Compatibility control of harvesting attachments for agricultural harvesting vehicles

Abstract

An agricultural harvesting vehicle includes a header compatibility control system with a first sensor that measures a characteristic of the agricultural harvesting vehicle and generates a signal indicative of the characteristic, and a controller. The controller includes a processor and a memory with a compatibility control algorithm.The processor is operable to execute the compatibility control algorithm to: receive the characteristic-indicating signal from the first sensor to determine a load; determine, based on the signal, whether the load is equal to or greater than a first threshold; if the load is determined to be equal to or greater than the first threshold, calculate a restricted condition based on the load; and, in response to the load being equal to or greater than the first threshold, control the agricultural harvesting vehicle to operate under the restricted condition.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to compatibility control of implements for agricultural harvesting vehicles, and more particularly to compatibility control of harvesting headers for agricultural harvesting vehicles. STATE OF THE ART

[0002] Agricultural harvesters harvest grain from a field and process the crop to separate the grains from the crop residue. Front-mounted equipment (i.e., harvesting headers) are selectively coupled to the agricultural harvesters and engage the crop, such as during a harvesting operation. To increase productivity, some harvesting headers are wider than others, and wider headers may be heavier than narrower headers. Different agricultural harvesters may have different capabilities for supporting different headers. SUMMARY

[0003] According to one disclosure, an agricultural harvesting vehicle includes a main frame, a ground engaging device, a feederhouse, and a header compatibility control system. The main frame has a first end and a second end spaced from the first end along a central longitudinal axis of the main frame. The ground engaging device is coupled to the main frame and is used to move the main frame in a direction of travel during operation. The feederhouse is coupled to the main frame and is used to attach a header. The header compatibility control system includes a first sensor and a controller. The first sensor is used to measure a characteristic of the agricultural harvesting vehicle and generate a signal indicative of that characteristic. The controller includes a processor and a memory storing a compatibility control algorithm.The processor is operable to execute the compatibility control algorithm to: receive the characteristic-indicating signal from the first sensor to determine a load on the agricultural harvesting vehicle; determine, based on the signal, whether the load is equal to or greater than a first threshold, the first threshold stored in the memory; if the load is determined to be equal to or greater than the first threshold, calculate a restricted condition based on the load; and in response to the load being equal to or greater than the first threshold, control the agricultural harvesting vehicle to operate under the restricted condition.

[0004] In one aspect of the disclosure, the processor is operable to execute the compatibility control algorithm to: determine based on the signal whether the load is equal to or less than a second threshold stored in the memory, and in response to the load being equal to or less than the second threshold, control the agricultural harvesting vehicle to operate under the restricted condition.

[0005] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to limit travel of the agricultural harvesting vehicle to a predetermined speed or below.

[0006] In one aspect of the disclosure, the processor is operable to execute the compatibility control algorithm to downshift the transmission gear of the agricultural harvesting vehicle or initiate braking of the ground engaging device to limit travel of the agricultural harvesting vehicle to the predetermined speed or below.

[0007] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to reduce the power of an engine of the agricultural harvesting vehicle to limit travel of the agricultural harvesting vehicle to the predetermined speed or below.

[0008] In one aspect of the disclosure, the agricultural harvesting vehicle includes an actuator coupled between the feederhouse and the main frame, and the feederhouse is pivotally coupled to the main frame about a pivot axis, and the actuator is used to raise and lower the feederhouse.

[0009] In one aspect of the disclosure, the processor is used to calculate a load on the harvesting header based on the signal from the first sensor.

[0010] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to extend or retract the actuator to lower a height of the header to or below a predetermined height.

[0011] In one aspect of the disclosure, the load on the harvesting header results from the weight of the harvesting header and a reaction of the crop material engaging the harvesting header.

[0012] In one aspect of the disclosure, the agricultural harvesting vehicle includes a hydraulic pressure regulator hydraulically connected to the actuator. The hydraulic pressure regulator is coupled to the controller and is used to regulate the hydraulic pressure of hydraulic fluid entering the actuator. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to activate the hydraulic pressure regulator to limit the hydraulic pressure to or below a first hydraulic pressure value.

[0013] In one aspect of the disclosure, the hydraulic pressure regulator includes a pressure control valve located upstream of the actuator. The processor is operable to execute the compatibility control algorithm to adjust the hydraulic pressure of the fluid entering the actuator.

[0014] In one aspect of the disclosure, the hydraulic pressure regulator includes a flow control valve and an accumulator disposed downstream of the flow control valve. The processor is operable to execute the compatibility control algorithm to control the flow control valve to limit the hydraulic pressure of the actuator to a first hydraulic pressure of the accumulator.

[0015] In one aspect of the disclosure, the agricultural harvesting vehicle includes a position sensor used to measure the position of the feederhouse and transmit a signal indicative of the position of the feederhouse. The processor calculates a moment based on the signal from the first sensor and the signal from the position sensor.

[0016] In one aspect of the disclosure, the agricultural harvesting vehicle includes an axle coupled between the main frame and the ground engaging device. The first sensor is coupled to the axle to measure a characteristic of the axle.

[0017] In one aspect of the disclosure, the agricultural harvesting vehicle includes an input device and an operating sensor. The input device is coupled to the controller and is used to transmit a signal indicative of an input to the controller. The operating sensor is used to sense an operating parameter of the agricultural harvesting vehicle and transmit a signal indicative of the operating parameter to the controller. The memory includes an operating condition classification algorithm. The processor is operable to execute the operating condition classification algorithm to classify an operating condition derived from the signal indicative of the input and the signal indicative of the operating parameter, and to execute the compatibility control algorithm to calculate the restricted condition based on the operating condition.

[0018] In one aspect of the disclosure, the operating mode includes at least one of: parallel row harvesting, diagonal row harvesting, brake assisted turning, field transport, field exits, road transport, and crossing field boundaries.

[0019] In one aspect of the disclosure, the agricultural harvesting vehicle includes an image sensor used to capture an image of the ground in front of the agricultural harvesting vehicle and transmit a signal indicative of the image to the controller. The processor is operable to execute the compatibility control algorithm to calculate the restricted condition based on the signal indicative of the image.

[0020] In one aspect of the disclosure, the agricultural harvesting vehicle includes an input device coupled to the controller and used to input a travel path. The memory stores a topographic map covering a field. The processor is operable to execute the compatibility control algorithm to extract data from the topographic map corresponding to the travel path, to obtain the data of a topographic feature along the travel path, and to calculate the constrained condition based on the topographic feature data.

[0021] In one aspect of the disclosure, the topographical feature includes at least one of: the size of bumps, the spacing between bumps, the grade of the roadway, the rate of change of grade, a hardness of the ground, etc.

[0022] In one aspect of the disclosure, the control device is used under the restricted condition to restrict the agricultural harvesting vehicle to travel at or below a predetermined speed and to reduce the height of the header to or below a predetermined height.

[0023] In one aspect of the disclosure, the header is an extendable header, and under the restricted condition, the processor is operable to execute the compatibility control algorithm to reduce a length of the header to a predetermined length of the header.

[0024] According to one disclosure, an agricultural harvesting vehicle includes a main frame, a ground engaging device, a feederhouse, and a header compatibility control system. The main frame has a first end and a second end spaced from the first end along a central longitudinal axis of the main frame. The ground engaging device is coupled to the main frame and is used to move the main frame in a direction of travel during operation. The feederhouse is coupled to the main frame and is used to attach a header. The header compatibility control system includes a first sensor and a controller. The first sensor is used to measure a characteristic of the agricultural harvesting vehicle and generate a signal indicative of that characteristic. The controller includes a processor and a memory storing a compatibility control algorithm.The processor is operable to execute the compatibility control algorithm to: receive the characteristic-indicating signal from the first sensor to determine a load on the agricultural harvesting vehicle; convert the load into a moment; determine, based on the signal, whether the moment is equal to or greater than a first threshold, and the first threshold is stored in the memory; if the moment is determined to be equal to or greater than the first threshold, calculate a constrained condition based on the moment; and in response to the moment being equal to or greater than the first threshold, control the agricultural harvesting vehicle to operate under the constrained condition.

[0025] In one aspect of the disclosure, the processor calculates a moment based on the signal from the first sensor and a position of the feederhouse.

[0026] In one aspect of the disclosure, the processor is operable to execute the compatibility control algorithm to: determine, based on the signal, whether the torque is equal to or less than a second threshold stored in memory; and in response to the torque being equal to or less than the second threshold, control the agricultural harvesting vehicle to operate under the restricted condition.

[0027] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to limit travel of the agricultural harvesting vehicle to a predetermined speed or below.

[0028] In one aspect of the disclosure, the processor is operable to execute the compatibility control algorithm to downshift the transmission gear of the agricultural harvesting vehicle or initiate braking of the ground engaging device to limit travel of the agricultural harvesting vehicle to the predetermined speed or below.

[0029] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to reduce the power of an engine of the agricultural harvesting vehicle to limit travel of the agricultural harvesting vehicle to the predetermined speed or below.

[0030] In one aspect of the disclosure, the agricultural harvesting vehicle includes an actuator coupled between the feederhouse and the main frame, and the feederhouse is pivotally coupled to the main frame about a pivot axis, and the actuator is used to raise and lower the feederhouse.

[0031] In one aspect of the disclosure, the processor is used to calculate a load on the harvesting header based on the signal from the first sensor.

[0032] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to extend or retract the actuator to lower a height of the header to or below a predetermined height.

[0033] In one aspect of the disclosure, the load on the harvesting header results from the weight of the harvesting header and a reaction of the crop material engaging the harvesting header.

[0034] In one aspect of the disclosure, the agricultural harvesting vehicle includes a hydraulic pressure regulator hydraulically connected to the actuator. The hydraulic pressure regulator is coupled to the controller and is used to regulate the hydraulic pressure of hydraulic fluid entering the actuator. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to activate the hydraulic pressure regulator to limit the hydraulic pressure to or below a first hydraulic pressure value.

[0035] In one aspect of the disclosure, the hydraulic pressure regulator includes a pressure control valve located upstream of the actuator. The processor is operable to execute the compatibility control algorithm to adjust the hydraulic pressure of the fluid entering the actuator.

[0036] In one aspect of the disclosure, the hydraulic pressure regulator includes a flow control valve and an accumulator disposed downstream of the flow control valve. The processor is operable to execute the compatibility control algorithm to control the flow control valve to limit the hydraulic pressure of the actuator to a first hydraulic pressure of the accumulator.

[0037] In one aspect of the disclosure, the agricultural harvesting vehicle includes a position sensor used to measure a position of the feederhouse and transmit a signal indicative of the position of the feederhouse. The processor calculates the torque based on the signal from the first sensor and the signal from the position sensor.

[0038] In one aspect of the disclosure, the agricultural harvesting vehicle includes an axle coupled between the main frame and the ground engaging device. The first sensor is coupled to the axle to measure a characteristic of the axle.

[0039] In one aspect of the disclosure, the agricultural harvesting vehicle includes an input device and an operating sensor. The input device is coupled to the controller and is used to transmit a signal indicative of an input to the controller. The operating sensor is used to sense an operating parameter of the agricultural harvesting vehicle and transmit a signal indicative of the operating parameter to the controller. The memory includes an operating condition classification algorithm. The processor is operable to execute the operating condition classification algorithm to classify an operating condition derived from the signal indicative of the input and the signal indicative of the operating parameter, and to execute the compatibility control algorithm to calculate the restricted condition based on the operating condition.

[0040] In one aspect of the disclosure, the operating mode includes at least one of: parallel row harvesting, diagonal row harvesting, brake assisted turning, field transport, field exits, road transport, and crossing field boundaries.

[0041] In one aspect of the disclosure, the agricultural harvesting vehicle includes an image sensor used to capture an image of the ground in front of the agricultural harvesting vehicle and transmit a signal indicative of the image to the controller. The processor is operable to execute the compatibility control algorithm to calculate the restricted condition based on the signal indicative of the image.

[0042] In one aspect of the disclosure, the agricultural harvesting vehicle includes an input device coupled to the controller and used to input a travel path. The memory stores a topographic map covering a field. The processor is operable to execute the compatibility control algorithm to extract data from the topographic map corresponding to the travel path, to obtain the data of a topographic feature along the travel path, and to calculate the constrained condition based on the topographic feature data.

[0043] In one aspect of the disclosure, the topographical feature includes at least one of: the magnitude of bumps, the spacing between bumps, the grade of the travel path, the rate of change of the grade, and a hardness of the ground.

[0044] In one aspect of the disclosure, the control device is used under the restricted condition to restrict the agricultural harvesting vehicle to travel at or below a predetermined speed and to reduce the height of the header to or below a predetermined height.

[0045] In one aspect of the disclosure, the header is an extendable header, and under the restricted condition, the processor is operable to execute the compatibility control algorithm to reduce a length of the header to a predetermined length of the header.

[0046] According to one disclosure, a method for compatibility control of an agricultural harvesting vehicle comprises: measuring, by a first sensor, a characteristic of the agricultural harvesting vehicle and generating signals indicative of the characteristic; receiving a signal indicative of the characteristic; determining a load of the agricultural harvesting vehicle based on the signal indicative of the characteristic; converting the load to a moment; comparing the moment to a first threshold; in response to the moment being greater than the first threshold, calculating a constrained condition based on the moment; and controlling the harvesting vehicle to operate under the constrained condition.

[0047] According to one disclosure, an agricultural harvesting vehicle system includes an agricultural harvesting vehicle and a harvesting header removably connected to the agricultural harvesting vehicle. The agricultural harvesting vehicle system includes a main frame, a ground engaging device, a feederhouse, and a header compatibility control system. The main frame has a first end and a second end spaced from the first end along a central longitudinal axis of the main frame. The ground engaging device is coupled to the main frame and configured to move the main frame in a direction of travel during operation. The feederhouse is coupled to the main frame and configured for attachment to the harvesting header. The header compatibility control system includes an electronic component and a controller.The electronic component is located on the header and contains the header's configuration data. The control device has a processor and a memory that stores a compatibility control algorithm.The processor is operable to execute the compatibility control algorithm to: receive the signals indicative of the configuration data from the electronic component; determine, based on the signals, whether a value of the configuration data is equal to or greater than a first reference value, the first reference value stored in the memory; if the value of the configuration data is determined to be equal to or greater than the first reference value, calculate a restricted condition based on the value of the configuration data; and in response to the value of the configuration data being equal to or greater than the first reference value, control the agricultural harvesting vehicle to operate under the restricted condition.

[0048] In one aspect of the disclosure, the processor is operable to execute the compatibility control algorithm to: determine, based on the signal, whether the value is equal to or less than a second threshold stored in the memory; and in response to the value of the configuration data being equal to or less than the second threshold, control the agricultural harvesting vehicle to operate under the restricted condition.

[0049] In one aspect of the disclosure, the configuration data includes one of weight, size, and moment of inertia.

[0050] In one aspect of the disclosure, the configuration data is the weight of the harvesting header, and the first reference value is a first weight threshold.

[0051] In one aspect of the disclosure, the configuration data is the moment of inertia of the harvesting header, and the first reference value is a first moment of inertia threshold.

[0052] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to limit travel of the agricultural harvesting vehicle to a predetermined speed or below.

[0053] In one aspect of the disclosure, the agricultural harvesting vehicle system includes an actuator coupled between the feederhouse and the main frame. The feederhouse is pivotally coupled to the main frame about a pivot axis, and the actuator is configured to raise and lower the feederhouse. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to extend or retract the actuator to lower the height of the header to or below a predetermined height.

[0054] In one aspect of the disclosure, the agricultural harvesting vehicle system includes a hydraulic circuit with an actuator, an accumulator, and a pressure control valve disposed upstream of the actuator and the accumulator. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to decrease the hydraulic pressure of the actuator and the accumulator and increase the suspension.

[0055] In one aspect of the disclosure, the actuator is coupled between the feederhouse and the main frame. The feederhouse is pivotally coupled to the main frame. The actuator is configured to raise and lower the feederhouse.

[0056] In one aspect of the disclosure, the harvesting header includes an implement frame and a center frame pivotable relative to the implement frame. The actuator is coupled between the center frame and the implement frame and is configured to provide the suspension between the center frame and the implement frame.

[0057] In one aspect of the disclosure, the harvesting header includes a center frame and a wing frame pivotable relative to the center frame. The actuator is coupled between the center frame and the wing frame and is configured to provide the suspension between the center frame and the wing frame.

[0058] In one aspect of the disclosure, the harvesting header is pivotable relative to the feederhouse. The actuator is a tilt actuator coupled between the harvesting header and the feederhouse and configured to provide suspension between the harvesting header and the feederhouse.

[0059] According to one disclosure, an agricultural harvesting vehicle system includes an agricultural harvesting vehicle and a harvesting header removably connected to the agricultural harvesting vehicle. The agricultural harvesting vehicle system includes a main frame, a ground engaging device, a feederhouse, a tilt actuator, and a header compatibility control system. The main frame has a first end and a second end spaced from the first end along a central longitudinal axis of the main frame. The ground engaging device is coupled to the main frame and configured to move the main frame in a direction of travel during operation. The feederhouse is coupled to the main frame and configured for attachment to the harvesting header.The tilt actuator is coupled between the feederhouse and the header and is configured to tilt the header relative to the feederhouse with a twisting load and angular acceleration. The header compatibility control system includes a sensor and a controller. The sensor is configured to measure a characteristic of the tilt actuator and generate a signal indicative of this characteristic. The controller has a processor and a memory storing a compatibility control algorithm.The processor is operable to execute the compatibility control algorithm to: actuate the tilt actuator to generate the twist load; receive the characteristic-indicating signals from the sensor to calculate the twist load; calculate a moment of inertia of the header based on the twist load and the angular acceleration; determine, based on the signal, whether the moment of inertia is equal to or greater than a first threshold, the first threshold stored in memory; if the moment of inertia is determined to be equal to or greater than the first threshold, calculate a constrained condition based on the moment of inertia; and in response to the moment of inertia being equal to or greater than the first threshold, control the agricultural harvesting vehicle to operate under the constrained condition.

[0060] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to limit travel of the agricultural harvesting vehicle to a predetermined speed or below.

[0061] In one aspect of the disclosure, the agricultural harvesting vehicle system includes an actuator coupled between the feederhouse and the main frame. The feederhouse is pivotally coupled to the main frame about a pivot axis, and the actuator is configured to raise and lower the feederhouse. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to extend or retract the actuator to lower the height of the header to or below a predetermined height.

[0062] In one aspect of the disclosure, the agricultural harvesting vehicle system includes a hydraulic circuit with an actuator, an accumulator, and a pressure control valve disposed upstream of the actuator and the accumulator. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to decrease the hydraulic pressure of the actuator and the accumulator and increase the suspension.

[0063] In one aspect of the disclosure, the actuator is coupled between the feederhouse and the main frame. The feederhouse is pivotally coupled to the main frame. The actuator is configured to raise and lower the feederhouse.

[0064] In one aspect of the disclosure, the harvesting header includes an implement frame and a center frame pivotable relative to the implement frame. The actuator is coupled between the center frame and the implement frame and is configured to provide the suspension between the center frame and the implement frame.

[0065] In one aspect of the disclosure, the harvesting header includes a center frame and a wing frame pivotable relative to the center frame. The actuator is coupled between the center frame and the wing frame and is configured to provide the suspension between the center frame and the wing frame.

[0066] In one aspect of the disclosure, the harvesting header is pivotable relative to the feederhouse. The actuator is a tilt actuator coupled between the harvesting header and the feederhouse and configured to provide suspension between the harvesting header and the feederhouse.

[0067] According to one disclosure, an agricultural harvesting system includes an agricultural harvesting vehicle and a harvesting header removably connected to the agricultural harvesting vehicle. The agricultural harvesting system includes a main frame, a ground engaging device, a feederhouse, a tilt actuator, and a header compatibility control system. The main frame has a first end and a second end spaced from the first end along a central longitudinal axis of the main frame. The ground engaging device is coupled to the main frame and configured to move the main frame in a direction of travel during operation. A feederhouse is coupled to the main frame and configured for attachment to the header, which is pivotable relative to the feederhouse about a pin.The tilt actuator is coupled between the feederhouse and the header and is configured to receive a torsional load from the header during operation. The header compatibility control system includes a sensor and a controller. The sensor is configured to measure a characteristic of the tilt actuator or the pin and generate a signal indicative of this characteristic. The controller has a processor and a memory storing a compatibility control algorithm.The processor is operable to execute the compatibility control algorithm to: receive the characteristic-indicating signals from the sensor; calculate the twist load based on the signal; determine whether the twist load is equal to or greater than a first threshold, the first threshold stored in the memory; if it is determined that the twist load is equal to or greater than the first threshold, calculate a restricted condition based on the twist load; and in response to the twist load being equal to or greater than the first threshold, control the agricultural harvesting vehicle to operate under the restricted condition.

[0068] In one aspect of the disclosure, the processor is operable under the limited condition to execute the compatibility control algorithm to limit travel of the agricultural harvesting vehicle to a predetermined speed or below.

[0069] In one aspect of the disclosure, the agricultural harvesting vehicle system includes an actuator coupled between the feederhouse and the main frame. The feederhouse is pivotally coupled to the main frame about a pivot axis, and the actuator is configured to raise and lower the feederhouse. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to extend or retract the actuator to lower the height of the header to or below a predetermined height.

[0070] In one aspect of the disclosure, the agricultural harvesting vehicle system includes a hydraulic circuit with an actuator, an accumulator, and a pressure control valve disposed upstream of the actuator and the accumulator. Under the restricted condition, the processor is operable to execute the compatibility control algorithm to decrease the hydraulic pressure of the actuator and the accumulator and increase the suspension.

[0071] In one aspect of the disclosure, the actuator is coupled between the feederhouse and the main frame. The feederhouse is pivotally coupled to the main frame. The actuator is configured to raise and lower the feederhouse.

[0072] In one aspect of the disclosure, the harvesting header includes an implement frame and a center frame pivotable relative to the implement frame. The actuator is coupled between the center frame and the implement frame and is configured to provide the suspension between the center frame and the implement frame.

[0073] In one aspect of the disclosure, the harvesting header includes a center frame and a wing frame pivotable relative to the center frame. The actuator is coupled between the center frame and the wing frame and is configured to provide the suspension between the center frame and the wing frame.

[0074] In one aspect of the disclosure, the harvesting header is pivotable relative to the feederhouse. The actuator is a tilt actuator coupled between the harvesting header and the feederhouse and configured to provide suspension between the harvesting header and the feederhouse.

[0075] Further features and aspects will become apparent upon consideration of the detailed description, the claims and the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] The detailed description of the drawings refers to the attached figures. Fig. 1A is a side elevation of an agricultural harvesting vehicle. Fig. 1B is a side view of an extendable harvesting header of the agricultural harvesting vehicle in a rearward position. Fig. 1C is a side view of an extendable harvesting header of the agricultural harvesting vehicle in a forward position. Fig. Figure 1D is a schematic side view of an implement frame and a center frame of the combine harvester header. Fig. Figure 1E is a schematic rear view of a header with a center frame and two wing frames. Fig. Figure 1F is a schematic front view of a harvesting header tilted about an axis. Fig. 1G is a schematic rear view of the harvesting header of Fig. 1E, which is coupled with two tilt actuators. Fig. Figure 2 is a block diagram showing the agricultural harvesting vehicle with a drive system that determines the traveling speed of the agricultural harvesting vehicle, the movement of an actuator, and the hydraulic pressure of the actuator. Fig. 3 is a block diagram showing the multiple inputs to the processor for calculating a constrained condition embodied by multiple outputs for multiple components in the agricultural harvesting vehicle. Fig. 4 is a flow diagram illustrating a method corresponding to a first implementation of a processor executing a compatibility control algorithm. Fig. 5 is a flow diagram illustrating a method corresponding to a second implementation of the processor executing a compatibility control algorithm. Fig. 6 is a flow diagram illustrating a method corresponding to a third implementation of the processor executing a compatibility control algorithm. Fig. 7 is a flow diagram illustrating a method corresponding to a fourth implementation of the processor executing a compatibility control algorithm. Fig. 8 is a flowchart illustrating a method corresponding to a fifth implementation of the processor executing a compatibility control algorithm. Fig. 9 is a flowchart illustrating a method corresponding to a sixth implementation of the processor executing a compatibility control algorithm. Fig. 10 is a flowchart illustrating a method corresponding to a seventh implementation of the processor executing a compatibility control algorithm. Fig. 11 is a flowchart illustrating a method corresponding to an eighth implementation of the processor executing a compatibility control algorithm.

[0077] Like reference numerals are used throughout the several figures to indicate like elements. DETAILED DESCRIPTION

[0078] The present disclosure includes an agricultural harvesting vehicle (e.g., a combine harvester) operable to connect to a front-end device (i.e., a harvesting header) and determine whether the harvesting header is compatible when the agricultural harvesting vehicle is operated under a restricted condition calculated by a controller of the agricultural harvesting vehicle. Harvesting header compatibility is the configuration of the harvesting header (e.g., weight, size, moment of inertia, and the components of the harvesting header that cut or transport the crop) that properly connects to or engages the body of the agricultural harvesting vehicle during operation of the agricultural harvesting vehicle and does not substantially reduce the fatigue life of the agricultural harvesting vehicle.During operation of the agricultural harvesting vehicle, load or moment peaks may occur from the harvesting header to the agricultural harvesting vehicle, and the high frequency of high loads (high moments) during a given work cycle can significantly reduce the fatigue life of components of the agricultural harvesting vehicle if the harvesting header is incompatible with the agricultural harvesting vehicle. The present disclosure includes an agricultural harvesting vehicle that can achieve a balance between productivity (using a wide, heavy harvesting header) and the service life of the components of the agricultural harvesting vehicle when the agricultural harvesting vehicle is operated under a constrained condition calculated by a control device.The present disclosure also describes a method for controlling the performance of an agricultural harvesting vehicle, which can achieve a balance between productivity (wide, heavy header) and the service life of the components of the agricultural harvesting vehicle when the agricultural harvesting vehicle is operated under a limited condition. It should be noted that the fatigue life of the agricultural harvesting vehicle may refer to a feederhouse, a pivot unit where the feederhouse is coupled to a main frame of the agricultural harvesting vehicle, the main frame, an axle, or other components of the agricultural harvesting vehicle.

[0079] As in Fig. As shown in Figure 1A, an agricultural harvesting vehicle 20 is configured to move forward across a field to harvest crops in the field. The agricultural harvesting vehicle 20 processes the crop, separates the grains from crop residues (e.g., straw, stalks, cobs, leaves, chaff), stores the separated grains, and applies the crop residues back to the field.

[0080] In general, the agricultural harvesting vehicle 20 may include a main frame 22, an operator's station 24, a ground engaging device 26, a feederhouse 28, a header 30, and an actuator 32. The main frame 22 has a first end 222 and a second end 224 spaced from the first end 222 along a central longitudinal axis L of the main frame 22. The operator's station 24 (cab) is attached to the main frame 22 and allows the user / operator to control the agricultural harvesting vehicle 20. In another embodiment, where the agricultural harvesting vehicle 20 is an autonomous agricultural harvesting vehicle or is remotely controlled by a workstation, the operator's station 24 may be omitted. The ground engagement device 26 is coupled to the main frame 22 and is configured to support the main frame 22 relative to the ground and to move the main frame 22 in a direction of travel V during operation.The agricultural harvesting vehicle 20 may be driven hydraulically, electrically, or both in the direction of travel V, and the speed of the agricultural harvesting vehicle 20 may be adjusted under the limited condition described later. The ground engaging device 26 may consist of wheels, tracks, or a combination thereof. A brake 264 (as shown in FIG. 1) may be provided on the ground engaging device 26. Fig. 3) to reduce the speed of the agricultural harvesting vehicle 20.

[0081] The harvesting header 30 is designed to cut, collect, and transport the crop rearward to the elevator 28. The harvesting header 30 includes, among other things, a belt cutting unit, a corn header, and a belt pickup. The belt pickup uses rubber belts to collect the cut crop. Optionally, the harvesting header 30 can also include an extendable harvesting header (e.g., an extendable auger harvesting header) or a non-extendable harvesting header, as required. When the extendable auger harvesting header is used, it can extend forward to a forward position ( Fig. 1C) or retract in reverse to a rear position ( Fig. 1B). A table length control actuator (not shown, may be a hydraulic cylinder) is disposed in the header 30 and is configured to control the length of the extendable header.

[0082] As in Fig. As shown in Figure 1A, the feederhouse 28 is pivotally coupled to the main frame 22 on a pivot unit 34 and is designed for attachment to the harvesting header 30. The actuator 32 is designed to pivot the feederhouse 28 on the pivot unit 34 about a pivot axis 36 to raise or lower the harvesting header 30 to a suitable height for harvesting or transport. The feederhouse 28 conveys the crop received from the harvesting header 30 into the body of the agricultural harvesting vehicle 20 for further processing, e.g., threshing and separation.

[0083] The harvesting header 30 can be directly coupled to the feederhouse 28. In another implementation, as in Fig. 1D, however, the front end of the feederhouse 28 is coupled to an attachment frame 29 of the harvesting header 30, and a center frame 302 of the harvesting header 30 is pivotable relative to the attachment frame 29 about an axis 292. An actuator 321, coupled between the attachment frame 29 and the center frame 302 and disposed downstream of an accumulator 5258, is configured to provide the suspension between the center frame 302 and the attachment frame 29 of the harvesting header 30. Optionally, the actuator 321 is configured to pivot the center frame 302 relative to the attachment frame 29 about the axis 292. The number of actuators 321 may be two or more.

[0084] In a different implementation, as in Fig. 1E, the header 30 may be a folding header and include the center frame 302 and the wing frames 304, 306. An actuator 322 is configured to provide suspension between the center frame 302 and the wing frame 304. Optionally, the actuator 322 is configured to pivot the wing frame 304 relative to the center frame 302 about an axis 3022. An actuator 324 is configured to provide suspension between the center frame 302 and the wing frame 306. Optionally, the actuator 324 is configured to pivot the wing frame 306 relative to the center frame 302 about an axis 3024.

[0085] As in the Fig. 1F and Fig. 1G, a tilt frame 282 is pivotally coupled to the feederhouse 28 about an axis 284 with a pivot unit (pin) in the YZ plane. The tilt frame 292, on the other side, is coupled to the harvesting header 30. The harvesting header 30 may also include a left wheel 36L and a right wheel 36R. The agricultural harvesting vehicle 20 may include a tilt actuator 326 and a tilt actuator 328 disposed on opposite sides of the feederhouse 28. An angle θ exists between the tilt actuator 326 and a vertical line. Similarly, an angle θ exists between the tilt actuator 328 and a vertical line.The cap ends of the tilt actuators 326, 328 may be coupled to the feederhouse 28 or another part of the body of the agricultural harvesting vehicle 20, and the rod ends of the tilt actuators 326, 328 may be coupled to the tilt frame 282 and pivot the tilt frame 282 relative to the feederhouse 28 or the body of the agricultural harvesting vehicle 20. It should be noted that the number of tilt actuators 326, 328 may be varied. Fig. 1G is used for illustration purposes only; in another implementation, the agricultural harvesting vehicle 20 may have a single or more than two tilt actuators for pivoting the header 30. A twisting load may arise in a variety of ways. In one example, while the agricultural harvesting vehicle 20 is traveling, a rock or other object may lift one of the wheels (e.g., the right wheel 36R) and create a twisting load that rotates the header 30 relative to the body of the agricultural harvesting vehicle 20. In this example, if the twisting load created by the rock or other object exceeds a reasonable value, the twisting load may affect the fatigue life of the feedhouse 28 or another component of the agricultural harvesting vehicle 20.In another example, extending and retracting the tilt actuators 326, 328 rotates the harvesting header 30 relative to the body of the agricultural harvesting vehicle 20, e.g., for alignment or inspection purposes. As shown in FIG. Fig. 1G, when the tilt actuator 328 is retracted and when the tilt actuator 328 is extended, a torsional load T h generated counterclockwise.

[0086] As in Fig. 1A, the agricultural harvesting vehicle 20 may also include a threshing and separating section 40, a cleaning section 41, a clean grain elevator 42, a grain tank 43, an unloader 44, a discharge drum 45, a chopper 46, and a spreader 47. The threshing and separating section 40 threshes the crop and further separates the grain from crop residue. The cleaning section 41 may include chopper and screens to separate grain from chaff (corn husks or other seeds) or other small pieces of crop material. The clean grain elevator 42 conveys clean grain into the grain tank 43. The rotary unloader 44 may discharge clean grain from the grain tank 43 into a grain cart, grain truck, or other location. The unloading drum 45 beats crop residues that are taken over from the threshing and separating section 40 and do not reach the cleaning section 41 (e.g. straw, stalks, cobs, leaves).The chopper 46 chops the crop residues from the threshing and separating section 40 via the unloading drum 45 to the chopper 46. The spreader 47 is located behind the chopper 46 and can return the chopped residues from the chopper 46 to the field.

[0087] Referring to Fig. 2, the agricultural harvesting vehicle 20 includes a drive system 50 that determines the ground speed of the agricultural harvesting vehicle 20, the movement of the actuator 32 (i.e., the height of the harvesting header 30 coupled to the agricultural harvesting vehicle and moved by the actuator 32), and the hydraulic pressure of the actuator 32. The energy system 50 includes a power source 51 and a pump 52 physically coupled to the power source 51. In one example, the power source 51 may be a motor that drives the pump 52. In another example, the power source 51 may include a battery, an inverter, and an electric motor (not shown) that drives the pump 52. The power source 51 may also be constructed differently than in the example described above. Several components, such as belts and pulleys, are included in Fig. 2 not shown. The pump 52 pumps hydraulic fluid from a hydraulic tank 521 to one or more motors 53 to drive the ground engaging device 26. The power source 51 can be adjusted to change the speed or pressure of the pump 52 to change the speed of the ground engaging device 26. The motor(s) 53 is (are) a hydraulic motor that returns the hydraulic fluid to the hydraulic tank 521. Between the pump 52 and the motor(s) 53 is a flow control valve 522 that controls the hydraulic fluid entering the motor(s) 53 to change the speed of the motor(s) and thus change the speed of the ground engaging device 26. A transmission 54 may be provided which is coupled via an axle 262 between the motor(s) 53 and the ground engagement device 26.The transmission(s) 54 may include multiple gears to change the speed of the ground engaging device 26 across multiple ranges. The number of motors may be one, two, or more. In one implementation where the number of motors 53 is one, motor 53 drives the front wheels (or front tracks). In another implementation where there are two motors, one motor may drive the front wheels (or front tracks) and the other motor may drive the rear wheels (or rear tracks). The two motors may be arranged in parallel in the hydraulic circuit. A switching mechanism 532 may switch operation between the single-motor mode (i.e., two-wheel drive) and the dual-motor mode (i.e., four-wheel drive). The switching mechanism 532 may allow hydraulic fluid to selectively enter one or two of the motors to switch the mode between the single-motor mode and the dual-motor mode.The switching mechanism 532 may be a flow control valve located upstream of one of the motors 53 to activate or idle that motor. In single-motor mode, with the switching mechanism off, hydraulic fluid is directed to only one of the motors. In dual-motor operation, with the switching mechanism 532 on, the hydraulic fluid originally directed to one motor is split and directed to two motors simultaneously. The power of the originally running motor is reduced, and the speed of the ground engaging device 26 is reduced. The brake 264 may be installed on the ground engaging device 26 to change the speed of the ground engaging device 26.

[0088] As previously mentioned, there are numerous ways to change the speed of the ground engaging device 26, which corresponds to the speed of the agricultural harvesting vehicle 20. These include, among other things, adjusting the power of the power source 51 driving the pump, regulating the hydraulic fluid and its pressure between the pump 52 and the motor(s) 53, distributing the hydraulic fluid between two or more motors 53 if multiple motors 53 are present, switching gear ranges in the transmission(s) 54, and activating the brake 264 attached to the ground engaging device 26. The criteria for changing the speed of the agricultural harvesting vehicle 20 and the extent of the change will be described later.

[0089] The pump 52 can also pump hydraulic fluid into the actuator 32 to raise or lower the harvesting header 30. At least one hydraulic pressure regulator 523 is hydraulically coupled to the actuator 32 and configured to regulate the hydraulic pressure of hydraulic fluid entering the actuator 32. The hydraulic pressure regulator 523 can include, for example, a pressure control valve 5232 disposed upstream of the actuator 32 to adjust the hydraulic pressure of the hydraulic fluid entering the actuator 32 and an accumulator 5238. A directional control valve 5234 is disposed upstream of the actuator 32 to determine the direction of the hydraulic fluid to allow the actuator 32 to be extended or retracted.In another implementation, the pressure regulator valve 5232 and the directional control valve 5234 may be replaced with a proportional valve (not shown) that controls the direction and hydraulic pressure of the hydraulic fluid entering the actuator 32. Additionally or alternatively, the hydraulic pressure regulator 523 may include a flow control valve 5236 and the accumulator 5238 located upstream of the actuator 32. The accumulator 5238 is located downstream of the flow control valve 5236. The flow control valve 5236 may be an on-off valve configured to allow hydraulic fluid to enter the accumulator 5238. When the flow control valve 5236 is on, the hydraulic pressure of the actuator 32 and the hydraulic pressure of the accumulator 5238 are substantially equal. The accumulator 5238 provides suspension for the actuator 32.The pressure control valve 5232 may be a proportional solenoid valve controlled by the control shown in . Fig. 3. The pressure control valve 5232 can reduce the hydraulic fluid flowing into the accumulator 5238 and the actuator 32 to increase the suspension (the pressure in the accumulator 5238 decreases). The pressure control valve 5232 or other means (controlled by the control device 70 shown in Fig. 3) may increase the hydraulic fluid flowing into the accumulator 5238 and the actuator 32 to reduce suspension (the pressure in the accumulator 5238 decreases). A limited condition may involve increasing suspension so that an impact or load can be absorbed while still making the header 30 compatible with the body of the agricultural harvesting vehicle 20, which will be discussed later in this disclosure.

[0090] The hydraulic circuit with the hydraulic pressure regulator 523 can be used in hydraulic circuits with actuators and pressure accumulators for suspension. As in Fig. 1D, for example, a hydraulic pressure regulator 525 coupled to the power source 51 or the pump 52 may include a pressure control valve 5252 and the accumulator 5258 arranged upstream of the actuator 321. The pressure control valve 5252 or other means (controlled by the Fig. 3) can reduce the hydraulic fluid flowing into the accumulator 5258 and the actuator 321 to reduce the suspension (the pressure in the accumulator 5258 decreases). Conversely, the pressure control valve 5252 or another means (controlled by the Fig. 3) can increase the hydraulic fluid flowing into the accumulator 5258 and the actuator 321 to reduce the suspension (the pressure in the accumulator 5258 increases). As shown in Fig. 1E, in another example, a hydraulic pressure regulator 524 coupled to the power source 51 or the pump 52 may include a pressure regulating valve 5242 and the accumulator 5248 disposed upstream of the actuator 322. The pressure regulating valve 5242 or other means (controlled by the Fig. 3) can reduce the hydraulic fluid flowing into the accumulator 5248 and the actuator 322 to reduce the suspension (the pressure in the accumulator 5248 decreases). Conversely, the pressure control valve 5242 or another means (controlled by the Fig. 3) may increase the hydraulic fluid flowing into the accumulator 5248 and the actuator 322 to reduce the suspension (the pressure in the accumulator 5248 increases). Similarly, a hydraulic pressure regulator 526 coupled to the power source 51 or the pump 52 may include a pressure regulating valve 5262 and a pressure accumulator 5268 arranged upstream of the actuator 324. The pressure regulating valve 5262 or other means (controlled by the Fig. 3) can reduce the hydraulic fluid flowing into the accumulator 5268 and the actuator 324 to reduce the suspension (the pressure in the accumulator 5268 decreases). Conversely, the pressure control valve 5262 or another means (controlled by the Fig. 3) can increase the hydraulic fluid flowing into the accumulator 5268 and the actuator 324 to reduce the suspension (the pressure in the accumulator 5268 increases). As shown in Fig. 1G, in another example, a hydraulic pressure regulator 527 coupled to the power source 51 or the pump 52 may include a pressure regulating valve 5272 and the accumulator 5278 located upstream of the tilt actuator 326. The pressure regulating valve 5272 or other means (controlled by the Fig. 3) can reduce the hydraulic fluid flowing into the accumulator 5278 and the tilt actuator 326 to increase the suspension (the pressure in the accumulator 5248 decreases). Conversely, the pressure control valve 5272 or another means (controlled by the Fig. 3) may increase the hydraulic fluid flowing into the accumulator 5278 and the tilt actuator 326 to reduce the suspension (the pressure in the accumulator 5278 increases). Similarly, a hydraulic pressure regulator 528 coupled to the power source 51 or the pump 52 may include a pressure regulating valve 5282 and a pressure accumulator 5288 arranged upstream of the tilt actuator 328. The pressure regulating valve 5282 or other means (controlled by the Fig. 3) can reduce the hydraulic fluid flowing into the accumulator 5288 and the tilt actuator 328 to increase the suspension (the pressure in the accumulator 5288 decreases). Conversely, the pressure control valve 5282 or another means (controlled by the Fig. 3) may increase the hydraulic fluid flowing into the accumulator 5288 and the tilt actuator 328 to reduce the suspension (the pressure in the accumulator 5288 increases).

[0091] Referring to Fig. 3, the agricultural harvesting vehicle 20 may include a header compatibility control system 60 for determining whether the header 30 is compatible with the body of the agricultural harvesting vehicle 20, whether the agricultural harvesting vehicle 20 must be operated (or is recommended) under the restricted condition to reduce the occurrence of stress values ​​on the agricultural harvesting vehicle 20, and what measures should be taken under the restricted condition if the header 30 is compatible. The header compatibility control system 60 may include a plurality of sensors 61-67, 611-616 for detecting, for example, characteristics of certain components or the operation of the agricultural harvesting vehicle 20, the environment of the agricultural harvesting vehicle 20, and / or the identification of the header 30.The header compatibility control system 60 may include an electronic component 68 positioned on the header 30 and configured to provide identification data and / or configuration data of the header 30. The electronic component 68 is, for example, a control device with its own memory. The header compatibility control system 60 may also include an input device 69 located in the operator station 24 (Fig. Fig. 1A) or remote from the operator station 24. The input device 69 may be, but is not limited to, a touchscreen or a handheld device. The header compatibility control system 60 may include a controller 70 having a processor 72 and a memory 74. The sensor 61 is configured to measure a characteristic of the agricultural harvesting vehicle 20 and generate one or more signals indicative of the characteristic to allow the processor 72 to calculate the load using a lookup table or a conversion algorithm stored in the memory 74. For example, the sensor 61 ( Fig. 2) is used for load detection and is located on or near the actuator 32. The sensor 61 is a transducer designed to measure the hydraulic pressure of the actuator 32 (lift cylinder) so that the processor 72 can calculate the load of the harvesting header 30 exerted on the body of the agricultural harvesting vehicle 20. The sensor 61 can measure the static lift pressure for lifting the harvesting header 30 when the harvesting header 30 is only coupled to the feederhouse 28 of the agricultural harvesting vehicle 20. The sensor 61 can also measure the dynamic lift pressure when the agricultural harvesting vehicle 20 is traveling in the field with the harvesting header 30. The dynamic lift pressure can change due to the speed of the harvesting vehicle 20, the uneven terrain of the field, the reaction of the crop during harvesting, etc.The load on the harvesting header 30 results from the weight of the harvesting header 30 and a reaction of the crop material engaging the harvesting header 30, the dynamic energy of the agricultural harvesting vehicle 20 (the speed of the agricultural harvesting vehicle 20), and the interaction between the agricultural harvesting vehicle 20 and the environment, such as the terrain of the ground. The high peaks or swings of the dynamic lifting pressure may be measured by the sensor 61, and the high peaks or swings of the load may be calculated by the processor 72. Additionally or alternatively, in another example, the sensor 61 may be a strain sensor attached to the feederhouse 28 or a linkage upstream of the feederhouse 28 that measures strain and transmits signals indicative of the strain to the processor 72 to calculate the load on the harvesting header 30.Sensor 61 may also be other types of sensors, including, but not limited to, axial load Poisson bridges and load pins, configured to measure another characteristic of the header 30, the feederhouse 28, or other components of the agricultural harvesting vehicle 20 and generate signals indicative of the characteristic. The controller 70 may calculate the load based on the signals from sensor 61.

[0092] Similarly, sensor 62 is used to measure a characteristic of the agricultural harvesting vehicle 20, but is located at a different location than sensor 61. Sensor 62 is configured to measure a characteristic of the agricultural harvesting vehicle 20 and generate one or more signals indicative of the characteristic to allow processor 72 to calculate the load using a lookup table or conversion algorithm stored in memory 74. Sensor 62 may, for example, be a strain sensor mounted on axle 262, connected between transmission(s) 54 / engine(s) 53 and ground engaging device 26, and measure strain on axle 262. In one implementation, sensor 62 is coupled to a front axle of axle 262 to measure a load on the front axle.The control device 70 can calculate the load from at least the load on the harvesting header 30 and the load on the grain tank 43. It should be noted that the load on the grain tank may vary depending on the accumulation of grain in the grain tank 43.

[0093] The sensor 63 may be a position sensor configured to measure a position of the feederhouse 28 (or the harvesting header 30) and transmit signals indicative of the position of the feederhouse 28 (or the harvesting header 30) to the controller 70. In one example, the sensor 63 may be an angular position sensor, such as a rotary encoder. B. a potentiometer, positioned on the pivot unit 34 and measuring the angle of the pivot unit 34, and the processor 72, after receiving the signals from the sensor 63, calculates the position of the inclined conveyor 28. In another example, the sensor 63 may be a displacement sensor positioned on the actuator 32 and configured to measure the displacement (e.g., extension or retraction) of the actuator 32, and the processor 72, after receiving the signals from the sensor 63, calculates the position of the inclined conveyor 28.The type and location of sensor 63 described here are merely examples. In other implementations, a different type and location of sensor 63 may be used to calculate the position of feederhouse 28. The memory 74 of the controller 70 may contain pre-stored configuration data related to the combination of the header 30 and the feederhouse 28. For example, the position of the center of mass of the header 30 may be stored in the memory 74. The processor 72 may calculate the moment arm based on the position of the feederhouse 28 and the pre-stored configuration data (e.g., the location of the center of mass CM of the header 30, the angular position of the feederhouse 28, the width and weight of the header 30, the distance between the header of the header 30 and the pivot unit 34 (pivot axis 36), the length of the feederhouse 28, etc.).For example only, the moment arm can be a distance between the center of mass CM and the rotation axis 36 that is a multiple of the cosine angle between the feederhouse 28 and a horizontal plane. The load on the harvesting header 30 and the position of the feederhouse 28 (or the harvesting header 30) are stored in memory 74. The processor 72 can also calculate the moment based on the signals from the sensors 61, 63 and the pre-stored configuration data.

[0094] The sensors 64, 65 described here are examples of operational sensors designed to detect the operating parameters of the agricultural harvesting vehicle 20 and transmit signals indicative of the operating parameters to the controller 70. It should be noted that the sensors 61-63 can be counted as operational sensors. The controller 70 can classify the condition of the agricultural harvesting vehicle 20, which will be discussed later. The operating state of the agricultural harvesting vehicle 20 can include, but is not limited to, traveling parallel to the rows or diagonally to the rows, brake-assisted turning, field transport, leaving the field, crossing the field width, and road transport. The rows here can refer to the rows of crop. During some operations, the harvesting vehicle 20 travels on uneven ground in the field.For example, when the agricultural harvesting vehicle crosses a boundary (a dam) in the field, the boundary area (e.g. the dam) is uneven ground, which leads to a higher load on the agricultural harvesting vehicle from the harvesting header.

[0095] Sensor 64 may be a speed sensor configured to measure the speed of agricultural harvesting vehicle 20. Sensor 65 may be a vibration sensor or an accelerometer that detects the vibration or acceleration of agricultural harvesting vehicle 20. Sensor 66 may be an image sensor, i.e., a camera, configured to capture images of the ground in front of agricultural harvesting vehicle 20 and transmit signals indicative of the images of the ground to controller 70. Sensor 67 may be a scanner, a reader (e.g., an RFID chip reader), or another type of sensor. When harvesting header 30 is hooked onto the body of agricultural harvesting vehicle 20, sensor 67 may read or retrieve identification data from harvesting header 30 and transmit a signal indicative of the identity of harvesting header 30.After the type of harvesting header 30 has been identified, controller 70 may retrieve and process the configuration data (e.g., weight, center of mass, machine moment of inertia) of the harvesting header 30 from memory 74 or other sources. Additionally or alternatively, when the harvesting header 30 is hooked to the body of the agricultural harvesting vehicle 20, an electronic component 68 (e.g., header control device, header memory) of the harvesting header 30 may be electronically coupled to controller 70 to upload the identification data and / or configuration data (e.g., weight, center of mass, machine moment of inertia) for processing by controller 70. An input device 69 is coupled to controller 70 and configured to transmit signals indicative of inputs to controller 70.The operator can enter various information, commands, or settings into the user interface of the input device 69. In one example, the operator can command the actuator 32 to raise or lower the harvesting header 30 via the input device 69. In another example, the operator can enter a travel path of the agricultural harvesting vehicle 20 via the input device 69. In another example, the operator can enter the configuration data of the harvesting header 30 or select the model of the harvesting header 30 via the input device 69.

[0096] It should be noted that sensors 61 or 62 may also be sensors 611-616 that measure the load or hydraulic pressure of hydraulic cylinders or other components. Similar to the description of sensor 61, sensor 611 may be a transducer configured to measure hydraulic pressure in actuator 321 ( Fig. 1D) so that the processor 72 can determine an appropriate value for the hydraulic pressure corresponding to the suspension. The sensors 612, 613 may be transducers designed to measure the hydraulic pressures in the actuators 322, 324 ( Fig. 1E) so that the processor 72 can determine appropriate values ​​for the hydraulic pressures. The sensors 614, 615 may be transducers designed to measure the hydraulic pressures in the tilt actuators 326, 328 ( Fig. 1G) so that the processor 72 can calculate the torsion load and determine appropriate values ​​for the hydraulic pressures. The sensors 611-615 may be other types of sensors, such as axial load Poisson bridges, load pins, and load cells, designed to measure another characteristic of the actuators 321, 322, 324, 326, 328. The sensor 616 ( Fig. 1G) may be coupled to the pivot unit (pin) defining axis 284 and configured to measure the torsional load. Sensors 616 may include various types of sensors, including, among others, torsion bridges and load pins.

[0097] If the sensor 65 includes an accelerometer, the sensor 65 may also include a gravity sensor. The accelerometer and the gravity sensor can be used to determine whether the agricultural harvesting vehicle 20 is positioned on the horizontal ground.

[0098] As in Fig. 3, the control device 70 is arranged in communication with the sensors 61-67, 611-616, the electronic component 68, the input device 69 and the outputs, including, among others, the power source 51, the flow control valve 522, the shift mechanism 532, the transmission(s) 54, the brake 264, the directional control valve 5234, the hydraulic pressure regulator 523 (e.g., the pressure control valve 5232 and / or the flow control valve 5236 and the accumulator 5238) and the hydraulic pressure regulator 524, 525, 526, 527, 528. The control device 70 is operable to receive signals from the sensor 61 indicative of the characteristic (e.g. hydraulic pressure, strain) to determine the load on the harvesting header 30, to receive signals from the sensor 611 indicative of the characteristic (e.g. hydraulic pressure, strain) to determine the load or hydraulic pressure of the actuator 321, to receive signals from the sensors 612, 613 indicative of the characteristic (e.g.B, hydraulic pressure, strain) to determine the load or hydraulic pressure of the actuators 322, 324, receive signals from the sensors 614, 615 that indicate the characteristic (e.g. hydraulic pressure, strain) to determine the torsional load or hydraulic pressure of the tilt actuator 326, 328, receive signals from the sensor 616 that indicate the characteristic (e.g. strain) to determine the torsional load on the pivot unit (pin) that defines the axis 284, receive signals from the sensor 62 that indicate the characteristic (e.g.strain) to determine the load on the axle, receive signals from sensor 63 indicating the position of the feederhouse 28, receive signals from sensor 64 indicating the speed of the agricultural harvesting vehicle 20, receive signals from sensor 65 indicating the vibration (or acceleration) of the agricultural harvesting vehicle 20, receive signals from sensor 66 indicating the images of the ground, receive a signal from sensor 67 indicating the identity of the header 30, receive signals from the electronic component 68 indicating the identification data and / or configuration data, receive signals from the input device 69, and transmit communication signals to the output including, among others, the power source 51, the flow control valve 522, the shift mechanism 532, the transmission(s) 54, the brake 264, the directional control valve 5234, and the hydraulic pressure regulator 523-527.Although the control device 70 is generally described herein as a single device, the control device 70 may include multiple devices coupled to one another to exchange and / or transmit information. It is further understood that the control device 70 may be located on the agricultural harvesting vehicle 20 or remote from the agricultural harvesting vehicle 20.

[0099] The control device 70 may alternatively be referred to as a computer, computing device, control unit, control module, module, etc. The control device 70 includes the processor 72, the memory 74, and all software, hardware, algorithms, connections, sensors, etc. necessary to manage and control the operation of the sensors 61-67, 611-616, the electronic component 68, the input device 69, and the outputs, including, among others, the power source 51, the flow control valve 522, the shift mechanism 532, the transmission(s) 54, the brake 264, the directional control valve 5234, and the hydraulic pressure regulators 523-527. Thus, a method may be embodied as a program or algorithm executable on the control device 70.It is understood that the control device 70 may comprise any device operable to analyze data from various sensors, compare data, make decisions, and perform the required tasks.

[0100] As used herein, "controller" 70 is intended to be used as the term would be understood by one of ordinary skill in the art and refers to a computing component having processing, storage, and communication capabilities used to execute instructions (i.e., stored in memory or received via communication capabilities) to control or communicate with one or more other components. In certain embodiments, controller 70 may be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals) and output command or communication signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).

[0101] The controller 70 may communicate with other components of the agricultural harvesting vehicle 20, such as hydraulic components, other electrical components, and operator inputs in an operator's station of an associated work vehicle. The controller 70 may be electrically coupled to these other components via a wiring harness so that messages, commands, and electrical power may be transferred between the controller 70 and the other components. Although the controller 70 is referred to in the singular, in alternative embodiments, the configuration and functionality described herein may be distributed among multiple devices using techniques known to one of ordinary skill in the art.

[0102] The control device 70 may be implemented as one or more digital computers or host machines, each having one or more processors, read-only memory (ROM), random access memory (RAM), electrically programmable read-only memory (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog / digital (A / D) circuitry, digital / analog (D / A) circuitry, and any required input / output (I / O) circuitry, I / O devices and communication interfaces, and signal conditioning and buffer electronics.

[0103] Computer-readable storage may include any non-volatile / tangible medium involved in providing data or computer-readable instructions. The storage may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent storage. Example volatile media may include dynamic random access memory (DRAM), which may constitute main memory. Other examples of storage include floppy disks, flexible disks or hard disks, magnetic tape or other magnetic media, CD-ROMs, DVDs, and / or other optical media, as well as other possible storage devices such as flash memory.

[0104] The controller 70 includes the tangible, non-volatile memory 74 in which computer-executable instructions are recorded, including a compatibility control algorithm 742, an operating condition classification algorithm 744, and another algorithm 746. The processor 72 of the controller 70 is configured to execute the compatibility control algorithm 742. The compatibility control algorithm 742 implements methods for controlling the compatibility of the agricultural harvesting vehicle 20, which are described in more detail below.

[0105] In the first implementation, the processor 72 compares the torque to the torque threshold(s) to begin. The processor 72 is operable to execute the compatibility control algorithm 742 to receive the signals indicative of the characteristic (e.g., the hydraulic pressure of the actuator 32 or the load on the axle 262) from the sensor 61 and / or the sensor 62 to determine the load on the agricultural harvesting vehicle 20. From the signals from the sensor 61, the load on the header 30 is determined, and from the signals from the sensor 62, for example, the load on the axle 262 is determined. The load may be determined by the processor 72 executing the compatibility control algorithm 742 or another algorithm 746 based on the correlation between the measured characteristic and the load. The moment acting on the harvesting header 30 and the moment acting on the axle 262 are converted from the load via the processor 72.As previously mentioned, after receiving the signals from sensor 63, processor 72 calculates the position of feederhouse 28 to obtain the moment arm, which can be used for moment conversion. Processor 72 can calculate the moment based on the signals from sensor 61 and the signals from sensor 63. For the moment acting on axle 262, processor 72 is operable to use a predetermined reference point as a pivot point and convert the load measured indirectly or directly by sensor 62 into the moment acting on axle 262. The more frequently the high moments occur within a given time frame, the shorter the fatigue life of the structural components of agricultural harvesting vehicle 20.

[0106] The processor 72 may determine, based on the signal(s) indicative of the characteristic, whether the moment is equal to or greater than a first (moment) threshold. If the moment is equal to or greater than the first threshold, the constrained condition may be calculated and performed to render the relatively heavy harvesting header 30 compatible. If the moment is less than the first threshold, the constrained condition is not required. Optionally, the processor 72 is operable to execute the compatibility control algorithm 742 to determine, based on the signal, whether the moment is equal to or less than a second (moment) threshold stored in the memory 74. Even if it is determined that the moment is equal to or greater than the first threshold, the constrained condition may not be calculated and performed if the moment is not equal to or less than the second threshold.If the moment is greater than the second threshold, the harvesting header 30 may not be compatible with the body of the agricultural harvesting vehicle 20 even if the restricted condition is performed.

[0107] The processor 72 is operable, when it is determined that the torque is equal to or greater than the first threshold, to calculate the restricted condition based on the torque and to control the agricultural harvesting vehicle 20 to operate under the restricted condition to reduce the occurrence of the stress values ​​in response to the torque being equal to or greater than the first threshold.Under the restricted condition, there are various methods to reduce the occurrence of the load values: The control device 70 can (1) reduce the speed of the agricultural harvesting vehicle 20 to or below a predetermined speed, (2) lower the height of the harvesting header relative to the ground to or below a predetermined height, (3) limit the hydraulic pressure to or below a predetermined first hydraulic pressure value to increase the suspension, and / or (4) retract the harvesting header 30 if the harvesting header 30 is extendable (retractable), etc. These methods (1)-(4) can be used alone or in conjunction with others.As previously mentioned, the components of the agricultural harvesting vehicle 20 may be configured to reduce the speed of the agricultural harvesting vehicle 20, reduce the height of the header, limit the hydraulic pressure of the actuators 32, 321, 322, 324, 326, 328 and the memories 5248, 5258, 5268, etc., and / or change the length of the header if extendable. The processor 72 is operable to calculate the restricted condition based on the torque, with a lookup table stored in the memory 74 containing various values ​​of the torque corresponding to the respective predetermined speeds, the respective predetermined heights, the respective predetermined first hydraulic pressure values ​​(or the corresponding values ​​of the suspension), and / or the respective length of the header 30 (if the header 30 is extendable).

[0108] To reduce the speed of the agricultural harvesting vehicle 20 under the restricted condition, the processor 72 is operable to execute the compatibility control algorithm 742 to downshift the gears of the transmission(s) 54 of the agricultural harvesting vehicle 20 and / or activate the brake 264 of the ground engaging device 26 to reduce the speed of the agricultural harvesting vehicle 20 to or below a predetermined speed. The predetermined speed may be stored in the memory 74 as a value in the lookup table.Additionally or alternatively, under the limited condition, the processor 72 is operable to execute the compatibility control algorithm 742 to reduce the power of the engine(s) 53 of the agricultural harvesting vehicle 20 to reduce the speed of the agricultural harvesting vehicle 20 to or below a predetermined speed. The preset speed (or the power of the engine(s) 53) may also be stored in the memory 74 as a value in the lookup table. For example, the processor 72 is operable to reduce the power of the power source 51 (e.g., the engine or electric motor, not shown). In another example, the processor 72 is operable to adjust the flow control valve 522 to reduce the hydraulic fluid entering the engine(s) 53 to reduce the speed of the engine(s) 53.In another example, processor 72 is operable to control switching mechanism 532 to switch the mode of motors 53, if multiple motors 53 are present, between single-motor mode and dual-motor mode to reduce the speed of the initially running motor 53. The general principles defined herein may be applied to other examples without departing from the scope of the disclosure.

[0109] Regarding lowering the height of the header 30 under the restricted condition, the processor 72 is operable, in one example, to execute the compatibility control algorithm 742 to extend or retract the actuator 32 to lower a height of the header 30 relative to the ground to or below a predetermined height, which may be stored in the memory 74 as a value in the lookup table. In one example, the processor 72 is operable to control the directional control valve 5234 to adjust the displacement of the actuator 32 to change the height of the header 30. As a result, the moment arm of the header 30 becomes shorter as the header 30 moves to a lower position. The general principles defined herein may be applied to other examples without departing from the scope of the disclosure.

[0110] Instead of adjusting the height of the header 30 (height-based control), the processor 72 is operable to execute the compatibility control algorithm 742 to activate the hydraulic pressure regulator 523 to limit the hydraulic pressure to or below a first hydraulic pressure value. For example, the processor 72 is operable to execute the compatibility control algorithm 742 to control the pressure control valve 5232 located upstream of the actuator 32 to adjust the hydraulic pressure of the fluid entering the actuator 32. In another example, the processor 72 is operable to execute the compatibility control algorithm 742 to open the flow control valve 5236 and limit the hydraulic pressure of the actuator 32 to equal a first hydraulic pressure of the accumulator 5238.The flow control valve 5236 is optional, and the processor 72 may be operable to execute the compatibility control algorithm 742 to control the pressure control valve 5232 to adjust the hydraulic pressure of the fluid entering the actuator 32 and the accumulator 5238. Thus, the processor 72 is operable to increase the suspension of the hydraulic circuit when the actuator 32 and the accumulator are under the restricted condition. When the hydraulic pressure is maintained constant under the restricted condition, the pressure-based control limits the load on the harvesting header 30 within a suitable range. The general principles defined herein may be applied to other examples without departing from the scope of the disclosure.

[0111] Similarly, the processor 72 is operable to execute the compatibility control algorithm 742 to control at least one of the pressure control valves 5242 ( Fig. 1E), 5252 ( Fig. 1D), 5262 ( Fig. 1E), 5272 ( Fig. 1G), 5282 ( Fig. 1G) to reduce the hydraulic pressure in at least one of the actuators 32, 321, 322, 324, 326 or 328 and the accumulators 5248, 5258, 5286, etc., to increase the suspension under the restricted condition.

[0112] Regarding the retraction of the header 30 under the restricted condition when the header 30 is the extendable header, the processor 72 is operable to execute the compatibility control algorithm 742 to drive the table length control actuator (not shown) to reduce the length of the header 30 to a predetermined length of the header 30. The predetermined length may be stored in the memory 74 as a value in the lookup table. As shown in Fig. 1B and Fig. As shown in Figure 1C, the center of mass CM can, for example, move from the front position ( Fig. 1B) into the rear position ( Fig. 1C). The moment arm becomes shorter as the center of mass CM shifts backward. The general principles defined here can also be applied to other examples without departing from the scope of the disclosure.

[0113] It should be noted that, in addition to measuring the load or moment, the controller 70 may also receive other inputs to determine or calculate the restricted condition of the agricultural harvesting vehicle 20. For example, the controller 70 receives signals indicative of the input from the input device 69 and signals indicative of the operating parameter(s) generated from the operating sensor(s), such as sensors 63, 64, or other sensors in this disclosure. The processor 72 is operable to execute the operating condition classification algorithm 744 ( Fig. 3) to classify an operating condition derived from the input-indicating signal and the operating parameter-indicating signal, and execute the compatibility control algorithm 742 to calculate the restricted condition based on the operating condition. In one example, if the operator selects to end the harvesting mode and the separating mode via the input device 69, the sensor 63 detects that the position of the header 30 is above a certain elevation, and the sensor 64 detects that the ground speed of the agricultural harvesting vehicle 20 is above a certain value, e.g., 13 km / h, the inputs are calculated by the control device 70. The processor 72 is operable to execute the operating condition classification algorithm 744 to classify the condition as a field transport condition based on the input from the input device 69 and the input from the sensors 63, 64.After the field transport condition has been classified or determined, the processor 72 is operable to execute the compatibility control algorithm 742 to calculate the constrained condition with other inputs such as the load, the moment, the current position of the header 30, the current speed of the harvesting vehicle 20, etc. In another example, if the operator selects the harvest mode, the position of the header 30 sensed by the sensor 62 is commonly used for harvesting, and the sensor 65 senses more frequent vibrations or accelerations, the processor 72 is operable to execute the operating condition classification algorithm 744 to classify the condition as an "off-kilter" condition. Additionally or alternatively, another operating sensor (not shown) may detect the rotational speed of a component of the agricultural harvesting vehicle 20, e.g.,a shaft driving the operation of the header 30 and transmit a signal indicative of the rotational speed to the processor 72 to execute the operating condition classification algorithm 744 to classify the condition. After the "angled to the (crop) rows" condition has been classified or determined, the processor 72 is operable to execute the compatibility control algorithm 742 to calculate the constrained condition with other inputs, such as load or moment. The operating condition includes, among other things, harvesting parallel to the rows, at an angle to the rows, brake-assisted turning maneuvers, field transport, field exits, road transport, and crossing the field boundary, which are defined in the operating condition classification algorithm.

[0114] Additionally or alternatively, to calculate the constrained condition, the controller 70 receives one or more signals from the sensor 66 indicative of the image(s). The processor 72 is operable to execute the compatibility control algorithm 742 to calculate the constrained condition based on the image signal and other inputs such as the load or moment and the speed of the agricultural harvesting vehicle. The processor 72 can determine what type of terrain is in front of the agricultural harvesting vehicle 20, such as the number of bumps, the size of the bumps, the hill, the ditch, etc. If there is a large bump in the road in front of the agricultural harvesting vehicle 20, e.g., a dam, the image of which is captured by the sensor 66, the processor 72 is operable, e.g.,to determine the restricted condition, including reducing the speed of the agricultural harvesting vehicle 20, lowering the header 30 and / or limiting the hydraulic pressure to the actuator 32.

[0115] Additionally or alternatively, to calculate the constrained condition, the control device 70 receives signals indicative of the input(s) from the input device 69 configured to input the travel path of the agricultural harvesting vehicle 20. A topographical map of the field in which the agricultural harvesting vehicle 20 is operating may be stored in the memory 74. The processor 72 is operable to execute the compatibility control algorithm 742 to extract the topographical map data to the travel path, to obtain the topographical feature data along the travel path, and to calculate the constrained condition based on the topographical feature data with other inputs. The topographical feature may include at least one of the bumps, the spacing between the bumps, the grade along the travel path, the rate of change of the grade, and the hardness of the soil, etc.The processor is operable to execute the compatibility control algorithm to calculate the restricted condition based on at least one of the bumps, the distances between the bumps, the slope along the travel path, the rate of change of the slope and the hardness of the ground, etc.

[0116] In Fig. 4 briefly shows a method for compatibility control of the agricultural harvesting vehicle 20 according to the first implementation. S1: Measuring a characteristic of the agricultural harvesting vehicle and generating signals indicating the characteristic. S2: Receiving signals indicating the characteristic. S3: Determining a load on the agricultural harvesting vehicle based on the signals indicating the characteristic. S4: Converting the load into a moment. S5: Compare the torque with a first threshold. If the torque is equal to or greater than the first threshold, proceed to S6-1; if the torque is less than the first threshold, proceed to S6-2. S6-1: Compare the torque with a second threshold. If the torque is equal to or less than the second threshold, proceed to S7-1; if the torque is greater than the second threshold, proceed to S7-2. S6-2: A torque less than the first threshold indicates that a restricted condition is not required. This information can be communicated to the operator via a display. S7-1: Calculate a restricted condition. Optionally, the display can inform the operator of the contents of the restricted condition and request operator approval for the restricted condition. S7-2: A torque greater than the second threshold indicates that the header is incompatible, even if the restricted condition is met. This information can be communicated to the operator via the display. S8: Driving the agricultural harvesting vehicle to work under the restricted condition.

[0117] In the second implementation, processor 72 uses the load to proceed. Processor 72 is operable to execute compatibility control algorithm 742 to receive signals indicative of the characteristic from sensor 61 and / or sensor 62 to determine the load on agricultural harvesting vehicle 20, as described in the first implementation. The load may be determined by processor 72 executing compatibility control algorithm 742 or another algorithm 746 based on the correlation between the measured characteristic and the load. Unlike the first implementation, in the second implementation, the load is not converted into a reference moment. The more frequently the high load occurs within a given time frame, the shorter the fatigue life of the components of agricultural harvesting vehicle 20.

[0118] The processor 72 is operable to determine, based on the indication of the characteristic, whether the load is equal to or greater than a first (load) threshold. If the load is equal to or greater than the first (load) threshold, the restricted condition may be calculated and executed to make the relatively heavy harvesting header 30 compatible. If the load is less than the first (load) threshold, the restricted condition is not required. Optionally, the processor 72 is operable to execute the compatibility control algorithm 742 to determine, based on the signal, whether the load is equal to or less than a second (load) threshold stored in the memory 74.Even if it is determined that the load is equal to or greater than the first threshold, the restricted condition cannot be calculated and executed if the load is not equal to or less than the second threshold. If the load is greater than the second threshold, the harvesting header 30 may not be compatible with the body of the agricultural harvesting vehicle 20 even if a restricted condition is executed.

[0119] If it is determined that the load is equal to or greater than the first threshold, the processor 72 is operable to calculate the restricted condition based on the load and to control the agricultural harvesting vehicle 20 to operate under the restricted condition to reduce the occurrence of the values ​​of the load in response to the load being equal to or greater than the first threshold.Under the restricted condition, there are various methods to reduce the occurrence of the stress values: The controller 70 can (1) reduce the speed of the agricultural harvesting vehicle 20 to or below a predetermined speed, (2) lower the height of the harvesting header relative to the ground to or below a predetermined height, (3) limit the hydraulic pressure to or below a predetermined first hydraulic pressure value, and / or (4) retract the harvesting header 30 if the harvesting header 30 is extendable (retractable), etc. As in the first implementation, these methods (1)-(4) can be used alone or in conjunction with others.As previously mentioned, the components of the agricultural harvesting vehicle 20 may be operable to reduce the speed of the agricultural harvesting vehicle 20, lower the height of the harvesting head, limit the hydraulic pressure of the actuator 32, and / or change the length of the harvesting head if extendable. The processor is operable to calculate the restricted condition based on the load, with a lookup table stored in the memory 74 containing various load values ​​corresponding to the respective predetermined speeds, the respective predetermined heights, the respective predetermined first hydraulic pressure values, and / or the respective lengths of the harvesting head 30 (if the harvesting head 30 is extendable).The various inputs (sensors 61-67 and input device 69) to the processor 72 for calculating the constrained condition are similar to the inputs discussed in the first implementation.

[0120] In Fig. 5 briefly illustrates a method for compatibility control of the agricultural harvesting vehicle 20 according to the second implementation. P1: Measuring a characteristic of the agricultural harvesting vehicle and generating signals indicating the characteristic. P2: Receiving signals indicating the characteristic. P3: Determining a load on the agricultural harvesting vehicle based on the signals indicating the characteristic. P4: Compare the load with a first threshold. If the load is equal to or greater than the first threshold, proceed to P5-1; if the load is less than the first threshold, proceed to P5-2. P5-1: Compare the load with a second threshold. If the load is equal to or less than the second threshold, proceed to P6-1; if the load is greater than the second threshold, proceed to P6-2. P5-2: A load less than the first threshold indicates that a restricted condition is not required. This information can be communicated to the operator via a display. P6-1: Calculate a restricted condition. Optionally, the display can inform the operator of the restricted condition content and request operator approval for the restricted condition. P6-2: A load greater than the second threshold indicates that the header is incompatible, even when operating under a restricted condition. This information can be communicated to the operator via the display. P7: Driving the agricultural harvesting vehicle to work under the restricted condition.

[0121] In the third implementation, the processor 72 uses the configuration data of the header 30 to calculate the restricted condition. In one example, when the header 30 is hooked to the body of the agricultural harvesting vehicle 20, the sensor 67 may read or retrieve the identification data from the header 30 and transmit a signal indicative of the identity of the header 30 to the controller 70 to identify the header 30. After identifying the type of header 30, the controller 70 may retrieve the configuration data of the header 30 from the memory 74 or other sources (e.g., the internet, the cloud, etc.). The processor 72 compares the values ​​of the configuration data, such as the weight and / or size of the header 30, to the reference value(s) pre-stored in the memory 74 to determine whether to calculate the restricted condition.The processor 72 is operable to determine, based on the configuration data, whether the values ​​of the configuration data are equal to or greater than a first reference value (e.g., a weight and / or size threshold). If the values ​​of the configuration data are equal to or greater than a first reference value, the restricted condition may be calculated and performed to make the relatively heavy harvesting header 30 compatible. If the values ​​of the configuration data are less than the first reference value, the restricted condition is not required. In another example, the electronic component 68 may be electronically coupled to the controller 70 to upload the configuration data to the controller 70 when the harvesting header 30 is hooked to the body of the agricultural harvesting vehicle 20. As in the previous example in this section, the processor 72 compares the values ​​of the configuration data, such as a weight and / or size threshold, to the values ​​of the configuration data.B. the weight and / or size of the harvesting header 30, with the reference value(s) pre-stored in the memory 74 to determine whether the restricted condition should be calculated to make the relatively heavy harvesting header 30 compatible.

[0122] In Fig. 6 briefly illustrates a method for compatibility control of the agricultural harvesting vehicle 20 according to the third implementation. M1: Initiating the connection between the harvesting header and the body of the agricultural harvesting vehicle. M2: Identify the header or receive configuration data (weight, size, etc.) of the header. M3: Compare a value of the configuration data with a first reference value. If the value is equal to or greater than the first reference value, proceed to M4-1; if the value is less than the first reference value, proceed to M4-2. M4-1: Compare the configuration data value with a second reference value. If the value is equal to or less than the second reference value, proceed to M5-1; if the value is greater than the second reference value, proceed to M5-2. M4-2: A value less than the first reference value indicates that a restricted condition is not required. This information can be communicated to the operator via a display. M5-1: Calculate a restricted condition. Optionally, the display can inform the operator of the contents of the restricted condition and request operator approval for the restricted condition. M5-2: A value greater than the second reference value indicates that the header is incompatible, even when a restricted condition is being executed. This information can be communicated to the operator via the display. M6: Driving the agricultural harvesting vehicle to work under the restricted condition.

[0123] The fourth implementation may be a combination of the first embodiment and the third embodiment, or a combination of the second embodiment and the third embodiment. For example, the processor 72 uses the configuration data of the header 30 from the electronic component 68 or the identification data from the header 30 to calculate the restricted condition when the header is about to engage the body of the agricultural harvesting vehicle 20, as described in the third implementation. During operation of the agricultural harvesting vehicle 20, the controller 70 may calculate and update the restricted condition based on the torque (first implementation) and / or the load (second implementation) and the inputs from the sensors 61-67 and the input device 69.

[0124] In Fig. 7 briefly shows a method for compatibility control of the agricultural harvesting vehicle 20 according to the fourth implementation. N1: Initiating the connection between the harvesting header and the body of the agricultural harvesting vehicle. N2: Identify the header or receive configuration data (weight, size, etc.) of the header. N3: Compare a value of the configuration data with a first reference value. If the value is equal to or greater than the first reference value, proceed to N4-1; if the value is less than the first reference value, proceed to N4-2. N4-1: Compare the value of the configuration data with a second reference value. If the value is equal to or less than the second reference value, proceed to N5-1; if the value is greater than the second reference value, proceed to N5-2. N4-2: A value less than the first reference value indicates that a restricted condition is not required. This information can be communicated to the operator via a display. N5-1: Calculate a first (initial) constrained condition. Optionally, the display can inform the operator of the contents of the constrained condition and request operator approval for the first constrained condition. N5-2: A value greater than the second reference value indicates that the header is incompatible, even when a restricted condition is being executed. This information can be communicated to the operator via the display. N6: Controlling the agricultural harvesting vehicle to operate under the first restricted condition. N7: Perform steps S1-S8 or P1-P7. The restricted condition is updated during operation of the agricultural harvesting vehicle.

[0125] In the fifth implementation, as in the third embodiment, the processor 72 uses the configuration data of the harvesting header 30 to calculate the restricted condition. In one example, when the harvesting header 30 is hooked to the body of the agricultural harvesting vehicle 20, the sensor 67 may read or retrieve the identification data from the harvesting header 30 and transmit a signal indicative of the identity of the harvesting header 30 to the controller 70 to identify the harvesting header 30. After the type of harvesting header 30 has been identified, the controller 70 may retrieve the configuration data of the harvesting header 30 from the memory 74 or other sources (e.g., Internet, cloud, etc.). In the fifth implementation, the value of the configuration data is, for example, the moment of inertia. As previously described, uneven ground, including, among others,a rock, bump, or dip, strikes one side of the header 30 and causes an external twisting load on the header 30 and the feederhouse 28. Assuming that the ground unevenness causes substantially the same angular acceleration, the header 30 with the larger moment of inertia will have a larger twisting load or torque. It should be noted that not only the weight of the header 30 but also the width of the header 30 determines the moment of inertia. The processor 72, by executing the compatibility control algorithm 742, compares the values ​​of the configuration data (i.e., the moment of inertia) of the header 30 with the reference value(s), such as moment of inertia threshold values, pre-stored in the memory 74 to determine whether to calculate the constrained condition.The processor 72 is operable to determine, based on the configuration data, whether the values ​​of the configuration data are equal to or greater than a first reference value (e.g., an inertia threshold). If the values ​​of the configuration data are equal to or greater than a first reference value, the restricted condition may be calculated and performed to make the harvesting header 30 high inertia compatible. If the values ​​of the configuration data are less than the first reference value, the restricted condition is not required. In another example, the electronic component 68 may be electronically coupled to the controller 70 to upload the configuration data to the controller 70 when the harvesting header 30 is hooked to the body of the agricultural harvesting vehicle 20. As in the previous example in this section, the processor 72 compares the values ​​of the configuration data, such as the inertia threshold, to the values ​​of the configuration data.B. the mass moment of inertia of the header 30, with the reference value(s) pre-stored in the memory 74 to determine whether the restricted condition should be calculated to make the header 30 compatible with greater inertia.

[0126] In Fig. 8 briefly illustrates a method for compatibility control of the agricultural harvesting vehicle 20 according to the fifth implementation. F1: Initiating the connection between the harvesting header and the body of the agricultural harvesting vehicle. F2: Identify the header or receive configuration data (moment of inertia) of the header. F3: Compare a value of the configuration data with a first reference value (first moment of inertia threshold). If the value is equal to or greater than the first reference value, proceed to F4-1; if the value is less than the first reference value, proceed to F4-2. F4-1: Compare the configuration data value with a second reference value (second moment of inertia threshold). If the value is equal to or less than the second reference value, proceed to F5-1; if the value is greater than the second reference value, proceed to F5-2. F4-2: A value less than the first reference value indicates that a restricted condition is not required. This information can be communicated to the operator via a display. F5-1: Calculate a constraint. Optionally, the display can inform the operator of the constraint content and request operator approval for the constraint. F5-2: A value greater than the second reference value indicates that the header is incompatible, even when a restricted condition is being executed. This information can be communicated to the operator via the display.

[0127] F6: Controlling the agricultural harvesting vehicle to work under the restricted condition.

[0128] In the sixth implementation, the processor 72 calculates the moment of inertia when no identification or configuration data of the harvesting header 30 is available or when the moment of inertia needs to be calculated. Then, the processor 72 calculates the restricted condition based on the value of the moment of inertia. In one example, by executing the compatibility control algorithm 742, the processor 72 controls the actuators (e.g., actuator 32) to raise the harvesting header 30 to an appropriate height and controls the hydraulic pressure regulators 527, 528 to change the hydraulic pressure of the tilt actuators 326, 328. As shown in Fig. 1F, one of the tilt actuators 326 or 328 extends and the other tilt actuator 326 or 328 retracts, and then the retracted tilt actuator 326 or 328 extends and the extended tilt actuator 326 or 328 retracts. During the pivoting movement of the header 30, the processor 72 is coupled to an angular position sensor, e.g., a potentiometer attached to the pivot unit defining the axis 284, and a timer to calculate the angular acceleration. There are also other ways to measure or determine the value of the angular acceleration. The twist load (Ft in Fig. 1G) is calculated by the hydraulic pressure of the tilt actuator 326, 328. The twist load multiplied by the cosine θ and the length (2d) of the cross-sectional view of the feederhouse 28 is equal to the torque Th (Ft*Cos(θ)*2*d= Th). The moment of inertia of the machine is calculated from the torque Th divided by the angular acceleration. The processor 72 compares the moment of inertia value of the header 30 with the reference value(s), such as threshold inertia values, pre-stored in the memory 74 to determine whether the constrained condition should be calculated. The processor 72 is operable to determine whether the moment of inertia value is equal to or greater than a first reference value (e.g., a threshold inertia value).If the configuration data values ​​are equal to or greater than a first reference value, the restricted condition can be calculated and implemented to make the harvesting header 30 compatible with a large moment of inertia. If the value of the moment of inertia is less than the first reference value, the restricted condition is not required.

[0129] In Fig. 9 briefly shows a method for compatibility control of the agricultural harvesting vehicle 20 according to the sixth implementation. G0: Prepare for torsion control (e.g. ensure that the ground is level and a header is moved to an appropriate distance). G1: Generating angular movement(s) of a harvesting header with known angular acceleration of the harvesting header. G2: Measuring parameters (e.g. load or hydraulic pressure) and generating signals that indicate these parameters. G3: Receiving signals indicating the characteristic. G4: Determining a mass moment of inertia (I) of the harvesting header of the agricultural harvesting vehicle based on the signals indicating the characteristic and the known angular acceleration. G5: Compare the moment of inertia value with a first reference value. If the value is equal to or greater than the first reference value, proceed to G6-1; if the value is less than the first reference value, proceed to G6-2. G6-1: Compare the moment of inertia value with a second reference value (second moment of inertia threshold). If the value is equal to or less than the second reference value, proceed to G7-1; if the value is greater than the second reference value, proceed to G7-2. G6-2: A value smaller than the first reference value indicates that a restricted condition is not required. This information can be communicated to the operator via a display. G7-1: Calculate a restricted condition. Optionally, the display can inform the operator of the contents of the restricted condition and request operator approval for the restricted condition. G7-2: A value greater than the second reference value indicates that the header is incompatible, even when a restricted condition is being executed. This information can be communicated to the operator via the display. G8: Driving the agricultural harvesting vehicle, under the restricted condition of working.

[0130] The seventh implementation may be a combination of part of the fifth implementation, part of the sixth implementation, and other features such as comparing the twist load generated by the tilt actuators 326, 328. The twist load is generated by the hydraulic pressure measured by the sensors 614, 615 in the tilt actuators 326, 328 to simulate a possible twist load that may occur during operation. The hydraulic pressure measured by the sensors 614, 615 may be used by the processor 72 to calculate the twist load, as previously described. The processor 72 compares the twist load to the reference value(s), such as twist load thresholds, previously stored in the memory 74 to determine whether to calculate the constrained condition.

[0131] In Fig. 10 briefly illustrates a method for compatibility control of the agricultural harvesting vehicle 20 according to the seventh implementation. H1: Perform F1 to F5-1. H2: Perform G1 to G6-1. H3: Compare a measured torsional load value (load Ft) with a first reference value (first torsional load threshold). If the value is equal to or greater than the first torsional load threshold, proceed to H4-1; if the value is less than the first reference value, proceed to H4-2. H4-1: Compare the measured twist load value with a second reference value (second twist load threshold). If the value is equal to or less than the second reference value, proceed to H5-1; if the value is greater than the second reference value, proceed to H5-2. H4-2: A value less than the first reference value indicates that a further restricted condition is not required. This information can be communicated to the operator via a display. H5-1: Calculate a constraint. Optionally, the display can inform the operator of the constraint content and request operator approval for the constraint. H5-2: A value greater than the second reference value indicates that the header is incompatible, even when a restricted condition is being executed. This information can be communicated to the operator via the display. H6: Controlling the agricultural harvesting vehicle to work under the restricted condition.

[0132] In the eighth implementation, during operation of the agricultural harvesting vehicle 20, the controller 70 may calculate and update the restricted condition based on the measured twist load detected by the sensors 614, 615.

[0133] In Fig. 11 briefly illustrates a method for compatibility control of the agricultural harvesting vehicle 20 according to the eighth implementation. J1: Measuring the torsional load during operation of the agricultural harvesting vehicle. J2: Compare a measured torsional load value (load Ft) with a first reference value (first torsional load threshold). If the value is equal to or greater than the first torsional load threshold, proceed to J3-1; if the value is less than the first reference value, proceed to J4-2. J3-1: Compare the measured twist load value with a second reference value (second twist load threshold). If the value is equal to or less than the second reference value, proceed to J4-1; if the value is greater than the second reference value, proceed to J4-2. J3-2: A value less than the first reference value indicates that a restricted condition is not required. This information can be communicated to the operator via a display. J4-1: Calculate a restricted condition. Optionally, the display can inform the operator of the contents of the restricted condition and request operator approval for the restricted condition. J4-2: A value greater than the second reference value indicates that the header is incompatible, even when a restricted condition is being executed. This information can be communicated to the operator via the display. J5: Driving the agricultural harvesting vehicle, working under the restricted condition.

[0134] Without limiting the scope, interpretation, or application of the following claims in any way, one technical effect of one or more of the exemplary embodiments / implementations disclosed herein is to determine whether a harvesting header mounted on an agricultural harvesting vehicle is compatible with the agricultural harvesting vehicle. Another technical effect of one or more of the exemplary embodiments / implementations disclosed herein is to allow a heavier and / or larger harvesting header with a reasonable reach to still be compatible with the body of the agricultural harvesting vehicle under a limited condition.Another technical effect of one or more of the embodiments / implementations disclosed herein is to achieve a balance between productivity (use of a wide, heavy header) and the lifetime of the components of the agricultural harvesting vehicle when the agricultural harvesting vehicle is operated under the restricted condition.

[0135] As used herein, "e.g.," is used to list examples non-exhaustibly and has the same meaning as alternative illustrative phrases such as "including," "including, but not limited to," and "including without limitation." Lists containing items separated by connectives (e.g., "and") and further preceded by the phrase "one or more of" or "at least one of," unless otherwise limited or modified, indicate configurations or arrangements that may include individual items of the list or any combination thereof. For example, "at least one of A, B, and C" or "one or more of A, B, and C" each indicate the possibilities of only A, only B, only C, or any combination of two or more of A, B, and C (e.g., A and B; B and C; A and C; or A, B, and C).

[0136] It will be understood by one of ordinary skill in the art that terms such as "above," "below," "upward," "downward," "upper," "lower," etc., are used descriptively for the figures and do not represent limitations on the scope of the disclosure, which is defined by the appended claims. Furthermore, the teachings herein may be described in terms of functional and / or logical block components and / or various processing steps. It is understood that such block components may be formed from any number of hardware, software, and / or firmware components configured to perform the specified functions.

[0137] Terms of degree such as "generally," "substantially," or "approximately" are understood by those skilled in the art to refer to reasonable ranges outside of a stated value or orientation, for example, general tolerances or positional relationships associated with the manufacture, assembly, and use of the described embodiments.

[0138] Although exemplary embodiments of the present disclosure have been described above, these descriptions should not be considered in a limiting sense. Rather, other variations and modifications may be made without departing from the scope and spirit of the present disclosure as defined in the appended claims.

Claims

[1] An agricultural harvesting vehicle system comprising an agricultural harvesting vehicle (20) and a harvesting header (30) removably connected to the agricultural harvesting vehicle (20), the agricultural harvesting vehicle system comprising: a main frame (22) having a first end (222) and a second end spaced from the first end (222) along a central longitudinal axis (L) of the main frame (22); a ground engaging device (26) coupled to the main frame (22) and configured to move the main frame (22) in a direction of travel during operation; a sloping conveyor (28) coupled to the main frame (22) and designed for attachment to the harvesting header (30); a header compatibility control system (60) comprising: an electronic component (68) positioned on the harvesting header (30) and having configuration data of the harvesting header (30); and a control device (70) having a processor (72) and a memory (74) in which a compatibility control algorithm (742) is stored, the processor (72) being operable to execute the compatibility control algorithm (742) to: to receive the signals indicating the configuration data from the electronic component (68); determining, based on the signals, whether a value of the configuration data is equal to or greater than a first reference value, the first reference value being stored in the memory (74); if it is determined that the value of the configuration data is equal to or greater than the first reference value, calculate a restricted condition based on the value of the configuration data; and in response to the value of the configuration data being equal to or greater than the first reference value, controlling the agricultural harvesting vehicle (20) to operate under the restricted condition. [2] The agricultural harvesting vehicle system of claim 1, wherein the processor (72) is operable to execute the compatibility control algorithm (742) to: to determine, based on the signal, whether the value is equal to or less than a second threshold stored in the memory (74); and in response to the value of the configuration data being equal to or less than the second threshold, controlling the agricultural harvesting vehicle (20) to operate under the restricted condition. [3] The agricultural harvesting vehicle system of claim 1, wherein the configuration data includes one of weight, size, and moment of inertia. [4] An agricultural harvesting vehicle system according to claim 1, wherein the configuration data is the weight of the harvesting header (30) and the first reference value is a first weight threshold value. [5] The agricultural harvesting vehicle system of claim 1, wherein the configuration data is the moment of inertia of the harvesting header (30) and the first reference value is a first moment of inertia threshold value. [6] The agricultural harvesting vehicle system of claim 1, wherein the processor (72) is operable under the restricted condition to execute the compatibility control algorithm (742) to limit travel of the agricultural harvesting vehicle (20) to a predetermined speed or below. [7] The agricultural harvesting vehicle system of claim 1, comprising: an actuator coupled between the feeder house (28) and the main frame (22), the feeder house (28) being pivotally coupled to the main frame (22) about a pivot axis, the actuator being configured to raise and lower the feeder house (28), and the processor (72) being operable under the restricted condition to execute the compatibility control algorithm (742) to extend or retract the actuator to lower a height of the header (30) to or below a predetermined height. [8] The agricultural harvesting vehicle system of claim 1, further comprising a hydraulic circuit having an actuator (32, 321, 322, 324, 326, 328), an accumulator (5238, 5258, 5248, 5268, 5278, 5288) and a pressure control valve (5232, 5234, 5252, 5242, 5262, 5272, 5282) disposed upstream of the actuator (32, 321, 322, 324, 326, 328) and the accumulator (5238, 5258, 5248, 5268, 5278, 5288), and wherein the processor (72) is operable under the restricted condition that Execute the compatibility control algorithm (742) to reduce the hydraulic pressure of the actuator (32, 321, 322, 324, 326, 328) and the accumulator (5238, 5258, 5248, 5268, 5278, 5288) and increase the suspension. [9] The agricultural harvesting vehicle system of claim 8, wherein the actuator (32) is coupled between the elevator (28) and the main frame (22), the elevator (28) being pivotally coupled to the main frame (22), and the actuator (32) being configured to raise and lower the elevator (28). [10] An agricultural harvesting vehicle system according to claim 8, wherein the harvesting header (30) includes an implement frame (29) and a center frame (302) pivotable relative to the implement frame (29), and the actuator (321) is coupled between the center frame (302) and the implement frame (29) and is configured to provide the suspension between the center frame (302) and the implement frame (29). [11] An agricultural harvesting vehicle system according to claim 8, wherein the harvesting header (30) includes a center frame (302) and a wing frame (304, 306) pivotable relative to the center frame (302), and the actuator (322, 324) is coupled between the center frame (302) and the wing frame (304, 306) and is configured to provide the suspension between the center frame (302) and the wing frame (304, 306). [12] An agricultural harvesting vehicle system according to claim 8, wherein the harvesting header (30) is pivotable relative to the feeder house (28), the actuator (326, 328) is a tilting actuator (326, 328) coupled between the harvesting header (30) and the feeder house (28) and configured to provide the suspension between the harvesting header (30) and the feeder house (28). [13] An agricultural harvesting vehicle system comprising an agricultural harvesting vehicle (20) and a harvesting header (30) removably connected to the agricultural harvesting vehicle (20), the agricultural harvesting vehicle system comprising: a main frame (22) having a first end (222) and a second end spaced from the first end (222) along a central longitudinal axis (L) of the main frame (22); a ground engaging device (26) coupled to the main frame (22) and configured to move the main frame (22) in a direction of travel during operation; a sloping conveyor (28) coupled to the main frame (22) and designed for attachment to the harvesting header (30); a tilt actuator (326, 328) coupled between the feederhouse (28) and the harvesting header (30) and configured to pivot the harvesting header (30) relative to the feederhouse (28) with a twisting load and an angular acceleration; a header compatibility control system (60) comprising: a sensor (614, 615) configured to measure a characteristic of the tilt actuator (326, 328) and generate a signal indicative of the characteristic; a control device (70) having a processor (72) and a memory (74) in which a compatibility control algorithm (742) is stored, the processor (72) being operable to execute the compatibility control algorithm (742) to: actuate the tilt actuator (326, 328) to generate the twisting load; to receive the signals indicating the characteristic from the sensor (614, 615) in order to calculate the torsional load; to calculate a moment of inertia of the harvesting head (30) based on the torsional load and the angular acceleration, determining, based on the signal, whether the moment of inertia is equal to or greater than a first threshold, the first threshold being stored in the memory (74); if it is determined that the moment of inertia is equal to or greater than the first threshold, calculate a restricted condition based on the moment of inertia; and in response to the moment of inertia being equal to or greater than the first threshold value, controlling the agricultural harvesting vehicle (20) to operate under the restricted condition. [14] The agricultural harvesting vehicle system of claim 13, wherein the processor (72) is operable under the restricted condition to execute the compatibility control algorithm (742) to limit travel of the agricultural harvesting vehicle (20) to a predetermined speed or below. [15] An agricultural harvesting vehicle system comprising an agricultural harvesting vehicle (20) and a harvesting header (30) removably connected to the agricultural harvesting vehicle (20), the agricultural harvesting vehicle system comprising: a main frame (22) having a first end (222) and a second end spaced from the first end (222) along a central longitudinal axis (L) of the main frame (22); a ground engaging device (26) coupled to the main frame (22) and configured to move the main frame (22) in a direction of travel during operation; a feederhouse (28) coupled to the main frame (22) and designed to be attached to the harvesting header (30) which is pivotable about a pin relative to the feederhouse (28); a tilt actuator (326, 328) coupled between the elevator (28) and the harvesting header (30) and configured to receive a twisting load from the harvesting header (30) during operation; a header compatibility control system (60) comprising: a sensor (614, 615) configured to measure a characteristic of the tilt actuator (326, 328) or the bolt and generate a signal indicative of that characteristic; a control device (70) having a processor (72) and a memory (74) in which a compatibility control algorithm (742) is stored, the processor (72) being operable to execute the compatibility control algorithm to: to receive the signals indicating the characteristic from the sensor (614, 615); to calculate the torsional load based on the signal; determining whether the twisting load is equal to or greater than a first threshold value, the first threshold value being stored in the memory (74); if it is determined that the torsional load is equal to or greater than the first threshold value, to calculate a restricted condition based on the torsional load; and in response to the twisting load being equal to or greater than the first threshold, controlling the agricultural harvesting vehicle (20) to operate under the restricted condition.

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