SELF-PROPELLED FORAGE HARVESTER

Description

Self-propelled forage harvester

[0001] The present invention relates to a self-propelled forage harvester according to the preamble of claim 1.

[0002] A self-propelled forage harvester is equipped with an intake device on which an attachment is mounted, a chopping device comprising a rotating chopping drum with chopping knives and a counter-blade for shredding crops, and a drum base arranged between the counter-blade and a discharge channel, the distance of which can be adjusted relative to the chopping drum. Furthermore, the forage harvester is designed with a driver assistance system for controlling at least the chopping device, wherein the driver assistance system comprises a memory for storing data and a computing device for processing the data stored in the memory.

[0003] A self-propelled forage harvester of the type mentioned above is known from EP 2 735 222 B1. Document EP 2 517 549 A1 describes a forward detection system designed to adjust the mass flow rates of harvesting machines, such as forage harvesters, to avoid blockages / congestion. According to EP 2 735 222 B1, a sensor-detectable operating parameter, which is detected within the crop flow path by the forage harvester, is used to control an actuator that changes the distance between the drum base and the chopper drum or chopper blades. The distance between the drum base and the chopper drum or chopper blades is adjusted using a target / actual value comparison.The detection of one or more different operating parameters within the crop flow path requires not only specific sensors but also rapid evaluation to generate a control command and rapid implementation of the control by the actuators. Based on the aforementioned prior art, the invention is based on the object of further developing a forage harvester of the type mentioned above in such a way that it is characterized by more efficient control of the drum base.

[0004] This object is achieved according to the invention by the features of claim 1.

[0005] Advantageous further training is the subject of the subclaims.

[0006] To achieve this object, according to claim 1, a self-propelled forage harvester is proposed, having an intake device on which an attachment is arranged, having a chopping device comprising a rotatingly driven chopping drum with chopping knives and a counter-blade for chopping crop and a drum base arranged between the counter-blade and an ejection channel, the distance of which is variable relative to the chopping drum, and having a driver assistance system for controlling at least the chopping device, wherein the driver assistance system comprises a memory for storing data and a computing device for processing the data stored in the memory.It is provided that the chopping device, together with the driver assistance system, forms an automatic chopping drum in which the computing device is configured to predictively determine at least one property of a crop to be picked up by means of an advance detection device in order to continuously and autonomously determine and adapt the distance between the chopping drum and the drum base depending on the at least one property of the crop. By means of the advance detection device, at least one ingredient-independent property of the crop located in front of the front attachment, which property changes cyclically, is detected. An ingredient-independent property is understood to mean the presence of crop, a crop density or growth density, or a crop height of the crop.This also includes the presentation form of the harvested crop, whether it is still to be cut in a field or already cut on the field ground, particularly in the form of a swath. Based on at least one characteristic of the crop, the distance between the drum base and the chopping drum or the envelope of the rotating chopping blades is optimally adjusted before a change in at least one characteristic of the crop can affect the chopping process.

[0007] The distance is adjusted depending on at least one operating parameter of the forage harvester. Various operating parameters of the forage harvester are monitored by sensors to ensure its safe and efficient operation. Sensors are provided, particularly along the crop flow path, to monitor working units such as the intake device or the chopping device.

[0008] One operating parameter can be the crop throughput. The magnitude of the crop throughput determines the distance between the chopper drum and the drum base. On forage harvesters, throughput is typically monitored in the intake channel, resulting in very short response times when changes in throughput occur. In conjunction with the predictive advance detection system, this response time can be extended. Using the throughput operating parameter serves to more precisely and optimize the distance control by the chopper drum automatic system.While the end of a crop or swath can be clearly determined by the predictive detection device, the effects of other crop properties on the throughput operating parameter, such as a changing, particularly temporary, crop density, may not be able to be determined with such accuracy. Since at least a fluctuation in crop density can be recognized as such, the distance between the chopper drum and the drum base can generally be adjusted accordingly. In particular, the automatic chopper drum can be configured to set the distance to a predefined initial distance if the crop throughput falls below a threshold value. This is particularly useful when leaving the crop at one end of the field on the headland.The distance is then returned to the preset initial distance, ensuring that the drum base is optimally spaced when re-entering the crop. This prevents crop flow problems, especially clogging, during the build-up of the crop flow.

[0009] Preferably, the chopping drum machine can be configured to change the distance depending on the throughput when a threshold value for the throughput of crop is exceeded.

[0010] According to the invention, an operating parameter is the type of front attachment. In particular, an operating parameter can be the operating state of at least one of the working units: front attachment, intake device, or chopping device. Depending on the type of crop, different front attachments are used on the forage harvester. For example, so-called maize headers are used to harvest maize, while grass is usually collected using a so-called pickup truck that has been laid on the field soil as a swath. These front attachments are controlled by a control device on the forage harvester, so that specific information about the type of front attachment connected is available. Depending on the type of front attachment installed, information about the front attachment is transmitted to the automatic chopper drum, so that the automatic chopper drum can determine the type of crop.This information is used to set the preset starting distance. Furthermore, the operating status of at least one of the working units can be taken into account as an operating parameter. Operating status means whether the respective working unit is in operation or not. An operating status also refers to the working position of one of the working devices. Front attachments in particular are moved from a working position to a non-working position when the end of a crop section is reached. The front attachment remains in its non-working position for almost the entire duration of a headland turn until it is moved into its working position shortly before re-entering the crop. In accordance with this, the drum base can also be controlled according to the respective operating status in order to adjust its distance from the chopper drum.By additionally taking into account the operating status of a working unit, it can be ensured that an interruption of the harvesting process on a field to be worked does not lead to an incorrect adjustment of the distance of the drum base.

[0011] According to a preferred development, the device for predictive detection of the approaching area can comprise at least one optical sensor device assigned to the forage harvester. Particularly preferably, the at least one optical sensor device can be arranged on the front attachment. Alternatively or additionally, the at least one optical sensor device can be arranged on a cab of the forage harvester. A horizontal and vertical angle of inclination of the at least one sensor device can be changed.

[0012] It can be provided that the at least one optical sensor device emits electromagnetic waves.

[0013] Particularly preferably, the at least one optical sensor device can be designed as a camera or a laser scanner. The camera can preferably be designed as a 2D or 3D camera. The signals from the at least one optical sensor device can be evaluated by image analysis software stored in the memory of the driver assistance system. In this way, the occurrence of a change in at least one property of a crop to be picked up can be determined and spatially evaluated. This means that, together with knowledge of the driving speed of the forage harvester, the automatic chopper drum can determine the point in time relatively precisely at which an adjustment of the distance is necessary.

[0014] For example, an actuator can be provided to change the distance, which can be controlled by the driver assistance system. The actuator can be designed as at least one hydraulic cylinder. The hydraulic cylinder could be integrated into the forage harvester's usually existing hydraulic system. The advantage of having at least one hydraulic cylinder is the speed with which changes in the distance can be implemented. Alternatively, the actuator can be designed as at least one linear motor.

[0015] Preferably, a means for maintaining a minimum distance between the chopping drum and the drum base can be provided. To avoid a collision between the chopping knives and the drum base due to the adjustment of the distance, a proximity sensor can be provided which monitors the distance between the chopping drum and the drum base. This can take into account the fact that intermittent re-grinding of the chopping knives leads to a reduction in the enveloping circle, so that the initial distance should also be adjusted. Alternative embodiments of the means are also conceivable which are intended to prevent a collision, whereby these should take into account the aforementioned adjustment of the initial distance. For example, a mechanical stop can be provided which is adjustable in the radial direction and is assigned to the drum base.

[0016] The present invention is explained in more detail below with reference to an embodiment shown in the drawings.

[0017] They show: Fig. 1 shows a schematic side view of a forage harvester; Fig. 2 shows a schematic representation of a chopper drum of a chopping device of a forage harvester; Fig. 3 shows a detailed view of a drum base in a first position; Fig. 4 shows a detailed view of a drum base in a second position.

[0018] In Fig. 1 A self-propelled forage harvester 1 is shown schematically in a side view, which is provided with an attachment 2. In the Fig. 1A corn header is schematically indicated as the front attachment 2, however, other attachments such as a pickup can also be attached to the forage harvester 1. The front attachment 2 takes the crop from the field and conveys it to an intake device 3, which in the exemplary embodiment consists of a roller group with upper rollers 4 and lower rollers 5. The rollers 4, 5 of the intake device 3 exert a pressing force on the taken up crop. The intake device 3 conveys the crop, which has been compacted into a crop mat, to a chopping device 6, which has a rotating chopping drum 7 with chopping knives 8. The chopping knives 8 cut the crop mat fed in by the intake device 3 at a counter blade 9. The cut orChopped crop is thrown into a downstream discharge chute 10 by the rotational movement of the chopping drum 7, from where it is processed by a post-processing device 11, also referred to as a conditioning device or corn cracker, which is optionally arranged in the crop flow path, depending on the equipment of the forage harvester 1, and is further accelerated by a downstream post-accelerator 12 and conveyed through a discharge chute 13 into a transport vehicle.

[0019] The forage harvester 1 further comprises a driver assistance system 14, which includes a memory 15 for storing data and a computing device 16 for processing the data stored in the memory 15. The driver assistance system 14 is configured to control at least the chopping device 6. Furthermore, the driver assistance system 14 is connected to at least one device 18 assigned to the forage harvester 1 for forward detection via a bus system 17. For this purpose, the device 18 can be arranged on a cab roof of the forage harvester 1 and on the front attachment 2. The device 18 is designed in particular as an optical sensor device, the signals from which are fed to the computing device 16 of the driver assistance system 14 for evaluation. This can be a camera and / or a laser scanner.

[0020] In Fig. 2The chopping drum 7 of the chopping device 6 is shown schematically, which is designed to rotate about a rotation axis 20. The chopping drum 7 encompasses the chopping blades 8 on its circumference. For reasons of clarity, all of the chopping blades 8 distributed over the entire circumference or over the entire 360° have been omitted.

[0021] The counter blade 9 is assigned to the chopping drum 7 or the chopping blade 8, so that a Fig. 2 On the left side, not shown, the incoming crop, prepared and compressed by the rollers 4, 5, is cut or sheared off by the rotating chopping blades 8 and the counter-blade 9. Due to the counterclockwise rotation of the chopping drum 7, the cut crop is accelerated / driven and transported further to the discharge chute 10.

[0022] A drum base 24 is provided between the discharge chute 10 and the counter-blade 9. The drum base 24 is part of a drum housing (not shown in detail) which accommodates the chopping device 6. The drum base 24 is rotatably mounted on the counter-blade 9 or its holder 22 by a bearing or a bearing 23. The holder 22 of the counter-blade 9 is rotatably supported on a support 21, in particular on a support frame or the like (not shown in detail).

[0023] An actuator 25 is assigned to the holder 22 of the counter-blade 9, which serves to readjust the counter-blade 9 in order to keep the distance between the chopping knives 8 and the counter-blade 9 constant. Due to the regrinding of the chopping knives 8 and the counter-blade 9, the effective drum diameter of the chopping drum 7 or the chopping knives 8 is reduced, on the one hand, and the counter-blade 9 is shortened, on the other hand. The actuator 25 is designed, for example, as a linear motor or a hydraulic cylinder or the like.

[0024] An actuator 27, which is also designed as a linear motor or a hydraulic cylinder, preferably as a plunger cylinder, is arranged at an end of the drum base 24 opposite the counter-blade 9. The drum base 24 is adjustable by controlling the actuator 27 in order to vary a distance 29 between the chopping knives 8 and the drum base 24. The actuator 27 is controlled by the driver assistance system 14. Preferably, a guide plate 26 can be provided, which adjoins the drum base 24 on the material discharge side.

[0025] Optionally, the actuator 27 can be equipped with a fine adjustment feature for precise adjustment during commissioning of the forage harvester 1 or the chopper drum 7. This allows the exact initial position or the optimal position of the drum base 24 to be set during commissioning or in a basic setting. A sensor 28 can be provided to monitor the distance 29, which is signal-connected to the driver assistance system 14 via the bus system 17.

[0026] The chopping device 6, together with the driver assistance system 14, forms a chopping drum automatic device in which the computing device 17 is configured to predictively determine at least one property of a crop to be picked up by the front-end device 2 by means of the advance detection device 18 in order to continuously and autonomously determine and adapt the distance 29 between the chopping drum 7 or the chopping knives 8 and the drum base 24 as a function of at least one property of the crop.

[0027] The chopper drum automatic system is designed to respond autonomously to changing properties of the crop being collected by changing the distance 29 between the rotating chopper blades 8 and the drum base 24. It is therefore advisable to change the distance 29 depending on the crop throughput. As the crop throughput increases, the distance 29 is increased, which prevents the chopper blades 8 of the chopper drum 7 from conveying chopped crop back into the intake area. In addition to homogenizing the crop flow, increasing the distance 29 also optimizes fuel consumption. The crop throughput is generally determined in the area of ​​the intake device 3.Due to the short reaction time between the detection of a fluctuation in throughput, in particular a sudden one, it is particularly advantageous to be able to detect and determine a change in the properties of the crop in advance by means of the device 18 for advance detection.

[0028] Thus, when the field chopper 1 or the chopper drum 7 is put into operation, the distance 29 is set to an adjustable initial distance, in particular a minimum distance 29a, which excludes a collision of the drum base 24 with the chopper blades 8, as in Fig. 3 This minimum distance 29a can change during operation of the forage harvester 1, as the enveloping circle becomes smaller in diameter due to the regrinding of the chopping knives 8. The driver assistance system 14 can make the appropriate adjustment. The minimum distance 29a is set during commissioning to avoid crop flow problems when establishing the crop flow.

[0029] By means of the at least one device 18 for detection of the approach path, it can thus be ensured that the size of the distance 29 is changed in good time, so that when a different throughput quantity is reached at the chopping drum 7, the distance 29 is already adjusted to an optimal distance value.

[0030] The at least one device 18 for detection of the area ahead can provide various criteria for optimized operation of the forage harvester 1, based on which the setting and adjustment of the distance 29 of the drum base 24 can be carried out autonomously by the chopping drum machine.

[0031] Thus, the device 18 can be used to determine the type of crop and the shape of the crop in which it is fed to the forage harvester 1. In the case of a standing crop, such as in a corn field, the crop density and crop height can vary. On the other hand, grass is cut before being picked up by the forage harvester 1 and laid on the field in the form of a swath. Accordingly, the properties of the swath, i.e. its contour, and continuity, can be determined by the at least one device 18. In principle, the end of a crop or swath in the field, i.e. reaching the edge of a field, is detected by the device 18, which is accompanied by measures such as raising the front attachment 2 for the duration of a headland journey before the forage harvester returns to the crop.When the end of the crop is detected by the device 18, the chopper drum automatic system moves the drum base 24 to its minimum distance 29a from the chopper drum 7 at a timed interval corresponding to the chopper leaving the crop. After passing the headland, the forage harvester 1 returns to the crop. The preset minimum distance 29a is maintained to build up the crop flow in the chopping device 6. If a predeterminable threshold value for the throughput is exceeded, this triggers the actuator 27 in such a way that the distance 29 is increased, for example to a maximum distance 29b, as shown in FIG. Fig. 4 is shown.

[0032] Within a crop stand or during continuous crop collection, the distance 29 is adjusted depending on detected fluctuations in crop density and / or height, which influence the throughput of harvested crop. Here, too, predictive detection by the at least one device 18 offers the advantage of detecting such changes early, so that the chopping drum machine can make a corresponding adjustment to the distance 29 before the throughput actually decreases or increases again after passing through a section with low crop density.

[0033] In addition, an operating parameter such as the type and / or operating state of at least one of the working units, front attachment 2, intake device 3 or chopping device 6, can be used. Depending on the type of crop, different front attachments 2 are used on the forage harvester 1. For example, so-called corn headers are used to harvest corn, while grass is usually collected using a so-called pickup, which has been laid on the field soil as a swath. These front attachments 2 are controlled by a control device of the forage harvester 1, so that specific information about the type of front attachment 2 connected in each case is available. Depending on the type of front attachment 2 installed, information about the respective front attachment 2 can be transmitted to the chopper drum automatic system, so that the chopper drum automatic system can determine the type of crop.This information can be used to set the predeterminable starting distance 29a. Furthermore, the operating state of at least one of the working units can be taken into account as an operating parameter. The operating state means whether the respective working unit is in operation or not. An operating state also means the working position of one of the working devices. In particular, front attachments 2 are moved from a working position to a non-working position when the end of a crop section is reached. For almost the entire duration of a headland turn, the front attachment 2 remains in its non-working position until it is moved into its working position shortly before re-entering the crop. In accordance with this, the drum base 24 can also be controlled according to the respective operating state in order to adjust its distance from the chopper drum 7.By additionally taking into account the operating state of a working unit, it can be ensured that an interruption of the harvesting process on a field to be worked does not lead to an incorrect adjustment of the distance of the drum base 24. List of reference symbols

[0034] 1Forage harvester 2Header 3Feeder 4Rollers 5Rollers 6Chopping device 7Chopper drum 8Chopper blade 9Counterblade 10Discharge chute 11Follow-up device 12Follow-up accelerator 13Discharge spout 14Driver assistance system 15Accumulator 16Calculating device 17Bus system 18Device 20Rotation axis 21Support 22Bracket 23Bearing 24Drum base 25Actuator 26Baffle 27Actuator 28Sensor 29Distance 29aMinimum distance 29bMaximum distance

Claims

1. A self-propelled forage harvester (1) with an intake device (3) on which a front attachment (1) is disposed, with a chopping device (6) comprising a chopping drum (7) with chopping knives (8) which is driven in rotation and a counter cutter (9) for the comminution of harvested material, as well as a drum floor (24) the distance of which relative to the chopping drum (7) can be varied and which is disposed between the counter cutter (9) and a discharge channel (10), as well as with a driver assistance system (14) for controlling at least the chopping device (6), wherein the driver assistance system (14) comprises a memory (15) for the storage of data and a computing device (16) for processing the data stored in the memory (15), characterized in that the chopping device (6) together with the driver assistance system (14) forms an automated chopping drum unit, in which the computing device (16) is configured to determine anticipatorily, by means of a device (18) for detecting the frontal area, at least one property of a harvested material to be picked up in order to continuously autonomously determine and adapt the distance (29) between the chopping drum (7) and the drum floor (24) as a function of the at least one property of the harvested material, wherein the adaptation of the distance (29) is carried out as a function of at least one operational parameter of the forage harvester (1), wherein an operational parameter is the type of front attachment (2), wherein a control device of the forage harvester (1) controls the front attachment (2) so that specific information regarding the type of the respective connected front attachment (2) is available, wherein, depending on the type of front attachment (2) which is present, information regarding the respective front attachment (2) is transmitted to the automated chopping drum unit so that a conclusion regarding the type of harvested material is drawn by the automated chopping drum unit, so that this information is drawn upon in order to set a predeterminable starting distance (29a).

2. The forage harvester (1) according to claim 1, characterized in that an operational parameter is a throughput of harvested material.

3. The forage harvester (1) according to claim 2, characterized in that the automated chopping drum unit is configured to set the distance (29) to the predeterminable starting distance (29a) in the case in which the throughput of harvested material is below a threshold value.

4. The forage harvester (1) according to claim 2, characterized in that the automated chopping drum unit is configured to vary the distance (29) as a function of throughput in the case in which a threshold value for the throughput of harvested material is exceeded.

5. The forage harvester (1) according to one of claims 1 to 4, characterized in that the device (18) for detecting the frontal area is configured to detect at least one constituent-independent property of the harvested material located in front of the front attachment (2) which changes in a cyclic manner.

6. The forage harvester (1) according to claim 5, characterized in that the constituent-independent property is the presence of harvested material, a field crop density or plant density or a field crop height of the harvested material, the form of presentation of the harvested material to be picked up, as the field crop on a field which has yet to be cut down or as harvested material on the field surface which has already been cut.

7. The forage harvester (1) according to one of claims 1 to 6, characterized in that an operational parameter is the operational state of at least one of the front attachment (2), intake device (3) or chopping device (6) working assemblies.

8. The forage harvester (1) according to one of claims 1 to 7, characterized in that the device (18) for anticipatory frontal area detection comprises at least one optical sensor unit which is associated with the forage harvester (1).

9. The forage harvester (1) according to claim 8, characterized in that the optical sensor unit emits electromagnetic waves.

10. The forage harvester (1) according to claim 8 or claim 9, characterized in that the optical sensor unit is constructed as a camera or a laser scanner.

11. The forage harvester (1) according to one of the preceding claims, characterized in that, in order to vary the distance (29), an actuator system (27) is provided which can be controlled by the driver assistance system (14).

12. The forage harvester (1) according to one of the preceding claims, characterized in that a means is provided for maintaining the starting distance (29a) between the chopping drum (7) and the drum floor (24).

13. The forage harvester (1) according to one of the preceding claims, characterized in that the automated chopping drum unit is configured to set the distance (29) upon starting up the forage harvester (1) or the chopping drum (7) to an adaptable minimum distance (29a) which rules out a collision of the drum floor (24) with the chopping knives (8).