AGRICULTURAL WORKING MACHINE WITH KEY CONTROL

Description

[0001] The invention relates to an agricultural work machine comprising a map control system according to the preamble of claim 1.

[0002] It is well known in the art to control agricultural machinery using map-based control systems. EP 2 687 922 A2 discloses a map-based control system whose map is updated at regular intervals by selectively approaching operating points that lie outside the currently traversed range of the map. Since maps consist of a multitude of characteristic curves that follow specific mathematical relationships, these curves only describe the dependencies between influencing and evaluation variables relatively well within the currently traversed operating range, while the curves outside this range often no longer accurately reflect the actual relationships. If a current operating point is reached that does not lie within this currently traversed range of the map, influencing variables are determined that are not within an optimized range.This means that the optimization process is only gradually brought back to optimal values ​​for influencing factors, such as grain loss. During this time, the optimization function of the driver assistance system does not operate optimally. The method known from EP 2 687 922 A2 at least partially overcomes these known disadvantages, but itself has the drawback that the targeted approach to specific operating points makes the optimization process more complicated for the operator of the agricultural machinery, as they must actively trigger and control an update of the stored characteristic map.EP 3 858 129 A1 relates to a driver assistance system for controlling a cutting unit, wherein the driver assistance system comprises a memory for storing data and a computing device for processing the data stored in the memory, wherein the computing device is configured to autonomously determine at least one machine parameter by means of at least one input variable and to specify it to the cutting unit.

[0003] Given the increasing importance of map-based control of agricultural harvesting machines, as described in DE 10 2015 113 527 A1, EP 3 075 223 B1, EP 2 401 905, there is a need to simplify and accelerate the updating of the respective maps.

[0004] In this context, driver assistance systems have become established, which control the optimization of the working methods of the process units of the agricultural machinery by means of so-called automatic systems, as known from DE 10 2018 111 076 or EP 3 123 711 A1.

[0005] It is therefore an object of the invention to avoid the described disadvantages of the prior art and in particular to propose a device for updating working unit parameter-optimizing characteristic maps, which simplifies and accelerates the updating of characteristic maps.

[0006] This problem is solved according to the invention by an agricultural working machine with the characterizing features of claim 1.

[0007] By incorporating a map-based control system into the agricultural machinery, and by considering one or more maps and configuring each map to optimize the working parameters of the process units of the agricultural machinery, where the respective map is implemented as an initial map and the relationship between the working parameters of a process unit and quality parameters is described by initial operating points in the initial map, and a control curve is assigned to the respective map and the control curve lies in the range of the minimum or maximum of the respective quality parameter, it is ensured that the updating of maps can be simplified and accelerated, since the optimization process is guided along the determined control curve.

[0008] In an advantageous embodiment, it is provided that, during operation, instantaneous operating points are determined based on measured variables. These instantaneous operating points are then converted into quasi-stationary operating points, and the determined quasi-stationary operating points overwrite the initial operating points or the already updated operating points of the respective characteristic map. The initial characteristic map is converted into an updated one, and an updated control curve for the updated characteristic map is determined. This has the particular effect that the characteristic map can be updated directly during harvesting using simple calculation methods, without the need to specifically target particular operating points.

[0009] In an advantageous embodiment of the invention, optimized operating parameters are determined using the updated control characteristic curve, and the respective optimized operating parameters are then assigned to the respective process unit. Given that the characteristic curves describe parameter relationships over a large spatial range of values, a simple method can be created using the control characteristic curve, which lies in the region of the minimum or maximum of the respective quality parameter, leading quickly to optimized operating parameters.

[0010] By temporarily storing the determined instantaneous operating points in an initial data matrix, determining the change in the value of each instantaneous operating point within a time interval, and then converting the instantaneous operating point into a quasi-stationary operating point when its value remains approximately unchanged, preferably constant, this ensures that the operating points to be incorporated into the respective characteristic map are of sufficient quality and therefore contain few errors. Furthermore, it ensures that quasi-stationary points that are outdated and no longer reflect the current situation are discarded.

[0011] In an advantageous embodiment of the invention, the determined quasi-stationary operating points are collected in a further data matrix, wherein a specific number of quasi-stationary operating points are collected in this further data matrix, preferably four quasi-stationary operating points, and in this data matrix, at least the dependencies between a quality parameter and a working parameter are determined for the collected quasi-stationary operating points, analogous to the respective initial characteristic map. This has the particular effect that the respective characteristic map is not updated continuously, but at acceptable intervals, namely when working parameters change significantly, thus also ensuring efficient use of the available computing power.

[0012] In a further advantageous embodiment, the quasi-stationary operating points collected in the subsequent data matrix are transferred to an initial data matrix. This initial data matrix corresponds to the initial characteristic map with the transferred quasi-stationary operating points, so that the update of the actual characteristic map is calculated in an intermediate database without affecting the characteristic map according to which the agricultural machine is optimized during operation. In this context, it is therefore also advantageous if the updated characteristic map is then calculated from the initial data matrix in a characteristic map update step. The updated characteristic map replaces the initial characteristic map or a previously updated characteristic map, and in a "control curve update" step, the control curve is recalculated for each updated characteristic map.This has the particular effect that the map and control characteristic curve update of the map according to which the agricultural machine is controlled is updated in one step and in a very short period of time.

[0013] A particularly effective driver assistance system is achieved by integrating the map-based control into a driver assistance system assigned to the agricultural machinery, wherein the maps are stored in a memory of the driver assistance system and a computing device is set up to operate the map-based control using the stored maps, and that, in an advantageous embodiment of the invention, the driver assistance system is further equipped a. to determine the measured variables b. to derive the instantaneous operating points from the determined measured variables c. to convert the instantaneous operating point into the quasi-stationary operating point d. to transfer the quasi-stationary operating point to the respective stored initial characteristic map 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 curve of the updated characteristic map i. to determine optimized operating parameters using the updated control characteristic curve k. to specify the respective optimized operating parameter to the respective process unit.

[0014] The initial map is stored in a start configuration in the driver assistance system of the agricultural machine or is transferred to it before operation, whereby the initial map is cyclically updated during operation and saved as a new initial map.

[0015] By designing the agricultural machine as an agricultural harvesting machine and by operating a harvesting operation, the working quality of a harvesting machine in the harvesting operation can be significantly improved.

[0016] In an advantageous embodiment of the invention, the measured variables include the longitudinal vibration and / or the 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, wherein the measured variables are converted into quality parameters or a crop throughput, so that all boundary conditions that significantly influence the working quality of the agricultural machine are comprehensively taken into account.

[0017] A particularly efficient optimization process for the operation of the agricultural harvesting machine results when one or more process units together with the driver assistance system form a process unit control unit, in which the characteristic maps are stored in the memory of the driver assistance system and the computing device is set up to operate the process unit control unit as a characteristic map controller using the stored characteristic maps and the process unit control unit is set up to optimize the working parameters of the process unit(s) and to specify the optimized working parameters to the respective process unit.In this context, it is advantageous if the processing unit can be configured as a front attachment unit, a belt cutter unit, a threshing unit, a separator unit, a cleaning unit, a chopping unit, and / or a distribution unit, and if each of the processing unit units can form sub-units, with each sub-unit being configured to optimize the operating parameters of a processing unit and to assign the optimized operating parameters to the respective processing unit. In this way, comprehensive optimization of the working quality of the agricultural machinery is ensured.

[0018] By describing the relationship between the working parameters of a process unit and quality parameters using one or more characteristic fields assigned to the respective process unit or sub-unit, it is ensured that the influence of each individual process unit on the crop flow optimization in the agricultural harvesting machine can be specifically controlled.

[0019] The most significant factor influencing the movement of crop flow through an agricultural harvesting machine is the crop throughput, with very high or very low throughputs often causing disruptions in the crop flow within the header and the harvesting machine itself. Therefore, it is particularly advantageous if the respective performance map takes into account a parameter representing the crop throughput, preferably the layer height.

[0020] In a further advantageous embodiment of the invention, it is provided that the quality parameter(s) of 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 through the combine harvester.

[0021] By using the vibration coefficient to describe a fluctuation in crop throughput and by providing means to determine both the crop throughput and the vibration coefficient describing this fluctuation in a region located upstream of the threshing elements of the agricultural harvesting machine, an advantageous embodiment of the invention ensures that the parameter most clearly describing an inhomogeneous crop flow is given decisive consideration when optimizing the crop flow in the header. Furthermore, by determining the vibration coefficient in a region located upstream of the threshing elements, the influence of the threshing elements, which would completely alter the crop flow structure, can be eliminated.

[0022] In an advantageous embodiment of the invention, the respective characteristic map therefore 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 operating parameter(s) to be optimized, at least as a function of the separation loss.

[0023] An efficient map-based control system is achieved when the map describes the relationship between the quality parameter vibration coefficient, the layer height representing the crop throughput, and a working parameter, and the control characteristic assigned to the map lies in the area of ​​the minimum of the vibration coefficient.

[0024] An efficient characteristic map control is also achieved in a design if the process unit automatic is designed as a belt cutter automatic and 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" or the working parameter "belt speed right-side and / or left-side cross conveyor belt" or the working parameter reel horizontal position and / or reel vertical position and the control characteristic curve assigned to the respective characteristic map lies in the area of ​​the minimum of the vibration coefficient.

[0025] In an advantageous embodiment of the invention, one or more characteristic maps according to the invention are designed to describe the relationship between the operating parameters of a process unit and quality parameters. In this context, it is advantageous if one or more characteristic maps are assigned to each sub-machine, wherein the one or more characteristic maps describe at least the relationship between the operating parameters of the process unit assigned to the respective sub-machine and quality parameters. This makes it possible to control each process unit of the belt cutter very specifically, since experience has shown that the individual process units have very different influences on the material flow in the belt cutter.

[0026] Given that a suboptimal crop flow in the harvesting header and the agricultural harvesting machine also has negative effects on separation loss, an advantageous embodiment of the invention provides that the characteristic map describes the relationship between the quality parameter separation loss and one or more operating parameters, and that the control characteristic curve assigned to the characteristic map lies in the area of ​​minimum separation loss.In this context, it is also advantageous if the process unit is designed as a belt cutter and 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 ​​minimum separation loss.

[0027] The more operating parameters of an agricultural harvesting machine are optimized using the characteristic map adaptation according to the invention, the higher the working quality of the respective harvesting machine. Therefore, in an advantageous embodiment of the invention, the operating parameters to be optimized can include the operating parameters cutting speed, knife stroke, belt speed, feed roller horizontal position, feed roller speed, reel vertical position, reel horizontal position, threshing drum speed, threshing gap size, deflection drum speed, rotor speed, vibration frequency and direction of vibration of the sieve planes, blower speed, speed of the straw chopper, speed of the distribution device, and discharge point of the distribution device.

[0028] In an advantageous embodiment, by adjusting the respective characteristic map depending on the vibration coefficient to produce a fast, dynamic adjustment of the respective characteristic map, while adjusting the respective characteristic map depending on the separation loss produces a slow, inert adjustment 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 operating parameters of the belt cutter.

[0029] 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 an inert characteristic map adaptation "deposition loss".

[0030] Further advantageous embodiments are the subject of further dependent claims and are described below with reference to exemplary embodiments illustrated in several figures. These show: Figure 1 shows a combine harvester with header, only partially depicted. Figure 2 shows a detailed view of the combine harvester and header. Figure 1 Figure 3: A schematic representation of the map-based control according to the invention. Figure 4: A detailed representation of the map-based adaptation according to the invention. Figure 4a: Detailed explanations of Figure 4 Figure 5: A schematic representation of the operation of the driver assistance system according to the invention. Figure 6: An application of map adaptation to specific maps.

[0031] The in Fig. 1The agricultural machine 1, schematically depicted as a combine harvester 2, accommodates a harvesting head 3, exemplified as a belt cutter 4, in its front area. This head 3 is connected to the inclined conveyor 5 of the combine harvester 2 in a manner known per se. The conveying elements 6 of the inclined conveyor 5 are pivotally guided about a pivot axis 7 transverse to the longitudinal direction of the combine harvester 2. In the illustrated embodiment, a so-called layer height roller 8, known per se but explained in more detail later, is assigned to the conveying elements 6 in a central area. The vertical deflection of this roller is a measure of the layer height 9 of the crop flow 10 passing through the inclined conveyor 5.The crop flow 10 passing through the inclined conveyor 5 is transferred in the upper, rear section of the inclined conveyor 5 to the threshing elements 12 of the combine harvester 2, which are at least partially enclosed on the lower side by a so-called threshing concave 11. A deflecting drum 13 downstream of the threshing elements 12 redirects the crop flow 10 exiting them in the rear section so that it is transferred directly to a separating device 15 designed as a separator rotor assembly 14. It is within the scope of the invention that the separating device 15 can also be designed as a straw 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 twin-rotor axial flow threshing and separating unit.

[0032] In the separating device 15, the material flow 10 is conveyed in such a way that freely moving grains 16 contained in the material flow 10 are separated in the lower section of the separating device 15. Both 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 flow 25 is finally transferred to a grain tank 24 by means of elevators 23.

[0033] In the rear section of the separating device 15, a shredding device 28, designed as a straw chopper 27 and enclosed in a funnel-shaped housing 26, is assigned to it. The straw 30 exiting the separating device 15 in the rear section is fed to the straw chopper 27 from above. By means of a pivotable straw deflector flap 29, the straw 30 can also be redirected so that it is deposited directly onto the ground 31 in a swath.

[0034] In the discharge 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 is transferred to a material distribution device 32, which releases the residual material flow 33 in such a way that the residual material flow 33 is distributed widely on the ground 31.

[0035] Figure 2Figure 1 shows details of the harvesting header 3, implemented as a belt cutter 4, and the agricultural machine 1, implemented as a combine harvester 2, which are necessary for a more detailed explanation of the invention described below. In the crop-inlet area 40, the belt cutter 4 accommodates a cutter bar 41, which is either rigid or flexible, and which cuts the crop 42 to be harvested. A flexible cutter bar 41 can, in a known manner, better follow changes in ground contours in the longitudinal and transverse directions. In the illustrated embodiment, a left-hand transverse conveyor belt 43, a right-hand transverse conveyor belt 44, and a central conveyor belt 45 are associated with the cutter bar 41, as seen in the direction of arrow 40. The left-hand transverse conveyor belt 43 conveys the harvested crop 42 it has captured in the direction of arrow 46 towards the central conveyor belt 45 and transfers it to the latter.Similarly, the right-hand transverse conveyor belt 44 conveys the harvested crop 42 it has picked up, in the direction of arrow 47, also towards the central conveyor belt 45 and transfers it to the latter. The central conveyor belt 45 then conveys the crop 42, picked up by the transverse conveyor belts 43 and 44 and transferred to the central conveyor belt 45, to the rear section of the belt cutter 4, in the direction of arrow 48. In this rear section, the crop 42 is picked up by a feed roller 50, which rotates in the direction of arrow 49 and is assigned to this section, and transferred as the aforementioned crop flow 10 to the inclined conveyor 5. The belt cutter 4 accommodates a reel 51, which may be in one or more sections, at its top.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 and 55 are positioned on the reel support arm 56 and on the frame 57 of the belt cutter 4 to implement these movements. The lifting cylinders 54 and 55 are each arranged on both sides of the belt cutter 4. Furthermore, the position of the drive tines 58 of the reel 51 can be adjusted in a manner known per se and therefore not described in detail here. In addition, a reel drive motor 34 is assigned to at least one side of the reel 51, which sets the reel 51 into a rotary motion in the direction of arrow 35. The cutter bar 41, the left and right transverse conveyor belts 43 and 44, the center belt 45, the feed roller 50, and the reel 51 form the respective process units 59 of the belt cutter 4.If the harvesting header 3 is not designed as a belt cutter 4, the process units 59 can also be any other assemblies of a harvesting header 3, such as the assemblies of a conventional grain cutter or the like. Each of these process units 59 is assigned working parameters 60, wherein the working parameter of the cutter bar 41 is the cutting speed 61 and / or the cutter stroke 62, the working parameter of the left-hand transverse conveyor 43, the right-hand transverse conveyor 44, and the center conveyor 45 is the respective conveyor 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.

[0036] The process units 59 of the agricultural machine 1, designed as a combine harvester 2, are shown in the right-hand figure in Figure 2The process units 59 of the combine harvester 2 can include, among other things, the threshing elements 12, the concave 11, the deflecting drum 13, the separating device 15, the cleaning device 22, and specifically the sieve levels 19, 20 and the blower 21 associated with the cleaning device 22, the shredding device 28, here the straw chopper 27, and the crop distribution device 32. Furthermore, the operating parameters 60 of these process units can preferably be the following: The threshing elements 12 can be formed by a plurality of threshing drums 12.1, 12.2, and the operating parameter 60 is the respective threshing drum speed 69. The operating parameter of the concave 11 can, for example, be its so-called threshing gap 70. The operating parameter of the deflecting drum 13 associated with the threshing elements 12 can be its speed 71. Depending on the specific design of the separating device 15, its operating parameters 60 can be very different.From the prior art, parameters such as the respective rotor speed 72 or the opening widths 73 of the separating jacket of the separating device 15 (not shown here) are known. The operating parameters of the cleaning device 22 can include the vibration frequency and direction 74, 75 of the sieve planes 19, 20 and the rotational speed 76 of the blower 21. The operating parameter 60 of the straw chopper 27 can, for example, be limited to the rotational speed 77 of the chopper shaft (not shown here). The operating parameters 60 of the material distribution device 32 can be, in a manner known per se and therefore not described in detail here, the rotational speed 78 of the discharge elements (not shown) and the discharge point 79 of the residual material stream 33 from the material distribution device 32.

[0037] According to Figure 3The agricultural machine 1 has a driver assistance system 80 for controlling the header 3 and the combine harvester 2. The driver assistance system 80 comprises a memory 81 for storing data, which will be explained in more detail later, and a processing unit 82 for processing the data stored in the memory 81. The data stored in the memory 81 can initially include information 83 generated by internal sensor systems, information 84 generated by external systems, and information 85 stored directly in the processing unit 82. The driver assistance system 80 can be operated via a control and display unit 87 located in the cab 86 of the combine harvester 2. In principle, the driver assistance system 80 is designed to support a driver 88 of the combine harvester 2 in operating the combine harvester 2.

[0038] It is essential that, firstly, the harvesting header 3, exemplified as a belt cutter 4, together with the driver assistance system 80, forms a belt cutter unit 89. At the same time, the process units 59 of the agricultural machine 1, designed as a combine harvester 2, are combined: here the threshing elements 12 including the concave 11 and the deflection drum 13 in a threshing unit 90, the separating device 15 in a separating unit 91, the cleaning unit 22 and here the sieve levels 19, 20 and the blower 21 assigned to the cleaning unit 22 in a cleaning unit 92, the chopping unit 28, here the straw chopper 27, in a chopping unit 93, and the crop distribution unit 32 in a distribution unit 94. Furthermore, instead of the highly specialized belt cutter unit 89, a general header unit 95 can also be provided.For the sake of simplicity, all the machines listed here, 89 - 95, will hereinafter be referred to collectively as process unit machine 96.

[0039] As proposed, the process unit controllers 96 are implemented by storing detailed characteristic maps 97 in the memory 81 of the driver assistance system 80, and by configuring the computing device 82 to operate the respective process unit controller 96 as a characteristic map controller 98 using the stored characteristic maps 97. The respective process unit controller 96 is configured to optimize the operating parameters 60 of the process units 59 and to specify the optimized operating parameters 60' to the respective process unit 59. In this way, the respective process unit controller 96 is configured to optimize the operating parameters 60 of one or more of the described process units 59 and to specify the optimized operating parameters 60' to the respective process unit 11-13, 15, 19-22, 27, 28, 32, 41, 43-45, 50, 51.

[0040] Furthermore, the respective process unit 96 can be configured to form process unit-specific sub-units 99 such that each sub-unit 99 optimizes a selection of process units 59. For example, the belt cutter 89 can form one or more cross conveyor units 99a, b, a center belt unit 99c, a reel unit 99d, a knife bar unit 99e and / or a feed roller unit 99f, and the respective sub-units 99a..f are configured to optimize the operating parameters 59 of the cross conveyors 43, 44, the center belt 45, the reel 51, the knife bar 41 and / or the feed roller 50 of the belt cutter 4 and to specify the optimized operating parameters 60' to the respective process unit 59 of the belt cutter 4. By analogy, one or more characteristic maps 97 can also be assigned to each sub-automaton 99a...f.

[0041] According to the invention, the respective characteristic map 97 is implemented as an initial characteristic map 100, wherein the initial characteristic map 100 describes at least the relationship between operating parameters 60 of a process unit 59 and quality parameters 101 by means of initial operating points 102, and a control characteristic curve 103 is assigned to the respective characteristic map 97, and the control characteristic curve 103 lies in the range of a minimum or maximum of the respective quality parameter 101. The control characteristic curve 103 lies in the range of a minimum of the respective quality parameter 101 when this describes a negative operating result of the agricultural machine 1, such as grain loss. Conversely, the control characteristic curve 103 lies in the range of a maximum of the respective quality parameter 101 when this describes a positive operating result of the agricultural machine 1, such as a grain purity level.In a start-up configuration, the initial map 100 can be stored in the driver assistance system 80 of the agricultural machine 1 or transferred to it before operation, whereby the initial map 100 is cyclically updated during operation and saved as a new initial map 100. The map 97 assigned to the respective process unit 96 can also take into account a parameter representing the crop throughput, preferably the layer height 9.

[0042] The inventive principle of map generation and map control 98 is described in Figure 4The characteristic curve 97 is stored as an initial characteristic curve 100 in the respective process unit 96 and / or the sub-units 99, whereby the described relationship between operating parameters 60 of the respective process unit 59, quality parameters 101, and the crop throughput-related parameter layer height 9 is represented by initial operating points 102 in the initial characteristic curve 100. During harvesting operation of the combine harvester 2, instantaneous operating points 104 for layer height 9 and operating parameters 60 are determined as a function of time 105.

[0043] To determine the instantaneous operating points 104, measured variables 106 are used, which according to Figure 4aPreferably, the measured variable can be a longitudinal vibration 107 and / or a transverse vibration 108 of a crop flow 10 passing through the agricultural harvesting machine 1, and / or a stand height 109 of the crop stand 42, and / or a hydraulic pressure 110 or power requirement of a reel drive motor 34. The measured variable longitudinal vibration 107 corresponds to the layer height 9 already described, determined by means of a layer height roller 8 as a function of time.

[0044] Therefore, the measured variables 106 are such that the quality parameters 101 and the throughput-proportional layer height 9 can be derived from them.

[0045] The determined instantaneous operating points 104 are temporarily stored in a data matrix 111. The change in the value of the respective instantaneous operating point 104 within a time interval 112 is determined, and the instantaneous operating point 104 is then converted into a quasi-stationary operating point 113 if its value remains approximately unchanged, preferably constant. A preferred time interval 112 can be six seconds. The time interval 112 should preferably be at least long enough to compensate for a dead time interval 114 in the measuring chain 115. For example, the crop stand 42 entering the harvesting head 3, designed as a belt cutter 4, in the crop input area 40 only reaches the described layer height roller 8 after a certain time.This time offset between material entry and measurement of the layer height 9, which depends significantly on the working width of the belt cutter 4 and the material conveying speed, is taken into account in the aforementioned dead time interval 114 (see . Figure 4a ).

[0046] The determined quasi-stationary operating points 113 are then collected in a data matrix 116. Once a certain number of quasi-stationary operating points 113 have been collected in the data matrix 116, preferably four quasi-stationary operating points 113, the dependencies between quality parameter 101, throughput-proportional layer height 9, and the operating parameter 60 of the respective process unit 59 are determined in this data matrix 116 for the collected quasi-stationary operating points 113, analogous to the respective initial characteristic curve 100. In a next step, the quasi-stationary operating points 113 are transferred to an initial data matrix 117, which corresponds to the initial characteristic curve 100 with the transferred quasi-stationary operating points 113. Then, in a characteristic curve update step 118, the updated characteristic curve 119 is calculated, which replaces the initial characteristic curve 100.In order to enable the updated characteristic map 119 to also allow the described characteristic map control 98, in the result of which the respective process unit 96 and / or the sub-automatic units 99 generate optimized working parameters 60', the control characteristic curve 103 is recalculated for each updated characteristic map 119 in a step "Update control characteristic curve" 120, which extends in the respective updated characteristic map 119 along the minimum or maximum of the respective quality parameter 101 and describes the respective optimal working parameter 60'.

[0047] The updated characteristic map 119 then forms the respective initial characteristic map 100 in the respective process unit automaton 96 and / or the respective sub-automaton 99 for a subsequent characteristic map adaptation process.

[0048] According to the invention, in this way instantaneous operating points 104 are determined during operation depending on the described measured variables 106, which are converted into quasi-stationary operating points 113 and the determined quasi-stationary operating points 113 overwrite the corresponding operating points 102 of the respective characteristic map 97, wherein the initial characteristic map 100 is converted into an updated characteristic map 119 and an updated control characteristic curve 103 of the updated characteristic map 119 is determined.

[0049] Figure 5 Finally, the driver assistance system 80 according to the invention is described in context. As explained above, the process unit(s) 59 together with the driver assistance system 80 form a process unit automaton 96, which may also include sub-automatons 99a..f.

[0050] By storing characteristic maps 97 in memory 81 of the driver assistance system 80 and by configuring the computing device 82 to operate the process unit 96 and / or the sub-automatic units 99a..f as a characteristic map control 98 using the stored characteristic maps 97, the process unit 96 and / or the sub-automatic units 99a..f are able to optimize working parameters 60 of the process units 59 of the harvester attachment 3 and the agricultural machine 1 designed as a combine harvester 2 and to specify the optimized working parameters 60' to the respective process units 59. For this purpose, the driver assistance system 80 determines, in a first step, the described measured variables 106 of the harvesting header 3 and the agricultural harvesting machine 1. From at least the determined measured variables 106, the driver assistance system 80 according to the invention then generates the instantaneous operating points 104 of the process unit 96 and / or the sub-automatic units 99a..f.In a subsequent data processing step, the driver assistance system 80 converts the instantaneous operating points 104 into quasi-stationary operating points 113 in the manner described above and then transfers these quasi-stationary operating points 113 to the process unit 96 and / or the sub-units 99a..f. The map control 98 implemented by the process unit 96 and / or the sub-units 99a..f is configured such that the quasi-stationary operating points 113 are transferred to the respective stored, already described initial map 100 or the already updated map 119. In the respective map 100 or 119, the stored initial operating point 102 is then replaced by the quasi-stationary operating point 113. As described, a number of quasi-stationary operating points 113 are first transferred to the respective characteristic map 100, 119, with each of these quasi-stationary operating points 113 replacing an initial operating point 102.A map update step 118 is then initiated, which results in the respective map 100, 119 being recalculated based on the determined quasi-stationary operating points 113. In the subsequent process step "update control characteristic curve" 120, a new control characteristic curve 103 for the respective map 100, 119 is determined, and ultimately the newly determined map 100, 119 and the associated control characteristic curve 103 constitute the respective updated map 119. The driver assistance system 80 then uses the updated map 119 to determine the respective optimized operating parameters 60' already described and specifies these to the respective process unit 59.

[0051] The characteristic map control 80 of the process unit 96 and / or the sub-automatic units 99a..f is also designed to allow rapid, dynamic characteristic map adaptation 121 and inert characteristic map adaptation 122. Dynamic characteristic map adaptation 121 is achieved when the quality parameter 101 of the respective characteristic map 97 is formed by a vibration coefficient 123, which will be described in more detail later. The vibration coefficient 123, known from the prior art, is described in detail in EP 3 858 129 A1, the full disclosure of which is incorporated herein by reference. According to the disclosure in EP 3 858 129 A1, the vibration coefficient 123 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 area of ​​the inclined conveyor 5 is recorded as a function of time.The determined layer height variation is then converted into the vibration coefficient 123 according to the invention, in accordance with the method disclosed in EP 3 858 129. The layer height 9 is determined in a region located upstream of the threshing elements 12, since the crop flow 10 is processed so intensively in the region of the threshing elements 12 that layer height variations 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 aforementioned layer height roller 8 in the region of the inclined conveyor 5, wherein the layer height roller 8 is pivotally guided about a pivot axis 127 and the deflection 128 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 129 which cause the material to be conveyed, such that their layer height-dependent movement is transferred to the layer height roller 8 and causes the deflection 128 of the layer height roller 8.

[0052] The quality parameter vibration coefficient 123 therefore allows for a fast, dynamic characteristic map control 121, since this quality parameter 101 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.

[0053] In contrast, the sluggish characteristic map adaptation 122 is achieved by the fact that the quality parameter 101 of the respective characteristic map 97 is formed by a separation loss 124, and this is only measured when the residual material stream 33 and the lost grains contained therein leave the agricultural machine 1 in its rear area. The separation loss 124 describes the grain loss 130, namely the lost grains exiting the combine harvester 2 in its rear area. As a rule, the grain loss 130 in the rear area of ​​the combine harvester 2 is determined in a manner known per se by means of suitable and well-known grain loss sensors 131, usually so-called knock sensors.

[0054] Although generated at a late time, the sluggish characteristic map adaptation 122 has the advantage that it detects a parameter, here the separation loss 124, which significantly determines the working quality of the agricultural machine 1 and high separation losses 124 are always also an indicator of a non-optimal material flow in the agricultural machine 1, whereby a non-optimal material flow in the agricultural machine 1 can be counteracted in particular if the harvester header 3 generates a homogeneous crop flow 10, which is then continuously transferred to the agricultural machine 1.

[0055] Furthermore, the driver assistance system 80 can be designed such that the map control 98 includes a test step 125 in which it is checked whether opposing tendencies for the value of the respective optimized working parameter 60' occur for the operating parameters 60 to be optimized when applying the dynamic map adaptation 121 and the inert map adaptation 122. If this is the case, an advantageous embodiment of the invention provides that, based on boundary conditions, a decision is made as to which operating point, resulting from the control characteristic curve 103, is approached. In an advantageous embodiment, the aforementioned boundary conditions are stored in a cost function, which in an advantageous embodiment includes the parameters throughput / h, vibration coefficient 123, separation loss 124, and cutting unit loss, whereby these parameters can be weighted differently.

[0056] Furthermore, the driver assistance system 80 is designed in such a way that it takes expert knowledge 126 into account when generating the respective characteristic maps 97, which can be both the initial characteristic maps 100 and the updated characteristic maps 119.

[0057] In Figure 6 The application of the inventive method for adapting characteristic maps 97 is described in more detail using the example of the automatic belt cutter 89. Figure 6The characteristic curves 97 according to the invention are described as a function of various quality parameters 101, wherein the described vibration coefficient 123 and the separation loss 124 are used as quality parameters 101. It is within the scope of the invention that, depending on the specific process unit 96, other quality parameters 101 known from the prior art can also be used to apply the method according to the invention. By way of example, reference is made here to the known quality parameters 101 "cleaning loss", "composition of a sweepings stream", broken grain fraction, separation losses, non-grain components in the bunker, and straw quality.

[0058] The characteristic maps 97 stored in the belt cutting machine 89 and / or its sub-machines 99 can be structured very differently depending on the type of optimization to be implemented. According to Figure 6In the upper figures, the respective characteristic curve 97 can describe the respective working parameter 60 as a function of the vibration coefficient 123 and the crop throughput by the layer height 9 representing the crop throughput. According to Figure 6 , lower illustrations, the respective characteristic curve 97 can describe the respective working parameter(s) 60 at least as a function of the separation loss 124.

[0059] In order for the respective characteristic map 97 to enable the described characteristic map control 98, in the result of which the belt cutter 89 and / or the semi-automatic machines 99 generate optimized working parameters 60', each characteristic map 97 is assigned a control characteristic curve 103, which extends in the respective characteristic map 97 along the minimum of the respective vibration coefficient 123 or the separation loss 124 and describes the respective optimal working parameter 60'.

[0060] In a design according to Figure 6aThe characteristic curve 97 describes the relationship between the quality parameter vibration coefficient 123, the parameter layer height 9 representing the crop throughput, and the operating parameter 60 "belt speed center belt" 65, whereby the control characteristic curve 103 assigned to characteristic curve 97 lies in the region of the minimum of the vibration coefficient 123. It can be seen that the characteristic curve control 98 is designed such that greater layer heights 9 require higher belt speeds 65, while excessively high or low belt speeds 65 tend to have a negative impact on the vibration coefficient 123 and thus on an optimized operating parameter 60'.

[0061] In a design according to Figure 6bThe characteristic curve 97 describes the relationship between the quality parameter vibration coefficient 123, the parameter layer height 9 representing the crop throughput, and the operating parameter 60 "belt speed right-side and / or left-side transverse conveyor belt" 63, 64, whereby the control characteristic curve 103 assigned to characteristic curve 97 lies in the region of the minimum of the vibration coefficient 123. It can be seen that the characteristic curve control 98 here is similar to that according to Figure 6a is characterized, whereby the respective influences are more pronounced, namely that larger layer heights require higher belt speeds 63, 64, while excessively high or low belt speeds 63, 64 tend to have a negative impact on the vibration coefficient 123 and thus on an optimized working parameter 60'.

[0062] In a design according to Figure 6cThe characteristic curve 97 describes the relationship between the quality parameter vibration coefficient 123, the parameter layer height 9 representing the crop throughput, and the operating parameter 60 "reel horizontal position and / or reel vertical position" 67, 68, whereby the control characteristic curve 103 assigned to characteristic curve 97 lies in the region of the minimum of the vibration coefficient 123. It can be seen that the characteristic curve control 98 does not follow a pronounced trend here, but depends very specifically on the parameters being compared. Due to the fact that a change in position 67, 68 of the reel 51 follows very complex relationships, the control characteristic curve 103 does not extend through all areas of characteristic curve 97, but in specific boundary areas, the control characteristic curve 103 is replaced by expert knowledge 126.

[0063] In a design according to Figure 6dCharacteristic map 97 describes the relationship between the quality parameter separation loss 124 and the operating parameters 60 "belt speed center belt" 65 and "belt speed left-side and / or right-side cross conveyor" 63, 64, whereby the control characteristic curve 103 assigned to characteristic map 97 lies in the region of the minimum separation loss 124. The influence of the belt speeds 63-65 on the separation loss 124 is generally moderate, and essentially all belt speeds 63-65 exhibit the same tendency: if the belt speed 63, 64 of the left-side and / or right-side cross conveyors 43, 44 increases or decreases, the optimized belt speed 65 of the center belt 45 also increases or decreases, and vice versa.

[0064] In a design according to Figure 6eThe characteristic curve 97 describes the relationship between the quality parameter separation loss 124, the parameter "hydraulic pressure or power requirement of a reel drive motor / reel drive cylinder" 110 representing the crop throughput, and the operating parameter 60 "reel horizontal position and / or reel vertical position" 67, 68, whereby the control characteristic curve 103 assigned to characteristic curve 97 lies in the region of the minimum separation loss 124. It can be seen that with increasing hydraulic pressure 110, i.e., with increasing throughput or a taller crop stand 42, a greater reel height 67, 68 leads to lower separation losses 124.

[0065] Because the separation loss 124 is only determined when the corresponding crop flow 10 has completely passed through the combine harvester 2, and the crop throughput, which depends on the detected layer height 9, is determined immediately after the crop flow 10 enters the combine harvester 2, the adjustment of the respective characteristic map 97 depending on the vibration coefficient 123 led to a rapid adjustment of the respective characteristic map 97, while the adjustment of the respective characteristic map 97 depending on the separation loss 124 results in a slower adjustment of the respective characteristic map 97. Reference symbol list: 1 agricultural machinery 34 Reel drive motor 2 combine harvester 35 Arrow direction 3 Harvesting attachment 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-hand cross conveyor belt 9 Layer height 45 center band 10 Harvested crop power 46-49 Arrow direction 11 threshing basket 50 feed roller 12 threshing organ 51 reel 13 Deflection drum 52-53 Arrow direction 14 separator rotor arrangement 54,55 Lifting cylinder 15 Separation device 56 Reel support arm 16 grains 57 Frame 17 Return floor 58 Drive pins 18 Feed floor 59 Process unit 19 Sieve level 60 Operating parameters 20 Sieve level 60' optimized operating parameters 21 fan 61 Cutting speed 22 Cleaning facility 62 knife stroke 23 Elevator 63-65 Band 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 threshing drum speed 28 shredding device 70 threshing split 29 Straw guide flap 71 Deflection drum speed 30 straw 72 Rotor speed 31 Floor 73 Opening width of separator jacket 32 Goods distribution system 74 Oscillation frequency and direction 33 Residual material stream 75 Oscillation frequency and direction 76 Fan speed 110 Hydraulic pressure 77 straw chopper speed 111 Data matrix 78 Speed ​​distribution device 112 Time interval 79 Delivery point distribution facility 113 quasi-stationary operating point 80 Driver assistance system 114 Dead time interval 81 memory 115 Measurement chain 82 Computing device 116 Data matrix 83 internal information 117 Initial data matrix 84 external information 118 Map update step 85 stored information 119 updated map 86 cabin 120 Step "Update control curve" 87 Control and display unit 121 dynamic map adaptation 88 driver 122 slow map adaptation 89 Belt cutting machine 123 Vibration coefficient 90 threshing machine 124 Separation loss 91 Separator 125 Test step 92 Cleaning machine 126 Expert knowledge 93 shredder 127 Swivel axis 94 Distribution machine 128 Deflection 95 attachment automatic 129 Inclined conveyor bars 96 Process unit automatic 130 Grain loss 97 Characteristic map 131 Grain loss sensor 98 Map control 99 Semi-automatic 100 Initial characteristic curve 101 Quality parameters 102 Initial operating point 103 Control characteristic 104 Current operating point 105 Time 106 Measured variable 107 Longitudinal vibration 108 Transverse vibration 109 Inventory level

Claims

1. Agricultural machine (1) comprising a characteristic map controller (98), wherein the characteristic map controller (98) comprises one or more characteristic maps (97) and each characteristic map (97) is designed to optimize working parameters (60) of the processing units (59) of the agricultural machine (1), wherein the characteristic map controller (98) is integrated in a driver assistance system (80) assigned to the agricultural machine (1), wherein the characteristic maps (97) are stored in a memory (81) of the driver assistance system (80), and a computing device (82) is designed to operate the characteristic map controller (98) by means of the stored characteristic maps (97), wherein the characteristic map controller is designed such that the respective characteristic map (97) is realized as an initial characteristic map (100), wherein, in the initial characteristic map (100), at least the relationship between working parameters (60) of a processing unit (59) and quality parameters (101) is described by initial working points (102), and the respective characteristic map (97) is assigned a control characteristic (103), and the control characteristic (103) lies in the range of the minimum or maximum of the respective quality parameter (101), and wherein the characteristic map controller is designed such that the initial characteristic map (100) is stored in a start configuration in the driver assistance system (80) of the agricultural machine (1) or is transferred thereto before a working mode, the characteristic map controller being designed such that the initial characteristic map (100) is cyclically updated in the working mode and stored as a new initial characteristic map (100).

2. Agricultural machine comprising a characteristic map controller according to Claim 1, characterized in that in the working mode, current working points (104) are determined on the basis of measured variables (106), the current working points (104) are converted into quasi-stationary working points (113), and the determined quasi-stationary working points (113) overwrite the initial working points (102) or the already updated working points of the respective characteristic map (97), the initial characteristic map (100) being converted into an updated characteristic map (119) and an updated control characteristic (120) of the updated characteristic map (119) being determined.

3. Agricultural machine comprising a characteristic map controller according to Claim 2, characterized in that using the updated control characteristic (120), optimized working parameters (60') are determined and the respectively optimized working parameters (60') are specified to the respective processing unit (59).

4. Agricultural machine comprising a characteristic map controller according to Claim 2, characterized in that the determined current working points (104) are temporarily stored in a first data matrix (111), with the change in the value of the respective current working point (104) within a time interval (112) being determined and the current working point (104) then being converted to a quasi-stationary working point (113) if its value remains approximately unchanged, preferably constant.

5. Agricultural machine comprising a characteristic map controller according to Claim 4, characterized in that the determined quasi-stationary working points (113) are collected in a further data matrix (116), with a certain number of quasi-stationary working points (113), preferably four quasi-stationary working points (113), being collected in the further data matrix (116), and, in analogy to the respective initial characteristic map (100), at least the dependencies between a quality parameter (101) and a working parameter (60) being determined in said data matrix (116) for the collected quasi-stationary working points (113).

6. Agricultural machine comprising a characteristic map controller according to Claim 5, characterized in that the quasi-stationary working points (113) collected in the further data matrix (116) are transferred to an initial data matrix (117), the initial matrix (117) corresponding to the initial characteristic map (100) with the transferred quasi-stationary working points (113).

7. Agricultural machine comprising a characteristic map controller according to Claim 6, characterized in that the updated characteristic map (119) is calculated from the initial data matrix (117) in a characteristic map updating step (118), the updated characteristic map (119) replacing the initial characteristic map (100) or a previously updated characteristic map (119), and the control characteristic (103) being recalculated for each updated characteristic map (119) in an "updating control characteristic" step (120).

8. Agricultural machine comprising a characteristic map controller according to any one of the preceding claims, characterized in that the driver assistance system (80) is furthermore designed a. to determine the measured variables (106) b. to derive the current working points (104) at least from the determined measured variables (106) c. to convert the current working point (104) into the quasi-stationary working point (113) d. to transfer the quasi-stationary working point (113) to the respectively stored initial characteristic map (100) or the already updated characteristic map (119) f. to replace an initial working point (102) or an already updated working point by a quasi-stationary working point (113) in the respective characteristic map (97) g. to calculate an updated characteristic map (119) taking into account the inserted quasi-stationary working points (113) h to determine the control characteristic (103) of the updated characteristic map (119) i. to determine optimized working parameters (60') by means of the updated control characteristic (120) k. to specify the respectively optimized working parameter (60') to the respective processing unit (59).

9. Agricultural machine comprising a characteristic map controller according to Claim 8, characterized in that the agricultural machine (1) is designed as an agricultural harvester and the working mode is a harvesting mode.

10. Agricultural machine comprising a characteristic map controller according to Claim 2, characterized in that the measured variables (106) comprise the longitudinal oscillation (107) and / or the transverse oscillation (108) of a harvested crop flow (10) passing through the agricultural harvester (1) and / or the crop height (109) and / or the hydraulic pressure (110) or power requirement of a reel drive motor (34), and the measured variables (106) are converted into quality parameters (101) or a harvested crop throughput.

11. Agricultural machine comprising a characteristic map controller according to any one of Claims 8 - 10, characterized in that one or more processing units (59) together with the driver assistance system (80) form an automated processing unit (96) by the characteristic maps (97) being stored in the memory (81) of the driver assistance system (80), and the computing device (82) being designed to use the stored characteristic maps (97) to operate the automated processing unit (96) as a characteristic map controller (98), and the automated processing unit (96) being designed to optimize working parameters (60) of the processing unit or units (59) and to specify the optimized working parameters (60') to the respective processing unit (59).

12. Agricultural machine comprising a characteristic map controller according to Claim 11, characterized in that the automated processing unit (96) can be designed as an automated attachment (95) and / or an automated belt cutter (89) and / or as an automated thresher (90) and / or as an automated separator (91) and / or as an automated cleaner (92) and / or as an automated chopper (93) and / or as an automated distributor (94), and each of the automated processing units (96) can form automated sub-units (99), each of the automated sub-units (99) being designed to optimize working parameters (60) of a processing unit (69) and to specify the optimized working parameters (60') to the respective processing unit (69).

13. Agricultural machine comprising a characteristic map controller according to either of Claims 11 and 12, characterized in that the one or more characteristic maps (97) assigned to the respective automated processing unit (96) or the respective automated sub-unit (99) describe the relationship between working parameters (60) of a processing unit (69) and quality parameters (101).

14. Agricultural machine comprising a characteristic map controller according to Claim 1, characterized in that the respective characteristic map (97) takes into account a parameter representing the harvested crop throughput, preferably the layer height (9).

15. Agricultural machine comprising a characteristic map controller according to Claim 1, characterized in that the quality parameter or parameters (101) of the one or more characteristic maps (97) comprises or comprise at least one oscillation coefficient (123) and / or a separating loss (124).

16. Agricultural machine comprising a characteristic map controller according to Claim 15, characterized in that the oscillation coefficient (123) describes a variation in the harvested crop throughput, and means are provided which determine a harvested crop throughput and the oscillation coefficient (123) describing the variation in the harvested crop throughput in a region located in front of the threshing members (12) of the agricultural harvester (1), and the separating loss (124) describes the grain loss, namely the portion of lost grain discarded from the agricultural harvester (1).

17. Agricultural machine comprising a characteristic map controller according to Claim 16, characterized in that the respective characteristic map (97) describes the respective working parameter (60) on the basis of the oscillation coefficient (134) and the layer height (9) representing the harvested crop throughput, and / or the respective characteristic map (97) describes the respective working parameter or parameters (60) at least on the basis of the separating loss (124).

18. Agricultural machine comprising a characteristic map controller according to Claim 1, characterized in that the characteristic map (97) describes the relationship between the oscillation coefficient (123) quality parameter, the layer height (9) parameter representing the harvested crop throughput and a working parameter (60), and the control characteristic (103) assigned to the characteristic map (97) lies in the range of the minimum of the oscillation coefficient (123).

19. Agricultural machine comprising a characteristic map controller according to Claim 11, characterized in that the automated processing unit (96) is designed as an automated belt cutter (89), and the characteristic map (97) describes the relationship between the oscillation coefficient (123) quality parameter, the layer height (9) parameter representing the harvested crop throughput and the "centre belt speed" (65, 45) working parameter or the "right-hand and / or left-hand transverse conveyor belt speed" (63-64, 44, 43) working parameter or the reel horizontal position (68) and / or reel vertical position (67) working parameter, and the control characteristic (103) assigned to the respective characteristic map (97) lies in the range of the minimum of the oscillation coefficient (123).

20. Agricultural machine comprising a characteristic map controller according to Claim 1, characterized in that the characteristic map (97) describes the relationship between the separating loss (124) quality parameter and one or more working parameters (60), and the control characteristic (103) assigned to the characteristic map (97) lies in the range of the minimum of the separating loss (124).

21. Agricultural machine comprising a characteristic map controller according to Claim 11, characterized in that the automated processing unit (96) is designed as an automated belt cutter (89), and the characteristic map (97) describes the relationship between the separating loss (124) quality parameter, the hydraulic pressure (110) or power requirement of a reel drive motor (34) / reel drive cylinder (54, 55) parameter representing the harvested crop throughput, and the reel horizontal position (68) and / or reel vertical position (67) working parameter, and the control characteristic (103) assigned to the characteristic map (97) lies in the range of the minimum of the separating loss (124).

22. Agricultural machine comprising a characteristic map controller according to any one of the preceding claims, characterized in that the working parameters (60) may comprise the cutting speed (61), the knife stroke (62), the belt speed (63-65), the feed roll horizontal position (66), the feed roll rotational speed (49), the reel vertical position (67), the reel horizontal position (68), the threshing drum rotational speed (69), the size of the threshing gap (70), the deflecting drum rotational speed (71), the rotor rotational speed (72), the oscillating frequency (74, 75) and direction of oscillation of the sieve planes (74, 75), the blower rotational speed (76), the rotational speed of the straw chopper (77), the rotational speed of the distributing device (78) and the delivery point of the distributing device (79).

23. Agricultural machine comprising a characteristic map controller according to any one of Claims 14-16, characterized in that the adaptation of the respective characteristic map (97) on the basis of the oscillation coefficient (123) brings about a rapid, dynamic adaptation (121) of the respective characteristic map (97), while the adaptation of the respective characteristic map (97) on the basis of the separating loss (124) brings about a slow, sluggish adaptation (122) of the respective characteristic map (97).

24. Agricultural harvester having a harvesting attachment in the form of a belt cutter according to Claim 23, characterized in that the adaptation of the characteristic map comprises superimposing a dynamic "oscillation coefficient" (123) characteristic map adaptation and a sluggish "separating loss" (124) characteristic map adaptation.