Forage harvester swath sensor
A forage harvester including a header for picking up a swath from a ground surface. The header includes a first and a second distance sensor adapted to measure a sensor-to-target distance respectively along a first and second sensor axis. The first distance sensor is mounted at a first lateral end of the header, and the second distance sensor is mounted at a second lateral end of the header. The first and second distance sensors are positioned such that, when the forage harvester is placed on an even ground surface, the first sensor axis crosses the second sensor axis before reaching the even ground surface in front of the harvester.
1. A forage harvester comprising:
a header to pick up a swath from a ground surface, the header comprising a first and a second distance sensor being adapted to measure a sensor-to-target distance respectively along a first and second sensor axis, wherein the first distance sensor is mounted at a first lateral end of the header and wherein the second distance sensor is mounted at a second lateral end of the header, and wherein the first and second distance sensors are positioned such that, when the header is placed on an even ground surface, the first sensor axis and the second sensor axis extend in a diagonal manner and cross in front of the header before reaching the even ground surface.
2. The forage harvester of claim 1 , wherein the first and second distance sensors are time-of-flight sensors.
3. The forage harvester of claim 1 , wherein the first and second distance sensors are symmetrically positioned with respect to an upright plane that comprises a central axis parallel to a travelling direction.
4. The forage harvester of claim 1 , wherein the first and second distance sensors are mounted higher than 20 cm above the even ground surface.
5. The forage harvester of claim 1 , wherein the first and second distance sensors are mounted lower than 60 cm above the even ground surface.
6. The forage harvester of claim 1 , wherein the first and second distance sensors are positioned such that, when on the even ground surface, the first sensor axis reaches the even ground surface in front of the header at a distance from the first distance sensor that is larger than 3 meter and at a distance from the first distance sensor that is smaller than 8 meter.
7. The forage harvester of claim 1 , wherein the forage harvester is a self-propelled forage harvester.
8. The forage harvester of claim 1 , further comprising a steering system and a controller operationally connected to the first and second distance sensors and provided for receiving a respective input from each of the first and second distance sensors, the controller being further operationally connected to the steering system, wherein the controller is adapted to provide steering instructions based on the respective input from each of the first and second distance sensors.
9. The forage harvester of claim 8 , wherein the controller comprises a comparator operable to compare the respective input of the first distance sensor with the respective input of the second distance sensor to obtain a deviation, wherein the controller is adapted to steer the forage harvester based on the deviation.
10. The forage harvester of claim 1 , wherein the first and second distance sensors are positioned such that the first and second sensor axes show an angle with respect to the forward travelling direction of the forage harvester that is larger than 35 degree.
11. The forage harvester of claim 1 , wherein the first sensor axis crosses the second sensor axis at a crossing point that is located at a distance from the first distance sensor that is substantially equal to the distance between the second distance sensor and the crossing point.
12. A steering system for a harvester, the steering system comprising:
a controller operationally connected to a first and a second distance sensor being adapted to measure a sensor-to-target distance respectively along a first and second sensor axis,
wherein the first and second distance sensors are provided to be respectively placed at a first and second lateral end of a header of the harvester such that when the forage harvester is on an even ground surface, the first sensor axis and the second sensor axis extend in a diagonal manner and cross in front of the harvester before reaching the even ground surface in front of the harvester, wherein the controller is configured to control steering of the harvester based on an input from each of the first and second distance sensors.
13. A method for steering a harvester of claim 12 , the method comprising steps of:
providing a first sensor-to-target distance, determined via the first distance sensor to the controller;
providing a second sensor-to-target distance, determined via the second distance sensor, to the controller;
calculating a difference between the first sensor-to-target distance and the second sensor-to-target distance; and
steering the harvester based on the calculated difference.