A method of operating a harvester and a device for its implementation


(57) Abstract:

During operation of the combine last outside constantly controlled by the operator through the control processor using define and/or limit operational data and which is in constant measuring and processing the actual operational data, in particular data driving mode, internally regulated. Constantly register absolute and/or relative position of the harvester, which correlate data about measuring the specific yield, which is mostly in the form of inventory data on crop yields in order to use as historical inventory data stored in the memory. Control processor combine can go to the historical inventory data, addresses them along with the coordinates of the position of the harvester and in combination with its data driving mode adjusts the stored historical data, pre-empting the current coordinates, reads and determines a new set or limit operational data and again their perepadaet. This allows to optimize the operation of the harvester, to reduce crop losses and to exclude cases of overload and damage. 2 S. and 4 C.p. f-ly is his performance on the harvest continuously controlled from the outside by the operator through the control processor, contains FAQ and/or limit operational data, and from the inside at a constant measurement and analysis of actual operational data, in particular the running data is provided by adjustable operation, the absolute and/or relative position of the harvester is constantly fixed, relate to them the results of specific yield, in particular in the form of inventory productivity, and transferred into memory for later use in the form of historical inventory data.

This processor is known from WO86/05353.

It is constantly receiving signals, bearing in itself the result of a measurement path and/or signals the location defined by radio and based on these signals constantly prepared cadastre-specific data measurements yield. This inventory yields is used subsequently to determine the optimal number of used fertilizers and products for pest control and/or to control the operation of the unit or soil tillage machine, so that in accordance with the specific yield, depending on the nature and properties of soils, it is optimal to produce sowing or to control the intensity of tillage.

In addition, the patent applicant's DE P 43834.1 described harvester of the above type containing a driven processor device management and control, ensuring optimal use on harvesting works thanks to dialog management operator representing the operator constantly asked, maximum and actual performance data on the display in the form of icons and alphanumeric window and the inventory of the harvest for later use.

The aim of the invention is to further facilitate the working conditions of the combiner and provide a better optimization of harvesting due to high performance at relatively low specific yield loss in the presence of this field of various types of C. agricultural crops and their unequal Sotho, what control processor combine has recourse to the historical inventory data and the corresponding coordinates of the position of the harvester, in combination with its suspension data, accesses the stored historical data beyond this current coordinates, reads and defines and re-defines new required or limiting operational parameters.

The preferred options are presented in the additional claims. The essence of the principle lies in the fact that the inventory data obtained in the past when you use a food processor or processing of neighboring plots, are used as the basis for asked or limiting parameters, and this is achieved by optimization of the regulation, the data are pre-processed and before entering into the critical zone of the field, in which, for example, culture has a greater density or grain crop were killed in an unfavorable direction, or terrain changes in the slope is adapted to the operating conditions, resulting in mostly excluded overloading or damage to the mechanism of the mower or grind. In particular, this is emeu culture, the rate is reduced or in case of change of the magnitude of the slope or degree of irregularities of the soil, the mechanism of regulation of the degree of inclination of the cutting device and/or mechanism for adjusting the height of the cutting set new set of limit parameters.

To ensure the ability to accurately corresponding to the location specified operating parameters it is necessary, first, to perform the analysis contained in the inventory data to determine the authenticity of the place of their origin, i.e. that were made correction on the value of the path traveled by the combine during the pause between stopping mowing harvest and obtaining appropriate values of measurement, and that, secondly, the time constant adjustment of the respective devices are taken into account, i.e., the pre-determined coordinates of the inventory in accordance with the path taken by the harvester during the time corresponding to the time constants adjustment, in the case when a new regulation is more inaccurate and leads to higher speed or lower the height of cut. In that case, when derived from the historical data set or limit mode parameters cannot be directly entered into the controller, and through Viswa the more foresight in education define and limit the data shown in the case, when used is not a complete inventory, but only that part, which contains information about the last executed a number of passages removal of harvest, while the analysis of data changes on adjacent adjacent at the front and rear zones that have passages harvester, the presence of obliquely directed curve of the soil or remove the crop in relation to the direction of the aisles and in accordance with this, the extrapolation is made in relation to important to use location data to combine with a given constant time adjustment and associated traveled distance and the extent of losses due to specified adjustments. In the modal parameters are automatically set by obliquely directed relative to the direction of movement of the curve changes remove the crop, i.e., obliquely directed relative to the direction of motion of the boundary of fertility; this mode is set, due to the lack of driver visibility, often manually is not possible, since the path traversed until the measurement value, and the path to the final adjustment of the machine, up to 50 m

As operational data uchityvaya relative loss, the amounts of resin and in some cases also asked and limit operational data. In accordance with this control operation can be performed on the selection by various criteria, such as high performance or low-loss grain or straw. Limit and specified operational data preferably introduced into the regulating device, either directly or deduced in the cab of the harvester on the display. In any case, the combiner for reassurance is the ability to manually change management, with the result that he can either reduce the speed of the combine harvester, or stop it, or to raise the cutter to overcome obstacles and prevent overloads.

It goes without saying that the same method can be specified width, height of cut, as well as other adjustable parameters of the combine harvester, such as the speed of rotation of the drum, the number of revolutions of the blower and the screw conveyor, the speed of the Elevator and installation of gratings based on inventory data. It should of course be adapted to the respective duration of the passage of the clean culture to plot measuring soutwestern.

Particularly economical memory usage when compiling inventory data takes place in the case when memory start operating data - coordinate pair only when you want to store in memory the operational parameter has been changed by a specified relative or absolute value. This method of storage also facilitates the extrapolation of changes in operational data relating to neighboring aisles, with regard to the situation at the time of movement, because the in-memory data related to larger changes, operational data stored in the memory of the difference between the coordinates of the points similar changes of operational data relating to harvested areas, should be moved to remove the currently areas, and for this purpose it is necessary to borrow the relevant performance data.

Position adjacent harvested areas relate to the starting point, as a result, even in the presence of dependent pathway coordinates the learning process occurs regardless of the direction of movement of the harvester and the correlation with the real location.

In relation combines the GCP is to be at a constant level of performance, optimal according to the combiner. Working bodies of the harvester when the adjustment provided in accordance with such performance and thus ensures the best possible results. Constantly alternating density of the harvested culture directly entails, when moving with a constant speed of the harvester, fluctuations in performance. To achieve consistent performance and/or adjustment of the working bodies shall be made to adjust or control the speed of movement and/or installation of the working bodies of the harvester. With this purpose for harvesters were designed various device performance measurements. Thanks created on the basis of their devices adjust the speed was obtained, for example, a substantial increase in performance. The disadvantage is that the measurement of the amount of culture can only be present in a food processor. Reaction is only possible with significant fluctuations in the density of the culture.

Due to the preliminary analysis of historical data is achieved by eliminating the disadvantage of return regulation. However, the known methods of optimization of reverse regulatry last year, listed in the inventory are given in correlation with current data and adapted proportionally to the latest.

When one field are several harvesters, performance measurement and correction maps this field produces only one machine. Radiocommunications amendment passed on to other harvesters in this field that there is no need for performance measurement, but you want to have on Board system for positioning or navigation.

Preparing correction data can be produced and stationary computing machine located on the edge of the field. With combine with device performance measurements and system positioning or navigation yield data and the status is sent to the stationary computing machine. Data containing amendments yields radio transmits on one or more on the field harvesters. In addition to these amendments on this path radio communications can be transmitted and data for position correction required, for example, when using a differential method of satellite navigation system (DGPS).

The techniques presented here, which takes into consideration the truth is the importance of a risk plan of correction adjustment can be applied to any other machine, used for harvesting, or C. agricultural machinery, which requires one or more adjustments depending on one or more correlating with the data on the difference in fertility or the character of the soil parameters.

Preferred embodiments of the invention are described using figs. 1 -7.

In Fig. 1 shows a General wiring diagram of the harvester with the network multi-processor, and digs with different magnification;

Fig. 2 - mask with the image motion;

Fig. 3 - map of the field with the current, future and historical provisions of the harvester in the absolute coordinate grid;

Fig. 4 - field map with points of extrapolation and the coordinates of the trajectory;

Fig. 5 is a plan of the area at different applications of the harvester;

Fig. 6 is a block diagram of the entire device;

Fig. 7 is a block diagram of the device with the radio system.

In Fig. 1 shows the General wiring diagram of the harvester with the control device (ST), with a network of microprocessor bus (B). In the cab of the combine (1) has a processor (M1), remote control, cutting mechanism (2) has a second microprocessor (M2) to control and adjust the cutting process, the drive and the chassis (3) - Tr the TCI (N) - fifth, the microprocessor (MN) controlling the flow of material.

Each of the microprocessors (M1 - MN) via the interface circuit (SS) is connected to the Central communication bus (B). The main processor (M1) desktop controls the display (V) and, in turn, is controlled via the keypad (TA) seven keys (T9-T14), providing dialog mode with the screen, and ergonome located on the handle of the fuel control (F) keys installation of cutting mechanism (T15-T18). If necessary, set the locator (GPS) continuously transmitting on the main processor (M1) position coordinates.

On the screen shows the current time, date, data on the nature of the surface route (BF1), speed (BF2), grain loss and performance when cleaning (BF3), width (BF4), slag standards height Reza indicating the set value of the height of the cut (BF5), the speed of the threshing drum (BF6), the rotation speed of the blower (BF7) and the dashboard main menu (BF8). Function keys key fields (TA) are proving key (T9) to open the menu, confirm the installation mechanism for the transfer and termination of transmission of the job, key cursor "with ursorum to the last button and Vice versa; key +/- (T12) is used to set values, return key (T13) to move to the next higher level menu, auxiliary key (T14) - to call the explanatory text for the buttons menu. Repeated pressing of this buttons returns to the menu button. When the keys are pressed, held for a long time, the function keys are automatically repeated several times. On the knob of the fuel (F) are key: push switch (T15) lift devices cutting mechanism, the push switch (T16) device lowering the cutting mechanism (T16), the push switch (T17) automatic initial setup of cutting height and push switch (T18) automation installation path.

On the display (V) there are eight Windows (BF1-BF8), which portrayed icons (P1), transmitting in analog form modal parameters, the digital data (Z1) for outputting digital data, and for the other modes of test data.

Window for indicating the current time (BF1) and menu selection (BF8) always have the same type, time and date are specified at constant renewal through internal electronic time and indicazioni currently displayed massive, in other cases - transparent.

The details shown in Fig. 2, which shows the yield and which is also shown on the left of the tachometer, and in the large box (BF3) in the form of two triangular icons constantly value losses of grain and productivity when harvesting. In the below boxes of smaller size (BF4 - BF7) is shown and provided with numbers working width (SB1), the initial setting of cutting height (SH1), the speed of the threshing drum, the number of revolutions of the blower and the number of revolutions of the motor with its load.

In separate Windows (BF2 - BF7) are shown with different and unequally spaced characters current values measured values (V1, SB1, SH1, S11, S12), and is also important for the relevant area historical operational data (V8, SBS, SHS, SHS1, SHS2, H31, H32, H6, H7). In the second window (BF2) shows the actual speed (V1) - an image made like a needle of the tachometer and outside of the scale - historical set speed (VS).

In the third window (BF3) in the form of angular zone provides indication of current values of losses in the shaking mechanism and when sifting through a sieve and additionally historical value losses (H31, H32), transformed taking into account the yield on the bottom of the dps which contain data on actual and setting width (SH1, SHS).

In the fifth window (BF5) again shows inside and outside of the scale the actual height of cut (SH1) and the historic desired cutting height (SHS). To this is added the display of limiting parameters (S11, S12) of a given combiner height cutting and outside the limit values (SHS1, SHS2) derived from historical data. Due to the fact that the specified limit values below historical, it is obvious that the latter are fed into the controller, not directly, but are used by the operator as supporting tools when searching for a new, more optimal setpoint with obtaining low stubble. Direct or indirect setting of regulatory data may be performed by the selection keys provided for individual Windows. What limits will be actively used and what information only, this is massive or no representation of the corresponding characters. On active limit values (S11, S12) applies internal control optimization of cutting height. In addition to displaying actual and set of operational data and the resulting oscillations appear on the screen in different Windows (BF2 - BF7) signal is, chenevey based on historical option as risky, i.e., either too low height of cut, or too high a speed allowed by the operator and can cause damage. An emergency situation could occur, for example, in the case when the window (BFS) height indicator cutting you receive the indication of the actual height of cut (SH1), the value of which is less than the historical lower limit value (SHS1).

Alarms are a special form of messages with higher priority. They have optical and acoustic appearance and subject to confirmation by the operator. The optical signal consists of a symbol and explanatory text and superimposed on the same display content. After confirmation of alarm latter takes the form of messages.

After a short interval of time is determined actual speed signal path and the condition of the cutting mechanism is "on", "off" and in order to determine the position and addressing of the inventory, and also for display and presentation as a regulatory parameter is processed.

Along with this, the main processor (M1) periodically proia about

- width 1/1 - 1/4.

- working width,

- stat, the radius x gear ratio,

- the upper limit engine speed at idle,

- the number of revolutions of the engine at full load

- min. speed at work

allowable slippage,

transmitted information

- cultivated land,

the productivity per unit area,

- distance travelled,

- the number of working hours,

- duration of operation in hours,

- voltage on-Board network,

- the load on the engine,

- the number of revolutions of the blower,

- the speed of the threshing drum.

The latest data are used primarily to transmit information about the harvest and accounting information, as well as to the inventory in yield, designed to correct performance data on grain, determined by the processor (MW) of the feeder and cleaning them periodically transmitted and accumulated in a memory in the form of current and stored information.

Constant communication, accompanied by short periods of operation, there is in particular between the main processor (M1) and the processor (M2) Brovki fuel (F), should immediately be converted into control actions, ensure the installation of an appropriate height and tilt of the cutting mechanism, as this setting provides optimal grip bread with different height and/or different degree of Polugaevsky, prevents damage to the cutting mechanism stones or rough soil, and also prevents overloading of the feeder at a given speed and width defined by the longitudinal and transverse tilt arm adjustment, fuel (F).

To communicate with the processor (M2) cutting mechanism provides mainly the following periodic information:


- speed,

- increase or decrease the height of the cut,

- setpoint for both machines that reduce the setpoint for the Adjuster cutting;


actual performance machines that reduce,

- the actual performance of right and left soil probes.

- "enable", "disable" overcontouring automation

install Adjuster cutting "on", "off".

In addition, transmitted alarms, imediately bodies and magnetic valves in hydraulic height adjustment and tilt.

The actual indicators to set the cutting height and tilt are inferred based on the pressure bearing (measured on a spring cutting mechanism) and the distance to the ground (measured on the probe bracket). As a result, the combiner provides a smooth and optimal installation of the pressure bearing and distance between the ground and the cutting mechanism.

To the cutting mechanism had a parallel orientation relative to the ground, and the height of cut was kept constant across the width of the cutting mechanism, along with the height adjustment make another transverse adjustment. When such lateral adjustment is made by comparing the distance to the ground left and right, and, in the case of deviations on hydraulics, ensuring the slope, the signals of the correction.

Because of reducing automatic combiner has the ability to choose in advance the height of the cutting mechanism, for example more than 100 mm predefined height is automatically set. When the movement of the combine harvester can produce switching from program reducing automation program adjusting the height of the cutting and pressing keys to set different height R of the indicators on the multi-function handle (F) adjustment lever fuel. The top switch (T17) is used to output the cutting mechanism from nearby soil contour zone automatic installation in more remote from the soil zone installation cutting. The bottom switch (T18) is intended for lowering the cutting mechanism in the position of the contour of automation, which can be located either in the area asked the initial installation height cutting, or in the area specified height adjustment cutting. This issue is solved only after receipt of a corresponding setting specified either by the combiner, or determined on the basis of information contained in the inventory data and constantly asked.

There are two ways of entering the setpoint. In the first method, the setpoint value can be changed when subjected to pressing +/- (T12) on the keyboard (TA). Such a change in the setpoint can be set in the working menu. The system supports the input due to the fact that the position of the cursor determines the automatic initial setting of which was performed by the combiner via the buttons on the multifunction handle (F). Setting up small values of (2.5 percent). The terminal transmits the message "increment" or "decrement", addressed to the processor (M2) cutting mechanism is not possible, in addition, the pre-set setpoint (S11, S12), Fig. 2, and the submenus: set path.

In the second method, the combiner has the ability to perceive the current actual value as the new setpoint. With this aim by pressing (T15, T16), which provides raising and lowering of the cutting mechanism, the latter may be brought into the desired position, after which a long press (more than 3) on the corresponding key automation (T17, T18) actual value begins to act as a new setpoint. Short press on the switch provides a lowering of the cutting mechanism in the position corresponding to the other set, with the set setpoint is not changed. The decision about whether to continue using the previous setpoint or actual value to transfer to the new setpoint will be made only after termination of exposure on the switch.

Again manually specified setpoint and limit operational data is registered in the inventory with a view to their use for cleaning adjacent areas. So when a limited number of races it is possible to find the optimal positioning and use it for the following races.

Just cry, on the basis of which the combiner may change due to deviation from standard conditions external conditions, so it is possible to produce and in relation to other nodes of the harvester. For measuring the yield and losses and to perform the appropriate calculations for certain types of cereals in the memory infest standard values liter weight at medium quality and humidity, and therefore after the access menu, you should select the appropriate type of grain. In addition, periodically can be obtained from outside data litre weight, in the case where there is no automatic scales. The data is transmitted to the microprocessor (MN), measuring productivity and the size of the loss, and are used there for the processing of measurement results, then the results are transmitted to the main processor (M1), where they are recorded on the thumbnails window (BF3) for a constant issue for image crop and for processing and subsequent issuance temporarily stored in the printer or the cartridge (S). In a device for measuring grain loss, in order to correct the measured signals, it is necessary to enter an indication of grain, for which the memory contains a characteristic indicators.

When the magnitude of the losses, previlage. Thanks noticeable and very clear display of the losses on the shaker in the left triangle and losses on the sieve in the right triangle window (BF3) with the image of the harvest, Fig. 2, the operator has constantly before the eyes of these are important for the maintenance criteria, as a result he constantly can perform additional optimizations for, by the appropriate selection of the width of the grip, speed, cutting height and it is possible by adjusting the sieves and blower.

Ergonomic placement of the adjustment lever fuel (F) in the area of reach with the right hand and the keyboard layout (TA) near the right hand can during work easily request information from the storage device and re-set mode parameters.

Processing of incoming messages in the main processor (M1) with the issue in a separate window occurs on two software levels. The incoming message is first processed in the background the software level management interrupt as follows:

- if in accordance with the identifier received the alarm, the buffer borrows a message, set the marker of the alarm is determined by the correlation soo is erasing the ID;

- if there was no alarm, and notification, the appropriate message notification is logged in the control zone field (BF4) message boxes, short beep is emitted, and is erasing the ID;

if not entered, no alarm or notification, and was transferred to a new display value, the display variable is entered into the control memory window display and erased the ID.

Further processing of information from the control memory window display is performed periodically in the framework of the utility of archival data. In it, depending on the status information in the control storage device Windows display certain types of information areas of the display are reduced and/or updated in the memory display;

- if there is a transition to the status of "enable threshing mechanism", then the image will crop Fig. 2; if there is a new status of "off the threshing mechanism, there is a color image of the route;

- if you change the mode set keys (T11 - T18), respectively updates the memory status menu, and the corresponding memory device status field in the and confirmed after pressing the key, the alarm status display zone alarm (BF3) is deleted in the corresponding area of the field status display on and off siren;

after all this is contained in a separate storage device status fields display the new data, taking into account the hierarchy and in correlation with records of alarms, messages, and General operational information, such as new actual and set values and changes in the status menu, are processed in order to manage change in the content of the memory display, resulting in a completely updated content of the image.

In Fig. 3 shows a map of the field, made in the grid, the absolute coordinate position (X, Y). Processing field (FE) are bands of silt entries (E1, E2, E3) extending in the relative direction of the coordinate axes (KB), located near each other and oriented in the direction of the coordinate travel (KS). If the passages are performed in alternating direction, and respectively processed coordinates. For example, when the harvester is in the historical position (IB), in which measured data were obtained on the exit, it was located near the plot of S (DT, VI), which was passed for machine time (DT) when the actual speed (V1) is installed) and have been recorded in memory.

During a subsequent visit to harvest when the harvester will be in position (1) with the current coordinates (X, Y, KS, E2), accesses named, translated into memory operational data, which in this case are important for adjustment of the machine, unless the harvester is in position (1A) with coordinates (XK1, YK1, KS1). This target position (1A) is located from positions. (1) at a distance of run S (EZ1, V1), which will be completed by the harvester during the time constants of the adjustment of the machine (EZ1) at speed (VI).

If the field (FE) established the boundaries of fertility (G1, G2), within which to ensure optimal and reliable operation mode requires significantly change the setpoint of the machine, the corresponding set values are entered in a timely manner so that this change of setting is completed before will be achieved boundaries of fertility (G1, G2).

In Fig. 4 shows another map field (FE), made in absolute coordinates (X, Y) using relative coordinates (KB, KS). Passages (E1, E2, E3) with width (SB) marked on the map with the given initial points (EA1 - EA3).

Ha the border of fertility (G1), under the coordinate pair (XB1, YB1), for the first is rachada (E2) at coordinates (XB2, YB2). When the harvester is in a position (1) at coordinates (X, Y, B3, S) in the third passage (E3), the stored operational data are checked in advance of the analyzed area (AB) to the races operational data, or abrupt change, found the above-mentioned coordinate pairs (XB1, YB1, XB2, YB2) of them displayed their displacement (V1) in the direction of motion, is the extrapolation of the corresponding offset (V2) in the next aisle over (E3) and postulated that the location of the boundaries of fertility (G1). If the harvester approached the border to run S (EZ1, V1), which is required for time constant adjustment of the machine (EZ1) speed (V1), then the setpoint and limit operational data sets for historical regime parameters that are valid abroad fertility (G1), not near it, provided that the new adjustment behind the borders of fertility (G1) provides enhanced security against overload and/or damage to the machine. Thus the target coordinates (XK1, YK1), ensuring the completion of the migration, fall on the intended point of crossing borders. When an increased risk is an overload in the area of harvest, log harvester, the reconfiguration of pirania (S) the relationship between different machine locations and dependencies from the important time value. Section 1 shows the values characterizing the thickness (In) cereal during drilling and outside the borders of fertility (G1) and the signal (EM) certified crop received by the harvester. A place with coordinate (KS) the provisions of penetration, which was marked by a jump signal measurement due to abrupt changes in fertility, is located around the area S (DT, V1) from the time constant (DT) passing the grains through the harvester and the actual speed (G1) with real coordinates (KSW). Therefore, storing the measured values is performed in correlation with the real coordinate (KSW).

On the section II presents the analysis of the jump of the quantity of the yield, the record of which memory is made when the original coordinate (KSW), namely with regard to adjust the speed of movement of the harvester, which is constantly reported and displayed as the actual speed (V1). To the actual speed (V1) when the harvester border fertility (G1) decreased so that in connection with admission to a greater amount of grain to prevent fouling of the harvester, the speed change is already provided for in achieving the transferred coordinates (SS1), this coordinate was moved to the stop (EZ1) subject to change speed and actual speed (V1). It should be noted that the speed changes during migration and, consequently, the path acts as an integral.

In section III again shows degree of density (VV) of grass along the border of fertility (GI), as well as the actual load on the machine (L1) arising from delay of passage, especially in the area where the transport path. This delay (DT*in conjunction with the movement speed (V1) causes a shift towards the measurement site with the coordinates (KS*). To the extent of such displacement is remembering jump load correlation with valid coordinates (KSW).

In section IV shows how to set the cutting height (SH), which is achieved due to the fact that moved on the coordinate location (SS1*) sets the height of the cutting, which when using the time constant of the installation (EZ1*) and speed (V1) is completed only then, when reaching the border of fertility with the density of the grass.

Therefore, the time constant should be taken into account to the border of fertility, because with the passage towards the outside of this boundary area with more densely growing culture is necessary conducts the current of the apparatus of the mower. On the lower parts V-VIII of Fig. shows the border of fertility (G2), in which there has been a sharp decline in yields (EM) and load reduction (ML1). And here it is necessary to take into account prior to receipt of the signal measurement (EAT, ML1), time (DT, DT*) crop and grain, as well as the passed in this way S (DT, V1), (SDT*, V1) in order to store the measured data with the actual coordinate position (KSW).

Subsequent use of such data corresponding to reprogram setpoints will be produced at the place of crossing the border of fertility (SS2, SS2*in order to plot with a dense culture was not increasing the speed and lowering the height of cut, which prevents overload and damage to the cutter bar of the mower. Flashing speed (V1) and cutting height (SH) is performed using the respective time constants (EZ1, EZ1*) that does not cause concern because the operation in the less dense culture safe.

In Fig. 6 depicts a block diagram of a control device (ST). The power of the latter is at latitude (GPS) coordinates (X,Y) and of the clock (CL) with time. the queue receives a valid signal (L1, V1, SB1, SH1, S1, EM1, EV1). In addition, using the keypad (TA) and the adjustment lever fuel (F), the operator shall work control signals to the control device (ST). In this device are stored in the memory of many operational parameters, in particular, time constants setup (EZ1, EZ1*and indicators travel time (DT, DT*). On the basis of data about the actual coordinates (XW, YW) of the control device defines the performance parameters (EM, EV), the first specific data concerning the measurement results yields and losses, are included in the inventory level (EK) with valid coordinates. If you reuse these data will be in the inventory of historical data (HK and will be transferred together with the search coordinates, in the form of historical data (DH) to the control device for additional processing. According to the above based on them are displayed set of operational data to achieve optimal performance and can be transmitted either directly to the threshing mechanism (MDW), or in visual form displayed on the screen (V) operator.

In Fig. 7 shows a variant of the device in which subfunctions vypolnyaut the data (DH) is passed through the tract (F1, F2) radio control device (ST) of the harvester. The latter in turn transmits the current operational parameters and received from locator (GPS) information about the coordinates along the path (F1, F2) radio processor (PR). This system has the advantage that one cadastral station can work together several harvesters, using radio communication, and, consequently, several harvesters can work directly with data obtained on an accelerated processor, leading to the harvest of the adjacent site.

Of course the device containing cadastral storage devices can be installed on any one machine, which with other harvesters is provided on the radio.

1. The method of operation of the harvester in order to optimize performance on the harvest from the outside constantly controlled by the operator through control processor (ST) using the specified and/or limit operational data and which is under constant measurement and processing of operational data (V1, SB1, SH1), in particular data driving mode, internally regulated, and continuously recorded absolute and/or relative coordinates of the NGO in the form of inventory (EC) yield data for use as a historical inventory data (NC) stored in the memory, wherein the control processor (ST) combine may refer to the historic inventory (NC) data, addresses, together with coordinates (X, Y) position of the harvester and in combination with its data driving mode (V1, SB1, SH1) stored in the historical data (DH), in anticipation of this current coordinates, reads, determines a new set or limit operational data (VS, SBS, SHS) and re-sets.

2. The method according to p. 1, characterized in that as a valid operational data continuously measured actual speed (V1), full width (SB1) and the actual volume of harvest (EM), and entered into the cadastre on the basis of this data (EAT) on the measurement of specific yield with relation to inferred from the current coordinates (X, Y, KS, KE) and actual speed (V1) in combination with time (DT) of grain through the harvester still coordinates (XW, YW, KSW, KEW) genuine seat removal harvest, and that of the historical inventory data (NC) later in the same place with coordinates (XW, YW, KSW, KEW) will be read historical data (DH) to determine the future of coordinates (XK1, VK1, KS1) of the combine, which will determine its position when driving at an appropriate speed and in line defined set speed (VS), and/or specified width (SBS), and/or set the height of cut (SHS) in such a way that provides for the uniform load on the machine at the future intersection of the coordinates (XK1, YK1, KS1) and avoids congestion or danger to the machine.

3. The method according to p. 1 or 2, characterized in that the measured and entered in the inventory current yield losses (EV1), correlated with the area and the actual coordinates (XW, YW, KSW, KEW), and the subsequent harvest in the same location (XW, YW) on this basis for future coordinates (XK1, YK1, KS1, KE1) are determined set speed (VS), and/or asked width (SBS), and/or set the height of cut (SHS) thus, what if the future intersection of the coordinates (XK1, YK1, KS1, KE1) specific yield losses will be minimal.

4. The method according to any of the above paragraphs, characterized in that as a valid operational data in the inventory is entered measured actual load (ML1) on the machine with its correlation with the true coordinates (XW, YW, KSW, KEW), derived from the current coordinates (X, Y, KS, KE) and actual speed (V1) in combination with time (ET) moving the harvested crop until the measured load, and later on the same site to which will determine its position when driving at an appropriate speed (V1) and in accordance with installation time constant (EZ1) the process of adjusting the load of the machine, and based on this will be determined set speed (VS), and/or asked width (SBS), and/or set the height of cut (SHS) in such a way that ensures uniform as possible, the load on the machine at the future intersection of the coordinates (XK1, YK1, KS1, KE1).

5. The method according to any of the above paragraphs, wherein included in the inventory of historical data (DH) is linked with the annual specific data of the respective crop or weather conditions, mainly with the initially assigned setpoints and operating parameters, and before processing are modified.

6. The method according to any of the above paragraphs, characterized in that the data contained in the inventory data (DH) related to one or more cleaning passes (E1, E2), which is neighboring with retractable plot (E3), analyzed by extrapolation coordinate (KS, X, Y) path performed by the harvester move with neighboring coordinates (K3S, E3, XB1, YB1, XB2, YB2) is asked to determine or limit operational data (VS, SBS, SHS) or used directly as such.

7. The method according to p. 6, characterized in that the data contained in the inventory data (DH), belonging to the neighboring UBO is it sites on, near or in the direction (SR) penetrations (E1, E2), resulting offset (V1, V2) between similar data changes (DH) in accordance with the offset (V1, V2) when extrapolated to the current coordinates (KS, E3, X, Y) are analyzed to determine set or limit operational data (VS, SBS, SHS) or used directly.

8. The method according to any of the above paragraphs, wherein based on the data (DH) asked inventory or marginal performance data (VS, SBS, SHS) are input to a given value of the appropriate regulator directly or visualized on the display (V) or indicating instrument.

9. The method according to p. 8, characterized in that the set of limit operating data (VS, SBS, SHS) being specifically formed, together with the corresponding current operational data (V1, SH1, SB1) and the specified operator setpoints and limit values (S11, S12) are displayed on the display (V).

10. The method according to any of the above paragraphs, wherein the relative position coordinates are defined as directionally oriented coordinates (KE, KS) path for consistent initial plots (EA1, EA2, EA3) CTD is different measuring paths (W1).

11. The method according to any of the above paragraphs, wherein the absolute position coordinates (X, Y) of the combine is determined by device positioning (satellite positioning) (GPS, DGPS) and continuous measurement path and conversion is performed in the data path (KS, KE) - oriented direction, and Vice versa, when read or memorized data inventory.

12. The method according to any of the above paragraphs, wherein all made in the inventory data is constantly checked to determine whether or smaller than at least one value of the number stored in the last data to the specified relative or absolute value, then the corresponding data together with their actual coordinates (KEW, KSW, XW, YW) are stored in memory.

13. The method according to any of the above paragraphs, wherein based on data (DH) inventory set mode parameters (VS, SBS, SHS) served on modal controllers combine like the main regulatory loop, which, in turn, act as secondary controllers.

14. The method according to any of the above paragraphs, odida using stationary processor (PR) and onboard locator (GPS) processor, moreover, the corresponding position coordinates (X, Y) are transmitted from the locator system of stationary radio processor (PR), and the obtained historical data (DH) continuously transmitted on the radio on the harvester.

15. Device for operation of the harvester, containing control processor (ST), which has access to the secure program storage device storing asked and marginal operational data, and data (EM) measurements of specific yield, correlated with coordinates (X, Y) position, and is connected to the keyboard (TA) and means for measuring the actual speed (V1), full width (SB1), the actual height of the capture (SH1) and data (EM) measurements of specific yield, characterized in that the control processor (ST) connected to the locating device (GPS, DGPS) and has access to the inventory (HK) memory with historical operational data and performance program is designed to produce electricity from the stored, measured and historical data specific operational data (VS, SBS, SHS) transmitted by the control processor (ST) as needed on connected therewith regime the regulator of the relevant Executive means configured, and then the bookmark stored in the memory, measured and historical data limit operational data control processor (ST), as well as actual performance data (V1, SB1, SH1) and specified performance data (VS, SBS, SHS), displays on the connected display (V).

16. Device for operation of the harvester under item 15, wherein the control processor (ST) through the radio (F1, F2) has access to a desktop processor (PR), containing a secure program storage device and cadastre memory (HK).


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