Patent Application
20220354055
The present invention relates, in general, to apparatus and methods for monitoring grain loss associated with an agricultural machine.
Self-propelled agricultural machines, specifically combine harvesters, perform multiple harvesting functions within a single machine, including picking, threshing, separating, and cleaning of crop. Such processes often result in the loss of grain, hereinafter referred to as grain loss. Grain loss can occur at one or more points within the harvester, whilst performing any of the above mentioned harvesting tasks, and may occur due to incorrect operation of the machine, operating issues or damage, for example. It is therefore beneficial to be able to monitor this loss, and automate or at least prompt an operator to correct or adjust one or more operational factors to reduce this loss. To achieve this, an accurate measurement of the grain loss is needed.
Known sensors used to measure grain loss include “impact” or acoustic sensors, which are configured to measure the impact of grain and other material incident on a detection surface of the sensor. Grain can be distinguished from other material incident on the sensor through analysis of the signal produced upon impact of material with the detection surface. Specifically, due to the kernels of grain being much harder than the straw and chaff, impacts of the kernels with a detection surface have a characteristic sensor response, namely a fast rise time, with a generally higher amplitude when compared with sensor response associated with the impact of straw and/or chaff with the sensor. Therefore, by measuring the force and/or frequency of such impacts, and in particular those associated with grain incident on the detection surface, it is possible to determine a measurement or at least a prediction of the amount of grain present in the material.
One particular source of grain loss is at the header coupled at the front of the harvester. Known solutions include the use of cameras suitably positioned to image the ground underneath or behind the header and used to identify grain present on the ground. However, grain already on the ground prior to harvesting is also present in the images. Accordingly, to make use of such systems a calibration needs to be performed which necessarily includes measuring or estimating a baseline measure of the grain already on the ground. It will be appreciated that this can vary across a field/region to be harvested and, as such, an accurate measurement of the grain loss associated with the header is difficult to obtain.
It would therefore be advantageous to provide improved apparatus and methods for monitoring grain loss, particularly grain loss associated with a header of a harvester.
In an aspect of the invention there is provided a header for a harvesting machine, the header comprising: one or more crop-engaging components; and a sensing unit positioned within a flow path of material and downstream of at least one of the one or more crop-engaging components; wherein the sensing unit is configured, in use, to measure an impact parameter indicative of a force and/or frequency of material incident on a detection surface of the sensing unit.
Advantageously, the force and/or frequency of material incident on the detection surface may be indicative of an amount of grain present in material interacting with the sensing unit. Positioning the sensing unit downstream of the crop-engaging component can be used to monitor an efficiency of the component in performing its intended function. For example, where the crop-engaging component is configured to engage with and convey the crop material in a given direction (e.g. belts, augers, etc.), the sensing unit may be used to obtain a measurement of material in a direction other than the transfer direction of the component (e.g. flow of material in a substantially longitudinal direction with respect to a belt configured to convey material in a substantially transverse direction across the header). Detecting an amount of grain present in this flow path provides a measure of grain loss associated with the particular component and the header as a whole. Further, such an arrangement overcomes drawbacks associated with the prior art which use cameras to monitor grain loss, as grain lying on the ground before the harvesting process is not measured as it does not engage with the header and therefore come into contact with the sensing unit.
The sensing unit may preferably be positioned adjacent to the crop-engaging component(s).
The crop-engaging component/s may comprise a cutter bar. As will be appreciated, a cutter bar may be provided to cut standing crop. The crop-engaging component/s may comprise a reel. As will be appreciated, a reel may be provided to guide cut crop into the header.
The crop-engaging components may include an auger. The auger/s may be suspended substantially transversely at least partly across a width of the header, and be configured in use to convey cut crop material inwardly towards the centre of the header and towards a feederhouse of a coupled agricultural harvester. In such embodiments, the sensing unit may be positioned behind the auger/s (in the direction of travel of the harvester, in use) such that crop material which passes over the auger and not conveyed substantially transversely towards the centre of the header is incident on the detection surface of the sensing unit.
The crop-engaging components may include one or more belts, e.g. a driven draper belt, extending at least partly across a width of the header and configured in use to convey the cut crop material inwardly towards the centre of the header and towards a feederhouse of a coupled agricultural machine. In such embodiments, the sensing unit may be positioned behind the belt/s (in the direction of travel of the harvester, in use) such that crop material which passes over the belt and not conveyed substantially transversely towards the centre of the header is incident on the detection surface of the sensing unit.
The crop-engaging component/s may include a plurality of belts, e.g. at least one belt configured to convey material in a substantially transverse direction across a width of the header and at least one belt configured to convey material in a substantially longitudinal direction (e.g. with respect to a direction of travel of a coupled harvester, in use). In such an arrangement, the plurality of belts may be configured such that an interface is formed therebetween, e.g. where conveyed crop material is passed from one belt to another. The interface may form a gap through which at least some of the conveyed crop material may fall. In such embodiments, the sensing unit may be positioned adjacent said gap such that material falling through the gap may impact the detection surface of the sensing unit.
In a similar manner, the crop-engaging components may include, for example, at least one auger configured to convey material in a substantially transverse direction across a width of the header and at least one belt configured to convey material in a substantially longitudinal direction (e.g. with respect to a direction of travel of a coupled harvester, in use). In such an arrangement, an interface may be formed between the transverse auger and the longitudinal belt, i.e. where conveyed crop material is passed from the auger/s to the belt. The interface may form a gap through which at least some of the conveyed crop material may fall. In such embodiments, the sensing unit may be positioned adjacent said gap such that material falling through the gap may impact the detection surface of the sensing unit.
The sensing unit may be suitably coupled, e.g. mounted or otherwise fixed to a portion of the header. In some embodiments the sensing unit is suitably coupled to a table of the header. Whilst the primary function of the table may be to support functional components of the header, the header may be configured such that crop material which is not engaged and conveyed by the various crop-engaging components of the header may fall into or be otherwise directed into the table. Accordingly, in some embodiments the sensing unit may be positioned within the header, and specifically in a position with respect to the table of the header such that material falling into or otherwise being directed into the table may impact the detection surface of the sensing unit.
The sensing unit may comprise an acoustic-electric sensing means configured to output an electrical signal which is proportional to the force of material incident on the detection surface of the sensing unit. An acoustic sensor may measure vibrations associated with the contact between the material and the detection surface. The sensing unit may comprise a piezoelectric sensor, operable to output an electrical signal proportional to the impact force of material incident on the detection surface.
In further embodiments, the sensing unit may comprise electrical, optical and/or mechanical sensors, for example, configured to measure an impact parameter associated with the impact of material with a detection surface.
The header may comprise multiple sensing units coupled or otherwise fixed thereto, and configured, in use, to measure an impact parameter indicative of a force and/or frequency of material incident on respective detection surfaces thereof. The multiple sensing units may be equally spaced with respect to the header, e.g. equally spaced across a width of the header. Using multiple sensing units, a measure of grain loss across the header may be obtained.
In a further aspect of the invention there is provided a control system for controlling operation of one or more systems of an agricultural machine, the control system comprising one or more controllers configured to: receive an impact signal from a sensing unit of a header as described in the preceding aspect of the invention, the impact signal comprising a measurement of an impact parameter indicative of a force and/or frequency of material incident on a detection surface of the sensing unit; determine, in dependence on the received impact signal, a measurement of grain loss associated with the agricultural machine; and generate and output one or more control signals for controlling operation of one or more systems of the agricultural machine in dependence on the determined grain loss.
The control system may be operable to control operation of a user interface associated with the machine, e.g. to provide an indication to the operator of the machine of the determined grain loss associated with the measured impact parameter. The indicator may comprise a graphical indicator, such as a visual indicator provided on a display within the machine, or an audible or haptic indication, for example. The indicator may inform the operator of the determined grain loss, and/or one or more actions to be taken to improve/reduce the grain loss.
The control system may be operable to control an operational speed of the machine or one or more components thereof. The operational speed may be a forward speed of the machine. For example, the control system may be operable to reduce a forward speed of the machine in dependence on the determined grain loss. In this way, the control system may provide an operator of the machine with additional time to perform necessary correcting adjustments of, for example, operational parameters of the machine to address or reduce the grain loss. The control system may be operable to bring the machine to a stop so that appropriate actions can be performed to address or reduce the grain loss.
The control system may be operable to control an operational speed of one or more components of the machine. For example, the control system may be operable to control an operational speed of the header or components thereof, e.g. a reel, auger(s), conveyor(s), belt(s) and the like, or other implement suitably coupled to the machine in dependence on the determined grain loss. The control system may be operable to control a height, position, orientation, etc. of the header or one or more components thereof in dependence on the determined grain loss.
The control system may be communicable with one or more further control units associated with the operation of the header, its component(s) and/or the agricultural machine itself. The control system may be operable to receive, e.g. from the one or more further control units, one or more operational signals indicative of one or more operational parameters of the header, component/s and/or machine. The one or more operational parameters may include a forward speed of the agricultural machine. The one or more operational parameters may include an operational speed of the header, and specifically one or more components thereof, e.g. a rotational speed of a reel of the header, and/or an operational speed of one or more augers or belts.
The one or more operational parameters may be indicative of an expected or predicted speed at which crop material may engage with the sensing unit. The control system may be operable to determine a measurement of grain loss in dependence on operational signal/s. For example, the expected or predicted speed of material at the detection surface of the sensing unit may be associated with an expected impact force of different material types incident on the surface, which may therefore be used to discriminate between grain and material other than grain (MOG), for example.
The one or more controllers may collectively comprise an input (e.g. an electronic input) for receiving one or more input signals indicative of X. The one or more controllers may collectively comprise one or more processors (e.g. electronic processors) operable to execute computer readable instructions for controlling operation of the control system, for example to Y. The one or more processors may be operable to generate one or more control signals for Z. The one or more controllers may collectively comprise an output (e.g. an electronic output) for outputting the one or more control signals.
In a further aspect of the invention there is provided a method of controlling operation of one or more systems of an agricultural machine, comprising: receiving an impact signal from a sensing unit of a header as described in the preceding aspects of the invention, the impact signal comprising a measurement of an impact parameter indicative of a force and/or frequency of material incident on a detection surface of the sensing unit; determining, in dependence on the received impact signal, a measurement of grain loss associated with the agricultural machine; and controlling operation of one or more systems of the agricultural machine in dependence on the determined grain loss.
The method may comprise controlling operation of a user interface associated with the machine, e.g. to provide an indication to the operator of the machine of the determined grain loss associated with the measured impact parameter. The indicator may comprise a graphical indicator, such as a visual indicator provided on a display within the machine, or an audible or haptic indication, for example. The indicator may inform the operator of the determined grain loss, and/or one or more actions to be taken to improve/reduce the grain loss.
The method may comprise controlling an operational speed of the machine or one or more components thereof. The operational speed may be a forward speed of the machine. For example, the method may comprise reducing a forward speed of the machine in dependence on the determined grain loss. In this way, an operator of the machine may be provided with additional time to perform necessary correcting adjustments of, for example, operational parameters of the machine to address or reduce the grain loss. The method may comprise bringing the machine to a stop so that appropriate actions can be performed to address or reduce the grain loss.
The method may comprise controlling an operational speed of one or more components of the machine. For example, the method may comprise controlling an operational speed of the header or components thereof, e.g. a reel, auger(s), conveyor(s), belt(s) and the like, or other implement suitably coupled to the machine in dependence on the determined grain loss. The method may comprise controlling a height, position, orientation, etc. of the header or one or more components thereof in dependence on the determined grain loss.
The method may comprise receiving or obtaining one or more operational signals indicative of one or more operational parameters of the header, components and/or machine. The one or more operational parameters may include a forward speed of the agricultural machine. The one or more operational parameters may include an operational speed of the header, and specifically one or more components thereof, e.g. a rotational speed of a reel of the header, and/or an operational speed of one or more augers or belts.
The one or more operational parameters may be indicative of an expected or predicted speed at which crop material may engage with the sensing unit. Using this, a measurement of grain loss may be determined. For example, the expected or predicted speed of material at the detection surface of the sensing unit may be associated with an expected impact force of different material types incident on the surface, which may therefore be used to discriminate between grain and material other than grain (MOG), for example.
In a further aspect of the invention there is provided an agricultural machine comprising or being suitably coupled to a header of any preceding aspect of the invention; and/or comprising a control system of any preceding aspect of the invention; and/or configured to perform the method according to the preceding aspect of the invention.
Optionally, the agricultural machine comprises a combine harvester.
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 invention will now be described, by way of example only, with reference to the accompanying drawings, in which:
The harvester 10 has the header 12 coupled in a known manner to a feederhouse 14 of the harvester 10. The harvester 10 also includes an operator cab 16, unloading auger 18 and a crop processing mechanism, indicated generally at 20, which is operable to separate grain and other crop material from the supporting plant matter. Various different configurations for the crop processing mechanism 20 are known, and will be apparent to the person skilled in the art so will not be described in detail herein. The invention is not limited in this sense.
The header 12 has a frame comprising a table (alternatively termed a bed or floor) 22, a rear wall 24 and two side walls 26. A standing crop such as cereals or maize is cut by a cutter bar 28 which is disposed on a leading edge of the table 22 as the harvester 10 advances in a forward direction across a crop field. A reel 30 is provided which guides the cut crop into the header 12. The reel 30 includes a plurality of guide bars 32, here six, which are mounted on (hexagonal) wheels which rotate around a transverse axis above the cutter bar 28. As particularly shown in
In
In the illustrated embodiment in
Here, the crop gathering mechanisms (reels 30 and draper belt 42 or auger 36) of one header sub-assembly are operable independently of the (or each) other.
In the embodiment of
As an alternative to mechanical drive, one or more of the crop gathering components may be provided with electric drive through one or more electric motors mounted on the header and driving the components directly. This arrangement is preferred where there are e.g. four or more sub-assemblies as the control connections become simpler than having multiple mechanical drive shafts, and the (generally shorter) header sections and sub-assemblies will require less power to drive.
The illustrated embodiments additionally include an imaging sensor in the form of a camera 60 is mounted on a foremost point of the operator's cab 16 and has a field of view F which encompasses the header 12, and in particular an operating region of the header 12 including each sub-assembly 12A, 12B, although the present invention is not limited in this sense.
As detailed herein, aspects of the present invention relate to determining a measurement of grain loss associated with the harvester 10, and in particular that associated with the header 12 when coupled to the harvester 10. To achieve this, sensing units 62A, 62B, 62C and 62D are provided (see
In the embodiment illustrated in
As discussed herein, sensing unit(s) 62 comprises a piezoelectric sensor configured to output an electrical signal which is proportional to the force of material incident on the detection surface 64. In variants, the sensing unit(s) may instead comprise electrical, optical and/or mechanical sensors, for example, configured to measure an impact parameter associated with the impact of material with a detection surface.
An embodiment of a method 200 of the present invention is illustrated in
At step 202, an impact signal is received from the sensing unit 62 and is utilised to determine a grain loss associated with the harvesting process, and specifically associated with the header 12 (steps 204-208). At step 204, the impact signal is analysed to extract an impact parameter indicative of a force and/or frequency of material incident on the detection surface 64 of the sensing unit. As discussed herein, through analysis of the sensor response from sensing unit 62 individual grain impacts on the detection surface 64 of the sensing unit 62 can be identified, and a measure of grain loss determined therefrom. Using the measurement of grain loss, one or more systems of the harvester 10 and/or the header 12 are controlled based thereon (steps 206 and 208). Specifically, in step 206, a control signal is generated for controlling operation of the one or more systems in a desired manner, and at step 208, this control signal is output to, for example, a control unit (120A, 120B) associated the relevant system(s) to be controlled for controlling operation of those system(s) in the desired manner.
To reduce the grain lost during a harvesting process, the method 200 and in particular step 208 of the method 200 may include controlling an operational speed of one or more systems of the harvester 10. For example, the method 200 may include reducing a forward speed of the machine in dependence on the determined grain loss. The method 200 may include controlling an operational speed of the header 12 or components thereof, e.g. the reel(s) 30, auger(s) 36, conveyor(s) 42, belt(s) 44 and the like, or other implement suitably coupled to the harvester 10 in dependence on the determined grain loss. Additionally or alternatively, the method 200 may include controlling a height, position, orientation, etc. of the header 12 or one or more components thereof in dependence on the determined grain loss.
Here, the control system 100 comprises a controller 102 having an electronic processor 104, an electronic input 106, an electronic output 108 and memory 110. The processor 104 is operable to access the memory 110 and execute instructions stored therein to perform given functions, specifically to cause performance of the method 200 of
For example,
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 invention can be realised 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 invention. 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 invention 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.
It will be appreciated that the above embodiments are discussed by way of example only. Various changes and modifications can be made without departing from the scope of the present application.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2106634.5 | May 2021 | GB | national |
