Patent Description:
A harvester is used to harvest crops, such as barley, beans, beets, carrots, corn, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plant crops. The harvester may include or be coupled to a header, which may be designed to efficiently harvest certain types of crops. For example, a corn header is designed to efficiently harvest corn. The corn header may include row units that include components that operate to separate ears of corn from stalks as the harvester travels through a field. Conveyors (e.g., augers) carry the ears of corn toward processing machinery and/or storage compartments of the harvester, while the stalks are deposited back into the field.

For example, European patent application <CIT> discloses a harvester with a header including a plurality of row units, a plurality of feed/snapping units, and a plurality of chopping units. Each feed/snapping unit is associated with a respective said row unit and operable at a first operating speed. Each chopping unit is associated with at least one respective feed/snapping unit and operable at a constant second operating speed, independent of the first operating speed.

The process of farming typically begins with planting seeds within a field. Over time, the seeds grow and eventually become harvestable crops. Typically, only a portion of each crop is commercially valuable, so each crop is harvested to separate the usable material from the remainder of the crop. For example, a harvester may include or be coupled to a header to harvest crops within the field. The header may be a corn header that is designed to efficiently harvest corn within the field. The corn header may include multiple row units arranged across a width of the corn header, and each row unit may include deck plates, stalk rollers, other component(s), or a combination thereof, that operate to separate ears of corn from stalks and materials other than grain (MOG) as the harvester travels through the field. Conveyors (e.g., augers) carry the ears of corn into the harvester (e.g., a chassis of the harvester), such as toward processing machinery and/or storage compartments of the harvester, for further processing.

The corn header may also process the MOG to discharge the MOG back onto the field. For example, the corn header may reduce the MOG into finer particles and distribute the particles of the MOG across the field. Such processing of the MOG may facilitate subsequent cleanup of the MOG during preparation of further harvesting operations. Unfortunately, it may be difficult to operate the agricultural system to process the MOG in a desirable manner. For example, in existing approaches, a user (e.g., an operator) may manually monitor processing of the MOG to adjust operation of the agricultural system. However, such responsibilities may be tedious and/or challenging to fulfill in addition to performing other tasks associated with operating the agricultural system. As a result, the agricultural system may process the MOG in an undesirable manner.

Thus, it is presently recognized that automatically adjusting operation of the agricultural system to process the MOG may improve the property of the MOG discharged onto the field, while limiting resource consumption associated with processing the MOG. Accordingly, the present embodiments relate generally to systems and methods for automatically determining characteristic(s) of the MOG and adjusting operation of the agricultural system based on the characteristic(s). The agricultural system may include or be communicatively coupled to a control system configured to determine a characteristic of the MOG and control operation of the agricultural system accordingly. As an example, the characteristic of the MOG may include a size of the MOG discharged from the agricultural system. In response to the size of the MOG being above a threshold value, the control system may output the control signal to improve cutting of the MOG and further reduce the size of the MOG prior to discharge.

With the foregoing in mind, <FIG> is a side view of an embodiment of an agricultural system <NUM>, which is a harvester. The agricultural system <NUM> includes a chassis <NUM> configured to support a header <NUM> (e.g., a corn header) and an agricultural crop processing system <NUM>. The header <NUM> is configured to receive crops (e.g., corn) from a field and to transport the crops toward an inlet <NUM> of the agricultural crop processing system <NUM> for further processing of the crops. The header <NUM> may also separate desirable crop material from MOG (e.g., stems, leaves, stalks, husks, pods, other crop residue). The agricultural crop processing system <NUM> receives the crops from the header <NUM> for further processing. For example, the agricultural crop processing system <NUM> includes a thresher <NUM> having a cylindrical threshing rotor that transports the crops in a helical flow path through the agricultural system <NUM>. In addition to transporting the crops, the thresher <NUM> further separates certain desirable crop material (e.g., corn) from the MOG and enables the desirable crop material to flow into a cleaning system <NUM> (e.g., including sieves) located beneath the thresher <NUM>. The cleaning system <NUM> removes debris from the desirable crop material and transport the desirable crop material to a storage tank <NUM> within the agricultural system <NUM>. When the storage tank <NUM> is full, a tractor with a trailer may be positioned alongside the agricultural system <NUM>. The desirable crop material collected in the storage tank <NUM> may be transported by an elevator to an unloader <NUM> and delivered from the unloader <NUM> into the trailer.

The header <NUM> may directly distribute/discharge the MOG to the field to avoid entry of the MOG into certain parts of the chassis <NUM>, such as the agricultural crop processing system <NUM>. In some embodiments, the agricultural system <NUM> includes a MOG handling system <NUM> that receives any MOG (e.g., the MOG directed by the thresher <NUM>) that is not directly discharged from the header <NUM>, and the MOG handling system <NUM> transports the MOG to a MOG spreading system <NUM> positioned at an aft end of the agricultural system <NUM>. The MOG spreading system <NUM> distributes the MOG onto the field to facilitate performance of other operations. Distribution of the MOG onto the field facilitates a subsequent operation that removes, chops, buries, or otherwise processes the MOG for subsequent preparation of the field. To facilitate discussion herein, the header <NUM> is described with reference to a lateral axis or direction <NUM>, a longitudinal axis or direction <NUM>, and a vertical axis or direction <NUM>.

The agricultural system <NUM> also includes a control system <NUM> (e.g., an automation controller, an electronic controller, a programmable controller, a cloud computing system, control circuitry) with a processor <NUM> (e.g., processing circuitry) and memory <NUM>. The processor <NUM> is used to execute software code or instructions stored on the memory <NUM>, such as to process signals, control the agricultural system, and/or control the header <NUM>. The term "code" or "software code" used herein refers to any instructions or set of instructions that control the operation of the control system <NUM>. The code or software code exists in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by the processor <NUM> of the control system <NUM>, humanunderstandable form, such as source code, which is compiled in order to be executed by the processor <NUM> of the control system <NUM>, or an intermediate form, such as object code, which is produced by a compiler.

As an example, the memory <NUM> may store processor-executable software code or instructions (e.g., firmware or software), which are tangibly stored on a non-transitory computer readable medium. Additionally or alternatively, the memory may store data. As an example, the memory <NUM> may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM), flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. Furthermore, the processor <NUM> may include multiple microprocessors, one or more "general-purpose" microprocessors, one or more specialpurpose microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof. For example, the processor <NUM> may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors. The processor <NUM> may include multiple processors, and/or the memory <NUM> may include multiple memory devices. The processor <NUM> and/or the memory <NUM> may be located in any suitable portion of the agricultural system <NUM> (e.g., a cab of the agricultural system <NUM> and/or on the header <NUM>). Further, the control system may be a distributed controller with the multiple processors and/or the multiple memory devices in separate housings or locations (e.g., in the agricultural system, in the header, in a remote location, in the cloud).

The control system <NUM> is communicatively coupled to the MOG spreading system <NUM> and to the header <NUM>. Thus, the control system <NUM> is configured to operate the MOG spreading system <NUM> and/or the header <NUM> to control processing of the MOG. As an example, the control system <NUM> is configured to output a control signal to adjust operation of the MOG spreading system <NUM> to control distribution of the MOG discharged by the agricultural system <NUM> onto the field. For instance, the MOG spreading system <NUM> may include a blower, a conveyor, a spreader, any other suitable component(s), or a combination thereof, and the control system <NUM> is configured to output the control signal to adjust an operation of the MOG spreading system <NUM> to adjust distribution of the MOG (e.g., to increase an operating speed of the MOG spreading system <NUM>, such as a spreader or blower of the MOG spreading system <NUM>, to increase distribution of the MOG). As another example, the control system <NUM> may output a control signal to adjust operation of the header <NUM> to adjust the size of the MOG output by the header <NUM> (e.g., for direct discharge onto the field). For instance, as discussed herein, the header <NUM> may include blades that chop the MOG into finer particles, and the control system <NUM> may output the control signal to adjust operation of the blades to adjust the size of the particles of the MOG (e.g., to reduce the MOG into smaller particles).

In some embodiments, the control system <NUM> is configured to output the control signal to adjust the operation of the MOG spreading system <NUM> and/or of the header <NUM> automatically. To this end, the control system <NUM> is communicatively coupled to one or more sensors <NUM> configured to monitor one or more characteristics of the MOG. By way of example, the control system <NUM> uses sensor data output by the sensor(s) <NUM> to determine one or more characteristics of the MOG, including a size of the MOG (e.g., MOG processed by the header <NUM>), a distribution of the MOG on the field, other suitable characteristic(s), or any combination thereof. For instance, the sensor(s) <NUM> may include optical sensor(s) (e.g., camera(s)), radar sensor(s), lidar sensor(s), terahertz sensor(s), other suitable type(s) of sensor(s), or a combination thereof, and the sensor(s) <NUM> may be positioned underneath the chassis <NUM>, behind the chassis <NUM> (e.g., adjacent to the MOG spreading system <NUM>), otherwise oriented to face the field to facilitate determination of characteristic(s) of the MOG, or a combination thereof. The sensor(s) <NUM> are configured to output sensor data indicative of the monitored characteristic(s) to the control system <NUM>, and the control system <NUM> operates based on the received sensor data. For example, the control system <NUM> is configured to output a control signal to adjust operation of the MOG spreading system <NUM> and/or of the header <NUM> in response to determining at least one characteristic determined based on the sensor data is outside of a range of values. In additional or alternative embodiments, the control system may output the control signal in response to receipt of a user input. For example, the agricultural system may include a user interface (e.g., disposed in a cab), which may include a touchscreen, a dial, a lever, a switch, a button, a trackpad, a mouse, and the like, and the control system may receive the user input based on an interaction between a user (e.g., an operator) and the user interface. The user input may, for instance, include a request for directly adjusting operation of the MOG spreading system and/or of the header (e.g., regardless of the characteristic(s) of the MOG monitored by the sensor(s)). The control system may also be configured to output a control signal to adjust operation of another element of the agricultural system. For example, the control signal may be indicative of instructions to provide a notification (e.g., a visual output, an audio output, a communication transmitted to a mobile device) that may prompt a user to manually adjust and/or inspect operation of the agricultural system.

In certain embodiments, the sensor(s) may monitor characteristic(s) of upcoming crops to be harvested by the agricultural system. Thus, the control system may receive information regarding the MOG that is still intact and attached to the field (e.g., the soil), such as of crops that are upstream of the agricultural system relative to a direction of travel of the agricultural system. As such, the control system may adjust operation in anticipation of processing the upcoming MOG to improve size reduction and/or distribution of the MOG. That is, the control system may dynamically adjust operations to process the MOG in a more suitable manner based on the detected characteristic(s) of the upcoming MOG.

In further embodiments, the sensor(s) may monitor positioning of the MOG with respect to the agricultural system to determine whether there are congestions or blockages of the MOG, such as the MOG being processed or already processed by the header. Such congestions may indicate undesirable operation of the agricultural system. For example, a congestion at the header may indicate an insufficient speed of operation of a roller of the header to reduce the size of the MOG and to discharge the MOG onto the field. A congestion at the MOG spreading system may indicate an insufficient speed of operation of a spreader of the MOG spreading system to output the MOG and/or an insufficient speed of operation of the roller of the header or other component to deliver the MOG to the MOG spreading system for discharge from the agricultural system. The sensor(s) may output sensor data indicative of a detected congestion, including a location of the detected congestion, to the control system, and the control system may output the control signal based on the detected congestion. For instance, the control signal may adjust operation of the header and/or of the MOG spreading system to reduce congestion and improve MOG processing operations. Additionally or alternatively, the control signal may adjust operation of another component of the agricultural system to reduce congestion. By way of example, discharged MOG that is inadequately distributed on the field may be lodged between the field and the agricultural system (e.g., an underside of the chassis) to affect (e.g., obstruct) navigation by the agricultural system. The control system may detect such a congestion based on the sensor data, and the control system may output the control signal to adjust operation of an air mover <NUM> (e.g., a fan, a blower) to output air that causes movement of the MOG about the field (e.g., underneath the chassis) and reduce the congestion.

Further still, the control system may adjust a travel speed (e.g., ground speed) of the agricultural system based on the received sensor data. For example, increased travel speed may cause the engagement between the header (e.g., the row units) and the crops to increase bending of the stalks of the crops before cutting the stalks for intake of the crops. Increased bending of the stalk prior to cutting may cause a relatively taller stalk to remain in the soil. The relatively taller stalk may hinder subsequent operations to process the MOG on the field and/or otherwise affect operations to prepare the field for additional harvesting operations.

It should be noted that the operation of the agricultural system <NUM> effectuated by the control system <NUM> may enable the agricultural system <NUM> to process the MOG in a desirable manner without causing excessive resource consumption (e.g., of fuel, of electricity) by the agricultural system <NUM>. By way of example, increasing operation (e.g., an operating speed of a spreader) of the MOG spreading system <NUM> and/or of the header <NUM> may process the MOG more desirably, such as by improving distribution of the MOG and/or reducing a size of the MOG, but may also increase resource consumption by the agricultural system <NUM>. For this reason, the control system <NUM> may output the control signal to achieve desirable characteristic(s) of the MOG without causing substantial resource consumption by the agricultural system <NUM>. For example, in response to determining that a characteristic (e.g., size, distribution, congestion) of detected MOG is undesirable (e.g., outside of a desirable range), the control system <NUM> may output the control signal to incrementally or gradually increase operation of the agricultural system <NUM> until the characteristic is desirable (e.g., within the desirable range) and no additional resources beyond the resources consumed to achieve the desirable characteristic are consumed.

The control system <NUM> may also operate other components of the agricultural system <NUM>. For example, the control system <NUM> may determine an amount of crop material (e.g., based on sensor data received from the sensor(s) <NUM> or from additional sensor(s), such as optic sensor(s), flow sensor(s), force sensor(s), weight sensor(s), or contact sensor(s)) being transported to the inlet <NUM> for processing by the thresher <NUM>, and the control system <NUM> may operate the thresher <NUM> based on the amount of crop material. In some embodiments, the control system <NUM> may output a control signal to increase a processing speed of the thresher <NUM> in response to determining the amount of crop material is above a threshold value, thereby increasing operation of the thresher <NUM> to process the crop material and separate desirable crop material from MOG. In this way, the thresher <NUM> may operate more suitably to process the increased amount of crop material. The control system <NUM> may also output a control signal to reduce the processing speed of the thresher <NUM> in response to determining the amount of crop material is below a threshold value, thereby reducing resource consumption associated with the operation of the thresher <NUM>. As such, the thresher <NUM> may operate without expending additional resources than that used to sufficiently process the reduced amount of crop material.

The agricultural system <NUM> also includes one or more actuators configured to control the spatial orientation and/or position of the header <NUM> with respect to the chassis <NUM> and/or with respect to the crop rows/ground/soil. A header height actuator <NUM> may drive the header <NUM> to move along the vertical axis <NUM> relative to the ground. The header <NUM> is attached to the chassis <NUM> via a linkage. The position of the linkage may be controlled by the header height actuator <NUM> to adjust the height of the header <NUM>. The agricultural system <NUM> may also include a header orientation actuator <NUM>. The header orientation actuator <NUM> may be configured to rotate the header <NUM> (e.g., the entire header <NUM> or a portion thereof) relative to the ground. The control system <NUM> is communicatively coupled to the actuators <NUM>, <NUM> and may control the actuators <NUM>, <NUM> to adjust operation of the agricultural system <NUM>, such as based on sensor data indicative of one or more environmental variables (e.g., MOG characteristic(s), soil condition(s), terrain, crop damage). The agricultural system <NUM> and/or its components may also be described with reference to a direction of travel <NUM>.

<FIG> is a perspective view of an embodiment of the header <NUM> that is employed within the agricultural system of <FIG>. In the illustrated embodiment, the header <NUM> is a corn header and includes multiple dividers <NUM> configured to separate rows of a crop (e.g., corn). The dividers <NUM> are distributed across a width of the header <NUM> (e.g., along the lateral axis <NUM>). As the header <NUM> moves along a path, the dividers <NUM> direct the crops from each row to row units <NUM>. The row units <NUM> are configured to receive each crop (e.g., a stalk). A portion of the crops are directed to one of a pair of conveyors <NUM> (e.g., augers) configured to convey the portion of crops laterally inward to a center crop conveyor <NUM> at a center of the header <NUM>, and the center crop conveyor <NUM> directs the portion of crops toward the inlet <NUM> of the agricultural crop processing system. As illustrated, the conveyors <NUM> extend along a substantial portion of the width of the header <NUM> (e.g., along the lateral axis <NUM>). The conveyors <NUM> are driven by a drive mechanism (e.g., electric motor, hydraulic motor).

The header <NUM> separates the desirable crop material and MOG from one another to facilitate directing the desirable crop material into the agricultural crop processing system via the inlet <NUM> and to block entry of the MOG into the agricultural crop processing system via the inlet <NUM>. For example, operation of the row units <NUM> may direct the desirable crop material to the conveyors <NUM> and discharge the MOG away from the conveyors <NUM>, such as discharging the MOG directly onto the field. The control system <NUM> operates the row units <NUM> to cut crops, separate the MOG from the desirable crop material, discharge the MOG (e.g., onto the field), or a combination thereof. For example, as discussed herein, the control system <NUM> is configured to output a control signal to adjust operation of the row units <NUM> independently from one another based on sensor data received from the sensor(s) <NUM> and/or based on a user input.

<FIG> is a perspective front view of a portion of the header <NUM> of <FIG>. As shown, the portion of the header <NUM> includes the dividers <NUM> that direct the crops to the row units <NUM>. Each row unit <NUM> includes various components that operate to separate the corn from the MOG, carry the corn toward the conveyors <NUM>, and return the MOG to the field. For example, each row unit <NUM> includes a pair of feed rollers <NUM> (e.g., snap rollers, stalk rollers, pick rollers) that are configured to grip the crop (e.g., stalk) and rotate in opposite rotational directions to drive the MOG of the crop toward the field (e.g., vertically downward along the vertical axis <NUM>; below the header <NUM>) for discharge from the header <NUM>. Each row unit <NUM> also includes a pair of deck plates <NUM> that are positioned over the pair of feed rollers <NUM>. Each deck plate <NUM> extends from a first end to a second end along the longitudinal axis <NUM>, and the pair of deck plates <NUM> are separated from one another along the lateral axis <NUM> to define a gap <NUM>. The pair of deck plates <NUM> are spaced apart so that the gap <NUM> is sized to enable the MOG to move through the gap <NUM>, but to block the desirable crop material (e.g., ears of corn) from moving through the gap <NUM>. That is, the deck plates <NUM> receive the desirable crop material and block entry of the desirable crop material through the gap <NUM>. Further, each row unit <NUM> includes a pair of chains <NUM> (e.g., with lugs) that are configured to drive or push the desirable crop material along the pair of deck plates <NUM> toward the conveyors <NUM>. In some embodiments, the pair of deck plates <NUM> are adjustable and are driven (e.g., via an actuator) toward and away from one another along the lateral axis <NUM> to change a size of the gap <NUM> (e.g., a width along the lateral axis <NUM>).

The control system <NUM> is configured to operate the row units <NUM> to separate the desirable crop material from the MOG and/or to direct the desirable crop material through the agricultural system. In some embodiments, the size of the gap <NUM> and/or the speed of the feed rollers <NUM> may be adjusted to control separation between the desirable crop material and the MOG. As an example, the control system <NUM> may be communicatively coupled to a deck plate actuator <NUM>, and the control system <NUM> controls the deck plate actuator <NUM> to drive the pair of deck plates <NUM> toward and away from one another along the lateral axis <NUM> to control a size of the gap <NUM>, such as to reduce the size of the gap <NUM> to block movement of the desirable crop material through the gap <NUM> while enabling discharge of the MOG from the header <NUM> via the gap <NUM>. As another example, the control system <NUM> may be communicatively coupled to a feed roller motor <NUM> and controls the feed roller motor <NUM> to control the rotational speed of respective feed rollers <NUM>. For instance, increasing the rotational speed of the feed rollers <NUM> increases movement of the crop to increase the rate at which the MOG is discarded and to increase the rate at which desirable crop material is moved through the agricultural system for further processing. However, increasing the rotational speed of the feed rollers <NUM> also increases the speed at which the desirable crop material impacts the deck plates <NUM> and potentially deflect a portion of the desirable crop material off the deck plates <NUM> and out of the header <NUM>. Thus, a target rotational speed of the feed rollers <NUM> may be determined based on a desirable or target rate for processing the crop by the header <NUM> and/or based on a threshold amount of desirable crop material that is lost from impact with the deck plates <NUM>.

Additionally or alternatively, the control system may operate the row units based on a detected congestion. For example, during operation, the agricultural system navigates in the direction of travel <NUM> to gather multiple rows of crops. The travel speed of the agricultural system in the direction of travel <NUM> affects discharge of the MOG by the row units. For example, increased travel speed relative to the rotational speed of the feed rollers may cause gathered crops to bunch or cluster within a row unit, thereby reducing the ability of the feed rollers to discharge the MOG from the header. As a result, the gathered crops may cause congestion at the row unit and hinder operation to intake crops at a desirable rate for processing. For this reason, in response to detected congestion at one of the row units, the control system may output a control signal to the feed roller motor(s) to increase speed of the feed rollers (e.g., relative to the travel speed), thereby discharging the MOG more quickly to reduce the detected congestion and/or subsequent congestion.

<FIG> is a perspective bottom view of a portion of the header <NUM> of <FIG>. The header <NUM> includes a chopper <NUM> configured to rotate to cut stalks/MOG that are being directed downwardly by the feed rollers <NUM>. As discussed herein, the feed rollers <NUM> direct the MOG downwardly through the gap <NUM> for discharge from the header <NUM>. While the feed rollers <NUM> direct the MOG through the gap <NUM>, the chopper <NUM> continues to cut the MOG, thereby reducing a size of the MOG being discharged from the header <NUM>. In additional or alternative embodiments, the feed rollers may include blades, knives, discs, or a combination thereof, that cut the MOG during rotation of the feed rollers to reduce the size of the MOG (e.g., prior to or without cutting by the chopper).

The control system <NUM> may be communicatively coupled to the chopper <NUM> and may operate the chopper <NUM> to cut the MOG. For example, the control system <NUM> may output a control signal to increase the rotational speed of the chopper <NUM> (e.g., relative to the rotational speed of the feed rollers <NUM>) to cut the MOG more finely (e.g., the particles of cut MOG is relatively smaller), such as in response to receiving sensor data indicative of the discharged MOG being above a threshold size. The control system <NUM> may also output a control signal to reduce the rotational speed of the chopper <NUM> to cut the MOG more coarsely (e.g., the particles of cut MOG is relatively larger), such as in response to receiving sensor data indicative of the resource consumption by the agricultural system being above a threshold value.

The header <NUM> also includes a counter knife <NUM> (e.g., a counter blade), which facilitates operation of the chopper <NUM> in cutting the MOG. For example, the counter knife <NUM> supports the MOG being moved by the feed rollers <NUM> and provide resistance to enable the chopper <NUM> to cut the MOG more easily. For example, the chopper <NUM> cuts the MOG against the counter knife <NUM> such that each of the chopper <NUM> and the counter knife <NUM> imparts a force against the MOG to cut the MOG. As such, the counter knife <NUM> improves operation of the chopper <NUM>. The counter knife <NUM> is coupled to the row unit <NUM>, such as to a support <NUM>, and extends toward a front end <NUM> (e.g., an upstream end, a tip) of the header <NUM>, such as generally in the longitudinal axis <NUM>. Thus, a portion of the counter knife <NUM> overlaps with the chopper <NUM> during rotation of the chopper <NUM> to enable the counter knife <NUM> to contact and support the MOG being cut by the chopper <NUM>.

In some embodiments, the position of the counter knife <NUM> is adjustable. For example, the counter knife <NUM> may be coupled to the support <NUM> at a pivot <NUM>, and the counter knife <NUM> be rotated about the vertical axis <NUM> at the pivot <NUM> to adjust a direction of extension of the counter knife <NUM>. Such movement of the counter knife <NUM> adjusts an overlap between the counter knife <NUM> and the chopper <NUM> during rotation of the chopper <NUM>. For example, the counter knife <NUM> is moved to adjust a force imparted by the counter knife <NUM> onto the MOG, to adjust a location (e.g., along a length of the feed rollers <NUM>, along a length of the MOG) where the counter knife <NUM> engages the MOG, or to otherwise adjust how the MOG is cut via the chopper <NUM>. Movement of the counter knife <NUM> to increase extension toward the front end <NUM> (e.g., to extend more in the longitudinal direction <NUM>) enables the chopper <NUM> to cut the MOG more aggressively (e.g., more finely into relatively smaller particles). Movement of the counter knife <NUM> to reduce extension toward the front end <NUM> (e.g., to extend more in the lateral direction <NUM>) reduces cutting aggression by the chopper <NUM> (e.g., to cut the MOG more coarsely into relatively larger particles). The control system <NUM> may be communicatively coupled to a counter knife actuator <NUM> and output a control signal to instruct the counter knife actuator <NUM> to adjust the position of the counter knife <NUM>. By way of example, the control system <NUM> may output the control signal based on sensor data indicative of a size of discharged MOG and/or detected congestion of the MOG in the row unit <NUM>. In alternative embodiments of the agricultural system, the counter knife may have a different configuration (e.g., the counter knife may have a different geometry, such as a triangular shape), the counter knife may be moved in a different manner (e.g., translated toward or away from the front end <NUM>), or the counter knife may be omitted.

The header <NUM> further includes one more anti-wrap knives <NUM>. The anti-wrap knife/knives <NUM> block entanglement of the MOG around the feed rollers <NUM>. As an example, a respective anti-wrap knife <NUM> may be positioned laterally adjacent to each feed roller <NUM>. A portion of the MOG may remain in engagement with one of the feed rollers <NUM> during rotation of the feed roller <NUM>, such that the MOG is at least partially wrapped about the feed roller <NUM>, potentially bypassing the chopper <NUM>. However, the anti-wrap knife <NUM> adjacent to the feed roller <NUM> cuts the MOG to block continued movement of the MOG about the feed roller <NUM>, thereby enabling discharge of the MOG from the header <NUM>. That is, rotation of the feed roller <NUM> drives the MOG toward the anti-wrap knife <NUM>, which cuts the MOG and block the MOG from further entangling about the feed roller <NUM>.

The anti-wrap knife <NUM> is positioned with respect to the feed roller <NUM> to provide clearance between the feed roller <NUM> and the anti-wrap knife <NUM> while enabling the anti-wrap knife <NUM> to cut the MOG into sufficiently fine particles. For example, too much clearance between the feed roller <NUM> and the anti-wrap knife <NUM> may not enable the anti-wrap knife <NUM> to cut smaller sized MOG. Thus, presence of larger sized MOG (e.g., the MOG that was not cut by the anti-wrap knife <NUM> or the chopper <NUM> before discharge) on the field may indicate excessive clearance between the feed roller <NUM> and the anti-wrap knife <NUM>, even though the chopper <NUM> may be operating as desired. Thus, the size of the MOG detected by the sensor(s) <NUM> may indicate the clearance between the feed roller <NUM> and the anti-wrap knife <NUM> is undesirable (e.g., above a threshold value). Thus, detection of discharged MOG having a size above a threshold size while the chopper <NUM> is operating at above a threshold speed may indicate that the clearance between the anti-wrap knife <NUM> and the adjacent feed roller <NUM> is above a threshold value. In response to receipt of the sensor data, the control system <NUM> may output a notification to inform a user to inspect positioning of the anti-wrap knife <NUM>. Additionally or alternatively, the control system may adjust an operation of the header and/or of the agricultural system, such as to automatically adjust a positioning of the anti-wrap knife with respect to the feed roller via an anti-wrap knife actuator <NUM>.

<FIG> is a view of an embodiment of an interface <NUM> that may be utilized to adjust operation of the agricultural system of <FIG>. The interface <NUM> is accessible to a user of the agricultural system. For example, the interface <NUM> is disposed within the cab of the agricultural system in which the user is positioned. The interface <NUM> may include a display (e.g., a touchscreen) in some embodiments. In additional or alternative embodiments, the interface may include additional/different component(s), such as mechanical device(s) (e.g., button(s), switch(es), knob(s)). The interface <NUM> is communicatively coupled to the control system of the agricultural system.

As discussed herein, operations of different components of the header are adjusted to achieve different target operating parameter values, such as within a target range of values. For example, increasing the speed of the chopper cuts the MOG more finely to reduce the size of the MOG particles, but utilizes more power and therefore increase consumption of resources. Indeed, adjusting operation of a component may adjust a value of a first operating parameter toward a corresponding target value (e.g., reduce size of the MOG particles) and also change a value of a second operating parameter (e.g., increase resource consumption). Thus, operations may be controlled based on a desirable performance of the agricultural system to achieve a particular target operating parameter value. In some embodiments, the agricultural system may be operated in different operating modes (e.g., agricultural modes) associated with achieving different target operating parameter values. Such operating modes may be selected by an interaction between a user and the interface <NUM>, such as via tactile input provided by the user. The control system receives the user input, determines the operating mode selected by the user based on the user input, and adjusts the operation of the agricultural mode based on the operating mode.

For example, the interface <NUM> includes a menu <NUM> that includes various operating modes of the agricultural system. The menu <NUM> may include multiple icons that are selectable by a user to indicate a desired operating mode for implementation. For example, the menu <NUM> includes a first icon <NUM> associated with increased harvesting, a second icon <NUM> associated with finer cutting of the MOG, a third icon <NUM> associated with reduced loss of desirable crop material, a fourth icon <NUM> associated with reduced power usage and resource consumption, or a combination thereof. Additional or alternative operating modes may also be presented by the interface. The operating mode of each icon <NUM>, <NUM>, <NUM>, <NUM> is associated with corresponding, respective operational adjustments of the agricultural system to adjust an operating parameter toward a target value, and selection of one of the icons <NUM>, <NUM>, <NUM>, <NUM> causes the control system to adjust the operation of the agricultural system in accordance with the operating mode of the selected icon.

Selection of the first icon <NUM> may cause the control system to control the agricultural system to increase the rate at which crops are harvested and processed (e.g., to remove crop from soil, to separate desirable crop material from the MOG, to discharge the MOG). As such, upon receiving a user input that the first icon <NUM> is selected, the control system may output one or more control signals to increase speed of the feed rollers to increase a rate at which crop is removed from soil and is moved through the header to separate desirable crop material and the MOG. The control signal(s) may also increase speed of the chains to deliver the desirable crop material to the conveyors more quickly, increase speed of the conveyors to deliver the desirable crop material into the agricultural crop processing system more quickly, increase travel speed of the agricultural system to engage and gather the crops more quickly, increase operation of the agricultural crop processing system (e.g., the thresher) to process crops more quickly, or a combination thereof.

Selection of the second icon <NUM> may cause the control system to control the agricultural system to cut the MOG into smaller particles. That is, the agricultural system may further reduce the size of the MOG being discharged upon selection of the second icon <NUM>. For example, the control system may output one or more signals to increase the speed of the chopper to cut the MOG more finely, adjust positioning of the counter knife to enable the chopper to cut the MOG into smaller particles, or a combination thereof.

Selection of the third icon <NUM> may cause the control system to control the agricultural system to reduce loss of desirable crop material caused by impact between the crop and the deck plates. As an example, the control system may output one or more control signals to reduce a speed of the feed rollers to reduce a speed at which the crop impacts the deck plates.

Selection of the fourth icon <NUM> may cause the control system to control the agricultural system to reduce power usage and resource consumption. By way of example, the control system may output one or more control signals that reduce the speed of various components, such as to reduce a speed of the feed rollers, to reduce a speed of the chopper, to reduce the travel speed, to reduce the speed of the chain, to reduce the speed of the conveyors, or a combination thereof. The control signal(s) may also adjust operation of other components to reduce power usage, such as to reduce operation of the thresher, of the cleaning system, of the MOG spreading system, of any other component(s) that may consume resources to operate, or a combination thereof.

In some embodiments, selection of the icons <NUM>, <NUM>, <NUM>, <NUM> may cause the control system to adjust operation of the agricultural system incrementally or gradually. For example, a single selection of the first icon <NUM> may cause the control system to adjust operation of a component of the agricultural system by a fixed amount (e.g., to increase operation by a fixed speed), such as to increase the rate at which the agricultural system harvests crops, and an additional selection of the first icon <NUM> may cause the control system to adjust operation of the component by an additional fixed amount, such as to further increase the rate at which the agricultural system harvests crops. In this manner, the icons <NUM>, <NUM>, <NUM>, <NUM> are selected by the user to adjust operation of the agricultural system iteratively, progressively, or finely for increased control. The fixed amount may be an amount established or adjusted based on a user input, based on sensor data (e.g., a characteristic of the MOG), or both. In additional or alternative embodiments, an icon may be associated with an operating setting of a component of the agricultural system, and selection of the icon causes the control system to adjust operation of the component toward the operating setting (e.g., regardless of a current operating setting of the component). In such embodiments, an additional selection of the icon while the component is at the operating setting may not further adjust the operation of the component.

Multiple operating modes may also be selected by the user to adjust operation of the agricultural system. By way of example, selection of the fourth icon <NUM> may reduce a speed of operation of various components of the agricultural system to reduce power usage. Additionally, selection of the third icon <NUM> may further reduce a speed of operation of the feed rollers while maintaining the reduced speed of operation of other components associated with reduced power usage. In this way, the adjusted operation of the agricultural system may enable multiple target operating parameter values to be achieved.

The interface <NUM> also includes multiple windows that display information to a user. For example, a first window <NUM> may textually display various operating parameter information, such as the speed of the chopper, the power usage, the speed of the feed rollers, the travel speed, the speed of the conveyors, the position of the counter knife, another suitable operating parameter, or any combination thereof. The user may utilize such information to determine a current operation of the agricultural system, such as whether the agricultural system is operating as desired to achieve a target operating parameter value associated with a selected operating mode. As an example, based on the information presented by the first window <NUM>, the user may determine that the power usage is excessive and, in response, select the fourth icon <NUM> to reduce the power usage by the agricultural system. As another example, based on the information presented by the first window <NUM>, the user may determine that the power usage is not sufficiently reduced upon selection of the fourth icon <NUM>, and inspect operation of the agricultural system to determine the cause of the continued excessive power usage, such as to determine whether there is a congestion or a blockage.

In additional or alternative embodiments, the operating parameters may be presented in another manner. For example, the interface may present a video feed of the operation of the components, of the crop material processed by the agricultural system, of the MOG discharged and distributed on the field, or a combination thereof. The user may also utilize such information to determine whether the agricultural system is operating as desired, such as that the operation of the agricultural system is adjusted upon selection of an operating mode and/or that a target operating parameter value associated with a selected operating mode is achieved.

The interface <NUM> further includes a second window <NUM> that may display a notification, which is presented as a result of an information signal output by the control system. For example, the information system may output the control signal based on received sensor data. The notification may include any sort of information, such as a detected congestion, an excessive power usage, a characteristic of an upcoming crop to be harvested, and so forth, that may prompt a user to adjust operation of and/or inspect the agricultural system. For instance, the notification may prompt the user to select an operating mode via the menu <NUM> to adjust the operation of the agricultural system. In additional or alternative embodiments, a notification may be presented in a different manner, such as via a different visual output (e.g., an emitted light), via an audio output, via tactile feedback, via communication to a mobile device, and so forth.

Each of <FIG> discussed below presents a respective method for operating the agricultural system. In some embodiments, each method may be performed by a single respective component or system, such as by the control system (e.g., the processor) disclosed herein. In additional or alternative embodiments, multiple components or systems may perform the operations for a single one of the methods. It should also be noted that additional operations may be performed with respect to the described methods. Moreover, certain operations of the depicted methods may be removed, modified, and/or performed in a different order. Further still, the operations of any of the respective methods may be performed in parallel with one another, such as at the same time and/or in response to one another.

<FIG> is a flowchart of an embodiment of a method <NUM> for operating the agricultural system of <FIG> based on a characteristic of the MOG processed by the agricultural system of <FIG>. At block <NUM>, an indication of a MOG (e.g., stalk) characteristic is received. For example, the indication may be received via sensor data, such as from a radar sensor that detects a characteristic of multiple rows of crops using an emitted signal that penetrates the rows of crops. The MOG characteristic may be additionally or alternatively associated with crop discharged by the header of the agricultural system and/or distributed onto the field by the agricultural system.

At block <NUM>, the MOG characteristic is determined to be outside of a range of values. The range of values may indicate a desirable MOG characteristic, such as a characteristic associated with MOG processed by the agricultural system in a desirable manner. Thus, the MOG characteristic being outside of the range of values may indicate that the agricultural system does not desirably process the MOG.

At block <NUM>, a control signal is output in response to determining the MOG characteristic is outside of the range of values. The control signal may be output to adjust operation of the agricultural system, such as to adjust the MOG characteristic toward the range of values. Additionally or alternatively, the control signal may be output to provide a notification, which may prompt a user to manually adjust operation of the agricultural system and/or inspect the agricultural system.

In some embodiments, the MOG characteristic may include a size of the MOG discharged by the agricultural system onto the field, and the size of the MOG being outside of the range of values may indicate the size of the MOG exceeding a threshold value (e.g., a threshold length). In response, the control signal may be output to reduce the size of the MOG, such as to increase the speed of the chopper (e.g., relative to the speed of the feed rollers), move the counter knife to increase extension of the counter knife toward the front end of the header, or a combination thereof. The size of the MOG discharged by the agricultural system being below a threshold value may indicate that excessive power is used by the agricultural system to cut the MOG. In response, the control signal may be output to reduce power utilized to cut the MOG, such as to reduce the speed of the chopper (e.g., relative to the speed of the feed rollers), thereby creating relatively larger cut the MOG.

Additionally or alternatively, the MOG characteristic may include a distribution of the MOG on the field, and the distribution of the MOG being outside of the range of values may indicate a concentration of the MOG exceeding a threshold value (e.g., a threshold area percentage occupied by the MOG relative to a total area, a threshold volume percentage occupied by the MOG relative to a total volume). In response, the control signal may be output to increase distribution of the MOG, such as to increase operation of the MOG spreading system and/or to reduce the size of the MOG via the techniques described herein to facilitate distribution of the MOG. The distribution of the MOG being outside of the range of values may additionally or alternatively indicate concentration of the MOG being below a threshold value to indicate the MOG spreading system may use excessive power to operate. Thus, the operation (e.g., an operating speed of a spreader) of the MOG spreading system may be reduced in response.

In further embodiments, the MOG characteristic may be associated with the MOG (e.g., stalks) that remains in the soil after a crop is cut (e.g., the MOG that is not gathered and processed by the header). For example, in response to the MOG being above a threshold height, thereby indicating possible bending of the crop prior to being cut by the header, the control signal may be output to reduce travel speed of the agricultural system to facilitate cutting of the crop without causing the crop to bend.

Multiple MOG characteristics may be monitored, and multiple respective control signals may be output in response to each MOG characteristic determined to be outside of a corresponding range of values. For example, control signals may be output to adjust respective, corresponding operations of the agricultural system based on the MOG characteristics. Indeed, multiple operational adjustments may adjust multiple MOG characteristics toward the corresponding ranges of values to improve processing of the MOG in different aspects.

In some embodiments, the components of various row units may be adjusted independently of one another, and characteristic(s) of the MOG processed by each row unit are respectively determined. For example, the size of MOG discharged by a first row unit may be determined to exceed a threshold value. In response, the speed of the chopper (e.g., relative to the speed of the feed rollers) of the first row unit may be increased, the counter knife of the first row unit may be moved to increase extension of the counter knife toward the front end, or a combination thereof. However, operation of the components of a second row unit may not be adjusted in response to determining the size of the MOG discharged by the second row unit does not exceed the threshold value. In this way, specific components of the agricultural system may be operated to process the MOG in an efficient manner.

A method similar to the method <NUM> may also be performed to initially adjust operation based on characteristic(s) of upcoming crops yet to be processed by the agricultural system. For example, the characteristic(s) may include a biomass, dimension(s) (e.g., a width, a length, a height, a volume, an area), a quantity of rows, any other suitable characteristic(s) associated with the upcoming crops, or a combination thereof, may be determined. As previously discussed, the characteristic(s) of the upcoming crops may be determined based on feedback from the sensor(s) (e.g., an indication of the characteristic(s) may be received from sensor(s)). Additionally or alternatively, the characteristic(s) of the upcoming crops may be determined based on information from a previous operation (e.g., planting operation, etc.), including the planting rate (e.g., the spacing between plants within a row), etc. (e.g., an indication of the characteristic(s) may be received from an external source, such as a planter). A control signal may be output to initially adjust operation of any component to process the upcoming crops having the characteristic(s) in a desirable manner, such as to increase cutting of the upcoming crops (e.g., to increase speed of the chopper, to increase extension of the counter knife toward the front end) in response to determining the upcoming crops have an increased size, thereby effectively reducing the MOG from the crop having the increased size into sufficiently small particles. The operation may then further be adjusted based on how the crop is processed after initial adjustment of the operation of the agricultural system, such as based on whether the MOG discharged by the agricultural system is of a desirable size and/or is distributed as desired.

<FIG> is a flowchart of an embodiment of a method <NUM> for operating the agricultural system of <FIG> based on congestion of crop material processed by the agricultural system of <FIG>. At block <NUM>, an indication of a detected congestion (e.g., blockage) of crop material within the agricultural system and/or between the field and the agricultural system, such as crops gathered by the agricultural system, the MOG discharged by the agricultural system, the MOG distributed onto the field by the agricultural system, or a combination thereof, are received. The indication may be received via sensor data in some embodiments. For example, the sensor data may be received as optical information associated with positioning of crop material, volume of crop material at different locations relative to the agricultural system, force imparted by crop material onto a portion of the agricultural system, and the like.

At block <NUM>, the location of the detected congestion is determined. For example, the detected congestion may be determined to be within a row unit, at the MOG spreading system, on the field underneath the agricultural system (e.g., at an underside of the agricultural system), and so forth. The detected congestion affects operation of the agricultural system, such as the ability of the agricultural system to process further crops and/or to travel along the field.

At block <NUM>, a control signal is output based on the location of the detected congestion. As an example, in response to the detected congestion being at a row unit, the components of the header may be adjusted. For instance, the control signal may increase the speed of the feed rollers, increase the speed of the chains, increase the speed of the chopper, increase the speed of the conveyors, or a combination thereof, thereby increasing a rate at which the row unit processes crops. The control signal may adjust operation of components of respective row units independently of one another, such as based on the particular row unit having a detected congestion, to operate the agricultural system more effectively in response to a detected congestion. As another example, in response to the detected congestion being at the MOG spreading system, the control signal may adjust operation of the MOG spreading system or another component (e.g., the thresher) that transports the MOG to the MOG spreading system to increase distribution of the MOG onto the field. As a further example, in response to the congestion being between the field and the agricultural system, the control signal may adjust operation of the air mover to move the crop material underneath the agricultural system. In this manner, the control signal automatically adjusts operation of the agricultural system (e.g., without receipt of a user input) to address the congestion.

Claim 1:
An agricultural system (<NUM>), wherein the agricultural system (<NUM>) comprises:
a header (<NUM>) comprising:
a feed roller (<NUM>) configured to engage a crop and to drive material other than grain (MOG) of the crop toward a field; and
a chopper (<NUM>) configured to cut the MOG driven toward the field by the feed roller (<NUM>) for discharge from the agricultural system (<NUM>); and
characterized in that the agricultural system (<NUM>) further comprises:
at least one sensor (<NUM>) and a control system (<NUM>) that is communicatively coupled to the at least one sensor (<NUM>), the at least one sensor (<NUM>) being configured to transmit sensor data indicative of a size of the MOG discharged from the agricultural system (<NUM>) to the control system (<NUM>), the control system (<NUM>) being configured to output a control signal to adjust a speed of the chopper (<NUM>) relative to a speed of the feed roller (<NUM>) based on the size of the MOG discharged from the agricultural system (<NUM>).