CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority under 35 USC 119 of German Application No. 102018111076.6, filed on May 8, 2018, the disclosure of which is herein incorporated by reference.

BACKGROUND OF THE INVENTION

The present invention relates to a combine harvester having multiple working mechanisms for carrying out specific treatment subprocesses of an overall treatment process for processing crop, and a driver assistance system for controlling the working mechanisms. The driver assistance system includes a memory for storing data and a computing device for processing the data stored in the memory.

Combine harvesters are used for mowing and threshing grain as crop. For this purpose, the combine harvester comprises multiple working mechanisms for carrying out specific treatment subprocesses of an overall treatment process for processing crop. The threshing is carried out by a threshing mechanism which obtains kernels from the crop picked up by the combine harvester with the aid of a front attachment, in particular, a header. After threshing, separation by a separating device, and subsequent cleaning by a cleaning mechanism, the kernels are fed to a grain tank. Further components of the crop, for example, the chaff and the straw, remain and are either spread onto the field together with the straw which has been chopped up by a chopper or can be set down as swath, in the case of the straw, for example, to be subsequently picked up by a baler. The need to adjust the various working mechanisms places high demands on an operator, since changes in one adjustment parameter affect other adjustment parameters or process quality parameters within a working mechanism itself. Thus, for example, increasing the rotational speed of a threshing cylinder of the threshing mechanism can result in an increase of the throughput of crop, but the portion of damaged grain simultaneously increases as well.

A combine harvester is known from DE 10 2013 106 133 A1. This combine harvester comprises a driver assistance system for controlling the working mechanisms, which includes a memory for storing data, a computing device for processing the data stored in the memory, and a graphical user interface. An automated adjusting mechanism is provided for controlling a separating mechanism and an automated adjusting mechanism is provided for controlling a cleaning device. These automated adjusting mechanisms function independently of one another in order to operate the particular working mechanism at an optimal operating point. The automated adjusting mechanisms are automatically activated by the driver assistance system, although they can be optionally activated or deactivated by an operator. While the working mechanisms defined as “separating mechanism” and “cleaning mechanism” are controlled by the automated adjusting mechanisms in order to achieve an optimal operation under given operating conditions, it is the responsibility of the operator to adjust the remaining working mechanisms. To this end, the operator must be able to respond appropriately and promptly to changes induced by one or both automated adjusting mechanisms. An effective overall control of the machine cannot be implemented in this way.

SUMMARY OF THE INVENTION

Proceeding from the related art, the problem addressed by the invention is that of refining and improving a combine harvester comprising a driver assistance system in such a way that an overall control of the machine is made possible while also placing a particularly low demand on the operator.

This problem is solved by a combine harvester having a driver assistance system that, together with the particular working mechanisms provided for carrying out the treatment subprocesses, forms independently operating automated adjusting mechanisms which are utilized for optimizing the control of the working mechanisms for carrying out the treatment subprocesses. A process supervisor is assigned to the driver assistance system for controlling individual automated adjusting mechanisms and a data exchange of the automated adjusting mechanisms with one another.

In the combine harvester of the present invention, multiple working mechanisms for carrying out specific treatment subprocesses of an overall treatment process for processing crop are provided, as well as a driver assistance system for controlling the working mechanisms, which includes a memory for storing data and a computing device for processing the data stored in the memory. In order to enable an overall control of the machine while also placing a particularly low demand on the operator, The driver assistance system, together with the particular working mechanisms provided for carrying out the treatment subprocesses, forms independently operating automated adjusting mechanisms which are utilized for optimizing the control of the working mechanisms for carrying out the treatment subprocesses, wherein a process supervisor is assigned to the driver assistance system for controlling individual automated adjusting mechanisms and a data exchange of the automated adjusting mechanisms. It is essential, in this case, that at least the working mechanisms involved in carrying out specific treatment subprocesses for processing crop are each controlled by an independently operating automated adjusting mechanism, the participation by which in the overall treatment process as well as the enabling of a data exchange with one another is determined by the process supervisor. The process supervisor has the task of optimizing the overall treatment process by influencing the automated adjusting mechanisms in a targeted manner.

For this purpose, the process supervisor can be configured for autonomously optimizing the overall treatment process of the combine harvester, according to a strategic objective of the harvesting process, by controlling individual automated adjusting mechanisms in a coordinated manner. The strategic objective of the harvesting process can be specified to the driver assistance system from a selection of strategic objectives of the harvesting process. Selectable strategic objectives of the harvesting process are, for example, achieving a maximum throughput, a quality of the crop to be achieved, an efficient or balanced operation of the combine harvester, and the like. The selectable harvesting process strategies can also be combined with one another, for example, by weighting individual harvesting process strategies. The process supervisor can refer to the selected strategic objective of the harvesting process as the basis for autonomously optimizing the treatment subprocesses to be carried out by the working mechanisms by controlling individual automated adjusting mechanisms in a dedicated manner.

In this case, multiple different sub-strategies can be stored in order to carry out a particular treatment subprocess. The sub-strategies can be utilized by the particular automated adjusting mechanisms for optimizing the working mechanism assigned thereto. Sub-strategies can be specifications of the individual automated adjusting mechanisms for limits of weighting variables and/or adjustment variables, weightings, target values, and/or priorities.

Preferably, at least one control process can be stored for the control of individual automated adjusting mechanisms and the data exchange of the automated adjusting mechanisms with one another by the process supervisor. The control process encompasses existing dependencies between adjustment parameters and process quality parameters of the treatment subprocesses. Preferably, the at least one control process can be stored in the memory of the driver assistance system. The at least one control process can take place on the basis of a set of rules or a controller structure. Adjustment parameters are to be understood to be working mechanism-specific machine parameters for adjusting crop handling means with the aid of at least one actuator system assigned to the crop handling means, the aforementioned machine parameters being independently determined by the automated adjusting mechanisms. Adjustment parameters of the working mechanism in the form of a “front attachment” or “header” are, interalia, cutterbar height, cutting angle, reel position, and the like. Crop handling means in the case of the header are, for example, cutterbars, reels, feed rollers, and the like, to which an actuator system is assigned in order to adjust and/or operate these crop handling means. The term “process quality parameters” is to be understood to mean, in the case of the working mechanism “header”, pick-up losses, cut crop losses, bouncing grain losses, etc. Process quality parameters are an evaluation criterion for an optimal adjustment of the working mechanism by the automated adjusting mechanisms. The same applies for the further working mechanisms of the combine harvester provided for carrying out treatment subprocesses.

Moreover, the process supervisor can be configured for controlling one or multiple automated adjusting mechanisms in a coordinated manner and for carrying out a weighting shift, depending on the operating situation, with respect to attaining or retaining process quality parameters of at least one automated adjusting mechanism. In order to optimize the overall treatment process of the combine harvester, it can be necessary to subordinate the attainment or retention of a process quality parameter of the one working mechanism to the attainment or retention of a process quality parameter of the other working mechanism by changing the weighting. Specifying the harvesting process strategy directed to a maximum throughput of crop results in the particular working mechanisms being controlled by appropriate adjustment parameters, which have been independently determined by the corresponding automated adjusting mechanisms, in order to ensure a maximum throughput in each case. According to this strategic objective of the harvesting process “maximum throughput”, an appropriate weighting of the process quality parameters of the particular working mechanisms takes place, in that, interalia, higher crop losses and/or quality losses are accepted than is the case with the strategic objective of the harvesting process “quality of the crop”. This can result in the situation, however, in which the working mechanism can become overloaded within individual treatment subprocesses, whereby the achievement of the strategic objective of the harvesting process “maximum throughput” is placed at risk. Due to the weighting being balanced in a way which is dependent on the operating situation, it is ensured that all working mechanisms of the combine harvester are optimized as a whole, in a coordinated manner.

Moreover, the process supervisor can be configured for controlling the at least one automated adjusting mechanism, on the basis of the weighting shift, in order to operate the relevant working mechanism, which is controlled by the particular automated adjusting mechanism, outside the particular optimal operating point. The operation of at least one working mechanism outside its particular optimal operating point is based on the idea of minimizing possible effects of the specific settings for the working mechanism on other, in particular, downstream, working mechanisms, which thwart the achievement of an overall optimization within the scope of the selected strategic objective of the harvesting process.

Moreover, the process supervisor can be configured for specifying deviating sub-strategies for at least one of the automated adjusting mechanisms. This can be the case when the achievement of an overall optimization cannot be ensured within the scope of the selected strategic objective of the harvesting process and the associated original sub-strategies due to changing external determining factors.

Moreover, the process supervisor can be configured for autonomously specifying adjustment limits, within which the automated adjusting mechanisms control the particular working mechanisms. Alternatively or additionally, the process supervisor can be configured for autonomously specifying target values of the process quality parameters, within which the automated adjusting mechanisms control the particular working mechanisms. Thus, a reduction of a portion of damaged grain, as the process quality parameter, can be achieved by reducing the target value for the process quality parameter “grain portion” in the tailings. This can be achieved, for example, by increasing the process quality parameter “threshed portion”, in that the automated adjusting mechanism assigned to the working mechanism “threshing mechanism” appropriately changes the adjustment parameters. One further example is the reduction of the process quality parameter “loss limit”, which can be expressed in different ways depending on the different working mechanisms, when another limiting value of the process quality parameters or the adjustment parameters has been reached, such as reaching the maximum engine load. Moreover, the process supervisor can differentiate between maximum values and setpoint values of process quality parameters or can use these as the basis for the control of the automated adjusting mechanisms. One example thereof is the adherence to the so-called tailings limit as the maximum value and the tailings level as the setpoint value.

In particular, the process supervisor can be configured for optimizing the overall treatment process during an operation of the combine harvester in partial-load operation. Thus, the strategic objective of the harvesting process “maximum throughput” cannot be reached, for example, due to a partial-load operation as a result of the ground speed. In order to nevertheless optimize the overall treatment process within the scope of such limiting conditions, the process supervisor can automatically shift or re-establish priorities.

Preferably, at least one adaptive family of characteristics can be assigned to at least one process quality parameter in order to form functional relationships of a treatment subprocess to be carried out by a working mechanism, wherein this at least one process quality parameter can be defined as an output quantity of the at least one characteristic map. On the basis of this functional relationship of a system model for a particular working mechanism, adjustment parameters can be inferred, depending on different operating situations, which make it possible to optimally carry out the treatment subprocess.

Moreover, the process supervisor can be configured for receiving external data which influence the process quality parameters of the treatment subprocesses. The external data can preferably be data and information which represent influences on the overall treatment process, which cannot be directly measured by sensor systems of the combine harvester. Such influences are, for example, the weather and/or deadlines which influence or limit an available time window for harvesting a field. External data are, therefore, interalia, logistics data which can influence the carrying out of the overall treatment process. The external data can also encompass a direct input entered by the operator of the combine harvester or an indirect input entered by an operator who has remote access to the driver assistance system, for example, from a farmer's principal place of business. Logistics data encompass, for example, deadlines for the harvesting of a cutting area or the coordination of the combine harvester as a harvesting vehicle within a harvesting logistics chain comprising multiple harvesting and/or transport vehicles. For this purpose, the process supervisor can receive external data of a fleet management system, which contain information regarding a cutting area to be worked as well as information regarding the available transport quantities. External data can also be transmitted to other harvesting or transport vehicles of the harvesting logistics chain. Therefore, the process supervisor can adapt individual sub-strategy specifications of the automated adjusting mechanisms Thus, for example, in the event that the available transport capacity is limited, the process quality parameter “throughput” of the combine harvester can be adapted thereto by way of an appropriate control of the automated adjusting mechanisms, while the goal attainment of other process parameters regarding the quality of the result or losses of the working mechanisms can be taken into account to a greater extent by way of an appropriate control of the automated adjusting mechanisms.

In particular, the process supervisor can be configured for autonomously deriving measures depending on the external data which are received. Thus, the process supervisor can adapt sub-strategy specifications, as a measure, with consideration for the external data. For example, change the limits of the process quality parameters or change sub-strategies of the automated adjusting mechanisms. One further measure can be that of planning maintenance or adjustment measures which make it necessary to interrupt the harvesting operation. The maintenance or adjustment measures can be integrated into the harvesting process sequence, on the basis of the available logistics data, in order to minimize the interruption of the harvesting operation. Examples of such maintenance or adjustment measures are the inspection and/or calibration of sensors of the combine harvester, refurbishment of the threshing mechanism, or other adjustments of working mechanisms which can be carried out only when there is no material flow in the combine harvester or which cannot be carried out from within the cab.

In one embodiment, the working mechanisms provided are at least a front attachment, in particular, a grain cutterbar, a threshing mechanism, a separating mechanism, which can be designed as a tray-type shaker or as an axial separating mechanism comprising one or two separating rotors, a cleaning mechanism, as well as a spreading mechanism. The spreading mechanism can be a chaff spreader, a chopper, as well as a spreading unit for spreading at least the crop made available by the chopper.

For the purpose of controlling these working mechanisms, at least an automated front attachment, an automated threshing mechanism, an automated separating mechanism, an automated cleaning mechanism, as well as an automated spreader can be provided as automated adjusting mechanisms. The functional relationships for each treatment subprocess are preferably stored in the memory of the driver assistance system, which is accessed by the particular automated adjusting mechanisms for autonomously determining the adjustment parameters of the corresponding working mechanism. The functional relationships are continuously adapted to the present harvesting process state during the harvesting operation.

Moreover, it is advantageous when at least one automated adjusting mechanism comprises at least two subordinate automated adjusting mechanisms. In this way, the complexity of the control of the treatment subprocesses of a working mechanism can be reduced, due to the fact that the treatment subprocess is subdivided in finer detail. This is advantageous in the case of the automatic determination of adjustment parameters by the subordinate automated adjusting mechanisms. Thus, the automated front attachment can comprise an automated reel and an automated intake conveyor mechanism, as the subordinate automated adjusting mechanisms, the mode of operation of which corresponds to that of the other automated adjusting mechanisms.

