Patent Description:
An agricultural harvester is a machine used to harvest and process crops growing within a field. For example, a combine harvester is a type of harvester used to harvest grain crops, such as wheat, oats, rye, barely, corn, soybeans, and/or the like. In general, most harvesters are equipped with a detachable harvesting implement, such as a header. In this respect, as the harvester travels across the field, the harvesting implement cuts and collects the crop from the field. The harvester also includes a crop processing system, which receives the harvested crop material from the harvesting implement and performs various processing operations (e.g., threshing, separating, etc.) on the received crop material.

The crop processing system typically includes a crop cleaning assembly for cleaning or otherwise separating the threshed crop material. More specifically, the crop cleaning assembly generally includes a plurality of sieves configured to oscillate relative to the frame of the harvester. The oscillation of the sieves, in turn, conveys the crop material across these components in a manner that cleans or otherwise separates the harvested crop material (e.g., separates the grain, seeds, etc. from the chaff and/or other impurities). The thickness of the crop material on the pans/sieves is an important parameter for the operation of the harvester. In this respect, systems have been developed to monitor this thickness.

For example a system for monitoring crop material thickness within an agricultural harvester is known from <CIT>, which discloses the use of a sensor assembly comprising a transmitter and a receiver, wherein the receiver is arranged above the sieves and the transmitter is arranged above or below the sieves. The sensor assembly uses acoustic waves from the sonic, ultrasonic or human audible wavelength range.

<CIT> discloses a method of assessing the crop flow thickness in a forage harvester discharge spout or in a combine harvester at the crop elevator discharge using a RADAR sensor.

While such systems work well, further improvements are needed.

Accordingly, an improved system and method for monitoring crop material thickness within an agricultural harvester would be welcomed in the technology.

In accordance with a first aspect of the present invention, a system for monitoring crop material thickness within an agricultural harvester in accordance with claim <NUM> is suggested. The system includes a crop cleaning assembly having an oscillating component configured to oscillate relative to a frame of the agricultural harvester in a manner that conveys crop material across the oscillating component. Moreover, the system includes a RADAR sensor configured to emit an output signal directed at the crop material present on the oscillating component, wherein the RADAR sensor is positioned below the oscillating component in a vertical direction such that the emitted output signal is directed upward in the vertical direction toward the oscillating component, and detect an echo signal reflected by the crop material present on the oscillating component. In addition, the system includes a computing system communicatively coupled to the RADAR sensor. As such, the computing system is configured to determine a thickness of the crop material present on the oscillating component based on detected echo signal.

In accordance with a second aspect, the present invention is directed to a method for monitoring crop material thickness within an agricultural harvester in accordance with claim <NUM>. The agricultural harvester, in turn, includes a crop cleaning assembly having an oscillating component configured to oscillate relative to a frame of the agricultural harvester in a manner that conveys crop material across the oscillating component. The method includes receiving, with a computing system, data from a RADAR sensor configured to emit an output signal directed at the crop material present on the oscillating component, wherein the RADAR sensor is positioned below the oscillating component in a vertical direction such that the emitted output signal is directed upward in the vertical direction toward the oscillating component, and detect an echo signal reflected by the crop material present on the oscillating component. Furthermore, the method includes determining, with the computing system, a thickness of the crop material present on the oscillating component based on the received data. Additionally, the method includes comparing, with the computing system, the determined thickness of the crop material to a predetermined thickness range. Moreover, the method includes adjusting, with the computing system, an operation of the crop cleaning assembly when the determined thickness falls outside of the predetermined thickness range.

In general, the present subject matter is directed to a system and method for monitoring crop material thickness within an agricultural harvester. As will be described below, the harvester includes a crop cleaning assembly configured to clean or otherwise separate the harvested crop material. In this respect, the crop cleaning assembly includes one or more oscillating components (e.g., a pan(s), a sieve(s), etc.) configured to oscillate relative to the frame of the harvester during a harvesting operation. In this respect, the oscillation conveys the crop material across the oscillating component(s) in a manner that separates the grain, seed, and/or the like within the harvested crop material from the chaff or impurities.

In accordance with the present invention, a computing system of the disclosed system is configured to determine the thickness of the crop material present on the oscillating component(s). More specifically, during the performance of a harvesting operation, the computing system is configured to receive data from one or more RADAR sensors positioned within or adjacent to the crop cleaning assembly. Each RADAR sensor is, in turn, configured to emit an output signal (e.g., a radio wave or microwave signal) directed at the crop material present on one of the oscillating components. Moreover, each RADAR sensor is configured to detect an echo signal reflected by the crop material present on the corresponding oscillating component. One or more parameters of the echo signal (e.g., its intensity) may generally be indicative of thickness of the crop material on the corresponding oscillating component. As such, the computing system may determine the thickness(es) of the crop material on the oscillating component(s) based on the data received from the RADAR sensor(s). According to the invention, the RADAR sensor(s) is positioned below the oscillating component(s) to prevent airborne chaff within the crop cleaning assembly from interfering the output signal(s).

The disclosed system and method improve the operation of the agricultural harvester. As described above, the disclosed system and method determines the thickness(es) of the crop material present on the oscillating component(s) of the crop cleaning assembly based on RADAR sensor data. More specifically, RADAR sensor output signals can penetrate through certain materials, such as the crop material, to a much greater extent than acoustic sensor signals (e.g., ultrasonic sensor signals). In this respect, and unlike acoustic sensor data, RADAR sensor data permits for the detection of multiple interfaces associated with the crop material present on the oscillating component(s). For example, RADAR sensor data allows for the detection of the interface between the crop material and the oscillating component(s) and the interface between the crop material and the air above the crop material. The detection of both interfaces allows for a more accurate determination of the crop material present on the oscillating component(s) than the detection of a single interface.

Referring now to the drawings, <FIG> illustrates a partial sectional side view of the agricultural harvester <NUM>. In general, the harvester <NUM> is configured to travel across a field in a forward direction of travel (indicated by arrow <NUM>) to harvest a standing crop <NUM> present within the field. While traversing the field, the harvester <NUM> is configured to process the harvested crop material and store the grain, seed, or the like within a crop tank <NUM> of the harvester <NUM>.

As shown, the harvester <NUM> extends in a longitudinal direction <NUM> from a forward end <NUM> of the harvester <NUM> to an aft end <NUM> of the harvester <NUM>. In this respect, the longitudinal direction <NUM> extends parallel to the direction of travel <NUM>. Furthermore, the harvester <NUM> extends in a lateral direction <NUM>, with the lateral direction <NUM> (<FIG>) extending perpendicular to the longitudinal direction <NUM> and the direction of travel <NUM>.

In the illustrated embodiment, the harvester <NUM> is configured as an axial-flow type combine in which the harvested crop material is threshed and separated while being advanced by and along a rotor <NUM> extending in the longitudinal direction <NUM>. However, in alternative embodiments, the harvester <NUM> may have any other suitable harvester configuration, such as a traverse-flow type configuration in which the rotor extends in the lateral direction <NUM>.

The harvester <NUM> may include a chassis or main frame <NUM> configured to support and/or couple to various components of the harvester <NUM>. For example, in several embodiments, the harvester <NUM> may include a pair of driven, front wheels <NUM> and a pair of steerable, rear wheels <NUM> coupled to the chassis <NUM>. As such, the wheels <NUM>, <NUM> may be configured to support the harvester <NUM> relative to the ground and move the harvester <NUM> in the forward direction of travel <NUM>. Furthermore, the harvester <NUM> may include an operator's platform <NUM> having an operator's cab <NUM>, a crop processing system <NUM>, the crop tank <NUM>, and a crop unloading tube <NUM> supported by the chassis <NUM>. As will be described below, the crop processing system <NUM> may be configured to perform various processing operations on the harvested crop material as the crop processing system <NUM> transfers the harvested crop from a harvesting implement <NUM> (e.g., a header) of the harvester <NUM> and through the harvester <NUM>. Moreover, the harvester <NUM> may include an engine <NUM> and a transmission <NUM> mounted on the chassis <NUM>. The transmission <NUM> may be operably coupled to the engine <NUM> and may provide variably adjusted gear ratios for transferring engine power to the wheels <NUM> via a drive axle assembly (or via axles if multiple drive axles are employed).

Additionally, as shown in <FIG>, the harvester <NUM> includes a feeder <NUM> that couples to and supports the harvesting implement <NUM>. More specifically, the feeder <NUM> may include a feeder housing <NUM> extending from a forward end <NUM> to an aft end <NUM>. As will be described below, the forward end <NUM> of the feeder housing <NUM> may, in turn, be coupled to harvesting implement <NUM>. Moreover, the aft end <NUM> of the feeder housing <NUM> may be pivotably coupled to the chassis <NUM> adjacent to a threshing and separating assembly <NUM> of the crop processing system <NUM>. Such a pivotable coupling may permit movement of the harvesting implement <NUM> relative to a field surface <NUM> in a vertical direction (indicated by arrow <NUM>).

As the harvester <NUM> is propelled in the forward direction of travel <NUM> over the field with the standing crop <NUM>, the crop material is severed from the stubble by a cutter bar (not shown) positioned at the front of the harvesting implement <NUM>. The crop material is delivered by a header conveyance device <NUM> (e.g., an auger, belt, chain, etc.) to the forward end <NUM> of the feeder housing <NUM>, which supplies the harvested crop material to the threshing and separating assembly <NUM>. In general, the threshing and separating assembly <NUM> may include a cylindrical chamber <NUM> in which the rotor <NUM> is rotated to thresh and separate the harvested crop material received therein. That is, the harvested crop material is rubbed and beaten between the rotor <NUM> and the inner surfaces of the chamber <NUM> to loosen and separate the grain, seed, or the like from the straw.

The crop material separated by the threshing and separating assembly <NUM> may fall onto a crop cleaning assembly <NUM> of the crop processing system <NUM>. As will be described below, the crop cleaning assembly <NUM> may include a series of oscillating components, such as one or more pans <NUM>, pre-sieves <NUM>, and/or sieves <NUM>, that are configured to oscillate relative to the frame <NUM>. As such, the separated crop material may be spread out via the oscillation of such components <NUM>, <NUM>, <NUM> and the grain, seeds, or the like may eventually fall through apertures defined by the sieve(s) <NUM>. Additionally, a cleaning fan <NUM> may be positioned adjacent to one or more of the pre-sieve(s) <NUM> and the sieve(s) <NUM> to provide an air flow through that removes chaff and other impurities from the crop material present thereon. The impurities may be discharged from the harvester <NUM> through the outlet of a straw hood <NUM> positioned at the aft end <NUM> of the harvester <NUM>. The cleaned harvested crop passing through the sieve(s) <NUM> may then fall into a trough of an auger <NUM>, which may transfer the harvested crop to an elevator <NUM> for delivery to the crop tank <NUM>.

<FIG> illustrates a simplified side view of the crop cleaning assembly <NUM>. As mentioned above, the crop cleaning assembly <NUM> includes one or more oscillating components configured to oscillate relative to the frame <NUM> of the harvester <NUM> during a harvesting operation. For example, in the illustrated embodiment, the crop cleaning assembly <NUM> includes a pan <NUM>, a pre-sieve <NUM>, and a sieve <NUM>. As shown, the pan <NUM> is positioned below the threshing assembly <NUM> in the vertical direction <NUM>. Furthermore, the pre-sieve <NUM> may be positioned aft of the pan <NUM> along the longitudinal direction <NUM>. Additionally, the sieve <NUM> may be positioned aft of the pre-sieve <NUM> along the longitudinal direction <NUM>. However, in alternative embodiments, the crop cleaning assembly <NUM> may include any other suitable type and/or number of oscillating components.

During operation, the oscillation of the oscillating component(s) conveys crop material across the oscillating component(s) in a manner that separates the grain, seed, and/or the like within the crop material from the chaff or impurities. More specifically, threshed crop material <NUM> may fall through the threshing assembly <NUM> and land on the pan <NUM> underneath. In this respect, the pan <NUM>, the pre-sieve <NUM>, and the sieve <NUM> oscillate relative to the frame <NUM> (e.g., in the longitudinal direction <NUM>), thereby conveying the crop material <NUM> across these components <NUM>, <NUM>, <NUM> (e.g., as indicated by arrow <NUM>). As the crop material <NUM> moves across the pan/pre-sieve/sieve <NUM>/<NUM>/<NUM>, the grain, the seed, or the like (e.g., as indicated by arrow <NUM>) within the crop material <NUM> is cleaned and separated from the chaff or other impurities. The cleaned and separated grain/seed <NUM> falls through the apertures (not shown) defined by the pre-sieve <NUM> and the sieve <NUM> for eventual delivery to the auger <NUM> (<FIG>). Conversely, the chaff/impurities are discharged from the harvester <NUM> via the straw hood <NUM>.

The configuration of the agricultural harvester <NUM> described above and shown in <FIG> and <FIG> is provided only to place the present subject matter in an exemplary field of use. Thus, the present subject matter may be readily adaptable to any manner of agricultural harvester configuration.

In accordance with the invention, one or more RADAR sensors <NUM> is positioned within and/or adjacent to the crop cleaning assembly <NUM>. In general, each RADAR sensor <NUM> is configured to emit one or more output signals (indicated by arrows <NUM>) directed at the crop material present on one of the oscillating components. Furthermore, each RADAR sensor <NUM> is configured to detect an echo signal (indicated by arrows <NUM>) reflected by the crop material present on the corresponding oscillating component. As will be described below, the detected echo signal <NUM> may generally be used to determine the thickness of the crop material present on the corresponding oscillating component of the crop cleaning assembly <NUM>.

The RADAR sensor(s) <NUM> is configured to direct output signals <NUM> at any suitable oscillating component(s) within the crop cleaning assembly <NUM>. For example, in the illustrated embodiment, a RADAR sensor <NUM> is configured to emit output signals <NUM> directed at the crop material <NUM> present on the pan <NUM> and detect an echo signal <NUM> reflected by the crop material present on the pan <NUM>. Additionally, in the illustrated embodiment, another RADAR sensor <NUM> is configured to emit output signals <NUM> directed at the crop material <NUM> present on the pre-sieve <NUM> and detect an echo signal <NUM> reflected by the crop material present on the pre-sieve <NUM>. Moreover, in the illustrated embodiment, a further RADAR sensor <NUM> is configured to emit output signals <NUM> directed at the crop material <NUM> present on the sieve <NUM> and detect an echo signal <NUM> reflected by the crop material present on the sieve <NUM>. However, in other embodiments, the RADAR sensor(s) <NUM> may be configured to direct output signals <NUM> at only one or two of the pan <NUM>, the pre-sieve <NUM>, or the sieve <NUM>. Additionally, or alternatively, the RADAR sensor(s) <NUM> may be configured to direct output signals <NUM> at other oscillating components within the crop cleaning assembly <NUM>.

In accordance with the present invention, the RADAR sensor(s) <NUM> is positioned below the oscillating component(s) in the vertical direction <NUM>. For example, as shown in <FIG>, one of the RADAR sensors <NUM> is positioned below the pan <NUM> in the vertical direction <NUM>. Such positioning of the RADAR sensor(s) <NUM> generally prevents airborne crop material present within the space above the oscillating component(s) from interfering with the output signals <NUM> being directed at the crop material present on the oscillating component(s). Moreover, positioning of the RADAR sensor(s) <NUM> below the oscillating component(s) generally protects the RADAR sensor(s) <NUM> from exposure to the airborne crop material. In such embodiments, the oscillating component(s) may be formed from a material that can easily be penetrated by the output signals (e.g., plastic).

Additionally, in several embodiments, multiple RADAR sensor <NUM> may be configured to direct output signals <NUM> at differing locations on a single oscillating component. For example, as shown in <FIG>, in the illustrated non-claimed example, first, second, third, and fourth RADAR sensors 102A-D are positioned above a top surface <NUM> of a pan/pre-sieve/sieve <NUM>/<NUM>/<NUM>. In this respect, a first RADAR sensor 102A is configured to emit output signals directed at the crop material present at a first location 108A on the top surface <NUM> and detect an echo signal reflected by the crop material present at the first location 108A. Furthermore, a second RADAR sensor 102B is configured to emit output signals directed at the crop material present at a second location 108B on the top surface <NUM> and detect an echo signal reflected by the crop material present at the second location 108B. Furthermore, a second RADAR sensor 102B is configured to emit output signals directed at the crop material present at a second location 108B on the top surface <NUM> and detect an echo signal reflected by the crop material present at the second location 108B. In addition, a third RADAR sensor 102C is configured to emit output signals directed at the crop material present at a third location 108C on the top surface <NUM> and detect an echo signal reflected by the crop material present at the third location 108C. Moreover, a fourth RADAR sensor 102D is configured to emit output signals directed at the crop material present at a fourth location 108D on the top surface <NUM> and detect an echo signal reflected by the crop material present at the fourth location 108D. However, in alternative embodiments, any suitable number of RADAR sensors <NUM> may be configured to direct output signals at an oscillating component within the crop cleaning assembly <NUM>, such as one, two, three, five, or more RADAR sensors <NUM>.

The locations on the oscillating component to which the output signals of the RADAR sensors <NUM> are directed may be spaced apart from each other in any suitable manner. For example, as shown in <FIG>, the first and second locations 108A, 108B are spaced apart from the third and fourth locations 108C, 108D in the longitudinal direction <NUM>. Furthermore, the first and third locations 108A, 108C are spaced apart from the second and fourth locations 108B, 108D in the lateral direction <NUM>. As will be described below, the use of RADAR sensors <NUM> directing output signals at differing locations on a single oscillating component allows for determination the thickness distribution of the crop material across the oscillating component (e.g., the thickness distribution in the longitudinal and/or lateral directions <NUM>, <NUM>).

Additionally in some embodiments, the RADAR sensor(s) <NUM> may be coupled to the oscillating component(s). In such embodiments, RADAR sensor(s) <NUM> may oscillate relative to the frame <NUM> of the harvester <NUM> with the oscillating component(s). For example, as shown in <FIG>, in the illustrated embodiment, the RADAR sensor <NUM> is coupled to a bottom surface <NUM> of the pan/pre-sieve/sieve <NUM>/<NUM>/<NUM> via an arm <NUM>. Coupling the RADAR sensor(s) <NUM> to the oscillating component(s) such that the RADAR sensor(s) <NUM> oscillate with the oscillating component(s) reduce the processing necessary to determine the crop material thickness(es). Specifically, in such configurations, it is not necessary to process out the relative movement between the RADAR sensor(s) <NUM> and the oscillating component(s) because such components move together. However, in alternative embodiments, the RADAR sensor(s) <NUM> may be coupled to the frame <NUM> such that the oscillating component(s) oscillates relative to the RADAR sensor(s) <NUM>.

The RADAR sensor(s) <NUM> may correspond to any suitable sensor(s) or sensing device(s) configured to capture data indicative of crop material thickness using radio waves and/or microwaves. According to the invention, the RADAR sensor(s) <NUM> is configured to emit one or more radio wave or microwave output signals directed toward a portion of the crop material within its field of view or sensor detection zone. A portion of the output signal(s) may, in turn, be reflected by the crop material and/or the oscillating component(s) as an echo signal(s). Moreover, the RADAR sensor(s) <NUM> is configured to receive the reflected echo signal(s).

<FIG> illustrate the operation of a RADAR sensor <NUM> configured as described above. More specifically, <FIG> illustrates a RADAR sensor <NUM> configured to direct an output signal <NUM> at crop material <NUM> is present on the top surface <NUM> of the pan/pre-sieve/sieve <NUM>/<NUM>/<NUM>. As shown, there is a first interface <NUM> between the air and the top surface of the crop material <NUM>. Moreover, there is a second interface <NUM> between the bottom surface of the crop material <NUM> and the top surface of the <NUM> of the pan/pre-sieve/sieve <NUM>/<NUM>/<NUM>. In this respect, a distance (indicated by arrow <NUM>) between the first and second interfaces <NUM>, <NUM> in the vertical direction <NUM> generally corresponds to the thickness of the crop material <NUM>.

In general, the intensity of the echo signal <NUM> increases when being reflected by an interface between different materials. As such, the intensity of the echo signal <NUM> spikes initially when reflected by the first interface <NUM> and then spikes again when reflected by the second interface <NUM>. The time between when these intensity spikes occur can then be used to determine distance between such interfaces <NUM>, <NUM>, which corresponds to the thickness <NUM> of the crop material <NUM>. For example, <FIG> illustrates a graphical view of an example data set charting intensity of the echo signal <NUM> detected by a RADAR sensor <NUM> over time (e.g., as indicated by line <NUM>). As shown, there is a first intensity spike <NUM> corresponding to when the echo signal <NUM> is reflected by the first interface <NUM>. Moreover, there is a second intensity spike <NUM> corresponding to when the echo signal <NUM> is reflected by the second interface <NUM>. The time occurring between these intensity spikes (e.g., as indicated by arrow <NUM>) can then be used to determine the thickness <NUM> of the crop material <NUM>.

Referring now to <FIG>, a schematic view of one embodiment of a system <NUM> for monitoring crop material thickness within an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the system <NUM> will be described herein with reference to the agricultural harvester <NUM> described above with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed system <NUM> may generally be utilized with agricultural harvesters having any other suitable harvester configuration.

As shown in <FIG>, the system <NUM> includes one or more crop cleaning assembly actuators <NUM>. In general, the crop cleaning assembly actuator(s) <NUM> is configured to adjust one or more operating parameters of the crop cleaning assembly <NUM>. In some embodiments, the operating parameter(s) may include the orientation of the oscillating component(s) (e.g., the pan <NUM>, the pre-sieve <NUM>, or the sieve <NUM>) relative to the frame <NUM> (e.g., in the longitudinal direction <NUM> and/or the lateral direction <NUM>). Additionally, or alternatively, the operating parameter(s) may include the direction and/or speed of the oscillatory motion of the oscillating component(s). However, in other embodiments, crop cleaning assembly actuator(s) <NUM> may be configured to adjust any other suitable parameter(s) of the crop cleaning assembly <NUM>.

The crop cleaning assembly actuator(s) <NUM> may correspond to any suitable actuator(s) configured to adjust or control an operating parameter(s) of the crop cleaning assembly <NUM>. For example, the crop cleaning assembly actuator(s) <NUM> may be a hydraulic motor(s), a hydraulic cylinder(s), an electric motor(s), and/or the like.

Furthermore, the system <NUM> includes a computing system <NUM> communicatively coupled to one or more components of the harvester <NUM> and/or the system <NUM> to allow the operation of such components to be electronically or automatically controlled by the computing system <NUM>. For instance, the computing system <NUM> may be communicatively coupled to the RADAR sensor(s) <NUM> via a communicative link <NUM>. As such, the computing system <NUM> may be configured to receive data from the RADAR sensors <NUM> that is indicative of the thickness of the crop material present on the oscillating component(s) within the crop cleaning assembly <NUM>. Moreover, the computing system <NUM> may be communicatively coupled to the crop cleaning assembly actuator(s) <NUM> via the communicative link <NUM>. In this respect, the computing system <NUM> may be configured to control the operation of the crop cleaning assembly actuator(s) <NUM> to the control the operation of the crop cleaning assembly <NUM>. In addition, the computing system <NUM> may be communicatively coupled to any other suitable components of the harvester <NUM> and/or the system <NUM>.

In general, the computing system <NUM> may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system <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 circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the computing system <NUM> may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (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 computing system <NUM> to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system <NUM> may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like.

The various functions of the computing system <NUM> may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system <NUM>. For instance, the functions of the computing system <NUM> may be distributed across multiple application-specific controllers or computing devices, such as a navigation controller, an engine controller, a transmission controller, and/or the like.

Referring now to <FIG>, a flow diagram of one embodiment of example control logic <NUM> that may be executed by the computing system <NUM> (or any other suitable computing system) for monitoring crop material thickness within an agricultural harvester is illustrated in accordance with aspects of the present subject matter. Specifically, the control logic <NUM> shown in <FIG> is representative of steps of one embodiment of an algorithm that can be executed to monitor crop material thickness within an agricultural harvester in a manner that provides a more accurate determination of crop material thickness than systems relying on acoustic-based sensor data. Thus, in several embodiments, the control logic <NUM> may be advantageously utilized in association with a system installed on or forming part of an agricultural harvester to allow for real-time monitoring crop material thickness within an agricultural harvester without requiring substantial computing resources and/or processing time. However, in other embodiments, the control logic <NUM> may be used in association with any other suitable system, application, and/or the like for monitoring crop material thickness within an agricultural harvester.

As shown in <FIG>, at (<NUM>), the control logic <NUM> includes receiving data from a RADAR sensor configured to emit an output signal directed at crop material present on an oscillating component of a crop cleaning assembly of an agricultural harvester and detect an echo signal reflected by the crop material present on the oscillating component. Specifically, as mentioned above, in several embodiments, the computing system <NUM> may be communicatively coupled to the RADAR sensor(s) <NUM> via the communicative link <NUM>. Each RADAR sensor <NUM> is, in turn, configured to emit one or more output signals <NUM> directed at the crop material <NUM> present on an oscillating component (e.g., the pan <NUM>, the pre-sieve <NUM>, and/or the sieve <NUM>) within the crop cleaning assembly <NUM> of the harvester <NUM>. Moreover, each RADAR sensor <NUM> is configured to detect an echo signal(s) <NUM> reflected by the crop material <NUM> present on the corresponding oscillating component. In this respect, as the harvester <NUM> travels across the field to perform a harvesting operation thereon, the computing system <NUM> may receive data from the RADAR sensor(s) <NUM>. Such data may, in turn, be indicative of one or more parameters (e.g., the intensity) of the detected echo signal(s) <NUM>.

The data indicative of the echo signals received at (<NUM>) may be sampled based on the oscillatory motion of the oscillating component(s). As described above, the pan/pre-sieve/sieve <NUM>/<NUM>/<NUM> may oscillate back and forth at a particular rate. As such, in several embodiments, the computing system <NUM> may receive the data at (<NUM>) at a sampling rate set based on the oscillatory motion of the oscillating component(s). Specifically, the sampling rate may be set such that each successive data sample is associated with the reflection of the echo signal(s) <NUM> off of the same position on the oscillating component(s) (or crop material present thereon). By controlling the sampling rate of the data received at (<NUM>) such that each successive data sample is associated with the same position or location on the corresponding crop material/oscillating component, the effect of the oscillatory movement on the data captured by the RADAR sensor(s) <NUM> is minimized or eliminated. This, in turn, simplifies the processing of such data when determining the thickness(es) of the crop material present on the oscillating component(s). However, in alternative embodiments, the data may be received at (<NUM>) at a sampling rate that is independent of the oscillatory motion of the oscillating component(s).

The sampling may be performed in any suitable manner. For example, in some embodiments, the sampling may be performed by controlling the emission of the output signal(s) <NUM> by the RADAR sensor(s) <NUM>. Specifically, in such embodiments, the RADAR sensor(s) <NUM> may emit output signals <NUM> at a time interval such that each successive output signal <NUM> contacts the same position on the corresponding oscillating component (or the crop material present thereon). In other embodiments, the sampling may be performed by controlling the detection of the echo signals <NUM> by the RADAR sensor(s) <NUM>. For example, in such embodiments, the RADAR sensor(s) <NUM> may be configured to capture data samples of the reflected echo signals <NUM> at a time interval such that each successive data sample is associated with the reflection of an echo signal <NUM> from the same position on the oscillating component(s) (or the crop material present thereon). Moreover, in further embodiment, the sampling may be performed by the computing system <NUM>. Specifically, in such embodiments, RADAR sensor(s) <NUM> may be configured to output data at the highest rate supported by the communications protocol of the communicative link <NUM>. In this respect, the computing system <NUM> may sample the data transmitted from the RADAR sensor(s) <NUM> at a time interval such that each successive data sample is associated with an echo signal <NUM> reflected from the same position on the corresponding oscillating component(s) (or the crop material present thereon).

Additionally, at (<NUM>), the control logic <NUM> includes determining the thickness of the crop material present on the oscillating component based on the received data. Specifically, in several embodiments, the computing system <NUM> may be configured to analyze to the RADAR sensor data received at (<NUM>) to determine one or more thicknesses of the crop material present on the oscillating component(s) (e.g., the pan <NUM>, the pre-sieve <NUM>, and/or the sieve <NUM>). For example, in some embodiments, the computing system <NUM> may determine each thickness value based on the time elapsed between first and second spikes as in the intensity of the corresponding echo signal <NUM>. However, in alternative embodiments, the computing system <NUM> may determine the thickness of the crop material present on the oscillating component(s) based on the received RADAR sensor data in any other suitable manner.

Moreover, at (<NUM>), the control logic <NUM> include comparing the determined thickness of the crop material to a predetermined thickness range. Specifically, in several embodiments, the computing system <NUM> may compare the thickness(es) of the crop material present on the oscillating component(s) to an associated predetermined thickness range. When the thickness value(s) determined at (<NUM>) falls within the associated range, adjustment of the crop cleaning assembly <NUM> may not be necessary. In such instances, the control logic <NUM> returns to (<NUM>). Conversely, when the thickness value(s) determined at (<NUM>) falls outside of the associated range, adjustment of the crop cleaning assembly <NUM> may be necessary. In such instances, the control logic <NUM> proceeds to (<NUM>).

At (<NUM>), the control logic <NUM> includes adjusting the operation of the crop cleaning assembly when the determined thickness falls outside of the predetermined thickness range. In several embodiments, when a thickness value(s) determined at (<NUM>) falls outside of the associated range, the computing system <NUM> may be configured to adjust the operation of the corresponding oscillating component(s) within the crop cleaning assembly <NUM>. Specifically, in such instances, the computing system <NUM> may transmit control signals to the crop cleaning assembly actuator(s) <NUM> via the communicative link <NUM>. The control signals, in turn, instruct the crop cleaning assembly actuator(s) <NUM> to adjust the operation of the corresponding oscillating component(s) within the crop cleaning assembly <NUM>. For example, such adjustment(s) may include adjusting the orientation of the oscillating component(s) relative to the frame <NUM> of the harvester <NUM> (e.g., the orientation in the longitudinal and/or lateral directions <NUM>, <NUM>). Additionally, or alternatively, such adjustment(s) may include adjusting the oscillatory motion (e.g., the oscillation speed, direction, etc.) of the oscillating component(s). However, in alternative embodiments, at (<NUM>), any other suitable operating parameter adjustments may be made. For example, in one embodiment, the speed of the cleaning fan <NUM> may be adjusted to vary the airflow through the sieve(s) <NUM>.

Referring now to <FIG>, a flow diagram of another embodiment of example control logic <NUM> that may be executed by the computing system <NUM> (or any other suitable computing system) for monitoring crop material thickness within an agricultural harvester is illustrated in accordance with aspects of the present subject matter. Specifically, the control logic <NUM> shown in <FIG> is representative of steps of one embodiment of an algorithm that can be executed to monitor crop material thickness within an agricultural harvester in a manner that provides a more accurate determination of crop material thickness than systems relying on acoustic-based sensor data. Thus, in several embodiments, the control logic <NUM> may be advantageously utilized in association with a system installed on or forming part of an agricultural harvester to allow for real-time monitoring crop material thickness within an agricultural harvester without requiring substantial computing resources and/or processing time. However, in other embodiments, the control logic <NUM> may be used in association with any other suitable system, application, and/or the like for monitoring crop material thickness within an agricultural harvester.

As shown in <FIG>, at (<NUM>), the control logic <NUM> includes receiving data from a first RADAR sensor configured to emit a first output signal directed at crop material present at a first location on an oscillating component of a crop cleaning assembly of an agricultural harvester and detect a first echo signal reflected by the crop material present at the first location on the oscillating component. For example, the computing system <NUM> may be configured to receive data from the first RADAR sensor 102A. The first RADAR sensor 102A may, in turn, be configured to emit a first output signal directed at the crop material present at the first location 108A on the oscillating component (e.g., the pan <NUM>, the pre-sieve <NUM>, and/or the sieve <NUM>). Furthermore, the first RADAR sensor 102A may detect a first echo signal reflected by the crop material present on the oscillating component at the first location 108A.

Additionally, at (<NUM>), the control logic <NUM> includes determining a first thickness of the crop material present on the oscillating component at the first location based on the data received from the first RADAR sensor. For example, the computing system <NUM> may be configured to determine a first thickness of the crop material present on the oscillating component at the first location 108A based on the data received from the first RADAR sensor 102A.

Moreover, at (<NUM>), the control logic <NUM> includes receiving data from a second RADAR sensor configured to emit a second output signal directed at crop material present at a second location on the oscillating component and detect a second echo signal reflected by the crop material present at the second location on the oscillating component. For example, the computing system <NUM> may be configured to receive data from the second RADAR sensor 102B. The second RADAR sensor 102B may, in turn, be configured to emit a second output signal directed at the crop material present at the second location 108B on the oscillating component. Furthermore, the second RADAR sensor 102B may detect a second echo signal reflected by the crop material present on the oscillating component at the second location 108B.

In addition, at (<NUM>), the control logic <NUM> includes determining a second thickness of the crop material present on the oscillating component at the second location based on the data received from the second RADAR sensor. For example, the computing system <NUM> may be configured to determine a second thickness of the crop material present on the oscillating component at the second location 108B based on the data received from the second RADAR sensor 102B.

Furthermore, at (<NUM>), the control logic <NUM> includes determining a thickness differential between the determined first and second thicknesses. For example, the computing system <NUM> may be configured to determine a differential between the first thickness of the crop material determined at (<NUM>) and the second thickness of the crop material determined at (<NUM>). The determined differential may, in turn, be indicative of the thickness distribution of the crop material between the first and second locations.

Additionally, at (<NUM>), the control logic <NUM> includes comparing the determined thickness differential to a predetermined thickness differential range. For example, the computing system <NUM> may compare the thickness differential of the crop material present on the oscillating component to an associated predetermined thickness differential range. When the thickness differential value determined at (<NUM>) falls within the associated range, the crop material may be evenly distributed across the oscillating component. In such instances, the control logic <NUM> returns to (<NUM>). Conversely, when the thickness differential value determined at (<NUM>) falls outside of the associated range, the crop material may not be evenly distributed across the oscillating component. In such instances, the control logic <NUM> proceeds to (<NUM>).

At (<NUM>), the control logic <NUM> includes adjusting the operation of the crop cleaning assembly when the determined thickness falls outside of the predetermined thickness range. In general, (<NUM>) is the same as or substantially similar to (<NUM>) in the control logic <NUM>. Such adjustment(s) may, in turn, even out the distribution of the crop material on oscillating component.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for monitoring crop material thickness within an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the method <NUM> will be described herein with reference to the agricultural harvester <NUM> and the system <NUM> described above with reference to <FIG>. However, it should be appreciated by those of ordinary skill in the art that the disclosed method <NUM> may generally be implemented with any agricultural harvester having any suitable harvester configuration and/or within any system having any suitable system configuration. In addition, 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> in accordance with the present invention includes receiving, with a computing system, data from a RADAR sensor configured to emit an output signal directed at the crop material present on an oscillating component of a crop cleaning assembly of an agricultural harvester and detect an echo signal reflected by the crop material present on the oscillating component, wherein the RADAR sensor is positioned below the oscillating component in a vertical direction such that the emitted output signal is directed upward in the vertical direction toward the oscillating component. The computing system <NUM> is configured to receive data from one or more RADAR sensors <NUM>. Each RADAR sensor <NUM> is, in turn, configured to emit an output signal <NUM> directed at the crop material present on an oscillating component (e.g., the pan <NUM>, the pre-sieve <NUM>, or the sieve <NUM>) of the crop cleaning assembly <NUM> of the agricultural harvester <NUM> and detect an echo signal <NUM> reflected by the crop material present on the oscillating component.

Additionally, at (<NUM>), the method <NUM> includes determining, with the computing system, a thickness of the crop material present on the oscillating component based on the received data. The computing system <NUM> is configured to determine the thickness(es) of the crop material present on the oscillating component(s) based on the data received from the RADAR sensor(s) <NUM>.

Moreover, as shown in <FIG>, at (<NUM>), the method <NUM> includes comparing, with the computing system, the determined thickness of the crop material to a predetermined thickness range. The computing system <NUM> is configured to compare the determined thickness(es) of the crop material to an associated predetermined thickness range.

Furthermore, at (<NUM>), the method <NUM> includes adjusting, with the computing system, the operation of the crop cleaning assembly when the determined thickness falls outside of the predetermined thickness range. The computing system <NUM> is configured to control the operation of the crop cleaning assembly actuator(s) <NUM> to adjust the operation of the crop cleaning assembly <NUM> when the determined thickness falls outside of the predetermined thickness range.

Claim 1:
A system (<NUM>) for monitoring crop material thickness within an agricultural harvester (<NUM>), the system (<NUM>) comprising a crop cleaning assembly (<NUM>) including an oscillating component (<NUM>, <NUM>, <NUM>) configured to oscillate relative to a frame (<NUM>) of the agricultural harvester (<NUM>) in a manner that conveys crop material across the oscillating component (<NUM>, <NUM>, <NUM>), the system (<NUM>) further comprising:
a RADAR sensor (<NUM>, 102A, 102B, 102C, 102D) configured to emit an output signal directed at the crop material present on the oscillating component (<NUM>, <NUM>, <NUM>) and detect an echo signal reflected by the crop material present on the oscillating component (<NUM>, <NUM>, <NUM>);
wherein the RADAR sensor (<NUM>, 102A, 102B, 102C, 102D) is positioned below the oscillating component (<NUM>, <NUM>, <NUM>) in a vertical direction such that the emitted output signal is directed upward in the vertical direction toward the oscillating component (<NUM>, <NUM>, <NUM>); and
a computing system (<NUM>) communicatively coupled to the RADAR sensor (<NUM>, 102A, 102B, 102C, 102D), the computing system (<NUM>) configured to determine a thickness of the crop material present on the oscillating component (<NUM>, <NUM>, <NUM>) based on detected echo signal.