Patent Description:
This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present invention, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present invention.

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 the direction of travel of the harvester. The belt(s) are configured to transport the cut crops to an inlet of the processing system. In, e.g., <CIT>, <CIT>, and <CIT>, harvester headers are disclosed with hydraulic header height control systems. The hydraulic control systems comprises hydraulic actuators that may be coupled to one or more accumulators.

The invention concerns an agricultural system having the features of claim1. Certain embodiments of the invention are summarized below. These embodiments are not intended to limit the scope of the claimed subject matter, but rather these embodiments are intended only to provide a brief summary of possible forms of the d invention.

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 a 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 moves the cut 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 cut crops toward the crop processing system. The crop processing system may include a threshing machine configured to thresh the cut crops, thereby separating the cut 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 desired agricultural 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.

The header may include gauge wheels that may be used to adjust a position of the header. For example, the gauge wheels may be used to adjust a position of the header (e.g., a cutter bar assembly of the header) relative to the field. Thus, the gauge wheels may adjust a height at which the header may cut crops, such as based on the particular crop harvested by the agricultural system. Unfortunately, it may be difficult in certain agricultural systems to adjust the gauge wheels. For instance, a user (e.g., an operator) may have to suspend operation of the agricultural system in order to manually adjust the gauge wheels, thereby reducing an efficiency of the operation of the agricultural system. Furthermore, it may be difficult to maintain the position of the gauge wheels, such as during a harvest mode, to block unwanted movement of the gauge wheels.

Thus, it is now recognized that a system that enables the gauge wheels to be automatically adjusted may improve the efficiency of the operation of the agricultural system. Accordingly, embodiments of the present disclosure are directed to a system and method for hydraulically controlling the position of the gauge wheels in order to adjust the position of the header. For example, a hydraulic circuit may enable fluid transfer between a fluid reservoir and hydraulic cylinders of the gauge wheels to adjust the position of the gauge wheels. The hydraulic circuit may also block fluid transfer between the fluid reservoir and the hydraulic cylinders to substantially maintain the position of the gauge wheels. For instance, the hydraulic circuit may include valves that may be positioned to fluidly isolate the hydraulic cylinders from a remainder of the hydraulic circuit. In certain embodiments, the hydraulic circuit includes an accumulator that may receive fluid from and/or supply fluid to the hydraulic cylinders while fluid transfer is blocked between the fluid reservoir and the hydraulic cylinders. Thus, the accumulator may enable some movement of the gauge wheels from a set position, such as to enable oscillatory or spring-like motion of the gauge wheels to accommodate and follow contours of the field, while fluid transfer is blocked between the fluid reservoir and the hydraulic cylinders. As such, the accumulator may improve navigation of the header along the field to improve the harvesting operation of the header.

With the foregoing in mind, <FIG> is a side view of an embodiment of an agricultural system <NUM>, which may be a harvester (e.g., agricultural harvester). The agricultural system <NUM> includes a chassis <NUM> configured to support a header <NUM> (e.g., agricultural header) 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>.

As illustrated, the header <NUM> includes gauge wheels <NUM> configured to support the frame <NUM> in certain operating conditions. During operation of the agricultural system, the gauge wheels <NUM> may be used to position the frame <NUM> relative to the field. For instance, the gauge wheels <NUM> may engage the field to maintain a desirable position of the frame <NUM> relative to the field. The gauge wheels <NUM> may also move relative to the frame <NUM> to adjust and set the position of the frame <NUM> relative to the field, such as to adjust a cutting height of the header <NUM>.

<FIG> is a top perspective view of an embodiment of the header <NUM> that may be employed within the harvester of <FIG>. The header <NUM> includes a frame <NUM> that may be removably coupled to the harvester. The header <NUM> also includes a cutter bar assembly <NUM> that extends along the lateral axis <NUM> between a first header end <NUM> and a second header end <NUM> of the frame <NUM>. When the agricultural system <NUM> is in operation, blades of the cutter bar assembly <NUM> may engage and cut a portion of crops. The cut portion of the crops may engage a first side draper deck <NUM>, a second side draper deck <NUM>, and an infeed draper deck <NUM> (e.g., a reel assembly may drive the cut crops toward the decks). The first side draper deck <NUM> includes a first side conveyor <NUM>, and the second side draper deck <NUM> includes a second side conveyor <NUM>. The first side conveyor <NUM> extends along the lateral axis <NUM> and moves crops generally in a first laterally inward direction <NUM>. The second side conveyor <NUM> extends along the lateral axis <NUM> and moves crops generally in a second laterally inward direction <NUM>. In certain embodiments, side decks (e.g., the first side draper deck <NUM> and the second side draper deck <NUM>) and/or an infeed deck (e.g., the infeed draper deck <NUM>) of the header <NUM> may include other configurations such that the conveyors are omitted. For example, the side decks and/or the infeed deck may include augers that may move the crops.

In certain embodiments, the first side draper deck <NUM> and the second side draper deck <NUM> include arm assemblies that extend through the first side conveyor and the second side conveyor, respectively. The arm assemblies may be coupled to the cutter bar assembly <NUM> at first ends and are coupled to biasing members (e.g., fluid-filled biasing members, such as airbags) at second ends. The arm assemblies may also be pivotably coupled to the frame <NUM> generally between the first ends and the second ends. The pivotal coupling between the arms and the frame <NUM> enables the cutter bar assembly <NUM> to flex during operation of the header <NUM>. For example, the biasing members provide a downward force on the second ends of the arms that drives the first ends of the arms and the cutter bar assembly <NUM> upwardly. As such, the biasing members control the contact force between the cutter bar assembly <NUM> and the ground and enable the cutter bar assembly <NUM> to flex and to follow contours of the ground.

As shown, the infeed draper deck <NUM> is disposed between the first side draper deck <NUM> and the second side draper deck <NUM> along the lateral axis <NUM>. As illustrated, the infeed draper deck <NUM> extends along the longitudinal axis <NUM>. The infeed draper deck <NUM> includes an infeed conveyor <NUM>. As each of the first side draper deck <NUM> and the second side draper deck <NUM> receive the cut portion of the crops, the first side conveyor <NUM> of the first side draper deck <NUM> and the second side conveyor <NUM> of the second side draper deck <NUM> move the cut portion of the crops toward the infeed draper deck <NUM> in the first laterally inward direction <NUM> and in the second laterally inward direction <NUM>, respectively. The infeed draper deck <NUM> also receives the cut portion of the crops from the cutter bar assembly <NUM>. The infeed conveyor <NUM> of the infeed draper deck <NUM> moves the cut portion of the crops in a longitudinally rearward direction <NUM> toward the crop processing system.

In certain embodiments, the infeed draper deck <NUM> includes an arm assembly and a panel assembly that are configured to pivot about a pivot axis. The panel assembly may be coupled to the cutter bar assembly <NUM> at a first end and pivotally coupled to the frame <NUM> at a second end. The arm assembly may also be coupled to the panel assembly and to the biasing members. As the arm assembly and the panel assembly pivot about the pivot axis, the biasing members are configured to control the contact force between the cutter bar assembly <NUM> and the ground. Thus, as the header <NUM> traverses the field, the cutter bar assembly <NUM> may flex. For example, when the cutter bar assembly <NUM> is positioned to contact the field surface (e.g., the ground), the cutter bar assembly <NUM> may flex to generally match a contour of the field surface. The ability of the cutter bar assembly <NUM> to flex enables the harvester to cut the crops in a desirable manner, thereby increasing crop yields while harvesting.

The header <NUM> includes the gauge wheels <NUM> that support the frame <NUM>. The gauge wheels <NUM> may adjust the frame <NUM> relative to the field and to thereby adjust and set the position of the cutter bar assembly <NUM> relative to the field. By way of example, the gauge wheels <NUM> may be moved away from the frame <NUM> to raise the cutter bar assembly <NUM> away from the field, or the gauge wheels <NUM> may be moved toward the frame <NUM> to lower the cutter bar assembly <NUM> toward the field. For instance, the gauge wheels <NUM> may be used to enable the cutter bar assembly <NUM> to cut crops at a target height. During operation of the header <NUM> to cut crops, the gauge wheels <NUM> may also oscillate relative to the frame <NUM> in order to maintain the position of the cutter bar assembly <NUM> relative to the field. That is, the gauge wheels <NUM> may move relative to the frame <NUM> so as to follow the contour of the field and block unwanted movement of the cutter bar assembly <NUM>. As a result, the gauge wheels <NUM> may enable the cutter bar assembly <NUM> to continuously cut crops at the target height.

In the illustrated embodiment, the crops cut by the cutter bar assembly <NUM> are directed to the side conveyors <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 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 side conveyors <NUM>, <NUM> to facilitate transportation of the cut crops to the agricultural crop processing system.

<FIG> is a schematic diagram of an embodiment of a hydraulic system <NUM> that may be used to control the gauge wheel of the header of <FIG>. The hydraulic system <NUM> includes hydraulic cylinders <NUM> (e.g., hydraulic cylinder assemblies) that are each configured to be coupled to a respective gauge wheel. Each hydraulic cylinder <NUM> may include a body <NUM> and a rod <NUM> enclosed within the body <NUM>. The body <NUM> may be supported on or fixed to (e.g., fixedly coupled to) the frame of the header, and the rod <NUM> may be coupled to the gauge wheel, such as via an arm and/or a linkage system. The rod <NUM> may be configured to move within the body <NUM> in order to move the gauge wheel (e.g., relative to the frame of the header). For instance, the rod <NUM> may be configured to move up to <NUM> centimeters (<NUM> inches), up to <NUM> centimeters (<NUM> inches), up to <NUM> centimeters (<NUM> inches), or up to any suitable distance within the body <NUM>.

In some embodiments, the hydraulic cylinders <NUM> are each fluidly coupled to a first hydraulic circuit <NUM> that directs fluid, such as oil or water, into and out of the hydraulic cylinders <NUM>. For example, each body <NUM> may include a first section <NUM> and a second section <NUM> configured to hold a respective amount of fluid. A piston <NUM> coupled to the rod <NUM> may be sized and positioned within the body <NUM> so as to block fluid flow between the first section <NUM> and the second section <NUM> (e.g., via an annular seal that provides a seal between the piston <NUM> and an inner wall of the body <NUM>). In this way, a pressure differential between the first section <NUM> and the second section <NUM> may drive the rod <NUM> to move within the body <NUM>. As an example, increasing the pressure in the first section <NUM> to be greater than the pressure in second section <NUM> may drive the rod <NUM> to move in a first direction <NUM> within the body <NUM> (e.g., to move the gauge wheels away from the frame). Moreover, increasing the pressure in the second section <NUM> to be greater than the pressure in the first section <NUM> may drive the rod <NUM> to move in a second direction <NUM> within the body <NUM> opposite the first direction <NUM> (e.g., to move the gauge wheels toward the frame). In this way, fluid may be directed into and out of the hydraulic cylinders <NUM> to control the position of the gauge wheels. Although the illustrated embodiment includes two hydraulic cylinders <NUM>, in additional or alternative embodiments, the hydraulic system may include any suitable number of hydraulic cylinders to control the gauge wheels of the header, such as an individual hydraulic cylinder to control a respective gauge wheel, an individual hydraulic cylinder to control multiple gauge wheels, and/or multiple hydraulic cylinders to control a single gauge wheel.

The illustrated hydraulic system <NUM> includes a fluid reservoir <NUM> that is fluidly coupled to the first hydraulic circuit <NUM>. The fluid reservoir <NUM> supplies fluid into and/or receive fluid from the first hydraulic circuit <NUM>, such as to control fluid flow within the hydraulic cylinders <NUM>. As used herein, a fluid or a fluid flow may generally refer to fluid (e.g., hydraulic fluid) within any part of the hydraulic system <NUM>. In certain embodiments, the hydraulic system <NUM> may also include a second hydraulic circuit <NUM> that may also be fluidly coupled to the fluid reservoir <NUM>. The second hydraulic circuit <NUM> is used to control another component of the header, such as a reel lift (e.g., of the reel assembly <NUM> of <FIG> and <FIG>) of the header, to facilitate operation of the header. For instance, the fluid reservoir <NUM> may supply fluid into and/or receive fluid from the second hydraulic circuit <NUM> to place the reel lift in a desirable position relative to the frame and/or the cutter bar assembly of the header to harvest crops. Thus, the same hydraulic system <NUM> directs the fluid of the fluid reservoir <NUM> to control multiple components of the header.

In some embodiments, the hydraulic system <NUM> may be selectively controlled to enable fluid flow between the fluid reservoir <NUM> and one of the first hydraulic circuit <NUM> or the second hydraulic circuit <NUM>. In other words, when fluid flow is enabled between the fluid reservoir <NUM> and one of the first hydraulic circuit <NUM> or the second hydraulic circuit <NUM>, fluid flow is blocked between the fluid reservoir <NUM> and the other of the first hydraulic circuit <NUM> or the second hydraulic circuit <NUM>. To this end, the hydraulic system <NUM> includes fluid reservoir valves <NUM> disposed along the first hydraulic circuit <NUM> and adjustable between a first position and a second position. In the first position, the fluid reservoir valves <NUM> enable fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>, while blocking fluid flow between the fluid reservoir <NUM> and the second hydraulic circuit <NUM>. In the second position, the fluid reservoir valves <NUM> enable fluid flow between the fluid reservoir <NUM> and the second hydraulic circuit <NUM>, while blocking fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>.

As shown, the hydraulic system <NUM> may include gauge wheel valves <NUM> configured to enable or block fluid flow between the fluid reservoir valves <NUM> and the hydraulic cylinders <NUM>. For example, each gauge wheel valve <NUM> may be configured to adjust between a third position, which may enable fluid flow between the fluid reservoir valves <NUM> and the hydraulic cylinders <NUM> (e.g., the first section <NUM> of each hydraulic cylinder <NUM>) to adjust the position of the hydraulic cylinders <NUM>, and a fourth position, which may block fluid flow between the fluid reservoir valves <NUM> and the hydraulic cylinders <NUM> (e.g., the first section <NUM> of each hydraulic cylinder <NUM>) to fluidly isolate the hydraulic cylinders <NUM> from a remainder of the hydraulic system <NUM>. As such, the gauge wheel valves <NUM> may enable or block fluid flow between the fluid reservoir <NUM> and the hydraulic cylinders <NUM> to control the gauge wheels. The illustrated hydraulic system <NUM> includes two gauge wheel valves <NUM> configured to control fluid flow to a respective hydraulic cylinder <NUM>, but additional or alternative hydraulic systems may include any suitable number of gauge wheel valves, such as one gauge wheel valve configured to control fluid flow to multiple hydraulic cylinders, or a different number of gauge wheel valves based on the number of gauge wheels controllable by the hydraulic system.

In some embodiments, the fluid reservoir valves <NUM> and/or the gauge wheel valves <NUM> may be adjustable via a control system <NUM> (e.g., an electronic controller, a cloud-computing system) of the hydraulic system <NUM>. The control system <NUM> may include a memory <NUM> and processing circuitry <NUM>. The memory <NUM> may include volatile memory, such as random access memory (RAM), and/or non-volatile memory, such as read-only memory (ROM), optical drives, hard disc drives, solid-state drives, or any other non-transitory computer-readable medium that includes instructions to operate the hydraulic system <NUM>. The processing circuitry <NUM> may include one or more application specific integrated circuits (ASICs), one or more field programmable gate arrays (FPGAs), one or more general purpose processors, or any combination thereof, configured to execute the instructions stored in the memory <NUM> to control the hydraulic system <NUM>. For instance, the control system <NUM> may output a control signal to adjust the position of the fluid reservoir valves <NUM> and/or of the gauge wheel valves <NUM>. As an example, the fluid reservoir valves <NUM> and/or the gauge wheel valves <NUM> may each be solenoid valves. The control signal may energize the fluid reservoir valves <NUM> to transition the fluid reservoir valves <NUM> to the first position to enable fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>, and/or may energize the gauge wheel valves <NUM> to transition the gauge wheel valves <NUM> to the fourth position to enable fluid flow between the fluid reservoir valves <NUM> and the hydraulic cylinders <NUM>.

In certain embodiments, the control system <NUM> may be configured to output the control signal based on a user input. To this end, the control system <NUM> may include a user interface <NUM>, such as a touchscreen, a button, a switch, a dial, a slider, a trackpad, or any combination thereof, with which a user (e.g., an operator) may interact to cause the control system <NUM> to output the control signal. That is, the control system <NUM> may control fluid flow through the hydraulic system <NUM> (e.g., into and/or out of the hydraulic cylinders <NUM>) based on the user input. Additionally or alternatively, the control system <NUM> may automatically output the control signal. By way of example, the hydraulic system <NUM> may include a sensor <NUM> that is communicatively coupled to the control system <NUM>. The sensor <NUM> may monitor a parameter of the agricultural system, such as an operating mode, a time of operation, a fluid pressure in the hydraulic system <NUM> (e.g., at a section of the first hydraulic circuit <NUM>), a configuration (e.g., position) of another component of the agricultural system, a fluid flow within the first hydraulic circuit <NUM>, another parameter, or any combination thereof. The sensor <NUM> may transmit sensor data indicative of the parameter to the control system <NUM>, and the control system <NUM> may output the control signal based on the sensor data. It should be noted that any suitable number of sensors <NUM> may be provided and may transmit sensor data indicative of one or more parameters. In further embodiments, the control system <NUM> may control the particular positioning of the gauge wheels based on the sensor data. That is, for example, the control system <NUM> may control the position of the rod <NUM> in the body <NUM> based on the sensor data transmitted by the sensor <NUM>, such as based on whether the sensor data indicates the gauge wheels are at a desirable position relative to the frame of the header. In further embodiments, the control system <NUM> may display data received from the sensor <NUM>. For instance, the control system <NUM> may display the fluid pressure in the hydraulic system <NUM> as monitored by the sensor <NUM> to a user, such that the user is notified of the amount of fluid in the hydraulic system <NUM> (e.g., to determine whether maintenance is needed to adjust the amount of fluid flowing through the hydraulic system <NUM>).

In the illustrated embodiment, the hydraulic system <NUM> is in a first configuration, which may be a holding configuration (e.g., for a normal harvest mode). During the first configuration, fluid flow between the fluid reservoir <NUM> and the hydraulic cylinders <NUM> is blocked. As such, the position of the hydraulic cylinders <NUM>, and therefore of the gauge wheels, are substantially maintained at a target or set position. To achieve the first configuration, the control system <NUM> may instruct each gauge wheel valve <NUM> to transition to the fourth position such that fluid is blocked from flowing between the fluid reservoir valves <NUM> and the first section <NUM> of each hydraulic cylinder <NUM>. Moreover, a first check valve <NUM> may block fluid flow from the second section <NUM> of each hydraulic cylinder <NUM> to the fluid reservoir valves <NUM>, and a pressure relief valve <NUM> may be set to block fluid flow from the fluid reservoir valves <NUM> to the second sections <NUM>. As an example, the position of the pressure relief valve <NUM> may be based on an amount of fluid pressure exerted onto the pressure relief valve <NUM> (e.g., caused by fluid flow out of the second sections <NUM>). In the first configuration, the position of the rod <NUM> of each hydraulic cylinder <NUM> may be substantially maintained such that there is no substantial fluid flow out of the second sections <NUM> and the fluid pressure exerted onto the pressure relief valve <NUM> does not adjust the position of the pressure relief valve <NUM>. Thus, the pressure relief valve <NUM> remains in a position that blocks fluid flow from the second sections <NUM> to the fluid reservoir valves <NUM> and toward the fluid reservoir <NUM>. As a result, the hydraulic cylinders <NUM> may be fluidly isolated from a remainder of the hydraulic system. Further still, the control system <NUM> may instruct the fluid reservoir valves <NUM> to transition to the second position to block fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>. As a result, the amount of fluid within the first hydraulic circuit <NUM> may be substantially maintained in order to substantially maintain the hydraulic cylinders <NUM> and the gauge wheels at the current positions.

In certain embodiments, the first hydraulic circuit <NUM> may include first accumulators <NUM> that are fluidly coupled to the first section <NUM> of the hydraulic cylinders <NUM>. The first accumulators <NUM> may be configured to adjust the amount of fluid in the first sections <NUM> even though fluid flow is blocked between the fluid reservoir <NUM> and the first sections <NUM>. For example, during operation of the agricultural system, a force may be imparted onto the gauge wheels, such as by the contour of the field, an obstacle on the field, and the like. The first accumulators <NUM> may enable the amount of fluid in the first sections <NUM> to change, thereby enabling the rod <NUM> to move within the body <NUM> as caused by the force imparted onto the gauge wheels. In this manner, the first accumulators <NUM> may enable the gauge wheels to oscillate from the set position while the hydraulic system <NUM> is in the first configuration. As such, even though fluid flow is blocked between the fluid reservoir <NUM> and the first sections <NUM> in the first configuration, the first accumulators <NUM> may receive fluid from the first sections <NUM> to enable the rods <NUM> to move in the second direction <NUM> to raise the gauge wheels from the set position when sufficient force is imparted onto the gauge wheels, and the first accumulators <NUM> may direct fluid from the first sections <NUM> to the first accumulators <NUM> to enable the rods <NUM> to move in the first direction <NUM> to lower the gauge wheels from the set position when another sufficient force is imparted onto the gauge wheels. As an example, a bump on the field may cause the rods <NUM> to move in the second direction <NUM> from a set position to raise the gauge wheels, and the rods <NUM> may move in the first direction <NUM> to return to the set position to lower the gauge wheels after navigating across the bump. However, the first accumulators <NUM> may substantially maintain the amount of fluid in the first sections <NUM> to return the gauge wheels to the set position when there is no sufficient force imparted onto the gauge wheels. Such oscillatory motion of the gauge wheels may improve navigation of the agricultural system on the field and substantially maintain a position of the header (e.g., relative to the field).

The first hydraulic circuit <NUM> may also include a second accumulator <NUM> that is fluidly coupled to the second section <NUM> of the hydraulic cylinders <NUM>. The second accumulator <NUM> may be configured to adjust the amount of fluid in the second sections <NUM> even though fluid flow is blocked between the fluid reservoir <NUM> and the second sections <NUM>. For instance, fluid flow may transfer between the second sections <NUM> and the second accumulator <NUM> to accommodate movement of the rod <NUM> within the body (e.g., caused by forces imparted onto the gauge wheels). Therefore, the second accumulator <NUM> may further facilitate oscillatory or spring-like motion of the gauge wheels from the set position. As an example, as the rod <NUM> moves in the body <NUM> in the second direction <NUM> such that fluid flows from the first sections <NUM> to the first accumulators <NUM>, fluid may flow from the second accumulator <NUM> into the second sections <NUM>. Additionally, as the rod <NUM> moves in the body <NUM> in the first direction <NUM> such that fluid may flow from the first accumulators <NUM> into the first sections <NUM>, fluid may flow from the second sections <NUM> to the second accumulator <NUM>. Although the illustrated embodiment includes two first accumulators <NUM> and one second accumulator <NUM>, additional or alternative embodiments may include any suitable number of first accumulators and second accumulators, such as one first accumulator and two second accumulators, or more than two first accumulators and more than two second accumulators.

The second position of the fluid reservoir valves <NUM> may enable fluid flow between the fluid reservoir <NUM> and the second hydraulic circuit <NUM>. Thus, during the first configuration of the hydraulic system <NUM>, fluid from the fluid reservoir <NUM> may be used to control other components, such as via the provision of the fluid to one or more actuators that lift and lower the reel relative to the frame, of the header. For example, the control system <NUM> may operate the agricultural system in a harvesting operation in which the position of the gauge wheels is substantially maintained in a set position while other components of the header may be adjusted to harvest crops. Thus, the control system <NUM> may operate the hydraulic system <NUM> in the first configuration during the harvesting operation in order to block fluid flow between the fluid reservoir <NUM> and the hydraulic cylinders <NUM>.

Furthermore, the control system <NUM> may operate the agricultural system in an adjustment operation in which the position of the gauge wheels is adjusted toward a target position in order to adjust the position of the header relative to the ground. During the adjustment operation, the agricultural system may not be configured to harvest crops and thus, other components of the header may not be adjustable. By way of example, the control system <NUM> may operate the agricultural system in the adjustment operation before the harvesting operation to prepare for harvesting the crops. However, in some embodiments, the adjustment operation may be an efficient and temporary operation that is carried out during the harvesting operation (e.g., to transition between different types of harvesting operations).

<FIG> is a schematic diagram of the hydraulic system <NUM> of <FIG> in a second or lowering configuration (e.g., of the adjustment operation of the agricultural system), which may be used to move the rods <NUM> in the first direction <NUM> to lower the gauge wheels relative to the frame (i.e., to move the gauge wheels away from the frame). In the second configuration, the control system <NUM> may instruct the fluid reservoir valves <NUM> to transition to the first position to enable fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>, thereby blocking fluid flow between the fluid reservoir <NUM> and the second hydraulic circuit <NUM>. Moreover, the control system <NUM> may instruct the gauge wheel valves <NUM> to transition to the third position to enable fluid flow between the fluid reservoir valves <NUM> and the gauge wheel valves <NUM>. For example, fluid may be directed (e.g., via a pump) from the fluid reservoir <NUM> through a first fluid reservoir valve 274A, through the gauge wheel valves <NUM>, and to the first sections <NUM> of the hydraulic cylinders <NUM> to increase the fluid pressure in the first sections <NUM>. Therefore, the fluid pressure in the first sections <NUM> may be greater than the fluid pressure in the second sections <NUM> of the hydraulic cylinders <NUM>. The fluid pressure differential may drive the rod <NUM> to move in the first direction <NUM> within the body <NUM>. For example, fluid may continue to be directed into the first sections <NUM> until sensor data is received, via the sensor <NUM>, to indicate that the gauge wheel is at a target lowered position.

In some embodiments, the first hydraulic circuit <NUM> may include a first pressure reducing valve <NUM> to block excessive pressure from building in the first sections <NUM>. For example, pressure in the first sections <NUM> above a threshold pressure may exert a sufficient fluid pressure onto the first pressure reducing valve <NUM> to move the first pressure reducing valve <NUM> to a position that blocks fluid flow from the fluid reservoir <NUM> to the first sections <NUM>. Additionally, a second check valve <NUM> may be disposed on the first hydraulic circuit <NUM> to block fluid flow from the fluid reservoir <NUM> to the first sections <NUM>, thereby blocking additional fluid pressure from building in the first sections <NUM>.

Movement of the rod <NUM> in the first direction <NUM> may drive fluid to flow out of the second section <NUM> of the hydraulic cylinders <NUM>. In some embodiments, the fluid may flow out of the second sections <NUM> into the second accumulator <NUM>. For example, if the second accumulator <NUM> is not filled beyond a threshold level (e.g., a capacity), the second accumulator <NUM> may continue to receive fluid directed out of the second sections <NUM>. For instance, the second accumulator <NUM> may receive fluid when movement of the rod <NUM> in the body <NUM> is relatively small. In such circumstances, there may not be sufficient fluid pressure exerted onto the pressure relief valve <NUM> to position the pressure relief valve <NUM> and enable fluid flow from the second sections <NUM> to the fluid reservoir <NUM>. As such, the pressure relief valve <NUM> may continue to block fluid flow from the second sections <NUM> into the fluid reservoir <NUM>. However, if additional fluid is to be directed out of the second sections <NUM> (e.g., if the second accumulator <NUM> is filled to capacity, if movement of the rod <NUM> in the body <NUM> is relative large), sufficient fluid pressure may be exerted onto the pressure relief valve <NUM> (e.g., due to excess fluid flow out of the second sections <NUM> after the second accumulator <NUM> is filled to capacity) to cause the pressure relief valve <NUM> to adjust positions and enable fluid flow from the second sections <NUM> into the fluid reservoir <NUM>. Thus, fluid may flow from the second sections <NUM> through the pressure relief valve <NUM>, through third check valves <NUM>, and through a second fluid reservoir valve 274B into the fluid reservoir <NUM>.

In some embodiments, fourth check valves <NUM> and/or a second pressure reducing valve <NUM> may be disposed in the first hydraulic circuit <NUM>. The fourth check valves <NUM> may block fluid flow through the second pressure reducing valve <NUM> toward the fluid reservoir <NUM>, and the second pressure reducing valve <NUM> may block excessive pressure from building in the second sections <NUM>. For example, pressure in the second sections <NUM> above a threshold pressure may exert a fluid pressure onto the second pressure reducing valve <NUM> to block fluid flow from the fluid reservoir <NUM> to the second sections <NUM>, thereby blocking additional fluid flow from building in the second sections <NUM>.

<FIG> is a schematic diagram of the hydraulic system <NUM> of <FIG> and <FIG> in a third or raising configuration (e.g., of the adjustment operation of the agricultural system), which may be used for moving the rod <NUM> in the second direction <NUM> to raise the gauge wheels relative to the frame (i.e., move the gauge wheels toward the frame). In the third configuration, the control system <NUM> may instruct the fluid reservoir valves <NUM> to transition to the first position to enable fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>, and the control system <NUM> may instruct the gauge wheel valves <NUM> to transition to the third position to enable fluid flow between the fluid reservoir valves <NUM> and the gauge wheel valves <NUM>. In order to raise the gauge wheels, the rod <NUM> may be driven to move in the second direction <NUM> in the body <NUM>. To this end, fluid may be directed (e.g., via a pump) from the first sections <NUM> through the gauge wheel valves <NUM>, through the second check valve <NUM>, through the first fluid reservoir valve 274A, and into the fluid reservoir <NUM>. As a result, the fluid pressure in the first section <NUM> may be less than the fluid pressure in the second section <NUM>. Such fluid pressure differential may therefore drive the rod <NUM> to move in the second direction <NUM> in the body <NUM>. For instance, fluid may continue to be directed out of the first sections <NUM> until sensor data is received, via the sensor <NUM>, to indicate that the gauge wheel is at a target raised position.

Movement of the rod <NUM> in the second direction <NUM> in the body <NUM> may cause fluid to be directed into the second section <NUM>. In some embodiments, fluid may be directed from the second accumulator <NUM> into the second sections <NUM> (e.g., for relatively small movement of the rod <NUM>). In additional or alternative embodiments, fluid may be directed from the fluid reservoir <NUM> to the second sections <NUM> (e.g., for relatively large movement of the rod <NUM>). For instance, fluid may flow from the fluid reservoir <NUM> through the second fluid reservoir valve 274B, through the fourth check valves <NUM>, through the pressure maintenance valve <NUM>, through the first check valve <NUM>, and into the second sections <NUM>.

As described herein, movement of the rod <NUM> within the body <NUM> may be driven based on changing the fluid pressure within the first section <NUM>. That is, fluid may be actively directed (e.g., via a pump) from the fluid reservoir <NUM> into the first section <NUM> to increase the fluid pressure within the first section <NUM> (e.g., to <NUM> kilopascals [kPa] or <NUM> pounds per square inch [psi], to <NUM> kPa or <NUM> psi, to <NUM> kPa or <NUM> psi), and fluid may be actively directed (e.g., via a pump) out of the first section <NUM> to reduce the fluid pressure within the first section <NUM> (e.g., to <NUM> kPa or <NUM> psi, to <NUM> kPa or <NUM> psi, to <NUM> kPa or <NUM> psi). Moreover, the fluid pressure within the second section <NUM> may be substantially maintained (e.g., <NUM> kPa or <NUM> psi, at <NUM> kPa or <NUM> psi, a t5516 kPa or <NUM> psi). That is, fluid is not actively directed into or removed from the second section <NUM> to adjust the fluid pressure within the second section <NUM>. Rather, the amount of fluid in the second section <NUM> may adjust as a result of movement of the rod <NUM> within the body <NUM> as caused by the change in fluid pressure in the first section <NUM> (e.g., a fluid pressure differential between the first section <NUM> and the second section <NUM>). However, in additional or alternative embodiments, the fluid pressure in the second section may be adjustable, such as by actively directing fluid (e.g., via a pump) from the fluid reservoir into the second section and/or by actively directing fluid (e.g., via a pump) from the second section into the fluid reservoir. In any case, the fluid reservoir <NUM> may be used to create a fluid pressure differential between the first section <NUM> and the second section <NUM> in order to drive the rod <NUM> to move within the body <NUM>.

<FIG> is a schematic diagram of the hydraulic system <NUM> of <FIG> in a fourth or draining configuration, which may be used to drain fluid from the first hydraulic circuit <NUM>. By way of example, the fourth configuration may be used to prepare the hydraulic system <NUM> for maintenance, in which various parts of the hydraulic system <NUM>, such as the hydraulic cylinders <NUM>, may be inspected by a user. In the fourth configuration, the control system <NUM> may instruct the gauge wheel valves <NUM> to transition to the third position to enable fluid flow between the fluid reservoir valves <NUM> and the gauge wheel valves <NUM>, and the control system <NUM> may instruct the fluid reservoir valves <NUM> to transition to the first position to enable fluid flow between the fluid reservoir <NUM> and the first hydraulic circuit <NUM>. Thus, fluid may be directed from the first section <NUM> through the gauge wheel valves <NUM> and through the first fluid reservoir valve 274A into the fluid reservoir <NUM> so as to remove fluid from the first sections <NUM>. In addition, the pressure relief valve <NUM> may be positioned to block fluid flow from the fluid reservoir <NUM> into the second sections <NUM> as a result of reduced fluid pressure in the first sections <NUM> due to removal of fluid from the first sections <NUM>.

The first hydraulic circuit <NUM> may also include a service line <NUM> that may fluidly couple the second sections <NUM> to a service system, which may include a service fluid reservoir <NUM>. The service line <NUM> may include a service valve <NUM> that may be engaged or activated in the fourth configuration to enable fluid to flow from the second sections <NUM> through the service line <NUM> and into the service fluid reservoir <NUM>. In certain embodiments, the service valve <NUM> may be manually actuated, such as by a user of the agricultural system. In additional or alternative embodiments, the service valve may be actuated by the control system, such as from a user input via the user interface. In any case, fluid may be directed from the first sections <NUM> to the fluid reservoir <NUM> to remove fluid from the first hydraulic circuit <NUM>, and fluid may be directed from the second sections <NUM> to the service line <NUM> to remove a remaining amount of fluid from the first hydraulic circuit <NUM>. Thus, there may not be a substantial amount of fluid remaining in the first hydraulic circuit <NUM> after draining the fluid in the fourth configuration, and maintenance may be performed on the hydraulic system <NUM> accordingly. In further embodiments, the service system may be used to supply additional fluid into the first hydraulic circuit. That is, for example, the service valve may be engaged or activated and fluid may be supplied from the service fluid reservoir into the first hydraulic circuit (e.g., manually by the user and/or automatically by the control system), such as to maintain a fluid pressure within the first hydraulic circuit. As such, the service line may be used for increasing or reducing the amount of fluid within the first hydraulic circuit.

In certain embodiments, the user interface <NUM> of the control system <NUM> may be used to adjust between the various configurations of the hydraulic system <NUM>. As an example, the user may utilize the user interface <NUM> to request the agricultural system to operate in the harvesting operation, and the control system <NUM> may therefore output a control signal (e.g., to the fluid reservoir valves <NUM> and/or to the gauge wheel valves <NUM>) to operate the hydraulic system <NUM> in the first configuration and substantially maintain the position of the gauge wheels. The user may also utilize the user interface <NUM> to request the agricultural system to operate in the adjustment operation, such as to lower or to raise the gauge wheels. Based on such user input, the control system <NUM> may output a control signal to set the position of the fluid reservoir valves <NUM> and/or of the gauge wheel valves <NUM> accordingly, and the control system <NUM> may direct fluid from the fluid reservoir <NUM> to the first sections <NUM> (e.g., to lower the gauge wheels) and/or to direct fluid from the first sections <NUM> to the fluid reservoir <NUM> (e.g., to raise the gauge wheels). In an example, the user may utilize the user interface <NUM> to indicate a target position of the gauge wheels, and the control system <NUM> may operate the hydraulic system <NUM> in the second configuration or in the third configuration based on the target position relative to a current position of the gauge wheels. In another example, the user may utilize the user interface <NUM> to directly indicate a request to raise or lower the gauge wheels without indicating a target position, and the control system <NUM> may operate the hydraulic system <NUM> accordingly.

Claim 1:
An agricultural system (<NUM>) comprising:
a header (<NUM>) comprising a gauge wheel (<NUM>) and a frame (<NUM>), wherein the gauge wheel (<NUM>) and the frame (<NUM>) are coupled to a hydraulic cylinder (<NUM>) that is configured to adjust the gauge wheel (<NUM>) relative to the frame (<NUM>); and
a first hydraulic circuit (<NUM>) fluidly coupled to the hydraulic cylinder (<NUM>), wherein the first hydraulic circuit (<NUM>) is configured to control a fluid flow into and out of the hydraulic cylinder (<NUM>) to adjust the gauge wheel (<NUM>) relative to the frame (<NUM>), and the first hydraulic circuit (<NUM>) comprises an accumulator (<NUM>) configured to enable an amount of fluid in the hydraulic cylinder (<NUM>) to change during a harvesting operation of the agricultural system (<NUM>) such that the gauge wheel (<NUM>) may oscillate from a set position during the harvesting operation, the agricultural system (<NUM>) being characterised in that it further comprises a second hydraulic circuit (<NUM>), a fluid reservoir (<NUM>), and a valve (<NUM>), wherein the second hydraulic circuit (<NUM>) is configured to control a reel lift of the header (<NUM>), and wherein the valve (<NUM>) is configured to selectively enable the fluid to flow between the fluid reservoir (<NUM>) and the first hydraulic circuit (<NUM>) while the valve (<NUM>) is in a first position and between the fluid reservoir (<NUM>) and the second hydraulic circuit (<NUM>) while the valve (<NUM>) is in a second position.