Patent Description:
A harvester may be used to harvest agricultural crops, such as barley, beans, beets, carrots, corn, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plant crops. Furthermore, a combine (e.g., combine harvester) is a type of harvester generally used to harvest certain crops that include grain (e.g., barley, corn, flax, oats, rye, wheat, etc.). During operation of a combine, the harvesting process may begin by removing agricultural crops from a field, such as by using a header. The header may cut the agricultural crops and transport the cut crops to a processing system of the combine.

Certain headers include a cutter bar assembly configured to cut a portion of each crop (e.g., a stalk), thereby separating the cut crop from the soil. The cutter bar assembly may extend along a substantial portion of the width of the header at a forward end of the header. The header may also include one or more belts positioned behind the cutter bar assembly relative to the direction of travel of the harvester. The belt(s) are configured to transport the cut crops to an inlet of the processing system. Certain headers include a reel assembly configured to direct the crops cut by the cutter bar assembly toward the belt(s), thereby substantially reducing the possibility of the cut crops falling onto the surface of the field.

Certain reel assemblies include a reel having a rotating structure, multiple bat tubes rotatably coupled to the rotating structure, and multiple tines coupled to each bat tube. The rotating structure is driven to rotate such that the bat tubes move in a circular pattern, and a tine rotation mechanism is configured to drive the bat tubes to rotate relative to the rotating structure. The tines are configured to engage the cut crops and to urge the cut crops to move toward the belt(s). The reel is typically supported by multiple arms extending from a frame of the header. In certain configurations, the reel may be rotatably coupled to sliders, and the sliders may be moved along respective arms to control the fore-aft position of the reel. During operation of the agricultural harvester, an operator may control the rotational speed of the reel, the height of the reel (e.g., by controlling the orientation of the arms), and the fore-aft position of the reel (e.g., by controlling the position of the sliders along the arms), among other agricultural harvester parameters. Unfortunately, the operator may not receive sufficient feedback regarding operation of the reel to effectively control the agricultural harvester parameters, thereby reducing the efficiency of the harvesting operation.

<CIT> discusses, according to its abstract, a computer-controlled method for adjusting a height of a header reel, the method comprising: measuring a rotational speed of the reel; measuring a force opposing rotation of the reel; determining a target load for the reel based on the measured rotational speed and the measured force and a first input; and causing movement of the reel according to the target load based on a change in load on the reel.

According to an invention to which the present application relates, a monitoring system for a reel assembly of an agricultural harvester includes a load sensor configured to couple to a non-rotating element of a tine rotation mechanism of the reel assembly. The tine rotation mechanism is configured to drive tines of the reel assembly to rotate relative to a rotating structure of the reel assembly, and the load sensor is configured to output a sensor signal indicative of a mechanism load applied by the tines to the non-rotating element of the tine rotation mechanism. The monitoring system also includes a controller communicatively coupled to the load sensor. The controller includes a memory and a processor, and the controller is configured to receive the sensor signal from the load sensor and to determine a crop load of crops acting on the tines based on the mechanism load.

<FIG> is a side view of an embodiment of an agricultural harvester <NUM> having a header <NUM> (e.g., agricultural header). The agricultural harvester <NUM> includes a chassis <NUM> configured to support the header <NUM> and an agricultural crop processing system <NUM>. As described in greater detail below, the header <NUM> is configured to cut crops and to transport the cut crops toward an inlet <NUM> of the agricultural crop processing system <NUM> for further processing of the cut crops. The agricultural crop processing system <NUM> receives cut crops from the header <NUM> and separates desired crop material from crop residue. For example, the agricultural crop processing system <NUM> may include a thresher <NUM> having a cylindrical threshing rotor that transports the crops in a helical flow path through the harvester <NUM>. In addition to transporting the crops, the thresher <NUM> may separate certain desired crop material (e.g., grain) from the crop residue, such as husks and pods, and enable the desired crop material to flow into a cleaning system located beneath the thresher <NUM>. The cleaning system may remove debris from the desired crop material and transport the desired crop material to a storage compartment within the harvester <NUM>. The crop residue may be transported from the thresher <NUM> to a crop residue handling system <NUM>, which may remove the crop residue from the harvester <NUM> via a crop residue spreading system <NUM> positioned at the aft end of the harvester <NUM>.

As discussed in detail below, the header <NUM> includes a cutter bar assembly configured to cut the crops within the field. The header <NUM> also includes a reel assembly configured to urge crops cut by the cutter bar assembly to belts that convey the cut crops toward the inlet <NUM> of the agricultural crop processing system <NUM>. As discussed in detail below, the reel assembly includes a reel having a rotating structure configured to be driven in rotation. The reel also includes multiple bat tubes rotatably coupled to the rotating structure. Furthermore, the reel includes multiple tines coupled to each bat tube. A tine rotation mechanism (e.g., a cam and follower assembly or a parallel state assembly) is configured to drive the bat tubes to rotate in response to rotation of the rotating structure. Accordingly, the tines rotate in a first pattern (e.g., circular pattern) about the rotational axis of the rotating structure and in second patterns (e.g., circular patterns or oscillating patterns) about the rotational axes of respective bat tubes. The tines are configured to engage the cut crops and to urge the cut crops to move toward the belts.

As discussed in detail below, the reel assembly of the header <NUM> includes a monitoring system configured to determine a load of the cut crops acting on the tines. The monitoring system includes a load sensor (e.g., load cell, strain gauge, etc.) coupled to a non-rotating element of the tine rotation mechanism (e.g., a section of a cam track of the cam and follower assembly or an alignment member of the parallel state assembly). The load sensor is configured to output a sensor signal indicative of a mechanism load applied by the tines to the non-rotating element of the tine rotation mechanism. The monitoring system also includes a controller communicatively coupled to the load sensor. The controller includes a memory and a processor, and the controller is configured to receive the sensor signal from the load sensor. The controller is also configured to determine a crop load of the cut crops acting on the tines based on the mechanism load. In certain embodiments, the controller may output an output signal indicative of the crop load to a user interface, and the user interface may present an indication of the crop load to the operator. The operator may then control operation of the agricultural harvester based on the crop load, thereby increasing the efficiency of the harvesting process. Additionally or alternatively, the controller may automatically control at least one parameter of the agricultural harvester based on the crop load. As used herein with regard to the non-rotating element, "non-rotating" refers to an element that does not rotate with the rotating structure of the reel. For example, the non-rotating element does not include a bat tube or a tine because the bat tubes and the tines rotate with the rotating structure.

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

In the illustrated embodiment, the header <NUM> includes a first lateral belt <NUM> on a first lateral side of the header <NUM> and a second lateral belt <NUM> on a second lateral side of the header <NUM>, opposite the first lateral side. Each belt is driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The first lateral belt <NUM> and the second lateral belt <NUM> are driven such that the top surface of each belt moves laterally inward. In addition, the header <NUM> includes a longitudinal belt <NUM> positioned between the first lateral belt <NUM> and the second lateral belt <NUM> along the lateral axis <NUM>. The longitudinal belt <NUM> is driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The longitudinal belt <NUM> is driven such that the top surface of the longitudinal belt <NUM> moves rearwardly along the longitudinal axis <NUM>.

In the illustrated embodiment, the crops cut by the cutter bar assembly <NUM> are directed toward the belts by a reel assembly <NUM> (e.g., agricultural harvester reel assembly), thereby substantially reducing the possibility of the cut crops falling onto the surface of the field. The reel assembly <NUM> includes a reel <NUM> having multiple tines <NUM>. The reel assembly <NUM> also includes a rotating structure <NUM> that is driven to rotate (e.g., by one or more electric motors, by one or more hydraulic motors, etc.). Furthermore, the reel <NUM> includes multiple bat tubes <NUM> rotatably coupled to the rotating structure <NUM>, and a respective set of tines <NUM> is coupled to each bat tube <NUM>. The reel assembly <NUM> includes tine rotation mechanism(s) <NUM> (e.g., cam and follower assembly/assemblies or parallel state assembly/assemblies). For example, the reel assembly <NUM> may include a tine rotation mechanism <NUM> for each section of the reel. Each tine rotation mechanism <NUM> is configured to drive the bat tubes <NUM> to rotate relative to the rotating structure <NUM> (e.g., in response to rotation of the rotating structure <NUM>). Accordingly, the tines <NUM> rotate in a first pattern (e.g., circular pattern) about the rotational axis of the rotating structure <NUM> and in second patterns (e.g., circular patterns or oscillating patterns) about the rotational axes of respective bat tubes <NUM>. The tines are configured to engage the cut crops and to urge the cut crops to move toward the belts. The cut crops that contact the top surface of the lateral belts are driven laterally inwardly to the longitudinal belt due to the movement of the lateral belts. In addition, the cut crops that contact the longitudinal belt <NUM> and the cut crops provided to the longitudinal belt by the lateral belts are driven rearwardly along the longitudinal axis <NUM> due to the movement of the longitudinal belt <NUM>. Accordingly, the belts move the cut agricultural crops through an opening <NUM> in the header <NUM> to the inlet of the agricultural crop processing system.

In the illustrated embodiment, the cutter bar assembly <NUM> is flexible along the width of the header <NUM> (e.g., the extent of the header <NUM> along the lateral axis <NUM>). The cutter bar assembly <NUM> is supported by multiple arm assemblies distributed along the width of the header <NUM> (e.g., along the lateral axis <NUM> of the header <NUM>). Each arm assembly is mounted to a frame <NUM> of the header <NUM> and includes an arm configured to rotate about the lateral axis <NUM> and/or move along the vertical axis <NUM> relative to the frame. Each rotatable/movable arm is coupled to the cutter bar assembly <NUM>, thereby enabling the cutter bar assembly <NUM> to flex during operation of the harvester. The flexible cutter bar assembly may follow the contours of the field, thereby enabling the cutting height (e.g., the height at which each crop is cut) to be substantially constant along the width of the header <NUM> (e.g., the extent of the header <NUM> along the lateral axis <NUM>).

In the illustrated embodiment, the frame <NUM> is divided into multiple sections that are pivotally coupled to one another, thereby increasing the flexibility of the cutter bar assembly <NUM>. As illustrated, the frame <NUM> includes a center section <NUM>, a first wing section <NUM> positioned on a first lateral side of the center section <NUM> (e.g., along the lateral axis <NUM>), and a second wing section <NUM> positioned on a second lateral side of the center section <NUM>, opposite the first lateral side (e.g., along the lateral axis <NUM>). The first wing section <NUM> and the second wing section <NUM> are each pivotally coupled to the center section <NUM> by a respective pivot joint. As a result, a flexible frame <NUM> is formed, thereby increasing the flexibility of the cutter bar assembly <NUM>.

In the illustrated embodiment, the reel <NUM> includes multiple sections coupled to one another by pivot joints to enable the reel <NUM> to flex with the header frame. Each section of the reel <NUM> includes a respective section of the rotating structure <NUM>, respective bat tubes <NUM> coupled to the respective section of the rotating structure <NUM>, and respective tines <NUM> coupled to the respective bat tubes <NUM>. In addition, each section of the reel <NUM> is associated with a respective tine rotation mechanism <NUM> configured to drive the respective bat tubes <NUM> to rotate relative to the respective section of the rotating structure <NUM> (e.g., in response to rotation of the respective section of the rotating structure <NUM>). As illustrated, the reel <NUM> includes a center section <NUM> (e.g., positioned forward of the center section <NUM> of the header frame <NUM> along the longitudinal axis <NUM>), a first wing section <NUM> (e.g., positioned forward of the first wing section <NUM> of the header frame <NUM> along the longitudinal axis <NUM>), and a second wing section <NUM> (e.g., positioned forward of the second wing section <NUM> of the header frame <NUM> along the longitudinal axis <NUM>). The section of the rotating structure <NUM> of the first wing section <NUM> is pivotally coupled to the section of the rotating structure <NUM> of the center section <NUM> by a first pivot joint <NUM>, and the section of the rotating structure <NUM> of the second wing section <NUM> is pivotally coupled to the section of the rotating structure <NUM> of the center section <NUM> by a second pivot joint <NUM>. As a result, a flexible reel <NUM> is formed, thereby enabling the reel <NUM> to flex with the header frame <NUM>.

In the illustrated embodiment, the first wing section <NUM> of the reel <NUM> is supported by a first arm <NUM> coupled to the first wing section <NUM> of the frame <NUM>, the center section <NUM> of the reel <NUM> is supported by a second arm <NUM> and a third arm <NUM> each coupled to the center section <NUM> of the frame <NUM>, and the second wing section <NUM> of the reel <NUM> is supported by a fourth arm <NUM> coupled to the second wing section <NUM> of the frame <NUM>. In certain embodiments, an actuator is coupled to each arm and configured to drive the arm to rotate about the respective local lateral axis, thereby controlling a position of the reel <NUM> relative to the frame <NUM> along the vertical axis <NUM> (e.g., to control engagement of the tines with the cut agricultural crops).

While the header frame <NUM> and the reel <NUM> have three sections in the illustrated embodiment, in other embodiments, the header frame and the reel may have more or fewer sections. For example, the header frame and the reel may have <NUM>, <NUM>, <NUM>, <NUM>, or more sections, in which the header frame sections are pivotally coupled to one another, and the reel sections are pivotally coupled to one another. Furthermore, in certain embodiments, the header may have a single section, and the reel may have a single section. In such embodiments, the reel may be supported by two arms positioned on opposite lateral sides of the header frame. Additionally or alternatively, the cutter bar may be substantially rigid along the width of the header.

<FIG> is a perspective view of an embodiment of a tine rotation mechanism <NUM> that may be employed within the header of <FIG>. As previously discussed, the rotating structure <NUM> is driven to rotate (e.g., by one or more electric motors, by one or more hydraulic motors, etc.). Accordingly, the rotating structure <NUM> rotates in a first rotational direction <NUM> about a rotational axis <NUM> of the rotating structure <NUM> as the agricultural harvester moves along a forward direction of travel <NUM> through an agricultural field. As such, the tines <NUM>, which are coupled to the rotating structure <NUM>, are driven to rotate in a circular pattern (e.g., first pattern) about the rotational axis <NUM> of the rotating structure <NUM>. In the illustrated embodiment, the rotating structure <NUM> includes a main shaft <NUM>, and the rotating structure <NUM> includes multiple arms <NUM> coupled to the main shaft <NUM> and extending radially outward from the main shaft <NUM>. A bat tube <NUM> is rotatably coupled to each arm <NUM>, and tines <NUM> are coupled to each bat tube <NUM>. Accordingly, as the rotating structure <NUM> is driven to rotate, the bat tubes <NUM> are driven to move in the first rotational direction <NUM>, thereby driving the tines <NUM> to rotate in the circular pattern (e.g., first pattern).

The tine rotation mechanism <NUM> is configured to drive the bat tubes <NUM> to rotate relative to the rotating structure <NUM> in response to rotation of the rotating structure <NUM>. In the illustrated embodiment, the tine rotation mechanism <NUM> includes a cam and follower assembly <NUM>. The cam and follower assembly <NUM> includes a cam track <NUM> and rollers <NUM> configured to engage the cam track <NUM>. The cam and follower assembly <NUM> also includes supports <NUM>, and a pair of rollers <NUM> is rotatably coupled to each support <NUM>. Accordingly, each support <NUM> is movably coupled to the cam track <NUM> and configured to move along the cam track <NUM>. In addition, the cam and follower assembly <NUM> includes links <NUM>, and each link <NUM> is non-rotatably coupled to a respective bat tube <NUM>. As previously discussed, each bat tube <NUM> is rotatably coupled to a respective arm <NUM> of the rotating structure <NUM>. Accordingly, each link <NUM> is rotatably coupled to the rotating structure <NUM> via the respective bat tube <NUM>. Each link <NUM> is also rotatably coupled to a respective support <NUM>. Furthermore, the cam track <NUM> is non-rotatably coupled to a support member <NUM> of the reel assembly <NUM>. Accordingly, the cam track <NUM> does not rotate with the rotating structure <NUM>.

As the rotating structure <NUM> is driven to rotate in the first rotational direction <NUM>, the bat tubes <NUM> rotate about the rotational axis <NUM> of the rotating structure <NUM>, thereby driving the links <NUM> to rotate about the rotational axis <NUM> of the rotating structure <NUM>. In addition, due to the rotatable coupling between each link <NUM> and the respective support <NUM>, rotation of the links <NUM> about the rotational axis <NUM> drives the supports <NUM> to move along the cam track <NUM> generally in the first rotational direction <NUM>. Due to the shape and location of the cam track <NUM>, the supports <NUM> move along a different path than the bat tubes <NUM> as the rotating structure <NUM> rotates. Accordingly, movement of each support <NUM> along the cam track <NUM> drives the respective link <NUM> to rotate about a rotational axis <NUM> of a respective bat tube <NUM>, thereby driving the respective bat tube <NUM> to rotate about the rotational axis <NUM> of the respective bat tube <NUM>. As a result, the tines <NUM> rotate in oscillating patterns (e.g., second patterns) about respective bat tube rotational axes <NUM>. In the illustrated embodiment, in response to rotation of the rotating structure <NUM> in the first rotational direction <NUM> about the rotating structure rotational axis <NUM>, the cam and follower assembly <NUM> drives the tines <NUM> to rotate in a second rotational direction <NUM> about the respective bat tube rotational axes <NUM> at least while the tines <NUM> are positioned to engage the cut crops. Accordingly, the tines <NUM> positioned to engage the cut crops urge the cut crops toward the belts.

As the tines <NUM> positioned at a lower portion of the reel engage the cut crops, the cut crops provide a resistance to rotation of the tines <NUM> in the second rotational direction <NUM>. For example, the cut crops apply a force <NUM> to the tines <NUM> along a direction of movement of the tines <NUM>, thereby urging the tines <NUM> to rotate in a third rotational direction <NUM> about the respective bat tube rotational axis <NUM>. Due to the coupling of the tines <NUM> to the respective bat tube <NUM> and the non-rotatable coupling of the respective bat tube <NUM> to the respective link <NUM>, the respective link <NUM> is urged to rotate in the third rotational direction <NUM>. In addition, due to the rotatable coupling between the respective link <NUM> and the respective support <NUM> and the rotatable coupling between a respective inner roller <NUM> of the rollers <NUM> and the respective support <NUM>, the respective inner roller <NUM> is urged toward the cam track <NUM>, thereby establishing a contact force between the respective inner roller <NUM> and the cam track that blocks downward movement of the respective support <NUM> and blocks rotation of the respective link <NUM>, the respective bat tube <NUM>, and the respective tines <NUM> in the third rotational direction <NUM>. Accordingly, the contact force between the respective inner roller <NUM> and the cam track <NUM> is based on the force <NUM> applied by the cut crops to the respective tines <NUM>.

In the illustrated embodiment, the reel assembly <NUM> includes a monitoring system <NUM> configured to determine a crop load of the crops acting on the tines <NUM>. The monitoring system <NUM> includes a load sensor <NUM> coupled to a section <NUM> of the cam track <NUM> (e.g., non-rotating element) of the cam and follower assembly <NUM> (e.g., tine rotation mechanism <NUM>). The load sensor <NUM> is configured to output a sensor signal indicative of a mechanism load applied by the tines <NUM> to the section <NUM> of the cam track <NUM> of the cam and follower assembly <NUM>. In the illustrated embodiment, the mechanism load corresponds to the contact force between the inner roller <NUM> and the section <NUM> of the cam track <NUM> (e.g., because the force <NUM> applied by the cut crops to the tines <NUM> causes the tines <NUM> to apply the mechanism load to the section <NUM> of the cam track <NUM> via the bat tube <NUM>, the link <NUM>, the support <NUM>, and the inner roller <NUM>). As discussed in detail below, the monitoring system <NUM> also includes a controller communicatively coupled to the load sensor <NUM>, in which the controller includes a memory and a processor. The controller is configured to receive the sensor signal from the load sensor <NUM>, and the controller is configured to determine a crop load of crops (e.g., cut crops) acting on the tines <NUM> (e.g., the force <NUM> applied by the cut crops to the tines <NUM>) based on the mechanism load. For example, the controller may determine the crop load based on the mechanism load and the geometry of the cam and follower assembly, the position of the respective tines, the orientation of the respective tines, the position of the respective bat tube, the position of the respective link, the orientation of the respective link, the position of the respective support, other suitable parameter(s), or a combination thereof.

In the illustrated embodiment, the monitoring system <NUM> includes a second load sensor <NUM> coupled to a second section <NUM> of the cam track <NUM> of the cam and follower assembly <NUM> (e.g., tine rotation mechanism <NUM>). The second load sensor <NUM> is configured to output a second sensor signal indicative of a second mechanism load applied by the tines <NUM> to the second section <NUM> of the cam track <NUM> of the cam and follower assembly <NUM>. In the illustrated embodiment, the second mechanism load corresponds to the contact force between the inner roller <NUM> and the second section <NUM> of the cam track <NUM> (e.g., because the force <NUM> applied by the cut crops to the tines <NUM> causes the tines <NUM> to apply the mechanism load to the second section <NUM> of the cam track <NUM> via the bat tube <NUM>, the link <NUM>, the support <NUM>, and the inner roller <NUM>). Furthermore, the controller is configured to receive the second sensor signal, and the controller is configured to determine a second crop load of crops (e.g., cut crops) acting on the tines <NUM> (e.g., the force <NUM> applied by the cut crops to the tines <NUM>) based on the second mechanism load. In certain embodiments, the controller is configured to determine a maximum crop load based on the first determined crop load and the second determined crop load (e.g., the maximum of the first and second crop loads). While the monitoring system <NUM> includes two load sensors in the illustrated embodiment, in other embodiments, the monitoring system may include more or fewer load sensors (e.g., <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or more), in which each load sensor is coupled to a respective section of the cam track. In embodiments having multiple load sensors, the controller may determine the maximum crop load based on the crop loads determined based on feedback from the load sensors (e.g., the maximum of the determined crop loads).

In certain embodiments, at least one load sensor includes a load cell configured to engage the inner roller <NUM> of the cam and follower assembly <NUM>. Accordingly, as the inner roller <NUM> moves along the cam track <NUM>, the inner roller <NUM> applies the contact force to the respective section of the cam track <NUM> via the load cell, thereby compressing the load cell between the inner roller <NUM> and the respective section of the cam track <NUM>. As a result, the load cell outputs the respective sensor signal indicative of the respective mechanism load. While load cell(s) configured to engage the inner roller <NUM> (e.g., positioned on the inner surface of the cam track <NUM>) are disclosed above, in certain embodiments, one or more load cells may be configured to engage the outer roller (e.g., alone or in combination with the load cell(s) configured to engage the inner roller). The load cell(s) configured to engage the outer roller may be positioned on the outer surface of the cam track <NUM>. In certain embodiments including a first load cell configured to engage the inner roller and a second load cell configured to engage the outer roller, the controller may be configured to receive sensor signals from the first and second load cells, and the controller may be configured to determine the crop load of crops acting on the respective tines based on the difference between the load monitored by the first load cell and the load monitored by the second load cell (e.g., to offset the load that is not applied by the respective tines).

The circumferential extent of each load cell may be selected such that only one roller is in contact with the load cell during rotation of the rotating structure, thereby enabling the load cell to monitor the mechanism load for the tines coupled to a single respective bat tube. Furthermore, due to the circumferential extent of each load cell, the load cell may output multiple sensor signals indicative of multiple respective mechanism loads as the roller moves along the load cell. Accordingly, the controller may determine multiple crop loads based on the respective mechanism loads, or the controller may determine a single crop load for the respective tines (e.g., based on an average of the mechanism loads, based on a maximum of the mechanism loads, based on one mechanism load, etc.).

In certain embodiments, at least one load sensor may include a strain gauge coupled to a respective section of the cam track. The strain gauge is configured to monitor deformation of the respective section of the cam track in response to contact with the roller (e.g., inner roller or outer roller). As a result, the strain gauge may output the respective sensor signal indicative of the respective mechanism load. In certain embodiments, each section of the cam track coupled to a respective strain gauge may be independently coupled to the support member (e.g., as compared to an adjacent section of the cam track) to enhance the accuracy of the deformation monitoring. Furthermore, the circumferential extent of each cam track section may be selected such that only one roller is in contact with the cam track section during rotation of the rotating structure, thereby enabling the strain gauge to monitor the mechanism load for the tines coupled to a single respective bat tube. In addition, due to the circumferential extent of each cam track section, the strain gauge may output multiple sensor signals indicative of multiple respective mechanism loads as the roller moves along the cam track section. Accordingly, the controller may determine multiple crop loads based on the respective mechanism loads, or the controller may determine a single crop load for the respective tines (e.g., based on an average of the mechanism loads, based on a maximum of the mechanism loads, based on one mechanism load, etc.). While load cell(s) coupled to surface(s) of the cam track and strain gauge(s) coupled to cam track section(s) are disclosed above, at least one load sensor may include any other sensor suitable for monitoring the respective mechanism load (e.g., a load cell coupled to an independently mounted cam track section and to the support member, etc.).

In certain embodiments, the controller may be configured to determine the crop loads over one rotation of the rotating structure. For example, as each roller (e.g., inner roller or outer roller) engages each load cell/cam track section coupled to a strain gauge, the controller may determine a respective crop load of crops acting on the respective tines based on the respective mechanism load. The controller may determine the crop loads over one rotation of the rotating structure, thereby establishing a list of crop loads, in which each crop load of the list corresponds to the crop load of crops acting on the tines coupled to a respective bat tube. In certain embodiments, the controller is configured to determine the maximum crop load within the list of crop loads. Additionally or alternatively, the controller may determine the maximum crop load over a selected time period.

While the monitoring system <NUM> includes load sensors coupled to the cam track <NUM> of one cam and follower assembly <NUM>/tine rotation mechanism <NUM> in the illustrated embodiment, in certain embodiments, the monitoring system may include load sensor(s) coupled to one or more other cam and follower assemblies/tine rotation mechanisms of the reel assembly. For example, as previously discussed, the reel assembly may include a tine rotation mechanism for each section of the reel. Accordingly, in certain embodiments, the monitoring system may include at least one load sensor coupled to the cam track of each cam and follower assembly/tine rotation mechanism. The controller may determine the crop load(s)/maximum crop load for each section of the reel. Furthermore, in certain embodiments, the controller may be configured to determine the maximum crop load for the reel based on the determined crop load(s)/maximum crop load for each section of the reel. Because the load sensor(s) are coupled to the cam track(s) (e.g., non-rotating element(s)) of the cam and follower assembly/assemblies (e.g., tine rotation mechanism(s)), the crop load(s) may be determined without mounting a sensor to a rotating element of the reel assembly (e.g., element that rotates with the rotating structure), thereby reducing the complexity of the monitoring system (e.g., by obviating slip ring(s), etc.), which may reduce costs and/or increase reliability.

In certain embodiments, the monitoring system <NUM> includes a user interface communicatively coupled to the controller. In such embodiments, the controller is configured to output one or more output signals indicative of the crop load(s) and/or the maximum crop load, in embodiments in which a maximum crop load is determined, to the user interface. The user interface may present an indication of the crop load(s)/maximum crop load (e.g., a visual indication on a display of the user interface, etc.) in response to receiving the output signal(s). The operator, in turn, may view the indication(s) and control one or more parameters of the agricultural harvester based on the crop load(s)/maximum crop load. Furthermore, in certain embodiments, the controller may automatically control one or more parameters of the agricultural harvester based on the crop load(s)/maximum crop load.

In certain embodiments, the parameters of the agricultural harvester controlled by the operator and/or the controller may include a rotational speed of the reel, a height of the reel, a fore/aft position of the reel, other suitable parameter(s), or a combination thereof. The rotating structure <NUM> of the reel assembly <NUM> is driven to rotate by one or more electric motors, one or more hydraulic motors, one or more other suitable drive units, or a combination thereof. In certain embodiments, the controller is communicatively coupled to the motor(s)/drive unit(s) and configured to control the motor(s)/drive unit(s) based on the crop load(s)/maximum crop load to control the rotational speed of the reel. Furthermore, as previously discussed, a reel height actuator <NUM> (e.g., hydraulic actuator, pneumatic actuator, electromechanical actuator, etc.) may be coupled to each arm that supports the reel (e.g., the first arm <NUM>, as illustrated). The reel height actuator(s) <NUM> may be configured to drive the arm(s) to rotate about respective local lateral axis/axes, thereby controlling the position of the reel relative to the header frame along the vertical axis <NUM>. In certain embodiments, the controller is communicatively coupled to the reel height actuator(s) <NUM> and configured to control the reel height actuator(s) <NUM> based on the crop load(s)/maximum crop load to control the position of the reel relative to the header frame along the vertical axis <NUM>. In addition, a reel fore/aft position actuator <NUM> may drive the reel to move forwardly and rearwardly (e.g., generally along the longitudinal axis <NUM>). In the illustrated embodiment, the rotating structure <NUM> of the reel is pivotally coupled to a slider <NUM>, and the slider <NUM> is configured to move along a tube <NUM> of the first arm <NUM>. In addition, the reel fore/aft position actuator <NUM> is coupled to the first arm <NUM> and to the slider <NUM>. Accordingly, the reel fore/aft position actuator <NUM> is configured to drive the slider <NUM> to move along the tube <NUM> to control the fore/aft position of the reel (e.g., the position of the reel generally along the longitudinal axis <NUM>). Additional reel fore/aft position actuator(s) may be configured to drive respective slider(s) along the tube(s) of other respective arm(s) of the reel assembly. In certain embodiments, the controller is communicatively coupled to the reel fore/aft position actuator(s) <NUM> and configured to control the reel fore/aft position actuator(s) <NUM> based on the crop load(s)/maximum crop load to control the fore/aft position of the reel relative to the header frame (e.g., generally along the longitudinal axis <NUM>).

<FIG> is a perspective view of another embodiment of a tine rotation mechanism <NUM>' that may be employed within the header of <FIG>. As previously discussed, the rotating structure <NUM>' is driven to rotate (e.g., by one or more electric motors, by one or more hydraulic motors, etc.). Accordingly, the rotating structure <NUM>' rotates in the first rotational direction <NUM> about the rotational axis <NUM> of the rotating structure <NUM>' as the agricultural harvester moves along the forward direction of travel <NUM> through an agricultural field. As such, the tines <NUM>', which are coupled to the rotating structure <NUM>', are driven to rotate in a first circular pattern about the rotational axis <NUM> of the rotating structure <NUM>'. In the illustrated embodiment, the rotating structure <NUM>' includes a main shaft <NUM>', and the rotating structure <NUM>' includes multiple arms <NUM>' coupled to the main shaft <NUM>' and extending radially outward from the main shaft <NUM>'. A bat tube <NUM>' is rotatably coupled to each arm <NUM>', and tines <NUM>' are coupled to each bat tube <NUM>'. Accordingly, as the rotating structure <NUM>' is driven to rotate, the bat tubes <NUM>' are driven to move in the first rotational direction <NUM>, thereby driving the tines <NUM>' to rotate in the first circular pattern.

The tine rotation mechanism <NUM>' is configured to drive the bat tubes <NUM>' to rotate relative to the rotating structure <NUM>' in response to rotation of the rotating structure <NUM>'. In the illustrated embodiment, the tine rotation mechanism <NUM>' includes a parallel state assembly <NUM>. The parallel state assembly <NUM> includes an adjustment wheel <NUM> configured to drive the bat tubes <NUM>' to rotate relative to the rotating structure <NUM>'. In addition, the arms <NUM>' are part of a main wheel <NUM>, which is part of the rotating structure <NUM>', and the adjustment wheel <NUM> and the main wheel <NUM> have substantially the same size and shape (e.g., the adjustment wheel <NUM> may be the same as the main wheel <NUM>). However, while the main wheel <NUM> is configured to rotate about the rotational axis <NUM> of the rotating structure <NUM>', the adjustment wheel <NUM> is configured to rotate about a second rotational axis <NUM>, which is offset from the rotational axis <NUM> of the rotating structure <NUM>'.

In addition, the parallel state assembly <NUM> includes links <NUM>, in which each link <NUM> is non-rotatably coupled to a respective bat tube <NUM>' and rotatably coupled to the adjustment wheel <NUM>. Because the links <NUM> non-rotatably coupled to the bat tubes <NUM>' and the bat tubes '<NUM> are rotatably coupled to the arms <NUM>' of the main wheel <NUM>, rotation of the rotating structure <NUM>' drives the links <NUM> to rotate in the first circular pattern about the rotational axis <NUM> of the rotating structure <NUM>'. Furthermore, because the links <NUM> are rotatably coupled to the adjustment wheel <NUM>, rotation of the links <NUM> in the first circular pattern about the rotational axis <NUM> of the rotating structure <NUM>' drives the adjustment wheel <NUM> to rotate in the first rotational direction <NUM> about the second rotational axis <NUM> of the adjustment wheel <NUM>. Due to the offset between the rotational axis <NUM> of the rotating structure <NUM>' and the second rotational axis <NUM> of the adjustment wheel <NUM>, rotation of the adjustment wheel <NUM> and the main wheel <NUM> drives the links <NUM> to rotate in the second rotational direction <NUM> relative to the adjustment wheel <NUM>. In addition, due to the non-rotatable coupling between the links <NUM> and the respective bat tubes <NUM>', rotation of the links <NUM> drives the respective bat tubes <NUM>' to rotate in the second rotational direction <NUM>. As a result, the tines <NUM>' rotate in the second circular pattern about the respective bat tube rotational axes <NUM>. Accordingly, the parallel state assembly <NUM> is configured to drive the tines <NUM>' to rotate in the second rotational direction <NUM> about the respective bat tube rotational axes <NUM> in response to rotation of the rotating structure <NUM>' in the first rotational direction <NUM> about the rotating structure rotational axis <NUM>. As the tines <NUM>' rotate in the first and second circular patterns, the tines <NUM>' positioned at the lower portion of the reel engage the cut crops and urge the cut crops toward the belts.

<FIG> is another perspective view of the tine rotation mechanism <NUM>' of <FIG>. In the illustrated embodiment, the parallel state assembly <NUM> includes a handle <NUM> (e.g., alignment member) configured to adjust (e.g., establish) a circumferential position of the second rotational axis <NUM> of the adjustment wheel <NUM> about the rotational axis <NUM> of the main wheel <NUM>/rotating structure <NUM>'. The parallel state assembly <NUM> also includes an engagement assembly <NUM> configured to secure the handle <NUM> in multiple positions (e.g., to couple the engagement assembly to the handle). In the illustrated embodiment, the handle <NUM> is non-rotatably coupled to a center plate <NUM>, and the adjustment wheel <NUM> is configured to rotate about the center plate <NUM>. Accordingly, the center plate <NUM> establishes the second rotational axis <NUM> of the adjustment wheel <NUM>. Multiple bearings <NUM> are coupled to the center plate <NUM>, and an inner surface <NUM> of the adjustment wheel <NUM> is configured to engage the bearings <NUM>, thereby enabling the adjustment wheel <NUM> to rotate about the center plate <NUM>. In addition, an axle <NUM> is coupled to the center plate <NUM>, and the rotating structure <NUM>' is configured to rotate about the axle <NUM>. Accordingly, the axle <NUM> establishes the rotational axis <NUM> of the rotating structure <NUM>'. Furthermore, the engagement assembly <NUM> is coupled to the axle <NUM>.

Because the handle <NUM> is non-rotatably coupled to the center plate <NUM>, rotation of the handle relative to the engagement assembly <NUM> drives the center plate <NUM> to rotate about the rotational axis <NUM> of the rotating structure <NUM>'. As a result, the second rotational axis <NUM> of the adjustment wheel <NUM> is driven to move circumferentially about the rotational axis <NUM> of the rotating structure <NUM>', thereby adjusting the offset between the rotational axis <NUM> of the rotating structure '<NUM> and the rotational axis <NUM> of the adjustment wheel <NUM>. Accordingly, the relationship between the rotation of the rotating structure <NUM>' and the rotation of the bat tubes <NUM>' is varied due to the connection between the bat tubes <NUM>' and the adjustment wheel <NUM> via the links <NUM>.

As the tines <NUM>' positioned at the lower portion of the reel engage the cut crops, the cut crops provide a resistance to rotation of the tines <NUM>' in the second rotational direction <NUM>. For example, with regard to each bat tube <NUM>', the cut crops apply a force <NUM> to the respective tines <NUM>' along a direction of movement of the tines <NUM>', thereby urging the tines <NUM>' to rotate in the third rotational direction <NUM> about the respective bat tube rotational axis <NUM>. Due to the coupling of the tines <NUM>' to the respective bat tube <NUM>' and the non-rotatable coupling of the respective bat tube <NUM>' to the respective link <NUM>, the respective link <NUM> is urged to rotate in the third rotational direction <NUM>. In addition, due to the rotatable coupling between the respective link <NUM> and the adjustment wheel <NUM>, a radial force (e.g., a radially inward force) is applied to the adjustment wheel <NUM>, which is transferred through at least one of the bearings <NUM> to the center plate <NUM>. Because the radial force is directed through the center of the center plate <NUM>, which corresponds to the second rotational axis <NUM> of the adjustment wheel <NUM>, and the second rotational axis <NUM> of the adjustment wheel <NUM> is offset from the rotational axis <NUM>/axle <NUM>, the center plate <NUM> is urged to rotate about the rotational axis <NUM> /axle <NUM>, thereby urging the handle <NUM>, which is non-rotatably coupled to the center plate <NUM>, to rotate relative to the engagement assembly <NUM>. However, rotation of the handle <NUM> relative to the engagement assembly <NUM> is blocked by engagement of the handle <NUM> with the engagement assembly <NUM>. Accordingly, the force <NUM> applied by the cut crops to the respective tines <NUM>' establishes a contact force between the handle <NUM> and the engagement assembly <NUM>. As such, the contact force between the handle <NUM> and the engagement assembly <NUM> is based on the force <NUM> applied by the cut crops to the respective tines <NUM>'. In certain embodiments, the tines <NUM>' coupled to multiple bat tubes <NUM>' may be engaged with the cut crops. In such embodiments, the contact force between the handle <NUM> and the engagement assembly <NUM> may be based on the cumulative force applied by the cut crops to the tines <NUM>' coupled to the multiple bat tubes <NUM>'.

In the illustrated embodiment, the handle <NUM> is configured to engage the engagement assembly <NUM> via one of multiple notches <NUM> of the engagement assembly <NUM>. Engagement of the handle <NUM> with one of the notches <NUM> blocks rotation of the handle <NUM> relative to the engagement assembly <NUM>. In the illustrated embodiment, the handle <NUM> includes a latch <NUM> configured to selectively engage one of the notches <NUM>. Accordingly, while the latch <NUM> is engaged with a respective notch <NUM>, the contact force between the handle <NUM> and the engagement assembly <NUM> is located at the contact area between the latch <NUM> and a side wall that forms the respective notch <NUM>. To rotate the handle <NUM> relative to the engagement assembly <NUM>, the latch <NUM> may be disengaged from the respective notch <NUM>, the handle <NUM> may be rotated to align the latch <NUM> with a selected notch <NUM>, and the latch <NUM> may be engaged with the selected notch <NUM>. While rotation of the handle <NUM> relative to the engagement assembly <NUM> is selectively blocked by the notch <NUM>/latch <NUM> assembly in the illustrated embodiment, in other embodiments, rotation of the handle <NUM> may be blocked by another suitable assembly (e.g., a pin and aperture assembly, a rotating latch assembly, or another suitable assembly). Furthermore, while a cam and follower assembly and a parallel state assembly are disclosed herein, in certain embodiments, the tine rotation mechanism may include any other suitable mechanism configured to drive the tines to rotate relative to the rotating structure.

In the illustrated embodiment, the reel assembly includes a monitoring system <NUM> configured to determine a crop load of the crops acting on the tines <NUM>'. The monitoring system <NUM> includes a load sensor <NUM> coupled to the handle <NUM> (e.g., non-rotating element, alignment member) or the engagement assembly <NUM> (e.g., non-rotating element) of the parallel state assembly <NUM> (e.g., tine rotation mechanism <NUM>'). The load sensor <NUM> is configured to output a sensor signal indicative of a mechanism load applied by the tines <NUM>' to the handle <NUM> (e.g., alignment member) or to the engagement assembly <NUM> of the parallel state assembly <NUM>. In the illustrated embodiment, the mechanism load corresponds to the contact force between the handle <NUM> and the engagement assembly <NUM> (e.g., because the force <NUM> applied by the cut crops to the tines <NUM>' causes the tines <NUM>' to apply the mechanism load to the handle <NUM> and the engagement assembly <NUM> via the bat tube <NUM>', the link(s) <NUM>, the adjustment wheel <NUM>, the bearing(s) <NUM>, and the center plate <NUM>). As discussed in detail below, the monitoring system <NUM> also includes a controller communicatively coupled to the load sensor <NUM>, in which the controller includes a memory and a processor. The controller is configured to receive the sensor signal from the load sensor <NUM>, and the controller is configured to determine a crop load of crops (e.g., cut crops) acting on the tines <NUM>' (e.g., the force <NUM> applied by the cut crops to the tines <NUM>') based on the mechanism load. For example, the controller may determine the crop load based on the mechanism load and the geometry of the parallel state assembly, the position of the handle, other suitable parameter(s), or a combination thereof.

In certain embodiments, the load sensor <NUM> includes a load cell coupled to the handle <NUM> (e.g., to the latch <NUM> of the handle <NUM>). Accordingly, the contact force between the handle <NUM> and the engagement assembly <NUM> compresses the load cell between the handle <NUM> (e.g., the latch <NUM> of the handle <NUM>) and a side wall that forms a respective notch <NUM>. As a result, the load cell outputs the sensor signal indicative of the mechanism load. Furthermore, in certain embodiments, the load sensor <NUM> may include multiple load cells coupled to the engagement assembly <NUM>. For example, load cells may be coupled to certain side walls that form the notches <NUM>. Accordingly, the contact force between the handle <NUM> and the engagement assembly <NUM> compresses a respective load cell between the handle <NUM> (e.g., the latch <NUM> of the handle <NUM>) and the side wall that forms a respective notch <NUM>. As a result, one load cell outputs the sensor signal indicative of the mechanism load. In addition, in certain embodiments, the load cell(s) may be coupled to any other suitable area(s) of the handle and/or the engagement assembly to monitor the contact force between the handle and the engagement assembly. Furthermore, in certain embodiments, the load sensor may include a strain gauge coupled to the handle <NUM> or to the engagement assembly <NUM>. The strain gauge is configured to monitor deformation of the handle/engagement assembly in response to contact between the handle and the engagement assembly. As a result, the strain gauge outputs the sensor signal indicative of the mechanism load. While load cell(s) and a strain gauge coupled to the handle/engagement assembly are disclosed above, the load sensor may include any other sensor(s) suitable for monitoring the respective mechanism load.

In certain embodiments, the load sensor may be coupled to the axle <NUM> or to the center plate <NUM>. As previously discussed, as the tines <NUM>' positioned at the lower portion of the reel engage the cut crops, the cut crops provide a resistance to rotation of the tines <NUM>' in the second rotational direction <NUM>. For example, with regard to each bat tube <NUM>', the cut crops apply a force <NUM> to the tines <NUM>' along a direction of movement of the tines <NUM>', thereby urging the tines <NUM>' to rotate in the third rotational direction <NUM> about the respective bat tube rotational axis <NUM>. Due to the coupling of the tines <NUM>' to the respective bat tube <NUM>' and the non-rotatable coupling of the respective bat tube <NUM>' to the respective link <NUM>, the respective link <NUM> is urged to rotate in the third rotational direction <NUM>. In addition, due to the rotatable coupling between the respective link <NUM> and the adjustment wheel <NUM>, a radial force (e.g., a radially inward force) is applied to the adjustment wheel <NUM>, which is transferred through at least one of the bearings <NUM> to the center plate <NUM>. In addition to urging the center plate <NUM> to rotate about the rotational axis <NUM>, the force applied to the center plate <NUM> is transferred to the axle <NUM>, which blocks movement of the center plate <NUM>. Accordingly, the load sensor may be coupled to the axle <NUM> or to the center plate <NUM> and configured to output the sensor signal indicative of the mechanism load applied by the tines <NUM>' to the axle <NUM> or to the center plate <NUM>. The mechanism load corresponds to the contact force between the axle <NUM> and the center plate <NUM> (e.g., because the force <NUM> applied by the cut crops to the tines <NUM>' causes the tines <NUM>' to apply the mechanism load to the axle <NUM> and to the center plate <NUM> via the bat tube <NUM>', the link(s) <NUM>, the adjustment wheel <NUM>, and the bearing(s) <NUM>).

In certain embodiments, the controller may be configured to determine the crop loads over one rotation of the rotating structure, thereby establishing a list of crop loads. Each crop load of the list corresponds to the crop load of crops acting on the tines. In certain embodiments, the controller is configured to determine the maximum crop load within the list of crop loads. Additionally or alternatively, the controller may determine the maximum crop load over a selected time period.

While the monitoring system <NUM> includes load sensor(s) coupled to the handle <NUM>/engagement assembly <NUM> of one parallel state assembly <NUM>/tine rotation mechanism <NUM>' in the illustrated embodiment, in certain embodiments, the monitoring system may include load sensor(s) coupled to one or more other parallel state assemblies/tine rotation mechanisms of the reel assembly. For example, as previously discussed, the reel assembly may include a tine rotation mechanism for each section of the reel. Accordingly, in certain embodiments, the monitoring system may include at least one load sensor coupled to the handle/engagement assembly of each parallel state assembly/tine rotation mechanism. The controller may determine the crop load(s)/maximum crop load for each section of the reel. Furthermore, in certain embodiments, the controller may be configured to determine the maximum crop load for the reel based on the determined crop load(s)/maximum crop load for each section of the reel. Because the load sensor(s) are coupled to the handle/engagement assembly (e.g., non-rotating element(s)) of the parallel state assembly/assemblies (e.g., tine rotation mechanism(s)), the crop load(s) may be determined without mounting a sensor to a rotating element of the reel assembly (e.g., element that rotates with the rotating structure), thereby reducing the complexity of the monitoring system (e.g., by obviating slip ring(s), etc.), which may reduce costs and/or increase reliability.

As previously discussed, in certain embodiments, the monitoring system <NUM> includes a user interface communicatively coupled to the controller. In such embodiments, the controller is configured to output one or more output signals indicative of the crop load(s) and/or the maximum crop load, in embodiments in which a maximum crop load is determined, to the user interface. The user interface may present an indication of the crop load(s)/maximum crop load (e.g., a visual indication on a display of the user interface, etc.) in response to receiving the output signal(s). The operator, in turn, may view the indication(s) and control one or more parameters of the agricultural harvester based on the crop load(s)/maximum crop load. Furthermore, in certain embodiments, the controller may automatically control one or more parameters of the agricultural harvester based on the crop load(s)/maximum crop load.

As previously discussed, in certain embodiments, the parameters of the agricultural harvester controlled by the operator and/or the controller may include a rotational speed of the reel, a height of the reel, a fore/aft position of the reel, other suitable parameter(s), or a combination thereof. The rotating structure <NUM>' of the reel assembly is driven to rotate by one or more electric motors, one or more hydraulic motors, one or more other suitable drive units, or a combination thereof. In certain embodiments, the controller is communicatively coupled to the motor(s)/drive unit(s) and configured to control the motor(s)/drive unit(s) based on the crop load(s)/maximum crop load to control the rotational speed of the reel. In addition, a reel fore/aft position actuator may drive the reel to move forwardly and rearwardly (e.g., generally along the longitudinal axis <NUM>). In the illustrated embodiment, the engagement assembly <NUM> is coupled to a slider <NUM>', and the slider <NUM>' is configured to move along a tube of the first arm. In addition, the reel fore/aft position actuator may be coupled to the first arm and to the slider <NUM>'. Accordingly, the reel fore/aft position actuator is configured to drive the slider <NUM>' to move along the tube to control the fore/aft position of the reel (e.g., the position of the reel generally along the longitudinal axis <NUM>). Additional reel fore/aft position actuator(s) may be configured to drive respective slider(s) along the tube(s) of other respective arm(s) of the reel assembly. In certain embodiments, the controller is communicatively coupled to the reel fore/aft position actuator(s) and configured to control the reel fore/aft position actuator(s) based on the crop load(s)/maximum crop load to control the fore/aft position of the reel relative to the header frame (e.g., generally along the longitudinal axis <NUM>). Furthermore, as previously discussed, a reel height actuator (e.g., hydraulic actuator, pneumatic actuator, electromechanical actuator, etc.) may be coupled to each arm that supports the reel. The reel height actuator(s) may be configured to drive the arm(s) to rotate about respective local lateral axis/axes, thereby controlling the position of the reel relative to the header frame along the vertical axis <NUM>. In certain embodiments, the controller is communicatively coupled to the reel height actuator(s) and configured to control the reel height actuator(s) based on the crop load(s)/maximum crop load to control the position of the reel relative to the header frame along the vertical axis <NUM>.

While the parallel state assembly <NUM> includes a handle <NUM> configured to adjust the circumferential position of the second rotational axis <NUM> of the adjustment wheel <NUM> about the rotational axis <NUM> of the main wheel <NUM>/rotating structure <NUM>' in the illustrated embodiment, in other embodiments, the parallel state assembly may include another suitable alignment member. For example, in certain embodiments, the alignment member may be non-adjustable and configured to establish a fixed circumferential position of the rotational axis of the adjustment wheel about the rotational axis of the rotating structure. In such embodiments, the alignment member may be non-rotatably coupled to the center plate and non-rotatably coupled to the engagement assembly. Furthermore, in certain embodiments, the alignment member may be non-rotatably coupled to the center plate and coupled to an actuator configured to drive the alignment member to move relative to the engagement assembly. In such embodiments, the actuator may be coupled to the engagement assembly, and the actuator may be configured to drive the alignment member to rotate relative to the engagement assembly to control the relationship between the rotation of the rotating structure and the rotation of the bat tubes. As previously discuss, the load sensor may be coupled to the alignment member and configured to output a sensor signal indicative of a mechanism load applied by the tines to the alignment member.

<FIG> is a block diagram of an embodiment of a monitoring system <NUM> that may be employed within the header of <FIG>. As previously discussed, the monitoring system <NUM> includes at least one load sensor <NUM> (e.g., a first load sensor <NUM> and a second load sensor <NUM>). Each load sensor <NUM> is configured to couple to a non-rotating element of a tine rotation mechanism, and the load sensor <NUM> is configured to output a sensor signal indicative of a mechanism load applied by the tines to the non-rotating element of the tine rotation mechanism. For example, as previously discussed, the tine rotation mechanism may include a cam and follower assembly, and the non-rotating element may include a section of a cam track of the cam and follower assembly. Furthermore, as previously discussed, the tine rotation mechanism may include a parallel state assembly, and the non-rotating element may include a handle/alignment member or an engagement assembly of the parallel state assembly.

In the illustrated embodiment, the monitoring system <NUM> includes a controller <NUM> communicatively coupled to the load sensor(s) <NUM>, <NUM>. As previously discussed, the controller is configured to receive the sensor signal(s) from the load sensor(s) <NUM>, <NUM> and to determine a crop load of crops acting on the tines based on the mechanism load. In certain embodiments, the controller <NUM> is an electronic controller having electrical circuitry configured to process data from the load sensor(s) <NUM>, <NUM>. In the illustrated embodiment, the controller <NUM> includes a processor, such as the illustrated microprocessor <NUM>, and a memory device <NUM>. The controller <NUM> may also include one or more storage devices and/or other suitable components. The processor <NUM> may be used to execute software, such as software for determining the crop load of crops acting on the tines, and so forth. Moreover, the processor <NUM> may include multiple microprocessors, one or more "general-purpose" microprocessors, one or more special-purpose microprocessors, one or more application specific integrated circuits (ASICS), and/or one or more field-programmable gate arrays (FPGA), 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 processor-executable instructions (e.g., firmware or software) for the processor <NUM> to execute, such as instructions for determining the crop load of crops acting on the tines, and so forth. 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 (e.g., calibration data, etc.), instructions (e.g., software or firmware for determining the crop load, etc.), and any other suitable data.

In the illustrated embodiment, the monitoring system <NUM> includes a user interface <NUM> communicatively coupled to the controller <NUM>. The user interface <NUM> is configured to provide input to the controller <NUM> and to receive output from the controller <NUM>. As illustrated, the user interface <NUM> includes a display <NUM>. The display <NUM> is configured to present information to an operator. In certain embodiments, the display <NUM> may be a touch screen display configured to receive input from the operator. The user interface <NUM> may also include other input device(s) (e.g., keyboard, mouse, switches, buttons, etc.) configured to receive input from the operator. In certain embodiments, the controller <NUM> is configured to output one or more output signals indicative of the crop load(s) and/or the maximum crop load, in embodiments in which a maximum crop load is determined, to the user interface <NUM>. The user interface <NUM> may present indication(s) (e.g., visual indication(s) on the display <NUM> of the user interface <NUM>, etc.) of the crop load(s)/maximum crop load in response to receiving the output signal(s). The operator, in turn, may view the indication(s) and control one or more parameters of the agricultural harvester based on the crop load(s)/maximum crop load.

As previously discussed, in certain embodiments, the controller <NUM> may automatically control one or more parameters of the agricultural harvester based on the crop load(s)/maximum crop load. In certain embodiments, the parameters of the agricultural harvester controlled by the controller may include a rotational speed of the reel, a height of the reel, a fore/aft position of the reel, other suitable parameter(s), or a combination thereof. As previously discussed, the rotating structure of the reel assembly is driven to rotate by one or more electric motors, one or more hydraulic motors, one or more other suitable drive units, or a combination thereof. In the illustrated embodiment, the controller <NUM> is communicatively coupled to the motor(s)/drive unit(s) <NUM> and configured to control the motor(s)/drive unit(s) <NUM> based on the crop load(s)/maximum crop load to control the rotational speed of the reel. For example, if the crop load(s)/maximum crop load exceeds a threshold value/maximum target value, the controller <NUM> may control the motor(s)/drive unit(s) <NUM> to reduce the rotational speed of the reel. Additionally or alternatively, if the crop load(s)/maximum crop load is below a threshold value/minimum target value, the controller <NUM> may control the motor(s)/drive unit(s) <NUM> to increase the rotational speed of the reel.

Furthermore, as previously discussed, a reel height actuator <NUM> (e.g., hydraulic actuator, pneumatic actuator, electromechanical actuator, etc.) may be coupled to each arm that supports the reel. The reel height actuator(s) <NUM> may be configured to drive the arm(s) to rotate about respective local lateral axis/axes, thereby controlling the position of the reel relative to the header frame along the vertical axis. In the illustrated embodiment, the controller <NUM> is communicatively coupled to the reel height actuator(s) <NUM> and configured to control the reel height actuator(s) <NUM> based on the crop load(s)/maximum crop load to control the position of the reel relative to the header frame along the vertical axis. For example, if the crop load(s)/maximum crop load exceeds a threshold value/maximum target value, the controller <NUM> may control the reel height actuator(s) <NUM> to increase the height of the reel. Additionally or alternatively, if the crop load(s)/maximum crop load is below a threshold value/minimum target value, the controller <NUM> may control the reel height actuator(s) <NUM> to reduce the height of the reel.

In addition, as previously discussed, reel fore/aft position actuator(s) <NUM> may drive the reel to move forwardly and rearwardly (e.g., generally along the longitudinal axis <NUM>). In certain embodiments, the rotating structure of the reel is pivotally coupled to slider(s), and the slider(s) are configured to move along tube(s) of respective arm(s). In addition, the reel fore/aft position actuator(s) are coupled to the respective arm(s) and to the respective slider(s). Accordingly, the reel fore/aft position actuator(s) <NUM> are configured to drive the slider(s) to move along the tube(s) to control the fore/aft position of the reel (e.g., the position of the reel generally along the longitudinal axis). In the illustrated embodiment, the controller <NUM> is communicatively coupled to the reel fore/aft position actuator(s) <NUM> and configured to control the reel fore/aft position actuator(s) <NUM> based on the crop load(s)/maximum crop load to control the fore/aft position of the reel relative to the header frame (e.g., generally along the longitudinal axis). For example, if the crop load(s)/maximum crop load exceeds a threshold value/maximum target value, the controller <NUM> may control the reel fore/aft position actuator(s) <NUM> to move the reel rearwardly. Additionally or alternatively, if the crop load(s)/maximum crop load is below a threshold value/minimum target value, the controller <NUM> may control the reel fore/aft position actuator(s) <NUM> to move the reel forwardly. While the controller is communicatively coupled to and configured to control the reel drive motor(s) <NUM>, the reel height actuator(s) <NUM>, and the reel fore/aft position actuator(s) <NUM> in the illustrated embodiment, in other embodiments, the controller may only be communicatively coupled to and configured to control a portion of the motor(s)/actuator(s).

Furthermore, in certain embodiments, the controller may be communicatively coupled to and configured to control other suitable motor(s)/actuator(s) based on the crop load(s) (e.g., alone or in combination with the reel drive motor(s), the reel height actuator(s), the reel fore/aft position actuator(s), or a combination thereof). For example, in certain embodiments, the controller may be communicatively coupled to tine aggressiveness actuator(s) <NUM>, and the controller <NUM> may be configured to control the tine aggressiveness actuator(s) <NUM> based on the crop load(s) to control tine aggressiveness. In certain embodiments, a tine aggressiveness actuator may extend between the handle/alignment member and the engagement assembly of a parallel state assembly, and the tine aggressiveness actuator may drive the handle/alignment member to rotate relative to the engagement assembly to control the relationship between the rotation of the rotating structure and the rotation of the bat tubes. In addition, in certain embodiments, the controller may be communicatively coupled to a ground speed control system of the agricultural harvester, and the controller may be configured to control the agricultural harvester ground speed based on the crop load(s). Furthermore, in certain embodiments, the controller may be communicatively coupled to thresher rotor motor(s), and the controller may be configured to control the thresher rotor motor(s) based on the crop load(s) to control the rotation speed of the thresher rotor. In certain embodiments, the controller may be communicatively coupled to cleaning fan motor(s), and the controller may be configured to control the cleaning fan motor(s) based on the crop load(s) to control the rotation speed of the cleaning fan.

In certain embodiments, the controller <NUM> is configured to perform a calibration operation (e.g., in response to user input via the user interface <NUM>) prior to operation of the agricultural harvester. During the calibration process, the controller <NUM> may control the reel height actuator(s) <NUM> to move the reel upwardly to a position where the tines do not engage crops. The controller <NUM> may then control the reel drive motor(s) <NUM> to drive the reel to rotate. Next, the controller <NUM> may receive the sensor signal(s) from the load sensor(s) <NUM>, <NUM> indicative of mechanism load(s) applied by the tines to the non-rotating element of the tine rotation mechanism while the tines are not engaged with the crops. The controller <NUM> may then determine baseline load(s) in the same manner that the crop load(s) are determined. During operation of the agricultural harvester, the controller may adjust the crop load(s) based on the baseline load(s) (e.g., by subtracting the baseline load(s)). As a result, the accuracy of the crop load(s) may be enhanced.

While determining a maximum crop load based on multiple crop loads (e.g., the crop loads based on feedback from multiple load sensors, the crop loads over one rotation of the rotating structure, the crop loads/maximum crop loads for multiple reel sections, etc.) is disclosed above, in certain embodiments, the controller may determine other suitable property/properties of multiple crop loads. For example, the controller may determine statistical property/properties of the crop loads (e.g., over a selected time period, over one rotation of the rotating structure, etc.), such as a minimum crop load, an average/mean crop load, a median crop load, etc. Furthermore, the controller may determine a crop loading property by adding the crop loads together (e.g., over one rotation of the rotating structure, etc.). The controller may output one or more output signals indicative of the determine property/properties to the user interface, and/or the controller may automatically control one or more parameters of the agricultural harvester based on the determined property/properties.

Claim 1:
A reel assembly (<NUM>) of an agricultural harvester (<NUM>), the reel assembly (<NUM>) including a tine rotation mechanism (<NUM>), the tine rotation mechanism (<NUM>) comprising a non-rotating element, wherein the tine rotation mechanism (<NUM>) is configured to drive tines (<NUM>) of the reel assembly (<NUM>) to rotate relative to a rotating structure (<NUM>) of the reel assembly (<NUM>), the reel assembly (<NUM>) comprising a monitoring system (<NUM>) comprising:
a load sensor (<NUM>); and
a controller (<NUM>) communicatively coupled to the load sensor (<NUM>), wherein the controller (<NUM>) comprises a memory (<NUM>) and a processor (<NUM>), and the controller (<NUM>) is configured to receive a sensor signal from the load sensor (<NUM>);
characterized in that:
the load sensor (<NUM>) is configured to couple to the non-rotating element of the tine rotation mechanism (<NUM>) of the reel assembly (<NUM>), wherein the load sensor (<NUM>) is configured to output the sensor signal indicative of a mechanism load applied by the tines (<NUM>) to the non-rotating element of the tine rotation mechanism (<NUM>); and
wherein the controller (<NUM>) is configured to determine a crop load of crops acting on the tines (<NUM>) based on the mechanism load.