System and method for operating an agricultural harvester
In one aspect, a system for operating an agricultural harvester may include a sensor assembly having a base member pivotably coupled to a first row divider of the harvester. The sensor assembly may also include first and second arms extending outwardly from the base member along opposite sides of a centerline of the first row divider. The system may further include a controller communicatively coupled to the sensor assembly. The controller may be configured to monitor the distance between the first and second arms based on measurement signals received from the sensor assembly. Furthermore, the controller may be further configured to switch the harvester from a first operating mode to a second operating mode when it is determined that the monitored distance has exceeded a predetermined distance threshold.
1. A system for operating an agricultural harvester, the system comprising:
a harvesting implement including a plurality of row dividers;
a sensor assembly comprising:
a base member pivotably coupled to a first row divider of the plurality of row dividers;
a first arm pivotably coupled to the base member, the first arm extending outwardly from the base member in a first direction relative to a centerline of the first row divider and rearwardly from the base member relative to a direction of travel of the harvester, wherein the first arm is configured to deform upon contact with crop rows;
a second arm pivotably coupled to the base member, the second arm extending outwardly from the base member in a second direction relative to the centerline of the first row divider and rearwardly from the base member, wherein the second arm is configured to deform upon contact with crop rows;
one or more biasing elements configured to bias the first and second arms outwardly relative to the centerline of the first row unit; and
first and second sensing devices configured to detect first and second parameters indicative of a distance defined between the first and second arms; and
a controller communicatively coupled to the first and second sensing devices, the controller being configured to monitor the distance between the first and second arms based on measurement signals received from the first and second sensing devices, the controller being further configured to switch the harvester from a first operating mode to a second operating mode when it is determined that the monitored distance has exceeded a predetermined distance threshold that indicates that at least one of the first and second arms is not in contact with crop rows.
2. The system of claim 1 , wherein the controller is further configured to switch the harvester from the second operating mode to the first operating mode when it is determined that the monitored distance has fallen below the predetermined distance threshold.
3. The system of claim 1 , wherein the controller is configured to control the direction of travel of the harvester based on the measurement signals received from at least one of the first and second sensing devices when the harvester is in the first operating mode.
4. The system of claim 3 , wherein at least one of the first or second sensing devices is configured to detect a parameter indicative of an orientation of the sensor assembly relative to the centerline of the first row divider; the controller being further configured to initiate a change in the direction of travel of the harvester when it is determined that the orientation has fallen outside of a predetermined orientation range.
5. The system of claim 3 , wherein the first sensing device is configured to determine a parameter indicative of a first distance between the first arm and the centerline of the first row divider and the second sensing device is configured to determine a parameter indicative of a second distance between the second arm and the centerline of the first row divider, the controller being further configured to initiate steering the harvester in the first direction when it is determined that the first distance is greater than the second distance by a predetermined threshold.
6. The system of claim 1 , further comprising:
a location sensor configured to detect a parameter indicative of a location of the harvester within a field, the controller being communicatively coupled to the location sensor, the controller being configured to control the direction of travel of the harvester based on data received from the location sensor when the harvester is in the second operating mode.
7. The system of claim 1 , wherein the first sensing device is configured to detect a parameter indicative of a first angle defined between the first arm and the centerline of the first row divider and the second sensing device is configured to detect a parameter indicative of a second angle defined between the second arm and the centerline.
8. The system of claim 1 , wherein the first sensing device is configured to detect an angle defined between a centerline of the sensor assembly and the centerline of the first row divider and the second sensing device is configured to detect a distance defined between the first and second arms.
9. The system of claim 1 , wherein each of the first and second arms extend from a corresponding proximal end pivotably coupled to the base member to a corresponding distal end, each distal end being curved inward toward the centerline of the first row divider.
10. A method for operating an agricultural harvester, the harvester including a harvesting implement having a plurality of row dividers, the method comprising:
operating, with a computing device, the harvester in a first operating mode, the harvester including a sensor assembly installed relative to a first row divider of the plurality of row dividers, the sensor assembly including a base member pivotably coupled to the first row divider and first and second arms extending outwardly from the base member along opposite sides of a centerline of the first row divider, wherein each of the first arm and the second arm is configured to deform upon contact with crop rows;
monitoring, with the computing device, a distance defined between the first and second arms of the sensor assembly based on measurement signals received from first and second sensing devices of the sensor assembly; and
when the monitored distance exceeds a predetermined distance threshold that indicates that at least one of the first and second arms is not in contact with crop rows, switching, with the computing device, the harvester from the first operating mode to a second operating mode.
11. The method of claim 10 , further comprising:
when the monitored distance falls below the predetermined distance threshold, switching, with the computing device, the harvester from the second operating mode to the first operating mode.
12. The method of claim 10 , further comprising:
controlling, with the computing device, the direction of travel of the harvester based on the measurement signals received from at least one of the first and second sensing devices when the harvester is in the first operating mode.
13. The method of claim 12 , wherein at least one of the first or second sensing devices is configured to detect a parameter indicative of an orientation of the sensor assembly relative to the centerline of the first row divider, the method further comprising: when the orientation falls outside of a predetermined orientation range, initiating, with the computing device, a change in the direction of travel of the harvester.
14. The method of claim 12 , wherein the first sensing device is configured to determine a parameter indicative of a first distance between the first arm and the centerline of the first row divider and the second sensing device is configured to determine a parameter indicative of a second distance between the second arm and the centerline of the first row divider, the method further comprising:
when the first distance is greater than the second distance by a predetermined threshold, initiating, with the computing device, steering of the harvester in the first direction.
15. The method of claim 10 , further comprising:
a location sensor configured to detect a parameter indicative of a location of the harvester within a field, the controller being communicatively coupled to the location sensor, the method further comprising:
when the harvester is in the second operating mode, controlling, with the computing device, the direction of travel of the harvester based on the data received from the location sensor.
16. The method of claim 10 , wherein the first sensing device is configured to detect a parameter indicative of a first angle defined between the first arm and the centerline of the first row divider and the second sensing device is configured to detect a parameter indicative of a second angle defined between the second arm and the centerline.
17. The method of claim 10 , wherein the first sensing device is configured to detect an angle defined between a centerline of the sensor assembly and the centerline of the first row divider and the second sensing device is configured to detect a distance defined between the first and second arms.
18. The method of claim 10 , wherein each of the first and second arms extend from a corresponding proximal end pivotably coupled to the base member to a corresponding distal end, each distal end being curved inward toward the centerline of the first row divider.
19. The method of claim 10 , wherein the first and second arms are pivotably coupled to the base member, the first and second arms further extending rearwardly from the base member relative to a direction of travel of the harvester, the sensor assembly further including:
one or more biasing elements configured to bias the first and second arms outwardly relative to the centerline of the first row unit; and
wherein the first and the second sensing devices are configured to detect first and second parameters indicative of a distance defined between the first and second arms.