Patent Description:
Certain work vehicles (e.g., harvester combines) support an agricultural header (e.g., draper header) configured to harvest agricultural product from a field. For example, the work vehicle may support a draper header. The draper header may have a center intake section and a pair of wings. A cutter bar assembly for cutting agricultural crops extends along a front edge of the draper header. As the cutter bar assembly cuts the agricultural crops, the draper header passes under the cut agricultural crops, the cut agricultural crops fall onto conveyors of the header, and the conveyers direct the cut agricultural crops to an intake of the intake section. Some headers include actuators to raise and lower the wings. For example, on an uneven work surface, controlling a position of each wing of the header may enable the cutter bar assembly to follow the contours of the work surface. Additionally, on a declined portion of the work surface, lowering the wing may increase an amount of cut agricultural crop during the harvesting operation.

The wings may be controlled (e.g., raised or lowered) using wing controllers, which are generally not compatible with systems used by combine harvesters. Thus, a unique user-interface and controller is generally installed into a combine harvester to enable a user to control the wings, which increases the complexity of wiring and installation for agricultural headers.

European Patent Publication No. <CIT> discloses a harvesting height control circuit for controlling the height of an articulated harvesting head that is supported on a combine harvester during harvesting in an agricultural field. The circuit includes an ECU configured to raise and lower the portions of the articulated harvesting head. The ECU receives signals indicating the magnitude of a rearward force acting upon the articulated harvesting head and automatically changes the commanded operating height of the articulated harvesting head.

In certain embodiments, an agricultural harvester includes a work vehicle controller configured to output a control signal indicative of instructions to move a feeder house of the agricultural harvester based at least in part on at least one header parameter. The work vehicle controller is configured to output the control signal to a network. The agricultural harvester also includes an agricultural header controller configured to receive the control signal and control movement of the feeder house based at least in part on the control signal to control movement of an agricultural header. Further, the work vehicle includes a wing controller configured to receive the at least one header parameter from the network and output a wing control signal indicative of instructions to move a wing based at least in part on the at least one header parameter. The wing is coupled to the center section of the agricultural header.

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 harvested (e.g., the usable material is separated from the remainder of the crop during the harvesting process). For example, a work vehicle (e.g., harvester) may cut agricultural crops within a field via an agricultural header (e.g., header). The agricultural header may also gather the cut agricultural crops into a processing system of the work vehicle for further processing. The processing system may include a threshing machine configured to thresh the agricultural crops, thereby separating the crops into certain desired agricultural materials, such as grain, and material other than grain (MOG). The desired agricultural materials may be sifted and then accumulated into a tank. When the tank fills to capacity, the materials may be collected from the tank. The MOG may be discarded from the work vehicle (e.g., via a spreader).

As mentioned above, the agricultural header may cut agricultural crops as part of a harvesting process. To increase yield from a harvest, it may be desirable to cut certain crops at a specific height. Thus, the work vehicle may position the agricultural header at the specific height above the soil surface. However, many fields have uneven terrain, which may cause the agricultural header to be positioned at different heights along a width of the agricultural header. To reduce a variation in agricultural header height along width of the agricultural header, certain agricultural headers include wing portions that may move (e.g., lower, raise) with respect to a center portion of the agricultural header. However, moving the wings may generally increase the complexity of an agricultural header control system. Wing controllers are generally not compatible with systems used by work vehicles (e.g., combine harvesters). Thus, a unique user-interface and controller must generally be installed into a combine harvester so that a user may control wing controllers, which increases the complexity of wiring and installation for agricultural headers. Thus, in accordance with certain embodiments of this disclosure, a system and method for controlling a wing using a single segment combine harvester control system is provided.

Turning now to the drawings, <FIG> is a side view of an embodiment of an agricultural harvester. The agricultural harvester includes a work vehicle <NUM>. The work vehicle <NUM> includes a chassis <NUM> and a feeder house <NUM> movably coupled to a front portion of the chassis. The feeder house <NUM> is configured to move (e.g., upwardly and downwardly) with respect to the chassis <NUM>. Further, the feeder house <NUM> is coupled to an agricultural header <NUM> at an end opposite the work vehicle <NUM>. The agricultural header <NUM> (e.g., draper header) is configured to cut agricultural crops. Cut crops are directed, via the agricultural header <NUM>, toward an inlet of a crop processing system <NUM> of the work vehicle <NUM>. The crop processing system <NUM> receives cut crops from the agricultural header <NUM>. In some embodiments, the crop processing system <NUM> includes a thresher <NUM> that conveys a flow of cut crops through the crop processing system <NUM>. The thresher <NUM> may include a cylindrical threshing rotor that transports the crops in a helical flow path. In addition to transporting the crops, the thresher <NUM> may also separate certain desired crop material (e.g., grain) from residue (e.g., MOG), such as husk and pods, and direct the residue into a cleaning system located beneath the thresher <NUM>. The residue may be transported to a crop residue handling system <NUM>, which may hold the crop residue for further processing and/or expel the crop residue from the work vehicle <NUM> via a crop residue spreading system <NUM> positioned at the aft end of the work vehicle <NUM>.

The work vehicle <NUM> includes a cab <NUM> for seating a user (e.g., work vehicle driver) during operation of the agricultural harvester. The user may control various parameters of the agricultural harvester <NUM> via controls disposed in the cab <NUM>. For example, the cab <NUM> may have a steering wheel <NUM> configured to control a direction of the work vehicle and/or pedals <NUM> configured to control a speed of the work vehicle <NUM>. The work vehicle <NUM> may also include a user interface <NUM>. The user interface <NUM> may be connected to a CANBUS network of the agricultural harvester. Various component of the agricultural harvester may be connected to the CANBUS network such that the user may input desired parameters for the various components of the agricultural harvester via the user interface <NUM>.

In the illustrated embodiment, the work vehicle <NUM> includes a feeder house actuator <NUM> coupled to the feeder house <NUM>. The feeder house actuator <NUM> may be a hydraulic, pneumatic, or electric actuator. A power source (e.g., fluid source) for the feeder house actuator <NUM> may be disposed within the work vehicle <NUM>. The feeder house actuator <NUM> configured to move (e.g., lift, lower, rotate) a center section of the agricultural header <NUM> with respect to the work vehicle <NUM> via actuation of the feeder house <NUM> and in response to a input from a control block. For example, the actuator may be a hydraulic cylinder, and the control block may be a valve block configured to control hydraulic fluid flow from the fluid source to the actuator. Controlling hydraulic fluid flow controls actuation of the hydraulic cylinder.

The actuator may be configured to lift and lower the center section of the agricultural header <NUM> based at least in part on a control signal from the user interface <NUM>. In some embodiments, an agricultural header controller may control the actuator based on a detected field feature (e.g., rock, high spot, low spot, etc.) in the path of the agricultural harvester. In some embodiments, the actuator is configured to tilt the center section by rotating the feeder house <NUM> with respect to the work vehicle <NUM>. The agricultural header controller may be configured to control the actuator based on a slope in the path of the agricultural harvester. In a further embodiment, the agricultural header <NUM> includes an actuator assembly having a lift actuator configured to lift the feeder house <NUM> and a tilt actuator configured to tilt the feeder house <NUM>.

<FIG> is a perspective view of an embodiment of the agricultural header <NUM> that may be used within the agricultural harvester of <FIG>. As discussed above, the agricultural header <NUM> includes a center section <NUM> configured to couple to the feeder house plate. In the illustrated embodiment, a frame <NUM> of the center section <NUM> is coupled to the feeder house plate. Moreover, the agricultural header <NUM> includes wings <NUM>. In the illustrated embodiment, the agricultural header <NUM> includes a left wing <NUM> and a right wing <NUM>. Each wing <NUM> is configured to move (e.g., rotate) with respect to the center section <NUM>. The agricultural header <NUM> includes a wing actuator configured to move the wings <NUM> in response to input from a wing controller. In some embodiments, the wings are configured to move independently of each other. For example, the left wing <NUM> may lift with respect to the center section <NUM> and the right wing <NUM> may concurrently lower with respect to the center section <NUM> (e.g., to substantially match the contours of a field). To move the wings independently of each other, the agricultural header <NUM> may include a left wing actuator configured to move the left wing <NUM> and a right wing actuator configured to move the right wing <NUM>.

In the illustrated embodiment, each wing <NUM> is rotatably coupled to the center section <NUM> of the agricultural header <NUM> via at least one rotatable joint <NUM>. The at least one rotatable joint may include a hinge joint, a ball joint, etc. Each wing actuator may be configured to drive the respective wing <NUM> to rotate about the at least one rotatable joint with respect to the center section <NUM> of the agricultural header <NUM>. For example, each wing actuator may include a cylinder body, a piston disposed within the cylinder body, and a rod extending from the piston. The rod may extend and retract with respect to the cylinder body in response to fluid flow to the wing actuator. The rod may be coupled to a portion of the respective wing <NUM>, and the cylinder body may be coupled to a portion of the center section <NUM>. The at least one wing actuator may be positioned such that extension and retraction of the rod with respect to the cylinder body causes the wing <NUM> to rotate about the at least one rotatable joint with respect to the center section <NUM>. Rotating the wing <NUM> with respect to the center section <NUM> may cause the wing <NUM> to lift or lower with respect to a ground surface.

As discussed above, the agricultural header <NUM> (e.g., draper header) is configured to cut agricultural crops and direct the cut crops toward an inlet of the crop processing system. In some embodiments, the agricultural header <NUM> includes a cutter bar assembly <NUM> disposed on a front portion <NUM> of the agricultural header <NUM>, opposite the work vehicle <NUM>. The cutter bar assembly <NUM> may extend along a width <NUM> of the front portion of the agricultural header <NUM>. For example, the cutter bar assembly <NUM> may extend from a distal end of the left wing <NUM> to a distal end of the right wing <NUM>.

Further, in the illustrated embodiment, the agricultural header <NUM> includes a conveyor system. The portions of the crops that are cut by the cutter bar assembly <NUM> may be directed onto a respective conveyor of the agricultural header <NUM> by a reel assembly. The conveyor system includes a conveyor disposed on each wing <NUM>. As illustrated, the left wing <NUM> has a left conveyor <NUM>, and the right wing <NUM> has a right conveyor <NUM>. Each of the left conveyor <NUM> and the right conveyor <NUM> may be configured to direct crops toward the center section <NUM>. The center section <NUM> has a center section conveyor <NUM> configured to direct crops toward an inlet of the feeder house <NUM> leading to the processing system. However, in another embodiment, the agricultural header may include an auger system, including an auger that extends across the width of the agricultural header <NUM> between a left side portion and a right side portion of the agricultural header <NUM>. The auger may direct the harvested crop material toward the inlet of the feeder house.

<FIG> is a block diagram of an embodiment of a control system <NUM> for the agricultural harvester. In the illustrated embodiment, the control system <NUM> includes a work vehicle controller <NUM> in communication with a network <NUM>. The work vehicle controller <NUM> includes a processor <NUM>, such as the illustrated microprocessor, and a memory device <NUM>. The work vehicle controller <NUM> may also include one or more storage devices and/or other suitable components. 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) processors.

The memory device <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 device <NUM> may store a variety of information and may be used for various purposes. For example, the memory device <NUM> may store processorexecutable instructions (e.g., firmware or software) for the processor <NUM> to execute. The storage device(s) (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data, instructions (e.g., software or firmware), and any other suitable data.

Moreover, the network includes a vehicle control area network <NUM>. The work vehicle controller <NUM> may be in direct communication with the vehicle control area network <NUM>. The work vehicle controller <NUM> is configured to output control signals <NUM> based at least in part on at least one header parameter. In some embodiments, the work vehicle controller may determine the at least one header parameter based on a yield map of the field, a terrain map of the field, or another suitable source. In another embodiment, the user may input the at least one header parameter via the user interface <NUM>. The at least one header parameter may include a target cutting height for the agricultural header <NUM>, sensitivity for the agricultural header, etc. In some embodiments, the work vehicle controller <NUM> is configured to output the control signals <NUM> based on a header condition at the center section of the agricultural header <NUM>. In another embodiment, the work vehicle controller is configured to output the control signals <NUM> based on the header condition along the width of the header. In the illustrated embodiment, the control system <NUM> includes a header sensor <NUM> configured to output a signal indicative of the header condition at the center section <NUM> of the agricultural header <NUM> to the work vehicle controller <NUM> via the network. For example, the implement condition at the center section may include a current cutting height of the agricultural header <NUM>. The work vehicle controller <NUM> may determine the current cutting height of the agricultural header <NUM> based on the received header condition signal <NUM>. The work vehicle controller <NUM> may receive the at least one header parameter indicating the target cutting height for the agricultural header <NUM>. The control signals <NUM> may include instructions to lift or lower the agricultural header <NUM> such that the agricultural header <NUM> moves from the current cutting height to the target cutting height for the agricultural header <NUM>. Further, the work vehicle controller <NUM> is configured to output the control signals <NUM> to the vehicle control area network <NUM>.

The control system <NUM> also includes an agricultural header controller <NUM> having a processor <NUM> and a memory device <NUM>. The agricultural header controller <NUM> may be in communication with the network <NUM>. In the illustrated embodiment, the network <NUM> includes a header control area network <NUM>. The agricultural header controller <NUM> is in direct communication with the header control area network <NUM>. The header control area network <NUM> may be linked to the vehicle control area network <NUM>. In some embodiments, the vehicle control area network <NUM> includes a vehicle Controller Area Network Binary Unit System "CANBUS", the header control area network <NUM> includes a header CANBUS, and the vehicle CANBUS is communicatively coupled to the header CANBUS via an International Standardization Organization Binary Unit System "ISOBUS" <NUM>. The vehicle CANBUS may be communicatively coupled to the header CANBUS during installation of the agricultural header to the work vehicle. Coupling the vehicle CANBUS to the header CANBUS may include a physical coupling of network communication lines (e.g., network cables). Moreover, the agricultural header controller <NUM> is configured to receive the control signal <NUM> from the work vehicle controller <NUM> via the network <NUM>. The agricultural header controller <NUM> is configured to control movement of the agricultural header based at least in part on the control signal <NUM>. In some embodiments, the control signal <NUM> includes a target cutting height. The agricultural header controller <NUM> may control the header position based on the control signal to move the agricultural header to the target cutting height. The target cutting height may be within a threshold range of the target cutting height. The threshold range of the target cutting height may be an acceptable range of heights for the agricultural header based on the target cutting height. For example, the threshold range may span between two inches below the target cutting height and two inches above the target cutting height.

In other embodiments, the agricultural header controller <NUM> may be in direct communication with the vehicle control area network <NUM>. In some embodiments, the agricultural header controller <NUM> is configured to instruct the actuator assembly to control a height and/or tilt of the feeder house base in response to receiving the control signal <NUM> from the work vehicle controller <NUM> over the vehicle control area network <NUM>. In some embodiments, the work vehicle controller <NUM> is configured to instruct the actuator assembly to control a height and/or tilt of the feeder house directly. The actuator assembly may include a header valve block <NUM>, a tilt actuator <NUM>, and lift actuator <NUM>. The valve block <NUM> controls hydraulic fluid flow from a fluid source to a tilt actuator <NUM> to tilt the feeder house and/or to a lift actuator <NUM> to lift or lower the feeder house.

The control system <NUM> also includes a wing controller <NUM> having a processor <NUM> and a memory device <NUM>. The wing controller is <NUM> in communication with the network <NUM>. The wing controller <NUM> is in direct communication with the header control area network <NUM>. However, the agricultural header controller <NUM>, the work vehicle controller <NUM>, and the wing controller <NUM> may be connected to one another via any suitable type of network. The network may be a wireless network (e.g., cloud based, WLAN, etc.).

The wing controller <NUM> is configured to control movement of each wing based at least in part on the control signal <NUM> output from the work vehicle controller <NUM>. In some embodiments, the control signal <NUM> includes the at least one header parameter, and the wing controller <NUM> is configured to control movement of each wing based at least in part on the at least one header parameter received from the control signal <NUM>. In another embodiment, the work vehicle controller <NUM> outputs the at least one header parameter to the network <NUM>. In other embodiments, the user interface <NUM> outputs the at least one header parameter to the network <NUM>. As discussed above, the work vehicle controller <NUM> outputs the control signals <NUM> to the network <NUM>. The control signals <NUM> are configured to control movement of the agricultural header. The control signals <NUM> are configured to control movement generally for a single segment agricultural header; however, the control signals <NUM> are configured to control the center section of the agricultural header <NUM> for a multisegment header. Therefore, the control signal <NUM> includes instructions for the agricultural header controller <NUM> to move the agricultural header <NUM>. The control signals <NUM> to the agricultural header controller <NUM> are output to the network <NUM>. Therefore, the wing controller <NUM> has access to the control signals <NUM> via the network <NUM>. The wing controller <NUM> is configured receive the control signal <NUM> and to determine the at least one header parameter based on the inputted control signals <NUM>. Further, the wing controller <NUM> is configured to output a wing control signal <NUM> based at least in part on the at least one header parameter. The wing control signal <NUM> may be indicative of instructions to move the wing <NUM> with respect to the center section. In some embodiments, the wing controller <NUM> is configured to control movement of each wing based at least in part on the at least one header parameter received from the network <NUM>. The wing controller <NUM> is configured to instruct a wing valve block <NUM> to control movement of the wing with respect to the center section based at least in part on the at least one header parameter. The wing valve block <NUM> may control hydraulic fluid flow from a fluid source to a wing actuator <NUM> to control movement of the wing with respect to the center section.

In some embodiments, the wing controller <NUM> is configured to output a respective wing control signal for each wing of the agricultural header. For example, the plurality of wing control signals may include a left wing control signal configured to instruct movement of the left wing and a right wing control signal configured to instruct movement of the right wing. In some embodiments, the control system <NUM> includes a left wing controller and a right wing controller. The left wing controller may be configured output the wing control signal <NUM> based on the at least one header parameter and a left wing condition at the left wing. The right wing controller may be configured to output a right wing control signal based at least in part on a right wing condition at the right wing and the at least one header parameter. That is, the left wing controller and the right wing controller may be configured to output the left wing control signal and the right wing control signal, respectively, to control the left and right wings.

In some embodiments, the control system includes a wing sensor <NUM> (e.g., coupled to the wing) configured to determine the wing condition (e.g., a height of the wing, an angle of the wing with respect to the center section, a pressure that the weight of the wing exerts on the work surface, a velocity or acceleration of the wing, and a slope of the wing frame with respect to the ground) and to output a wing condition signal <NUM> to the wing controller <NUM> via the network <NUM>. In some embodiments, the wing includes a drag arm coupled to a rotation sensor. The rotation sensor is configured to detect a height of the wing with respect to a work surface based on rotation of the drag arm with respect to the wing. The drag arm may rotate due to changes in distance between the wing and the work surface. In some embodiments, the wing sensor includes a laser, an ultrasonic sensor, a radar sensor, or another suitable sensor, or a combination thereof, configured to detect a height of the wing with respect to the work surface. Moreover, the wing sensor <NUM> is configured to output the wing condition signal <NUM> to the network <NUM>. For example, the wing sensor <NUM> may be configured to output the wing condition signal <NUM> to the header control area network <NUM>. Further, the wing controller <NUM> is configured to output a wing control signal <NUM> indicative of instructions to move the wing based at least in part on the control signal <NUM>, having the at least one header parameter, and the wing condition signal <NUM>.

In some embodiments, the control system <NUM> includes multiple wing sensors. The wing sensors may be disposed along the width of each wing <NUM>. Having multiple wing sensors may provide the wing controller with more data points to determine the wing condition. In certain embodiments, the control system includes a second wing sensor configured to output a second wing condition signal indicative of a second wing condition at a second wing to the wing controller <NUM>.

<FIG> is a front view of an embodiment of the agricultural header <NUM> having the center section <NUM>, the left wing <NUM>, and the right wing <NUM>. As discussed above, the work vehicle controller is configured to output the control signal based at least in part on the header condition at the center section <NUM> of the agricultural header <NUM>. The control signal includes instructions to move (e.g., lift, lower, tilt) the center section <NUM> of the agricultural header <NUM>. For example, the condition signal may indicate a slope <NUM> in the work surface <NUM> at the center section <NUM> of the agricultural header <NUM>. The work surface <NUM> is higher at a right side <NUM> of the center section <NUM> than at the left side <NUM> of the center section <NUM>. The work vehicle controller may receive the header condition signal and output the control signal to tilt the center section <NUM> such that the right side <NUM> of center section <NUM> lifts and the right side <NUM> of the center section <NUM> lowers. Tilting the center section <NUM> may maintain a generally consistent cutting height of the agricultural header <NUM> along the center section <NUM>. The wings <NUM> may be coupled to the center section such that rotation of the center section moves the wings with respect to the work surface <NUM>. The wing sensor may output the implement wing condition signal indicating a change in a height of the wing such that the wing controller may output the control signal having instructions to move the wings <NUM> to maintain the generally consistent cutting height.

<FIG> is a front view of the agricultural header, in which the left wing <NUM> is lowered. In some embodiments, the wing controller is configured to output the wing control signal based on a wing condition at the wing <NUM> and the at least one header parameter from the control signal. For example, the work vehicle controller may output a control signal indicative of instructions to position the center section <NUM> at a target cutting height <NUM> above the work surface <NUM>. Due to a slope in the work surface <NUM>, the wing controller may determine that a current height of the left wing <NUM> with respect to the work surface <NUM> is higher than the target cutting height <NUM>. The wing controller, based on the wing condition and the at least one header parameter from the control signal, outputs the wing control signal to lower the left wing <NUM> to the target cutting height <NUM> with respect to the work surface <NUM>.

In some embodiments, the control system is configured to move both the right wing <NUM> and the left wing <NUM> with respect to the center section <NUM>. In another embodiment, the center section <NUM>, the left wing, and the right wing each move with respect to the work vehicle <NUM> according to the at least one parameter (e.g., target cutting height, sensitivity, etc.). For example, the control system may be configured to rotate the left wing <NUM> and the right wing <NUM> upward with respect to the center section based at least in part on the a change in the work surface resulting in the wings <NUM> falling below the target cutting height. In a further embodiment, the control system may cause various combination of movement or non-movement of the center section <NUM>, left wing, and right wing to position each of the portion of the agricultural header <NUM>.

<FIG> is a flowchart of an embodiment of a method <NUM> to control the agricultural header. The method <NUM> includes the step <NUM> of selecting, via a user interface, at least one header parameter. The at least one header parameter may include a target cutting height, a sensitivity, etc. The sensitivity includes the speed and magnitude of movement of the agricultural header and/or the wings in response to the control signal. Further, a work vehicle controller may be configured to output a control signal to a control area network based at least in part on the at least one header parameter. The control signal may be indicative of instructions to control movement of the agricultural header. In some embodiments, the control signal may include the at least one header parameter.

The method also includes the step <NUM> of determining, e.g., via an wing controller, the at least one header parameter based at least in part on a control signal, e.g., output from a work vehicle controller. The wing controller may be connected to the control area network and configured to receive the control signal from the network. In some embodiments, the work vehicle controller determines the at least one header parameter and outputs the at least one header parameter to the network. In another embodiment, the user interface may output the at least one header parameter to the network. The wing controller may receive the at least one header parameter from the network.

The method further includes the step <NUM> of outputting a wing control signal indicative of instructions to move a wing based at least in part on the at least one parameter and a wing condition at the wing. As discussed above, the at least one header parameter may include a cutting height for the agricultural header. Thus, in one embodiment, the wing controller may output the wing control signal indicative of instructions to lift the wing when the work surface is elevated at the wing or lower the wing when the work surface is depressed with at the wing.

Claim 1:
An agricultural harvester, characterized in that the agricultural harvester comprises:
a work vehicle controller (<NUM>) configured to output a control signal (<NUM>) indicative of instructions to move a feeder house (<NUM>) of the agricultural harvester based at least in part on at least one header parameter, wherein the work vehicle controller (<NUM>) is configured to output the control signal (<NUM>) to a network (<NUM>);
an agricultural header controller (<NUM>) configured to receive the control signal (<NUM>) and to control movement of the feeder house (<NUM>) based at least in part on the control signal (<NUM>) to control movement of an agricultural header (<NUM>); and
a wing controller (<NUM>) configured to:
receive the at least one header parameter from the network (<NUM>); and
output a wing control signal (<NUM>) indicative of instructions to move a wing (<NUM>) based at least in part on the at least one header parameter, wherein the wing (<NUM>) is coupled to a center section (<NUM>) of the agricultural header (<NUM>).