AGRICULTURAL HARVESTING MACHINE

Description

[0001] The present invention relates to an agricultural harvesting machine with a cutting unit that can be moved across an agricultural area to harvest crops, such as a combine harvester or a forage harvester. In these harvesting machines, the cutting unit is typically arranged along the leading edge of a header mounted at the front of the machine, which is movable relative to the machine in several degrees of freedom. This is intended, on the one hand, to avoid soil contact that is harmful to both the soil structure and the cutting unit, despite uneven ground, and on the other hand, to minimize crop losses that occur, for example, when ears of grain lying below the cutting unit are not picked up, or when cut stalks fall to the ground in front of the cutting unit and the cutting unit then passes over them without picking them up.

[0002] It is known, for example, from EP 1 374 661 B1, to monitor the distance of a harvesting header from the ground using feeler bars attached to its underside, in order to continuously adjust it to a target value. A fundamental problem with this method is that the feeler bar can only detect the distance to a point on the ground once the cutting unit has already passed it. While the harvesting header according to EP 1 374 661 B1 incorporates a second feeler bar, offset in the direction of travel, which allows for monitoring changes in the distance from the ground, predicting the course of the ground surface in front of the cutting edge remains virtually impossible.Controlling the position of the harvesting header to minimize ground contact while simultaneously maximizing crop pickup or optimizing other parameters such as machine energy consumption, cleaning losses, and the like, is therefore a complex task for which there is no single solution. Instead, various control strategies have been developed for different requirements, from which, as described in DE 10 2015 113 527 A1, a harvester operator can select the one best suited to their needs.

[0003] Each of these control strategies optimizes a specific operating parameter of the machine, such as crop ear losses, pesticide residue loss, fuel consumption, or the like. However, the operator faces the problem that the operating parameter optimized by a given control strategy is generally not the only one relevant to them. While it may be desirable to select a high target height above ground to reliably prevent ground contact during operation, this is uneconomical if it results in excessive crop losses. Conversely, a control strategy aimed at harvesting the crop as completely as possible is also unsatisfactory if ground contact with the header introduces contaminants into the crop, impairing its market value.If the driver cannot decide between two possible control strategies, there is a high probability that he will not select a control parameter at all and the machine will be operated with settings that are not ideally adapted to the current operating conditions.

[0004] From EP 3 566 564 B1, a driver assistance system for a combine harvester with various processing strategies for processing harvested crops has become known.

[0005] The object of the invention is to create a harvesting machine that makes it easier for the driver to make settings adapted to the current operating conditions.

[0006] The problem is solved according to the invention by providing an agricultural harvesting machine with a cutting unit for cutting crops and a driver assistance system, wherein the driver assistance system comprises a memory in which control strategies for the operation of the cutting unit are stored, and a computing device for controlling a cutting angle of the cutting unit according to the control strategies stored in the memory, in which at least one of the control strategies determines the cutting angle as a function of generated upstream information. This makes it possible to adapt the cutting angle directly to the conditions encountered upstream of the machine. The computing device is configured to link at least a first and a second control strategy to each other via a weighting variable, wherein the weighting variable can be adjusted by a driver.This relieves the driver of the need to choose between two settings that are perceived as not fully suited to the current operating conditions – and are also likely to be technically less than ideal – but instead allows them to make a compromise that is expected to be better adapted to the current operating conditions than the original control strategies. Either or both of the first and second control strategies can be the aforementioned strategy that determines the cutting angle based on the information gathered ahead.

[0007] Linking the control strategies can involve setting a first cutting angle value according to the first control strategy, setting a second cutting angle value according to the second control strategy, and then determining a target cutting angle for the cutting unit using a calculation formula as a function of the first and second cutting angle values. The weighting variable determines the influence of the first and second values ​​on the result of the calculation formula. In particular, the calculation formula can be a weighted average calculated using the weighting variable.

[0008] It is also conceivable that the linking consists of defining a first permissible extreme value of the cutting angle for setting on the cutting unit according to the first control strategy, defining a second permissible value of the cutting angle for setting on the cutting unit according to the second control strategy, and determining the cutting angle actually set on the cutting unit using a calculation formula as a function of the first and second extreme values ​​of the cutting angle, where the weighting variable determines the influence of the first and second values ​​on the result of the calculation formula. In particular, the calculation formula could be a weighted average calculated using the weighting variable.

[0009] If, in this case, an algorithm used to calculate the preliminary cutting angle is identical for the first and second control strategies, then, according to this alternative, the angles actually set on the cutting unit can be identical as long as they are within the limits set by the first and second extreme values, and only differ when a limit value is reached for one of the control strategies.

[0010] The cutting angle of the header is defined as the angle between the horizontal (or a plane parallel to the ground being traversed) and a reference plane of the header, e.g., a cutting plane in which the header blades move. A high cutting angle (corresponding to a steep incline of the cutting plane in the direction of travel of the harvester) reduces crop losses by enabling cutting close to the ground and thus complete crop pickup, but at the same time increases the risk of ground contact. Therefore, if the set cutting angle is a weighted average of the first and second cutting angles, the first value should be smaller than the second.

[0011] Accordingly, if the cutting angle actually set on the cutting unit is limited by a weighted average of the first and second extreme values, the first extreme value should be smaller than the second.

[0012] A continuously or multi-stage adjustable controller, in particular a slider, is preferably provided for setting the weighting variable.

[0013] The harvesting machine should have a sensor for capturing and / or updating the forefield information in real time.

[0014] The forefield information should include, in particular, topographical information describing the area in front of the harvesting machine's header. While such topographical information can also be obtained from stored maps, this does not allow for the consideration of short-term changes in the ground contour, such as those caused by animal activity like underground burrows, wallows, etc., or by previous disturbances like a track pressed into softened soil. Such changes should be taken into account, however, because the resulting oscillations of the harvesting vehicle when driving over them can lead to ground contact of the header and thus to damage to the header or the incorporation of soil material into the crop flow.

[0015] A radar sensor or a laser scanner are particularly suitable as sensors for capturing this type of foreground information from a distance.

[0016] The control strategy can increase the cutting angle if the forefield information indicates a convex curvature of the ground. This means that as soon as the machine's front wheels reach the curvature, it pitches forward, causing the header to lower. The resulting increased header tilt helps avoid ground contact, particularly at the rear of the header, while still ensuring a cut close to the ground. Conversely, the strategy can decrease the cutting angle if the forefield information indicates a concave curvature of the ground. By raising the leading edge of the header, this reduces the risk of ground contact.

[0017] The control strategy can also be designed to control the height of the cutting unit as a whole, regardless of any possible change in the cutting angle.

[0018] If the control strategy detects that the cutterbar should be lowered, for example, to maintain a constant cutting height while crossing a dip or to avoid obstacles on the ground, then it can be advantageous for the control strategy to increase the cutting angle during a downward movement of the cutterbar. By combining height adjustment and cutting angle control in this way, the cutting edge height can be adjusted to follow the ground contour more quickly than if only one of the two parameters were adjusted. Similarly, the control strategy can be configured to lower the cutting angle during an upward movement than when the cutterbar height remains constant.

[0019] If the computing device predicts a forward pitching movement of the harvesting machine based on topographical information, e.g., if a depression in the ground has been detected into which a front wheel of the harvesting machine will soon dip, the risk of ground contact can also be reduced by the control strategy decreasing the cutting angle.

[0020] Pitching movements can also cause problems when transferring crops from the harvester to an escort vehicle, as the unloading spout follows these movements with a large radius. Consequently, the point of impact of the harvested crop on the escort vehicle can vary considerably, or the crop may even miss the escort vehicle entirely. To counteract this, the processing unit can be configured, based on topographic information, to correct the position of the unloading spout in the opposite direction of the pitching movement when it predicts a pitching movement of the harvester.

[0021] The advance information can also include information about the vegetation in front of the harvester, particularly regarding characteristics such as density and / or height. For example, if the advance information indicates that the harvester is approaching an area with fallen plants, it may be necessary to increase the cutting angle to cut closer to the ground and thus limit harvest losses due to crops lying below the cutting height. Conversely, it may be necessary to decrease the cutting angle and raise the header to prevent weeds from being picked up.

[0022] Further features and advantages of the invention will become apparent from the following description of exemplary embodiments with reference to the accompanying figures. These show: Fig. 1 a schematic side view of a harvesting machine according to the invention; Fig. 2a-e a detail of the combine harvester; and Fig. 3 a block diagram of a driver assistance system of the combine harvester.

[0023] In Fig. 1 Figure 1 depicts an agricultural harvesting machine designed as a combine harvester 1, which has a header 2 for cutting and picking up crop. The header 2 is preferably interchangeable with another header 2, so that the harvesting machine 1 can be adapted to harvesting different types of crop. The term "crop" refers to all the material picked up from the crop by the header 2. As shown in Figure 1. Fig. 1 As can be seen, a field is mowed by the cutting unit 2, and the harvested crop is fed via an inclined conveyor 3 to a threshing unit 5, a separation stage 6, and a cleaning stage 8 within the body 9 of the combine harvester 1. A transfer pipe 32 for transferring the separated grain from the harvested crop onto a transport vehicle is shown in a resting position against the body of the combine harvester.

[0024] The cutting unit 2 of the illustrated combine harvester 1 has a reel 10 running transversely to the direction of travel of the harvesting machine 1, which, by means of tines 11 arranged on it, already acts on the uncut crop. The reel 10's primary function is to feed the crop to a cutter bar, which has a movable knife 13 and a stationary knife 12, or two knives movable relative to each other. The crop is cut by entering a gap between the opposing blades of the knives 12 / 13 during an oscillating movement of the knife 13, and the blades passing over each other along a cutting plane. The crop then falls onto a cutting table 14, the front of which is formed by the stationary knife 12. The cutting table extends parallel to the cutting plane of the knives 12 / 13 or at a slight angle to it, so that the orientation of the cutting table 14 is Fig. 1 and 2can be considered representative of the cutting plane.

[0025] The harvested crop is then fed to the inclined conveyor 3 by means of a feed screw 15, possibly with further action by the reel 10. The feed screw 15 comprises a central shaft and helical plates 16, which are attached to the central shaft at two lateral end sections of the feed screw 15 with opposite pitches. As the feed screw 15 rotates, the cut crop is pushed from both sides to a central section where it is transferred to the inclined conveyor 3. In the middle area of ​​the intake screw 15, several intake fingers 17 are arranged, which extend once from its shaft during one revolution of the intake screw to push the harvested material lying on the cutting table 14 backwards to the inclined conveyor 3, and then retract back into the shaft to prevent the harvested material from being lifted and conveyed forwards over the shaft to the reel 10.A support frame 18 of the cutting unit 2 comprises the cutting table 14, a rear wall adjoining its rear edge with an opening to which the inclined conveyor 3 is connected, and side walls that connect the lateral edges of the cutting table 14 and the rear wall and support the intake auger 15. Articulated arms 19, on which the reel 10 is mounted in a height-adjustable manner to adapt to varying crop heights, are also articulated to these side walls.

[0026] To detect unevenness in the ground being driven on, a driver assistance system 4 of the combine harvester 1 is connected to various sensors. A common type of sensor is, for example, a sensing bar 20, which is arranged on the underside of the cutting table 14 and elastically pressed against the ground, so that its deflection is representative of the distance between the cutting table 14 and the ground. Fig. 1 Figure 1 further shows a sensor 21 for non-contact measurement of the ground in front of the combine harvester 1, e.g., a radar sensor, a laser scanner, a camera, or the like. The sensor 21 is shown here on the leading edge of the roof of the combine harvester's cab; alternatively, it can be mounted on a projecting arm of the header 2, e.g., on an end of the articulated arms 18 that projects beyond the axis of the reel 10. Another non-contact sensor 22 can be arranged on the floor of the cab to monitor the ground profile in front of the combine harvester's front wheels 26 on both sides of the inclined conveyor 3.

[0027] To adjust the cutting unit 2 relative to the ground, proceed as described in Fig. 2a-e Two actuators 23 and 24 are shown, which can be controlled by the driver assistance system 4 based on data from sensors 20, 21, and possibly sensor 22, according to one or more control strategies as explained below. Actuator 23 has one end fixed to the inclined conveyor 3 and one end that engages an upper edge of the cutting unit 2. It is extendable and retractable to pivot the cutting unit 2 relative to the inclined conveyor 3 about an axis 25 near a rear edge of the cutting table 14. The second actuator 24 connects a front end of the inclined conveyor 3 to the body 9 and serves to pivot the inclined conveyor 3 relative to the body 9 about an axis 29.

[0028] In Fig. 2a The surface between the knife 13 and the front wheels 26 is level, and the driver assistance system 4 keeps the cutting table 14 parallel to the ground and, based on distance measurement data from the feeler bar 20, at a short distance from the ground, the distance being able to vary depending on the control strategy used.

[0029] At the same time, the driver assistance system 4 detects an unevenness in front of the combine harvester 1 via the sensor 21, e.g. a wild boar wallow with a central depression 27, surrounded by a mound 28 of loose excavated material.

[0030] To prevent the excavated material from entering the header 2 as the combine harvester 1 continues driving, the latter must be raised. Raising the entire header 2 by pivoting the inclined conveyor 3 around the axis 29 requires a high power output from the actuator 24. As shown in Fig. 2b As shown, with considerably less energy expenditure, only the knife 13 is initially raised by pivoting the cutting unit around the axis 25, so that the cutting angle α becomes negative. This may already be sufficient to prevent the intake of excavated material into the cutting unit.

[0031] According to one control strategy, the driver assistance system 4 can use the information about the upcoming elevation 28 to increase the setpoint for the distance to the ground detected by the sensor bar 20. According to an alternative strategy, this information is disregarded, and in an effort to keep the distance detected by the sensor bar 20 constant, the driver assistance system 4 first causes the actuator 24 to lower the inclined conveyor 3, so that, as in Fig. 2b shown, the rear edge of the cutting table 14 comes closer to the floor than in Fig. 2a .

[0032] To prevent the cutting table 14 from colliding with the raised section 28 as the combine harvester continues to move, the adjustment of the cutting angle α to negative means that the header 2 only needs to be raised much more slowly than if it had to be raised solely by the actuator 24. This means that the power required for the actuator 24 is significantly less than if it alone had to raise the header 2. By actuating both actuators 23 and 24 simultaneously when necessary, the knife 13 can be raised very quickly.

[0033] While the control of the actuator 23 is proactive based on the topography of the area in front detected by the sensor 21, the actuator 24, if it is controlled only on the basis of data from the probe 20 as described above, can only react to the elevation 28 when it touches the probe 20 under the cutting table 14.

[0034] To successfully avoid the protrusion 28, it is sufficient that, at the moment the knife 13 of the cutting unit 2 reaches the protrusion 28, the knife is higher than the protrusion 28; the rear edge of the cutting table 14 can, as in Fig. 2b to be seen, even lower than the tip of the elevation 28. It is sufficient if the trailing edge only reaches the necessary height while the cutting table 14 moves over the elevation 28, e.g. as a reaction to a deflection of the probe 20 by the elevation 28.

[0035] While the actuator 24 is raising the axis 25 of the cutting unit 2 in order to lift the cutting unit 2 over the elevation 28, the actuator 23 can already begin to pivot the cutting unit 2 about the axis 25 in the direction of a positive cutting angle α. Fig. 2c Figure 1 shows a state in which the cutting table 14 is parallel to the floor (i.e., the cutting angle α=0). The sensing arm 20 has already passed the apex of the elevation 28 and, if it remained in the same position, would detect an increasing distance to the floor. In the present situation, however, the pivoting movement about the axis 25 causes the sensing arm 20 to detect a decreasing distance to the floor, and the driver assistance system 4 counteracts this by raising the inclined conveyor 3.

[0036] In Fig. 2d The rear edge of the cutting table 14 has reached the apex of the elevation; the inclined conveyor 3 has pivoted slightly further upwards; the cutting unit 2 now has a position with a positive cutting angle α, which, if the depression 27 were overgrown with plants, would allow them to be cut deeper than if the height of the cutting unit were adjusted only by means of the adjusting element 24.

[0037] So ermöglicht The interaction of both actuators 23, 24, controlled by the driver assistance system 4, is based on the topography of the foreground detected by sensor 21, to adjust the height of the knife 13 to the ground contour and thus minimize losses of harvested crop.

[0038] As soon as the front wheels 26 of the combine harvester 1 reach the depression 27 and begin to enter it, this causes the entire combine harvester to pitch forward. To prevent the header 2 from making contact with the ground, the driver assistance system 4 uses the depression profile known from the sensor 21 data to estimate the extent of the expected pitching movement and controls the actuators 23, 24 as described in Fig. 2e The illustration shows how to raise the cutting unit 2 to such an extent that ground contact can be avoided. Here too, both actuators can work together to raise the knife 13 faster than the rear edge of the cutting table 14, thus minimizing the risk of damaging the knife.

[0039] If the pitching motion occurs while grain is being transferred via the unloading auger 32 onto a transport vehicle driving alongside the combine harvester 1, and the unloading auger 32 also moves with the pitching motion, this can result in the grain missing the escort vehicle. To prevent this, it can be provided that the driver assistance system 4, together with the in Fig. 2e The lifting motion shown controls a pivoting movement of the unloading tube 32 against the direction of travel. By superimposing this backward movement with the forward tilting movement, the point of impact of the grain on the transport vehicle can be kept largely constant, thus preventing grain loss during unloading.

[0040] As can easily be seen from these figures, a positive cutting angle α is desirable on the one hand in order to be able to position the knife 13 close to the ground and take up crop with minimal loss, especially when the position of the actuator 24 is controlled by the feeler bar 20, given the deflection of the feeler bar. On the other hand, the small distance from the ground may necessitate quick evasive maneuvers to avoid ground contact and may require limiting the combine harvester's driving speed to allow the cutting unit to adjust its position in a timely manner.

[0041] Sensor 21 can also be designed to detect the height of the crop stand. If this is lower than normal in front of the cutterbar 2, this can indicate lodged plants. While, for example, standing grain can be harvested with a relatively large distance between the knives 12 / 13 and the ground and a cutting angle α close to 0, since the valuable kernels are located at the top of the stalk far from the ground, the driver assistance system 4 increases the cutting angle α when the crop stand is locally low in height. This brings the knives 12 / 13 closer to the ground, enabling the harvester to also pick up ears close to the ground. In order to react promptly to uneven ground detected by sensor 21 in this position, the driver assistance system 4 may need to reduce the combine harvester's speed 1 when transitioning to the increased cutting angle.

[0042] If the sensor 21 detects weeds in the crop to be harvested, it may be useful to make the cutting angle α negative and possibly also to raise the inclined conveyor 3 so that the weeds pass uncut under the cutting unit 2 and do not contaminate the harvest.

[0043] The in Fig. 3 The driver assistance system 4 of the combine harvester 1, shown as a block diagram, serves at least to control the cutting unit 2, and preferably also other units such as the threshing unit 5, the separation stage 6, and the cleaning stage 8. The driver assistance system 4 comprises a memory 4a for storing data – i.e., a memory in the information technology sense – and a computing device 4b for processing the data stored in the memory 4a. Basically, the driver assistance system 4 is designed to support a driver 7 of the combine harvester 1 in its operation.

[0044] The actuators 23, 24 can be operated individually or simultaneously by the driver assistance system 4 as above, for example to vary the cutting angle α while maintaining the height of the blades above the ground or to change the height above the ground while keeping the cutting angle α constant.

[0045] Memory 4a contains various control strategies, at least for the cutting unit 2. The control strategies may also include algorithms for controlling the threshing unit 5 and the cleaning stage 6, adapted to the nature of the crop flow supplied by the cutting unit 2; however, these are not described here, as they are not directly related to the invention.

[0046] Each control strategy includes an algorithm for adjusting the height and cutting angle of the cutterbar 2 based on the measurement results from sensors 20 and 21. The algorithms differ depending on the sensor configuration of the combine harvester. For example, an algorithm that relies solely on measurements from the sensing bar 20 to prevent the cutterbar 2 from contacting the ground will generally set a different average height of the knives 12 / 13 above the ground to achieve a predetermined level of safety against ground contact than an algorithm that also has measurement data of the ground profile in front of the cutterbar 2 from sensor 21 and can trigger a sufficiently rapid raising of the cutterbar upon detecting a ground elevation in front of the cutterbar 2.An algorithm based on data from sensor 21 should control the position of the cutting unit differently depending on whether the ground surface detected by sensor 21 is actually the soil or possibly a layer of mulch or residues of a previous crop lying on top of it, which should under no circumstances be picked up by the cutting unit 2 and fed to the threshing unit.

[0047] Furthermore, the sensor 21 can also be configured to detect an average height above the ground of the crop's fruit heads with spatial resolution, so that the driver assistance system 4 can use this data to lower the height of the cutting unit if necessary, for example to pick up the ears of lying grain.

[0048] Even assuming that an algorithm is able to create a flawless profile of the ground surface based on the data from sensors 20, 21, the problem remains that locally varying sinking of individual wheels of the combine harvester into the ground, whether due to unevenness not taken into account or the yielding of the ground due to moisture or underground animal burrows, can lead to unpredictable changes in the distance between the cutting unit 2 and the ground and in the cutting angle.To address this problem, at least two algorithms A 1, A 2 are provided according to the invention, of which algorithm A 1 is optimized for the most complete possible intake of the harvested crop, but at the expense of the ground clearance of the cutting unit 2 tends to set a high cutting angle or, in order to take up low-lying harvested crop, accepts a height of the cutting unit above the ground which can lead to ground contact if it sinks in, whereas algorithm A 2 is optimized to avoid ground contact, but must accept losses of harvested crop if necessary.

[0049] The computing device 4b controls according to Fig. 3 A user interface 30 in the driver's cab displays an image with at least one slider 32 on a screen 31. Buttons 33, 34 assigned to the slider 32 beyond the edge of the screen 31 can be used – provided that more than the algorithms A1, A2 are available for selection – to assign an algorithm to each end position of the slider, according to which the driver assistance system 4 controls the cutting unit 2, in particular the height of the blades 12 / 13 and the cutting angle α, when an adjustment knob 35 of the slider is at an end position adjacent to that button 33, 34.Once this assignment is made, the same keys 33 and 34 can be used to move the position of the control knob 35 incrementally towards the tapped key by tapping it once or several times, thus setting a weighting factor c with which the algorithms A1 and A2 assigned to keys 33 and 34 influence the control of the cutting unit 2. Alternatively, the slider can of course be provided as a physical component, or the screen 31 can be touch-sensitive so that the operator 7 can move the displayed control knob 35 by directly touching it and dragging it back and forth with a finger movement.

[0050] The driver 7 can assess, in view of the field area to be worked, possibly also by referring to experience gained from previous work on the same area or during the current work on this area, to what extent the area meets the application requirements for algorithm A 1 or A 2, and adjust the slider 32 accordingly before starting to work the area or also during the work.

[0051] If the target cutting angle of the blades 12 / 13, determined by algorithm A1 based on current measured values ​​of sensors 20, 21, 22, is α, and the target cutting angle determined by algorithm A2 is α2, the driver assistance system 4 defines a weighted average as the target cutting angle of the blade bar α*, in which each target cutting angle αi, i=1, 2, is weighted more heavily the closer the control knob 35 is to the end of the slider 32 assigned to algorithm Ai. If the distance of the control knob 35 from the end of the slider 32 assigned to algorithm A1 is a fraction c of its length and the distance from the end assigned to algorithm A2 is 1-c, then, in particular, α1 can be weighted by 1-c and α2 by c.

[0052] If the driver notices during processing of the area that the compliance is different than expected, he can continuously adjust the control of the cutting unit 2 accordingly, for example by tapping button 32 to change the algorithm A 1 or by tapping button 33 to change the weighting factor c.

[0053] It is also conceivable that both algorithms A1 and A2 use a uniform calculation procedure to calculate a preliminary cutting angle, but limit this angle using different upper limits αmax1 and αmax2 to determine the actual target cutting angle α* used to control the cutting unit 2. Furthermore, the position of the adjusting knob 34 sets an interpolated upper limit αmax* based on a calculation procedure as a function of the first and second upper limits αmax1 and αmax2, where the weighting variable c determines the influence of the first and second extreme values ​​αmax1 and αmax2 on the result of the calculation procedure. As described above, the calculation procedure can be a weighted average.Whereas in the previously described case, where the target cutting angle α* is calculated by interpolating the angles α 1 and α 2 obtained according to algorithms A 1 , A 2, and - if these are different - any change in the weighting factor c causes a change in the target cutting angle α*, here a change in the weighting factor c remains without influence on the target cutting angle α* as long as it is below a current interpolated upper limit α max before and after the change. Bezugszeichen

[0054] 1 Combine harvester 2 Cutting unit 3 Inclined conveyor 4 Driver assistance system 5 Threshing unit 6 Separation stage 7 Driver 8 Cleaning stage 9 Body 10 Reel 11 Tines 12 Knives 13 Knives 14 Cutting table 15 Infeed auger 16 Sheet metal 17 Infeed finger 18 Support frame 19 Articulated arm 20 Sensor bracket 21 Sensor 22 Sensor 23 Actuator 24 Actuator 25 Axle 26 Front wheel 27 Recess 28 Raise 29 Axle 30 User interface 31 Screen 32 Unloading auger

Claims

1. An agricultural harvesting machine with a cutting assembly (2) for cutting harvested material and with a driver assistance system (4), wherein the driver assistance system (4) comprises a memory (4a), in which control strategies for the operation of the cutting assembly are stored, and a computing device (4b) for controlling a cutting angle (α) of the cutting assembly (2) in accordance with the control strategies stored in the memory (4a), wherein the computing device is configured to interlink at least a first and a second control strategy (A1, A2) via a weighting variable (c), wherein the weighting variable (c) can be adjusted by a driver (7), characterized in that at least one of the control strategies specifies the cutting angle (α) as a function of generated forefield information.

2. The agricultural harvesting machine according to claim 1, characterized in that the interlinking consists of specifying a first value of the cutting angle (α1) in accordance with the first control strategy (A1), specifying a second value of the cutting angle (α2) in accordance with the second control strategy (A2) and specifying a target cutting angle (α*) for the cutting assembly (2) with the aid of a calculation rule as a function of the first value and of the second value of the cutting angle, wherein the weighting variable determines the influence of the first value (α1) and of the second value (α2) on the result of the calculation rule.

3. The agricultural harvesting machine according to claim 1, characterized in that the interlinking consists of specifying a first permissible extreme value of the cutting angle (αmax1) for setting on the cutting assembly in accordance with the first control strategy, specifying a second permissible extreme value of the cutting angle (αmax2) for setting on the cutting assembly in accordance with the second control strategy, and limiting the target cutting angle (α*) to actually be set on the cutting assembly (2) with the aid of a weighted extreme value which is specified with the aid of a calculation rule as a function of the first extreme value and of the second extreme value of the cutting angle, wherein the weighting variable determines the influence of the first extreme value (αmax1) and of the second extreme value (αmax2) on the result of the calculation rule.

4. The agricultural harvesting machine according to one of the preceding claims, characterized in that the first control strategy (A1) is optimized with regard to avoiding damage to the cutting assembly and / or the ground through mutual contact, and / or the second control strategy (A2) is optimized with regard to minimizing harvested material losses.

5. The agricultural harvesting machine according to claim 2 and claim 4, characterized in that the first value (α1) of the cutting angle is smaller than the second value (α2).

6. The agricultural harvesting machine according to claim 2 and claim 4, characterized in that the first extreme value (αmax1) is smaller than the second (αmax2).

7. The agricultural harvesting machine according to one of the preceding claims, characterized by a controller which can be adjusted steplessly or in multiple steps, in particular a slider (32), for adjusting the weighting variable (c).

8. The agricultural harvesting machine according to one of the preceding claims, characterized in that it comprises a sensor (21, 22) for detecting and / or updating the forefield information in real time.

9. The agricultural harvesting machine according to one of the preceding claims, characterized in that the forefield information comprises topographical information describing the forefield in front of the cutting assembly (2) of the agricultural harvesting machine (1).

10. The agricultural harvesting machine according to one of the preceding claims, characterized in that the at least one control strategy increases the cutting angle (α) when the forefield information indicates a convex curvature of the ground and decreases the cutting angle (α) when the forefield information indicates a concave curvature of the ground.

11. The agricultural harvesting machine according to one of the preceding claims, characterized in that the at least one control strategy sets the cutting angle (α) higher during a downward movement of the cutting assembly (2) than when the height of the cutting assembly remains constant and / or lower during an upward movement than when the height of the cutting assembly remains constant.

12. The agricultural harvesting machine according to one of claims 9 to 11, characterized in that the at least one control strategy reduces the cutting angle (α) when the computing device (4) predicts a forward pitching movement of the harvesting machine (1) on the basis of the topographical information.

13. The agricultural harvesting machine according to one of claims 9 to 13, characterized in that it has a transfer chute and the computing unit (4) is configured to correct the position of the transfer chute contrary to the pitching movement when it predicts a pitching movement of the harvesting machine on the basis of the topographical information.

14. The agricultural harvesting machine according to one of the preceding claims, characterized in that the forefield information comprises information regarding a stand of plants in the forefield, in particular regarding the density and / or height of the stand of plants.

15. The agricultural harvesting machine according to claim 14, characterized in that the at least one control strategy increases the cutting angle when the forefield information indicates a decreasing height of the stand of plants in the forefield and in particular lodged plants.