Patent Description:
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. For example, the US patent application published as <CIT> discloses a header for an agricultural vehicle. The header includes a header frame, a flexible cutter supported by the header frame and including a plurality of cutting edges, and a reel. The reel includes a plurality of reel sections movably supported by the header frame, each of the reel sections including a plurality of tines and being independently movable from the other reel sections.

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, an agricultural system includes a frame, a cutter bar assembly configured to move relative to the frame during an operation of the agricultural system, a reel assembly configured to guide crops to the cutter bar assembly during the operation of the agricultural system, and a controller. The controller is configured to receive feedback indicative of a profile of the cutter bar assembly, set a position boundary of the reel assembly based on the feedback, and block movement of the reel assembly to a position beyond the position boundary of the reel assembly.

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 crops within a field via a header, which may include a flexible draper header. The flexible draper header may include a cutter bar assembly configured to cut the crops. As the cutter bar assembly cuts the crops, a conveyor coupled to draper deck(s) of the header move the crops toward a crop processing system of the harvester. For example, the conveyor on the side draper deck(s) may move the cut crops toward an infeed draper deck at a center of the header. A conveyor on the infeed draper deck may then move the crops toward the crop processing system. The crop processing system may include a threshing machine configured to thresh the 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 be discarded from the harvester (e.g., via a spreader) by passing through an exit pipe or a spreader to fall down onto the field.

In some embodiments, portions of the cutter bar assembly may move so as to follow a contour of the field. For example, the cutter bar assembly may be flexible to remain in contact with the field during operations. Furthermore, the header of the harvester includes a reel assembly configured to prepare crops to be cut by the cutter bar assembly. As an example, the reel assembly may be positioned adjacent to the cutter bar assembly and may be configured to guide the crops toward the cutter bar assembly to facilitate cutting the crops. In certain embodiments, the position of the reel assembly is adjustable relative to the cutter bar assembly so as to enable the reel assembly to effectively guide the crops toward the cutter bar assembly. However, in some circumstances, the cutter bar assembly and the reel assembly may interfere with one another. For instance, the cutter bar assembly may contact part of the reel assembly, thereby limiting an effectiveness of the cutter bar assembly, the reel assembly, and the header.

Thus, it is now recognized that setting a position of the reel assembly to avoid contact with the cutter bar assembly may improve operation of the header. Therefore, the present disclosure is directed to enabling or blocking movement of at least part of the reel assembly to avoid contact with the cutter bar assembly. For instance, movement of the cutter bar assembly (e.g., relative to the reel assembly) may be monitored during the operation of the harvester. In some embodiments, a user, such as an operator, of the harvester may adjust the position of the reel assembly relative to the cutter bar assembly during the operation. However, based on the monitored movement of the cutter bar assembly, adjustment of the reel assembly to a particular position may be blocked. For instance, the reel assembly may be blocked from being moved too close to the cutter bar assembly. In additional or alternative embodiments, the reel assembly may have multiple sections along a width of the header. Each section of the reel assembly may be moved independently of one another. For this reason, the reel assembly sections may be moved to different positions relative to the cutter bar assembly, such as based on movement of the cutter bar assembly at a particular location along the width of the header. As such, the reel assembly sections may be set in a particular profile that facilitates guiding crops at various locations along the header to be engaged by the cutter bar assembly.

With the foregoing in mind, <FIG> is a side view of an embodiment of an agricultural system <NUM>, which may be a harvester. The agricultural system <NUM> includes a chassis <NUM> configured to support a header <NUM> and an agricultural crop processing system <NUM>. As described in greater detail below, the header <NUM> is configured to cut crops and to transport the cut crops toward an inlet <NUM> of the agricultural crop processing system <NUM> for further processing of the cut crops. The agricultural crop processing system <NUM> receives the cut crops from the header <NUM> and separates desired crop material from crop residue. For example, the agricultural crop processing system <NUM> may include a thresher <NUM> having a cylindrical threshing rotor that transports the crops in a helical flow path through the agricultural system <NUM>. In addition to transporting the crops, the thresher <NUM> may separate certain desired crop material (e.g., grain) from the crop residue, such as husks and pods, and may enable the desired crop material to flow into a cleaning system <NUM> (such as sieves) located beneath the thresher <NUM>. The cleaning system <NUM> may remove debris from the desired crop material and transport the desired crop material to a storage tank <NUM> within the agricultural system <NUM>. When the storage tank <NUM> is full, a tractor with a trailer on the back may pull alongside the agricultural system <NUM>. The desired crop material collected in the storage tank <NUM> may be carried up by an elevator and dumped out of an unloader <NUM> into the trailer. The crop residue may be transported from the thresher <NUM> to a crop residue handling system <NUM>, which may process (e.g., chop/shred) and remove the crop residue from the agricultural system <NUM> via a crop residue spreading system <NUM> positioned at an aft end of the agricultural system <NUM>. To facilitate discussion, the agricultural system <NUM> and/or its components may be described with reference to a lateral axis or direction <NUM>, a longitudinal axis or direction <NUM>, and a vertical axis or direction <NUM>. The agricultural system <NUM> and/or its components may also be described with reference to a direction of travel <NUM>.

As discussed in detail below, the header <NUM> includes a cutter bar assembly <NUM> configured to cut the crops within the field. The header <NUM> also includes a reel assembly <NUM> configured to engage the crops to prepare the crops to be cut by the cutter bar assembly <NUM> and/or to urge crops cut by the cutter bar assembly <NUM> onto a conveyor system that directs the cut crops toward the inlet <NUM> of the agricultural crop processing system <NUM>. The reel assembly <NUM> includes a reel having multiple fingers extending from a central framework. The central framework is driven to rotate such that the fingers engage the crops and urge the crops toward the cutter bar assembly <NUM> and the conveyor system. Additionally, the reel may be supported by multiple arms (e.g., reel arms) that are coupled to a frame <NUM> of the header <NUM>. Each of the arms may be coupled to the frame <NUM> via a respective pivot joint. For example, one pivot joint is configured to enable a first arm of the multiple arms to pivot (e.g., about the lateral axis <NUM>) relative to the frame <NUM>, and another pivot joint is configured to enable a second arm of the multiple arms to pivot (e.g., about the lateral axis <NUM>) relative to the frame <NUM>.

<FIG> is a perspective view of an embodiment of the header <NUM> that may be employed within the agricultural system <NUM> of <FIG>. In the illustrated embodiment, the header <NUM> includes the cutter bar assembly <NUM> configured to cut a portion of each crop (e.g., a stalk), thereby separating the crop from the soil. The cutter bar assembly <NUM> is positioned at a forward end of the header <NUM> relative to the longitudinal axis <NUM> of the header <NUM>. As illustrated, the cutter bar assembly <NUM> extends along a substantial portion of the width of the header <NUM> (e.g., along the lateral axis <NUM>). The cutter bar assembly <NUM> includes a blade support, a stationary guard assembly, and a moving blade assembly. The moving blade assembly is fixed to the blade support (e.g., above the blade support along the vertical axis <NUM> of the header <NUM>), and the blade support/moving blade assembly is driven to oscillate relative to the stationary guard assembly. In the illustrated embodiment, the blade support/moving blade assembly is driven to oscillate by a driving mechanism <NUM> positioned at a center of the header <NUM>. However, in other embodiments, the blade support/moving blade assembly may be driven by another suitable mechanism (e.g., located at any suitable position on the header <NUM>). As the agricultural system <NUM> is driven through the field, the cutter bar assembly <NUM> engages crops within the field, and the moving blade assembly cuts the crops (e.g., the stalks of the crops) in response to engagement of the cutter bar assembly <NUM> with the crops.

In the illustrated embodiment, the header <NUM> includes a first conveyor section <NUM> on a first lateral side of the header <NUM> and a second conveyor section <NUM> on a second lateral side of the header <NUM> opposite the first lateral side. The conveyor sections <NUM>, <NUM> may be separate from one another. For instance, the first conveyor section <NUM> may extend along a portion of a width of the header <NUM> and the second conveyor section <NUM> may extend along another portion of the width of the header <NUM>. Each conveyor section <NUM>, <NUM> is driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The first conveyor section <NUM> and the second conveyor section <NUM> are driven such that a top surface of each conveyor section <NUM>, <NUM> moves laterally inward to a center conveyor section <NUM> positioned between the first conveyor section <NUM> and the second conveyor section <NUM> along the lateral axis <NUM>. The center conveyor section <NUM> may also be driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The center conveyor section <NUM> is driven such that the top surface of the center conveyor section <NUM> moves rearwardly relative to the direction of travel <NUM> toward the inlet. As a result, the conveyor sections <NUM>, <NUM>, <NUM> transport the cut crops through the inlet to the agricultural crop processing system for further processing of the cut crops. Although the illustrated header <NUM> includes two conveyor sections <NUM>, <NUM> configured to direct crops toward the center conveyor section <NUM>, there may be any suitable number of conveyor sections in additional or alternative embodiments directing the crops toward the center conveyor section.

In the illustrated embodiment, the crops cut by the cutter bar assembly <NUM> are directed toward the conveyor sections <NUM>, <NUM> at least in part by the reel assembly <NUM>, thereby substantially reducing the possibility of the cut crops falling onto the surface of the field. The reel assembly <NUM> includes a reel <NUM> having multiple fingers or tines <NUM> extending from a central framework <NUM>. The central framework <NUM> is driven to rotate such that the fingers <NUM> move (e.g., in a circular pattern). The fingers <NUM> are configured to engage the crops and urge the cut crops toward the conveyor sections <NUM>, <NUM> to facilitate transportation of the cut crops to the agricultural crop processing system.

As illustrated herein, the cutter bar assembly <NUM> is flexible along the width of the header <NUM>. As discussed in detail below, the cutter bar assembly <NUM> is supported by multiple arm assemblies distributed along the width of the header <NUM>. In some embodiments, the frame <NUM> of the header <NUM> may be movably coupled to the chassis of the agricultural system. Each arm assembly is mounted to the frame <NUM> and includes an arm coupled to the cutter bar assembly <NUM>. The arm may rotate and/or move the cutter bar assembly <NUM> along the vertical axis <NUM> relative to the frame <NUM>, thereby enabling the cutter bar assembly <NUM> to flex during operation of the agricultural system. Thus, the cutter bar assembly <NUM> may follow the contours of the field, thereby enabling the cutting height (e.g., the height at which each crop is cut) to be substantially constant along the width of the header <NUM>.

<FIG> is a cross-sectional side view of an embodiment portion of the header <NUM> having the reel assembly <NUM> and the cutter bar assembly <NUM>. The illustrated cutter bar assembly <NUM> includes arms <NUM> supporting blades <NUM> at a first end <NUM> of the arms <NUM>. Further, the arms <NUM> may be coupled to the frame <NUM> of the header <NUM> at a second end <NUM> of the arms <NUM>. As an example, the arms <NUM> may be pivotably coupled to the frame <NUM> at the second end <NUM>. In this manner, the arms <NUM> may be configured to rotate relative to the frame <NUM>. As such, the arms <NUM> may rotate in a first rotational direction <NUM>, which may raise the arms <NUM> along the vertical axis <NUM>, and the arms <NUM> may rotate in a second rotational direction <NUM>, which may lower the arms <NUM> along the vertical axis <NUM>. In certain embodiments, the arms <NUM> may freely rotate in the rotational directions <NUM>, <NUM> to follow a contour of the field on which the header <NUM> is harvesting. For example, the arms <NUM> may position the blades <NUM> to maintain contact with the field. As such, an upward slope of the field may push the arms <NUM> to rotate in the first rotational direction <NUM> to raise the blades <NUM> relative to the frame <NUM> and therefore avoid inserting the blades <NUM> into the field. Moreover, at a downward slope of the field, the weight of the blades <NUM> may cause the arms <NUM> to rotate in the second rotational direction <NUM> to lower the blades <NUM> relative to the frame <NUM> such that the blades <NUM> remain in contact with the field. In additional or alternative embodiments, the entire cutter bar assembly may translate along the vertical axis. That is, in addition to or as an alternative to rotating about the frame, the cutter bar assembly may slide along the frame. Indeed, the cutter bar assembly <NUM> may be configured to move in any suitable manner to enable the blades <NUM> to maintain contact with the field as the header travels through the field.

The reel assembly <NUM> may also move relative to the frame <NUM> and relative to the cutter bar assembly <NUM>. In the illustrated embodiment, the frame <NUM> includes an extension <NUM> (e.g., a reel arm) coupling the reel assembly <NUM> to the frame <NUM>. The extension <NUM> may position the reel assembly <NUM> above the cutter bar assembly <NUM> along the vertical axis <NUM> such that the reel assembly <NUM> may urge the cut crops toward the blades <NUM>. For instance, the reel assembly <NUM> may rotate in a third rotational direction <NUM> about a pivot point <NUM> to which the extension <NUM> is coupled. By rotating in the third rotational direction <NUM>, the fingers <NUM> may guide the crops toward the blades <NUM> that cut the crops. The extension <NUM> may also move relative to the frame <NUM> to move the reel assembly <NUM> relative to the frame <NUM> and relative to the cutter bar assembly <NUM>. As an example, the extension <NUM> may rotate about the frame <NUM> and may be configured to raise the reel assembly <NUM> in a first (e.g., upward) direction <NUM> relative to the vertical axis <NUM> and/or in a second (e.g., downward) direction <NUM> relative to the vertical axis <NUM>. In this way, the extension <NUM> may be positioned desirably relative to the cutter bar assembly <NUM> to enable the reel assembly <NUM> to guide the crops to be cut by the cutter bar assembly <NUM>. In an example, the reel assembly <NUM> may be positioned proximate to the cutter bar assembly <NUM> without the fingers <NUM> interfering (e.g., contacting) with the blades <NUM>.

In the illustrated embodiment, the header <NUM> includes a controller <NUM> configured to control operating parameters of the agricultural system, such as of the header <NUM>. The controller <NUM> may include a memory <NUM> and a processor <NUM> (e.g., a microprocessor). The controller <NUM> may also include one or more storage devices and/or other suitable components. The processor <NUM> may be used to execute software, such as software for controlling the agricultural system and/or the header <NUM>. Moreover, the processor <NUM> 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 <NUM> may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors. The memory <NUM> may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory <NUM> may store a variety of information and may be used for various purposes. For example, the memory <NUM> may store processor-executable instructions (e.g., firmware or software) for the processor <NUM> to execute, such as instructions for controlling the agricultural system and/or the header <NUM>. The memory <NUM> and/or the processor <NUM>, or an additional memory and/or processor, may be located in any suitable portion of the agricultural system. By way of example, the controller <NUM> may be located in a cab of the agricultural system and/or on the header <NUM>.

The controller <NUM> may be configured to output control signals for controlling the header <NUM> based on sensor feedback. For instance, the controller <NUM> may be communicatively coupled to an actuator <NUM>, which may be configured to move the extension <NUM> relative to the frame <NUM> to move the reel assembly <NUM> relative to the frame <NUM> and relative to the cutter bar assembly <NUM>. The controller <NUM> may therefore output control signals to instruct the actuator <NUM> to set a position of the extension <NUM>, thereby setting a position of the reel assembly <NUM> accordingly.

As an example, the illustrated header <NUM> includes sensors <NUM> that may be disposed on the cutter bar assembly <NUM> and/or on the reel assembly <NUM>. The sensors <NUM> may be configured to detect the respective positions (e.g., a rotational position about the frame <NUM>) of the cutter bar assembly <NUM> and of the reel assembly <NUM>. Thus, the controller <NUM> may receive the sensor feedback for determining the position of the cutter bar assembly <NUM> relative to the reel assembly <NUM>. Additionally or alternatively, the sensors may be configured to detect other operating parameters of the agricultural system, such as a condition (e.g., a contour) of the field, a height of the crops and/or of the field (e.g., in front of the agricultural system), a traveling speed of the agricultural system, a rotational velocity of the arms of the cutter bar assembly, and the like. In any case, the controller <NUM> may be configured to operate the header <NUM> based on the received sensor feedback, such as to instruct the actuator <NUM> to adjust a position of the reel assembly <NUM> relative to the frame <NUM> and/or relative to the cutter bar assembly <NUM> based on the detected respective positions of the cutter bar assembly <NUM> and of the reel assembly <NUM>. As used herein, the position of the reel assembly <NUM> may refer to a position of the pivot point <NUM> relative to the frame <NUM> and/or relative to the cutter bar assembly <NUM>.

Furthermore, a user may utilize the controller <NUM> for manually controlling the cutter bar assembly <NUM> and/or the reel assembly <NUM>. For instance, the controller <NUM> may include or be communicatively coupled to a user interface, which may be used by the user to provide user inputs to manually position the cutter bar assembly <NUM> and/or the reel assembly <NUM>, for example. In this manner, the controller <NUM> may enable the user to adjust the reel assembly <NUM> to a desired position, such as based on the type of crops being harvested by the header <NUM>, the contour of the field on which the header <NUM> harvests, and so forth.

In some circumstances, the user may transmit a user input (e.g., via the controller <NUM>) to move the reel assembly <NUM> to a position in which the reel assembly <NUM> may contact the cutter bar assembly <NUM>, such as to a position that is too close to the cutter bar assembly <NUM>, thereby affecting an operation of the cutter bar assembly <NUM> to cut the crops. For this reason, the controller <NUM> may be configured to block the reel assembly <NUM> from being positioned too close to the cutter bar assembly <NUM>. To this end, the controller <NUM> may establish a position boundary (e.g., a lower position boundary and/or an upper position boundary). The controller <NUM> may enable movement within the position boundary but may block the reel assembly <NUM> from being moved beyond the position boundary. For example, the position boundary may include an upper position boundary (not shown), which may be a position where the reel assembly <NUM> may be moved farthest away from the cutter bar assembly <NUM>. The upper position boundary may be based on a mechanically allowable movement of the extension <NUM> about the frame <NUM>. For instance, the upper position boundary may be based on a strength of the extension <NUM>, a rotational range of the extension <NUM>, a weight of the reel assembly <NUM>, another suitable parameter, or any combination thereof. The position boundary may also include a lower position boundary <NUM>, which may be a position where the reel assembly <NUM> may be moved closest to the cutter bar assembly <NUM>. The lower position boundary <NUM> may be based on the mechanically allowable movement of the extension <NUM> about the frame <NUM> and also on the position of the cutter bar assembly <NUM>. In the illustrated embodiment, the position of the reel assembly <NUM> is at the lower position boundary <NUM>. As such, the reel assembly <NUM> may be blocked from moving farther in a direction <NUM> (e.g., a downward direction) along the vertical axis <NUM> to move beyond the lower position boundary <NUM>. In this way, a likelihood of the reel assembly <NUM> contacting the cutter bar assembly <NUM> is limited. Indeed, in embodiments in which the reel assembly <NUM> may have multiple sections, a separate position boundary may be set for each respective section of the reel assembly <NUM> based on movement of the cutter bar assembly <NUM> associated with the respective sections of the reel assembly.

In certain embodiments, the lower position boundary <NUM> may be based on movement of the cutter bar assembly <NUM> during the operation of the header <NUM>. For instance, the controller <NUM> may establish the lower position boundary <NUM> based on previously recorded data associated with the position of the cutter bar assembly <NUM> (e.g., from the sensors <NUM>). As such, the controller <NUM> may dynamically move the lower position boundary <NUM> (e.g., relative to the frame <NUM> and/or the cutter bar assembly <NUM>), such as based on a change in the contour of the field. Additionally or alternatively, the controller may establish the lower position boundary based on other data, such as user input data, predictive data, and/or any other suitable data.

<FIG> are each flowcharts of embodiments of various methods for operating the header. The steps of each method may be performed by a controller, such as the controller <NUM> of <FIG>. As an example, each method may be performed during the operation of the agricultural system. Additionally, each method may be performed differently in different embodiments of the agricultural system. For example, additional steps of each method may be performed, and/or certain steps of each method may be removed, modified, and/or performed in a different order.

<FIG> is a flowchart of an embodiment of a method <NUM> for setting a position boundary of the reel assembly. At block <NUM>, feedback (e.g., sensor feedback) indicative of a profile of the cutter bar assembly is received. The profile of the cutter bar assembly may include a position of various sections of the cutter bar assembly along a width of the cutter bar assembly. Such feedback may be determined and transmitted by the sensors of the agricultural system as the agricultural system travels through a field.

At block <NUM>, the position boundary of the reel assembly may be set based on the received feedback. As an example, calculations may be performed using the feedback received over a time interval to determine the position boundary. Such calculations may include a mathematical mean, a mathematical median, a mathematical mode, a weighted calculation, another suitable calculation, and the like, performed on the received feedback over the time interval. Additionally or alternatively, a determination may be made regarding a frequency and/or a total number of times the position of the cutter bar assembly has moved beyond a position range (e.g., above a threshold position, below a threshold position, or both) based on the received feedback over the time interval. Other calculations with the received feedback may also be used to set the position boundary of the reel assembly in further embodiments. Moreover, in circumstances in which the field causes the position of the cutter bar assembly to vary along the width of the header, multiple position boundaries associated with different sections of the reel assembly may be determined (e.g., one position boundary for each section of the reel assembly). For embodiments in which the reel assembly includes multiple sections that may be moved independently of one another, each section of the reel assembly may be moved in accordance with a respective position boundary. Therefore, each section of the reel assembly may be positioned and/or moved differently relative to the frame. In embodiments in which the header incudes a single reel assembly, a single position boundary for the reel assembly may be set based on the received feedback. For example, the single position boundary may be set on a highest position of the cutter bar assembly so that the reel assembly avoids the cutter bar assembly.

In certain embodiments, the position boundary may be set based on feedback that has been continuously received starting from a certain time. For instance, such feedback may include position data of the cutter bar assembly received starting from a beginning of the current operation of the agricultural system, another time of the current operation (e.g., from a particular time associated with when the position boundary of the reel assembly was previously set), a time from a previous operation, another suitable time, or any combination thereof. Thus, the amount of received feedback may increase as feedback is continuously received, because currently received feedback is continuously added to the feedback that is being used to set the position boundary.

In additional or alternative embodiments, the position boundary may be set based on position data that has been received for a dynamic time interval (e.g., a moving time window). As used herein, the dynamic time interval includes a time window having a fixed amount or range of time and having a starting time that is continuously updated as the agricultural system is in operation. For instance, the dynamic time interval may encompass the previous ten minutes of operation. In this way, after the agricultural system has operated for more than ten minutes, position data that was received before the previous ten minutes of operation may no longer be used for setting the position boundary. As such, the total amount of position data may remain substantially the same as currently acquired position data replaces previously acquired position data. Although the example discusses a time period of ten minutes, the time period may include five minutes, twenty minutes, thirty minutes, one hour or more, or any other suitable time range of operation.

In further embodiments, the position boundary may be set based on feedback received from a fixed or static time interval (e.g., ten minutes, twenty minutes, thirty minutes, one hour or more of operation). As used herein, the fixed time interval includes a single time interval that is selected and position data from the fixed time interval is used until another fixed time interval is selected to replace the previously selected fixed time interval. The fixed time interval may or may not include currently received feedback. For instance, fixed the time interval may include a first block of time selected by the user during a first time of operation (e.g., during a first pass through a field). After selection of the first block of time, position data from the first block of time may continue to be used for setting the position boundary until a second block of time is selected at a second time of operation. Then, position data from the second block of time may be used until a third block of time is selected. Indeed, the selected block of time may change at a particular frequency (e.g., every ten minutes, twenty minutes, thirty minutes, one hour or more of operation) to change the position data used for setting the position boundary and/or upon input by the user.

The user may be able to select the particular manner in which the position boundary is set, such as by selecting whether position data is used based on a set starting time, a dynamic interval, and/or a fixed time interval. As such, the user may manually change the manner in which position data is selected for use in determining the position boundary, such as while the agricultural system is in operation, between different operations of the agricultural system, and so forth. Additionally or alternatively, the manner in which position data is selected for determining the position boundary may be automatically determined (e.g., without user input). In any case, the manner in which the position data is selected for determining the position boundary may be changed accordingly.

At block <NUM>, after the position boundary has been set, a determination is made as to whether a current position of the reel assembly is within the position boundary. In other words, a determination is made as to whether the current position of the reel assembly is above the lower position boundary and/or below the upper position boundary. To this end, the current position of the reel assembly (e.g., as determined by the sensors) may be compared to the upper position boundary and/or to the lower position boundary accordingly.

At block <NUM>, in response to a determination that the reel assembly is within the position boundary, the current position of the reel assembly is maintained. That is, since the current position of the reel assembly is not above the upper position boundary and/or below the lower position boundary, the reel assembly is not automatically moved away from its current position. Additionally, the user may still be able to transmit a user input to move the reel assembly (e.g., away from the current position) to any position within the position boundary.

However, in response to a determination that the reel assembly is beyond the position boundary, the current position of the reel assembly is automatically moved to be within the position boundary, as indicated at block <NUM>. For instance, in response to the current position of the reel assembly being above the upper position boundary, the reel assembly may be automatically lowered to a position below the upper position boundary. in response to the current position of the reel assembly being below the lower position boundary, the reel assembly may be automatically raised to a position above the lower position boundary. In certain embodiments, the reel assembly may be moved to a default or preset position. In an example, in response to the reel assembly being above the upper position boundary, the reel assembly may be moved to be substantially at the upper position boundary. In another example, in response to the reel assembly being below the lower position boundary, the reel assembly may be moved to be substantially at the lower position boundary. However, in additional or alternative embodiments, the reel assembly may be moved to any other suitable position within the position boundary. In further embodiments, when a determination is made that the current position of the reel assembly is beyond the position boundary, a notification may be sent to notify the user. As such, the user is aware that the reel assembly is currently positioned beyond the position boundary and/or that the reel assembly is being moved to within the position boundary, and the user may operate the agricultural system accordingly.

After the reel assembly has been automatically moved to within the position boundary (e.g., to a determined suitable position, to a default position), the reel assembly may be manually moved by the operator. Thus, the user may then set the position of the reel assembly (e.g., away from the suitable position, away from the default position) as desired within the position of the boundary. In other words, when the position boundary updates such that the reel assembly is positioned outside of the position boundary, the reel assembly is automatically moved to within the position boundary, and after the reel assembly has been moved to within the position boundary, the reel assembly may be manually moved by the user to any other position within the position boundary.

In some circumstances, the steps of the method <NUM> may be iteratively performed. For instance, during the operation of the agricultural system, the position boundary may continuously or periodically be updated based on continuously received feedback, and during each update to the position boundary, a determination may be made that the position of the reel assembly is beyond the updated position boundary. Accordingly, the reel assembly may be moved multiple times as the agricultural system travels through the field in response to the multiple determinations that the reel assembly is positioned beyond the updated position boundaries in order to position the reel assembly within the updated position boundaries.

Although <FIG> primarily discusses setting the position boundary of the reel assembly based on a continuously changing profile of the cutter bar assembly relative to the frame, in additional or alternative embodiments, the position boundary of the reel assembly may be set based on a fixed profile of the cutter bar assembly relative to the frame. By way of example, the cutter bar assembly may be operated such that the blades do not substantially move relative to the frame of the header (e.g., in a rigid or locked mode). Moreover, the position of the cutter bar assembly relative to the frame may be set at a target cutter bar assembly position. Accordingly, the position boundary of the reel assembly may be set based on the target cutter bar assembly position. Additionally, since the cutter bar assembly does not substantially move from the target cutter bar assembly position during operation of the agricultural system, the position boundary of the reel assembly may not change during the operation of the agricultural system until the cutter bar assembly is set at a new target cutter bar assembly position. In this way, the position boundary of the reel assembly may be based on the set position of the cutter bar assembly rather than on continuously received feedback indicative of the current profile of the cutter bar assembly.

<FIG> is a flowchart of an embodiment of a method <NUM> for moving the reel assembly based on a received target position of the reel assembly. At block <NUM>, an input indicative of the target position of the reel assembly is received. In certain embodiments, the input may be a user input transmitted by the user, such as via the user interface. In additional or alternative embodiments, the input may be received automatically, such as based on the sensor feedback.

At block <NUM>, a determination is made as to whether the received target position is within the position boundary. For example, the received target position may be compared to the upper position boundary and/or to the lower position boundary such that a determination may be made regarding whether the received target position is above the upper position boundary and/or whether the received target position is below the lower position boundary.

At block <NUM>, in response to a determination that the target position is within the position boundary, the reel assembly may be set to the target position. That is, since moving the reel assembly to the target position will not move the reel assembly to a position above the upper position boundary and/or below the lower position boundary, the reel assembly may be moved accordingly within the position boundary to the target position (e.g., via control signals to actuators).

However, in response to a determination that the target position is beyond the position boundary, movement of the reel assembly to the target position may be blocked, as indicated at block <NUM>. In some embodiments, the position of the reel assembly may be substantially maintained (e.g., not moved from the current position). In additional or alternative embodiments, the reel assembly may be moved toward the target position, but movement of the reel assembly beyond the position boundary may be blocked before the reel assembly has been fully moved to the target position. For instance, if the target position is above the upper position boundary, the reel assembly may be moved up to the upper position boundary. If the target position is below the lower position boundary, the reel assembly may be moved down to the lower position boundary. In further embodiments, the reel assembly may be moved to another position in response to a determination that the target position is beyond the position boundary, such as to a position based on (e.g., between) the current position and the target position of the reel assembly.

Furthermore, in response to a determination that the target position is beyond the position boundary, a signal may be output to indicate that the target position is beyond the position boundary, as shown at block <NUM>. The signal may include a notification that informs the user such that the user may operate the header accordingly. For instance, the notification may be sent to the user interface. In embodiments in which the target position is automatically set (e.g., based on sensor feedback), the signal may cause a new target position to be generated accordingly, and the new target position may be located within the position boundary.

<FIG> is a flowchart of an embodiment of a method <NUM> for setting the position of the reel assembly based on the position boundary. The method <NUM> may be performed in response to receiving the input indicative of the target position of the reel assembly (e.g., performed via the block <NUM> of <FIG>). In response, at block <NUM>, the reel assembly is set to the target position, such as after a determination is made that the target position is within a currently established position boundary.

At block <NUM>, a first position boundary of the reel assembly is set, such as by performing the steps described with reference to block <NUM> of <FIG>. Upon setting the first position boundary, a determination may be made that the current position of the reel assembly is beyond the first position boundary, as shown at block <NUM>. The current position of the reel assembly may be substantially the same as the target position of the reel assembly set forth above. For instance, a step similar to the step described with reference to the block <NUM> of <FIG> may be performed to determine the target/current position of the reel assembly is beyond the position boundary.

As a result of determining the target/current position is beyond the first position boundary, the reel assembly may be moved out of the target/current position, as indicated at block <NUM>. For example, the reel assembly may be moved into an updated position within the first position boundary as described with reference to block <NUM>. As such, an updated current position of the reel assembly may be within the first position boundary.

At block <NUM>, a second position boundary of the reel assembly may be set. The second position boundary may be different than the first position boundary set at block <NUM>. By way of example, after receiving additional position data of the cutter bar assembly (e.g., over another time window), the second position boundary may be set accordingly. After the second position boundary is set, the target position, which was originally set at block <NUM>, may be determined to be within the second position boundary, as shown at block <NUM>. In other words, after updating the position boundary from the first position boundary to the second position boundary, the target position is determined to be within the currently set position boundary (e.g., the second position boundary).

At block <NUM>, the reel assembly is moved toward the target position. In certain embodiments, upon determining that the target position is within the second position boundary, the reel assembly may be immediately moved to the target position. In additional or alternative embodiments, the reel assembly may be gradually moved toward the target position. As an example, to avoid having to move the reel assembly repeatedly (e.g., within a short time frame, based on updating the position boundary), the reel assembly may initially be moved to an intermediate position between the current position and the target position. After a certain amount of time has elapsed in which the target position remains within the position boundary, the reel assembly may be moved toward the target position again. Indeed, the reel assembly may be moved several times (e.g., incrementally) toward the target position until the reel assembly is at the target position or a determination is made that the current position and/or the target position of the reel assembly is beyond another updated position boundary, in which case the reel assembly may be moved away from the target position.

In additional or alternative embodiments, the reel assembly may also be generally moved toward the cutter bar assembly. For example, the user may set the position of the reel assembly at a target position that is within the current position boundary. However, the position boundary may continually or periodically update such that the lower position boundary may continue to move toward the cutter bar assembly. In response, the reel assembly may also be automatically moved (e.g., out of the set target position) toward the cutter bar assembly. For instance, the user may not be aware that the lower position boundary is lowering toward the cutter bar assembly and that the reel assembly may be moved to a more suitable position for harvesting the field. For this reason, the reel assembly may be automatically moved toward the cutter bar assembly or to any other suitable position within the position boundary based on the position of the cutter bar assembly. In certain embodiments, the reel assembly may be automatically moved in response to elapsing of a threshold time in which the received sensor feedback has indicated that the reel assembly may be moved toward the cutter bar assembly, in response to a particular updated position boundary (e.g., the lower position boundary has moved significantly toward the cutter bar assembly), or in response to any other suitable condition. In any case, the reel assembly may be automatically moved to improve operation of the header.

As mentioned above, the position of various portions (e.g., sections) of the cutter bar assembly may vary along the width of the cutter bar assembly. For this reason, different portions (e.g., sections) of the reel assembly may also be set at different positions relative to one another to accommodate the different positions of the various portions of the cutter bar assembly. To this end, <FIG> and <FIG> illustrate various manners in which the position of the reel assembly may be set based on particular profiles of the cutter bar assembly.

<FIG> is a schematic diagram of an embodiment of the header <NUM> that includes the cutter bar assembly <NUM> and the reel assembly <NUM> having a single section positioned above the cutter bar assembly <NUM>. The cutter bar assembly <NUM> and the reel assembly <NUM> may each extend along a width <NUM> of the header <NUM>. Additionally, in the illustrated embodiment, a first portion <NUM> of the cutter bar assembly <NUM> may be substantially straight relative to the field, and a second portion <NUM> of the cutter bar assembly <NUM> may be substantially slanted relative to the field and to the first portion <NUM>. Based on the profile of the cutter bar assembly <NUM> (e.g., as determined by the sensors <NUM>), the controller <NUM> may output a control signal for setting an orientation of the reel assembly <NUM>.

By way of example, the controller <NUM> may determine a width of the second portion <NUM> relative to the width <NUM> of the entire header <NUM> and/or relative to a width of the first portion <NUM>. In the illustrated embodiment, the second portion <NUM> is substantially wider (e.g., about <NUM> percent, <NUM> percent, <NUM> percent or more wider) than the first portion <NUM>. Or, the first portion <NUM> is substantially narrower than the second portion <NUM> (e.g., about <NUM> percent, <NUM> percent, <NUM> percent or less the size of the second portion <NUM>). As a result, the controller <NUM> may output a control signal to rotate the reel assembly <NUM> in a rotational direction <NUM> so as to move an end <NUM> of the reel assembly <NUM> toward the second portion <NUM> of the cutter bar assembly <NUM>. In additional or alternative embodiments, the controller may output a control signal to move (e.g., translate) the entire reel assembly along the vertical axis toward the cutter bar assembly based on the profile of the cutter bar assembly. Indeed, the manner in which the reel assembly <NUM> is oriented relative to the cutter bar assembly <NUM> may be based on the particular profile of the cutter bar assembly <NUM>. As an example, the reel assembly <NUM> may be moved in response to a determination that a moved region of the cutter bar assembly <NUM> is greater than a threshold width (e.g., greater than a threshold percentage of the width <NUM>), that a portion of the cutter bar assembly <NUM> has moved greater than a threshold distance relative to the reel assembly <NUM>, another suitable parameter associated with the profile of the cutter bar assembly <NUM>, or any combination thereof. In further embodiments, rather than moving the reel assembly <NUM> toward the cutter bar assembly <NUM>, the reel assembly <NUM> may be moved away from the cutter bar assembly <NUM> (e.g., when the cutter bar assembly <NUM> is moved upward along the vertical axis <NUM>).

<FIG> is a schematic diagram of an embodiment of the header <NUM> having the cutter bar assembly <NUM> and the reel assembly <NUM> having multiple reel assembly sections (e.g., a first reel assembly section <NUM>, a second reel assembly section <NUM>, a third reel assembly section <NUM>) positioned above the cutter bar assembly <NUM>. Each reel assembly section <NUM>, <NUM>, <NUM> may be independently movable by the controller <NUM>. That is, the controller <NUM> may output respective signals for instructing each reel assembly section <NUM>, <NUM>, <NUM> to be set at different positions relative to one another. For instance, the cutter bar assembly <NUM> may include cutter bar assembly sections (e.g., a first cutter bar assembly section <NUM>, a second cutter bar assembly section <NUM>, a third cutter bar assembly section <NUM>) corresponding to the respective reel assembly sections <NUM>, <NUM>, <NUM>. The controller <NUM> may be configured to move the respective reel assembly sections <NUM>, <NUM>, <NUM> based on the respective profiles of the cutter bar assembly sections <NUM>, <NUM>, <NUM>, rather than on a profile of the entire cutter bar assembly <NUM>.

In the illustrated embodiment, the second cutter bar assembly section <NUM> is substantially flat relative to the field. For this reason, the controller <NUM> may set the second reel assembly section <NUM> at a substantially flat position relative to the field and to the second cutter bar assembly section <NUM>. Moreover, the position of the second reel assembly section <NUM> may be set at a distance <NUM> away from the second cutter bar assembly section <NUM> (e.g., at a target position or other position within a respective position boundary determined based on the position of the second cutter bar assembly section <NUM>). Further, a portion of the first cutter bar assembly section <NUM> may be slanted downward relative to the second cutter bar assembly section <NUM>. Based on the profile of the first cutter bar assembly section <NUM>, the controller <NUM> may set the position of the first reel assembly section <NUM> at a substantially slanted position relative to the second reel assembly section <NUM>. For instance, the position of the first reel assembly section <NUM> may be set to substantially maintain the distance <NUM> between portions of the first reel assembly section <NUM> and of the first cutter bar assembly section <NUM> or to otherwise position the first reel assembly section <NUM> within a respective position boundary determined based on the position of the first cutter bar assembly section <NUM>. The particular position of the first reel assembly section <NUM> may be based on the particular profile of the first cutter bar assembly section <NUM> (e.g., an extent of movement of the first cutter bar assembly <NUM>, an amount or percentage of the first cutter bar assembly section <NUM> that has moved). By way of example, the controller <NUM> may determine that a majority of the first cutter bar assembly section <NUM> is slanted with respect to the second cutter bar assembly section <NUM> and therefore, the controller <NUM> may determine that the first reel assembly section <NUM> is to be rotated. Alternatively, if the controller determines that a smaller amount of the first cutter bar assembly section is rotated and/or if the first cutter bar assembly is rotated to a smaller extent, the rotation of the first reel assembly section may be reduced.

Additionally, in the illustrated embodiment, the third cutter bar assembly section <NUM> includes a raised portion <NUM>, which may be caused from a contour of the field, an obstacle on the field, or the like. However, the raised portion <NUM> may not include a threshold amount (e.g., width) of the third cutter bar assembly section <NUM>, may not raise beyond a distance threshold toward the third reel assembly section <NUM>, may not have been maintained for greater than a time threshold (e.g., the raised portion <NUM> is a small bump on the field), or any combination thereof. As a result, the controller <NUM> may determine that there is a relatively low likelihood of the raised portion <NUM> coming into contact with and/or adversely affecting operations the reel assembly <NUM> (e.g., with the third reel assembly section <NUM>) and therefore, does not change the position of the third reel assembly section <NUM>. In this manner, the position of the third reel assembly section <NUM> remains substantially level with the second reel assembly section <NUM>, and/or a respective position boundary for the third reel assembly section <NUM> is not adjusted based on the raised portion <NUM>. However, in an alternative embodiment, if the raised portion included a greater amount of the third cutter bar assembly section and/or if the raised portion was raised a greater distance toward the third reel assembly section, the controller may adjust the respective position boundary and/or may move the third reel assembly section away from the illustrated position. Indeed, while the illustrated embodiment shows rotation of the first reel assembly section <NUM>, alternative embodiments may move any of the reel assembly sections in any suitable manner, including sliding in a vertical and/or horizontal direction in addition to or as an alternative to rotating relative to the cutter bar assembly.

<FIG> is a flowchart of an embodiment of a method <NUM> for setting a position of a particular section of the reel assembly. As described with respect to <FIG>, the method <NUM> may be performed via a controller, such as the controller <NUM> of <FIG>. Further, the method <NUM> may be performed differently in additional or alternative embodiments. For instance, additional steps may be performed with respect to the method <NUM>, and/or certain steps of the method <NUM> may be modified, removed, and/or performed in a different order.

At block <NUM>, feedback, such as sensor feedback, is received. The feedback indicates a current profile of the cutter bar assembly, such as a current profile of the entire cutter bar assembly and/or a current profile of a section of the cutter bar assembly. Based on the received feedback, a determination may be made that the reel assembly is to be moved, as indicated at block <NUM>.

In some embodiments, the feedback may indicate that the current shape of the cutter bar assembly indicates the reel assembly is to be moved. In an example, the current shape of the cutter bar assembly may indicate the reel assembly may be moved toward the cutter bar assembly without having a substantial likelihood in which the cutter bar assembly will contact the reel assembly. In another example, the current shape of the cutter bar assembly may indicate that there is a substantial likelihood in which the reel assembly will contact the cutter bar assembly and therefore, the reel assembly is to be moved away from the cutter bar assembly. In embodiments in which the reel assembly includes multiple sections, the received feedback may be used to determine whether a particular section of the reel assembly is to be moved. As an example, based on the received feedback, a determination may be made that one of the sections of the cutter bar assembly has transitioned to a current profile from a previous profile. The feedback may indicate that the current profile may be substantially maintained for a threshold time period, that the transition from the previous profile to the current profile may exceed a threshold movement, that a moved region of the section of the cutter bar assembly exceeds a threshold width of the section, and/or another suitable condition of the section of the cutter bar assembly. As such, the feedback indicates that a corresponding section of the reel assembly is to be moved, but remaining sections of the reel assembly may be maintained at their current positions. Thus, each section of the reel assembly may be separately compared to the received feedback to determine whether any of the sections of the reel assembly is to be moved.

In additional or alternative embodiments, the feedback may indicate a duration in which the profile of the cutter bar assembly has been substantially maintained. For instance, the reel assembly may have been set based on previously received feedback indicative of a previous profile of the cutter bar assembly. Currently received feedback may indicate that the current profile of the cutter bar assembly has slightly deviated from the previous profile (e.g., the deviation of the current profile does not include a threshold intensity and/or a threshold amount of the current bar assembly) such that the reel assembly is to be moved immediately. However, the current feedback may alternatively indicate that the current profile of the cutter bar assembly has been substantially maintained for greater than a threshold period of time. Accordingly, a determination may be made that the reel assembly is to be set based on the current feedback indicative of the current profile rather than on the previously received feedback indicative of the previous profile (e.g., the previously received feedback is no longer accurate). As such, the determination that the reel assembly is to be moved may be based on a duration of time in addition to or as an alternative to the profile of the cutter bar assembly.

At block <NUM>, the position of the reel assembly is set based on the feedback. For instance, the position of the entire reel assembly may be set based on the feedback indicative of the profile (e.g., the shape and/or the duration of time associated with the profile) of the cutter bar assembly. In embodiments in which the reel assembly includes multiple sections, the position of each particular section of the reel assembly may be set based on the feedback indicative of the profile. Indeed, each section of the reel assembly may be set at a different location relative to one another based on the profile of the cutter bar assembly. It should be noted that respective position boundaries may be set to limit the movement of each section of the reel assembly in combination with the features described with respect to <FIG>. For example, each section of the reel assembly may be blocked from moving to a set position relative to the cutter bar assembly based on the portion of the profile of the cutter bar assembly associated with the particular section of the reel assembly.

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 scope of the appended claims.

Claim 1:
An agricultural system (<NUM>), comprising:
a header (<NUM>) with a frame (<NUM>);
a cutter bar assembly (<NUM>), flexible along a width of the header <NUM> and configured to move along a vertical axis (<NUM>) relative to the frame (<NUM>) during an operation of the agricultural system (<NUM>);
a reel assembly (<NUM>) configured to guide crops to the cutter bar assembly (<NUM>) during the operation of the agricultural system (<NUM>); and characterized by
a controller (<NUM>) configured to:
receive feedback indicative of a profile of the cutter bar assembly (<NUM>);
set a position boundary (<NUM>) of the reel assembly (<NUM>) based on the feedback; and
block movement of the reel assembly (<NUM>) to a position beyond the position boundary (<NUM>) of the reel assembly (<NUM>).