Picking plate control system for agricultural harvester

Abstract

A spike control system for an agricultural harvester includes a controller having a memory and a processor. The controller is configured to identify termination of the row unit cleaning process. Further, the controller is configured to, in response to identifying termination of the travel unit cleaning process, control the spike plate actuator to transition a pair of spike plates of the row unit to an operating interval.

Description

Technical Field

[0001] This disclosure generally relates to a picking plate control system for agricultural harvesters. Background Technology

[0002] Agricultural harvesters are used to harvest crops such as barley, beans, sugar beets, carrots, corn, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plant crops. Agricultural harvesters may include a harvesting platform that can be configured to efficiently harvest certain types of crops. For example, a corn harvesting platform can be configured to efficiently harvest corn. A corn harvesting platform may include a row unit that includes components configured to separate corn ears from stalks as the harvester travels through the field. A screw conveyor transports the corn ears toward the harvester's processing system and places the stalks on the field.

[0003] Each row unit is configured to separate corn ears from stalks, transport the corn ears toward a corresponding auger conveyor, and guide the stalks into the field. For example, each row unit may include a pair of feed rollers configured to grip the stalks and rotate in opposite directions, thereby driving the stalks backward and toward the field. Each row unit may also include a pair of picking plates located above the pair of feed rollers. The pair of picking plates are separated from each other along a transverse axis to define a gap. The gap between the pair of picking plates can be manually controlled such that the gap size is determined to allow the stalks to pass through the gap while preventing the corn ears from passing through. If the operator observes that the row unit has become clogged (e.g., clogged with stones, clogged with multiple corn ears, etc.), the operator can manually perform a row unit cleaning procedure to remove the blockage from the row unit. The row unit cleaning procedure may include stopping the forward movement of the harvester, raising the corn harvesting platform, increasing the gap between the picking plates, and changing the rotation direction of the feed rollers. Summary of the Invention

[0004] In some embodiments, a picking plate control system for an agricultural harvester includes a controller having a memory and a processor. The controller is configured to recognize the termination of row unit cleaning processing. Additionally, the controller is configured to, in response to recognizing the termination of row unit cleaning processing, control a picking plate actuator to switch a pair of picking plates of the row unit to an operating interval. Attached Figure Description

[0005] These and other features, aspects, and advantages of this disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings, in which the same reference numerals throughout the drawings denote the same parts, wherein:

[0006] Figure 1 This is a side view of an embodiment of an agricultural harvester with a corn harvesting platform;

[0007] Figure 2 It is possible Figure 1 A perspective view of an embodiment of a corn harvesting platform used in an agricultural harvester;

[0008] Figure 3 yes Figure 2 A perspective view of a portion of a corn harvester;

[0009] Figure 4 It is possible Figure 1 A block diagram of an embodiment of a picking plate control system used in an agricultural harvester; and

[0010] Figure 5 This is a flowchart of an embodiment of a method for controlling the spacing between a pair of picking plates in a row unit. Detailed Implementation

[0011] One or more specific embodiments of this disclosure will now be described. To provide a concise description of these embodiments, not all features of the actual implementation may be described in the specification. It should be understood that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developer's specific objectives, such as compliance with system-related and business-related constraints, which may vary from implementation to implementation. Moreover, it should be understood that such development efforts can be complex and time-consuming, but remain routine tasks of design, fabrication, and manufacturing for those skilled in the art who benefit from this disclosure.

[0012] When describing elements of various embodiments of this disclosure, the articles “a,” “the,” and “the” are intended to indicate the presence of one or more elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that additional elements may be present in addition to those listed. Any examples of operating parameters and / or environmental conditions do not exclude other parameters / conditions of the disclosed embodiments.

[0013] Figure 1This is a side view of an embodiment of an agricultural harvester 100 having a corn harvesting platform 200 (e.g., an agricultural harvesting platform). The agricultural harvester 100 includes a chassis 102 configured to support the corn harvesting platform 200 and a crop processing system 104. As described in more detail below, the corn harvesting platform 200 is configured to separate corn ears from stalks and to transport the corn ears toward an inlet 106 of the crop processing system 104 for further processing. The crop processing system 104 receives corn ears from the corn harvesting platform 200 and separates the desired crop material from crop residues. For example, the crop processing system 104 may include a thresher 108 having a cylindrical threshing rotor that transports the corn ears through the agricultural harvester 100 in a helical flow path. In addition to transporting corn ears, the thresher 108 can also separate certain desired crop materials (e.g., corn kernels) from crop residues (such as husks and cobs), and allow the desired crop materials to flow into a cleaning system 110 located below the thresher 108. The cleaning system 110 can remove debris from the desired crop materials and transport them to a storage compartment 112 within the harvester 100. Crop residues can be transported from the thresher 108 to a crop residue treatment system 114, which can remove crop residues from the harvester 100 via a crop residue spreading system 116 located at the rear end of the harvester 100.

[0014] The corn harvester 200 includes multiple row units configured to separate corn ears from stalks, leaving bare stalks in contact with the soil. The corn ears point towards inlet 106. As discussed in detail below, each row unit includes a pair of feed rollers configured to grip the stalks and rotate in opposite directions, thereby driving the stalks backward and toward the field. Additionally, each row unit includes a pair of picking plates located above the pair of feed rollers. The pair of picking plates are separated from each other to define a gap. Furthermore, each row unit includes a pair of chains configured to drive or push the corn ears along the pair of picking plates. For ease of discussion, reference can be made to the transverse axis or direction 10, the longitudinal axis or direction 12, and the vertical axis or direction 14 to describe the agricultural harvester 100 and / or its components (e.g., the corn harvester 200). Reference can also be made to the direction of travel 16 to describe the agricultural harvester 100 and / or its components (e.g., the corn harvester 200).

[0015] In the illustrated embodiment, the agricultural harvester 100 includes a picking plate control system 300 configured to automatically return a pair of picking plates for each row unit to the operating interval when the row unit cleaning process terminates. For example, if the operator observes that a row unit is blocked by obstacles (e.g., stones, multiple ears of corn, etc.), the operator can initiate a row unit cleaning process to remove the obstacles from the row unit. The row unit cleaning process may include stopping the forward movement of the agricultural harvester, raising the corn harvesting platform, increasing the spacing between the picking plates, and changing the rotation direction of the feed rollers. Thus, the feed rollers can drive the obstacles through the larger gap between the picking plates, thereby removing the obstacles from the row unit. As discussed in detail below, the controller 302 of the picking plate control system 300 is configured to recognize the termination of the row unit cleaning process and, in response to recognizing the termination of the row unit cleaning process, control the picking plate actuator 304 of the picking plate control system 300 to switch the pair of picking plates to the operating interval. As a result, the possibility of harvesting crops using the picking plates during the cleaning interval is significantly reduced or eliminated, thereby improving the efficiency of the agricultural harvester.

[0016] In the illustrated embodiment, the controller 302 of the picking board control system 300 is communicatively coupled to the picking board actuator 304. In some embodiments, the controller 302 is an electronic controller having circuitry configured to control the picking board actuator 304. In the illustrated embodiment, the controller 302 includes a processor (such as the microprocessor 306 shown) and a memory device 308. The controller 302 may also include one or more memory devices and / or other suitable components. The processor 306 may be used to execute software, such as software for controlling the picking board actuator 304. Moreover, the processor 306 may include multiple microprocessors, one or more "general purpose" microprocessors, one or more special purpose microprocessors and / or one or more application-specific integrated circuits (ASICs) or some combination thereof. For example, the processor 306 may include one or more Reduced Instruction Set Computing (RISC) processors.

[0017] Memory device 308 may include volatile memory (such as random access memory (RAM)) and / or non-volatile memory (such as read-only memory (ROM)). Memory device 308 may store various information and may be used for various purposes. For example, memory device 308 may store processor-executable instructions (e.g., firmware or software) for execution by processor 306, such as instructions for controlling the picking board actuator 304. One or more storage devices (e.g., non-volatile memory) may include ROM, flash memory, hard disk drive, or any other suitable optical, magnetic, or solid-state storage medium or combinations thereof. One or more storage devices may store data, instructions (e.g., software or firmware for controlling the picking board actuator 304), and any other suitable data.

[0018] In the illustrated embodiment, the picking board control system 300 includes a user interface 310 communicatively coupled to the controller 302. The user interface 310 is configured to receive input from an operator and provide information to the operator. The user interface 310 may include any suitable input(s) for receiving input, such as a keyboard, mouse, buttons(s), switches(s), knobs(s), other suitable input(s), or combinations thereof. Additionally, the user interface 310 may include any suitable output(s) for presenting information to the operator, such as speakers(s), indicator lights(s), other suitable output(s), or combinations thereof. In the illustrated embodiment, the user interface 310 includes a display 312 configured to present visual information to the operator. In some embodiments, the display 312 may include a touchscreen interface configured to receive input from the operator.

[0019] As previously described, controller 302 is configured to recognize the termination of row unit cleaning processing and, in response to recognizing the termination of row unit cleaning processing, controls the picking plate actuator 304 to switch the pair of picking plates to the operating interval. Row unit cleaning processing may include stopping the forward movement of the harvester 100, raising the corn harvester 200 to the transport position, increasing the interval between the picking plates, and changing the rotation direction of the feed rollers (e.g., from forward to backward). Additionally, termination of row unit cleaning processing may include starting the forward movement of the harvester 100, lowering the corn harvester 200 to the working position, and changing the rotation direction of the feed rollers (e.g., from backward to forward).

[0020] In some embodiments, controller 302 is configured to recognize termination of row unit cleaning processing in response to determining that the corn harvester 200 of the agricultural harvester 100 is in a working position. In the illustrated embodiment, the harvester plate control system 300 includes a feeder housing actuator 314 coupled to the chassis 102 and feeder housing 118 of the agricultural harvester 100. The feeder housing 118 is coupled to the chassis 102 and the corn harvester 200 of the agricultural harvester 100. The feeder housing actuator 314 is configured to drive the feeder housing 118 to rotate relative to the chassis 102, thereby driving the corn harvester 200 to move between an elevated transport position (e.g., transport position) and a lowered working position (e.g., working position). The corn harvester 200 is configured to harvest corn crop when in the working position. In the illustrated embodiment, the feeder housing actuator 314 is communicatively coupled to the controller 302, and the controller 302 is configured to control the feeder housing actuator 314 to drive the corn harvester 200 to move between a working position and a transport position. For example, to terminate the row unit cleaning process, the controller 302 can control the feeder housing actuator 314 to move the corn harvester 200 to the working position by outputting one or more control signals. Additionally, the controller 302 can recognize the termination of the row unit cleaning process in response to determining that the corn harvester 200 is in the working position (e.g., based on one or more control signals from the feeder housing actuator 314 that lower the corn harvester 200 to the working position).

[0021] Furthermore, in some embodiments, the controller 302 is configured to recognize the termination of the row unit cleaning process in response to determining that the pair of feed rollers is rotating in the forward direction. In the illustrated embodiment, the picking board control system 300 includes a feed roller drive motor 316 communicatively coupled to the controller 302. The controller 302 is configured to control the feed roller drive motor 316 via one or more output control signals to drive a pair of feed rollers of the row unit in the forward direction during row unit operation and in the backward direction during row unit cleaning. The controller 302 may recognize the termination of the row unit cleaning process in response to determining that the pair of feed rollers of the row unit is rotating in the forward direction (e.g., based on one or more control signals of the feed roller drive motor 316 driving the pair of feed rollers in the forward direction).

[0022] In some embodiments, controller 302 is configured to control the picking plate actuator 304 to switch the pair of picking plates to the cleaning interval in response to recognizing the initiation of the row unit cleaning process. Thus, the operator can initiate the cleaning process by manually stopping the forward movement of the harvester 100, manually raising the corn harvester 200 to the transport position, and manually changing the rotation direction of the pair of feed rollers. In response to recognizing the initiation of the row unit cleaning process, controller 302 can control the picking plate actuator 304 to switch the pair of picking plates to the cleaning interval, thereby eliminating one manual operation of the row unit cleaning process. For example, the operator can provide input to user interface 310 indicating an instruction to initiate the row unit cleaning process, and controller 302 can receive the instruction to initiate the row unit cleaning process from user interface 310. In response, controller 302 can control the feeder housing actuator 314 to raise the corn harvester 200 to the transport position, and controller 302 can control the feed roller drive motor 316 to drive the pair of feed rollers in the opposite direction. Additionally, controller 302 can recognize the initiation of row unit cleaning processing in response to receiving an instruction to start row unit cleaning processing, and controller 302 can control the picking plate actuator 304 to switch the pair of picking plates to the cleaning interval in response to recognizing the initiation of row unit cleaning processing. Furthermore, in some embodiments, controller 302 is configured to recognize the initiation of row unit cleaning processing in response to determining that the pair of feed rollers are rotating in the rearward direction (e.g., based on control signals of one or more feed roller drive motors 316 that drive the pair of feed rollers to rotate in the forward direction).

[0023] Figure 2 It is possible Figure 1 This is a perspective view of an embodiment of a corn harvester 200 used within an agricultural harvester 100. In the illustrated embodiment, the corn harvester 200 includes a plurality of crop joining assemblies 202 distributed along a transverse axis 10 of the corn harvester 200. Each crop joining assembly 202 includes a separator 204 and a cover 206. The separator 204 is configured to separate rows of crop (e.g., corn), and the cover 206 is configured to prevent crop material from entering the interior components of the corn harvester 200. The crop joining assemblies 202 may be evenly spaced along the transverse axis 10 of the corn harvester 200. When the corn harvester 200 is in the working position and moves along the travel direction 16, the separator 204 guides crop material from each row into the corresponding row unit 208. Additionally, the cover 206 facilitates alignment of the crop material with the row unit 208. Thus, the cover 206 guides the crop material through the row unit 208.

[0024] Row unit 208 is configured to separate corn ears from stalks, leaving bare stalks (e.g., stubble) in contact with the soil. The corn ears can be guided to one of a pair of screw conveyors 210 configured to convey the corn ears inward along the transverse axis 10 of the corn harvester 200 to a feeder 120 located at the transverse center of the corn harvester 200. As shown, the screw conveyor 210 extends along most of the width of the corn harvester 200 (e.g., along the transverse axis 10 of the corn harvester 200). The screw conveyor 210 can be driven by a drive mechanism (e.g., an electric motor, a hydraulic motor, etc.). As the agricultural harvester 100 moves through the field, separator 204 guides rows of crop / crop material into row unit 208. Row unit 208 engages the crop material in the field and separates the corn ears from the stalks, and screw conveyor 210 transports the corn ears to feeder 120, which guides the corn ears toward the inlet of the crop processing system. Each row unit 208 includes a pair of feed rollers that pull the stalks of each crop downwards through the row unit during harvesting. As the crop stalks are pulled through the feed rollers, the ears of grain separate from the stalks and are conveyed toward the screw conveyor 210.

[0025] In addition to pulling the straw downwards, the feed rollers drive the straw backwards relative to the frame 214 of the corn harvester 200 (e.g., in a rearward direction 18 opposite to the travel direction 16). Due to the movement of the harvester 100, the frame 214 of the corn harvester 200 is driven to move forward along the travel direction 16. The difference between the forward velocity of the corn harvester frame 214 relative to the field and the rearward velocity of the straw relative to the corn harvester frame 214 can be referred to as the conveying speed. A conveying speed of approximately zero can improve the efficiency of the harvesting operation (e.g., by reducing the load / force applied to the corn ears) and / or can enhance subsequent (one or more) agricultural operations (e.g., by enhancing the adhesion of the bare straw to the soil).

[0026] The feeder 120 is disposed within the feeder housing 118 and configured to move corn ears from the corn harvester 200 toward the inlet of the crop processing system. In the illustrated embodiment, the feeder 120 includes a plurality of rods 122 coupled to one or more chains or belts. The chains or belts(s) ...)(s)(s)(s))(s)(s)(s))(s)(s))(s)(s)(s))(s)(s))(s)(s)(s))(s)(s))(s)(s)(s))(s)(s))(s)

[0027] Figure 3 yes Figure 2A perspective view of a portion of a corn harvester 200. As previously described, the corn harvester 200 includes a plurality of separators 204 that guide the crop into row units 208. Each row unit 208 is configured to separate corn ears from stalks, transport the corn ears toward a corresponding auger conveyor 210, and guide the stalks into the field. As shown, each row unit 208 includes a pair of feed rollers 226 configured to grip the stalks and rotate in opposite directions (e.g., forward) to drive the stalks backward (e.g., along backward direction 18) and toward the field (e.g., vertically downward, below the corn harvester 200). Each row unit 208 also includes a pair of picking plates 228 located above the pair of feed rollers 226. Each picking plate 228 extends along the longitudinal axis 12 of the corn harvester 200, and the pair of picking plates 228 are separated from each other along the transverse axis 10 of the corn harvester 200 to define a gap 230. In addition, each row unit 208 includes a pair of chains 232 (e.g., with lugs) configured to drive or push corn ears along the pair of picking plates 228 toward the corresponding screw conveyor 210. Each cover 206 is located behind each separator 204 and between adjacent row units 208 to cover various components such as picking plate actuators 304, linkages(s), etc. Although each row unit includes a pair of feed rollers 226 and a pair of chains 232 in the illustrated embodiment, in other embodiments, at least one row unit may include other / additional(s) suitable components configured to facilitate separation of corn ears from stalks, guidance of corn ears to the corresponding screw conveyor, and guidance of stalks toward the surface of the field.

[0028] In the illustrated embodiment, each picking plate actuator 304 of the picking plate control system 300 is configured to switch a pair of picking plates 228 of the corresponding row unit 208 between a cleaning interval and an operating interval. As used herein with respect to a pair of picking plates, "switching" refers to a change in the interval between the picking plates, which can be caused by moving one or both of the pair of picking plates. In the illustrated embodiment, each picking plate actuator 304 of the picking plate control system 300 is configured to drive a pair of picking plates 228 of the corresponding row unit 208 toward and away from each other along the transverse axis 10 of the corn harvester 200 to change the size (e.g., width) of the gap 230 between the pair of picking plates 228. Thus, each picking plate actuator 304 is configured to drive a corresponding pair of picking plates 228 to move. However, in other embodiments, the picking plate actuators may be configured to drive each picking plate to move such that the number of picking plate actuators is equal to the number of picking plates. Additionally, in some embodiments, the picking plate actuators may be configured to drive one picking plate in each pair to move. Furthermore, in some embodiments, a single picking plate actuator may be configured to drive one or more picking plates in each of multiple pairs of picking plates to move, such that the multiple pairs of picking plates move together. Each picking plate actuator 304 may include any suitable type of actuator, such as one or more hydraulic cylinders, one or more pneumatic cylinders, one or more hydraulic motors, one or more pneumatic motors, one or more electric motors, one or more electric linear actuators, other suitable types of actuators, or combinations thereof.

[0029] In some embodiments, the controller 302 is configured to control the operating interval between a pair of picking plates 228 of each row unit 208 of the corn harvester 200 based on a determined width of the corn ear. For example, when harvesting corn ears with a larger determined width, the controller 302 may control one or more picking plate actuators 304 to increase the operating interval between the pair of picking plates 228 of each row unit 208, and when harvesting corn ears with a smaller determined width, the controller 302 may control one or more picking plate actuators 304 to decrease the operating interval between the pair of picking plates 228 of each row unit 208. As a result, each row unit can effectively block the corn ear from passing through the gap between the pair of picking plates, while allowing the stalk to pass through the gap, thereby improving the efficiency of the harvesting operation. Furthermore, in some embodiments, the operating interval between the pair of picking plates 228 can be manually controlled. For example, in some embodiments, the operator can set the desired operating interval in the user interface 310, and the user interface 310 can output a signal indicating the desired operating interval to the controller 302. The controller 302 can also control one or more picking plate actuators 304 to establish the desired operating interval.

[0030] Furthermore, if the operator observes that row unit 208 is blocked by obstacles (e.g., stones, multiple ears of corn, etc.), the operator can initiate a row unit cleaning process to remove the obstacles from the row unit. As previously described, a row unit cleaning process may include stopping the forward movement of the harvester, raising the corn harvesting platform, increasing the gap between the picking plates from the operating interval to the cleaning interval, and changing the rotation direction of the feed rollers. Thus, the feed rollers can drive the obstacles through the larger gap between the picking plates, thereby removing the obstacles from the row unit. Controller 302 is configured to recognize the termination of the row unit cleaning process and, in response to recognizing the termination of the row unit cleaning process, control one or more picking plate actuators 304 to switch the pair of picking plates 228 to the operating interval. As a result, the likelihood of harvesting the crop using the picking plates 228 in the cleaning interval is significantly reduced or eliminated, thereby improving the efficiency of the harvester. As used herein, a “cleaning interval” refers to the gap (e.g., the width of the gap) between a pair of picking plates that is larger than the operating interval (e.g., the width of the gap).

[0031] Figure 4 It is possible Figure 1This is a block diagram of an embodiment of a picking plate control system 300 used in an agricultural harvester. As previously described, the controller 302 of the picking plate control system 300 is communicatively coupled to the picking plate actuator 304, the feed roller drive motor 316, and the feeder housing actuator 314. Furthermore, as previously described, the picking plate actuator 304 may include any suitable type of actuator, such as one or more hydraulic cylinders, one or more pneumatic cylinders, one or more hydraulic motors, one or more pneumatic motors, one or more electric motors, one or more electric linear actuators, other suitable types of actuators, or combinations thereof. Similarly, the feed roller drive motor 316 may include any suitable type of motor, such as one or more hydraulic motors, one or more pneumatic motors, one or more electric motors, other suitable types of motors, or combinations thereof. In the illustrated embodiment, each row unit 208 includes a single feed roller drive motor 316 configured to drive a corresponding pair of feed rollers 226 to rotate. However, in other embodiments, the feed roller drive motors may be configured to drive each feed roller to rotate such that the number of feed roller drive motors equals the number of feed rollers. Furthermore, in some embodiments, a single feed roller drive motor may be configured to drive multiple pairs of feed rollers to rotate (e.g., the feed rollers of all row units in a corn harvester). In some embodiments, each feed roller drive motor may include a transmission configured to control the rotational direction of the corresponding feed roller(s). In such embodiments, the rotational direction of the feed rollers can be controlled by controlling the transmission(s) of the feed roller drive motor(s). Additionally, the feeder housing actuator 314 may include any suitable type of actuator(s), such as hydraulic cylinder(s), pneumatic cylinder(s), hydraulic motor(s), pneumatic motor(s), electric motor(s), electric linear actuator(s), other suitable types of actuator(s), or combinations thereof.

[0032] As previously described, if the operator observes that the row unit is blocked by obstacles (e.g., stones, multiple ears of corn, etc.), the operator can initiate a row unit cleaning process to remove the obstacles from the row unit. The row unit cleaning process may include stopping the forward movement of the harvester, raising the corn harvester from a lowered working position (e.g., working position) to an elevated transport position (e.g., transport position), increasing the spacing between a pair of picking plates 228 from the operating spacing to the cleaning spacing, and changing the rotation direction of a pair of feed rollers 226 from forward to backward. Thus, the feed rollers can drive the obstacles through the larger gap between the picking plates, thereby clearing the obstacles from the row unit.

[0033] In some embodiments, the operator can perform cleaning procedures manually. For example, to stop the forward movement of the harvester, the operator can operate various controls in the harvester's cab, such as moving the throttle lever, pressing the brake pedal, moving the gear selector lever, etc. Furthermore, to raise the corn harvester from a lowered working position to an elevated transport position, the operator can provide input to the user interface 310 instructing them to raise the corn harvester, and the user interface can output a signal instructing the raising of the corn harvester to the controller 302. The controller 302 can then control the feeder housing actuator 314 to raise the corn harvester from the lowered working position to the elevated transport position. However, in other embodiments, the feeder housing actuator may be non-communicatively coupled to the controller. In such embodiments, the operator can manually raise the corn harvester by controlling the feeder housing actuator using controls (e.g., levers, etc.) in the harvester's cab. Additionally, to increase the spacing between a pair of picking plates 228 from an operating spacing to a cleaning spacing, the operator can provide the user interface 310 with an input command instructing the operator to increase the spacing between the pair of picking plates 228, and the user interface 310 can output a signal instructing the controller 302 to increase the spacing between the pair of picking plates 228. The controller 302 can then control one or more picking plate actuators 304 to increase the spacing between the pair of picking plates 228 from an operating spacing to a cleaning spacing. Furthermore, to change the rotation direction of a pair of feed rollers 226 from a forward direction to a backward direction, the operator can provide the user interface 310 with an input command instructing the operator to change the rotation direction of the pair of feed rollers 226, and the user interface 310 can output a signal instructing the operator to change the rotation direction of the pair of feed rollers 226. The controller 302 can then control one or more feed roller drive motors 316 to change the rotation direction of the pair of feed rollers 226 from a forward direction to a backward direction. However, in other embodiments, the feed roller drive motor(s) may be connected to the controller without communication. In such embodiments, the operator can manually change the rotation direction of the feed rollers by controlling the feed roller drive motor(s)(s) using controls (e.g., levers, buttons, knobs, etc.) in the cab of the agricultural harvester.

[0034] In some embodiments, the controller 302 of the picking plate control system 300 is configured to automatically perform at least a portion of the row unit cleaning process. For example, in some embodiments, the controller 302 is configured to control one or more picking plate actuators 304 to switch a pair of picking plates 228 of the row unit 208 from an operating interval to a cleaning interval in response to recognizing the initiation of the row unit cleaning process. Initiation of the row unit cleaning process may include stopping the forward movement of the agricultural harvester, raising the corn harvester from a lowered working position to an elevated transport position, and changing the rotation direction of a pair of feed rollers from a forward direction to a rearward direction. In some embodiments, the controller 302 is configured to recognize the initiation of the row unit cleaning process in response to determining that a pair of feed rollers 226 of the row unit 208 are rotating in a rearward direction. Therefore, in response to the operator manually stopping the forward movement of the agricultural harvester, raising the corn harvester from a lowered working position to an elevated transport position, and changing the rotation direction of the pair of feed rollers 226 from forward to backward, the controller 302 can control one or more of the ear-picking plate actuators 304 to switch the pair of ear-picking plates 228 from the operating interval to the cleaning interval, thereby eliminating one manual operation of the row unit cleaning process.

[0035] In some embodiments, controller 302 is configured to determine that a pair of feed rollers 226 of line unit 208 is rotating in a rearward direction based on control signals from one or more feed roller drive motors 316. For example, as previously described, an operator can change the rotation direction of the feed rollers from forward to rearward by providing input to user interface 310. Furthermore, user interface 310 can output a signal to controller 302 instructing the change of rotation direction of the pair of feed rollers 226, and controller 302 can control one or more feed roller drive motors 316 by outputting control signals to change the rotation direction of the pair of feed rollers 226 from forward to rearward. In response to outputting one or more control signals to the feed roller drive motors 316, controller 302 can determine that the pair of feed rollers 226 is rotating in a rearward direction. As a result, controller 302 can recognize the initiation of line unit cleaning processing. Furthermore, in some embodiments (e.g., in embodiments where one or more feed roller drive motors are not communicatively coupled to the controller), the controller 302 may determine that the pair of feed rollers 226 is rotating in the rearward direction based on feedback from the feed roller sensor 318. In the illustrated embodiment, the feed roller sensor 318 is communicatively coupled to the controller 302 and configured to output a sensor signal indicating the direction of rotation of the pair of feed rollers 226. Therefore, in some embodiments, the controller 302 is configured to determine that the pair of feed rollers 226 is rotating in the rearward direction based on feedback from the feed roller sensor 318, and the controller 302 is configured to recognize the initiation of the row unit cleaning process in response to determining that the pair of feed rollers is rotating in the rearward direction. In embodiments where the controller 302 is configured to determine that the pair of feed rollers 226 of the row unit 208 is rotating in the rearward direction based on control signals from one or more feed roller drive motors 316, the feed roller sensor 318 may be omitted.

[0036] In some embodiments, the controller 302 is configured to automatically perform multiple steps of the row unit cleaning process in response to operator input. For example, the operator may provide input to the user interface 310 instructing the initiation of the row unit cleaning process, and the user interface 310 may output a signal instructing the initiation of the row unit cleaning process to the controller 302. The controller 302 may also control the feeder housing actuator 314 to raise the corn harvester from a lowered working position to an elevated transport position, control one or more ear-picking plate actuators 304 to increase the spacing between a pair of ear-picking plates 228 from an operating spacing to a cleaning spacing, and control one or more feed roller drive motors 316 to change the rotation direction of a pair of feed rollers 226 from a forward direction to a backward direction. Furthermore, in some embodiments, the controller may be communicatively coupled to the mobility control system of the agricultural harvester, and the controller may be configured to control the mobility control system to stop the movement of the agricultural harvester in response to receiving a signal from the user interface instructing the initiation of the row unit cleaning process.

[0037] In the illustrated embodiment, the picking board control system 300 includes a picking board spacing sensor 320 communicatively coupled to a controller 302. The picking board spacing sensor 320 is configured to output a sensor signal indicating the width of the gap 230 between a pair of picking boards 228 (e.g., the spacing between the pair of picking boards 228), and the controller 302 is configured to receive the sensor signal. Additionally, the controller 302 is configured to determine the spacing between the pair of picking boards 228 based on feedback from the picking board spacing sensor 320. For example, when the row unit 208 is operating, the controller 302 may determine the operating spacing between the pair of picking boards 228 based on feedback from the picking board spacing sensor 320. As used herein with respect to the row unit, "operation" means the row unit harvesting the crop when the corn harvester is in the working position. Furthermore, in some embodiments, in response to determining the spacing between the pair of picking boards 228, the controller 302 is configured to control the user interface 310 to present that spacing (e.g., the current spacing). For example, controller 302 can control user interface 310 to display intervals (e.g., current intervals) on display 312, thereby providing the operator with a visual indication of the interval (e.g., current interval) between a pair of picking boards.

[0038] Furthermore, in the illustrated embodiment, the harvester control system 300 includes a corn harvester position sensor 322 communicatively coupled to the controller 302. The corn harvester position sensor 322 is configured to output a sensor signal indicating the position of the corn harvester (e.g., relative to the chassis of an agricultural harvester, relative to the surface of the field, etc.), and the controller 302 is configured to receive the sensor signal. Additionally, the controller 302 is configured to determine the position of the corn harvester based on feedback from the corn harvester position sensor 322. For example, the controller 302 may determine whether the corn harvester is in a lowered working position or an elevated transport position based on feedback from the corn harvester position sensor 322. Furthermore, in some embodiments, the controller 302 may control the user interface 310 to display the corn harvester position on the display 312, thereby providing the operator with a visual indication of the corn harvester position (e.g., whether the corn harvester is in a lowered working position or an elevated transport position).

[0039] In the illustrated embodiment, controller 302 is configured to recognize the termination of row unit cleaning processing and, in response to recognizing the termination of row unit cleaning processing, control one or more ear-picking plate actuators 304 to switch a pair of ear-picking plates 228 of row unit 208 to an operating interval. In some embodiments, controller 302 is configured to recognize the termination of row unit cleaning processing in response to determining that the corn harvester is in a working position (e.g., a lowered working position). In some embodiments (e.g., in embodiments where the feeder housing actuator is not communicatively coupled to the controller), controller 302 may determine that the corn harvester is in a working position based on feedback from the corn harvester position sensor 322. Furthermore, in embodiments where the feeder housing actuator 314 is communicatively coupled to controller 302, controller 302 may determine that the corn harvester is in a working position based on one or more control signals from the feeder housing actuator 314 that lower the corn harvester to a working position. For example, an operator can provide input to user interface 310 instructing the corn harvester to move from an elevated transport position to a lowered working position, and user interface 310 can output a signal to controller 302 instructing the corn harvester to move from the elevated transport position to the lowered working position. Controller 302 can then control feeder housing actuator 314 to lower the corn harvester from the elevated transport position to the lowered working position by outputting control signals(s) to feeder housing actuator 314. In response to outputting control signals(s) to feeder housing actuator 314, controller 302 can determine that the corn harvester is in the lowered working position. As a result, controller 302 can recognize the termination of the row unit cleaning process. In embodiments where the controller is configured to determine the corn harvester's working position based on control signals(s) from feeder housing actuator(s), the corn harvester position sensor can be omitted.

[0040] In some embodiments, controller 302 is configured to recognize termination of the row unit cleaning process in response to determining that the pair of feed rollers 226 are rotating in the forward direction. In some embodiments (e.g., in embodiments where one or more feed roller drive motors are not communicatively coupled to the controller), controller 302 may determine that the pair of feed rollers 226 are rotating in the forward direction based on feedback from feed roller sensor 318. Furthermore, in embodiments where one or more feed roller drive motors 316 are communicatively coupled to controller 302, controller 302 may determine that the pair of feed rollers 226 are rotating in the forward direction based on control signals from one or more of the feed roller drive motors 316 that drive the pair of feed rollers 226 in the forward direction. For example, an operator may provide input to user interface 310 instructing to change the rotation direction of the pair of feed rollers 226 from the rearward direction to the forward direction, and user interface 310 may output a signal to controller 302 instructing to change the rotation direction of the pair of feed rollers 226 from the rearward direction to the forward direction. The controller 302 can also control one or more feed roller drive motors 316 via one or more output control signals to drive the pair of feed rollers 226 to rotate in the forward direction. In response to outputting one or more control signals to the feed roller drive motors 316, the controller 302 can determine that the pair of feed rollers 226 is rotating in the forward direction. As a result, the controller 302 can recognize the termination of the row unit cleaning process. In embodiments where the controller is configured to determine that the pair of feed rollers is rotating in the forward direction based on the control signals of the one or more feed roller drive motors, the feed roller sensors can be omitted.

[0041] In some embodiments, during the operation of row unit 208, controller 302 is configured to determine the operating interval based on feedback from the picking plate spacing sensor 320. For example, when the corn harvester is in the working position and row unit 208 is harvesting crops, controller 302 can determine the current interval between a pair of picking plates 228 based on feedback from the picking plate spacing sensor 320, and controller 302 can store the current interval as the operating interval. Therefore, in response to recognizing the termination of row unit cleaning processing, controller can control picking plate actuator 304 to switch the pair of picking plates 228 to the operating interval stored in controller 302 (e.g., based on feedback from the picking plate spacing sensor 320). However, in some embodiments, before or during the harvesting operation, the operator can provide input indicating the operating interval to user interface 310, and user interface 310 can output a signal to controller 302 instructing the switching of a pair of picking plates 228 to the operating interval. Controller 302 can then control picking plate actuator 304 to switch the pair of picking plates 228 to the operating interval. In such embodiments, the controller 302 may store the operating intervals provided by the operator, and in some embodiments, the picking plate interval sensor may be omitted.

[0042] In some embodiments, when a pair of picking plates 228 are not in a stored operating interval, the controller 302 is configured to notify the operator that the pair of picking plates 228 are not in a stored operating interval in response to recognizing the initiation of a harvesting operation. For example, the controller 302 may be configured to recognize the initiation of a harvesting operation (e.g., after the row unit cleaning process has ended) in response to determining that the corn harvester is in a lowered working position (e.g., based on feedback from the corn harvester position sensor 322) and / or that a pair of feed rollers 226 are rotating in the forward direction (e.g., based on feedback from the feed roller sensor 318). In response to recognizing the initiation of a harvesting operation, the controller 302 may determine whether the pair of picking plates 228 are in a stored operating interval. For example, the controller 302 may determine the current interval between the pair of picking plates 228 based on feedback from the picking plate interval sensor 320, and the controller 302 may compare the current interval with a stored operating interval. In response to determining that the difference between the current interval and the stored operating interval is greater than a threshold, controller 302 may control user interface 310 to present an indication (e.g., on display 312) that a pair of picking boards 228 are not in a stored operating interval. In some embodiments, the controller may control one or more picking board actuators to switch the pair of picking boards to an operating interval in response to recognizing the termination of the trip unit cleaning process, and notify the operator via the user interface that the pair of picking boards are not in an operating interval in response to recognizing the start of a harvesting operation (e.g., notifying the operator that the picking boards have not been effectively switched to an operating interval). Furthermore, in some embodiments, when a pair of picking boards are not in a stored operating interval, the controller may notify the operator via the user interface that the pair of picking boards are not in a stored operating interval in response to recognizing the start of a harvesting operation, and the controller may not control the picking board actuators to switch the pair of picking boards to an operating interval in response to recognizing the termination of the trip unit cleaning process. In such embodiments, the controller may control the user interface to present input (e.g., virtual buttons, etc.) that enables the operator to provide input to the user interface indicating an instruction to switch the pair of picking boards to an operating interval. In response to receiving input from the operator, the user interface can output a signal to the controller instructing the pair of picking boards to be switched to the operating interval, and the controller can control one or more picking board actuators to switch the pair of picking boards to the operating interval. Furthermore, in some embodiments, the controller can control the user interface to notify the operator to check the interval between the pair of picking boards (e.g., without comparing the current interval with the stored operating interval) in response to recognizing the initiation of a harvesting operation.

[0043] Although the control of a single row unit 208 has been disclosed above, in some embodiments, the picking plate control system 300 may be configured to control multiple row units 208 of the corn harvester (e.g., independently and / or jointly). For example, in some embodiments, one or more picking plate actuators may be configured to jointly control all picking plate pairs of the corn harvester, such that all picking plate pairs switch together. In such embodiments, the controller may be configured to control one or more picking plate actuators to switch each pair of picking plates to an operating interval in response to recognizing the termination of row unit cleaning processing. Additionally, the controller may be configured to control one or more picking plate actuators to switch each pair of picking plates to a cleaning interval in response to recognizing the initiation of row unit cleaning processing. Furthermore, since all picking plate pairs switch together, the picking plate control system may include a single picking plate interval sensor for monitoring the interval between a pair of picking plates. Additionally, the controller may identify the termination of the line unit cleaning process in response to determining that any pair of feed rollers is rotating in the forward direction, and / or the controller may identify the start of the line unit cleaning process in response to determining that any pair of feed rollers is rotating in the backward direction.

[0044] Furthermore, in embodiments where the pickering plate actuators are configured to control the pickering plate pairs independently, a portion of the row unit cleaning process can be performed individually for each row unit. For example, if the operator observes that a row unit is blocked by an obstacle (e.g., stones, multiple ears of corn, etc.), the operator can initiate the row unit cleaning process to remove the obstacle from that row unit. Thus, the forward movement of the harvester can be stopped (e.g., via operator-operated controls in the cab), and the corn harvester can be raised from a lowered working position to an elevated transport position (e.g., via input from the operator to a user interface, via operator-operated controls in the cab). Additionally, one or more feed roller drive motors of at least one row unit (e.g., only one row unit in an embodiment where the pickering plate control system has independently controllable feed roller drive motors for each row unit, or all row units in an embodiment where one or more feed roller drive motors jointly drive all feed rollers) can be controlled to change the rotation direction of the corresponding pair of feed rollers from forward to backward (e.g., via input from the operator to a user interface, via operator-operated controls in the cab). In addition, one or more picking plate actuators of a row unit can be controlled to switch the corresponding pair of picking plates from the operating interval to the cleaning interval (e.g., by providing input to the user interface via an operator, via a controller in response to recognizing the initiation of the cleaning process of the row unit, for example by determining that the corresponding pair of feed rollers are rotating in the rearward direction).

[0045] In embodiments where a portion of the row unit cleaning process is performed individually for each row unit, the controller can identify the termination of the row unit cleaning process for a row unit, and in response to identifying the termination of the row unit cleaning process for a row unit, the controller can control one or more of the picking plate actuators of that row unit to switch the corresponding pair of picking plates from the cleaning interval to the operating interval. For example, the controller can identify the termination of the row unit cleaning process for all row units in response to determining that the corn harvester is in a lowered working position. Furthermore, the controller can determine the termination of the row unit cleaning process for a row unit in response to determining that a pair of feed rollers of a row unit are rotating in the forward direction (e.g., based on feedback from the respective feed roller sensors in embodiments where the feed roller drive motors are independently controllable for the feed roller pair, or based on feedback from any feed roller sensor in embodiments where one or more feed roller drive motors jointly drive all feed rollers, based on one or more control signals given to the feed roller drive motors).

[0046] Additionally, in some embodiments, the controller may be configured to determine the operating interval between a pair of picking plates for each row unit (e.g., based on feedback from the corresponding picking plate interval sensor during row unit operation, or based on user interface input). In such embodiments, the controller may store the operating interval for each row unit and, in response to identifying the termination of row unit cleaning processing at least with respect to the row unit, control one or more picking plate actuators of the row unit(s) to switch the corresponding pair of picking plates to the operating interval. However, in other embodiments, the controller may determine the operating interval between a pair of picking plates for all row units (e.g., based on feedback from the picking plate interval sensor of one row unit). In such embodiments, the controller may store a single operating interval and, in response to identifying the termination of row unit cleaning processing at least with respect to the row unit, control one or more picking plate actuators of the row unit(s) to switch the corresponding pair of picking plates to the single operating interval.

[0047] Figure 5 This is a flowchart of an embodiment of a method 400 for controlling the spacing between a pair of picking plates in a row unit. Method 400 can be found by referring to the above. Figure 4 The method is executed by a publicly disclosed controller, one or more other suitable controllers, or a combination thereof. Furthermore, the steps of method 400 may be performed in the order disclosed below or in any other suitable order. Additionally, in some embodiments, one or more steps of method 400 may be omitted, and / or the method may include one or more additional steps.

[0048] In the illustrated embodiment, method 400 includes determining an operating interval between a pair of picking plates based on feedback from a picking plate interval sensor during row unit operation, as shown in box 402. As previously described, the row unit is operating when the corn harvester is in the working position and the row unit is harvesting the crop. Furthermore, in the illustrated embodiment, method 400 includes controlling the user interface based on feedback from the picking plate interval sensor to present the current interval between a pair of picking plates, as shown in box 404.

[0049] Method 400 also includes identifying the termination of the row unit cleaning process, as shown in box 406. As previously described, the termination of the row unit cleaning process can be identified by determining that the corn harvester is in an operating position and / or by determining that a pair of feed rollers are rotating in the forward direction. Furthermore, method 400 includes determining whether the termination of the row unit cleaning process has been identified, as shown in box 408, and controlling one or more picking plate actuators to switch a pair of picking plates to an operating interval, as shown in box 410. If the termination of the row unit cleaning process is not identified, method 400 returns from box 408 to box 406. However, in response to the identification of the termination of the row unit cleaning process, the method proceeds from box 408 to box 410.

[0050] Method 400 also includes identifying the initiation of the row unit cleaning process, as shown in box 412. As previously described, the initiation of the row unit cleaning process can be identified by determining that a pair of feed rollers are rotating in a rearward direction. Furthermore, method 400 includes determining whether the initiation of the row unit cleaning process has been identified, as shown in box 414, and controlling one or more picking plate actuators to switch a pair of picking plates to the cleaning interval, as shown in box 416. If the initiation of the row unit cleaning process has not been identified, method 400 returns from box 414 to box 412. However, in response to the identification of the initiation of the row unit cleaning process, the method proceeds from box 414 to box 416.

[0051] Although only certain features have been shown and described herein, many modifications and variations will occur to those skilled in the art. Therefore, it should be understood that the appended claims are intended to cover all such modifications and variations that fall within the true spirit of this disclosure.

[0052] The techniques proposed and claimed herein are referenced and applied to practical objects and concrete examples of a practical nature that significantly improve upon the art and are therefore not abstract, intangible, or purely theoretical. Furthermore, if any claim appended to this specification contains one or more elements designated as “means for [performing] [function]…” or “steps for [performing] [function]…”, such elements are intended to be interpreted according to 35 USC 112(f). However, for any claim containing elements designated in any other manner, such elements should not be interpreted according to 35 USC 112(f).

Claims

1. A harvesting plate control system for an agricultural harvester, comprising: A controller including memory and a processor, wherein the controller is configured to: Termination of cleaning process for the identification row unit; as well as In response to the recognition of the termination of the row unit cleaning process, the picking plate actuator is controlled to switch a pair of picking plates of the row unit to the operating interval.

2. The ear-picking plate control system of claim 1, wherein the controller is configured to recognize the termination of the row unit cleaning process in response to determining that the corn harvesting table of the agricultural harvester is in a working position.

3. The picking board control system of claim 1, wherein the controller is configured to recognize the termination of the row unit cleaning process in response to determining that a pair of feed rollers of the row unit are rotating in the forward direction.

4. The picking board control system of claim 1, wherein the controller is configured to determine the operating interval based on feedback from the picking board interval sensor during the operation of the row unit.

5. The picking board control system of claim 4, wherein the controller is configured to control the user interface to present the current interval between the pair of picking boards based on feedback from the picking board interval sensor.

6. The picking board control system according to claim 1, wherein the controller is configured to: Identify the initiation of the row unit cleaning process; and In response to the recognition of the initiation of the row unit cleaning process, the picking plate actuator is controlled to switch the pair of picking plates of the row unit to the cleaning interval.

7. The picking board control system of claim 6, wherein the controller is configured to recognize the initiation of the row unit cleaning process in response to determining that a pair of feed rollers of the row unit are rotating in a rearward direction.

8. A method for controlling the spacing between a pair of picking plates in a row unit of an agricultural harvester, comprising: The termination of the row cleaning process is identified by a controller that includes memory and processor; as well as In response to the detection of the termination of the row unit cleaning process, the controller controls the picking plate actuator to switch the pair of picking plates to the operating interval.

9. The method of claim 8, wherein identifying the termination of the row unit cleaning process includes determining that the corn harvester of the agricultural harvester is in a working position.

10. The method of claim 8, wherein identifying the termination of the row unit cleaning process comprises determining that a pair of feed rollers of the row unit are rotating in the forward direction.

11. The method of claim 8, further comprising determining the operating interval via the controller based on feedback from the picking plate interval sensor during the operation of the row unit.

12. The method of claim 11, further comprising controlling a user interface via the controller to present the current interval between the pair of picking plates based on feedback from the picking plate interval sensor.

13. The method of claim 8, comprising: The controller identifies the initiation of the row unit cleaning process; as well as In response to the recognition of the initiation of the row unit cleaning process, the controller controls the picking plate actuator to switch the pair of picking plates of the row unit to the cleaning interval.

14. A picking plate control system for an agricultural harvester, comprising: A picking plate actuator, the picking plate actuator being configured to control the spacing between a pair of picking plates in the row unit of the agricultural harvester; as well as A controller, communicatively connected to the picking plate actuator, wherein the controller is configured to: The termination of the row unit cleaning process is identified; and In response to the identification of the termination of the row unit cleaning process, the picking plate actuator is controlled to switch the pair of picking plates to the operating interval.

15. The ear-picking plate control system of claim 14, wherein the controller is configured to recognize the termination of the row unit cleaning process in response to determining that the corn harvesting table of the agricultural harvester is in a working position.

16. The picking board control system of claim 14, wherein the controller is configured to recognize the termination of the row unit cleaning process in response to determining that a pair of feed rollers of the row unit are rotating in the forward direction.

17. The picking plate control system of claim 14, comprising a picking plate interval sensor communicatively connected to the controller, wherein the controller is configured to determine the operating interval based on feedback from the picking plate interval sensor during row unit operation.

18. The picking board control system of claim 17, wherein the controller is configured to control the user interface to present the current interval between the pair of picking boards based on feedback from the picking board interval sensor.

19. The picking board control system according to claim 14, wherein the controller is configured to: Identify the initiation of the row unit cleaning process; and In response to the recognition of the initiation of the row unit cleaning process, the picking plate actuator is controlled to switch the pair of picking plates of the row unit to the cleaning interval.

20. The picking board control system of claim 19, wherein the controller is configured to recognize the initiation of the row unit cleaning process in response to determining that a pair of feed rollers of the row unit are rotating in a rearward direction.

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