Method and apparatus for the control of self-propelled agricultural harvesting machines

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• said machine commands means comprising a ground speed command and said machine actuator means comprising a ground speed actuator, operable to change the ground speed of the machine.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• at least one of said actuator means being a warning actuator, which controls the operation of a warning device.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• said status sensors including a ground speed sensor producing a signal corresponding to the actual ground speed of said machine,
• said harvesting machine further comprising a Four Wheel Drive system, operable to provide driving power to wheels, said actuator means comprising a Four Wheel Drive actuator, and said command means comprising a Four Wheel Drive engagement command said microprocessor means being responsive to said engagement command to set said Four Wheel Drive actuator to disengage the Four Wheel Drive system whenever said ground speed exceeds a predetermined speed.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• said status sensors including a ground speed sensor producing a signal corresponding to the actual ground speed of said machine;
• said harvesting machine including a differential lock mechanism, operable to impede the relative movement between left and right propelling means, said actuator means comprising a differential lock actuator, and said command means comprising a lock engagement and disengagement command, said microprocessor means changing the settings of said actuator in accordance with said disengagement command, whenever said ground speed sensor does not exceed a predetermined speed.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• said status sensors including a fuel sensor for producing a signal which corresponds to the fuel level in a fuel tank of the harvesting machine, said microprocessor means including means for calculating the fuel quantity and the mean fuel consumption rate from said fuel sensor signal and generating an output signal when the calculated fuel quantity will fall to zero over a predetermined period of time.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification Of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby message produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• said harvesting machine including a fan means, said machine commands means comprising a fan speed command and said machine actuator means comprising a fan speed actuator, operable to change the rotational speed of said fan means.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine.
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages. produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto;
• said harvesting machine including a separation means, said machine commands means comprising a separator speed command and said machine actuator means comprising a separator speed actuator, operable to change the rotational speed of said separation means.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of Said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby message produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one Of said other microprocessor means to control a machine actuator means connected thereto, said harvesting machine further including a tank for the collection of harvested crop material, said status sensors comprising a level sensor for producing a signal corresponding to the level of crop material in said tank.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto, one of said machine status sensors being a crop flow sensor, which senses the impact of crop particles thereon at a fixed location of the machine.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages. produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto, said harvesting machine further comprising:
• left and right brake command means for the actuation of respective left and right brakes on propelling means;
• and
• brake link means engageable to link said left and right brake command means, said status sensors comprising a brake linkage sensor which senses whether said brake link means is engaged.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto, said harvesting machine further comprising an engine, said machine command means comprising an engine throttle command, said machine actuator means comprising an engine throttle actuator, operable to change the setting of said throttle.

Apparatus for controlling the settings of a self-propelled agricultural harvesting machine having a plurality of machine command means for producing command signals, a plurality of status sensors for producing status signals, and a plurality of machine actuator means for adjusting said settings, said apparatus further comprising:

• a plurality of microprocessor means disposed in groups, each group being disposed in a different region of said agricultural harvesting machine;
• first connecting means connecting each respective machine command means, each respective status sensor, and each respective actuator means to a microprocessor means;
• said plurality of microprocessor means including means responsive to command signals and status signals for producing messages including an initial portion for identification of message type and relative priority, and means responsive to messages for controlling the machine actuator means connected thereto;
• and,
• second connecting means including transmit/receive means connecting said plurality of microprocessor means in a multi-master bidirectional single channel network configuration for serial communication of digital data messages whereby messages produced by any one of said microprocessor means are simultaneously transmitted to all the other of said microprocessor means to cause one of said other microprocessor means to control a machine actuator means connected thereto, said harvesting machine further comprising a crop processing means, operable to process the flow of crop led into the machine, said machine commands means comprising a processing engagement command and said machine actuator means comprising a processing engagement actuator, operable to engage or disengage the drive of said processing means.