EP4554368A1

EP4554368A1 - Systems and methods for header height control

Info

Publication number: EP4554368A1
Application number: EP23751458.3A
Authority: EP
Inventors: Barry E. Lehman; Jethro Martin; Cory Douglas Hunt
Original assignee: CNH Industrial America LLC
Current assignee: CNH Industrial America LLC
Priority date: 2022-07-14
Filing date: 2023-07-14
Publication date: 2025-05-21
Also published as: AR129932A1; WO2024015556A1; AU2023307061A1

Abstract

A system for use with an agricultural harvester may include a harvesting header comprising a frame and a cutter bar assembly extending from the frame and a sensor coupled to the frame and positioned such that a field of view of the sensor includes a portion of a field surface under the cutter bar assembly. The sensor may be configured to generate sensor data indicative of a distance between the header and the portion of the field surface.

Description

SYSTEMS AND METHODS FOR HEADER HEIGHT CONTROL

BACKGROUND

[0001] The present disclosure relates generally to systems and methods for header height control of agricultural systems.

[0002] This section is intended to introduce the reader to various aspects of art that may be related to various aspects of the present disclosure, which are described and/or claimed below. This discussion is believed to be helpful in providing the reader with background information to facilitate a better understanding of the various aspects of the present disclosure. Accordingly, it should be understood that these statements are to be read in this light, and not as admissions of prior art.

[0003] A harvester may be used to harvest crops, such as barley, beans, beets, carrots, com, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plant crops. During operation of the harvester, a harvesting process may begin by removing a portion of a plant from a field using a header 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 portion of each crop from the soil.

SUMMARY

[0004] Certain embodiments commensurate in scope with the originally claimed subject matter are summarized below. These embodiments are not intended to limit the scope of the claimed subject matter, but rather these embodiments are intended only to provide a brief summary of possible forms of the disclosure. Indeed, the disclosure may encompass a variety of forms that may be similar to or different from the embodiments set forth below.

[0005] In certain embodiments, a system for use with an agricultural harvester may include a harvesting header comprising a frame and a cutter bar assembly extending from the frame and a sensor coupled to the frame and positioned such that a field of view of the sensor includes a portion of a field surface under the cutter bar assembly. The sensor may be configured to generate sensor data indicative of a distance between the header and the portion of the field surface.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] These and other features, aspects, and advantages of the present disclosure will become better understood when the following detailed description is read with reference to the accompanying drawings in which like characters represent like parts throughout the drawings, wherein:

[0007] FIG. 1 is a side view of an embodiment of an agricultural system, in accordance with an aspect of the present disclosure;

[0008] FIG. 2 is a perspective view of an embodiment of a header that may be employed within the agricultural system of FIG. 1, in accordance with an aspect of the present disclosure;

[0009] FIG. 3 is a cross-sectional side view of an embodiment of a header that may be employed within the agricultural system of FIG. 1; in accordance with an aspect of the present disclosure;

[0010] FIG. 4 is a cross-sectional side view of an embodiment of a portion of the header of FIG. 3, in accordance with an aspect of the present disclosure;

[0011] FIG. 5 is a schematic top view of an embodiment of the header of FIG. 3, in accordance with an aspect of the present disclosure;

[0012] FIG. 6 is a schematic rear view of an embodiment of the header of FIG. 3, in accordance with an aspect of the present disclosure;

[0013] FIG. 7 is a perspective front view of an embodiment of a portion of the header of FIG. 3, wherein a sensor is supported on a frame of the header, in accordance with an aspect of the present disclosure; and

[0014] FIG. 8 is a flow diagram of an embodiment of a method for adjusting a position of the header of FIG. 3, in accordance with an aspect of the present disclosure. DETAILED DESCRIPTION

[0015] One or more specific embodiments of the present disclosure will be described below. In an effort to provide a concise description of these embodiments, all features of an actual implementation may not be described in the specification. It should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers’ specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another. Moreover, it should be appreciated that such a development effort might be complex and time consuming, but would nevertheless be a routine undertaking of design, fabrication, and manufacture for those of ordinary skill having the benefit of this disclosure.

[0016] When introducing elements of various embodiments of the present disclosure, the articles “a,” “an,” “the,” and “said” are intended to mean that there are one or more of the elements. The terms “comprising,” “including,” and “having” are intended to be inclusive and mean that there may be additional elements other than the listed elements. Any examples of operating parameters and/or environmental conditions are not exclusive of other parameters/conditions of the disclosed embodiments.

[0017] 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 cut crops within a field via a header, which may include a flexible draper header. The flexible draper header may include a cutter bar assembly configured to cut the crops. As the cutter bar assembly cuts the crops, a conveyor coupled to draper deck(s) (e.g., draper belt) of the header moves the crops toward a crop processing system of the harvester. For example, the conveyor on the side draper deck(s) may move the cut crops toward an infeed draper deck at a center of the header. A conveyor on the infeed draper deck may then move the crops toward the crop processing system. The crop processing system may include a threshing machine configured to thresh the crops, thereby separating the crops into certain desired agricultural materials, such as grain, and material other than grain (MOG). The desired agricultural materials may be sifted and then accumulated into a tank. When the tank fills to capacity, the materials may be collected from the tank. The MOG may be discarded from the harvester (e.g., via a spreader) by passing through an exit pipe or a spreader to fall down onto the field.

[0018] In an embodiment, portions of the cutter bar assembly may move so as to follow a contour of the field. For example, the cutter bar assembly may be flexible to remain in contact with the field during operations. A height of the header is adjustable relative to the ground so as to enable the cutter bar assembly to effectively cut crops. For example, it may be beneficial to cut certain crops close to their roots, but it may be beneficial to cut other crops across the stem. As such, monitoring and adjusting the height of the header may improve harvesting operations. Present embodiments include one or more sensors that are configured to measure a distance (e.g., height) between the header and the field. The sensors may have a minimum sensing distance, or a minimum height threshold, from the field in order to accurately and/or reliably detect the distance between the header and the field.

[0019] Certain sensors have a clearance cone, or a space between the sensor and the field that is sensitive to interference. For example, if the sensor were positioned vertically above the draper deck, the sensor may receive interference from components of the draper deck. As such, if the sensor is placed within the minimum sensing distance and/or positioned to be subject to interference, the sensor may not give an accurate or reliable measurement of the distance between the header and the field. In certain instances, the inaccurate and/or unreliable measurement of the distance may result in inappropriate adjustments to the height of the header (e.g., the adjustments may be too high or too low compared to the field and/or the crops). For example, positioning the header too high compared to the field may result in portions of the crop remaining in the ground, thereby limiting an effectiveness of the header.

[0020] It is now recognized that it is desirable to position the sensors at particular locations relative to the header to thereby enable the sensors to accurately and/or reliably measure the distance between the header and the field. In turn, the sensors facilitate and enable appropriate adjustments to the height of the header (e.g., to position the header at a desired or target height relative to the field). Therefore, the present disclosure is directed to a header height control system configured to monitor the height of the header and adjust the height of the header, thereby adjusting a position of the cutter bar assembly. Specifically, the height of the header (e.g., relative to the field) may be monitored by the header height control system before, during, and/or after operation of the harvester, and the header is then adjusted based on the monitored height. Additionally or alternatively, a user, such as an operator, may adjust the height of the header before, during, and/or after harvesting operations.

[0021] Furthermore, the header height control system described herein may be installed in both new and existing agricultural systems (e.g., retrofitted). Installation of the header height control system includes disposing one or more sensors within the header (e.g., in front of a rearmost portion of the header, under the header, behind the cutter bar assembly, and/or on an arm of the agricultural system 100). The sensors may be secured to the cutter bar assembly and/or other portions of the header via various interface and mounting features, such as brackets, beams, fasteners, and the like. The sensors may include a radar sensor configured to generate and transmit sensor data indicative of a distance between the header and the ground. In particular, the sensors measure a distance to the ground, and because the sensor is mounted at a fixed position relative to a frame of the header, the sensor data is indicative of the distance between the header and the ground. Further, because the cutter bar assembly is coupled to the frame of the header and has a range of motion relative to the frame of the header, the height of the header affects a position of the cutter bar assembly (e.g., affects a distance between the cutter bar assembly and the ground; affects a cutting height along the crops). Further, it should be appreciated that the sensors may measure a distance between the header and a crop canopy (e.g., in addition to or instead of the ground itself) and/or the presence of other objects, such as an interference object (e.g., metal debris in the field; a metal portion of the draper deck). The header height control system may also include a controller configured to receive the sensor data, determine the height of the header, and transmit a control signal to adjust the height of the header. Accordingly, the header height control system may improve harvesting operations.

[0022] With the foregoing in mind, FIG. l is a side view of an embodiment of an agricultural system 100, which may be a harvester. The agricultural system 100 includes a chassis 102 configured to support a header 200 and an agricultural crop processing system 104. As described in greater detail herein, the header 200 is configured to cut crops and to transport the cut crops toward an inlet 106 of the agricultural crop processing system 104 for further processing of the cut crops. The agricultural crop processing system 104 receives the cut crops from the header 200 and separates desired crop material from crop residue. For example, the agricultural crop processing system 104 may include a thresher 108 having a cylindrical threshing rotor that transports the crops in a helical flow path through the agricultural system 100. In addition to transporting the crops, the thresher 108 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 114 (such as sieves) located beneath the thresher 108. The cleaning system 114 may remove debris from the desired crop material and transport the desired crop material to a storage tank 116 within the agricultural system 100. When the storage tank 116 is full, a tractor with a trailer on the back may pull alongside the agricultural system 100. The desired crop material collected in the storage tank 116 may be carried up by an elevator and dumped out of an unloader 118 into the trailer. The crop residue may be transported from the thresher 108 to a crop residue handling system 110, which may process (e.g., chop/ shred) and remove the crop residue from the agricultural system 100 via a crop residue spreading system 112 positioned at an aft end of the agricultural system 100. To facilitate discussion, the agricultural system 100 and/or its components may be described with reference to a lateral axis or direction 140, a longitudinal axis or direction 142, and a vertical axis or direction 144. The agricultural system 100 and/or its components may also be described with reference to a forward direction of travel 146.

[0023] As discussed in detail herein, the header 200 includes a cutter bar assembly 210 configured to cut the crops within the field. The header 200 also includes a reel assembly 220 configured to engage the crops to prepare the crops to be cut by the cutter bar assembly 210 and/or to urge crops cut by the cutter bar assembly 210 onto a conveyor system that directs the cut crops toward the inlet 106 of the agricultural crop processing system 104. The reel assembly 220 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 210 and the conveyor system. Additionally, the reel may be supported by multiple arms 241 (e.g., reel arms) that are coupled to a frame 201 of the header 200. Each of the arms 241 may be coupled to the frame 201 via a respective pivot joint. For example, one pivot joint is configured to enable a first arm 241 of the multiple arms to pivot (e.g., about the lateral axis 140) relative to the frame 201, and another pivot joint is configured to enable a second arm 241 of the multiple arms to pivot (e.g., about the lateral axis 140) relative to the frame 201.

[0024] In the illustrated embodiment, the header 200 includes one or more sensors 226 (e.g., non-contact sensors) configured to measure a relative distance between the header 200 and the field. As described herein, the one or more sensors 226 may be placed at or near a rear-most end of the header 200, under the header 200, behind the cutter bar assembly 210, on the cutter bar assembly 210, on the arm 241 of the reel assembly 220, or the like, to measure the distance to the field. Specifically, the one or more sensors 226 may be mounted on the header 200 to measure the header height (e.g., the distance between the header 200 and the field). The header height measurement may be useful for adjusting the position of the header 200 relative to the field to effectively cut crops and improve harvesting operations.

[0025] FIG. 2 is a perspective view of an embodiment of the header 200 that may be employed within the agricultural system 100 of FIG. 1. In the illustrated embodiment, the header 200 includes the cutter bar assembly 210 configured to cut a portion of each crop (e.g., a stalk), thereby separating the crop from the soil. The cutter bar assembly 210 is positioned at a forward end of the header 200 relative to the longitudinal axis 142 of the header 200. As illustrated, the cutter bar assembly 210 extends along a substantial portion of the width of the header 200 (e.g., along the lateral axis 140). The cutter bar assembly 210 includes a knife (e.g., knife assembly) with 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 144 of the header 200), 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 211 positioned at a center of the header 200. 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 200). As the agricultural system 100 is driven through the field, the cutter bar assembly 210 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 210 with the crops. [0026] In the illustrated embodiment, the header 200 includes a first conveyor section 202 on a first lateral side of the header 200 and a second conveyor section 203 on a second lateral side of the header 200 opposite the first lateral side. The conveyor sections 202, 203 may be separate from one another. For instance, the first conveyor section 202 may extend along a portion of a width of the header 200 and the second conveyor section 203 may extend along another portion of the width of the header 200. Each conveyor section 202, 203 is driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The first conveyor section 202 and the second conveyor section 203 are driven such that a top surface of each conveyor section 202, 203 moves laterally inward to a center conveyor section 204 positioned between the first conveyor section 202 and the second conveyor section 203 along the lateral axis 140. The center conveyor section 204 may also be driven to rotate by a suitable drive mechanism, such as an electric motor or a hydraulic motor. The center conveyor section 204 is driven such that the top surface of the center conveyor section 204 moves rearwardly relative to the direction of travel 146 toward the inlet. As a result, the conveyor sections 202, 203, 204 transport the cut crops through the inlet to the agricultural crop processing system for further processing of the cut crops. Although the illustrated header 200 includes two conveyor sections 202, 203 configured to direct crops toward the center conveyor section 204, there may be any suitable number of conveyor sections in additional or alternative embodiments directing the crops toward the center conveyor section.

[0027] In the illustrated embodiment, the crops cut by the cutter bar assembly 210 are directed toward the conveyor sections 202, 203 at least in part by the reel assembly 220, thereby substantially reducing the possibility of the cut crops falling onto the surface of the field. The reel assembly 220 includes a reel 221 having multiple fingers or tines extending from a central framework 223. The central framework 223 is driven to rotate such that the fingers 222 move (e.g., in a circular pattern). The fingers 222 are configured to engage the crops and urge the cut crops toward the conveyor sections 202, 203 to facilitate transportation of the cut crops to the agricultural crop processing system.

[0028] As illustrated herein, the cutter bar assembly 210 is flexible along the width of the header 200. As discussed in detail herein, the cutter bar assembly 210 is supported by multiple arm assemblies distributed along the width of the header 200. In some embodiments, the frame 201 of the header 200 may be movably coupled to the chassis of the agricultural system. Each arm assembly is mounted to the frame 201 and includes an arm coupled to the cutter bar assembly 210. The arm may extend forward from the frame 201 of the header 200 to the knife of the cutter bar assembly 210. In some embodiments, the arm extends through the conveyor sections 202, 203 (e.g., the conveyor sections 202, 203 are wrapped around the arms). The arm may be configured to rotate (e g., about its connection to the frame 201 of the header 200) and/or otherwise move relative to the frame 201 of the header 200. Thus, the arm may move to enable at least the knife of the cutter bar assembly 210 to move along the vertical axis 144 relative to the frame 201. In this way, the arms enable the cutter bar assembly 210 to flex during operation of the agricultural system. Thus, the cutter bar assembly 210 may follow the contours of the field, thereby enabling the cutting height (e.g., the height at which each crop is cut) to be substantially constant across the width of the header 200.

[0029] To follow the contours of the field, the header 200 is communicatively coupled to a header height control system that monitors the distance to the field, which is indicative of the contours of the field. The header height control system also provides control signals to adjust the header 200 based on the distance to the field. For example, the header 200 includes or is coupled to the one or more sensors 226, a controller 230 with a memory 232 and a processor 234, and/or a user interface 236. The user interface 236 may include an input assembly 238 and/or a display 240. The header height control system may include at least one sensor 226 configured to output a signal indicative of the distance to the field, which is indicative of a profile (e.g., level, height, contour) of the ground (e.g., field surface). In the illustrated embodiment, the header 200 includes four sensors 226. However, the header 200 may include 1, 2, 3, 4, 5, 6, 8 or more sensors to monitor the distance of the header 200 relative to the field.

[0030] The one or more sensors 226 may include a variety of sensor(s), such as radar sensor(s), ultrasonic sensor(s), optical sensor(s), electrostatic sensor(s), inductive sensor(s), Light Detection and Ranging (LIDAR) sensor(s), camera(s), other suitable sensor(s), or a combination thereof, to monitor the header height. For example, the header 200 may include multiple sensors 226, such as radar sensors coupled to different locations (e.g., along the lateral axis 140) within the header 200 to monitor the distance between the header 200 and the field. That is, each sensor 226 generates sensor data indicative of the distance between the header 200 and the field before, during, and/or after harvesting operations. In an embodiment, the sensor 226 generates data indicative of the contours of the field. The sensor 226 may transmit a sensor signal indicative of the sensor data to the controller 230, and the controller 230 may receive the signal and determine the height of the header 200 based on the sensor data. This may occur over time (e.g., continuously, periodically) as the header 200 travels through the field during the harvesting operations (e.g., while the cutter bar assembly 210 cuts the crops). For example, the sensor 226 may be supported on the frame 201 of the header 200 and located at or near a rear end portion of the cutter bar assembly 210 relative to the longitudinal direction 142 of the header 200. In such cases, the sensor 226 may be oriented/angled downward toward the field and forward toward the forward direction of travel 146. As such, the sensor 226 may be facing or open to a view of the ground below the header 200 (e.g., below the cutting bar assembly 210 of the header 200). In another example, the sensor 226 is located at or near a front end of the reel arm 241 relative to the longitudinal direction 142 of the header 200. In such cases, the sensor 226 faces the forward direction of travel 146 and may generate the sensor data regarding a portion of the field before the cutter bar assembly 210 traverses over the portion of the field. As described herein, the sensor 226 may also be mounted between the cutter bar assembly 210 and a rear-most portion of the header 200, under the frame 201 of the header 200, , under the cutter bar assembly 210, on the arm of the cutter bar assembly 210, or in any suitable location to generate sensor data.

[0031] In an example, the one or more sensors 226 may include a radar sensor configured to output sensor data indicative of the distance to the field, as well as the presence of an interference object. For example, the radar sensor may capture the distance between the header 200 and the field. The radar sensor may also capture the distance to the crops and/or a portion of the crops (e.g., canopy). In another example, the radar sensor may capture the presence of and/or the distance between the header 200 and the interference object, such as a component of the header 200, a metal object in the field, a metal portion of the conveyor belts 202, 203, or the like. That is, the radar sensor may be sensitive to metal components that may interfere with an accurate distance measurement. Accordingly, positioning the radar sensor within the header 200 may be important to enable the sensor 226 to transmit the sensor data to the header height control system for harvesting operations. Regardless of a type(s) of the one or more sensors 226, the controller 230 may receive the sensor data and determine the height of the header 200 relative to the field and/or the contour of the field based on the sensor data. The controller 230 may output a control signal to an actuator to adjust the frame 201 of the header 200 (e.g., relative to the chassis of the agricultural system) to thereby adjust the height of the header 200 and the cutter bar assembly 210 attached thereto. As noted herein, the arms of the cutter bar assembly 210 may flex upwards or downwards, in the vertical direction 144 relative to the frame 201 of the header 200, causing the cutter bar assembly 210 to move upwards or downwards relative to the field. As such, the cutter bar assembly 210 may follow the contour of the field and maintain a substantially even cutting height of the crops.

[0032] In the illustrated embodiment, the header height control system includes a user interface 236 configured to receive operator inputs and/or present visual information (e.g., text messages, numerical data, graphical data; a header height, detected debris, settings) to the operator. The user interface 236 may be configured to enable the operator to control certain component(s) and/or parameter(s) associated with the harvesting operations, including the header height control system. In the illustrated embodiment, the user interface 236 includes an input assembly 238 and a display 240. The input assembly 238 may include one or more buttons, switches, knobs, or a combination thereof, for the operator to input commands and/or instructions, which may be presented on the display 240. For example, the operator may press a button of the input assembly 238 to adjust the position of the header 200. In another example, the operator may press a button of the input assembly 238 to toggle between sensor data/views of the sensors 226 and monitor the header height across the width of the header 200. Still in another example, the operator may use a knob of the input assembly 238 to enter a maximum distance (e.g., a threshold distance or height) and/or a target distance. The display 240 is configured to present information to the operator, such as sensor data generated by the one or more sensors 226, the distance between the header 200 and the field, detected debris, a visual representation of certain parameter(s) associated with the harvesting operations, or a combination thereof. In an embodiment, the display 240 may include a touchscreen interface that enables the operator to control certain component s) (e g., the header height control system) and/or parameter(s) (e.g., header height, conveyor belt speed) associated with the harvesting operations of the agricultural system.

[0033] The controller 230 may include a processor 234, such as a microprocessor, and a memory device 232. The processor 234 may be used to execute software, such as software for controlling the header height control system. Moreover, the processor 234 may include multiple microprocessors, one or more “general -purpose” microprocessors, one or more special-purpose microprocessors, and/or one or more application specific integrated circuits (ASICS), or some combination thereof For example, the processor 56 may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors.

[0034] The memory device 232 may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory device 232 may store a variety of information and may be used for various purposes. For example, the memory device 232 may store processor-executable instructions (e.g., firmware or software) for the processor 234 to execute, such as determining the distance between the header 200 and the field and/or the speed of the conveyor belts 202, 203 based on the sensor data. The storage device(s) (e.g., nonvolatile storage) may include ROM, flash memory, a hard drive, or any other suitable optical, magnetic, or solid-state storage medium, or a combination thereof. The storage device(s) may store data (e.g., a type of header, a sensor location, a clearance cone, a threshold distance), instructions (e.g., software or firmware for controlling the header 200), and any other suitable data. The processor 234 and/or the memory device 232, and/or additional processor(s) and/or memory device(s), may be located in any suitable portion(s) of the agricultural system 100.

[0035] In an embodiment, the user interface 236 is configured to receive one or more inputs, such as a type of crop, the header height, an initial distance between the header 200 and the field, an angle for the cutter bar assembly 210 (e.g., with respect to the frame 201), the position of the sensor, the type of sensor, the maximum height, a speed of the agricultural system 100, other suitable inputs, or a combination thereof, and the user interface 236 is configured to output signal(s) indicative of the input(s) to the controller 230. By way of example, to adjust the header height, the operator may input one or more inputs (e.g., raise, lower) related to the header 200 to the user interface 236. In another example, the operator may input a type of crop and a cutting height of the crop to the user interface 236, and the controller 230 may adjust the header 200 based on the inputs and/or the sensor data. Accordingly, the header height control system may improve harvesting operations by monitoring and adjusting the position of the header 200 and/or cutter bar assembly 210 relative to the field and/or the crops. [0036] FIG. 3 is a cross-sectional side view of an embodiment of the header 200 with the one or more sensors 226. While the header 200 of FIGS. 1 and 2 includes one of the sensors 226 on the arm 241 of the reel assembly 220, the header of FIG. 3 includes one of the sensors on an extension arm 243 that is coupled to and extend forward of the frame 201 of the header 200 relative to the longitudinal axis 142. However, with reference to FIGS. 1 and 2, it should be appreciated that the sensor 226 on the arm 241 of the reel assembly 220 may operate in the same manner as the sensor 226 on the extension arm 243. The reel assembly 220 is omitted from FIG. 3 for image clarity.

[0037] As illustrated, the header 200 may include the frame 201 to support the cutter bar assembly 210. Specifically, the frame 201 may support the extension arm 243 and an arm 242 of the cutter bar assembly 210. The extension arm 243 may rigidly couple to the frame 201, and may also extend from the frame 201 in a vertical direction 144 relative to the header 200 and past the cutter bar assembly 210 in the longitudinal direction 142. The arm 242 of the cutter bar assembly 210 may rotate (e.g., about a connection point at the frame 201) and/or otherwise move the cutter bar assembly 210 along the vertical axis 144 and/or the longitudinal axis 142 relative to the frame 201. As such, the cutter bar assembly 210 may follow the contours of the field and enable the cutting height to be substantially constant during harvesting operations.

[0038] To cut the crops, the cutter bar assembly 210 includes a knife 244 (e.g., knife assembly). The cutter bar assembly 210 may also include a skidplate 246. The knife 244 is positioned at the front of the cutter bar 210 along the longitudinal axis 142, and the skidplate 246 is positioned behind the knife 244 relative to the longitudinal direction 142. The knife 244 may be positioned to cut the crop at the cutting height, and the skidplate 246 may skid/ride on the ground and provide support to the knife 244.

[0039] However, the ground may not be smooth due to obstacles (e.g., rocks, weeds, hills, debris), which causes the cutter bar assembly 210 to flex up or down (e.g., via rotation about a connection between the arm 242 and the frame 201) to move the knife 244 relative to the vertical axis 144 and relative to the frame 201. For example, the cutter bar assembly 210 may reach a small hill during harvesting operations. As such, the arm 242 may pivot to flex the cutter bar assembly 210 upward in the vertical direction 144 to follow the contours of the hill. In another example, certain crops may have an optimal cutting height (e.g., along the stalk). As such, the header 200 may be adjusted to position the knife 244 at the optimal cutting height.

[0040] To determine the contour of the field, the header 200 includes the header height control system as described herein. In the illustrated embodiment, the header 200 includes four sensors 226 configured to generate sensor data. For example, each sensor 226 may have a clearance cone 248 and a cone of view 250. The clearance cone 248 is an area where the sensor 226 is sensitive to interference, which is advantageously accounted for in the present embodiments with the particular positions of the sensor 226 within the header 200. In another example, the sensor 226 may indicate detection of interference objects, such as metal portions of the conveyor belts, debris on the ground, and/or other metal components within the header 200 that are within the clearance cone 248. For example, the sensor 226 may experience interference from a conductive object within the clearance cone 248, and generate the sensor data indicative of the interference and the presence of the conductive object. The cone of view 250 is a field of view of the sensor 226. Further, the sensor 226 may have a minimum sensing range, which may be a property of the sensor 226 and enables the sensor 226 to give an accurate distance measurement. For example, the sensor 226 may have a minimum sensing range of 40 centimeters (cm), such that the sensor 266 provides an accurate distance measurement while the sensor is positioned at least 40 cm away from the ground (or measured object).

[0041] In the illustrated embodiment, the one or more sensors 226 include a sensor 226a and a sensor 226b located at or near a rear end of the frame 201 relative to the longitudinal axis 142 of the header 200. As described herein, the sensors 226a, 226b may each have a respective clearance cone 248a, 248b and a cone of view 250a, 250b. The sensors 226a, 226b are positioned at or above the minimum sensing range with respect to the ground, and such that an area covered by the clearance cone 248a, 248b does not include metal objects or metal components of the header 200 in the cone of view 250a, 250b. Thus, the sensors 226a, 226b are positioned such that the clearance cone 248a, 248b is not obstructed or interfered by any interference object of the header 200. The sensors 226a, 226b are also positioned such that the cone of view 250a, 250b faces and includes the ground. The clearance cone 248a may be different from the clearance cone 248b due to the positioning or the type of the sensors 226a, 226b. If the clearance cone 248a, 248b receives interference, then the sensor 226a, 226b may not accurately generate sensor data. That is, the sensor 226a, 226b may be in a blind zone. Further, the cone of view 250a may be different from the cone of view 250b and/or the minimum sensing range for the sensor 226a may be different from the minimum sensing range for the sensor 226b due to the type of the sensors 226a, 226b.

[0042] If the clearance cones 248a, 248b, do not receive interference, then the sensors 226a, 226b may generate sensor data that accurately indicates the distance between the header 200 and the ground. In the illustrated embodiment, the sensors 226a, 226b are positioned to face downward relative to the vertical axis 144 of the header 200 to measure the header height, or the distance between the header 200 and the field. In an embodiment, the sensors 226a, 226b may face a rearward direction (e.g., rearward of the cutter bar assembly 210; opposite the forward direction of travel 146) and generate the sensor data regarding the contour of a portion of the field after traversal by the cutter bar assembly 210.

[0043] In an embodiment, the clearance cone 248a, 248b may experience interference, but the sensor 226a, 226b may still generate sensor data. For example, the interference may be caused by metal debris in the field. The sensor 226a, 226b may generate the sensor data that indicates the presence of the metal debris in the field.

[0044] While the illustrated embodiment includes the sensor 226a, 226b coupled to the rear of the frame 201 at two different locations in the cross-sectional side view, the header height control system may include any number of sensors at any locations, such as 1, 2, 3, 4 or more sensors at 1, 2, 3, 4 or more locations. Further, the header height control system may include multiple sensors 226a distributed across the width of the header 200, multiple sensors 226b distributed across the width of the header 200, or any combination thereof.

[0045] In the illustrated embodiment, the header 200 includes a sensor 226c coupled to a front side (e g., forward facing side) of the frame 201 relative to the longitudinal axis 142of the header 200. The sensor 226c may be positioned rearward of and/or below the arms 242 of the cutting bar assembly 210 and/or between adjacent arms 242 of the cutter bar assembly 210. The sensor 226c may have a clearance cone 248c and a cone of view 250c. In an embodiment, the sensor 226c may be oriented downward relative to the vertical axis 144 of the header 200 toward the field and/or forward relative to the longitudinal axis 142 of the header 200. The clearance cone 248c may extend from the sensor 226c, and if cleared, the sensor 226c is able to use the unobstructed, open cone of view 250c to measure the distance between the header 200 and the field.

[0046] In an embodiment, the sensor 226c may be positioned over and/or along the arms 242 of the cutter bar assembly 210. Further, the arm 242 may extend through the conveyor belt 202 or the sensor 226c may otherwise be covered by the conveyor belt 202. As described herein, the conveyor belt 202 may include a metal strip that periodically interferes with the clearance cone 248c with each rotation of the conveyor belt 202 (e.g., the metal strip periodically passes into the clearance cone 248c). However, the sensor data generated by the sensor 226c may indicate the distance to the ground (e.g., detected through the conveyor belt 202 and through a laterally extending gap defined between adjacent arms 242) and the periodic interference of the metal strip of the conveyor belt 202 to the header height control system. Thus, the header height control system may determine the distance to the ground and a speed of the conveyor belt 202 based on the periodic interference, thereby monitoring harvesting operations.

[0047] In the illustrated embodiment, the sensor 226d may be positioned at or near a front end of the extension arm 243 relative to the longitudinal axis 142 of the header 200. The sensor 226d has a clearance cone 248d and a cone of view 250d. As the extension arm 243 extends vertically from the frame 201, the sensor 226d may be higher than the sensors 226a, 226b, 226c, which may be coupled directly to and/or closer to the frame 201 of the header 200, for example. The sensor 226d may clear the minimum sensing range, but still have the clearance cone 248d. As described herein, the clearance cone 248d may be an area that the sensor 226d is sensitive to interference from metal components. If cleared, the sensor 226d generates accurate sensor data via the cone of view 250d. For example, the sensor 226d is placed at the front end of the extension arm 243 and points downward relative to the vertical axis 144 of the header 200. The cone of view 250d may enable the sensor 226d to generate the sensor data that indicates the distance between the header 200 and a portion of the field (e.g., the contour of the portion of the field) before the cutter bar assembly 210 travels over the portion of the field.

[0048] While the illustrated embodiment includes four sensors 226a, 226b, 226c, 226d, at four different locations in the cross-sectional side view, the header height control system may include 1, 2, 3, or more sensors at 1, 2, 3, or more locations. Further, the header height control system may include multiple sensors 226a, distributed across the width of the header 200, multiple sensors 226b distributed across the width of the header 200, multiple sensors 226c distributed across the width of the header 200, multiple sensors 226d distributed across the width of the header 200, or any combination thereof. For example, the header height control system may include multiple sensors 226c supported on brackets that extend forward from the frame 201 (e.g., to measure the header height relative to the ground under the cutter bar assembly 210/contour of the ground under the cutter bar assembly 210) and multiple sensors 226d supported on the extension arms 243 that extend up and over the cutter bar assembly 210 (e.g., to measure the header height relative to the ground in front of the cutter bar assembly 210/contour of the ground in front of the cutter bar assembly 210). For example, the header height control system may aggregate the sensor data from the sensors 226a, 226b, 226c, and/or 226d at the different locations, and/or the user may switch back and forth between the sensors 226a, 226b, 226c, and/or 226d to monitor the profile of the ground.

[0049] FIG. 4 is a cross-sectional side view of an embodiment of a portion of the header 200 of FIG. 3. In the illustrated embodiment, the frame 201 is coupled to three sensors 226a, 226b, 226c configured to monitor the header height or the contour of the field. While the illustrated embodiment includes three sensors in the cross-sectional side view to facilitate discussion, other embodiments may include only one or two of the sensors 226a, 226b, and/or 226c (e.g., only the sensor 226c at its location shown in the cross-sectional side view, and/or with additional sensors 226c distributed across the width of the header 200). As such, the header height control system may aggregate data to accurately and/or redundantly monitor the header height or the contour of the field.

[0050] In the illustrated embodiment, the header height control system may include two sensors 226a, 226b located at or near a rear end of the frame 201 relative to the longitudinal axis 142 of the header 200. The sensor 226a may be oriented to face opposite the direction of travel 146 and generate sensor data related to the field after harvesting operations (e.g., the header height relative to the field rearward of the frame 201). As described herein, the sensor 226a may include the clearance cone 248a and the cone of view 250a. The clearance cone 248a may extend from the sensor 226a to the field. The sensor 226a may be positioned at a height that meets or exceeds the minimum sensing range of the sensor 226a. If the clearance cone 248a experiences little to no interference, then the sensor 226a may generate sensor data that accurately represents the distance between the header 200 and the field during or after the harvesting operation. For example, the cone of view 250a of the sensor 226a, facing the direction opposite the direction of travel 146, may include the contour of the field or a view of the crops after harvesting operations, a distance measurement, or the like.

[0051] In another example, the sensor 226b may be positioned at or near the rear end of the frame 201. The sensor 226b may face the forward direction of travel 146. As such, the clearance cone 248b may also face the forward direction of travel 146 and extend from the sensor 226b to the field. The cone of view 250b may face the forward direction of travel 146 and detect the header height under the frame 201 during harvesting operations. While the illustrated embodiment includes two sensors 226a, 226b at or near the rear end of the frame 201, in an embodiment, the header height control system may include one sensor or no sensors in this region (e.g., the rear end) of the frame 201. However, in other embodiments, the header height control system may include both sensors 226a, 226b at the back of the frame 201, as such the operator may use the input assembly 238 to toggle between the sensors 226a, 226b and display the sensor data collected within the cone of view 250a, 250b on the display 240.

[0052] In an embodiment, the sensor 226c is mounted proximate to rear end portions of the cutter bar assembly 210 and/or behind the cutter bar assembly 210 relative to the longitudinal axis 142 of the header 200. The sensor 226c is oriented downward relative to the vertical axis 144 and in the forward direction of travel 146 and configured to generate sensor data indicative of the header height (e.g., under at least a portion of the cutter bar assembly 210). The sensor 226c has a clearance cone 248c and a cone of view 250c. To avoid interference within the clearance cone 248c, the sensor 226c may be supported on a bracket that extends forward from its mounting position on the frame 201 and that supports the sensor 226c between adjacent arms 242 of the cutter bar assembly 210 relative to the lateral axis 140 (or at least such that the cone of view 250c is positioned between the adjacent arms 242). Since the sensor 226c points downward, the cone of view 250c is the contour of a portion of the field as the header 200 passes over the portion of the field. Although the portion of the field has already been passed by the knife 244 of the cutter bar assembly 210, the measurement of this distance at this location may be accurate (e.g., due to proximity between the sensor 226c and the ground, at least as compared to the sensor 226d and the ground) and there may be advantages related to the secure, protected mounting location of the sensor 226c (e.g., the sensor 226c is coupled to the frame 201 by a short, rigid bracket and is also protected from debris via the frame 201 and the cutting bar assembly 210). As such, the header height control system may accurately determine the header height.

[0053] In an embodiment, the sensor 226c is oriented downward relative to the vertical axis 144 over the arm 243 of the cutter bar assembly 210 and/or otherwise covered the conveyor belt 202. As described herein, the conveyor belt 202 may include the metal strip, which may periodically interfere with the clearance cone 248c. For example, the ends of the conveyor belt 202 are coupled by the metal strip. As the conveyor belt 202 rotates the metal strip may periodically interfere with the clearance cone 248c. The header height control system may determine a speed based on how often the metal strip is detected. The periodic interference may allow the header height control system to detect a speed of the conveyor belt 202. Further, the header height control system may determine the header height during periods without interference. As such, the header height control system may determine the header height and the conveyor belt speed.

[0054] In an embodiment, the controller 230 may receive the sensor data and adjust a height of the header 200. For example, the controller 230 may receive sensor data from one or more of the sensors, 226a, 226b, 226c, 226d and process the data to determine the header height or the contour of the field. Then, the controller 230 may send a control signal to an actuator to adjust the height of the header 200. The control signal may raise the header 200 to enable desirable flexing and range of the cutter bar assembly 210 to avoid obstacles in the field and/or to follow the contour of the field.

[0055] FIG. 5 is a top view of an embodiment of the header 200 of FIG. 3. The header 200 includes four sections 280, 282, 284, 286 (e.g., regions) for the sensors 226 along the lateral axis 140. While the illustrated embodiment includes four sensors 226a, 226b, 226c, 226d at each section 280, 282, 284, 286, any number of sensors (e.g., 1, 2, 3, 4 or more sensors) may be at each section 280, 282, 284, 286. In the illustrated embodiment, sensor 226b and sensor 226c may be hidden from view by the frame 201. Additionally or alternatively, the header 200 may include any number of sensors in any suitable location described herein.

[0056] For example, a first section 280 may include the sensor 226a, the sensor 226b, the sensor 226c, and the sensor 226d. As described herein, the sensor 226a is located at the rear end of the frame 201, the sensor 226b is located at the rear end of the frame 201, the sensor 226c is located at the front end of the frame 201, and the sensor 226d is located on the extension arm 243 (or possibly on the arm 241 of the reel 220, as shown in FIGS. 1 and 2). Each of the sensor 226a, 226b, 226c, 226d has a respective clearance cone 248 and a respective cone of view 250. Due to the different positioning of the sensors, each sensor 226a, 226b, 226c, 226d may have a different shape or size for the clearance cone 248 and/or the cone of view 250.

[0057] A second section 282, a third section 284, and a fourth section 286 may each include respective sensors 226a, 226b, 226c, 226d configured to monitor the header height and the contour of the field. Each sensor in any of the four sections 280, 282, 284, 286 is configured to transmit the sensor data (e.g., captured within the cone of view 250) to the controller 230 for processing and/or appropriate outputs (e.g., control signals to adjust the height of the header 200; display on the user interface 236). For example, the operator may select a sensor 226 from any section to display information derived from the sensor data captured in the respective cone of view 250 on the display 240. The operator may use the input assembly 238 to toggle or switch between the sensors 226 (e.g., select a respective cone of view 250) to compare views, check measurements, or the like. In another example, the operator may want to view the contour of the field before the cutter bar assembly 210 traverses the ground (e.g., via a portion of the field in front of the cutter bar assembly 210). As such, the operator may select the sensor 226d and the display 240 may display the information derived from the sensor data captured in the respective cone of view 250d. In another example, the operator may want to view information about a portion of the field after the knife of the cutter bar assembly 210 has traversed the portion of the field. As such, the operator may select the sensor 226c from the first section 280 and the display 240 may display information derived from the sensor data captured in the respective cone of view 250c. It may be beneficial for the operator to redundantly monitor the header height or the contour of the field with multiple sensors per section during harvesting operations. It may also be beneficial for the header height control system to receive sensor data from sensors in multiple sections of the header 200 (e.g., all sensors 226c across the width of the header 200) to monitor the header height and contour of the field across the width of the header 200. As such, the header height control system may accurately adjust the header height for harvesting operations.

[0058] FIG. 6 is a rear view of an embodiment of the header 200 of FIG. 3, wherein the header 200 includes multiple sensors 226c and multiple sensors 226d. The header 200 includes the frame 201 with a lower bar 300 and a top beam 302. The lower bar 300 may support the top beam 302. There is a gap 306 (e.g., vertically extending gap) within the top beam 302. As described herein, the sensor 226c may be positioned within the gap 306 and/or fastened to the lower bar 300 with a bracket, a fastener, or the like. In an embodiment, the sensor 226 is mounted to the lower bar 300 by the bracket. The bracket may extend forward from the lower bar 300 to support (e.g., position; hang) the sensor 226c forward of the lower bar 300 relative to the longitudinal direction 142. As such, the sensor 226c has adequate clearance, or the clearance cone 248 has no interference, to monitor the header height.

[0059] In the illustrated embodiment, the top beam 302 and/or other support structures (e.g., vertically extending supports) may create multiple gaps 306 that are spaced apart across the width of the cutter bar assembly 210. As described herein, the header 200 includes four sections 280, 282, 284, 286 for placement of the sensors 226. For example, the first section 280 and/or the other sections 282, 284, 286 may include one or more sensors 226c mounted to the lower bar 300 and/or between pairs of adjacent arms 242 of the cutter bar assembly 210. However other positions are envisioned. For example, the sensors 226 may be fastened to the arms 242 of the cutter bar assembly 210.

[0060] In an embodiment, the sensors 226c face the forward direction of travel 146. The sensors 226c, 226d may have the clearance cone 248 and the cone of view 250. For example, the sensor 226c may include the clearance cone 248c and the cone of view 250c, as well as the sensor 226d with the clearance cone 248d and the cone of view 250d. As described herein, the clearance cone 248 may be an area for clearance to get the distance measurement. The cone of view 250 may be an area for collection of sensor data indicative of the height of the header. In this way, the header height control system may monitor the height of the header and optimize harvesting operations. [0061] FIG. 7 is a front perspective view of an embodiment of a portion of the header 200. For example, the sensor 226 (e.g., the sensor 226c in FIGS. 3-6) may be coupled to or extend forward of a front end or side of the frame 201 relative to the longitudinal axis 142 of the header 200. The front end or side of the frame 201 may face the forward direction of travel 146. The cutter bar assembly 210 may also be coupled to and extend forward of the front end or side of the frame 201. A bracket 320 may be welded, fastened, glued, or otherwise coupled to the lower bar 300. The bracket 320 may support the sensor 226 to thereby couple the sensor 226 to the lower bar 300. As described herein, the bracket 320 may support the sensor 226 forward of the lower bar 300 and/or between adjacent arms 242 of the cutter bar assembly 210 so that the sensor 226 does not receive interference from components within the header 200 (e.g., lower bar 300, bracket 320, the arms 242). As such, the sensor 226 may generate sensor data indicative of the distance between the header 200 and the ground. To facilitate discussion, the bracket 320 and the sensor 226 are illustrated schematically in FIG. 7; however, certain examples and configurations of the bracket 320 are shown in FIGS. 3 and 4 (e.g., the bracket supporting the sensor 226c in FIGS. 3 and 4).

[0062] In the illustrated embodiment, the gap 306 may be formed between structural members of the frame 201 (e.g., the lower bar 300, the top beam 302, vertically extending supports between the lower bar 300 and the top beam 302). The sensor 226 may be mounted to the lower bar 300 inside the gap 306. The bracket 320 may couple the sensor 226 to the lower bar 300 and orient the sensor 226 downward relative to the vertical axis 144 to measure the distance to the field and/or the contour of the field. As described herein, the sensor 226 may transmit the sensor data to the controller 230. The controller 230 may adjust the position (e.g., height) of the header 200 based on the sensor data. Accordingly, the header height control system may determine the distance between the header 200 and the ground and adjust the position of the header 200 to improve harvesting operations.

[0063] FIG. 8 is a flow diagram of an embodiment of a method 350 for adjusting a position of the header 200. To facilitate discussion, the method 350 will be described herein with reference to the agricultural system 100 and the header height control system. Additionally, although FIG. 8 depicts blocks in a particular order for purposes of illustration and discussion, the method 350 discussed herein is not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various blocks of the method 350 disclosed herein can be omitted, rearranged, combined, supplemented, and/or adapted in various ways without deviating from the scope of the present disclosure.

[0064] At block 352, the header height control system may receive sensor data from one or more sensors 226. Each sensor 226 may be coupled by a bracket 320 to the frame 201 of the header 200 or to any other suitable location, as described herein. The sensors 226 may be oriented downward to measure a distance between the header 200 and the ground, such as under the header 200. In an embodiment, the sensors 226 may be mounted under the frame 201 of the header 200, behind the cutter bar assembly 210, and/or on the arm 242 of the cutter bar assembly 210. The sensors 226 may face the forward direction of travel 146. Accordingly, the sensors 226 may transmit the sensor data (e.g., cone of view 250) to the header height control system.

[0065] At block 354, the header height control system may determine a distance to a field surface (e.g., ground). For example, the header height control system may receive the sensor data (e.g., cone of view) from the sensors 226. The sensor data may include a distance measurement. The header height control system may determine the distance between the header 200 and the field surface based on the sensor data. In an embodiment, the header height control system may determine a profile of the ground based on the sensor data. That is, the sensors 226 may transmit a sensor signal indicative of the profile or the topography of the ground over time and/or across the width of the header 200. As such, the header height control system may determine elevation changes of the ground as the agricultural system 100 travels over the ground during harvesting operations.

[0066] At block 356, the header height control system may adjust a position of the header 200 based on the sensor data and the monitored distance. For example, the header height control system may have (e.g., store or access) a threshold distance to the ground (e.g., a target distance, such as a maximum distance between the header 200 and the ground). For example, the sensor signal may be indicative of a hill or an obstacle. As such, the header height control system may provide a control signal to an actuator to raise the header 200 (e.g., away from the ground) to enable the arms 242 of the cutter bar assembly 210 to sufficiently flex (e.g., pivot about the connections between the arms 242 and the frame 201 of the header 200) to follow the contour of the field, to thereby avoid engagement (e.g., cutting into) the hill or the obstacle. In another example, the sensor signal may be indicative of a hole or a downward incline. As such, the header height control system may provide a control signal to the actuator to lower the header (e.g., toward the ground) to enable the arms 242 of the cutter bar assembly 210 to sufficiently flex to follow the contour of the field, to thereby optimize the cutting height of the crops.

[0067] In an embodiment, the operator may enter the threshold distance via the input assembly 238. In an embodiment, the operator may input a type of crop, cutting height, or the like, and the header height control system may determine the threshold distance based on the input. For example, the arms 242 of the cutter bar assembly 210 may be flexed downward, and the header height control system may determine that the cutter bar assembly 210 is not able to achieve the threshold distance and adjust the position of the header 200. In another example, the header height control system may position the header 200 to enable the cutter bar assembly 210 to position the knife 244 at the cutting height.

[0068] In an embodiment, at block 358, the header height control system may determine a speed of the conveyor belts 202, 203. For example, the sensor 226 may be placed at the front of the frame 201 and face downward toward the ground. The sensor 226 may be placed above the conveyor belts 202, 203 and measures a distance between the header 200 and the ground. The conveyor belts 202, 203 may be made from a polymeric material, such as rubber, polyester, fiberglass, or other non-conductive material that may not be detected by the sensor 226 (e.g., a radar sensor). The conveyor belt 202, 203 may include a metal strip to couple the ends of the conveyor belt 202, 203 together. As the conveyor belt 202, 203 rotates, the metal strip may enter the clearance cone of the sensor 226. However, a periodic interference of the metal strip may be used by the header height control system to determine a speed of the conveyor belts 202, 203. Accordingly, the header height control system may optimize the harvesting operation by monitoring the height of the header and/or the speed of the conveyor belts 202, 203 and adjusting the header 200 based on the sensor data.

[0069] While only certain features have been illustrated and described herein, many modifications and changes will occur to those skilled in the art. It is, therefore, to be understood that the appended claims are intended to cover all such modifications and changes as fall within the true spirit of the disclosure.

[0070] The techniques presented and claimed herein are referenced and applied to material objects and concrete examples of a practical nature that demonstrably improve the present technical field and, as such, are not abstract, intangible or purely theoretical. Further, if any claims appended to the end of this specification contain one or more elements designated as “means for (perform)ing (a function)...” or “step for (perform)ing (a function)...”, it is intended that such elements are to be interpreted under 35 U.S.C. 112(f). However, for any claims containing elements designated in any other manner, it is intended that such elements are not to be interpreted under 35 U.S.C. 112(f).

Claims

1. A system for use with an agricultural harvester, the system comprising: a harvesting header comprising a frame and a cutter bar assembly extending from the frame; and a sensor coupled to the frame and positioned such that a field of view of the sensor includes a portion of a field surface under the cutter bar assembly, wherein the sensor is configured to generate sensor data indicative of a distance between the header and the portion of the field surface.

2. The system of claim 1, comprising a controller comprising a memory and a processor, wherein the controller is configured to: determine the distance between the header and the portion of the field surface based on the sensor data; and output a control signal to adjust a position of the header relative to a chassis of the agricultural harvester based on the distance between the header and the portion of the field surface.

3. The system of claim 1, wherein the sensor is positioned such that the field of view of the sensor extends through a laterally extending gap defined between adjacent arms of the cutter bar assembly.

4. The system of claim 1, wherein the sensor is oriented to face downward toward the field surface and forward relative to a forward direction of travel of the agricultural harvester.

5. The system of claim 4, comprising a bracket rigidly coupled to the frame at a connection location and rigidly coupled to the sensor, wherein the bracket is configured to position the sensor in front of the connection location relative to the forward direction of travel of the agricultural harvester.

6. The system of claim 5, wherein the frame comprises a lower bar that extends laterally across at least a portion of a width of the header, and the bracket is rigidly coupled to the lower bar at the connection location.

7. The system of claim 1, wherein the sensor is positioned such that the field of view of the sensor extends through a conveyor belt supported on multiple arms of the cutter bar assembly.

8. The system of claim 7, comprising a controller comprising a memory and a processor, wherein the controller is configured to identify periodic interference due to a metal portion of the conveyor belt, and determine a speed of the conveyor belt based on the periodic interference.

9. The system of claim 1, comprising an arm coupled to the frame and an additional sensor coupled to the arm, wherein the arm positions the additional sensor such that a respective field of view of the additional sensor includes an additional portion of the field surface forward of the cutter bar assembly relative to a forward direction of travel of the agricultural harvester.

10. The system of claim 1, wherein the sensor is a radar sensor.

11. The system of claim 1, wherein the sensor is positioned such that no metal portions of the header are within a clearance cone of the sensor.

12. The system of claim 1, wherein the sensor is positioned such that the sensor is maintained at or above a minimum threshold distance relative to a ground during harvesting operations.

13. A method comprising: generating, via a sensor rigidly coupled to a frame of a harvesting header, sensor data indicative of a distance between the header and a portion of a field surface under a cutter bar assembly of the harvesting header; determining, via a processor, the distance between the header and the portion of the field surface based on the sensor data; and outputting, via the processor, a control signal to adjust the header based on the distance between the header and the portion of the field surface.

14. The method of claim 13, wherein the sensor is positioned over a conveyor belt, and the method comprising identifying periodic interference due to a metal portion of the conveyor belt, and determining a speed of the conveyor belt based on the periodic interference.

15. The method of claim 13, comprising positioning the sensor on the frame such that a field of view of the sensor faces downward toward the field surface and forward relative to a forward direction of travel of the harvesting header.

16. The method of claim 13, comprising: generating, via an additional sensor rigidly coupled to an arm that extends from the frame of the harvesting header, additional sensor data indicative of a respective distance between the header and an additional portion of the field surface forward of the cutter bar assembly of the harvesting header relative to a forward direction of travel of the harvesting header; determining, via the processor, the respective distance between the header and the additional portion of the field surface based on the additional sensor data; and outputting, via the processor, the control signal or another control signal to adjust the header based on the respective distance between the header and the additional portion of the field surface.

17. An agricultural system with a header height control system, the agricultural system comprising: a harvesting header comprising a frame and a cutter bar assembly coupled to the frame; a bracket rigidly coupled to the frame and extending forward or rearward from the frame relative to a forward direction of travel of the agricultural system; and a sensor supported on the bracket and configured to generate sensor data indicative of a distance between the header and a portion of a field surface under the frame.

18. The agricultural system of claim 17, comprising a controller comprising a memory and a processor, wherein the controller is configured to: determine the distance between the header and the portion of the field surface based on the sensor data; and output a control signal to adjust a position of the header relative to a chassis of the agricultural system based on the distance between the header and the portion of the field surface.

19. The agricultural system of claim 17, wherein the sensor is oriented to face downward toward the field surface and either forward or rearward relative to a forward direction of travel of the agricultural system.

20. The agricultural system of claim 17, wherein the sensor is a non-contact sensor.