Patent Publication Number: US-2023146866-A1

Title: Control system for agricultural header

Description:
BACKGROUND 
     The present disclosure relates generally to an agricultural vehicle and, more specifically, to an agricultural vehicle with a header having a control system. 
     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 a 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 a 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 certain embodiments, an agricultural system includes a header including a first header segment and a second header segment. The agricultural system also includes an actuator configured to adjust a position of the first header segment relative to the second header segment. The agricultural system also includes a controller configured to receive sensor information from a pressure sensor and compare the pressure to a threshold pressure. In some embodiments, the sensor information is indicative of a pressure within a cylinder of the actuator. In certain embodiments, the controller is configured to send instructions to the actuator to adjust the first header segment relative to the second header segment in response to the pressure being below the pressure threshold. 
     In certain embodiments, a control system includes a controller. In some embodiments, the controller configured to receive a set of sensor information from a set of sensors associated with a segment of a header. In certain embodiments, the set of sensor information is associated with a deflection measurement of the segment of the header, a load measurement of the segment of the header, a pressure measurement of an actuator associated with the segment of the header, or any combination thereof. In some embodiments, the controller is also configured to receive a set of conditions, the set of conditions comprising a set of soil conditions, a set of header conditions for an agricultural system, a set of crop conditions, or any combination thereof. In some embodiments, the controller is also configured to determine a threshold pressure associated with the actuator, a threshold load associated with the segment, a threshold deflection associated with the segment, or any combination thereof based on the set of conditions. In some embodiments, in response to determining the set of sensor information falls below at least one of the threshold pressure, the threshold load, or the threshold deflection, the controller is configured to control the actuator associated with the segment of the header to move the segment of the header relative to another segment of the header. 
     In certain embodiments, a non-transitory computer readable medium includes executable instructions that, when executed by a processor, are configured to cause the processor to receive a set of conditions, the set of conditions including a set of soil conditions, a set of header conditions for an agricultural system, a set of crop conditions, or any combination thereof. In some embodiments, the non-transitory computer readable medium also includes executable instructions that, when executed by the processor, are configured to cause the processor to determine a threshold pressure based on the set of conditions and compare a pressure within a cylinder of an actuator associated with a segment of a header corresponding to the agricultural system to the threshold pressure. In certain embodiments, the non-transitory computer readable medium also includes executable instructions that, when executed by the processor, are configured to cause the processor to, in response to determining the pressure falls below the threshold pressure, provide a control signal to the actuator to move the segment of the header relative to another segment of the header. 
    
    
     
       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 a harvester, in accordance with an embodiment of the present disclosure; 
         FIG.  2    is a rear view of a header that may be employed by the harvester of  FIG.  1   , in accordance with an embodiment of the present disclosure; 
         FIG.  3    is a block diagram of a control system that may be used to control a header, such as the header of  FIG.  2   , in accordance with an embodiment of the present disclosure; and 
         FIG.  4    is a flow diagram of a process for adjusting a position of a header, such as the header of  FIG.  2   , in accordance with an embodiment 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. Any examples of operating parameters and/or environmental conditions are not exclusive of other parameters/conditions of the disclosed embodiments. 
     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 width of the header. The header may include a cutter bar assembly that extends along at least a portion of the width 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 belt(s) 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 header having a segmented frame that may more closely follow contours of the field. Some headers may include a main section of the header which couples to one or more wing sections. While widening the header allows for fewer passes to completely harvest the field, several challenges are presented by the increased width of the header. As the header becomes wider, more ground irregularity compensation may be desirable to allow the header to consistently follow the ground due to many fields having significant ground deviation across the width of the header. 
     Turning now to the drawings,  FIG.  1    is a side view of a harvester  100  (e.g., agricultural harvester). 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., agricultural header, 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 may expel 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 longitudinal axis or direction  142 , a lateral 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 longitudinal axis  142 ). 
       FIG.  2    is a rear view of the header  112  that may be used by the harvester  100  of  FIG.  1   . The header  112  includes a frame  200  that may be removably coupled to the harvester. The header  112  also includes a reel  201  and a cutter bar assembly  202  that extends across a width  203  (e.g., along the lateral 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, the header  112  may have one or more belts configured to direct the cut crops toward the inlet  210  to be delivered to the crop processing system. 
     The header  112  may be a segmented header, which may be flexible across the width  203 . In other words, various sections of the header  112  along the width  203  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 header  112  may be adjustable so as to conform to a contour or profile of the field, thereby enabling the header  112  to cut crops more effectively (e.g., cut a greater amount of the crops). The header  112  includes a center segment  218 , a first header segment  220 , and a second header segment  222  in the illustrated embodiment, but the 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 (e.g., lateral 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/or 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 header  112  may be communicatively coupled to a header controller  224 . In an example, the header controller  224  may be supported on the header  112 . In some embodiments, the header controller  224  may be configured to adjust the header  112  relative to the chassis and/or 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 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 set of sensors  226 . 
     In the illustrated embodiment, the header controller  224  is configured to operate based on readings from eight of the set of sensors  226 . By way of example, a first sensor  226 A of the 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  (e.g., of the second header segment  222 ) adjacent to the first header section  229 . 
     In certain embodiments, at least one of the set of sensors  226  may include a pressure sensor (e.g., cylinder pressure sensor) that is configured to monitor a pressure within a cylinder of a piston and cylinder assembly of an actuator that drives movement of the header  112  or segments of the header  112 . The pressure within the cylinder may be indicative of a height of the corresponding section of the header  112  relative to the field (e.g., along the vertical axis). For example, a calibration pressure (e.g., baseline pressure) may be obtained for the cylinder by the pressure sensor, such as while the header  112  is not supported on the ground and is fully supported by the actuator(s). During operation, a reduction in the height of the header  112  relative to the field (e.g., supporting more of or at least some of the header  112  with the ground) may decrease the pressure within the cylinder relative to the calibration pressure. As discussed in more detail below, the pressure within the cylinder as measured by the pressure sensor may be used to adjust the header  112  and/or segments of the header  112  (e.g., by increasing the pressure within the cylinder). 
     The set of sensors  226  may additionally or alternatively include a contact sensor (e.g., load sensors, ground contact sensors, flex sensors). The contact sensor may extend from the header  112  to contact the field during operation of the harvester, and the contact sensor may monitor a 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  112  relative to the field (e.g., along the vertical axis  146 ). For example, reducing the height of the header  112  relative to the field may increase the force detected by the contact sensor, and increasing the height of the header  112  relative to the field may reduce the force detected by the contact sensor. Additionally or alternatively, a movement of the contact sensor may be used to determine the height of the header  112  relative to the field. For instance, the contact sensor may be a flex sensor. In such cases, the force exerted by the field onto the contact sensor may cause the contact sensor to flex or move, and the flexing or movement of the contact sensor may be indicative of the height of the header  112  relative to the field. The contact sensor may additionally or alternatively be positioned on the frame and/or the cutter bar assembly  202 . Such embodiments of the contact sensor may monitor an amount of bending of the header  112  (e.g., caused by a force exerted onto the cutter bar assembly  202  to bend the header  112  by the field), and the detected bending may also be indicative of the height of the header  112  relative to the field. In additional or alternative embodiments, at least one of the set of sensors  226  may be a non-contact proximity sensor, such as an infrared sensor, a light detecting and ranging (LIDAR) sensor, an optical sensor, a Hall effect sensor, and the like, configured to measure a distance between the header  112  and the field without contacting the field. In any case, the set of sensors  226  may include any suitable number of sensors (e.g., one or more), which may be the same type or different types of sensors (e.g., multiple pressures for multiple actuators and/or multiple contact sensors for different sections). 
       FIG.  3    is a block diagram of a control system  300  that may be used to control a header, such as the header  112  of  FIG.  2   . The control system  300  includes a header controller  330 . The header  320  may include any of the features of the header  112  of  FIG.  2   , and the header controller  330  may include any of the features of the header controller  224  of  FIG.  2   . The header controller  330  may include a processor  332  and a memory  334 . The header controller  330  may also include one or more storage devices, one or more communication devices, and/or other suitable components. The processor  332  may be used to execute software, such as software for controlling the harvester and/or the header  320  attached to the harvester. Moreover, the processor  332  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, the processor  332  may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors. The memory  334  may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory  334  may store a variety of information and may be used for various purposes. For example, the memory  334  may store processor-executable instructions (e.g., firmware or software) for the processor  332  to execute, such as instructions for controlling the harvester and/or the header  320 . 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 header  320 ), instructions (e.g., software or firmware for controlling the header  320 ), and any other suitable data. The processor  332  and/or memory  334  may be located in any suitable portion of the harvester. By way of example, the header controller  330  may include components (e.g., processors, memory) that are located at the header  320  and/or at the chassis  310  that operate together to carry out the disclosed techniques. 
     In the illustrated embodiment, the control system  300  includes a first set of actuators  312 ,  314  extending from the chassis  310  to the center segment  322 . The header controller  330  may be communicatively coupled with the first set of actuators  312 ,  314  and may be configured to output control signals to the first set of actuators  312 ,  314  to adjust the center segment  322  relative to the chassis  310 . As an example, the header controller  330  may output a control signal to instruct a first actuator  312  (e.g., a first subset of actuators of the first set of actuators  312 ,  314 ) to raise or lower the center segment  322  relative to the chassis  310 , thereby raising or lowering the header  320 . As another example, the header controller  330  may output another control signal to instruct a second actuator  314  (e.g., a second subset of actuators of the first set of actuators  312 ,  314 ) to tilt the center segment  322  relative to the chassis  310  (i.e., for tilting the header  320  to lower a first lateral end of the center segment  322  along the vertical axis  146  and to raise a second lateral end of the center segment  322  along the vertical axis  146 ). Furthermore, the control system  300  includes a second set of actuators  326 ,  328  extending from the center segment  322  to the first and second header segments  324 A,  324 B, respectively. The header controller  330  may be communicatively coupled with the second set of actuators  326 ,  328  and may be configured to output control signals to the second set of actuators  326 ,  328  to adjust the header segments  324 A,  324 B relative to the center segment  318 . By way of example, the header controller  330  may output control signals to a first actuator  326  of the second set of actuators  326 ,  328  to adjust (e.g., rotate to move toward or away from the ground along the vertical axis  146 ) the first header segment  324 A relative to the center segment  322 , and the header controller  330  may output control signals to a second actuator  328  of the second set of actuators  326 ,  328  to adjust (e.g., rotate to move toward or away from the ground along the vertical axis  146 ) the second header segment  324 B relative to the center segment  322 . Although the first set of actuators  312 ,  314  and the second set of actuators  326 ,  328  each include two actuators in the illustrated embodiment, the first set of actuators  312 ,  314  and the second set of actuators  326 ,  328  may include any number of actuators in alternative embodiments. 
     In some embodiments, the processor  332  may receive input signals, such as input signals based on an input by a user of the control system  300  of the harvester. For example, the control system  300  may include a user input interface and/or a display. The user input interface may receive the input from the user to operate the harvester. The user input interface may receive an input associated with a set of soil conditions, a set of harvester settings, a set of crop conditions, or any combination thereof. In certain embodiments, the user input interface may be a portion of a display. For example, the user input interface may be a touch screen display. The display may provide an indication of a current operating mode of the harvester and may also provide an indication of the user input received. It should be appreciated that the processor  332  may receive input signals from other sources, such as from sensors of the harvester. 
     In certain embodiments, the control system  300  may include a set of sensors, such as the set of sensors  226  in  FIG.  2   . For example, one or more of the actuators  312 ,  314 ,  326 ,  328  may include a piston and cylinder assembly including a pressure sensor to measure cylinder pressure (e.g., pressure within the cylinder). As noted above, the set of sensors may include a contact sensor, a non-contact sensor, or any combination thereof. 
     During certain operations, the processor  332  may receive and process signals generated by the contact sensor and/or by the non-contact sensor to determine the height of the header  320  (e.g., of each header segment) relative to the ground. The processor  332  may provide control signals to one or more of the actuators  312 ,  314 ,  326 ,  328  based on the height of the header  320  relative to the ground to thereby maintain the header  320  (e.g., each header segment) at a desired position relative to the ground (e.g., to float over the ground without digging into the ground) as the harvester travels through the field. For example, if the signal generated by the contact sensor indicates that the header segment  324 A of the header  320  has excessive contact with the ground (e.g., the flex of the flex sensor at the header segment  324 A exceeds a flex threshold), the processor  332  may increase the pressure within the cylinder at the header segment  324 A to raise the header segment  324 A relative to the center segment  322  (e.g., until the flex of the flex sensor at the header segment  324 A is within the flex threshold). 
     During certain operations, the processor  332  may additionally or alternatively receive signals generated by the pressure sensors (e.g., within the cylinders of the actuators  312 ,  314 ,  326 ,  328 ) to determine the height of the header  320  (e.g., of each header segment) relative to the ground. For example, if the signal generated by the pressure sensor indicates that the header  320  has excessive contact with the ground (e.g., the pressure in the cylinder of the actuator  326  is less than a pressure threshold), the processor  332  may increase the pressure within the cylinder of the actuator  326  to raise the header segment  324 A relative to the center segment  322  (e.g., until the pressure matches or exceeds a target pressure, which may be the pressure threshold, the calibration pressure, or some other pressure). The processor  332  may use one or more algorithms to utilize the signals from the pressure sensors in combination with the respective signals from the other sensors (e.g., the contact sensors and/or the non-contact sensors) to control the actuators  312 ,  314 ,  326 ,  328  to maintain the segments  322 ,  324 A,  324 B at respective desirable positions relative to the ground. 
     In some embodiments, the pressure within the cylinder as monitored by the pressure sensor may be used as part of an override protection logic (e.g., secondary protection logic) for the header  320 . Thus, the pressure within the cylinder as monitored by the pressure sensor may be used to adjust the header  320  in the absence of and/or regardless of the signals from the other sensors (e.g., even if the other sensor(s), such as the contact sensors and/or non-contact sensors, indicate that no adjustment to the header  320  should be made). For example, even if the flex of the flex sensor is within the flex threshold and indicates that no adjustment to the header  320  should be made, the pressure within the cylinder may be less than the threshold pressure. In such cases, the header controller  330  may execute the override protection logic to increase the pressure within the cylinder to raise the header  320  and/or to raise the corresponding segment of the header  320  (e.g., until the pressure matches or exceeds a target pressure, which may be the pressure threshold, the calibration pressure, or some other pressure). 
     The processor  332  may access (e.g., from the memory  334 ) and/or determine the pressure threshold) for the first set of actuators  312 ,  314  and the second set of actuators  326 ,  328 . In certain embodiments, the threshold may differ between one or more of the actuators. For example, the first set of actuators  312 ,  314  may have a first pressure threshold and the second set of actuators  326 ,  328  may have a second pressure threshold. Additionally or alternatively, a pressure threshold for the actuator  326  may differ from a pressure threshold of the actuator  328 . Likewise, a pressure threshold for the actuator  312  may differ from a pressure threshold for the actuator  314 . 
     In some embodiments, the processor  332  may use the set of soil conditions to determine the threshold pressure for at least one of the actuators. In certain embodiments, the set of soil conditions may include a firmness of the soil, a composition of the soil, a humidity level of the soil, and/or any other suitable soil conditions. In some embodiments, the processor  332  may use the firmness level of the soil to determine the threshold pressure for at least one of the actuators. For example, a softer soil may have a higher threshold pressure than a harder soil because the softer soil may not produce as high ground contact forces as the harder soil. Additionally or alternatively, the processor  332  may use the set of harvester settings to determine a threshold pressure of at least one of the actuators. In certain embodiments, the set of harvester settings may include a harvesting mode (e.g., on-ground, off-ground), a width of the header  320 , a type of header  320 , and any other suitable harvester settings. For example, an on-ground harvesting mode may have a lower threshold pressure than an off-ground harvesting mode because the header  320  may be more likely to encounter high ground contact forces during an on-ground harvesting mode. As another example, the threshold pressure may increase as the width of the header  320  increases because of a greater possibility of variations in ground height. Additionally, the threshold pressure may increase as the width of the header  320  increases because of an increase in an overall weight of the header  320  and/or an increase in an overall weight of any header segment. Alternatively, the threshold pressure may decrease as the width of the header  320  decreases because of a decrease in the overall weight of the header  320  and/or a decrease in the overall weight of any header segment. In certain embodiments, the set of crop conditions may be a crop type, a specific crop to be harvested, a humidity level of the crop, and any other suitable crop condition. In certain embodiments, the processor  332  may store the pressure thresholds, the set of soil conditions, the set of harvester settings, and/or the set of crop conditions in the memory  334 . In some embodiments, the control system  300  may receive the threshold pressure for one or more of the actuators from a user. 
     The set of sensors, such as sensors  226  in  FIG.  2   , may provide feedback to the header controller  330  associated with one or more parameters (e.g., pressure, flex, and/or distance) indicative of the height of the header  320  relative to the ground. The processor  332  may receive the feedback and may compare the one or more parameters to respective threshold(s). The processor  332  may increase the pressure within the cylinder(s) of the actuator(s) to adjust the header  320  and/or the header segments  322 ,  324 A,  324 B in the manner discussed herein. 
     For example, a calibration pressure (e.g., baseline pressure) may be established for the cylinder(s) by using the pressure sensor(s) to obtain and send signals to the processor  332  during a calibration operation, such as while the header  112  is not supported on the ground and is fully supported by the actuator(s). The calibration pressure may be stored in the memory  334 . It should be appreciated that a respective, separate calibration pressure may be established for each cylinder of each actuator  312 ,  314 ,  326 ,  328 . 
     The processor  332  may determine the threshold pressure, which may be based on the calibration pressure and/or one or more factors, such as the set of soil conditions, the set of harvester settings, the set of crop conditions, or any combination thereof. For example, the threshold pressure may be a percentage (e.g., 50, 60, 70, 80, or 90 percent of the calibration pressure). Additionally or alternatively, the threshold pressure may vary based on the one or more other factors. Thus, the threshold pressure may be 70 percent of the calibration pressure while the soil is relatively soft and may be 90 percent of the calibration pressure while the soil is relatively hard. 
     By way of example, in operation, the processor  332  may receive a signal associated with a pressure measurement from the pressure sensor associated with the second header segment  324 B (e.g., the pressure within the cylinder of the actuator  328 ) and compare the pressure measurement to the threshold pressure. In response to determining the pressure measurement is below the threshold pressure, the processor  332  may send instructions to the actuator  328  coupled to the second header segment  324 B to adjust a pressure in the actuator  328 , and, therefore, a position of the second header segment  324 B relative to the ground surface. In certain embodiments, the processor  332  may send instructions to adjust the actuator  328  until the feedback indicates that the pressure matches or exceeds a target pressure, which may be the pressure threshold, the calibration pressure, or some other pressure. For example, the processor  332  may send instructions to adjust the actuator  328  to a pressure above the threshold pressure and proportional to a difference between a feedback amount (e.g., measured pressure) and the threshold pressure. 
     For example, the threshold pressure may be a first value (e.g., 680 Kilopascal [kPa]) and the feedback amount may be a second value (e.g., 620 kPa). Then, the processor  332  calculate the difference and establish a third value as the target pressure based on the difference (e.g., the difference is 60 kPa, and so the processor  332  may send instructions to adjust the actuator  328  to 740 kPa, which is 60 kPa above the threshold pressure). As another example, the feedback amount may be a fourth value (e.g., 550 kPa) that is less than the second value, and the processor  332  may send instructions to adjust the actuator  328  to a fifth value (e.g., 810 kPa) that is greater than the first value and the third value. 
       FIG.  4    is a flow diagram of a process  400  for adjusting a position of a header, such as the header  112  in  FIG.  2    and/or the header  320  in  FIG.  3   , in accordance with an embodiment of the present disclosure. It should be noted that although the process  400  is described below in a particular order, it should be understood that the process  400  may be performed in any suitable order. Additionally, although the process  400  is described as being performed by the processor  332 , any suitable computing device may perform the process  400 . 
     As illustrated in  FIG.  4   , in certain embodiments, the process  400  may include the processor  332  receiving a set of conditions or factors (step  402 ) associated with a harvester, such as the harvester  100  in  FIG.  1   . In some embodiments, the processor  332  may receive the set of conditions from a user input interface. In certain embodiments, the set of conditions may be a set of soil conditions, a set of harvester settings, a set of crop conditions, or any combination thereof. The processor  332  may determine a threshold (step  404 ) based at least in part on the set of conditions. In some embodiments, the processor  332  may determine a threshold pressure, a flex threshold, a distance threshold, or any combination thereof, based on the set of conditions. 
     In addition, in certain embodiments, the process  400  may include the processor  332  receiving sensor information (step  406 ) from a set of sensors, such as the set of sensors  226 . For example, the processor  332  may receive sensor information associated with at least one segment of a header. In certain embodiments, the sensor information may include a set of load amounts, a set of pressure amounts, a set of deflection measurements, a set of distance measurements, or any combination thereof. 
     After receiving the sensor information and determining the threshold(s), the processor  332  may compare the sensor information to the threshold(s) (step  408 ). For example, the processor  332  may compare a sensed pressure for a first actuator to a threshold pressure for the first actuator. The processor  332  may determine whether the sensed amount falls below the corresponding threshold (step  410 ). For example, the processor  332  may determine the sensed pressure is 620 kPa for the first actuator while the threshold pressure is 680 kPa for the first actuator. In response to determining the sensed pressure falls below the threshold pressure, the processor  332  may adjust an actuator for a header segment associated with the sensor information. For example, the processor  332  may send a set of instructions to increase a pressure for an actuator at least to the threshold pressure associated with the actuator. 
     It should be appreciated that any of the features of  FIGS.  1 - 4    may be combined in any suitable manner to enable separate adjustment for each segment of the header to maintain a desirable position of each segment of the header relative to the ground. 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. 
     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).