fact that the first collector height control algorithm is associated with a first plurality of desired displacement heights selectable by the operator, in which the second algorithm collector height control is associated with a second plurality of desired travel heights selectable by the operator and wherein the third collector height control algorithm is associated with a third plurality of desired travel heights selectable by the operator.
    [13]
    13. Collector height control system according to claim 12, characterized by the fact that the first plurality of desired travel heights selectable by the operator are greater than the second
    Petition 870190070721, of 7/24/2019, p. 28/30
    5/5 plurality of desired travel heights selectable by the operator, and wherein in addition the second plurality of desired travel heights selectable by the operator are greater than the third plurality of desired travel heights selectable by the operator.
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    同族专利:
    公开号 | 公开日
    EA201300816A1|2014-02-28|
    AU2013213746B2|2017-06-01|
    EP2695511A1|2014-02-12|
    US20140041351A1|2014-02-13|
    AU2013213746A1|2014-02-27|
    EA027650B1|2017-08-31|
    US9148998B2|2015-10-06|
    EP2695511B1|2016-05-18|
    CA2823199C|2020-07-07|
    CA2823199A1|2014-02-11|
    BR102013020395A2|2015-01-06|
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    法律状态:
    2015-01-06| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-03-06| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2018-03-13| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2018-03-20| B06I| Technical and formal requirements: publication cancelled|Free format text: ANULADA A PUBLICACAO CODIGO 6.6.1 NA RPI NO 2462 DE 13/03/2018 POR TER SIDO INDEVIDA. |
    2019-04-30| B07A| Technical examination (opinion): publication of technical examination (opinion)|
    2019-08-13| B09A| Decision: intention to grant|
    2019-08-27| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 09/08/2013, OBSERVADAS AS CONDICOES LEGAIS. (CO) 20 (VINTE) ANOS CONTADOS A PARTIR DE 09/08/2013, OBSERVADAS AS CONDICOES LEGAIS |
    优先权:
    申请号 | 申请日 | 专利标题
    US13/572,630|US9148998B2|2012-08-11|2012-08-11|Header height control system|
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