Control systems for an agricultural vehicle and computer-implemented method for an agricultural harvest

Description

"Control systems for an agricultural vehicle and a computer-implemented method for agricultural harvesting" Field of Invention

[0001] The present invention relates generally to agricultural vehicles, such as vehicles for harvesting sugarcane and, more particularly, to systems and methods for an agricultural vehicle tip cutter assembly. Background of the Invention

[0002] In some cases, agricultural vehicles include a set of processing components to process the harvested material. For example, within a sugarcane vehicle, a tip cutter assembly may remove a top portion of the sugarcane crop. The remaining sugarcane stalks (or culms) may then be conveyed through a feed roller assembly to a chopper assembly that cuts or shreds the sugarcane stalks into pieces or billets (e.g., 15.24 centimeter (six inch) sugarcane pieces). The processed harvested material discharged from the chopper assembly is then directed as a stream of billets and debris to a primary extractor, within which airborne debris (e.g., dust, dirt, leaves, etc.) is separated from the sugarcane billets. The separated / cleaned billets then fall into an elevator assembly for delivery to an external storage device.

[0003] During vehicle operation, variations in terrain can affect the amount of material harvested. Consequently, systems and methods for monitoring terrain variations would be welcome in the technology. Description of the Invention

[0004] Aspects and advantages of the present invention will be presented in part in the following description, or may be obvious from the Petition 870260065906, dated 03 / 07 / 2026, page 73 / 115 / 37 description, or can be learned through practice of the present invention.

[0005] In some respects the present invention is directed to a system for an agricultural vehicle. The system includes a base cutter assembly operationally coupled to a chassis. The base cutter assembly is configured to cut a crop in a field. A vehicle height control system is configured to change a position of the base cutter assembly. A sensor system includes a first field sensor configured to capture terrain data associated with a field terrain. A computing system includes one or more processors and one or more non-transient computer-readable media that collectively store instructions which, when executed by one or more processors, configure the computing system to perform operations.The operations include receiving an input related to a defined displacement of the base cutter assembly relative to the field, receiving terrain data from the sensor system, determining a terrain variation of the field based on the terrain data, determining a detected position of the base cutter assembly relative to the field based on the detected terrain variation, and triggering the vehicle height control system based on a variation between a defined height of the base cutter assembly and a detected height of the base cutter assembly.

[0006] In some respects, the present invention is directed to a computer-implemented method for agricultural harvesting. The computer-implemented method includes receiving an input related to a defined displacement of a base cutter assembly relative to a field. The method also includes receiving, from a sensor system, field terrain data. The method further includes determining, with a computer system, a field terrain variation based on the terrain data. The method also includes determining a detected position of the Petition 870260065906, dated 03 / 07 / 2026, page 74 / 115 / 37 base cutter assembly in relation to the field based on detected terrain variation. Finally, the method includes triggering a vehicle height control system based on a variation between a defined height of a base cutter assembly and a detected position of the base cutter assembly in relation to the field.

[0007] In some respects, the present invention is directed to a system for an agricultural vehicle. The system includes a base cutter assembly operationally coupled to a chassis. The base cutter assembly is configured to cut a crop in a field. A vehicle height control system includes a height control actuator configured to change a position of the base cutter assembly and the chassis relative to a drive assembly. A sensor system includes a first field sensor configured to capture indicative data from a first set of terrain data and a vehicle height control sensor configured to detect a position of the height control actuator.A computing system includes one or more processors and one or more non-transient computer-readable media that collectively store instructions which, when executed by one or more processors, configure the computing system to receive an input related to a defined displacement, receive data from the sensor system, determine a detected position of the base cutter assembly relative to the field based on the position of the height control actuator, determine a terrain variation based on data from the first field sensor, and activate the vehicle height control system based on a variation between a defined height of the base cutter assembly and a detected height of the base cutter assembly.

[0008] These and other features, aspects and advantages of the present invention will be better understood with reference to the description. Petition 870260065906, dated 03 / 07 / 2026, p. 75 / 115 / 37 and claims that follow. The attached figures, which are incorporated into and form part of this descriptive report, illustrate exemplary embodiments of the invention and, together with the description, serve to explain the principles of the invention. Brief Description of the Figures

[0009] A complete and enabling description of the present invention, including the best embodiment thereof, directed to a person skilled in the art, is presented in the descriptive report, which refers to the accompanying Figures, in which: Figure 1 illustrates a simplified side view of an agricultural vehicle according to aspects of the present invention; Figure 2 illustrates a side view of a portion of the vehicle with a cutting edge assembly within a field according to aspects of the present invention; Figure 3 illustrates a side view of the agricultural vehicle according to aspects of the present invention; Figure 4 illustrates a bottom perspective view of the agricultural vehicle according to aspects of the present invention; Figure 5 illustrates a partial side view of the agricultural vehicle according to aspects of the present invention; Figure 6 illustrates a schematic view of a system for a harvesting operation according to aspects of the present invention; Figure 7 is a schematic block diagram illustrating portions of the computing system within the agricultural applicator system according to aspects of the present invention; Figure 8 illustrates a side view of the agricultural vehicle according to aspects of the present invention; Figure 9 illustrates a side view of the agricultural vehicle. Petition 870260065906, dated 03 / 07 / 2026, page 76 / 115 / 37 in accordance with aspects of the present invention; Figure 10 illustrates a side view of the agricultural vehicle according to aspects of the present invention; Figure 11 illustrates a side view of the agricultural vehicle according to aspects of the present invention; Figure 12 illustrates a rear view of the agricultural vehicle according to various aspects of the present invention; Figure 13 illustrates a rear view of the agricultural vehicle according to various aspects of the present invention; and Figure 14 illustrates a flowchart of a method for a harvesting operation according to aspects of the present invention.

[0010] The repeated use of reference characters in this descriptive report and figures is intended to represent the same characteristics or analogous elements of this technology. Description of Embodiments of the Invention

[0011] Now, exemplary embodiments of the present invention will be presented in detail, where one or more of these embodiments are illustrated in the Figures. Each example is provided by way of explanation of the present invention, and not as a limitation thereof. Indeed, it will be evident to those skilled in the art that various modifications and variations can be made to the present invention without departing from its scope or spirit. For example, the features and characteristics illustrated or described as part of the present invention can be used with another embodiment to produce yet another exemplary embodiment. Thus, it is intended that the present invention covers such modifications and variations that fall within the scope of the appended claims and their equivalents.

[0012] In this document, relational terms, such as first and second, superior and inferior, and the like, are used only to distinguish a Petition 870260065906, dated 03 / 07 / 2026, p. 77 / 115 / 37 entity or action of another entity or action, without necessarily requiring or implying any actual relationship or order between those entities or actions. The terms “comprises”, “comprising”, “includes” and “including” or any other variation thereof, are intended to encompass a non-exclusive inclusion, so that a process, method, article or apparatus comprising a list of elements does not include only those elements, but may include other elements not expressly listed or inherent to such process, method, article or apparatus. An element preceded by “comprises ... a” does not exclude, without further restriction, the existence of additional identical elements in the process, method, article or device comprising the said element.

[0013] As used in this document, the terms “first,” “second,” and “third” may be used interchangeably to distinguish different components and are not intended to indicate a location or importance of the individual components. The terms “coupled,” “fixed,” “attached to,” and the like refer to direct coupling, fixing, or attachment, as well as indirect coupling, fixing, or attachment by means of one or more intermediate components or features, unless otherwise specified in this disclosure. The terms “upstream” and “downstream” refer to the relative direction with respect to the harvested material within a fluid circuit. For example, “upstream” refers to the direction from which a harvested material flows, and “downstream” refers to the direction in which the harvested material moves.The term "selectively" refers to the ability of a component to operate in multiple states (e.g., an ON state and an OFF state) based on manual and / or automatic control of the component.

[0014] Furthermore, any arrangement of components to achieve the same functionality is effectively “associated” in such a way that Petition 870260065906, dated 03 / 07 / 2026, page 78 / 115 / 37, functionality is achieved. Therefore, any two components combined here to achieve a specific functionality can be seen as "associated" with each other, so that the defined functionality is achieved, regardless of architectures or intermediate components. Similarly, any two components thus associated can also be seen as being "operationally connected" or "operationally coupled" to each other to achieve the defined functionality, and any two components capable of being associated can also be seen as "operationally coupleable" with each other to obtain the defined functionality.Some examples of operationally coupleable components include, but are not limited to, physically coupleable components, components that interact physically, components that interact wirelessly, wireless interaction components, logical interaction components, and / or components that interact logically.

[0015] The singular forms “um / uma” and “o / a” include plural references, unless the context clearly indicates otherwise.

[0016] Approximate language, as used in this document throughout the descriptive report and claims, is applied to modify any quantitative representation that may permissibly vary without resulting in a change in the basic function to which it relates. Consequently, a value modified by a term or terms such as “about,” “approximately,” “generally,” and “substantially” should not be limited to the specified precise value. In at least some cases, approximate language may correspond to the precision of an instrument for measuring the value or to the precision of methods or apparatus for constructing or manufacturing the components and / or systems. For example, approximate language may refer to being within a ten percent margin.

[0017] In addition, the technology of the present application will be described. Petition 870260065906, dated 03 / 07 / 2026, page 79 / 115 / 37 regarding exemplary realizations. The word “exemplary” is used herein to mean “serving as an example, illustration or exemplification”. Any realization described in this disclosure as “exemplary” should not necessarily be interpreted as preferred or advantageous in relation to other realizations. Furthermore, unless specifically identified otherwise, all realizations described herein shall be considered exemplary.

[0018] As used in this document, the term “and / or”, when used in a list of two or more items, means that any one of the listed items may be used alone, or any combination of two or more of the listed items may be used. For example, if a composition or assembly is described as containing components A, B and / or C, the composition or assembly may contain A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B and C in combination.

[0019] In general, the present invention is directed to systems and methods for agricultural vehicles. The system may include a base cutter assembly operationally coupled to a chassis (or frame). The base cutter assembly may be configured to cut a crop in a field. A vehicle height control system may be configured to change a position of the base cutter assembly. A sensor system includes a first field sensor configured to capture a first set of terrain data associated with a field terrain and possibly a second field sensor configured to capture a second set of terrain data associated with a field terrain. The second field sensor may be positioned behind the first field sensor.

[0020] A computer system can be configured to receive an input related to a defined displacement or height of Petition 870260065906, dated 03 / 07 / 2026, page 80 / 115 / 37 base cutter assembly 50 in relation to field F, receive terrain data from the first field sensor and / or the second field sensor, determine a terrain variation of the field based on the first set of terrain data and / or the second set of terrain data, determine a detected position of the base cutter assembly in relation to the field based on the detected terrain variation, the position of the height control actuator, and / or any other source. In turn, the computer system can trigger the vehicle height control system based on a variation between the defined height of the base cutter assembly and a detected height of the base cutter assembly.

[0021] As used in the present invention, a terrain variation can be defined as a height variation in a front-to-rear direction of the vehicle, in a lateral direction perpendicular to the front-to-rear direction, in a bottom-to-top direction of the vehicle that may be perpendicular to the front-to-rear direction and / or lateral direction, and a combination of these directions and / or any other direction. Thus, the terrain variation can be a ridge / crest, a valley, and / or any other variation that may occur within a field.

[0022] With reference now to the drawings, Figure 1 illustrates a side view of an agricultural vehicle 10 according to aspects of the present invention; As shown, the vehicle 10 can be configured as a sugarcane harvester. The sugarcane may include an upper Cup portion which includes one or more leaves and a stem (or stalk) portion Cs below the upper Cup portion. It should be taken into consideration that, in other examples, the vehicle 10 may correspond to any other suitable agricultural vehicle capable of performing any operation without departing from the teachings provided herein.

[0023] As shown in Figure 1, vehicle 10 may include Petition 870260065906, dated 03 / 07 / 2026, p. 81 / 115 / 37 a chassis 12, a drive assembly 14, such as a pair of front wheels 16 and a pair of rear wheels 16 and / or a pair of tracks 18 and an operator's cab 20. The vehicle 10 may also include a power source 22 (e.g., a motor mounted on the chassis 12) that powers the drive assembly 14, which may include wheels 16 and / or tracks 18, via a transmission assembly 24 (e.g., a transmission) to traverse a field F. The power source 22 may also drive a hydraulic fluid pump 26 to power various components of the vehicle 10, including the transmission assembly 24.

[0024] The vehicle 10 may also include a harvested material processing system 28 incorporating various components, assemblies and / or subassemblies of the vehicle 10 for cutting, processing, cleaning and unloading sugarcane as the stalk Cs is harvested from an agricultural field F. For example, the harvested material processing system 28 may include a tip cutter assembly 30 positioned on the front end portion of the vehicle 10 to intercept the sugarcane as the vehicle 10 moves forward. As shown, the tip cutter assembly 30 may include a collection disc 32 and / or a cutting disc 34. The collection disc 32 may be configured to gather the sugarcane stalks (culms) Cs so that the cutting disc 34 can be used to cut an upper Cup portion of each stalk portion Cs.The height of the tip cutter assembly 30 can be adjustable, which can be raised and lowered by an adjustment assembly 35 that can be hydraulically powered by the hydraulic fluid pump 26 and / or by any other means (e.g., electrically driven, mechanically driven, manually adjusted, etc.). In some examples, the adjustment assembly 35 may include a pair of arms 36 to adjust the height of the tip cutter assembly 30. Additionally or alternatively, the adjustment assembly 35... Petition 870260065906, dated 03 / 07 / 2026, p. 82 / 115 / 37 may allow arms 36 and tip cutter assembly 30 to rotate relative to chassis 12 of vehicle 10 and / or tip cutter assembly 30 to rotate relative to arms 36.

[0025] The harvested material processing system 28 may also include a sensor system 37 that is configured to capture data associated with crop C. Based on the data, the adjustment assembly 35 may change the height of the cutter head assembly 30. For example, in some cases, the sensor system 37 may capture data indicative of a target 39 associated with crop C and / or an object 41 near the vehicle 10. Based on the position of the target 39, the adjustment assembly 35 may change the height of the cutter head assembly 30 so that a generally common height of the top of the Cup can be removed from each of the crops C harvested by the vehicle 10. As described in more detail below, the sensor system 37 may additionally be configured to capture data indicative of a terrain of the agricultural field F.

[0026] The harvested material processing system 28 may also include a harvested material divider 38. In general, the harvested material divider 38 may include one or more spiral feed rollers 40. Each feed roller 40 may include a ground shoe 42 at its lower end portion to assist the harvested material divider 38 in collecting the sugarcane stalks (culms) Cs for harvesting.

[0027] Furthermore, as shown in Figure 1, the harvested material processing system 28 may include a tipping roller 44 positioned near the traction assembly 14 and a roller with projections (fins) 46 positioned behind the tipping roller 44. As the tipping roller 44 rotates, the sugarcane stalks CS being harvested are knocked down as the harvested material divider 38 gathers the stalks Cs from the agricultural field F. Additionally, as shown in Figure 1, the roller Petition 870260065906, dated 03 / 07 / 2026, p. 83 / 115 / 37 with projections 46 may include a series of intermittently mounted fins 48 that assist in forcing the sugarcane stalks Cs downwards. As the roller with projections 46 rotates during harvesting, the sugarcane stalks Cs that were knocked down by the toppling roller 44 are separated and further knocked down by the roller with projections 46 as the vehicle 10 continues to move in the forward direction relative to field F.

[0028] Referring again to Figure 1, the harvested material processing system 28 of vehicle 10 may also include a base cutter assembly 50 positioned behind the roller with projections 46. The base cutter assembly 50 may include blades for cutting the sugarcane stalks Cs as the sugarcane is being harvested. The blades, which may be located in a peripheral section of the base cutter assembly 50, may be rotated by a hydraulic circuit.

[0029] In addition, the harvested material processing system 28 may include a set of feed rollers 52 located downstream of the base cutter assembly 50 to move the cut sugarcane stalks Cs from the base cutter assembly 50 along the path of the harvested material processing system 28. As shown in Figure 1, the set of feed rollers 52 may include a series of lower rollers 54 and a series of opposing upper rollers 56. The various lower and upper rollers 54, 56 may be used to compress the harvested sugarcane during transport. As the sugarcane is transported through the set of feed rollers 52, debris (e.g., rocks, dirt, and / or the like) may fall through the lower rollers 54 onto the field F.

[0030] In addition, the harvested material processing system 28 may include a chopper assembly 58 located in the section of Petition 870260065906, dated 03 / 07 / 2026, page 84 / 115 / 37 downstream end of the feed roller assembly 52 (for example, next to the lower roller 54 in the rearmost position and the upper roller 56 in the rearmost position). In general, the chopper assembly 58 can be used to cut or chop the sugarcane stalks Cs cut into pieces or “billets” which can be of length, for example, 15.24 centimeters (six inches). The billets 60 can be propelled towards an elevator assembly 62 of the harvested material processing system 28 to deliver to an external receiver or storage device.

[0031] The pieces of debris 64 (e.g., dust, powder, leaves, etc.) separated from the sugarcane billets 60 can be expelled from the vehicle 10 through a primary extractor 66 of the harvested material processing system 28, which may be located downstream of the chopper assembly 58 and may be oriented to direct the debris 64 out of the vehicle 10. In addition, an extractor fan 68 may be mounted inside an extractor compartment 70 of the primary extractor 66 to generate sufficient suction force or vacuum to force the debris 64 through the primary extractor 66. The separated or cleaned billets 60, which may be heavier than the debris 64 expelled through the extractor 66, may then fall into the elevator assembly 62.

[0032] As shown in Figure 1, the elevator assembly 62 may include an elevator compartment 72 and an elevator 74 extending into the elevator compartment 72 between a lower proximal end portion 76 and an upper distal end portion 78. In some examples, the elevator 74 may include a closed (looped) chain 80 and a series of cleats or paddles 82 fixed and spaced to the chain 80. The paddles 82 may be configured to hold the sugarcane billets 60 in the elevator 74 as the sugarcane billets 60 are lifted along an upper span of the elevator 74 defined between its portions of Petition 870260065906, dated 03 / 07 / 2026, page 85 / 115 / 37 proximal and distal ends 76, 78. In addition, the elevator 74 may include lower and upper sprockets 84, 86, positioned at its proximal and distal ends 76, 78, respectively. As shown in Figure 1, an elevator motor 88 may be coupled to one of the sprockets (for example, the upper sprocket 86) to drive the chain 80, so as to allow the chain 80 and the blades 82 to move in an endless loop between its proximal and distal end portions 76, 78 of the elevator 74.

[0033] In addition, in some examples, pieces of debris 64 (e.g., dust, powder, leaves, etc.) separated from the elevated sugarcane billets 60 can be expelled from the vehicle 10 through a secondary extractor 90 of the harvested material processing system 28 coupled to the rear end of the elevator compartment 72. For example, the debris 64 expelled by the secondary extractor 90 can be debris 64 remaining after the billets 60 are cleaned and the debris 64 expelled by the primary extractor 66. As shown in Figure 1, the secondary extractor 90 can be located adjacent to the distal end portion 78 of the elevator 74 and can be oriented to direct the debris 64 out of the vehicle 10. In addition, an extractor fan 92 can be mounted on the base of the secondary extractor 90 to generate a suction force or vacuum sufficient to force the debris 64 through the secondary extractor 90.The clean and separated billets 60, heavier than the debris 64 expelled through the primary extractor 66, can then fall from the distal end portion 78 of the elevator 74. In some cases, the billets 60 can fall into a discharge opening of the elevator 94 defined by the elevator assembly 62 into an external storage device, such as a sugarcane billet cart.

[0034] During the operation, vehicle 10 travels through agricultural field F for sugarcane harvesting and receives data related to Petition 870260065906, dated 03 / 07 / 2026, p. 86 / 115 / 37 one or more targets 39 associated with approaching crop C. Based at least partially on one or more targets 39 (and / or any other input), the height of the tip cutter assembly 30 is adjusted by means of the adjustment assembly 35. With the tip cutter assembly 30 positioned in a defined position, the collection disc 32 on the tip cutter assembly 30 can function to gather the sugarcane stalks Cs as the vehicle 10 advances through field F, while the cutting disc 34 cuts the upper Cup portions of the sugarcane crop C for disposal. As the stalks / culms Cs enter the harvested material divider 38, the ground shoes 42 can define an operating width to determine the amount of sugarcane that enters the throat of the vehicle 10.The spiral feed rollers 40 then gather the stems / culms Cs at the throat to allow the tilting roller 44 to bend the stems / culms Cs downwards in conjunction with the action of the roller with projections 46. Once the stems / culms Cs are tilted downwards as shown in Figure 1, the base cutter assembly 50 can then cut the base of the stems / culms Cs from field F. The cut stems / culms Cs are then, by the movement of vehicle 10, directed to the feed roller assembly 52.

[0035] The cut sugarcane stalks / stalks Cs are conveyed backward by the lower and upper rollers 54, 56, which compress the stalks / stalks Cs, making them more uniform, and shake off the loose debris 64 to pass through the lower rollers 54 and reach field F. At the downstream end of the feed roller assembly 52, the chopper assembly 58 cuts or chops the compressed sugarcane stalks / stalks Cs into chunks or billets 60 (e.g., 15.24 centimeter (six inch) chunks). The processed harvested material discharged from the chopper assembly 58 is then directed as a stream of billets 60 and debris 64 to the primary extractor 66. The debris is conveyed by air 64 (by Petition 870260065906, dated 03 / 07 / 2026, page 87 / 115 / 37 example, dust, dirt, leaves, etc.) separated from the billets 60 are then extracted through the primary extractor 66 using the suction created by the extractor fan 68. The separated / cleaned billets 60 can then be directed to an elevator hopper 96 into the elevator assembly 62 and move upwards through the elevator 74 from its proximal end portion 76 to its distal end portion 78. Once the billets 60 reach the distal end portion 78 of the elevator 74, the billets 60 fall through the elevator discharge opening 94 into an external storage device. If supplied, the secondary extractor 90 (with the aid of the extractor fan 92) blows trash / debris 64 from the vehicle 10, similar to the primary extractor 66.

[0036] With reference now to Figure 2, a side view of a portion of the vehicle 10 within a field F is illustrated according to aspects of the present invention. As shown in Figure 2, the tip cutter assembly 30 may include a frame 100 and a deflector 102. The tip cutter assembly 30 may further include a pair of collection discs 32 and / or a cutting disc 34 positioned on an opposite side of the deflector 102 from the cab 20 of the vehicle 10. The collection disc 32 may be configured to gather the sugarcane stalks Cs so that the cutting disc 34 can be used to cut an upper Cup portion of each stalk / culm Cs. As illustrated, each pair of collection discs 32 and / or a cutting disc 34 can be operationally coupled to a drive device 104, such as a motor, which can be hydraulically powered, pneumatically powered, electrically powered and / or powered by any other source.Each pair of collection discs 32 and / or cutting discs 34 can be coupled respectively to independent drive devices 104. Alternatively, any pair of collection discs 32 and / or a cutting disc 34 can share a drive device 104. Petition 870260065906, dated 03 / 07 / 2026, p. 88 / 115 / 37 common.

[0037] The tip cutter assembly 30 can be operationally coupled with the remaining parts of the vehicle 10, such as the chassis 12, by means of an adjustment assembly 35. The adjustment assembly 35 may include one or more arms 36 and / or one or more tip cutter actuators 108. The one or more tip cutter actuators 108 may be hydraulically powered, pneumatically powered, electrically powered and / or powered by any other source to move the tip cutter assembly 30 between a plurality of positions relative to field F.

[0038] In some examples, a sensor system 37 may include one or more field sensors 110 that can be operationally coupled with the tip cutter assembly 30, the adjustment assembly 35 and / or any other vehicle component 10 (e.g., the vehicle cab 20). In some cases, one or more field sensors 110 may be configured to capture indicative data of a distance from a target 39 (e.g., an upper or tip region with leaves and / or terrain along which the vehicle 10 is traversing) to the one or more field sensors 110. In some examples, one or more field sensors 110 may be configured as vision-based or wave-based sensors, such as cameras / image generators, radar sensors, ultrasound sensors, LIDAR devices, etc.

[0039] In several examples, a support 112 can be operationally coupled to the structure 100 of the tip cutter assembly 30. Alternatively, the support 112 can be integrally formed with the support 112, or any other component of the tip cutter assembly 30. As illustrated, the support 112 can include a first portion 114 and a second portion 116 that is offset from the first portion 114. In some examples, one or more field sensors 110 can be coupled. Petition 870260065906, dated 03 / 07 / 2026, page 89 / 115 / 37 operationally to support 112. However, one or more field sensors 110 can be operationally coupled to any other component of the tip cutter assembly 30 and / or any other component of the vehicle 10 without departing from the scope of the present invention.

[0040] In several examples, the sensor system 37 may include a sensor from the adjustment assembly 118 that can be configured to monitor a position of the arms 36 and / or a component of the tip cutter assembly 30. The tip cutter assembly 30, the adjustment assembly 35 and / or the sensor system 37 may be operationally coupled to a computing system 202. The computing system 202 may be further configured to receive an input related to a defined offset. The defined offset may be a defined height of the upper portion Cup of the crop to be harvested C that must be separated from the remaining stems / culms Cs. Additionally or alternatively, based at least in part on the data received from the sensor of the adjustment assembly 118, the computing system 202 may be configured to determine a height of one or more field sensors 110 operationally coupled to the tip cutter assembly relative to the field F.In turn, the computing system 202 can be configured to determine terrain variations based, at least in part, on the height of one or more field sensors 110 relative to field F.

[0041] Referring now to Figures 3-5, a side view of vehicle 10, a bottom perspective view of vehicle 10, and an enlarged view of area V of Figure 3 are respectively illustrated according to aspects of the present invention. In the examples illustrated, vehicle 10 may include a vehicle height control system 120 that allows movement of one or more components of vehicle 10 relative to field F. For example, the vehicle height control system 120 may include a Petition 870260065906, dated 03 / 07 / 2026, page 90 / 115 / 37 articulation axis 122 which may allow the rotation of one or more vehicle components 10 around a rotation axis ap of the articulation axis 122.

[0042] In addition, the vehicle height control system 120 may also include a height control actuator 124 which is operationally coupled to the chassis 12 of vehicle 10 and to the drive assembly 14. When the height control actuator 124 extends, thus increasing its overall length, the chassis 12 rotates relative to the drive assembly 14 around the axis of rotation ap, causing a front portion of vehicle 10 to rise relative to field F. When the height control actuator 124 retracts, thus shortening its overall length, the chassis 12 rotates relative to the drive assembly 14 around the axis of rotation ap, causing a front portion of vehicle 10 to lower relative to field F. It is important to note, however, that the vehicle height control system 120 may be configured in any other practicable manner so that the chassis 12 of vehicle 10 may be adjusted relative to the drive assembly. 14-wheel drive.In several examples, various components of the harvested material processing system 28 can be operationally coupled to the chassis 12 of the vehicle 10. Consequently, as the height control actuator 124 changes its length, the various components of the harvested material processing system 28 are repositioned relative to the drive assembly 14 and / or field F.

[0043] With further reference to Figures 3 to 5, the sensor system 37 may include a height control sensor 126 near the articulation axis 122. In several examples, the height control sensor 126 may be configured to capture data indicative of a magnitude of movement of the chassis 12 around the rotation axis ap. In addition, the sensor system 37 may additionally or alternatively include an actuator sensor of Petition 870260065906, dated 03 / 07 / 2026, page 91 / 115 / 37 height control 128 which is configured to detect a position of an extension section of the height control actuator 124 relative to a base section of the height control actuator 124.

[0044] Additionally or alternatively, the sensor system 37 may also include a second field sensor 110, which can be positioned remotely from the tip cutter assembly 30. For example, the second field sensor 110 can be operationally coupled to the vehicle 10 in a position that is behind the axis of rotation ap. In these examples, the second field sensor 110 can be operationally coupled to a lift support 130 and / or any other component of the vehicle 10.

[0045] With reference now to Figure 6, a schematic view of a system 200 is illustrated according to aspects of the present invention. In general, the system 200 will be described in this document with reference to the vehicle 10 described above with reference to Figures 1-5. However, it should be taken into consideration that the system 200 can, in general, be used with vehicles having any suitable configuration.

[0046] In several examples, the system 200 may include a computing system 202 and several other components configured to be communicatively coupled and / or controlled by the computing system 202, such as various input devices 204 and / or various vehicle components 10. In some examples, the computing system 202 may operate to determine a cutting position of the tip cutter assembly 30 based, at least in part, on data captured by the sensor system 37 and, furthermore, initiate one or more control actions associated with a vehicle 10, such as altering the height of the tip cutter assembly 30 based on the defined cutting position. Additionally or alternatively, the computing system 202 may operate to determine a variation of Petition 870260065906, dated 03 / 07 / 2026, page 92 / 115 / 37 terrain of field F based, at least in part, on data captured by sensor system 37 and, furthermore, initiate one or more control actions associated with a vehicle 10, such as altering the height of a base cutter assembly 50 based on the defined terrain variation. In several cases, the computing system 202 is physically coupled to the vehicle 10. In other examples, the computing system 202 is not physically coupled to the vehicle 10 (for example, the computing system 202 may be located remotely from the vehicle 10) and, instead, may communicate with the vehicle 10 via a wireless network.

[0047] In general, the computing system 202 can correspond to any suitable processor-based device, such as a computing device or any combination of computing devices. Thus, as shown in Figure 6, the computing system 202 can generally include one or more processor(s) 206 and associated memory 208 that are configured to perform a variety of computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations, and the like disclosed in the present invention). As used in this document, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but the term also refers to a controller, microcontroller, microcomputer, a programmable logic controller (PLC), an application-specific integrated circuit, and other programmable circuits.Furthermore, memory 208 may generally include memory element(s) including, but not limited to, a computer-readable medium (e.g., random access memory (RAM)), a computer-readable non-volatile medium (e.g., flash memory), a floppy disk, a Compact Disc - Read-Only Memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD), and / or other memory elements. Petition 870260065906, dated 03 / 07 / 2026, page 93 / 115 / 37 suitable. Such memory 208 can generally be configured to store information accessible to processor(s) 206, including data 210 that can be retrieved, manipulated, created and / or stored by processor(s) 206 and instructions 212 that can be executed by processor(s) 206.

[0048] In several examples, the data 210 may be stored in one or more databases. For example, the memory 208 may include an input database 214 for storing input data received from one or more input device(s) 204. In some examples, one or more input devices 204 may include sensor systems 37, one or more positioning device(s) 216 for generating position data associated with the location of the vehicle 10, one or more user interface(s) 218 ​​for allowing operator input to be provided to the computing system 202 (e.g., buttons, knobs, levers, joysticks, touch screens and / or the like), one or more other internal data sources 220 associated with the vehicle 10 (e.g., other devices, databases, etc.).), one or more external data sources 222 (for example, a remote computing device or server, including, for example, a machine learning computing system 202) and / or any other suitable input devices. The data received from one or more input devices 204 may, for example, be stored within the input database 214 for subsequent processing and / or analysis.

[0049] It should be taken into consideration that user interfaces 218, in addition to being considered one or more input devices 204 that allow an operator to provide inputs to the computing system 202, can also function as an output device. For example, the user interface 218 can be configured to allow the Petition 870260065906, dated 03 / 07 / 2026, page 94 / 115 / 37 computer system 202 provide feedback to the operator (e.g., visual feedback via a monitor or other presentation device, audio feedback via a speaker or other audio output device and / or similar).

[0050] As shown in Figure 6, memory 208 may also include a crop-related database 224 to store information or data associated with the crops C to be harvested and / or field F. For example, as indicated above, based on data received from one or more input devices 204, the computing system 202 may be configured to estimate or calculate a type of crop C to be harvested and / or a location / position of the crop C. The location / position of the crops C may include the height of the crops C, a position of the crops C relative to each other, the location of the crops C relative to a field F, a verticality of the crops C (e.g., whether the crops are growing in a vertical orientation and / or whether they have fallen and are no longer in a generally vertical orientation). The data may then be stored within the crop-related database 224 for subsequent processing and / or analysis.

[0051] As shown in Figure 6, memory 208 may additionally or alternatively include a terrain database 226 to store information or data associated with the terrain of field F. For example, based on terrain data received from sensor system 37, computing system 202 may be configured to determine one or more variations in terrain, such as a ridge (e.g., slope at field height) as shown in Figure 9, a decline at field height, a nearby valley (e.g., decline at field height) when crossing a ridge (e.g., a slope at field height) as shown in Figure 10, a nearby ridge (e.g., a slope at field height) Petition 870260065906, dated 03 / 07 / 2026, page 95 / 115 / 37 when crossing a valley (e.g., a decline in field height) as shown in Figure 11, a lateral variation in field height (as shown in Figures 12 and 13) and / or any other terrain variation. The terrain data can be stored in the database related to operation 226 for subsequent processing and / or analysis.

[0052] In addition, as shown in Figure 6, memory 208 may include a database related to operation 226 to store information or data associated with the harvest-related parameter(s) for vehicle 10. For example, the database related to operation 226 may store data indicating the vehicle's height. The vehicle's height may then be stored in the database related to operation 226 for subsequent processing and / or analysis.

[0053] In addition, in several examples, memory 208 may also include a location database 228 storing location information about vehicle 10 and / or information about the field F being processed (e.g., a field map). Such a location database 228 may, for example, correspond to a separate database or may be part of the input database 214. As shown in Figure 6, the computing system 202 may be communicatively coupled to the positioning device(s) 216 installed on or within vehicle 10. For example, in some examples, the positioning device(s) 216 may be configured to determine the exact location of vehicle 10 using a satellite positioning and navigation system (e.g., a GPS, a Galileo positioning system, a global navigation satellite system (GLONASS), a BeiDou satellite positioning and navigation system, and / or similar).In such an example, the location determined by the positioning device(s) 216 can be transmitted to the computing system 202 (for example, in... Petition 870260065906, dated 03 / 07 / 2026, page 96 / 115 / 37 coordinate form) and subsequently stored in location database 228 for further processing and / or analysis.

[0054] Additionally, in several examples, the location data stored in location database 228 can also be correlated with all or part of the input data stored in input database 214. For example, in some examples, the location coordinates derived from the positioning device(s) 216 and the data received from the input devices 204 can both be timestamped. In such an example, the timestamped data can allow the data received from the input devices 204 to be combined or correlated to a corresponding set of location coordinates received from the positioning device(s) 216, thus allowing the precise location of the portion of the field F associated with the input data to be known (or at least computable) by the computing system 202.

[0055] Furthermore, by combining the input data with a corresponding set of location coordinates, computing system 202 can also be configured to generate or update a corresponding field map associated with the field F being processed. For example, in cases where computing system 202 already includes a field map stored in its memory 208 that includes location coordinates associated with various points along field F, the input data received from the input devices 204 can be mapped or correlated to a specific location within the field map. Alternatively, based on the location data and associated image data, computing system 202 can be configured to generate a field map for field F that includes the geolocated input data associated with it. Petition 870260065906, dated 03 / 07 / 2026, page 97 / 115 / 37

[0056] Referring again to Figure 6, in several examples, the instructions 212 stored in the memory 208 of the computing system 202 can be executed by the processor(s) 206 to implement a data analysis module 230. In general, the data analysis module 230 can be configured to analyze the data (for example, a set of data received at a given time or within a given period of time, or a subset of the data that can be determined by means of a preprocessing method) to determine a terrain variation. As provided in the present invention, a terrain variation can be defined as a variation in height in a front-to-rear direction of the vehicle, a side direction, a combination of these directions and / or any other direction. Thus, the terrain variation can be a ridge, a valley and / or any other variation that may occur within a field F.In some cases, the data analysis module 230 may operate cooperatively with, or otherwise leverage, a machine learning model 232 to analyze the data 224 to determine terrain variation. In some examples, the machine learning model 232 may include an algorithm that identifies differences in spectral reflectivity or absorption between crop C and field F contained in the data to filter terrain data from crop data. In these cases, the terrain data can be analyzed to determine terrain variations.

[0057] Additionally or alternatively, the data analysis module 230 can be configured to analyze the operation-related data (for example, a set of operation-related data received at a given time or within a given period, or a subset of the operation-related data, which can be determined through a preprocessing method) to determine the Petition 870260065906, dated 03 / 07 / 2026, page 98 / 115 / 37 height of a vehicle using any algorithm. In some cases, the data analysis module 230 can operate cooperatively with or otherwise leverage a machine learning model 232 to analyze the operation-related data 226 to determine the vehicle height. Based on the vehicle height, the data analysis module 230 can determine the height / position of any vehicle component 10, such as a component of the harvested material processing system 28.

[0058] Referring again to Figure 6, the instructions 212 stored in the memory 208 of the computing system 202 can be executed by the processor(s) 206 to implement a control module 234. The control module 234 can be configured to drive a vehicle height control system 120 that allows the movement of one or more vehicle components 10 relative to field F. For example, the vehicle height control system 120 may include a linkage axis 122 (Figures 3-5) that allows the rotation of one or more vehicle components 10 around a rotation axis of the linkage axis 122 (Figures 3-5) when the control module 234 activates a height control actuator 124. Thus, the system 200 can detect terrain variations and proactively and / or reactively adjust the vehicle 10 to take terrain variations into account.

[0059] Additionally or alternatively, the control module 234 can be configured to adjust the position of the cutting disc 34 when the position of the cutting disc 34 varies relative to a defined position, by controlling one or more components of the adjustment assembly 35. In general, the cutting position is defined as a position along the crop C that is a defined offset below the target 39 of the crop C. Thus, the system 200 can detect a target 39 of the crop C and reactively adjust a position of the cutting tip assembly 30 so that a generally common height of the Petition 870260065906, dated 03 / 07 / 2026, page 99 / 115 / 37 upper part Cup to be cut from culture C.

[0060] Thus, system 200 can be configured to receive an input related to a defined displacement or height of the base cutter assembly 50 relative to field F, receive terrain data from sensor system 37, determine a terrain variation of field F based on the terrain data, determine a detected position of the base cutter assembly 50 relative to field F based on the detected terrain variation, the position of the height control actuator 124 and / or any other source. In turn, system 200 can trigger the vehicle height control system 120 based on a variation between the defined height Hbc of the base cutter assembly 50 and a detected height Hbc of the base cutter assembly 50.

[0061] In some cases, the first field sensor 110 can be configured to capture indicative data from a first set of terrain data and the second field sensor 110 can be configured to capture indicative data from a second set of terrain data after the first set of terrain data. In these cases, the system 200 can determine the terrain variation based on a variation in the first set of terrain data or in the second set of terrain data from a defined height of the first field sensor 110 or from a height of the second field sensor 110 based on the operation of the vehicle 10 in a flat section of the field F.

[0062] In addition, as shown in Figure 6, the computing system 202 may also include a communication interface 236 for communicating with any of the various other system components described in the present invention. For example, one or more communicative links or interfaces (e.g., one or more data buses and / or wireless connections) may be provided between the communication interface 236 and one or Petition 870260065906, dated 03 / 07 / 2026, page 100 / 115 / 37 more input devices 204 to allow data transmission from one or more input devices 204 to be received by the computing system 202. Additionally, as shown in Figure 6, one or more communication links or interfaces (e.g., one or more data buses and / or wireless connections) may be provided between the communication interface 236 and one or more electronically controlled vehicle components 10 to allow the computing system 202 to control the operation of such system components.

[0063] Referring now to Figure 7, several components of system 200 are illustrated according to various aspects of the present invention. As illustrated in Figure 7, the system 200 provided herein can provide closed-loop control to monitor and / or generate one or more commands to alter one or more vehicle components 10 based on received commands and / or received data. As shown, the data analysis module 230 can receive data 210 from various components of system 200 and an input command. As provided in the present invention, the data received from the various components can be supplied to the data analysis module 230 and / or stored in memory 208 (Figure 6) before being supplied to the data analysis module 230. The data analysis module 230 can receive the data and the input(s) and determine a target height Hta of the cutter assembly 30 and / or terrain variations within field F.In turn, system 200 can determine one or more control actions to adjust the height Hta of the cutter assembly 30 relative to field F and / or a vehicle height relative to field F.

[0064] In the illustrated example, an input may be received that is indicative of a tip cutting operation and / or a defined cutting height of a crop in relation to the F field and / or any other parameter. Petition 870260065906, dated 03 / 07 / 2026, page 101 / 115 / 37 operational defined. Input may be provided to the data analysis module 230 from any source, such as the sensor system 37, one or more positioning devices to generate position data associated with the location of the vehicle 10, one or more user interface(s) to allow operator input to be provided to the computing system 202 (e.g., buttons, knobs, levers, joysticks, touch screens and / or the like), one or more other internal data sources associated with the vehicle 10 (e.g., other devices, databases, etc.), one or more external data sources (e.g., a remote computing device or server, including, for example, a machine learning computing system) and / or any other or more suitable input devices.

[0065] The data analysis module 230 can also receive data from the height sensor of the tip cutter assembly 118. The height sensor of the tip cutter assembly 118 can be configured to provide indicative data of the height Hta of the tip cutter assembly 30 relative to the vehicle 10. In addition, a first field sensor 110, which can be operationally coupled to the tip cutter assembly 30, can provide indicative data of the crop height within the field F and / or a terrain of the field F ahead of a base cutter assembly 50. A vehicle height control sensor 126 can be configured to provide indicative data of the height of the vehicle 10 relative to an articulation axis 122 (Figures 3-5) of the vehicle 10.Furthermore, a sensor on the vehicle's height control actuator 128 can be configured to provide indicative data on the position of an actuating portion of the height control actuator 124 relative to a base portion of the height control actuator 124. A second field sensor 110 can be positioned behind the first field sensor 110 and configured to provide indicative data on a terrain field F behind it. Petition 870260065906, dated 03 / 07 / 2026, page 102 / 115 / 37 base cutter set 50.

[0066] Based on the data received by the data analysis module 230 and the received input, the data analysis module 230 can determine a defined height of the vehicle 10 and / or the defined height Hta of the cutter assembly 30 to match the defined input(s). For example, as shown in Figure 8, as the vehicle 10 traverses a generally flat section of the field F with minimal terrain variations, the height Hta of the cutter assembly 30 relative to the vehicle 10 can generally be equal to the sum of the height Hta of the cutter assembly 30 and the height of the support 112 above the cutting disc 34 to define a first field sensor height Hfs relative to the field F. Furthermore, the base cutter assembly 50 can have a base cutter assembly height Hbc above the field F, and the second field sensor can have a second field sensor height Hss above the field F.In such cases, the first field sensor height Hfs and the second field sensor height Hss can each have a defined factor relative to each other based on their defined heights in a flat section of the field F with the tip cutter assembly at a defined height.

[0067] However, as shown in Figure 9, when vehicle 10 approaches a terrain variation, such as a slope in the F-field, one or more heights may vary from the defined factor, thus indicating a change in terrain. For example, as vehicle 10 approaches the slope shown in Figure 9, the height of the first field sensor Hfs and / or the height Hta of the cutter assembly 30 may be lower than when vehicle 10 is traversing a flat section of the F-field. Furthermore, as shown in Figure 10, when vehicle 10 approaches a terrain variation, such as a decline in the F-field while traversing a slope, one or more heights may vary even further from the defined factors. Petition 870260065906, dated 03 / 07 / 2026, page 103 / 115 / 37, thus indicating a change in terrain. For example, as vehicle 10 approaches the decline shown in Figure 10, the height of the first field sensor Hfs and / or the height Hta of the cutter assembly 30 may be greater than when vehicle 10 is traversing a flat section of field F. Furthermore, the second field sensor 110 may detect variations in its factor relative to the various other heights to further indicate changes in terrain. Additionally, as shown in Figure 11, when vehicle 10 approaches a terrain variation, such as a slope in field F when traversing a downhill slope, one or more heights may vary from the defined factors, thus indicating a change in terrain.For example, as vehicle 10 approaches the slope shown in Figure 11, the height of the first field sensor Hfs and / or the height Hta of the tip cutter assembly 30 may be lower than when vehicle 10 is traversing a flat section of field F, while the second field sensor 110 may detect a greater distance.

[0068] Furthermore, as shown in Figures 12 and 13, system 200 can also detect lateral terrain variations. For example, when vehicle 10 approaches a terrain variation, such as a slope in field F in a lateral direction as shown in Figure 13, one or more heights may vary from the defined factors, thus indicating a change in terrain. For example, as vehicle 10 approaches the lateral slope shown in Figure 13, the height of the second field sensor Hss may be less than the height of the first field sensor 110 in a lateral direction.

[0069] Thus, based on the various heights of the vehicle components in relation to field F and / or to each other, the data analysis module 230 can be configured to determine terrain variations within field F. In some cases, the defined height of the vehicle 10 Petition 870260065906, dated 03 / 07 / 2026, page 104 / 115 / 37 and / or the defined height Hta of the tip cutter assembly 30 may be provided to the control module 234. The control module 234, in turn, may generate instructions for at least the tip cutter assembly 30 and / or for the vehicle height control system 120 to change a component thereof.

[0070] With reference now to Figure 14, a flowchart of a method 300 for operating an agricultural vehicle is illustrated according to aspects of the present invention. In general, method 300 will be described in this document with reference to the agricultural vehicle 10 and related components described with reference to Figures 1-13. It should be considered, however, that the disclosed method 300 can be implemented with vehicles with any other suitable configurations and / or within systems with any other suitable system configuration. Furthermore, although Figure 14 depicts the steps performed in a specific order for illustration and discussion purposes, the methods discussed in this document are not limited to any specific order or arrangement.A person skilled in the art, using the disclosures provided in this document, will appreciate that various steps of the method disclosed in this document may be omitted, rearranged, combined, and / or adapted in various ways without departing from the scope of this disclosure.

[0071] As shown in Figure 14, in (302), method 300 may include receiving an input relating to a defined displacement of a base cutter assembly relative to a field. The input may be provided to the data analysis module from any source, such as the sensor system, one or more positioning devices to generate position data associated with the vehicle location 10, one or more user interface(s) to allow operator input to be provided to the computing system (e.g., buttons, knobs, levers, joysticks, screens) Petition 870260065906, dated 03 / 07 / 2026, page 105 / 115 / 37 touch-sensitive and / or similar), one or more other internal data sources associated with the vehicle (e.g., other devices, databases, etc.), one or more external data sources (e.g., a remote computing device or server, including, for example, a machine learning computing system) and / or any other suitable input devices.

[0072] In (304), method 300 may include receiving field terrain data from a sensor system. In some cases, receiving field terrain data may include receiving a first set of terrain data from a first field sensor. Additionally, receiving field terrain data may also include receiving a second set of terrain data from a second field sensor, wherein the second field sensor is positioned behind the first field sensor.

[0073] In (306), method 300 may include determining a field terrain variation based on terrain data using a computer system. In some cases, determining the field terrain variation based on terrain data may include determining a variation in the first terrain data set or the second terrain data set from a defined height of the first field sensor or a second field sensor height based on vehicle operation in a flat section of the field. Additionally, determining the height of the first field sensor may be based, at least in part, on the height of the tip cutter assembly.

[0074] In (308), method 300 may include determining a detected position of the base cutter assembly relative to the field based on detected terrain variation. In turn, method 300, in (310), may include actuating the vehicle height control system. Petition 870260065906, dated 03 / 07 / 2026, pp. 106 / 115 / 37 based on a variation between the defined height of the base cutter assembly and a detected position of the base cutter assembly relative to the field. In some cases, method 300 may include determining a magnitude of movement of a height control actuator. The actuation of the vehicle height control system further comprises activating the height control actuator based on the magnitude of the movement.

[0075] In several examples, method 300 can implement machine learning methods and algorithms that utilize one or more machine learning techniques including, for example, decision tree learning, including, for example, random forest or conditional inference trees, neural networks, support vector machines, clustering, and Bayesian networks. These algorithms may include computer executable code that can be retrieved by the computing system and / or network / cloud and can be used to evaluate and update the spray bar deflection model. In some cases, the machine learning mechanism may allow changes to the spray bar deflection model to be made without human intervention.

[0076] It should be understood that the steps of any method disclosed herein can be performed by a computing system by loading and executing software code or instructions that are tangibly stored in a tangible computer-readable medium, such as a magnetic medium, for example, a computer hard disk, an optical medium, for example, an optical disc, solid-state memory, for example, flash memory, or other storage medium known in the state of the art. Thus, any of the functionalities performed by the computing system described herein, as well as any of the methods disclosed, can be implemented in software code or instructions that are stored Petition 870260065906, dated 03 / 07 / 2026, page 107 / 115 / 37 in a tangible form on a tangible computer-readable medium. The computing system loads the software code or instructions through a direct interface with the computer-readable medium or through a wired and / or wireless network. By loading and executing such software code or instructions by the controller, the computing system can perform any of the functionalities of the computing system described herein, including any steps of the methods disclosed.

[0077] The term “software code” or “code” as used in the present invention refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as vehicle code, which is the set of instructions and data executed directly by a computer’s central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled to be executed by a computer’s central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler.As used in this document, the term "software code" or "code" also includes any human-understandable computer instructions or set of instructions, for example, a script, that can be executed in real time with the help of an interpreter run by a computer's central processing unit or by a controller.

[0078] This written description uses examples to disclose the technology, including the best mode, and also to enable any qualified person in the field to practice the technology, including the manufacture and use of any devices or systems and the execution of any methods incorporated therein. The patentable scope of the present technology is defined by the claims and may include other examples that may occur to those skilled in the art. Petition 870260065906, dated 03 / 07 / 2026, page 108 / 115 / 37 subject. These other examples must be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal language of the claims.

Claims

1. CONTROL SYSTEM (200) FOR AN AGRICULTURAL VEHICLE, comprising: a base cutter assembly (50) operationally coupled to a chassis (12), the base cutter assembly (50) being configured to cut a crop (C) in a field (F); a vehicle height control system (120) configured to change a position of the base cutter assembly (50); a sensor system (37) comprising a first field sensor (110) configured to capture terrain data associated with a field terrain (F) and a height sensor (126) configured to provide indicative data of the vehicle height (10);and a computing system (202) including one or more processors (206) and one or more non-transient computer-readable media that collectively store instructions that, when executed by one or more processors (206), configure the computing system (202) to perform operations, characterized in that the operations comprise: - receiving an input related to a defined displacement of the base cutter assembly (50) relative to the field (F); - receiving terrain data from the sensor system (37), the data comprising terrain data associated with a field terrain (F) from the field sensor and agricultural vehicle height data relative to the field (F) from the height sensor; - determining a field terrain variation (F) based on the terrain data;- determine a detected position of the base cutter assembly (50) in relation to the field (F) based on the detected terrain variation; and - activate the vehicle height control system (120) based on a variation between the defined height of the base cutter assembly (50) and a detected height of the base cutter assembly (50).

2. SYSTEM, according to claim 1, further characterized by comprising: a tip cutter assembly (30) movably coupled to the chassis (12) by means of an adjustment assembly (35), wherein the adjustment assembly (35) includes an adjustment sensor configured to capture data indicative of a position of the tip cutter assembly (30) relative to the field (F).

3. SYSTEM, according to claim 2, characterized in that the first field sensor (110) is operationally coupled to the tip cutter assembly (30).

4. SYSTEM, according to claim 3, further characterized by comprising: a support (112) operationally coupled to the tip cutter assembly (30), the first field sensor (110) being operationally coupled to the support (112) and positioned at least partially in front of a cutting disc (34) of the tip cutter assembly (30).

5. SYSTEM, according to claim 1, further characterized by comprising: an input device (204) configured to provide the defined offset to the computing system (202).

6. SYSTEM, according to claim 1, characterized by the vehicle height control system (120) further comprising: an articulation axis (122) configured to allow rotation of the chassis (12) relative to a drive assembly (14) around a rotation axis ap of the articulation axis (122). Petition 870260065906, dated 03 / 07 / 2026, pp. 111 / 115 3 / 5 7. SYSTEM, according to claim 6, characterized in that the vehicle height control system (120) further comprises: a height control actuator (124) operationally coupled to the vehicle chassis (12) (10) and to the drive assembly (14), and configured to rotate the chassis (12) relative to the drive assembly (14) around the axis of rotation.

8. SYSTEM, according to claims 1 and 6, characterized in that: the height control sensor (126) is installed close to the articulation axis (122) and configured to capture data indicative of a magnitude of movement of the chassis (12) around the axis of rotation ap.

9. SYSTEM, according to claim 1, further characterized by comprising: a second field sensor (110) positioned behind the first field sensor (110), the second field sensor (110) being configured to capture terrain data associated with a field terrain at the rear of the first field sensor (110).

10. COMPUTER-IMPLEMENTED METHOD FOR AN AGRICULTURAL HARVEST, characterized by comprising: receiving an input relating to a defined displacement of a base cutter assembly (50) relative to a field (F); receiving, from a sensor system (37) which includes a field sensor (110) and a height sensor (126), field terrain data (F), this data comprising terrain data associated with a field terrain (F) from the field sensor and agricultural vehicle height data relative to the field (F) from the height sensor; determining, with a computer system (202), a variation in the field terrain based on the terrain data; Petition 870260065906, dated 03 / 07 / 2026, p.112 / 115 4 / 5 determine a detected position of the base cutter assembly (50) relative to the field based on the detected terrain variation; and activate a vehicle height control system (120) based on a variation between a defined height of a base cutter assembly (50) and a detected position of the base cutter assembly (50) relative to the field (F).

11. METHOD, according to claim 10, characterized by further comprising: determining the magnitude of movement of a height control actuator (124), wherein the actuation of the vehicle height control system (120) further includes the activation of the height control actuator (124) based on the magnitude of the movement.

12. METHOD, according to claim 10, characterized by receiving, from a sensor system (37), field terrain data, further comprising receiving a second set of terrain data from a second field sensor (110), wherein the second field sensor (110) is positioned behind the first field sensor (110).

13. METHOD, according to claim 12, characterized by the determination of the field terrain variation based on terrain data, further comprising the determination of a variation in the first set of terrain data or in the second set of terrain data from a defined height (Hfs) of the first field sensor (110) or from a height (Hss) of the second field sensor (110) based on the operation of the vehicle (10) in a flat section of the field (F).

14. METHOD, according to claim 13, characterized in that the determination of the height (Hfs) of the first field sensor Petition 870260065906, dated 03 / 07 / 2026, p. 113 / 115 5 / 5 (110) is based, at least in part, on the height of a tip cutter assembly (30).

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