Combine harvester levelling system

Abstract

A combine harvester comprises front and rear wheels or tracks supported by front and rear axles and a crop cutting header. A header positioning system is used to controlling at least a header height and a levelling system is used for controlling at least a height of the combine harvester body relative to at least one of the axles. The header positioning system and levelling system are controlled by a user actuator in the form of a joystick for actuating the levelling system, and a thumb switch mounted at the top of the joystick for actuating the header positioning system.

Description

TITLECOMBINE HARVESTER LEVELLING SYSTEMFIELD

[0001] Embodiments of the present disclosure relate generally to combine harvesters, and in particular to the levelling system used by combine harvester.BACKGROUND

[0002] A combine harvester typically includes a crop cutting head (header) and a threshing system for detaching grains of cereal from the ears of cereal. A delivery system delivers the cut crop to the threshing system, known as the feederhouse. A separating apparatus is downstream of the threshing system, and a grain cleaning apparatus receives grain from the separating apparatus. A stratification pan aims to stratify the material into a layered structure of grain at the bottom and light chaff and other material other than grain (MOG) at the top.

[0003] The header is typically in the form of a wide array of cutters and a delivery auger (or belt) to feed the cut material to the central feederhouse. The feederhouse is typically in the form of a conveyor chain with cross bars that transport the crop material. The feederhouse supports the header, and typically also includes a control system for controlling a height, pitch and tilt of the header. A hydraulic drive is typically used to raise and lower the header, using hydraulic cylinders coupled between the chassis of the combine harvester and the feederhouse, and hydraulic actuators are used to control the pitch and tilt of the header relative to the main body of the feederhouse.

[0004] There are various designs for the threshing system and for the separating apparatus (e.g. axial or transverse) as well as for the grain cleaning apparatus. However, in all designs, there is a flow of material from the threshing system to the separating apparatus, and between the separating apparatus and the grain cleaning unit, in particular from the stratification pan to the grain cleaning unit. The threshing system typically comprises threshing rotors that rotate with respect to concave gratings (known simply as "concaves"). The threshingrotors may be arranged transversally or longitudinally with respect to the direction of travel of the combine harvester.

[0005] Fields to be cultivated using a combine harvester may have different slopes and surface profiles. In order to provide a stable and level platform for the operator, it is known to have an adjustable lateral angle of the axles so that the combine can remain horizontal or closer to horizontal in the width direction even when the terrain has a large lateral slope. Similarly, the front and / or rear of the combine chassis may have an adjustable height relative to the axle so that the combine can remain horizontal or closer to horizontal in the fore-aft direction even when the terrain has a large fore-aft slope. For example, the rear of the combine body is lifted when travelling uphill and the front is lifted when travelling downhill.

[0006] Typically, the user can choose for these adjustments to be made automatically or manually. Typically, automatic control is used when following a lane during harvesting. However, some operators prefer to have manual control during harvesting (e.g. turning at the end of lanes) and also when unloading. For example, if unloading on a lateral slope, it may be desired to maintain a cab tilt (in the same direction as the land slope) so that the height difference between the unloading auger and the collection vehicle does not become too great.

[0007] For manual control, it is known to provide a set of buttons for this level control, with a tilt left button, tilt right button, lift front button and lift back button.

[0008] Another function that is controlled by user is the header position, such as the header height over the ground and preferably also the header slope to match the lateral ground slope. This is implemented as a separate user interface.BRIEF SUMMARY

[0009] Aspects of the invention are defined by the claims. According to an aspect of the invention, there is provided a combine harvester comprising:

[0010] a combine harvester body;

[0011] front and rear wheels or tracks supported by front and rear axles;

[0012] a crop cutting header;

[0013] a header positioning system for controlling at least a height of the crop cutting header;

[0014] a levelling system for controlling a height of the combine harvester body relative to at least one of the axles; and

[0015] a user interface to enable a driver to control the header positioning system and the levelling system,

[0016] wherein the user interface comprises a joystick for actuating the levelling system and a thumb switch mounted at the top of the joystick for actuating the header positioning system.

[0017] This user interface design enables an operator to make header adjustments as well as manual levelling adjustments using a single joystick. This provides an intuitive control system, in which functions which need regulation in dependence on the ground or tractor conditions are controlled by a single element requiring only one hand of the operator.

[0018] The levelling system is preferably for controlling a height and lateral slope of the combine harvester body relative to at least one of the axles. Thus, the levelling system can compensate for lateral and fore-aft slopes of the terrain. Of course, this is equivalent to controlling the lateral slope of the axle relative to the combine harvester body.

[0019] The joystick for example has four control functions comprising tilt left, tilt right, tilt forward and tilt backward. Thus, the lateral and fore-aft tilt of the combine harvester body relative to the ground may be controlled, typically to maintain the cab horizontal when the ground is sloped (in one or both of lateral and fore-aft directions) to the horizontal.

[0020] In one example, the tilt left and tilt right functions actuate the levelling system to adjust a lateral tilt of one axle only and the tilt forward and tilt backward functions actuate the levelling system to adjust a height of both axles. The lateral tilt of one axle is for example actively controlled, and the other axle may follow in a passive manner, for example with a pendulum type axle design. The height adjustment is in this example provided at both axles.

[0021] In another example, the joystick comprises a further control input for selecting a front or rear axle, and the tilt forward and tilt backward functions actuate the levelling systemto adjust a height of only the selected axle. In this way, independent axle height control is enabled.

[0022] The lateral tilt in this case may only act on one axle (no matter which axle is selected for height control), but the axles may instead each have independent control of a lateral tilt angle.

[0023] In all examples, the user interface may have a mode selector for selecting an auto-levelling mode or a manual levelling mode, wherein:

[0024] in the auto-levelling mode, a neutral joystick position is for performing autolevelling; and

[0025] in the manual-levelling mode, a neutral joystick position is for retaining a previously manually selected levelling position.

[0026] The thumb switch for example has at least two control functions comprising lift and lower. Thus, the thumb switch is used to raise and lower the header so that the correct height over the ground can be maintained.

[0027] The header positioning system may further be for controlling a header slope, and the thumb switch has four control functions comprising tilt left, tilt right, lift and lower. Thus, the header height as well as lateral slope can be manually adjusted to track the ground topology. The thumb switch for example then comprises a secondary joystick mounted on the head of the joystick.

[0028] The combine harvester may further comprise a grain bin and an unloading auger tube for unloading the grain bin and an unloader positioning system for controlling a position of the unloading auger tube, wherein the user interface further comprises a finger switch mounted at the back of the joystick for controlling the unloader positioning system. This provides additional functionality that can be controlled with one hand. The finger switch for example comprises a toggle switch with two functions, a stowing function and a deploying function.

[0029] In this way, the levelling functions (lateral slope compensation and hill compensation) as well as the unloader position may be controlled with a single joystick, hence with only one hand of the user.

[0030] For each input direction of the joystick, the movement of the joystick may be divided into at least two ranges, each range corresponding to a different rate of levelling control. Thus, the user may perform rapid levelling adjustment (with a large joystick movement) or more gradual and hence more easily controlled levelling adjustment.

[0031] A further aspect of the invention also provides a method of controlling the positioning of a crop cutting header and a levelling of a body of a combine harvester, comprising:

[0032] receiving a joystick input;

[0033] receiving a thumb switch input, the thumb switch mounted at the top of the joystick;

[0034] controlling a header positioning system to control at least a header height based on the thumb switch input; and

[0035] controlling a levelling system to control a height of the combine harvester body relative to at least one of the axles based on the joystick input.

[0036] The method may further comprise:

[0037] receiving a finger switch input, the finger switch mounted on back side of the joystick; and

[0038] controlling an unloader positioning system to control an unloader position based on the finger switch input.

[0039] The method is for example implemented as a computer program.BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Several aspects of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0041] Figure 1 shows a known combine harvester with one example of the internal mechanism shown;

[0042] Figure 2 shows one example of the levelling control and header control that may be provided for a combine harvester;

[0043] Figure 3 shows how the combine harvester of Figure 2 is configured for a lateral slope and for a fore-aft slope;

[0044] Figure 4 shows an example of the user interface for controlling a header positioning system for controlling the header position) and a levelling system for controlling a height and lateral slope of the combine harvester body;

[0045] Figure 5 shows the joystick functionality when the height of the front and rear axles is controlled by a single command and the lateral slope of the front and rear axles is controlled by a separate single command;

[0046] Figure 6 shows independent height control of the front and rear axles;

[0047] Figure 7 shows a modification to the user interface with a finger switch for controlling the unloading auger tube;

[0048] Figure 8 shows how the combine harvester may be configured to bring the unloader closer to ground in order to reduce the distance to a trailer;

[0049] Figure 9 shows an example of the overall control panel for the operator including the user interface;

[0050] Figure 10 shows an example of how to process the user interface commands; and

[0051] Figure 11 shows an example of a controller.DETAILED DESCRIPTION

[0052] It should be understood that the detailed description and specific examples, while indicating exemplary embodiments of the apparatus, systems and methods, are intended for purposes of illustration only and are not intended to limit the scope. These and other features, aspects, and advantages of the apparatus, systems and methods of the present aspects of the invention will become better understood from the following description, appended claims, and accompanying drawings. It should be understood that the Figures are merely schematic and are not drawn to scale. It should also be understood that the same reference numerals are used throughout the Figures to indicate the same or similar parts.

[0053] This disclosure relates to a combine harvester having front and rear wheels or tracks supported by front and rear axles and a crop cutting header.

[0054] The combine harvester has at least a header positioning system for controlling a header height and a levelling system for controlling a height of the combine harvester body relative to at least of the axles. This controls a (fore-aft) pitch of the combine harvester relative to the ground. The levelling system and the header positioning system are controlled by a user actuator with a joystick for actuating the levelling system and a thumb switch mounted at the top of the joystick for actuating the header positioning system.

[0055] In some implementations, the header positioning system is also for controlling the tilt angle of the header. In some implementations, the the levelling system is also for controlling a lateral angle of the combine harvester body. This controls a (lateral) roll angle of the combine harvester relative to the ground.

[0056] In some further implementations an unloader positioning system is also provided for controlling an unloader position.

[0057] The fore-aft pitch control (of the levelling system) may comprise at least one of a front axle levelling system and / or a rear axle levelling system. The lateral roll control (of the levelling system) for example comprises at least a front axle levelling system. The rear axle may be passively adjusted.

[0058] The front axle pitch control of the levelling system and the front axle roll control of the levelling system may use the same actuators, such as hydraulic cylinders. Alternative actuators may be used such as electromechanical actuators.

[0059] The various systems are all controlled by the same user actuator. The user actuator for example has a finger switch mounted on the rear side of the joystick for actuating the unloader positioning system, in addition to the joystick and thumb switch.

[0060] Figure 1 shows a combine harvester 10 with a header 11, a feederhouse 12 and an operator cab 14 that is mounted to a chassis supported by wheels 15. In some embodiments, other or additional forms of travel may be used, such as tracks. The feederhouse 12 moves up and down based on actuation of hydraulic cylinders, which causes the detachablycoupled header 11 to also be raised and lowered. In addition, the header can be rotated tilted (laterally) relative to the feederhouse, again based on actuation of hydraulic cylinders.

[0061] The header 11 functions as a crop cutting head and comprises a wide laterally extending transverse auger or belt, which cuts the crop material and drives it inwardly towards a central area. A front elevator housing receives the cut crop material and includes the feederhouse 12 for transporting the crop material.

[0062] The feederhouse delivers the crop material to a threshing system 20 for detaching grains of cereal from the ears of cereal, and a separating apparatus 30 which is connected downstream of the threshing system 20. The threshing system comprises one or more threshing units, in particular rotors, and associated concaves.

[0063] In the example shown, the separating apparatus 30 includes a plurality of parallel, longitudinally-aligned, straw walkers 32, and this is suitable for the case of a so-called straw-walker combine. The grains after separation by the separating device 30 pass to a grain cleaning apparatus 40.

[0064] In the example shown, the threshing system 20 is a tangential-flow'conventional' threshing system, i.e., formed by rotating elements with an axis of rotation in the side-to-side direction of the combine harvester and for generating a tangential flow. For example, the 'conventional' threshing system includes a rotating, tangential-flow, threshing cylinder and a concave-shaped grate. The threshing cylinder includes rasp bars (not shown) which act upon the crop stream to thresh the grain or seeds from the remaining material, the majority of the threshed grain passing through the underlying grate and onto a stratification pan (also sometimes known as the grain pan).

[0065] There are also axial threshing systems, i.e., formed by rotating elements with an axis of rotation in the longitudinal direction (direction of travel). For example, the threshing section may have axially-aligned rasp bars spaced around the front section whilst the separating section has separating elements or fingers arranged in a pattern, e.g., a spiral pattern, extending from the rasp bars to the rear of the rotor.

[0066] The separated and cleaned grain is stored in a grain bin 18, and it can be delivered to a remote vehicle using an unloading auger tube 19.

[0067] Feederhouse 12, threshing system 20, separating apparatus 30, grain cleaning apparatus 40, grain bin 18 and unloading auger tube 19 are provided to process the crop feed in by header 11 and are therefore also referred to as the crop processing means. The components of the crop processing means 45 are generally attached to a chassis frame of the combine harvester 10, the wheels 15 also being movably attached to said chassis frame. Chassis frame also supports the operator cab 14.

[0068] The components which are fixed relative to the chassis frame will be referred to as the combine harvester body.

[0069] As mentioned above, the header 11 and feederhouse 12 move to raise, lower, and / or tilt the header. In addition to control of the header height and slope, it is also known to control the angle of the combine harvester body, i.e., the crop processing means relative to the axles, so that these can remain horizontal while the wheels (or tracks) follow the contour of sloped ground. The horizontal alignment of the crop processing means is a vital requirement to avoid unbalanced loading of the crop processing means in a transverse direction (when transverse tilting would occur) or when driving up a hill (when the processing means would be tilted in longitudinal direction). A combination of both results in inefficient, incorrect crop processing or damage when crop material gets stuck within crop processing means.

[0070] For example, Fendt combine harvesters have a levelling system called the"Paralevel" system. The system is based on a parallelogram mounting of the wheels to the axle so that the wheels remain vertical when the axle angle is changed relative to the cab.

[0071] Figure 2 shows in schematic form how one known design is configured, in front view and side view. The header 11 is controlled by a first hydraulic cylinder 42 so that it can be raised and lowered, and a second hydraulic cylinder 43 controls a tilt of the header relative to the feederhouse 12. The front axle 15f also has a pair of hydraulic cylinders 44 so that both a height and slope of the front axle can be actively controlled to follow the contour of the ground. The rear axle has a pendulum design which can passively follow the lateral slope of the ground. The height of the rear axle is controlled by a hydraulic cylinder 46.

[0072] The threshing unit and the entire separating and cleaning system as well as the cab (i.e., the combine harvester body as defined above)_can then remain horizontal even when there is a lateral slope or a fore-aft slope.

[0073] Figure 3 shows in the top image adjustments to make the cab 14 level when operating on a lateral slope. These adjustments may be considered to comprise a roll correction. The front axle 15f is tilted relative to the cab so that the axle 15f is parallel to the ground while the cab 14 (and the other parts of the combine harvester body) is horizontal. This image shows that the unloading auger tube 19 is then much higher from the ground. The operator may decide to tilt the cab (but not as much as the tilt of the ground) to reduce the fall height of grain into the collection vehicle. Thus, manual control of the levelling, particularly the lateral angle, may then be desired.

[0074] Figure 3 shows in the bottom image adjustments to make the cab 14 level when operating on an uphill slope. These adjustments may be considered to comprise a pitch correction. The combine harvester body is tilted forward, so the distance to the front axle 15f is reduced and the distance to the rear axle 15r is increased. The header 11 is also raised.

[0075] The levelling system thus enables the combine to adapt to lateral slopes by adjusting the angle of the combine harvester body and to provide height control of the main chassis of the combine (and hence the cab) relative to the axles to enable the combine to adapt to fore-aft slopes.

[0076] Thus, in the design shown in Figures 2 and 3, the front axle has a both a slope that can actively controlled and a height that can be controlled, and the rear axle also has an adjustable height but passively follows the lateral slope of the ground.

[0077] There are other possible designs. For example, the lateral slope of both front and rear axles could be controlled. Furthermore, a single axle (such as the front axle) could have height control, with a neutral position, a raised position (e.g. a raised rear axle for uphill) and a lowered position (e.g. a lowered rear axle for downhill).

[0078] These control features may be controlled automatically, e.g., to maintain the chassis horizontal laterally and in the fore-aft direction. However, manual user control is also provided as a user option. Manual control is of particular interest during normal harvestingoperation (e.g. avoid trees or obstacles) or when turning the combine or when unloading the grain bin (as mentioned above).

[0079] This disclosure relates to the user interface which enables the operator to control manually the levelling system and the header positioning system, and in some examples also the unloader position system.

[0080] Figure 4 shows an example of the user interface for controlling a header positioning system for controlling the header position (at least the header height) and a levelling system for maintaining the cab level by controlling at least a height of the combine harvester body relative to at least one axle.

[0081] The user interface comprises a joystick 50 for actuating the levelling system and a thumb switch 52 mounted at the top of the joystick for actuating the header positioning system. Figure 4 also shows an optional selector switch 54 for selecting the front or rear axle, which is discussed below with reference to Figure 6.

[0082] Figure 4 shows the functions implemented by the joystick 50 and thumb switch52.

[0083] The joystick 50 has four control functions comprising levelling tilt left (when the joystick is moved left), tilt right (when the joystick is moved right), tilt forward (when the joystick is moved forward) and tilt backward (when the joystick is moved backward). A tilt forward is needed when driving uphill, and a tilt backward is needed when driving downhill. The forward and backward functions may be reversed (e.g., push the joystick forward to travel downhill and pull the joystick back to travel uphill). In this way, the lateral and fore-aft tilt of the combine harvester body relative to the ground may be controlled, typically to maintain the body horizontal when the ground is sloped (in one or both of lateral and fore-aft directions) to the horizontal. In a most basic implementation, only fore-aft levelling control is enabled.

[0084] In the example shown, the thumb switch 52 is in the form of a secondary joystick mounted on the head of the joystick 50. It also has four four control functions comprising lift (when the secondary joystick is moved forward), lower (when the secondary joystick is moved backward), tilt left (when the secondary joystick is moved left), and tilt right (when the secondary joystick is moved right). Thus, the header height as well as lateral slopecan be manually adjusted to track the ground topology. However, as a minimum, the header height only may be controlled by the thumb switch.

[0085] The user interface thus enables an operator to make header adjustments as well as manual levelling adjustments using a single joystick. This provides an intuitive control system, in which both functions which need regulation in dependence on the ground conditions are controlled by a single element requiring only one hand of the operator.

[0086] For example, when turning on ground with a steep incline, the operator will need to adjust both the cab orientation and the header orientation to maintain the cab level as well as maintaining the header parallel to the ground slope. Similarly, the operator may desire a non-horizontal orientation when unloading the grain bin.

[0087] As mentioned above, there may be different levels of controllability.

[0088] Figure 5 shows the joystick functionality when the height of the front and rear axles is controlled by a single command and the lateral slope is controlled by a separate (but single command). The lateral tilt for example drives the front axle 15f as explained above, whereas the rear axle has a rigid pendulum design and follows the ground slope with the cab orientation defined by the front axle control. Thus, the tilt left and tilt right functions actuate the levelling system to adjust a lateral tilt of the front axle and the tilt forward and tilt backward functions actuate the levelling system to adjust a height of both axles.

[0089] Figure 6 shows independent control of the front and rear axles. This makes use of the selector 54 shown in Figure 4. The selector is a further control input for selecting a front or rear axle. The tilt left and tilt right functions operate as explained above, for example controlling the front axle. The tilt forward and tilt backward functions actuate the levelling system to adjust a height of only the selected axle. In this way, independent axle height control is enabled.

[0090] The top image shows the joystick function when the front axle is selected and the bottom image shows the joystick function when the rear axle is selected. In this example, the lateral tilt control is the same regardless of the chosen axle. However, it would also be possible to have independent control of the slope as well as height of each axle if both axles are provided with active slope control.

[0091] As mentioned above, an automatic levelling function may be provided, and the user interface may have a mode selector for selecting an auto-levelling mode or a manual levelling mode. This may be a button separate to the joystick or it may be on the joystick.

[0092] When in the auto-levelling mode, a neutral joystick position may be used for performing auto-levelling. Movement of the joystick can then introduce additional manual control.

[0093] When in the manual-levelling mode, a neutral joystick position may be used for retaining a previously manually selected levelling position.

[0094] The user interface may also be used to control the deployment and stowing of the unloading auger tube (19 in Figure 1).

[0095] Figure 7 shows a modification to the user interface with a finger switch 60 mounted at the back of the joystick 50 for controlling the unloading auger tube. This provides additional functionality that can be controlled with one hand. The finger switch for example comprises a toggle switch with two functions, a stowing function (when the toggle switch is moved down, in this example) and a deploying function (when the toggle switch is moved up, in this example). In this way, the operator can perform levelling as well as unloading functions with one hand, at the same time.

[0096] As mentioned above, the user may wish to provide lateral tilting (rolling) of the combine harvester body in order to change the height h of the auger unloading tube 19. This is shown in Figure 8.

[0097] Figure 9 shows an example of the overall control panel for the operator including the user interface 50,52 described above. The control panel has a terminal 70 which allows multiple control screens to be selected. The terminal has a touch screen, but a push dial 72 also allows switch control instead of using the touch screen. Infotainment control (volume, mute, A / C control) is by switches 74.

[0098] An array of customizable buttons is shown as 76.

[0099] The joystick 50 of the user interface is a multifunction joystick so that it may be used for other functions than the header and levelling control, when the operator is in a different mode of operation. A second multifunction joystick 78 is also provided.

[0100] The manual levelling control is for example only enabled when the seat switch is activated, hence when the operator is present in the cab.

[0101] The header positioning system and levelling system is for example implemented using hydraulic cylinders as shown in Figures 2 and 3, although other actuators could be used.

[0102] The joystick has been described above as provided four control signals, with each control signal either on or off depending on the position of the joystick.

[0103] When the control signals are used to control hydraulic motion drives such as hydraulic pistons, these are most frequently controlled by hydraulic valves supplied with fluid by a pump. Dependent of the movement of the joystick, the valve opens or blocks the flow of hydraulic fluid to the hydraulic piston.

[0104] A more intelligent signal control system is also possible, whereby dependent on the degree the movement (e. g. the deviation angle) of the joystick, a control valve forwards a certain oil flow rate. The higher the oil flow rate, the faster the hydraulic cylinder is moved (dependent on the load to be moved). A high flow rate may be suitable to quickly provide a movement of the driven component, while a lower flow rate may be suitable to control an exact positioning of a driven component.

[0105] Figure 10 shows the joystick 50, the rear switch 60 and thumb switch 52 and shows the ranges of movement that correspond to different control signals.

[0106] In the same way as described above, the thumb stick 52 generates four control possible signals from its four movement directions, shown as 80a to 80d.

[0107] However, the joystick 50 generates different control signals dependent on the degree of movement from the neutral position. Thus, the left-right movement is divided into near left 90a, far left 90b, near right 90c and far right 90d. The forward-backward movement is divided into near forward 92a, far forward 92b, near backward 92c and far backward 92d. These are thus different deflection ranges.

[0108] In this way, each direction of movement of the joystick has a neutral position, a first deflection range up to a maximum deflection limit of the first range, and then a second deflection range (up to the maximum overall deflection). The two deflection ranges (in eachdirection of movement of the joystick) then provide different control signals. Haptic feedback may be provided to the operator, for example in form of a haptic resistance, to indicate that the deflection limit of the first range has been reached (i.e., the interface between the first and second deflection ranges).

[0109] The control provided in the different deflection ranges may be user- configurable. For example, the different deflection ranges may each be associated with different oil flow rates, and these oil flow rates then control the rate at which the piston(s) moves of a hydraulic cylinder(s).

[0110] An electronic control unit 100 determines the oil flow demand associated with the joystick inputs received, and then controls the speed of actuation of the hydraulic cylinder associated with that input command accordingly. Thus, in response to a movement of the joystick from one deflection range to the next, an oil speed demand is increased by a discrete step (e.g., from 60 l / min to 90 l / min).

[0111] The oil speed settings are stored in a memory 102 of the ECU 100. The ECU100 also receives and processes the inputs received from the other user interface parts of the control panel shown in Figure 9. These inputs are represented schematically as block 94.

[0112] This system enables an operator to the operate the levelling system to make adjustments to the cab angle at different rates, i.e., for rapid orientation change or for a more gradual and hence finer control of the orientation. As the oil flow remains constant within each deflection range, an unintentional change of oil flow is avoided even if the joystick is shaking when the combine runs on an uneven ground.

[0113] As shown in Figure 10, the user interface (joystick 50 and thumb switch 52) controls a set of hydraulic cylinders 110 (namely the hydraulic cylinders shown in Figures 2 and 3). These are double acting hydraulic cylinders. Double-acting cylinders enable to pressurize both chambers of the cylinder so that the opposite drives (e.g., lifting and lowering) are both powered. Each cylinder is controlled by dual port spool valves 120. Each valve 120 has two inputs; one connected to a high pressure hydraulic line 122 (feed by a hydraulic pump) and the other connected to a low pressure hydraulic line 124 (or tank). The control of each valve 120enables an oil flow rate through the valve to be regulated. This in turn enables the speed at which the piston of the associated hydraulic cylinder is moved to be controlled.

[0114] The valves 120 serves to direct pressurized fluid from the high pressure hydraulic line 122 to the respective hydraulic cylinders in order to either extend or retract the respective piston rods. To complete the hydraulic circuit during actuation, the valves 120 direct exhausted fluid to the low pressure hydraulic line 124. Each valve 120 is connected electrically to the ECU 100 to be electrically activated by a solenoid integrated in each valve 120.

[0115] Each input direction of the joystick is described above as being divided into two ranges, each range corresponding to a different rate of levelling control. However, there may be three or more ranges. There may be a different number of ranges for the lateral control than for the fore-aft control.

[0116] The multi-range input concept described above for the main joystick may be applied also to the thumb stick.

[0117] Figure 11 shows the ECU 100, comprising an interface 158, a controller 159 and a memory 160. The ECU 100 may receive and send signals or data via the interface 158. The interface 158 may be a wireless interface or a connector. The controller 159 may store the data or signals received by the ECU 100 in the memory 160. The memory 160 may contain additional data or executable computer program products, for example in terms of a computer- implemented method, that may be retrieved, processed or executed by the controller 159. The memory 160 can also store user configuration settings for the user interface. Data or signals resulting from the processing of data or signals or from the execution of a computer program product may be stored to the memory 160 or sent to the interface 158 by the controller 159. The computer-implemented method in particular controls the valves to actuate the hydraulic cylinders.

[0118] Variations to the disclosed embodiments can be understood and effected by those skilled in the art in practicing the disclosed embodiments, from a study of the drawings, the disclosure and the appended claims. In the claims, the word "comprising" does not exclude other elements or steps, and the indefinite article "a" or "an" does not exclude a plurality.

[0119] The mere fact that certain measures are recited in mutually different dependent claims does not indicate that a combination of these measures cannot be used to advantage.

[0120] If the term "adapted to" is used in the claims or description, it is noted the term "adapted to" is intended to be equivalent to the term "configured to".

[0121] Any reference signs in the claims should not be construed as limiting the scope.

[0122] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

Claims

CLAIMSWhat is claimed is:

1. A combine harvester comprising: a combine harvester body (14); front and rear wheels (15) or tracks supported by front and rear axles (15f, 15r); a crop cutting header (11); a header positioning system for controlling at least a height of the crop cutting header (11) ; a levelling system for controlling a height of the combine harvester body relative to at least one of the axles; and a user interface (50,52,60) to enable a driver to control the header positioning system and the levelling system, wherein the user interface comprises a joystick (50) for actuating the levelling system and a thumb switch (52) mounted at the top of the joystick for actuating the header positioning system.

2. The combine harvester of claim 1, wherein the levelling system is for controlling a height and lateral slope of the combine harvester body relative to at least one of the axles.

3. The combine harvester of claim 2, wherein the joystick has four control functions comprising tilt left, tilt right, tilt forward and tilt backward.

4. The combine harvester of claim 3, wherein the tilt left and tilt right functions actuate the levelling system to adjust a lateral tilt of one axle only and the tilt forward and tilt backwardfunctions actuate the levelling system to adjust a height of both axles.

5. The combine harvester of claim 3, wherein the joystick comprises a further control input for selecting a front or rear axle, and wherein the tilt left, tilt right, tilt forward and tilt backward functions actuate the levelling system to adjust a lateral tilt of one axle only and to adjust a height of only the selected axle.

6. The combine harvester of any one of claims 1 to 5, wherein the user interface has a mode selector for selecting an auto-levelling mode or a manual levelling mode, wherein: in the auto-levelling mode, a neutral joystick position is for performing auto-levelling; and in the manual-levelling mode, a neutral joystick position is for retaining a previously manually selected levelling position.

7. The combine harvester of any one of claims 1 to 6, wherein the thumb switch has at least two control functions comprising lift and lower.

8. The combine harvester of claim 7, wherein the header positioning system is further for controlling a header slope, wherein the thumb switch has four control functions comprising tilt left, tilt right, lift and lower.

9. The combine harvester of claim 8, wherein the thumb switch comprises a secondary joystick mounted on the head of the joystick.

10. The combine harvester of any one of claims 1 to 9, wherein the combine harvester further comprises a grain bin and an unloading auger tube for unloading the grain bin and an unloader positioning system for controlling a position of the unloading auger tube, wherein the user interface further comprises a finger switch mounted at the back of the joystick for controlling the unloader positioning system.

11. The combine harvester of claim 10, wherein the finger switch comprises a toggle switch with two functions: a stowing function and a deploying function.

12. The combine harvester of any one of claims 1 to 11, wherein, for each input direction of the joystick, the movement of the joystick is divided into at least two ranges, each range corresponding to a different rate of levelling control.

13. A method of controlling the positioning of a crop cutting header and a levelling of a body of a combine harvester, comprising; receiving a joystick input; receiving a thumb switch input, the thumb switch mounted at the top of the joystick; controlling a header positioning system to control at least a header height based on the thumb switch input; and controlling a levelling system to control a height of the combine harvester body relative to at least one of the axles based on the joystick input.

14. The method of claim 13, further comprising: receiving a finger switch input, the finger switch mounted on back side of the joystick; andcontrolling an unloader positioning system to control an unloader position based on the finger switch input.

15. A computer program comprising computer code which his adapted, when said program is run on a computer, to implement the method of claim 13 or 14.

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