Search

BR-102025011795-A2 - REEL CONTROL FOR A PLATFORM FOR A COMBINE HARVESTER

BR102025011795A2BR 102025011795 A2BR102025011795 A2BR 102025011795A2BR-102025011795-A2

Abstract

A platform (18) for a combine harvester (10) is provided. The platform (18) comprises a platform frame (82) and a reel (36) rotatably mounted on the platform frame (18). At least one actuator (86) is mounted on the reel (36) and is configured to adjust a position of the reel (36) relative to the platform frame (82). At least one actuator sensor (88) is coupled to at least one actuator (86) and is configured to generate an actuator signal representative of a force on the reel (36). A controller (100) is operably coupled to at least one actuator sensor (88) and is configured to receive the actuator signal from at least one actuator sensor (88) and to operate at least one actuator (86) to adjust the position of the reel (36) relative to the platform frame (82) as a function of the actuator signal.

Inventors

  • Arno Leenknegt
  • BART M. A. MISSOTTEN
  • Bert Vandewalle
  • DRÉ W. J. JONGMANS
  • Lucas Cornette
  • Lucas Deruyter

Assignees

  • CNH INDUSTRIAL BELGIUM N.V

Dates

Publication Date
20260310
Application Date
20250610
Priority Date
20240621

Claims (15)

  1. 1. Platform (18) for a combine harvester (10), the platform (18) CHARACTERIZED in that it comprises: a platform structure (82); a reel (36) rotatably mounted on the platform structure (82); at least one actuator (86) mounted on the reel (36) for adjusting a position of the reel (36) relative to the platform structure (82); at least one actuator sensor (88), coupled to at least one actuator (86), and configured to generate an actuator signal representative of a force on the reel (36); and a controller (100), operably coupled to at least one actuator sensor (88), and configured to receive the actuator signal from at least one actuator sensor (88) and to operate at least one actuator (86) to adjust the position of the reel (36) relative to the platform structure (82) as a function of the actuator signal.
  2. 2. Platform (18), according to claim 1, CHARACTERIZED in that at least one actuator (86) is configured to vertically adjust the position of the reel (36) relative to the platform structure (82).
  3. 3. Platform (18), according to claim 1 or 2, CHARACTERIZED in that at least one actuator (86) is configured to horizontally adjust the position of the reel (36) relative to the platform structure (82).
  4. 4. Platform (18), according to any previous claim, CHARACTERIZED in that the controller (100) is additionally configured to, based on the actuator signal, detect a contact of the spool (36) with the ground, and to operate at least one actuator (86) as a function of the contact with the ground.
  5. 5. Platform (18), according to claim 4, CHARACTERIZED in that the controller (100) is additionally configured to, based on the actuator signal, determine an extent of contact with the ground, and to operate at least one actuator (86) as a function of the extent of contact with the ground.
  6. 6. Platform (18), according to any previous claim, CHARACTERIZED in that the controller (100) is additionally configured to, based on the actuator signal, determine a portion of the reel (36) that is engaged with a crop, and to operate at least one actuator (86) as a function of the portion of the reel (36) that is engaged with the crop.
  7. 7. Platform (18), according to any previous claim, CHARACTERIZED in that the controller (100) is additionally configured to adjust a rotation speed of the reel (36), an angle of the reel gripper, a speed of the harvester (10) relative to the ground, a height of the platform structure (82) relative to the ground, or an orientation of the platform (18) relative to the harvester (10) as a function of the actuator signal.
  8. 8. Platform (18), according to any previous claim, CHARACTERIZED in that the reel (36) comprises multiple reel segments, and in that the controller (100) is additionally configured to individually adjust a position of the multiple reel segments relative to the platform structure (100) as a function of the actuator signal.
  9. 9. Platform (18), according to any previous claim, CHARACTERIZED in that at least one actuator (86) is a hydraulic actuator, an electric actuator, or a pneumatic actuator.
  10. 10. Platform (18), according to any previous claim, CHARACTERIZED in that at least one sensor of the actuator (88) comprises a load cell or a pressure sensor.
  11. 11. Platform (18), according to any previous claim, CHARACTERIZED in that it additionally comprises one or more front vision sensors (90) operably coupled to the controller (100), wherein the controller (100) is configured to: - receive a front vision signal from one or more front vision sensors (90), - process the front vision signal to determine a crop height in front of the platform (18), - adjust the position of the reel (36) relative to the platform structure (82) as a function of the determined crop height.
  12. 12. Platform (18), according to claim 11, CHARACTERIZED in that the one or more front vision sensors (90) comprise at least one of a camera, a LiDAR sensor, a RADAR sensor, and a GPS sensor.
  13. 13. Combine harvester (10), CHARACTERIZED in that it comprises: a platform (18) with a platform frame (82), a reel (36) rotatably mounted on the platform frame (82), at least one actuator (86) mounted on the reel (36) for adjusting a position of the reel (36) relative to the platform frame (82), and at least one actuator sensor (88), coupled to at least one actuator (86), and configured to generate an actuator signal representative of a force on the reel (36); and a controller (100), operably coupled to at least one actuator sensor (88), and configured to receive the actuator signal from at least one actuator sensor (88) and to operate at least one actuator (86) to adjust the position of the reel (36) relative to the platform frame (82) as a function of the actuator signal.
  14. 14. A method for controlling a platform (18) of a combine harvester (10), the method CHARACTERIZED in that it comprises: receiving an actuator signal from at least one actuator sensor (88), coupled to an actuator (86) mounted on a reel (36) of the platform (18) to adjust a position of the reel (36) relative to a platform structure (82) of the platform (18); based on the actuator signal, determining a reel control signal to operate the actuator (86) to adjust the position of the reel (36) relative to the platform structure (82); sending the reel control signal to the actuator (86).
  15. 15. Method according to claim 14, CHARACTERIZED in that the position of the reel (36) relative to the platform structure (82) is controlled to maintain a plurality of reel claws (84) of the reel (36) close enough to the ground to collect lodged crop, and to raise the position of the reel (36) relative to the platform structure (82) when the actuator signal indicates a predetermined amount of ground contact for the reel claws (84).

Description

TECHNICAL FIELD [001] The present invention relates to a platform for a combine harvester. The present invention further relates to a combine harvester and a method for controlling a platform of a combine harvester. BACKGROUND [002] Combine harvesters, also simply called combines, are complex drive agricultural machines, composed of a variety of mechanical tools to harvest grain from a field, feed the crop into the combine's grain processing core, thresh the grain, and separate the threshed grain from the chaff and other non-grain materials. In most combine harvesters, a cleaning system is provided to separate the chaff from the grain kernel. The cleaned grain is then transported from the cleaning system to a grain tank, where the grain is temporarily stored until the grain tank is unloaded onto a trailer or grain storage unit. [003] During harvesting, the combine harvester platform is normally positioned relatively close to the ground to process as much straw as possible. A reel is rotatably mounted on the platform to facilitate crop cutting and pulling the cut crop into the combine's processing core as the harvester moves forward. The reel's position is adjusted to the circumstances. Typically, the reel is positioned so that only a lower portion of the reel moves and engages with the crop as the reel rotates. In the case of lodged crops, the reel is often lowered to a position just above the ground surface to allow a plurality of reel claws, coupled to the reel, to lift the lodged crop from the ground, thus allowing a cutter bar on the platform to cut the crop. For efficient and effective harvesting, continuous and precise control of the reel height is important. If the reel height is too high, the crop may not be effectively harvested. If the reel height is too low, the reel claws may come into contact with or penetrate the ground, which can damage the combine harvester, which is undesirable. [004] It is an object of the present invention to provide a platform for a combine harvester with improved height control for harvesting lodged crops. SUMMARY OF THE INVENTION [005] According to one aspect of the invention, a platform for a combine harvester is provided. The platform comprises a platform frame and a reel rotatably mounted on the platform frame. At least one actuator is mounted on the reel and is configured to adjust a position of the reel relative to the platform frame. At least one actuator sensor is coupled to at least one actuator and is configured to generate an actuator signal representative of a force on the reel. A controller is operably coupled to at least one actuator sensor and is configured to receive the actuator signal from at least one actuator sensor and to operate at least one actuator to adjust the position of the reel relative to the platform frame as a function of the actuator signal. [006] In order to harvest lodged crops, the height of the reel relative to the ground under the crop should ideally be as low as possible. The crop and the soil will each exert a force on the reel when contact is made. This force on the reel indicates the reel's position within the crop and when in contact with the soil. Since the reel is at least partially supported by at least one actuator, the actuator signal generated by the actuator sensor provides a reliable indicator of the force exerted on the reel. By directly or indirectly measuring the force exerted on the reel, the reel's position can be optimized to ensure that the reel is low enough to harvest the lodged crop, but high enough not to come into contact with the soil, thus increasing the amount of crop fed by the platform and minimizing losses. [007] It should be noted that the controller may be located on the combine harvester and on the platform itself. The controller may be a dedicated controller to monitor and control only the platform, or the platform control algorithms may be executed by a central controller of the combine harvester itself. [008] At least one actuator can be configured to adjust the reel's position vertically and/or horizontally relative to the platform structure. The reel's position can therefore be adjusted to take into account variations in crop height and density, as well as crop and field topography. The force exerted on the reel can have vertical or horizontal components, and will normally have both. When the reel touches the ground or is partially supported by a large mass of dense crop, the weight of the reel on a reel actuator for adjusting the reel's vertical position is reduced. Similarly, when driving through the field with the reel lugs scraping the ground surface or when pushing the reel through a large mass of dense crop, this will be observable in the actuator signal emitted by a reel actuator for adjusting the reel's horizontal position. [009] In a preferred embodiment, the controller is further configured to, based on the actuator signal, detect ground contact of the reel, and to operate at least on