System and method for automatic topper control of an agricultural harvester

Abstract

An automatic topping control system for an agricultural harvester is disclosed, comprising a topping assembly having a cutting disc and a rotary drive source configured to rotatably drive the cutting disc. The system also includes an actuator for adjusting the cutting height of the cutting disc. Furthermore, the system includes a controller configured to monitor drive-related pressure parameters associated with the operation of the rotary drive source of the topping assembly. The controller is also configured to control the operation of the actuator to adjust the cutting height of the cutting disc based at least in part on the monitored drive-related parameters.

Description

Technical Field

[0001] This topic generally relates to topper assemblies for agricultural harvesters (such as sugarcane harvesters), and more specifically, to systems and methods for automatically controlling the operation of topper assemblies for agricultural harvesters. Background Technology

[0002] Sugarcane harvesters typically include a topping assembly located at their front end for intercepting sugarcane as the harvester moves forward through the field. The topping assembly usually includes a cutting disc configured to cut off the leafy top of the sugarcane for processing along either side of the harvester. For example, sugarcane ready for harvest is generally characterized by a leafy top consisting of green leaves and a millable stalk below the leafy top. In this regard, it is generally desirable to use the topping assembly to cut off the leafy top directly above the stalk without removing any stalk itself and without leaving a large amount of leaves (which would increase the amount of debris ingested by the harvester).

[0003] Currently, when a harvester moves through the field, the operator needs to manually adjust the height of the topping assembly to accommodate changes in the height of the sugarcane being harvested. However, this height adjustment requires a significant investment of time and effort from the operator. Unfortunately, because the operator must also focus on various other manually adjustable parameters, such as the height of the base cutter assembly, the harvester's row alignment, elevator-related parameters, and vehicle speed, the topping assembly is often set by the operator at a given height and maintained at that height throughout the harvesting operation. Consequently, the cutting height associated with the cutting disc is often too high or too low compared to the sugarcane being harvested, resulting in either the harvester ingesting large amounts of leaf debris (e.g., if the cutting height is too high) or a portion of the stalk that can be ground being cut off (e.g., if the cutting height is too low), both of which are undesirable.

[0004] Therefore, systems and methods for automatically controlling the operation of topping components in agricultural harvesters are welcome in this art. Summary of the Invention

[0005] Aspects and advantages of the invention will be set forth in part in the description which follows, or may be apparent from the description or may be learned by practice of the invention.

[0006] On one hand, this subject matter relates to a system for controlling an automatic topping device in an agricultural harvester. The system includes a topping device assembly having a cutting disc and a rotary drive source configured to rotatably drive the cutting disc. The system also includes an actuator for adjusting the cutting height of the cutting disc. Furthermore, the system includes a controller configured to monitor drive-related parameters associated with the operation of the rotary drive source of the topping device assembly. The controller is also configured to control the operation of the actuator to adjust the cutting height of the cutting disc based at least in part on the monitored drive-related parameters.

[0007] On the other hand, this subject matter relates to an agricultural harvester comprising a frame, a topping arm supported relative to a front end of the frame, and a hydraulic motor coupled to the topping arm, wherein the hydraulic motor is fluidly coupled to a hydraulic circuit for supplying hydraulic fluid to the hydraulic motor. The harvester also includes a cutting disc coupled to the hydraulic motor such that the hydraulic motor is configured to rotatably drive the cutting disc, and an actuator coupled between the topping arm and the frame, the actuator being configured to actuate the topping arm relative to the frame to adjust the cutting height of the cutting disc. Furthermore, the harvester includes a pressure sensor configured to detect a pressure parameter associated with the fluid pressure of the hydraulic fluid guided through the hydraulic circuit, and a controller communicatively coupled to the pressure sensor, the controller being configured to monitor the pressure parameter based on feedback received from the pressure sensor. The controller is also configured to control the operation of the actuator to adjust the cutting height of the cutting disc based at least in part on the monitored pressure parameter.

[0008] On the other hand, this subject matter relates to a method for controlling an automatic topping device in an agricultural harvester, the harvester including a topping device assembly having a cutting disc and a rotary drive source coupled to the cutting disc. The method includes controlling the operation of the rotary drive source such that the rotary drive source rotatably drives the cutting disc, and monitoring drive-related parameters associated with the operation of the rotary drive source using a computing device. Furthermore, the method includes adjusting the cutting height of the cutting disc using the computing device, at least in part, based on the monitored drive-related parameters.

[0009] These and other features, aspects, and advantages of the invention will be better understood by referring to the following description and the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. Attached Figure Description

[0010] This specification sets forth a complete and feasible disclosure of the invention for those skilled in the art, including the preferred mode of the invention, with reference to the accompanying drawings, wherein:

[0011] Figure 1 A simplified side view of one embodiment of an agricultural harvester according to various aspects of this subject is illustrated;

[0012] Figure 2 The illustration shows a schematic diagram of one embodiment of a system for controlling an automatic topping device for an agricultural harvester according to various aspects of this subject matter; and

[0013] Figure 3 The illustration shows a flowchart of one embodiment of a method for controlling an automatic topping device for an agricultural harvester according to various aspects of this subject matter. Detailed Implementation

[0014] Reference will now be made in detail to embodiments of the invention, one or more examples of which are illustrated in the accompanying drawings. Each example is provided by way of explanation rather than limitation. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made to the invention without departing from the scope or spirit thereof. For example, a feature illustrated or described as part of one embodiment may be used with another embodiment to produce yet another embodiment. Therefore, it is intended that the invention cover such modifications and variations falling within the scope of the appended claims and their equivalents.

[0015] Generally, this subject matter relates to systems and methods for controlling automatic topping devices in agricultural harvesters. Specifically, in several embodiments, the disclosed systems and methods allow for the automatic adjustment of the cutting height of the topping device assembly of a sugarcane harvester to maintain the cutting disc(s) of the topping device assembly in a desired vertical position relative to the sugarcane being harvested. For example, a controller may be communicatively coupled to one or more sensors configured to detect drive-related parameters associated with the operation of a rotary drive source of the topping device assembly, wherein the drive-related parameters generally indicate the vertical position of the cutting disc(s) relative to the sugarcane. In such embodiments, the controller may be configured to monitor the drive-related parameters relative to one or more predetermined thresholds and automatically adjust the cutting height of the cutting disc(s) to maintain the cutting disc(s) in a desired vertical position relative to the top of the sugarcane being harvested when the monitored parameters differ from the predetermined threshold(s). As will be described below, the drive-related parameters may generally correspond to parameters associated with the power or driving force required to rotary drive the cutting disc(s) of the topping device assembly(s) via the rotary drive source. For example, when one or more cutting discs are configured to be rotated via a hydraulic motor, the drive-related parameters can correspond to pressure-related parameters associated with the fluid pressure of one or more hydraulic fluids supplied to the hydraulic motor.

[0016] Now refer to the attached diagram, Figure 1 A side view of one embodiment of a sugarcane harvester 10 according to various aspects of this subject matter is illustrated. Figure 1As shown, the harvester 10 includes a frame 12, a pair of front wheels 14, a pair of rear wheels 16, and a cab 18. The harvester 10 also includes a main power source (e.g., an engine mounted on the frame 12) that powers one or both pairs of wheels 14, 16 via a transmission (not shown). Alternatively, the harvester 10 may be a tracked harvester and thus may include engine-driven tracks instead of the wheels 14, 16 shown. The engine may also drive a hydraulic fluid pump (not shown) configured to generate pressurized hydraulic fluid to power the various hydraulic components of the harvester 10.

[0017] Furthermore, the harvester 10 includes various components for cutting / harvesting, processing, cleaning, and discharging sugarcane while harvesting stalks from the field 20. For example, the harvester 10 includes a topping assembly 22 located at its front end to intercept sugarcane as the harvester 10 moves forward. As shown, the topping assembly 22 includes one or more collecting discs 24 and one or more cutting discs 26. The collecting discs 24 can be configured to collect sugarcane stalks so that the cutting discs 26 can be used to cut off the multi-leaved top of each plant. Depending on various aspects of this subject matter, the cutting height 23 of the topping assembly 22 relative to the field 20 can be automatically adjusted to maintain the cutting discs 26 in a desired vertical position relative to the sugarcane being harvested. For example, reference will be made below. Figure 2 As described, a suitable control device or controller can be configured to monitor drive-related parameters of the topping assembly 22, which generally indicate the vertical position 26 of the cutting disc(s) relative to the sugarcane being harvested, and automatically adjust the height 23 as necessary based on the monitored parameters. Specifically, in several embodiments, the controller can be configured to automatically raise / lower one or more topping arms 28, which support the collecting disc(s) 24 and the cutting disc(s) 26 in a cantilever arrangement relative to the field 20 by controlling the operation of one or more associated topping actuators 25 coupled between the topping arms 28 of the harvester 10 and the frame 12.

[0018] Furthermore, the harvester 10 includes a crop cutter 30 extending upwards and backwards from the field 20. Generally, the crop cutter 30 may include two helical feed rollers 32. Each feed roller 32 includes a grounding shoe 34 at its lower end to assist the crop cutter 30 in collecting sugarcane stalks for harvesting. Moreover, as... Figure 1 As shown, the harvester 10 includes a knocking roller 36 positioned near the front wheel 14 and a finned roller 38 positioned behind the knocking roller 36. When the knocking roller 36 rotates, the sugarcane stalks being harvested are knocked down, while the crop cutter 30 collects the stalks from the field 20. Additionally, as... Figure 1As shown, the finned roller 38 includes a plurality of intermittently installed fins 40 that assist in pressing the sugarcane stalks downward. As the finned roller 38 rotates during harvesting, the sugarcane stalks that have already been knocked down by the knocking roller 36 are separated and further knocked down by the finned roller 38 as the harvester 10 continues to move in the forward direction relative to the field 20.

[0019] Still referencing Figure 1 The harvester 10 also includes a base cutter assembly 42 mounted on the frame 12 behind the finned roller 38. As generally understood, the base cutter assembly 42 includes blades (not shown) for cutting sugarcane stalks during harvesting. The blades, located on the periphery of the assembly 42, can be rotated by a hydraulic motor (not shown) powered by the vehicle's hydraulic system. As indicated above, the base cutter assembly 42 is generally provided in a fixed position relative to the frame 12, therefore the entire machine needs to be raised and lowered to adjust the vertical positioning of the assembly 42 when encountering changes in ground contour.

[0020] Furthermore, the harvester 10 includes a feed roller assembly 44 located downstream of the base cutter assembly 42 for moving the cut sugarcane stalks along the processing path from the base cutter assembly 42. Figure 1 As shown, the feed roller assembly 44 includes a plurality of bottom rollers 46 and a plurality of opposing top clamping rollers 48. The various bottom and top rollers 46, 48 are generally used to clamp the harvested sugarcane during transport. As the sugarcane is conveyed through the feed roller assembly 44, debris (e.g., rocks, soil, etc.) is allowed to fall onto the field 20 through the bottom rollers 46.

[0021] In addition, the harvester 10 includes a chopper assembly 50 located at the downstream end of the feed roller assembly 44 (e.g., adjacent to the rearmost bottom and top feed rollers 46, 48). Generally, the chopper assembly 50 is used to cut or shred the chopped sugarcane stalks into chunks or “bills” 51, which may be, for example, six (6) inches long. The billets 51 can then be pushed toward the elevator assembly 52 of the harvester 10 for delivery to an external receiver or storage device (not shown).

[0022] As generally understood, debris 53 (e.g., dust, dirt, leaves, etc.) separated from sugarcane billet 51 is discharged from harvester 10 via a main extractor 54, which is immediately following the chopper assembly 50 and oriented to guide the debris 53 outward from harvester 10. The main extractor 54 may include, for example, an extraction hood 55 and an extractor fan 56 mounted within the hood 55 to generate suction or vacuum sufficient to pick up the debris 53 and force it through the hood 55. The separated or cleaned billet 51, heavier than the debris 53 discharged through the main extractor 54, can then fall downward to elevator assembly 52.

[0023] like Figure 1As shown, the lifting assembly 52 generally includes a lifting housing 58 and a lifting mechanism 60 extending within the lifting housing 58 between a lower proximal end 62 and an upper distal end 64. Generally, the lifting mechanism 60 includes an annular chain 66 and a plurality of blades or paddles 68 attached to and evenly spaced on the chain 66. The paddles 68 are configured to hold the sugarcane billet 51 on the lifting mechanism 60 as it is lifted along the top span 70 defined between its proximal end 62 and distal end 64. Furthermore, the lifting mechanism 60 includes a lower sprocket 72 and an upper sprocket 74 respectively positioned at its proximal end 62 and distal end 64. Figure 1 As shown, the elevator motor 76 is coupled to one of the sprockets (e.g., upper sprocket 74) to drive the chain 66, thereby allowing the chain 66 and the blade 68 to travel in an endless cycle between the proximal sprocket 62 and the distal sprocket 64 of the elevator 60.

[0024] Furthermore, in some embodiments, chunks of debris 53 (e.g., dust, dirt, leaves, etc.) separated from the raised sugarcane billet 51 can be discharged from the harvester 10 via a secondary extractor 78 coupled to the rear end of the elevator housing 58. For example, the debris 53 discharged by the secondary extractor 78 may be debris remaining after the billet 51 has been cleaned and the debris 53 has been discharged by the main extractor 54. Figure 1 As shown, the secondary extractor 78 is located at the distal end 64 adjacent to the elevator 60 and can be oriented to guide the debris 53 outward from the harvester 10. Furthermore, an extractor fan 80 is mounted at the base of the secondary extractor 78 to generate sufficient suction or vacuum to pick up the debris 53 and force it through the secondary extractor 78. The separated, cleaned billet 51, heavier than the debris 53 discharged through the extractor 78, can then fall from the distal end 64 of the elevator 60. Typically, the billet 51 can fall downward through the elevator discharge port 82 of the elevator assembly 52 into an external storage device (not shown), such as a sugarcane billet cart.

[0025] During operation, the harvester 10 traverses the field 20 to harvest sugarcane. As the harvester 10 passes through the field 20, the collecting disc 24 on the topping assembly 22 collects the sugarcane stalks, while the cutting disc 26 cuts off the multi-leaved tops of the sugarcane for processing along either side of the harvester 10. As the stalks enter the crop separator 30, the auger feed roller 32 collects the stalks to the throat, allowing the knocking roller 36 to bend the stalks downwards together with the action of the finned roller 38. Once the stalks are bent downwards, as... Figure 1 As shown, the base cutter assembly 42 cuts the base of the stalk from the field 20. Then, by the movement of the harvester 10, the cut stalk is guided to the feed roller assembly 44.

[0026] The cut sugarcane stalks are conveyed rearward by bottom and top feed rollers 46, 48, which compress the stalks to make them more uniform and shake loose debris to reach the field 20 through bottom roller 46. At the downstream end of feed roller assembly 44, chopper assembly 50 cuts or shreds the compressed sugarcane stalks into chunks or billets 51 (e.g., 6-inch sugarcane segments). The processed crop material discharged from chopper assembly 50 is then guided as a stream of billets 51 and debris 53 into main extractor 54. The airborne debris 53 (e.g., dust, dirt, leaves, etc.) separated from the sugarcane billets is then extracted through main extractor 54 using suction generated by extractor fan 56. The separated / removed billets 51 then fall downward through elevator hopper 86 into elevator assembly 52 and travel upward through elevator 60 from its proximal end 62 to its distal end 64. During normal operation, once billet 51 reaches the far end 64 of elevator 60, billet 51 falls through elevator discharge port 82 to external storage equipment. If provided, secondary extractor 78 (with the aid of extractor fan 80) blows garbage / debris 53 from harvester 10, similar to primary extractor 54.

[0027] Now for reference Figure 2 Based on various aspects of this subject matter, a schematic diagram of one embodiment of a system 100 for controlling an automatic topping device on an agricultural harvester is illustrated. For purposes of discussion, system 100 will generally be referred to herein with reference to the above references. Figure 1 The agricultural harvester 10 is described herein. However, it should be recognized that, in general, the system 100 can be used with agricultural harvesters having any other suitable harvester configuration to allow for automatic control of the harvester's topping assembly.

[0028] like Figure 2 As shown, system 100 includes a hydraulic circuit 102 forming one or more hydraulic flow loops (e.g., one or more open flow loops formed due to fluid return to and supply from tank 104), through which hydraulic fluid (e.g., oil) is pumped via the operation of one or more associated loop pumps (e.g., first pump 106 and second pump 108). Generally, hydraulic circuit 102 can be configured to supply pressurized hydraulic fluid to one or more corresponding hydraulic components of harvester 10. For example, as... Figure 2As shown, the topping assembly 22 may include one or more hydraulic motors 110 (e.g., one or more bidirectional motors) for rotatably driving (e.g., via one or more output shafts 112 of the motor(s) 22) of the topping assembly 22, such as by a respective hydraulic motor 110 including each of the respective cutting discs 26 for rotatably driving the topping assembly 22. Furthermore, as indicated above, the harvester 10 may include a topping actuator 25 (e.g., a hydraulic cylinder) for raising and lowering the topping assembly 22 relative to the field (more specifically, relative to the top of the sugarcane to be harvested). In this embodiment, hydraulic fluid may be directed through a hydraulic circuit 100 to supply the topping actuator 25 for rotatably driving the cutting discs 26 and for adjusting the cutting height of the cutting discs 26.

[0029] like Figure 2 As shown, the hydraulic circuit 102 includes a top-operated control valve 114 (e.g., a solenoid-activated valve) located downstream of the first pump 106 for regulating the supply of hydraulic fluid to one or more hydraulic motors 110. For example, the first pump 106 may be configured to pump hydraulic fluid to the control valve 114 via a first pump supply line 116, whereby the control valve 114 can regulate the flow of hydraulic fluid to one or more hydraulic motors 110 via a first motor line 118 or a second motor line 120, depending on the direction of rotation of the one or more hydraulic motors 110. Specifically, when the one or more hydraulic motors 110 are rotated in a first direction, the first motor line 118 can serve as a supply line from the control valve 114 to the one or more hydraulic motors 110, while the second motor line 120 can serve as a return line from the one or more motors 110 back to the valve 114. In contrast, when one or more hydraulic motors are rotated in opposite directions, the second motor line 120 can be used as a supply line while the first motor line 118 can be used as a return line. The return fluid directed back to valve 114 can then be returned to tank 104 via the associated tank return line 122.

[0030] It should be recognized that, as an alternative to the hydraulic drive arrangement for rotaryly driving one or more cutting discs 26, any other suitable drive arrangement can be used to rotaryly drive one or more cutting discs 26. For example, unlike the hydraulic circuit 102 and the associated hydraulic motors 110, the one or more cutting discs 26 can be rotaryly driven using any other suitable drive source, such as an electric motor, a pneumatic rotary drive source, and / or a mechanical drive source.

[0031] In addition, such as Figure 2 As shown, the hydraulic circuit 102 also includes an actuator control valve 130 (e.g., a solenoid-activated valve) located downstream of the second pump 108 for regulating the hydraulic fluid supplied to the top-impact actuator 25. For example, pump 108 may be configured to pump hydraulic fluid to control valve 130 via second pump supply line 132, whereby control valve 130 can regulate the flow of hydraulic fluid to the cap-side chamber of top-impact actuator 25 (e.g., via first actuator line 134) and / or the rod-side chamber of top-impact actuator 25 (via second actuator line 136) to regulate the extension / retraction of actuator 25, and thus change the cutting height 23 of cut disc 26 by pivoting top-impact arm 28 up or down. Return fluid directed back to valve 130 may return to tank 104 via associated tank return line 138.

[0032] Still referencing Figure 2 System 100 also includes a controller 150 for electronically controlling the operation of one or more of the system components. For example, as will be described below, in several embodiments, controller 150 may be communicatively coupled to one or more sensors configured to detect drive-related parameters associated with a rotational drive source for the topping assembly 22, wherein the drive-related parameters generally indicate the vertical position of the cutting disc(s) 26 relative to the sugarcane being harvested. In such embodiments, controller 150 may be configured to monitor the drive-related parameters relative to one or more predetermined thresholds and automatically adjust the cutting height 23 of the cutting disc(s) 26(s) to maintain the cutting disc(s) in a desired vertical position relative to the top of the sugarcane being harvested when the monitored parameter differs from the predetermined threshold(s).

[0033] Generally, controller 150 can correspond to any suitable processor(s) or processor(s), such as computing devices or any combination of computing devices. Thus, in several embodiments, controller 150 may include one or more processors 152 and associated memory(s) or memory(s) 154 configured to perform various computer-implemented functions. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as included in a computer, but also to controllers, microcontrollers, microcomputers, programmable logic controllers (PLCs), application-specific integrated circuits (ASICs), and other programmable circuits. Furthermore, the memory(s) or memory(s) 154 of controller 150 generally may include memory elements, including but not limited to computer-readable media (e.g., random access memory (RAM)), computer-readable non-volatile media (e.g., flash memory), optical disc read-only memory (CD-ROM), magneto-optical disc (MOD), digital universal disc (DVD), and / or other suitable memory elements. Such memory(s) 154 may generally be configured to store suitable computer-readable instructions that, when implemented by processor(s) 152, configure controller 150 to perform various computer-implemented functions, such as the processing and / or control functionalities described herein.

[0034] It should be recognized that the controller 150 can be configured to interface with and / or integrate with the existing hardware and / or software of the harvester 10. In other words, the controller 150 can be configured as a separate unit forming part of the disclosed system 100 and / or can be integrated with the harvester 10. For example, the harvester 10 may have a dedicated harvester controller for controlling specific harvester-related functions, and the controller 150 may be either in the form of a dedicated harvester controller or integrated as part of a dedicated harvester controller.

[0035] In several embodiments, the controller 150 may be configured to electronically control the operation of the top-operating control valve 114 and / or the actuator control valve 130. For example, as Figure 2 As shown, controller 150 can be communicatively coupled to top-operating control valve 114 (e.g., via communication link 160) to allow controller 150 to electronically control the operation of valve 114. In this embodiment, by controlling the operation of top-operating control valve 114, controller 150 can further regulate the rotational speed and / or direction of rotation of one or more hydraulic motors 110. Similarly, as Figure 2As shown, controller 150 can be communicatively coupled to actuator control valve 130 (e.g., via communication link 162) to allow controller 150 to electronically control the operation of valve 130. In this embodiment, by controlling the operation of actuator control valve 130, controller 150 can further adjust the extension / retraction of the associated actuator 25 and thus adjust the cutting height 23 of cutting disc(s) 26.

[0036] As indicated above, in several embodiments, controller 150 may be configured to monitor drive-related parameters associated with the operation of the rotary drive source for the topping assembly 22, which generally indicate the vertical position of the cutting disc(s) 26 relative to the sugarcane being harvested. Generally, drive-related parameters may correspond to parameters associated with the power or driving force required to rotaryly drive the cutting disc(s) 26 of the topping assembly 22. For example, in several embodiments, the drive-related parameters monitored by controller 150 may correspond to pressure-related parameters (hereinafter referred to as “pressure parameters”) associated with the pressure of hydraulic fluid circulating through the motor-related portion 170 of hydraulic circuit 102 (e.g., the flow path defined by pump lines 116, motor lines 118, 120 and return lines 122 extending through control valve 114 and motor(s) 110). As will be described below, the pressure parameters may correspond, for example, to the pressure of the hydraulic fluid sensed at a given location within the motor-related portion 170 of the hydraulic circuit 102, or to the pressure difference between two separate fluid pressures sensed at different locations within the motor-related portion 170 of the hydraulic circuit 102. Alternatively, in embodiments where the cutting disc(s) 26 are configured to be rotary driven via a non-hydraulic-based rotary drive source, the drive-related parameters may correspond to any other suitable parameters associated with the power or driving force required to rotary drive the cutting disc(s) 26. For example, if the cutting disc(s) 26 are configured to be rotary driven by an electric motor, then the drive-related parameters may correspond to the current supplied to the motor. Alternatively, if the cutting disc(s) 26 are configured to be rotary driven via a mechanically based rotary drive source, then the drive-related parameters may correspond to the drive torque transmitted via the drive arrangement. In yet another embodiment, if the cutting disc(s) 26 are configured to be rotary driven via a pneumatically based rotary drive source, then the drive-related parameters may correspond to the pressure of the air supplied to such drive source.

[0037] Regardless of the type of drive arrangement used to rotary drive one or more cutting discs 26, the monitored drive-related parameters generally indicate the vertical position of one or more cutting discs 26 relative to the sugarcane being harvested. Specifically, the power or driving force required to rotary drive one or more cutting discs 26 generally varies depending on the relative vertical position of the cutting discs 26 cutting the sugarcane. Therefore, by monitoring one or more parameters associated with the power or driving force required to rotary drive one or more cutting discs 26, the controller 150 can determine or infer the vertical position of one or more cutting discs 26 relative to the sugarcane being harvested.

[0038] For example, in the illustrated embodiment, the fluid pressure (or differential pressure) within the motor-related portion of the hydraulic circuit 102 will generally vary depending on the relative vertical position of the cutting discs 26 as they cut the sugarcane. For instance, as indicated above, sugarcane ready for harvest is generally characterized by a leafy top comprising green leaves and a millable stalk below the leafy top, and it is generally desirable to cut off the leafy top directly above the stalk without removing any stalk itself and leaving minimal leaves (which would increase the amount of waste ingested by the harvester). In this respect, if the cutting discs 26 are positioned too low (and thus cut into the millable stalk), the pressure within the motor-related portion 170 of the hydraulic circuit 102 will generally be higher, while if the cutting discs 26 are positioned too high (and thus only cut a portion of the leafy top or, because the cutting discs 26 are positioned above the leafy top, do not cut anything), the pressure will generally be lower. Therefore, in several embodiments, a predetermined pressure range (or differential pressure range) can be established, which defines the pressure value (or differential pressure value) corresponding to the desired cutting position of the cutting disc(s) 26 relative to the sugarcane. For example, when the cutting disc(s) 26 is positioned directly above the millable stalk, a maximum pressure threshold (or maximum differential pressure threshold) can be established for a predetermined range corresponding to the average fluid pressure (or average differential pressure) within the motor-related portion 170 of the hydraulic circuit 102, while when the cutting disc(s) 26 is positioned at an acceptable distance (e.g., 2-6 inches) above the millable stalk, a minimum pressure threshold (or minimum differential pressure threshold) can be established for a predetermined range corresponding to the average fluid pressure (or average differential pressure) within the motor-related portion 170 of the hydraulic circuit 102. In this embodiment, by monitoring pressure parameters relative to an associated pressure range, controller 150 can be configured to determine when the cutting disc(s) 26 is positioned too high (e.g., due to the monitored pressure parameter dropping below the minimum threshold of the range) or too low (e.g., due to the monitored pressure parameter exceeding the maximum threshold of the range) relative to the sugarcane being harvested, and to make adjustments as necessary to ensure that the cutting disc(s) 26 is maintained in the desired vertical position relative to the top of the sugarcane.

[0039] As indicated above, in one embodiment, the pressure parameters monitored by the controller 150 may correspond to the pressure sensed by one or more hydraulic fluids within the motor-related portion 170 of the hydraulic circuit 102. In this embodiment, one or more pressure sensors may be provided in fluid communication with the motor-related portion 170 of the hydraulic circuit 102 at appropriate locations to detect one or more such pressures. For example, as Figure 2As shown, in one embodiment, pressure sensor 172 may be provided in fluid communication with the first pump supply line 116 to allow monitoring of fluid pressure upstream of motor control valve 114. In this embodiment, for example, controller 150 may be configured to monitor fluid pressure within the motor-related portion 170 of hydraulic circuit 102 and compare this monitored pressure with a predetermined pressure range associated with one or more cutting discs 26 in a desired vertical position relative to the sugarcane being harvested. If the monitored pressure exceeds or falls below the predetermined pressure range, controller 150 may then adjust the cutting height 23 of one or more cutting discs 26 (up or down, as appropriate) to ensure that one or more cutting discs 26 are correctly positioned relative to the top of the sugarcane.

[0040] Alternatively, as indicated above, the pressure parameters monitored by controller 150 can instead correspond to the pressure differential within the motor-related portion 170 of hydraulic circuit 102. In this embodiment, fluid communication with the motor-related portion 170 of hydraulic circuit 102 can be provided to a pair of pressure sensors at appropriate locations to detect this pressure differential. For example, as Figure 2 As shown, in one embodiment, first and second pressure sensors 174, 176 may be provided in fluid communication with first and second motor lines 118, 120, respectively, to allow the fluid pressure within these lines 118, 120 to be monitored. Thus, depending on the direction of flow through the hydraulic motor(s) 110, one pressure sensor will be positioned upstream of the hydraulic motor(s) 110 and another pressure sensor will be positioned downstream of the hydraulic motor(s) 110. In this embodiment, controller 150 may be configured, for example, to determine the pressure differential across the hydraulic motor(s) 110 based on the monitored fluid pressure and compare this pressure differential with a predetermined pressure differential range associated with the cutting disc(s) 26 in a desired vertical position relative to the sugarcane being harvested. If the pressure differential exceeds or falls below the predetermined pressure differential range, controller 150 may adjust the cutting height 23 of the cutting disc(s) 26 (up or down, as appropriate) to ensure that the cutting disc(s) 26 is correctly positioned relative to the top of the sugarcane.

[0041] It should be recognized that, in embodiments where the drive-related parameters correspond to parameters other than pressure parameters associated with the pressure of the hydraulic fluid circulating through the motor-related portion 170 of the hydraulic circuit 102, similar threshold or range-based analysis can be performed by the controller 150 to determine whether the cutting disc(s) 26 are in the desired vertical position relative to the sugarcane being harvested. For example, when the monitored drive-related parameters correspond to the current supplied to the electric motor(s) configured to rotatably drive the cutting disc(s), the controller 150 can, for example, be configured to monitor the current supplied to the motor and compare this monitored current to a predetermined current range associated with the cutting disc(s) 26 in the desired vertical position relative to the sugarcane being harvested. If the monitored current exceeds or falls below the predetermined current range, the controller 150 can adjust the cutting height 23 of the cutting disc(s) 26 (up or down, as appropriate) to ensure that the cutting disc(s) 26 are correctly positioned relative to the top of the sugarcane. Similar analysis can also be used for pneumatic and / or mechanical rotary drive sources, such as by comparing the monitored drive-related parameters with corresponding air pressure and / or torque ranges associated with one or more cutting discs 26 in the desired vertical position relative to the sugarcane being harvested.

[0042] As indicated above, the controller 150 can be configured to automatically adjust the cutting height 23 of one or more cutting discs 26 by electronically controlling the operation of the actuator control valve 130 to regulate the extension / retraction of the topping actuator 25. Thus, by monitoring drive-related parameters relative to an associated predetermined range, the controller 150 can determine when the cutting height 23 needs adjustment and subsequently adjust this height 23 by controlling the actuator control valve 130. Therefore, when the harvester 10 moves across the field during harvesting operations, the one or more cutting discs 26 can be maintained in a desired vertical position relative to the top of the sugarcane being harvested.

[0043] Now for reference Figure 3 The flowchart illustrates one embodiment of a method 200 for controlling an automatic topping device in an agricultural harvester, based on various aspects of this subject matter. For purposes of discussion, method 200 will generally be referred to herein with reference to the foregoing reference. Figure 1 and 2 The harvester 10 and system 100 are described. However, it should be understood that the disclosed method 200 can generally be performed in conjunction with any harvester having any other suitable harvester configuration and / or any system having any other suitable system configuration. Furthermore, although... Figure 3For illustrative and discussion purposes, the steps performed in a particular order are described; however, the methods discussed herein are not limited to any particular order or arrangement. Those skilled in the art will recognize, using the disclosure provided herein, that the steps of the methods disclosed herein can be omitted, rearranged, combined, and / or modified in various ways without departing from the scope of this disclosure.

[0044] like Figure 3 As shown, at (202), method 200 may include controlling the operation of a rotary drive source of the top-end assembly to rotary drive the cutting disc of the top-end assembly. In several embodiments, the rotary drive source may correspond to a hydraulic motor, in which case the supply of hydraulic fluid directed to the hydraulic motor may be controlled such that the hydraulic motor rotaryly drives the cutting disc. For example, as described above, controller 150 may be configured to control the operation of top-end control valve 114 to regulate or control the supply of hydraulic fluid directed to one or more hydraulic motors 110 of the top-end assembly 22. In other embodiments, controller 150 may be configured to control the operation of any other suitable rotary drive source (such as an electric motor, a pneumatic rotary drive source, and / or a mechanical-rotary drive source) configured to rotaryly drive one or more cutting discs 26.

[0045] Furthermore, at (204), method 200 may include monitoring drive-related parameters associated with the operation of the rotary drive source. Specifically, as indicated above, in several embodiments, controller 150 may be communicatively coupled to one or more pressure sensors to monitor pressure parameters associated with the hydraulic fluid within hydraulic circuit 102. For example, in one embodiment, controller 150 may be configured to monitor the pressure of one or more hydraulic fluids at one or more locations within hydraulic circuit 102, such as the pressure of the hydraulic fluid supply between the first pump 106 and the jack control valve 114 (e.g., via pressure sensor 172). Alternatively, controller 150 may be configured to monitor the pressure differential across two or more locations within hydraulic circuit 102, such as the pressure differential across one or more hydraulic motors 110 (e.g., via first and second pressure sensors 174, 176). In further embodiments, controller 150 may be communicatively coupled to any other suitable sensor that allows controller 150 to monitor drive-related parameters.

[0046] Furthermore, at (206), method 200 may include adjusting the cutting height of the cutting disc at least in part based on monitored drive-related parameters. Specifically, as indicated above, in several embodiments, controller 150 may be configured to monitor drive-related parameters relative to one or more thresholds, such as maximum and minimum thresholds associated with a predetermined range established for the drive-related parameters. In such embodiments, when the monitored drive-related parameters fall outside the predetermined range, controller 150 may be configured to adjust the cutting height 23 of one or more cutting discs 26 by controlling the operation of the associated actuator control valve 130, thereby allowing controller 150 to adjust the extension / retraction of the top-tapping actuator 25, thereby adjusting the vertical position of one or more cutting discs 26.

[0047] It should be understood that one or more steps of method 200 are executed by one or more computing devices (e.g., controller 150) when loading and executing software code or instructions tangibly stored on a tangible computer-readable medium, such as magnetic media (e.g., computer hard disk drive), optical media (e.g., optical disc), solid-state memory (e.g., flash memory), or other storage media known in the art. Therefore, any functionality performed by one or more computing devices as described herein, such as method 200, is implemented as software code or instructions tangibly stored on a tangible computer-readable medium. The one or more computing devices load the software code or instructions via a direct interface to the computer-readable medium or via a wired and / or wireless network. When such software code or instructions are loaded and executed by one or more computing devices, the one or more computing devices can perform any functionality of the one or more computing devices described herein, including any steps of method 200 described herein.

[0048] As used herein, the term "software code" or "code" refers to any instruction or set of instructions that affects the operation of a computer or controller. These may exist in a computer-executable form (such as machine code, a set of instructions and data that is directly executed by the computer's central processing unit or by the controller); in a human-understandable form (such as source code that can be compiled for execution by the computer's central processing unit or by the controller); or in an intermediate form (such as object code generated by a compiler). As used herein, the term "software code" or "code" also includes any human-understandable computer instructions or set of instructions, such as scripts, which may be executed on the fly with the aid of an interpreter executed by the computer's central processing unit or by the controller.

[0049] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any combined methods. The scope of the invention is defined by the claims, but may include other examples that would occur to a person skilled in the art. Such other examples are intended to be within the scope of the claims if they comprise structural elements that are not different from the literal language of the claims, or if they comprise equivalent structural elements that are not substantially different from the literal language of the claims.

Claims

1. A system for controlling an automatic topping device on an agricultural harvester, the system comprising: A top-loading assembly, including a cutting disc and a rotary drive source configured to rotatably drive the cutting disc; Actuator, used to adjust the cutting height of the cutting disc; as well as A controller is configured to monitor drive-related parameters associated with the operation of the rotational drive source of the top-bearing assembly, and the controller is also configured to control the operation of the actuator to adjust the cutting height of the cutting disc based at least in part on the monitored drive-related parameters. The rotary drive source includes a hydraulic motor fluidly coupled to a hydraulic circuit for supplying hydraulic fluid to the hydraulic motor, and the drive-related parameters include pressure parameters associated with the fluid pressure of the hydraulic fluid being directed through the hydraulic circuit. The system also includes a pressure sensor configured to detect the pressure parameters, and a controller communicatively coupled to the pressure sensor, such that the controller is configured to monitor the pressure parameters based on feedback received from the pressure sensor.

2. The system of claim 1, wherein the controller is configured to compare a drive-related parameter with at least one predetermined threshold associated with the drive-related parameter, the controller being configured to control the operation of the actuator to adjust the cutting height of the cutting disc when the drive-related parameter differs from the at least one predetermined threshold.

3. The system of claim 2, wherein the at least one predetermined threshold includes a maximum threshold and a minimum threshold of a predetermined range associated with drive-related parameters, and the controller is configured to control the operation of the actuator to adjust the cutting height of the cutting disc when the drive-related parameters fall outside the predetermined range.

4. The system of claim 1, wherein the pressure sensor includes a first pressure sensor configured to detect upstream pressure of hydraulic fluid at a location upstream of the hydraulic motor, and further includes a second pressure sensor configured to detect downstream pressure of hydraulic fluid at a location downstream of the hydraulic motor, wherein the pressure parameter being monitored includes the pressure difference between the upstream pressure and the downstream pressure.

5. The system of claim 1, wherein the pressure parameter includes the sensed pressure of the hydraulic fluid at a given location within the hydraulic circuit.

6. The system of claim 5 further includes a control valve configured to regulate the flow rate of hydraulic fluid to a hydraulic motor and a pump configured to supply hydraulic fluid to the control valve, wherein a pressure sensor is fluidly coupled to the hydraulic circuit downstream of the pump and upstream of the control valve, such that the monitored pressure parameters include the sensed pressure of the hydraulic fluid flowing between the pump and the control valve.

7. The system of claim 1, wherein the controller is configured to control the operation of the actuator based on monitored drive-related parameters in order to maintain the cutting disc in a desired vertical position relative to the crop to be harvested.

8. An agricultural harvester, comprising: frame; The top-loading arm is supported relative to the front end of the frame; A hydraulic motor coupled to the top-loading arm, which is fluidly coupled to a hydraulic circuit for supplying hydraulic fluid to the hydraulic motor; The cutting disc is coupled to a hydraulic motor, such that the hydraulic motor is configured to rotate and drive the cutting disc. An actuator, coupled between the top-impact arm and the frame, is configured to actuate the top-impact arm relative to the frame to adjust the cutting height of the cutting disc. A pressure sensor is configured to detect pressure parameters associated with the fluid pressure of hydraulic fluid being guided through a hydraulic circuit; as well as The controller is communicatively coupled to the pressure sensor and configured to monitor pressure parameters based on feedback received from the pressure sensor. The controller is also configured to control the operation of the actuator to adjust the cutting height of the cutting disc based at least in part on the monitored pressure parameters.

9. The agricultural harvester of claim 8, wherein the controller is configured to compare a pressure parameter with at least one predetermined threshold associated with the pressure parameter, the controller being configured to control the operation of the actuator to adjust the cutting height of the cutting disc when the pressure parameter differs from the at least one predetermined threshold.

10. The agricultural harvester of claim 9, wherein the at least one predetermined threshold includes a maximum threshold and a minimum threshold of a predetermined range associated with a pressure parameter, and the controller is configured to control the operation of the actuator to adjust the cutting height of the cutting disc when the pressure parameter falls outside the predetermined range.

11. The agricultural harvester of claim 8, wherein the pressure sensor includes a first pressure sensor configured to detect upstream pressure of hydraulic fluid at a location upstream of the hydraulic motor, and further includes a second pressure sensor configured to detect downstream pressure of hydraulic fluid at a location downstream of the hydraulic motor, wherein the pressure parameter being monitored includes the pressure difference between the upstream pressure and the downstream pressure.

12. The agricultural harvester of claim 8, wherein the pressure parameter includes the sensed pressure of the hydraulic fluid at a given location within the hydraulic circuit.

13. The agricultural harvester of claim 12, further comprising a control valve configured to regulate the flow rate of hydraulic fluid to a hydraulic motor and a pump configured to supply hydraulic fluid to the control valve, wherein a pressure sensor is fluidly coupled to the hydraulic circuit downstream of the pump and upstream of the control valve, such that the monitored pressure parameters include the sensed pressure of the hydraulic fluid flowing between the pump and the control valve.

14. A method for controlling an automatic topping device in an agricultural harvester, the agricultural harvester including a topping device assembly having a cutting disc and a rotary drive source coupled to the cutting disc, the method comprising: The operation of the control rotary drive source causes the rotary drive source to rotate and drive the cutting disc. Use computing devices to monitor drive-related parameters associated with the operation of the rotary drive source; as well as The cutting height of the cutting disc is adjusted using computing devices, at least in part, based on monitored drive-related parameters. The rotary drive source includes a hydraulic motor, and the operation of controlling the rotary drive source includes controlling the supply of hydraulic fluid directed to the hydraulic motor through a hydraulic circuit using a computing device, so that the hydraulic motor rotates to drive the cutting disc, and the drive-related parameters include pressure parameters associated with the hydraulic fluid in the hydraulic circuit.

15. The method of claim 14, further comprising comparing a drive-related parameter with at least one predetermined threshold associated with the drive-related parameter; and Adjusting the cutting height of the cutting disc based at least in part on monitored drive-related parameters includes adjusting the cutting height of the cutting disc when the drive-related parameters differ from the at least one predetermined threshold.

16. The method of claim 15, wherein the at least one predetermined threshold includes a maximum threshold and a minimum threshold of a predetermined range associated with the drive-related parameters, wherein adjusting the cutting height of the cutting disc when the drive-related parameters differ from the at least one predetermined threshold includes adjusting the cutting height of the cutting disc when the drive-related parameters fall outside the predetermined range.

17. The method of claim 14, wherein monitoring drive-related parameters includes monitoring the pressure difference across the hydraulic motor.

18. The method of claim 14, wherein monitoring drive-related parameters includes monitoring the sensed pressure of hydraulic fluid at a given location within the hydraulic circuit.

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