Patent Description:
Self-propelled agricultural harvesters are well known and include, by way of example, combine harvesters, windrowers, and forage harvesters, all of which typically include a frame or chassis, an operator cab, an engine, and ground-engaging wheels or tracks. A cutting or pick-up header is often carried by the harvester, the header typically being considerably wider than the harvester and mounted to the front side of a feederhouse.

Crop material collected by the header is conveyed into the feederhouse before being conveyed in a generally rearward direction to crop-processing apparatus. In the case of a combine harvester, the processing apparatus serves to thresh the crop material and separate grain therefrom, whereas, in the case of a forage harvester or windrower the crop material is typically passed through conditioning rollers.

The height of the header is typically adjusted by raising and lowering the feeder house around a lateral feederhouse pivot axis. To permit pitch adjustment of the header with respect to the feeder house, a header-interface frame is often pivotally mounted to the feeder house over the front opening thereof to permit pitch adjustment around a transverse pitch-adjustment axis. A hydraulic cylinder controls adjustment of the lateral tilt.

<CIT>) discloses a feederhouse assembly for an agricultural harvester having the features of the precharacterising portion of claim <NUM>.

The invention relates to a feederhouse assembly according to claim <NUM> and to an agricultural harvester according to claim <NUM>.

The invention further relates to a method of connecting a harvesting header to an agricultural harvester according to claim <NUM>. The invention relates further to a non-transitory computer-readable storage medium according to claim <NUM>.

<FIG> illustrates an example agricultural harvester embodied as a combine harvester <NUM>. In the context of the present disclosure, the example combine harvester <NUM> is merely illustrative, and other machines and/or implements with like functionality may deploy certain embodiments disclosed herein, such as windrowers, forage harvesters, etc. The example combine harvester <NUM> is shown in <FIG> without a header attached, and includes a feederhouse assembly <NUM> carried by a chassis <NUM> supported by wheels <NUM>. An operator cab <NUM> is mounted to the chassis <NUM>. In some embodiments, other or additional forms of travel may be used, such as tracks. Hydraulic cylinders <NUM> are shown affixed to the underside of the feederhouse assembly <NUM> on one end and to the chassis <NUM> on the other end. The feederhouse assembly <NUM> may move (e.g., up and down, tilt, etc.) based on actuation of the hydraulic cylinders <NUM>, which causes a detachably coupled header to also be raised, lowered, and/or tilted. A rotating shaft <NUM> may be configured to provide mechanical power to a header during operation of the combine harvester <NUM>. The rotating shaft <NUM> may be configured to operate at various speeds, as described in, for example, <CIT>.

In general, the combine harvester <NUM> cuts crop materials (e.g., using the header), wherein the cut crop materials are delivered to the front end of the feederhouse assembly <NUM>. Such crop materials are moved upwardly and rearwardly within and beyond the feederhouse assembly <NUM> (e.g., by a conveyer) until reaching a processing system <NUM> comprising a thresher rotor. In one embodiment, the thresher rotor may comprise a single, transverse rotor, such as that found in a Gleaner® Super Series Combine by AGCO. Other designs may be used, such as axial-based, twin rotor, or hybrid designs. The thresher rotor processes the crop materials in known manner and passes a portion of the crop material (e.g., heavier chaff, corn stalks, etc.) toward the rear of the combine harvester <NUM> and another portion (e.g., grain and possibly light chaff) through a cleaning process in known manner. In the processing system <NUM>, the crop materials undergo threshing and separating operations. In other words, the crop materials are threshed and separated by the thresher rotor operating in cooperation with well-known foraminous processing members in the form of threshing concave assemblies and separator grate assemblies, with the grain (and possibly light chaff) escaping through the concave assemblies and the grate assemblies and to a cleaning system located beneath the processor to facilitate the cleaning of the heavier crop material. Bulkier stalk and leaf materials are generally retained by the concave assemblies and the grate assemblies and are discharged out from the processing system <NUM> and ultimately out of the rear of the combine harvester <NUM>. The cleaned grain that drops to the bottom of the cleaning system is delivered by a conveying mechanism that transports the grain to an elevator, which conveys the grain to a grain bin <NUM> located at the top of the combine harvester <NUM>. Any remaining chaff and partially or unthreshed grain is recirculated through the processing system <NUM> via a tailings return conveying mechanism. Because combine processing is known to those having ordinary skill in the art, further discussion thereof is omitted here for brevity. In embodiments in which the agricultural harvester is a windrower or forage harvester, the processing system <NUM> may include conditioning rollers, rather than separation devices.

<FIG> is a simplified perspective view of the feederhouse assembly <NUM> of the combine harvester <NUM> shown in <FIG>. As shown, a feederhouse <NUM> has an inlet end <NUM> and an outlet end <NUM>. Crop material entering the feederhouse assembly <NUM> from the harvesting header travels from the inlet end <NUM> toward the outlet end <NUM> on the way to the processing system <NUM> (<FIG>). The harvesting header is coupled to the feederhouse <NUM> by a yaw frame <NUM> and a pitch frame <NUM>, which are each adjustable to control the orientation of the harvesting header with respect to the combine harvester <NUM>.

Control of the harvesting header is important to enable a farmer to properly harvest crops. Adjustment of the yaw frame <NUM> and the pitch frame <NUM> also facilitates connecting and disconnecting the harvesting header because the yaw frame <NUM> and the pitch frame <NUM> can be positioned to match the orientation of the harvesting header.

The pitch frame <NUM> is adjusted by pivoting about a transverse axis <NUM>. One or more hydraulic cylinders <NUM> are configured to apply forces on the pitch frame <NUM> (referred to herein as hydraulic forces, though the forces acting on the pitch frame <NUM> are due to movement of a piston of the hydraulic cylinders <NUM>, rather than by direct contact of hydraulic fluid on the pitch frame <NUM>). Hydraulic forces are applied to the pitch frame <NUM> in a direction to rotate the pitch frame <NUM> upward or downward about the transverse axis <NUM>. Pitch control of a harvesting header is described in more detail in <CIT>.

The yaw frame <NUM> is adjusted by pivoting about a vertical axis <NUM>. Though described as "vertical," the vertical axis <NUM> need not be oriented perfectly vertical. As the pitch frame <NUM> and the combine harvester <NUM> move, the orientation of the vertical axis <NUM> may change. The vertical axis <NUM> is nonetheless defined as the axis about which the yaw frame <NUM> pivots. One or more hydraulic cylinders <NUM> are configured to apply forces (i.e., hydraulic forces) on the yaw frame <NUM>. The hydraulic forces are applied to the yaw frame <NUM> in a direction to rotate the yaw frame <NUM> left or right about the vertical axis <NUM>.

Two of each of the hydraulic cylinders <NUM> and the hydraulic cylinders <NUM> are shown in <FIG>. Typically, the hydraulic cylinders <NUM> and the hydraulic cylinders <NUM> may be single-action hydraulic cylinders, such that each applies a hydraulic force in one direction only. Thus, two of each of hydraulic cylinders <NUM> and hydraulic cylinders <NUM> may be necessary to move the yaw frame <NUM> and/or the pitch frame <NUM> in opposite directions. In other embodiments, the hydraulic cylinders <NUM> and/or the hydraulic cylinders <NUM> may be double-action hydraulic cylinders configured to apply the hydraulic force in two opposing directions, and thus only one of each may be required (i.e., one of hydraulic cylinders <NUM> and one of hydraulic cylinders <NUM>). In some embodiments, downward motion of the pitch frame <NUM> may be driven by gravity and the weight of the harvesting header on the pitch frame <NUM>, and thus, only one single-action hydraulic cylinder may be used in place of the hydraulic cylinders <NUM> acting on the pitch frame <NUM>.

The yaw frame <NUM> may house one or more transceivers <NUM>, each having an electromagnetic transmitter and an electromagnetic sensor. The transceivers <NUM> may be configured to provide electromagnetic radiation directed toward the harvesting header. The harvesting header may reflect the electromagnetic radiation, and the transceivers <NUM> may determine the location and/or orientation of the harvesting header based on the sensed electromagnetic radiation. The electromagnetic radiation may be selected to be, for example, visible laser light or an RF signal (i.e., radio waves). The electromagnetic radiation may enable identification of the location and orientation of the harvesting header when the harvesting header is approximately <NUM> meter from the transceivers <NUM>. In some embodiments, the yaw frame <NUM> may carry separate electromagnetic transmitters and electromagnetic sensors.

The hydraulic cylinders <NUM> shown in <FIG> may be controlled by a control system <NUM> as depicted in <FIG>. In <FIG>, the hydraulic cylinders <NUM> are referred to individually as hydraulic cylinder <NUM> and hydraulic cylinder <NUM>, of which hydraulic cylinder <NUM> may be on the right of the yaw frame <NUM>, and hydraulic cylinder <NUM> may be on the left of the yaw frame <NUM>. The hydraulic cylinders <NUM>, <NUM> each have pistons <NUM>, <NUM> coupled to the yaw frame <NUM> and configured to move within the hydraulic cylinders <NUM>, <NUM>. The hydraulic cylinders <NUM>, <NUM> are controlled by a controller <NUM> and suitable hydraulic control components as will be known to those skilled in the art.

The control system <NUM> includes a control valve <NUM> and a control valve <NUM> connected to the controller <NUM> by signal lines <NUM> (e.g., wires). The control valve <NUM> and control valve <NUM> modify the pressure of hydraulic fluid in hydraulic lines <NUM> and <NUM>, respectively. When open, the control valves <NUM> and <NUM> permit pressurized fluid from a pressurized fluid source <NUM> to flow to the hydraulic cylinders <NUM> and <NUM>, respectively.

For example, to drive the hydraulic cylinders <NUM>, <NUM> to the position shown in <FIG>, which corresponds to orientation of the yaw frame <NUM> (<FIG>) angled to the right, the control valve <NUM> may be opened. Pressurized fluid may then flow through the hydraulic line <NUM> to drive the piston <NUM> of the hydraulic cylinder <NUM> outward. The yaw frame <NUM> pivots about the vertical axis <NUM> and pushes the piston <NUM> of the through hydraulic cylinder <NUM> inward. To drive the hydraulic cylinders <NUM>, <NUM> in the opposite direction, the control valve <NUM> may be closed and the control valve <NUM> may be opened.

The controller <NUM> may be a part of a control system for the combine harvester <NUM>, and may be located in or near the operator cab <NUM>.

<FIG> depicts another control system <NUM> that may be used to control the hydraulic cylinders <NUM> shown in <FIG>. In <FIG>, the hydraulic cylinders <NUM> are referred to individually as hydraulic cylinder <NUM> and hydraulic cylinder <NUM>, of which hydraulic cylinder <NUM> may be on the right of the yaw frame <NUM>, and hydraulic cylinder <NUM> may be on the left of the yaw frame <NUM>. The hydraulic cylinders <NUM>, <NUM> each have pistons <NUM>, <NUM> coupled to the yaw frame <NUM> and configured to move within the hydraulic cylinders <NUM>, <NUM>. The hydraulic cylinders <NUM>, <NUM> are controlled by a controller <NUM> and suitable hydraulic control components as will be known to those skilled in the art.

The control system <NUM> may include a control valve <NUM> and a control valve <NUM> connected to the controller <NUM> by signal lines <NUM> (e.g., wires). The control valves <NUM>, <NUM> modify the pressure of hydraulic fluid in hydraulic lines <NUM>, <NUM>, <NUM>, and <NUM>. When open, the control valves <NUM>, <NUM> permit pressurized fluid from a pressurized fluid source <NUM> to flow to the hydraulic cylinders <NUM>, <NUM>.

For example, to drive the hydraulic cylinders <NUM>, <NUM> to the position shown in <FIG>, which corresponds to the yaw frame <NUM> (<FIG>) oriented to the right, the control valve <NUM> may be opened. Pressurized fluid may then flow through the hydraulic line <NUM> to drive the piston <NUM> of the hydraulic cylinder <NUM> outward and through the hydraulic line <NUM> to drive to piston <NUM> of the hydraulic cylinder <NUM> inward. To drive the hydraulic cylinders <NUM>, <NUM> in the opposite direction, the control valve <NUM> may be closed and the control valve <NUM> may be opened.

<FIG> show how a harvesting header <NUM> may be connected to the combine harvester <NUM>. As the combine harvester <NUM> approaches the harvesting header <NUM>, the yaw frame <NUM> may be adjusted such that the yaw frame <NUM> is parallel to the harvesting header <NUM>, as depicted in <FIG>. The combine harvester <NUM> may then continue forward to couple the harvesting header <NUM> with the yaw frame <NUM>, as shown in <FIG>. Once the harvesting header <NUM> is connected, the yaw frame <NUM> may rotate the harvesting header <NUM> to a selected orientation for harvesting, typically perpendicular to (i.e., at a right angle with) a longitudinal axis parallel to a direction of travel of the combine harvester <NUM>.

<FIG> is a simplified flow chart illustrating a method <NUM> of connecting a harvesting header to an agricultural harvester, such as the combine harvester <NUM> shown in <FIG> and having a feederhouse assembly <NUM> as shown in <FIG>. As shown in block <NUM>, electromagnetic radiation may be directed from a yaw frame adjacent an inlet end of a feederhouse toward the harvesting header.

In block <NUM>, reflected electromagnetic radiation may be received from the harvesting header at the yaw frame. The reflected electromagnetic radiation may be used to determine the orientation of the harvesting header and/or the distance from the yaw frame to the harvesting header. Blocks <NUM> and <NUM> are optional, and may occur simultaneously.

In block <NUM>, a first hydraulic force is applied from at least one hydraulic cylinder to the yaw frame to pivot the yaw frame about a vertical axis. The first hydraulic force may be applied by providing a pressurized fluid to the at least one hydraulic cylinder.

In block <NUM>, the agricultural harvester moves toward the harvesting header. Block <NUM> and block <NUM> may occur at the same time or may occur in any order.

In block <NUM>, the harvesting header is secured to the yaw frame. For example, a computer may be configured to cause mechanical coupling between the yaw frame and the harvesting header without intervention by any person located proximal to the coupling location because the yaw frame may be aligned with the harvesting header. When the yaw frame is near the harvesting header, sensors may detect the orientation and position of the harvesting header and of the yaw frame (e.g., using the radiation optionally received in block <NUM>). The computer may adjust the pressure provided to the hydraulic cylinder(s) to match the orientation of the yaw frame to the orientation of the harvesting header. The computer may then alert an operator to move the agricultural harvester forward until it meets the harvesting header, or may provide a signal to the control system of the agricultural harvester to perform this action automatically. Thus, the harvesting header may be connected without requiring the operator to make any measurements or adjustments at the point of connection. This may increase safety by enabling the operator to remain away from pinch points. Connecting harvesting headers is described in further detail in <CIT>.

In block <NUM>, a second hydraulic force is applied from the at least one hydraulic cylinder to the yaw frame to orient the harvesting header perpendicular to a longitudinal axis of the agricultural harvester. Thus, the agricultural harvester and the harvesting header are ready for harvesting.

Still other embodiments involve a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) having processor-executable instructions configured to implement one or more of the techniques presented herein. An example computer-readable medium that may be devised is illustrated in <FIG>, wherein an implementation <NUM> includes a computer-readable storage medium <NUM> (e.g., a flash drive, CD-R, DVD-R, application-specific integrated circuit (ASIC), field-programmable gate array (FPGA), a platter of a hard disk drive, etc.), on which is computer-readable data <NUM>. This computer-readable data <NUM> in turn includes a set of processor-executable instructions <NUM> configured to operate according to one or more of the principles set forth herein. In some embodiments, the processor-executable instructions <NUM> may be configured to cause a computer to perform operations <NUM> when executed via a processing unit, such as at least some of the example method <NUM> depicted in <FIG>. Many such computer-readable media may be devised by those of ordinary skill in the art that are configured to operate in accordance with one or more of the techniques presented herein.

Claim 1:
A feederhouse assembly (<NUM>) for an agricultural harvester, the feederhouse assembly (<NUM>) comprising:
a feederhouse (<NUM>) comprising an inlet end (<NUM>);
a yaw frame (<NUM>) adjacent the inlet end of the feederhouse (<NUM>) and arranged to pivot about a vertical axis (<NUM>) relative to the feederhouse (<NUM>); and
at least one hydraulic cylinder (<NUM>) configured to apply a hydraulic force to rotate the yaw frame (<NUM>) about the vertical axis (<NUM>) characterised in that
the feederhouse assembly (<NUM>) further comprises at least one electromagnetic sensor coupled to the yaw frame (<NUM>).