Patent Description:
An agricultural harvester known as a "combine" is historically termed such because it combines multiple harvesting functions with a single harvesting unit, such as picking, threshing, separating, and cleaning. A combine includes a header which removes the crop from a field and a feeder housing which transports the crop material into a threshing rotor. The threshing rotor rotates within a perforated housing, which may be in the form of adjustable concaves, and performs a threshing operation on the crop to remove the grain. The threshing rotor is provided with rasp bars that interact with the crop material in order to further separate the grain from the crop material, and to provide positive crop movement. Once the grain is threshed, the grain is cleaned using a cleaning system. The cleaning system includes a cleaning fan which blows air through oscillating sieves to discharge chaff and other debris toward the rear of the combine. Non-grain crop material, such as straw, from the threshing section proceeds through a straw chopper and out the rear of the combine. Clean grain is transported to a grain tank onboard the combine.

A typical header generally includes a frame, a pair of end dividers at the lateral ends of the frame, a floor such as a deck, a cutter to remove crop material from the field, and a conveyor to transport the cut crop material to the feeder housing for further downstream processing in the combine. Generally, the components of a header are specifically optimized to harvest a particular kind of crop. For instance, the header may be in the form of a draper header which has a cutter bar, a draper belt, and a rotating reel with tines or the like in order to harvest a bushy or fluffy crop, such as soy beans or canola. Alternatively, the header may be in the form of a corn header which includes an auger and row units with snouts, gathering chains, and stalk rolls in order to harvest corn.

Within the industry, there is an ever-increasing demand for systems designed to automatically control the operation of components associated with agricultural vehicles, including components associated with headers of agricultural harvesters. Typically, automated header-related systems rely on the use of sensors or sensing devices to provide feedback associated with a monitored parameter or operating condition of the header, which then allows a controller to automatically determine control outputs for controlling the operation of one or more components of the header based on the feedback received from the sensor(s) or sensing device(s). For example, <CIT> discloses a combine harvester with a camera for detecting a height of the top of a grain field. A height of the header reel is adjusted based on data obtained with the camera. <CIT> discloses a combine harvester with a corn header comprising sensors for monitoring the harvesting process and a controller for adapting the header in response to signals from those sensors. However, when a header includes powered components (e.g., powered rotating components), the motion of such components often results in a significant amount of noise or interference within the sensor feedback provided to the controller. This noise/interference in the sensor feedback often results in the controller generating control outputs that are not as accurate or effective as desired.

Accordingly, a need exists for systems and methods for filtering out sensor signal interference deriving from powered components of a header of an agricultural vehicle.

In one aspect, the present invention is directed to a system for filtering signal interference from sensors signals associated with headers configured for use with agricultural vehicles. The system includes a header comprising a frame and a powered component supported relative to the frame, and a sensor configured to detect electromagnetic waves indicative of a parameter associated with the header. In addition, the system includes an electronic control unit operably connected to the sensor such that the electronic control unit is configured to receive signals from the sensor associated with the detection of the electromagnetic waves. The electronic control unit is further configured to filter interference from the signals deriving from motion of the powered component relative to the sensor.

In another aspect, the present invention is directed to a method for filtering signal interference from sensor signals associated with headers configured for use with agricultural vehicles. The method includes moving a powered component of a header relative to a sensor configured to detect electromagnetic waves indicative of a parameter associated with the header. The method also includes receiving, with an electronic control unit, sensors signals from the sensor associated with the detection of the electromagnetic waves, and filtering, with the electronic control unit, interference from the sensor signals deriving from movement of the powered component relative to the sensor.

The terms "forward", "rearward", "left" and "right", when used in connection with the agricultural harvester and/or components thereof are usually determined with reference to the direction of forward operative travel of the harvester, but they should not be construed as limiting. The terms "longitudinal" and "transverse" are determined with reference to the fore- and-aft direction of the agricultural harvester and are equally not to be construed as limiting.

In general, the present invention is directed to systems and methods for filtering signal interference from sensor signals providing an indication of one or more parameters associated with a header of an agricultural vehicle. Specifically, in several embodiments, the disclosed systems and methods are configured to filter out signal interference deriving from one or more powered components of the header, such as a rotating reel of the header. For instance, as will be described below, an electronic control unit may be configured to apply one or more filtering methods, such as a frequency-based filtering method, an amplitude-based filtering method, and/or a distance-based filtering method, to sensor signals received from one or more sensors operably coupled to the electronic control unit (e.g., one or more light sensors and/or radar sensors) to filter out or remove noise or interference deriving from rotation of the reel relative to such sensors. The filtered sensor signals can then be utilized by the electronic control unit to generate control outputs for controlling the operation of one or more components of the header. By removing the noise/interference from the sensor signals, the electronic control unit can more accurately estimate or determine the header-related parameter(s) associated with such sensor data, thereby allowing the electronic control unit to generate control outputs to more effectively control the operation of the related header component(s).

For purposes of discussion, the present invention will generally be described herein with reference to filtering signal interference from sensor signals received from sensors associated with automatic lighting and height control systems for a header. However, it should be appreciated that, in other embodiments, the present invention may also be advantageously applied to filter signal interference from sensor signals received from sensors associated with any other header-related systems. In addition, although the present invention will generally be described herein with reference to filtering signal interference deriving primarily from the rotating reel of a header, the disclosed systems and methods may also be advantageously applied to filter signal interference deriving from any other powered components of a header, such as an conveyer or an auger of a header.

Referring now to the drawings, and more particularly to <FIG>, there is shown an exemplary embodiment of an agricultural vehicle <NUM> in the form of a combine <NUM>. However, the agricultural vehicle <NUM> may be in the form of any desired agricultural vehicle <NUM>, such as a windrower. The agricultural vehicle <NUM> generally includes a chassis <NUM>, ground engaging wheels and/or tracks <NUM>, a feeder housing <NUM>, and a prime mover <NUM>. The combine <NUM> may also include a header <NUM>, a separating system <NUM>, a cleaning system <NUM>, a discharge system <NUM>, an onboard grain tank <NUM>, and an unloading auger <NUM>.

The threshing system <NUM> may be of the axial-flow type, and thereby may include an axially displaced threshing rotor <NUM> which is at least partially enclosed by a rotor housing <NUM>. The rotor housing <NUM> can include a rotor cage and perforated concaves. The cut crop is threshed and separated by the rotation of rotor <NUM> within the rotor housing <NUM> such that larger elements, for example stalks, leaves, and other MOG is discharged out of the rear of agricultural vehicle <NUM> through the discharge system <NUM>. Smaller elements of crop material, such as grain and non-grain crop material, including particles lighter than grain, such as chaff, dust and straw, may pass through the perforations in the concaves and onto the cleaning system <NUM>.

The cleaning system <NUM> may include a grain pan <NUM>, a sieve assembly which can include an optional pre-cleaning sieve <NUM>, an upper sieve <NUM> (also known as a chaffer sieve), a lower sieve <NUM> (also known as a cleaning sieve), and a cleaning fan <NUM>. The grain pan <NUM> and pre-cleaning sieve <NUM> may oscillate in a fore-to-aft manner to transport the grain and finer non-grain crop material to the upper sieve <NUM>. The upper sieve <NUM> and lower sieve <NUM> are vertically arranged relative to each other, and may also oscillate in a fore-to-aft manner to spread the grain across sieves <NUM>, <NUM>, while permitting the passage of clean grain, by gravity, through openings in the sieves <NUM>, <NUM>. The fan <NUM> may provide an airstream through the sieves <NUM>, <NUM>, <NUM> to blow non-grain material, such as chaff, dust, and other impurities, toward the rear of the agricultural vehicle <NUM>.

The cleaning system <NUM> may also include a clean grain auger <NUM> positioned crosswise below and toward the front end of the sieves <NUM>, <NUM>. The clean grain auger <NUM> receives clean grain from each sieve <NUM>, <NUM> and from a bottom pan <NUM> of the cleaning system <NUM>. The clean grain auger <NUM> conveys the clean grain laterally to a generally vertically arranged grain elevator <NUM> for transport to the grain tank <NUM>. The cleaning system <NUM> may additionally include one or more tailings return augers <NUM> for receiving tailings from the sieves <NUM>, <NUM> and transporting these tailings to a location upstream of the cleaning system <NUM> for repeated threshing and/or cleaning action. Once the grain tank <NUM> becomes full, the clean grain therein may be transported by the unloading auger <NUM> into a service vehicle.

The header <NUM> is removably attached to the feeder housing <NUM>. The header <NUM> generally includes a frame <NUM>, a cutter bar <NUM> that severs the crop from a field, a rotatable reel <NUM> rotatably mounted to the frame <NUM>, which feeds the cut crop into the header <NUM>, and a conveyor <NUM>, e.g. an auger <NUM> with flighting, that feeds the severed crop inwardly from each lateral end of the frame <NUM> toward feeder housing <NUM>. The header <NUM> may be in the form of any desired header, such as a draper header or a corn header. As can be appreciated, the header <NUM> may be at least partially lifted or carried by the feeder housing <NUM>, which typically includes an actuating system with one or more hydraulic cylinders. In one embodiment, the actuating system may be used to adjust a height of the header <NUM> relative to the ground so as to maintain the desired cutting height between the header <NUM> and the ground. For instance, as shown in <FIG>, the actuating system may include a height cylinder <NUM> (e.g., coupled between the feeder housing <NUM> and a portion of the chassis <NUM> of the vehicle <NUM>) that is configured to adjust the height or vertical positioning of the header <NUM> relative to the ground by pivoting the feeder housing <NUM> to raise and lower the header <NUM> relative to the ground. In addition, the actuating system may also include a tilt cylinder(s) <NUM> coupled between the header <NUM> and the feeder housing <NUM> to allow the header <NUM> to be tilted relative to the ground surface or pivoted laterally or side-to-side relative to the feeder housing <NUM>.

Referring now collectively to <FIG>, there is shown an exemplary embodiment of an automatic lighting system <NUM> for the header <NUM>. The automatic lighting system <NUM> generally includes at least one light <NUM>, at least one sensor <NUM> for sensing a level of light surrounding the header <NUM>, and an electronic control unit (ECU) <NUM>, e.g. a controller <NUM> with a memory <NUM>. The controller <NUM> automatically operates the light(s) <NUM> upon communicating with the sensor(s) <NUM>.

The light(s) <NUM> may be connected to the frame <NUM> of the header <NUM> at any desired location. As shown, the automatic lighting system <NUM> includes four lights <NUM> with two lights <NUM> being attached to the lateral ends of the frame <NUM>, for illuminating an area behind the frame <NUM>, and two lights <NUM> being attached inwardly from the lateral ends of the frame <NUM>, for illuminating the frame <NUM> where crop enters and flows through the header <NUM>. However, it should be appreciated that the automatic lighting system <NUM> may include any number of lights <NUM> for illuminating any desired area located on or around the header <NUM>. Each light <NUM> may be in the form of any desired light, such as an incandescent light bulb or light emitting diode (LED).

The automatic lighting system <NUM> includes a pair of sensors <NUM> in the form of left and right sensors <NUM> that are respectively located at the left and right ends of the header <NUM>. However, the automatic lighting system <NUM> may include only one or more than two sensors <NUM>. The sensor(s) <NUM> may be located at any desired location on the frame <NUM> of the header <NUM>. Each sensor <NUM> may be located on a top surface, an inside surface, or an outside surface at a respective lateral end of the frame <NUM>. Alternatively, the sensor(s) <NUM> may be positioned near the front of the header <NUM>, where the header <NUM> engages crop, or at a middle portion of the header <NUM>. It is noted that having two sensors <NUM> at the left and right ends of the header <NUM> prevents any interruption of the automatic lighting system <NUM> when the shadow of the agricultural vehicle <NUM>, in dusk or dawn lighting conditions, undesirably shades one of the sensors <NUM>. Each sensor <NUM> may be in the form of an ambient light sensor <NUM> for sensing the ambient light at any desired location within or around the header <NUM> and providing a corresponding signal. The ambient light sensor <NUM> may be in the form of any desired photosensor which may sense light and/or electromagnetic radiation. Each ambient light sensor <NUM> may have a preset threshold of the level of light which is indicative of low-light conditions. As used herein, the term "preset threshold of the level of light" may refer to any level or amount of ambient light at which an operator may desire an improved visibility to see the header <NUM> and/or surrounding areas thereof. The preset threshold of light may be the known level of light at which low-light conditions exist, for example during dusk, dawn, and/or nighttime. As can be appreciated, each sensor <NUM> may sense any form of light, such as light which is emitted from the sun and/or any other artificial light source. Additionally or alternatively, the sensor(s) <NUM> may be located on the agricultural vehicle <NUM>. Each sensor located on the agricultural vehicle <NUM> may provide feedback which is closely representative to sensor(s) <NUM> located on the header <NUM>.

According to a further aspect of the exemplary embodiment of the present invention, the sensor(s) <NUM> may detect the ambient light emitted from the lights of the agricultural vehicle <NUM>, and the controller <NUM> may correspondingly turn on the light(s) <NUM> upon the sensor(s) <NUM> indicating that the lights of the agricultural vehicle <NUM> have already turned on. Automatically turning on the light(s) <NUM> of the header <NUM> when the lights of the agricultural vehicle <NUM> are turned on may be beneficial if improved visibility is desired even when ambient low-light conditions do not exist or when there is no option to manually turn on the light(s) <NUM>, as with some older model agricultural vehicles.

The controller <NUM> may be operably connected to the light(s) <NUM> and sensor(s) <NUM>. The controller <NUM> may automatically activate or deactivate the light(s) <NUM> upon the sensor(s) <NUM> reading that the ambient light is below or above the preset threshold of light, respectively. The controller <NUM> may be in the form of any desired analog or digital control unit. The memory <NUM> may be in the form of any desired tangible computer readable medium, and the memory <NUM> may store any desired information, such as the preset threshold value of ambient light which is indicative of low-light conditions. The controller <NUM> may interface with and/or be incorporated into existing hardware and/or software of the header <NUM> and/or agricultural vehicle <NUM>. In other words, the controller <NUM> may be a separate unit as part of the automatic lighting system <NUM> and/or be integrated with the header <NUM> and/or agricultural vehicle <NUM>. For instance, the header <NUM> may have a dedicated header controller which controls specific header-related functions, and the controller <NUM> may either be in the form of the dedicated header controller or be incorporated as part of the dedicated header controller.

According to another aspect of the exemplary embodiment of the present invention, the controller <NUM> may account for the rotational movement of the reel <NUM>. In certain lighting conditions, the reel <NUM> may periodically block or prevent the sensor(s) <NUM> from sensing the ambient light. For example, the rotational speed of the reel <NUM> may be proportionate to one or more frequencies which may interfere with the sensor(s) <NUM> and thereby cause periodic shadowing of the sensor(s) <NUM>. To mitigate the effect of this periodic shadowing, the controller <NUM> may calculate an adjusted input for filtering out the interference caused by the reel <NUM>. For example, the controller <NUM> may communicate with a speed sensor <NUM> of the reel <NUM>, use the measured speed of the reel <NUM> to calculate a corresponding frequency of the reel <NUM>, and then filter out the frequency of the reel <NUM> from the signal(s) of the sensor(s) <NUM>. Suitable systems, methods, and related controller functionality for filtering out the frequency of the reel <NUM> will generally be described below with reference to <FIG>. It should be appreciated that the reel speed sensor <NUM> may be operably coupled to the controller <NUM> by a wired or wireless connection. For instance, the reel speed sensor <NUM> may communicate to the controller <NUM> via a connected bus network.

Referring now to <FIG>, there is shown a flowchart of a method <NUM> for operating the agricultural vehicle <NUM>, and more particularly the automatic lighting system <NUM>, in various lighting conditions, such as in low-light conditions. The method <NUM> may include an initial step of providing the header <NUM> with the automatic lighting system <NUM> as described above (at block <NUM>). The method <NUM> includes a step of sensing the level of ambient light by the sensor(s) <NUM> (at block <NUM>). The method <NUM> may also include a step of automatically activating the light(s) <NUM>, by the controller <NUM>, upon the sensor(s) <NUM> sensing that the level of light is below a preset threshold of light (at block <NUM>). The method <NUM> may then include a step of automatically deactivating the light(s) <NUM>, by the controller <NUM>, upon the sensor(s) <NUM> sensing that the level of light is above the preset threshold of light (at block <NUM>). Further, the method <NUM> may include another step of filtering interference, by the controller <NUM>, upon the reel <NUM> blocking the sensor(s) <NUM>. Herein, the controller <NUM> may identify the frequency of the rotating reel <NUM> and filter out any interference in the signal(s) of the sensor(s) <NUM> caused by the frequency of the reel <NUM>. It should be appreciated that the automatic lighting system <NUM> may automatically turn on or off the light(s) <NUM> depending upon a set time of day. Additionally, if the agricultural vehicle <NUM> includes a user interface, e.g. a control panel or switch, the operator may input a control command to operate the automatic lighting system <NUM>.

Referring now collectively to <FIG> and <FIG>, there is shown an exemplary embodiment of an automatic height control system <NUM> for regulating the height of the header <NUM> relative to the ground (e.g., a ground surface <NUM>). As shown in <FIG>, the header (as indicated schematically by box <NUM>) generally extends side-to-side or in a lateral direction (indicated by arrow <NUM> in <FIG>) between a first lateral end <NUM> and a second lateral end <NUM>. Additionally, the header <NUM> may be pivotably coupled to the feeder housing <NUM> at a location between its first and second lateral ends <NUM>, <NUM> to allow the header <NUM> to tilt laterally relative to the feeder housing <NUM> (e.g., in the tilt directions indicated by arrows <NUM>, <NUM> in <FIG>). In one embodiment, the header <NUM> may be coupled to the feeder housing <NUM> roughly at a lateral centerline <NUM> defined between the opposed lateral ends <NUM>, <NUM> of the header <NUM>. In such an embodiment, the height cylinder <NUM> may, for instance, be configured to raise and lower the end of the feeder housing <NUM> relative to the chassis <NUM> of the vehicle <NUM>, thereby adjusting the vertical positioning of the header <NUM> along the lateral centerline <NUM> (e.g., in the vertical direction indicated by arrow <NUM>). Additionally, the lateral tilt cylinder(s) <NUM> may be configured to laterally tilt the header <NUM> relative to the ground <NUM> (e.g., as indicated by arrows <NUM>, <NUM>) about a tilt axis <NUM> aligned with the lateral centerline <NUM> of the header <NUM>.

In one embodiment, the height control system <NUM> may include a pair of tilt cylinders 123A, 123B. For instance, as shown in <FIG>, a first tilt cylinder 123A may be coupled between the header <NUM> and the feeder housing <NUM> along one lateral side of the connection between the header <NUM> and the feeder housing <NUM>, and a second tilt cylinder 123B may be coupled between the header <NUM> and the feeder housing <NUM> along the opposed lateral side of the connection between the header <NUM> and the feeder housing <NUM>. In such an embodiment, the tilt cylinders 123A, 123B may be extended and retracted to pivot or tilt the header <NUM> about the tilt axis <NUM>. However, in other embodiments, the system <NUM> may only include a single tilt cylinder <NUM>, such as a cylinder coupled between the header <NUM> and the feeder housing <NUM> in the lateral direction <NUM> across the centerline <NUM> of the header <NUM> at a position vertically above or below the tilt axis <NUM>.

In general, the operation of the height cylinder <NUM> and tilt cylinder(s) <NUM> may be automatically controlled via an electronic control unit (ECU) <NUM> (e.g. a controller <NUM> with a memory <NUM>) to adjust the vertical positioning and tilt angle of the header <NUM> relative to the ground surface <NUM>. For instance, a plurality of height sensors <NUM> may be provided on the header <NUM> to monitor one or more respective local distances or heights <NUM> defined between the header <NUM> and the ground surface <NUM> (e.g.. as a function of an installed height <NUM> of the sensors <NUM> relative to the bottom of the header <NUM>). Specifically, as shown in <FIG>, the header <NUM> includes four height sensors <NUM> supported thereon for monitoring the local height <NUM> relative to the ground surface <NUM>, such as by including a first height sensor 324A positioned adjacent to the first lateral end <NUM> of the header <NUM>, a second height sensor 324B positioned adjacent to the second lateral end <NUM> of the header <NUM>, and third and fourth height sensors 324C, 324D positioned between the first and second height sensors 324A, 324B along either side of the header centerline <NUM>. In the illustrated embodiment, the height sensors <NUM> are spaced apart equally along the lateral width of the header <NUM>. However, in other embodiments, the lateral spacing between the various height sensors <NUM> may be non-uniform or varied. It should also be appreciated that, although the header <NUM> is illustrated herein as including four height sensors <NUM>, any number of height sensors <NUM> may be installed relative to the header <NUM> to provide an indication of the local height <NUM> defined between the header <NUM> and the ground surface <NUM> at a corresponding number of lateral sensor positions spaced apart across the width of the header <NUM>.

It should be appreciated that, in several embodiments, each height sensor <NUM> may correspond to an active electromagnetic-based sensor configured to provide sensor data or signals indicative of the local height or distance <NUM> defined between the header <NUM> and the ground surface <NUM> based on the detection of reflected electromagnetic waves. For instance, in one embodiment, each height sensor <NUM> may correspond to a radar sensor configured to transmit radio waves outwardly therefrom for reflection off of the ground surface <NUM> and detect such reflected radio waves to provide an indication of the distance between the sensor <NUM> and the ground surface <NUM> (and, thus, the local height or distance <NUM> defined between the header <NUM> and the ground surface <NUM>). In another embodiment, each height sensor <NUM> may correspond to a laser sensor or other light-based sensor configured to transmit light outwardly therefrom for reflection off of the ground surface <NUM> and detect such reflected visible light waves to provide an indication of the distance between the sensor <NUM> and the ground surface <NUM>. In other embodiments, the height sensors <NUM> may correspond to any other suitable electromagnetic-based sensing devices. For instance, as opposed to an active electromagnetic-based sensor, each height sensor <NUM> may, instead, correspond to a passive electromagnetic-based sensor, such as a camera, that provides sensor data or signals indicative of the local height or distance <NUM> defined between the header <NUM> and the ground surface <NUM>. Alternatively, the height sensors <NUM> may correspond to any other suitable non-contact sensors.

In general, the height signals or data provided by the various height sensors <NUM> may be used as a control input into the controller <NUM> for controlling the operation of both the height cylinder <NUM> and the tilt cylinder(s) <NUM>. Specifically, the height data may be analyzed by the controller <NUM> in combination with the known spatial relationship between the sensors <NUM> and the header <NUM> (e.g., based on distance <NUM>) to determine a control output(s) for controlling the operation of the cylinders <NUM>, <NUM> to maintain the header <NUM> at the desired position relative to the ground surface <NUM>. The controller <NUM> may be in the form of any desired analog or digital control unit. The memory <NUM> may be in the form of any desired tangible computer readable medium, and the memory <NUM> may store any desired information, such as data associated with the relative positions of the height sensors <NUM> along the header <NUM> (e.g., lateral position data and vertical position data) and data associated with the heights detected by the height sensors <NUM>. The controller <NUM> may interface with and/or be incorporated into existing hardware and/or software of the header <NUM> and/or agricultural vehicle <NUM>. In other words, the controller <NUM> may be a separate unit as part of the automatic height control system <NUM> and/or be integrated with the header <NUM> and/or agricultural vehicle <NUM>. For instance, the header <NUM> may have a dedicated header controller which controls specific header-related functions, and the controller <NUM> may either be in the form of the dedicated header controller or be incorporated as part of the dedicated header controller.

It should be appreciated that, in several embodiments, the controller <NUM> may be configured to control the operation of the cylinders <NUM>, <NUM> by automatically controlling the operation of one or more corresponding valve(s) (not shown) configured to regulate the supply of fluid (e.g., hydraulic fluid or air) to each cylinder. For instance, the controller <NUM> may be coupled to one or more height control valves (not shown) for regulating the supply of fluid to the height cylinder <NUM> and one or more tilt control valves (not shown) for regulating the supply of fluid to the tilt cylinder(s) <NUM>. In such an embodiment, the controller <NUM> may be configured to transmit suitable control outputs (e.g., current commands) to each control valve to adjust its associated valve position, thereby allowing the controller <NUM> to vary the supply of fluid to the corresponding cylinder(s) <NUM>, <NUM> and, thus, automatically control the retraction/extension of such cylinder(s) <NUM>, <NUM>. Alternatively, in embodiments in which the cylinders <NUM>, <NUM> correspond to electric-driven actuators (e.g., solenoid actuated cylinders), the controller <NUM> may be configured to transmit suitable control outputs (e.g., current commands) to each associated solenoid to automatically control the retraction/extension of the respective cylinder(s) <NUM>, <NUM>.

As particularly shown in <FIG>, in several embodiments, the height sensors <NUM> may be configured to be installed on the header <NUM> at a location above the reel <NUM>, such as at a location at or adjacent to the top of the header <NUM>. In such embodiments, the height sensors <NUM> may be required to sense the location of the ground surface <NUM> through the reel <NUM>. For instance, when the height sensors <NUM> correspond to active electromagnetic-based sensing devices, such as radar sensors or laser sensors, the height sensors <NUM> may be required to transmit waves through the rotating reel <NUM> to the ground surface (e.g., as indicated by arrow <NUM> in <FIG>) and detect the reflected waves transmitted back through the rotating reel <NUM> to the sensors <NUM>. In such instance, the controller <NUM> may be configured to account for the rotational movement of the reel <NUM> when processing the signals received from the sensors <NUM>. For example, the rotational speed of the reel <NUM> may be proportionate to one or more frequencies which may interfere with the sensor(s) <NUM> and thereby cause periodic interference of the waves being detected by the sensor(s) <NUM>. To mitigate this issue, the controller <NUM> may calculate an adjusted input for filtering out the interference caused by the reel <NUM>. For example, in one embodiment, the controller <NUM> may communicate with the speed sensor <NUM> (<FIG>) of the reel <NUM>, use the measured speed of the reel <NUM> to calculate a corresponding frequency of the reel <NUM>, and then filter out the frequency of the reel <NUM> from the signal(s) of the sensor(s) <NUM>. Suitable systems, methods, and related controller functionality for filtering out the frequency of the reel <NUM> will generally be described below with reference to <FIG>.

Referring now to <FIG>, a schematic view of one embodiment of an electronic control unit (ECU) <NUM> suitable for use within or as a component of one or more of the systems disclosed herein is illustrated in accordance with aspects of the present invention. Specifically, in several embodiments, the ECU <NUM> may correspond to the ECU <NUM> of the automatic lighting system <NUM> described above with reference to <FIG> and <FIG> and/or the ECU <NUM> of the automatic header height control system <NUM> described above with reference to <FIG> and <FIG>. In one embodiment, the ECU <NUM> may be configured to provide the functionality of each ECU <NUM>, <NUM> described above such that the ECU <NUM> may be used to execute both the automatic lighting system <NUM> and the header height control system <NUM>. Alternatively, separate ECUs may be provided to execute the required processing and control functionality associated with each respective system <NUM>, <NUM>, with each ECU being configured the same as or similar to the ECU <NUM> shown in <FIG>.

As shown in <FIG>, the ECU <NUM> (referred to hereinafter as "controller <NUM>") may generally correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, in several embodiments, the controller <NUM> may include one or more processor(s) <NUM> and associated memory device(s) <NUM> configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the controller <NUM> may generally comprise memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable non-volatile medium (e.g., a flash memory), a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the controller <NUM> to perform various computer-implemented functions, such as the processing and/or control functionality described above with reference to the automatic lighting system <NUM> and/or the automatic header height control system <NUM>.

In one embodiment, the memory <NUM> of the controller <NUM> may include one or more databases for storing information associated with the operation of the header <NUM>, including data associated with controlling the lights <NUM> of the header <NUM> and/or the height of the header <NUM>. For instance, as shown in <FIG>, the memory <NUM> may include a system database <NUM> storing data associated with system parameters for executing the automatic lighting system <NUM> and/or the automatic header height control system <NUM>. For instance, in association with the automatic lighting system <NUM>, the system database <NUM> may include data associated with a preset threshold value of ambient light that is indicative of low-light conditions. Similarly, in association with the automatic header height control system <NUM>, the system database <NUM> may include data associated with the relative positions of the height sensors <NUM> along the header <NUM> (e.g., lateral position data associated with the lateral spacing or positioning of the height sensors <NUM> across the header <NUM> in the lateral direction <NUM> (<FIG>) and/or vertical position data associated with the vertical height of the installed locations of the height sensors <NUM> along the header <NUM>) as well as data associated with a predetermined or target height value or height range for the header <NUM>. In addition, the system database <NUM> may also include data associated with the powered, interference-generating components of the header <NUM>, such as the rotating reel <NUM>. For instance, in one embodiment, the system database <NUM> may include data associated with the number of laterally extending tine bars of the reel <NUM> (also often referred to as bat tubes), which, as will be described below, can be used in combination with the reel speed to determine the frequency at which the tine bars will pass through the field of view of any relevant sensors, thereby creating noise or interference within the resulting sensor signals.

Additionally, as shown in <FIG>, the memory <NUM> may include a sensor database <NUM> storing sensor data, including raw or unfiltered sensor signals received from one or more sensors and/or filtered sensor signals as processed by the controller <NUM>. For instance, the sensor database <NUM> may include data associated with the unprocessed or unfiltered sensor signals received from the light sensors <NUM> and/or the unprocessed or unfiltered sensor signals received from the height sensors <NUM>. As will be described below, the controller <NUM> may be configured to process the signals received from the sensors <NUM>, <NUM> to filter out any signal interference deriving from any powered components of the header <NUM>, such as the rotating reel <NUM>. In this regard, the filtered sensor signals generated via application of the associated filters may be stored within the sensor database <NUM>.

Moreover, as shown in <FIG>, in several embodiments, the instructions stored within the memory <NUM> of the controller <NUM> may be executed by the processor(s) <NUM> to implement a signal filter module <NUM>. In general, the filter module <NUM> may be configured to apply one or more filters to the sensor signals received by the controller <NUM> to filter out any noise or interference within the signals. Specifically, in several embodiments, the filter module <NUM> may be configured to apply a suitable frequency attenuating filter (e.g., a linear continuous-time filter), to the sensor signals to filter out the noise or interference associated with the rotational motion of the reel <NUM> of the header <NUM>. For instance, the filter module <NUM> may be configured to apply a bandstop filter that stops or filters out a given frequency (or a band of frequencies) that is proportional to or otherwise associated with the rotational speed of the reel <NUM>. Specifically, the bandstop filter may be applied to filter out the frequency (or a band of frequencies) at which the tine bars of the reel <NUM> pass through the field of view of or otherwise impact the electromagnetic waves detected via the associated sensor (with such frequency or frequency range being referred to hereinafter simply as the "tine bar pass frequency"). In such an embodiment, all other frequencies may be allowed to pass through the filter for further processing and/or analysis by the controller <NUM>.

In several embodiments, the controller <NUM> may be configured to dynamically determine the tine bar pass frequency during operation of the header <NUM>. For instance, similar to the system embodiments described above, the controller <NUM> may be communicatively coupled to a speed sensor <NUM> (<FIG>) configured to detect the rotational speed of the reel <NUM>. In such instance, by knowing the number of laterally extending tine bars included within the reel <NUM> and by monitoring the reel speed via the feedback received from the speed sensor <NUM>, the controller <NUM> can determine an instantaneous or current value for the tine bar pass frequency. This instantaneously determined or real-time frequency value(s) may then be utilized within the filter as the stopband frequency value(s) for filtering the signals received from the associated sensors (e.g., the light sensors <NUM> and/or the height sensors <NUM>).

As an alternative to dynamically determining the tine bar pass frequency, the controller <NUM> may, instead, be configured to utilize a predetermined range of frequency values corresponding to the potential range of tine bar pass frequencies for the reel <NUM>. For example, in one embodiment, the predetermined range of frequency values may be selected or determined based on an operating speed range for the reel <NUM>, with the minimum frequency value of the predetermined frequency range corresponding to the tine bar pass frequency at the minimum reel speed of the operating speed range and the maximum frequency value of the predetermined frequency range corresponding to the tine bar pass frequency at the maximum reel speed of the operating speed range. In such an embodiment, the predetermined frequency range determined based on the operating speed range for the reel <NUM> may be applied as the stopband frequency values for filtering the signals received from the associated sensors (e.g., the light sensors <NUM> and/or the height sensors <NUM>).

In yet another embodiment, the speed sensor <NUM> for the reel <NUM> may be configured to generate detection pulses or signals that are in sync with the tine bars passing through the field of view of the associated sensors, such as by generating detection signals at the same frequency as and in sync with the tine bar pass frequency. For instance, when the speed sensor <NUM> is configured as an optical speed sensor (e.g., an optical rotary encoder) that generates an electrical pulse or high signal each time a light passes through a slot or aperture in a rotating "code" disc/wheel, the circumferential spacing of the slots or apertures defined in the disc/wheel may be selected based on the circumferential spacing of the tine bars of the reel <NUM>. In such an embodiment, by properly orienting the "code" disc/wheel relative to the reel <NUM> (e.g., by circumferentially aligning the slots/apertures with the tine bars of the reel <NUM>), the sensor <NUM> may be configured to generate a detection pulse or high signal at the same frequency as and in sync with the tine bar pass frequency. Similarly, when the speed sensor <NUM> is configured as a magnetic speed sensor (e.g., an magnetic rotary encoder) that generates an electrical pulse or high signal each time a change in magnetic field is detected due to a magnetic pole provided on a rotating wheel or ring passing by an associated sensor, the circumferential spacing of the magnetic poles provided around the circumference of the wheel/ring may be selected based on the circumferential spacing of the tine bars of the reel <NUM>. In such an embodiment, by properly orienting the wheel/ring relative to the reel <NUM> (e.g., by circumferentially aligning the magnetic poles with the tine bars of the reel <NUM>), the sensor <NUM> may be configured to generate a detection pulse or high signal at the same frequency as and in sync the tine bar pass frequency. Regardless of the sensor type utilized, by configuring the speed sensor <NUM> as described above, the high/low status of the speed sensor signal may be used by the controller <NUM> as a logical condition to keep or discard the signals received from the relevant sensors. For instance, in one embodiment, the controller <NUM> may be configured to discard or otherwise ignore any data that is received from the light sensors <NUM> and/or the height sensors <NUM> simultaneously with a high signal from the speed sensor <NUM>. In such an embodiment, it may be assumed that any light/height signals received between detection pulses or signals of the speed sensor <NUM> were not affected by the tine bars of the reel <NUM>, and, thus, should be maintained by the controller <NUM>.

It should be appreciated that, as an alternative to utilizing a frequency-based filtering method to filter out the interference or noise associated with sensor signals received from an active electromagnetic-based sensor, the controller <NUM> may, instead, be configured to use an amplitude-based filtering method. Specifically, in several embodiments, suitable reflectors may be installed on or otherwise associated with the reel <NUM> that are configured to reflect the electromagnetic waves transmitted from the active sensors (e.g., radio waves or visible light waves). For example, by installing a reflector(s) on each of the tine bars, the noise or interference introduced by such tine bars is intentionally exaggerated or amplified to an amplitude higher than a typical or expected amplitude range for the sensor signals, thereby allowing the noise to be more easily identified and filtered out. In such an embodiment, the controller <NUM> may, for instance, be configured to filter the sensor signals by discarding or ignoring data associated with amplitudes that exceed a predetermined maximum amplitude threshold. For instance, in one embodiment, the maximum amplitude threshold may be selected based on the expected or anticipated amplitude range of the sensor signals, such as by setting the maximum amplitude threshold as the maximum amplitude within the expected amplitude range (or the maximum amplitude plus a given buffer amount, such <NUM>% to <NUM>%). In such an embodiment, sensor signals associated amplitudes that are greater than the maximum amplitude threshold can be ignored as likely being associated with detection of the reel <NUM> (e.g., the reflection of radio or visible light waves off the tine bars) as opposed to the desired detection surface (e.g., the ground). In contrast, sensor signals associated amplitudes that are less than or equal to the maximum amplitude threshold can be maintained as likely being associated with detection of the desired detection surface (e.g., the ground) as opposed to the reel <NUM>.

Additionally, it should be appreciated that, as another alternative to utilizing a frequency-based filtering method to filter out the interference or noise associated with sensor signals received from an active electromagnetic-based sensor, the controller <NUM> may, instead, be configured to implement a distance-based filtering method. Specifically, upon installed a sensor on the header <NUM> at a given location, the reel <NUM> will always be located relative to the sensor within a given range of known distances. By inputting this range of distances into the controller <NUM> (e.g., for storage within the system database <NUM>), the controller <NUM> may be configured to filter the sensor signals by discarding or ignoring data associated with distances that do not exceed a preset minimum distance threshold. For instance, in one embodiment, the minimum distance threshold may be selected based on the range of distances that the reel <NUM> can potentially be located away from the sensor, such as by setting the minimum distance threshold as the maximum distance that the reel <NUM> can potentially be located away from the sensor such maximum distance plus a given buffer amount (e.g., <NUM>% to <NUM>%). In such an embodiment, sensor signals associated with distances that are equal to or less than the minimum distance threshold can be ignored as likely being associated with detection of the reel <NUM> (e.g., the reflection of radio or light waves off the tine bars) as opposed to the desired detection surface (e.g., the ground). In contrast, sensor signals associated distances that exceed the minimum distance threshold can be maintained as likely being associated with the detection of the desired detection surface (e.g., the ground) as opposed to the reel <NUM>.

As shown in <FIG>, in several embodiments, the instructions stored within the memory <NUM> of the controller <NUM> may also be executed by the processor(s) <NUM> to implement a control module <NUM>. In general, the control module <NUM> may be configured to control the operation of one or more components of the header <NUM> and/or the agricultural vehicle <NUM> based on the filtered sensor signals provided via the signal filter module <NUM>. For example, in association with the automatic lighting system <NUM>, the control module <NUM> may be configured to control the operation of the lights <NUM> of the header <NUM> based on the filtered light signals, such as by activating one or more of the lights <NUM> when the filtered light signals indicate that the ambient light level is below a preset threshold of light and by deactivating the light(s) <NUM> when the filtered light signals indicate that the ambient light level is above the preset threshold of light. Similarly, in association with the automatic header height control system <NUM>, the control module <NUM> may be configured to control the operation of the height cylinder <NUM> and/or the tilt cylinder(s) <NUM> (e.g., either directly or indirectly via associated control valves) based on the filtered height signals, such as by extending/retracting the height cylinder <NUM> and/or the tilt cylinder(s) <NUM>, as necessary, so as to maintain the height of the header <NUM> at a desired or predetermined height setting value(s), such as an operator-selected target height or target height range for the header <NUM>.

It should be appreciated that controller <NUM> may also include various other suitable components, such as a communications circuit or module, a network interface, one or more input/output channels, a data/control bus and/or the like. For instance, as shown in <FIG>, the controller <NUM> may include a communications module or interface <NUM> to allow the controller <NUM> to communicate with any of the various other system components described herein. For instance, the controller <NUM> may, in several embodiments, be configured to receive data or sensor signals from the sensor(s) used to detect one or more parameters associated with the header <NUM> (e.g., the light sensors <NUM> and/or the height sensors <NUM>) via any suitable connection with the communications interface <NUM>, such as a wired or wireless connection.

Referring now to <FIG>, a schematic view of one embodiment of a system <NUM> for filtering signal interference deriving from powered components of a header of an agricultural vehicle is illustrated in accordance with aspects of the present invention. In general, the system <NUM> will be described with reference to utilizing the controller <NUM> of <FIG> to filter sensor signals to remove interference or noise deriving from the rotating reel of a header. However, it should be appreciated that, in other embodiments, the disclosed system <NUM> may be implemented with controllers having any other suitable configuration and/or to filter sensor signals to remove interference or noise deriving from any other powered components of a header. It should also be appreciated that, for purposes of discussion, the system <NUM> of <FIG> will generally be described with reference to the use of active electromagnetic-based sensors (i.e., sensors that transmit electromagnetic waves outwardly therefrom and subsequently receive or detect the waves as reflected off a surface), such as the height sensors <NUM> described above with reference to <FIG>. However, in other embodiments, the system <NUM> may also be utilized to filter signals received from passive sensors (e.g., the light sensors <NUM> described above with reference to <FIG>) to remove interference or noise deriving from a powered component of a header.

As shown in <FIG>, the system <NUM> includes an active electromagnetic-based sensor <NUM> supported on a header (indicated schematically in <FIG> by box <NUM>) relative to a powered component <NUM> of the header <NUM>. As shown in the illustrated embodiment, the powered component is configured as a reel <NUM> including a plurality of tine bars <NUM> spaced apart circumferentially around the outer perimeter of the reel <NUM>, with each tine bar <NUM> being supported relative to a central hub or tube <NUM> of the reel <NUM> via a respective support member <NUM> (e.g., a spider or spoke). Each tine bar <NUM> may generally include a support bar or tube and a plurality of tines extending outwardly from the support bar or tube. As is generally understood, the reel <NUM> may be powered via a motor (or other suitable rotational drive source) such that the reel <NUM> is rotationally driven relative to sensor <NUM>.

It should be appreciated that, as an alternative to installing the sensor <NUM> on the header <NUM>, the sensor <NUM> may, instead, be installed at any other suitable location relative to the header <NUM>. For instance, in one embodiment, the sensor <NUM> may be installed on the agricultural vehicle <NUM> (e.g., on the cab roof) such that the sensor <NUM> has a field of view directed at least partially through the rotating reel <NUM>.

In the illustrated embodiment, based on the positioning of the sensor <NUM> relative to the reel <NUM>, the sensor <NUM> is configured to transmit electromagnetic waves (e.g., radio waves or visible light waves) through a portion of the reel <NUM> for reflection off a surface (e.g., the ground surface <NUM>) and subsequently receive or detect such waves as reflected off such surface (e.g., as indicated by outgoing arrows <NUM> and incoming arrows <NUM>). However, as the reel <NUM> is rotated relative to the sensor <NUM> (e.g., in the rotational direction indicated by arrow <NUM>), the various tine bars <NUM> will pass through the field of view of the sensor <NUM> at a given frequency (i.e., the tine bar pass frequency) generally proportional to the rotational speed of the reel <NUM>. As indicated above, such passage of the tine bars <NUM> through the sensor's field of view will generally create noise or interference within the sensor signals generated by the sensor <NUM>, which can result in inaccuracies in the associated parameter being monitored via the controller <NUM> based on the sensor signals. For instance, when the sensor <NUM> corresponds to a height sensor configured to detect the location of the ground surface <NUM> to allow the controller <NUM> to monitor the height of the header <NUM> relative to the ground, the electromagnetic waves transmitted from the sensor <NUM> will periodically reflect off of the tine bars <NUM> as opposed to being transmitted through the reel <NUM> to the ground, thereby resulting in height signals or data being generated by the sensor <NUM> that do not accurately reflect the header height.

As indicated above, to address this issue, the controller <NUM> may be configured to filter the signals received from the sensor <NUM> to remove any noise or interference deriving from the reel <NUM> as it passes through the field of view of the sensor <NUM>. For example, as shown in <FIG>, the controller <NUM> may be configured to receive the raw or unfiltered signals from the sensor <NUM> (e.g., at box <NUM>) and perform signal processing by applying a filter <NUM> to the signals to generate a set of processed or filtered sensor signals (e.g., at a box <NUM>) that can then be used by the controller <NUM> for subsequent processing and/or analysis. As indicated above, the controller <NUM> may be configured to apply various different filters or filtering methods to filter the noise/interference from the sensor signals, such as a frequency-based filtering method, an amplitude-based filtering method, and/or a distance-based filtering method. For instance, in one embodiment, a frequency-based filter, such as a bandstop filter, may be applied to filter out the tine bar pass frequency from the sensor signals. In such an embodiment, the tine bar pass frequency may be determined in real-time by the controller <NUM> (e.g., based on speed data received from the speed sensor <NUM> (<FIG>) associated with the reel <NUM>) or the tine bar pass frequency may be included within a predetermined frequency range stored within the controller's memory <NUM>.

As described above, when applying an amplitude-based filtering method, reflectors may be installed on or provided in association with the reel <NUM> to amplify the signal received by the sensor <NUM> when the electromagnetic waves reflect off the reel <NUM> as opposed to the ground, thereby allowing such amplified signals to be easily identified and filtered out based on the application of an associated amplitude threshold. For example, as shown in <FIG>, one or more reflectors <NUM> are installed on each tine bar <NUM> to provide highly reflective surfaces for reflecting the electromagnetic waves back to the sensor <NUM>. Thus, as the tine bars pass <NUM> through the field of view of the sensor <NUM>, the electromagnetic waves will reflect off the reflectors <NUM> and be detected by the sensor <NUM> as a higher amplitude return than what would otherwise be reflected off the tine bars <NUM>, thereby providing an easy and effective means for filtering out the interference from the sensor signals. As an alternative to installing reflectors on the reel <NUM> as separate components, the reflectors or reflective properties may, instead, be incorporated or integrated into one or more components of the reel <NUM>. For instance, the tine bars <NUM> may be designed or configured such that the components of the bars <NUM> (the support tubes and/or the tines), themselves, reflect the electromagnetic waves back to the sensor <NUM> as higher amplitude returns.

It should be appreciated that the specific type and/or configuration of the reflectors <NUM> used may generally vary depending on the type or frequency of electromagnetic waves being generated by the sensor <NUM>. For instance, for a radar sensor, the reflectors <NUM> may be formed from a suitable material and/or may have any suitable shape (e.g., the inside corner of a cube) that provides for increased reflectivity of radio waves. Similarly, for a laser or light-based sensor, the reflectors may be formed from a suitable material and/or may have any suitable shape that provides for increased reflectivity of visible light waves.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for filtering signal interference deriving from powered components of a header of an agricultural vehicle is illustrated in accordance with aspects of the present invention. For purposes of discussion, the method <NUM> will generally be described herein with reference to the header and related systems and components described above with reference to <FIG>. However, it should be appreciated that the disclosed method <NUM> may generally be used with headers having any other suitable header configuration and/or with systems/components having any other suitable system/component configuration. Additionally, although <FIG> depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure.

As shown in <FIG>, at (<NUM>), the method <NUM> includes moving a powered component of a header relative to a sensor configured to detect electromagnetic waves. For instance, as indicated above, a reel <NUM> of the header <NUM> may be configured to be rotated relative to one or more sensors, such as any of the sensors <NUM>, <NUM>, <NUM> described above.

Additionally, at (<NUM>), the method <NUM> includes receiving sensors signals from the sensor associated with the detection of the electromagnetic waves indicative of a parameter associated with the header. For instance, as described above, one or more sensors may be configured to detect electromagnetic waves associated with a parameter of the header <NUM>, such as the ambient light level surrounding the header <NUM> and the height of the header <NUM> relative to the ground. In such an embodiment, the sensor(s) may correspond to a passive sensor(s) configured to detect electromagnetic waves deriving from a separate source (e.g., the light sensors <NUM>) or the sensor(s) may correspond to an active sensor(s) configured to detect the electromagnetic waves transmitted from the sensor(s) as reflected off a given surface (e.g., the height sensors <NUM> or sensor <NUM>). Regardless of the sensor type, the sensors may generally be configured to transmit sensor signals associated with the detection of electromagnetic waves to a suitable electronic control unit, such as controller <NUM>.

Moreover, at (<NUM>), the method <NUM> includes filtering interference from the sensor signals deriving from movement of the powered component relative to the sensor. Specifically, as indicated above, the controller <NUM> may, for example, be configured to filter interference from the sensor signals that derives from the rotating reel <NUM> of the header <NUM>. In such an embodiment, the controller <NUM> may be configured to apply any suitable filtering method to filter the interference from the sensor signals, such as frequency-based filtering method, an amplitude-based filtering method, and/or distance-based filtering method.

Claim 1:
A system (<NUM>) for filtering signal interference from sensor signals associated with headers (<NUM>) configured for use with agricultural vehicles (<NUM>), the system (<NUM>) including a header (<NUM>) comprising a frame (<NUM>) and a powered component (<NUM>) supported relative to the frame (<NUM>), the powered component (<NUM>) comprising a reel (<NUM>) of the header (<NUM>), the system (<NUM>) also including a sensor (<NUM>) configured to detect electromagnetic waves indicative of a parameter associated with the header (<NUM>), and
an electronic control unit (<NUM>) operably connected to the sensor (<NUM>) such that the electronic control unit (<NUM>) is configured to receive signals from the sensor (<NUM>) associated with the detection of the electromagnetic waves, the electronic control unit (<NUM>) being further configured to filter interference from the signals deriving from motion of the powered component (<NUM>) relative to the sensor (<NUM>),
the system (<NUM>) being characterized in that it further comprises a speed sensor (<NUM>) configured to measure a rotational speed of the reel (<NUM>), the electronic control unit (<NUM>) being operably connected to the speed sensor (<NUM>) such that the electronic control unit (<NUM>) is configured to receive data from the speed sensor (<NUM>) associated with the rotational speed of the reel (<NUM>), the electronic control unit (<NUM>) being configured to filter the interference from the signals based at least in part on the measured rotational speed of the reel (<NUM>).