DRIVER ASSISTANCE SYSTEM OF A HARVESTING MACHINE WITH BAND CUTTER

Description

[0001] The invention relates to a driver assistance system of an agricultural harvesting machine with a harvesting attachment designed as a belt cutting device for cutting and picking up crops for controlling the belt cutting device according to the preamble of claim 1.

[0002] Driver assistance systems for the semi-automatic control of harvesting attachments are well known in the art. As an example, reference is made to EP 3 132 711 A1, which describes an automated header system that can optimize the operating parameters of a header assigned to an agricultural harvesting machine based on selectable harvesting process strategies. The automated system described here optimizes the operating parameters of conventional grain headers and depends on the preselection of a specific process strategy. The driver assistance system disclosed in EP 3 132 711 A1 is ideally suited for optimizing the operating parameters of conventional headers under a wide variety of harvesting conditions.The disadvantage is that this automatic system is linked to the special processing units of a conventional header, and the optimization of the working units is tied to harvesting process strategies. These harvesting process strategies depend on operator preferences and may not be optimally implemented under the prevailing harvesting conditions. The assistance system cannot guide the optimization to the most optimal range if this optimal range is not covered by the selected process strategy.

[0003] Furthermore, the belt cutting systems in question here are also well known from the prior art, for example, from EP 2 422 606 B1. It is also known from EP 3 286 999 B1 to regulate the belt speeds of the central belt and the cross conveyor belts arranged laterally to each other and to the driving speed of the harvester. A disadvantage here is that the complex interrelationships of the numerous operating parameters of a belt cutting system, all of which influence an optimized, low-loss crop flow in the belt cutting system, are not taken into account, since only the belt speeds are coordinated.

[0004] It is therefore an object of the invention to avoid the described disadvantages of the prior art and in particular to create a driver assistance system which enables an optimized, low-loss transport of the harvested material through the belt cutting device into the inclined conveyor of the agricultural harvesting machine and which can be used by means of simple calculation methods to update characteristic maps stored in the driver assistance system directly during harvesting operation, without having to specifically approach special operating points of the characteristic field.

[0005] This object is achieved according to the invention by the characterizing features of claim 1.

[0006] According to the invention, the agricultural harvesting machine is equipped with a harvesting attachment designed as a belt cutting device for cutting and picking up crop material and with a driver assistance system for controlling the belt cutting device, wherein the driver assistance system comprises a memory for storing data and a computing device for processing the data stored in the memory and the belt cutting device comprises at least one central belt for conveying crop material to a cross conveyor auger and / or to an intake channel of an inclined conveyor and at least one cross conveyor belt arranged to the left and one to the right of the central belt for conveying the crop material to the central belt, wherein the central belt, the left-side and the right-side cross conveyor belts are arranged behind a cutter bar in the direction of travel and the belt cutting device accommodates a reel on the top.The belt cutting unit, together with the driver assistance system, forms a belt cutting unit automatic device in which characteristic maps are stored in the memory of the driver assistance system and the computing device is configured to operate the belt cutting unit automatic device as a characteristic map control using the stored characteristic maps and the belt cutting unit automatic device is configured to optimize working parameters of the belt cutting unit and to specify the optimized working parameters to the belt cutting unit.By having one or more characteristic maps assigned to the automatic belt cutting device describe at least the relationship between one or more working parameters and quality parameters, and by having a control characteristic curve assigned to the respective characteristic map, and by having the control characteristic curve lie in the range of the minimum of the respective quality parameter, and by having the automatic belt cutting device determine optimised working parameters using the control characteristic curve and specify the optimised working parameter in each case to the belt cutting device, it is ensured that the belt cutting device enables optimised, low-loss transport of the crop through the belt cutting device into the inclined conveyor of the agricultural harvesting machine, and by means of simple calculation methods the characteristic map can be updated directly during harvesting without having to specifically approach special working points.

[0007] In an advantageous embodiment of the invention, the right-hand and left-hand cross conveyor belts, the center belt, the feed roller, the reel, and / or the cutter bar form processing units of the belt cutting system, with the automatic belt cutting system being configured to optimize the operating parameters of one or more of these processing units and to specify the optimized operating parameters for the respective processing unit. This has the effect that the crop flow in the belt cutting system can be comprehensively optimized, since all essential processing units of the belt cutting system can be controlled by the automatic belt cutting system based on a characteristic map.

[0008] In an advantageous embodiment of the invention, the belt cutting machine is designed to form process unit-specific sub-automatic devices in such a way that the belt cutting machine forms one or more cross conveyor belt automatic devices, a center belt automatic device, a reel automatic device, a knife bar automatic device and / or a feed roller automatic device and the respective sub-automatic devices are designed to optimize the working parameters of the cross conveyor belts, the center belt, the reel, the knife bar and / or the feed roller of the belt cutting machine and to specify the optimized working parameters to the respective process unit of the belt cutting machine, it is ensured that the crop flow optimization in the belt cutting machine can be influenced very specifically, namely depending on the process unit.

[0009] In an advantageous embodiment of the invention, the one or more characteristic maps assigned to the automatic belt cutting system are designed to describe the relationship between the operating parameters of a process unit and quality parameters. This has the particular effect of allowing the influence of each individual process unit on crop flow optimization in the belt cutting system to be specifically controlled.In this context, it is advantageous if one or more characteristic maps are assigned to each sub-automatic machine, wherein the one or more characteristic maps describe at least the relationship between the working parameters of the process unit assigned to the respective sub-automatic machine and quality parameters, and a control characteristic curve is assigned to the respective characteristic map, the control characteristic curve lies in the range of the minimum of the respective quality parameter, and the belt cutting unit automatic system determines optimised working parameters using the control characteristic curve and specifies the respectively optimised working parameters to the belt cutting unit. In this way, it is possible for each process unit of the belt cutting unit to be controlled very specifically, since experience has shown that the individual process units have very different influences on the crop flow in the belt cutting unit.

[0010] In a further advantageous embodiment of the invention, it is provided that the quality parameter(s) of the one or more characteristic maps are a vibration coefficient and / or a separation loss, wherein the vibration coefficient is an indicator of the layer height fluctuations and thus of an inhomogeneous crop flow, while the separation loss is an essential parameter describing the working quality of a combine harvester, wherein increasing separation losses are also an indication of a suboptimal crop flow of the crop stream through the combine harvester.

[0011] By determining the vibration coefficient as a fluctuation in the crop throughput and by providing means for determining the crop throughput and the vibration coefficient describing the fluctuation in the crop throughput in an area upstream of the threshing members of the agricultural harvesting machine, an advantageous development of the invention ensures that the parameter that most clearly describes an inhomogeneous crop flow is decisively taken into account when optimizing the crop flow in the belt cutting unit. Furthermore, by determining the vibration coefficient in an area upstream of the threshing members, the influence of the threshing members, which completely alters the crop flow structure, can be excluded.

[0012] In an advantageous embodiment of the invention, the further quality parameter comprises the separation loss, since this describes the grain loss and the grain loss is a parameter that significantly determines the working quality of the agricultural harvesting machine.

[0013] The most significant influence on the movement of a crop flow through a header is the crop throughput. Very high or very low crop throughputs often cause disruptions in the crop flow within the header or during the transfer of the crop flow to the combine harvester. Therefore, it is particularly advantageous if the respective characteristic map takes into account a parameter representing the crop throughput, preferably the layer height.

[0014] In an advantageous development of the invention, the respective characteristic map describes the respective operating parameter as a function of the vibration coefficient and the layer height representing the crop throughput. In this context, it is therefore also advantageous if, in a further embodiment, the respective characteristic map describes the respective operating parameter(s) to be optimized at least as a function of the separation loss.

[0015] A particularly efficient application of characteristic-curve-based map control results when the respective map is implemented as an initial map, wherein at least the relationship between the operating parameters of a process unit and quality parameters is described in the initial map by initial operating points. During harvesting, instantaneous operating points are determined as a function of measured variables. The instantaneous operating points are converted into quasi-stationary operating points, and the determined quasi-stationary operating points overwrite the corresponding operating points of the respective map, thus converting the initial map into an updated map. This has the particular effect that the map can be updated directly during harvesting using simple calculation methods, without the need to specifically approach specific operating points.

[0016] In this context, it is advantageous if the measured variables include the longitudinal vibration and / or transverse vibration of a crop flow passing through the agricultural harvesting machine and / or the crop height and / or the hydraulic pressure or power requirement of a reel drive motor, and the measured variables are converted into quality parameters or a crop throughput. The map control also works effectively if the measured variables are converted directly into the quality parameters or a crop throughput.

[0017] To limit the influence of measurement errors, an advantageous embodiment of the invention provides that the instantaneous operating point transitions to a quasi-stationary operating point when one or more measured variables remain approximately constant within a time interval, preferably within a time interval of 6 seconds. In this context, it is also advantageous if the time interval is dimensioned such that a dead time interval in the measurement chain is compensated.

[0018] Given that the speed of movement of the crop flow through the belt cutting unit is determined significantly by the belt speed of the right-hand and left-hand cross conveyor belts and the center belt, an advantageous development of the invention provides that the working parameter of the "right-hand cross conveyor belt" process unit to be optimized comprises at least the belt speed of the right-hand cross conveyor belt, the working parameter of the "left-hand cross conveyor belt" process unit to be optimized comprises at least the belt speed of the left-hand cross conveyor belt, and the working parameter of the center belt process unit to be optimized comprises at least the belt speed of the center belt.

[0019] The reel assigned to a belt cutting unit is designed in such a way that it also exerts a conveying effect on the crop flow in the belt cutting unit, so that in a further advantageous embodiment of the invention it is provided that the working parameter of the process unit reel to be optimized comprises at least the reel vertical position and / or the reel horizontal position.

[0020] The crop flow passing through the belt cutting unit is captured by a so-called intake roller in a central area of ​​the belt cutting unit and transferred to the combine harvester, in this case initially to the inclined conveyor chute. To ensure optimal crop flow during the transfer of the crop flow from the belt cutting unit to the inclined conveyor, a further advantageous embodiment provides that the operating parameter of the intake roller processing unit to be optimized includes at least the intake roller horizontal position and / or the intake roller speed.

[0021] A cut of the crop by the cutter bar that is not adapted to the respective harvesting conditions and the driving speed of the harvesting machine can lead to crop jamming as soon as the crop flow enters the belt cutting unit, so that in an advantageous embodiment it is provided that the working parameter of the cutter bar process unit to be optimized includes at least the cutting speed and / or the cutter stroke.

[0022] An efficient characteristic map control is achieved in one embodiment when the characteristic map describes the relationship between the quality parameter vibration coefficient, the parameter layer height representing the crop throughput and the working parameter "belt speed center belt" and the control characteristic curve assigned to the characteristic map lies in the area of ​​the minimum of the vibration coefficient.

[0023] Efficient map control is also achieved if, according to a further embodiment, the map describes the relationship between the quality parameter vibration coefficient, the parameter layer height representing the crop throughput and the working parameter "belt speed of the right-hand and / or left-hand cross conveyor belt" and the control characteristic assigned to the map lies in the range of the minimum of the vibration coefficient.

[0024] In this context, it is also advantageous if the characteristic map describes the relationship between the quality parameter vibration coefficient, the parameter layer height representing the crop throughput and the working parameter reel horizontal position and / or reel vertical position and the control characteristic curve assigned to the characteristic map lies in the area of ​​the minimum of the vibration coefficient.

[0025] Given that a non-optimal crop flow in the area of ​​the belt cutting unit also has negative effects on the separation loss, an advantageous embodiment of the invention provides that the characteristic map describes the relationship between the quality parameter separation loss and the working parameters speed of the central belt and speed of the left-hand and / or right-hand cross conveyor belt and the control characteristic curve assigned to the characteristic map lies in the area of ​​the minimum of the separation loss.In this context, it is also advantageous if the characteristic map describes the relationship between the quality parameter separation loss, the parameter hydraulic pressure or power requirement of a reel drive motor / reel drive cylinder representing the crop throughput and the working parameter reel horizontal position and / or reel vertical position and the control characteristic curve assigned to the characteristic map lies in the area of ​​the minimum of the separation loss.

[0026] In an advantageous embodiment, the adaptation of the respective characteristic map depending on the vibration coefficient results in a fast, dynamic adaptation of the respective characteristic map, while the adaptation of the respective characteristic map depending on the separation loss results in a slow, sluggish adaptation of the respective characteristic map, it can be ensured that the influence of both short-term and long-term effects is taken into account when optimizing the working parameters of the belt cutting unit.

[0027] A particularly effective driver assistance system is achieved when, in an advantageous embodiment of the invention, the belt cutting unit together with the driver assistance system forms a belt cutting unit automatic device which is configured to be operated as a characteristic map control in that characteristic maps are stored in the memory of the driver assistance system and the computing device is configured to operate the belt cutting unit automatic device as a characteristic map control by means of the stored characteristic maps, wherein the stored characteristic maps describe at least the relationship between one or more working parameters and quality parameters and a control characteristic curve is assigned to the respective characteristic map, wherein the control characteristic curve lies in the range of the minimum of the respective quality parameter and that the driver assistance system is further configured a. to determine measured variables of the belt cutting unit and / or the agricultural work machine b. to derive at least instantaneous operating points from the measured variables determined c. to convert the instantaneous operating point into a quasi-stationary operating point d. to transfer the quasi-stationary operating point to the respective belt cutting unit automatic machine or one or more sub-automatics e. to transfer to the respective belt cutting unit automatic machine or sub-automatic machine the initial characteristic map stored there or the already updated characteristic map f. to replace an initial operating point or an already updated operating point in the respective characteristic map with a quasi-stationary operating point g. to calculate an updated characteristic map taking into account the inserted quasi-stationary operating points h. to determine the control characteristic of the updated characteristic map i. to determine optimized working parameters using the updated control characteristic curve k.to specify the optimized working parameters for the respective process unit.

[0028] In order to adequately consider the influence of short-term and long-term effects on the optimization of a working parameter, a further advantageous embodiment of the invention provides that the adaptation of the characteristic map comprises a superposition of a dynamic characteristic map adaptation "vibration coefficient" and a slow characteristic map adaptation "separation loss." In this context, it is advantageous if the dynamic characteristic map adaptation is achieved by forming the quality parameter of the respective characteristic map from the vibration coefficient, since this very precisely captures layer height fluctuations in a range close to the belt cutting unit.By effecting the slow map adaptation by forming the quality parameter of the respective map from the separation loss, it is ensured that long-term effects are also taken into account when optimizing the working parameters of the process units of the belt cutting unit.

[0029] Given that one and the same operating parameter to be optimized is defined in the stored characteristic maps depending on different quality parameters, an advantageous embodiment of the invention provides that the driver assistance system checks, in a test step, whether opposing tendencies for the value of the optimized operating parameter emerge for the operating parameters to be optimized when applying dynamic characteristic map adaptation and slow characteristic map adaptation. In this context, it is advantageous to decide which characteristic map optimum and / or average characteristic map optimum to approach based on boundary conditions.In an advantageous embodiment, the boundary conditions mentioned are stored in a cost function which, in an advantageous embodiment, takes into account the parameters throughput / h, vibration coefficient, separation losses, cutting unit losses, whereby these parameters can be weighted differently.

[0030] The quality of the map control can also be further increased if, in an advantageous further development of the invention, the driver assistance system takes expert knowledge into account when generating the respective maps.

[0031] The driver assistance system can be used very effectively, especially if at least the cutter bar and the cross conveyor belts downstream of it are designed to be flexible, since this optimized adaptation of the processing units to ground contours has a significant impact on the crop flow in the belt cutting unit, since its ground area can constantly change both longitudinally and transversely.

[0032] Further advantageous embodiments are the subject of further subclaims and are described below with reference to exemplary embodiments illustrated in several figures. They show: Figure 1a partially shown combine harvester with band cutter Figure 2a detailed view of the band cutter after Figure 1Figure 3 a schematic representation of the driver assistance system according to the invention Figure 4 a first detailed representation of the characteristic maps according to the invention Figure 5 a second detailed representation of the characteristic maps according to the invention Figure 6 a detailed representation of the characteristic map adaptation according to the invention Figure 6a detailed explanations of Figure 6 Figure 7 a schematic representation of the operation of the driver assistance system according to the invention

[0033] The Fig. 1The agricultural work machine 1, which is schematically illustrated and is designed as a combine harvester 2, accommodates in its front area a harvesting attachment 3 designed as a belt cutting unit 4, which is connected in a manner known per se to the feeder house 5 of the combine harvester 2. The conveying elements 6 of the feeder house 5 are guided at the top so as to be pivotable about a pivot axis 7 transversely to the longitudinal direction of the combine harvester 2. In the exemplary embodiment shown, a so-called layer height roller 8, which is known per se but will be explained in more detail later, is assigned to the conveying elements 6 in a central area, the deflection of which roller in the vertical direction is a measure of the layer height 9 of the crop flow 10 passing through the feeder house 5.The crop flow 10 passing through the inclined conveyor 5 is transferred in the upper, rear area of ​​the inclined conveyor 5 to the threshing elements 12 of the combine harvester 2, which are at least partially enclosed on the bottom by a so-called threshing concave 11. A deflection drum 13 arranged downstream of the threshing elements 12 deflects the crop flow 10 emerging from the threshing elements 12 in the rear area so that it is transferred directly to a separating device 15 designed as a separating rotor arrangement 14. It is within the scope of the invention that the separating device 15 can also be designed as a tray walker, which is known per se and therefore not shown. It is also within the scope of the invention that the separating device is designed with only one rotor or that the threshing elements 12 and the separating device 15 are combined to form a single- or double-rotor axial flow threshing and separating device.

[0034] In the separating device 15, the crop stream 10 is conveyed in such a way that freely movable grains 16 contained in the crop stream 10 are separated in the lower area of ​​the separating device 15. The grains 16 separated at the threshing concave 11 and in the separating device 15 are fed via the return floor 17 and feed floor 18 to a cleaning device 22 consisting of several sieve levels 19, 20 and a blower 21. The cleaned grain stream 25 is finally transferred to a grain tank 24 by elevators 23.

[0035] In the rear area of ​​the separating device 15, a shredding device 28, encased in a funnel-shaped housing 26 and designed as a straw chopper 27, is assigned to it. The straw 30 leaving the separating device 15 in the rear area is fed to the top of the straw chopper 27. By means of a pivoting straw guide flap 29, the straw 30 can also be deflected so that it is deposited directly on the ground 31 in a swath.

[0036] In the outlet area of ​​the straw chopper 27, the material flow consisting of the shredded straw 30 and the non-grain components separated in the cleaning device 22 are transferred to a material distribution device 32, which discharges the residual material flow 33 in such a way that the residual material flow 33 is widely distributed on the floor 31.

[0037] Figure 2shows the essential details of the harvesting attachment 3 designed as a belt cutting unit 4. In the crop input side area 40, the belt cutting unit 4 accommodates a cutter bar 41, which can be either rigid or flexible, which cuts off the crop 42 to be harvested. A cutter bar 41 with a flexible design can, in a known manner, better follow changes in the longitudinal and transverse directions of the ground contour. In the illustrated embodiment, a left-side cross conveyor belt 43, a right-side cross conveyor belt 44, and a center belt 45 are assigned to the cutter bar 41, as seen in the direction of arrow 40. The left-side cross conveyor belt 43 conveys the harvested crop 42 it has grasped in the direction of arrow 46 towards the center belt 45 and transfers it to the center belt 45.In a similar manner, the right-hand cross conveyor belt 44 conveys the harvested crop 42 it has picked up, in the direction of arrow 47, also toward the center belt 45 and transfers it to the latter. The center belt 45 then conveys the crop 42 it has picked up and transferred to the center belt 45 by the cross conveyor belts 43, 44, into the rear area of ​​the belt cutting unit 4 in the direction of arrow 48. In this rear area, the crop 42 is picked up by a feed roller 50 assigned to this area, rotating in the direction of arrow 49, and transferred to the inclined conveyor 5 as the aforementioned crop stream 10. On the top side, the belt cutting unit 4 accommodates a single- or multi-part reel 51.The position of the reel 51 can be adjusted horizontally in the direction of arrow 52 and vertically in the direction of arrow 53 in a manner known per se. In the simplest case, lifting cylinders 54, 55 are positioned on the reel support arm 56 and on the frame 57 of the belt cutting unit 4 to implement these movements 52, 53. The lifting cylinders 54, 55 are arranged on both sides of the belt cutting unit 4. In addition, the position of the driving tines 58 of the reel 51 can be adjusted in a manner known per se and therefore not explained in detail. In addition, a reel drive motor 34 is assigned to at least one side of the reel 51, which sets the reel 51 in a rotary movement in the direction of arrow 35. According to the invention, the knife bar 41, the left-hand and right-hand cross conveyor belts 43, 44, the center belt 45, the feed roller 50 and the reel 51 form the respective process units 59 of the belt cutting unit 4.Each of these process units 59 is assigned working parameters 60, wherein the working parameter of the knife bar 41 is the cutting speed 61 and / or the knife stroke 62, the working parameter of the left-hand cross conveyor belt 43, the right-hand cross conveyor belt 44 and the center belt 45 is the respective belt speed 63 - 65, the working parameter of the feed roller 50 is the feed roller horizontal position 66 and / or the feed roller speed 49 and the working parameter of the reel 51 is the reel vertical position 67 and / or the reel horizontal position 68.

[0038] According to Figure 3The proposed agricultural work machine 1 has a driver assistance system 69 for controlling the belt cutting unit 4. The driver assistance system 69 comprises a memory 70 for storing data to be explained in more detail below, and a computing device 71 for processing the data stored in the memory 70. The data stored in the memory 70 can initially include information 72 generated by machine-internal sensor systems, information 73 generated by external systems, and information 74 stored directly in the computing device. The driver assistance system 69 can be operated via an operating and display unit 76 arranged in the cab 75 of the combine harvester 2. In principle, the driver assistance system 69 is designed to assist a driver 77 of the combine harvester 2 in operating the combine harvester 2.

[0039] It is now essential that the belt cutting unit 4, together with the driver assistance system 69, forms a belt cutting unit 78. This is achieved according to the proposal by storing characteristic maps 79, which are yet to be described in detail, in the memory 70 of the driver assistance system 69, and the computing device 71 is configured to operate the belt cutting unit 78 as a characteristic map control 80 using the stored characteristic maps 79, and the belt cutting unit 78 is configured to optimize working parameters 60 of the belt cutting unit 4 and to specify the optimized working parameters 60' to the belt cutting unit 4.wherein the one or more characteristic maps (79) assigned to the automatic belt cutting device (78) describe at least the relationship between one or more working parameters (60) and quality parameters (82), and a control characteristic curve (90) is assigned to the respective characteristic map (79), the control characteristic curve (90) being in the range of the minimum of the respective quality parameter (82), and the automatic belt cutting device (78) determining optimized working parameters (60') by means of the control characteristic curve (90) and specifying the respectively optimized working parameter (60') to the belt cutting device (4). According to the previous explanations, the working parameters 60 are assigned to process units 59 of the belt cutting device 4, and the process units 59 essentially comprise the right-hand and left-hand cross conveyor belts 43, 44, the center belt 45, the feed roller 50, the reel 51, and / or the knife bar 41. In this way, the automatic band cutting machine 78 is set up,to optimize the working parameters 60 of one or more of these process units 59 and to specify the optimized working parameters 60' to the respective process unit 41, 43, 44, 45, 50, 51.,

[0040] In addition, the belt cutting machine 78 can be configured to form process unit-specific sub-automatic machines 81 in such a way that the belt cutting machine 78 forms one or more cross conveyor belt machines 81a, b, a center belt machine 81c, a reel machine 81d, a knife bar machine 81e and / or a feed roller machine 81f and the respective sub-automatic machines 81a..f are configured to optimize the working parameters 59 of the cross conveyor belts 43, 44, the center belt 45, the reel 51, the knife bar 41 and / or the feed roller 50 of the belt cutting machine 4 and to specify the optimized working parameters 60' to the respective process unit 59 of the belt cutting machine 4.

[0041] The one or more characteristic maps 79 assigned to the automatic belt cutting device 78 are designed such that they describe the relationship between one or more working parameters 60 of one or more process units 59 and the quality parameters 82 to be explained in more detail below. Analogously, one or more characteristic maps 79 can also be assigned to each sub-automatic device 81a...f, wherein the one or more characteristic maps 79 describe at least the relationship between one or more working parameters 60 of the process unit 59 assigned to the respective sub-automatic device 81a..f and the quality parameters 82 to be explained in more detail below. The respective characteristic map 79 assigned to the automatic belt cutting device 78 or the sub-automatic devices 81 can also take into account a parameter representing the crop throughput, preferably the layer height 9.

[0042] In the Figures 4 and 5the characteristic maps 79 according to the invention are described in detail as a function of various quality parameters 82, wherein Figure 4 the quality parameter 82 a vibration coefficient 83 to be explained in more detail and in Figure 5the quality parameter 82 is a separation loss 84, which will also be explained in more detail later. The vibration coefficient 83 known from the prior art is described in detail in EP 3 858 129 A1, the disclosure of which is incorporated herein by reference in its entirety into this patent application. According to the disclosure of EP 3 858 129 A1, the vibration coefficient 83 describes a fluctuation in the crop throughput passing through the combine harvester 2. For this purpose, the layer height 9 of the crop flow 10 passing through the combine harvester 2 in the region of the inclined conveyor 5 is recorded as a function of time. The determined layer height fluctuation is then converted into the vibration coefficient 83 according to the invention using the method disclosed in EP 3 858 129.The layer height 9 is determined in an area in front of the threshing elements 12, since the crop flow 10 in the area of ​​the threshing elements 12 is processed so intensively that layer height fluctuations in the crop flow 10 after leaving the threshing elements 12 no longer have a sufficient relationship to the crop throughput. The layer height 9 is determined by means of the already mentioned layer height roller 8 in the area of ​​the inclined conveyor 5, wherein the layer height roller 8 is guided so as to be pivotable about a pivot axis 85 and the deflection 86 of the layer height roller 8 is used as a measure for determining the layer height 9. In a manner known per se, the layer height roller 8 is positioned above the inclined conveyor bars 87 which effect the crop transport, such that their layer height-dependent movement is transferred to the layer height roller 8 and effects the deflection 86 of the layer height roller 8.

[0043] The further quality parameter 82, according to Figure 5The separation loss 84 describes the grain loss 89, namely the lost grains exiting the combine harvester 2 in its rear area. Typically, the grain loss 89 in the rear area of ​​the combine harvester 2 is determined in a conventional manner using suitable and well-known grain loss sensors 88, usually so-called knock sensors.

[0044] The characteristic maps 79 stored in the automatic belt cutting machine 78 and / or the partial automatic machines 81 can be structured very differently depending on the type of optimization to be implemented. According to Figure 4 the respective characteristic map 79 can describe the respective working parameter 60 as a function of the vibration coefficient 83 and the crop throughput by the layer height 9 representing the crop throughput. According to Figure 5 the respective characteristic map 79 can describe the respective working parameter(s) 60 at least as a function of the separation loss 84.

[0045] In order for the respective characteristic map 79 to enable the described characteristic map control 80, as a result of which the automatic belt cutting unit 78 and / or the partial automatic units 81 generate optimized working parameters 60', each characteristic map 79 is assigned the aforementioned control characteristic curve 90 according to the invention, which extends in the respective characteristic map 79 along the minimum of the respective vibration coefficient 83 or the separation loss 84 and describes the respective optimal working parameter 60'.

[0046] In a design according to Figure 4aThe characteristic map 79 describes the relationship between the quality parameter vibration coefficient 83, the parameter layer height 9 representing the crop throughput, and the working parameter 60 "belt speed center belt" 65, whereby the control characteristic 90 assigned to the characteristic map 79 lies in the area of ​​the minimum of the vibration coefficient 83. It can be seen that the characteristic map control 80 is designed such that larger layer heights 9 require higher belt speeds 65, while excessively high or excessively low belt speeds 65 tend to negatively influence the vibration coefficient 83 and thus an optimized working parameter 60'.

[0047] In a design according to Figure 4bThe characteristic map 79 describes the relationship between the quality parameter vibration coefficient 83, the parameter layer height 9 representing the crop throughput and the working parameter 60 "belt speed right-hand and / or left-hand cross conveyor belt" 63, 64, whereby the control characteristic 90 assigned to the characteristic map 79 lies in the area of ​​the minimum of the vibration coefficient 83. It can be seen that the characteristic map control 80 here is similar to the one according to Figure 4a is designed, whereby the respective influences that greater layer heights 9 require higher belt speeds 63, 64, while belt speeds 63, 64 that are too high or too low tend to have a negative influence on the vibration coefficient 83 and thus on an optimized working parameter 60', are more pronounced.

[0048] In a design according to Figure 4cThe characteristic map 79 describes the relationship between the quality parameter vibration coefficient 83, the parameter layer height 9 representing the crop throughput, and the working parameter 60 "reel horizontal position and / or reel vertical position" 67, 68, whereby the control characteristic curve 90 assigned to the characteristic map 79 lies in the area of ​​the minimum of the vibration coefficient 83. It can be seen that the characteristic map control 80 does not follow a pronounced trend here, but rather depends very specifically on the parameters in relation. Due to the fact that a position change 67, 68 of the reel 51 follows very complex relationships, the control characteristic curve 90 does not extend through all areas of the characteristic map 79, but in specific peripheral areas 90, the control characteristic curve 90 is replaced by expert knowledge 91.

[0049] In a design according to Figure 5aThe characteristic map 79 describes the relationship between the quality parameter separation loss 84 and the working parameters 60 "belt speed of the center belt" 65 and "belt speed of the left-hand and / or right-hand cross conveyor belt" 63, 64, whereby the control characteristic curve 90 assigned to the characteristic map 79 lies in the range of the minimum of the separation loss 84. The trend shows that the influence of the belt speeds 63-65 on the separation loss 84 is moderate and essentially all belt speeds 63-65 exhibit the same trend, namely, if the belt speed 63, 64 of the left-hand and / or right-hand cross conveyor belts 43, 44 increases or decreases, the optimized belt speed 65 of the center belt 45 also increases or decreases, and vice versa.

[0050] In a design according to Figure 5bThe characteristic map 79 describes the relationship between the quality parameter separation loss 84, the parameter "hydraulic pressure or power requirement of a reel drive motor / reel drive cylinder" 92 representing the crop throughput, and the working parameter 60 "reel horizontal position and / or reel vertical position" 67, 68, whereby the control characteristic curve 90 assigned to the characteristic map 79 lies in the area of ​​the minimum of the separation loss 84. It can be seen that with increasing hydraulic pressure 92, i.e., with increasing throughput or a taller crop 42, a greater reel height 67, 68 leads to lower separation losses 84.

[0051] Due to the fact that the separation loss 84 is only determined when the corresponding crop flow 10 has completely passed through the combine harvester 2 and the crop throughput dependent on the detected layer height 9 is already determined immediately after the crop flow 10 enters the combine harvester 2, the adaptation of the respective characteristic map 79 as a function of the vibration coefficient 83 led to a rapid adaptation of the respective characteristic map 79, while the adaptation of the respective characteristic map 79 as a function of the separation loss 84 causes a slower adaptation of the respective characteristic map 79.

[0052] The principle of map generation is explained in Figure 6 using the example of map 79 according to Figure 4a Each of the Figures 4 and 5The described characteristic maps 79 are created according to this principle. The characteristic map 79 is stored in the automatic belt cutting unit 78 and / or the partial automatic units 81 as an initial characteristic map 93, wherein in the initial characteristic map 93 the described relationship between working parameters 60, here the belt speed 65 of the process unit 59, middle belt 45, and quality parameters 82, here the vibration coefficient 83 and the crop throughput-related parameter layer height 9 is described by initial operating points 94. During harvesting of the combine harvester 2, instantaneous operating points 95 for the layer height 9 and the working parameters 60, here the belt speed 65 of the middle belt 45, are determined as a function of time 96. To determine the instantaneous operating points 95, measured variables 97 are used, which according to Figure 6apreferably a longitudinal vibration 98 and / or a transverse vibration 99 of a crop flow 10 passing through the agricultural harvesting machine 1 and / or a crop height 100 of the crop 42 and / or a hydraulic pressure 92 or power requirement of a reel drive motor 34. The measured variable longitudinal vibration 98 corresponds to the layer height 9 determined by means of the layer height roller 8 as a function of time, as already described. Thus, the measured variables 97 are designed such that the quality parameters 82, vibration coefficient 83 and separation loss 84, as well as the throughput-proportional layer height 9, can be derived from them.

[0053] The determined instantaneous operating points 95 are temporarily stored in a data matrix 101, wherein the change in the value of the respective instantaneous operating point 95 is determined within a time interval 102, and the instantaneous operating point 95 is then transferred to a quasi-stationary operating point 103 when its value remains approximately unchanged, preferably constant. A preferred time interval 102 can be six seconds here. The time interval 102 should preferably be at least long enough to compensate for a dead time interval 109 in the measuring chain 110. For example, the crop 42 entering the belt cutting unit 4 in the crop entry area 40 only reaches the described layer height roller 8 after a certain time. This time offset between crop entry and measurement of the layer height 9 is taken into account in the said dead time interval 109 (see Fig. 6a ).

[0054] The determined quasi-stationary operating points 103 are then collected in a data matrix 104. If a certain number of quasi-stationary operating points 103 are collected in the data matrix 104, preferably four quasi-stationary operating points 103, the dependencies between quality parameter 82, here vibration coefficient 83, throughput-proportional layer height 9, and operating parameter 60, here belt speed 65 of the center belt process unit 45, are determined in this data matrix 104 for the collected quasi-stationary operating points 103 in analogy to the respective initial characteristic map 93. In a next step, the quasi-stationary operating points 103 are transferred into an initial data matrix 105, which corresponds to the initial characteristic map 93 with transferred quasi-stationary operating points 103. Then, in a characteristic map update step 106, the updated characteristic map 107 is calculated, which replaces the initial characteristic map 93.In order for the updated characteristic map 107 to also enable the described characteristic map control 80, as a result of which the automatic belt cutting unit 78 and / or the partial automatic units 81 generate optimized working parameters 60', the control characteristic curve 90 is recalculated for each updated characteristic map 107 in a step "update control characteristic curve" 108, which extends in the respectively updated characteristic map 107 along the minimum of the respective vibration coefficient 83 or the separation loss 84 and describes the respectively optimal working parameter 60'.

[0055] The respectively updated characteristic map 107 then forms the respective initial characteristic map 93 in the respective automatic belt cutting machine and / or the respective partial automatic machine for a subsequent characteristic map adaptation process.

[0056] By embodying the respective characteristic map (79) as an initial characteristic map (93) and describing at least the relationship between working parameters (60) of a process unit (59) and quality parameters (82) in the initial characteristic map (93) by means of initial working points (94), and by determining instantaneous working points (95) during harvesting as a function of measured variables (97), by converting the instantaneous working points (95) into quasi-stationary working points (103), and by overwriting the corresponding working points (94) of the respective characteristic map (79) by means of simple calculation methods, the characteristic map can be updated directly during harvesting, without the need to specifically approach specific working points.

[0057] Figure 7Finally, the driver assistance system 69 according to the invention is described in context. According to the preceding explanations, the belt cutting unit 4, together with the driver assistance system 69, forms an automatic belt cutting unit 78, which can also include sub-automatic units 81a..f. Since characteristic maps 79 are stored in the memory 70 of the driver assistance system 69 and the computing device 71 is configured to operate the automatic belt cutting unit 78 and / or the sub-automatic units 81a..f as a characteristic map control 80 using the stored characteristic maps 79, the automatic belt cutting unit 78 and / or the sub-automatic units 81a..f are able to optimize working parameters 60 of the process units 59 of the belt cutting unit 4 and to specify the optimized working parameters 60' to the process units 59 of the belt cutting unit 4. For this purpose, the driver assistance system 69 determines, in a first step, the described measured variables 97 of the belt cutting unit 4 and the agricultural harvesting machine 1.The driver assistance system 69 according to the invention then generated the instantaneous operating points 95 of the automatic belt cutting unit 78 and / or the sub-automatic units 81a..f at least from the determined measured variables 97. In a next data processing step, the driver assistance system 69 converts the instantaneous operating points 95 into quasi-stationary operating points 103 in the manner described above and then transfers these quasi-stationary operating points 103 to the automatic belt cutting unit 78 and / or the sub-automatic units 81a..f. The characteristic map control 80 implemented by the automatic belt cutting unit 78 and / or the respective sub-automatic units 81a..f is designed such that the quasi-stationary operating points 103 are transferred to the respectively stored, already described initial characteristic map 93 or the already updated characteristic map 107. In the respective characteristic map 93, 107, the initial operating point 94 stored there is then replaced by the quasi-stationary operating point 103.As described, a number of quasi-stationary operating points 103 are first transferred to the respective characteristic map 93, 107, with each of these quasi-stationary operating points 103 replacing an initial operating point 94. A characteristic map update step 106 is then initiated, which results in the respective characteristic map 93, 107 being recalculated based on the determined quasi-stationary operating points 103. In the subsequent method step "Update Control Characteristic Curve" 108, a new control characteristic curve 90 of the respective characteristic map 93, 107 is determined, and ultimately, the newly determined characteristic map and associated control characteristic curve 90 form the respectively updated characteristic map 107. The driver assistance system 69 then uses the updated characteristic map 107 to determine the respective, previously described, optimized operating parameters 60' and specifies them to the respective process unit 59.

[0058] The map control 80 of the automatic belt cutting device 78 and / or the partial automatic devices 81a...f is also designed to allow for fast, dynamic map adaptation 111, and slow map adaptation 112. Dynamic map adaptation 111 is achieved when the quality parameter 82 of the respective map 79 is formed by the described vibration coefficient 83. The quality parameter vibration coefficient 83 therefore allows for fast, dynamic map control 80, since this quality parameter 82 depends on the layer height 9 detected by the layer height roller 8 positioned in the inclined conveyor 5 and is determined immediately after the crop flow 10 enters the agricultural machine 1.In contrast, the slow characteristic map adaptation 112 is set in that the quality parameter 82 of the respective characteristic map 79 is formed by the separation loss 84 already described and this is only measured when the residual material flow 33 and the loss grains contained therein leave the agricultural working machine 1 in its rear area.Although generated at a late point in time, the slow map adaptation 112 has the advantage that it detects a parameter, here the separation loss 84, which significantly determines the working quality of the agricultural working machine 1 and high separation losses 84 are always an indicator of a suboptimal crop flow in the agricultural working machine 1, wherein a suboptimal crop flow in the agricultural working machine 1 can be counteracted in particular if the harvesting attachment 3, here the belt cutting unit 4, generates a homogeneous crop flow 10, which is then continuously transferred to the agricultural working machine 1.

[0059] In addition, the driver assistance system 69 can be designed such that the characteristic map control 80 comprises a test step 113 in which it is checked whether, for the working parameters 60 to be optimized, opposing tendencies for the value of the respectively optimized working parameter 60' arise when applying the dynamic characteristic map adaptation 111 and the inert characteristic map adaptation 112. If this is the case, an advantageous embodiment of the invention provides that a so-called cost function decides which working point (95, 103) resulting from the control characteristics (90) is approached, wherein the cost function includes the parameters throughput / h, vibration coefficient (83), separation losses (84), and cutting unit losses, and wherein these parameters can be weighted differently.

[0060] Furthermore, the driver assistance system 69 is designed in such a way that it takes expert knowledge 114 into account when generating the respective characteristic maps 79, which can be both the initial characteristic maps 93 and the updated characteristic maps 107. List of reference symbols: 1 agricultural work machine 34 Reel drive motor 2 Combine harvester 35 Arrow direction 3 Harvesting header 4 Belt cutting unit 40 crop input area 5 Inclined conveyor 41 knife bar 6 Funding bodies 42 Plant population 7 Swivel axis 43 left-side cross conveyor belt 8 Layer height roller 44 right-side cross conveyor belt 9 Layer height 45 Midband 10 Crop flow 46-49 Arrow direction 11 threshing concave 50 Feed roller 12 threshing organ 51 reel 13 Deflection drum 52-53 Arrow direction 14 Separator rotor arrangement 54,55 lifting cylinder 15 Separating device 56 Reel support arm 16 grains 57 Frame 17 Return floor 58 Driving tines 18 Feed floor 59 Process unit 19 Sieve level 60 Working parameters 20 Sieve level 60' optimized working parameters 21 fan 61 Cutting speed 22 Cleaning facility 62 Knife stroke 23 Elevator 63-65 Belt speed 24 grain tank 66 Feed roller horizontal position 25 Grain flow 67 Reel vertical position 26 Housing 68 Reel horizontal position 27 straw chopper 69 Driver assistance system 28 Shredding device 70 memory 29 Straw deflector 71 Calculating device 30 straw 72 internal information 31 Floor 73 external information 32 Goods distribution device 74 stored information 33 Residual material flow 75 cabin 76 Control and display unit 109 Dead time interval 77 driver 110 measuring chain 78 Automatic belt cutting machine 111 dynamic map adaptation 79 map 112 sluggish map adaptation 80 Map control 113 Test step 81 Semi-automatic machine 114 Expert knowledge 82 Quality parameters 83 Vibration coefficient 84 Separation loss 85 Swivel axis 86 deflection 87 Inclined conveyor bars 88 Grain loss sensor 89 Grain loss 90 Control characteristic curve 91 Expert knowledge 92 hydraulic pressure 93 Initial map 94 Initial operating point 95 Current operating point 96 Time 97 Measured quantity 98 Longitudinal vibration 99 Transverse vibration 100 Stock level 101 data matrix 102 Time interval 103 quasi-stationary operating point 104 data matrix 105 Initial data matrix 106 Map update step 107 updated map 108 Step "Update control characteristic"

Claims

1. An agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) for cutting and picking up harvested material, wherein the driver assistance system (69) comprises a memory (70) for storing data and a computing device (71) for processing the data stored in the memory (70) and the draper cutting unit (4) comprises at least one centre belt (45) for conveying harvested material to an intake roller (50) and / or to an intake channel of an inclined conveyor (5) and at least one transverse conveyor belt (43, 44) disposed to the left side and to the right side of the centre belt (45) for conveying the harvested material to the centre belt (45), wherein the centre belt (45), the left side and the right side transverse conveyor belt (43, 44) are disposed behind a cutter bar (41) in the direction of travel and the upper side of the draper cutting unit (4) receives a reel (51), characterized in that the draper cutting unit (4) together with the driver assistance system (69) form an automated draper cutting unit (78), in which characteristic diagrams (79) are stored in the memory (70) of the driver assistance system (69) and the computing device (71) is configured to operate the automated draper cutting unit (78) as a characteristic diagram controller (80) by means of the stored characteristic diagrams (79) and the automated draper cutting unit (78) is configured to optimize operating parameters (60) of the draper cutting unit (4) and to specify the optimized operating parameters (60') to the draper cutting unit (4), wherein the one or the plurality of characteristic diagrams (79) associated with the automated draper cutting unit (78) describe at least the relationship between one or more operating parameters (60) and quality parameters (82) and a control characteristic curve (90) is associated with the respective characteristic diagram (79) and the control characteristic curve (90) lies in the region of the minimum of the respective quality parameter (82) and the automated draper cutting unit (78) determines optimized operating parameters (60') by means of the control characteristic curve (90) and specifies the respective optimized operating parameters (60') to the draper cutting unit (4).

2. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 1, characterized in that at least the right side and the left side transverse conveyor belt (43, 44), the centre belt (45), the intake roller (50), the reel (51) and / or the cutter bar (41) form processing assemblies (59) of the draper cutting unit (4) and the automated draper cutting unit (78) is configured to optimize the operating parameters (60) of one or more of these processing assemblies (59) and to specify the optimized operating parameters (60') to the respective processing assembly (59).

3. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 2, characterized in that the automated draper cutting unit (78) is configured to form processing assembly-specific automated subunits (80a...f) in a manner such that the automated draper cutting unit (78) forms one or more automated transverse conveyor belts (80a, b), an automated centre belt (80c), an automated reel (80d), an automated cutter bar (80e) and / or an automated intake roller (80f) and the respective automated subunits (80a...f) are configured to optimize the operating parameters (60) of the transverse conveyor belts (43, 44), the centre belt (45), the reel (51), the cutter bar (41) and / or the intake roller (50) of the draper cutting unit (4) and to specify the optimized operating parameters (60') to the respective processing assemblies (59) of the draper cutting unit (4).

4. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 3, characterized in that one or more characteristic diagrams (79) are associated with each automated subunit (80a...f), wherein the one or the plurality of characteristic diagrams (79) describe at least the relationship between operating parameters (60) of the processing assemblies (59) associated with the respective automated subunit (80a...f) and quality parameters (82) and a control characteristic curve (90) is associated with the respective characteristic diagram (79) and the control characteristic curve (90) lies in the region of the minimum of the respective quality parameter (82) and the automated draper cutting unit (78) determines optimized operating parameters (60') by means of the control characteristic curve (90) and specifies the respective optimized operating parameters (60') to the draper cutting unit (4).

5. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the quality parameter or quality parameters (82) of the one or more characteristic diagrams (79) is an oscillation coefficient (83) and / or a separation loss (84).

6. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 5, characterized in that the oscillation coefficient (83) describes a fluctuation of the harvested material throughput and means (8) are provided which determine a harvested material throughput and the oscillation coefficient (83) describing the fluctuation of the harvested material throughput in a region lying in front of the threshing units (12) of the agricultural harvesting machine (1).

7. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 5, characterized in that the separation loss (84) describes the loss of grain, namely the proportion of lost grain which is discarded from the agricultural harvesting machine (1).

8. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the respective characteristic diagram (79) takes into consideration a parameter which represents the harvested material throughput, preferably the layer height (9).

9. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the respective characteristic diagram (79) describes the respective operating parameters (60) as a function of oscillation coefficients (83) and of the layer height (9) representing the harvested material throughput.

10. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the respective characteristic diagram (79) describes the respective operating parameter or operating parameters (60) at least as a function of the separation loss (84).

11. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the respective characteristic diagram (79) is configured as an initial characteristic diagram (93) wherein, in the initial characteristic diagram (93), at least the relationship between operating parameters (60) of a processing assembly (59) and quality parameters (82) is described by initial operating points (94), instantaneous operating points (95) are determined during the harvesting operation as a function of measured variables (97), the instantaneous operating points (95) are converted into quasi-stationary operating points (103) and the determined quasi-stationary operating points (103) overwrite the corresponding operating points (94) of the respective characteristic diagram (79), so that the initial characteristic diagram (93) is changed into an updated characteristic diagram (107).

12. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 11, characterized in that the measured variables (97) comprise the longitudinal oscillation (98) and / or the transverse oscillation (99) of a flow of harvested material (10) passing through the agricultural harvesting machine (1) and / or the planted crop height (42) and / or the hydraulic pressure (92) or power requirement of a reel drive motor (34) and wherein the measured variables (97) are converted into quality parameters (82) or a harvested material throughput.

13. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 11, characterized in that the instantaneous operating point (95) is converted into a quasi-stationary operating point (103) if, within a time interval (102), preferably within a time interval (102) of 6 seconds, one or more measured variables (97) remains almost constant.

14. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 13, characterized in that the time interval (102) is measured such that a dead time interval (109) in the chain of measurements is compensated for.

15. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the operating parameter (60) for the "right side transverse conveyor belt" (44) processing assembly comprises at least the belt speed (64) of the right side transverse conveyor belt (44), the operating parameter (69) for the "left side transverse conveyor belt" (43) processing assembly comprises at least the belt speed (63) of the left side transverse conveyor belt (43) and the operating parameter (60) for the centre belt (45) processing assembly comprises at least the belt speed (65) of the centre belt (45), the operating parameter (60) for the reel (51) processing assembly comprises at least the vertical reel position (67) and / or the horizontal reel position (68), the operating parameter (60) for the intake roller (50) processing assembly comprises at least the horizontal intake roller position (66) and / or the intake roller speed (49), the operating parameter (60) for the cutter bar (41) processing assembly comprises at least the cutting speed (61) and / or the knife stroke (62).

16. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the characteristic diagram (79) describes the relationship between the oscillation coefficient (83) quality parameter, the layer height (9) parameter representing the harvested material throughput and the "belt speed of centre belt" (65) operating parameter and the control characteristic curve (90) associated with the characteristic diagram (79) lies in the region of the minimum of the oscillation coefficient (83).

17. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the characteristic diagram (79) describes the relationship between the oscillation coefficient (83) quality parameter, the layer height (9) parameter representing the harvested material throughput and the "belt speed of right side and / or left side transverse conveyor belt" (63, 64) and the control characteristic curve (90) associated with the characteristic diagram (79) lies in the region of the minimum of the oscillation coefficient (83).

18. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the characteristic diagram (79) describes the relationship between the oscillation coefficient (83) quality parameter, the layer height (9) parameter representing the harvested material throughput and the horizontal reel position (68) and / or vertical reel position (67) operating parameter and the control characteristic curve (90) associated with the characteristic diagram (79) lies in the region of the minimum of the oscillation coefficient (83).

19. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the characteristic diagram (79) describes the relationship between the separation loss (84) quality parameter and the centre belt (65) speed and left side and / or right side transverse conveyor belt (63, 64) speed operating parameters and the control characteristic curve (90) associated with the characteristic diagram (79) lies in the region of the minimum of the separation loss (84).

20. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the characteristic diagram (79) describes the relationship between the separation loss (84) quality parameter, the hydraulic pressure (92) or power requirement of a reel drive motor (34) / reel drive cylinder (54, 55) parameters representing the harvested material throughput and the horizontal reel position (68) and / or vertical reel position (67) operating parameter and the control characteristic curve (90) associated with the characteristic diagram (79) lies in the region of the minimum of the separation loss (84).

21. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the adaptation of the respective characteristic diagram (79) as a function of the oscillation coefficient (83) brings about a rapid, dynamic adaptation (111) of the respective characteristic diagram (79), while the adaptation of the respective characteristic diagram (79) as a function of the separation loss (84) brings about a slow, delayed adaptation (112) of the respective characteristic diagram (79).

22. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, wherein the driver assistance system (69) is further configured a. to determine measured variables (97) of the draper cutting unit (4) and / or of the agricultural working machine (1) b. to derive instantaneous operating points (95) from the determined measured variables (97) c. to convert the instantaneous operating point (95) into a quasi-stationary operating point (103) d. to transfer the quasi-stationary operating point (103) to the respective automated draper cutting unit (78) or to one or more automated subunits (80a...f) e. in the respective automated draper cutting unit (78) or automated subunit (80a...f), to transfer to the respective stored initial characteristic diagram (93) or to the already-updated characteristic diagram (107) f. in the respective characteristic diagram (93, 107), to replace an initial operating point (97) or an already-updated operating point by a quasi-stationary operating point (103) g. to calculate an updated characteristic diagram (107), taking the inserted quasi-stationary operating points (103) into consideration h. to determine the control characteristic curve (90) of the updated characteristic diagram (107) i. to determine optimized operating parameters (60') by means of the updated control characteristic curve (90) k. to specify the respective optimized operating parameters (60') to the respective processing assembly (59).

23. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 22, characterized in that the adaptation of the characteristic diagram comprises a superimposition of a dynamic "oscillation coefficient" (111) characteristic diagram adaptation and a passive "separation loss" (112) characteristic diagram adaptation, wherein the dynamic characteristic diagram adaptation (111) thereby causes the quality parameter (82) of the respective characteristic diagram (79) to be formed by the oscillation coefficient (83) and the delayed characteristic diagram adaptation (112) thereby causes the quality parameter (82) of the respective characteristic diagram (79) to be formed by the separation loss (84).

24. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 22, characterized in that in a test step (113), the driver assistance system (69) tests whether opposing tendencies for the value of the respective optimized operating parameter (60') are set for the operating parameters (60') to be optimized when applying the dynamic characteristic diagram adaptation (111) and the delayed characteristic diagram adaptation (112).

25. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 24, characterized in that a cost function decides which operating point (95, 103) resulting from the control characteristic curves (90) is approached, wherein the cost function contains the parameters of throughput / h, oscillation coefficient (83), separation losses (84), cutting unit losses, and wherein these parameters may be weighted differently.

26. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to claim 22, characterized in that the driver assistance system (69) takes expert knowledge (114) into account during the generation of the respective characteristic diagrams (79, 93, 107).

27. The agricultural harvesting machine (1) with a driver assistance system (69) and with a harvester front attachment (3) configured as a draper cutting unit (4) according to one of the preceding claims, characterized in that the cutter bar (41) and at least the transverse conveyor belts (43, 44) disposed downstream thereof are flexible in configuration.