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    • 专利摘要:
    AUTOMATIC CALIBRATION SYSTEM FOR COLLECTOR HEIGHT CONTROLLER WITH OPERATOR RETALIMENTATION The present invention relates to a method of calibrating a collector height controller responsive to signal outputs from a plurality of height sensors mounted on a collector, in that the signal outputs have variable magnitude in relation to changes in the height of the collector in relation to a surface. The methods automatically and precisely calibrate the collector control systems to eliminate the need for manual calibration and provide feedback to the operator to ensure the quality of the calibration and assist the operator in identifying potential problems with sensor or collector configuration that could affect operation and performance.
    公开号:BR112015019286B1
    申请号:R112015019286-6
    申请日:2014-02-12
    公开日:2020-10-13
    发明作者:Robert Schlipf；Johnathan Rassi；Nathan Virkler
    申请人:Headsight, Inc；
    IPC主号:
    专利说明:

    BACKGROUND
    [0001] Modern combine harvester collectors, for corn, small grains or other crops, can exceed 12.19 meters (40 feet) in width. With these huge collectors mounted to combine harvesters weighing over 30 tons, which travel between eight to sixteen kilometers (five to ten miles) per hour during harvesting operations, it has become essential to use collector height sensors and control systems collectors that are properly calibrated to prevent collectors from unintentionally colliding with the ground when they encounter elevation changes in the terrain, which can result in delays and tens of thousands of dollars in repair costs. Collector height sensors and the proper calibration of the collector control system are even more crucial in challenging harvest conditions, such as during "harvested harvest" harvesting, when it is necessary to operate the collector close to the ground.
    [0002] U.S. Patent 7,647,753 ("the 753 patent") issued to Headsight, Inc., relates to a system and method for improving the responsiveness of collector height control systems. The 753 patent describes a height sensor arranged in relation to the collector to generate a signal that varies in magnitude in relation to changes in distance between a pre-established point on the collector and on the ground. The magnitude of the signal generated when the collector is at a predefined set point is determined. For the magnitudes of the signal generated that indicates that the collector is below the set point, the signal magnitudes are modified operationally by applying a "gain value". For generated signal magnitudes that indicate that the collector is above the set point, the signal magnitudes can be modified by applying a different gain value. Applying a gain value or different gain values depending on the height of the collector above or below the set point improves the responsiveness of the collector height control system to changes in terrain.
    [0003] Although the commercial modality of the 753 patent (sold under the Foresight® trademark by Headsight, Inc., 3529 Fir Road, Bremen, FN 46506) has enjoyed tremendous commercial success, it has been found that some operators are not using the time to properly calibrate your collector control systems or operators are not properly determining the "gain values" to be applied at different collector heights, thereby affecting the responsiveness of collector control systems to changes in the terrain .
    [0004] Consequently, there is a need for a system that will automatically and precisely calibrate the collector control systems in order to eliminate the need for an operator to manually calibrate the collector control system and in order to avoid operator errors. In addition, there is a need for a system that will provide feedback to the operator to ensure the quality of the calibration and to assist the operator in identifying potential problems with sensors or a collector organization that causes calibration errors or inaccurate calibrations. DESCRIPTION OF THE DRAWINGS
    [0005] Figure 1 illustrates a conventional combine harvester with a corn collector mounted on it and showing a height sensor in the form of a height capture arm mounted near the pilot axle tip of one of the pilot axles of crop dividers.
    [0006] Figure 2 illustrates a conventional combine harvester with a grain collector mounted on it and showing a height sensor in the form of a height capture arm mounted near the front end of the grain collector.
    [0007] Figure 3 is a perspective view of a typical corn collector.
    [0008] Figure 4 is a side elevation view of the corn collector in Figures 1 and 3 shown in Definition Point A.
    [0009] Figure 5 is a side elevation view of the corn collector in Figure 4 that illustrates an additional pivoting movement of the height catching arm as the collector is further lowered towards the ground to Definition Point B.
    [00010] Figure 6 is a side elevation view of the corn collector in Figure 5 that illustrates an additional pivoting movement of the height catching arm as the collector is further lowered towards the ground to Definition Point C and illustrating the pivoting movement of the pilot shafts of crop dividers after the pilot shaft ends come into contact with the ground.
    [00011] Figure 7A is a diagram representing the change in the height sensor's output signal (in volts) in relation to the height at which the collector is lowered from Setpoint A to Setpoint C. The solid line represents the modified emitted signal between definition points A, B and C (ie, "gain" applied) versus the unmodified emitted signal (dashed line).
    [00012] Figure 7B is a diagram representing the change in the height sensor's output signal (in volts) in relation to the time the collector is lowered from Definition Point A to Definition Point C. The solid line represents the modified emitted signal between Definition Points A, B and C (i.e., "gain" applied) versus the unmodified emitted signal (dashed line).
    [00013] Figure 8 is a diagram that represents the change in sensitivity as a percentage of the overall sensitivity of the height sensor as the collector is lowered from Definition Point A to Definition Point C. The solid line represents the modified sensitivity between the points A, B and C versus unmodified sensitivity (dashed line).
    [00014] Figure 9A is another diagram that represents the change in the signal emitted from the height sensor (in volts) by change in height (Δv / ΔH) as the collector is lowered from Definition Point A to Definition Point C. A solid line represents the modified Δv / ΔH between the definition points A, B and C versus the unmodified Δv / ΔH (dashed line).
    [00015] Figure 9B is another diagram that represents the change in the signal emitted from the height sensor (in volts) by change in time (Δv / ΔT) as the collector is lowered from Definition Point A to Definition Point C. A solid line represents the modified Δv / ΔT between Definition Points A, B and C versus the unmodified Δv / ΔT (dashed line).
    [00016] Figure 10 is a functional block diagram for a modality, a control system for raising and lowering a collector that uses a modified signal.
    [00017] Figure 11 is an example of signal values emitted from a height sensor for a corn collector that results in a good calibration rating.
    [00018] Figure 12 is an example of signal values emitted from a height sensor for a corn collector that results in an unsatisfactory calibration rating due to an improperly adjusted pilot axis (hanging too steep).
    [00019] Figure 13 is an example of signal values emitted from a height sensor for a corn collector that results in an unsatisfactory calibration rating due to the fact that the soil is not at the level at which the calibration was performed.
    [00020] Figure 14 is an example of signal values emitted from a height sensor for a non-pivoting collector that results in a good calibration rating.
    [00021] Figure 15 is an example of signal values emitted from a height sensor for a non-pivoting collector that results in a calibration approval rating, but which indicates that the soil is not at the level at which the calibration was performed. DESCRIPTION
    [00022] Now referring to the drawings, in which similar reference numerals designate identical or corresponding parts over several views, Figures 1 and 2 illustrate a machine (such as an agricultural combine harvester) indicates in general by the numeral of reference 10 which has an accessory 12 (such as a "collector") mounted on it. A control system 100 (Figure 10) is responsive to signal emissions from a plurality of height sensors 16 mounted on accessory 12 to effect the raising and lowering of accessory 12 in relation to surface 14. Signal emissions a from the height sensors 16 they are variable in magnitude in relation to changes in the height of the collector 12 in relation to the surface 14.
    [00023] Although this description and the Figures of the drawings refer to and depict an agricultural combine harvester and height sensors used to raise and lower the collector accessory, it should be understood that the term "machine" must be understood as inclusive of any type of agricultural, industrial or other machinery. In addition, for the purposes of this description, the term "collector" should be understood as including any type of accessory, whether permanently fixed or integral to the machine or removable from the machine where such an accessory is raised or lowered in relation to the surface. In addition, for the purposes of this description, the term "height sensor" should be understood as including any type of contact sensor or non-contact sensor capable of generating variable emitted signals in magnitude in relation to changes in elevation of the collector 12 in relation to the ground. For example, contact sensors may include, but are not limited to, pivoting arms in contact with the ground coupled with rotational or position sensors to detect the angular or linear position of the arm. Non-contact sensors may include, but are not limited to, ultrasonic or laser sensors. In addition, as used in this document, the term "signal emission" should be understood as meaningful or inclusive of any signal value or signal characteristic generated by a height sensor 16 that can be used to indicate the height of the collector in to the surface, including voltage, current, pulse width, etc.
    [00024] In Figures 1 and 2, machine 10 is shown as an agricultural combine harvester and collector 12 is shown as a corn collector in Figure 1 and as a grain collector in Figure 2. In both modalities , height sensors 16 are shown to be mounted on the front ends of the collectors 12 and the collectors 12 are conventionally mounted on the front end of the feeder housing 17 of the combine harvester 10. As is conventional, the rear end of the feeder housing 17 it is pivotally connected to the main body of the combine harvester 10 as represented by the pivot point 18. As is also conventional, hydraulic cylinders 20 are pivotally connected at one end to the main body of the combine harvester 10 and, at the other end of them , at the front end of the feeder housing 17. In this way, it should be noted that by acting on the cylinders 20 with the Using the collector control system 100, the feeder housing 17 and the collector 12 mounted on it can be raised and lowered substantially vertically, but in a wide arc around the pivot point 18.
    [00025] Figure 3 is a perspective view of a typical corn collector 12. Collector 12 includes a plurality of harvest dividers 22. Collector 12 is shown as a twelve-row collector, where there are twelve spaces between the crop dividers that converge backwards 22 into which the rows of corn to be harvested are grouped. Collector widths can vary and are located in a range of typically four rows and twenty-four rows.
    [00026] With reference to Figures 1 and 3, in the operation during the harvest of corn, as the combine harvester is driven forward, as indicated by the arrow 24 in Figure 1, the corn stalks will be collected between the splitters of harvesting that converge backwards 22. As the combine harvester proceeds forward, the ears are taken from the stems and the loose ears, bark and other harvest residues collected are augured towards the central area of the collector 12 by the transverse auger rotating 26. The harvested ears of corn then pass through the central opening 28 at the rear of the collector 12 and are then transported by the feeder housing 17 inside the combine harvester. Inside the body of the combine harvester, the ears of corn are cascaded and dehusked. The husks, husked ears and other unwanted crop residues are discharged from the rear of the combine harvester while the cascading corn seeds are augured in a temporary holding tank until unloaded.
    [00027] With reference to Figures 3 and 4, each crop divider 22 comprises a pilot shaft or semi-conical front portion 30 and a semi-cylindrical rear portion 34. Each pilot shaft 30 typically includes an impact resistant or stiffened point or tip 32. The semi-conical pilot shaft 30 is pivotally mounted by screws or pins 36 (Figure 4) to the semi-cylindrical rear portion 34 which is fixed in relation to the rest of the collector. Figures 4 to 6 illustrate the ability of the pilot shafts 30 to pivot in relation to the fixed rear portions 34 around the pin 36 as indicated by the arrow 38 when the pilot spindle tip 32 contacts the ground surface 14. The angle of the driving axles 30 with respect to the fixed rear portion 34 are adjustable by any conventional means, such as by a chain link or other adjustable mechanism, then the driving axles 30 can be set at a desirable angle with respect to the fixed rear portions 34.
    [00028] As best illustrated in Figures 4 to 6, disposed below the collector 12 and mounted preferably close to the tip 32 of the pilot shafts 30 is a height sensor 16. The collector 12 will typically include multiple height sensors 16 equally spaced across the collector width. For example, it is typically desirable to have a height sensor mounted on the outermost crop dividers 22 with a height sensor mounted on the intermediate crop divider or two or more height sensors evenly spaced between the outermost crop dividers 22 depending on the width of the collector. The height sensors 16 cooperate with the collector height control system 100 to effect changes in the collector height, as described later. In addition, if the combine harvester is equipped in such a way, the height sensor in combination with the height control system can also affect the lateral inclination of the collector, if the elevation of the soil is greater on one side versus the other .
    [00029] In the embodiment illustrated in Figures 4 to 6, the height sensor 16 is shown as a spring-inclined arm 40 to which a rotational sensor 42 is attached at a front end thereof. The rotational sensor 42 can be a potentiometer or any other magnetic electronic height sensor capable of generating a signal emitted in response to the angular or linear position of the arm 40. The signals emitted from the height sensors 16 vary in magnitude in relation to the rotational position of the arm 40 in relation to the collector, thereby establishing a generally proportional relationship between the height of the collector 12 above the ground surface. A suitable spring-bent arm with rotational sensor is disclosed in U.S. Patent No. 6,202. 395 by Gramm, whose commercial modality is distributed with Headsight, Inc., 3529 Fir Road, Bremen, IN 46506.
    [00030] Figures 4 to 6 illustrate the vertical movement of the pivot element of the collector 12 (that is, the pilot shafts) and the rotation of the height sensor 16 as the collector is lowered between "Definition Point A", the " Definition Point B "and" Definition Point C "corresponding to heights" A "," B "and" C "of pivot point 36 of the collector above the soil surface. Definition Point A, can be any point or height at which the pilot shaft tip (that is, the pivot element of the collector) is not yet in contact with the soil surface. However, for the purposes of this description, it is assumed that Point of Definition A, as shown in Figure 4, corresponds to the height "A" of pivot point 36 closest to the ground, but where the arm and the rotational sensor are still they have not started to turn so that the signal emitted from the rotational sensor is at its maximum. Figure 5 illustrates an example of Setpoint B, which corresponds to the height "B" of pivot point 36 above the ground surface when the pilot shaft tip 32 makes the first contact with a ground surface 14 (ie, when the pivoting element starts pivoting). Figure 6 illustrates an example of Definition Point C that corresponds to height "C" of pivot point 36 above the ground surface when the collector is at its lowest point (for example, when the corn collector's shoes are on the ground).
    [00031] In other modalities, it should be noted that Definition Point A can be any elevation above Definition Point C, particularly if non-contact sensors are used to detect the height or position above a surface to define the upper range in which the collector is expected to operate.
    [00032] Figures 7A and 7B are illustrations of a plot of a representative sample of the signal emitted from the height sensor 16 (represented in volts, for the purposes of this example) in relation to the vertical movement of the collector, as it moves between Definition Point A, Definition Point B and Definition Point C. In Figure 7A, the signals emitted are plotted in relation to the actual height of the collector above the ground, whereas in Figure 7B, the emitted signals are plotted in relation to time and the collector is lowered at a constant rate between Definition Points A and C. It should be noted that the plotted curve and / or linearity and the angular coefficient of the signal emitted from the height sensor will vary depending on the shape of the height capture arm and / or the type of height sensor used and its position on the collector.
    [00033] Continuing the reference to Figures 7A and 7B, the signal emitted from the height sensor 16 in relation to the vertical height of the collector 12 is substantially linear in proportion to the height of the collector until the pilot shaft end 32 contacts with the soil surface 14 (ie Definition Point B, as shown in Figure 5). This is due to the fact that, as previously discussed, the pilot shaft 30 (to which the height sensor 16 is attached), is pivotable in relation to the rear portion 34 of the crop divider 22 around pin 36. Consequently, a Once the pilot shaft tip 32 contacts the ground, as the collector 12 continues to be lowered, the pilot shaft 30 will start pivoting around pin 36, as indicated by arrow 38 in Figure 5, as the rear portion 34 of the crop divider 22 continues to move down with the rest of the collector 12. As a result, it should be noted that the actual height of the collector will no longer have the same substantially linear proportionality to the rotational movement of the arm 40 due to the fact that the rotation of the arm 40 will change very little in relation to the pilot shaft once the tip of the pilot shaft touches the ground. The same change in linearity of the magnitude of the signal emitted also occurs with other types of height sensors, such as non-contact sensors.
    [00034] Continuing the reference to Figures 7A and 7B, the scale range of the magnitude of the signal emitted from the height sensor 16 is shown to be between 0 to 5 volts due to the fact that most collector control systems Conventional combine harvester accepts input voltage between 0.5 volts and 4.5 volts.
    [00035] Consequently, for the purposes of this description, an output voltage at Definition Point A of height sensor 16 is preferably about 4.4 volts, which is within the maximum voltage range of 4.5 accepted by most systems combine harvester control system, while also allowing a slight margin of error. It should be noted that any particular magnitude of signal ranges can be used. As indicated by the dashed line 50, the voltage output plotted at the collector height between Definition Points A and B is substantially linear. However, as the collector continues to move downward beyond Definition Point B, the slope of the dashed line 50 changes significantly due to the fact that the collector height ratio no longer has the same substantially linear proportionality to the rotational motion. of the arm 40 due to the fact that the rotation of the arm 40 changes very little in relation to the pilot shaft due to the pilot shaft pivoting.
    [00036] The diagram in Figure 8 represents a plot of the sensitivity of the sensor versus the change in height between Definition Points A, B and C. Again, it should be noted that a plotted curve and / or linearity and slope will vary depending on the shape of the height capture arm and / or the type of height sensor used and its position on the collector. As shown, the plot of the height sensor sensitivity versus the change in height between Definition Points A, B and C, as represented by the dashed line 52 remains substantially constant between Definition Points A and B, but beyond the Setting B, the sensitivity drops dramatically (up to 20% of the maximum) due to the pivoting of the pilot axis.
    [00037] Figure 9A represents a plot of sensor sensitivity with a vertical scale in a range of 0 to 0.4 ΔY / ΔH (ie, signal emission by height) as the collector height moves between Definition Points A, B and C. Figure 9B represents a plot of sensor sensitivity with a vertical scale in the range 0 to 0.4 Δv / ΔT (that is, signal emission by time) as the collector height moves between Definition Points A, B and C. Again, it should be noted that the plotted curve and / or linearity and angular coefficient will vary depending on the shape of the height capture arm and / or the type of height sensor 16 used and its position in the collector. As shown, the sensitivity of the height sensor 16, as represented by the dashed line 54, remains substantially constant between Definition Points A and B, but below Definition Point B, the sensitivity drops dramatically due to the pivoting of the pilot axis.
    [00038] Figure 10 illustrates a modality of a collector control system 100. As previously described, the height sensor 16 generates a variable emitted signal in magnitude in relation to the height of the collector in relation to the ground, which, in the modality shown in Figures 4 to 6, it is the rotational position of the arm 40. The emitted signal is fed to the comparator 56, which also has the capacity to receive a signal from the operator definition control 58 that establishes the desired operating height from the operator to the collector hereinafter "Defined Height") typically defined by manipulating a lever or rotary control in the combine harvester cabin. Comparator 56 will generate an emitted signal (hereinafter "Comparator Emission") that represents (for example, proportional) the difference between the height of the collector in relation to the ground, as captured by the height sensor 16 (hereinafter " Captured Height ") and the Defined Height. The Comparator Emission is fed to the controller 60 which acts in an operational manner the hydraulic cylinders 20 to raise and lower the collector 12. It should be understood that the controller 60 can be a proportional hydraulic control typical of most combine harvesters of newer models, or the controller may be a proportional non-hydraulic control found on older model threshers. Comparator 56 can also be incorporated into or form part of controller 60 and / or may otherwise be adapted to communicate with controller 60.
    [00039] If the Captured Height is the same as the Defined Height (or is within the "dead zone" (discussed below)), the Comparator Emission will not cause controller 60 to actuate hydraulic cylinders 20. If the terrain is tilt, causing the Captured Height to be below the Defined Height, the Comparator Emission will cause the controller to actuate the hydraulic cylinders 20 in order to raise the collector 12 until the Captured Height is equal to the defined Height. Otherwise, if the terrain declines causing the Captured Height to be above the Defined Height, the Comparator Emission will cause the controller 60 to actuate the hydraulic cylinders 20 to lower the collector 12 until the Captured Height is equal to the Defined Height . In order to prevent excessive oscillation of the controller 60 and hydraulic cylinders 20, the controllers are, in general, programmed or programmable with a "dead zone" through which the Comparator Emission which indicates only small differences in the Height captured in each side of the defined Height will be ignored by controller 60 (that is, controller 60 will not actuate hydraulic cylinders 20).
    [00040] It should also be noted that due to the fact that the effective sensitivity of the height sensor 16 is decreased below Definition Point B (due to the reduced relative movement of the sensor in relation to the pilot axis), as shown by the dashed lines 52 and 54 in Figures 8 and 9 respectively, the dead zone will increase in an effectively undesirable manner at its most crucial height. For example, assume that the operator sets the Defined Height so that the pilot shaft tip is at ground level and the controller 60 is programmed or defined so that the dead zone is two centimeters (one inch) on each side of the Defined Height. Under these conditions, if the terrain grows by seven centimeters (three inches), for example, due to the unsatisfactory sensitivity of the height sensor 16 at that time, the sensor may not detect the change in terrain to cause comparator 56 to generate a Comparator Emission Signal. Furthermore, due to the decreased effective sensitivity of the height sensor 16 at that time, the Comparator Emission will typically not accurately represent the true height of the collector above the ground surface. Additionally, if this inaccurate Comparator Emission is still within the dead zone range, controller 60 will not actuate hydraulic cylinders 20. Thus, under such circumstances, the collector can potentially impact the soil before controller 60 acts on cylinders hydraulics 20 in order to raise the collector.
    [00041] Consequently, as recognized and disclosed in the 753 patent, it is desirable to improve the effective sensitivity of the height sensor near and below Definition Point B in order to improve the responsiveness of the collector height control system when the pilot shafts 30 travel at or near ground level. In order to achieve the desired enhanced responsiveness, the magnitude of the signal indicating the height of the collector is modified by applying a "gain" factor or a signal multiplier when the height of the collector is detected below Set Point B. As represented in Figure 10, the signal emitted from the height sensor is modified by a signal modifying interface 102 that modifies the signal emitted from the height sensors 16 before the emitted signal reaches comparator 56. A suitable signal modifying interface 102 is a programmable digital microcontroller interface, such as the Insight® control box available from Headsight, Inc., 3529 Fir Road, Bremen, IN 46506.
    [00042] Interface 102 can be arranged at the rear of the harvest collector in such a location that it can be connected to the electronic connections existing in the feeder housing of the combine harvester 17. It should be noted, however, that the modification The signal can occur at any point in the collector control system 100 between height sensor 16 and emission from controller 60. For example, emission from comparator 56 and / or controller 60 can be modified by controlling controller 60 in order to modify the signal to apply the appropriate gain value (discussed below) and / or calibrating the controller 60 in order to effectively apply the gain value (s) to the signal emitted from the controller. In this way, it should also be noted that interface 102 or the functionality of interface 102 can be incorporated or form part of controller 60. Alternatively, the modification of the signal can occur in the proper height sensor, or within it, if the sensor has the ability to be programmed to apply a gain or a multiplier before sending the signal.
    [00043] As discussed in patent 753, a method for modifying the signal to account for the loss of effective sensitivity of the sensor below Definition Point B, is to determine the magnitude of the signal when the collector is at a Definition Point B (hereinafter referred to as "Definition Point Magnitude B" (SPBM)). With the known SPBM, for any signals generated by the rotational sensor that have a magnitude greater than the SPBM, it is known that the collector is positioned above Definition Point B. In sequence, the signal generated from the rotational sensor is less than the SPBM , then, it is known that the collector is below Definition Point B. The gain factor or multiplier can then be applied to the signal when the signal magnitude is less than the SPBM in order to improve the responsiveness of the collector height control system when the collector is at or below Set Point B.
    [00044] The gain factor used for signals above Set Point B (hereinafter "Gain Above B" (ABG)) is preferably about one, but can be any integer or fractional number. The gain factor used for signals below Set Point B (hereinafter "Gain Below B" (BBG)) is preferably more than about ten times greater than ABG. The gain factor used for BBG and ABG (if any) is, preferably, so that after applying the gain factor, the angular coefficient of plotting the magnitude of the signal emitted from the height sensor versus the height of the collector is substantially constant across the entire height range of the collector from Definition Point A to Definition Point C, as indicated by solid line 70 in Figure 7, for example. It should be noted that by making the signal magnitude substantially linear across the entire height range of the collector from Definition Point A to C, the effective sensor sensitivity will become substantially necessary uniformly, as indicated by the lines solids 72 and 74 in Figures 8 and 9, respectively.
    [00045] The 753 patent revealed that Point of Definition B (and therefore SPBM) can be determined manually by visually identifying itself when the pilot shaft tip touches the ground and identifying SPBM at the point. The 753 patent also revealed automatic detection of which point at which the pilot shaft touches the ground using other sensors to detect when the pilot shaft begins to turn. In the modality described in this document, the need to visually identify when the pilot shaft ends touch the ground or the need to employ additional sensors to detect pivoting movement of the pilot shaft becomes unnecessary.
    [00046] Additionally, the 753 patent revealed that the BBG and ABG gain factors can be identified manually or automatically, however both the manual determination and the automatic determination of the BBG and ABG gain factors, as revealed in the 753 patent depend on the position and geometry of height sensors 16 and the distance from the tip of the pilot shaft to pivot point 36. In the mode disclosed in this document, the BBG and ABG gain factors can be determined independently of the geometry or position of the sensors height 16 and / or the distance from the pilot shaft end to the pivot point. Automatic Controller Collector Calibration When the Sensor Height is mounted on a Collector Pivot Element
    [00047] In order to calibrate the collector control system 100 in order to automatically determine the Set Point B and the gain factor to be applied, the magnitudes of the signal emitted from the height sensors taken as sampled and recorded in relation to the change in height of the collector, as it moves through the range of motion in order to correlate the magnitudes of the signal emitted in relation to the actual height of the collector above the ground. The range of motion can start from an elevated position to a lowered position or from a lowered position to an elevated position. The correlation of the signals emitted to the real height of the collector above the ground can be determined by taking as a sample the signals emitted from the height sensors as the collector is moved through a range of motion at a constant speed associating the signals emitted from the height sensors with other positional sensors that monitor another element of the machine 10 to which the collector 12 is attached, for example, the positional sensors in the feeder housing 17 of the combine harvester.
    [00048] For example, in one mode, the operator can be instructed to raise the collector to its maximum height and then start to lower the collector at a constant fall rate or fall rate until the collector is at rest on the ground (ie Definition Point C). As the collector is being lowered, the signal modifying interface 102 (for example, the Insight® controller, as previously referenced) will sample the signals emitted through all the height 16 sensors. A sampling rate of 100 Hz can be but other desired sample rates may also be used. Taking into account the same signals emitted, as discussed above with reference to Figure 7B, it should be noted that the signals emitted from the height sensor will remain substantially constant and, presumably, is at its maximum due to being completely extended (for example, peep, 4.5 V) until the collector is lowered to the point where one of the height sensors 16 comes into contact with the ground surface and begins to turn. Upon detecting the first change in the signal emitted from the height sensor, the interface 102 starts a clock or timer to set the date and time of the first change in the emitted signal and records the magnitude of the signal emitted in the first timestamp , thereby, establishing Setpoint A and "Setpoint Magnitude A" (SPAM) for that height sensor. This same process occurs for each of the height sensors.
    [00049] Since the collector continues to drop at a constant rate to the position of Definition Point C, interface 102 continues to successively mark the date and time of the height sensor signals and register them in the sampling rate (for example, 100 Hz) for each of the height sensors. When the collector reaches the Set Point C position, and interface 102 detects the last change in the height sensor's emitted signal in a predetermined sampling period, the timer is interrupted establishing the Set Point C position and the last signal magnitude. emitted to be changed is recorded as "Definition Point Magnitude C" (SPCM). This same process occurs for each of the height sensors.
    [00050] In an alternative modality, for example, in which the collector is being lowered or raised, the signal modifying interface 102 (for example, the Insight® controller, as previously referenced) can be programmed to sample the emitted signals through all height sensors 16 based on incremental signal changes received from the feeder housing position sensors 17 or another positional sensor associated with the collector movement 12. For example, interface 102 can be programmed to record the magnitudes signal emitted from each of the height sensors at each 0.01 voltage change of the feeder housing position sensor. Thus, assuming that the feeder housing is first raised to its maximum height and is then lowered, by detecting the first change in the signal emitted from the height sensor, interface 102 records the magnitude of the signal emitted from the height sensor and the associated emitted signal from the feeder housing position sensor, thereby establishing Definition Point A and SPAM for that height sensor in relation to the feeder housing height. This same process occurs for each of the height sensors. As the collector continues to be lowered, interface 102 can be programmed to record the signal magnitudes of each of the height sensors at each 0.01 voltage change of the feeder housing sensors until the housing position sensor feeder indicates that the feeder housing is in the lowest position of it establishing the position of Definition Point C, where the interface 102 records the signals emitted from each of the height sensors 16 in that position, thereby establishing the SPCM for each of the height sensors.
    [00051] In an alternative modality in which non-contact sensors are used, since the SPCM is established by sampling the magnitude of the signal emitted when the collector is lowered to the position of Definition Point C (that is, the point lower in the range of motion of the collector), which can be detected by the position sensors in the feeder housing or other support element associated with the movement of the collector, the position of Definition Point A and, therefore, SPAM can be established at any desired elevation above the Setpoint C position, such as, at the height or higher elevation at which the collector is expected to operate in the field.
    [00052] With all the emitted signals recorded through each of the height sensors between Setpoint A and Setpoint C, deviations in the rate of change of signal magnitudes between Setpoint A and C can be identified by analyzing the differences in signal magnitudes recorded between successive samplings (that is, either based on the date and time stamp or the incremental signal changes of an associated position sensor). For example, by comparing the difference between SPAM and the signal magnitude of the next successive sampling point, the change in the initial rate or slope will be substantially linear with the next successive signal magnitude until the pilot shaft end comes into contact. contact with the ground, at that point, the slope will start to change. Consequently, if interface 102 is programmed to compare each of the successively registered signal magnitudes that begin with SPAM, the interface will be able to identify the first occurrence of non-linearity that will establish the position of "Definition Point B" and SPBM corresponding. The same process can be performed for each of the height sensors.
    [00053] With SPBM now known, interface 102 is programmed to calculate the difference in the slope of the signal emitted from Definition Point A to Definition Point B (that is, the slope of line 70 in Figure 7 ) against the slope from Definition Point B to Definition Point C (i.e., the slope of the dashed line 50 in Figure 7 to the left of Definition Point B). The differences in slopes from Definition Point A to B and from Definition Point B to C, will correspond to the gain factor that is necessary to modify the magnitude of signals that are below the SPBM to bring them for substantial linearity with the slope from Definition Point A to B. Alternatively, once the SPBM is identified, it may be desirable to consider a subset of the magnitude of signals on each side of the SPBM for comparison purposes the angular coefficients on each side of the SPBM to take into account a non-linearity of the angular coefficients of the magnitude of signals in a range closer to the SPBM.
    [00054] The recorded signal magnitude can be correlated to the corresponding real height of the collector above the ground surface by associating the signal magnitude between Definition Points A, B and C with the known height sensor or sensor arm configuration height and known collector configurations based on the combine harvester and collector make and model previously programmed in interface 102 or in the combine harvester monitor input interface 102 interfaces with. For example, if output signals at Definition Points A, B and C are recorded, these values can be correlated with output signals expected at Definition Points A, B and C preprogrammed at interface 102 for different manufactures and models of combine harvesters, collectors and sensors 16. If discrepancies are identified between the actual output signals from the output signals expected in Definition Points A, B and C for the known manufactures and models, this information will also can be used to diagnose organization errors with the collector or problems with the sensors as discussed later under the Calibration Classification and Operator Feedback section of this disclosure.
    [00055] Interface 102 is programmed to apply BBG at any detected signal magnitudes that are below SPBM in order to modify the angular coefficient of the signal emitted below Definition Point B (that is, from Definition Points B to C or a subset of them) to have the same or substantially the same slope as the signal emitted above Definition Point B (i.e., from Definition Points B to A or a subset of them). If an ABG is desired to modify output signals greater than SPBM, interface 102 can be programmed to apply any integer or fractional number of those output signals greater than SPBM.
    [00056] With the known BBG and ABG gain factors, the modified emitted signal that corresponds to the collector heights above Definition Point B can be represented by the following equation: Modified Signal Above Definition Point B = SPBM + ((magnitude signal strength - SPBM) x ABG)
    [00057] Similarly, the modified signal corresponding to the collector heights below Definition Point B can be represented by the following equation: Modified Signal Below Definition Point B = SPBM - ((SPBM - measured signal magnitude) x BBG)
    [00058] It should be noted that by applying different gain values to the signal magnitudes emitted above and below Definition Point B as discussed above, the effective sensor sensitivity will be uniform or more substantially uniform as indicated by solid lines 72 and 74 in Figures 8 and 9A, 9B respectively, from Definition Point A to Definition Point C, through which it improves the responsiveness of the collector height control system when the pilot shaft ends of crop divider are running on or near the soil surface.
    [00059] It should also be noted that in order to ensure that modified emitted signal magnitudes are within the acceptable input ranges for comparator 56 / controller 60 (for example, between ranges between 0.5 volts and 4.5 volts), it may be necessary to shift the magnitudes of the signal emitted. For example, if the slope of the output signals in Figures 7A, 7B was steeper due to a different pickup arm configuration so that the actual detected signal magnitude of the sensor at Definition Point C was found to have 2 , 0 volts which through it results in a modified signal magnitude at Definition Point C (ie SPCM) which is 0.4 volts (ie 2.6 - ((2.6-2.0) x 3.5), so it would be necessary to shift the signal plot upwards while maintaining the same slope to ensure that the collector controller system would still receive that modified signal at Definition Point C. One way to provide such a magnitude shift , while maintaining the same slope, it is to define the actual magnitude of the signal at Definition Point A (ie SPAM) at the maximum signal range and adjust all the signals detected by that increased difference, for example, if the SPAM detected actual is 3.4 volts, all of the mag The number of signals detected can be adjusted upwards by 1 volt as is the SPAM reset at 4.4 volts (the maximum voltage accepted by most collector control systems while allowing for a slight margin of error). The corresponding SPCM would therefore be 1.4 volts (that is, 0.4 +1.0).
    [00060] Although the modality described in this document describes pivot point 36 as the pre-established point on the collector to determine the height of the collector above the ground surface, it must be realized that Point of Definition B can be a reference for any point on the collector above the surface of the soil where it is discontinued in the slope of the emitted signal. The purpose is simply to identify the signal magnitudes from height sensor 16 at Definition Point B (no matter where the reference point may be) so that the resulting output of comparator 56 / controller 60 can be modified as described above .
    [00061] It should also be noted that some height sensors 16 are configured to generate signals with opposite magnitudes than those described above, that is, signals of greater magnitude are generated at lower collector heights and signals of lesser magnitude are generated at collector heights. bigger. For the sake of simplicity, it is assumed that the height sensor generates signals of less magnitude below Definition Point B and then above Definition Point B. However, collector height control systems may alternatively use the magnitude of signals which are inverted (that is, signals of greater magnitude above Definition Point B and then below Definition Point B). Therefore, any discussion in this specification or in the appended claims regarding the increase in signal magnitude above Definition Point B or the decrease below Definition Point B should be understood to be equally applicable to systems in which the signal magnitude of the sensors height is shifted above and below Definition Point B. AUTOMATIC CALIBRATION OF THE COLLECTOR CONTROLLER WHEN THE HEIGHT SENSOR IS NOT ASSEMBLED TO A PIVOTING ELEMENT OF THE COLLECTOR.
    [00062] The aforementioned system and method of calibration collector controllers for collectors in which the sensor is mounted on a pivoting element (for example, the pilot shafts on corn collectors) is substantially the same for calibration collector controllers in that the height sensor is not mounted on a pivoting element, such as on platform type collectors and draper type collectors for small grain harvesting (collectively hereinafter "non-pivoting collectors"). However, in such applications, it should be noted that because the sensor is not mounted on a pivoting element, there will be no abrupt change in the magnitude of signals between Definition Points A and C and therefore it is not necessary to perform the steps identified above to detect the position of Setpoint B and / or SPBM for the purpose of applying a BBG value to signals. Otherwise, all previous modalities and methods are equally applicable to non-pivoting collectors. OPERATOR CALIBRATION AND RETALIMENTATION CLASSIFICATION
    [00063] The current state of the art in collector controls simply provides the operator with approval / failure messages, such as "Calibration Failed - Sensor voltage is too low" or "Calibration Failed - Sensor swing less than 2, 0V. " While such pass / fail systems provide operators with feedback to identify and resolve major problems with collector height sensors, such pass / fail systems do not provide the operator with much confidence that the height sensor calibration is accurate or that the collector and / or sensors are correctly organized for optimal performance.
    [00064] To provide the operator with reliability that the calibration of the collector height controller is accurate and that the collector 12 and sensors 16 are correctly organized, the interface 102 can be programmed to analyze the magnitude of signals recorded for the purposes of characterizing the Scope and response of height sensors for purposes of identifying similarities or discrepancies in the magnitude of signals through sensors in various positions (for example, at Definition Points A, B and C) or differences between the recorded magnitude of signals and the magnitude of expected signs or other abnormalities. This information can therefore be used to provide feedback to the operator in a way that reliably provides the operator that the collector control is correctly calibrated for dependent performance and / or feedback that will identify collector or sensor organization errors. and / or suggest possible solutions for the abnormalities detected that may affect performance.
    [00065] Figures 11 to 15 illustrate a modality for providing feedback to an operator in the form of a calibration rating. For the purposes of this modality, it is assumed that the collector has three height sensors 16 (that is, a "left" sensor, a "right" sensor and a "central" sensor). However, it should be noted that the collector may have some of one or two height sensors or four or more height sensors depending on the width of the collector, in each case, the output signals will be recorded for each of the height sensors. The examples in Figures 11 to 13 are examples applicable to collectors in which the height sensor is mounted to a pivoting element (for example, corn collectors), while Figures 14 and 15 are examples applicable to non-pivoting collectors (for example , grain collectors).
    [00066] With reference to Figure 11, the emitted signal values measured 110 at Definition Point A, at Definition Point B and at Definition Point C (that is, SPAM, SPBM and SPCM) are recorded for each of the three left, right and central height sensors 16. Having understood that SPBM is produced to identify the change in the angular coefficient of the magnitude of signals as described above. These measured signal emitted values 110 are therefore used to establish the classification factors 112 for each of the left, right and central height sensors 16 installed in the collector 12. In the examples in Figures 11 to 13, the rating 112 includes the "Gain" factor 112-1 (determined as identified above); the "Set Point B Time" 112-2 factor (which is the time detected for the collector to be lowered from Set Point A to Set Point B); the "Point of Definition A to B" factor 112-3 (which is the difference between SPAM and SPBM); and the "Point of Definition B to C" factor 112-4 (which is the difference between SPBM and SPCM). Other classification factors suitable for characterizing the range and response of height sensors can also be used or taken into account.
    [00067] Based on the values calculated for each one within the classification factors 112, the maximum values ("Max"), the minimum values ("Min") and the average values ("Avg") across all sensors of height are identified or calculated. These values are then used in connection with a weighing factor ("Wt Factor") 114 to determine a "Penalty" value 116 for each rating factor 112. The weighing factors 114 used for each rating factor 112 may vary depending on the importance attached to each 112 ranking factor based on experience or testing. For example, a weighing factor of "15" is assigned to the "Gain" rating factor 112-1, while a weighing factor of "40" is assigned to the "Setting Point Time B" rating factor. 112-2. Thus, for the purposes of this modality, it is considered that deviations from the time period for a sensor to detect movement from Definition Point A to Definition Point B (that is, definition factor of Time of Definition Point B 112 -2) has a greater effect on the performance of the collector control system than the deviations from the Gain values and therefore a greater Weighing factor 114 is attributed to the Set Point Time rating factor B 112-2 than the 112-1 Gain rating factor. As an example, the Penalty 116 value for the 112-1 Gain rating factor is calculated as follows:

    [00068] To determine the calibration rating 118, the sum of the Penalty 116 values for each of the 112 rating factors is subtracted from a maximum rating value of "100". In the example in Figure 11, calibration rating 118 is calculated to be a value of "94". Thus, a "good" classification is considered, which indicates that the height of the collector control is correctly calibrated and that the organization of the collector and height sensors are adequate. A calibration rating of 60 or less is considered an "unsatisfactory" or "failure" rating which indicates that there was a lack of reliability in the calibration of the collector height control system. Obviously, it must be understood that providing a calibration rating is only one of many possible modalities for providing an operator with feedback so that the operator has confidence that the collector control is correctly calibrated for dependent performance. In addition, with respect to providing a calibration rating, there are many possible methods for determining a calibration rating. For example, instead of determining a penalty to be subtracted from a maximum rating, rating factors can be added to produce a calibration rating.
    [00069] Additionally, any rating range or way of identifying a rating type attribute can be used. In addition, any method of calculating a penalty value or additive value can be used to characterize an effect on the performance of the collector control system.
    [00070] In another example, as shown in Figure 12, based on the factors previously discussed in the example in Figure 11, calibration rating 118 is calculated to be a value of "52". With reference to the Penalty 116 values in Figure 12, it can be seen that a significant penalty is applied for the “Definition Point B to C” rating factor 112-4. An analysis of the values for the classification factor of "Definition Point B to C" 112-4 shows that the "right" sensors made contact with the ground earlier than the left and central sensors, which indicates an improper organization of the collector or height sensors.
    [00071] In another example, as shown in Figure 13, the calibration rating is 118 which is calculated to be a value of "39", which is a very unsatisfactory rating, which indicates that there is a significant lack of reliability in calibration of the collector height control system. Using the 116 Penalty values, it can be seen that significant penalties were applied for the "Setting Point B to C" rating factor 112-4 and for the "Setting Point B Time" 112- two. An analysis of the values for the classification factor of "Definition Point B to C" 112-4 shows that the "central" sensors made contact with the ground earlier than the left and right sensors, which indicates an improper organization of the collector or height sensors. In addition, an analysis of the measured values reveals that the voltage signal for the central sensor at Definition Point C is less than the voltage signal for the left and right sensors which indicates that the central sensor was rotated more than the left sensors and right. These combinations of factors indicate that the soil on which the calibration process was carried out is not level, and in particular, indicates that the soil was larger in the middle of the collector than at the ends.
    [00072] In the example in Figure 14, which represents data for a non-pivoting collector, different weighing factors 114 and classification factors 112 are shown. Again, other weighing factors and classification factors suitable for characterizing the range and response of the sensors height can also be used or taken into account. In the example in Figure 14, a weighing factor of "50" is assigned to the "Defining Point A to C" rating factor 112-5 (which is the difference between SPAM and SPCM), and a factor weighing "50" is assigned to the "L to R Oscillation Difference" rating factor 112-6 (which is the difference between SPAM and SPCM only for the left and right sensors). In the example in Figure 14, calibration rating 118 is calculated to be a value of "96". Thus, a "good" classification is considered, which indicates that the height of the collector control is correctly calibrated and that the organization of the collector and height sensors are adequate.
    [00073] In the example in Figure 15, the calibration rating is 118 which is calculated to have a value of "73", which is an acceptable rating, but is low, which indicates that the reliability of the calibration is not very high. Using the 116 Penalty values, it can be seen that significant penalties were applied for the "Definition Point A to C" classification factor 112-5 and for the "L to R Oscillation Difference" classification factor 112 -6. An analysis of these values shows that the "right" sensors made contact with the ground earlier than the left and central sensors, which indicates an improper organization of the collector or height sensors. In addition, an analysis of the measured values reveals that the voltage signal for the right sensor at Definition Point C is less than the voltage signal for the left and central sensors, which indicates that the right sensor was rotated more than the left and center sensors, and that the central sensor was rotated more than the left sensor. These combinations of factors indicate that the soil on which the calibration process was carried out was not level, and in particular, indicates that the soil was larger on the right side of the collector than on the left side.
    [00074] In addition to the calibration rating that provides feedback to give the operator a sense of reliability in the calibration of the collector height control system, interface 102 can be programmed to provide feedback to the operator based on an analysis of the data. As identified above in conjunction with Figures 12 and 13, interface 102 can be programmed to recognize certain abnormalities in the measured and calculated data to suggest corrections.
    [00075] For example, with respect to the values calculated in Figure 12, it will be evident that the right sensors were in contact with the ground earlier than the left and central sensors. This would indicate that either the ground is not level (that is, higher below the right side of the collector) or that the right sensor is hanging lower than the other sensors. By reference to the measured values, another anomaly indicates that the voltages for the right sensor at Definition Points A and C are lower than the voltage signals from the left and central sensors at Definition Points A and C, but the voltages of the right sensor at Definition Point B are greater than that of the left and central sensors at Definition Point B. This anomaly indicates that the right pilot shaft end made contact with the ground earlier and started pivoting earlier than the left and right pi-lotos axes for the reason that there was less of a voltage change from Set Point A to B than expected compared to the voltage changes of the left and center pilot axes from Set Point A to B. Based on this data, interface 102 can be programmed to display a message that the "Angle of the right pilot axis is too steep", for example.
    [00076] Similarly, with respect to Figure 13, a comparison of the abnormalities in the calculated and measured values indicates that the soil was higher in the middle of the collector than at the ends. In this way, interface 102 can be programmed to display a message that "Ground is not level - high in the center", for example.
    [00077] Similarly, with respect to Figure 15, a comparison of the abnormalities in the calculated and measured values indicates that the soil was higher on the right side of the collector than on the left side. In this way, interface 102 can be programmed to display a message that "Solo is not level - high on the right", for example.
    [00078] Other types of feedback can also be provided to the operator. For example, if the "right" height sensor is not correctly mounted or is faulty and causes a significant SPAM, SPBM and / or SPCM anomaly compared to the corresponding values for the left and center sensors, interface 102 can be programmed to display a message such as "Check right sensor".
    [00079] The above are just some examples of the type of operator feedback that can be provided based on the analysis of abnormalities in the measured output signals or calculated values that are within the scope of the possible operator feedback information.
    [00080] The aforementioned description is presented to enable a person of common skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Several modifications to the preferred mode of the system, and to the general principles and resources of the system and to the methods described in this document will be readily apparent to those skilled in the art. Thus, the present invention is not limited to the modalities of the system and methods described above and illustrated in the Figures of the drawings, but must be in accordance with the broadest scope that is consistent with the spirit and the scope of the attached claims.
    权利要求:
    Claims (15)
    [0001]
    1. Method for calibrating a collector height controller (100), the collector height controller (100) capable of receiving output signals from a plurality of height sensors (16) mounted on a collector (12), in that the output signals are variable in magnitude in relation to changes in the height of the collector (12) in relation to a surface (14), in which the height controller of the collector (100) is responsive to the output signals of the plurality height sensors (16), in which the method comprises the steps of: moving the collector (12) through a range of movement in relation to a surface (14); characterized by: as the collector (12) moves through the movement range, receiving and storing, at predetermined sampling intervals, the magnitudes of the signal emitted for each of the plurality of height sensors (16); define a Magnitude of Definition Point C ("SPCM") for each of the plurality of height sensors (16), where SPCM is the magnitude of the emitted signal in which a last observable change in the magnitudes of the emitted signal is detected between sequential sampling intervals as the collector (12) is moved towards a lower point in the movement range; define a Magnitude of Definition Point A ("SPAM") for each of the plurality of height sensors (16), where SPAM is the magnitude of the signal emitted at a predetermined elevation in the range of motion of the collector (12) above the elevation corresponding to the SPCM.
    [0002]
    2. Method, according to claim 1, characterized by the fact that SPAM is defined by the sampling interval in which a first notable change in the magnitudes of the signal emitted is detected between sequential sampling intervals as the collector (12) is moved from a higher point in the range of motion.
    [0003]
    3. Method, according to claim 1, characterized by the fact that the SPCM is defined by a position sensor associated with the movement of a support element of the collector (12), so that when the position sensor identifies when the collector (12) is at the bottom of the movement range, the magnitudes of the signal emitted from each of the plurality of height sensors (16) are stored.
    [0004]
    4. Method, according to claim 1, characterized by the fact that it additionally comprises the step of: defining a Magnitude of Definition Point B ("SPBM") for each one among the plurality of height sensors (16), in that SPBM is the magnitude of the signal emitted in the sampling interval in which a first notable deviation occurs at a rate of change in the magnitudes of the signal emitted between SPAM and SPCM.
    [0005]
    5. Method, according to claim 4, characterized by the fact that it additionally comprises the step of: applying a gain value to linearize the rate of change of the magnitudes of the signal emitted between SPBM and SPCM with the rate of change of the magnitudes of the signal emitted between SPBM and SPAM.
    [0006]
    6. Method according to claim 1, characterized by the fact that the collector (12) is moved through the movement range at a constant rate and the predetermined sampling intervals are time intervals.
    [0007]
    7. Method, according to claim 1, characterized by the fact that the predetermined sampling intervals are incremental changes in the signal magnitude of a position sensor associated with the movement of a collector support element (12).
    [0008]
    8. Method, according to claim 1 or 4, characterized by the fact that it additionally comprises the step of: identifying abnormalities between the magnitudes of the signal emitted through the plurality of height sensors (16) at predefined points of the intervals of sampling.
    [0009]
    9. Method according to claim 8, characterized by the fact that it additionally comprises the step of: defining the expected performance of the collector height controller (100) under operational conditions based on the abnormalities.
    [0010]
    10. Method, according to claim 9, characterized by the fact that the abnormalities include discrepancies between SPAM and SPCM values from the most external among the plurality of height sensors (16); or in which the abnormalities include discrepancies between SPAM and SPCM values due to the plurality of height sensors (16).
    [0011]
    11. Method according to claim 9, characterized by the fact that the definition of the expected performance of the collector height controller (100) includes a calibration rating (118).
    [0012]
    12. Method, according to claim 8, characterized by the fact that it additionally comprises the step of: displaying recommendations visible to an operator based on the abnormalities identified.
    [0013]
    13. Method, according to claim 9, characterized by the fact that it additionally comprises the step of: displaying viewable recommendations to an operator based on the defined expected performance of the collector height controller (100).
    [0014]
    14. Method, according to claim 9, characterized by the fact that it additionally comprises the step of: displaying recommendations visible to an operator based on the calibration classification (118).
    [0015]
    15. Method, according to claim 9, characterized by the fact that the recommendations include: definitions of the surface (14), or identifying whether the elements of the collector (12) are improperly positioned, or identifying whether one of the plurality of sensors tall (16) needs attention.
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    同族专利:
    公开号 | 公开日
    CA2900987A1|2014-08-21|
    CA2900987C|2021-01-19|
    EP2955993B1|2018-11-28|
    US10244680B2|2019-04-02|
    US20170202144A1|2017-07-20|
    WO2014127043A1|2014-08-21|
    EP2955993A1|2015-12-23|
    US20160007531A1|2016-01-14|
    US9609806B2|2017-04-04|
    EP2955993A4|2016-10-05|
    ES2704408T3|2019-03-18|
    BR112015019286A2|2017-07-18|
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    法律状态:
    2018-02-27| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-07-23| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-02-04| B06A| Notification to applicant to reply to the report for non-patentability or inadequacy of the application according art. 36 industrial patent law|
    2020-06-02| B09A| Decision: intention to grant|
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    申请号 | 申请日 | 专利标题
    US201361763903P| true| 2013-02-12|2013-02-12|
    US61/763,903|2013-02-12|
    PCT/US2014/016104|WO2014127043A1|2013-02-12|2014-02-12|Automatic calibration system for header height controller with operator feedback|
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