• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    METHOD FOR AUTOMATICALLY TUNING AN AGRICULTURAL COMBINATION. A method for automatically adjusting an agricultural combination (100) comprises the steps of: receiving (304) a signal from an agricultural combination operator (100) indicating that the current operation of the agricultural combination (100) is an acceptable operation ; determine (306) the current performance parameters of the agricultural mix after the reception stage; calculate (310) a performance parameter error limit for each of the current performance parameters in the determination step; again determine (312) current performance parameters; compare (314) the again determined current performance parameters with the performance parameter error limits to thereby determine whether one or more of the again determined current performance parameters falls outside its associated performance parameter error limit; and if at least one of the current again determined performance parameters falls outside its associated performance parameter error limit, then calculate (316) changes to combined agricultural machine definitions (100) that will bring at least one of certain current performance parameters back within its associated performance parameter error limit.
    公开号:BR102015024355B1
    申请号:R102015024355-3
    申请日:2015-09-22
    公开日:2020-11-03
    发明作者:Cameron R. Mott；Aaron J. Bruns；Timothy S. Hunt；Bhanu Kiran Reddy Palla；Anja Eggerl
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    Field of the Invention
    [001] The invention relates to agricultural combinations. More particularly, the invention relates to the automatic tuning of agricultural combinations. Foundations
    [002] Currently, machine optimization programs for harvesters require a significant amount of input from the operator.
    [003] For example, in US8406964 B2, the operator determines that the machine performance parameter is unsatisfactory (sub-ideal or not acceptable) and then manually steps through a machine optimization program, first identifying the condition ideal sub (grain loss, grain quality, high tailings, etc.) and then commanding the optimization program to determine which corrections would be appropriate to solve this problem. The optimization program then resumes with a list of possible solutions and asks the operator to select which one he would like the machine to implement (that is, which machine definition the operator would like to change to). The optimization program then causes the definition of the selected operator, waits for an interval for the system to stabilize, and then asks the operator if the new machine configuration has corrected the problem.
    [004] Likewise, in US 2014/0129048 Al, US 2012/0004812 Al, and US2014 / 0019018 the operator similarly identifies the unsatisfactory performance parameters of a machine to combine tuning systems and indicate to the system that he wants it for employ strategies to improve the machine's poor performance parameters.
    [005] In all these cases, the operator indicates areas of operation of the machine in which he wants improvement by interacting with an electronic display that shows several screens of sequential information.
    [006] This process takes considerable time. It requires significant interaction on the part of the driver. This prevents the operator from monitoring field operations and being aware of his surroundings while he is interacting with a machine optimization program.
    [007] What is needed is a system that will improve or maintain the performance of the combined with less operator interaction and distraction. It is an object of the present invention to provide such a system. Summary of the Invention
    [008] According to a first aspect of the invention, an automatic tuning system determines that an error condition (ie sub-optimal performance) exists, automatically selects an appropriate change in a machine setting, automatically applies the change, automatically waits for the system to stabilize and automatically decides whether the correction was sufficient or not, and if not, identifies an additional change in the machine settings to resolve the problem.
    [009] According to another aspect of the invention, a method for automatically tuning an agricultural combination is provided, comprising the steps of: receiving a signal from an agricultural combination operator indicating that the current operation of the agricultural combination operation is acceptable; determine the current performance parameters of the agricultural mix after the receiving stage; calculate a performance parameter error limit for each of the current determined performance parameters in the previous step; again determine current performance parameters; compare the current given performance parameters again with the performance parameter error limits to thereby determine whether one or more of the current again determined performance parameters falls outside its associated performance parameter error limit; and if at least one of the current performance parameters again determined falls outside its associated performance parameter error limit, as determined in the previous step, then calculate the changes in the machine definitions of the agricultural combination that will bring at least at least, one of the again determined current performance parameters back within the error limits of the associated performance parameter.
    [0010] The method can additionally comprise the step of determining the current machine settings before the step of calculating.
    [0011] Current performance parameters can comprise at least one of a group consisting of grain yield, grain quality, and grain loss.
    [0012] Current machine settings may comprise at least one in a group consisting of a rotor speed parameter, upper screen position, lower screen position, fan speed, vehicle speed, threshing gap, load of thresher, and height of the spigot.
    [0013] Current machine settings can be indicated by at least one in a group consisting of a rotor speed sensor, a threshing interstitial sensor, a grain yield sensor, a tailings sensor, a thresher load, a grain quality sensor, a straw quality sensor, a spike height sensor, a first shoe loss sensor, a second shoe loss sensor, a separator loss sensor and a mass flow from the feed chamber.
    [0014] The first shoe loss sensor can be placed on the left side of a cleaning shoe, and the second shoe loss sensor can be placed on the right side of the cleaning shoe.
    [0015] The step of comparing again certain current performance parameters with the error limits of performance parameters can also comprise the step of sequentially comparing each of the again determined current performance parameters with the error limit of the associated performance parameter, to thus determine sequentially whether each of the again determined current performance parameters falls outside its associated performance parameter error limit.
    [0016] According to another aspect of the invention, a method for automatically tuning an agricultural combination is provided comprising the steps of: transmitting an electronic signal to an ECU indicating that the current performance of the agricultural combination is acceptable; receive the electronic signal through the ECU; determine in the current ECU the performance parameters of the agricultural combination after the receiving stage; calculate in the ECU an error limit of performance parameters for each of the again determined current performance parameters in the previous step; again determine the ECU's current performance parameters; compare in the ECU the again determined current performance parameter with the error limits of performance parameters in order to determine if one or more of the current performance parameters again determined falls outside its associated performance parameter error limit; and if at least one of the current again determined performance parameters falls outside its associated performance parameter error limit in step "f, then calculating in the ECU the changes to the machine settings of the combined farm that will bring at least one again determined certain current performance parameters back within their associated performance parameter error limits.
    [0017] The ECU can comprise one or more ECUs connected together in a network.
    [0018] The method can additionally comprise a step of determining the settings of the current machine before the calculation step.
    [0019] Current performance parameters can comprise at least one of a group consisting of grain yield, grain quality, grain loss.
    [0020] Current machine definitions may comprise at least one of a group consisting of rotor speed, upper screen position, lower screen position, fan speed, vehicle speed, threshing gap, thresher load, and spigot height.
    [0021] Current machine settings can be indicated by at least one in a group consisting of an ECU-connected rotor speed sensor, an ECU-connected threshing sensor, an ECU-connected grain yield sensor , a tailing sensor connected to the ECU, a threshing load sensor connected to the ECU, a grain quality sensor connected to the ECU, a straw quality sensor connected to the ECU, a height sensor connected to the ECU, a first shoe loss sensor connected to the ECU, a second shoe loss sensor connected to the ECU, a separator loss sensor connected to the ECU and a mass flow sensor from the feed chamber connected to the ECU.
    [0022] The first shoe loss sensor can be placed on the left side of a cleaning shoe, and the second shoe loss sensor can be placed on the right side of the cleaning shoe.
    [0023] The step of comparing the current performance parameter in the ECU again determined with the error limits of performance parameters can additionally comprise the step of sequentially comparing each current performance parameter again determined with the error limits of associated performance parameters , so as to sequentially determine whether said current performance parameter again determined falls outside its associated performance parameter error limits. Brief Description of Drawings
    [0024] Figure 1 is a left side view of an agricultural harvester according to the present invention.
    [0025] Figure 2 is a schematic circuit diagram of a control system according to the present invention.
    [0026] Figure 3 is a flow chart of the control system according to the present invention. Detailed Description
    [0027] Referring to Figure 1, an agricultural harvester 100, shown here as an agricultural combine, comprises a chassis 102 that is supported on wheels 104 to be driven along the ground and harvesting crops. Wheels 104 can engage directly on the ground or they can drive endless caterpillars. A feed chamber 106 extends from the front of the agricultural harvester 100. The feed chamber lift cylinders 107 extend between the agricultural harvester chassis 100 and the feed chamber to raise and lower the feed chamber ( and therefore the top of the agricultural harvester 108) in relation to the soil. The top of the agricultural harvester 108 is supported in front of the feed chamber 106. When the agricultural harvester 100 operates, it carries the feed chamber 106 through the crop field of the harvester. The feed chamber 106 takes the crop collected from the top of the agricultural harvester 108 back and into the body of the agricultural harvester 100. Once inside the agricultural harvester 100, the cultivation is taken to the separator which comprises a rotor 110 which is cylindrical and a threshing basket or threshing basket 112.0 rotor 110 is driven in rotation by an internal combustion engine 114. The threshing basket 112 surrounds rotor 110 and is stationary. The cultivation material is taken to the intersection between the rotor 110 and the threshing basket 112 and is threshed and separated into a grain component and a MOG component (material other than grain).
    [0028] The MOG is carried back and released between the rotor 110 and the threshing basket 112. Then, it is received by a re-combine 116, where the rest of the grain kernels are released. The now separated MOG is released behind the vehicle to fall to the ground. A separator loss sensor 119 is arranged at the end of the rotor 110 and the threshing basket 112 to sense the amount of grain that has been carried to the rear of the separator.
    [0029] Most of the separated grains in the separator (and some of the MOG) fall down through holes in the threshing basket 112. From there, it falls into a cleaning shoe 118.
    [0030] The cleaning shoe 118 has two screens: an upper screen 120, and a lower screen 122. Fan 124 is provided at the front of the cleaning shoe to blow air into the back under the screens. This air passes up through the sieves and elevates glume, bark, stalk and other small particles of MOG (as well as a small portion of grain). The air carries this material back to the rear end of the screens. A 125 motor drives the 124 fan.
    [0031] Most of the grain entering the cleaning shoe 118, however, is not carried backwards, but passes down through the upper sieve 120, then through the lower sieve 122.
    [0032] From the material carried by the air from the fan 124 to the back of the sieves, the smallest MOG particles are blown out of the back of the combined. The larger particles of MOG and grains are not blown to the back of the combined, but fall from the cleaning shoe 118 and the shoe loss sensor 121 located on the left side of the cleaning system 118, which is configured to detect losses on the left side of the cleaning system 118, and on a shoe loss sensor 123 located on the right side of the cleaning shoe 118 and which is configured to detect shoe loss on the right side of the cleaning shoe 118.
    [0033] The shoe loss sensor 121 provides a signal that is indicative of the amount of material (which may include grains and mixed MOG) carried to the back of the cleaning shoe and falling on the left side of the cleaning shoe 118.
    [0034] The shoe loss sensor 123 provides a signal that is indicative of the amount of material (which may include mixed grains and MOG) carried to the back of the cleaning shoe when it falls off the right side of the cleaning shoe 118.
    [0035] A heavier material that is carried to the back of the upper sieve 120 and the lower sieve 122 falls over a pan and is then carried by gravity down into a auger chute 127. This more heavy is called "tailings" and is typically a mixture of grains and MOG.
    [0036] A tailings auger 129 is arranged on the auger chute 127 and carries the tailings to the right side of the combine 100 and a tailings lift 131. The tailings lift 131 carries the tailings upwards and deposits them on one end front of rotor 110 to be folded and separated.
    [0037] The grain that passes through the upper sieve 120 and the lower sieve 122 falls down into a auger chute 126. A clean grain auger 128 disposed in the auger chute 126 carries the material to the right side of the agricultural harvester 100 deposits the grain at the lower end of the grain elevator 115. The grain lifted by the grain elevator 115 is carried upward until it reaches the top exit of the grain elevator 115. The grain is then released from the grain elevator 115 and falls into a 117 grain tank.
    [0038] Referring to Figure 2, an electronic control unit (ECU) 200 is coupled to a plurality of sensors 202 and a plurality of controllers 204. The ECU 200 is also coupled to an operator input device 206 and a display device 208. The ECU 200 is configured to read each sensor from the plurality of sensors 202, and to drive each controller from the plurality of controllers 204. The ECU 200, the plurality of sensors 202, the plurality of controllers 204, the operator input 206, and display device 208 comprise an electronic control system 209 for the combine 100.
    [0039] The ECU 200 comprises an ALU, a memory circuit, and a drive circuit. The ALU is configured to execute programmed digital instructions that are stored in the memory circuit. These instructions tell the ECU 200 how to responsibly read the plurality of sensors 202, how to perform internal mathematical calculations, and how to trigger each controller from the plurality of controllers 204.
    [0040] In the modality illustrated here, a single ECU 200 is shown for convenience of illustration. The single ECU 200 graphically represents a single ECU or multiple ECUs that are coupled together in a network to communicate with each other and to collectively perform the functions described here.
    [0041] In an arrangement this network is a wired network. In another arrangement, it is a wireless network. In another arrangement it is a mixed wired and wireless network. In an arrangement it is a controller area network (CAN) and the individual ECUs communicate with each other via a CAN bus.
    [0042] The operator input device 206, is one or more of a keyboard, button, touch screen, lever, handle, handle, divider, potentiometer, variable resistor, axis encoder, or other device or combination of devices that are coupled to the ECU 200 and configured to indicate to the ECU 200 a desired operator command.
    [0043] The display device 208 may be a CRT, LCD, plasma display, or other display technology or combination of display technologies configured to provide the user with visual references, as commanded by the ECU 200.
    [0044] The plurality of sensors 202 comprises the separator loss sensor 119, the shoe loss sensor 121, the shoe loss sensor 123, a rotor speed sensor 210, a threshing interceptor sensor 212, a sensor grain yield 214, a tailings sensor 216, a thresher load sensor 218, grain quality sensor 220, straw quality sensor 224, spigot height sensor 226, and the mass flow sensor of the chamber 228 power supply.
    [0045] The 210 rotor speed sensor provides a signal indicating the rotor speed. The faster rotor 110 spins, the faster it throws the crop. At the same time, as the rotor spins faster, it damages a larger proportion of the grain. Thus, by varying the speed of the rotor, the proportion of threshed grains can change, as can the proportion of damaged grains.
    [0046] In an arrangement, rotor speed sensor 210 can be an axis speed sensor and measure rotor speed 110 directly. In another arrangement that may be a combination of other sensors that cumulatively provide a signal indicative of the rotor speed, such as a hydraulic fluid flow rate sensor for fluid flow through a hydraulic motor that drives rotor 110, or an internal combustion engine speed sensor 114 in conjunction with another signal indicating a gear ratio selected from a gear train between the internal combustion engine 114 and rotor 110, or an impact plate position sensor, and axis speed sensor of a hydraulic motor that supplies hydraulic fluid to a hydraulic motor by driving rotor 110.
    [0047] The thresher interstitial sensor 212 provides a signal indicative of an interstice between the rotor 110 and the thresher basket 112. As this interstice is reduced, the cultivation is threshed more vigorously, reducing the loss of the separator. At the same time, a reduced interstice does more damage to the grain. Thus, by changing the interstice of the thresher, the separator can be changed, as well as the amount of grain that is damaged.
    [0048] The grain yield sensor 214 provides a signal indicative of the clean grain flow rate. In an arrangement, which includes an impact sensor that is disposed adjacent to an outlet of the grain elevator 115, where the grain enters the grain tank 117. In this arrangement, the grain carried upward in the grain elevator 115 impacts the grain sensor. grain yield 214 with the force equivalent to the mass flow rate of the grain into the grain tank. In an alternative arrangement, the grain yield sensor 214 is coupled to a motor (not shown) that drives the grain elevator 115 and provides a signal indicating the load on the motor. The load on the engine is indicative of the amount of grain carried upwards by the 115 grain elevator. In an arrangement, the load on the engine can be determined by the current measurement by means of and / or transverse tension of the engine (in the case of an engine electric). In another arrangement, the motor can be a hydraulic motor, and a motor load can be determined by measuring the fluid flow rate to the motor and / or the hydraulic pressure across the motor.
    [0049] The tailings sensor 216 and the grain quality sensor 220 each provide a signal indicating the quality of the grain. The sign can be one or more of the following: a sign indicating the amount of percentage of grain, a sign indicating the amount of proportion of the damaged grain (eg cracked or broken grain kernels), a sign indicating the amount or proportion of grain MOG mixed with the grain (which can be further distinguished as an amount or proportion of different types of MOG, such as light MOG or heavy MOG), and the sign indicating an untreated amount or proportion of grain.
    [0050] In an arrangement, the tailings sensor 216 is arranged in a grain flow path between tailings auger 129 and the front end of rotor 110, where tailings are released from tailings elevator 131 and are deposited between the rotor 110 and threshing basket 112 for refilling. More particularly, the tailings sensor 216 is disposed adjacent to the tailings elevator 131. More particularly, the tailings sensor 216 is arranged to receive grain samples from the tailings elevator 131 and to sense characteristics of the grain sample thereof.
    [0051] The threshing load sensor 218 provides a signal indicative of the threshing load (ie, the load applied to rotor 110). In one arrangement, the threshing load sensor 218 comprises a hydraulic pressure sensor arranged to sense the pressure in an engine by driving rotor 110. In another arrangement (in the case of a rotor 110 which is driven by a belt and pulley), the threshing load sensor 218 comprises a sensor arranged to sense the hydraulic pressure applied to a sheave of variable diameter at a rear end of rotor 110 and through which rotor 110 is coupled to and driven by a drive belt. In another arrangement, the threshing load sensor 218 may comprise a torque sensor arranged to sense torque on an axis by driving rotor 110.
    [0052] In an arrangement, the tailing sensor 216 and the grain quality sensor 220 each comprise a digital camera configured to receive a photo of the grain sample, and an ECU configured to interpret the photo and determine the quality of the grain sample. grains. In particular, the ECU is configured to determine the signals mentioned in the previous paragraph by classifying the photo taken by the camera. Examples of such a camera arrangement can be seen in US 2014/0050364 (Al), US 2009/0125197 (Al), US 2009/0258684 (Al), and US 2008/0186487 (Al).
    [0053] The straw quality sensor 224 provides at least one signal indicating the straw quality (eg MOG) leaving the agricultural harvester 100. "Straw quality" means a physical characteristic (or characteristics) of the straw and / or straw heaps that accumulate behind the agricultural harvester 100. In certain regions of the world, straw, normally collected in heaps, is later collected and either sold or used. Straw length is a factor in determining its value. The dimensions (height and width) of the straw pile are also a factor in determining its value.
    [0054] For example, short straw is particularly valuable for use as animal feed. The long straw is particularly valuable for use as an animal bed. The long straw allows high, open and airy heaps to be formed. These heaps dry faster in the field and (due to their heights above the ground) are lifted by balers with less trapped dirt and other soil contaminants.
    [0055] In an arrangement, the straw quality sensor 224 comprises a camera directed to the rear of the combined to take a photo of the straw when it leaves the combined and is suspended in the air falling towards the ground or to take a photo of the heap as it is created by the falling straw. The straw quality sensor 224 can additionally comprise an ECU configured to retrieve the photo from the camera, process it and characterize the straw length or characterize the dimensions of the heap created by the straw in the soil behind the agricultural harvester 100. In another arrangement, the straw quality sensor 224 comprises a strip detector, such as a laser scanner or ultrasonic sensor similarly directed to the straw and from which the straw length signal or straw cluster dimensions can be determined.
    [0056] The spike height sensor 226 provides a signal indicating the height of the top of the agricultural harvester 108 in relation to the ground. In one arrangement, the height sensor of the spike 226 comprises a rotating sensor element such as an axis encoder, potentiometer or a variable resistor to which an elongated arm is coupled. The remote end of the arm creeps on the ground, and as the top of agricultural harvester 108 changes in height, the arm changes its angle and rotates the rotating sensor element. In another arrangement, the height sensor of the spike 226 comprises an ultrasonic or laser rangefinder.
    [0057] The mass flow sensor of the feed chamber 228 provides a signal indicating the thickness of the harvesting mat that is pulled into the feed chamber and then into the agricultural harvester 100 itself. It was determined that a correlation exists between the mass of the crop and the yield of the crop (i.e., grain yield). The ECU 200 is configured to alternatively calculate the grain yield by combining the signal from the height sensor of the spike 226 and the signal from the mass flow sensor from the feed chamber 228 together with agronomic tables stored in the memory circuits of the ECU 200. This arrangement can be replaced by the grain yield sensor signal 214 to provide a signal indicative of clean grain flow.
    [0058] The plurality of controllers 204 comprises an upper screen controller 250, a lower screen controller 252, a rotor speed controller 254, a fan speed controller 256, a vehicle speed controller 258, a speed controller threshing interstitial 260, and a 262 height controller.
    [0059] The upper screen controller 250 is coupled to the upper screen 120 to change the angle of the individual screen elements (slats) comprising the upper screen 120. Changing the position (angle) of the individual screen elements, the amount of air passing through the upper screen 120 can be varied to increase or decrease (as desired) the vigor with which the grain is sieved.
    [0060] The lower sieve controller 252 is coupled to the lower sieve 122 to change the angle of the individual sieve elements (battens) comprising the lower sieve 122. Changing the position (angle) of the individual sieve elements, the amount of air passing through the lower screen 122 can be varied to increase or decrease (as desired) the vigor with which the grain is sieved.
    [0061] The 254 rotor speed controller is coupled to variable drive elements arranged between the internal combustion engine 114 and the rotor 110. These variable drive elements may include gearboxes, gear sets, hydraulic pumps, hydraulic motors , electric generators, electric motors, pulleys with a variable working diameter, belts, shafts, belt drives, IVTs, CVTs and the like (as well as combinations thereof). The rotor speed controller 254 controls the variable drive elements to vary the speed of the rotor 110.
    [0062] The fan speed controller 256 is coupled to variable drive elements arranged between the internal combustion engine 114 and fan 124 to drive fan 124. These variable drive elements can include gearboxes, gear sets, hydraulic pumps, hydraulic motors, electric generators, electric motors, pulleys with a variable working diameter, belts, shafts, belt drives, IVTs, CVTs and the like (as well as combinations thereof). The fan speed controller 256 controls the variable drive elements to vary the fan speed 124. These variable drive elements are shown symbolically in Figure 1 as motor 125.
    [0063] The vehicle speed controller 258 is coupled to variable drive elements arranged between the internal combustion engine 114 and one or more of the wheels 104. These variable drive elements may include hydraulic or electric motors coupled to the wheels 104 to drive the wheels 104 in rotation. The vehicle speed controller 258 controls the variable drive elements, which in turn control the speed of the wheels 104 by varying a hydraulic or electric flow through the motors that drive the wheels 104 in rotation and / or varying a gear ratio of the housing of coupled gears between the motors and the wheels 104. The wheels 104 can rest directly on the ground, or they can rest on a belt or endless recirculation rail that is arranged between the wheels and the ground.
    [0064] The threshing interstitial controller 260 is operably coupled to one or more threshing interstitial actuators 261, 264 that are coupled to the threshing basket 112 to change the interstice between the rotor 110 and the threshing basket 112. interstice thresher 261 are coupled to thresher basket 112 to change the position of thresher basket 112 in relation to rotor 110. The actuators may comprise hydraulic or electric motors of the rotating or linear acting varieties.
    [0065] The 262 height controller is actionably coupled to the valves (not shown) that control the flow of hydraulic fluid to and from the feed chamber elevation cylinders 107. The 262 height controller is configured to selectively raise and lower the feed chamber (and therefore the top of agricultural harvester 108).
    [0066] Figure 3 is a flow chart of a process carried out by the electronic control system 209. The process described in figure 3 is stored as a series of digital instructions in the ECU 200 memory circuit. The ECU 200 retrieves these digital instructions and performs them, causing the electronic control system 209 to perform the steps described below.
    [0067] In step 300, the process starts.
    [0068] In step 302, the ECU consults the operator input device 206 to determine whether the operator has indicated that the current operational performance of the agricultural harvester 100 is acceptable and should therefore be maintained.
    [0069] In step 304, ECU 200 determines whether the operator has indicated that the operation is acceptable in step 302. If the current operation of the agricultural harvester 100 is acceptable, the ECU 200 branches to step 306. If the current operation of the harvester agricultural 100 is not acceptable, the ECU branches to step 302 and again looks at operator input device 206.
    [0070] In step 306, the ECU determines the current performance parameters of the agricultural harvester 100. These performance parameters may comprise loss of separator (indicated by the loss of separator sensor 119), loss of shoe (indicated by the loss of separation sensor) shoe 121 and / or shoe loss sensor 123), grain quality (indicated by the grain quality sensor 220), grain yield (indicated by the grain yield sensor 214), tailings volume (indicated by the tailings sensor 216), tailings quality (indicated by the tailings sensor 216), and straw quality (indicated by the straw quality sensor 224).
    [0071] The quality of the grain can comprise an absolute (or relative) quantity of the broken grain. The quality of the grain can comprise an absolute (or relative) quality of MOG mixed with the grain (that is, how “dirty” the grain is). The quality of the grain may comprise an absolute (or relative) quantity of MOG mixed with the grain having one or more particular characteristics, such as MOG size (for example, dimensions or volume), MOG shape (for example, round, oval, long, thin), MOG mass, or MOG source (for example, stem MOG, leaf MOG, bark MOG, or cob MOG). The quality of the grain may comprise an absolute (or relative) quantity of the grain having one or more particular characteristics, such as grain color, grain size / mass, cracked or cracked grain, or grain shape. The quality of the grain may also comprise other characteristics of the grain.
    [0072] The quality of the tailings can comprise an absolute (or relative) quantity of broken grain. The quality of the tailings can comprise an absolute (or relative) quantity of MOG mixed with the grain in the tailings stream having one or more particular characteristics, such as MOG size (for example, dimensions or volume), MOG format (MOG of stems) , Leaf MOG, bark MOG, or cob MOG). The quality of the tailings can comprise an absolute (or relative) quantity of partially threshed grain. The quality of the tailings may also comprise other characteristics of the tailings.
    [0073] In step 308, the ECU determines the current machine settings. Machine settings include setting the vehicle's ground speed, setting the height of the top of the combine harvester 108 above the ground (or the height of the top of the combine harvester 108 in relation to the combine harvester 100), setting the speed of the fan 124, the upper screen position definition 120, the lower screen position definition 122, the threshing gap definition (that is, the space between the rotor 110 and the threshing basket 112), and the rotor speed setting 110. Each definition of the current machine definitions can be an actual physical definition, such as the definition of the threshing interstice, the definition of the position of the lower sieve, or the definition of the position of the upper sieve, or each definition can be a target value, such as engine speed, other vehicle ground speed values which are not defined, but which are actively controlled by a feedback control loop. In the latter case, the current machine definition is a target definition of a feedback control loop.
    [0074] In step 310, the ECU determines at least one error limit for each of the performance parameters. This at least one error threshold can be an upper threshold for the performance parameter, a lower threshold for the performance parameter, or both an upper threshold and a lower threshold. The at least one error limit for each of the performance parameters is based on at least the current performance parameters determined in step 306.
    [0075] For example, if the operator indicated that the operation was acceptable (in step 304) when the current cracked grain performance parameter was 1% (ie 1% of all harvested grain is cracked grain), the system could establish an upper cracked grain threshold that is slightly above the current cracked grain performance parameter of 1%, for example, 1.5%. Alternatively, if the operator indicated that the operation was acceptable when the current cracked grain performance parameter was 5%, the system could establish an upper cracked grain threshold that is slightly above the current cracked grain performance parameter of 5%, for example, 5.5%. Thus, error limits are a function of (for example, derived from) current performance parameters that the system determined when the operator indicated that the current performance was acceptable.
    [0076] After executing step 310, the system proceeds to execute step 312. In step 312, the system recalculates the performance parameters. This is necessary, since the system works to maintain performance parameters within the error limits, and since the performance parameters change as the growing conditions and operating conditions change during the harvest. As the agricultural harvester 100 is operated, the performance parameters may improve over time, may remain the same, or may deteriorate over time.
    [0077] After executing step 312, the system proceeds to execute step 314. In step 314, the system compares the performance parameters recalculated in step 312 with the error limits calculated in step 310.
    [0078] If all performance parameters are within the error limits calculated in step 312, the operation of the agricultural harvester 100 is acceptable and the system branches from step 314 back to step 312.
    [0079] In step 314, the system determines that one or more of the performance parameters is not within the error limits (for example, if the error limits are exceeded), then the system proceeds to execute step 316.
    [0080] In step 316, the system calculates a change in one or more settings of the machine that will bring the parameter (or parameters) of erroneous performance (s) that exceeded (or exceeded) its error limit (or error limits) of returns to the calculated error limit (s).
    [0081] The system can calculate this change in any variety of methods. For example, the system may comprise an internal rule base to which it refers in order to determine the most appropriate action to bring the erroneous performance parameters back to their error limits. Alternatively, you can understand an algorithm that combines one or more of the current performance parameters, the error limits, the type of crop being harvested, or the machine settings of the agricultural harvester 100, weighing each of these factors, as appropriate, and with based on the particular construction of the agricultural harvester 100 in question. The particular method by which the system determines the appropriate action is not part of this invention.
    [0082] Having calculated a change in one or more machine settings that will bring the erroneous performance parameter (s) back to their limit or error limits, the system applies these new machine settings to agricultural harvester 100 and proceed to perform step 318.
    [0083] In step 318, the system expects agricultural harvester 100 to stabilize in these new machine definitions.
    [0084] Once the system has stabilized, the system proceeds to perform step 312 and again determines the performance parameters.
    [0085] The figures here illustrate one embodiment of the invention. The invention is not limited to the illustrated mode, however. For one skilled in the design and operation of an agricultural harvester, other embodiments of the invention are also possible.
    权利要求:
    Claims (11)
    [0001]
    1. Method for automatically tuning an agricultural combination (100), characterized by the fact that it comprises the steps of: a. receiving (304) a signal from an agricultural combination operator (100) indicating that the current agricultural combination operation (100) is an acceptable operation; B. determine (306) and store current performance parameters of the current operation of the agricultural combination (100) indicated as being acceptable, after the reception step; B'. determine (308) and store current machine configurations providing the current performance parameters of the current operation of the combined agricultural (100) indicated as being acceptable, the current machine configurations determined and stored serving as baseline machine definitions, the configurations current machines comprising at least two of a group consisting of rotor speed, upper sieve position, lower sieve position, fan speed, threshing gap, thresher load and spigot height; ç. calculate (310) a performance parameter error limit for each of the current performance parameters determined in step b .; d. determine (312), once again, current performance parameters; and. compare (314) the current performance parameters once again determined with those performance parameter error limits to determine, thus, whether one or more of these current performance parameters once again determined falls outside their limit associated performance parameter error; and f. if at least one of the current performance parameters again determined falls outside its associated performance parameter error limit, as determined in the previous step, then calculate (316) changes to the current machine settings of the combined farm (100) based on those previously determined and stored baseline machine definitions that will bring that at least one of the current performance parameters once again determined back within its associated performance parameter error limit.
    [0002]
    2. Method according to claim 1, characterized by the fact that the step of comparing (314) the current performance parameters once again determined (312) with the error limits of the performance parameter further comprises the step of comparing (314 ) sequentially each of those current performance parameters once again determined (312) with its associated performance parameter error limit, to thereby determine sequentially whether each of these current performance parameters once again determined (312) falls outside its associated performance parameter error limit.
    [0003]
    3. Method according to claim 1, characterized by the fact that the current performance parameters comprise at least one among a group consisting of grain yield, grain quality and grain loss.
    [0004]
    4. Method according to claim 1, characterized by the fact that the current machine configurations are indicated by at least one of a group consisting of a rotor speed sensor (210), a threshing interstitial sensor (212), a grain yield sensor (214), tailings sensor (216), thresher load sensor (218) and feed chamber mass flow sensor (228).
    [0005]
    5. Method according to claim 4, characterized in that the first shoe loss sensor (121) is disposed on the left side of a cleaning shoe (118), and in which the second shoe loss sensor (123) it is arranged on the right side of the cleaning shoe (118).
    [0006]
    6. Method for automatically tuning an agricultural combination (100), characterized by the fact that it comprises the steps of: a. transmitting an electronic signal to an electronic control unit or ECU (200) indicating that the current performance of the agricultural combination (100) is acceptable; B. receiving (304) the electronic signal by the ECU (200); ç. determine (306) and store in the ECU (200) current performance parameters of the agricultural combination (100) indicated as being acceptable after the reception step (304); ç'. determine (308) and store current machine configurations providing the current performance parameters of the current operation of the combined agricultural (100) indicated as being acceptable, the current machine configurations determined and stored serving as baseline machine definitions, the configurations current machines comprising at least two of a group consisting of rotor speed, upper sieve position, lower sieve position, fan speed, threshing gap, thresher load and spigot height; d. calculate (310) in the ECU (200) a performance parameter error limit for each of the current performance parameters determined in step c .; and. determine (312), once again, current performance parameters in the ECU (200); f. compare (314) in the ECU (200) the current performance parameters once again determined with those performance parameter error limits to thereby determine whether one or more of the current performance parameters once again determined falls outside the its associated performance parameter error limit; and g. if at least one of the current performance parameters again determined falls outside its associated performance parameter error limit in the immediately preceding step, then calculate (316) in the ECU (200) changes to the current machine settings of the agricultural combination (100) based on previously determined and stored baseline machine definitions that will bring that at least one of the current performance parameters once again determined back within its associated performance parameter error limit.
    [0007]
    7. Method according to claim 6, characterized in that the current machine configurations are indicated by at least one of a group consisting of a rotor speed sensor (210) connected to the ECU (200), a sensor thruster interstitial (212) connected to the ECU (200), a grain yield sensor (214) connected to the ECU (200), a tailings sensor (216) connected to the ECU (200), a thresher load sensor ( 218) connected to the ECU (200), a grain quality sensor (220) connected to the ECU (200), a straw quality sensor (224) connected to the ECU (200), a spike height sensor (226) connected to the ECU (200) and a feed chamber mass flow sensor (228) connected to the ECU.
    [0008]
    Method according to claim 7, characterized in that the first shoe loss sensor (121) is arranged on the left side of a cleaning shoe (118), and in which the second shoe loss sensor (123) ) is arranged on the right side of the cleaning shoe (118).
    [0009]
    Method according to claim 6, characterized in that the ECU (200) comprises one or more ECUs (200) connected together in a network.
    [0010]
    10. Method according to claim 6, characterized in that the step of comparing (314) in the ECU (200) the current performance parameters once again determined (312) with the error limits of the performance parameter also comprises the step of sequentially comparing (314) each of the current performance parameters once again determined (312) with its associated performance parameter error limit, to thereby sequentially determine whether each of these current performance parameters is again determined ( 312) falls outside its associated performance parameter error limit.
    [0011]
    11. Method according to claim 6, characterized by the fact that the current performance parameters comprise at least one of a group consisting of grain yield, grain quality and grain loss.
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    同族专利:
    公开号 | 公开日
    EP3001890B1|2017-08-09|
    EP3001890A1|2016-04-06|
    BR102015024355A2|2016-04-26|
    US9901031B2|2018-02-27|
    US20160081271A1|2016-03-24|
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    法律状态:
    2016-04-26| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-10-02| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-08-27| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-08-04| B09A| Decision: intention to grant|
    2020-11-03| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 22/09/2015, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US14/495,734|US9901031B2|2014-09-24|2014-09-24|Automatic tuning of an intelligent combine|
    US14/495,734|2014-09-24|
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