AUTONOMOUS HEADER

A control system of an agricultural harvester for controllably harvesting a crop material includes: a lidar sensor configured for sensing a field condition in a forward path of travel of the agricultural harvester and thereby for outputting a field condition signal corresponding thereto; and a controller operatively coupled with the lidar sensor and a header assembly of the agricultural harvester configured for removing the crop material from a field, the controller configured for receiving the field condition signal and for outputting an adjustment signal to raise the header assembly, based at least partially on the field condition signal, when the agricultural harvester reaches an end of a plurality of crop rows.

FIELD OF THE INVENTION

The present invention pertains to an agricultural harvester, and, more specifically, to a combine header reel.

BACKGROUND OF THE INVENTION

An agricultural harvester known as a “combine” is historically termed such because it combines multiple harvesting functions with a single harvesting unit, such as picking, threshing, separating, and cleaning. A combine includes a header which removes the crop from a field, and a feeder housing which transports the crop matter into a threshing rotor. The threshing rotor rotates within a perforated housing, which may be in the form of adjustable concaves, and performs a threshing operation on the crop to remove the grain. Once the grain is threshed it falls through perforations in the concaves onto a grain pan. From the grain pan the grain is cleaned using a cleaning system, and is then transported to a grain tank onboard the combine. A cleaning fan blows air through the sieves to discharge chaff and other debris toward the rear of the combine. Non-grain crop material such as straw from the threshing section proceeds through a residue handling system, which may utilize a straw chopper to process the non-grain material and direct it out the rear of the combine. When the grain tank becomes full, the combine is positioned adjacent a vehicle into which the grain is to be unloaded, such as a semi-trailer, gravity box, straight truck, or the like, and an unloading system on the combine is actuated to transfer the grain into the vehicle.

More particularly, a rotary threshing or separating system includes one or more rotors that can extend axially (front to rear) or transversely (side to side) within the body of the combine, and which are partially or fully surrounded by perforated concaves. The crop material is threshed and separated by the rotation of the rotor within the concaves. Coarser non-grain crop material such as stalks and leaves pass through a straw beater to remove any remaining grains, and then are transported to the rear of the combine and discharged back to the field. The separated grain, together with some finer non-grain crop material such as chaff, dust, straw, and other crop residue are discharged through the concaves and fall onto a grain pan where they are transported to a cleaning system. Alternatively, the grain and finer non-grain crop material may also fall directly onto the cleaning system itself.

A cleaning system further separates the grain from non-grain crop material, and typically includes a fan directing an airflow stream upwardly and rearwardly through vertically arranged sieves which oscillate in a fore and aft manner. The airflow stream lifts and carries the lighter non-grain crop material towards the rear end of the combine for discharge to the field. Clean grain, being heavier, and larger pieces of non-grain crop material, which are not carried away by the airflow stream, fall onto a surface of an upper sieve (also known as a chaffer sieve), where some or all of the clean grain passes through to a lower sieve (also known as a cleaning sieve). Grain and non-grain crop material remaining on the upper and lower sieves are physically separated by the reciprocating action of the sieves as the material moves rearwardly. Any grain and/or non-grain crop material which passes through the upper sieve, but does not pass through the lower sieve, is directed to a tailings pan. Grain falling through the lower sieve lands on a bottom pan of the cleaning system, where it is conveyed forwardly toward a clean grain auger. The clean grain auger conveys the grain to a grain elevator, which transports the grain upwards to a grain tank for temporary storage. The grain accumulates to the point where the grain tank is full and is discharged to an adjacent vehicle such as a semi-trailer, gravity box, straight truck or the like by an unloading system on the combine that is actuated to transfer grain into the vehicle.

The operator of a combine has a multitude of tasks to accomplish in order to operate the combine effectively and safely. One such task is maintaining the header at an appropriate height as the combine traverses the ground. Rises or depressions in the ground contour, for instance, require the operator to raise or lower the header, respectively, to maintain a proper height of the header above the ground in order to harvest the crop material properly. Additionally, the operator typically raises the header when the combine reaches an end of a crop row and thus enters the headland (which can also be referred to as the endrow), which generally is a strip of land at least partially circumscribing a field of crop, so that for example travel in headland is more easily facilitated and obstructions that could damage header are avoided. After turning around in the headland and aligning the combine on a new set of rows of unharvested crop, the operator typically lowers the header to begin traversing the rows and thereby harvesting the crop. The operator may also use the headland as a way to traverse a field and thereby exit the field (or enter it and travel to the point at which the operator will begin harvesting in the rows of crop) without traveling through a field of unharvested crops or otherwise when not harvesting. This burden of raising and lowering of the header in and around the headland can be compounded as the operator monitors the overall harvesting operations of the combine and the presence of any other combines or vehicles in the vicinity.

What is needed in the art is a way to automatically raise the header at the end of a row of crop material.

SUMMARY OF THE INVENTION

The present invention provides a control system for automatically raising the header at the end of a row of crop material.

The invention in one form is directed to a control system of an agricultural harvester for controllably harvesting a crop material, the control system including: a lidar sensor configured for sensing a field condition in a forward path of travel of the agricultural harvester and thereby for outputting a field condition signal corresponding thereto; and a controller operatively coupled with the lidar sensor and a header assembly of the agricultural harvester configured for removing the crop material from a field, the controller configured for receiving the field condition signal and for outputting an adjustment signal to raise the header assembly, based at least partially on the field condition signal, when the agricultural harvester reaches an end of a plurality of crop rows.

The invention in another form is directed to an agricultural harvester, including: a header assembly configured for removing a crop material from a field; a lidar sensor configured for sensing a field condition in a forward path of travel of the agricultural harvester and thereby for outputting a field condition signal corresponding thereto; and a controller operatively coupled with the lidar sensor and the header assembly, the controller configured for receiving the field condition signal and for outputting an adjustment signal to the header assembly to raise the header assembly, based at least partially on the field condition signal, when the agricultural harvester reaches an end of a plurality of crop rows. The invention in yet another form is directed to a method of controllably operating an agricultural harvester, the method including the steps of: providing that the agricultural harvester includes a header assembly which is configured for removing a crop material from a field; sensing, by a lidar sensor, a field condition in a forward path of travel of the agricultural harvester; outputting, by the lidar sensor, a field condition signal corresponding to the field condition; receiving, by a controller operatively coupled with the lidar sensor and the header assembly, the field condition signal; and outputting, by the controller, an adjustment signal to the header assembly and thereby raising the header assembly, based at least partially on the field condition signal, when the agricultural harvester reaches an end of a plurality of crop rows.

An advantage of the present invention is that the operator does not have to raise the header at the end of a crop row.

Another advantage of the present invention is that the operator does not have to lower the header at the beginning of a crop row.

DETAILED DESCRIPTION OF THE INVENTION

The terms “grain”, “straw” and “tailings” are used principally throughout this specification for convenience but it is to be understood that these terms are not intended to be limiting. Thus “grain” refers to that part of the crop material which is threshed and separated from the discardable part of the crop material, which is referred to as non-grain crop material, MOG or straw. Incompletely threshed crop material is referred to as “tailings”. Also, the terms “forward”, “rearward”, “left” and “right”, when used in connection with the agricultural harvester and/or components thereof are usually determined with reference to the direction of forward operative travel of the harvester, but again, they should not be construed as limiting. The terms “longitudinal” and “transverse” are determined with reference to the fore-and-aft direction of the agricultural harvester and are equally not to be construed as limiting. The terms “downstream” and “upstream” are determined with reference to the intended direction of crop material flow during operation, with “downstream” being analogous to “rearward” and “upstream” being analogous to “forward.”

Referring now to the drawings, and more particularly toFIG.1, there is shown an embodiment of an agricultural harvester100in the form of a combine which generally includes a chassis101, ground engaging wheels102and103, header110(which can be referred to as a header assembly110and which is configured for removing a crop material206from a field205), feeder housing120, operator cab104, threshing and separating system130, cleaning system140, grain tank150, and unloading conveyance160. Front wheels102are larger flotation type wheels, and rear wheels103are smaller steerable wheels. Motive force is selectively applied to front wheels102through a power plant in the form of a diesel engine105and a transmission (not shown). Although combine100is shown as including wheels, is also to be understood that combine100may include tracks, such as full tracks or half tracks.

Header110is mounted to the front of combine100and includes a cutter bar111for severing crops from a field during forward motion of combine100. A rotatable reel112feeds the crop into header110, and a double auger113feeds the severed crop laterally inwardly from each side toward feeder housing120. Feeder housing120conveys the cut crop to threshing and separating system130, and is selectively vertically movable using appropriate actuators, such as hydraulic cylinders (not shown).

Threshing and separating system130is of the axial-flow type, and generally includes a threshing rotor131at least partially enclosed by a rotor cage and rotatable within a corresponding perforated concave132. The cut crops are threshed and separated by the rotation of rotor131within concave132, and larger elements, such as stalks, leaves and the like are discharged from the rear of combine100. Smaller elements of crop material including grain and non-grain crop material, including particles lighter than grain, such as chaff, dust and straw, are discharged through perforations of concave132. Threshing and separating system130can also be a different type of system, such as a system with a transverse rotor rather than an axial rotor, etc.

Grain which has been separated by the threshing and separating assembly130falls onto a grain pan133and is conveyed toward cleaning system140. Cleaning system140may include an optional pre-cleaning sieve141, an upper sieve142(also known as a chaffer sieve or sieve assembly), a lower sieve143(also known as a cleaning sieve), and a cleaning fan144. Grain on sieves141,142and143is subjected to a cleaning action by fan144which provides an air flow through the sieves to remove chaff and other impurities such as dust from the grain by making this material airborne for discharge from a straw hood171of a residue management system170of combine100. Optionally, the chaff and/or straw can proceed through a chopper180to be further processed into even smaller particles before discharge out of the combine100by a spreader assembly200. It should be appreciated that the “chopper”180referenced herein, which may include knives, may also be what is typically referred to as a “beater”, which may include flails, or other construction and that the term “chopper” as used herein refers to any construction which can reduce the particle size of entering crop material by various actions including chopping, flailing, etc. Grain pan133and pre-cleaning sieve141oscillate in a fore-to-aft manner to transport the grain and finer non-grain crop material to the upper surface of upper sieve142. Upper sieve142and lower sieve143are vertically arranged relative to each other, and likewise oscillate in a fore-to-aft manner to spread the grain across sieves142,143, while permitting the passage of cleaned grain by gravity through the openings of sieves142,143.

Clean grain falls to a clean grain auger145positioned crosswise below and toward the front of lower sieve143. Clean grain auger145receives clean grain from each sieve142,143and from a bottom pan146of cleaning system140. Clean grain auger145conveys the clean grain laterally to a generally vertically arranged grain elevator151for transport to grain tank150. Tailings from cleaning system140fall to a tailings auger trough147. The tailings are transported via tailings auger147and return auger148to the upstream end of cleaning system140for repeated cleaning action. A pair of grain tank augers152at the bottom of grain tank150convey the clean grain laterally within grain tank150to unloader160for discharge from combine100.

FIG.1also includes a control system106for combine100for controllably harvesting crop material200(FIG.2). The control system includes a sensor107formed as a lidar sensor (referred herein as sensor or lidar sensor), and a controller108operatively coupled with lidar sensor107and a header110, sensor107and controller108both being schematically shown inFIG.1and can take on any suitable form known in the art. Sensor107is shown inFIG.1attached to a front portion109of combine100, namely, at or near cab104. Another sensor107is shown inFIG.1attached to header110(but is not shown in other figures). Though two sensors107are shown, it will be appreciated that only one sensor107need be attached to combine100, or, alternatively, more than two sensors107can be employed, in an array across header110and/or on or near cab104, or at other suitable locations on combine100. In terms of location, sensor107needs to be able to sense what is in front of combine100in a forward path of travel202of combine100. Further, controller108is schematically positioned inFIG.1, but could be positioned in any suitable location(s) of combine100. Further, control system106is shown inFIG.1in combination with an exemplary embodiment of combine100and header110. It will be appreciated that any type of combine or header may be used in accordance with the present invention, such that a variety of crop materials can be harvested. Further, header110can be raised and lowered, as indicated by bi-directional arrow114(which is shown as vertical, but it is understood that header110can be pivotally attached to a front end of the body of combine100so as to pivot generally vertically about a transverse axis), can be titled laterally and/or fore and aft, and can articulate (flex) or be rigid. Though addressed in more detail below, in sum lidar sensor107is configured for sensing a field condition in forward path of travel202of combine100and thereby for outputting a field condition signal corresponding to the field condition, and controller108is configured for receiving the field condition signal and for outputting an adjustment signal, based at least partially on the field condition signal. That adjustment signal can be, for example, to raise header110when combine100reaches an end of a first plurality of crop rows203A, or to lower header110when combine100is about to begin traversing the field at a second plurality of crop rows203B.

Sensor107is a lidar sensor107that uses lidar technology to sense range, that is, distance, to an object, whatever that object may be, i.e., ground, vegetation, buildings, riverbed, etc. Lidar is an abbreviation for, variously, “light detection and ranging,” and “laser imaging, detection, and ranging.” In general, a lidar sensor uses light, as opposed to sound or radio waves, to find a distance to an object, and the light can be ultraviolet, visible, or near infrared light. To find the distance to an object, the basic equation of distance (d) being in terms of velocity (v) and time (t) is employed, namely, d=vt, wherein v is the speed of light (c). A lidar sensor sends out a pulse of light to an object. This pulse of light is reflected off of the object and travels back to the lidar sensor, which receives the pulse and tracks the amount of time it took for the pulse of light to travel the distance to and from the object. To calculate the distance to the object, from a known reference point (whether on the ground or in the air or otherwise), as opposed the full path of travel to and from the object, d=ct/2. When scanning a relatively large area (as in mapping), large numbers of pulses of light per second are sent out and received by the lidar sensor, which generates for each pulse a three-dimensional (xyz) coordinate, a location point in space. The points together form a three-dimensional data set, a point cloud, which point cloud processing software can use to generate a three-dimensional model, a map, of what has been scanned. Lidar sensors can be used on stationary or mobile platforms to generate the three-dimensional map. This is referred to as time-of-flight technology, and is well-known in the art.

Referring now toFIG.2, there is shown a schematic view of a harvesting operation with three separate combines100A,100B, and100C (each being shown as schematic versions of combine100) in a field205of crop material206disposed in a plurality of rows203. Each combine100A,100B,100C is shown in operation but at different locations in field205. Each has a sensor107mounted about the top front of cab104, which sends out and receives pulses207of light and thereby scans what lies to the front of the respective combine100A,100B,100C in a forward direction of travel208, more specifically, what lies in the forward path of travel202, even more specifically, what lies in front of header110, whether that be crop material206or open ground209in field205. Sensor107of combine100A is shown radiating pulses of light207in front of header110along a transverse line213that has a length214which is substantially equal to a length of header110. Use of lidar sensor107provides for real-time three-dimensional mapping of what lies in front of combine100, which can be used to adjust header110, in accordance with the present invention. Open ground209is shown behind combine100A (the crop material206having already been harvested), and also in a headland210. Regarding combine100A, combine100A is shown in substantially a middle of field205between a beginning of a plurality of rows which header100of combine100A spans and the end of the rows. The light pulses207from lidar sensor107senses standing crop material206in front of header110, such that controller108associated with combine100A would not raise header110based on an absence of crop material206. Regarding combine100B, combine100B is approaching an end of the rows203A of crop material206that combine100B is harvesting. With light pulses207radiating from lidar sensor107into headland210, lidar sensor107has already sensed an end to crop material206at the juxtaposition or dividing line211of the rows203A of crop material206and headland210. Given that the position of combine100is known, for example, by way of a global positioning system (GPS) as part of lidar sensor107, a GPS of combine100B, or a combination thereof, and that the position of the beginning of headland210is known by an absence of crop material206from sensor107, header110of combine100B has not yet lifted. However, according to an embodiment of the present invention, control system106will automatically lift header110once header reaches dividing line211. Header110will be raised from a crop removal position351(also shown inFIG.1) to a headland position352(FIG.3). Crop removal position351need not be a single position but can be a range of positions suitable for removing crop material206under a given set of operating conditions but which is nevertheless lower in height than headland position352, which can be set, such as by the operator, at a predetermined height. Upon reaching headland210, the operator of combine100B, under this scenario, can turn left or right and may, for example, exit field or continue harvesting by turning 180° in headland210and realigning combine100B with a new set of rows of crop material206to be harvested, as indicated by U-shaped arrow211. Regarding combine100C, combine100C has, for example, already made a turn similar to U-shaped arrow212and is ready to begin harvesting the set of rows203B of crop material206lying directly in front of it. As indicated by light pulses207from lidar sensor107of combine100C, this sensor107senses the presence of crop material206directly in front of combine, and thus controller108lowers header110of combine100C to crop removal position351.

Referring now toFIG.3, there is shown schematically a side view of combine100before which is standing crop material206in forward path202of travel. Light pulses207are shown radiating from lidar sensor107. In exemplary embodiment of the present invention, the light pulses207radiate from sensor107at a predetermined scanning angle (set by the manufacturer of combine100, or, optionally, by the operator) from a vertical line350, such as angle353, and scan left and right repeatedly across the length214of the forward path of travel, the scanning angle remaining constant during a harvesting operation; alternatively, scanning angles can optionally vary while harvesting crop material207, such that lidar sensor scans not only left and right repeatedly but fore and aft as well, but it is discussed herein as scanning only left and right. For illustrative purposes only, however, a plurality of scanning angles353,355,356are shown inFIG.3, to illustrate different scenarios.

At scanning angle353(corresponding to the first scenario), combine100approaches rows of crop material206to begin harvesting the rows. Initially, lidar sensor107senses only the ground, not crop material, leading controller108to make the determination to leave header110in headland position352. The following describes an exemplary embodiment on how this determination can be made, according to the present invention, though other ways fall within the scope of the present invention. That is, with sensor107set at predetermined angle353, sensor107can measure the distance from sensor to a point on a horizontal plane beneath the wheels of combine100. This distance (distance A, shown as the full length of broken lines associated with angle353inFIG.3) can serve as a basis for comparison, such that when a measured distance is less than distance A controller108can ascertain that an object higher than the ground stands in forward path of travel202. For example, with vertical line354, it can be seen inFIG.3that the full length of the broken line associated with angle353from sensor107to the ground is longer than the distance along that same broken line from sensor107to the top of vertical line354.

So that controller108does not move header110from crop removal position351to headland position352, or vice versa, at inappropriate times, a threshold distance can be set in controller108, which can correspond to an estimated or actual average crop height, which can be referred to as a threshold crop height. The threshold crop height can, for example, be according to the operator's estimate of the average crop height, or some lesser height which would not otherwise trigger moving header110at inappropriate times. This threshold crop height being entered into control system106(such as by way of an operator's input device401) prior to harvesting. On the other hand, sensor107can pre-scan standing crop material206from headland210, with actual measurements of the height of crop material206being taken, which can be used to develop a threshold crop height. Alternatively, controller108may access a database that includes such information as average crop height for a specific geographic area, or controller108may calculate an estimated average crop height considering various conditions during the growing season that would affect crop growth. Alternatively, a combination of any of the aforementioned ways of ascertaining a threshold average crop height can be utilized, or any other suitable manner. Regardless of the manner of determining the threshold crop height, this value is used to trigger the raising and lowering of header110, or, some value less than this value can be used as the threshold crop height, to account for margins of error. For instance, the length of broken line354inFIG.3could be used as the threshold crop height. Thus, if sensor107senses a distance equal to or less than the distance (distance B) from sensor107to the top of vertical line354, then controller moves header110to crop removal position351, or otherwise leaves header110in that position. Conversely, if sensor107senses a distance greater than distance B, then controller moves header110to headland position352, or otherwise leaves header110in that position.

At angle355, sensor107has already detected the predetermined threshold crop height to trigger the lowering of header110to crop removal position351. However, so that header is not lowered too soon, a threshold distance corresponding to the horizontal distance between sensor107and the crops in a foreground can be set in control system106. That is, though controller is “preparing” to lower header110to crop removal position upon detecting a distance associated with the threshold crop height, controller108may delay this lowering until header110is within a short, predetermined distance of crop material206, for example, three meters, or some other desirable distance. Such a distance can be preset in controller108, and a known position of combine100and the sensed position of the beginning of the crop material206can be used to determine when to lower header110to crop removal position351.

At angle356, sensor107“sees” beyond crop material206and into headland210, having sensed the known distance to ground, which is too long for there to be crop material206. Controller is now “preparing” to raise header110to headland position352, which it can do based upon a known position of combine100and a sensed position of dividing line211(knowing the position of the last of crop material206before headland210), and can raise header110to headland position352at dividing line211. Alternatively, at angle356controller108can determine that combine100has neared headland210when sensor107senses a sudden predetermined increase in distance corresponding to a drop in height to level ground. Conversely, controller108can determine that combine has neared standing crop material206while in, for example, headland210when sensor107senses a sudden decrease in distance corresponding to an increase in height from level ground, namely, the threshold crop height.

In sum, lidar sensor107is configured for sensing a first field condition—that is, an absence of crop material206in forward path of travel202, as in headland210and associated with angles353,356—in forward path of travel202and thereby for outputting a first field condition signal (indicated inFIG.4by connecting lines) corresponding thereto. Controller108is configured for receiving the first field condition signal and for outputting a first adjustment signal (as indicated inFIG.4by connecting lines) to raise header110to headland position352, based at least partially on the first field condition signal, when combine100reaches an end of a first plurality of crop rows203A. Further, lidar sensor107is configured for sensing a second field condition—that is, a presence of the crop material206in forward path of travel202, as in what is associated with angle355—in forward path of travel206and thereby for outputting a second field condition signal corresponding thereto. Controller108is configured for receiving the second field condition signal (indicated inFIG.4by connecting lines) and for outputting a second adjustment signal (as indicated inFIG.4by connecting lines) to lower header110to crop removal position351, based at least partially on the second field condition signal, when combine100is about to begin traversing field205at a second plurality of crop rows203B. Further, the first field condition signal can be associated with a predetermined threshold crop height and/or a predetermined threshold change in a distance sensed by lidar sensor107, namely an increase. Conversely, the second field condition signal can be associated with a predetermined threshold crop height and/or a predetermined threshold change in a distance sensed by lidar sensor107, namely a decrease. The threshold change can correspond to the difference between distance A and distance B.

Referring now toFIG.4, there is shown a schematic diagram of control system106, according to an exemplary embodiment of the present invention. Control system106includes, for example, lidar sensor107, an operator input device401(such as a laptop, handheld computer device, or onboard computer device in cab), header110, and controller108, lidar sensor107and operator input device401being, at least in part, input devices, and header110being, at least in part, an output device. Controller108can receive input signals (such as field condition signals from lidar107, and the predetermined threshold crop height and the threshold change from operator input device401) from lidar sensor107and operator input device401and can output signals (such as adjustment signals) to header110, as indicated by connecting lines inFIG.4. Thus, controller108is operatively coupled with lidar sensor107, operator input device401, and header110. Controller108can also be operatively coupled with a variety of other systems of combine100, such as engine control, steering, and a transmission, to name just a few.

In general, controller108may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, as shown inFIG.4, controller108may generally include one or more processor(s)402and associated memory403configured to perform a variety of computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations and the like disclosed herein). For instance, lidar sensor107and operator input device401may each include a processor402therein (as can a combine main controller), as well as associated memory, data, and instructions, each forming at least part of controller108. As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, memory403may generally include memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD), and/or other suitable memory elements. Such memory403may generally be configured to store information accessible to the processor(s)402, including data404that can be retrieved, manipulated, created, and/or stored by processor(s)402and instructions405that can be executed by the processor(s)402. In some embodiments, data404may be stored in one or more databases.

Accordingly, more specifically, controller108receives certain inputs and transmits certain outputs. For example, controller108receives input signals from lidar sensor107concerning the presence or absence of crop material206at certain positions in field205and the position of combine100(such positioning of combine100can alternatively or in addition thereto come from a separate GPS system associated with combine100), and operator input device401concerning the predetermined threshold crop height and/or the predetermined threshold change. Controller108can form an adjustment module406to adjust header110from crop removal position351to headland position352, or vice versa, based at least partly on this input information, as well as on an algorithm and data404stored in memory403such as the current actual position of combine100and header110, and controller108can output a signal to header110based on adjustment module406.

In use, the operator can operate combine100without the operator needing to decide to raise header110to headland position352upon entry into headland210after harvesting a set of rows203of crop material or to lower header110to crop removal position351upon lining up to harvest a select set of rows203of crop material206. The operator can input into controller108by way of suitable input device401in cab, for example, a predetermined threshold crop height and/or a predetermined change (whether increasing or decreasing). When operator is harvesting a select set of rows203of crop material206and control system106senses an end of the row203of crops206, control system106can automatically raise header110to headland position352at the end of the rows203, based at least partially on information from sensor107, the thresholds, and also on control system106knowing the position of combine100in relation to the end of the rows203, such as by way of a GPS in lidar sensor107(presumed inFIG.4) or a separate GPS in combine100. After reaching headland210, the operator can turn combine100around in headland210with header110in headland position352. After the operator turns combine100around and realigns combine100with a new set of rows203of crop206to harvest, control system106can automatically lower header110to crop removal position351at the beginning of rows203, based at least partially on information from sensor108, the thresholds, and control system's106awareness of the location of combine100.

Referring now toFIG.5, there is shown a method500of controllably operating combine100. The method includes the steps of: providing502that combine100includes header110which is configured for removing crop material206from field205; sensing504, by lidar sensor107, a field condition in a forward path of travel202of combine100; outputting506, by lidar sensor107, a field condition signal corresponding to the field condition; receiving508, by controller108operatively coupled with lidar sensor107and header110, the field condition signal; and outputting510, by controller, an adjustment signal to header110and thereby raising header110, based at least partially on the field condition signal, when combine100reaches an end of a plurality of crop rows203. The field condition205can be a first field condition, the field condition signal can be a first field condition signal, the adjustment signal can be a first adjustment signal, the plurality of crop rows can be a first plurality of crop rows203A, and the first field condition can be an absence of crop material206in forward path of travel202. The first field condition signal can be associated with a predetermined threshold crop height and/or a predetermined threshold change in a distance sensed by lidar sensor107. The method can further include the steps of: sensing, by lidar sensor107, a second field condition in the forward path of travel202of combine100; outputting, by lidar sensor107, a second field condition signal corresponding to the second field condition; receiving, by controller108, the second field condition signal; outputting, by controller108, a second adjustment signal to header110and thereby lowering header110, based at least partially on the second field condition signal, when combine100is about to begin traversing field205at a second plurality of crop rows203B, the second field condition being a presence of crop material206in forward path of travel202. Combine100includes a front portion109, lidar sensor107being attached to the front portion109.

It is to be understood that the steps of the method of controllably performing work are performed by controller108upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by controller108described herein, such as the method of controllably performing work, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller108loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by controller108, controller108may perform any of the functionality of controller108described herein, including any steps of the method of controllably performing work described herein.