Patent Description:
A harvester may be used to harvest crops, such as barley, beans, beets, carrots, corn, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plant crops. During operation of the harvester, the harvesting process may begin by removing a portion of a plant from a field using a header of the harvester. The header may cut the plant and transport the cut crops to a processing system of the harvester.

Certain headers include a cutter bar assembly configured to cut a portion of each crop (e.g., a stalk), thereby separating the cut crop from the soil. The cutter bar assembly may extend along a substantial portion of the width of the header at a forward end of the header. The header may also include one or more belts positioned behind the cutter bar assembly relative to the direction of travel of the harvester. The belt(s) are configured to transport the cut crops to an inlet of the processing system. Certain headers may also include a reel assembly, which may include a reel having multiple fingers extending from a central framework. The central framework is driven to rotate, such that the fingers move in a circular pattern. The fingers are configured to engage the crops, thereby preparing the crops to be cut by the cutter bar assembly and/or urging the cut crops to move toward the belt(s). The reel is typically supported by multiple arms extending from a frame of the header. The reel assembly may include one or more actuators configured to drive the arms to rotate, thereby adjusting the position of the reel relative to the frame of the header.

European Patent Publication No. <CIT> discloses a harvester head including a position adjustable reel having a first segment and a second segment, at least one sensor to sense relative positioning of the first segment and the second segment, and a controller that outputs signals to synchronise positioning of the first and second segments based up signals received from the at least one sensor.

European Patent Publication No.<CIT> discloses a system for controlling an operative parameter of a harvester header of an agricultural harvesting machine. The header includes a first sensing arrangement for sensing a property of a field in front of the header in a contactless manner, a second sensing arrangement for providing a signal suited to derive a value of an adjustable work parameter of the header, an actuator for adjusting the work parameter, and a control unit for determining a control signal for the actuator based on the signals from the first and second sensing arrangements.

European Patent Publication No. <CIT> discloses a method of operating a self-propelled harvester that comprises a header by which crop material is cut and collected, and discloses a control device by which adjustment parameters of the header are adjusted. At least one stand property of a crop material stand disposed in the field in front of the front attachment and a working result correlating with the at least one stand property of a harvested region behind the front attachment are detected by a sensor system. In dependence on the at least one stand property and the working result, a necessary adjustment at least of one of the adjustment parameters is determined for operating the front attachment in a high cut.

In certain embodiments, a header system for an agricultural harvester includes a first reel section, a second reel section, and one or more sensors configured to generate data indicative of a parameter related to a crop within a field. The header system also includes a controller configured to receive the data and to control a first actuator of the header system to adjust the first reel section independently from the second reel section based on the data as the agricultural harvester travels through the field. The first reel section is adjusted to maintain a desired reel position relative to a crop canopy and/or relative to a ground of the field as the agricultural harvester travels through the field. The controller is configured to receive the data and to control a second actuator of the header system to adjust the second reel section independently from the first reel section based on the data as the agricultural harvester travels through the field, the second reel section being adjusted to maintain the desired reel position relative to the crop canopy and/or relative to the ground as the agricultural harvester travels through the field.

In certain examples, a control system for an agricultural header includes a controller comprising a processor configured to receive an input of a desired height of a first reel section, receive an indication of a crop attribute, determine a desired adjustment of the first reel section based on the input and the indication, and adjust the first reel section by the desired adjustment and independent from a second reel section.

In certain embodiments, a method of independently controlling a section of a reel of an agricultural header includes receiving a first signal indicative of a current position of the section of the reel at one or more processors, and receiving, at the one or more processors, a further signal indicative of a current position of the second section of the reel. The method also includes receiving a second signal indicative of a crop parameter at the one or more processors. The method further includes determining an adjustment for the first section of the reel based on the first signal and the second signal using the one or more processors, and determining, using the one or more processors, an adjustment for the second section of the reel based on the further signal and the second signal. The method further includes instructing a first actuator to adjust the first section of the reel independently from the second section of the reel of the agricultural header using the one or more processors. The first reel section is adjusted to maintain a desired reel position relative to a crop canopy and/or relative to a ground of the field as the agricultural harvester travels through the field. The method includes instructing, using the one or more processors, a second actuator to adjust the second section of the reel independently from the first section of the reel of the agricultural header, the second reel section being adjusted to maintain the desired reel position relative to the crop canopy and/or relative to the ground as the agricultural harvester travels through the field.

Any examples of operating parameters and/or environmental conditions are not exclusive of other parameters/conditions of the disclosed embodiments.

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

The header <NUM> includes a cutter bar assembly <NUM> configured to cut the crops within the field. The header <NUM> also includes a reel assembly <NUM> configured to engage the crops to prepare the crops to be cut by the cutter bar assembly <NUM> and/or to urge crops cut by the cutter bar assembly <NUM> onto belts that convey the cut crops toward the inlet <NUM> of the agricultural crop processing system <NUM>. The reel assembly <NUM> includes a reel having multiple fingers extending from a central framework. The central framework is driven to rotate, such that the fingers engage the crops and urge the crops toward the cutter bar assembly <NUM> and the belts. Additionally, the reel may be supported by multiple reel arms that are coupled to a frame <NUM> of the header <NUM>. Each reel arm of the multiple reel arms may be coupled to the frame <NUM> via a respective pivot joint. For example, one pivot joint is configured to enable a first arm of the multiple arms to pivot (e.g., about the lateral axis <NUM>) relative to the frame <NUM> of to the header <NUM>, and another pivot joint is configured to enable a second arm of the multiple arms to pivot (e.g., about the lateral axis <NUM>) relative to the frame <NUM> of the header <NUM>.

In the disclosed embodiments, the reel assembly <NUM> may include a sensor assembly (e.g., reel arm sensor assembly) having one or more sensors. In particular, at least one of the multiple reel arms may be coupled to a bracket (e.g., reel arm extension member) that supports a sensor. The sensor may be configured to facilitate detection of terrain features (e.g., a height, position, and/or density of the crops and/or surface features of the ground) as the harvester <NUM> travels through the field. For example, the sensor may be configured to detect the terrain features and to send a signal indicative of the terrain features to a controller (e.g., electronic controller) for processing.

In some embodiments, the reel assembly <NUM> may include actuators coupled to the header <NUM> and/or the reel arms. The actuators may be configured to move the reel arms (e.g., relative to the frame <NUM> of the header; via rotation at the pivot joints), and thus, the reel assembly <NUM>, along the vertical axis <NUM> and/or the longitudinal axis <NUM> relative to the frame <NUM>. According to the inevntion, the reel assembly <NUM> includes multiple reel sections that move independently from one another. The actuators are configured to move the reel arms to thereby move the reel sections independently from one another. For example, each actuator may be a hydraulic cylinder that retracts a piston rod to raise one reel section relative to another reel section. Similarly, the hydraulic cylinder may extend the piston rod to lower the one reel section relative to another reel section. Also, the actuators may be configured to move the reel sections forward and aft relative to one another.

By independently adjusting the height (e.g., along the vertical axis <NUM>) and position (e.g., forward and aft position; along the longitudinal axis <NUM>) of the reel sections, each of the reel sections are positioned at an appropriate position relative to the crop canopy and/or relative to the ground as the harvester <NUM> travels through the field. For example, an operator may provide an input (e.g., via a user interface in a cab of the harvester <NUM>) to set a desired reel position relative to the crop canopy (e.g., desired reel height; set reel position; a distance below the crop canopy) for the reel sections of the reel assembly <NUM>. However, as the harvester <NUM> travels through the field, the height of the crop canopy may change at a portion of the reel, such as at one reel section (e.g., forward of one reel section, at the portion of the field over which the one reel section may travel). In such cases, the sensor <NUM> may detect the height of the crop canopy at the one reel section and provide the signal indicative of the height of the crop canopy at the one reel section to the controller. Then, the controller may instruct the actuators to adjust the position of the one reel section to maintain the one reel section at the desired reel position (e.g., to maintain the one reel section at the distance below the crop canopy). In this way, the disclosed embodiments may maintain a substantially constant distance between each section of the reel assembly <NUM> and the crop canopy as the harvester <NUM> moves through the field. Various other features related to control of the reel sections of the reel assembly <NUM> are described in more detail below.

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

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

In the illustrated embodiment, the crops cut by the cutter bar assembly <NUM> are directed toward the belts at least in part by the reel assembly <NUM>, thereby substantially reducing the possibility of the cut crops falling onto the surface of the field. The reel assembly <NUM> includes a reel <NUM> having multiple fingers <NUM> extending from a central framework <NUM>. The central framework <NUM> is driven to rotate such that the fingers <NUM> move (e.g., in a circular pattern). The fingers <NUM> are configured to engage the crops and urge the cut crops toward the belts. The cut crops that contact the top surface of the lateral belts <NUM>, <NUM> are driven laterally inwardly to the longitudinal belt <NUM> due to the movement of the lateral belts <NUM>, <NUM>. In addition, cut crops that contact the longitudinal belt <NUM> and the cut crops provided to the longitudinal belt <NUM> by the lateral belts <NUM>, <NUM> are driven rearwardly relative to the direction of travel <NUM> due to the movement of the longitudinal belt <NUM>. Accordingly, the belts move the cut agricultural crops through an opening in the header <NUM> to the inlet <NUM> of the agricultural crop processing system <NUM> (<FIG>).

In the illustrated embodiment, the reel <NUM> includes multiple sections coupled to one another. In particular, the reel <NUM> includes a center section <NUM> (e.g., positioned forward of a center section <NUM> of the frame <NUM> of the header <NUM> relative to the direction of travel <NUM>), a first wing section <NUM>, and a second wing section <NUM>. In the illustrated embodiment, each section of the reel <NUM> is supported by one or more reel arms <NUM> that are coupled to the frame <NUM> of the header <NUM>. While the reel <NUM> includes three sections <NUM>, <NUM>, <NUM> coupled to the frame <NUM> of the header <NUM> via four reel arms <NUM>, it should be appreciated that the reel <NUM> may include any number of sections coupled to the frame <NUM> of the header <NUM> via any number of reel arms (e.g., one section coupled to the frame <NUM> of the header <NUM> via two or more reel arms; two sections coupled to the frame <NUM> of the header <NUM> via three or more reel arms; four sections coupled to the frame <NUM> of the header <NUM> via five or more reel arms).

Regardless of the number of reel arms <NUM>, each reel arm <NUM> may be movably coupled to the frame <NUM> of the header <NUM>. For example, in the illustrated embodiment, each reel arm <NUM> is pivotally coupled to the frame <NUM> of the header <NUM> via a respective pivot joint <NUM>. The pivot joints <NUM> are configured to enable the reel arms <NUM> to pivot (e.g., about the lateral axis <NUM>) relative to the frame <NUM> of the header <NUM>. An actuator <NUM> may be coupled to each reel arm <NUM> and configured to drive the respective reel arm <NUM> to move (e.g., rotate about the pivot joint <NUM>), thereby controlling a position of the reel <NUM> (e.g., including independently controlling respective positions of the reel sections <NUM>, <NUM>, <NUM> of the reel <NUM>) relative to the frame <NUM> of the header <NUM> along the vertical axis <NUM>. Such a configuration may enable the reel <NUM> to be positioned at an appropriate position (e.g., to maintain a substantially constant distance between each reel section <NUM>, <NUM>, <NUM> of the reel <NUM> and the crop canopy) along the vertical axis <NUM>, and to thereby engage the crops to prepare the crops to be cut by the cutter bar assembly <NUM> and/or to urge the cut crops toward the belts <NUM>, <NUM>, <NUM>, for example. In some embodiments, each section <NUM>, <NUM>, <NUM> of the reel <NUM> may also be configured to slide along its respective reel arm(s) <NUM> to move along the longitudinal axis <NUM> relative to the frame <NUM> of the header <NUM>. In this way, each section <NUM>, <NUM>, <NUM> may be adjusted to be appropriately positioned forward of the cutter bar assembly <NUM> relative to the direction of travel <NUM> to enable the reel assembly <NUM> to engage the crop to prepare the crop to be cut by the cutter bar assembly <NUM>, for example.

As noted above, the reel assembly <NUM> may include the sensor assembly <NUM>. The sensor assembly <NUM> may include one or more brackets <NUM> (e.g., reel arm extension) and one or more sensors <NUM>. The one or more sensors <NUM> may be configured to facilitate detection of terrain features, such as a height, a position, and/or a density of the crops and/or surface features of the ground, as the harvester <NUM> travels through the field. In the illustrated embodiment, each of the reel arms <NUM> is coupled to a respective bracket <NUM> that supports a respective sensor <NUM>. However, only some of the reel arms <NUM> may be coupled to a respective bracket <NUM> that supports a respective sensor <NUM>. For example, only the laterally-outer reel arms <NUM> may be coupled to a respective bracket <NUM> and a respective sensor <NUM>, only the laterally-inner reel arm(s) <NUM> may be coupled to a respective bracket <NUM> and a respective sensor <NUM>, and/or every other reel arm <NUM> (e.g., non-adjacent or alternating arms) may be coupled to a respective bracket <NUM> and a respective sensor <NUM>. As discussed in more detail below, regardless of the number of brackets <NUM> and sensors <NUM> included in the sensor assembly <NUM>, the sensors <NUM> may monitor the terrain features forward of the header <NUM> as the harvester <NUM> travels through the field. It should be appreciated that the sensors <NUM> may additionally or alternatively be coupled to the frame <NUM> of the header <NUM> (e.g., the brackets <NUM> may be fastened to the frame <NUM> of the header <NUM>) and/or may be coupled to the harvester <NUM>.

As the header <NUM> travels through the field, the sensors <NUM> of the sensor assembly <NUM> may monitor the terrain features forward of the header <NUM>. As noted above, the terrain features may include a height of the crops (e.g., a crop canopy height; a height of the crops relative to the ground), a position of the crops (e.g., an orientation or angle of the crops relative to the ground, such as whether the crops are leaning toward or away from the header <NUM>), and/or a density of the crops (e.g., a density of the crop canopy). As discussed below, the sensors <NUM> may provide sensor signals indicative of the terrain features to a control system (e.g., electronic control system), which may process the sensor signals to determine the appropriate position for each reel arm <NUM> and may output control signals to the actuators <NUM> to adjust each reel arm <NUM> to the appropriate position. In this way, the reel sections <NUM>, <NUM>, <NUM> may be adjusted based on (e.g., in response to) the terrain features as the header <NUM> travels through the field.

<FIG> is a diagram of an embodiment of a control system <NUM> (e.g., electronic control system) configured to control each actuator <NUM> coupled to the reel arms <NUM> of the reel assembly <NUM>. In the illustrated embodiment, the control system <NUM> includes a controller <NUM> having a memory <NUM> and a processor <NUM>. The memory <NUM> may be any type of non-transitory machine readable medium for storing data and executable instructions, such as random-access memory, read-only memory, rewritable flash memory, hard drives, optical discs, and the like. The processor <NUM> may execute instructions stored on the memory <NUM>. For example, the memory <NUM> may contain machine readable code, such as instructions, that may be executed by the processor <NUM>. In some embodiments, the memory <NUM> and processor <NUM> may enable automatic (e.g., processor/memory controlled) operation of the header <NUM>, including automatic adjustment of the reel assembly <NUM> based on the terrain features. As will be described below, the controller <NUM> is configured to control a hydraulic control system <NUM> to adjust the height and/or the position of the reel sections <NUM>, <NUM>, <NUM> based on operator inputs, data from the sensors <NUM>, pre-loaded design conditions, and the like.

As mentioned above, in the illustrated embodiment, the actuators <NUM> are hydraulic cylinders. The hydraulic control system <NUM> is configured to control the flow of hydraulic fluid to and from the actuators228. For instance, the hydraulic control system <NUM> may include tanks, pumps, and/or valves configured to regulate the flow of hydraulic fluid to the actuators <NUM>. In the illustrated embodiment, the hydraulic control system <NUM> regulates the flow of the hydraulic fluid to the actuators <NUM> to adjust the position of the actuators <NUM>, and thus, the position of the reel arms <NUM> (and the independent reel sections coupled thereto) based on control signals received from the controller <NUM>.

As mentioned above, the sensors <NUM> are communicatively coupled to the controller <NUM>. In the illustrated embodiment, the sensors <NUM> are ultrasonic transducers configured to send and receive acoustic energy to/from the agricultural field <NUM>. However, any other suitable type of sensor that is capable of detecting the terrain features may be utilized. The sensors <NUM> may act as a height sensor configured to obtain data indicative of the height of a crop canopy. Additionally or alternatively, the sensors <NUM> may be configured to obtain data indicative of the position of the crop canopy and/or the density of the crop canopy. Additionally or alternatively, the sensors <NUM> may act as an obstacle sensor and/or ground contour sensor configured to determine the ground contour of the field.

The control system <NUM> is configured to receive the data (e.g., signals) from the sensors <NUM>, process the data, determine an appropriate position for each reel arm <NUM> of the reel assembly <NUM> (e.g., that achieves an appropriate position for each section <NUM>, <NUM>, <NUM> of the reel assembly <NUM>, such as to maintain the desired reel position at the set distance below the crop canopy), and to provide control signals to the hydraulic control system <NUM> to adjust the position of the actuators <NUM> to drive each reel arm <NUM> to the respective appropriate position as the harvester <NUM> travels through the field of crops based on the received data.

To carry out these techniques, the controller <NUM> may also be configured to receive data (e.g., signals) from reel sensors <NUM> that is indicative of respective current positions of the reel arms <NUM> (e.g., and each reel section <NUM>, <NUM>, <NUM> coupled thereto, relative to the ground and/or relative to the crop canopy). The respective current positions of the reel arms <NUM> may be used to determine how (e.g., up, down, forward, rearward) to adjust the reel arms <NUM> to reach the respective appropriate positions of the reel arms <NUM> and/or to provide feedback (e.g., as part of a feedback loop) to confirm that the reel arms <NUM> have reached their respective appropriate positions. For example, the controller <NUM> may compare the current position with the appropriate position and direct the hydraulic control system <NUM> to adjust the actuators <NUM> to drive each reel arm <NUM> to the respective appropriate position. As mentioned above, the control system <NUM> may continuously or periodically monitor the current position of the reel assembly <NUM> and continuously or periodically change the position of the reel sections <NUM>, <NUM>, <NUM>, such as to maintain the desired reel position relative to the crop canopy.

The control system <NUM> may adjust the reel assembly <NUM> in various ways. For example, in some embodiments, an operator may provide an input (e.g., via a user interface <NUM>) to set a desired reel position relative to the crop canopy (e.g., desired reel height; set reel position; a set distance below the crop canopy) for the reel sections of the reel assembly <NUM>. It should be appreciated that the controller <NUM> may establish or receive the desired reel position relative to the crop canopy in other ways, such as via a programmed or manufacturer setting, for example. Regardless of the manner in which the desired reel position is obtained, the sensor <NUM> may detect the height of the crop canopy at the one or more reel sections (e.g., forward of the one or more reel section, at the area of the field over which the one or more reel sections may travel) and may provide the signal indicative of the height of the crop canopy at the one or more reel sections to the controller <NUM>. Then, the controller <NUM> may instruct the actuators <NUM> to adjust the position of the one or more reel arms <NUM> to maintain the one or more reel sections at the desired reel position (e.g., to maintain the one or more reel sections at the set distance below the crop canopy). In this way, the disclosed embodiments may maintain a substantially constant distance between each section of the reel assembly <NUM> and the crop canopy as the harvester <NUM> moves through the field.

In some embodiments, an operator may provide an input (e.g., via the user interface <NUM>) to set a desired reel position relative to the ground for the reel sections of the reel assembly <NUM> (e.g., desired reel height; set reel position; a set distance above the ground). It should be appreciated that the controller <NUM> may establish or receive the desired reel position relative to the ground in other ways, such as via a programmed or manufacturer setting, for example. Regardless of the manner in which the desired reel position is obtained, the sensor <NUM> may detect the ground contour at the one or more reel sections (e.g., forward of the one or more reel section, at the area of the field over which the one or more reel sections may travel) and may provide the signal indicative of the ground contour at the one or more reel sections to the controller <NUM>. Then, the controller <NUM> may instruct the actuators <NUM> to adjust the position of the one or more reel arms <NUM> to maintain the one or more reel sections at the desired reel position (e.g., to maintain the one or more reel sections at the set distance above the ground). In this way, the disclosed embodiments may maintain a substantially constant distance between each section of the reel assembly <NUM> and the ground as the harvester <NUM> moves through the field.

In some such embodiments, the controller <NUM> may control the one or more reel arms <NUM> to maintain the one or more reel sections at the desired reel position at the set distance above the ground, as long as (e.g., only as long as) the desired reel position would also result in the one or more reel sections being below the crop canopy and/or at an appropriate position relative to another parameter (e.g., above a center of gravity of the crops, as determined by the controller <NUM> based on data from the sensors <NUM>). For example, the operator may provide the input to set the desired reel position relative to the ground. The sensors <NUM> may monitor the ground contour and the height of the crop canopy, and the sensors <NUM> may provide the data indicative of the ground contour and the height of the crop canopy to the controller <NUM>. The reel sensors <NUM> may also provide data indicative of the current positions of the reel arms <NUM> to the controller <NUM>. As the harvester <NUM> travels through the field, the controller <NUM> may then adjust the actuators <NUM> to position each reel section at its respective desired reel position relative to the ground. However, if the desired reel position relative to the ground would result in the reel section being above the crop canopy, the controller <NUM> may block and/or limit adjustment of the actuator <NUM> to maintain the reel section between the ground and the crop canopy along the vertical axis <NUM>.

In some embodiments, the operator may provide an input to instruct the controller <NUM> to control the actuators <NUM> to operator in different modes, such as a "crop canopy mode" in which the controller <NUM> controls the actuators <NUM> so that each reel section tracks the crop canopy (e.g., maintain the set distance below the crop canopy) or a "ground contour mode" in which the controller <NUM> controls the actuators <NUM> so that each reel section tracks the ground contours (e.g., maintain the set distance above the ground). Further, the controller <NUM> may be configured to automatically switch between these modes. For example, the controller <NUM> may be configured to switch from the ground contour mode to the crop canopy mode if the desired reel position relative to the ground would place (or result in) the reel section being above the crop canopy. The controller <NUM> may be configured to automatically switch modes based on various other factors, including the density of the crop, the position of the crop, a degree of variation (e.g., as determined by the controller <NUM> based on the data from the sensors <NUM>) of the height of the crop canopy across the width of the header <NUM> and/or as the harvester <NUM> travels through the field, a degree of variation (e.g., as determined by the controller <NUM> based on the data from the sensors <NUM>) of the ground contour across the width of the header <NUM> and/or as the harvester <NUM> travels through the field. For example, if the degree of variation in the height of the crop canopy is higher than the degree of variation in the ground contour, the controller <NUM> may operate in the ground contour mode to reduce adjustments. Alternatively, in such cases, the controller <NUM> may operate in the crop canopy mode to more closely account and match the variations.

The controller <NUM> may determine and/or take into account other factors to control the reel assembly <NUM>. In some embodiments, the controller <NUM> may process the data from the sensors <NUM> to determine the density of the crop (e.g., at the crop canopy). The controller <NUM> may then adjust each reel section based on the density of the crop. For example, the operator may set the desired reel position relative to the crop canopy. However, the controller <NUM> may adjust the desired reel position relative to the crop canopy (e.g., adjust the set distance input by the operator; adjust to an adjusted desired reel position) for each reel section to account for the density, and then the controller <NUM> may maintain each reel sections at the respective adjusted desired reel position as the harvester <NUM> travels through field (e.g., through the portion of the field having the density). Thus, the controller <NUM> may determine the respective appropriate position for each reel section by taking into account the operator input (or other input of the desired position), the height of the crop canopy, the ground contour, and/or the density of the crop. Advantageously, this may enable each reel section to engage the crop at the respective appropriate position relative to the center of gravity of the crops (e.g., slightly above the center of gravity) to block the crops from flipping and/or to effectively urge the crops onto the cutter bar assembly <NUM>.

Similarly, in some embodiments, the controller <NUM> may process the data from the sensors <NUM> to determine the position of the crops (e.g., the orientation relative to the ground). The controller <NUM> may then adjust each reel section based on the position of the crops. For example, the operator may set the desired reel position relative to the crop canopy. However, the controller <NUM> may adjust the desired reel position relative to the crop canopy and/or relative to the frame <NUM> of the header <NUM> (e.g., adjust the set distance input by the operator; adjust to an adjusted desired reel position; adjust up, down, forward, and/or aft) for each reel section to account for the position of the crops, and then the controller <NUM> may maintain the each reel sections at the respective adjusted desired reel position as the harvester <NUM> travels through field (e.g., through the portion of the field having the density). Thus, the controller <NUM> may determine the respective appropriate position for each reel section by taking into account the operator input (or other input of the desired position), the height of the crop canopy, the ground contour, the density of the crop, and/or the position of the crop. Advantageously, this may enable each reel section to engage the crop at the respective appropriate position relative to the center of gravity of the crops (e.g., slightly above the center of gravity) and/or relative to the cutter bar assembly <NUM> to block the crops from flipping and/or to effectively urge the crops onto the cutter bar assembly <NUM>.

It should be appreciated that the controller <NUM> may also be configured to independently adjust the position of each reel section to avoid contact between the reel sections and the cutter bar assembly <NUM>. For example, the header <NUM> may operate in a "flex mode" in which the cutter bar flexes as the harvester <NUM> travels through the field. In such cases, cutter bar sensors may monitor the position of the cutter bar assembly <NUM>. The controller <NUM> may receive data (e.g., signals) indicative of the position of the cutter bar assembly <NUM> from the cutter bar sensors and may adjust the reel sections accordingly.

<FIG> provide examples to facilitate understanding of the operation of the header <NUM>, including operation of the sensor assembly <NUM> and adjustment of the reel sections <NUM>, <NUM>, <NUM>, of the reel assembly <NUM>. <FIG> is a rear view of an embodiment of a portion of the reel assembly <NUM> that includes the reel sections <NUM>, <NUM>, <NUM>. The reel sections <NUM>, <NUM>, <NUM> may be in a first configuration (e.g., level configuration; the respective central axes of the sections may be aligned with one another and/or may be aligned with the lateral axis <NUM>) while the reel assembly <NUM> travels over and/or interacts with a generally level field of crops <NUM>. As shown, the reel sections <NUM>, <NUM>, <NUM> of the reel assembly <NUM> may be coupled together by pivot joints <NUM>, which enable the reel sections <NUM>, <NUM>, <NUM> to rotate independently from one another to adjust to terrain features (e.g., a height, position, and/or density of the crops and/or surface features of the ground). However, the reel sections <NUM>, <NUM>, <NUM> of the reel assembly <NUM> may be coupled together and/or coupled to the frame <NUM> of the header <NUM> in other ways (e.g., via a sliding connection and/or another connection) that enable the reel sections <NUM>, <NUM>, <NUM> to move (e.g., slide and/or rotate) independently from one another.

<FIG> is a rear view of an embodiment of a portion of the reel assembly <NUM> that includes the reel sections <NUM>, <NUM>, <NUM>. The reel sections <NUM>, <NUM>, <NUM> may be in a second configuration (e.g., non-level configuration; the respective central axes of the sections are not aligned with one another and/or are not aligned with the lateral axis <NUM>) while the reel assembly <NUM> travels over and/or interacts with a generally uneven crop canopy <NUM>. In particular, one reel section <NUM> is raised (e.g., via rotation at the pivot joint <NUM>) relative to the other sections <NUM>, <NUM> due to the height of the crop canopy <NUM> at the one reel section <NUM> being greater than the height of the crop canopy <NUM> at the other sections <NUM>, <NUM> to enable the reel section <NUM> to effectively engage the crops. While the illustrated embodiment shows the distance between the crop canopy and the reel section <NUM> being approximately equal across the width of the reel section <NUM> to facilitate discussion, it should be appreciated that the distance may not be substantially equal across the width of the reel section <NUM>. Instead, the reel section <NUM> may be positioned so that at least some percentage of the reel section <NUM> is at the desired reel position or close to the desired reel position (e.g., approximately equal to or greater than <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, <NUM>, or <NUM> percent), for example. Generally, the controller <NUM> may determine the appropriate position to be the position at which the reel section <NUM> will effectively engage the crops, taking into account the operator input, the height of the crop canopy, the position of the crops, the density of the crops, and/or other factors.

<FIG> is a side view of an embodiment of a header <NUM> having the reel assembly <NUM>, the cutter bar assembly <NUM>, and the sensors <NUM>. In the illustrated embodiment, the crops <NUM> are positioned to lean away from the header <NUM>. In operation, the controller <NUM> may process the data from the sensors <NUM> to determine the position of the crops <NUM> and to determine the appropriate position for each reel section of the reel assembly <NUM>. For example, with the illustrated position of the crops <NUM>, the controller <NUM> may be configured to control the actuators <NUM> to move the reel assembly <NUM> to a first position relative to the frame <NUM> of the header <NUM> (e.g., away from the frame <NUM> of the header <NUM> along the longitudinal axis <NUM>) to effectively engage the crops and/or to urge the crops toward the cutter bar assembly <NUM>.

<FIG> is a side view of an embodiment of a header <NUM> having the reel assembly <NUM>, the cutter bar assembly <NUM>, and the sensors <NUM>. In the illustrated embodiment, the crops <NUM> are positioned to lean toward from the header <NUM>. In operation, the controller <NUM> may process the data from the sensors <NUM> to determine the position of the crops <NUM> and to determine the appropriate position for each reel section of the reel assembly <NUM>. For example, with the illustrated position of the crops <NUM>, the controller <NUM> may be configured to control the actuators <NUM> to move the reel assembly <NUM> to a second position relative to the frame <NUM> of the header <NUM> (e.g., toward the the frame <NUM> of the header <NUM> along the longitudinal axis <NUM>; closer to the frame <NUM> of the header <NUM> as compared to the first position of <FIG>) to effectively engage the crops and/or to urge the crops toward the cutter bar assembly <NUM>. For example, if the operator set the desired reel position relative to the crop canopy, the controller <NUM> may control each reel section to generally maintain the desired reel position relative to the crop canopy as the harvester <NUM> travels through the field. However, the controller <NUM> may adjust the desired reel position and/or determine the appropriate reel position based on the position of the crops (e.g., given the same desired reel position set by the operator, the controller <NUM> may adjust the desired reel position forward to the first position relative to the frame <NUM> of the header <NUM> while the crops <NUM> are positioned to lean away from the frame <NUM> of the header <NUM> and may adjust the desired reel position rearward to the second position relative to the frame <NUM> of the header <NUM> while the crops <NUM> are positioned to lean toward the frame <NUM> of the header <NUM>), thereby enabling each reel section to more effectively engage the crops. Similar adjustments to the desired reel position may be made based on the density of the crops.

It should be appreciated that the bracket <NUM> may contact and/or be fastened (e.g., via one or more bolts or welds) to the frame <NUM> of the header <NUM>. For example, at least a portion of the bracket <NUM> may be non-rotatably coupled or fixed to the frame <NUM> of the header <NUM>, and the bracket <NUM> may extend up and over (e.g., forward) the reel assembly <NUM> to enable the sensor <NUM> to detect the terrain features forward of the header <NUM>. It should be appreciated that any of the sensors <NUM> coupled to the reel arms <NUM> as shown in <FIG> may be coupled to the frame <NUM> of the header <NUM>. Furthermore, any of the features disclosed herein may be combined in any suitable manner.

<FIG> is a flow chart of an embodiment of method <NUM> for independently adjusting the position of the reel sections. In the illustrated embodiment, the controller <NUM> receives a first signal indicative of a first height of a first section <NUM> relative to the ground of a field of crops <NUM> and/or relative to the crop canopy at block <NUM>. The controller <NUM> may receive the first signal from the sensor <NUM>. The controller <NUM> receives a second signal indicative of a second height of the first section <NUM> relative to the ground of the field of crops <NUM> and/or relative to the crop canopy at block <NUM>. In certain embodiments, the controller <NUM> receives a third signal indicative of the density of the crops at block <NUM>. The controller <NUM> may receive the third signal from the sensor <NUM>. As discussed above, the controller <NUM> may additionally or alternatively receive other parameters or attributes, such as the position of the crops (e.g., the orientation). In some embodiments, the controller <NUM> is configured to receive an operator input indicative of desired cutting parameters, such as the desired reel position relative to the ground and/or relative to the crop canopy at block <NUM>.

Claim 1:
A header (<NUM>) system for an agricultural harvester (<NUM>), comprising:
a first reel section (<NUM>);
a second reel section (<NUM>); and,
one or more sensors (<NUM>) configured to generate data indicative of a parameter related to a crop (<NUM>) within a field,
characterised in that the header (<NUM>) system comprises:
a controller (<NUM>) configured to receive the data and to control a first actuator (<NUM>) of the header system to adjust the first reel section (<NUM>) independently from the second reel section (<NUM>) based on the data as the agricultural harvester (<NUM>) travels through the field, the first reel section (<NUM>) being adjusted to maintain a desired reel position relative to a crop canopy and/or relative to a ground of the field as the agricultural harvester (<NUM>) travels through the field, wherein the controller (<NUM>) is configured to receive the data and to control a second actuator (<NUM>) of the header system to adjust the second reel section (<NUM>) independently from the first reel section (<NUM>) based on the data as the agricultural harvester (<NUM>) travels through the field, the second reel section (<NUM>) being adjusted to maintain the desired reel position relative to the crop canopy and/or relative to the ground as the agricultural harvester (<NUM>) travels through the field.