Patent Application
20250204313
Embodiments of the present disclosure relate generally to control systems and methods for an agricultural machine or components thereof, and specifically for monitoring and controlling operation of a conditioning system of or otherwise associated with the machine.
An important process in the harvesting or collection of certain crops is the processing or “conditioning” of the material. Typically, for forage crops such as alfalfa and the like, the crop is cut and “conditioned” through application of a mechanical force to the crop material to encourage wilting and drying of the cut material.
Typical conditioning systems may employ conditioning rollers or rolls which are generally in the form of two rotatable rollers displaced from one another defining a “roll gap” therebetween. Through adjustment of the roll gap a level of conditioning applied to crop material passing between the rollers can be adjusted. Specifically, adjusting the roll gap changes the mechanical force applied to passing crop material and hence the level of conditioning applied thereto.
Different crops may require different levels of conditioning. Accordingly, in known arrangements an operator may make a manual adjustment (e.g. a mechanical adjustment using a wrench or the like) to the roll gap prior to a harvesting or cutting operation for a given crop. However, this is time consuming and typically is only done once ahead of the harvesting of a given field or another working environment. As such, it is not usually possible for the operator to account for changing field and/or conditions which may also require different conditioning levels or different conditioning settings for the conditioning system. For example, a higher crop throughput may necessitate different conditioning settings to apply the same desired level of conditioning to the crop material when compared with a low crop throughput. A wetter crop—i.e. one with a higher moisture content—may require an increased level of conditioning when compared with a drier crop.
It would therefore be advantageous to provide a system which may assist an operator in controlling operating settings for a conditioning system which overcomes or at least partly mitigates one or more problems associated with known systems.
In an aspect of the disclosure there is provided a control system for adjusting a level of conditioning applied by a conditioning system of or otherwise associated with an agricultural machine, the control system comprising one or more controllers, and being configured to: receive sensor data indicative of a displacement associated with one or more components of the conditioning system; determine a measured displacement in dependence on the received data; compare the measured displacement with a target displacement for the component(s); and generate and output one or more control signals for controlling operation of a component positioning system for the component(s) in dependence on the comparison.
Advantageously, the present disclosure utilises a comparison of the measured displacement with a target displacement to control operation of a component positioning system. At high crop loads, the one or more components may be forced from a control position and the control system may utilise the sensor data to identify movement or displacement of the component(s) outside of the target displacement and take appropriate action. Accordingly, the present solution provides a feedback loop for the conditioning system for at least partly automating control over the conditioning system, reducing operator workload, and providing more uniform or at least a desired level of processing or conditioning to a crop material without the need for manual interaction by an operator.
The one or more controllers may collectively comprise an input (e.g. an electronic input) for receiving one or more input signals. The one or more input signals may comprise the sensor data. The one or more controllers may collectively comprise one or more processors (e.g. electronic processors) operable to execute computer readable instructions for controlling operational of the control system, for example, to determine the measured displacement and/or compare the measured displacement with the target displacement. The one or more processors may be operable to generate one or more control signals for controlling operation of the component positioning system. The one or more controllers may collectively comprise an output (e.g. an electronic output) for outputting the one or more control signals.
The one or more components of the conditioning system may comprise one or more conditioning rollers. The one or more components of the conditioning system may comprise a pair of conditioning rollers.
The measured displacement may comprise a roller gap. This may be a distance between conditioning rollers of the conditioning system.
The sensor data may be received from one or more sensors mounted or otherwise coupled in association with the conditioning system for monitoring one or more parameters associated with the operation of the conditioning system. The one or more sensors may include a rotary potentiometer providing a comparable sensor output in dependence on the position of the one or more components of the conditioning system.
The one or more controllers may be configured to access, e.g. in a memory associated with the controller(s), stored base value for the sensor(s) corresponding to a baseline measurement for a control position of the component(s). The one or more controllers may be configured to compare the sensor output with the base value to determine the measured displacement of the component(s).
The target displacement may comprise a set value, e.g. which may be stored in a memory accessible by the one or more controllers. The memory may be local to the one or more controllers or may comprise a remote memory, such as a remote or cloud based server. Advantageously, the control system may be communicable with the remote or cloud based server over a wireless communication network. This may also enable the memory to be accessible by additional devices, such as a user device—e.g. where a desired or target displacement may be input on a user device separate from the machine.
The target displacement may comprise a range about a defined set displacement value within which the measured displacement of the component(s) may be deemed acceptable and no adjustments may be made to the component positioning system operation.
The target displacement may be predefined. The target displacement may be determined in dependence on a crop type to be processed by the conditioning system. The one or more controllers may be configured to receive a user input, e.g. via a user interface of or otherwise associated with the control system, related to the target displacement. This may comprise a user input of the crop type, for example, or may comprise a user selected target displacement and/or associated range.
The user interface, where present, may comprise a user device, e.g. a phone, tablet computer or the like carried by an operator of the machine and communicably linked to the one or more controllers, e.g. over a wireless communications network. In other embodiments, the user interface may comprise a display terminal of the agricultural machine, for example.
The component positioning system may comprise one or more actuators for controlling the displacement of the component(s). The one or more actuators may form part of a fluid (e.g. hydraulic or pneumatic) drive control system. The one or more controllers may be configured to adjust a control pressure associated with the fluid drive control system of the component positioning system in dependence on the comparison of the measured displacement with the target displacement.
In embodiments the component positioning system may control a level of tensioning applied to the one or more components. The one or more controllers may be configured to adjust a level of tensioning applied by the component positioning system in dependence on the comparison of the measured displacement with the target displacement. For example, adjusting the control pressure may include increasing a pressure level where the measured displacement is greater than the target displacement or an upper bound of target displacement range to increase a level of tensioning applied by the component positioning system to the one or more components. This may, e.g. increase a level of conditioning applied to the crop material by the conditioning system. In embodiments, adjusting the control pressure may include decreasing a pressure level where the measured displacement is smaller than the target displacement or a lower bound of target displacement range to decrease a level of tensioning applied by the component positioning system to the one or more components. This may, e.g. decrease a level of conditioning applied to the crop material by the conditioning system.
The one or more controllers may be configured to return the level of tensioning applied by the tensioning mechanism to a control or target tension in dependence on the measured displacement returning to the target displacement or within a given range of the target displacement—e.g. where the crop load reduces from a high level or increases from a low level. In this way, the tensioning mechanism may be biased towards a control level which corresponds to the target displacement.
The control system may additionally be configured to employ a filtering or buffering mechanism. The filtering or buffering mechanism may advantageously filter, remove or account for small or abrupt changes in the monitored conditioning component displacement when determining any adjustment to make to, for example, a tensioning mechanism or other component of the component positioning system. This may advantageously account for anomalies such as rocks or other debris moving between the conditioning components causing a temporary change in the measured component displacement. This may take the form of a delay or timer for active control over the component positioning system, or a dampening on the response rate such that the control system provides a smooth transition between conditioning component positions.
In a further variant, the control system may additionally be operable to control an operational speed of one or more components associated with the conditioning system. This could include controlling an operational speed of one or more conditioning rollers of the conditioning system. Advantageously, the control system may be configured to control the operational speed of the conditioning system or one or more components thereof in dependence on the comparison of the measured displacement with the target displacement. A higher operational speed may handle higher crop loads more efficiently and hence enable the rollers to return to or maintain the target displacement. Conversely, it may be beneficial to reduce the operational speed at lower crop loads to ensure adequate conditioning of the crop, and/or for efficiency or fuel consumption optimization. The control system may be configured to control a feed rate of crop material to and/or through the conditioning system in dependence on the comparison. The one or more components may include a feed or “helper” roller for controlling a feed rate of material to the conditioning system.
A further aspect of the disclosure provides a conditioning system for an agricultural machine, comprising: one or more moveable crop engaging components; a component positioning system; and the control system of any preceding aspect, operable in use for controlling operation of the component positioning system to control a level of conditioning applied by the one or more moveable crop engaging components in dependence on a comparison of a measured displacement of the crop engaging component(s) with a target displacement.
Another aspect provides an agricultural machine comprising the conditioning system and/or comprising or being controllable under operation of the control system of any preceding aspect.
The agricultural machine may comprise a self-propelled machine having the conditioning system forming part of the machine. The agricultural machine may comprise a baler, mower, harvester, or windrower, for example.
In other embodiments, the agricultural machine may comprise a vehicle-implement combination. For example, the machine may comprise a tractor or other vehicle with the implement operably coupled (e.g. towed) thereto. The conditioning system may be provided as part of the implement, and its operation may be controlled by the control system which may, in embodiments be hosted on the vehicle or the implement or distributed across both the vehicle and the implement.
A further aspect of the disclosure provides a computer implemented method for adjusting a level of conditioning applied by a conditioning system of or otherwise associated with an agricultural machine, the method comprising: determining a measured displacement associated with one or more components of the conditioning system; comparing the measured displacement with a target displacement for the component(s); and controlling operation of a component positioning system for the component(s) in dependence on the comparison.
The method may comprise performance of one or more operational tasks performable by the one or more controllers of a control system described herein.
A further aspect provides computer software comprising computer readable instructions which, when executed, cause performance of any method described herein.
A yet further aspect provides a non-transitory computer readable storage medium comprising the computer software of any+ preceding aspect.
Within the scope of this application it should be understood that the various aspects, embodiments, examples, and alternatives set out herein, and individual features thereof may be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible.
One or more embodiments of the disclosure will now be described, by way of example only, with reference to the accompanying drawings, in which:
The present disclosure relates to systems and methods for monitoring and controlling operation a conditioning system 28 of or otherwise associated with an agricultural machine, illustrated herein in the form of as a mower conditioner 10. Sensor data is received from sensors operably coupled to one or more components, here conditioning rollers 36, of the conditioning system 28, the sensor data being indicative of a displacement associated with the component(s). The measured displacement is compared with a target displacement for the component(s) and such a comparison is used to control operation of a component positioning system, here tensioning mechanism 38 associated with the component(s) to control the position thereof and ultimately a level of conditioning applied to cut crop material passing through the rollers 36. Advantageously, a measure displacement of the rollers 36, e.g. due to changes in crop load, can be used in a feedback loop for controlling the tensioning mechanism 38 for ensuring a desired level of conditioning is applied to the cut crop material, at different crop loads, for different crop or field conditions, and the like.
Referring to
Referring specifically to
The lift mechanism 26 is configured to raise and lower at least the crop cutting assembly 24 to a desired cutting height during operation, and to raise and lower the entire header 12 to, respectively, a non-operational transport height and an operational height. The lift mechanism 26 may employ substantially any suitable lifting technology, such as a hydraulic mechanism or a mechanical mechanism. Again, such an arrangement will be understood. Here, the lift mechanism 26 includes a lift cylinder 32 and a hydraulic lift circuit 34 configured to control the movement of hydraulic fluid to and from the lift cylinder 32 to, respectively, raise and lower the crop-cutting assembly 24 and/or the header 12. In some embodiments, the lift mechanism 26 is provided alongside a tilt mechanism for adjusting a “tilt” or “pitch” of the crop cutting assembly 24.
The conditioning system 28 is configured to receive and condition the cut crop material from the crop cutting assembly 24. The conditioning system 28 may employ substantially any suitable conditioning technology. Here, the conditioning system 28 includes one or more pairs of counter-rotating conditioning rollers 36 configured to “condition” the crop material. That is, as the cut crop material passes between the rollers 36, a mechanical force is applied to the material, crushing, pressing and/or crimping the material to encourage drying of the crop. To enable control over the level of conditioning applied by the rollers 36, a component positioning system in the form of tensioning mechanism 38 is provided. Specifically, the tensioning mechanism 28 is configured to adjustably urge the paired rollers 36 toward one another and resist their separation, and a gap setting mechanism 40 is configured to set an adjustable gap between the paired rollers 36 as will be described in detail hereinbelow.
The conditioning rollers 36 may have relatively non-compressible surfaces made of a hard material, and may take the form of fluted or ribbed steel rollers. Alternatively, the rollers 36 may have relatively compressible surfaces made of rubber or a combination of rubber and steel. Each roller may have a series of radially outwardly projecting ribs that extend along the length of the roller in a helical pattern. The ribs may be spaced around each roller in such a manner that the ribs on one roller intermesh with the ribs of the other paired roller during operation in order to crimp the cut crop material. Alternatively, the rollers may be non-intermeshing in order to crush rather than crimp the cut crop material. It will be appreciated here that the present disclosure is not limited in the construction of the roller surface, and this description is provided by way of example only.
Each pair of conditioning rollers 36 may be mounted in such a way that the one roller 36 is moveable toward and away from the other paired roller 36, while the position of the latter remains fixed. Alternatively, both rollers may be moveable toward and away from each other. Again, the present disclosure is not limited in this sense. Rather, it is simply required that the displacement or gap between the rollers be adjustable.
The tensioning mechanism 38 is configured to adjust a force on one or both of the paired rollers 36 to urge the rollers together to an extent permitted by the gap setting mechanism 40 which sets a running gap between or “displacement” of each pair of rollers 36. The tensioning mechanism 38 may employ substantially any suitable technology, such as hydraulic tensioning technology or spring tensioning technology. In the present embodiment, a hydraulic actuator is employed, and the control system 100 (described in detail below) is configured at least in part to control a hydraulic pressure associated with the tensioning mechanism 38 in dependence on a monitored or measured displacement of the rollers 36.
The present system further employs a sensing system, here in the form of sensor 52 operably coupled to one of the conditioner rollers 36 for obtaining a measure of a displacement associated with the roller 36. Sensor 52 takes the form of a rotary potentiometer providing a comparable voltage output which is proportional to the position of the roller 36. By utilising a base or control measurement/voltage for a known position—e.g. fully closed—the displacement or position of roller 36 can be inferred from the voltage output of sensor 52. Alternative sensing equipment may be used, as will be appreciated by the skilled reader. For instance, the sensor may include a rotary or angular sensor having a current output or CAN based output, a non-contact sensor such as a hall effect sensor or the like, again with any means of readable output, or a sliding or linear sensor for monitoring roller position/displacement.
As described, in use crop material 18 is cut from the field utilising crop cutting assembly 24. The cut crop material is passed via one or more rollers, including conditioning rollers 36 to condition the material through application of an appropriate mechanical force to crush or crimp the material to encourage, amongst other things, adequate drying of the crop when placed in a swath behind the machine. Adequate drying may relate to an overall moisture content for the crop, and/or a uniformity of the drying rate across different crop components, for example, between stems and leaves of a crop (e.g. alfalfa crop).
To adjust the level of conditioning applied by the conditioning system 28, gap setting mechanism 40 is used to set a target operating gap or “target displacement” for the conditioning system 28, here that being the operational gap between each of a pair of conditioning rollers 36. As discussed, this may be preset, it may be adjustable manually by an operator e.g. through mechanical interaction with the gap setting mechanism 40 utilising appropriate tooling, or in some instances through input of a desired or target gap utilising, for example, a user interface 56 provided as part of the mower 10. The desired displacement may be dependent on a number of factors, including crop type, crop conditions, field conditions and the like, as will be appreciated. The starting position of the rollers 36 is then set according to this gap.
In use, once crop material is passing through the rollers, the operating gap between the rollers 36 may increase or decrease based on crop load. For instance, at high loads, the gap may increase due to the additional material. With the rollers at a greater displacement, an inadequate level of conditioning may be applied to the material. The present disclosure therefore monitors the operational gap or displacement of rollers 36 utilising sensor 52 and uses this to control operation of the component positioning system, which here, as discussed, includes the gap setting mechanism 40 and the tensioning mechanism 38. Here, this may include control of the tensioning mechanism 38 to increase a hydraulic pressure associated with a hydraulic actuator for the roller(s) 36, thereby increasing a tensioning applied to the relevant roller(s) 36 and resisting this increase in displacement, in turn bringing the rollers 36 back closer towards the target displacement.
Conversely, if the mower 10 were then to enter into a lower yield region of the working environment, the tensioning mechanism 38 may be applying too great a level of tensioning to the roller(s) 36 for the new crop load. In turn, this may result in the roller(s) displacement being too small resulting in over conditioning of the crop material. Accordingly, the present disclosure may continue to monitor the displacement of the roller(s) 36 in use, and where the operating gap is smaller than the target displacement the control system 100 may be configured to control operation of the tensioning mechanism 38 accordingly. Specifically, this may include control of the tensioning mechanism 38 to decrease a hydraulic pressure associated with a hydraulic actuator for the roller(s) 36, thereby decreasing a tensioning applied to the relevant roller(s) 36 and allowing the rollers 36 to move further apart and back towards the target displacement.
The target displacement may define a range about a set displacement value which is deemed “acceptable”. Appropriate actions in terms of control over the gap setting mechanism 40 and associated components may only occur upon the measured displacement falling outside of this range.
The processor 104 is operable to receive sensor data via input 106 which, in the illustrated embodiment, takes the form of input signals 105 received from sensor 52. As described in detail herein, the sensor 52 comprises a rotary potentiometer (although other sensing types will be apparent), with the sensor output comprising a voltage output indicative of the position or displacement of an associated conditioning roller 36. The processor 104 is operable to process the voltage output of the sensor 52 to determine a measure of the displacement and utilise this to control operation of the component positioning system of the conditioner components (e.g. rollers 36) based on the difference between the measured displacement and a target displacement, as described herein. Depending on the output of this comparison, operation of the gap setting mechanism 40, specifically in this example the tensioning mechanism 38 and one or more hydraulic actuators thereof are controlled. Here, this includes control of a hydraulic pressure associated the actuator(s) in the manner described above to control the level of tensioning applied by the tensioning mechanism 38, and in turn control displacement of the rollers 36. To achieve this, output 108 is operably coupled to the gap setting mechanism for output of control signals 109 thereto for enacting an appropriate control of the hydraulic tensioning mechanism 38.
Output 110 is operably coupled to a display terminal 32 of the mower 10. Here, the control system 100 is operable to control operation of the display terminal 32, e.g. through output of control signals 111 in order to display operational data to an operator of the mower 10 relating to the operation of the control system 100. Specifically, the control system 100 may be operable to control the display terminal 32 to display to the operator a graphical representation the roller displacement, or other useful information including notification of an adjustment being made for information purposes. In some variants, the display terminal 32 may also be operable to receive a user input from the operator, and in such instances the output 110 may act as an input for receiving that user input at the processor 104. The user input may relate to a requested or desired target displacement for the conditioning system 28. This could include the operator setting a displacement directly, or inputting other information, e.g. crop type, expected moisture level etc. from which the target displacement is determined. As will be appreciated, further displays or user interfaces may be provided for providing operational details to the operator. This could include an interface provided on or proximal to the header or crop intake of the mower itself. This may be used to provide information relating to the desired or based roller displacement as is discussed herein.
In a further variant, the control system 100 may additionally be operable to control an operational speed of one or more components of the conditioning system 28. This could include controlling an operational speed of one or more conditioning rollers 36 of the conditioning system 28. Advantageously, the control system 100 may be configured to control the operational speed of the conditioning system 28 or one or more components thereof in dependence on the comparison of the measured displacement with the target displacement. In the illustrated embodiments, the control system 100 may be communicably coupled with speed controller 64 of the conditioning system 28 which is operable to control an operational speed of the rollers 36, e.g. a rotational speed thereof.
A higher operational speed may handle higher crop loads more efficiently and hence enable the rollers to return to or maintain the target displacement. Conversely, it may be beneficial to reduce the operational speed at lower crop loads to ensure adequate conditioning of the crop, and/or for efficiency or fuel consumption optimization.
The control system 100 may additionally employ a filtering or buffering mechanism whereby small or abrupt changes in the monitored conditioning component displacement may be filtered in determining any adjustment to make to, for example, the tensioning mechanism. This may advantageously account for anomalies such as rocks or other debris moving between the conditioning rollers causing a temporary change in the roller displacement. This may take the form of a delay or timer for active control over the component positioning system, or a dampening on the response rate such that the control system 100 provides a smooth transition between conditioning component positions.
In alternative arrangements, display terminal 56 may instead be replaced or supplemented by a user device, e.g. a remote or portable user device which is communicably coupled with the control system 100. This may enable the operator to utilize a mobile phone or tablet computer, for example, to control operation of the control system 100, e.g. by inputting desired operational parameters including the target displacement via the user device.
Whilst described herein in relation to a mower conditioner 10, the skilled reader will appreciate that the described solution may be applied to any number of self-propelled agricultural machines which utilise conditioning equipment for the conditioning of crop material, such as forage crops. This may extend to balers, other mowers, harvesting equipment and the like. This may additionally extend to implements for performance of the same task, which are coupleable to other vehicles, including tractors and the like. Where hosted on an implement rather than a self-propelled machine, the control aspects may in some instances be provided locally, or be provided by the towing or coupled vehicle, and a suitable communication link between the vehicle and the implement may be established to enable control of operable components of the implement from the vehicle, and vice versa.
Any process descriptions or blocks in flow diagrams should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure.
It will be appreciated that embodiments of the present disclosure can be realized in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device, or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk, or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present disclosure. Accordingly, embodiments provide a program comprising code for implementing a system or method as set out herein and a machine readable storage storing such a program. Still further, embodiments of the present disclosure may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.
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.
This application claims the benefit of the filing date of U.S. Provisional Patent Application 63/613,806, “Crop Conditioning,” filed Dec. 22, 2023, the entire disclosure of which is incorporated herein by reference.
| Number | Date | Country | |
|---|---|---|---|
| 63613806 | Dec 2023 | US |
