Patent Publication Number: US-2022232772-A1

Title: Residue management control system for harvester

Description:
BACKGROUND 
     The present disclosure relates to a harvester for harvesting material. 
     SUMMARY 
     In one aspect, the disclosure provides a control system for a harvester having a residue discharge system operable to eject crop residue according to an adjustable residue discharge parameter, the control system including a processor, a memory, a human-machine interface, and a sensor configured to detect at least one of wind speed, wind direction, or humidity. The control system is configured to receive the signal from the sensor, receive an operator input corresponding to a desired residue management strategy selected from at least a first residue management strategy and a second residue management strategy, and adjust the residue discharge parameter based on the desired residue management strategy and the detected at least one of wind speed, wind direction, or humidity. 
     In another aspect, the disclosure provides a harvester. The harvester includes an inlet configured to receive crop, a blade configured to cut the crop into billet and extraneous plant matter, and a cleaning system. The cleaning system is configured to generally distinguish between billet and extraneous plant matter such that billet is directed to a conveyor configured for discharging billet to a vehicle and extraneous plant matter is ejected through a hood as residue, wherein the hood is movable to control a direction of residue ejection. The harvester also includes a sensor configured to detect at least one of wind speed, wind direction, or humidity. The harvester also includes a control system including a processor, a memory, and a human-machine interface. The control system is configured to receive the signal from the sensor and programmed to move the hood based on the detected at least one of wind speed, wind direction, or humidity. 
     In another aspect, the disclosure provides a harvester. The harvester includes an inlet configured to receive crop, a blade configured to cut the crop into billet and extraneous plant matter, and a cleaning system. The cleaning system is configured to generally distinguish between billet and extraneous plant matter such that extraneous plant matter is ejected from the harvester as residue and billet is directed to a conveyor configured to discharge billet to a vehicle. A residue discharge rate is adjustable. The harvester also includes a sensor configured to detect at least one of wind speed, wind direction, or humidity. The harvester also includes a control system including a processor, a memory, and a human-machine interface. The control system is configured to receive the signal from the sensor and programmed to adjust the residue discharge rate based on the detected at least one of wind speed, wind direction, or humidity. 
     Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is a perspective view of a harvester. 
         FIG. 2  is a side view of the harvester of  FIG. 1  with portions removed. 
         FIG. 3  is a partial cross sectional side view of the harvester of  FIG. 1 . 
         FIG. 4  is a top view of the harvester of  FIG. 1 . 
         FIG. 5  is a further top view of the harvester of  FIG. 1  illustrating a residue profile. 
         FIG. 6  is a schematic diagram illustrating a control system of the harvester of  FIG. 1 . 
         FIG. 7  is a flow chart illustrating one mode of operation of the harvester of  FIG. 1 . 
     
    
    
     DETAILED DESCRIPTION 
     Before any implementations of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of supporting other implementations and of being practiced or of being carried out in various ways. 
       FIG. 1  illustrates a harvester  10 , such as a sugarcane harvester, configured to harvest crop from a field  14  and a vehicle  16  ( FIG. 4 ) for retaining the harvested crop. The illustrated harvester  10  includes a main frame  20  supported on wheels  24  that engage the field  14  in order to move the harvester  10  across the field  14  in a direction of travel  28  ( FIG. 2 ). In some implementations, the wheels  24  may include continuous tracks  26  or other traction devices. An operator&#39;s cab  32  is mounted on the frame  20  above a prime mover  36 , such as an engine. The prime mover  36  may be an internal combustion engine or other such device for providing motive power. The harvester  10  includes a throttle  40  for controlling a speed of the prime mover  36  and thus a speed of the harvester  10  (also referred to as the harvester speed). Adjacent the prime mover  36  is a heat exchange area  44 . The harvester  10  includes a pair of crop lifters  52  mounted to the front of the frame  20 , defining an inlet  56  for receiving the crop. 
       FIG. 2  illustrates a side view of the harvester  10  with portions removed. The crop lifters  52  cooperate with a knockdown roller  60  and a base cutter  64  to remove the crop from the field  14 . Feed rollers  68  are disposed within the inlet  56  to feed the crop from the field  14  into the harvester  10 . The feed rollers  68  operate at a feed speed. The harvester  10  further includes a chopper  76 , and a cleaning system  78  (also referred to herein as residue discharge system) including a primary separator  80  and/or a secondary separator  88 . The harvester  10  also includes a conveyor  84  (also referred to herein as an elevator) connecting the primary separator  80  and the secondary separator  88 . 
       FIG. 3  illustrates the chopper  76  and the cleaning system  78  in more detail. The chopper  76  is disposed adjacent the feed rollers  68  to cut the crop. The chopper  76  may include a set of chopper drums  92  driven by a motor. The chopper drums  92  include a blade  96  for cutting the stalks of the crop. In one implementation, the chopper  76  may include counter rotating drum cutters with overlapping blades. In other implementations, the chopper  76  may include any suitable blade or blades for cutting the stalks of crop. The chopper  76  cuts the stalks of crop, referred to as cane C, into crop billet B, which includes pieces of the stalk. The crop also includes dirt, leaves, roots, and other plant matter, which is collectively referred to herein as extraneous plant matter. The chopper  76  operates at a chopper speed, which may be adjusted to change a size and weight of the resulting chopped crop pieces. The chopper  76  directs a stream of the cut crop, including crop billet B and extraneous plant matter, to the cleaning system  78  and specifically to the primary separator  80 . 
     The cleaning system  78  is generally configured to distinguish between the billet B and the extraneous plant matter. (The extraneous plant matter may be referred to herein as residue, especially when ejected from the cleaning system  78 .) The cleaning system  78  is generally operable at an adjustable cleaning speed. The primary separator  80  is coupled to the frame  20  and disposed downstream of the chopper  76  for receiving cut crop from the chopper  76 . The primary separator  80  generally separates the extraneous plant matter from the crop billet B by way of any suitable mechanism for cleaning the cut crop, such as a fan, a source of compressed air, a rake, a shaker, or any other mechanism that distinguishes various types of crop parts by weight, size, shape, etc. in order to separate extraneous plant matter from crop billet. In the illustrated implementation, the primary separator  80  includes a primary fan  108  driven at a primary fan speed by a primary motor  116 . The primary fan speed can be varied by controlling the primary motor  116 . Thus, in the illustrated implementation, the cleaning speed may include the primary fan speed; however in other implementations, the cleaning speed may include air speed (e.g., of released compressed air or any other pressurized air), rake speed, shaker speed, etc. The primary separator  80  further includes a primary cleaning chamber  120  generally defined by a primary cleaner housing  124 . 
     As illustrated in  FIGS. 3-5 , the primary separator  80  includes a primary hood  128  coupled to the main frame  20 . The primary hood  128  may have a domed shape, or other suitable shape, and includes a primary opening  132  (also referred to herein as first outlet) angled out from the harvester  10  and facing slightly down towards the field  14 . The hood directs separated extraneous plant matter through the primary opening  132  to the outside of the harvester, back onto the field  14 . The separated extraneous plant matter that is directed through the primary opening  132  and ejected back onto the field  14  is referred to as primary residue  136 . In some implementations the primary separator  80  includes a primary shredder  140  that shreds the residue into smaller pieces, which can be selectively activated by an operator. The separated crop, including mostly crop billet B, is deposited in a basket  144  disposed below the primary separator  80 . The primary hood  128  is rotatably mounted on the frame and rotatable through a range extending from a first position to a second position. In the first position, the primary hood  128  is oriented such that the primary opening  132  is directed at an angle A 1  of +161 degrees from the direction of travel  28  of the harvester  10 . In the second position, shown in phantom in  FIG. 4 , the primary hood  128  is oriented such that the primary opening  132  is directed at an angle A 2  of −161 degrees (+199 degrees) from the direction of travel  28  of the harvester  10 . Thus the primary hood  128  has a range of 38 degrees. The primary hood  128  is infinitely adjustable to a first predetermined angular position, which may include any position from the first position to the second position. In other implementations, the angles A 1  and A 2  may have any other suitable value such that the primary hood  128  is rotatable within any suitable angular range, such as a range of about 38 degrees (+/−5 degrees), about 50 degrees (+/−5 degrees), about 70 degrees (+/−5 degrees), about 90 degrees (+/−5 degrees), about 120 degrees (+/−5 degrees), about 180 degrees (+/−5 degrees), or more or less than these ranges. 
     Referring to  FIGS. 4-5 , the conveyor  84  is coupled to a rear of the frame  20  for receiving the separated crop from the basket  144 . The conveyor  84  extends along a conveyor axis  160  ( FIG. 4 ) from the rear of the harvester  10  and terminates at a discharge opening  164  (also referred to herein as a second outlet) elevated to a height suitable for discharging cleaned crop into the vehicle  16 . The conveyor  84  is rotatably mounted on the frame  20 . The conveyor  84  is rotatable at least from a first position to a second position. In the first position ( FIG. 4 ), the conveyor axis  160  extends at a +98-degree angle from the direction of travel  28  of the harvester. In the second position ( FIG. 5 ), the conveyor axis  160  extends at a −98-degree (+278-degree) angle from the direction of travel  28  of the harvester. Therefore the conveyor  84  has a 164 degree range of motion. The conveyor  84  is infinitely adjustable to a second predetermined angular position, which may include any position from the first position to second position. In other implementations, the conveyor axis  160  may have any other suitable range of motion/angles with respect to the direction of travel  28 . 
     Referring again to  FIGS. 3-5 , the secondary separator  88  is disposed adjacent the discharge opening  164  for cleaning the crop a second time before being discharged into the vehicle  16 . The secondary separator  88  may include a fan, a compressed air source, a rake, a shaker, or other suitable device. In the illustrated implementation, the secondary separator  88  includes a secondary fan  180  driven at a secondary fan speed by a secondary motor  188 . The secondary fan speed can be varied by controlling the secondary motor  188 . Thus, in the illustrated implementation, the cleaning speed may include the secondary fan speed; however in other implementations, the cleaning speed may include air speed (e.g., of released compressed air or any other pressurized air), rake speed, shaker speed, etc. The secondary separator  88  includes a secondary cleaning chamber  192  defined by a secondary cleaner housing  196 . The secondary cleaner housing  196  includes a secondary hood  200  having a secondary opening  204 . The secondary hood  200  is rotatably connected to the end of the conveyor  84 , such that the secondary hood  200  is rotatable 360 degrees and is infinitely adjustable to a third predetermined angular position, which may include any position in the range of rotation. In other implementations, the secondary hood  200  may have any suitable range of rotation. The secondary crop cleaner is operable such that additional extraneous plant matter is discharged through the secondary opening  204  and the remaining separated crop is discharged through the discharge opening  164  and into the vehicle  16 . The additional extraneous plant matter discharged through the secondary opening  204  is referred to as secondary residue  212 . In some implementations, the secondary separator  88  includes a secondary shredder  216  that shreds the residue into smaller pieces, which can be selectively activated by the operator. 
     With reference to  FIG. 5 , the primary residue  136  is ejected from the primary opening  132  and is dispersed across the field  14 . The area covered by the ejected primary residue  136  is approximately represented by a primary residue zone  220 . The concentration of the ejected residue may vary within the primary residue zone  220 . The primary residue zone  220  includes a first subzone  224  and a second subzone  228 . The first subzone  224  covers portions of the primary residue zone  220  having higher concentrations of residue. The second subzone  228  covers portions of the primary residue zone  220  having lower concentrations of residue. The primary separator  80  may eject the primary residue  136  at a primary discharge rate. The secondary residue  212  is ejected from the secondary opening  204  and is dispersed across the field  14 . The area covered by the ejected secondary residue  212  is approximately represented by a secondary residue zone  236 . The concentration of the ejected secondary residue  212  may vary within the secondary residue zone  236 , which includes a third subzone  240  and a fourth subzone  244 . The third subzone  240  covers portions of the secondary residue zone  236  having higher concentrations of residue. The fourth subzone  244  covers portions of the secondary residue zone  236  having lower concentrations of residue. The secondary separator  88  may eject the secondary residue  212  at a secondary discharge rate. Once the residue has been ejected from the harvester, ideally, most of the residue ends up on the field  14 . It is undesirable for the residue to end up in the vehicle  16  or on the harvester  10  which would then require additional cleaning. In some cases, it is beneficial to spread the residue over a large area in order to increase ease of reincorporating the residue into the field  14 . In some cases, it is desirable to concentrate the residue over a small area in order to increase the ease of collecting the residue and transporting somewhere else. 
     The size, shape, and position of the primary residue zone  220  and the secondary residue zone  236 , are dependent on several harvester parameters, including, but not limited to, the first predetermined angular position (also referred to herein as the primary hood orientation), the second predetermined angular position (also referred to herein as the conveyor position), the third predetermined angular position (also referred to herein as the secondary hood orientation), the harvester speed, the direction of travel  28  of the harvester, the primary discharge rate, the secondary discharge rate, and the size and weight of the ejected extraneous plant matter. In some implementations, the primary discharge rate and secondary discharge rate may be quantified as a volume of residue ejected per unit time. In other implementations, the primary and secondary discharge rates could be expressed as any suitable measure of ejected residue. The primary discharge rate may be a function of the primary fan speed as well as the harvester speed, the chopper speed, and/or the feed speed. Similarly, the secondary discharge rate may be a function of the secondary fan speed as well as the harvester speed, the chopper speed, and/or the feed speed. 
     The harvester  10  includes a harvester sensor network  252  including a plurality of sensors configured to detect a current state of each harvester parameter. For example, the harvester  10  may include a conveyor position sensor  256 , a primary hood orientation sensor  260 , and a secondary hood orientation sensor  264 , configured to detect a current position of the respective component. The harvester  10  may include a harvester speed sensor  268  and a harvester direction sensor  272 , such as an onboard navigation system (e.g., a global positioning system receiver, which may include differential correction signals and/or a terrain compensation module) or other suitable sensor. The harvester  10  may use a primary fan speed sensor  276  and a primary motor pressure sensor  280  in addition to the harvester speed sensor  268  to help calculate the primary discharge rate. The harvester  10  may use a secondary fan speed sensor  284  and a secondary motor pressure sensor  288  to help calculate the secondary discharge rate. 
     In addition to the harvester parameters, the size, shape, and position of the primary residue zone  220  and the secondary residue zone  236  are dependent on environmental parameters, including, but not limited to, wind direction, wind speed, and air humidity. Referring back to FIGS.  1 - 2 , the harvester  10  includes an environmental sensor system  292 . In the illustrated implementation, the environmental sensor system  292  is mounted atop the operator&#39;s cab  32 . In other implementations, the environmental sensor system  292  may be positioned anywhere on the harvester  10  suitable for sensing the environmental parameters. The environmental sensor system  292  is configured to detect a set of environmental conditions of an environment surrounding the harvester. In some implementations, the environmental sensor system  292  may include a weather station. In some implementations, the environmental sensor system  292  may include a series of sensors each configured to sense a different environmental parameter. For example, the environmental sensor system  292  may include a wind speed sensor  344  (e.g., an anemometer which may measure wind speed and/or wind direction), a wind direction sensor  348  (e.g. wind vane), a thermometer  350 , a humidity sensor  352 , and/or any other instrument or combination of instruments suitable for detecting environmental conditions and any combination of the above. In some implementations, the environmental sensor system  292  may include a communication device that receives information about the environmental conditions from a weather station located elsewhere rather than directly sensing the conditions. In some implementations, the humidity sensor  352  may be disposed in other locations on or within the harvester, such as in the basket  144 , or any other suitable location informative of a level of moisture of the crop. 
     As illustrated in  FIG. 6 , the harvester  10  includes a control system  300  including a controller  304  having a programmable processor  308  (e.g., a microprocessor, a microcontroller, or another suitable programmable device), a memory  312 , and a human-machine interface  316 . The memory may include, for example, a program storage area  320  and a data storage area  324 . The program storage area  320  and the data storage area  324  can include one type or combinations of different types of memory, such as read-only memory (“ROM”), random access memory (“RAM”) (e.g., dynamic RAM [“DRAM”], synchronous DRAM [“SDRAM”], etc.), electrically erasable programmable read-only memory (“EEPROM”), flash memory, a hard disk, an SD card, or other suitable magnetic, optical, physical, electronic memory devices, or other data structures. The control system  300  may include programming, such as algorithms and/or neural networks. The control system  300  may also, or alternatively, include integrated circuits and/or analog devices, e.g., transistors, comparators, operational amplifiers, etc., to execute the logic, algorithms, and control signals described herein. 
     The human-machine interface  316  may include a display panel  328  and a control panel  332 . The display panel  328  may convey visual and/or audio information to an operator. For example, the display panel  328  may include a screen, a touch screen, one or more speakers, etc. The control panel  332  is configured to receive input from the operator. For example, the control panel  332  may include buttons, dials, a touch screen (which may be the same touch screen that provides the display panel or a different touch screen), a personal computer, a mobile device, or the like, with which an operator can input settings, preferences, commands, etc. to control the harvester. 
     The control system  300  includes a plurality of inputs  336  and outputs  340  to and from various components, as illustrated in  FIG. 6 . The controller  304  is configured to provide control signals to the outputs and to receive signals (e.g., sensor data signals, user input signals, etc.) from the inputs  336 . Signals, as used herein, may include electronic signals (e.g., by circuit or wire), wireless signals (e.g., by satellite, internet, mobile telecommunications technology, a frequency, a wavelength, Bluetooth®), or the like. The inputs  336  may include the harvester sensor network  252  and the environmental sensor system  292 . Specifically, the inputs  336  may include, the conveyor position sensor  256 , the primary hood orientation sensor  260 , the secondary hood orientation sensor  264 , the harvester speed sensor  268 , the harvester direction sensor  272 , the primary fan speed sensor  276 , the secondary fan speed sensor  284 , the primary motor pressure sensor  280 , the secondary motor pressure sensor  288 , the wind speed sensor  344 , the wind direction sensor  348  , the humidity sensor  352 , the particle size  353  and particle weight  354  as either inputted by the operator or estimated using the chopper speed and feed speed, and the status  357  of the primary residue shredder  140 , and the status  358  of the secondary residue shredder  216 . In some implementations, the inputs  336  may also include an image sensor  356 , such as a camera mounted on top of the harvester. The camera may be a two-dimensional camera or a three-dimensional camera. The inputs  336  are not limited to those listed and may include other components described herein as well as other components not described herein. The outputs  340  may include an adjustable residue discharge parameter. The adjustable residue discharge parameter may include, but is not limited to, a residue discharge speed, such as a primary fan speed adjustment  360  or a secondary fan speed adjustment  368 , or a residue discharge direction, such as a primary hood orientation adjustment  364  or a secondary hood orientation adjustment  372 . The outputs  340  may include other components described herein as well as other components not described herein. 
     The control system  300  is configured to calculate the discharged residue and optimize harvester parameters to meet a set of requirements set by the operator. The discharged residue is generally represented by a residue profile, which is a combination of both the primary residue zone  220  and the secondary residue zone  236 . The residue profile may include the area covered by residue and the concentration of residue at each point within the area. The control system  300  is configured to receive the set of requirements from the operator through the human-machine interface  316 . In some implementations, the requirements may be specific hood positions, conveyor position, and fan speeds. In some implementations, the requirements may be communicated as part of a mode of operation. For example, the operator may have a choice between three operation modes (which may also be referred to herein as residue management strategies), such as a first mode (or a first residue management strategy), a second mode (or a second residue management strategy), and a third mode (or a third residue management strategy). In other implementations, the operator may have a choice between any number of operation modes, such as two, four, or more. The controller  304  may receive input from the operator corresponding to the desired residue management strategy. Each mode may include a set of mode requirements. The mode requirements may be expressed as areas to keep clear of debris such as residue, directing residue with respect to an area (e.g., size, shape, direction, location, concentration, etc.), or as maximum or minimum operating values. 
     The first residue management strategy includes keeping residue generally away from a first area, such as the main body of the harvester  10 . For example, in the first mode, the control system  300  may generally prioritize machine cleanliness. The mode requirements may be expressed as an area matching a footprint of the harvester  10 , where the area is to be avoided, e.g., residue is to be kept generally away. 
     The second residue management strategy includes keeping residue generally away from a second area, such as the heat exchange area  44 . For example, in the second mode, the control system  300  may prioritize keeping residue generally away from the heat exchange area  44 , e.g., generally residue free. The mode requirements may be expressed as an area associated with the prime mover  36  and prime mover intake vent that are to be kept generally residue free. 
     The third residue management strategy includes directing residue with respect to a third area, such as an area of the ground (field  14 ) around the harvester  10 . For example, in the third mode, the operator may indicate an ideal size or shape of the discharged residue defining the third area, or identify the third area as a target location on the field  14  for the discharged residue, or indicate a desired concentration of residue within the third area, or any other parameter with respect to the third area (e.g., residue profile) towards which residue is discharged. The mode requirements may be expressed as a maximum or minimum size of the residue profile or as a maximum or minimum concentration of the residue profile. In some implementations, additional or alternative modes are possible. In some or all the modes, it may be desirable to inhibit residue from landing in or on the vehicle  16  with the cleaned crop billet B. The control system  300  may be configured to calculate an area associated with a footprint of the vehicle  16 . The control system  300  may use the image sensor  356  to determine the position of the vehicle  16  or it may be communicated to the control system  300  in other ways. 
     The control system  300  is configured to estimate the residue profile of the residue discharged by the primary separator  80  and secondary separator  88 . The controller  304  is programmed to derive a current residue profile from the inputs  336 , including the harvester sensor network  252  and the environmental sensor system  292 . The current residue profile includes an estimated primary residue zone  220  and an estimated secondary residue zone  236 . In some implementations, the image sensor  356  may be used to confirm the calculated current residue profile. 
     The control system  300  is configured to calculate and output one or more adjustments given the current residue profile and the mode requirements. The controller  304  is configured to adjust the residue discharge parameter based on the desired residue management strategy and the detected wind speed, wind direction, and/or humidity. The adjustment may be a change in orientation of the primary hood  128  or the secondary hood  200 , or it may be a change in the residue discharge rate, e.g., speed of the primary fan  108  or the secondary fan  180  or other related parameter described above. In some implementations, the adjustment may be to other harvester parameters such as the position of the conveyor  84 , the harvester speed, the chopper speed, or the feed speed. The control system  300  may be programmed to move the primary hood  128  or the secondary hood  200  to change the residue discharge direction based on the detected wind speed  344 , wind direction  348 , and/or humidity  352 . The control system  300  is configured to further move the primary hood  128  and/or the secondary hood  200  in response to the residue management strategy. 
     Once the adjustments have been executed, the control system  300  is configured to return to the beginning (see  FIG. 7 , described in greater detail below). Because the environmental factors like the wind speed and wind direction are constantly changing, the control system  300  is configured to repeat the process indefinitely. 
       FIG. 7  illustrates a flowchart of an example method  600  for managing residue discharge. As indicated by block  601 , the controller  304  is configured to receive the mode requirements from the human-machine interface  316 . As indicated by block  602 , the controller  304  is configured to receive current inputs  336  including the signals from the sensors in the harvester sensor network  252  and the environmental sensor system  292 . As indicated by block  603 , the controller  304  is programmed to calculate a current residue profile based on the inputs  336 . As indicated by block  604 , the controller  304  is programmed to compare the current residue profile to the mode requirements. Based on the comparison, and as indicated in block  605 , the controller  304  is configured to adjust one or more system parameters. In some implementations it is desirable to store one or more of the inputs  336 , the current residue profile, and the adjustments. In these implementations the method may include an additional step, as indicated by block  606 , in which the controller  304  is configured to store the data in the memory  312 . The method is configured to repeat indefinitely. 
     In one example of operation, the user sets the harvester  10  to operate in the first mode, prioritizing harvester cleanliness. The controller  304  receives the inputs  336  including signals from the harvester sensor network  252  and the environmental sensor system  292 . The harvester speed is 5 MPH, the harvester direction is North, the conveyor position is +74 degrees from the direction of travel  28 , the primary hood orientation is +10 degrees from the direction of travel  28 , the secondary hood orientation is +16 degrees relative to conveyor axis  160 , the wind speed is 10 MPH, and the wind direction is North East. The controller  304  generates a current residue profile. The current residue profile overlaps the footprint of the harvester. Specifically, the primary residue zone  220  overlaps the rear of the harvester. The controller  304  increases the primary fan speed by 5 percent. The controller  304  recalculates the current residue profile based on updated inputs  336 . The primary residue zone  220  no longer overlaps the harvester footprint, so no adjustments are made. The controller  304  continues repeating the process and making any necessary adjustments. 
     In example of operation, the user sets the harvester  10  to operate in the second mode, prioritizing core cleanliness. The controller  304  receives the inputs  336  including signals from the harvester sensor network  252  and the environmental sensor system  292 . The inputs  336  include the harvester speed is 5 MPH, the harvester direction is North, the conveyor position is +74 degrees from the direction of travel  28 , the primary hood orientation is +10 degrees from the direction of travel  28 , the secondary hood orientation is +16 relative to conveyor axis  160 , the wind speed is 10 MPH, and the wind direction is North East. The controller  304  generates a current residue profile. The controller  304  determines that the current profile overlaps the heat exchange area  44 . The controller  304  rotates the primary hood  128  clockwise 10 degrees and increases the primary fan speed by 5%. The controller  304  recalculates the current residue profile based on updated inputs  336 . The updated profile no longer overlaps the heat exchange area  44 , so no adjustments are made. The controller  304  repeats the process and makes adjustments as necessary. 
     As another example, the user sets the harvester  10  to operate in the third mode, prioritizing an average residue concentration of at least 60%. The controller  304  receives the inputs  336  including signals from the harvester sensor network  252  and the environmental sensor system  292 . The inputs  336  include the harvester speed is 5 MPH, the harvester direction is North, the conveyor position is +74 degrees from the direction of travel  28 , the primary hood orientation is +10 degrees from the direction of travel  28 , the secondary hood orientation is +16 relative to conveyor axis  160 , the wind speed is 2 MPH, and the wind direction is North East. The controller  304  generates a current residue profile. The current residue profile has an average concentration of 20%. The controller  304  rotates the secondary hood  200  counterclockwise  10  degrees and decreases the primary fan speed. The controller  304  recalculates the current residue profile based on updated inputs  336 . The updated profile has an average concentration of 70%, so no adjustment is made. The controller  304  continues repeating the process and making adjustments as necessary. 
     In operation, the user inputs a set of requirements or a mode of operation. The stalks of crop are conveyed from the base cutter  64  to the chopper  76 . The chopper  76  chops the crop and delivers the stream of crop billet B and extraneous plant matter to the primary cleaning chamber  120 . The primary separator  80  separates extraneous plant matter from the crop billet B and ejects primary residue  136  from the primary opening  132 . The primary residue  136  settles in the primary residue zone  220 . The cleaned crop is deposited in the basket  144 , where it is then transported to the secondary separator  88  by the conveyor  84 . Additional extraneous matter is separated from the crop billet B and ejected out the secondary opening  204  as secondary residue  212 . The secondary residue  212  settles in the secondary residue zone  236 . The harvester sensor network  252  and the environmental sensor system  292  capture the desired information and communicate it to the control system  300 . The control system  300  analyzes the inputs  336 , determines a current residue zone, compares the current residue zone to the set of requirements, and generates the outputs  340 . The outputs  340  may include an adjustment to the harvester parameters. The control system  300  may be operable to adjust one or more system parameters of the harvester  10  based on the output  340 . After adjusting the parameter, the process may repeat, such that the controller  304  is continuously receiving signals from the sensors and is continuously making adjustments to the system parameter as needed. 
     Thus, the disclosure provides, among other things, a harvester having a residue management system. Various features and advantages of the disclosure are set forth in the following claims.