# Patent

## Title
Method for managing the electrical control system of a windrower header flotation and lift system

## Abstract

A system and method for managing the electrical control system of a header flotation and lift system of an agricultural harvesting machine, particularly one using only once fluid cylinder in connection with each respective side of the header, which system and method, in addition to executing header raise and lower commands, provides several automatically executable operating modes for the flotation and lift system, including a wake-up mode; a normal mode, which can include float; a charge accumulator mode; a transport mode; and a header remove mode, and the ability to seamlessly and easily transition between the modes.

## Background
This application is a Divisional Application of U.S. patent application Ser. No. 11/486,495 filed Jul. 14, 2006, now U.S. Pat. No. 7,555,883, which is a Continuation-In-Part of Ser. No. 10/822,465, now U.S. Pat. No. 7,168,226, filed Apr. 12, 2004; and claims priority to U.S. Provisional Application No. 60/699,271, filed Jul. 14, 2005; and U.S. Provisional Application No. 60/699,548, filed Jul. 15, 2005.


FIELD OF THE INVENTION
The present invention relates to agricultural harvesting machines, such as windrowers and, more particularly, to a method and system for controlling the operation of a header flotation and lift system for such a machine.
BACKGROUND OF THE INVENTION
U.S. Pat. No. 6,901,729; U.S. patent application Ser. No. 10/822,465, filed Apr. 12, 2004; U.S. Provisional Application No. 60/699,271, filed Jul. 14, 2005; and U.S. Provisional Application No. 60/699,548, filed Jul. 15, 2005, are each incorporated herein by reference in its entirety.
The present invention relates generally to harvesting machines of the type that require flotation systems for permitting their headers to ride lightly up and over rises in the terrain during field operation, and particularly to a hydraulic header lift and flotation system for such a machine that will provide the dual functions of header lift and flotation.
Header flotation systems typically use extension springs, either hydraulically or manually adjusted, bell cranks and other linkages to provide the desired function. The structure generally requires numerous components and large extension springs, and it is quite difficult to develop the mechanical components required to float the broad range of header sizes available even requiring different tractors or frames having their own flotation systems designed to meet their own particular header weight requirements.
Some manufacturers are using an accumulator and hydraulic cylinders to perform the flotation function. These machines typically use separate hydraulic cylinders for the lift and flotation functions, and they lack the capability of independently adjusting the flotation force for each side of the header. Additionally, some headers are not inherently balanced side to side. Special considerations must be made to float and lift these headers evenly by adding ballast, which can become unreasonably heavy or awkward, or modifying the lift geometry of one side.
It would be quite beneficial to have a header lift and flotation system that employs a single hydraulic cylinder for each side of the header, simplifying the controls and mechanical components necessary to perform these functions. It would also be beneficial to have an automatic capability for managing and controlling the hydraulics of the lift and flotation system in several operating modes, including, but not limited to, a wake-up mode where an operation of the system is initiated, including the setting of initial flotation force; a normal mode including wherein conventional operator inputs will be applied for controlling the height of the header and the flotation force; a charge accumulator mode for charging the accumulator or accumulators which provide the flotation capability; a transport mode to put the header into a raised transport mode under certain specific conditions; and a header remove mode which facilitates removal of the header and operation of the flotation system with the header removed.
SUMMARY OF THE DISCLOSURE
Accordingly, it is an object of the present invention is to provide a hydraulic lift and flotation system for the header of a crop harvesting machine that employs a single hydraulic cylinder for each side of the header.
Another object of the present invention is to provide a hydraulic lift and flotation system to be used with both heavy and light headers/conditioners, i.e., a broad range of header sizes and weights.
It is another object of the instant invention to provide a more simplified structure that presents greater flexibility in locating the accumulator as opposed to extension springs and necessary linkages, with fewer pivot points to wear and fewer parts to manufacture and assemble.
It is still another object of the instant invention to provide a flotation and lift system that requires no dealer or customer assembly.
It is an even still further object of the instant invention to provide a hydraulic header flotation and lift system that reduces hydraulic and mechanical shock loading when raising the header in a less than fully raised position, improving the ride comfort for the operator and improving hydraulic and structural durability of the harvester.
It is yet another object of this invention to provide an improved hydraulic header lift and flotation system that is durable in construction, inexpensive of manufacture, carefree of maintenance, facile in assemblage, and simple and effective in use.
It is yet another object of this invention to provide a system and method for managing the electrical control system of a windrower header flotation and lift system that provides several automatically executable operating modes for the flotation and lift system, such as a wake-up mode; a normal mode, which can include float; a charge accumulator mode; a transport mode; and a header remove mode, and the ability to seamlessly and easily transition between the modes, for achieving operational advantages, including improved smoothness and efficiency.
These and other objects are attained by providing a hydraulic lift/flotation system for the header of a crop harvesting machine. Each side of the header is supported by a single cylinder that performs both the flotation and lift functions. The hydraulic lift/flotation system for controlling the cylinders can be of an independent type wherein separate fluid circuitry and valves are provided for controlling each cylinder, or the system can be of a non-independent type, wherein the cylinders are controlled jointly. In this latter instance, to accommodate unbalanced headers (center of gravity not centered between the lift arms), hydraulic oil can be sent to the return side of the lift cylinder on the lighter side of the header, thus resulting in even raising, lowering and float. In the former instance, that is, the independent system, for even lifting and flotation of an unbalanced header, each cylinder has its own control valve, pump, and accumulator, i.e., the left and right systems are generally mirror images of each other, and can be adjusted separately to achieve evenness.
In both instances, that is, for both independent and non-independent systems, the operator sets the desired flotation force by actuating an input device which can be, but is not limited to, a rocker switch, the independent system having two, the non-independent system having one; wherein one switch position allows hydraulic oil to enter an accumulator to reduce header contact force with the ground. The other position allows oil to exit the accumulator to increase header contact force with the ground. With the independent system, to evenly float an unbalanced header, the separate switches adjust each side independently. Once the flotation forces are set, the control valves will return to this preset flotation condition whenever float mode is selected, regardless of subsequent header lift and lower operations.



BRIEF DESCRIPTION OF THE DRAWINGS
The advantages of this invention will be apparent upon consideration of the following detailed disclosure of the invention, especially when taken in conjunction with the accompanying drawings wherein:
FIG. 1 is a partial side elevational view of a crop harvesting machine of the type with which the invention may be used, also showing a simplified side view of the lift and flotation system of the instant invention;
FIG. 2 is a hydraulic schematic view of one embodiment of a hydraulic system with which the instant invention can be used, which is an example of a non-independent system;
FIG. 2a is a hydraulic schematic view of another embodiment of a hydraulic system with which the instant invention can be used, which is an example of an independent system;
FIG. 3 is a schematic of hydraulic, mechanical and electrical sub-systems that cooperate to produce the system of FIGS. 1 and 2.
FIG. 3a is a schematic of hydraulic, mechanical and electrical sub-systems that cooperate to produce the system of FIGS. 1 and 2a. 
FIG. 4 is a written listing of steps of a computer program embodying steps of a preferred method of the invention;
FIG. 5 is a written listing of further steps of the preferred program of the invention;
FIG. 6 is a written listing of still further steps of the preferred program of the invention;
FIG. 7 is a written listing of still further steps of the preferred program of the invention;
FIG. 8 is a written listing of still further steps of the preferred program of the invention;
FIG. 9 is a written listing of still further steps of the preferred program of the invention;
FIG. 10 is a written listing of still further steps of the preferred program of the invention;
FIG. 11 is a written listing of still further steps of the preferred program of the invention;
FIG. 12 is a written listing of still further steps of the preferred program of the invention;
FIG. 13 is a written listing of still further steps of the preferred program of the invention;
FIG. 14 is a written listing of still further steps of the preferred program of the invention;
FIG. 15 is a written listing of still further steps of the preferred program of the invention;
FIG. 16 is a written listing of still further steps of the preferred program of the invention;
FIG. 17 is a written listing of still further steps of the preferred program of the invention;
FIG. 18 is a written listing of still further steps of the preferred program of the invention;
FIG. 19 is a written listing of still further steps of the preferred program of the invention;
FIG. 20 is a written listing of still further steps of the preferred program of the invention;
FIG. 21 is a written listing of still further steps of the preferred program of the invention
FIG. 22 is a written listing of still further steps of the preferred program of the invention;
FIG. 23 is a written listing of still further steps of the preferred program of the invention;
FIG. 24 is a written listing of still further steps of the preferred program of the invention;
FIG. 25 is a written listing of still further steps of the preferred program of the invention;
FIG. 26 is a written listing of still further steps of the preferred program of the invention;
FIG. 27 is a written listing of still further steps of the preferred program of the invention;
FIG. 28 is a written listing of still further steps of the preferred program of the invention;
FIG. 29 is a written listing of still further steps of the preferred program of the invention;
FIG. 30 is a written listing of still further steps of the preferred program of the invention;
FIG. 31 is a high level flow diagram showing steps of aspects of a preferred method of the invention;
FIG. 31a is a continuation of the diagram of FIG. 31; and
FIG. 31b is a high level flow diagram showing steps of other aspects of the preferred method of the invention;
FIG. 31c is a high level flow diagram showing steps of other aspects of the preferred method of the invention;
FIG. 32 is simplified front view of the machine of FIG. 1, illustrating in dotted lines a header of the machine in alternative positions;
FIG. 33 is another simplified front view of the machine of FIG. 1, with the header in a lowered position;
FIG. 34 is another simplified front view of the machine of FIG. 1, with the header in an elevated transport position;
FIG. 35 is another simplified front view of the machine of FIG. 1, with the header tilted in one direction; and
FIG. 36 is another simplified front view of the machine of FIG. 1, with the header tilted in another direction.



DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
Many of the fastening, connection, processes and other means and components utilized in this invention are widely known and used in the field of the invention described, and their exact nature or type is not necessary for an understanding and use of the invention by a person skilled in the art, and they will not therefore be discussed in significant detail. Also, any reference herein to the terms “left” or “right” are used as a matter of mere convenience, and are determined by standing at the rear of the machine facing in its normal direction of travel. Furthermore, the various components shown or described herein for any specific application of this invention can be varied or altered as anticipated by this invention and the practice of a specific application of any element may already by widely known or used in the art by persons skilled in the art and each will likewise not therefore be discussed in significant detail.
FIG. 1 shows the present invention utilized in connection with a self-propelled windrower 10; however, it will be appreciated that the principles of the present invention are not limited to a self-propelled windrower, or to any specific type of harvesting machine.
In the illustrated embodiment, the self-propelled windrower 10 comprises a tractor 12 and a header 14, the header 14 being attached to the front end of the frame 16 or chassis of the tractor 12. The header may be of generally any suitable construction and design, and may include not only crop-harvesting mechanisms, but also crop conditioners such as elongate rolls 15. Such attachment of the header 14 to the frame 16 is achieved through a pair of lower arms 18 (only the left one being shown, the right being generally the same) pivoted at one end to the frame 16 and at the other end to the header 14, as well as through a central upper link 20. The link 20 may take the form of a single double-acting hydraulic cylinder 21 whose extension and retraction is controlled by the operator to remotely control the angle of sickle bar 22 on the lower front of the header 14.
A single lift/flotation cylinder 24, 26 interconnecting the lower arm 18 and the frame 16 supports each side of the header, i.e., each side of the header is supported by its own lift/flotation cylinder (again, only the left cylinder 24 being shown in FIG. 1, the right cylinder 26 being visible in FIGS. 32, 33, 34, 35 and 36).
The method and system of the invention are configured and adapted for managing and controlling the operation of the lift and flotation functions that control the lift/flotation cylinders. This is done jointly for the cylinders on the opposite sides of the machine in the instance of a non-independent system, and separately, but simultaneously if desired, for the independent system. More specifically, the control system accomplishes two generally separate control functions, one for the right side lift/flotation cylinder and one for the left, and in the non-independent system only one control system is used, but in the independent system, there are actually two control subsystems, one generally the operational mirror image of the other. FIGS. 35 and 36 illustrate an advantage of the independent system which is an ability to control cylinders 24 and 26 of windrower 10 to extend and retract by different extents, for effecting tilting of header 14 relative to tractor 12, in either sideward direction, to a desired extent. In actuality, the two systems may be totally separate, or they may share some operational components and a similar cylinder structure.
Directing attention now to FIG. 2, the hydraulic control system for left cylinder 24 and right cylinder 26 can be seen to include a single electro-hydraulic subsystem 30. This is representative of a non-independent system. In FIG. 2a, on the other hand, two basically similar electro-hydraulic subsystems 30 and 32 are used for controlling cylinders 24 and 26, respectively. This represents an independent system. For convenience of assembly and operation, in both instances, the majority of the components are housed in a single valve body 34 with appropriately located ports and other necessary connection devices and fixtures. Explaining the non-independent system of FIG. 2, a fixed displacement pump 36 moves the hydraulic fluid into subsystem 30 from reservoir 40, through the various circuits or fluid paths, as directed by control valves, to accumulator 42, to hydraulic cylinders 24 and 26 and back to reservoir 40 as appropriate. Explaining the independent system of FIG. 2a, a pair of fixed displacement pumps 36, 38 move the hydraulic fluid into respective subsystems 30, 32 from reservoir 40, through the various circuits as directed by control valves, to accumulators 42, 44, to hydraulic cylinders 24, 26 and back to reservoir 40 as appropriate.
FIG. 3 provides a more detailed depiction of the complete control system and subsystems of the non-independent system. FIG. 3a does so for the independent system. Referring to FIG. 3a, and as also representative of FIG. 3, the left hand (“LH”) and right hand (“RH”) hydraulic systems, as shown also in FIG. 2a, additionally depict the electrical control and mechanical subsystems. Importantly, this figure depicts the multi-channel programmable controller 50 which exchanges electrical signals from the LH and RH float switches 52, 54, the PWM (pulse width modulated) solenoids 56, 58 which control the proportional pressure reducing valves PRV, the unload/relief valves 60, 62, and other valves to manage the lift and flotation functions as established by the operator through the appropriate switches as shown on display 64.
In operation, referring also to FIGS. 32, 33, 34, 35 and 36, and as explained above, each side of the header is supported by a single cylinder 24 or 26 that performs both the flotation and lift functions. In the independent system of FIGS. 2a and 3a, for even lifting (FIGS. 32, 33 and 34) and flotation of an unbalanced header, each cylinder has its own control valve, pump, and accumulator. The operator sets the desired flotation force by actuating rocker switches 52, 54 located on the operator's console. One switch position allows hydraulic oil to enter an accumulator (increasing the hydraulic pressure) which reduces the header contact force (flotation) with the ground. The other position allows oil to exit that accumulator (reducing the hydraulic pressure) which increases the header contact force with the ground. To evenly float unbalanced headers, there are separate switches to adjust each side independently. Once the flotation forces are set, the control valves will return to this preset flotation condition whenever the float mode is selected, irrespective of subsequent header lift and lower operations (FIGS. 32, 33 and 34). The independent sub-systems 30 and 32 can also be operated independently or to different extents, to achieve a tilting of header 14 in either direction, as illustrated in FIGS. 35 and 36.
In the non-independent system of FIGS. 2 and 3, the operator sets the flotation force for both cylinders using single switch 52. A hydraulic counterweight capability for unbalanced conditions is provided by turning a manual control valve 66 to apply more weight (hydraulic pressure) to the light side of the header until the header raises and lowers to a level condition. If too much weight is applied, the operator simply turns the valve in the opposite direction. Once the correct setting is established, the hydraulic counterweight will not need to be readjusted during machine operation. Re-adjustment will only become necessary if the header builds up with debris or upon exchange with another header. For headers that experience severe changes in balance during normal operation, i.e., draper headers with deck-shift, an electro-hydraulic valve can be installed in place of the manual control valve. This electro-hydraulic valve is adjusted from a rocker switch on the operator's console. The operator then sets the hydraulic counterweight for each deck position. Once these values are established, the control valve will adjust automatically as the deck positions are selected.
Cylinders 24 and 26 are utilized for both raising and lowering header 14 relative to tractor 12 of windrower 10 (FIGS. 32, 33 and 34) and, in the instance of the independent system of FIGS. 2a and 3a, also for sidewardly tilting header 14 relative to tractor 12 (FIGS. 35 and 36). For these purposes, the independent system of FIGS. 2a and 3a includes valves 70 and 72, controlled by solenoids B and F, respectively; valves 74 and 76, controlled by solenoids C and G, respectively; and valves 78 and 80, controlled by solenoids D and H, respectively. Solenoids B and F; C and G; and D and H, as well as PWM solenoids 56 and 58, are connected to controller 50 via suitable conductive paths, such as wires or the like, for receiving commands and/or operating signals therefrom.
Controller 50 is programmed according to a preferred method of the instant invention for managing subsystems 30 and 32, for automatically executing a variety of operating modes for the flotation and lift system, which include, but are not limited to, a wake-up mode; a normal mode including float control; a charge accumulator mode; a transport mode; and a header remove mode, responsive to various inputs and or sensed conditions, so as to have the capability to seamlessly and easily transition between the modes, for achieving operational advantages, including improved smoothness and efficiency. The program incorporating the steps of the preferred method of the instant invention are set forth in written form generally in lines 175-940 of FIGS. 4 through 30. Operating steps of the method of the invention as embodied in the program are illustrated in the diagram of FIGS. 31, 31a, 31b and 31c. 
More specifically, the program provides a general managing or operating architecture of the independent subsystems 30 and 32 of the independent system, and is also configured for operating subsystem 30 of the non-independent system. Controller 50 sends programmed signals, in the form of current of variable values, to PWM solenoids 56 and 58 which control the respective PRVs, which responsively control the amount of flotation force or pressure, as set by the operator using float switches 52 and 54, also referred to sometimes in the program as trim switches. The PRVs are current controlled/regulated. Controller 50 is preferably of the type known as a micro-controller or an embedded controller unit (ECU). The accumulators replace traditional springs.
Operation is generally as follows:

    
    
        raising header 14 (FIGS. 32, 33 and 34) through a first side or fluid path of the circuit extending between the source or sources of pressurized fluid (pumps 36 and 38) and the respective fluid cylinders 24 and 26, using solenoids D and H, respectively;
        flotation is achieved through a second fluid path extending between the respective fluid cylinders 24 and 26 and respective accumulators 42 and 44, with flotation force setting easily adjusted with the press of switch 52 and/or switch 54 for changing conditions;
        lowering header 14 is accomplished through a third fluid path including the PRV circuit and connecting with the respective pump 36 or 38, reservoir 40 and the second fluid path, using solenoids B, C and 56 of subsystem 30, and solenoids F, G and 58 of subsystem 32;
        floatation settings can be remembered for a header that has varying lateral weight distribution (e.g., the “Honey Bee”) and can be recalled immediately when a new lateral position is executed;
        execute a charge accumulator cycle via the PRV circuit (second and third) fluid paths) at the first press of a header lower switch—variable with engine rpm.
    
    


Referring also to FIGS. 4, 5 and 6, general steps of mapping, setting variables and function prototyping are illustrated. Referring to FIG. 7 in lines 185 through 210, and to diagram 86 of FIG. 31, steps of a header wakeup mode of the system management scheme of the invention are set forth. In this mode, the objective is restoration of operation of header 14 in a normal mode after a period of inactivity. In each of the instance of header wakeup, whether by a received header raise or lower command, or activity of switches 52 and/or 54, controller 50 will respond in an appropriate manner. If the received command is a header raise command, controller 50 can operate normally to immediately permit turning on of solenoids D and H for allowing pressurized hydraulic fluid flow from pumps 36 and 38 through the first fluid paths, that is, through valves 78 and 82 cylinders 24 and 26. If, on the other hand, the received command is a header lower command, if accumulators 42 and 44 are not at least minimally charged, lift arms 18 may lower or drop more rapidly than desired. This is to be avoided. Therefore, controller 50 will automatically proceed to check flotation switch status and charge accumulators 42 and 44 using the second and third fluid paths, if necessary, prior to executing a header lower command. This is set forth generally in lines 211-350 of FIGS. 8 through 11.
This will entail getting trim switch information (float switches 52 and 54), which will include checking the switches for activity (lines 223-245), and getting the previous flotation force settings and applying them if the accumulators are not being charged responsive to switch 52 and/or 54 activity (lines 246-265). Note here that, because systems 30 and 32 can be operated separately, flotation force settings for each will be obtained, including any offsets required.
If charging is required, PWM solenoids 56 and 58 will receive appropriate signals for the desired flotation set points, respectively, to set the pressurization (lines 285-290), and solenoids B and F will be turned on, to effect the pressurization of the accumulators 42 and 42 to the set pressure point or points. After this has occurred, execution of a header lower command can occur. This is effected by turning on solenoids B, F, C and G (e.g., lines 355-360; 385-390), which allows hydraulic fluid flow from cylinders 24 and 26 through the second and third fluid paths to reservoir 40.
At any time, header 14 can be raised by turning on of solenoids D and H for allowing pressurized hydraulic fluid flow from pumps 36 and 38 through valves 78 and 82 cylinders 24 and 26.
Once accumulators 42 and 44 are charged, a float mode is effected by turning on solenoids C and G, to allow fluid flow between cylinder 24 and accumulator 42, and between cylinder 26 and accumulator 44.
From time to time, it will be desirable to remove header 14 from windrower 10. This typically entails raising the header using cylinders 24 and 26. Jack stands, either included on and pivotable downward from header 14, or separate therefrom, or other support structure for supporting header 14 independently of lower arms 18, are then deployed. Pins connecting header 14 with lower arms 18 are then removed. Lower arms 18 can now be lowered and separated from header 14, and upper link 20 disconnected, to enable driving windrower 10 separately of and away from header 14. Since any flotation force would be outwardly acting on cylinders 24 and 26, the presence of such flotation force is typically viewed as a detriment when it is desired to disconnect lower arms 18 from header 14. Lower arms 18 are typically cooperatively received in cups on header 14 and often require some exertion of downward force to release from the cups. Sometimes, the operator will exit the operator cab of windrower 10 and apply his or her weight to lower arms 18 to release them from header 14. Any upward force, such as a flotation force, would counter this, and thus be undesirable. As result, the operator typically will adjust or set the flotation force using float switches 52 and 54 down to zero or near zero. Then, when arms 18 are lowered using a header lower command to operate cylinders 24 and 26, because there is no upwardly directed flotation force, arms 18 will typically drop or fall from header 14.
Sometimes, it will be desirable to have the capability for the operator to exit the machine cab to disconnect arms 18 from header 14. Typically, the operator will turn the park brake on when exiting the cab. If the park brake is on, controller 50 will automatically maintain a zero flotation force for a predetermined period of time, for instance, five minutes, for the operator to exit the cab and loosen and/or disconnect arms 18 from the header.
In the header remove mode, it may be desirable to raise arms 18, which can be accomplished by a header raise command to operate cylinders 24 and 26. However, from a raised position, it will typically be undesirable to execute a header lower command to lower arms 18 with header 14 attached without some flotation force present, as arms 18 will essentially just drop. Therefore, it is desirable to manage this situation using an automatic routine for operation of controller 50 which accommodates operation of systems 30 and 32 in a header remove mode.
Directing attention to the program listing of FIGS. 15 through 23 (lines 540-855), and also continuing as denoted by balloon A from flow diagram 86 of FIG. 31 to that of FIGS. 31a and 31b, steps for operation in a header remove mode, are shown. This mode is initiated by float switches 52 and 54 having been operated to drop the set point for the flotation force to zero, or near or about zero, as denoted by decision block 88. That is, a flotation force level which substantially ineffective for flotation purposes. This is because it is believed that the operator will typically not zero switches 52 and 54 unless it is desired to remove the header. When controller 50 recognizes or initiates the header remove mode, as denoted at block 90, it will naturally determine at decision block 91 that the trim switch set points are lower than 100 and will set the flotation force to zero (line 546) and clear or reset a 5 minute timer (line 567), as denoted at blocks 92 and 94. If a header raise command is present, as determined at decision block 96, controller 50 will set a flag (line 571), and will proceed to execute the command in due course (lines 782-820) by actuating valves 78 and 80 via solenoids D and H to raise arms 18, as denoted at block 98. This is done without first requiring charging the accumulators. Controller 50 will then remain in the header remove mode and return to decision block 96. If, at decision block 96, no header raise command is present, controller 50 will proceed, as denoted by following balloon D, to check for the presence of a header lower command, as denoted at decision block 100 in FIG. 31b. If no header lower command is present, following balloon E, controller 50 will remain in the header remove mode (PRVs at zero pressure such that flotation force equals zero), or go to some other suitable location such as to decision block 96. If, on the other hand, at decision block 100, a header lower command is detected, controller 50 will output a signal to the operator for a confirmation from the operator that a header lower command is desired (lines 580-585), as denoted at decision block 102. This required confirmation can be in the form of a predetermined operator input, such as another push of the header lower switch (line 582). If no confirmation is received, e.g., the switch is not pushed, controller 50 will disregard the command and follow balloon E and loop back to the top of the header remove routine, or to another suitable location, such as decision block 96. If, at decision block 102, the header lower command is confirmed, controller 50 will proceed to lower the arms, as denoted at block 114, and check for termination of a header lower command, as denoted at decision block 103. If the lower command is present the arms will continue to be lowered. If not, the controller will determine if the park brake is off, as denoted at decision block 104. If yes, it will follow balloon E to the top of the header remove mode. If no, it will lower the arms as denoted at the block 113, and proceed to check if the time is greater than 5 minutes, as denoted at block 115. If yes, the controller will follow balloon E to the top of the routine. If no, it will loop back to decision block 104.
The allotted five minute time is intended to allow the operator time to exit the cab and take necessary steps to disconnect or detach arms 18 from header 14, such as prying the arms loose from the cups on the header.
During the normal course of looping through to the top of the header remove routine at balloon E, controller 50 will determine if the trim switch set points are increased to 100 or more, as denoted at decision block 91, and if yes, controller 50 will exit the header remove mode, as denoted at block 106, and follow balloon B to the location shown in FIG. 31. If the set points are not increased to 100, controller 50 will remain looping through this header remove section until the exit condition is met.
Also sometimes, it will be desirable for automatically controlling the lift and flotation system for raising header 14 from a lowered position to an elevated transport position in a transport mode. Referring also to FIGS. 23 through 25 (see generally lines 860-940), and flow diagram 116 of FIG. 31c, this mode is illustrated. In this mode, the header will automatically raise to the transport position (weight supported on the accumulator or accumulators 42 and 44) when certain criteria are met, i.e., when the machine is moving in the high speed range (decision block 118); the header is not operating (decision block 120; the machine speed is above a predetermined a level, for instance, 10 mph (decision block 122); and the last control command or push was “header raise” (decision block 124). If the criteria are not met, controller 50 will remain in its existing operating mode as denoted at block 126. If the criteria are met, controller 50 will begin executing a routine that pressurizes accumulators 42 and 44 to a transport pressure value, as denoted at block 128, and connects them in fluid communication with lift/flotation cylinders 24 and 26. More particularly, referring generally to lines 875-890, this involves turning on solenoids B and F to connect accumulators 42 and 44 with the pressurized hydraulic fluid condition regulated by the PRVs. The PRVs would be programmed with a transport float pressure value. As a result, hydraulic oil from pumps 36 and 38 would be directed as required through the PRVs and valves 70 and 72 controlled by solenoids B and F to accumulators 42 and 44, such that accumulators 42 and 44 would be pressurized to the transport float pressure value. The accumulator or accumulators are then switched in for operation in the float mode, as denoted at block 132. To switch in the accumulators 42 and 44, they are connected in fluid communication with lift/flotation cylinders 24 and 26, respectively, by turning on solenoids C and G, as generally denoted in lines 895-920. The transport pressure value can be chosen such that the header can be raised fully against the upper stop or held slightly away to allow cushioning in both directions. If held slightly away from, that is, below the upper stop, the header will be allowed to rise up by the slight amount. Operation in the normal mode is automatically re-established (following balloon B to FIG. 31) from the transport mode when certain criteria are met or are present, as denoted at decision block 134. Exemplary criteria are set forth in the program.
Criteria for returning to the normal mode, as denoted generally by lines 920-925, can include, but are not limited to, a header lower switch being pushed; a machine speed of less than or below a predetermined speed, for instance, 5 mph; the machine is operated in a speed range other than the high-speed range; or the header PTO is not off. Presence of any one of these criteria can cause the program to return to the normal operating state.
As a result of the system and method of the present invention, the header lift and flotation system of a harvesting machine such as a windrower is provided with an automatic management scheme which provides a system wake-up mode; a charge accumulator mode; a transport mode; and a header remove mode, each of which is initiated by a designated input or inputs and/or presence of one or more predetermined conditions.
It will be obvious to those skilled in the art that various changes may be made without departing from the scope of the invention and the invention is not to be considered limited to what illustrated in the drawings and described in the specification.

## Claims

1. A method of managing a lift and flotation system interconnecting a header and a frame of an agricultural harvesting machine, comprising:
providing a programmable controller in operative control of the header lift and flotation system, the controller being automatically operable in a normal mode for controlling the system to raise the header when a header raise command is present, for controlling the system to lower the header when a header lower command is present, and for setting a flotation force of the system equal to an inputted value therefor;
providing a device controllable by an operator for inputting a selectable value for the flotation force to the controller, including a value of zero or about zero and at least one value greater than about zero;
wherein responsive to an inputted value for the flotation force being zero or about zero, the controller will automatically operate in a header remove mode to control the system to hold the flotation force at the inputted value of zero or about zero, including when the header raise command is present; and
wherein the controller will automatically raise the header to a predetermined elevated transport position when at least the following conditions are present:
the machine is operating in a high speed range; and
a speed of the machine is above a predetermined level.

2. The method of claim 1, wherein when in the header remove mode, if the header raise command is present, the controller will control the system to raise the header while holding the flotation force at the inputted value of zero or about zero.

3. The method of claim 1, wherein when in the header remove mode, when the header lower command is present, the controller will request operator confirmation thereof, and if the confirmation is received, then execute the header lower command.

4. The method of claim 1, wherein when initiating or in the header remove mode, if a park brake of the machine on, the controller will automatically hold the flotation force at the inputted value of zero or about zero for a predetermined time period.

5. The method of claim 1, wherein the device controllable by an operator for inputting a selectable value for the flotation force to the controller comprises a float switch.

6. The method of claim 1, comprising a further step of automatically operating the system in a float mode when the header is in the elevated transport position.

7. The method of claim 6, comprising a further step of automatically changing the operating mode of the system from the transport mode to a normal mode responsive to presence of either of the following conditions:
the machine is no longer operating in the high-speed range; and
the speed of the machine falls below a predetermined value.

8. The method of claim 7, wherein the predetermined level is about 10 mph and the predetermined value is about 5 mph.

9. The method of claim 1, wherein during a period of inactivity, if a header raise command or a header lower command is received, the controller will automatically control the system to increase the flotation force to a predetermined level.