WO2023081430A1 - Non-contact sensors in a crop ramp of an agricultural header - Google Patents

Abstract

A sensor system for an agricultural machine includes a crop ramp (224) with a wall (501) that curves between a first edge (502) and a second edge (503) to guide cut crops along an upper surface (504) of the wall (501). The sensor system also includes at least one magnet sensor (296) configured to detect one or more magnets (298), wherein the at least one magnet sensor (296) is positioned along the wall (501).

Description

NON-CONTACT SENSORS IN A CROP RAMP OF AN AGRICULTURAL

HEADER

CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application relates to U.S. Provisional Application No. 63/276,277, which was filed on November 5, 2021, and is entitled “SYSTEMS AND METHODS FOR SETTING BOUNDARIES FOR A REEL OF AN AGRICULTURAL HEADER.”

BACKGROUND

[0002] The present disclosure relates generally to non-contact sensors in a crop ramp of an agricultural header.

[0003] 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.

[0004] A harvester may be used to harvest crops, such as barley, beans, beets, carrots, com, cotton, flax, oats, potatoes, rye, soybeans, wheat, or other plants. A harvesting process may begin by operating a header of the harvester to remove a portion of a plant from a field. In some cases, the header may cut the plant to form cut crops and transport the cut crops to a processing system of the harvester.

[0005] Certain headers include a cutter bar assembly configured to cut a portion of each plant (e.g., a stalk), thereby separating the cut crops from the soil. The cutter bar assembly may extend along a substantial portion of a 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 a direction of travel of the harvester. The belt(s) are configured to transport the cut crops to an inlet of the processing system. [0006] Certain headers may also include a reel, which may include a reel member having multiple tines (e.g., fingers) extending from a central framework. The central framework is driven to rotate, such that the tines move in a circular pattern. The tines are configured to engage the plants, thereby preparing the plants to be cut by the cutter bar assembly and/or urging the cut crops to move toward the belt(s). The reel member is typically supported by multiple reel arms extending from a frame of the header. The reel may include one or more actuators configured to drive the multiple reel arms to rotate, thereby adjusting a position of the reel member relative to the frame of the header.

SUMMARY

[0007] 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.

[0008] In an embodiment, a sensor system for an agricultural machine includes a crop ramp with a wall that curves between a first edge and a second edge to guide cut crops along an upper surface of the wall. The sensor system also includes at least one magnet sensor configured to detect one or more magnets, wherein the at least one magnet sensor is positioned along the wall.

[0009] In an embodiment, an agricultural system includes a frame of an agricultural machine with at least one magnet sensor of a magnet sensor system. The agricultural system also includes a reel assembly with a central framework, multiple tine bodies coupled to the central framework, and multiple magnets of the magnet sensor system. The at least one magnet sensor is configured to detect the multiple magnets and to generate sensor feedback indicative of occurrences of the multiple tine bodies being in an undesirable position relative to the frame of the agricultural machine. The agricultural system also includes a controller configured to receive the sensor feedback and provide an output in response to the multiple tine bodies being in the undesirable position relative to the frame of the agricultural machine. [0010] In an embodiment, a method of operating an agricultural system includes detecting, using a magnet sensor supported in a crop ramp of a frame of the agricultural system, a magnet in a tine body of a reel during operation of the agricultural system. The method also includes receiving, at a controller, sensor feedback from the magnet sensor, wherein the sensor feedback is indicative of occurrences of the tine body of the reel being in an undesirable position relative to the frame. The method also includes providing, using the controller, an output in response to the tine body of the reel being in the undesirable position relative to the frame.

BRIEF DESCRIPTION OF THE DRAWINGS

[0011] 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:

[0012] FIG. 1 is a side view of an agricultural system, in accordance with an embodiment of the present disclosure;

[0013] FIG. 2 is a perspective view of a header that may be employed within the agricultural system of FIG. 1, in accordance with an embodiment of the present disclosure;

[0014] FIG. 3 is a cross-sectional side view of the header of FIG. 2, in accordance with an embodiment of the present disclosure;

[0015] FIG. 4 is a schematic side view of a portion of the header of FIG. 2 and a boundary for a reel of the header, in accordance with an embodiment of the present disclosure;

[0016] FIG. 5 A is a schematic side view of a sensor system that may be employed in the header of FIG. 2, in accordance with embodiments of the present disclosure;

[0017] FIG. 5B is a graph that illustrates data generated by the sensor system of FIG.

5 A, in accordance with embodiments of the present disclosure; [0018] FIG. 6A is a schematic side view of a sensor system that may be employed in the header of FIG. 2, wherein a magnet sensor extends into a protrusion along an upper surface of a crop ramp, in accordance with embodiment of the present disclosure;

[0019] FIG. 6B is a graph that illustrates data generated by the sensor system of FIG. 6A, in accordance with embodiments of the present disclosure;

[0020] FIG. 7 is an example of a graph that illustrates a field of a view of an array of two magnet sensors that may be employed in the sensor system of FIGS. 5 and 6, in accordance with an embodiment of the present disclosure;

[0021] FIG. 8 is a side view of an array of four magnet sensors that may be employed in the sensor system of FIGS. 5 and 6, in accordance with an embodiment of the present disclosure;

[0022] FIG. 9 is a perspective front view of an array of four magnet sensors supported by a crop ramp that may be employed in the header of FIG. 2, in accordance with an embodiment of the present disclosure;

[0023] FIG. 10 is a side view of the array of four magnet sensors and the crop ramp of FIG. 9, in accordance with an embodiment of the present disclosure;

[0024] FIG. 11 is a perspective rear view of the array of four magnet sensors and the crop ramp of FIG. 9, in accordance with an embodiment of the present disclosure; and

[0025] FIG. 12 is a flow diagram of a method of operating a sensor system of a header of an agricultural system, in accordance with an embodiment of the present disclosure.

DETAILED DESCRIPTION

[0026] One or more of the 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.

[0027] 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.

[0028] The process of farming typically begins with planting seeds within a field. Over time, the seeds grow and eventually become harvestable crops. Often, 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 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) of the header moves the cut 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 cut crops toward the crop processing system. The crop processing system may include a threshing machine configured to thresh the cut crops, thereby separating the cut 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 desired agricultural 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.

[0029] In some embodiments, 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 harvesting operations. Furthermore, the header of the harvester includes a reel (e.g., reel assembly) configured to prepare the crops to be cut by the cutter bar assembly. As an example, the reel may be positioned adjacent to the cutter bar assembly and may be configured to guide the crops toward the cutter bar assembly to facilitate cutting the crops. The position of the reel is adjustable relative to the cutter bar assembly so as to enable the reel to effectively guide the crops toward the cutter bar assembly. However, in some circumstances, the cutter bar assembly and the reel may interfere with one another. For instance, the cutter bar assembly may contact part of the reel, thereby limiting an effectiveness of the cutter bar assembly, the reel, and the header.

[0030] It is now recognized that detecting, monitoring, and/or responding to a position of the reel relative to the cutter bar assembly may improve operation of the header. More particularly, it is now recognized that detecting, monitoring, and/or responding to a distance (e.g., proximity) between the reel and the cutter bar assembly may improve operation of the header. To facilitate these techniques, the header may utilize a sensor system (e.g., a non-contact sensor system, a magnet sensor system). In some embodiments, the sensor system includes magnets (e.g., permanent magnets) in the tines of the reel, and sensors (e.g., magnet sensors, such as a Hall effect sensors) coupled to a crop ramp to detect the magnets in the tines of the reel. The sensors may generate sensor signals (e.g. sensor feedback or data) indicative of the distance (e.g., proximity) between the reel and the cutter bar assembly.

[0031] A controller (e.g., electronic controller) may receive the sensor signals, process the sensor signals to determine the distance, and then compare the distance to a threshold distance. The controller may also provide one or more outputs in response to the distance being less than the threshold distance. It should be appreciated that the term distance may be used herein to refer to a measured distance or proximity (e.g., the sensor signals indicate a measured distance or merely proximity, such as based on being detected within a field of view). The one or more outputs may include a retract control signal to move the tine of the reel away from the knife of the cutter bar assembly (e.g., to raise/lower the reel; to move the tine relative to a central framework of the reel), a block control signal to block and/or to slow further movement of the tine of the reel toward the knife of the cutter bar assembly, and/or an alert (e.g., visible and/or audible alert) to an operator. The controller may further provide one or more outputs in response to the distance being greater than the threshold distance, such as one or more outputs to notify the operator that the reel is in an acceptable or desirable position relative to the cutter bar assembly.

[0032] In some embodiments, the sensor system is a non-contact sensor system that enables detection of the distance being within the threshold distance even without contact between the reel and the cutter bar assembly. Furthermore, the threshold distance may be set to any suitable distance, such as 0.5, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 or more centimeters (cm). The threshold distance may be established for each header (e.g., specific to each header) based on the sensor signals collected during operation of the header, or the threshold distance may be established for multiple headers with shared characteristics at manufacturing.

[0033] With the foregoing in mind, FIG. 1 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. 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.

[0034] 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 cut crops in a helical flow path through the agricultural system 100. The thresher 108 may also separate the desired crop material (e.g., grain) from the crop residue (e.g., husks and pods), and the thresher 108 may enable the desired crop material to flow into a cleaning system 114 located beneath the thresher 108.

[0035] 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 direction of travel 146 (e.g., forward direction of travel).

[0036] The header 200 includes a cutter bar assembly 210 configured to cut the crops within the field. The header 200 also includes a reel 220 (e.g., reel assembly) configured to engage the crops to prepare the crops to be cut by the cutter bar assembly 210 and/or to urge the 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 220 includes a reel member having multiple tines (e.g., fingers) extending from a central framework. The central framework is driven to rotate such that the tines engage the crops and urge the crops toward the cutter bar assembly 210 and the conveyor system. Additionally, the reel members may be slidingly supported on multiple arms (e.g., reel arms) that are coupled to a frame 201 of the header 200. Furthermore, each of the arms may be coupled to the frame 201 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 140) relative to the frame 201, and another pivot joint is configured to enable a second arm of the multiple arms to pivot (e.g., about the lateral axis 140) relative to the frame 201.

[0037] It should be appreciated the header 200 with the cutter bar assembly 210 and the reel 220 may be employed in any suitable type of harvester or similar machine (e.g., swathers/windrowers that gather the cut crops to form a windrow in the field that is later collected by the harvester). Furthermore, it should be appreciated that the reel 220 may be employed in any suitable type of harvester or similar agricultural machine without other portions of the header, such without the cutter bar assembly. Indeed, the reel 220 may be operated to move relative to a frame or any portion of a frame of any suitable type of harvester or similar agricultural machine (e.g., for purposes of discussion, the reel 220 may be considered to move relative to the frame or any portion of the frame; the knife or the cutter bar assembly described herein may be considered to be part of the frame).

[0038] FIG. 2 is a perspective view of an embodiment of the header 200. 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).

[0039] The cutter bar assembly 210 includes a blade support, a stationary guard assembly, and a moving blade assembly (e.g., knife; blade). 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. The blade support/moving blade assembly may be 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 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.

[0040] 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 belts, auger, or have any suitable structure to convey or move the cut crops. 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.

[0041] The crops cut by the cutter bar assembly 210 are directed toward the conveyor sections 202, 203 at least in part by the reel 220, thereby substantially reducing the possibility of the cut crops falling onto the surface of the field. The reel 220 includes a reel member 221 (e.g., wheel) having multiple fingers or tines 222 extending from a central framework 223. The central framework 223 is driven to rotate such that the tines 222 move (e.g., in a circular pattern; about the lateral axis 140). The tines 222 are configured to engage the crops and urge the cut crops toward the conveyor sections 202, 203, 204 to facilitate transport of the cut crops to the agricultural crop processing system. As shown, a crop ramp 224 is positioned between the moving blade assembly of the cutter bar assembly 210 and the conveyor sections 202, 203, 204 along the longitudinal axis 142 to guide the cut crops to the conveyor sections 202, 203, 204.

[0042] In some embodiments, the frame 201 of the header 200 may be movably coupled to the chassis of the agricultural system. Additionally, the cutter bar assembly 210 may be flexible along the width of the header 200. In particular, the cutter bar assembly 210 may be supported by multiple arm assemblies distributed along the width of the header 200. Each arm assembly is mounted to the frame 201 and includes an arm coupled to the cutter bar assembly 210. The arm may rotate and/or move the cutter bar assembly 210 along the vertical axis 144 relative to the frame 201, thereby enabling 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 along the width of the header 200. [0043] FIG. 3 is a cross-sectional side view of an embodiment of the header 200. The cutter bar assembly 210 includes arms 270 supporting blades 274 (e.g., knives) at a first end 276 of the arms 270. Further, the arms 270 may be coupled to the frame 201 of the header 200 at a second end 278 of the arms 270. As an example, the arms 270 may be pivotably coupled to the frame 201 at the second end 278 of the arms 270. In this manner, the arms 270 may be configured to rotate relative to the frame 201. As such, the arms 270 may rotate in a first rotational direction 280 (e.g., upward), which may raise the arms 270 along the vertical axis 144, and the arms 270 may rotate in a second rotational direction 282 (e.g., downward), which may lower the arms 270 along the vertical axis 144.

[0044] In certain embodiments, the arms 270 may freely rotate in the rotational directions 280, 282 to follow a contour of the field. For example, the arms 270 may position the blades 274 to maintain contact with the field. As such, an upward slope of the field may push the arms 270 to rotate in the first rotational direction 280 to raise the blades 274 relative to the frame 201 and therefore avoid inserting the blades 274 into the field. Moreover, at a downward slope of the field, the weight of the blades 274 may cause the arms 270 to rotate in the second rotational direction 282 to lower the blades 274 relative to the frame 201 such that the blades 274 remain in contact with the field. In additional or alternative embodiments, the entire cutter bar assembly may translate along the vertical axis. That is, in addition to or as an alternative to rotating about the frame, the cutter bar assembly may slide along the frame in the vertical direction. Indeed, the cutter bar assembly 210 may be configured to move in any suitable manner relative to the frame 201 to enable the blades 274 to maintain contact with and/or to generally follow along contours of the field as the header 200 travels through the field. As noted herein, the cutter bar assembly 210 may also be considered to be a portion of the frame 201, and in such cases, the cutter bar assembly 210 may be considered to move relative to a remainder of the frame 201.

[0045] The reel 220 may also move relative to the frame 201 and/or relative to the cutter bar assembly 210. In the illustrated embodiment, the frame 201 includes or is coupled to an extension 284 (e.g., a reel arm), which couples the reel member 221 (which includes the central framework 223 and the tines 222) to the frame 201. The extension 284 may position the reel member 221 above the cutter bar assembly 210 along the vertical axis 144 such that the reel 220 may urge the cut crops toward the blades 274. For instance, the reel member 221 may rotate in a third rotational direction 286 about a pivot point 288 that couples the reel member 221 to the extension 284. By rotating in the third rotational direction 286, the tines 222 may guide the crops toward the blades 274 that cut the crops.

[0046] The extension 284 may also move relative to the frame 201 to move the reel 220 relative to the frame 201 and/or relative to the cutter bar assembly 210. As an example, the extension 284 may rotate about a pivot point 285 that couples the extension 284 to the frame 201. Thus, the extension 284 may rotate about the frame 201 and may be configured to raise the reel 220 in a first rotational direction 287 (e.g., upward) relative to the vertical axis 144 and/or in a second rotational direction 289 relative to the vertical axis 144 (e.g., downward). In this way, the extension 284 may be positioned desirably relative to the cutter bar assembly 210 to enable the reel 220 to guide the crops to be cut by the cutter bar assembly 210. In an example, the reel 220 may be positioned proximate to the cutter bar assembly 210 without the tines 222 interfering (e.g., contacting) with the blades 274.

[0047] The reel member 221 may also be configured to slide (e.g., fore/aft) relative to the extension 284. For example, the reel member 221 may slide in a rearward direction 291 and a forward direction 293 along the extension 284. In additional or alternative embodiments, the entire reel may translate along the vertical axis. That is, in addition to or as an alternative to rotating about the frame, the reel may slide along the frame in the vertical direction. Indeed, the reel may be configured to move in any suitable manner relative to the frame 201 to enable the tines 222 to capture and/or direct the crops as the header 200 travels through the field. The header 200 also includes the crop ramp 224 to guide the crops cut by the blades 274 toward the conveyor sections, such as the first conveyor section 202, which may be supported on the arms 270.

[0048] As shown, the header 200 includes and/or is communicatively coupled to a controller 290 (e.g., electronic controller; computing system) configured to perform calculations and/or control operating parameters of at least portions of the agricultural system, such as of the header 200. The controller 290 may include a memory 292 and a processor 294 (e.g., a microprocessor). The controller 290 may also include one or more storage devices and/or other suitable components. The processor 294 may be used to execute software, such as software for processing sensor feedback, generating one or more boundaries, and/or controlling the agricultural system and/or the header 200. Because the controller 290 may control various components of the agricultural system, the controller 290 may be considered to be part of the agricultural system, the header 200 or other machine, a sensor system, or any of the assemblies or systems (e.g., part of the cutter bar assembly 210, the reel 220) of the agricultural system.

[0049] Moreover, the processor 294 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 294 may include one or more reduced instruction set (RISC) or complex instruction set (CISC) processors. The memory 292 may include a volatile memory, such as random access memory (RAM), and/or a nonvolatile memory, such as read-only memory (ROM). The memory 292 may store a variety of information and may be used for various purposes. For example, the memory 292 may store processor-executable instructions (e.g., firmware or software) for the processor 294 to execute, such as instructions for processing sensor feedback and/or controlling the agricultural system. The memory 292 and/or the processor 294, or an additional memory and/or processor, may be located in any suitable portion of the agricultural system. By way of example, the controller 290 may be located in a cab of the agricultural system and/or on the header 200.

[0050] As shown, the header 200 may include one or more actuators 295, one or more sensors 296 (e.g., magnet sensors), and one or more magnets 298 (e.g., permanent magnets). The one or more actuators 295 may be configured to move (e.g., rotate) the extension 284 relative to the frame 201 to move the reel 220 up and down relative to the frame 201 and/or relative to the cutter bar assembly 210. The one or more actuators 295 may also be configured to move (e.g., slide) the reel member 221 fore and aft along the extension 284 to move the reel member 221 relative to the frame 201 and/or relative to the cutter bar assembly 210. In some embodiments, the one or more actuators 295 may be configured to move (e.g., rotate) the tines 222 relative to the central framework 223 of the reel 220.

[0051] As shown, the sensors 296 are positioned at the crop ramp 224. However, the sensors 296 may be positioned at any of a variety of locations on the cutter bar assembly 210, the frame 201, and/or any other suitable location of the header 200. Furthermore, the sensors 296 may be spaced apart from one another along the width of the cutter bar assembly 210, so as to align with each group of tines 222 of the reel 220 (e.g., along the lateral axis 140). It should be appreciated that the tines 222 may be considered to be in multiple different groups that are at separate lateral locations or portions across the width of the header 200, such as a first group across a first portion of the width of the header 200, a second group across a second portion of the width of the header 200, and so on. In any case, the sensors 296 may be configured to detect the one or more magnets 298 that are coupled to (e.g., mounted on; embedded in) the reel 220.

[0052] In some embodiments, the one or more magnets 298 are coupled to the tines 222 of the reel 220; however, it should be appreciated that any number of magnets 298 may be placed at any of a variety of locations (e.g., on the central framework 223). For example, each tine 222 of the reel 220 may include a respective magnet 298, or only some tines 222 of the reel 220 may include a respective magnet 298 (and other tines may be devoid of any magnets). In some embodiments, each group of tines 222 of the reel 220 may include at least one tine 222 (or only one tine 222) with a magnet 298. For example, in FIG. 3, the six tines 222 form a group of tines 222, and any number of the six tines 222 may include a respective magnet 298 (e.g., only one tine 222, only two diametrically opposed tines 222, every other tine 222, all tines 222). Such a configuration provides sensor signals indicative of multiple different distances between the reel 220 and the cutter bar assembly 210 across the width of the header 200. This may be advantageous because portions of the cutter bar assembly 210 may flex in different ways or to different degrees based on features in the field, and additionally, certain headers 200 may enable sectional control of the reel 220 (e.g., to raise only a left side portion of the reel 220 if a respective distance along the left side portion is below a threshold distance, but a respective distance along a center portion of the reel 220 is above the threshold distance).

[0053] In operation, the sensors 296 may be configured to generate the sensor signals that indicate a relative position of the reel 220 and the cutter bar assembly 210. More particularly, the sensors 296 generate the sensor signals that indicate a distance 297 between the reel 220 and the cutter bar assembly 210. Thus, the sensors 296 may be configured to detect when the reel 220 is in an undesirable position relative to the cutter bar assembly 210 (e.g., the distance 297 is within a threshold distance of the cutter bar assembly 210, which may refer to being in proximity of the cutter bar assembly 210 and/or in contact with the cutter bar assembly 210). It should be appreciated that the distance 297 may be a measured distance between the sensors 296 and the magnets 298 based on the sensor signals, and the measured distance may relate to or indicate a calculated distance between various other portions of the reel 220 and the cutter bar assembly 210 (e.g., a calculated distance between a distal end of the tine 222 of the reel 220 and the blades 274 of the cutter bar assembly 210) due to known or stored relationships (e.g., a location of the sensor 296 relative to the blades 274, and a location of the magnet 298 relative to the distal end of the tine 222).

[0054] Furthermore, each sensor 296 may be configured to detect each instance or event (e.g., occurrence) in which the magnet 298 passes within a range of the sensor 296. The range of the sensor 296 may be set to correspond to the threshold distance, such that each detection of the magnet 298 is considered to indicate that the distance 297 between the reel 220 and the cutter bar assembly 210 is within the threshold distance (e.g., in proximity). Thus, each detection of the magnet 298 may result in the controller 290 providing the one or more outputs (e.g., retracting the tine 222 away from the cutter bar assembly 210). However, in some embodiments, each sensor 296 may be configured to measure or output sensor signals indicative of a strength of a magnetic field of the magnet 298. Then, the controller may process the sensor signals to calculate the distance 297, compare the distance 297 to the threshold distance, and provide the one or more outputs in response to the distance 297 being within the threshold distance.

[0055] In any case, each time the reel 220 is within the threshold distance of the cutter bar assembly 210, the controller 290 may provide the one or more outputs. For example, the controller 290 may respond by controlling the one or more actuators 295 to move the reel 220 or a portion of the reel 220 (e.g., the tines 222) away from the cutter bar assembly 210 (e.g., to move the reel 220 in the first rotational direction 287; to move the tines 222 relative to the central framework 223). Additionally or alternatively, the controller 290 may respond by slowing or blocking further movement of the reel 220 toward the cutter bar assembly 210. Additionally or alternatively, the controller 290 may respond by providing an alert to the operator.

[0056] In some embodiments, the sensors 296 and the magnets 298 form a sensor system (e.g., magnet sensor system), which may be a non-contact sensor system that enables detection of the distance 297 even without contact between the reel 220 and the cutter bar assembly 210. Furthermore, the threshold distance may be set to any suitable distance, such as 0.5, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, or more cm. In some embodiments, the threshold distance may essentially be zero or some other suitable number, such that the sensors 296 detect when the reel 220 contacts the cutter bar assembly 210. The threshold distance may be established for each header (e.g., specific to each header) based on the sensor signals collected during operation of the header, or the threshold distance may be established for multiple headers with shared characteristics at manufacturing.

[0057] FIG. 4 is a schematic view of a portion of the header 200 with an example of a boundary 400 that may be generated and/or used for the reel 220 of the header 200. As shown, the boundary 400 is multi-dimensional (e.g., two-dimensional) and may be defined with respect to a raise/lower axis 401 and a fore/aft axis 402. As shown, the raise/lower axis 401 and the fore/aft axis 402 may be represented along ay-axis and a x-axis, respectively, in a graph 403. The controller may be configured to enable movement of the reel 220 on an upper side 404 (e.g., above; opposite the cutter bar assembly 210) of the boundary 400 and to block or to slow the reel 220 from being positioned on a lower side 405 (e.g., below; toward the cutter bar assembly 210) the boundary 400. The controller may block the reel 220 from being positioned on the lower side 405 simply by blocking certain movements of the reel 220 (e.g., downward); however, it should be appreciated that this may also be accomplished by initiating certain movements of the reel 220 (e.g., upward). In some cases, the controller may be configured to limit (e.g., slow; small increments) movement of the reel 220 on the lower side 405 of the boundary 400.

[0058] Thus, the operator may provide inputs via the user interface to adjust the reel 220 in the first rotational direction 287 (e.g., upward) and/or in the second rotational direction 289 (e.g., downward), as well as in in the rearward direction 291 and the forward direction 293 along the extension 284. In some embodiments, the controller may monitor the distance between the reel 220 and the cutter bar assembly 210, and the controller may use the sensor signals indicative of the distance between the reel 220 and the cutter bar assembly 210 to update the boundary 400.

[0059] For example, the header 200 may begin with a default boundary that is established based on modeled data, empirical data from multiple other headers, and/or header-specific data collected during trial operation of the header 200 in a field or manufacturing facility. Then, the boundary 400 may be updated based on the sensor signals from the sensors that are part of the sensor system disclosed herein. For example, the sensor signals indicate each occurrence of the reel 220 being within the threshold distance of the cutter bar assembly 210 (e.g., due to the cutter bar assembly 210 pivoting/flexing as the header 200 travels across the field). The controller may process the sensor signals to update the boundary 400, such as to raise the boundary 400 at a particular fore/aft position if the reel 220 is ever or repeatedly within the threshold distance of the cutter bar assembly 210 at the particular fore/aft position along the boundary 400. In this way, the sensor system may enable dynamic, header-specific boundaries to guide or to limit movement of the reel 220, for example.

[0060] FIG. 5 A is a schematic side view of an embodiment of a sensor system that may be employed in the header 200. As shown, the sensor system includes one or more sensors 296 that are supported at the crop ramp 224 and that are configured to detect the one or more magnets 298 that are supported on the tines 222 that travel along a tine path 500 as the reel rotates to engage the crops.

[0061] In some embodiments, the crop ramp 224 includes a wall 501 that curves between a first edge 502 (e.g., lower, forward edge) and a second edge 503 (e.g., higher, rearward edge). The first edge 502 is lower along the vertical axis 144 and forward along the longitudinal axis 142 as compared to the second edge 503. The wall 501 includes an upper surface 504 that faces toward the reel and the tine path 500, as well as a lower surface 505 that faces away from the reel and the tine path 500 (e.g., toward the ground). The one or more sensors 296 may be supported at the wall 501 (e.g., flush with the wall 501) and/or along the lower surface 505 of the wall 501 (e.g., below the wall 501), which may allow the wall 501 to cover, surround, and/or protect the one or more sensors 296 during operation of the header 200, for example. [0062] It should be appreciated that multiple sensors 296 may be distributed along the lateral axis 140. The one or more sensors 296 may also be positioned in a first portion 506 (e.g., lower, forward portion) of the crop ramp 224. For example, the one or more sensors 296 may be positioned lower and forward of a midpoint between the first edge 502 and the second edge 503 of the wall 501 (e.g., closer to the first edge 502 than the second edge 503). With the one or more sensors 296 in the first portion 506, each of the one or more sensors 296 may have a field of view 507 that enables reliable detection of the magnets 298 at various positions of the reel (e.g., across possible fore/aft positions of the reel). Indeed, with the one or more sensors 296 in the first portion 506, a distance error that is calculated as a difference between a blade distance 510 between the blade 274 and the tine 222 and the distance 297 between the sensor 296 and the magnet 298 demonstrates a least amount of change through the various fore/aft positions of the reel (e.g., as compared to the one or more sensors 296 being located at other portions of the crop ramp 224). FIG. 5B also includes an example of a graph 512 that illustrates the blade distance 510 and the distance 297 through the various fore/aft positions of the reel.

[0063] FIG. 6A is a schematic side view of an embodiment of a sensor system that may be employed in the header 200. As shown, the sensor system includes one or more sensors 296 that are supported at the crop ramp 224 and that are configured to detect the one or more magnets 298 that are supported on the tines 222 that travel along the tine path 500 as the reel rotates to engage the crops.

[0064] In FIG. 6A, the one or more sensors 296 are positioned along the upper surface 504 of the wall 501. In particular, the one or more sensors 296 are positioned in protrusions formed in the upper surface 504 of the wall 501. As compared to the sensors 296 in FIG. 5 A, the sensors 296 in FIG. 6A are positioned closer to the reel and the tine path 500. Additionally, the sensors 296 in FIG. 5A may be at a first, lower location along the vertical axis 144, while the sensors 296 in FIG. 6A may be at a second, higher location along the vertical axis 144 (e.g., the second, higher location is directly above the first, lower location along the vertical axis 144). As an example, the second, higher location and the first, lower location may be separated by an offset distance 600 along the vertical axis 144, and the offset distance 600 may be about 10, 20, 30, or 40 millimeters (mm) or between about 10 to 40, 20 to 40, or 25 to 35 mm. [0065] With the one or more sensors 296 in the illustrated position of FIG. 6A, each of the one or more sensors 296 may have the field of view 507 that enables reliable detection of the magnets 298 at various fore/aft positions of the reel. Indeed, with the one or more sensors 296 in the illustrated position of FIG. 6A, the distance error that is calculated as the difference between the blade distance 510 between the blade 274 and the tine 222 and the distance 297 between the sensor 296 and the magnet 298 demonstrates the least amount of change through the various fore/aft positions of the reel (e.g., as compared to the one or more sensors 296 located as shown in FIG. 5A).

[0066] It should be appreciated that multiple sensors 296 may be distributed along the lateral axis 140. Additionally, FIG. 6A illustrates additional details of the tine 222. In particular, the tine 222 includes a tine body 601 that extends from a first tine end 602 (e.g., proximal end) to a second tine end 603 (e.g., distal end). The magnet 298 is coupled to the tine body 601, and the tine body 601 includes a tip portion 604 that extends between the magnet 298 and the second tine end 603. The tip portion 604 may have a length 605, which may be equal to or greater than about 0.5, 1, or 2 centimeters (cm). The length 605 may be equal to or less than about 2, 5, 10, 15, 20, or 25 percent of a total length of the tine body 601 (e.g., from the first tine end 602 to the second tine end 603). Thus, the threshold distance may be established to account for the length 605, such that the comparison between the distance 297 and the threshold distance maintains a desirable separation between the second tine end 603 of the tine 222 and the blade 274. FIG. 6B also includes an example of a graph 612 that illustrates the distance 297, the blade distance 510 between the blade 274 and the tine 222, as well as a total distance 606 that represents the blade distance 510 and the length 605 of the tip portion 604 of the tine 222. The controller may compare the distance 297 to the threshold distance and provide appropriate outputs to thereby maintain the blade distance 510 at acceptable or desirable levels during operation (e.g., to block contact between the blade 274 and the tine 222 during operation).

[0067] FIG. 7 includes an example of a graph 700 of a total field of view 701 of an array of two sensors 296 that may be employed in the sensor system of FIGS. 5 and 6. As shown, the sensors 296 are spaced apart by a separation distance 702, which may be equal to or greater than about 1, 2, 3, 4, or 5 centimeters (cm) or between about 1 to 5, 2 to 5, or 3 to 5 cm. The sensors 296 may be spaced apart by the separation distance 702 along the lateral axis 140, which enables the sensors 296 to have the total field of view 701 to detect the magnets 298 on different tines that are also spaced apart along the lateral axis 140. FIG. 8 includes a side view of an array of four sensors 296 that may be employed in the sensor system of FIGS. 5 and 6. The four sensors 296 may be spaced apart from one another to provide the total field of view 701 with a total sensing width 800, which may be equal to or greater than about 10, 12, 14, 16, or 18 centimeters (cm) or between about 10 to 20, 12 to 18, or 14 to 16 cm, as well as a total sensing height 801, which may be equal to or greater than about 10, 12, 14, 16, or 18 centimeters (cm) or between about 10 to 20, 12 to 18, or 14 to 16 cm. As shown, a transistor 802 (e.g., PNP transistor) may be coupled to and used together with the sensors 296, and this configuration enables the multiple sensors 296 to effectively operate as a single sensor that provides sensor feedback indicative of each detection of the magnets 298 within the total field of view 701.

[0068] FIGS. 9-11 illustrate an embodiment of the array of four sensors 296 incorporated into the crop ramp 224 that may be used in the header 200. In particular, FIG. 9 is a perspective front view of the sensors 296 in the crop ramp 224, FIG. 10 is a side view of the sensors 296 in the crop ramp 224, and FIG. 11 is a perspective rear view of the sensors 296 in the crop ramp 224. Without the sensors 296 (e.g., in a first portion 900 of the crop ramp 224 that is devoid of the sensors 296), the upper surface 504 of the wall 501 of the crop ramp 224 may have a generally smooth curvature from the first edge 502 and the second edge 503 (e.g., across a respective entire width of the first portion 900 of the crop ramp 224). However, with the sensors 296 (e.g., in a second portion 901 of the crop ramp 224 with the sensors 296), the upper surface 504 of the wall 501 of the crop ramp 224 may include protrusions 902 that cover the sensors 296 and enable the sensors 296 to extend toward the reel. As shown, the upper surface 504 of the wall 501 of the crop ramp 224 includes four distinct protrusions 902, which each surround or accommodate a corresponding sensor 296. However, it should be appreciated that the upper surface 504 of the wall 501 of the crop ramp 224 may have any suitable shape or configuration to enable the sensors 296 to be located at a desired location (e.g., the second, higher location) to effectively detect the magnets in the tines of the reel. [0069] With reference to FIGS. 9 and 10, the upper surface 504 of the wall 501 may include crop guiding curved portions 903 adjacent to the protrusions 902 (e.g., between each pair of adjacent protrusions 902). The crop guiding curved portions 903 have a different cross-sectional shape or curvature as compared to the protrusions 902. For example, the crop guiding curved portions 903 may be considered to be recessed relative to the protrusions 902 to provide relatively shallow paths to guide the crop from the blades to the conveyor sections.

[0070] Additionally, any number of sensors 296 and/or arrays of sensors 296 may be arranged across the crop ramp 224. For example, the first portions 900 that are devoid of sensors 296 may alternate with the second portions 901 that include the sensors 296 across the crop ramp 224. In such cases, the first portions 900 and the second portions 901 may have the same width along the lateral axis 140 or different widths along the lateral axis 140. As another example, the first portions 900 that are devoid of sensors 296 may be provided only at certain locations along the lateral axis 140, such as certain locations that are devoid of tines, while the second portions 901 with the sensors 296 may be arranged at all other locations along the lateral axis 140 to detect the magnets in the tines.

[0071] As shown in FIGS. 10 and 11, the crop ramp 224 includes a passage 904 (e.g., opening) that extends along the lateral axis 140 to receive and cover wires (e.g., cables). The crop ramp 224 may also include one or more holes 905 that extends along the longitudinal axis 142 to receive wire ties (e.g., cable ties). Furthermore, each of the sensors 296 may extend from a first sensor end 906 that connects to a respective wire 907 and a second sensor end that is positioned within a respective protrusion 902. Each of the sensors 296 (e.g., a respective central axis 910 of each of the sensors 296) may be oriented at an angle 908 relative to the longitudinal axis 142, wherein the angle 908 is an acute angle, about 15, 20, 25, 30, 35, 40, or 45 degrees, and/or between about 15 to 60, 20 to 50, 25 to 40, or 30 to 35 degrees. The crop ramp 224 may also include a ledge 911 (e.g., lip) that supports the blades of the cutter bar assembly.

[0072] FIG. 12 is a flow diagram of an embodiment of a method 1200 of operating a sensor system of a header of an agricultural system. The flow diagram includes various steps represented by blocks. Although the flow diagram illustrates the steps in a certain sequence, it should be understood that the steps may be performed in any suitable order and certain steps may be carried out simultaneously, where appropriate. Further, certain steps may be omitted and/or other steps may be added. While certain steps are described as being performed by a controller, it should be understood that the steps or portions thereof may be performed by any suitable processing device.

[0073] In step 1201, a magnet sensor may detect a magnet in a tine body of a reel during operation of an agricultural system. The magnet sensor may be disposed on a crop ramp of the header, for example. In step 1202, a controller may receive, from the magnet sensor, sensor feedback indicative of occurrences of the reel being within a threshold distance of a cutter bar assembly.

[0074] In step 1203, a controller may provide an output in response to the reel being within the threshold distance of the cutter bar assembly. For example, the controller may control one or more actuators to move the reel or a portion of the reel (e.g., to pivot the reel in the first direction away from the cutter bar assembly; to pivot the tines relative to a central framework of the reel) and/or to provide other outputs. In step 1204, the controller may analyze data points that correspond to positions of the reel during the occurrences to generate and/or to update a boundary for the reel. For example, each data point may represent the position of the reel (e.g., along the up/down axis and the fore/aft axis) at a respective occurrence of the reel being within the threshold distance of the cutter bar assembly. The controller may raise the boundary at a particular location along the fore/aft axis in response to the sensor signals indicating one or more occurrences of the reel being within the threshold distance of the cutter bar assembly while the reel is at the particular location along the fore/aft axis.

[0075] In step 1205, the controller may control the reel based on the boundary. For example, the controller may block downward movement of the reel across the boundary and/or slow downward movement of the reel below the boundary during harvesting operations. Additionally or alternatively, the controller may provide an alert via a display screen to notify the operator that an instructed command for the reel would cause the reel to move across the boundary. Thus, as set forth in the method 1200, the controller may provide outputs based on the sensor feedback indicating that the reel is within the threshold distance of the boundary (step 1201), set a boundary for the reel based on the sensor feedback (steps 1202 and 1203), and/or control the reel based on the boundary (step 1204). [0076] It should be appreciated that the sensor system may be utilized to generate and/or to update one or more boundaries for the reel; however, the sensor system may also be utilized merely to enable the controller to react to instances in which the reel is in an undesirable position relative to the cutter bar assembly (e.g., within the threshold distance; without being processed to establish any boundaries for the reel). Furthermore, variations in the sensor system are envisioned (e.g., the magnet sensor on the reel and the magnet on the crop ramp). 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.

[0077] 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 sensor system for an agricultural machine, the sensor system comprising: a crop ramp comprising a wall that curves between a first edge and a second edge to guide cut crops along an upper surface of the wall; and at least one magnet sensor configured to detect one or more magnets, wherein the at least one magnet sensor is positioned along the wall.

2. The sensor system of claim 1, comprising a reel assembly with a plurality of tines, wherein at least one tine of the plurality of tines comprises a respective tine body and a respective magnet of the one or more magnets.

3. The sensor system of claim 1 , wherein the crop ramp is configured to be positioned between a knife of a cutter bar assembly and a conveyor section along a longitudinal axis.

4. The sensor system of claim 1, wherein the crop ramp comprises a passage that extends along a lateral axis to receive cables for the at least one magnet sensor.

5. The sensor system of claim 1, wherein the at least one magnet sensor comprises a plurality of magnet sensors spaced apart from one another along a lateral axis.

6. The sensor system of claim 1, wherein the at least one magnet sensor comprises a respective central axis that is oriented at an acute angle relative to a longitudinal axis.

7. The sensor system of claim 1, comprising a controller configured to receive, from the at least one magnet sensor, sensor feedback indicative of a distance between the at least one magnet sensor and the one or more magnets.

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8. The sensor system of claim 7, wherein the controller is configured to instruct one or more actuators to drive at least a portion of a reel assembly to move relative to a frame of the agricultural machine based on the sensor feedback.

9. The sensor system of claim 7, wherein the controller is configured to: compare the distance to a threshold distance; and control one or more actuators to drive at least a portion of a reel assembly away from a frame of the agricultural machine in response to the distance being less than or equal to the threshold distance.

10. The sensor system of claim 1, wherein the at least one magnet sensor comprises a plurality of magnet sensors, and the sensor system comprises a transistor that is configured to provide sensor feedback from the plurality of magnet sensors to a controller.

11. The sensor system of claim 1, wherein the at least one magnet sensor is positioned in a protrusion formed along the upper surface of the wall.

12. An agricultural system, comprising: a frame of an agricultural machine comprising at least one magnet sensor of a magnet sensor system; a reel assembly comprising a central framework, a plurality of tine bodies coupled to the central framework, and a plurality of magnets of the magnet sensor system, wherein the at least one magnet sensor is configured to detect the plurality of magnets and to generate sensor feedback indicative of occurrences of the plurality of tine bodies being in an undesirable position relative to the frame of the agricultural machine; and a controller configured to: receive the sensor feedback; and provide an output in response to at least one of the plurality of tine bodies being in the undesirable position relative to the frame of the agricultural machine.

13. The agricultural system of claim 12, wherein the frame of the agricultural machine comprises a crop ramp, and the at least one magnet sensor is positioned at the crop ramp.

14. The agricultural system of claim 13, wherein the crop ramp comprises a wall that curves between a first edge that is proximate to a knife and a second edge that is proximate to a conveyor section.

15. The agricultural system of claim 13, wherein the crop ramp comprises a wall that curves between a first edge and a second edge, and the at least one magnet sensor is positioned in a protrusion formed along an upper surface of the wall.

16. The agricultural system of claim 13, wherein the crop ramp comprises a wall that curves between a first edge and a second edge, the at least one magnet sensor comprises a plurality of magnet sensors, and each magnet sensor of the plurality of magnet sensors is positioned in a respective protrusion to be spaced apart from one another along an upper surface of the wall relative to a lateral axis.

17. The agricultural system of claim 12, wherein the at least one magnet sensor comprises a respective central axis that is oriented at an acute angle relative to a longitudinal axis.

18. The agricultural system of claim 12, wherein the output comprises controlling one or more actuators to drive at least one tine body of the plurality of tine bodies away from the frame of the agricultural machine.

19. A method of operating an agricultural system, the method comprising: detecting, using a magnet sensor supported in a crop ramp of a frame of the agricultural system, a magnet in a tine body of a reel during operation of the agricultural system; receiving, at a controller, sensor feedback from the magnet sensor, wherein the sensor feedback is indicative of occurrences of the tine body of the reel being in an undesirable position relative to the frame; and providing, using the controller, an output in response to the tine body of the reel being in the undesirable position relative to the frame.

20. The method of claim 19, wherein providing the output comprises controlling one or more actuators to move the tine body away from the frame.

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