Harvester with predictive driving speed specification
An apparatus and a method for the speed control of a harvester, in which the density of a crop planting on the field is predictively determined and a speed specification signal for the harvester is planned, in the sense of a continued maintenance of a desired throughput of the harvester, wherein with the predictive planning of the speed specification signal, the accelerations of the harvester are limited to an extent that is comfortable for an operator of the harvester.
1. A method for the speed control of a harvester, the method comprising:
specifying a desired throughput of the harvester;
predictively determining at least one of:
a density of a crop planting in a field; or
a value depending on the density of the crop planting in the field;
predictively planning a speed specification signal for the harvester;
wherein with the predictive planning of the speed specification signal, the desired throughput of the harvester is attempted to be maintained while an acceleration of the harvester resulting from the speed specification signal is limited based at least in part on a comfort level of an operator of the harvester; and
controlling the speed of the harvester based on the speed specification signal.
2. The method according to claim 1 , wherein the predictive planning of the speed specification signal comprises:
a first step, in which the speed specification signal is planned only on the basis of at least one of the density of the crop or a value dependent thereon; and
a second step, in which a new planning of the speed specification signal takes place if at least one of:
the amount of the acceleration of the harvester planned in the first step exceeds a stipulated threshold value; or
the speed of the harvester planned in the first step exceeds a stipulated maximum speed of the harvester.
3. The method according to claim 2 , wherein the predictive planning of the speed specification signal is based at least in part on a maximum speed of the harvester.
4. The method according to claim 2 , wherein the predictive planning of the speed specification signal comprises a time move of a speed change forward or backward so as to prevent exceeding a threshold value of the acceleration or speed of the harvester, wherein the speed specification signals following the new planning in time are moved back in time.
5. The method according to claim 2 , further comprising using a maximum acceleration or speed in response to the new planning of the speed specification signal originally exceeding a maximum acceleration or speed respectively.
6. An apparatus for the speed control of a harvester, the apparatus comprising:
a specifying device that specifies a desired throughput of the harvester;
a device for predictive determination of:
a density of a crop planting in the field; or
a value dependent on the density of the crop planting in the field;
a planning device for predictive planning of a speed specification signal for the harvester;
wherein the planning device is operable to limit, with the predictive planning of the speed specification signal, the accelerations of the harvester resulting from the speed specification signal to an extent that is comfortable for an operator of the harvester while the desired throughput of the harvester is attempted to be maintained; and
means for controlling the speed of the harvester based on the speed specification signal.
7. The apparatus according to claim 6 , wherein the means for controlling the speed of the harvester comprises:
a regulation switch operatively coupled to the planning device and having an initial value that is determined based on a reference value (V(t) ref) of the speed of the harvester which is supplied by the planning device and an actual value of the speed of the harvester which is supplied by a speed sensor; and
a theoretical calculation unit operatively coupled to the planning device and the regulation switch and having an initial value that is added to the initial value of the regulation switch to form an adjustment value that is provided to at least one control value to adjust the speed of the harvester, so as to take into consideration travelling dynamics of the harvester.
8. The apparatus according to claim 7 , wherein the apparatus is part of the harvester.
9. The apparatus according to claim 7 , wherein the initial value of the regulation switch is determined by subtracting the actual value of the speed of the harvester from the reference value (V(t) ref) of the speed of the harvester.