Header position control with dynamically adapted sensitivity

The height of a header of a self-propelled harvesting machine is controlled by a closed loop header position control system. A sensitivity control system receives parameters related to header position error (e.g., an accuracy parameter) and machine stability (e.g., a stability parameter) and automatically identifies a sensitivity metric indicative of a sensitivity with which the header position control system controls the header height, based upon the received parameters. The sensitivity metric is provided to the header position control system. The header position control system performs closed loop header position control with a sensitivity level based upon the sensitivity metric provided by the sensitivity control system.

FIELD OF THE DESCRIPTION

The present description relates to self-propelled harvesting machines. More specifically, the present description relates to controlling header position of a self-propelled harvesting machine with a dynamically adapted sensitivity level.

BACKGROUND

There are a wide variety of different types of agricultural machines. They include self-propelled harvesting machines, such as combines (also referred to as combine harvesters).

Combine harvesters are often fitted with a header which is vertically movable relative to the ground. For instance, one or more hydraulic actuators (or other actuators) are coupled between the header and the frame of the combine harvester so that they can raise and lower the header, as needed.

In some scenarios (such as, for example, when harvesting small grains) the combine harvester is operated so that the header closely follows the topology of the ground over which it is traveling. In order to do this, the operator often sets an initial height set point which establishes the height, above ground, at which the operator wishes the header to be maintained during operation. A closed loop system senses a variable indicative of header height, and controls the actuators that move the header vertically relative to the ground, in order to maintain the header height set point. A difference between the header height set point and the actual measured height is referred to as the header height error.

The closed loop control system also often receives an operator sensitivity input value. The sensitivity input value is a value input by the operator which indicates the sensitivity of the closed loop system (that is, the responsiveness with which it attempts to reduce the header height error). In some cases, the sensitivity value can be input by the operator using an operator input mechanism, such as a dial, a slider, an actuator on a touchscreen display, or other input mechanisms.

Some combine harvesters also have a relatively wide header. For instance, on some combine harvesters, some headers can be 40-50 feet wide, or even wider. In those cases, the header is often provided with an additional tilt (or roll) degree of freedom in which it can rotate (or parts of it can rotate) about a longitudinal, front-to-back axis of the combine. Thus, additional actuators (e.g., hydraulic cylinders) can be provided to control the tilt (or roll) position of the header (or the movable portions of the header).

SUMMARY

The height of a header of a self-propelled harvesting machine is controlled by a closed loop header position control system. A sensitivity control system receives parameters related to header position error (e.g., an accuracy parameter) and machine stability (e.g., a stability parameter) and automatically identifies a sensitivity metric indicative of a sensitivity with which the header position control system controls the header height, based upon the received parameters. The sensitivity metric is provided to the header position control system. The header position control system performs closed loop header position control with a sensitivity level based upon the sensitivity metric provided by the sensitivity control system.

DETAILED DESCRIPTION

The present description relates to controlling the header height of a self-propelled harvesting machine, such as a combine harvester (or combine). As discussed in the background, some combine harvesters have a closed loop control system that controls header position based on a set point, which may be input by an operator, and the measured header position (such as the height of the header off the ground). The difference between the set point and the measured header position represents a header position error. In examples where the combine has a relatively wide header, in addition to the height adjustment there may also be mechanisms in place to adjust the roll (or tilt) angle of the header relative to the frame of the combine harvester. This can be used in order to maintain header position in areas of uneven terrain.

Problems can arise with such a closed loop system. For instance, when the sensitivity of the system is set relatively high, so that the closed loop control system reacts quickly to changes in the header position error, this can cause the control system to actuate header position actuators quickly. While the actuators may have limitations in how quickly they can respond, the control system can control the actuators quickly enough that the combine harvester exhibits characteristics of instability.

For instance, the header is often cantilevered off the front of the frame of the combine harvester. The combine harvester normally has tires, which can act as springs. The header is also relatively heavy so that when it is moved, it can excite resonant frequencies in the mechanical structure of the combine causing the combine to bounce or oscillate in the vertical direction. When this happens, the control system can attempt to control header height, in response to the bounces, which can exacerbate the frequency or magnitude of oscillation or bouncing movement of the harvesting machine. Not only does this result in an uneven or unstable ride for the operator, it also results in an uneven cut of the crop being harvested, which can cause the performance of the harvesting machine to suffer.

In one example, the physical stability of the combine can be characterized by the amount or magnitude (e.g., amplitude) of machine bouncing or oscillation induced by changing the header position. The machine is relatively stable if the bouncing or oscillation is short lived and damps off relatively quickly. The longer the bouncing or oscillation continues, the less stable the combine. In some cases, when the sensitivity is set high, the oscillation or damping increases, instead of reduces.

Problems can also result when the sensitivity of the closed loop header position control system is set to low. When this occurs, the system will be less responsive and, react more slowly, to header position errors. Thus, when the sensitivity is set too low, this can increase the header position error and also degrade the performance of the harvesting machine.

Some current systems have provided a user input mechanism which allows the operator to set the sensitivity level of the closed loop header position control system. This is cumbersome and can be inaccurate. For instance, on combine harvesters, there are a relatively large number of systems that the operator is already responsible for controlling. Adding sensitivity control to the header position control system thus exacerbates the load placed on the operator in controlling the machine. Similarly, in situations where the terrain is relatively uneven, this can result in the operator needing to change the sensitivity input relatively often, as the characteristics of the terrain or other harvesting or machine parameters change.

The present description thus relates to dynamically identifying a sensitivity level for the header position control system in order to improve the performance of the machine in performing a harvesting operation. Header position accuracy parameters are detected (such as header position error). Stability parameter(s), which are indicative of the physical stability of the machine, are also detected. A header position sensitivity level is identified, based upon the accuracy parameter(s) and stability parameter(s), and a sensitivity signal is generated based on the identified sensitivity level. The sensitivity signal is provided to a header position control system so that the header position control system performs closed loop control in controlling the header position actuators that drive movement of the header, to its various positions, with a sensitivity level indicated by the sensitivity signal.

FIG.1is a partial pictorial, partial schematic, illustration of a self-propelled agricultural harvesting machine100, in an example where machine100is a combine harvester (or combine). It can be seen inFIG.1that combine100illustratively includes an operator compartment101, which can have a variety of different operator interface mechanisms, for controlling combine100. Combine100can include a set of front end equipment that can include header102, and a cutter generally indicated at104. It can also include a feeder house106, a feed accelerator108, and a thresher generally indicated at110. Header102is pivotally coupled to a frame103of combine100along pivot axis105. One or more actuators107drive movement of header102about axis105in the direction generally indicated by arrow109. Thus, the vertical position of header102above ground111over which it is traveling can be controlled by actuating actuator107. While not shown inFIG.1, it may be that the tilt (or roll) angle of header102or portions of header102can be controlled by a separate actuator. Tilt, or roll, refers to the orientation of header102about the front-to-back longitudinal axis of combine100.

Thresher110illustratively includes a threshing rotor112and a set of concaves114. Further, combine100can include a separator116that includes a separator rotor. Combine100can include a cleaning subsystem (or cleaning shoe)118that, itself, can include a cleaning fan120, chaffer122and sieve124. The material handling subsystem in combine100can include (in addition to a feeder house106and feed accelerator108) discharge beater126, tailings elevator128, clean grain elevator130(that moves clean grain into clean grain tank132) as well as unloading auger134and spout136. Combine100can further include a residue subsystem138that can include chopper140and spreader142. Combine100can also have a propulsion subsystem that includes an engine that drives ground engaging wheels144or tracks, etc. It will be noted that combine100may also have more than one of any of the subsystems mentioned above (such as left and right cleaning shoes, separators, etc.).

In operation, and by way of overview, combine100illustratively moves through a field in the direction indicated by arrow146. As it moves, header102engages the crop to be harvested and gathers it toward cutter104. The operator illustratively sets a height setting for header102(and possibly a tilt or roll angle setting) and a control system (described below) controls actuator107(and possibly a tilt or roll actuator—not shown) to maintain header102at the set height above ground111(and at the desired roll angle). The control system responds to header error (e.g., the difference between the set height and measured height of header104above ground111and possibly roll angle error) with a responsiveness that is determined based on a set sensitivity level. If the sensitivity level is set high, the control system responds to, smaller header position errors, and attempts to reduce them more quickly than if the sensitivity is set lower.

Header104is relatively heavy. Therefore, if the sensitivity is set too high, the control system will move header in the vertical direction (indicated by arrow109) quickly in response to header position error. This can cause the combine100to being bouncing, as tires144act like springs. The control system then again responds to this bouncing motion by attempting to correct the header height error induced by the bouncing motion, quickly. This can cause more bouncing and can excite resonant frequencies in combine100which lead to instability (in that the bouncing can continue, be amplified, etc.). Thus, a dynamic sensitivity control system is described in greater detail below with respect toFIG.2.

Returning to the description of the operation of combine100, after the crop is cut by cutter104, it is moved through a conveyor in feeder house106toward feed accelerator108, which accelerates the crop into thresher110. The crop is threshed by rotor112rotating the crop against concaves114. The threshed crop is moved by a separator rotor in separator116where some of the residue is moved by discharge beater126toward the residue subsystem138. It can be chopped by residue chopper140and spread on the field by spreader142. In other configurations, the residue is simply chopped and dropped in a windrow, instead of being chopped and spread.

Grain falls to cleaning shoe (or cleaning subsystem)118. Chaffer122separates some of the larger material from the grain, and sieve124separates some of the finer material from the clean grain. Clean grain falls to an auger in clean grain elevator130, which moves the clean grain upward and deposits it in clean grain tank132. Residue can be removed from the cleaning shoe118by airflow generated by cleaning fan120. Cleaning fan120directs air along an airflow path upwardly through the sieves and chaffers and the airflow carries residue can also be rearwardly in combine100toward the residue handling subsystem138.

Tailings can be moved by tailings elevator128back to thresher110where they can be re-threshed. Alternatively, the tailings can also be passed to a separate re-threshing mechanism (also using a tailings elevator or another transport mechanism) where they can be re-threshed as well.

FIG.1also shows that, in one example, combine100can include ground speed sensor147, one or more separator loss sensors148, a clean grain camera150, and one or more cleaning shoe loss sensors152. Ground speed sensor146illustratively senses the travel speed of combine100over the ground. This can be done by sensing the speed of rotation of the wheels, the drive shaft, the axel, or other components. The travel speed can also be sensed by a positioning system, such as a global positioning system (GPS), a dead reckoning system, a LORAN system, or a wide variety of other systems or sensors that provide an indication of travel speed.

Cleaning shoe loss sensors152illustratively provide an output signal indicative of the quantity of grain loss by both the right and left sides of the cleaning shoe118. In one example, sensors152are strike sensors which count grain strikes per unit of time (or per unit of distance traveled) to provide an indication of the cleaning shoe grain loss. The strike sensors for the right and left sides of the cleaning shoe can provide individual signals, or a combined or aggregated signal. It will be noted that sensors152can comprise only a single sensor as well, instead of separate sensors for each shoe.

Separator loss sensor148provides a signal indicative of grain loss in the left and right separators. The sensors associated with the left and right separators can provide separate grain loss signals or a combined or aggregate signal. This can be done using a wide variety of different types of sensors as well. It will be noted that separator loss sensors148may also comprise only a single sensor, instead of separate left and right sensors.

It will also be appreciated that sensor and measurement mechanisms (in addition to the sensors already described) can include other sensors on combine100as well. For instance, they can include a header height sensor that senses a height of header102above ground111. They can include stability sensors that sense oscillation or bouncing motion (and amplitude) of combine100. They can include a residue setting sensor that is configured to sense whether machine100is configured to chop the residue, drop a windrow, etc. They can include cleaning shoe fan speed sensors that can be configured proximate fan120to sense the speed of the fan. They can include a threshing clearance sensor that senses clearance between the rotor112and concaves114. They include a threshing rotor speed sensor that senses a rotor speed of rotor112. They can include a chaffer clearance sensor that senses the size of openings in chaffer122. They can include a sieve clearance sensor that senses the size of openings in sieve124. They can include a material other than grain (MOG) moisture sensor that can be configured to sense the moisture level of the material other than grain that is passing through combine100. They can include machine setting sensors that are configured to sense the various configurable settings on combine100. They can also include a machine orientation sensor that can be any of a wide variety of different types of sensors that sense the orientation of combine100. Crop property sensors can sense a variety of different types of crop properties, such as crop type, crop moisture, and other crop properties. They can also be configured to sense characteristics of the crop as they are being processed by combine100. For instance, they can sense grain feed rate, as it travels through clean grain elevator130. They can sense mass flow rate of grain through elevator130, or provide other output signals indicative of other sensed variables. Some additional examples of the types of sensors that can be used are described below.

FIG.2is a block diagram showing one example of self-propelled harvesting machine (combine)100in more detail. In the example shown inFIG.2, combine100illustratively includes a control system180that generates control signals182that are provided to a set of controllable subsystems184. Control system180is shown receiving a plurality of different sensor signals, such as a signal from header position sensor186, stability parameter sensors188and other parameter sensors190. Control system180also illustratively receives one or more header position set points192and it can include other parameter inputs191.FIG.2also shows that an operator194can interact through operator interface mechanisms196with control system180. Operator194can interact with mechanisms196in order to control and manipulate control system180and other portions of combine100. In addition,FIG.2shows that combine100can include communication system198and other items200.

Before describing the operation of combine100in automatically and dynamically setting a sensitivity level for controlling header position, a brief description of some items in combine100, and their operation, will first be provided. Control system180illustratively includes one or more processors202, data store204, header position control system206, sensitivity control system208, operator interface logic210, and it can include a wide variety of other control system functionality212. Header position control system206, itself, illustratively includes height control logic214, tilt (or roll) control logic216, and it can include other items218. Sensitivity control system208, itself, illustratively includes parameter processing logic220, sensitivity identifying logic222, output generator logic224, and it can include other items226.

Controllable subsystems184illustratively include header position control actuators228(which can include height control actuators107, tilt (or roll) control actuators232and other position control actuators234). Controllable subsystems184can include a wide variety of other controllable subsystems236.

In operation, header position control system206illustratively receives the header position set points192. The set points can be provided by operator194through an operator interface mechanism196, or obtained in another way. Set points192can include a height set point indicative of a height at which header102is to be maintained above ground111. It can also include a tilt set point indicative of a roll angle that header102is to maintain, relative to a longitudinal front-to-back axis of combine100. Header position control system106can also include a signal from one or more header position sensors186which sense or measure the height of header102above ground111, and can also measure the roll angle of header102about the longitudinal axis. Sensors186can take a wide variety of different of forms. For instance, they can be potentiometer or angle encoders that sense the rotation of header102about axis105or the angular position of header102relative to the frame of machine100. Then, knowing the dimensions of header102and combine100, the height of header102off of the ground111can be determined. Sensors146can be other sensors that measure other parameters from which the height of header102can be derived or calculated. They can also be sensors that sense the height of header102off the ground111directly, such as radar, lidar, ultrasonic, laser, mechanical or other sensors.

Sensitivity control system208receives signals indicative of the header position error (such as the difference between the set points and the measured position of header102) or it can receive the signal from header position sensors186and the set points192and calculate the errors, itself. Sensitivity control system208also illustratively receives sensor signals from stability parameter sensors188which sense characteristics or variables indicative of the physical stability of combine100. For instance, they can include one or more accelerometers that sense the acceleration (e.g., the bouncing or oscillation) of combine100. The other sensors190can include some of the sensors described above with respect toFIG.1, such as a position sensor, a ground speed sensor (or other machine travel speed sensors), among others. Input parameters191can include a wide variety of different parameters as well. For instance, they can include machine configuration parameters that indicate the make, model and configuration of combine100. They can specify the types of tires144, the weight of header102(or other header identifying information) among other things. In addition, parameters191can include terrain information, such as a topology map indicative of the topology of the terrain over which combine100is traveling. The input parameters can include a wide variety of other parameters as well. These parameters can be input by operator194, they can be retrieved or downloaded from a remote system, they can be obtained from data store204, or they can be obtained in other ways.

The height control logic214and tilt (or roll) control logic216illustratively identify the position error of header102relative to the set points192and generate control signals182to reduce those errors. They illustratively perform this type of closed loop control with a sensitivity indicated by a sensitivity value (or sensitivity signal)238that is generated by sensitivity control system208. The sensitivity will determine the responsiveness of the control system.

In order to generate the sensitivity value238, parameter processing logic220illustratively receives the various sensor signals and other parameter values and can perform processing on those signals and values. For instance, if a raw sensor signal needs to be conditioned and then a parameter is derived based upon the sensor signal value, then parameter processing logic220performs that type of processing. It illustratively obtains a set of accuracy parameters and stability parameters that are indicative of the header position error (discussed above) and the stability of combine100, respectively. Those parameters can measure the accuracy and stability directly, or they can be parameters that are indicative of those values. For instance, if the parameters identify topology, machine speed, the configuration of combine100and the types of tires that it has, then estimates indicative of machine stability can be generated using those parameters. The sensors can be accelerometers that sense bouncing motion. They can sense changes in position of header102or other parts of combine100relative to the ground to identify bouncing. These are examples only.

The parameters are provided to sensitivity identifying logic222which includes logic for identifying the sensitivity level238based upon the parameters it has received. Logic222can run an algorithm which may have previously been downloaded to combine100, or stored on combine100in data store204. It can implement a look up table which receives the collection of parameter values and identifies a sensitivity level238in a look up table, indexed by those parameter values. It can dynamically change the algorithm it uses to identify sensitivity level238, based upon the parameter values. For instance, if it identifies a first sensitivity level238based on a set of parameter values, but the stability parameters tend to indicate increased instability, then this can be fed back to modify the algorithm so that it selects a lower sensitivity value, given those parameters. This is an example only.

Output generator logic224generates an output signal indicative of the sensitivity level identified by sensitivity identifying logic222and provides that signal, as sensitivity value238, to header position control system206. Header position control system206then performs closed loop control of the actuators that are used to determine header position, based on the position error and sensitivity value238. The control signals182are provided to height control actuators107and tilt (or roll) control actuators232. The control signals illustratively control the height and tilt (or roll) of header102to perform ground following in an attempt to maintain it at a height and tilt (roll) angle defined by set points192, while maintaining machine stability.

Communication system198illustratively enables items in combine100to communicate with one another and enables items in combine100to communicate with remote systems (some of which are described in more detail below with respect toFIG.4). Thus, communication system198can include a controller area network (CAN) bus, and communication mechanisms that allow it to communicate over various networks, such as a wide area network, a local area network, a near field communication network, a cellular communication network, or a wide variety of other networks or combinations of networks. It can also be used to communicate using store-and-forward communication which is described in greater detail below as well.

Operator interface logic210illustratively detects operator inputs through operator interface mechanisms196and generates outputs for those mechanisms as well. It can provide an indication of the operator interactions to other items in combine100.

Operator interface mechanisms196can include a wide variety of mechanisms, such as a steering wheel, levers, joysticks, pedals, buttons, knobs, linkages, etc. It can also include haptic feedback mechanisms, optical and audio mechanisms as well. Also, information may be displayed to operator194on a user interface display screen. The display screen can have actuators that user194can actuate. Those actuators can include, for instance, links, icons, buttons, etc. Further, where the display is generated on a touch sensitive display or in a system where speech recognition is provided, operator194can actuate those actuators using touch gestures or speech commands as well.

FIG.3shows a flow diagram illustrating one example of the operation of combine100in identifying a sensitivity value238and providing it to header position control system206where closed loop header position control is performed. It is first assumed that combine100has sensitivity control system208configured and running so that it can generate sensitivity values238for header position control system206. This is indicated by block250in the flow diagram ofFIG.3. The algorithm or logic run by sensitivity identifying logic222can be generated in a wide variety of different ways. In one example, the algorithm is generated using a machine learning component that performs supervised learning classification. It receives training data with labeled inputs and desired outputs and learns the general rule that maps the inputs to the outputs in an optimized fashion. Machine learning can be performed using a wide variety of different learning mechanisms, such as neural networks, deep neural networks, decision trees, other classification or learning mechanisms, etc. In one example, the training data is a set of data that identifies an optimum sensitivity setting for various machine configurations and field conditions. The machine learning mechanism illustratively minimizes a loss function (or objection function) on the set of training data and generates and algorithm or model that performs accurately on new inputs. In one example, the goal of the objective function for adaptive header height sensitivity control is accuracy, meaning that the header height error is to be minimized. One measure of header height accuracy may be, for instance, the standard deviation of header height error (or header position error where tilt is considered as well). Root-mean-squared (RMS) height error is another measure of header height accuracy.

One constraint on the accuracy objective, as discussed above, is that the system is to remain stable. Operators normally have a relatively low tolerance for system oscillations, waviness of cut during the harvesting operation, machine pitch and vertical bounce motion. Another constraint on the objective function is on the motion, or energy, used by the header position control system. For instance, there is normally a maximum flow rate and acceleration with which the header102can be moved. However, those mechanical limits may not perform well as constraints on the motion or energy used by the header position control system206. This is because if the header102is moved at the maximum rate defined by the maximum flow rate and acceleration, this may induce jerkiness and vehicle pitch and bounce motion that accompanies this type of quick response.

Other variables that can be considered in the objective function include (in addition to the height sensor data and height error data, as well as the tilt error), vehicle speed, lift cylinder pressure, feeder house position, pressure feedback system gain, and machine pitch and vertical bounce measurement, as discussed above. All of these can be sensed by sensors, or variables indicative of those parameters can be sensed, and the parameters, themselves, can be derived.

In addition, a frequency domain analysis can be used to identify additional parameters. For instance, the effect of sensitivity on header motion and machine dynamics can be more clearly characterized in the frequency domain. When this is undertaken on test data, it has been identified that there is more energy at the higher frequencies (above 0.5 hertz) where the sensitivity level is set to its maximum value, and there is more energy at the lower frequencies (below 0.2 hertz) where the sensitivity value is set to its lowest level. Thus, the ratio of the maximum frequency amplitude in the high frequency range to the maximum frequency amplitude in the low frequency range may be a good normalized constraint for the adaptive sensitivity algorithm.

In one example, the adaptive sensitivity algorithm is obtained by setting the default position sensitivity to 50 percent of its maximum value. If the ratio of the Fast Fourier transform amplitudes discussed above is below 0.6, then the sensitivity level is increased, subject to the restraints on header width and valve command. If the ratio of the Fast Fourier transform amplitude is above 0.7, then the sensitivity level is decreased, subject to those same constraints. If the header error standard deviation is lower at the new sensitivity setting, then the algorithm stays at that setting and repeats the process. Otherwise, it reverts back to the previous sensitivity setting. The algorithm can be trained in this way, and a supervised learning approach can be performed, on a training set of data which is obtained by having operators manually set an optimum sensitivity level over varying terrain conditions, using various machine configurations.

Returning to block250in the flow diagram ofFIG.3, however the sensitivity identifying algorithm (or logic)222is obtained, it is assumed that is ready for processing on combine100.

Sensitivity control system208then detects a trigger indicating that it is to evaluate the sensitivity value238for possible adjustment. This is indicated by block252. In one example, sensitivity control system208is continuously running sensitivity identifying logic222in order to maintain a current sensitivity value238, given the currently received parameters. Running continuously is indicated by block254in the flow diagram ofFIG.3. Sensitivity control system208may also be configured to run intermittently, or periodically. In that case, a time lapse256may be a trigger that is used to identify a new sensitivity value238. In another example, when one of the parameters changes by a threshold amount, this may indicate that a new sensitivity value238is to be identified. This is indicated by block258. The sensitivity control system208can detect a trigger indicating that it is to evaluate the sensitivity value238in a wide variety of other ways as well, and this is indicated by block260.

In order to evaluate the efficacy of sensitivity value238, and determine whether it should be changed, parameter processing logic220first automatically detects or obtains all of the parameter information from the various sensors and parameter inputs discussed above. This is indicated by block262in the flow diagram ofFIG.3. For instance, it can receive variables and derive parameter values from those received variables. This is indicated by block264. It can receive machine configuration input information from operator194, retrieve it from data store204, or in other ways. This is indicated by block266. It can detect machine operating parameters (such as ground speed, machine orientation, tire type, header width, etc.). This is indicated by block268. It can also detect the header position accuracy (or error) values based on the header position set points192and the measured header position from sensors186. This is indicated by block270. It can receive the stability parameters from stability parameter sensors188. This is indicated by block272. It can receive a wide variety of other information, such as machine location and topography information274, or other information276.

Sensitivity identifying logic222then accesses a sensitivity generator (such as logic or an algorithm) with the parameters received and/or generated by parameter processing logic220. It runs that logic to generate or identify a sensitivity level that header position control system206should use in controlling header position. By way of example, if the sensitivity generator is a look up table, indexed by parameters, then logic222looks up the sensitivity level. If it is a dynamic model, logic222applies the model to the parameters to obtain the sensitivity level. If it is another type of dynamic algorithm, logic222runs that algorithm using the parameters to obtain the sensitivity level. Accessing the sensitivity generator and running it to generate a sensitivity level based on the parameters is indicated by blocks278and280, respectively.

Output generator logic224then generates a sensitivity control signal (e.g., sensitivity value238) based upon the identified sensitivity level. This is indicated by block282. It provides the sensitivity control signal to the header position control system as sensitivity value238. This is indicated by block284. In one example, output generator logic224also controls operator interface logic210in order to provide an indication of the sensitivity value238to operator194. This is indicated by block286. It can be provided to a user interface display to display the sensitivity value, or it can be provided in other ways as well. This is indicated by block288.

Header position control system206then performs closed loop header position control with a sensitivity level based on the sensitivity control signal (or sensitivity value)238that was just provided from sensitivity control system208. Performing the closed loop control with the sensitivity value is indicated by block290in the flow diagram ofFIG.3.

It may be that, during operation of combine100, the operator may wish to override the dynamically generated sensitivity value238. For instance, it may be that the sensitivity value is causing an undesirably large machine oscillation or instability characteristics (because it is set too high), or an undesirably large header position error (because it is set too low). In that case, the operator may provide an input to change the sensitivity value238through a suitable operator interface mechanism196. The operator interface mechanism may be a dial, an actuatable element on a user interface display, etc. Detecting operator changes to the sensitivity value is indicated by block292in the flow diagram ofFIG.3. The changes are automatically provided to header position control system206, and an indication that the operator has overridden sensitivity control system208is provided to system208. This is indicated by block291. By automatically it is meant that the step or function is performed without further manual involvement except, perhaps, to initiate or authorize it. System208then suspends its operation until the operator provides another input indicating that it should restart its operation. This is indicated by block293. Operator changes can be detected and processed in other ways as well. This is indicated by block295.

In addition, the detected operator change to the sensitivity level can be provided as feedback for the machine learning system that generated the sensitivity generator that is run by sensitivity identifying logic222, so that it can be made more accurate. Providing the feedback for machine learning is indicated by block294in the flow diagram ofFIG.3. This feedback can be provided in near real time, as operator194makes the changes, or it can be stored and provided at a later time. It can also be provided to sensitivity control system208, which uses it to modify its own sensitivity generator (e.g., the look up table, the model, or dynamic algorithm) to accommodate for (or reflect) the operator changes.

The operation of control system180continues, in this way, until the harvesting operation is completed. This is indicated by block296in the flow diagram ofFIG.3. The present discussion has mentioned processors and servers. In one example, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of the other components or items in those systems.

FIG.4is a block diagram of harvester100, shown inFIG.1, except that it communicates with elements in a remote server architecture500. In an example, remote server architecture500can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various examples, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and they can be accessed through a web browser or any other computing component. Software or components shown inFIG.2as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

In the example shown inFIG.4, some items are similar to those shown inFIG.2and they are similarly numbered.FIG.4specifically shows that machine100can communicate with other computing systems504located at a remote server location502. Therefore, harvester100accesses those systems through remote server location502. For example, the algorithm, model or other dynamic component used by logic222to identify the sensitivity level can be accessed in system(s)504, or downloaded from them or otherwise.

FIG.4also depicts another example of a remote server architecture.FIG.4shows that it is also contemplated that some elements ofFIG.2are disposed at remote server location502while others are not. By way of example, other computing systems504and data store204can be disposed at a location separate from location502, and accessed through the remote server at location502. Regardless of where they are located, they can be accessed directly by harvester100, through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an example, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As the harvester comes close to the fuel truck for fueling, the system automatically collects the information from the harvester using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For instance, the fuel truck may enter a covered location when traveling to fuel other machines or when at a main fuel storage location. All of these architectures are contemplated herein. Further, the information can be stored on the harvester until the harvester enters a covered location. The harvester, itself, can then send the information to the main network.

It will also be noted that the elements ofFIG.2, or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc.

FIG.5is one example of a computing environment in which elements ofFIG.2, or parts of them, (for example) can be deployed. With reference toFIG.5, an example system for implementing some embodiments includes a general-purpose computing device in the form of a computer810. Other examples can include mobile devices. Components of computer810may include, but are not limited to, a processing unit820(which can comprise processor202), a system memory830, and a system bus821that couples various system components including the system memory to the processing unit820. The system bus821may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect toFIG.1can be deployed in corresponding portions ofFIG.5.

The computer810may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only,FIG.5illustrates a hard disk drive841that reads from or writes to non-removable, nonvolatile magnetic media, nonvolatile magnetic disk852, an optical disk drive855, and nonvolatile optical disk856. The hard disk drive841is typically connected to the system bus821through a non-removable memory interface such as interface840, and optical disk drive855are typically connected to the system bus821by a removable memory interface, such as interface850.

The computer810is operated in a networked environment using logical connections (such as a local area network—LAN, or wide area network WAN) to one or more remote computers, such as a remote computer880.

When used in a LAN networking environment, the computer810is connected to the LAN871through a network interface or adapter870. When used in a WAN networking environment, the computer810typically includes a modem872or other means for establishing communications over the WAN873, such as the Internet. In a networked environment, program modules may be stored in a remote memory storage device.FIG.5illustrates, for example, that remote application programs885can reside on remote computer880.

Example 1 is a control system for controlling an agricultural harvesting machine, comprising:

a header position sensor that senses a position variable indicative of a position of a header on the agricultural harvesting machine relative to a surface over which it travels and generates a sensed position signal indicative of the sensed position variable;

a header position control system that receives a position setpoint value indicative of a commanded header position and the sensed position signal and performs closed loop control of a header position actuator, that moves the header to different positions relative to the surface, based on a header position error indicated by the position setpoint value and the sensed position variable;

a stability parameter sensor that senses a stability parameter indicative of a physical stability of the agricultural harvesting machine and generates a stability parameter signal indicative of the sensed stability parameter; and

a sensitivity control system that automatically obtains the header position error and the stability parameter signal and automatically identifies a sensitivity value that sets a sensitivity of the header position control system in responding to the header position error and provides a sensitivity signal, indicative of the sensitivity value, to the header position control system, the header position control system performing the closed loop control of the header position actuator with the sensitivity value indicated by the sensitivity signal.

Example 2 is the control system of any or all previous examples wherein the stability parameter sensor comprises:

a header motion sensor configured to sense motion of the header that is indicative of the physical stability of the agricultural harvesting machine.

Example 3 is the control system of any or all previous examples wherein the sensitivity control system comprises:

parameter processing logic configured to generate, based on the stability parameter signal, a frequency domain representation of the sensed motion of the header.

Example 4 is the control system of any or all previous examples wherein the sensitivity control system comprises:

sensitivity identifying logic configured to identify the sensitivity value based on the frequency domain representation of the sensed motion of the header and the header position error.

Example 5 is the control system of any or all previous examples wherein the parameter processing logic is configured to generate the frequency domain representation of the sensed motion of the header as a ratio of a maximum frequency domain amplitude in a high frequency range and a maximum frequency domain amplitude in a low frequency range that is lower than the high frequency range.

Example 6 is the control system of any or all previous examples wherein the header position sensor senses, as the position variable, a height variable indicative of a header height relative to the surface over which it is traveling.

Example 7 is the control system of any or all previous examples wherein the header position actuator comprises a header height actuator that is actuated to control the header height relative to the surface and wherein the header position control system comprises:

height control logic configured to perform closed loop header height control to control the header height actuator with the sensitivity value indicated by the sensitivity signal.

Example 8 is the control system of any or all previous examples wherein the header position sensor senses, as the position variable, a tilt variable indicative of a header roll angle relative to a longitudinal axis of the agricultural machine.

Example 9 is the control system of any or all previous examples wherein the header position actuator comprises a header tilt actuator that is actuated to control the header roll angle and wherein the header position control system comprises:

tilt control logic configured to perform closed loop header tilt control to control the header tilt actuator with the sensitivity value indicated by the sensitivity signal.

Example 10 is the control system of any or all previous examples wherein the header motion sensor comprises:

a movement sensor configured to identify bouncing movement of the agricultural harvesting machine and to generate the stability parameter based on the identified bouncing movement.

Example 11 is a method of controlling an agricultural harvesting machine, comprising:

sensing a position variable indicative of a position of a header on the agricultural harvesting machine relative to a surface over which it travels;

generating a sensed position signal indicative of the sensed position variable;

detecting a position setpoint value indicative of a commanded header position;

performing, with a header position control system, closed loop control of a header position actuator, that moves the header to different positions relative to the surface, based on a header position error indicated by the position setpoint value and the sensed position variable;

sensing a stability parameter indicative of a physical stability of the agricultural harvesting machine;

generating a stability parameter signal indicative of the sensed stability parameter;

automatically identifying a sensitivity value that sets a sensitivity of the closed loop control by header position control system in responding to the header position error; and

providing a sensitivity signal, indicative of the sensitivity value, to the header position control system, the header position control system performing the closed loop control of the header position actuator with the sensitivity value indicated by the sensitivity signal.

Example 12 is the method of any or all previous examples wherein sensing a stability parameter comprises:

sensing motion of the header that is indicative of the physical stability of the agricultural harvesting machine.

Example 13 is the method of any or all previous examples wherein identifying a sensitivity value comprises:

generating, based on the stability parameter signal, a frequency domain representation of the sensed motion of the header; and

identifying the sensitivity value based on the frequency domain representation of the sensed motion of the header and the header position error.

Example 14 is the method of any or all previous examples wherein generating a frequency domain representation comprises:

generating the frequency domain representation of the sensed motion of the header as a ratio of a maximum frequency domain amplitude in a high frequency range and a maximum frequency domain amplitude in a low frequency range that is lower than the high frequency range.

Example 15 is the method of any or all previous examples wherein the header position actuator comprises a header height actuator that is actuated to control the header height relative to the surface and wherein sensing a position variable comprises:

sensing a height variable indicative of a header height relative to the surface over which it is traveling, wherein performing closed loop control comprises performing closed loop header height control to control the header height actuator with the sensitivity value indicated by the sensitivity signal.

Example 16 is the method of any or all previous examples wherein the header position actuator comprises a header tilt actuator that is actuated to control the header roll angle and wherein sensing a position variable comprises:

sensing a tilt variable indicative of a header roll angle relative to a longitudinal axis of the agricultural machine, wherein performing closed loop control comprises performing closed loop header tilt control to control the header tilt actuator with the sensitivity value indicated by the sensitivity signal.

Example 17 is the method of any or all previous examples wherein sensing motion of the header comprises:

sensing bouncing movement of the agricultural harvesting machine.

Example 18 is a self-propelled agricultural harvesting machine, comprising:

a power source;

a frame;

a set of ground engaging elements driven by the power source to propel the agricultural harvesting machine over a surface;

a header, movably coupled to the frame, that engages crop and cuts harvested material for processing by the agricultural harvesting machine;

a header position actuator coupled to the header to drive movement of the header to different positions relative to the surface over which the agricultural harvesting machine travels;

a header position sensor that senses a position variable indicative of a position of the header relative to the surface and generates a sensed position signal indicative of the sensed position variable;

a header position control system that receives a position setpoint value indicative of a commanded header position and the sensed position signal and performs closed loop control of the header position actuator based on a header position error indicated by the position setpoint value and the sensed position variable;

a stability parameter sensor that senses a stability parameter indicative of a physical stability of the agricultural harvesting machine and generates a stability parameter signal indicative of the sensed stability parameter; and

a sensitivity control system that automatically obtains the header position error and the stability parameter signal and identifies a sensitivity value that sets a sensitivity of the header position control system in responding to the header position error and provides a sensitivity signal, indicative of the sensitivity value, to the header position control system, the header position control system performing the closed loop control of the header position actuator with the sensitivity value indicated by the sensitivity signal.

Example 19 is the self-propelled agricultural harvesting machine of claim18wherein the header position sensor comprises:

a movement sensor configured to detect bouncing movement of the agricultural harvesting machine and to generate the stability parameter based on the detected bouncing movement.

Example 20 is the self-propelled agricultural harvesting machine of any or all previous examples wherein the header position sensor senses, as the position variable, a height variable indicative of a header height relative to the surface over which it is traveling, wherein the header position actuator comprises a header height actuator that is actuated to control the header height relative to the surface and wherein the header position control system comprises:

height control logic configured to perform closed loop header height control to control the header height actuator with the sensitivity value indicated by the sensitivity signal.