Patent Description:
A harvester is an agricultural machine used to harvest and process crops. For instance, a forage harvester may be used to cut and comminute silage crops, such as grass and corn. Similarly, a combine harvester may be used to harvest grain crops, such as wheat, oats, rye, barely, corn, soybeans, and flax or linseed. In general, the objective is to complete several processes, which traditionally were distinct, in one pass of the machine over a particular part of the field. In this regard, most harvesters are equipped with a detachable harvesting implement, such as a header, which cuts and collects the crop from the field and feeds it to the base harvester for further processing.

The operator of the harvester typically adjusts the height of the header throughout the performance of a harvesting operation as the conditions of the field change. For example, the operator may lower the header when harvesting down or fallen crops and raise the header when harvesting standing crops. When changing the height of the header, the operator must typically adjust the fore/aft tilt angle of the header to optimize the efficiency of the harvesting operation. However, the optimal header fore/aft tilt angle varies not only based on header height, but also based the manufacturer, model, and/or type of the header. As such, it is generally difficult for the operator to accurately adjust the fore/aft tilt angle of the header, particularly when the operator already typically monitors and adjusts various other operating parameters of the harvester (e.g., the direction, speed, amount of harvested crop stored onboard, etc.).

Accordingly, an improved system and method for adjusting the orientation of a harvesting implement of an agricultural harvester would be welcomed in the technology. <CIT> describes front and rear ground sensors to control the fore/aft pitch angle of the harvesting header relative the ground by pivoting the header frame relative the feederhouse interface.

In one aspect, the present subject matter is directed to a system for adjusting the harvesting implement orientation of an agricultural harvester. The system includes a harvesting implement defining a longitudinal axis extending between a forward end of the harvesting implement and an aft end of the harvesting implement. The harvesting implement is configured to be coupled to the agricultural harvester in a manner that permits a fore/aft tilt angle defined between the longitudinal axis of the harvesting implement and a field surface to be adjusted. The system also includes a sensor configured to detect a parameter indicative of a distance between the harvesting implement and the field surface. Furthermore, the system includes a controller communicatively coupled to the sensor. The controller is configured to receive an input associated with a predetermined characteristic of the harvesting implement. The predetermined characteristic comprises at least one of a manufacturer, model, or type of the harvesting implement. The controller is also be configured to monitor the distance between the harvesting implement and the field surface based on data received from the sensor. Furthermore, the controller is configured to initiate adjustments of the fore/aft tilt angle based on the received input and the monitored distance.

In another aspect, the present subject matter is directed to a method for adjusting an orientation of a harvesting implement of an agricultural harvester. The harvesting implement defines a longitudinal axis extending between a forward end of the harvesting implement and an aft end of the harvesting implement. As such, the harvesting implement is configured to be coupled to the agricultural harvester in a manner that permits a fore/aft tilt angle defined between the longitudinal axis of the harvesting implement and a field surface to be adjusted. The method includes receiving, with a computing device, an input associated with a predetermined characteristic of the harvesting implement. The predetermined characteristic comprises at least one of a manufacturer, model, or type of the harvesting implement. The method also includes monitoring, with the computing device, a distance between the harvesting implement and the field surface. Additionally, the method includes initiating, with the computing device, adjustments of the fore/aft tilt angle based on the received input and the monitored distance.

In general, the present subject matter is directed to systems and methods for adjusting the orientation of a harvesting implement of an agricultural harvester. Specifically, in several embodiments, a controller of the disclosed system may be configured to receive an input associated with a predetermined characteristic of the harvesting implement, such as the manufacturer, model, and/or type of the implement. In one embodiment, the controller may be configured to receive the input from the operator of the harvester (e.g., via a user interface of the harvester). Alternatively, the controller may be configured to receive the input from the harvesting implement, such as via an electrical connector (e.g., based on the number of connected pins) or a radio frequency identification (RFID) tag of the implement. Furthermore, the controller may be configured to monitor the height of the harvesting implement (i.e., the distance between the harvesting implement and the field surface) based on data received from a suitable sensor. Thereafter, the controller may be configured to initiate adjustments of a fore/aft tilt angle of the harvesting implement based on the received predetermined characteristic(s) and the monitored distance. For example, as the harvesting implement is raised and lowered between maximum and minimum operational heights relative to the ground, the controller may be configured to control the operation of one or more actuators of the harvester to adjust the fore/aft tilt angle in a manner the optimizes the efficiency of the harvesting operation.

Referring now to the drawings, <FIG> illustrates a partial sectional side view of the agricultural harvester <NUM>. In general, the harvester <NUM> may be configured to travel across a field in a forward direction of travel (e.g., as indicated by arrow <NUM>) to harvest a crop <NUM>. While traversing the field, the harvester <NUM> may be configured to process and store the harvested crop within a crop tank <NUM> of the harvester <NUM>. Furthermore, the harvested crop may be unloaded from the crop tank <NUM> for receipt by the crop receiving vehicle (not shown) via a crop discharge tube <NUM> of the harvester <NUM>.

As shown, in one embodiment, the harvester <NUM> may be configured as an axial-flow type combine in which the harvested crop is threshed and separated while being advanced by and along a longitudinally arranged rotor <NUM>. However, it should be appreciated that, in alternative embodiments, the harvester <NUM> may have any other suitable harvester configuration, such as a traverse-flow type configuration.

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, ground-engaging front wheels <NUM> and a pair of steerable rear wheels <NUM> that are coupled to the frame <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 the crop discharge tube <NUM> that are supported by the frame <NUM>. As will be described below, the crop processing system <NUM> may be configured to perform various processing operations on the harvested crop as the crop processing system <NUM> operates to transfer the harvested crop between a harvesting implement of the harvester <NUM>, such as a header <NUM>, and the crop tank <NUM>. Furthermore, the harvester <NUM> may include an engine <NUM> and a transmission <NUM> mounted on the frame <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).

Moreover, as shown in <FIG>, the header <NUM> and an associated feeder <NUM> of the crop processing system <NUM> may extend forward of the frame <NUM> and may be pivotally secured thereto for generally vertical movement. In general, the feeder <NUM> may be configured to serve as support structure for the header <NUM>. As shown in <FIG>, the feeder <NUM> may extend between a front end <NUM> coupled to the header <NUM> and a rear end <NUM> positioned adjacent to a threshing and separating assembly <NUM> of the crop processing system <NUM>. As is generally understood, the rear end <NUM> of the feeder <NUM> may be pivotally coupled to a portion of the harvester <NUM> to allow the front end <NUM> of the feeder <NUM> and, thus, the header <NUM> to be moved upward and downward along a vertical direction (e.g., as indicated by arrow <NUM> in <FIG>) relative to the field surface to set the desired harvesting or cutting height for the header <NUM>. For example, as shown, in one embodiment, the harvester <NUM> may include a height actuator <NUM> configured to adjust the height of the header <NUM> relative to the ground. As such, the height actuator <NUM> may correspond to a fluid-driven actuator, such as a hydraulic or pneumatic cylinder, an electric linear actuator, or any other type of suitable actuator.

As the harvester <NUM> is propelled forwardly over the field with the crop <NUM>, the crop material is severed from the stubble by one or more knives (not shown) at the front of the header <NUM> and delivered by a header auger <NUM> to the front end <NUM> of the feeder <NUM>, which supplies the harvested crop 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 received therein. That is, the harvested crop is rubbed and beaten between the rotor <NUM> and the inner surfaces of the chamber <NUM>, whereby the grain, seed, or the like, is loosened and separated from the straw.

The harvested crop that has been separated by the threshing and separating assembly <NUM> may fall onto a crop cleaning assembly <NUM> of the crop processing system <NUM>. In general, the crop cleaning assembly <NUM> may include a series of pans <NUM> and associated sieves <NUM>. As is generally understood, the separated harvested crop may be spread out via oscillation of the pans <NUM> and/or sieves <NUM> and may eventually fall through apertures defined in the sieves <NUM>. Additionally, a cleaning fan <NUM> may be positioned adjacent to one or more of the sieves <NUM> to provide an air flow through the sieves <NUM> that remove chaff and other impurities from the harvested crop. For instance, the fan <NUM> may blow the impurities off of the harvested crop for discharge from the harvester <NUM> through the outlet of a straw hood <NUM> positioned at the back end of the harvester <NUM>. The cleaned harvested crop passing through the sieves <NUM> may then fall into a trough of an auger <NUM>, which may be configured to transfer the harvested crop to an elevator <NUM> for delivery to the crop tank <NUM>.

Referring now to <FIG>, a side view of one embodiment of the header <NUM> is illustrated in accordance with aspects of the present subject matter. As shown, the header <NUM> may define a longitudinal axis (e.g., as indicated dashed line <NUM> in <FIG>) extending between a forward end <NUM> of the header <NUM> and a rear end <NUM> of the header <NUM>. Furthermore, the rear end <NUM> of the header <NUM> may be pivotally coupled to the forward end <NUM> of the feeder <NUM> to allow a fore/aft tilt angle (e.g., as indicated by arrow <NUM> in <FIG>) of the header <NUM> to be adjusted. As used herein, the "fore/aft tilt angle" is the angle defined between the longitudinal axis <NUM> of the header <NUM> and the field surface (e.g., as indicated by line <NUM> in <FIG>). As such, in one embodiment, the harvester <NUM> may include a tilt actuator <NUM> configured to adjust the fore/aft tilt angle <NUM> of the header <NUM> by pivoting the header <NUM> relative to the feeder <NUM>. For example, the tilt actuator <NUM> may correspond to a fluid-driven actuator, such as a hydraulic or pneumatic cylinder, an electric linear actuator, or any other type of suitable actuator.

Furthermore, a height sensor <NUM> may be provided in operative association with the header <NUM>. As indicated above, the header <NUM> may be moved upward and downward along the vertical direction <NUM> relative to the field surface <NUM> to set the desired harvesting or cutting height. In several embodiments, the height sensor <NUM> may be configured to detect a parameter indicative of the distance (e.g., as indicated by arrow <NUM> in <FIG>) between the header <NUM> (e.g., a bottom <NUM> of the header <NUM>) and the field surface <NUM>. In one embodiment, the height sensor <NUM> may be configured as a contact-based sensor. For example, in such embodiment, the height sensor <NUM> include a rotary sensor <NUM> (e.g., a rotary potentiometer or a magnetic rotary sensor) coupled to the header <NUM> and a sensor arm <NUM> having a first end <NUM> pivotally coupled to the rotary sensor <NUM> and an opposed second end <NUM> configured to engage the field surface <NUM>. As such, when the height <NUM> of the header <NUM> is adjusted, the sensor arm <NUM> may pivot relative to the rotary sensor <NUM>. The rotary sensor <NUM> may, in turn, detect the pivotal motion of the sensor arm <NUM>, with such pivotal movement being indicative of the header height. However, in alternative embodiments, the height sensor <NUM> may correspond to any other suitable sensor or sensing device configured to detect the height <NUM> of the header <NUM> relative to the field surface <NUM>. For instance, the height sensor <NUM> may correspond to a non-contact-based sensor, such as an ultrasonic sensor, a RADAR-based sensor, or a proximity sensor.

Additionally, a fore/aft tilt angle sensor <NUM> may be provided in operative association with the header <NUM>. Specifically, in several embodiments, the angle sensor <NUM> may be configured to detect a parameter indicative of the fore/aft tilt angle <NUM> defined between the longitudinal axis <NUM> of the header <NUM> and the field surface <NUM>. For example, in one embodiment, the height sensor <NUM> may be configured as a rotary sensor, such as a rotary potentiometer or a magnetic rotary sensor. However, in alternative embodiments, the angle sensor <NUM> may be configured as any other suitable sensor or sensing device configured to detect the fore/aft tilt angle <NUM> of the header <NUM>.

It should be further be appreciated that 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, it should be appreciated that the present subject matter may be readily adaptable to any manner of harvester configuration.

Referring now to <FIG>, a perspective view of one embodiment of a system <NUM> for adjusting an orientation of a harvesting implement of 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> and <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> may also include a user interface <NUM>. More specifically, the user interface <NUM> may be configured to receive one or more inputs from the operator of the harvester <NUM>. As such, the user interface <NUM> may include one or more input devices (not shown), such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive user inputs from the operator. In addition, some embodiments of the user interface <NUM> may include one or more feedback devices (not shown), such as display screens, speakers, warning lights, and/or the like, which are configured to communicate feedback from the system <NUM> to the harvester <NUM>. In one embodiment, the user interface <NUM> may be positioned within the operator's cab <NUM> of the harvester <NUM>. However, in alternative embodiments, the user interface <NUM> may have any suitable configuration and/or be positioned in any other suitable location.

In accordance with aspects of the present subject matter, the system <NUM> may include a controller <NUM> positioned on and/or within or otherwise associated with the harvester <NUM>. In general, the controller <NUM> may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, in several embodiments, the controller <NUM> may include one or more processor(s) <NUM> and associated memory device(s) <NUM> configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) <NUM> of the controller <NUM> may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory (RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disc, a compact disc-read only memory (CD-ROM), a magneto-optical disc (MOD), a digital versatile disc (DVD), and/or other suitable memory elements. Such memory device(s) <NUM> may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) <NUM>, configure the controller <NUM> to perform various computer-implemented functions.

In addition, the controller <NUM> may also include various other suitable components, such as a communications circuit or module, a network interface, one or more input/output channels, a data/control bus and/or the like, to allow controller <NUM> to be communicatively coupled to any of the various other system components described herein (e.g., the height actuator <NUM>, the tilt actuator <NUM>, the height sensor <NUM>, and/or the user interface <NUM>). For instance, as shown in <FIG>, a communicative link or interface <NUM> (e.g., a data bus) may be provided between the controller <NUM> and the components <NUM>, <NUM>, <NUM>, <NUM> to allow the controller <NUM> to communicate with such components <NUM>, <NUM>, <NUM>, <NUM> via any suitable communications protocol (e.g., CANBUS).

Furthermore, in one embodiment, the system <NUM> may include a header input device <NUM> installed on or otherwise provided in association with the header <NUM>. Specifically, in several embodiments, the header input device <NUM> may be configured to provide an input associated with one or predetermined characteristics of the header <NUM>. As used herein, the predetermined characteristic(s) may be any suitable predetermined characteristic(s) or parameter(s) of the header <NUM> upon which adjustments to the fore/aft tilt angle <NUM> may be based. For example, such predetermined characteristics may include the manufacturer of the header <NUM>, the model of the header <NUM>, the type of the header <NUM> (e.g., maize/corn header, grain header, draper header, pick-up header, etc.), and/or the like. Additionally, as will be described below, in some embodiments, the controller <NUM> may be configured to receive the input associated with the predetermined characteristic(s) of the header <NUM> from the operator (e.g., via the user interface <NUM>) in addition to or in lieu the header input device <NUM>.

It should be appreciated that the header input device <NUM> may be any suitable device that, when communicatively coupled to the controller <NUM> (e.g., by a communicative link or interface <NUM>), provides an input associated with one or predetermined characteristics of the header <NUM>. For example, in one embodiment, the header input device <NUM> may correspond to an electrical connector of the header <NUM> having one or more pins, with the number and/or configuration of pins being indicative of the predetermined characteristic(s). In such embodiment, when the header connector mates with or otherwise engages a corresponding connector (not shown) on the harvester <NUM> that is communicatively coupled to the controller <NUM>, the controller <NUM> may be configured to determine the predetermined characteristic(s) based on the number and/or configuration of pins of the header connector that are received by the harvester connector. In another embodiment, the header input device <NUM> may be configured as a radio frequency identification (RFID) tag installed or otherwise positioned on the header <NUM>, with the predetermined characteristic(s) stored on the RFID tag. In such embodiment, when the header <NUM> is coupled to the feeder <NUM>, the RFID tag may be positioned adjacent an associated RFID reader (not shown) on the feeder <NUM>. The RFID reader may, in turn, "read" the RFID tag on the header <NUM> and transmit the stored predetermined characteristic(s) to the controller <NUM>. However, in alternative embodiments, the header input device <NUM> may have any other suitable configuration. Additionally, in a further embodiment, the header input device <NUM> may be configured as a controller of the header <NUM> that is separate from the controller <NUM>. In such embodiment, when the header controller is communicatively coupled to the controller <NUM> (e.g., via the communicative link <NUM>), the header controller may be configured to transmit data associated with the predetermined characteristic(s) to the controller <NUM>. In general, the header controller may comprise any suitable processor-based device known in the art, such as a computing device or any suitable combination of computing devices. Thus, the header controller may include one or more processor(s) and associated memory device(s) configured to perform a variety of computer-implemented functions. Such memory device(s) may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s), configure the header controller to perform various computer-implemented functions, such as transmitting data associated with the predetermined characteristic(s) to the controller <NUM>.

In several embodiments, the controller <NUM> may be configured to receive an input associated with one or more predetermined characteristics of the header <NUM>, such as the manufacturer, model, and/or type of the header <NUM>. For example, in one embodiment, the controller <NUM> may be configured to receive the input from the operator. In such embodiment, the operator of the harvester <NUM> may provide the predetermined characteristic(s) into the user interface <NUM>, such as via the one or more input devices. The predetermined characteristic(s) may, in turn, be transmitted to the controller <NUM> via the communicative link <NUM>. Alternatively, the controller <NUM> may be configured to receive the input from the header input device <NUM>. As mentioned above, in one embodiment, the header input device <NUM> may be configured as an electrical connector of the header <NUM>. In such embodiment, when installing or otherwise coupling the header <NUM> to the feeder <NUM> of the harvester <NUM>, the operator may connect the header electrical connector to a corresponding electrical connector on the harvester <NUM>. As such, the controller <NUM> may determine the predetermined characteristic(s) based on the number and/or configuration of pins of the header electrical connector. Furthermore, as mentioned above, in another embodiment, the header input device <NUM> to may be configured as an RFID tag. In such embodiment, an associated RFID reader may "read" the RFID tag to determine the predetermined characteristic(s). The predetermined characteristic(s) may, in turn, be transmitted to the controller <NUM> via the communicative link <NUM>. Additionally, as mentioned above, the header input device <NUM> may be configured as a separate controller of the header <NUM>. In such embodiment, the header controller may be communicatively coupled to the controller <NUM> (e.g., via the communicative link <NUM>) such that the predetermined characteristic(s) may, in turn, be transmitted from the header controller to the controller <NUM>. However, it should be appreciated that the controller may be configured to receive the input associated with the predetermined characteristic(s) to any other suitable manner.

Furthermore, in several embodiments, the controller <NUM> may be configured to access a header orientation data set based on the received predetermined characteristic(s) of the header <NUM>. In general, the header orientation data set may, for one or more given operational heights or positions of the header <NUM>, provide a corresponding fore/aft tilt angle of the header <NUM>. As indicated above, the optimal or desired fore/aft tilt angle of the header <NUM> varies based on the manufacturer, model, type, and/or other predetermined characteristics of the header <NUM> in addition to the height of the header <NUM> (e.g., the distance <NUM> between the header <NUM> and the field surface <NUM>). As such, in one embodiment, various header orientation data sets may be stored in the memory <NUM> of the controller <NUM>, with each data set corresponding to a particular manufacturer, model, type, or combination thereof. In this regard, upon receipt of the predetermined characteristic(s) of the header <NUM>, the controller <NUM> may be configured to retrieve or otherwise access the appropriate header orientation data set stored within its memory <NUM> for use during a harvesting operation. However, in alternative embodiments, the appropriate header orientation data set may be stored within a memory device (not shown) of the header input device <NUM> (e.g., within an RFID tag). In such embodiments, the appropriate header orientation data set may be part of or incorporated with the predetermined characteristic(s) received from the header input device <NUM>.

Additionally, the controller <NUM> may be configured to access the header orientation data set based on one or more field conditions. More specifically, in several embodiments, a plurality of harvester orientation data sets for each manufacturer, model, type, or combination thereof may be stored within the memory <NUM> of the controller <NUM>, with each data set corresponding to a particular field condition, such as moisture content. For example, in one embodiment, a first header orientation data set for dry field conditions and a second header orientation data set for wet field conditions may be stored in the memory <NUM> for each manufacturer, model, type, or combination thereof. In such embodiment, the controller <NUM> may be configured to receive an input indicative of the moisture content of the field, such as from the user interface <NUM> or a moisture sensor (not shown). Thereafter, the controller <NUM> may be configured to retrieve or otherwise access the appropriate or orientation data set stored within its memory <NUM> for use during a harvesting operation based on the received predetermined characteristic(s) and soil moisture inputs. However, in alternative embodiments, the field condition(s) may correspond to any other suitable field condition, such as soil type, trash content, weed coverage, and/or the like.

It should be appreciated that each header orientation data set may correspond to any suitable data structure. In several embodiments, each header orientation data set may be configured as a suitable look-up table. For example, each look-up table may include a first column containing a minimum predetermined operational header height, a maximum predetermined operational header height, and one or more intermediate header heights between the minimum and maximum predetermined operational header heights. In general, the minimum and maximum operational heights may correspond to the minimum and maximum distances <NUM> between the header <NUM> and the field surface <NUM> at which the header <NUM> may be configured to cut and ingest the crop <NUM>, respectively. Furthermore, each look-up table may include a second column containing a plurality of fore/aft tilt angles, with each fore/aft tilt angle corresponding to one of the header heights. However, in alternative embodiments, each header orientation data set may correspond to a graph, chart, map, and/or any other suitable type of data structure.

In certain instances, the operator may wish to set different minimum and/or maximum operational header heights than the predetermined minimum and/or maximum operational header heights of the accessed header orientation data sets. As such, in one embodiment, the operator may provide desired minimum and/or maximum operational header heights to the user interface <NUM>, such as via the one or more input devices. The desired minimum and/or maximum operational header heights may, in turn, be transmitted to the controller <NUM> via the communicative link <NUM>. Upon receipt of the desired minimum and/or maximum operational header heights, the controller <NUM> may be configured to update or modify the accessed header orientation data set. For example, when the desired minimum height is greater than the predetermined minimum height and/or the desired maximum height is less than predetermined maximum height, the controller <NUM> may be configured to ignore the portions of the data set less than the desired minimum heights and/or greater than the desired maximum heights. Conversely, when the desired minimum height is less than the predetermined minimum height and/or the desired maximum height is greater than predetermined maximum height, the controller <NUM> may be configured to determine fore/aft tilt angles corresponding to the desired minimum and/or maximum heights. Additionally, in such instances, the controller <NUM> may be configured to determine the fore/aft tilt angles for additional header heights between the desired and predetermined minimum heights and/or between the desired and predetermined maximum heights. For example, the controller <NUM> may include one or more suitable algorithms stored within its memory <NUM> that, when executed, configure the controller <NUM> to determine the additional header heights and the corresponding fore/aft tilt angles.

In several embodiments, the controller <NUM> may be configured to control the height of the header <NUM> based on an input received from the operator. As indicated above, the operator of the harvester <NUM> may adjust the height of the header <NUM> (i.e., the distance <NUM> between the header <NUM> and the field surface <NUM>) during a harvesting operation based on field conditions. For example, when the harvester <NUM> encounters down or fallen crops, the operator typically lowers the height of the header <NUM> to improve harvesting efficiency. Conversely when the harvester <NUM> encounters standing crops, the operator typically raises the height of the header <NUM> to reduce the amount of the field trash ingested by the harvester <NUM>. In this regard, as the harvester <NUM> is traveling across the field while performing a harvesting operation, the operator may provide an input to raise and/or lower the header <NUM> to the user interface <NUM>, such as via the one or more input devices. The raise/lower input may, in turn, be transmitted to the controller <NUM> via the communicative link <NUM>. Thereafter, the controller <NUM> may be configured to control the operation of the height actuator <NUM> (e.g., by extending and/or retracting a rod of the actuator <NUM>) such that the header <NUM> such that the header <NUM> is raised and/or lowered.

Moreover, in several embodiments, the controller <NUM> may be configured to monitor the height of the header <NUM> relative to the field surface <NUM>. Specifically, as the harvester <NUM> is moved across the field to perform a harvesting operation, the controller <NUM> may be configured to receive the sensor data from the height sensor <NUM> (e.g., via the communicative link <NUM>). Thereafter, the controller <NUM> may be configured to process/analyze the sensor data to determine or estimate the distance <NUM> between the header <NUM> and the field surface <NUM> (i.e., the height of the header <NUM>). For instance, the controller <NUM> may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory <NUM> that correlates the received sensor data to the distance <NUM>.

Furthermore, in several embodiments, the controller <NUM> may be configured to monitor the fore/aft tilt angle of the header <NUM> relative to the field surface <NUM>. Specifically, as the harvester <NUM> is moved across the field to perform a harvesting operation, the controller <NUM> may be configured to receive the sensor data from the angle sensor <NUM> (e.g., via the communicative link <NUM>). Thereafter, the controller <NUM> may be configured to process/analyze the sensor data to determine or estimate the fore/aft tilt angle <NUM> defined between the longitudinal axis <NUM> of the header <NUM> and the field surface <NUM>. For instance, the controller <NUM> may include a look-up table(s), suitable mathematical formula, and/or algorithms stored within its memory <NUM> that correlates the received sensor data to the fore/aft tilt angle <NUM>.

In accordance with aspects of the present subject matter, the controller <NUM> may be configured to automatically initiate adjustments of the fore/aft tilt angle of the header <NUM>. As indicated above, the controller <NUM> may be configured to monitor the height and/or fore/aft tilt angle of the header <NUM> during the harvesting operation. In this regard, as the harvester <NUM> travels across the field, the controller <NUM> may be configured to determine a desired fore/aft tilt angle for the header <NUM> based on the monitored header height. For instance, in one embodiment, the controller <NUM> may be configured to retrieve the fore/aft tilt angle from the accessed header orientation data set that corresponds to the monitored height of the header <NUM>. Thereafter, when the monitored fore/aft tilt angle differs from the desired fore/aft tilt angle (thereby indicating that the monitored fore/aft tilt angle is too high or too low), the controller <NUM> may be configured to control the operation of the tilt actuator <NUM> in a manner that adjusts the fore/aft tilt angle of the header <NUM> (e.g., by extending and/or retracting a rod of the actuator <NUM>) such that the monitored fore/aft tilt angle corresponds to a desired fore/aft tilt angle.

<FIG> illustrates a graphical view of an example header orientation data set charting the fore/aft tilt angle of the header <NUM> based on the height of the header <NUM>. As shown, the data set includes a first header position (e.g., as indicated by data point <NUM> in <FIG>) corresponding to a minimum header height and a minimum fore/aft tilt angle. Furthermore, the data set includes a second header position (e.g., as indicated by data point <NUM> in <FIG>) corresponding to a maximum header height and a maximum fore/aft tilt angle. In this regard, as the header <NUM> is moved from a given header position (e.g., as indicated by data point <NUM> in <FIG>) toward the first header position <NUM> (i.e., the header <NUM> is lowered), the controller <NUM> may be configured to control the operation of the tilt actuator <NUM> in a manner that decreases the fore/aft tilt angle of the header <NUM>. Conversely, as the header <NUM> is moved from the given header position <NUM> toward the second header position <NUM> (i.e., the header is raised), the controller <NUM> may be configured to control the operation of the tilt actuator <NUM> in a manner that increases the fore/aft tilt angle of the header <NUM>. However, in alternative embodiments, the fore/aft tilt angle may be increased as the header is lowered and decreased as the header is raised.

It should be appreciated that, when the controller <NUM> is configured to initiate adjustments of the fore/aft tilt angle of the header <NUM> based on the monitored header height, it may be desirable for the controller <NUM> to apply certain thresholds or control rules when initiating such adjustments. For instance, when the change in fore/aft tilt angle of the header <NUM> (e.g., the difference between the desired fore/aft tilt angle and the monitored fore/aft tilt angle) is below a predetermined threshold, the controller <NUM> may be configured to not make any adjustments. Similarly, if the change in height of the header <NUM> (e.g., the difference between subsequent header height measurements) is below a predetermined threshold, the controller <NUM> may be configured to not make any adjustments.

Referring now to <FIG>, a flow diagram of one embodiment of a method <NUM> for adjusting an orientation of a harvesting implement of 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 by any agricultural harvester having any other suitable harvester configuration and/or any system having any other 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> may include receiving, with a computing device, an input associated with a predetermined characteristic of a harvesting implement of an agricultural harvester. For instance, as described above, the controller <NUM> may be configured to receive an input associated with one or more predetermined characteristics of the header <NUM>, such as the manufacturer, model, and/or type of the header <NUM>, from a user interface <NUM> and/or a header input device <NUM>.

Additionally, at (<NUM>), the method <NUM> may include monitoring, with the computing device, a distance between the harvesting implement and a field surface. For instance, as described above, the controller <NUM> may be communicatively coupled to the height sensor <NUM> via the communicative link <NUM>. As such, when the harvester <NUM> travels across the field, the controller <NUM> may be configured to receive sensor data from the height sensor <NUM>. Thereafter, the controller <NUM> may be configured to determine or estimate height of the header <NUM> based on the received sensor data.

Moreover, as shown in <FIG>, at (<NUM>), the method <NUM> may include initiating, with the computing device, adjustments of a fore/aft tilt angle of the harvesting implement based on the received input and the monitored distance. For instance, as described above, the controller <NUM> may be communicatively coupled to the tilt actuator <NUM> via the communicative link <NUM>. As such, the controller <NUM> may be configured to initiate adjustments of a fore/aft tilt angle of the header <NUM> by controlling the operation of the tilt actuator <NUM> based on the received input and the monitored distance.

It is to be understood that the steps of the method <NUM> are performed by the controller <NUM> upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disc, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the controller <NUM> described herein, such as the method <NUM>, is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The controller <NUM> loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the controller <NUM>, the controller <NUM> may perform any of the functionality of the controller <NUM> described herein, including any steps of the method <NUM> described herein.

Claim 1:
An agricultural harvester (<NUM>) comprising a harvesting implement (<NUM>) and a system (<NUM>) for adjusting the harvesting implement orientation, the harvesting implement (<NUM>) defining a longitudinal axis (<NUM>) extending between a forward end (<NUM>) of the harvesting implement (<NUM>) and an aft end (<NUM>) of the harvesting implement (<NUM>), the harvesting implement (<NUM>) configured to be coupled to the agricultural harvester (<NUM>) in a manner that permits a fore/aft tilt angle, defined between the longitudinal axis (<NUM>) of the harvesting implement (<NUM>) and a field surface, to be adjusted, the system (<NUM>) further comprising a sensor (<NUM>) configured to detect a parameter indicative of a distance between the harvesting implement (<NUM>) and the field surface and a controller (<NUM>) communicatively coupled to the sensor (<NUM>), the controller being configured to monitor the distance between the harvesting implement (<NUM>) and the field surface based on data received from the sensor (<NUM>), the system (<NUM>) characterized by the controller (<NUM>) being configured to:
receive an input associated with a predetermined characteristic of the harvesting implement (<NUM>) wherein the predetermined characteristic comprises at least one of a manufacturer, model, or type of the harvesting implement (<NUM>); and
initiate adjustments of the fore/aft tilt angle based on the received input and the monitored distance.