Header position sensing system for an agricultural harvester
A system and method for determining the relative position of a header with respect to a chassis of a self-propelled agricultural harvester. Single or dual axis inclinometers are secured to the header and the chassis respectively and signals generated in combination with a stored relationship to header position are used to determine the header position, whether that be the pitch and/or the roll degrees of freedom.
1. A header position sensing system comprising:
a first inclinometer mounted relative to a chassis of a self-propelled agricultural harvester; and
a second inclinometer mounted relative to a header which is mounted to a front end of a feederhouse of the harvester; and
an electronic control unit in communication with the first inclinometer and the second inclinometer and configured to receive a first signal from the first inclinometer and a second signal from the second inclinometer, wherein the electronic control unit calculates a position of the header with respect to the chassis using the first signal and the second signal.
2. A system according to claim 1 , wherein both the first and second inclinometers are arranged to measure pitch.
3. A system according to claim 1 , wherein the header is attached to a header attachment frame which is mounted to a front end of the feederhouse so as to permit relative movement between the header attachment frame and the feederhouse, wherein the second inclinometer is mounted on the header attachment frame.
4. A system according to claim 1 , wherein both the first and second inclinometers are arranged to measure lateral tilt.
5. A system according to claim 4 , wherein both the first and second inclinometers are dual axis inclinometers and are each arranged to measure pitch and lateral tilt.
6. A system according to claim 1 , further comprising storage means configured to store a positional relationship between the chassis and the header attachment frame for a given delta value which corresponds to the difference between the first and second inclinometers.
7. A self-propelled agricultural harvester comprising a header height sensing system according to claim 1 .
8. A method of determining the relative position of a header with respect to a chassis of a self-propelled agricultural harvester to which the header is attached, the method comprising:
sensing, using a first inclinometer mounted relative to a chassis, an angle of the chassis with respect to gravity;
sensing, using a second inclinometer mounted relative to a header, an angle of the header with respect to gravity;
receiving, using an electronic control unit, a first signal from the first inclinometer and a second signal from the second inclinometer; and
calculating, using the electronic control unit, the position of the header with respect to the chassis using the first signal and the second signal.
9. A method according to claim 8 , wherein the second inclinometer is mounted on a header attachment which is mounted to a front end of a feederhouse so as to permit relative movement between the header attachment frame and the feederhouse.
10. A method according to claim 8 , further comprising the steps of using the electronic control unit to generate a delta value by calculating the difference between the sensed angle of the chassis and the sensed angle of the header, to store a relationship between a given delta value and the corresponding positional relationship between the chassis and header, and to determine the positional relationship between the chassis and header from the calculated delta value and the stored relationship.