Patent Publication Number: US-2021185880-A1

Title: Header control system for harvester

Description:
BACKGROUND 
     The disclosure relates generally to control of a harvester header. 
     This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art. 
     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. 
     BRIEF DESCRIPTION 
     Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the claimed subject matter, but rather these embodiments are intended only to provide a brief summary of possible forms of the disclosure. Indeed, the disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below. 
     In certain embodiments, a control system for an agricultural system includes a first controller configured to receive sensor information from a plurality of sensors, in which the sensor information is indicative of a height of a header of the agricultural system, and the first controller is configured to convert the sensor information into position data. The control system further includes a second controller communicatively coupled to the first controller, in which the second controller is configured to receive the position data from the first controller, and the second controller is configured to determine a target position of the header based on the position data. 
    
    
     
       DRAWINGS 
       These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein: 
         FIG. 1  is a side view of an embodiment of a harvester having a header, in accordance with an aspect of the present disclosure; 
         FIG. 2  is a rear view of various embodiments of headers that may be employed by the harvester of  FIG. 1 , in accordance with an aspect of the present disclosure; 
         FIG. 3  is a schematic diagram of an embodiment of a harvester using one of the headers of  FIG. 2 , in accordance with an aspect of the present disclosure; 
         FIG. 4  is a block diagram of an embodiment of a method for positions of header segments, in accordance with an aspect of the present disclosure; 
         FIG. 5  is a block diagram of an embodiment of a method for converting received sensor information into position data that may be used by a harvester controller, in accordance with an aspect of the present disclosure; and 
         FIG. 6  is a block diagram of an embodiment of a method for setting a position of a header based on position data, in accordance with an aspect of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION 
     One or more specific embodiments of the present disclosure will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers&#39; specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure. 
     When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. 
     The process of farming typically begins with planting seeds within a field. Over time, the seeds grow and eventually become harvestable crops. Typically, only a portion of each crop is commercially valuable, so each crop is harvested to separate the usable material from the remainder of the crop. For example, a harvester may cut agricultural crops within a field via a header. The header may also gather the cut agricultural crops into a processing system of the harvester for further processing. The processing system may include a threshing machine configured to thresh the agricultural crops, thereby separating the crops into certain desired agricultural materials, such as grain, and material other than grain (MOG). The desired agricultural materials may be sifted and then accumulated into a tank. When the tank fills to capacity, the materials may be collected from the tank. The MOG may then be discarded from the harvester (e.g., via a spreader). 
     The header may cut crops from the field that are encompassed within a length of the header. The header may include a cutter bar assembly that extends along at least a portion of the length of the header, and the cutter bar assembly may use blades to cut the crops. The cut crops may fall onto the header, and the cut crops may be gathered together, such as via conveyors that run across the header. The gathered agricultural crops may then be transported into the processing system of the harvester. 
     Certain harvesters may be configured to use a first header (e.g., first type of header; rigid header) having a rigid frame. For example, a harvester may include a first controller (e.g., harvester controller) that is configured to receive sensor information from a first set of sensors on the first header and to control a position of the first header relative to a chassis of the harvester (e.g., to adjust an overall height of the first header relative to the field) based on the sensor information from the first set of sensors. In some situations, it may be desirable to utilize a second header (e.g., second type of header; segmented header) instead of the first header. The second header may have a segmented frame that may more closely follow contours of the field. However, without the disclosed embodiments, the harvester may not be capable of use with the second header at least in part because the first controller may not be configured to receive sensor information from a second set of sensors on the second header and/or to control a position of the second header relative to the chassis of the harvester based on the sensor information from the second set of sensors. 
     Accordingly, the disclosed embodiments relate generally to systems and methods that enable a plurality of different embodiments of headers (e.g., the first header having a rigid frame and the second header having the segmented frame) to be employed by the harvester. For example, the disclosed embodiments generally include a control system and related methods that convert the sensor information received from the second set of sensors of the second header into position data that may be processed by the first controller and used by the first controller to control the position of the second header relative to the chassis of the harvester. Thus, the disclosed embodiments may enable use of various different headers with the harvester without modifications to the harvester and/or to the first controller. As such, the control system may reduce a complexity of manufacturing the harvester and/or enable the second header to be retrofitted onto the harvester (e.g., having the first controller that is not configured to receive the sensor information from second set of sensors on the second header and/or to control the position of the second header relative to the chassis of the harvester based on the sensor information from the second set of sensors). 
     More particularly and as discussed in more detail below, the control system may include the first controller configured to adjust the position of the first header relative to the chassis based on the sensor information received from the first set of sensors. Additionally, the control system may include a second controller (e.g., header controller) of the second header. The second controller may be configured to control respective positions of various sections (e.g., segments) of the second header relative to one another based on the sensor information received from the second set of sensors. In some embodiments, the second controller may also be communicatively coupled to the first controller and may process the sensor information received by the second set of sensors into data that enables the first controller to control the position (e.g., height) of the second header. 
     In this way, the harvester may employ either the first header or the second header. Furthermore, the second header may be installed without having to modify or replace the first controller. As an example, for existing harvesters that may already use the first controller, the second header and the second controller may be installed without having to modify the first controller to enable the first controller to adjust the height of the second header. Although this disclosure primarily discusses the use of two different header embodiments, there may be other header embodiments that may be used by the harvester to cut crops, and the harvester may use the first controller to adjust the height of the additional header embodiments. 
     Turning now to the drawings,  FIG. 1  is a side view of a harvester  100 . The harvester  100  includes a chassis  110  that supports harvesting apparatus to facilitate harvesting crops. As described in greater detail below, the harvester  100  also includes a header  112  (e.g., small grain header) that cuts crops and directs the cut crops in a direction  122  toward an inlet of a crop processing system  120  of the harvester  100  for further processing of the cut crops. The crop processing system  120  receives the cut crops from the header  112 . As an example, the crop processing system  120  includes a thresher  124  that conveys a flow of crops through the crop processing system  120 . In some embodiments, the thresher  124  includes a cylindrical threshing rotor that transports the crops in a helical flow path. In addition to transporting the crops, the thresher  124  may also separate certain desired crop material (e.g., grain) from residue (e.g., MOG), such as husk and pods, and direct the residue into a cleaning system located beneath the thresher  124 . The residue may be transported to a crop residue handling system  130 , which may hold the crop residue for further processing and/or expels the crop residue from the harvester  100  via a crop residue spreading system  140  positioned at the aft end of the harvester  100 . To facilitate discussion, the harvester  100  and/or its components may be described with reference to a lateral axis or direction  142 , a longitudinal axis or direction  144 , and a vertical axis or direction  146 . The harvester  100  and/or its components may also be described with reference to a direction of travel  148  (e.g., along the lateral axis  142 ). 
       FIG. 2  is a rear view of various embodiments of headers  112  that may be used by the harvester  100  of  FIG. 1 . Each header  112  includes a frame  200  that may be removably coupled to the harvester. Each header  112  also includes a reel  201  and a cutter bar assembly  202  that extends across a length  203  (e.g., along the longitudinal axis  144 ) of the frame  200  between side portions  204 ,  206  of the frame  200 . When the harvester  100  is in operation, the reel  201  may engage the crops to prepare the crops to be cut by the cutter bar assembly  202 , and blades of the cutter bar assembly  202  may engage and cut the crops. The portions of the crops that are cut are transported to the crop processing system via an inlet  210  of the header  112 . For example, in some embodiments, each header  112  may have a conveyor and/or a reel configured to direct the cut crops toward the inlet  210  to be delivered to the crop processing system. 
     The harvester may be configured to employ a first header  112 A (e.g., a rigid header), which may not be flexible across its length  203 A. That is, the first header  112 A may not include sections along the length  203 A that are adjustable relative to one another. For instance, the first header  112 A may include a single header segment  212  extending along the length  203 A of the first header  112 A. In some embodiments, the first header  112 A may be communicatively coupled to a harvester controller  214 , which may be configured to control a position of the first header  112 A relative to a chassis of the harvester. The first header  112 A may also be configured to tilt or rotate the first header  112 A about an axis  215  extending through a center of the first header  112 A perpendicularly with respect to the first length  203 A. For instance, the harvester controller  214  may rotate the first header  112 A such that the side portion  204  is not aligned or level with the side portion  206 . The first header  112 A may remain substantially straight along the first length  203 A during operation of the harvester. In certain implementations, the harvester controller  214  may be configured to adjust the first header  112 A based on information received from a first set of sensors  216 . The first set of sensors  216  may generally monitor an operating parameter indicative of a distance (e.g., height) between the first header  112 A and the field. The harvester controller  214  may be configured to raise, lower, and/or tilt the first header  112 A relative to the field based on the readings made by the first set of sensors  216 , such as to adjust the first header  112 A toward a target position. In the illustrated embodiment, the first set of sensors  216  includes four sensors configured to output information to the harvester controller  214 , but it should be noted that the first set of sensors may include any suitable number of sensors (e.g., one, two, three, five, six or more) configured to output information to the harvester controller in additional or alternative embodiments. 
     The harvester may further be configured to employ a second header  112 B (e.g., a segmented header), which may be flexible across its length  203 B. In other words, various sections of the second header  112 B along the length  203 B may be adjustable relative to one another, such as movable relative to the vertical axis  146  (e.g., to raise and/or lower relative to one another). Thus, the shape of the second header  112 B may be adjustable so as to conform to a contour or profile of the field, thereby enabling the second header  112 B to cut crops more effectively (e.g., cut a greater amount of the crops). The second header  112 B includes a center segment  218 , a first header segment  220 , and a second header segment  222  in the illustrated embodiment, but the second header may include any number of header segments (e.g., two, four, five, six or more) in alternative embodiments. The respective heights of the center segment  218 , the first header segment  220 , and the second header segment  222  may be adjustable (e.g., rotatable) relative to one another. For instance, the first header segment  220  and the second header segment  222  may each be pivotally coupled to opposite ends of the center segment  218 , and a position of the first header segment  220  relative to the center segment  218  may be independent of a position of the second header segment  222  relative to the center segment  218 . That is, a position of the first header segment  220  may move (e.g., pivot) about the center segment  218  independently of movement of the second header segment  222 . In the illustrated embodiment, the segments  218 ,  220 ,  222  each include a respective reel  201  and cutter bar assembly  202 , but in additional or alternative embodiments, the segments may each share the same reel and cutter bar assembly that may each be flexible to accommodate movement of the segments relative to one another. In any case, adjustment of the segments  218 ,  220 ,  222  relative to one another may enable the cutter bar assembly or assemblies  202  to cut the crops more desirably. 
     The second header  112 B may be communicatively coupled to the harvester controller  214  and a header controller  224 . In an example, the harvester controller  214  may be supported on the harvester and the header controller  224  may be supported on the second header  112 B. In some embodiments, the harvester controller  214  may be configured to adjust the second header  112 B relative to the chassis, and the header controller  224  may be configured to move the first header segment  220  and/or the second header segment  222  relative to one another and the center segment  218 . The header controller  224  may be communicatively coupled to a second set of sensors  226  and may be configured to move the first header segment  220  and/or the second header segment  222  relative to the center segment  218  based on readings made by the second set of sensors  226 . 
     Using the header controller  224  may facilitate use of the second header  112 B with the harvester. For instance, the same embodiment of the harvester controller  214  may be used regardless of the embodiment of the header  112  installed onto the harvester. By way of example, an existing harvester may currently use the first header  112 A and the harvester controller  214 . However, it may be desirable to replace the first header  112 A with the second header  112 B so as to increase effectiveness of the harvester to cut crops in the field. The second header  112 B, along with the header controller  224 , may retrofit onto the existing harvester without having to replace, dispose, or otherwise modify the harvester controller  214 . In other words, the first header  112 A may be removed from the harvester and the second header  112 B may be installed onto the harvester without modifying the harvester controller  214 . Similarly, the second header  112 B may be removed from the harvester and the first header  112 A may be installed onto the harvester without modifying the harvester controller  214 . As a result, a complexity or difficulty of changing the header  112  of the harvester is reduced. 
     However, in certain embodiments, the second set of sensors  226  may not output the same set of sensor information as that output by the first set of sensors  216 . Additionally, the harvester controller  214  may not be configured to receive the sensor information output by the second set of sensors  226 . For this reason, to enable the second header  112 B to be moved relative to the chassis, the header controller  224  may also be communicatively coupled with the harvester controller  214  and may convert sensor information received from the second set of sensors  226  into data that is readable by the harvester controller  214 . 
     In some embodiments, the second set of sensors  226  may include a different number of sensors than that of the first set of sensors  216 . In the illustrated embodiment, the header controller  224  is configured to operate based on readings from eight of the second set of sensors  226 , and the harvester controller is configured to operate based on readings from four of the first set of sensors  216 . As such, the header controller  224  may convert (e.g., interpolate) the sensor information received from the number of sensors in the second set of sensors  226  into data reflective of sensor information received from the number of sensors in the first set of sensors  216 . By way of example, a first sensor  226 A of the second set of sensors  226  may detect a first value indicative of a height (e.g., relative to a field) of a first header section  229  (e.g., of the second header segment  222 ), and a second sensor  226 B, which is adjacent to the first sensor  226 A, may detect a second value indicative of a height (e.g., relative to the field) of a second header section  230  adjacent to the first header section  229 . The header controller  224  may convert (e.g., determine a mathematical mean of, take a maximum or minimum of) the first value and the second value into a third value, which may represent a value that is readable by the harvester controller  214  and/or causes the harvester controller  214  to adjust the second header  112 B in an appropriate manner. For instance, the third value may represent (e.g., mimic, simulate) a reading detected by a third sensor  216 A of the first set of sensors  216 . The header controller  224  may convert readings made by a remainder of the second set of sensors  226  into values representing readings made by the first set of sensors  216  to enable the harvester controller  214  to control the second header  112 B accordingly. 
     Additionally or alternatively, the second set of sensors may output a different type of information than that output by the first set of sensors. In certain embodiments, at least one of the first or second set of sensors may be contact (e.g., flex or pressure) sensors. The contact sensors (e.g., ground contact sensors) may extend from the header to contact the field during operation of the harvester, and each contact sensor may monitor a respective force exerted by the field onto the contact sensor. The exerted force may be indicative of the height of the corresponding section of the header relative to the field. For example, reducing the height of the header relative to the field may increase the force detected by the contact sensor, and increasing the height of the header relative to the field may reduce the force detected by the contact sensor. Additionally or alternatively, a movement of the contact sensors may be used to determine the height of the header relative to the field. For instance, the force exerted by the field onto the contact sensors may cause the contact sensors to flex or move, and the flexing or movement of the contact sensors may be indicative of the height of the header relative to the field. The contact sensors (e.g., flex sensors) may additionally or alternatively be positioned on the frame and/or the cutting assembly. Such embodiments of the contact sensor may monitor an amount of bending of the header (e.g., caused by a force exerted onto the cutter bar to bend the header by the field), and the detected bending may also be indicative of the height of the header relative to the field. In additional or alternative embodiments, at least one of the first or second set of sensors may be non-contact proximity sensors, such as infrared sensors, light detecting and ranging (LIDAR) sensors, optical sensors, hall effect sensors, and the like, configured to determine a distance between the header and the field without contacting the field. In any case, the first and second set of sensors may include the same or different types of sensor. As an example, the harvester controller may be configured to receive sensor information from only a particular type of proximity sensor, but the second set of sensors may include both proximity sensors and contact sensors. For this reason, the header controller may convert sensor information received from the second set of sensors into data representative of sensor information received from only the particular type of proximity sensor that the header controller is configured to receive and process. 
       FIG. 3  is a schematic of an embodiment of the harvester  100  using the second header  112 B of  FIG. 2 . The harvester  100  has a control system  248  that includes the harvester controller  214  and the header controller  224 . Each of the harvester controller  214  and the header controller  224  may include a memory device  250  and a processor  252 , such as a microprocessor. The harvester controller  214  and the header controller  224  may each also include one or more storage devices and/or other suitable components. Each processor  252  may be used to execute software, such as software for controlling the harvester  100  and/or the header  112 B attached to the harvester  100 . Moreover, each processor  252  may include multiple microprocessors, one or more “general-purpose” microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, each processor  252  may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors. The memory device  250  may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory device  250  may store a variety of information and may be used for various purposes. For example, the memory device  250  may store processor-executable instructions (e.g., firmware or software) for the processor  252  to execute, such as instructions for controlling the harvester  100  and/or the header  112 B. The storage device(s) (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data (e.g., conditions for moving the second header  112 B), instructions (e.g., software or firmware for controlling the second header  112 B), and any other suitable data. The processor  252  and/or memory device  250 , or an additional processor and/or memory device, may be located in any suitable portion of the harvester  100 . By way of example, the harvester controller  214  may be located at the chassis  110 , and the header controller  224  may be located at the second header  112 B. 
     In the illustrated embodiment, the harvester  100  includes a first set of actuators  254  extending from the chassis  110  to the center segment  218 . The harvester controller  214  may be communicatively coupled with the first set of actuators  254  and may be configured to output control signals to the first set of actuators  254  to adjust the center segment  218  relative to the chassis  110 . As an example, the harvester controller  214  may output a control signal to instruct a first actuator  254 A (e.g., a first subset of actuators of the first set of actuators  254 ) to raise or lower the center segment  218  relative to the chassis  110 , thereby raising or lowering the second header  112 B. As another example, the harvester controller  214  may output another control signal to instruct a second actuator  254 B (e.g., a second subset of actuators of the first set of actuators  254 ) to tilt the center segment  218  relative to the chassis  110  (i.e., for tilting the second header  112 B to lower a first lateral end of the center segment  218  along the vertical axis  142  and to raise a second lateral end of the center segment  218  along the vertical axis  142 ). Furthermore, the harvester  100  includes a second set of actuators  256  extending from the center segment  218  to the first and second header segments  220 ,  222 , respectively. The header controller  224  may be communicatively coupled with the second set of actuators  256  and may be configured to output control signals to the second set of actuators  256  to adjust the header segments  220 ,  222  relative to the center segment  218 . By way of example, the header controller  224  may output control signals to a first actuator  256 A of the second set of actuators  256  to adjust (e.g., rotate to move toward or away from the ground along the vertical axis  146 ) the first header segment  220  relative to the center segment  218 , and the header controller  224  may output sensor signals to a second actuator  256 B of the second set of actuators  256  to adjust (e.g., rotate to move toward or away from the ground along the vertical axis  146 ) the second header segment  222  relative to the center segment  218 . Although the first set of actuators  254  and the second set of actuators  256  each include two actuators in the illustrated embodiment, the first set of actuators  254  and the second set of actuators  256  may include any number of actuators in alternative embodiments. 
     Additionally, the harvester controller  214  and the header controller  224  may be communicatively coupled to one another to enable the header controller  224  to transmit data to the harvester controller  214 . In this manner, the header controller  224  may be configured to actuate the second set of actuators  256  and to transmit data to the harvester controller  214  to enable actuation of the first set of actuators  254 . In additional or alternative embodiments, the header controller and the harvester controller may be communicatively coupled to one another to enable the harvester controller to transmit data to the header controller. That is, the harvester controller may actuate the first set of actuators based on sensor information and may provide data (e.g., based on operator input, such as operator input via an interface) that is readable by the header controller for operating the second set of actuators. 
       FIGS. 4-6  each represent a method or process for operating the harvester, such as for controlling the positioning of the second header. Each of the illustrated methods may be performed by a controller, such as by the harvester controller  214  and/or the header controller  224  of  FIGS. 2 and 3 . By way of example, each of the methods may be automatically performed during operation of the harvester (i.e., without manual input from an operator of the harvester). Additionally, each method may be performed differently than illustrated in  FIGS. 4-6 . For instance, additional steps may be performed with respect to each method, and/or certain steps of the methods may be removed, modified, and/or performed in a different order. 
       FIG. 4  is a block diagram of an embodiment of a method  270  for setting the position of header segments relative to one another. As an example, the header controller may be configured to perform each step of the method  270 . At block  272 , sensor information is received (e.g., from the second set of sensors). The sensor information may be indicative of a respective location of each sensor at a header section along the header and may include a value detected by the sensor and indicative of a corresponding height (e.g., relative to the field). In this manner, the sensor information may indicate current heights of the header at various header sections. 
     At block  274 , a determination of a target orientation of the header is made based on the sensor information received at block  272 . As described herein, the target orientation may include target positions of each header segment relative to the center segment and/or to one another. The target positions may correspond to desirable heights of the header sections based on the current heights included in the sensor information. For example, if it is determined that the center segment is at a desirable height, but the height of the first header segment is low (e.g., is too close to the field), the target orientation may include increasing the height of the first header segment relative to the center segment (e.g., via rotation with the actuator). Similarly, based on the received sensor information, the target orientation may include reducing the height of any of the header segments and/or maintaining the position of any of the header segments relative to one another. 
     At block  276 , based on the determined target orientation, the position of the header segments may be set. For instance, the position of the header segments may be moved and/or maintained to achieve the target orientation of the header segments. Thus, if it is determined that a height of one of the header segments is to be increased, the header segment may be raised. Additionally, if the height of one of the header segments is to be reduced, the header segment may be lowered, and if the height of one of the header segments is at the target orientation, the position of the header segment may be maintained. Thus, the set positions of the header segments may match the target orientation and may enable the header to operate more effectively. 
       FIG. 5  is a block diagram of an embodiment of a method  290  for converting received sensor information into data that may be used by the harvester controller. As an example, the header controller may be configured to perform each step of the method  290 . The method  290  initiates upon receiving sensor information as described with reference to block  272 , in which the sensor information may be indicative of sensor locations at various header segments and heights of the header segments. At block  292 , after receiving the sensor information, the sensor information is processed and converted into position data that is readable by the harvester controller. As an example, the position data may include a number of readings or values that is indicative of corresponding heights and that the harvester controller is able to receive and to use to control the header (e.g., raise, lower, and/or tilt via the first set of actuators). 
     In some embodiments, the received sensor information may include a first set of readings corresponding to a first set of header sections. However, the harvester controller may be configured to receive a second set of readings corresponding to a second set of header sections that is different than the first set of header sections. Thus, the first set of readings corresponding to the first set of header sections may be converted to indicate (e.g., represent) the second set of readings corresponding to the second set of header sections. For instance, the first set of readings may be graphically plotted against the first set of header sections. Moreover, a regression analysis (e.g., linear and/or non-linear) may be performed to connect the first set of readings with one another to indicate a relationship between a corresponding reading of each header section along a particular portion or length of the header. The relationship may then be used to determine (e.g., calculate, interpolate) the second set of readings corresponding to the second set of header sections, and the second set of readings may be used by the harvester controller to adjust the header or may otherwise cause the harvester controller to adjust the header in an appropriate manner. 
     Additionally or alternatively, the received sensor information may include a first operating parameter (e.g., detected by a first type of sensor described above) indicative of the height of the header sections. However, the harvester controller may be configured to receive a second operating parameter (e.g., detected by a second type of sensor different than the first type of sensor) indicative of the height of the header sections. The first operating parameter may be different than the second operating parameter, and the harvester controller may not be able to control the header based on the first operating parameter. For this reason, a determination may be made to convert the first operating parameter to the second operating parameter. For example, the first operating parameter may include first values indicative of particular heights. A determination may then be made as to corresponding second values that are associated with the second operating parameter and are also indicative of substantially the same particular heights. In this way, the first operating parameter and the second operating parameter may each indicate substantially the same height readings of the header. Thus, converting the sensor information to the position data may change the detected operating parameters without substantially changing the heights of the header sections indicated by the sensor information. To this end, for instance, a relationship between the first operating parameter and the second operating parameter may be determined and used for associating a first value of the first operating parameter with a corresponding second value of the second operating parameter. In any case, after the sensor information has been converted into the position data, the position data is output to the harvester controller, as indicated at block  294 . 
       FIG. 6  is a block diagram of an embodiment of a method  310  for setting the position of the header based on position data. As an example, the harvester controller may be configured to perform each step of the method  310 . At block  312 , position data is received. In certain embodiments, the position data may be position data that was received from the header controller and/or was converted from the sensor information received via the step described at block  272  of  FIG. 5 . In additional or alternative embodiments, the position data may be directly received from sensors (e.g., the first set of sensors). 
     At block  314 , a determination of a target position of the header (e.g., relative to the chassis) is made based on the position data. The target position of the header may be associated with a position of the center segment of the header relative to the chassis. As an example, the position data may indicate that it is desirable to adjust a height of the center segment relative to the field to enable the header sections of the center segment to operate more effectively. As another example, the position data may indicate that it is desirable to adjust a header segment of the header to a target height of the header segment, but the target height of the header segment may not be achievable by merely moving the header segment relative to the center segment and/or relative to other header segments. Thus, the center segment may be moved relative to the work vehicle to the determined target position to enable the header segment to move to the target height of the header segment. 
     At block  316 , the position of the header (e.g., relative to the chassis) is set based on the determined target position, such as to achieve the target position of the header. By way of example, the center segment may be moved (e.g., raised, lowered, tilted, maintained) relative to the chassis. Thus, in the set position, the position of the header may substantially match the target position and may enable the header to operate more effectively to harvest the field. 
     In some embodiments, the header controller may use the sensor information to determine a desirable position of the header relative to the chassis. However, since the header controller cannot control movement of the header relative to the chassis, the header controller may determine corresponding position data that causes the harvester controller to move the header to a desirable position. In other words, the header controller may determine the desirable position based on sensor information, and the header controller may convert the sensor information to position data that causes the harvester controller to determine a target position that is equivalent to the determined desirable position. Thus, the harvester controller may set the position of the header to the desirable position originally determined by the header controller. In this manner, the header controller may determine the target orientation of the header segments to set the position of the header segments relative to one another, the header controller may determine the target position of the header for the harvester controller to set the position of the header relative to the chassis, and the header controller may convert sensor information to position data based on the target position of the header. 
     Further, in certain embodiments, the position of the header relative to the chassis may be set in parallel with setting the position of the header segments relative to one another. To this end, the sensor information may be used for determining the target orientation of the header segments and may concurrently be used for conversion to the position data that is readable by the harvester controller. Thus, the header may be adjusted relative to the chassis while the header segments are adjusted relative to one another. In additional or alternative embodiments, the position of the header relative to the chassis may be set in series with setting the position of the header segments relative to one another. In an example, the position of the header may be initially set relative to the chassis, and then the position of the header segments may be set relative to one another after the header has been set to the new position relative to the chassis. To this end, the sensor information may first be converted to position data to be used by the harvester controller for setting the position of the header relative to the chassis, and the sensor information may subsequently be used by the header controller for setting the position of the header segments relative to one another. In another example, the position of the header segments may be initially set relative to one another first and the position of the header may be set relative to the chassis afterwards. For this reason, the sensor information may be used for setting the position of the header segments relative to one another and after the position of the header segments have been set relative to one another, the sensor information may be converted to position data for setting the position of the header relative to the chassis. 
     While only certain features of the disclosure 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. 
     The techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical. Further, if any claims appended to the end of this specification contain one or more elements designated as “means for [perform]ing [a function] . . . ” or “step for [perform]ing [a function] . . . ”, it is intended that such elements are to be interpreted under 35 U.S.C. 112(f). However, for any claims containing elements designated in any other manner, it is intended that such elements are not to be interpreted under 35 U.S.C. 112(f).