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

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

Within the industry, there is an ever-increasing demand for systems designed to automatically control the operation of components associated with agricultural vehicles, including components associated with headers of agricultural harvesters. Typically, automated header-related systems rely on the use of sensors or sensing devices to provide feedback associated with a monitored parameter or operating condition of the header, which then allows a controller to automatically determine control outputs for controlling the operation of one or more components of the header based on the feedback received from the sensor(s) or sensing device(s). For instance, it is known to use non-contact sensors, such as radar sensors, to monitor the height of a header relative to the ground. However, the use of radar sensors within header-related systems often presents challenges, particularly in relation to positioning the sensors relative to the various components of the header. Specifically, to avoid interference or absorption of the radio waves, radar sensors are often cantilevered off the front of a header to allow the sensors to have a direct line-of-sight to the surface or feature being detected. Unfortunately, this type of mounting arrangement can be problematic, as it requires complex mounting structures and can lead to sensor stability issues and/or accuracy/reliability issues associated with the resulting sensor data.

Accordingly, radar-transparent components for a header configured for use with an agricultural vehicle would be welcomed in the technology. Additionally, radar-based systems utilizing radar sensors that transmit radio waves through header components would also be welcomed in the technology. <CIT> relates to harvester tines for a reel.

In one aspect, the present invention is directed to a reel for a header configured for use with an agricultural vehicle. The reel includes a plurality of tine bar assemblies supported relative to a rotational axis of the reel. Each tine bar assembly includes a tine support member and a plurality of tines coupled to the tine support member. The reel also includes a central support member extending along the rotational axis, and at least one radial support member coupled to the tine support member of each tine bar assembly and being configured to support the plurality of tine bar assemblies relative to the central support member. Moreover, the tine support member of each tine bar assembly is formed from one or more radar-transparent materials.

An example is directed to a header configured for use with an agricultural vehicle. The header includes a frame and a reel rotatable relative to the frame about a rotational axis. The reel includes a plurality of tines and a plurality of tine-supporting components configured to support the plurality of tines relative to the rotational axis. The plurality of tine-supporting components include a central support member extending along the rotational axis, and a plurality of tine support members spaced apart radially from the central support member, with each tine support member being coupled to a subset of the plurality of tines. The plurality of tine-supporting components also include at least one radial support member coupled to the plurality of tine support members and being configured to support the plurality of tine support members relative to the central support member. Moreover, at least one of the plurality of tine-supporting components is formed from one or more radar-transparent materials.

In a further aspect, the present invention is directed to a system for detecting one or more parameters associated with a header configured for use with an agricultural vehicle. The system includes a header component, and a radar sensor supported relative to the header component and having a field of view along which the radar sensor is configured to transmit radio waves for reflection off a surface. At least a portion of the header component is positioned within the field of view of the radar sensor or passes through the field of view of the radar sensor, with such portion of the header component being formed from one or more radar-transparent materials.

In fact, it will be apparent to those skilled in the art that various modifications and variations can be made.

The present invention is directed to a reel with radar-transparent components for headers configured for use with agricultural vehicles, such as combines or other agricultural harvests. The header component(s) may be formed from one or more radar-transparent materials (e.g., a radar-transparent composite material(s), a radar-transparent polymer material(s) and/or a radar-transparent ceramic material(s)) that allows radio waves to be transmitted therethrough without significant absorption/reflection of the energy associated with the waves.

In one aspect of the present invention, one or more components of a rotatable reel of a header may be configured to be radar-transparent. Specifically, in several embodiments, one or more of the components of the reel may be formed from one or more radar-transparent materials, such as by forming the tines, the bats or tine support members, the radial support members, and/or the central support member of the reel from a radar-transparent material(s).

The present invention is also directed to a radar-based system for detecting one or more parameters associated with a header configured for use with an agricultural vehicle. Specifically, in several embodiments, the system includes a radar sensor having a field of view directed through or otherwise aligned with one or more components of the header. In such embodiments, the header component(s) that is aligned with and/or that passes through the sensor's field of view may be formed from a radar-transparent material(s) to allow the radio waves from the radar sensor to be transmitted through the component(s), reflect off a given surface, and be directed back through the component(s) for detection by the sensor.

Referring now to the drawings, <FIG> illustrates an example of an agricultural vehicle with a reel <NUM> in accordance with aspects of the present invention. As shown in <FIG>, the agricultural vehicle <NUM> is configured as a combine. However, the agricultural vehicle <NUM> may be in the form of any other suitable agricultural vehicle, such as a windrower or any other suitable harvester.

As shown in the example, the agricultural vehicle <NUM> generally includes a chassis <NUM>, ground engaging wheels and/or tracks <NUM>, a feeder housing <NUM>, and a prime mover <NUM>. The combine <NUM> may also include a header <NUM>, a separating system <NUM>, a cleaning system <NUM>, a discharge system <NUM>, an onboard grain tank <NUM>, and an unloading auger <NUM>.

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

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

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

The header <NUM> is removably attached to the feeder housing <NUM>. The header <NUM> generally includes a frame <NUM>, a cutter bar <NUM> that severs the crop from a field, a rotatable reel <NUM> rotatably mounted to the frame <NUM>, which feeds the cut crop into the header <NUM>, and a conveyor <NUM>, e.g. an auger <NUM> with flighting, that feeds the severed crop inwardly from each lateral end of the frame <NUM> toward feeder housing <NUM>. The header <NUM> may be in the form of any desired header, such as a draper header or a corn header.

The header <NUM> may be provided in operative association with an actuating system including one or more actuating cylinders, such as one or more hydraulic cylinders. The actuating system may be used to adjust a height of the header <NUM> relative to the ground so as to maintain the desired cutting height between the header <NUM> and the ground. For instance, as shown in <FIG>, the actuating system may include a height cylinder <NUM> (e.g., coupled between the feeder housing <NUM> and a portion of the chassis <NUM> of the vehicle <NUM>) that is configured to adjust the height or vertical positioning of the header <NUM> relative to the ground by pivoting the feeder housing <NUM> to raise and lower the header <NUM> relative to the ground. In addition, the actuating system may also include a tilt cylinder(s) <NUM> coupled between the header <NUM> and the feeder housing <NUM> to allow the header <NUM> to be tilted relative to the ground surface or pivoted laterally or side-to-side relative to the feeder housing <NUM>.

The agricultural vehicle <NUM> and/or the header <NUM> may include one or more radar sensors <NUM> installed thereon and/or otherwise supported thereby. For example, as shown in <FIG>, one or more radar sensors <NUM> may, in several embodiments, be installed on the header <NUM> at a location that requires the sensor(s) <NUM> to transmit and/or receive radio waves through a portion of the reel <NUM>, such as by installing the sensor(s) <NUM> at a location relative to the reel <NUM> so that a field of view of the sensor(s) <NUM> is aligned with a portion of the reel <NUM>. In such embodiments, the radar sensor(s) <NUM> may be required to transmit waves through the rotating reel <NUM> to the desired detection surface (e.g., as indicated by arrow <NUM> in <FIG>) and detect the reflected waves transmitted back through the rotating reel <NUM> to the sensor(s) <NUM>. In this regard, to facilitate the transmission/detection of the radio waves by the radar sensor(s) <NUM>, one or more of the components of the reel <NUM> may be configured as a radar-transparent component(s). For instance, as will be described below with reference to <FIG> and <FIG>, all or a portion of the reel <NUM> may be formed from a radar-transparent material. It should also be appreciated that, in addition to the reel <NUM> (or as an alternative thereto), any other suitable header-based components may be configured as radar-transparent components, such as one or more components of the frame <NUM>, cutter bar <NUM>, conveyer <NUM>, and/or the like that may be aligned with the field of view of the radar sensor(s) <NUM> and/or that may otherwise impact the operation of the sensor(s) <NUM>.

Referring now to <FIG> and <FIG>, different views of one embodiment of a reel suitable for use within a header, such as the reel <NUM> described above with reference to <FIG>, are illustrated in accordance with aspects of the present invention. Specifically, <FIG> illustrates a perspective view of the reel <NUM> and <FIG> illustrates a cross-sectional view of the reel <NUM> shown in <FIG> taken about line <NUM>-<NUM>.

As shown in <FIG>, the reel <NUM> generally extends in an axial or lateral direction (indicated by arrow <NUM>) between a first lateral end <NUM> and a second lateral end <NUM> and is configured to rotate about a central rotational axis <NUM> extending parallel to the lateral direction <NUM>. A central support tube or member <NUM> of the reel <NUM> extends laterally between the first and second lateral ends <NUM>, <NUM> along the central rotational axis <NUM>. Additionally, the reel <NUM> includes a plurality of tine bar assemblies <NUM> supported relative to the central support member <NUM> via one or more radial support member(s) <NUM> that extend radially between the central support member <NUM> and the tine bar assemblies <NUM>. As shown in <FIG>, the reel <NUM> includes a plurality of radial support members <NUM> spaced apart from one another along the length or lateral width of the reel <NUM>, with the support members <NUM> positioned at the lateral ends <NUM>, <NUM> of the reel <NUM> being configured as radially extending plates and the support members <NUM> spaced apart between the lateral ends <NUM>, <NUM> of the reel <NUM> being configured as spoked support members including a plurality of spiders or spokes <NUM> (<FIG>). For instance, as shown in <FIG>, each spoke <NUM> may be configured to extend radially outwardly from the central support member <NUM> to an outer web <NUM> of the radial support member <NUM>. In such an embodiment, the tine bar assemblies <NUM> of the reel <NUM> may be coupled to the outer web <NUM> of each radial support member <NUM>.

As in <FIG> and <FIG>, each tine bar assembly <NUM> may include a bat tube or tine support member <NUM> extending in the lateral direction <NUM> between the first and second lateral ends <NUM>, <NUM> of the reel <NUM>. Additionally, each tine bar assembly <NUM> includes a plurality of tines <NUM> (e.g., with each assembly <NUM> including a subset of the total number of tines of the reel <NUM>) coupled to and extending from the tine support member <NUM>, with the various tines <NUM> being spaced apart from one another in the lateral direction <NUM> along the length of the respective tine support member <NUM>. As shown in <FIG>, the tine bar assemblies <NUM> are generally configured to be supported relative to the central support member <NUM> around the outer perimeter of the reel <NUM> via the radial support members <NUM> in a circumferentially spaced arrangement. Specifically, in the illustrated embodiment, the tine bar assemblies <NUM> are generally spaced apart evenly around the outer perimeter of the reel <NUM>, with the reel <NUM> including six tine bar assemblies <NUM> spaced apart from one another by <NUM> degrees. However, it should be appreciated that, in other embodiments, the reel <NUM> may include any other suitable number of tine bar assemblies <NUM> having any other suitable circumferential spacing around the outer perimeter of the reel <NUM>.

In accordance with aspects of the present invention, one or more components of the reel <NUM> may be configured as a radar-transparent component(s). Specifically, in several embodiments, the tines <NUM>, tine support members <NUM>, radial support members <NUM>, and/or central support member <NUM> may be formed from a radar-transparent material that allows radio waves to pass therethrough without any significant absorption/reflection of the radar energy. In one embodiment, the entirety of the reel <NUM> may be formed substantially from a radar-transparent material, such as by forming the tines <NUM>, tine support members <NUM>, radial support members <NUM>, and central support member <NUM> all from a radar-transparent material. Alternatively, one or more select components of the reel <NUM> may be formed from a radar-transparent material. For instance, as will be described below with reference to the system of <FIG>, in one embodiment, the components of the reel <NUM> that are located within (or have the potential to be located within) the field of view of an associated radar sensor(s) <NUM> may be formed from a radar-transparent material to allow the radio waves transmitted by the sensor(s) <NUM> (and subsequently reflected off a given surface) to pass through such reel components.

In general, as used herein, the term "radar-transparent material" refers to a material(s) that allows for radio waves to pass therethrough without substantial loss of the wave energy due to absorption of the radio waves into the material via conversion of the waves into another form of energy (e.g., heat) and/or due to reflection of the radio waves. Specifically, in several embodiments, radar-transparent materials will have a low dielectric constant and a low loss tangent. For instance, in one embodiment, radar-transparent materials suitable for use will have a dielectric constant of less than <NUM>, such as a dielectric constant of less than <NUM> or less than <NUM> or less than <NUM>, or less than <NUM>, and/or any other subranges therebetween. Additionally, in one embodiment, radar-transparent materials suitable for use will have a loss tangent of less than <NUM> at radar frequency bands, such as a loss tangent of less than <NUM> or less than <NUM> or less than <NUM> or less than <NUM>, and/or any other subranges therebetween.

In several embodiments, suitable radar-transparent materials include, but are not limited to, radar-transparent composite materials, radar-transparent polymer materials, and radar-transparent ceramic materials. For instance, suitable radar-transparent composite materials include, but are not limited to, fiberglass or synthetic-fiber composite materials, such as composites including a fiberglass-based or KEVLAR-based reinforcement structure within a suitable radar-transparent matrix material (polyetherimide (PEI) and/or any other suitable radar-transparent resins), and/or any other suitable radar-transparent composite materials. Similarly, suitable radar-transparent polymer materials include, but are not limited to, polypropylene (PPL), polyvinyl chloride (PVC), polytetrafluoroethylene (PTFE), acrylonitrile butadiene styrene (ABS), and/or any other suitable radar-transparent plastic materials. Suitable radar-transparent ceramic materials include, but are not limited to, magnesium aluminate spinel and/or any other suitable radar-transparent ceramic materials.

It should be appreciated that, in several embodiments, different components of the reel <NUM> may be formed from different radar-transparent materials and/or different types of radar-transparent materials. For instance, in one embodiment, the tines <NUM> may be formed from a first type of radar-transparent material (e.g., a radar-transparent polymer material) while one or more of the tine-supporting components (e.g., the tine support members <NUM>, the radial support members <NUM> and/or the central support member <NUM>) may be formed from a second type of radar-transparent material (e.g., a radar-transparent composite material).

It should also be appreciated that, in addition to forming one or more of the primary reel components from a radar-transparent material(s), various other components of the reel <NUM> may also be formed from a radar-transparent material(s). For instance, in one embodiment, all or a portion of the fasteners used within the reel <NUM> may be formed from a radar-transparent material(s), such as the fasteners used to couple: the tines <NUM> to the tine support members <NUM>; the tine support members <NUM> to the radial support members <NUM>; and/or the radial support members <NUM> to the central support member <NUM>. A suitable connection method (including associated fasteners) for coupling tines to corresponding tine support members is described, for example, in <CIT>). The connection method of<CIT> may, for example, be implemented in association with the reel <NUM> described herein by forming the associated fasteners from a radar-transparent material.

Referring now to <FIG>, one embodiment of a radar-based system <NUM> for detecting one or more parameters associated with a header configured for use with an agricultural vehicle is illustrated in accordance with aspects of the present invention. For purposes of discussion, the system <NUM> will generally be described herein with reference to the header <NUM> and reel <NUM> described above with reference to <FIG>, including the radar-transparent components of the reel <NUM>. However, it should be appreciated that the system <NUM> may be utilized with headers and/or reels having any other suitable header/reel configuration. Additionally, in other embodiments, the radar-based system <NUM> may be provided in association with any other suitable components of a header that have been formed from a radar-transparent material to allow radio waves to pass therethrough without significant absorption/reflection of the radar energy.

In general, the system <NUM> includes one or more radar sensors <NUM> supported relative to a reel <NUM> of a header (indicated schematically in <FIG> by box <NUM>). As is generally understood, the reel <NUM> may be powered via a motor (or other suitable rotational drive source) such that the reel <NUM> is rotationally driven relative to the sensor(s) in a given rotational direction (e.g., as indicated by arrow <NUM>). In the illustrated embodiment, the system <NUM> is shown as including a single radar sensor <NUM> installed on or otherwise supported by the header <NUM>. However, in other embodiments, multiple radar sensors <NUM> may be installed on or otherwise supported by the header <NUM>, such as by installing a plurality of radar sensors <NUM> at spaced apart locations along the lateral width of the header <NUM>. It should also be appreciated that, as an alternative to installing the radar sensor(s) <NUM> on the header <NUM>, the sensor(s) <NUM> may, instead, be installed at any other suitable location relative to the header <NUM>. For instance, in one embodiment, the sensor(s) <NUM> may be installed on the agricultural vehicle <NUM> (<FIG>) (e.g., on the cab roof).

The radar sensor(s) <NUM> may be positioned at a location vertically above the reel <NUM> (e.g., at a location on the header <NUM> vertically above the reel <NUM> or at a location on the associated vehicle <NUM> vertically above the reel <NUM>) and may be oriented relative to the reel <NUM> such that the sensor(s) <NUM> has a field of view <NUM> directed through a portion of the reel <NUM>. For instance, as shown in <FIG>, the radar sensor(s) <NUM> is installed on the header <NUM> such that the field of view <NUM> of the sensor(s) <NUM> incorporates an area through which the tine bar assemblies <NUM> will pass with rotation of the reel <NUM>. As a result of this sensor positioning and/or orientation relative to the reel <NUM>, the tine bar assemblies <NUM> will pass through the sensor's field of view <NUM> at a frequency that is generally proportional to the rotational speed of the reel <NUM>. In such an embodiment, the tine bar assemblies <NUM> of the reel <NUM> may be formed from a radar-transparent material(s) (e.g., by forming the tines <NUM> from a radar-transparent polymer material and by forming the tine support members <NUM> from a radar-transparent composite material) to allow the outgoing and return radio waves (e.g., as indicated by arrows 202A, 202B) to pass through the tine bar assemblies <NUM>. Accordingly, when a given tine bar assembly <NUM> passes through the sensor's field of view <NUM>, the outgoing radio waves 202A transmitted from the sensor(s) <NUM> will pass through the tine bar assemblies <NUM> for reflection off the surface to be detected (e.g., the ground surface <NUM>) and can pass back through the tine bar assemblies <NUM> as return waves 202B for receipt or detection by the sensor(s) <NUM> without any substantial absorption/reflection of the energy associated with the outgoing/return waves 202A, 202B.

As an example of an alternative installation location for the radar sensor(s) (as indicated by dashed box <NUM>' in <FIG>), the sensor(s) <NUM>' may, instead, be installed on the reel <NUM> such that a field of view <NUM>' of the sensor(s) <NUM> incorporates not only an area through which the tine bar assemblies <NUM> pass with rotation of the reel <NUM>, but also the central support member <NUM> of the reel. In such an example, both the tine bar assemblies <NUM> and the central support member <NUM> may be formed from a radar-transparent material(s) (e.g., by forming the tines <NUM> from a radar-transparent polymer material and by forming the tine support members <NUM> and the central support member <NUM> from a radar-transparent composite material) to allow the outgoing and return radio waves 202A', 202B' to pass through such reel components.

It should be appreciated that, in the embodiments or examples described above, it may also be desirable or necessary to form the radial support members <NUM> from a radar-transparent material (e.g., a radar-transparent composite material) depending on the lateral positioning of the radar sensor(s) <NUM>, <NUM>' relative to adjacent radial support members <NUM>. For instance, if a radar sensor(s) <NUM>, <NUM>' is installed laterally between two adjacent radial support members <NUM> such that the field of view <NUM>, <NUM>' of the sensor(s) <NUM>, <NUM>' is aligned with a lateral gap <NUM> (<FIG>) defined between the adjacent radial support members <NUM>, such support members <NUM> may be formed from any suitable material (including conductive materials) given that the support members <NUM> will not interfere with or absorb/reflect the radio waves. However, if a radar sensor(s) <NUM>, <NUM>' is, instead, laterally aligned with a radial support member <NUM> or is otherwise positioned relative to a radial support member <NUM> such that the field of view <NUM>, <NUM>' incorporates the radial support member <NUM>, then such radial support member <NUM> should also be formed form a radar-transparent material.

As shown in <FIG>, the system <NUM> may also include a controller <NUM> communicatively coupled to the radar sensor(s) <NUM>, <NUM>' that is configured to monitor an operating condition or parameter associated with the header <NUM> based on the data received from the sensor(s) <NUM>, <NUM>'. For instance, when the radar sensor(s) <NUM>, <NUM>' is configured to provide data associated with a distance between the sensor(s) <NUM>, <NUM>' and a given object or surface, the controller <NUM> may be configured to monitor such distance based on the data received from the sensor(s) <NUM>, <NUM>'. Specifically, the radar sensor(s) <NUM>, <NUM>' may be configured to transmit radio waves towards the ground surface <NUM> and receive the return waves as reflected off the ground surface <NUM> to allow the sensor(s) <NUM>, <NUM>' to generate data associated with the distance between the sensor(s) <NUM>, <NUM>' and the ground surface <NUM>. In such an embodiment, the sensor data provided by the radar sensor(s) <NUM>, <NUM>' may be used by the controller <NUM>, for example, to monitor a height <NUM> of the header <NUM> relative to the ground. For instance, by knowing the installed height of the radar sensor(s) <NUM>, <NUM>' on the header <NUM>, the controller <NUM> may determine the header height <NUM> relative to the ground based on the distance-related data received from the radar sensor(s) <NUM>, <NUM>'.

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

It should also be appreciated that the controller <NUM> may be configured to interface with and/or be incorporated into existing hardware and/or software of the header <NUM> and/or agricultural vehicle <NUM>. In other words, the controller <NUM> may be a separate unit as part of the disclosed system <NUM> and/or be integrated with the header <NUM> and/or agricultural vehicle <NUM>. For instance, the header <NUM> may have a dedicated header controller which controls specific header-related functions, and the controller <NUM> may either be in the form of the dedicated header controller or be incorporated as part of the dedicated header controller.

In an example in which the data from the radar sensor(s) <NUM>, <NUM>' is used to monitor the relative height <NUM> of the header <NUM>, the system <NUM> shown in <FIG> may be configured as a header height control system in which the controller <NUM> is configured to automatically control the operation of the height cylinder <NUM> (<FIG>) and/or the tilt cylinder(s) <NUM> (<FIG>)) to adjust the vertical positioning and/or tilt angle of the header <NUM> relative to the ground surface <NUM>. Specifically, the distance-related signals or data provided by the radar sensor(s) <NUM>, <NUM>' may be used as a control input into the controller <NUM> for controlling the operation of the height cylinder <NUM> and/or the tilt cylinder(s) <NUM>. Specifically, the data may be analyzed by the controller <NUM> in combination with the known spatial relationship between the radar sensor(s) <NUM>, <NUM>' and the header <NUM> to determine a control output(s) for controlling the operation of the cylinders <NUM>, <NUM> that maintains the header <NUM> at the desired position relative to the ground surface <NUM>.

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

Claim 1:
A reel (<NUM>) for a header (<NUM>) configured for use with an agricultural vehicle (<NUM>), the reel (<NUM>) comprising a plurality of tine bar assemblies (<NUM>) supported relative to a rotational axis (<NUM>) of the reel (<NUM>), each tine bar assembly (<NUM>) including a tine support member (<NUM>) and plurality of tines (<NUM>) coupled to the tine support member (<NUM>) and spaced apart from one another in a lateral direction (<NUM>) along a length of the respective tine support member (<NUM>), the reel (<NUM>) further comprising a central support member (<NUM>) extending along the rotational axis (<NUM>) and at least one radial support member (<NUM>) coupled to the tine support member (<NUM>) of each tine bar assembly (<NUM>) and being configured to support the plurality of tine bar assemblies (<NUM>) relative to the central support member (<NUM>), the reel (<NUM>) being characterized by:
the tine support member (<NUM>) of each tine bar assembly (<NUM>) is formed from one or more radar-transparent materials.