• 专利附录
  • 专利说明
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    • 专利摘要:
    crop head height control circuit, and, method for controlling an above-ground height of an agricultural crop head, a crop head height control circuit (162) for controlling the height of an articulated crop head ( 104), which is supported on a combine harvester (102) during harvesting in an agricultural field, includes an ECU (164) configured to raise and lower the hinged harvest head portions. the ecu (164) receives signals indicating the magnitude of a backward force acting on the articulated harvest head and automatically changes the commanded operating height of the articulated harvest head (104).
    公开号:BR102016009397B1
    申请号:R102016009397-0
    申请日:2016-04-27
    公开日:2021-07-20
    发明作者:Aaron S. Ritter；Bruce A. Coers；Dustin D. Deneault
    申请人:Deere & Company；
    IPC主号:
    专利说明:

    Field of Invention
    [001] This invention relates to an agricultural harvesting equipment. More particularly, it relates to agricultural harvesting heads. Even more particularly, it refers to an articulated agricultural harvest head and circuitry for controlling or limiting the force applied by the soil to the harvest head. Fundamentals of the Invention
    [002] Agricultural harvesting heads, such as draper platforms, are designed to follow closely along the ground when they harvest crops. To ensure that they closely follow the ground, they are configured to contact the ground and apply a slight ground force to the ground or, alternatively, move slightly over the ground surface without making contact.
    [003] Hydraulic and electrical circuits are typically provided to ensure that only a small portion of its weight is actually pressed into the ground. As the soil rises and falls below the agricultural harvest head, the position of the agricultural harvest head is adjusted up and down with respect to the agricultural blend in which the agricultural harvest head is supported. This allows the agricultural harvest head to adjust to changing terrain.
    [004] In recent years, articulated agricultural harvesting heads have been designed. Hinged heads comprise two or more elongated sections, which are hinged to each other. When terrain changes, each section is designed to rise and fall relative to the ground independently of the other sections. In a three-section articulated agricultural harvesting head, for example, the two end sections are hingedly connected to a center section. The center section is supported in the agricultural combination itself. The two outer hinged sections are supported on the floor, and are also supported on the center section itself.
    [005] In CA 2665.589 A1, the external articulated sections of the agricultural harvesting head are supported on wheels. When the terrain changes, the terrain pushes against the wheels, which in turn raises and lowers the outer hinge sections relative to the center section.
    [006] In US 2003/0074876 A1, an arrangement of links, levers, and springs is used to couple the outer sections of the agricultural harvest head to the center section.
    [007] The Geringhoff company has a cutter called “Triflex” that uses an accumulator (a hydraulic spring) to control the downward force applied to the ground.
    [008] One problem with all of these arrangements is their inability to respond quickly to rapid changes in terrain. When the terrain changes, it rises and occasionally crashes into the base of the agricultural crop head. When this happens, the ground exerts not only an upward force, but also a backward force. Furthermore, changes in crop thickness can also increase the back force acting on the agricultural crop head. When these backward forces act on the sides of the agricultural harvest head, particularly when it is a large harvest head, they can be so substantial that they damage the harvest head or the combination that supports it. This can occur, for example, by pushing one side or the other of the harvest head backwards, and flexing the feeder, which is typically not designed to be twisted to one side or the other.
    [009] When a crop becomes thicker and more difficult to cut, the operator typically increases the commanded operating height of the agricultural crop head. In this context, the “commanded run height” is the set point or reference height at which the automatic harvester height control (AHHC) circuit attempts to keep the crop head above ground. In this way, the operator reduces the rear load by acting on the harvest head and thus the risk of damage to the agricultural harvest head due to a sudden increase in the rear load. When the terrain below the agricultural harvest head floats, the automatic harvester height control circuit will attempt to maintain this commanded operating height of the head above the ground.
    [0010] Conversely, when a crop to be cut becomes lighter (i.e., thinner) and easier to cut, the operator typically lowers the commanded operating height of the agricultural crop head, thus allowing the Agricultural crop head cut closer to the ground. Since the lighter grown crop exerts less back forces on the agricultural harvest head, the agricultural harvest head can be operated closer to the ground, thus harvesting more crop closer to the ground.
    [0011] It is not possible for the operator to continuously adjust the commanded operating height of the agricultural harvesting head. This is too time-consuming.
    [0012] What is needed, therefore, is an improved arrangement to support an agricultural crop height that reduces the risk of damage due to excessive soil contact and dense crop acting in a backward direction.
    [0013] An object of this invention is to provide such an arrangement. Invention Summary
    [0014] According to one aspect of the invention, a control system monitors a backward force acting on one or both sides of an agricultural crop head, and changes the automatically commanded operating height in response to the backward force.
    [0015] When a backward force increases, the control system increases the commanded operating height.
    [0016] When a backward force decreases, the control system decreases the commanded operating height. The “commanded operating height” means the distance between the ground and the base of the agricultural harvest head, which the control system uses is a target. As the soil rises and falls, the control system is configured to keep the crop head at commanded operating height.
    [0017] Commanded operating height is the set point at which the automatic harvester height control system attempts to maintain the height of the agricultural harvest head above the ground.
    [0018] According to another aspect of the invention, a harvest head height control circuit 162 is provided to control the height of an articulated harvest head 104, which is supported on a combine harvester 102 during harvesting in one second agricultural field sign, the hinged harvest head 104 including a center section 146, a left section 144, and a right section 148, wherein the left section 144 is coupled to the center section 146 and extends to the left therefrom. , wherein the right section 148 is coupled to the center section 146 and extends to the right therefrom, wherein a first actuator 158 is coupled to the left section 144 to elevate the left section 144 with respect to the center section 146, at that a second actuator 160 is coupled to the right section 148 to elevate the right section 148 with respect to the center section 146. A harvest head height control circuit 162 comprises an ECU 164 coupled to the first actuator 158 to and raise and lower left section 144, and coupled to second actuator 160 to raise and lower right section 148; a first load sensor 149 coupled to the ECU 164 and arranged to detect a first force acting backwards against the left section 144 and configured to generate a first signal indicative of the first force; and a second load sensor 151 coupled to the ECU 164 and arranged to detect a second force acting backwards against the right section 148 and configured to generate a second signal indicative of the second force, wherein the ECU 164 is configured to receive the first signal. and the second sign is to responsively raise and lower the left section 144 and the right section 148 based on at least one magnitude of the first sign and the second sign.
    [0019] A harvest head height control circuit may further comprise a first harvester height sensor 145, 147 which is configured to detect a first height of the articulated harvest head portion 104 with respect to the agricultural field and to generate responsively a sign indicative of the first height.
    [0020] The ECU can be configured to control the first height of the harvest head portion hinged to the commanded operation height.
    [0021] The ECU can automatically change the commanded operating height based on at least one of the first signal and the second signal.
    [0022] The ECU can be configured to increase commanded operating height when at least one of the first signal and the second signal increases above a first threshold signal level.
    [0023] The ECU can be configured to maintain the commanded operating height at a predetermined commanded operating height when at least one of the first signal and the second signal is below a first signal threshold value.
    [0024] A crop head height control circuit may further comprise an operator input device 143 which is configured to respond to operator actuation and to transmit the predetermined commanded operating height to the ECU (164).
    [0025] The ECU can be configured to stop moving combine harvester 102 forward when at least one of the first signal and the second signal rises above a second signal threshold level.
    [0026] The second threshold signal level can be greater than the first threshold signal level.
    [0027] The ECU may be coupled to an operator display device 169, and further wherein the ECU 164 may be configured to signal the operator display device 169 to display a message indicating that the combine harvester 102 has stopped because, by the minus, one of the first signal and the second signal increased above the second signal threshold level.
    [0028] According to another aspect of the invention, a method for controlling a height above ground of an agricultural crop head 104, wherein the agricultural crop head is supported on a self-propelled agricultural vehicle 102 when a self-propelled agricultural vehicle 102 is travels through a field harvesting crops, the method comprising: reading a first signal from a first sensor 149, 151, wherein the first signal indicates a backward load acting on the agricultural harvest head 104; numerically deriving 504, 506, 508 the commanded operating height from at least the first signal; reading 502 a second signal from a second sensor 145, 147, the second signal indicating a current height of the agricultural crop head above ground; calculate 518 an error sign equal to the difference between the current height and the commanded operation height; and performing 518 a feedback control link to control the height above ground of the agricultural harvest head using at least the error signal as an input to the feedback control link.
    [0029] The backward load can be applied to the agricultural crop head 104 by the crops being harvested, through the ground, or by both, as a result of its contact with the agricultural crop head 104 in resistance to forward movement of the crop head. 104 agricultural harvest across the field harvesting crops. Brief Description of Drawings
    [0030] Figure 1 is a side view of a combined combine harvester and agricultural harvest head according to the present invention.
    [0031] Figure 2 is a front view of the arrangement of figure 1.
    [0032] Figure 3 is a plan view of the arrangement of figures 1 and 2 with the first ground force control circuit arrangement.
    [0033] Figure 4 is a plan view of the arrangement of figures 1 and 2 with an alternative ground force control circuit arrangement.
    [0034] Figure 5 is the flowchart of the steps performed by the control system of the arrangement of figures 1 to 4.
    [0035] Figure 6 is a graph showing the relationship between the commanded operation height and the load applied by the ground on the left (F1) and/or right (F2) sections of the agricultural harvest head. Detailed Description
    [0036] The term "side by side", "side by side", "sideways" or "sideways" refer to a direction that is horizontal and generally parallel to the longitudinal extent of the agricultural harvest head itself. to a "V" direction of travel of the machine as it travels through the field harvesting crops. The terms "forward of", "forward", "forward", "forward" and the like refer to the direction of travel " V.” The terms “rear”, “backward”, “behind”, “behind” and the like refer to a direction opposite to the direction of displacement “V”.
    [0037] The term "commanded operating height" refers to a setpoint height, in which an automatic harvester height control circuit (for example, a control arrangement such as a PID controller) is configured to keep agricultural crop head above ground. Commanded operating height is a target or setpoint height.
    [0038] Figure 1 illustrates, in Figure 1, that an agricultural harvesting vehicle 100 includes a combine harvester 102 and an agricultural harvester head 104 supported on the front of the combine harvester 102.
    [0039] The combine harvester includes a combine harvester vehicle 106 and a feeder 108 pivotally coupled to the front of the combine harvester vehicle 106.
    [0040] A first actuator 110 and a second actuator 112 are coupled to and between the feeder 108 and the chassis 114 to support the front end of the feeder 108 and the agricultural crop head 104 above ground. The chassis is supported on wheels 113 which are driven by hydraulic motors 115 for displacement over the ground.
    [0041] When the first actuator 110 and the second actuator 112 are extended, the front end of the feeder 108 and the agricultural crop head 104 are raised, pivoting clockwise (in figure 1) around a joint of pivot 116 that couples feeder 108 to chassis 114.
    [0042] When the first actuator 110 and the second actuator 112 are retracted, the front end of the feeder 108 and the agricultural crop head 104 are lowered by counterclockwise pivoting (in Figure 1) around a pivot joint 116.
    [0043] Thus, by extending and retracting the first actuator 110 and the second actuator 112, the height of the feeder 108 and the agricultural crop head 104 can be varied. Furthermore, merely changing the hydraulic fluid pressure in the first actuator 110 and the second actuator 112 will change the amount of downward force exerted by the agricultural harvester head 104 against the ground. As the hydraulic fluid pressure in the first actuator 110 and the second actuator 112 increases, the downward force applied by the agricultural crop head 104 to the soil will decrease. When the hydraulic fluid pressure in the first actuator 110 and the second actuator 112 decreases, the downward force applied by the agricultural crop head 104 to the soil will increase.
    [0044] In an alternative arrangement, the first actuator 110 and the second actuator 112 may be electrical or pneumatic devices, such as linear or rotary motors.
    The combine harvester vehicle 106 receives crop cut by the agricultural harvest head 104 and transports it into a threshing system 118. The threshing system 118 includes a rotor 120 which rotates against the concavity 122. This separates the grain from material other than grain (MOG). The grain falls into a cleaning system 124. The cleaning system 124 includes at least one top screen or sieve 126. The cleaning system 124 also includes a fan 128 that blows air through the top screen or screen 126. This airflow levitates light MOG and transports it to the back, where it is deposited on the ground.
    [0046] A re-thresher 130 is provided at the rear of the threshing system 118 to receive the MOG separated from the grain in the threshing system 118. Grain which is further separated from the MOG in the re-threshing system 130 falls into the cleaning system 124. The MOG leaves the threshing system 118 and is transported back into a crusher 132 which drops the MOG onto the ground behind the combine harvester vehicle 106.
    [0047] The grain that is cleaned in the cleaning system 124 is conveyed to an auger 134, which transports the clean grain to one side of the combine harvester vehicle 106. An elevator 136 receives the clean grain from the screw without -end 134 and lifts the clean grain, depositing it into a grain tank 138.
    [0048] Periodically, an unloading vehicle, such as a grain truck or grain cart, will travel along the combine harvester vehicle 106 and an auger 140 in the grain tank will unload the grain tank 138 through an elongated outlet 142. The elongated outlet 142 is pivoted outwardly from the combine harvester vehicle 106 to extend over the grain truck or grain cart that receives the clean grain and transports it away to the storage.
    [0049] As shown in Figure 2, the agricultural harvest head 104 comprises three sections, a left section 144, a center section 146, and a right section 148. The left section 144 is pivotally connected to the center section 146 by a joint of hinge 150. The right section 148 is pivotally connected to the center section 146 by a hinge joint 152. The hinge joint 150 and the hinge joint 150 to urge the left section 144 and the right section 148 to pivot with respect to the center section. 146 about a first generally horizontal and forwardly extending axis 154 and about a second generally horizontal and forwardly extending axis 156, respectively.
    [0050] A height sensor 145 is arranged to detect the height of the left section 144 with respect to the ground. A height sensor 147 is arranged to detect the height of the right section with respect to the ground. Height sensor 145 and height sensor 147 are supported in left section 144 and right section 148, respectively. The height sensor 145 and the height sensor 147 are configured to provide a signal indicative of the height of the left section 144 and the right section 148, respectively, with respect to the ground.
    [0051] The height sensors 145, 147 can be mechanical sensors, such as a sensing element, fixed to the agricultural harvesting vehicle 100, which is coupled to a pivoting arm (e.g., figure 1) that pivots upwards and downward as the agricultural crop head 104 moves closer to force into or from the ground. They can be non-contact range sensors, such as laser sensors, radar sensors, or ultrasonic sensors. In one arrangement, the height sensors are attached to the left section 144, the center section 146, or the right section 148.
    [0052] A load sensor 149 is provided to generate a signal indicative of a backward force “F1” acting on the left section 144. A load sensor 151 is provided to generate a signal indicative of a backward force “F2” acting on the right section 148.
    [0053] In one arrangement, load sensor 149 is a load pin functioning as a pivot joint pivot pin 150, and load sensor 151 is a load pin functioning as a pivot joint pivot pin 152.
    [0054] In this arrangement, when force “F1” and force “F2” change, the shear force acting on load sensor 149 and load sensor 151, respectively, correspondingly changes. This shear force is proportional to force “F1” and force “F2” and is detected by strain gauges arranged inside the load/knuckle pins. An example of this loading pin/hinge pin arrangement can be seen in US patent application serial number 14/014672, where the loading pin/hinge pin is item 162.
    [0055] A backward force "F1" and a backward force "F2" are generated by the pressure of crop, soil, or other material acting against the left section 144 and the right section 148 when agricultural harvesting vehicle 100 is driven forward to field harvest crop. Crop, soil, or other material drags against left section 144 and right section 148 when a vehicle is driven forward, pushing back against left section 144 and right section 148.
    [0056] A third actuator 158, shown here as a hydraulic cylinder, is affixed to and between the left section 144 and the center section 146.
    [0057] When the third actuator 158 extends, it allows the left section 144 to pivot down (ie, clockwise in figure 2). When the third actuator 158 retracts, it pivots the left section 144 upward (ie, counterclockwise in figure 2).
    [0058] When the fourth actuator 160 extends, it allows the right section 148 to pivot down (ie, counterclockwise in figure 2). When the fourth actuator 160 retracts, it pivots the right section 148 upward (ie, clockwise in figure 2).
    [0059] When the hydraulic pressure to the third actuator 158 is increased, it reduces the downward force exerted by the left section 144 against the ground. When the hydraulic pressure to the third actuator 158 is increased, it increases the downward force exerted by the left section 144 against the ground.
    [0060] When the hydraulic pressure to the fourth actuator 160 is increased, it reduces the downward force exerted by the right section 148 against the ground. When the hydraulic pressure to the fourth actuator 160 is increased, it increases the downward force exerted by the right section 148 against the ground.
    [0061] In Figure 3, a lanyard height control circuit 162 comprises an ECU 164, a first hydraulic control valve 166, a second hydraulic control valve 168, a third hydraulic control valve 170, an input device. operator 143, height sensor 145, height sensor 147, load sensor 149, and load sensor 151.
    [0062] The ECU 164 comprises a digital microprocessor or microcontroller coupled to a volatile digital memory (RAM), a non-volatile digital memory (ROM), and valve actuator circuits. The ECU 164 can be a single ECU, or it can be multiple ECUs networked together using a serial or parallel communication busbar to provide the capabilities described here.
    [0063] The ECU 164 is coupled to a hydraulic valve 165, an operator input device 143, the height sensor 145, the height sensor 147, the load sensor 149, and the load sensor 151 to receive electronic signals from them. The ECU 164 is configured to receive the signal from the height sensor 145, which indicates the height of the left section 144 above the ground. The ECU 164 is configured to receive the signal from the height sensor 147, which indicates the height of the right section 148 above the ground. The ECU 164 is configured to receive the signal from the load sensor 149 indicative of the F1 force generated by the ground acting backwards against the left section 144. The ECU 164 is configured to receive the signal from the load sensor 151, the which indicates the force F2 generated by the ground acting backwards against the right section 148.
    [0064] The lanyard height control circuit 162 is connected to and controls the first actuator 110, the second actuator 112, the third actuator 158, and the fourth actuator 160. A source of hydraulic fluid pressure 172 and a Hydraulic fluid reservoir 174 are coupled to lanyard height control circuit 162 to complete the hydraulic circuit.
    [0065] The first hydraulic control valve 166 is a pilot compensated proportional control valve actuated by a first solenoid coil 176. The first solenoid coil 176 is coupled to the ECU 164 to be controlled by it.
    The second hydraulic control valve 168 is a pilot compensated proportional control valve actuated by a second solenoid coil 178. The second solenoid coil 178 is coupled to the ECU 164 to be controlled by it.
    [0067] The third hydraulic control valve 170 is a pilot compensated proportional control valve actuated by a third solenoid coil 180. The third solenoid coil 180 is coupled to the ECU 164 to be controlled by it.
    [0068] The first hydraulic control valve 166 has a hydraulic fluid port, which is coupled to the hydraulic fluid pressure source 172 to receive hydraulic fluid under pressure therefrom and to apply it to the hydraulic fluid port 182 of the third actuator 158 to apply hydraulic fluid under pressure to the rod end of the third actuator 158.
    [0069] When hydraulic fluid is forced into the third actuator 158, the third actuator 158 retracts, thereby raising the left section 144. When hydraulic fluid is released from the third actuator 158, the third actuator 158 extends, thereby lowering the left section 144.
    [0070] A pilot hydraulic line 184 is coupled to the hydraulic fluid port 182. The pressure in the pilot hydraulic line 184 is applied to one end of the spool 186 of the first hydraulic control valve 166.
    [0071] Increasing hydraulic fluid pressure at the third actuator 158 tends to cause spool 186 to shift to the right (in figure 3). This rightward movement of spool 186 releases hydraulic fluid from the third actuator 158 and returns it to the hydraulic fluid reservoir 174.
    [0072] Decreasing hydraulic fluid pressure in the third actuator 158 tends to cause spool 186 to shift to the left (in figure 3). This leftward movement of spool 186 connects third actuator 158 to source of hydraulic fluid pressure 172, which tends to fill third actuator 158 and increase hydraulic fluid pressure in third actuator 158.
    [0073] Thus, when hydraulic fluid pressure increases at the third actuator 158, hydraulic fluid is automatically released from the third actuator 158 until the hydraulic fluid pressure returns to a pressure set point. Similarly, when hydraulic fluid pressure decreases at the third actuator 158, hydraulic fluid is automatically supplied to the third actuator 158 until the hydraulic fluid pressure returns to the pressure set point.
    [0074] In this way, the pilot hydraulic line 184 and its interconnections with the rest of the circuit tends to maintain a constant pressure of the hydraulic fluid in the third actuator 158.
    [0075] The pressure setpoint on the third actuator 158 is adjusted by the ECU by changing the electrical current flowing through the first solenoid coil 176.
    [0076] When the current flowing to the first solenoid coil 176 increases, the hydraulic fluid pressure in the third actuator 158 correspondingly and responsively increases. As the hydraulic fluid pressure in the third actuator 158 increases, the force of the left section 144 against the ground is correspondingly and responsively decreases. This is accomplished as the increased hydraulic pressure in the third actuator 158 tends to lift the left section 144 off the ground. The increasing hydraulic pressure in the third actuator 158 transfers a portion of the weight from the left section 144 to the center section 146. This weight transfer increases the ground force that the center section 146 applies against the ground.
    [0077] The third hydraulic control valve 170 has a hydraulic fluid port that is coupled to the hydraulic fluid pressure source 172 to receive hydraulic fluid under pressure therefrom and to apply it to the hydraulic fluid port 188 of the fourth actuator 160 to apply hydraulic fluid under pressure to the rod end of the fourth actuator 160.
    [0078] When hydraulic fluid is forced into the fourth actuator 160, the fourth actuator 160 retracts, thus raising the right section 148. When hydraulic fluid is released from the fourth actuator 160, the fourth actuator 160 extends, thus lowering the right section 148.
    [0079] A hydraulic pilot line 190 is coupled to the hydraulic fluid port 188. The pressure in the hydraulic pilot line 190 is applied to one end of the spool 192 of the first hydraulic control valve 166.
    [0080] Increasing hydraulic fluid pressure in the fourth actuator 160 tends to cause spool 192 to shift to the right (in figure 3). This rightward movement of spool 192 releases hydraulic fluid from the fourth actuator 160 and returns it to the hydraulic fluid reservoir 174.
    [0081] Decreasing hydraulic fluid pressure in the fourth actuator 160 tends to cause spool 192 to shift to the left (in figure 3). This leftward movement of spool 192 connects fourth actuator 160 to source of hydraulic fluid pressure 172, which tends to fill fourth actuator 160 and increase hydraulic fluid pressure in fourth actuator 160.
    [0082] Thus, when the hydraulic fluid pressure increases in the fourth actuator 160, hydraulic fluid is automatically released from the fourth actuator 160 until the hydraulic fluid pressure returns to a pressure set point. Similarly, when hydraulic fluid pressure decreases in fourth actuator 160, hydraulic fluid is automatically supplied to fourth actuator 160 until the hydraulic fluid pressure returns to the pressure set point.
    [0083] In this way, the pilot hydraulic line 190 and its interconnections with the rest of the circuit tend to maintain a constant pressure of the hydraulic fluid in the fourth actuator 160.
    [0084] The pressure setpoint on the fourth actuator 160 is adjusted by the ECU by changing the electrical current flowing through the third solenoid coil 180.
    [0085] When a current flowing to the third solenoid coil 180 increases, the hydraulic fluid pressure in the fourth actuator 160 correspondingly and responsively increases. As the hydraulic fluid pressure in the fourth actuator 160 increases, the force of the right section 148 against the ground is correspondingly and responsively decreased. This is accomplished as the increased hydraulic pressure in the fourth actuator 160 tends to lift the right section 148 off the ground. The increasing hydraulic pressure in the fourth actuator 160 transfers a portion of the weight from the right section 148 to the center section 146. This weight transfer increases the ground force that the center section 146 applies against the ground.
    [0086] The second hydraulic control valve 168 has a hydraulic fluid port that is coupled to the hydraulic fluid pressure source 172 to receive hydraulic fluid under pressure therefrom and to apply it to the hydraulic fluid port 194 of the first actuator 110 to apply hydraulic fluid under pressure to the cylinder end of the first actuator 110. The same hydraulic fluid port applies hydraulic fluid under pressure to the hydraulic fluid port 196 of the second actuator 112. Both the first actuator 110 and the second actuator 112 are coupled together in common to receive hydraulic fluid from, and to send hydraulic fluid to, the second hydraulic control valve 168.
    [0087] When hydraulic fluid is forced into the first actuator 110 and the second actuator 112, the first actuator 110 and the second actuator 112 extend, thus raising the feeder 108, the center section 146, the left section 144, and the right section 148.
    [0088] When hydraulic fluid is released from the first actuator 110 and the second actuator 112, the first actuator 110 and the second actuator 112 retract, thus lowering the feeder 108, the center section 146, the left section 144, and the right section 148.
    [0089] A hydraulic pilot line 198 is coupled to the hydraulic fluid port 194 and the hydraulic fluid port 196. Pressure in the hydraulic pilot line 198 is applied to one end of the spool 200 of the second hydraulic control valve 168.
    [0090] The increase in hydraulic fluid pressure in the first actuator 110 and the second actuator 112 tends to cause the spool 200 to shift to the right (in figure 3). This rightward movement of spool 200 releases hydraulic fluid from the first actuator 110 and the second actuator 112 and returns it to the hydraulic fluid reservoir 174.
    [0091] The decrease in hydraulic fluid pressure in the first actuator 110 and the second actuator 112 tends to cause the spool 200 to shift to the left (in figure 3). This leftward movement of spool 200 connects first actuator 110 and second actuator 112 to source of hydraulic fluid pressure 172, which tends to fill first actuator 110 and second actuator 112 and increase hydraulic fluid pressure in the first actuator. 110 and on the second actuator 112.
    [0092] Thus, when hydraulic fluid pressure increases in the first actuator 110 and the second actuator 112, hydraulic fluid is automatically released from the first actuator 110 and the second actuator 112 until the hydraulic fluid pressure returns to a set point depression. Similarly, when hydraulic fluid pressure decreases in the first actuator 110 and the second actuator 112, hydraulic fluid is automatically supplied to the first actuator 110 and the second actuator 112 until the hydraulic fluid pressure returns to the pressure set point.
    [0093] In this way, the pilot hydraulic line 198 and its interconnections with the rest of the circuit tend to maintain a constant pressure of the hydraulic fluid in the first actuator 110 and the second actuator 112.
    [0094] The pressure setpoint on the first actuator 110 and the second actuator 112 is adjusted by the ECU changing the electrical current flowing through the second solenoid coil 178.
    [0095] When a current flowing to the second solenoid coil 178 increases, the hydraulic fluid pressure in the first actuator 110 and the second actuator 112 correspondingly and responsively increases.
    [0096] When the hydraulic fluid pressure in the first actuator 110 and the second actuator 112 increases, the force of the center section 146 against the ground is correspondingly and responsively increased. This is accomplished since the increased hydraulic pressure in the first actuator 110 and the second actuator 112 tends to lift the center section 146 off the ground. The increasing hydraulic pressure in the first actuator 110 and the second actuator 112 transfers a portion of the weight of the center section 146 (and the left section 144 and the right section 148 which are supported on the center section 146) to the chassis 114 of the combine harvester vehicle 106. This weight transfer decreases the ground force that center section 146 applies against the ground.
    [0097] In the arrangement of figure 3, the ECU 164 has the ability to independently control the down force of the left section 144 against the ground and the down force of the right section 148 against the ground.
    [0098] In normal operation, however, the operator wants to have the same downward force as the left section144 and the right section 148 against the ground. For this operator, there is no need to independently regulate the downward force of the left section 144 and the right section 148. For this reason, an alternative arrangement that uses fewer parts is provided and illustrated in figure 4.
    [0099] In the arrangement of Figure 4, instead of having a separate first hydraulic control valve 166 and the third hydraulic control valve 170, a single hydraulic control valve 170' is provided, which is coupled to both the third actuator 158 and fourth actuator 160. The arrangement of figure 4 is similar in many functional and mechanical aspects to the arrangement of figure 3, except that the output of the single hydraulic control valve 170' is coupled in parallel to both the third actuator 158 as for the fourth actuator 160. For this reason, the description of the third hydraulic control valve 170 has not been repeated here.
    [00100] One way in which the vehicle operator can change the ground force (and thus the operating height of the agricultural harvest head 104) is by selecting a new height using the operator input device 143. ECU 164 is configured to respond to any height of harvest commands received from the operator input device and change the ground force (and thus the operating height) accordingly.
    [00101] In the above discussion with reference to figures 1 to 4, the ECU 164 operates in a ground tracking mode, in which the nominal height of the agricultural crop head 104 above ground is zero and the ground force (ie. , the pressure of the agricultural crop head 104 against the ground) is controlled by means of hydraulic fluid pressure control, applied to actuators 110, 112, 158, and 160.
    [00102] In another mode of operation, the ECU 164 operates in the above-ground mode, in which the agricultural harvest head 104 is raised above the ground and substantially its entire weight is supported by the actuators 110, 112, 158, and 160. In this above ground mode, the ECU 164 controls the height of the agricultural crop head 104 by periodically reading the signals from the height sensor 145 and the height sensor 147. If the signals from the sensors indicate that the crop head agricultural 104 is too high above the ground (i.e., above the predetermined height setpoint), so the ECU 164 is configured to reduce the hydraulic fluid pressure applied to the actuators 110, 112, 158, and 160, thus lowering the crop head closest to the ground. Signals from the sensors indicate that the agricultural harvest head 104 is too low above the ground (i.e., below a predetermined height set point) and then the ECU 164 is configured to increase the hydraulic fluid pressure applied to the actuators 110, 112, 158 and 160, thus raising the agricultural harvest head higher above the ground. To accomplish this, the ECU 164 can run a generic feedback and control algorithm (eg a PID control algorithm) using the commanded operating height as a height setpoint, and using the signal from the height sensor. 145 (which indicates the height of the left section 144 above the ground), and the signal from the height sensor 145 (which indicates the height of the right section 148 above the ground). In such an arrangement, two feedback and control algorithms are used, one algorithm using the difference between the commanded operating height and the height as indicated by the height sensor 145 as an error signal on the left and controlling the height of the left section 144 by minimizing this left side error signal, and the other algorithm using the difference between the commanded operating height and the height as indicated by the height sensor 147 as a right side error signal and controlling the height of the right section 148 by minimizing this right-hand error signal. The manner in which the left section 144 and the right section 148 can be raised and lowered via the control of valve 166, valve 168, and valve 170 is described above.
    [00103] In this above-ground operating mode, the ECU 164 is also programmed to automatically change commanded operating height (which is used in the automatic height control process described in the preceding paragraph) based on the backward forces F1, F2 (illustrated in figures 1, 3, 4) acting on the agricultural harvesting head 104. The backward force F1 acts on the left section 144, and the rearward force F2 acts on the right section 148, respectively.
    [00104] If the backward forces F1, F2 become too large, they can damage the agricultural harvest head 104 and/or the feeder 108. For this reason, the ECU 164 is configured to repeatedly and periodically detect the backward forces F1, F2 and the commanded operating height change according to the magnitude of the backward forces F1, F2.
    [00105] If the backward forces F1, F2 increase above a first load limit, the ECU 164 is configured to increase the commanded operating height and thus increase the height of the agricultural crop head 104 above the ground.
    [00106] If backward forces F1, F2 exceed a second load limit, the ECU 164 is configured to reduce the forward travel speed of crop vehicle 100 through the field. In one arrangement, the forward travel speed of crop vehicle 100 across the field is reduced to zero. In another arrangement, the forward displacement of the agricultural harvesting vehicle 100 to the field is reduced to some speed above zero. In this way, the agricultural harvest vehicle 100 is configured to adjust the height of the agricultural harvest head 104 and the speed of the agricultural harvest vehicle 100 across the field based on at least the backward forces F1, F2 acting on the agricultural crop head 104 in order to reduce or control the backward forces F1, F2.
    [00107] This commanded operation height control process is illustrated in figure 5. In step 500, the process starts.
    [00108] At step 502, the ECU 164 reads the height sensor 145, the height sensor 147, the load sensor 149, and the load sensor 151.
    [00109] In step 504, the ECU 164 compares the loads indicated by the signals from the load sensor 149 and the load sensor 151 with a first load limit 600 (figure 6).
    [00110] The ECU compares the load indicated by the load sensor 149 with a first load limit 600. If the load indicated by the load sensor 149 does not exceed the first load limit 600, the ECU 164 branches to step 506 and adjusts the commanded operating height of section 144 to a normal height 602 (figure 6).
    [00111] In a similar manner, the ECU compares the load indicated by the load sensor 151 with the first load limit 600. If the load indicated by the load sensor 151 does not exceed the first load limit 600, the ECU 164 branches to step 506 and sets the commanded operating height of section 148 to the normal height 602 (figure 6).
    [00112] In step 504, if the load indicated by the load sensor 149 exceeds the first load limit 600, the ECU 164 branches to step 508 and changes the commanded operating height of section 144 based on the load indicated by the load sensor. load 149.
    [00113] Also in step 504, if the load indicated by the load sensor 151 exceeds the first load limit 600, the ECU 164 branches to step 508 and changes the commanded operating height of section 148 based on the load indicated by the sensor load 151.
    [00114] The commanded operating heights of section 144 and 148 and their relation to the loads indicated by load sensors 149 and 151, respectively, are shown in figure 6. For example (and with reference to figure 6), a detected load of magnitude “W” causes the ECU 164 to adjust the commanded operating height to “X”, and a detected load of magnitude “Y” causes the ECU 164 to adjust the commanded operating height to “Z”. Other indicated loads VERSUS commanded operating height pairs can be derived from curve 604. Curve 604 can be stored in a memory circuit of the ECU 164 as a check table, an equation, parameters of an equation, vertices of a piece linearization, a B-tree, or other digital data structures used by microprocessors.
    [00115] After the execution of step 508, the ECU 164 then proceeds to step 510, in which the ECU 164 compares the load indicated by the load sensor 149 with a second load limit 606 (see figure 6). The second load limit 606 is higher than the first load limit.
    [00116] In a similar way, in step 510, the ECU 164 compares the load indicated by the load sensor 151 with the second load limit 606.
    [00117] If both the load indicated by the load sensor 149 and the load indicated by the load sensor 151 do not exceed the second load limit 606, the ECU 164 then proceeds to perform step 518.
    [00118] In step 518, the ECU 164 uses the commanded operating height of the left section 144 When the setpoint (a height target) for a first automatic harvester height control algorithm. In this first automatic harvester height control algorithm (executed by the ECU 164), the ECU 164 determines the first height error signal for the left section 144. The first height error signal is equal to the difference between the operating height commanded from the left section 144 and the current height of the left section 144 (current height which is indicated by the signal provided to the ECU 164 by the height sensor 145). The ECU 164 calculates a valve control signal based at least on the magnitude of this first height error signal and applies the valve control signal to valve 166, thereby controlling the height of the left section 144. Any changes in feedback left section height 144 are fed back to the system by changing the signal provided by the height sensor 145.
    [00119] Thus, if the height of the left section 144 is smaller than the commanded operating height of the left section (the commanded operating height was previously calculated in step 508), the control signal applied to valve 166 will increase the pressure on actuator 158 and thus raise the left section 144. As this algorithm is repeatedly executed on the link shown in figure 5, the effect will be to reduce the error signal to zero, and to maintain the height of the left section 144 (indicated by the sensor height 145) at commanded operating height.
    [00120] In a similar way (and also in step 518) the ECU 164 uses the commanded operating height from the right section 148 when the setpoint (a height target) for a second automatic harvester height control algorithm. In this second automatic harvester height control algorithm (executed by the ECU 164), the ECU 164 determines the second height error signal for the right section 148. The second height error signal is equal to the difference between the operating height commanded from the right section 148 and the current height of the right section 148 (this current height is indicated by the signal provided to the ECU 164 by the height sensor 147). The ECU 164 calculates a valve control signal based at least on the magnitude of this second height error signal and applies the valve control signal to valve 170, thereby controlling the height of the right section 148. Any changes in height of the right section wall 148 are fed back to the system by changing the signal provided by the height sensor 147.
    [00121] Thus, if the height of the right section 148 is smaller than the commanded operating height of the right section (commanded operating height that was previously calculated in step 508), the control signal applied to valve 170 will increase the pressure on actuator 160 and thus raise the right section 148. As this algorithm is repeatedly executed on the link shown in figure 5, the effect will be to reduce the error signal to zero, and to maintain the height of the left section 144 (indicated by the sensor height 145) at commanded operating height.
    [00122] The first and second automatic harvester height control algorithms performed by the ECU 164 are therefore feedback control links. The difference between the commanded operating heights of the sections and the actual heights of the sections as the error signal input to the feedback control links.
    [00123] If, in step 510, either of the load indicated by load sensor 149 and the load indicated by load sensor 151 exceeds the second load limit 606, the ECU 164 then proceeds to perform step 512, and automatically stops (or slows down the speed of) the agricultural harvest vehicle 100 in its forward displacement into the field. The ECU 164 is programmed to do this by signaling the hydraulic valve 165 (figure 1) which is coupled to the ECU 164 to thereby stop (or reduce the speed of) the flow of hydraulic fluid to a hydraulic motor 115 (figure 1) coupled to the hydraulic valve 165. Hydraulic motor 115 is coupled to and drives at least one wheel 113 (Figure 1).
    [00124] After the execution of step 512, the ECU 164 proceeds to perform step 514, in which the ECU 164 transmits a signal to an operator display device 169 (figure 3), such as an LCD, CRT, electroluminescent display , indicating that it has stopped (or slowed down) the agricultural crop vehicle 100 because the second load limit 606 was exceeded.
    [00125] In the above description with respect to figure 5, the ECU 164 is configured to independently adjust the commanded operating height of the left section 144 and the right section 148 based on backward loads acting on the left section 144 (ie. the load F1) and backward loads acting on the right section 148 (ie, the load F2), respectively. The ECU 164 is also configured to independently control the operating height of the left section 144 and the right section 148 by using a first automatic harvester height control algorithm for the left section 144, and a second harvest height control algorithm. automatic harvester for the right section 148. This capability is provided by the mode in figure 3, which allows independent control of the height of the left section 144 and the right section 148.
    [00126] Figure 6 illustrates the relationship between the magnitudes of the backward forces F1, F2, detected by the load sensors 149 and 151, respectively, and the magnitude of the corresponding commanded operation heights that are commanded by the ECU 164 ("Height of commanded operation” in figure 6).
    [00127] From figure 6, when the backward forces F1, F2 acting on the agricultural harvest head increase, the commanded operating height correspondingly increases between a first limit load and a second limit load. For backward forces F1, F2 less than the first limit load, the commanded operating height is constant and does not change.
    [00128] The curve shown in figure 6 is a piecewise linearization, represented by two line segments, the first line segment (from the origin to the first limit) having a constant slope of zero, and the second line segment having a constant slope greater than zero. In an alternative arrangement, it can be curved upward so that the slope changes continuously (or discontinuously), or it can be in the form of a series of step-increasing line segments.
    [00129] Although this application describes various ways to carry out and use the invention, the invention itself is defined by the claims and not by the specific devices shown and described herein. The specific devices shown here are intended to enable the reader to understand the invention, and to enable the reader to produce and use at least one example.
    [00130] Those skilled in the art of agricultural equipment can easily observe many changes that could be made, which would still fall within the scope of the claims.
    [00131] For example, for convenience, we illustrate the invention using a single ECU 164. The single ECU 164 illustrated here could be replaced by several ECUs connected together over a communications network to share information and collectively perform the functions described here. There are so many potential combinations of ECUs and the ways in which they could be coupled to the sensors and actuators described here that it would be confusing (if not impossible) to illustrate them all. The term “ECU” as this term is used in this application means any number of ECUs that are connected together to communicate with each other and collectively perform the functions mentioned here.
    [00132] As another example, height sensors are shown at the ends of the agricultural harvest head 104. There are many other locations on the agricultural harvest head 104 and on the combine harvester 102 where such sensors could be placed to detect the agricultural crop head height 104.
    [00133] As another example, a specific valve and actuator arrangement is shown attached to the ECU 164. There are many types of valves and actuators that could be used to raise and lower portions of the agricultural crop head 104. Unless one If the specific type or configuration of valve or actuator is described in the claims below, any such arrangement would fall within the scope of the claims.
    权利要求:
    Claims (10)
    [0001]
    1. Harvest head height control circuit (162) for controlling the height of a hinged harvest head (104) that is supported on a combine harvester (102) during harvesting in an agricultural field, the hinged harvest head (104) including a center section (146), a left section (144), and a right section (148), wherein the left section (144) is coupled to the center section (146) and extends to the left from thereof, wherein the right section (148) is coupled to the center section (146) and extends to the right therefrom, wherein a first actuator (158) is coupled to the left section (144) to elevate the section. left (144) with respect to the center section (146), wherein a second actuator (160) is coupled to the right section (148) to raise the right section (148) with respect to the center section (146), characterized in that that the harvest head height control circuit (162) comprises: an ECU (164) coupled to the first actuator (158) for it var and lower the left section (144), and coupled to the second actuator (160) to raise and lower the right section (148); a first load sensor (149) coupled to the ECU (164) and arranged to detect a first force acting backward against the left section (144) and configured to generate a first signal indicative of the first force; and a second load sensor (151) coupled to the ECU (164) and arranged to detect a second force acting backwards against the right section (148) and configured to generate a second signal indicative of the second force; is configured to receive the first signal and the second signal and to responsively raise and lower the left section (144) and the right section (148) based on at least a magnitude of the first signal and the second signal.
    [0002]
    2. Harvest head height control circuit (162) according to claim 1, characterized in that the harvest head height control circuit (162) additionally comprises a first harvester height sensor (145 , 147) which is configured to detect a first height of the hinged harvest head portion (104) with respect to the agricultural field and to responsively generate a signal indicative of the first height.
    [0003]
    3. Harvest head height control circuit (162) according to claim 2, characterized in that the ECU (164) is configured to control the first height of the portion of the harvest head articulated to the commanded operation height .
    [0004]
    4. Harvest head height control circuit (162) according to claim 3, characterized in that the ECU (164) automatically changes the commanded operating height based on at least one of the first signal and the second sign.
    [0005]
    5. Harvest head height control circuit (162) according to claim 4, characterized in that the ECU (164) is configured to increase the commanded operating height when at least one of the first signal and the second signal rises above a first threshold signal level.
    [0006]
    6. Harvest head height control circuit (162) according to claim 4, characterized in that the ECU (164) is configured to maintain the commanded operating height at a predetermined commanded operating height when, by the minus, one of the first sign and the second sign is below a first sign threshold value.
    [0007]
    7. Harvest head height control circuit (162) according to claim 6, characterized in that it further comprises an operator input device (143) which is configured to respond to operator actuation and to transmit the predetermined commanded operating height for the ECU (164).
    [0008]
    8. Harvest head height control circuit (162) according to claim 5, characterized in that the ECU (164) is configured to stop forward displacement of the combined combine (102) when at least one of the first signal and the second signal rise above a second signal threshold level.
    [0009]
    9. Harvest head height control circuit (162) according to claim 8, characterized in that the second threshold signal level is greater than the first threshold signal level.
    [0010]
    10. Harvest head height control circuit (162) according to claim 8, characterized in that the ECU (164) is coupled to an operator display device (169), and additionally that the ECU (164) is configured to signal the operator display device (169) to display a message indicating that the combine harvester (102) has stopped because at least one of the first signal and the second signal has increased above the second signal level. limit.
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    同族专利:
    公开号 | 公开日
    EP3087819A3|2016-11-09|
    US9668412B2|2017-06-06|
    EP3087819B1|2020-07-08|
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    法律状态:
    2016-11-01| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2019-09-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-05-04| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-07-20| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 27/04/2016, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US14/701,773|2015-05-01|
    US14/701,773|US9668412B2|2015-05-01|2015-05-01|Harvesting head height control circuit|
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