Agricultural work machine comprising a hybrid drive system with energy storage, wherein the charge level of the energy storage is controlled based on a forecast of the expected energy demand

Description

[0001] The present invention relates to an agricultural working machine according to the preamble of claim 1.

[0002] The known prior art (EP 3 527 353 A1), from which the invention is based, relates to an agricultural working machine according to the preamble of claim 1.

[0003] According to the invention, the agricultural working machine is a combine harvester or a forage harvester.

[0004] In the technical field of agriculture, it is known to automate or semi-automate various processes of an agricultural machine, including, among other things, the operation and control of a large portion of the machine's working units. A working unit is understood, in particular, to be a system component of the machine that supports or performs agricultural work and thus consumes power. In addition to the aforementioned attachments, these include, for example, reels, cutting units, threshing units, conveyor systems (screw conveyor or conveyor belt), lifting gear (front or rear lifting gear), and the like. All of these are power consumers.

[0005] When a combine harvester is moving through a field, for example, its reel and cutting unit are operated. The clippings are also transported through an intake chute via augers and belts, and the clippings also pass through a threshing unit. The individual power consumers are automatically switched on or off as required. For example, it is conceivable that when a combine harvester enters a field, a front linkage with attached reel and cutting unit is lowered and the reel, cutting unit, augers and belts, and threshing unit are switched on. When leaving the field or when turning, it is conceivable that the reel, cutting unit, augers and belts, and threshing unit are switched off and the front linkage with attached reel and cutting unit is raised.

[0006] The agricultural machines in question typically have an internal combustion engine, particularly a diesel engine, as the common drive for the working units and the traction drive. The internal combustion engine's sole energy storage device is a fuel tank.

[0007] Agricultural machines are also known that, in addition to an internal combustion engine operating as the main engine, also known as the primary drive, also have a separate auxiliary electric motor (electric motor). This usually serves solely to allow the operator of the agricultural machine to temporarily increase the system performance by the capacity of the electric motor when necessary (so-called boost operation). A battery, for example, serves as the electrical energy storage device for the auxiliary electric machine.

[0008] A hybrid system is also known in which an auxiliary electric machine compensates for load fluctuations caused by differences in crop density. In the event of a sudden load increase due to an increase in crop density, the auxiliary electric machine immediately provides additional power, keeping the speed of an output shaft of the internal combustion engine largely constant.

[0009] It is a challenge to have sufficient energy reserves for optimal electrical support of the combustion engine by the electric auxiliary machine, even in phases of the agricultural work order in which there is an increased engine load.

[0010] A control concept for operating a commercial vehicle with an internal combustion engine and an electric auxiliary machine based on a predicted driving consumption and a predicted consumption of the auxiliary drive functions of the commercial vehicle is known from DE 10 2011 118 543 A. Further hybrid control methods are also known from DE 10 2011 118 543 A or EP 2 253 192 A1.

[0011] The invention is based on the problem of designing and developing the known agricultural working machine in such a way that further optimization is achieved with regard to the aforementioned challenge.

[0012] The above problem is solved by the features of the characterising part of claim 1.

[0013] Particularly preferred embodiments are the subject of the subclaims.

[0014] The fundamental idea is to proactively, i.e., predictively, regulate the electrical energy storage system, which supplies the electrical auxiliary machine with electrical energy when needed. According to the invention, pre-departure data and / or inventory data are used for this purpose, allowing a forecast of the expected engine load during the further course of the agricultural work order. In addition, the electrical energy requirement is also forecast based on sensor data from a throughput sensor system of the agricultural work machine. Depending on the forecast, the charge level of the electrical energy storage system is then proactively adjusted, which will be explained in more detail below.

[0015] In particular, it is proposed that the control device of the driver assistance system is designed to proactively regulate the charge state of the electrical energy storage device depending on the expected demand for electrical energy.

[0016] In the following, the invention is explained in more detail with reference to a drawing which merely represents exemplary embodiments. In the drawing, Fig. 1 is a schematic side view of a proposed agricultural working machine and Fig. 2 is a schematic representation of the functioning of a control device of the proposed agricultural working machine.

[0017] The drawing shows Fig. 1 a proposed agricultural work machine 1, here in the form of a forage harvester. Although the following statements refer to such a forage harvester, they also apply to combine harvesters.

[0018] The agricultural working machine 1, which is designed as a harvester and can be manually driven in a manual working mode and self-propelled in an automatic mode, is driven through a field 3, for example a corn field. During operation, a crop flow 4 consisting of plant parts is drawn in through an intake channel 5 and guided to a power consumer 6, here a working unit 7 in the form of a chopper drum, for further comminution. Another power consumer 8 forms a drive 9 with a drive axle for drive wheels.

[0019] In addition, the agricultural work machine 1 has a drive assembly 10, which, on the one hand, comprises an internal combustion engine 11, here preferably in the form of a diesel engine, as the main engine, and, on the other hand, an electrical auxiliary machine 12, here preferably in the form of an electric motor. The drive assembly 10 serves both to drive the traction drive 9 and, simultaneously with the traction drive 9, to drive various work units 7. The main engine and electric motor thus interact in the manner of a hybrid system.

[0020] For this purpose, a drive train 13 originating from the internal combustion engine 11 is provided as a component of the drive arrangement 10, which serves to transfer drive power from the internal combustion engine 11 to the power consumers 6 and 8. The drive train 13 here and preferably has three sub-drive trains 13a, 13b, and 13c, into which it is divided. The electric auxiliary machine 12 is coupled to the drive train 13, for example, via a transmission (not shown).

[0021] The first partial drive train 13a is preferably configured here to transmit drive power from the internal combustion engine 11 to the at least one working unit 7 (e.g., chopper drum). The second partial drive train 13b is preferably configured here to transmit drive power from the internal combustion engine 11 to the traction drive 9. The third partial drive train 13c is preferably configured here to enable the mutual exchange of drive power between the internal combustion engine 11 and the electric auxiliary machine 12.

[0022] The auxiliary electric machine 12, which is designed here as an electric machine, is a component of an electrical energy supply system 14 of the hybrid system, which has an electrical energy storage device 15 that is electrically connected to the auxiliary electric machine 12. The auxiliary electric machine 12 in the illustrated embodiment can be operated as an electrical generator when excess power is available from the internal combustion engine 11. In particular, however, the auxiliary electric machine 12 can support the drive train 13, namely with additional torque, when the speed at an output shaft 16 of the internal combustion engine 11 threatens to collapse due to an increase in the power requirement of the working unit 7."Assist" means that the auxiliary electric machine 12 generates additional torque so that the torque generated by the internal combustion engine 11 and the torque generated by the auxiliary electric machine 12 add up at the output shaft 16.

[0023] The output shaft 16 refers to a shaft connected to the internal combustion engine 11, to which a torque is transmitted from the internal combustion engine 11 and, if applicable, the electric auxiliary machine 12, and by means of which at least the working unit 7 and the drive 9 are driven. The output shaft 16 can be either the output shaft of the internal combustion engine 11 or a transmission output shaft of a transmission 17 connected downstream of the internal combustion engine 11.

[0024] The agricultural work machine 1 also has a driver assistance system 18 with a control device 19 or a so-called priority controller, which is configured to control the internal combustion engine 11, the electric auxiliary machine 12 and the travel drive 9.

[0025] The embodiment shown in the figures relates to an agricultural working machine 1 which is a combine harvester or a forage harvester, wherein the agricultural working machine 1 has a drive arrangement 10 with an internal combustion engine 11 and with an electrical energy supply system 14 having an electrical auxiliary machine 12, and wherein the agricultural working machine 1 has at least one power consumer 6, 8 which can be driven by the drive arrangement 10.

[0026] The "electric auxiliary machine" 12 refers to an electric machine that is or can be coupled to the output shaft 16 of the internal combustion engine 11 or to a transmission output shaft of a transmission 17 connected downstream of the latter, in order to electrically assist the internal combustion engine 11 in the manner of a hybrid system. The internal combustion engine 11 can be assisted by the electric auxiliary machine 12, at least in a driving capacity, preferably selectively in a driving or braking capacity. This means that the electric auxiliary machine 12 can be operated at least as a motor, preferably selectively as a motor or generator. The electrical energy required in motor operation or the energy generated in generator operation is exchanged with the electrical energy storage device 15 via a corresponding electrical connection 20.It is now essential that the control device 19 of the driver assistance system 18 is configured to regulate the state of charge 21 of the electrical energy storage device 15 in a proactive manner depending on the expected demand for electrical energy.

[0027] The electrical energy requirement results from the expected engine load for driving through a field section located in front of the agricultural work machine 1 and the necessary support of the internal combustion engine 11 by the auxiliary electric machine 12. The expected engine load is forecast in a forecast routine based on specific sensor data, which will be defined in more detail below. The strategy according to which the internal combustion engine 11 is supported by the auxiliary electric machine 12 is specified in particular by the driver assistance system 18. Such a specified strategy can be the execution of the work order with the lowest possible fuel consumption or with the least possible time expenditure, to name just a few examples.In particular, the internal combustion engine 11 is supported by the electric auxiliary machine in such a way that its dynamic behavior or its efficiency behavior is improved.

[0028] In the exemplary embodiment illustrated in the figures, it is further provided that the control device 19 of the driver assistance system 18, during the execution of an agricultural work order, forecasts the demand for electrical energy, in particular the demand for electrical energy for a specific time or route section, based on apron data 22 and / or inventory data 23 in a forecast routine, and that the control device 19 adapts the state of charge of the electrical energy storage device 15 based on the result of the forecast routine, in particular increases or decreases it. According to the invention, the control device 19 additionally forecasts the demand for electrical energy in the forecast routine based on sensor data from a throughput sensor system of the agricultural work machine 1.

[0029] The agricultural work order refers to a harvesting process.

[0030] Apron data 22 refers to sensor-determined data about the properties of an apron 24 during the execution of the agricultural work order. The apron 24 is an area of the field to be worked in the direction of travel directly in front of the agricultural machine 1, i.e., the area that will be passed through next. The apron data 22 are generated, for example, by an apron laser sensor, a camera, a drone, etc. during the execution of the agricultural work order, as shown in Fig.2 is represented symbolically.

[0031] Inventory data 23 refers to data on the properties of the field collected prior to the start of the agricultural work order, not limited to the apron 24, but preferably data on the entire field. This inventory data 23 is derived in particular from historical signal curves, i.e., from sensor data obtained during previous agricultural work orders. In addition to collected data from a storage medium, collected or live data from a satellite system can also be used, as in Fig.2 is represented symbolically.

[0032] The throughput sensor system refers in particular to a layer height roller with sensors, by means of which the layer height in the feed channel 5 is determined.

[0033] Furthermore, it is preferably provided here that the control device 19 sets, in particular increases or decreases or maintains, a target value 25a or target value range 25b for the state of charge of the electrical energy storage device 15 based on the result of the forecast routine, and controls the internal combustion engine 11, the electrical auxiliary machine 12 and the at least one power consumer 6, 8 such that the state of charge 21 of the electrical energy storage device 15 reaches the target value 25a or target value range 25b.

[0034] The state of charge 21 is then readjusted according to the new target value 25a or target value range 25b by controlling the internal combustion engine 11, the auxiliary electrical machine 12, and the at least one power consumer 6, 8 accordingly. To increase the state of charge 21, the internal combustion engine 11 and the at least one power consumer 6, 8 are controlled such that the auxiliary electrical machine 12 is operated as a generator and generates electrical energy that is fed to the electrical energy storage device 15. To decrease the state of charge 21, the internal combustion engine 11 and the at least one power consumer 6, 8 are controlled such that the auxiliary electrical machine 12 is operated as a motor and consumes electrical energy that is dissipated by the electrical energy storage device 15.

[0035] Furthermore, it is preferably provided here that the control device 19 of the driver assistance system 18 controls the state of charge 21 of the electrical energy storage device 15 in such a way that, if an increased demand 26 for electrical energy is forecast in the forecast routine, the setpoint value 25a or setpoint value range 25b is raised and, as a result, the state of charge 21 of the electrical energy storage device 15 is increased.

[0036] For example, the agricultural work machine 1 predicts an increased demand 26 for electrical energy due to a field area with increased weed growth that it is about to traverse. This is predicted here, preferably using the apron data 22 and / or inventory data 23, possibly also taking into account the sensor data from the throughput sensor system.

[0037] With the increased state of charge 21, it is then ensured that the electric auxiliary machine 12 can support the internal combustion engine 11 sufficiently so that, for example, the internal combustion engine 11 can be operated efficiently, in particular in an efficient speed range or power range, or so that a certain maximum driving speed can be maintained.

[0038] Furthermore, it is preferably provided here that the control device 19 of the driver assistance system 18 controls the state of charge 21 of the electrical energy storage device 15 in such a way that, if a reduced demand 27 for electrical energy is forecast in the forecast routine, the setpoint value 25a or setpoint value range 25b is lowered and, as a result, the state of charge 21 of the electrical energy storage device 15 is reduced.

[0039] For example, the agricultural work machine 1 predicts a reduced demand 27 for electrical energy due to a field area with reduced crop density or a headland to be traversed. This is predicted using the apron data 22 and / or crop data 23, also taking into account the sensor data from the throughput sensor system.

[0040] The reduction in the state of charge 21 of the electrical energy storage device 15 is achieved by the electrical auxiliary machine 12 supporting the internal combustion engine 11 more than before, whereby, for example, the fuel consumption of the internal combustion engine 11 can be reduced; even with the reduced state of charge 21, it is still ensured that the electrical auxiliary machine 12 can support the internal combustion engine 11 sufficiently. List of reference symbols

[0041] 1Agricultural machine 2Driver 3Field 4Crop flow 5Feeder channel 6Power consumer 7Working unit 8Power consumer 9Traction drive 10Drive arrangement 11Combustion engine 12Electrical auxiliary machine 13Drivetrain 13aFirst partial drivetrain 13bSecond partial drivetrain 13cThird partial drivetrain 14Electrical energy supply system 15Electrical energy storage device 16Output shaft 17Downstream transmission 18Driver assistance system 19Control device 20Electrical connection 21State of charge 22Apron data 23Crop data 24Apron 25aSetpoint 25bSetpoint range 26Increased demand 27Reduced demand

Claims

1. An agricultural working machine, which is a combine harvester or a forage harvester, wherein the agricultural working machine (1) has a drive assembly (10) with an internal combustion engine (11) and with an electrical energy supply system (14) having an electrical auxiliary motor (12) and an electrical energy storage device (15) for the electrical auxiliary motor (12), a throughput sensor system, and wherein the agricultural working machine (1) has a driver assistance system (18) with a regulating device (19) which is configured to carry out a regulation of the internal combustion engine (11), of the electrical auxiliary motor (12) and of at least one power consumer (6, 8) which can be driven by the drive assembly (10), wherein the regulating device (19) of the driver assistance system (18) is configured to regulate a state of charge (21) of the electrical energy storage device (15) in an anticipatory manner as a function of the expected requirement for electrical energy, wherein, while an agricultural operational assignment is carried out, in a prediction routine, the regulating device (19) of the driver assistance system (18) predicts the requirement for electrical energy based on frontal field data (22) and / or field crop data (23), and in that, on the basis of the result of the prediction routine, the regulating device (19) adjusts the state of charge (21) of the electric energy storage device (15), characterized in that in the prediction routine, the regulating device (19) additionally predicts the requirement for electrical energy on the basis of sensor data from the throughput sensor system of the agricultural working machine (1).

2. The agricultural working machine according to claim 1, characterized in that, on the basis of the result of the prediction routine, the regulating device (19) adjusts a target value (25a) or target value range (25b) for the state of charge (21) of the electrical energy storage device (15), in particular increases or decreases or maintains it, and regulates the internal combustion engine (11), the electrical auxiliary motor (12) and the at least one power consumer (6, 8) in a manner such that the state of charge (21) of the electrical energy storage device (15) attains the target value (25a) or target value range (25b).

3. The agricultural working machine according to claim 2, characterized in that the regulating device (19) of the driver assistance system (18) regulates the state of charge (21) of the electrical energy storage device (15) in a manner such that when a raised requirement (26) for electrical energy is predicted in the prediction routine, the target value (25a) or target value range (25b) is increased and subsequently, the state of charge (21) of the electrical energy storage device (15) is raised.

4. The agricultural working machine according to claim 2 or claim 3, characterized in that the regulating device (19) of the driver assistance system (18) regulates the state of charge (21) of the electrical energy storage device (15) in a manner such that when a reduced requirement (27) for electrical energy is predicted in the prediction routine, the target value (25a) or target value range (25b) is decreased and subsequently, the state of charge (21) of the electrical energy storage device (15) is reduced.