SELF-PROPELLED AGRICULTURAL HARVESTING MACHINE

Description

[0001] The present invention relates to a self-propelled agricultural harvesting machine according to the preamble of claim 1.

[0002] A self-propelled agricultural harvesting machine, in particular a forage harvester or a combine harvester, comprises a header for taking crops from a field, at least one working element for processing and / or conveying the crops, and a hydrostatic drive as functional components. A hydraulic system of the harvesting machine serves to supply the functional components with a pressure medium. The harvesting machine may include a control unit configured to control the functional components of the harvesting machine according to at least one sequence management function stored in a memory unit of the control unit.

[0003] An example of this is a self-propelled forage harvester known from DE 10 2017 106 636 A1. A method is described whereby an automatic reduction of the drive speed provided by a drive motor is initiated by triggering an event that influences the operation of the harvesting machine. Such an event is the change of an operating mode from "road travel" to "field travel" by actuating a switching element, the so-called road travel switch.

[0004] DE 103 48 090 A1 discloses a self-propelled agricultural harvesting machine, such as a combine harvester or a forage harvester, which includes a control system and an operator input device. The control system is capable of detecting, in conjunction with the operator input device, a transition from a working mode to a road operating mode and, depending on this, automatically moving a working component, such as the header and an unloading device, into a standby position.

[0005] EP 2 020 170 B1 describes a method for controlling a combine harvester, according to which a series of automatically executed sequences are provided for controlling the combine's working elements when the combine crosses or approaches a definable boundary of a working area, falling below a critical distance. Each sequence is assigned a corresponding trigger time or trigger position relative to reaching the boundary by automatically adjusting a sequence control based on the current driving speed. US2021289702A1 discloses a self-propelled harvester with a control system that automates the switching between road and field modes. Its sequence management function, including "field start" and "field end" modes, controls the hydraulic pressure and flow based on speed and fluid availability.AU2015202751A1, US7264063B1, US2021176911A1 and JP3618242B2 discuss systems for monitoring the operating modes of harvesting machines, including the detection of different hydraulic pressures and the automation of harvesting machine functions based on this detection.

[0006] Based on the aforementioned state of the art, a self-propelled agricultural harvesting machine of the type mentioned above is to be further developed, which is characterized by improved coordination in the control of functional devices by means of a sequence management function.

[0007] This problem is solved according to the invention by a self-propelled agricultural harvesting machine with the features of claim 1. Advantageous further developments are the subject of dependent claims 2 to 15.

[0008] According to claim 1, a self-propelled agricultural harvesting machine, in particular a forage harvester, is proposed, comprising a header for taking crops from a field, at least one working element for processing and / or conveying the crops, a hydrostatic drive as functional devices, a hydraulic system for supplying at least some of the functional devices with a pressure medium, and a control device configured to control the functional devices of the harvesting machine according to at least one sequence management function stored in a memory unit of the control device.According to the invention, the sequence management function to be executed in field driving mode is divided into a field start mode, which is to be executed when leaving a road to enter the field, and a field end mode, which is to be executed when leaving the field to enter the road, wherein the control device is designed and configured to decide, depending on a detected driving speed and a detected amount of available hydraulic fluid in the hydraulic system, on the automatic execution and / or the extent of the automatic execution of the respective sequence management function comprising several individual sequences to be executed in the field start mode or field end mode.

[0009] The invention is based on the idea that specific settings of the functional devices, which must be made when switching from road travel to a field in preparation for field work (i.e., harvesting) and at the end of field work before switching back to road travel, can be automated to support or relieve the operator of the harvesting machine. A further advantage is that coordinated control of the functional devices is enabled.

[0010] In particular, the field start mode and the field end mode can each include individual sequences for the inverse control of the same functional unit and / or individual sequences for controlling different functional units. This takes into account the fact that, depending on their function, the harvester's functional units must be activated, deactivated, and / or moved from a road driving position to an operating position in field start mode, and in field end mode, they must be deactivated, activated, and / or moved from the operating position to the road driving position.

[0011] Preferably, the control device can be designed and configured to automatically adjust the individual sequences to be executed in field start and field end modes depending on the detected travel speed and the available amount of hydraulic fluid. This allows for the automatic execution of an individual sequence to be carried out or prevented depending on the travel speed. Taking the available amount of hydraulic fluid into account, the number and sequence of individual sequences to be executed can be modified.

[0012] According to further training, the control device can be designed and configured to detect the actuation and / or actuation state of a switching element independent of the road driving switch in order to recognize a change between road driving mode and field driving mode. This is in particular an additional switching element that is to be actuated in addition to the actuation of a road driving switch of the harvesting machine.

[0013] In particular, a visualization device can be connected to the switching element, which assumes different visualization states depending on the status of the sequence management function being executed. For example, the switching element can be implemented with a light source as a visualization device, which, through appropriate control by the control unit, generates different light signals for the current status of the sequence management function. The light source can be integrated into the switching element. Visualization states can be switching on, switching off, or intermittent switching on and off. Alternatively or additionally, a color code can be used, which is assigned to the respective states.

[0014] According to a preferred embodiment, the control device can be designed and configured to automatically select individual sequences to be executed for the respective active mode of the sequence management function, depending on the functional scope of the controllable functional unit, and / or to make them available for manual selection. Making a manual selection available can be achieved via an operating and input unit, which is connected to the control device by a communication means. The operating and input unit can, for example, be a terminal in the driver's cab of the harvesting machine. Alternatively or additionally, the operating and input unit can be a mobile data processing device, such as a smartphone or a tablet PC.

[0015] Preferably, the control device can be designed and configured to determine the executable scope of functions through automatic detection of the function to be controlled and / or through manual selection of the function to be controlled by a user. In this way, information about specific properties of the function to be controlled can be stored in the control device's memory unit, and / or the control device can receive data from a control unit assigned to the function or read data from a storage medium assigned to the function. Alternatively or additionally, the user can manually specify and / or select and configure the function and its scope of functions.It is also conceivable to import data from the relevant functional unit via a wireless or wired communication interface, which in turn can be automated or manual.

[0016] In particular, the storage unit can contain editable selection lists with individual sequences, which are assigned to the respective mode of the sequence management function, the field start mode or the field end mode. These selection lists can be edited manually or automatically adjusted. Automatic adjustment of the selection lists can occur, for example, as part of the automatic detection of the function to be controlled.

[0017] According to further training, the control device can be designed and configured to control the execution of individual sequences of at least one functional unit simultaneously or sequentially, depending on the available hydraulic fluid volume in the hydraulic system. This allows multiple individual sequences of a functional unit to be executed simultaneously as a single hydraulic consumer, or it allows individual sequences of two functional units, each acting as an independent hydraulic consumer, to be executed simultaneously. This results in time savings. Sequential control based on the available hydraulic fluid volume can also prioritize the execution of each individual sequence of two functional units as hydraulic consumers.

[0018] Preferably, the control device can be designed and configured to automatically execute the respective sequence management function mode depending on whether a threshold value for the detected travel speed is exceeded. In particular, this prevents accidental execution of the sequence management function when the harvesting machine is stationary or nearly stationary. Execution of the sequence management function at a travel speed below the threshold value may require active and continuous actuation of the switching element by a user. Preferably, a threshold of approximately 2 km / h can be used, above which the sequence management function is executed automatically after actuation of the switching element.

[0019] In particular, the field start mode can include, as individual sequences, unfolding a folding attachment, raising a transfer device, raising and unfolding a folding transfer device, pivoting a transfer device, and operating a differential lock in an automatic mode.

[0020] Preferably, the field end mode can comprise, as individual sequences, folding in a foldable header, moving an unloading device into a parking position, folding in and moving a foldable unloading device into a parking position, and rinsing a silage additive dosing device.

[0021] According to a preferred further development, the control device can be designed and configured to switch between the field start mode and the field end mode based on the preceding mode selection and the status feedback of the individual sequences to be processed in the preceding mode. This is based on the consideration of preventing unintended switches between the two modes. Certain prerequisites must be met for a switch between the two modes, one of which is an inactive state of the sequence management function. An inactive state of the sequence management function occurs when the last executed mode was completed fully and successfully, the last executed mode terminated with an error, or a termination condition was met during the execution of the mode. Other states of the sequence management function are the active field start mode and the active field end mode.The switch from the inactive state of the sequence management function to one of the two modes, the field start mode or the field end mode, therefore takes place depending on the stored mode to be executed next and under the additional condition that start conditions for the execution of one of the modes are met and a termination condition of the active mode, field start mode or field end mode, is not met.

[0022] In particular, the switching element can be designed as a button which may be integrated into an operating armrest or a multifunction handle, or as a virtual button visualized on a touch-sensitive screen which is located in a driver's cab of the harvesting machine.

[0023] According to a preferred further development, the control device can be designed and configured to control an operating and input unit in order to visualize various states of the individual sequences to be processed.

[0024] The present invention is explained in more detail below with reference to an embodiment illustrated in the drawings.

[0025] They show: Fig. 1 a schematic representation of a self-propelled agricultural harvesting machine in a side view; Fig. 2 an exemplary flowchart in the inactive state of a sequence management function; Fig. 3 an exemplary flowchart of a field start mode of the sequence management function; Fig. 4 an exemplary and schematic representation of a menu interface of an operating and input unit; and Fig. 5 an exemplary and schematic representation of the menu interface of the operating and input unit in the field end mode of the harvesting machine.

[0026] In Fig. 1 Figure 1 schematically depicts a self-propelled agricultural harvesting machine 1, in particular a forage harvester 2, in a side view. The harvesting machine 1 comprises a header 3 for taking in crop 4 from a field 5, at least one working element 6 for processing and / or conveying the crop 4, and a hydrostatic drive (not shown). The working elements 6, the hydrostatic drive, and its functional components 7 are shown.

[0027] The header 2 picks up the crop 4 from the field 5 and conveys it to a feed unit 8 as the working element 6, which in the exemplary embodiment consists of a roller assembly with upper and lower feed rollers arranged in pairs. The feed rollers of the feed unit 8 exert a pressing force on the crop 4. The feed unit 8 conveys the crop 4, compacted into a mat 9, to a chopping unit 10, which has a knife drum rotated about a rotational axis and has knives arranged around its circumference. The knives cut the crop mat 9 fed by the feed unit against a counter blade. The cut orChopped crop 4 is conveyed by the rotational movement of the knife drum into a downstream conveying shaft 11, from where, depending on the equipment of the forage harvester 2, it is processed by an optional post-processing device 12 arranged in the crop flow path, also referred to as a conditioning device or corncracker, and is further accelerated by a downstream post-accelerator device 13 and conveyed by an unloading device 15 into a transport vehicle.

[0028] In the area of ​​the post-accelerator device 13, a silage additive dosing device 14 is arranged – schematically indicated – which introduces a liquid into the conveying shaft 11 by means of a variable-volume feed pump. For this purpose, an injector – not shown – is provided, ending in the conveying shaft 11 and opening in the direction of the crop flow, whereby the liquid is applied in a finely sprayed form to the passing crop 4.

[0029] A drive motor 16 is provided to power the working elements 6 of the forage harvester 2. The working elements 6 can be connected to the motor output shaft of the drive motor 16 via a switchable main drive train (not shown). The drive motor 16 also serves, among other things, to operate the hydrodynamic drive system of the forage harvester 2.

[0030] The intake device 8, the chopping device 10, the post-processing device 12, the post-accelerator device 13, the silage additive dosing device 14 and the transfer device 15 are hereinafter referred to in general terms as working elements 6.

[0031] The term functional equipment 7 includes, in addition to the aforementioned working parts 6, the drive motor 16 and other components of a drive train of the forage harvester 2.

[0032] Furthermore, the forage harvester 2 has a hydraulic system 17 with at least one hydraulic pump for supplying the functional devices 7 with a pressure medium.

[0033] The forage harvester 2 further comprises a driver's cab 18 in which an operating and input unit 19 is arranged. The operating and input unit 19 is connected to a control unit 20 via a communication means 21. The control unit 20 is configured to control the functional devices 7 of the harvester 1 or the forage harvester 2 according to at least one sequence management function 27 stored in a memory unit 22 of the control unit 20 during each switch between a road driving mode and a field driving mode. The operating and input unit 19 can, for example, be a terminal in the driver's cab 18 of the harvester 1. Alternatively or additionally, the operating and input unit 19 can be a mobile data processing device 19a, for example, a smartphone or a tablet PC, which exchanges data with the control unit 20 via a communication means 21.

[0034] A switching element 23 can be integrated into a control armrest 24 and is connected to the control unit 20 via a signal. The switching element 23 can be designed as a mechanical push button 25 that can be operated by a user 26. Alternatively, the switching element 23 can be integrated into a multifunction handle provided in the driver's cab 18. Alternatively or additionally, the switching element 23 can be designed as a virtual push button 25 visualized on a touch-sensitive screen of the operating and input unit 19.

[0035] In particular, a visualization device 56 can be connected to the switching element 23, which assumes different visualization states depending on the status of the sequence management function 27 being executed. For example, the switching element 23 can be configured with a light source as the visualization device 56, which, through appropriate control by the control device 20, generates different light signals for the current status of the sequence management function 27. The light source can be integrated into the switching element 23. Visualization states can include switching on, switching off, or intermittent switching on and off of the visualization device 56. Alternatively or additionally, color coding to indicate the states is conceivable.

[0036] The control unit 20 is designed and configured to execute the sequence management function 27, which is to be carried out in field driving mode, in two parts: a field start mode 39, which is to be executed when leaving a road to enter field 5, and a field end mode 40, which is to be executed when leaving field 5 to enter the road. During ongoing harvesting operations, i.e., after the execution of the sequence management function 27, which comprises several individual sequences 52a ... 52n, in field start mode 39, the sequence management function 27 is put into an inactive state. During the inactive state of the sequence management function 27, i.e., during the harvesting operation of the harvesting machine 1, the control of the functional devices 7 is carried out according to other criteria by the control unit 20 and / or by additional control units of the harvesting machine 1.

[0037] The representation in Fig. 2Figure 1 shows an exemplary flowchart when sequence management function 27 is inactive. Basically, starting from the inactive state of sequence management function 27, which prevails during harvesting or field cultivation, the system switches between field start mode 39 and field end mode 40, provided that the individual sequences 52a ... 52n of field start mode 39 or field end mode 40 have been successfully executed. A switch from field start mode 39 to field end mode 40 always occurs via the inactive state of sequence management function 27.

[0038] In the first step 28, it is checked whether a start condition exists that results in a state change in order to switch the sequence management function 27 from inactive to field start mode 39 in step 29. The start condition is the activation of a road driving switch to change from road driving mode to field driving mode. This change is stored in the memory unit 22. Subsequently, after the state change according to step 29, step 30 is executed.

[0039] If no, the following step 30 checks whether a start condition exists that results in a state change in order to switch the sequence management function 27 from inactive to field-end mode 40 in step 31. This start condition is the switching off of the main drive train. Switching off the main drive train causes the sequence management function 27 to switch to field-end mode 40 in step 31. Furthermore, this state change, the switch to field-end mode 40, is stored in the memory unit 22 so that this change can be recalled when the main drive train is switched on again. This serves to prevent an unintended switch between modes, from field-end mode 40 to field-start mode 39, if the main drive train is temporarily switched off and on during field operation, even though the processing process in the field is not yet complete, for example, for maintenance purposes.

[0040] If the answer is no, the following step 32 checks whether the state change according to step 29 has been carried out and the start condition is met, but not the termination condition of field start mode 39. If the answer is yes, in step 33 the states for all individual sequences 52a ... 52n to be executed are reset. In the following step 34, the system then switches from the inactive state of sequence management function 27 to the field start mode 39 state and processes the individual sequences 52a ... 52n to be executed in field start mode 39.

[0041] If the answer is no, the following step 35 checks whether the state change according to step 31 has been carried out and the start condition is met, but not the termination condition of field end mode 40. If the answer is yes, in step 36 the states for all individual sequences 52a ... 52n to be executed are reset. In the following step 37, the system then switches from the inactive state of sequence management function 27 to the field end mode 40 state and processes the individual sequences 52a ... 52n to be executed in field end mode 40.

[0042] If the answer is no, or after steps 36 and 37 have been completed, the process ends.

[0043] The change from the inactive state of the sequence management function 27 to one of the two other states, the field start mode 39 or the field end mode 40, therefore takes place depending on the next state stored in the memory unit 22 and only if the corresponding start conditions are met and the corresponding termination conditions are not met.

[0044] In Fig. 3 An exemplary flowchart of field start mode 39 of sequence management function 27 is shown. The flowchart applies largely the same way to field end mode 40, so the latter is not explicitly explained. The difference between the flowchart of field start mode 39 and that of field end mode 40 is highlighted below.

[0045] In step 41, the actuation of the switching element 23 or the push button 25 is detected and evaluated. Actuation of the switching element 23 is interpreted as initiating the execution of field start mode 39 or field end mode 40. Actuation of the switching element 23 also allows the control unit 20 to activate the operating and input unit 19, displaying to the user 26 in a status window 58 the mode to be executed next, either field start mode 39 or field end mode 40. The user 26 must then confirm its execution by a second actuation of the switching element 23.

[0046] In the following step 42, it is checked whether a termination condition exists during the activation for the execution of field start mode 39. This applies analogously to field end mode 40. The termination condition is the absence of a further actuation of the switching element 23 within a predefined time interval, which is preferably several seconds.

[0047] If the termination condition is met, the visualization device 56 is not activated according to step 43. The sequence management function 27 remains inactive according to the subsequent step 50.

[0048] If the answer is no, the process proceeds from step 42 to step 44. In step 44, it is checked whether the execution of field start mode 39 has been completed. If so, in the subsequent step 45, it is checked whether the execution of the individual sequences 52a ... 52n of field start mode 39 was successful, i.e., whether no termination condition specific to field start mode 39 has been met. If so, in the subsequent step 46, the state of field start mode 39 is set to field end mode 40.

[0049] In step 47, the visualization device 56 is controlled by the control device 20 to generate specific light signals indicating the changed current status of the sequence management function 27. However, according to the subsequent step 50, the sequence management function 27 remains inactive.

[0050] If, however, step 45 determines that the execution of the individual sequences 52a ... 52n of the field start mode 39 was unsuccessful, the visualization device 56 is not activated according to step 49. The sequence management function 27 remains inactive according to the subsequent step 50.

[0051] If, however, it is determined in step 44 that the execution of the individual sequences 52a ... 52n of the field start mode 39 has not been completed, the functional devices 7 are controlled in the following step 48 according to the field start mode 39.

[0052] In step 51, the sequence in which the functional devices 7 are controlled by the control unit 20 is coordinated and adjusted according to the two modes of the sequence management function 27. The control unit 20 is designed and configured to decide, depending on a detected travel speed and a detected amount of available hydraulic fluid in the hydraulic system 17, on the automatic execution and / or the extent of the automatic execution of the respective sequence management function 27, which comprises several individual sequences 52a ... 52n to be executed, in field start mode 39 or field end mode 40.

[0053] In step 53, it is checked whether the individual sequences 52a ... 52n to be executed during field start mode 39 have been processed for all controllable functional units 7. The control unit 20 is designed and configured to control the execution of individual sequences 52a ... 52n simultaneously or sequentially, depending on the available hydraulic fluid quantity in the hydraulic system 17. Thus, in step 51, at least some of the functional units 7 can be controlled simultaneously to process individual sequences 52a ... 52n.

[0054] If it is determined in step 53 that not all of the controllable functional devices 7 have yet been controlled, in step 54 the process continues with one of the remaining controllable functional devices 7 and jumps to step 48.

[0055] If, however, it is determined in step 53 that all controllable functional devices 7 have been controlled, a corresponding message is displayed in the status window 58 of the operating and input unit 19 in step 55.

[0056] The flowchart shown in the figure differs in the active field-end mode 40 from the field-start mode 39, particularly in that in step 46 the state is set from field-end mode 40 to field-start mode 40. The number of executable individual sequences 52a ... 52n of field-end mode 40 can differ from that of field-start mode 39. Furthermore, field-start mode 39 and field-end mode 40 can each include individual sequences 52a ... 52n for the inverse control of the same functional device 7 and / or individual sequences 52a ... 52n for the control of different functional devices 7. The term "inverse control" refers to the reversal or reversal of a control of one of the functional devices 7. As an example of inverse control of the same functional device 7, the control of the overloading device 15 as a functional device 7 is given.In field start mode 39, the unloading device 15 is raised vertically from the unloading stand. In field end mode 40, the unloading device 15 is lowered vertically onto the unloading stand. Another difference lies in the control of the visualization device 56, which is also inverse compared to field start mode 39.

[0057] The control unit 20 can be designed and configured to automatically select individual sequences 52a ... 52n of the respective active mode 39, 40 of the sequence management function 27 to be executed, depending on the scope of functions of the control unit 7, and / or to make them available for manual selection. Making a manual selection available can be done using the operating and input unit 19.

[0058] Preferably, the control unit 20 can be designed and configured to determine the scope of functions executable in the respective active mode 39, 40 by automatically detecting the function unit 7 to be controlled and / or by manually selecting the function unit 7 to be controlled by the user 26. Thus, information about specific properties of the function units 7 to be controlled can be stored in the memory unit 22 of the control unit 20, and / or the control unit 20 can receive data from a control unit assigned to the function unit 7 and / or read data from a storage medium assigned to the function unit 7. Alternatively or additionally, the user 26 can manually specify and / or select and configure the function unit 7 and its scope of functions.It is also conceivable to import data from the relevant functional unit 7 via a wireless or wired communication interface from an external data source, whereby the import of the data can again be automated or manual.

[0059] In Fig. 4 Figure 1 shows an exemplary and schematic representation of a menu interface 57 of the operating and input unit 19.

[0060] The field start mode 39 comprises, as individual sequences 52a ... 52n of functional devices 7 (in a non-exhaustive list): unfolding a foldable attachment 3, raising the unloading device 15, raising and unfolding a foldable or collapsible unloading device 15, pivoting the unloading device 15, and operating a differential lock in an automatic mode. As can be seen from the above list, the available individual sequences 52a ... 52n can vary depending on the functional scope of the functional devices 7.

[0061] The status window 58 displays the active mode of the sequence management function 27, here the field start mode 39. The adjacent selection menu 59, which is presented here as an example list, lists functional devices 7 that are automatically controlled during the execution of field start mode 39. In the illustrated exemplary embodiment, the unloading device 15 and a component of the drive train of the forage harvester 2, here and preferably the differential lock, are shown as the functional devices 7 to be controlled.

[0062] At the same time, the list-like representation can at least partially specify the order in which the various individual sequences 52a, 52b, 52c, and 52d are to be executed. The sequence for controlling the loading device 15 is already predetermined by the loading device 15 as the controllable functional unit 7, insofar as the loading device 15 must first be raised according to individual sequence 52a and only then can it be pivoted to one side according to individual sequence 52c. Furthermore, the sequence depends on whether the loading device 15 is designed to be foldable or collapsible due to its length. If the loading device 15 is designed to be foldable or collapsible, the additional individual sequence 52b is required to first unfold or unfold the raised loading device 15 before it is pivoted to one side according to individual sequence 52c. The requirement for individual sequence 52b, the unfolding or collapsing, can be...As already explained above, the unfolding is automatically detected by the control device 20.

[0063] The execution of individual sequences 52d, which controls the differential lock as the functional device 7 to be controlled, can be carried out in parallel with the execution of individual sequence 52a, according to which the loading device 15 is raised. The control of the foldable attachment 3 according to a further individual sequence 52e, however, would, depending on the detected amount of available hydraulic fluid in the hydraulic system 17, be carried out either in parallel with individual sequence 52a or sequentially. The decision as to whether individual sequences 52a, 52b, and 52c and individual sequence 52e are executed in parallel or sequentially is made by the control unit 20. The control unit 20 can independently prioritize the sequentially executed individual sequences 52a, 52b, and 52c for controlling the loading device 15 and the individual sequence 52e for unfolding the attachment 3.Alternatively, the control device 20 can be configured to actuate the functional devices 7, which are to be operated by pressurization through the hydraulic system 17, according to a sequence freely configurable by the user 26.

[0064] In particular, the storage unit can contain 22 editable selection lists with individual sequences 52a ... 52n, which are assigned to the respective mode of the sequence management function 27, field start mode 39 and field end mode 40. The selection lists can be edited manually or automatically adjusted, for example, as part of the automatic detection of the controllable function device 7 and its functional scope.

[0065] In Fig. 5Figure 1 shows an exemplary and schematic representation of the menu interface 57 of the operating and input unit 19 in the field-end mode 40 of the harvesting machine 1. The structure and layout of the menu interface 57 corresponds to that shown in Figure 1. Fig. 4 One difference lies in the partially inverse control of the functional devices 7, in this case the foldable unloading device 15. Thus, in field-end mode 40, the individual sequence 52b is executed in reverse, encompassing the folding or collapsing action. Subsequently, the individual sequence 52a can be executed, which involves lowering the unloading device 15. As shown in the Fig. 4As explained in the illustrated embodiment, a further individual sequence 52f is also shown here as an example, which comprises a rinsing process of the silage additive dosing device 14. This individual sequence 52f can be executed in parallel with the individual sequences 5a and 52b. However, the individual sequence 52f, the execution of the rinsing process, is not included in the field start mode 39, as it is not required for this mode.

[0066] The field end mode 40 comprises as individual sequences 52a ... 52n a folding of a foldable header 3, a transfer of the unloading device 15 into a parking position, i.e. the placement on the storage stand by vertical lowering, a folding and transfer of a foldable unloading device 15 into a parking position, a rinsing of the silage additive dosing device 14.

[0067] The control unit 20 is designed and configured to automatically execute the respective mode 39, 40 of the sequence management function 27 depending on whether a limit value for the detected travel speed is exceeded. This serves to comply with safety requirements during the operation of the harvesting machine 1 in order to prevent the accidental execution of mode 39, 40 of the sequence management function 27 when the harvesting machine 1 is stationary or nearly stationary. Execution of the sequence management function 27 at a travel speed below the limit value may require active and continuous actuation of the switching element 23. Interruption of the actuation of the switching element 23 causes the execution of the sequence management function 27 to be terminated immediately.In particular, this allows any further adjustment of all functional devices 7 that were already activated during the execution of the sequence management function 27 to be interrupted. This is necessary for safety reasons, as a person could work on the functional devices 7 of the forage harvester 2 when the machine is stationary or at low speeds. By continuously actuating the switching element 23, the user 26 must confirm that this is not the case.

[0068] Preferably, a driving speed of approximately 2 km / h can be used as a limit value, above which the execution of the sequence management function 27 is carried out automatically after corresponding actuation of the switching element 23. Reference symbol list

[0069] 1 Harvesting machine 33 Step 2 Forage harvester 34 Step 3 attachment 35 Step 4 Harvested crops 36 Step 5 Field 37 Step 6 working organ 38 Step 7 Functional device 39 Field start mode 8 feed device 40 Field end mode 9 Harvest mat 41 Step 10 shredding device 42 Step 11 Mine shaft 43 Step 12 Post-processing device 44 Step 13 Post-accelerator device 45 Step 14 Silage additive dosing device 46 Step 15 Overloading device 47 Step 16 drive motor 48 Step 17 hydraulic system 49 Step 18 Driver's cab 50 Step 19 Operating and input unit 51 Step 19a Data processing device 52a ... 52n Single sequence 20 Control unit 53 Step 21 means of communication 54 Step 22 Storage unit 55 Step 23 Switching element 56 Visualization setup 24 Control armrest 57 Menu interface 25 push button 58 Status window 26 user 59 Selection menu 27 Sequence management function 28 Step FR Direction of travel 29 Step 30 Step 31 Step 32 Step

Claims

1. A self-propelled agricultural harvesting machine (1), in particular a forage harvester (2), with a front attachment (3) for picking up harvested material (4) from a field (5), at least one working unit (6) for processing and / or conveying the harvested material (4) as well as a hydrostatic propulsion unit as functional devices (7), a hydraulic system (17) for supplying at least some of the functional devices (7) with a pressurizing medium, as well as a control device (20) which is configured to control the functional devices (7) of the harvesting machine (1) in accordance with at least one sequence management function (27) stored in a memory unit (22) of the control device (20) during a respective change between road travel mode and field travel mode, characterized in that the sequence management function (27) to be executed in the field travel mode is divided into a field start mode (39), which is to be executed when leaving a road in order to travel on the field (5), and a field end mode (40), which is to be executed when leaving the field (5), wherein the control device (20) is constructed and configured to make a decision, as a function of a detected driving speed and a detected quantity of hydraulic fluid which is available in the hydraulic system (17), regarding the automatic execution and / or the extent of the automatic execution of the respective sequence management function (27) comprising a plurality of individual sequences (52a ... 52n) to be executed in the field start mode (39) or field end mode (40).

2. The harvesting machine (1) according to claim 1, characterized in that the field start mode (39) and the field end mode (40) respectively comprise individual sequences (52a ... 52n) for the inverse control of the same functional device (7) and / or individual sequences (52a ... 52n ) for the control of different functional devices (7).

3. The harvesting machine (1) according to claim 1 or claim 2, characterized in that the control device (20) is constructed and configured to automatically adjust the individual sequences (52a ... 52n) to be executed in the field start mode (39) and in the field end mode (40) as a function of the detected driving speed and the quantity of hydraulic fluid which is available.

4. The harvesting machine (1) according to one of the preceding claims, characterized in that the control device (20) is constructed and configured to detect the actuation and / or the actuation state of a switch element (23) which is independent of the road travel switch in order to recognise a change between the road travel mode and the field travel mode.

5. The harvesting machine (1) according to claim 4, characterized in that a visualization device (56) is connected to the switch element (23) and takes up different visualization states as a function of the status of the sequence management function (27) to be executed.

6. The harvesting machine (1) according to one of the preceding claims, characterized in that the control device (20) is constructed and configured to select individual sequences (52a ... 52n) to be executed of the respective active mode (39, 40) of the sequence management function (27) as a function of the scope of functions of the functional device (7) to be controlled.

7. The harvesting machine (1) according to claim 6, characterized in that the control device (20) is constructed and configured to determine the scope of functions which can be executed by means of an automatic recognition of the functional device (7) to be controlled and / or by means of a manual selection, by a user (26), of the functional device (7) to be controlled.

8. The harvesting machine (1) according to one of the preceding claims, characterized in that editable selection lists with individual sequences (52a ... 52n) are stored in the storage unit (22) and are associated with the respective mode of the sequence management function (27), the field start mode (39) or the field end mode (40).

9. The harvesting machine (1) according to one of the preceding claims, characterized in that the control device (20) is constructed and configured to control the execution of individual sequences (52a ... 52n) of at least one functional device (7) simultaneously or sequentially as a function of the available quantity of pressurizing medium in the hydraulic system (17).

10. The harvesting machine (1) according to one of the preceding claims, characterized in that the control device (20) is constructed and configured to automatically execute the respective mode (39, 40) to be executed of the sequence management function (27) when a limiting value for the detected driving speed is exceeded.

11. The harvesting machine (1) according to one of the preceding claims, characterized in that the field start mode (39) comprises, as individual sequences (52a ... 52n), folding out of a front attachment (3) which can be folded, raising of an overhead transfer device (15), raising and unfolding of an overhead transfer device (15) which can be folded, pivoting of an overhead transfer device (15), operation of a differential lock in an automatic mode.

12. The harvesting machine (1) according to one of the preceding claims, characterized in that the field end mode (40) comprises, as individual sequences (52a ... 52n), folding up of a front attachment (3) which can be folded, a transfer of an overhead transfer device (15) into a parking position, folding up and transfer, into a parking position, of an overhead transfer device (15) which can be folded, washing of a silage additive dosing device (14).

13. The harvesting machine (1) according to one of the preceding claims, characterized in that the control device (20) is constructed and configured to carry out a change between the field start mode (39) and the field end mode (40) based on the preceding mode selection and the feedback regarding the state of the individual sequences (52a ... 52n) to be processed of the preceding mode (39, 40).

14. The harvesting machine (1) according to one of claims 4 to 13, characterized in that the switch element (23) is constructed as a push button (25) which is integrated into a control armrest (24) or a multifunctional grip, the control armrest or the multifunctional grip being disposed in a driver's cab (18) of the harvesting machine (1).

15. The harvesting machine (1) according to one of the preceding claims, characterized in that the control device (20) is constructed and configured to control an operating and input unit (19) in order to visualize different statuses of the individual sequences (52a ... 52n) to be processed.