Sensor assembly for an agricultural header

A sensor assembly for an agricultural header includes a sensor configured to detect features of an unharvested crop field. The sensor is mounted to a bracket that is coupled to a reel arm or to a frame of the agricultural header. The sensor assembly is configured to position and/or to orient the sensor such that the sensor detects only the features of the unharvested crop field within a detected area that is completely within a lateral extent of the agricultural header.

BACKGROUND

The present disclosure relates generally to a sensor assembly for an agricultural header.

A harvester may be used to harvest crops, such as barley, beans, beets, carrots, corn, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plant crops. During operation of the harvester, the harvesting process may begin by removing a portion of a plant from a field using a header of the harvester. The header may cut the plant and transport the cut crops to a processing system of the harvester.

Certain headers include a cutter bar assembly configured to cut a portion of each crop (e.g., a stalk), thereby separating the cut crop from the soil. The cutter bar assembly may extend along a substantial portion of the width of the header at a forward end of the header. The header may also include one or more belts positioned behind the cutter bar assembly relative to the direction of travel of the harvester. The belt(s) are configured to transport the cut crops to an inlet of the processing system.

Certain headers may also include a reel assembly, which may include a reel having multiple fingers extending from a central framework. The central framework is driven to rotate, such that the fingers move in a circular pattern. The fingers are configured to engage the crops, thereby preparing the crops to be cut by the cutter bar assembly and/or urging the cut crops to move toward the belt(s). The reel is typically supported by multiple arms extending from a frame of the header. The reel assembly may include one or more actuators configured to drive the arms to rotate, thereby adjusting the position of the reel relative to the frame of the header.

BRIEF DESCRIPTION

In one embodiment, a sensor assembly for an agricultural header includes a sensor configured to detect a feature of an unharvested crop field and a bracket. The bracket includes a first end portion configured to couple to a reel arm or to a frame of the agricultural header and a second end portion coupled to the sensor. The sensor assembly is configured to orient the sensor such that a central axis of a field of view of the sensor is at a non-parallel angle relative to a vertical axis of the agricultural header while the sensor assembly is coupled to the agricultural header.

In one embodiment, a sensor assembly for an agricultural header includes a sensor configured to detect a feature of an unharvested crop field and a bracket. The bracket includes a first end portion configured to couple to a reel arm of the agricultural header and a second end portion coupled to the sensor. The bracket is configured to position the sensor laterally-inwardly relative to the reel arm while the bracket is coupled to the reel arm.

In one embodiment, a header for an agricultural harvester includes a bracket coupled to a reel arm or to a frame of the header. The header also includes a sensor coupled to the bracket, and the sensor is oriented relative to the header to enable the sensor to detect a detected area that is completely within a lateral extent of the header.

DETAILED DESCRIPTION

Turning to the drawings,FIG.1is a front view of an embodiment of a harvester100(e.g., agricultural harvester) having a header200(e.g., agricultural header). The harvester100also includes a chassis110configured to support the header200and an agricultural crop processing system120. As described in greater detail below, the header200is configured to cut crops and to transport the cut crops toward an inlet of the agricultural crop processing system120for further processing of the cut crops. The agricultural crop processing system120receives cut crops from the header200and separates desired crop material from crop residue. For example, the agricultural crop processing system120may include a thresher having a cylindrical threshing rotor that transports the crops in a helical flow path through the harvester100. In addition to transporting the crops, the thresher may separate certain desired crop material (e.g., grain) from the crop residue (e.g., husks and pods) and may enable the desired crop material to flow into a cleaning system located beneath the thresher. The cleaning system may remove debris from the desired crop material and transport the desired crop material to a storage compartment within the harvester100. The crop residue may be transported from the thresher to a crop residue handling system, which may remove the crop residue from the harvester100via a crop residue spreading system positioned at the aft end of the harvester100. To facilitate discussion, the harvester100and/or its components may be described with reference to a lateral axis or direction140, a longitudinal axis or direction142, and a vertical axis or direction144. The harvester100and/or its components may also be described with reference to a direction of travel146(e.g., over ground148).

The header200includes a cutter bar assembly configured to cut the crops within the field. The header200also includes a reel assembly configured to engage the crops to prepare the crops to be cut by the cutter bar assembly and/or to urge crops cut by the cutter bar assembly onto belts that convey the cut crops toward the inlet of the agricultural crop processing system120. The reel assembly includes a reel having multiple fingers extending from a central framework. The central framework is driven to rotate, such that the fingers engage the crops and urge the crops toward the cutter bar assembly and the belts. Additionally, the reel may be supported by multiple arms (e.g., reel arms) that are coupled to a frame201of the header200. Each arm of the multiple arms may be coupled to the frame201via a respective pivot joint. For example, one pivot joint is configured to enable a first arm of the multiple arms to pivot (e.g., about the lateral axis140) relative to the frame201of the header200, and another pivot joint is configured to enable a second arm of the multiple arms to pivot (e.g., about the lateral axis140) relative to the frame201of the header200.

In the disclosed embodiments, the harvester100also includes a sensor assembly210. The sensor assembly210may be coupled to the header200. For example, the sensor assembly210may be coupled to the arms of the reel assembly and/or to the frame201of the header200. The sensor assembly210may include multiple sensors211that are configured to detect features of an unharvested crop field (e.g., crop features and/or terrain features, such as a height of the crops, a density of the crops, a color of the crops, and/or surface features of the ground148) as the harvester100travels through the field. The sensors211may send signals indicative of the features of the unharvested crop field to an electronic controller (e.g., having a processor and memory) for processing. It should be appreciated that the sensors211may any suitable type of sensors, such as acoustic sensors, optical sensors, radar sensors, or the like. It should also be appreciated that the sensor assembly210may include any number of sensors (e.g., 1, 2, 3, 4, 5 or more) distributed laterally across the header200.

As shown, the sensors211may be positioned laterally-inwardly of lateral edges202(e.g., laterally-outermost edges; laterally-outermost point) of the header200. For example, the sensors211may be coupled to brackets (e.g., extension assemblies) that are coupled to and extend from the arms of the reel assembly. The brackets may bend or extend laterally-inwardly to position the sensors211laterally-inwardly of the lateral edges202of the header200. In this way, the sensors211may be positioned to effectively detect features of the unharvested crop field that are forward of the header200and/or within a lateral extent203(e.g., lateral width) of the header200. In some embodiments, the sensors211may be positioned to exclusively (e.g., only) detect features of the unharvested crop field that are forward of the header200and/or within the lateral extent203of the header200. For example, each sensor211has a field of view212(e.g., an angle through which the sensor211is sensitive to electromagnetic radiation) and may be positioned to detect features of the unharvested crop field over a detected area213(e.g., crop area or ground area) that is substantially or completely within the lateral extent203of the header200. In this way, the disclosed embodiments may enable an operator or the electronic controller to receive information about relevant features of the unharvested crop field (e.g., based only on the features of the unharvested crop field forward of the header200and/or within the lateral extent203of the header200, and not based on or adversely influenced by features of the unharvested crop field outside of the lateral extent203of the header200) from the sensors211and/or to properly position components of the header200(e.g., the cutter bar, the reel assembly) based on relevant features of the unharvested crop field.

FIG.2is a side view of an embodiment of the header200having the sensor assembly210, a reel assembly220, and a cutter bar assembly230. Features of the reel assembly220and the cutter bar assembly230will be described in more detail below with reference toFIG.3.

As shown, the sensors211may be positioned to facilitate detection of features of the unharvested crop field that are forward of the header200and/or within the lateral extent203of the header200, as described above with reference toFIG.1. In particular, the sensor assembly210includes brackets214(e.g., extension assemblies). Each bracket214includes a first end215that is coupled to (e.g., directly coupled to; in contact with; extends from) an arm221of the reel assembly220and a second end216that is coupled to (e.g., directly coupled to; in contact with) the sensor211(e.g., a housing that houses or supports sensing components of the sensor211). The bracket214may extend forward of the reel assembly220and the cutter bar assembly230. At least the brackets214that are coupled to the laterally-outer arms221(e.g., outer-most arms221) may also extend and/or bend laterally-inwardly to position the respective sensor211laterally-inwardly of the lateral edges202of the header200. For example, the bracket214may bend laterally-inwardly at an elbow217. However, it should be appreciated that an entirety of the bracket214may extend laterally-inwardly from the arm221or the bracket214have any of a variety of other configurations that position the sensor211laterally-inwardly of the lateral edges202of the header200.

FIG.3is a perspective view of the header200and the sensor assembly210ofFIG.2. The cutter bar assembly230is positioned at a forward end of the header200relative to the longitudinal axis142of the header200. The cutter bar assembly230extends laterally along a substantial portion of the width of the header200(e.g., approximately 100, 95, 90, 85, 80, or 75 percent of the lateral extent203of the header200). As the harvester100is driven through the field, the cutter bar assembly230engages and cuts crops within the field.

In the illustrated embodiment, the header200includes a first lateral belt204on a first lateral side of the header200and a second lateral belt205on a second lateral side of the header200, opposite the first lateral side. Each belt is driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The first lateral belt204and the second lateral belt205are driven such that the top surface of each belt moves laterally inward. In addition, the header200includes a longitudinal belt206positioned between the first lateral belt204and the second lateral belt205along the lateral axis140. The longitudinal belt206is driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The longitudinal belt206is driven such that the top surface of the longitudinal belt206moves rearwardly relative to the direction of travel146.

In the illustrated embodiment, the crops cut by the cutter bar assembly230are directed toward the belts at least in part by the reel assembly220, thereby substantially reducing the possibility of the cut crops falling onto the surface of the field. The reel assembly220includes a reel227having multiple fingers222extending from a central framework223. The central framework223is driven to rotate such that the fingers222move (e.g., in a circular pattern). The fingers222are configured to engage the crops and urge the cut crops toward the belts. The cut crops that contact the top surface of the lateral belts204,205are driven laterally inwardly to the longitudinal belt206due to the movement of the lateral belts204,205. In addition, cut crops that contact the longitudinal belt206and the cut crops provided to the longitudinal belt206by the lateral belts204,205are driven rearwardly relative to the direction of travel146due to the movement of the longitudinal belt206. Accordingly, the belts move the cut agricultural crops through an opening in the header200to the inlet of the agricultural crop processing system120(FIG.1).

In the illustrated embodiment, the reel227includes multiple sections coupled to one another. In particular, the reel227includes a center section224(e.g., positioned forward of a center section207of the frame201of the header200relative to the direction of travel146), a first wing section225, and a second wing section226. In the illustrated embodiment, each section of the reel227is supported by one or more arms221that are coupled to the frame201of the header200. While the reel227includes three sections224,225,226coupled to the frame201of the header200via four arms221, it should be appreciated that the reel227may include any number of sections coupled to the frame201of the header200via any number of arms221(e.g., one section coupled to the frame201of the header200via two arms221; two sections coupled to the frame201of the header200via three arms221; four sections coupled to the frame201of the header200via five arms221).

As discussed in detail below, regardless of the number of arms221, each arm221is pivotally coupled to the frame201of the header200via a respective pivot joint. The pivot joints are configured to enable the arms221to pivot (e.g., about the lateral axis140) relative to the frame201of the header200. An actuator228may be coupled to each arm221and configured to drive the respective arm221to rotate about the respective pivot joint, thereby controlling a position of the reel227relative to the frame201of the header200along the vertical axis144. Such a configuration may enable the reel227to be positioned at an appropriate position along the vertical axis144to engage the crops to prepare the crops to be cut by the cutter bar assembly230and/or to urge the cut crops toward the belts204,205,206, for example. In some embodiments, each section of the reel227may also be configured to slide along its respective arm(s)221to enable the reel227to move along the longitudinal axis142relative to the frame201of the header200. Such a configuration may enable at least a portion of the reel assembly220to be positioned forward of the cutter bar assembly230relative to the direction of travel146to enable the reel assembly220to engage the crop to prepare the crop to be cut by the cutter bar assembly230, for example.

As noted above, the sensor assembly210may be coupled to or included as part of the reel assembly220. The sensor assembly210may include one or more brackets214and one or more sensors211. In the illustrated embodiment, each of the arms221is coupled to a respective bracket214that supports a respective sensor211. However, only some of the arms221may be coupled to a respective bracket214that supports a respective sensor211. For example, only the laterally-outer arms221may be coupled to a respective bracket214and a respective sensor211, only the laterally-inner arm(s)221may be coupled to a respective bracket214and a respective sensor211, and/or every other arm221(e.g., non-adjacent or alternating arms) may be coupled to a respective bracket214and a respective sensor211. As discussed in more detail below, regardless of the number of brackets214and sensors211included in the sensor assembly210, the sensors211may be positioned laterally-inwardly of the lateral edges202of the header200. For example, as shown, at least the brackets214coupled to the laterally-outer arms221may bend laterally-inwardly to position the respective sensor211laterally-inwardly of the lateral edges202of the header200. In the illustrated embodiment, the bracket214bends at the elbow217. However, as noted above, it should be appreciated that an entirety of the bracket214may extend laterally-inwardly from the arm221or the bracket214or have any of a variety of other configurations that position the sensor211laterally-inwardly of the lateral edges202of the header200.

FIG.4is a top view of a portion of the header200and the sensor assembly210ofFIG.2. As shown, the bracket214is coupled to the arm221. In particular, the bracket214extends forward from the arm221to position the respective sensor211forward of the cutter bar assembly230(e.g., relative to the direction of travel146) and/or extends laterally-inwardly via a bend to position the respective sensor211laterally-inwardly of the lateral edges202of the header200. In the illustrated embodiment, the bracket214bends at the elbow217. For example, the bracket214includes a longitudinally-extending portion218and a laterally-extending portion219that are joined at the elbow217. The bend (e.g., at the laterally-inner edge of the elbow217) may have any suitable angle, such as between about 10 to 90, 20 to 80, 30 to 70, or 40 to 60 degrees.

As shown, the sensor211may be positioned such that the detected area213is completely laterally-inward of the lateral edge202of the header200. Thus, the sensor211only detects the relevant features of the unharvested crop field that the header200will travel over as the header200continues its current pass through the field. In some embodiments, a laterally-outer edge of the detected area213may substantially align with the lateral edge202of the header200along the lateral axis140(e.g., less than 5, 10, 15, or 20 percent of the detected area extends laterally-outwardly of the lateral edge202of the header). It should be appreciated that the sensor211may be positioned such that the detected area213is substantially laterally-inward of the lateral edge202of the header200(e.g., at least 95, 90, 85, 80, 75, 70, 65, 60, 55, or 50 percent of the detected area213is laterally-inward of the lateral edge202of the header200).

As noted above, the arm221may move vertically to position the reel227at an appropriate position relative to the crop in the field. As the arm221moves vertically, the bracket214and the sensor211may also move vertically. The disclosed embodiments may account for the vertical position of the sensor211relative to the ground148(FIG.1) or other detected object (e.g., crops) to keep the detected area213substantially or completely laterally-inward of the lateral edges202of the header200as the header200travels through the field. In some embodiments, the sensor211may have the field of view212and be positioned on the bracket214so that the detected area213is always substantially or completely laterally-inward of the lateral edges202of the header200, regardless of the vertical position of the sensor211. For example, at a first vertical position (e.g., limit position, lowest position), the sensor211may detect a relatively smaller detected area213that is completely within the lateral edges202of the header200. And at a second vertical position (e.g., limit position, highest position), the sensor211may detect a relatively larger detected area213that is also completely within the lateral edges202of the header200.

In some embodiments, features of the sensor assembly210may be adjustable to account for the vertical position of the sensor211. For example, the field of view212of the sensor211may be adjustable based on the vertical position of the sensor211, which may be determined based on feedback from the sensor211itself (e.g., data obtained by the sensor211is indicative of the vertical position of the sensor211) and/or based on the position of the arm221. In some embodiments, the electronic controller may receive an indication of the vertical position of the sensor211and then adjust the field of view212of the sensor211to keep the detected area213within the lateral edges202of the header200. Thus, the field of view212of the sensor211may adjust automatically in response to changes in the vertical position of the sensor211.

As shown inFIG.5, in some embodiments, the bracket214may be adjustable. For example, inFIG.5as compared toFIG.4, the bracket214is adjusted to move the sensor211further laterally-inwardly relative to the lateral edge202of the header200in response to the sensor211moving vertically higher above the features of the unharvested crop field. The bracket214may be adjustable in any of a variety of ways, such as a telescoping arm that extends and retracts (e.g., the laterally-extending portion219may be a telescoping arm). In some embodiments, the electronic controller may receive an indication of the vertical position of the sensor211and then instruct an actuator to adjust the bracket214to keep the detected area213within the lateral edges202of the header200. Thus, the bracket214may adjust automatically in response to changes in the vertical position of the sensor211. It should be appreciated that other techniques may be employed. For example, processing techniques may process the data obtained by the sensors211to exclude the features of the unharvested crop field that are determined to be outside of the lateral extent203of the header200(e.g., determined based at least in part on inputs related to the vertical position of the sensor211).

As noted above, it should be appreciated that an entirety of the bracket214may extend laterally-inwardly from the arm221or the bracket214, as shown inFIG.6. In particular, the bracket214may extend from the arm221at an angle that positions the sensor211laterally-inwardly of the lateral edge202of the header200.

Additionally, the sensors211may be coupled to the header200in other ways. For example,FIG.7is a perspective view of an embodiment of the header200and the sensor assembly210that may be used in the harvester100ofFIG.1. As shown, the sensor assembly210is coupled to the frame201of the header200at a position that is laterally-inward of the lateral edges202of the header200. In particular, the brackets214are coupled to (e.g., directly coupled to; in contact with; extends from) the frame201at a position that is laterally-inward of the lateral edges202of the header200. The brackets214may extend up and over the reel assembly220and the cutter bar assembly230. In this way, the sensors211may be positioned to effectively detect the relevant features of the unharvested crop field that are forward of the header200and/or within the lateral extent203of the header200. For example, each of the laterally-outer sensors211may be positioned laterally-inward of the respective lateral edge202of the header200by a distance240that approximately equals (e.g., within 1, 2, 3, 4, 5, 10, 15, or 20 percent) and/or is less than a radius242of the detected area213. In some embodiments, some of the sensors211(e.g., the laterally-inner sensors211) may be coupled to and supported by the arms221of the reel assembly220, as shown inFIGS.2-6, while other sensors211(e.g., the laterally-outer sensors211) may be coupled to and supported by the frame201of the header200, as shown inFIG.7.

Additionally or alternatively, it may be desirable to orient one or more of the sensors211such that a central axis of the field of view212of the sensor211is at a non-parallel angle relative to the vertical axis144of the header200. Such a configuration may enable the detected area213to be laterally-inward of the lateral edges202of the header200, even while the sensor211is positioned on the laterally-outer arm221or otherwise positioned proximate to the lateral edge202of the header200.

For example,FIG.8illustrates a harvester100′ having a header200′ and a sensor assembly210′. As shown, at least two of the sensors211′ may be positioned proximate to the lateral edges202′ of the header200′. If the sensors211′ were oriented so that a central axis250of their field of view212′ was aligned with the vertical axis144′ of the header200′, the detected area213′ would extend laterally outside of the lateral edges202′ of the header200′. However, as shown, the central axis250of the field of view212′ is angled (e.g., non-parallel) relative to the vertical axis144′ of the header200′, which may cause the detected area213′ to be substantially or completely within the lateral extent203′ of the header200′. It should be appreciated that the central axis250of the field of view212′ may be angled (e.g., in a plane that is not aligned with the vertical axis144′) to cause the detected area213′ to be forward of the header200. The harvester100′ may also include additional sensors211′ that are positioned at other locations along the header200′ that are oriented such that their field of view212′ is aligned with (e.g., parallel to) the vertical axis144′ of the header200′.

It should be appreciated that the sensor211′ (e.g., the housing) may be mounted on the bracket214′ (FIG.9) or otherwise coupled to the header200′ in a manner that causes the central axis250of the field of view212′ to be angled relative to the vertical axis144′ of the header200′ (e.g., the sensor211′ is rotated on the bracket214′), or the sensor211′ itself may be modified to direct its field of view212′ at the angle relative to the vertical axis144′ of the header200′.

FIG.9is a top view of a portion of the header200′ and the sensor assembly210′ ofFIG.8. As shown, the sensor assembly210′ includes the bracket214′, which may be coupled to the arm221′ of the reel assembly220′. The detected area213′ is offset laterally-inwardly (e.g., the detected area213′ is not centered below the sensor211′), and in particular, the detected area213′ is offset laterally-inwardly such that the detected area213is substantially or completely within the lateral extent203of the header200(e.g., does not extend laterally outside of the lateral edges202of the header200).

In some embodiments, a laterally-outer edge of the detected area213′ may substantially align with the lateral edge202′ of the header200′ (e.g., along the lateral axis140′). It should be appreciated that, in some embodiments, the detected area213may be offset laterally-inwardly such that the detected area213is substantially within the lateral extent203′ of the header200′ (e.g., at least 95, 90, 85, 80, 75, 70, 65, 60, 55, or 50 percent of the detected area213′ is laterally-inward of the lateral edge202′ of the header200′). Additionally, as discussed above, the arm221′ may move vertically. Accordingly, it may be desirable to adjust the field of view212′ and/or the orientation of the sensor211′ relative to the vertical axis140′ based on the height of the sensor211′. For example, the electronic controller may receive an indication of the vertical position of the sensor211′ and then control an actuator to rotate the sensor211′ relative to the frame201′ of the header200′ to adjust the orientation of the sensor211′ to keep the detected area213′ substantially or completely within the lateral edges202′ of the header200′. Thus, the orientation of the sensor211′ may adjust automatically in response to changes in the vertical position of the sensor211′.

As discussed herein, certain components may be coupled to an electronic controller having a processor and a memory. The electronic controller may control operation of the sensor211,211′ and/or process signals received from the sensor211,211′. The processor may receive signals indicative of the height of the sensor211,211′, and the processor may instruct an actuator to adjust the bracket214,214′, the sensor211,211′, or another component of the sensor assembly210. An electronic controller251having a processor252and a memory253is shown inFIG.9as an example, and it should be understood that these components may be included in any of the sensor assemblies210,210′ described herein to carry out any of the functions described herein.

The processor may be any suitable type of computer processor or microprocessor capable of executing computer-executable code. The processor may also include multiple processors that may perform the operations described herein. The memory may represent non-transitory computer-readable media (e.g., any suitable form of memory or storage) that may store the processor-executable code used by the processor to perform various techniques described herein. It should be noted that non-transitory merely indicates that the media is tangible and not a signal.

While only certain features have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the disclosure. It should also be understood that any of the features ofFIGS.1-9may be combined in any suitable manner. For example, at least some of the sensors211ofFIGS.1-7may be oriented at an angle relative to the vertical axis144in the manner shown and described with respect toFIGS.8and9.