referring now to the drawings , wherein like numerals refer to like parts , in fig1 an agricultural combine 20 is shown , including a feeder 22 , and a threshing system 24 , each of which is adapted for use with a deslugging method and system of the invention , as will be explained hereinafter . feeder 22 is mounted on a front end 26 of combine 20 generally beneath an operator cab 28 . a header ( not shown ) is mountable on a forward end 30 of feeder 22 , and is constructed and operable in the well - known manner for severing crops and other plant material from the ground as combine 20 is moved forwardly thereover , and conveying the cut crops and other plant material to an inlet opening on forward end 30 of feeder 22 . feeder 22 includes a feeder housing 32 containing a feed conveyor 34 operable for conveying the crops and other plant material upwardly and rearwardly through housing 32 into an inlet region 36 of threshing system 24 . feed conveyor 34 generally includes at least two endless chains 38 encircling drive sprockets 40 located in the rear end of feeder housing 32 and a drum 42 located in the forward end 30 . a plurality of slats ( not shown ) extend between chains 38 and facilitate the conveying of the crop and other material through housing 32 , in the well - known manner . in this latter regard , drive sprockets 40 will be rotated in a counterclockwise direction , for moving chains 38 and the slats upwardly and rearwardly along a floor 44 of housing 32 , for conveying the crops and other material upwardly and rearwardly in that direction along the floor 44 to inlet region 36 , also as is well known . referring also to fig2 , threshing system 24 includes a rotatable , generally cylindrical rotor 46 including a tapered forward end having at least two vanes or flights 48 ( fig1 ) extending radially outwardly therefrom . at least the lower region of rotor 46 rearwardly of flights 48 is surrounded by a concave 50 located in radially outwardly spaced relation thereto , defining a crop separation clearance 52 extending circumferentially at least partially around the outer cylindrical surface of rotor 46 . referring more particularly to fig2 , concave 50 is supported beneath rotor 46 by a support structure including a pivotal connection 54 on one side , and one or more hanger straps 56 on the other side . hanger strap 56 is connected to a free end of an adjusting arm 58 supported and controllably movable upwardly and downwardly by an actuator 60 , which can be , for instance , a fluid cylinder . actuator 60 is of well - known , conventional construction , and can be controlled by an operator using a control ( not shown ) in cab 28 in the well - known manner to precisely position concave 50 within a range of relatively more closely spaced positions in relation to rotor 46 ( represented in solid lines ) providing a crop separation clearance suitable for separation of grain from other crop material as rotor 46 is rotated . the position of concave 50 can be sensed or determined in the conventional , well known manner using a concave position sensor 61 , which can be associated with or incorporated into actuator 60 , or located elsewhere for sensing information representative of the position of concave 50 relative to rotor 46 . actuator 60 can also be controlled in the same manner to position concave 50 in at least one more lowered position ( represented in dotted lines ) wherein the crop separation clearance is opened so as to be suitable for facilitating deslugging operations according to the present invention , as will be explained . in some instances , concave 50 may constructed or supported so as to automatically drop or open to a lowered position , as a result of loads applied there against such as can result from a slug . in operation , actuator 60 will be used to adjust the position of concave 50 and thus crop separation clearance 52 , to provide desired threshing characteristics for the crop to be harvested and yields , under conditions present during the harvesting operation . as combine 20 is moved forwardly through a field , crops and other plants severed by the header ( not shown ) will be conveyed to feeder 22 , and through feeder 22 to threshing system 24 , wherein a mat of the crop and other plant material will move in a generally helical path through crop separation clearance 52 , as effected by rotation of rotor 46 . grain and other small elements of plant material will then pass through arrays of openings or spaces in concave 50 , so as to fall therefrom onto a cleaning system ( not shown ) of combine 20 , which will further clean the grain from the other small elements of plant material . from the cleaning system , the clean grain will be conveyed into a clean grain tank 62 , in the well - known conventional manner . larger elements of plant material , such as straw , leaves , stalks , cobs , and the like , which do not pass through the openings of concave 50 are conveyed through crop separation clearance 52 past the rear end of rotor 46 and concave 50 , and are disposed of through the rear end of combine 20 , also in the well - known manner . referring also to fig3 , a drive 64 is connected in rotatably driving relation to rotor 46 , and is controllably operable for rotating rotor 46 relative to concave 50 , for threshing harvested crops as just explained . a control 66 , preferably including a microprocessor based controller 68 , is connected in operative control of drive 64 , and with drive 64 , comprises the system for deslugging threshing system 24 according to the teachings of the present invention . drive 64 includes a multiple speed transmission or gearbox 70 connected to rotor 46 for rotation therewith ; a planetary gear arrangement 72 having a carrier 74 connected to gearbox 70 for rotation therewith ; and a sun gear 76 in rotatable connection with a fluid motor 78 . a ring gear 80 of arrangement 72 is rotatably connectable to an engine gear 82 by an engine to ring clutch 84 . engine gear 82 , in turn , is rotatably connected via a gearbox 86 to an engine 88 . ring gear 80 is also connectable to the frame of the combine by a ring to frame clutch 85 . fluid motor 78 is connected in a fluid loop with a variable displacement fluid pump 90 for receiving pressurized fluid therefrom , the displacement of pump 90 being controllable by a stroke control valve 92 . stroke control valve 92 is connected via a conductive path 94 to controller 68 of control 66 for receiving control commands therefrom and outputting signals representative of stroke position thereto . control 66 includes several sensors for sensing information representative of the operating state and conditions of drive 64 , including speed sensors 96 and 98 connected via conductive path 94 to controller 68 , and also to a signal processing filter 100 , which can be , for instance , a simplified kalman type signal filter , or other suitable signal filtering and processing routine or device having capabilities useful for the purposes of the present invention . speed sensors 96 and 98 are operable for sensing information representative of speeds of rotor 46 and sun gear 76 , respectively , and outputting information representative thereof to controller 68 . another speed sensor 102 is connected via a conductive path 94 to controller 68 and is operable for sensing information representative of a speed of engine 88 and outputting the information to the controller . a pressure transducer 104 is connected via a conductive path 94 to controller 68 and to filter 100 , and is operable for sensing pressure conditions in fluid lines extending to and from motor 78 and outputting information representative thereof to the controller and filter . still further , engine to ring clutch 84 and ring to frame clutch 85 are connected to controller 68 , as indicated by boxes 106 , for control thereby for rotatably connecting and disconnecting ring gear 80 and engine gear 82 , and ring gear 80 and the frame of the machine , respectively . control 66 is also connected by a controller area network ( can ) 108 to engine 88 and other vehicle controllers and systems , generally denoted by box 110 , via suitable conductive paths 94 . controller 68 additionally is connected via one or more conductive paths 94 to one or more displays 112 , and one or more operator input devices 114 , located for instance , in operator cab 28 , operable for displaying information , and inputting operator commands to control 66 , respectively . for operation in a threshing mode , an operator will select a gear range of gearbox 70 for achieving a desired rotational speed range for rotor 46 , which is typically dependent on the crop type and any of a variety of other conditions , and pump 90 will be stroked and ring to frame clutch 85 and engine to ring clutch 84 sequentially engaged , as required , for achieving a desired rotor speed by a combination of hydrostatic and hydro - mechanic acceleration and speed control . concave 50 will be positioned using actuator 60 ( fig2 ) as required for achieving a desired crop separation clearance 52 . the speed of rotation of rotor 46 within the selected speed range can be varied by varying the stroke of pump 90 , the state of engagement or disengagement of engine to ring clutch 84 and engine speed , and will also be affected by other factors such as crop loads and conditions , particularly the presence of a slug . during normal harvesting , the commands outputted by controller 68 to stroke control valve 92 , and information outputted by valve 92 ; information outputted by speed sensors 96 , 98 and 102 ; and pressure information from transducer 104 , are inputted to control 66 for processing by filter 100 , wherein they can be used for modeling the threshing operation , particularly to estimate or predict the current state thereof to discern the , particularly relating to the presence of , and extent of , any slugging conditions . likewise , during a deslugging routine or routines , this information can be utilized by controller 68 using filter 100 for evaluation of effectiveness of the routine or routines for present conditions , location and extent of a slugging condition , for use in selecting a subsequent deslugging routine . all deslugging processes are executed in the hydrostatic state with ring to frame clutch 85 engaged and engine to ring clutch 84 disengaged . the hydrostatic state permits forward and reverse rotary control . the method and system of the invention provides several operator or automatically selectable automatic routines or methods of operation of a drive , such as drive 64 , by a control , such as control 66 , for rotating a rotor of a threshing system , such as rotor 46 , for dislodging , breaking up or freeing slugs or clogs of plant material and / or debris from the crop separation clearance between the rotor and the concave . non - limiting examples of automatic deslugging routines of the invention include reciprocating actions or movements of controlled travel or extent , which will be a function of direction and duration of rotational movement of the rotor at the selected speed . others automatically vary or alter the direction and / or duration of rotation in a direction responsive to sensed conditions representative of , for instance , opposition to the rotation resulting from a slug , and / or the position or movements of a slug about the concave , again filter 100 being usable for estimating the states of the threshing system for discerning the existence of and pertinent parameters of any slugs . another routine includes automatically rotating the rotor alternatingly in the first and second rotational directions through progressively increasing increments of rotational travel . as another routine , the rotor is automatically rotated alternatingly in the first and second rotational directions through increasing increments of rotational movement while the sensed information representative of loads opposing the rotation is monitored for information representative of a predetermined load level , which can be indicative of characteristics of a slugging condition , or success of the deslugging routine . this , and possibly other sensed information , as well as information representative of a state or states of the threshing system , can be used by control 66 for estimating a future state or states of the system , using filter 100 . then , at least one subsequent increment of rotational movement is automatically altered responsive to presence of the information representative of the predetermined load level . thus , for instance , a predetermined load level can represent contact with a slug , and the alteration of the subsequent increment of rotation can include , for instance , but is not limited to , increasing an extent of a subsequent increment of rotation in the rotational direction for which the predetermined load level is present , or changing speed of rotation , so as to be more effective for dislodging , breaking up or freeing a slug . another routine is an agitating routine wherein the rotor is reciprocally moved in an agitating motion which can have predetermined or settable characteristics which can include , but are not limited to , profile , amplitude , frequency , waveform symmetry and duration . any of these characteristics can be adapted or modified based on changes between a past state of the system and the current state as estimated or predicted using filter 100 . another routine is a jogging routine wherein the rotor is jogged in angular increments relative to the concave . as noted above , a deslugging routine or strategy selection may be based upon any of a number of considerations or factors , such as the nature or type of crop being harvested , characteristics of the slugging condition , such as loads that arise during operation of the threshing system and / or initial deslugging steps which may be manually executed or automatic . preferred steps of exemplary routines of the method and system of the invention are illustrated in fig4 , 5 , 6 , 7 , 8 , 9 and 10 . referring more particularly to fig3 and 4 , in a flow diagram 116 , once a slug or slugging condition of a threshing system such as threshing system 24 is detected , a warning may be outputted to the operator , and the rotor will be brought to a halt . in each instance , as denoted at block 118 , the multiple speed gearbox ( if any ) will preferably be shifted to a low gear if not already in low , and the concave will be lowered to increase the crop separation clearance , as denoted by blocks 120 and 122 . these steps can be performed by the operator , or automatically . next , for instance utilizing display 112 , several selectable deslugging routines will be displayed and can be selected using , for instance , input device 114 . at decision block 124 , controller 68 will determine if option 1 of the several options is selected . if so , the operator will input a speed and select a direction and duration of movement of rotor 46 , as denoted at blocks 126 and 128 . this can include a single direction of movement , or an initial direction . in the former instance , if only a single speed , direction and duration of movement are selected , when executed , as denoted at block 130 , controller 68 will responsively automatically initiate and execute a controlled rotation of rotor 46 in a corresponding manner . in the latter instance , controller 68 will responsively automatically execute a controlled rotation of rotor 46 in the first selected direction at the selected speed for the selected duration , then reverse the direction of rotation and rotate rotor 46 in the opposite direction at the selected speed for the selected duration . controller 68 will then determine whether the routine is to be canceled , as denoted at decision block 132 , and if not , will return to block 126 and loop through execution block 130 . cancellation can be by the operator , or automatic , for instance , as a result of the occurrence of some condition , such as dislodgement of the slug . returning to decision block 124 , and also viewing fig5 , 6 , 7 , 8 , 9 and 10 , if option 1 is not selected , controller 68 will determine an option 2 is selected ( fig5 and 6 ), as denoted at decision block 134 , and if that option is not selected , will proceed to sequentially determine whether any of the subsequent available options are selected , as denoted by the sequence of decision blocks 136 , 138 , 140 and 142 . here , it should be recognized and understood that , although six optional selectable deslugging routines are presented , a greater or lesser number can be utilized within the teachings of the present invention . going through the exemplary options , as illustrated in fig6 , if option 2 is selected , the operator will select a direction of movement , as denoted at block 144 , and a travel increment , as denoted at block 146 . controller 68 will then execute the commanded routine as denoted at block 148 . the routine can then be canceled , as denoted at decision block 150 , or the direction of movement and travel increment changed as the controller loops through blocks 144 , 146 , 148 and 150 . cancellation can again be automatic , for instance , responsive to a sensed condition or information indicative of dislodgment or clearance of a slug , such as a reduced sensed pressure condition during rotation of the rotor , as can be determined by estimating or predicting the present or future state of the threshing system using filter 100 . as illustrated in fig7 , if option 3 is selected , the operator will select a speed or travel increment , as denoted at block 152 . controller 68 will then rotate rotor 46 at the selected speed and / or increment while monitoring loading conditions exerted in response to the rotation , as denoted at block 154 . if the monitored load does not reach a predetermined or preset level , as determined at decision block 156 , controller 68 will loop through the steps of blocks 154 and 156 until the level is reached , or the routine is canceled , again , either by the operator or automatically . if the preset load level is reached , controller 68 will reverse the direction of rotation , as denoted at block 158 and return to block 154 , and again monitor the loading conditions . if the preset loading level is not reached , the controller will continue to rotate the rotor in the latest direction while looping through the steps of blocks 154 and 156 . if , at block 156 it is determined that the preset load level has been reached , the direction of rotation will again be reversed and the controller will continue to monitor loads . as a result , rotor 46 will be alternatingly rotated at the selected speed , and / or to the selected extent of travel , in the opposite directions , responsive to the reaching of the preset load level . this routine will be repeated , or can be canceled after some condition is met or detected . in fig8 , 9 and 10 , steps of several agitating routines are illustrated . referring to fig8 , if , at decision block 138 option 4 is selected , an agitation motion is selected , as denoted at block 160 . as a result , controller 68 will prompt the operator to select preset parameters of the agitator motion or set new parameters , as summarized at block 162 . such parameters can include , but are not limited to , speed of rotation , motion profile , amplitude , frequency , waveform symmetry and duration . once the parameters are set , controller 68 will execute the agitator motion , as denoted at block 164 , until the routine is canceled , as denoted at decision block 166 . again , cancellation can be initiated by operator action , or automatically . any of the parameters , for instance , frequency , can be modified automatically by controller 68 , based on the estimated state of the threshing system determined using filter 100 . also referring to fig9 , a fifth option is an agitator motion routine wherein during the execution of the routine , loading conditions are monitored and the motion parameters ( e . g ., speed , profile , amplitude , frequency , waveform symmetry and / or duration ) are automatically altered as a function of the monitored load , as denoted by the sequence of steps of blocks 168 , 170 , 172 , 174 and 176 . this sequence of steps will be repeated in a looping action until canceled , as denoted by block 178 . finally , referring to fig1 , selection of a sixth option , as denoted at block 142 , will initiate operation in an agitator motion , as denoted at block 180 , wherein the loading conditions will be monitored , as well as a direction of clearance . in this mode , parameters of the agitator motion ( speed , profile , amplitude , frequency , waveform symmetry and / or duration ) are set , as denoted at block 182 , and can be individually selected by the operator , or can be predetermined or preset . controller 68 will then execute the agitator motion , as denoted at block 184 . during the rotation of rotor 46 in the agitator motion , controller 68 will monitor both load and direction of clearance , as denoted at blocks 186 and 188 . here , direction of clearance connotes a direction of rotation which is not impeded or is less impeded by the slug sought to be cleared or dislodged . that is , when rotor 46 is rotated in one direction , elevated loading conditions will be encountered which will be indicative of encountering the slug , which elevated loading conditions will not be encountered or will be less when rotor 46 is rotated in the opposite direction . such elevated loading conditions can be determined as a function of pressure conditions sensed by transducer 104 . as a result of the presence of such elevated loading conditions and information representative of the direction of rotation in which such loading conditions are encountered , one or more of the motion parameters can be altered , to effect a successful deslugging strategy , as denoted at block 190 . after execution of the altered motion , if conditions indicative of clearing of the slug are present ( e . g . reduced pressure when rotating the rotor in the direction wherein the elevated loading conditions were encountered ), the routine can be canceled , either by an operator or automatically , as denoted at block 192 . again , any of the parameters for the deslugging routines just discussed , can be modified automatically by controller 68 , based on the estimated state of the threshing system determined using filter 100 . additionally , during or after the execution of at least one of the deslugging routines , controller 68 can be programmed to automatically collect and store information representative of at least loading conditions sensed during the execution , for instance as filtered and processed using filter 100 , and automatically select a subsequent deslugging routine for execution as a function of the stored information and / or modeled system . a deslugging routine or strategy selection may be adapted and based upon any of a number of considerations or factors , such as the nature or type of crop being harvested , characteristics of the slugging condition , such as loads that arise during operation of the threshing system and / or initial deslugging steps which may be manually executed or automatic . as a result of the above disclosure , it should be apparent that the deslugging method and system of the invention have utility for improving the ability to effectively dislodge , break up and / or free slugs from a threshing system of a combine , such as system 24 of combine 20 , while decreasing occurrences of problems such as damage to the threshing system or drive , which can occur as a result of a variety of factors such as inappropriate speeds , impulse loading conditions , and the like . it should also be apparent that the automatic deslugging routines of the invention can be executed in a more controlled and precise manner , compared to execution of similar routines under operator control wherein operator skill level , experience and other factors will impact the effectiveness . for instance in this regard , the ability of the system of the invention to monitor and respond to sensed loading condition will be expected to be substantially better than the response of an operator to such conditions , at least in part as a result of the signal filtering and processing using filter 100 . it should also be understood that although the preferred signal processing filter 100 is of the simplified kalman type , other suitable filters or routines may be used by control 66 for discerning the state of the threshing system for the purposes of the present invention . it should also be recognized and understood that the method and system of the invention can be applied to operation of a feed conveyor , such as conveyor 34 of feeder 22 . it will be understood that changes in the details , materials , steps , and arrangements of parts which have been described and illustrated to explain the nature of the invention will occur to and may be made by those skilled in the art upon a reading of this disclosure within the principles and scope of the invention . the foregoing description illustrates the preferred embodiments of the invention ; however , concepts , as based upon the description , may be employed in other embodiments without departing from the scope of the invention . accordingly , the following claims are intended to protect the invention broadly as well as in the specific form shown .
a deslugging method and system for an agricultural combine , providing several semi - and fully automated operating modes or routines for removing or dislodging a slug of crop and / or other material from the threshing system and / or a feeder of the combine for conveying crop material to the threshing system . the routines can include reciprocating , agitating and jogging routines , which can be automatically altered during execution responsive to sensed or changing conditions , as processed by a suitable filter such as a simplified kalman type signal filter , for generating a real time estimation and prediction of the various states of the threshing system .