Apparatus, systems and methods for eliminating cross-track error
A cross track error system including a corn head, a row unit disposed on the corn head. The row unit including a set of stripper plates, a resilient member disposed proximal to the stripper plates, a sensor unit in communication with the resilient member, and a processor. The processor is constructed and arranged to process signals generated by the sensor unit in response to deflection of the resilient member.
1 . A method comprising:
measuring magnitude or duration of deflection of a resilient member via a sensor, the resilient member disposed on a row unit comprising a set of stripper plates defining a stripper plate gap and wherein the resilient member extends into the stripper plate gap;
sensing alignment of a stalk with the stripper plate gap as the stalk passes though the row unit via deflection signals generated by the sensor as the stalk passes through the row unit;
adjusting periodically a width of the stripper plate gap and detecting the adjusted width of the stripper plate gap; and
calibrating the sensor to determine cross track error calibration curves for each adjusted width of the stripper plate gap and storing the cross track error calibration curves.
2 . The method of claim 1 , further comprising determining an amount of cross track error from the sensed alignment of the stalk.
3 . The method of claim 2 , further comprising commanding an automated steering system to steer a harvester to correct cross track error.
4 . The method of claim 1 , further comprising detecting heading error.
5 . The method of claim 1 , further comprising recalibrating the sensor as the stripper plate gap is adjusted.
6 . A system comprising:
(a) a corn head;
(b) at least one row unit disposed on the corn head, the at least one row unit comprising:
(i) a set of stripper plates defining a stripper plate gap, wherein a width of the stripper plate gap is adjustable;
(ii) a first resilient member extending into the stripper plate gap; and
(iii) a first sensor unit in communication with the first resilient member configured to sense deflection of the first resilient member and generate corresponding deflection signals; and
(c) a processor;
wherein the processor is constructed and arranged to process signals generated by the first sensor unit in response to deflection of the first resilient member, wherein the processor is configured to detect a stalk alignment with the gap between the stripper plates as a stalk passes through the at least one row unit via the deflection signals and wherein the first sensor unit is calibrated to determine cross track error calibration curves for the widths of the stripper plate gaps and storing the cross track error calibration curves.
7 . The system of claim 6 , wherein the stalk alignment corresponds to cross track error.
8 . The system of claim 6 , configured to command an automated steering system to align the gap between the stripper plates with an incoming plant row comprising one or more stalks.
9 . The system of claim 6 , further comprising a second resilient member extending into the stripper plate gap and a second sensor unit in communication with the second resilient member configured to sense deflection of the second resilient member and generate corresponding deflection signals.
10 . The system of claim 9 , wherein the processor is configured to detect stalk alignment with the gap between the stripper plates via comparison of deflection signals of the first resilient member with deflection signals of the second resilient member.
11 . The system of claim 9 , wherein the first resilient member and second resilient member are comprised of polyurethane rubber.