CONTROLE ATIVO DE POSIÇÃO DE CANAL ALIMENTADOR PARA CABEÇALHOS QUE ACOMPANHAM O TERRENO

Description

1 / 58 Active feeder channel position control for terrain-following headers. DESCRIPTION FIELD

[0001] This description relates to agricultural work machines. More specifically, this description relates to feeder channel position control systems and methods for an agricultural combine harvester. BACKGROUND

[0002] There is a wide variety of different types of agricultural work machines. An example of an agricultural work machine is an agricultural combine harvester, such as a combine harvester, forage harvesters, windrowers, etc. An agricultural combine harvester includes a header that engages with and cuts crop plants at an agricultural work site, such as a field. As the agricultural combine harvester travels through the work site, the header engages with the crop plants, cuts the crop plants, and transfers the cut crop material to the agricultural combine harvester for further processing. Headers may be arranged to follow the terrain (e.g., topography) of the work site and maintain a defined height relative to the work site surface to engage with and effectively cut the crop plants.

[0003] The above discussion is provided for background information only and is not intended to be used as an aid to determining the scope of the subject matter of the claims. SUMMARY

[0004] An agricultural combine harvester includes a header, a feeder channel, one or more processors, and a memory that stores instructions executable by one or more processors. The instructions, when executed by one or more processors, cause one or more processors to: identify one or more topographic features of the next terrain at a work site based on indicative data of one or more features. Petition 870250081340, dated 10 / 09 / 2025, page 12 / 153 2 / 58 topographic features of the next terrain at the work site; identify a future alignment between the header and the feeder channel at the next terrain at the work site based on at least one or more identified topographic features of the next terrain at the work site; identify one or more alignment adjustments based on the identified future alignment between the header and the feeder channel at the next terrain at the work site; and control one or more controllable subsystems of the combine harvester based on the one or more identified alignment adjustments.

[0005] This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid to determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that resolve any or all of the disadvantages observed in the history. BRIEF DESCRIPTION OF THE DRAWINGS

[0006] FIG. 1 is a partial pictorial illustration, a partial schematic, showing an exemplary agricultural combine harvester.

[0007] FIG. 2 is a partial, schematic pictorial illustration showing an exemplary suspension system and mounting frame arrangement for an agricultural combine harvester.

[0008] FIG. 3 is a pictorial illustration showing an exemplary feeder channel and actuator arrangement for an agricultural combine harvester.

[0009] FIG. 4 is a diagrammatic illustration showing the operation of an agricultural combine harvester at a work site.

[0010] FIG. 5 is a block diagram of an exemplary agricultural system architecture.

[0011] FIG. 6 is a block diagram that shows some examples of agricultural system architecture components, including the active alignment system, in more detail. Petition 870250081340, dated 10 / 09 / 2025, page 13 / 153 3 / 58

[0012] FIG. 7 shows a flow diagram illustrating an exemplary operation of an agricultural system architecture in the execution of active alignment control.

[0013] FIG. 8 is a block diagram showing an example of items in an agricultural system architecture communicating with a remote server architecture.

[0014] FIGS. 9, 10 and 11 show examples of mobile devices that can be used in an agricultural system architecture.

[0015] FIG. 12 is a block diagram showing an example of a computing environment that can be used in an agricultural system architecture. DETAILED DESCRIPTION

[0016] For the purpose of promoting understanding of the principles of this disclosure, reference will now be made to the examples illustrated in the drawings, and specific language will be used to describe them. However, it should be understood that this is not intended to limit the scope of the disclosure. Any further alterations and modifications to the devices, systems, and methods described, and any further application of the principles of this disclosure, are fully contemplated, as would normally occur to one skilled in the art to which the disclosure relates. In particular, it is fully contemplated that one or more features, components, or steps described in connection with one example may be combined with one or more features, components, or steps described in connection with other examples of this disclosure.

[0017] In one example, an agricultural combine harvester includes a header and a feeder channel. The header is movably attached to the feeder channel by a mounting frame assembly. The header height setting point is defined using ground-penetrating members such as calibrating wheels. A suspension system applies a buoyancy force that allows the header to float and thereby move relative to the channel. Petition 870250081340, dated 10 / 09 / 2025, p. 14 / 153 4 / 58 Feeder. The buoyancy force is a lifting force designed to maintain the header at a given distance (e.g., height setting point) above the work site. The arrangement allows the header to respond to changes in the terrain. If the ground under the header drops (e.g., the elevation of the work site decreases), the header is heavy enough to overcome the buoyancy force, so the header descends to follow the downward terrain. If the ground under the header rises (e.g., the elevation of the work site increases), then the ground penetration members act to assist the buoyancy force in lifting the header to follow the upward terrain.

[0018] As the header follows the terrain, the alignment (or relative positioning) between the header and the feeder channel changes. This can cause interruption of the transport of cut crop material from the header to the feeder channel and ultimately to other components of the combine harvester. Additionally, the extent to which the header can move relative to the feeder channel is somewhat limited by the feeder channel position, given the dimensionality, range of motion, and arrangement of the attachment frame assembly. Thus, in some cases, the feeder channel position may prevent the header from rising or falling as desired, which can lead to crop loss (e.g., the header fails to engage or capture the crop).

[0019] In some examples, sensors are used to detect the header's position relative to the work site. This sensor data can be used, in a closed-loop manner, to react to changes in the work site terrain and control the feeder channel position to maintain the desired relative positioning between the header and the feeder channel. However, given that such control is reactive, some detrimental effects can still occur, such as interruption of crop material transport or crop loss.

[0020] This document discloses systems and methods for Petition 870250081340, dated 10 / 09 / 2025, page 15 / 153 5 / 58 Identify changes in the terrain ahead of the combine harvester, predict a next alignment (or relative positioning) between the header and the feeder channel, given the next identified changes in the terrain, and proactively control the combine harvester to maintain the desired alignment (or relative positioning) between the feeder channel and the header, given the next predicted alignment. By proactively controlling the alignment (or relative positioning), the detrimental effects discussed above can be reduced.

[0021] FIG. 1 is a partial pictorial illustration, a partial schematic illustration, of an exemplary agricultural work machine 100 in the form of an agricultural harvester 100-1 (illustratively a combined harvester). The agricultural harvester 100-1 also refers to the harvester 100-1. As illustrated in FIG. 1, the harvester 100-1 includes ground-penetrating traction elements (wheels or tracks) 144 and 145 which may be driven by a propulsion subsystem (e.g., motor (e.g., internal combustion engine, etc.), hydrostatic drive and other transmission elements such as a gearbox / transmission) to propel the harvester 100-1 across a work site 10 (e.g., a field). The 100-1 combine harvester includes an operator compartment or cab 119, which may include a variety of different operator interface mechanisms (e.g., 218 shown in FIG.4) to control the combine harvester 100-1, as well as to present (e.g., display, etc.) various information and provide operator input. The combine harvester 100-1 includes a feeder channel 106, a feed conveyor assembly 108, and a feed accelerator 123. The feeder channel 106, the feed conveyor assembly 108, and the feed accelerator 123 are part of a material handling subsystem 125.

[0022] The 100-1 combine harvester includes a set of front-end equipment forming a cutting platform 102 which includes a header 104 which includes a cutter (or cutter bar) usually indicated as 109. Combine harvesters, Petition 870250081340, dated 10 / 09 / 2025, p. 16 / 153 6 / 58 combines, like the 100-1 combine, can be equipped with various types of cutterheads designed for particular crops. One example, sometimes called a grain header, is equipped with a reciprocating knife cutter (or cutter bar) and features a rotating reel with metal or plastic fingers to make the cut crop fall onto a cross auger after being cut. Another example includes a cutter (or cutter bar) that can flex over contours and ridges to cut crops like soybeans, which have pods close to the ground. Some headers designed for wheat or other similar crops include drape headers and use a cloth or rubber apron instead of a cross auger. Often, a drape header includes one or more drape belts that move the cut crop material, which is harvested from an agricultural field, to the combine.In one example, this includes one or more drape belts on each side of the header, configured to receive and move the cut crop material to a central section of the agricultural header. In the example shown in FIG. 1, the cutting platform 102 is a grain platform.

[0023] As shown in FIG. 1, the header 104 has a main frame 107. The header 104 is movably (i.e., pivoting) fixed to the feeder channel 106 by a fixing frame assembly 110 (shown in more detail in FIG. 2). The fixing frame assembly 110 includes a fixing frame 111, as well as other items, as will be shown below in FIG. 2. The feeder channel 106 includes a frame assembly 171, including a plurality of sub-frames (illustratively, sub-frame 177, sub-frame 178, and sub-frame 179). In the example shown in FIG. 1. Subframe 179 comprises the main frame of feeder channel 106. Subframe 177 is movably coupled to subframe 179, and subframe 178 is movably coupled to subframe 177. Fixing frame 111 is fixed (or fixedly coupled) to subframe 178 and is movably coupled to header 104. Header 104 can be uncoupled from combine harvester 100-1 by uncoupling the frame from Petition 870250081340, dated 10 / 09 / 2025, p. 17 / 153 7 / 58 fixing 111 of the feeder channel frame assembly. The main frame 107 supports the cutter 109 and the reel 105 and is movable relative to the fixing frame 111. The header 104 further includes one or more ground penetration members 160 (illustratively, calibrating wheels) coupled to the header 104 and configured to penetrate a work site surface. In some examples, a ground penetration member 160 (such as a calibrating wheel) may be on each side of the header 104. The header 104 further includes one or more actuators for the ground penetration member 162, each actuatable to change the position of a respective ground penetration member 160 relative to the header 104 to set a height setting point or to change the position of the header 104. In other examples, the header 104 may include a suspension system for the ground penetration members 160, such as a spring (e.g., a coil spring).In some examples, the stiffness (e.g., spring force) of the suspension system for the 160 ground penetration members can be adjustable.

[0024] The combine harvester 100-1 also includes a flotation force assembly 170, which acts as a suspension for the header 104. The flotation force assembly 170 is shown schematically in FIG. 1 and applies a flotation force, which is illustratively a lifting force acting against gravity, tilting the main frame 107 of the header 104 in an upward direction. Therefore, as the ground under the header 104 rises, the ground penetration members 160 on the header 104 penetrate the rising ground and push the header 104 upward and, in combination with the flotation force, cause the header 104 to rise. As the ground under the header 104 falls, the weight of the header 104 overcomes the flotation force, so that the header 104 descends and the ground penetration members 106 penetrate the falling ground.

[0025] The feeder channel 106 (e.g., subframe 171) is pivotally coupled to a frame 103 of the combine harvester 100-1. The combine harvester 100-1 includes a plurality of actuators 113 (illustratively 113-1, 113-2 and 113-3) Petition 870250081340, dated 10 / 09 / 2025, p. 18 / 153 8 / 58 to adjust the position (e.g., height, inclination, rotation) of the feeder channel 106 (or feeder channel frame assembly 171) and, by virtue of the coupling, the position of the fixing frame 111 and thus of the header 104. One or more actuators 113-1 drive the movement of the feeder channel 106 around a geometric axis in the directions generally indicated by arrow 117. Thus, a position (e.g., height) of the feeder channel 106 above the work surface and relative to the header 104 is controllable by actuating one or more actuators 113-1. The movement of the actuators 113-1 can also cause movement of the header 104 by virtue of the connection between the feeder channel 106 and the header 104 by means of the fixing frame assembly 110.One or more actuators 113-2 can be actuated to change a feeder channel bearing (or feeder channel frame assembly 171) and, by virtue of the coupling, change the bearing of the fixing frame 111 and thus change a bearing of the header 104. As shown, the actuators 113-2 are coupled between the subframe 178 and the subframe 177. The actuators 113-2 are operable to cause the rolling motion of the subframe 178 and thus the subframe 178 can refer to a rolling frame (or a side-to-side tilting frame). The rolling motion of subframe 178 also, by virtue of the coupling, causes the rolling motion of the fixing frame 111 and thus the rolling motion of the header 104. Although only one actuator 113-2 is shown, it is understood that there may be several actuators 113-2, such that the various actuators 113-2 are spaced across subframe 178.One or more actuators 113-3 can be actuated to change a pitch or tilt of the feeder channel 106 (or feeder channel frame assembly 171) and, by virtue of the coupling, change the pitch or tilt of the fixing frame 111 and thus change the pitch or tilt of the header 104. As shown, the actuators 113-3 are coupled between the subframe 179 and the subframe 177. The actuators 113-3 are operable to cause pitch movement (or bow-to-stern tilt) of the subframe 177 and thus the subframe 177 can refer to. Petition 870250081340, dated 10 / 09 / 2025, p. 19 / 153 9 / 58 a pitch (or tilt) frame (or a bow-to-stern pitch (or tilt) frame). The pitch movement of subframe 177 also, by virtue of the coupling, causes the pitch movement of subframe 177 and thus the pitch movement of the fixing frame 111 and thus the pitch movement of the header 104. Although only one actuator 113-3 is shown, it is understood that there may be multiple actuators 113-3, so that the various actuators 113-3 are spaced along subframe 177.

[0026] The material handling subsystem 125 further includes a thresher 121, which illustratively includes a threshing rotor 112 and a set of concaves 114. In addition, the material handling subsystem 125 also includes a separator 116. The agricultural combine harvester 100-1 also includes a cleaning subsystem or cleaning shoe (collectively referred to as the cleaning subsystem 118) which includes cleaning fan(s) 120, top sieve 122 and sieve 124. The material handling subsystem 125 also includes the discharge beater 126, reject elevator 128 and clean grain elevator 130. The clean grain elevator moves the clean grains to a material receptacle (or clean grain tank) 132.

[0027] The 100-1 combine harvester also includes a discharge subsystem comprising a conveyor mechanism 134 and a chute 135. The chute 135 includes a nozzle (or flap) 136. In some examples, the nozzle 136 may be movably coupled to the chute 135, so that the nozzle 136 may be controllably rotated to change the orientation of the nozzle 136 relative to the chute 135. The conveyor mechanism 134 may be a variety of different types of conveyor mechanisms, such as an auger or blower. The transport mechanism 134 is in communication with the clean grain tank 132 and is actuated (via a transport mechanism drive assembly) to transport material (e.g., grain) from the grain tank 132 through the chute 135 and the spout 136. The chute 135 can be rotated through a range of positions, from a storage position (shown in FIG. 1) to a variety of deployment positions away from the combine harvester 100-1 to align the Petition 870250081340, dated 10 / 09 / 2025, page 20 / 153 10 / 58 nozzle 136 in relation to a material receptacle of a material receiving machine configured to receive the material into the grain tank 132. The nozzle 136, in some examples, may also be rotated by an actuator to adjust the direction of the material flow exiting the nozzle 136.

[0028] The combine harvester 100-1 also includes a waste subsystem 138 which may include the chopper 140 and the spreader 142. In some examples, a combine harvester within the scope of the present disclosure may have more than one of the subsystems mentioned above. In some examples, the combine harvester 100-1 may have left and right cleaning subsystems, separators, etc., which are not shown in FIG. 1.

[0029] In operation, and by way of overview, the combine harvester 100-1 moves illustratively through the work site 10 in the direction indicated by arrow 147. As the combine harvester 100-1 moves, the header 104 engages with the plants to be harvested and cuts, with the cutter bar 109 on the header 104, the plants to generate cut harvest material. The cut harvest material can be engaged by the reel 105 of the header 104. The reel 105 moves the cut harvest material to a conveyor 115.

[0030] The cut crop material is engaged by conveyor 115 (illustratively, one or more drape belts), which transports the cut crop material to the center of header 104, where the cut crop material is then moved through an opening to a feed conveyor assembly 108 in feeder channel 106 towards feed accelerator 123, which accelerates the cut crop material to thresher 121. The cut crop material is threshed by rotor 112, which rotates the crop against concaves 114. The threshed crop material is moved by a separator rotor into separator 116, where a portion of the threshed crop material (e.g., non-grain material (MOG)) is moved by discharge beater 126 towards waste subsystem 138. The portion of waste transferred to waste subsystem 138 is cut by waste chopper 140 and spread on the field by spreader Petition 870250081340, dated 10 / 09 / 2025, page 21 / 153 11 / 58 142. In other configurations, the residue is released from the 1001 agricultural combine harvester into a windrow.

[0031] Some of the threshed harvest material, including grain and some pieces of MOG, falls into the cleaning subsystem 118. The upper sieve 122 separates some larger pieces of MOG from the grain, and the sieve 124 separates some finer pieces of MOG from the grain. The grain then falls into a drill that moves it to an inlet end of the grain elevator 130, and the grain elevator 130 moves the grain upwards, depositing the grain into the grain tank 132. The MOG is removed from the cleaning subsystem 118 by the airflow generated by one or more cleaning fans 120. The cleaning fans 120 direct the air along an upward airflow path, through the upper sieves and screens. The airflow carries the MOG back into the combine harvester 100-1 towards the residue handling subsystem 138.

[0032] The tailings elevator 128 returns the tailings to the thresher 121, where the tailings are threshed again. Alternatively, the tailings may also be passed to a separate threshing mechanism by a tailings elevator or other conveying device, where the tailings are also threshed.

[0033] The 100-1 combine harvester may include a variety of sensors, some of which are illustrated in FIG. 1, such as one or more ground speed sensors 146, one or more observation sensor systems 150 and header position sensors 164 and 166.

[0034] The ground speed sensor 146 detects the travel speed of the combine harvester 100-1 over the ground. The ground speed sensor 146 can detect the travel speed of the combine harvester 100-1 by detecting the rotational speed of the ground penetration traction elements 144 or 145, or both, a drive shaft, an axle, or other components. In some cases, the travel speed can be detected using a positioning system, such as a global positioning system (GPS), a position estimation system, or a long-range navigation system. Petition 870250081340, dated 10 / 09 / 2025, p. 22 / 153 12 / 58 (LORAN), a Doppler speed sensor, or a wide variety of other systems or sensors that provide an indication of travel speed. Ground speed sensors 146 may also include direction sensors, such as a compass, a magnetometer, a gravimetric sensor, a gyroscope, GPS drift, to determine the direction of travel in two or three dimensions in combination with speed. In this way, when the combine harvester 100-1 is on a slope, the orientation of the combine harvester 100-1 relative to the slope is known. For example, the orientation of the combine harvester 100-1 may include going uphill, downhill, or traversing the slope.

[0035] Observation sensor systems 150 may include one or more of a variety of sensors, such as cameras or time-of-flight sensors, such as lidar sensors, radar sensors, ultrasonic sensors, as well as a variety of other sensors. Observation sensor systems 150 detect the terrain (and topographic features (e.g., elevation, slope, etc.) thereof) of the work site 10 around the harvester 1001. For example, observation sensor systems 150 may detect the terrain (and topographic features thereof) ahead of the header 104 relative to the travel direction 147 of the harvester 100-1. Observation sensors 150 may additionally detect various other features, such as, but not limited to, material flow features, as discussed in this document. Although FIG.1. Show some example positions of an observation sensor system 150; it is understood that observation sensor systems 150 may alternatively or additionally be positioned (or otherwise arranged) in a variety of other locations on the combine harvester 100-1.

[0036] Header position sensors 164 and 166 detect a position (e.g., height, tilt, rotation) of the header 104 relative to the work site surface 110. For example, header position sensors 164 can detect an angular position of a respective ground penetration member 106 relative to the header 104. Petition 870250081340, dated 10 / 09 / 2025, page 23 / 153 13 / 58 to detect the position of header 104. Header position sensors 166 can be placed in one or more locations along the width of header 104, such as along the width of cutter bar 109, and can detect the angular position of a ground penetration rod 168 (which penetrates the work site surface 10) relative to header 104 to detect the position of header 104. Header position sensors 164 and 166 can be of various types, such as transducers or potentiometers. Other types of sensors can be employed to detect the position of header 104, such as time-of-flight sensors.

[0037] A combine harvester 100 may include several other sensors, some of which will be described in FIG. 4. A combine harvester 100 may include several other items, some of which will be described in FIG. 4.

[0038] FIG. 2 shows an example of some portions of the combine harvester 1001, including the mounting frame assembly 110 and the flotation force assembly 170 in more detail. FIG. 2 shows that the main frame 107, which supports the cutter 109 and the reel 105 (not shown in FIG. 2), is in a first position relative to the mounting frame 111. The mounting frame 111 is fixedly coupled to the feeder channel frame assembly 171 (e.g., subframe 178) and movably attached to the main frame 107. The subframe 178 is movably coupled to the subframe 177, and the subframe 177 is movably coupled to the subframe 179 (not shown in FIG. 2). The vertical movement of the main frame 107 in relation to the fixing frame 111 is illustratively driven by ground penetration members 160 (such as calibrating wheels, as shown in FIG.1, or other types of ground-penetrating members, such as shoes or skis) that act to raise and lower the main frame 107 relative to the mounting frame 111 as the ground over which the ground-penetrating members move rises and falls, respectively. The position (e.g., height, inclination, rotation) of the frame 107 and thus the position (e.g., height, inclination, rotation) of the header 104 can also be changed by virtue of the actuation of the actuators 113 and the. Petition 870250081340, dated 10 / 09 / 2025, page 24 / 153 14 / 58 mounting frame assembly 110.

[0039] In the example illustrated in FIG. 2, the flotation force assembly 170 includes a suspension joint, including a set of control arms 172 and 174. The control arms 172 and 174 are pivotally connected to the mounting frame 111 at pivot points 176 and 181 and are pivotally connected to the main frame 107 at pivot points 180 and 182, respectively. The control arms 172 and 174 control the path of movement of the main frame 107 relative to the mounting frame 111 when the position of the main frame 107 relative to the mounting frame 111 changes. It should be understood that another control arm, parallel to control arm 172, may be arranged on the other side of header 104. It should be understood that another control arm, parallel to control arm 174, may be arranged on the other side of header 104. Thus, it should be understood that the suspension linkage may be a four-bar suspension linkage.This is just one example of a device to control the path of movement.

[0040] The flotation force assembly 170 includes a hydraulic cylinder 184 which is pivotally connected to the mounting frame 111 at pivot point 187 and which is pivotally connected to the main frame 107 at pivot point 189. The hydraulic cylinder 184 has a rod portion 186 reciprocally mounted to the cylinder portion 188. The assembly 170 also illustratively includes an accumulator 190. The accumulator 190 is shown schematically in FIG. 2 and is shown coupled to cylinder 184, via a hydraulic circuit 191. It will be appreciated, in one example, that the accumulator 190 may be internal to the hydraulic cylinder 184. In another example, the accumulator 190 and the circuit 191 may be separated from the hydraulic cylinder 184 and fluidically coupled to the hydraulic cylinder 184. In one example, the flotation force assembly 170 may include another hydraulic cylinder (similar to hydraulic cylinder 184) arranged in a spaced relationship with hydraulic cylinder 184.The other hydraulic cylinder may also include or be coupled to an accumulator. Petition 870250081340, dated 10 / 09 / 2025, p. 25 / 153 15 / 58 (similar to accumulator 190) via a hydraulic circuit (similar to hydraulic circuit 191). This is just one example.

[0041] FIG. 3 shows an example of some portions of the combine harvester 1001, including an example of feeder channel 106. Feeder channel 2006 is an example of feeder channel 106. Feeder channel 2006 includes a frame assembly 2071 which is an example of frame assembly 171. Frame assembly 2071 includes subframe 2077, subframe 2078 and subframe 2078 and subframe 2079. Subframe 2077 is an example of subframe 177, subframe 2078 is an example of subframe 178 and subframe 2079 is an example of subframe 179. FIG. 3 also shows, as an example of actuators 113, actuators 2013. As shown in FIG. 3, it can be seen that the 100-1 combine harvester may include one or more 2013-1 actuators, which are an example of 113-1 actuators, one or more 2013-2 actuators, which are an example of 113-2 actuators, and one or more 2013-3 actuators, which are an example of 113-3 actuators.

[0042] FIG. 4 illustrates an exemplary operation of a combine harvester 1001 as it travels through a work site. At location 1, it can be observed that the feeder channel 106 and the header 104 have an alignment (relative positioning) such that a reference point 194 corresponding to the feeder channel 106 and a reference point 196 corresponding to the header 104 are in the desired (or target) alignment (illustratively collinear (as represented by the reference line 197) in the example of FIG. 4). It should be understood that a reference point, such as reference point 194 or reference point 196, is a particular portion of the item to which the reference point refers and has known coordinates on the corresponding item (i.e., the reference point has known distances from other portions of the component).The systems and methods described in this document, in at least some examples, make it possible to find a position (e.g., location, height above the work surface, etc.) of reference points (e.g., 194 and 196) and to control a machine 100 (e.g., combine harvester 100-1) such that the points of... Petition 870250081340, dated 10 / 09 / 2025, page 26 / 153 16 / 58 reference points are in the desired positions to enable the desired alignment (or relative positioning) between the components (e.g., header 104 and feeder 106) of machine 100 (e.g., combine harvester 100-1).

[0043] In the example in FIG. 4, a collinear alignment (or relative positioning) between feeder channel 106 and header 104 is the desired alignment (or relative positioning). However, in other examples, the desired alignment (or relative positioning) may be different (and may be selected by the operator or user or selected by a control system). For example, the desired alignment (or relative positioning) may be a range of acceptable alignments (or relative positions). An example of desired alignment (or relative positioning) is referred to in this document as fifty percent (50%) alignment (or relative positioning), which determines that feeder channel 106 (or a reference point, such as 194, of feeder channel 106) is positioned at the approximate center of the range of motion of the suspension joint.In other examples, a desired alignment (or relative positioning) might be within a range along the suspension joint's range of motion; for example, a desired alignment (or relative positioning) between 30% and 70% dictates that feeder channel 106 (or a reference point, such as 194, of feeder channel 106) be positioned between 30% and 70% of the suspension joint's range of motion. For instance, it might be desirable to keep feeder 106 (or a reference point thereof) positioned closer to the center of the suspension joint's range of motion, as opposed to the edges of the suspension joint's range of motion. These are merely a few examples.

[0044] As the combine harvester 100-1 travels to location 2, where the terrain of work site 10 rises, the alignment (relative positioning) between the feeder 106 and the header 104 changes so that the reference points 194 and 196 are no longer collinear (as can be seen, the Petition 870250081340, dated 10 / 09 / 2025, p. 27 / 153 17 / 58 header 104 and reference point 196 moved upward with the elevation of the terrain at location 2). The relative positioning between feeder channel 106 and header 104 at location 2 may cause material feeding problems and may prevent header 104 from rising sufficiently to maintain the desired height of header 104 above work location 10, so that header 104 may cut the crop plants too low (e.g., too low relative to the desired cutting height).

[0045] As the combine harvester 100-1 travels to location 3, where the terrain of the work site 10 slopes down, the alignment (relative positioning) between the feeder channel 106 and the header 104 changes so that the reference points 194 and 196 are no longer collinear (as can be seen, the header 104 and the reference point 196 have shifted downwards with the slope of the terrain at location 3).The relative positioning between feeder channel 106 and header 104 at location 2 may cause material feeding problems and may prevent header 104 from rising sufficiently to maintain the desired height of header 104 above work location 10, so that header 104 may cut crop plants too low (e.g., too low relative to the desired cutting height).

[0046] In the example of FIG. 3, a combine harvester 100-1 having an active alignment control system 215, as described in this document, would identify the terrain at locations 2 and 3, before the combine harvester 100-1 arrives at the terrain at locations 2 and 3, predict the position of the header 104 at locations 2 and 3 (e.g., predict the position of a reference point, such as 196, at locations 2 and 3), before the header 104 arrives at the terrain at locations 2 and 3, and proactively control the combine harvester 100 (e.g., actuator 107, actuators 162, etc.) to establish a desired alignment (relative positioning) between the feeder channel 106 and the header 104 at locations 2 and 3.

[0047] It should be understood that although the reference point 194 corresponding to feeder channel 106 is shown as being Petition 870250081340, dated 10 / 09 / 2025, page 28 / 153 18 / 58 located on the mounting frame 111, this need not be the case. As the mounting frame 111 is fixedly attached and moves with the feeder channel 106 (at least in the illustrated example), the reference point 194, located on the mounting frame 111 as illustrated, functions to represent a position of the feeder channel 106. It should be understood that the reference point 196 may be located elsewhere, such as on a feeder channel 106 component, like the frame assembly 171.

[0048] FIG. 5 is a block diagram showing an exemplary agricultural system architecture 500 (hereinafter also referred to as agricultural system 500 or system 500). The agricultural system 500 includes an agricultural work machine 100 (e.g., combine harvester 100-1, etc.), one or more remote computing systems 300, one or more networks 359, one or more remote user interface mechanisms 364 and may include a variety of other items 502 as well.

[0049] The working machine 100, by itself, illustratively includes one or more processors or servers 202, one or more data storage devices 204, a communication system 206, one or more sensors 208, a control system 214, one or more controllable subsystems 216, one or more operator interface mechanisms 218 and may include various other items and functionalities 219 as well.

[0050] Remote computing systems 300, as illustrated, include one or more processors or servers 302, one or more data storage devices 304, a communication system 306, and may include various other items and functionalities 319.

[0051] Data stores 204 and 304 each store a variety of data (usually referred to as data 205 and data 305, respectively), some of which will be described in more detail in this document. For example, data 205 and data 305, or a combination thereof, may include, among other things, workplace data, historical data, sensor data, machine data, data of Petition 870250081340, dated 10 / 09 / 2025, page 29 / 153 19 / 58 control, machine alignment data, as well as various other data. Some examples of the various data will be described in more detail in FIG. 5. In addition, data 205 may include executable computer instructions that can be executed by one or more processors or servers 202 to implement other items or functionalities of the system 500, including other items or functionalities of the agricultural work machines 100. Additionally, data 305 may include executable computer instructions that can be executed by one or more processors or servers 302 to implement other items or functionalities of the system 500, including other items of the remote computing systems 300.It is understood that 204 and 304 data storage may include different forms of data storage, for example, both volatile data storage (e.g., random access memory (RAM)) and non-volatile data storage (e.g., read-only memory (ROM), hard disks, solid-state drives, etc.).

[0052] The sensors 208 may include one or more observation sensor systems 227, one or more header position sensors 226, one or more heading / speed sensors 225, one or more feeder channel position sensors 224, one or more guidance sensors 223, one or more geographic position sensors 203, and may include various other sensors 228 as well.

[0053] The heading / speed sensors 225 detect a heading characteristic (e.g., direction of travel) or a speed characteristic (e.g., travel speed, acceleration, deceleration, etc.), or both, of a working machine 100. This may include sensors that detect the motion (e.g., rotation) of ground-penetrating elements (e.g., wheels or tracks) or the motion of components coupled to ground-penetrating elements (e.g., axles) or other elements, or may utilize signals received from other sources, such as geographic position sensors 203.Thus, although the heading / speed sensors 225, as described in this document, are shown as separate from the... Petition 870250081340, dated 10 / 09 / 2025, page 30 / 153 20 / 58 geographic position sensors 203, in some examples, the machine heading / speed is derived from signals received from geographic position sensors 203 and subsequent processing. In other examples, heading / speed sensors 225 are separate sensors and do not use signals received from other sources. An example of heading / speed sensors 225 are sensors 146 shown in FIG. 1.

[0054] Geographic position sensors 203, by way of illustration, detect the geographic position or location of a work machine 100. Geographic position sensors 203 may include, but are not limited to, a global navigation satellite system (GNSS) receiver that receives signals from a GNSS satellite transmitter. Geographic position sensors 203 may also include a real-time kinematic (RTK) component configured to improve the accuracy of position data derived from the GNSS signal. Geographic position sensors 203 may include a position estimation system, a cellular triangulation system, or any other type of geographic position sensor.

[0055] Machine orientation sensors 223 detect an orientation (e.g., tilt, roll, and yaw) of the work machine 100. Machine orientation sensors 223 may include an inertial measurement unit (IMU) (which may include one or more accelerometers, one or more gyroscopes, and one or more magnetometers).

[0056] Observation sensor systems 227 detect the terrain (and its topographic features) of a work site where the work machine 100 is located, including the terrain ahead of the work machine 100 (e.g., ahead of a header (e.g., 104)) relative to a travel direction or route of the work machine 100. Topographic features may include elevation, slope, as well as other topographic features. An example of observation sensor systems 227 are the observation sensor systems 150 shown in FIG. 1. Additionally, observation sensors 227 can detect the Petition 870250081340, dated 10 / 09 / 2025, page 31 / 153 21 / 58 characteristics of the material flow (e.g., harvested material, etc.) directed by header 104 to feeder channel 106 of the working machine 100 (e.g., harvester 100-1). The material flow characteristics include flow consistency, flow speed, as well as other characteristics. The material flow characteristics can be detected by detecting agglomeration, pulsation, jolts, movement or lack thereof (e.g., stagnation, stoppage, etc.) of the material directed by header 104 to feeder channel 106. The observation sensors 227 can detect the material while it is on and being transported by header 104 or can detect the material in other locations.

[0057] Header position sensors 226 detect a position (e.g., one or more of the height, tilt, or rotation options) of a header (e.g., 104) of the work machine 100. In some examples, header position sensors 226, such as transducers or potentiometers, detect an angular position of a ground penetration element (e.g., ground penetration member 160, ground penetration rod 168, etc.) to detect the header position. In some examples, header position sensors 226, such as time-of-flight sensors, detect a distance between the header and the work site surface to detect the header position. Some examples of header position sensors 226 are header position sensors 166 and 168 shown in FIG. 1.

[0058] Feeder channel position sensors 224 detect a position (e.g., one or more of the height, tilt, or rotation options) of a feeder channel (e.g., 106) of the work machine 100. In some examples, feeder channel position sensors 224, such as transducers or potentiometers, detect an angular position of the feeder channel relative to a frame (e.g., 103) of the work machine 100 to detect a feeder channel position. In some examples, feeder channel position sensors 224, such as time sensors of Petition 870250081340, dated 10 / 09 / 2025, page 32 / 153 22 / 58 flight, detect a distance between the feeder channel and the work site surface to detect the feeder channel position. In some examples, feeder channel position sensors 224, such as pressure sensors or linear displacement sensors, detect a characteristic related to a feeder channel actuator, such as fluid pressure or actuator displacement, to detect a feeder channel position. In another example, feeder channel position sensors 224 may include an inertial measurement unit (IMU) or sensors such as accelerometers or gyroscopes, or both, that detect height, tilt, or rotation of the feeder channel.

[0059] The control system 214 may include the active alignment system 215. Briefly, the active alignment system 215 monitors and controls the alignment (or relative positioning) between a header (e.g., 104) and a feeder channel (e.g., 106) of the work machine 100. The active alignment system 215 will be discussed in more detail in FIG. 6.

[0060] The control system 214 may include one or more controllers 235 (for example, electronic control units, which may be implemented by one or more processors, such as one or more processors 202) that generate control signals to control one or more components of a work machine 100 or system components 500, or both.For example, but not by limitation, the controllers 235 may include a communication system controller for controlling the communication system 206, an interface controller for controlling one or more interface mechanisms (e.g., 218 or 364, or both), a header position controller that controls one or more header position actuators 252, a feeder channel position controller that controls one or more feeder channel position actuators 250, a float force controller that controls the float force assembly 254, as well as various other controllers for controlling various other controllable subsystems 216. In other examples, a central controller may be used to generate control signals for controlling a plurality of controllable subsystems 216 as well. Petition 870250081340, dated 10 / 09 / 2025, page 33 / 153 23 / 58 as, in some examples, other items of the system 500. Thus, it will be understood that a distinct controller may be used to control a distinct item or a distinct subsystem of a work machine 100 or that a controller may control a plurality of items or a plurality of subsystems of a work machine 100, including a controller that controls all items (including all subsystems) of a work machine 100. The control system 214 may also include several other items 237.

[0061] The controllable subsystems 216 include one or more feeder channel position actuators 250, one or more header position actuators 252, float force assembly 254, as well as various other subsystems 216.

[0062] Feeder channel position actuators 250 are controllable for adjusting and setting the position of a feeder channel (e.g., 106) of the work machine 100, or of a feeder channel component 106, such as the frame assembly 171 or a subframe thereof. Feeder channel position actuators 250 may include, for example, fluid actuators, such as hydraulic or pneumatic actuators. Feeder channel position actuators 250 may include, for example, electromechanical actuators (e.g., linear actuators). Some examples of feeder channel position actuators 250 are the actuators 113 (e.g., 113-1, 113-1, 113-2) shown in FIG. 1 or the 2013 actuators (e.g., 2013-1, 2013-2, 2013-3) shown in FIG. 3.

[0063] Header position actuators 252 are controllable for adjusting and setting the position of a header (e.g., 104) of the work machine 100. Header position actuators 252 may include, for example, fluid actuators, such as hydraulic or pneumatic actuators. Header position actuators 252 may include, for example, electromechanical actuators (e.g., linear actuators). Some examples of header position actuators 252 are the actuators 162 shown in FIG. 1. Petition 870250081340, dated 10 / 09 / 2025, page 34 / 153 24 / 58

[0064] It should be understood that some actuators (e.g., 113, 2013) operate to change a position (e.g., height, tilt, rotation) of a mounting frame (e.g., 111) and, by this means, also operate to change the position of a header (e.g., 104), by virtue of the connection between the header and the mounting frame.

[0065] The float force assembly 254 is controllable for adjusting and setting a float force applied to the header 104. An example of a float force assembly 254 is the float force assembly 170 shown in FIGS. 1-2. The float force assembly 254 may include one or more actuators 260, such as actuators 184, one or more pumps 262, one or more valves 264, and one or more other items, such as a hydraulic circuit (e.g., 191) and one or more accumulators (e.g., 190). The pumps 262 and valves 264 are controllable for controlling the flow and volume of hydraulic fluid within and between the items of the float force assembly 254, as well as for adjusting or setting the float force applied to the header 104.

[0066] The communication system 206 is used for communication between the components of the work machine 100 or with other items of the system 500, such as remote computing systems 300 or user interface mechanisms 364, or a combination thereof. The communication system 306 is used for communication between the components of a remote computing system 300 or with other items of the system 500, such as the work machine 100, other remote computing systems 300 or user interface mechanisms 364, or a combination thereof.

[0067] 206 and 306 communication systems may include one or more wired or wireless communication circuits, as well as wired and wireless communication components. In some examples, 206 and 306 communication systems may be one or more of an Internet communication system, a cellular network communication system, a wide area network or local area network communication system, a controller area network (CAN) communication system, such as a Petition 870250081340, dated 10 / 09 / 2025, page 35 / 153 25 / 58 CAN bus, a communication system via a controller area network with flexible data rate (CAN FD), such as a CAN FD bus, a communication system via a near-field communication network, an Ethernet communication system, or a communication system configured to communicate via any other network. Communication systems 206 and 306 may also include a system that facilitates downloads or transfers of information to and from a secure digital card (SD) or a Universal Serial Bus (USB) card, or both. Communication systems 206 and 306 may each utilize network 359. Networks 359 may be any of several network types, such as the Internet, a cellular network, a wide area network (WAN), a local area network (LAN), a controller area network (CAN), a controller area network with flexible data rate (CAN FD), a near-field communication network, Ethernet, or any other network.

[0068] FIG. 5 shows that one or more operators 361 can operate the work machine 100. The operators 361 interact with the operator interface mechanisms 218. In some examples, the operator interface mechanisms 218 may each include joysticks, levers, a steering wheel, connections, pedals, buttons, wireless devices (e.g., mobile computing devices, etc.), dials, keypads, a display device (including a display screen), user-actuated elements (such as icons, buttons, etc.) on a display device, a microphone and a speaker (where speech recognition and synthesis are provided), among a wide variety of other types of control devices. When a touch-screen system is provided, the operators 361 can interact with the operator interface mechanisms 218 using touch gestures.Furthermore, at least some of the operator interface mechanisms 218 can be used to present (e.g., display, audible presentation, tactile presentation, etc.) various information. The examples described above are provided as illustrative examples and are not intended to limit the scope of the [reference to relevant section]. Petition 870250081340, dated 10 / 09 / 2025, page 36 / 153 26 / 58 present disclosure. Consequently, other types of operator interface mechanisms 218 may be used and are within the scope of the present disclosure.

[0069] In one example, an operator interface mechanism 218, such as a display device or other device, may include buttons (e.g., displayed buttons or physical buttons) for adjusting the activation and deactivation of the active alignment system 215 (or its functionality) and for adjusting the settings (e.g., sensitivity, aggressiveness, thresholds, etc.) of the active alignment system 215. For example, the active alignment system 215 may be operated to automatically control the work machine 100. By automatically, it is understood without manual involvement, except perhaps to enable the active alignment system 215 or its functionality, such as through the buttons discussed above.

[0070] FIG. 5 also shows remote users 366 interacting with the work machine 100 and remote computing systems 300 through user interface mechanisms 364 on networks 359. In some examples, the user interface mechanisms 364 may include joysticks, levers, a steering wheel, connections, pedals, buttons, wireless devices (e.g., mobile computing devices, etc.), dials, keypads, a display device (including a display screen), user-actuated elements (such as icons, buttons, etc.) on a display device, a microphone and a speaker (where speech recognition and synthesis are provided), among a wide variety of other types of control devices. When a touch-screen system is provided, users 366 can interact with the user interface mechanisms 364 using touch gestures.Furthermore, at least some of the 364 user interface mechanisms can be used to present (e.g., display, audible presentation, tactile presentation, etc.) various information. The examples described above are provided as illustrative examples and are not intended to limit the scope of the present disclosure. Consequently, other types of... Petition 870250081340, dated 10 / 09 / 2025, page 37 / 153 27 / 58 364 user interface mechanisms can be used and are within the scope of this disclosure.

[0071] Remote computing systems 300 can be a wide variety of different types of systems or combinations thereof. For example, remote computing systems 300 can be in a remote server environment. In addition, remote computing systems 300 can be remote computing systems such as mobile devices, a remote network, a farm management system, a vendor system, or a wide variety of other remote systems.

[0072] In one example, the work machine 100 can be remotely controlled by remote computing systems 300 or by remote users 366, or both. In some examples, the operators 361 are on board (e.g., in an operator compartment, such as a cabin) the work machine 100. In some examples, the operators 361 are remote from the work machine 100 and control the work machine 100 through one or more interface mechanisms (e.g., one or more of 218) that are remote from the work machine 100, but operationally coupled (e.g., communicatively coupled, such as through networks 359) to the work machine 100.

[0073] It should be understood that, in some examples, the items in system 500 may be distributed in various ways, including ways different from the example shown in FIG. 5. For example, but not by limitation, the active alignment system 215, shown in FIG. 5 as being disposed on work machine 100, may be located elsewhere, such as on one or more remote computing systems 300. In other examples, the active alignment system 215 may be distributed on one or more work machines 100 or on a remote computing system 300. Thus, it will be understood that the active alignment system 215 may be distributed throughout system 500 in various ways.

[0074] FIG. 6 is a block diagram showing examples of some of the Petition 870250081340, dated 10 / 09 / 2025, page 38 / 153 28 / 58 components of the 500 system in more detail and the flow of information between the components.

[0075] As illustrated in FIG. 5, it can be seen that data stores 204 and 304, or a combination thereof, may include data (205 and 305 respectively), workplace data 601, historical data 602, sensor data 603, machine data 604, control data 605, machine alignment data 606 and may include various other data 610, including, but not limited to, other data described in this document. In some instances, where the data is located may depend on where the active alignment system 215 (also called system 215) is located.

[0076] As shown in FIG. 6, the active alignment system 215 includes one or more data processing systems 630, current header position identification system 632, feeder channel (or clamping frame) current position identification system 634, future terrain identification system 636, future header position prediction system 638, feeder channel (or clamping frame) future position prediction system 640, future alignment prediction system 642, proactive machine adjustment identification system 644, machine learning system 646, and various other items and functionalities 648. The proactive machine adjustment identification system 644 itself includes the feeder channel (or clamping frame) adjustment identification system 652, the header adjustment identification system 654, the alignment adjustment identification system 655, and various other items and functionalities 656.As will be described in more detail, the active alignment system 215 is operable to generate one or more emissions 660.

[0077] Workplace data 601 may refer to data relating to the workplace (e.g., one or more fields) where the work machine 100 performs an agricultural operation. Workplace data 601 may be in the form of aerial images or maps, or both, including or Petition 870250081340, dated 10 / 09 / 2025, p. 39 / 153 29 / 58 indicating values ​​of one or more topographic features of the work site terrain, such as, but not limited to, elevation values, slope values, etc.

[0078] Historical data 602 may include data that includes or indicates values ​​of one or more topographic features of the work site terrain, such as, but not limited to, elevation values, slope values, etc. Historical data 602 may be derived from data (e.g., sensor data) collected during one or more historical operations at the work site, for example, but not limited to, sensor data generated by geographic position sensors (e.g., equal to or similar to 203) and sensor data generated by machine guidance sensors (e.g., equal to or similar to 223) on agricultural work machines that performed historical operations at the work site.

[0079] Sensor data 603 includes sensor data (e.g., images, sensor signals, etc.) generated by sensors 208, for example, observation sensor system sensor data generated by observation sensor systems 227, header position sensor data generated by header position sensors 226, heading / speed sensor data generated by heading / speed sensors 225, feeder channel position sensor data generated by feeder channel position sensors 224, machine orientation sensor data generated by machine orientation sensors 223, geographic position sensor data generated by geographic position sensors 203, as well as various other sensor data generated by other sensors 228.

[0080] The machine 604 data includes indicative data of dimensions and spatial relationships of the work machine 100, including dimensions of individual components of the work machine 100 and spatial relationships between individual components of the work machine 100. The machine 604 data may include indicative data of the range of motion of the components of the work machine 100, such as the range of motion of an assembly of Petition 870250081340, dated 10 / 09 / 2025, page 40 / 153 30 / 58 accessories (e.g., 110). The 604 machine data may include data indicating the location of a reference point on each of a plurality of components, referring to other components, for example, a location of a reference point (e.g., 194) on a clamping frame or feeder channel in relation to other components, including other components of the clamping frame or feeder channel, as well as a location of a reference point (e.g., 196) on a header in relation to other components, including other components of the header.It should be understood that the machine 604 data, with respect to the location of the reference points, refers to the location of the reference point on the particular component and its spatial relationship (e.g., distance from) other components of the working machine 100, and not to the position of the reference point in 2D or 3D space at the work site, which is determined by other items of the active alignment system 215, as discussed below. The machine 604 data can be provided in various ways, such as by user or operator input, by third parties (e.g., manufacturer, vendor, etc.), as well as in various other ways.

[0081] Control data 605 includes data indicating various thresholds, various setpoints, and various control outputs used in the control of work machine 100. For example, control data 605 may include header position target or header position setpoints. Control data 605 may include alignment (or relative positioning) target indicating a desired alignment (or relative positioning) between a header and the feeder channel (or clamping frame) of work machine 100 or a desired alignment (or relative positioning) between a header reference point (e.g., 196) and a feeder channel (or clamping frame) reference point (e.g., 194). Control data 605 may include data indicating the adjustment or operation of other components of work machine 100, such as the adjustment or operation of ground penetration elements 160, which may affect the alignment (or the Petition 870250081340, dated 10 / 09 / 2025, page 41 / 153 31 / 58 relative positioning) between the header and the feeder channel. Control data 605 can be supplied or adjusted by operator or user input. Control data 605 can be emissions (e.g., control signals) generated by a control system (e.g., 214). Control data 605 can be supplied by various other sources, such as predefined thresholds supplied by a manufacturer or other third party.

[0082] Machine alignment data 606 includes data usable by the active alignment system 215 to identify (or predict) future positions of components and future alignments between components of the work machine 100, such as future positions of a header (e.g., 104) (or a reference point (e.g., 196) thereof), future positions of a feeder channel (e.g., 106) or clamping frame (e.g., 111) (or a reference point (e.g., 194) thereof), and future alignments between a header and feeder channel or clamping frame (or future alignments between a reference point of the header and a reference point of the feeder channel or clamping frame).For example, machine alignment data 606 may include lookup tables, equations, models, as well as various other data usable to identify (or predict) future component positions and future alignments between components of the work machine 100, such as future positions of a header (e.g., 104), future positions of a feeder channel (e.g., 106) or clamping frame (e.g., 111), and future alignments between a header and a feeder channel or clamping frame.

[0083] Data processing systems 630 process workplace data 601, historical data 602, sensor data 603, machine data 604, threshold data 605, machine alignment data 606, and other data 610 to generate processed data. The processed data may include computer-readable values, usable (or readable) by other items in the active alignment system 215. Data processing systems 630 may include various processing functionalities, including Petition 870250081340, dated 10 / 09 / 2025, page 42 / 153 32 / 58 image processing functionality, sensor signal processing functionality, filtering functionality, categorization functionality, normalization functionality, aggregation functionality, color extraction functionality, analog-to-digital conversion functionality, as well as various other data processing functionalities.

[0084] The current position identification system for header 632 is operable to identify the current position of a header (e.g., 104) of the work machine 100 based on one or more data items 205 / 305. For example, the current position identification system for header 632 can identify the current position of a header of the work machine 100 based on at least sensor data 603, such as sensor data generated by header position sensors 226. When identifying the current position of a header of the work machine 100, the current position identification system for header 632 can identify the current position of a reference point (e.g., 196) on the header, based on at least sensor data 603 (such as sensor data generated by header position sensors 226) as well as machine data 604 (e.g., reference point location indicators on the header).

[0085] The feeder channel (or clamping frame) current position identification system 634 is operable to identify the current position of a feeder channel (e.g., 106) or clamping frame (e.g., 111) of the work machine 100 based on one or more data items 205 / 305. For example, the feeder channel (or clamping frame) current position identification system 634 is capable of identifying the current position of a feeder channel or clamping frame of the work machine 100 based on sensor data 603, such as sensor data generated by feeder channel position sensors 224. When identifying the current position of a feeder channel or clamping frame of the work machine 100, the feeder channel (or clamping frame) current position identification system 634 Petition 870250081340, dated 10 / 09 / 2025, page 43 / 153 33 / 58 can identify the current position of a reference point (e.g., 194) in the feeder channel or fixture frame, based on at least data from sensor 603 (such as sensor data generated by feeder channel position sensors 224) as well as machine data 604 (e.g., indicative of the location of the reference point in the feeder channel or fixture frame).

[0086] With respect to systems 632 and 634, the term current is used to indicate a current position determined in real time or near real time. Those skilled in the art will understand that, given the continuous motion of the working machine 100 and the potential latency of the system 215 (e.g., processing time), the current position may refer to a position value based on the most recent data (e.g., sensor data) indicative of the position of the component (or reference point) of interest, but that there may be a delay between the time the position of the component (or reference point) is detected and the time the position of the component (or reference point) is determined.

[0087] The future terrain identification system 636 is operable to identify the future terrain (and its topographic features (e.g., elevation, slope, etc.)) of the work site where the work machine 100 operates based on one or more data items 205 / 305. For example, the future terrain identification system 636 can identify the future terrain (and its topographic features) based on work site data 601, such as aerial images or maps, or both, including or indicating values ​​of one or more topographic features of the work site terrain. In another example, the future terrain identification system 636 can identify the future terrain (and its topographic features) based on historical data 602, such as sensor data generated during one or more historical operations at the work site.In another example, the future terrain identification system 636 can identify future terrain (and its topographic features) based on sensor 603 data, such as sensor data. Petition 870250081340, dated 10 / 09 / 2025, page 44 / 153 34 / 58 generated by the observation sensor systems 227. By future terrain, it is understood the terrain ahead of the work machine 100 in relation to a planned travel direction or route of the work machine 100. Thus, it will be understood that the future identification system 636 can identify elevation and slope of the terrain ahead of the work machine 100.

[0088] The future header position prediction system 638 is operable to identify (e.g., predict) a future position of a header (e.g., 104) of the work machine 100 based on one or more data items 205 / 305. For example, the future header position identification system 638 can identify a future position of a work machine header 100 based on at least future terrain data (e.g., topographic features of the future terrain), as identified by the future terrain identification system 636, as well as, for example, control data 605 (e.g., control data indicative of the header position setting point), machine data 604, and machine alignment data 606.When identifying a future position of a work machine header 100, the future header position identification system 638 can identify a future position of a reference point (e.g., 196) on the header, based on at least future terrain data (e.g., topographic features of the future terrain) identified by the future terrain identification system 636, as well as machine data 604 (e.g., indicative of the location of the reference point on the header), control data 605 (e.g., control data indicative of the header position setting point), and machine alignment data 606.

[0089] The feeder channel (or fixture frame) future position identification system 640 is operable to identify (e.g., predict) a future position of a feeder channel (e.g., 106) or fixture frame (e.g., 111) of the work machine 100 based on one or more data items 205 / 305. For example, the future position identification system of Petition 870250081340, dated 10 / 09 / 2025, page 45 / 153 35 / 58 feeder channel (or mounting frame) 640 is operable to identify a future position of a feeder channel or the mounting frame of the work machine 100 based at least on future terrain data (e.g., future terrain topographic features), as identified by the future terrain identification system 636, as well as machine data 604 and machine alignment data 606.When identifying a future position of a feeder channel or work machine fixture 100, feeder channel (or fixture) future position identification system 640 can identify a future position of a reference point (e.g., 194) on the feeder channel or fixture, based at least on future terrain data (e.g., topographic features of the future terrain) identified by future terrain identification system 636, as well as machine data 604 (e.g., indicators of the location of the reference point on the feeder channel or fixture) and machine alignment data 606.

[0090] The future alignment prediction system 642 is operable to identify (e.g., predict) a future alignment (relative positioning) between a header (e.g., 104) and the feeder channel (e.g., 106) or the clamping frame (e.g., 111) of the work machine 100 based at least on a future header position issued by the future header position identification system 638 and a future feeder channel (or clamping frame) position issued by the future feeder channel (or clamping frame) position identification system 640, as well as on machine alignment data 606.By identifying a future alignment (relative positioning) between the header and the feeder channel (or clamping frame), the 642 future alignment prediction system can identify a future alignment (relative positioning) between a reference point (e.g., 196) on the header and a reference point (e.g., 194) on the feeder channel (or clamping frame) based on at least one future reference point position emitted by the system. Petition 870250081340, dated 10 / 09 / 2025, page 46 / 153 36 / 58 future header position identification 638 and a future reference point position of feeder channel (or fixture frame) issued by the feeder channel (or fixture frame) future position identification system 640, as well as in the machine alignment data 606.

[0091] The proactive machine adjustment identification system 644 is operable to identify proactive adjustments for the work machine 100 based on a future alignment (relative positioning) between a header and feeder channel (or fixing frame) (or a future alignment (relative positioning) between a reference point of a header and a reference point of a feeder channel (or fixing frame)), as identified by the future alignment prediction system 642, as well as by the control data 605 (e.g., target alignment (or relative positioning) between a header and feeder channel (or fixing frame), target alignment (or relative positioning) between a header reference point (e.g., 196) and a feeder channel (or fixing frame) reference point (e.g., 196), ground penetration element setting points 160, adjustment, control, etc.).For example, the proactive machine adjustment identification system 644 can compare a future alignment (or relative positioning) issued by the future alignment prediction system 642 to a target alignment (or relative positioning) from the control data 605 and, based on the comparison, identify proactive adjustments of the work machine. For example, the proactive machine adjustment identification system 644 can, based on the next terrain (and the corresponding predicted positions of the feeder channel and header (or clamping frame) and thus the alignment (or relative positioning) between them), proactively control the work machine 100 to maintain a desired (or target) alignment (or relative positioning) between the header and feeder channel (or clamping frame) on the next terrain.In other examples, the 644 proactive machine adjustment system can, based on the next terrain (and the corresponding predicted positions of the feeder channel and header). Petition 870250081340, dated 10 / 09 / 2025, page 47 / 153 37 / 58 (or clamping frame) and thus, in the alignment (or relative positioning) between them), it can also make adjustments to the desired (or target) alignment (or relative positioning) between the header and the feeder channel (or clamping frame). For example, based on the next terrain, the 644 proactive machine adjustment identification system can identify a new desired (or target) alignment (or relative positioning) between the header and the feeder channel (or clamping frame).

[0092] The feeder channel (or clamping frame) adjustment identification system 652 is operable to identify a feeder channel (or clamping frame) adjustment, such as the feeder channel (or clamping frame) position adjustment, based on a future alignment (or relative positioning) issued by the future alignment prediction system 642, as well as, in some examples, a target alignment (or relative positioning) from the control data 605. The adjustment identified by the feeder channel (or clamping frame) adjustment identification system 652 may include a target feeder channel (or clamping frame) position or a target feeder channel (or clamping frame) reference point position (e.g., 194).

[0093] The header adjustment identification system 654 is operable to identify a header adjustment, such as a header position adjustment, based on a future alignment (or relative positioning) issued by the future alignment prediction system 642, as well as, in some examples, a target alignment (or relative positioning) of the control data 605. The adjustment identified by the header adjustment identification system 654 may include a target header position or a target header reference point position (e.g., 196).

[0094] The 655 alignment adjustment identification system is operable to identify an alignment adjustment (or relative positioning) that defines a new (or adjusted) desired (or target) alignment (or relative positioning) between the header and the feeder channel (or fixture frame) based on emissions from one or more items of the 215 system, as well as one or more Petition 870250081340, dated 10 / 09 / 2025, p. 48 / 153 38 / 58 data items 205 / 305. The alignment adjustment (or relative positioning) identified by the alignment adjustment identification system 655 may include a target alignment (or relative positioning) that may define the target feeder channel (or fixture frame) position or a target feeder channel (or fixture frame) reference point position and a target header position or a target header reference point position. Thus, the alignment adjustment (or relative positioning) identified by the alignment adjustment identification system 655 may be used by the feeder channel (or fixture frame) adjustment identification system 652 to identify a feeder channel (or fixture frame) adjustment and by the header adjustment identification system 654 to identify a header adjustment.It is understood that a desired (or target) alignment can be a value or a set of values ​​that define a desired (or target) alignment (or relative positioning) between the header and the feeder channel (or mounting frame) (or between the corresponding reference points thereof).

[0095] In some instances, both the header and the feeder channel (or clamping frame) may be adjusted (e.g., position adjusted). In some instances, only one of the headers or the feeder channel (or clamping frame) may be adjusted (e.g., position adjusted). It is understood that adjustments identified by the machine proactive adjustment identification system 644 can be proactively identified (and executed) so that the alignment (or relative positioning) between the header and the feeder channel (or clamping frame) or the alignment (or relative positioning) between the header reference point and the feeder channel (or clamping frame) reference point is at (or at least closer to) a desired (or target) alignment (or relative positioning) when the work machine 100 operates on the future terrain.

[0096] The 646 machine learning system is operable to perform machine learning functionality to update (e.g., relearn) data (e.g., 606 machine alignment data) used Petition 870250081340, dated 10 / 09 / 2025, page 49 / 153 39 / 58 in predicting future positions and alignments based on sensor 603 data. For example, machine learning system 646 can use predicted positions and alignments for future work areas and sensor 603 data indicating actual positions and alignments in those future areas to update (e.g., relearn) data (e.g., machine alignment data 606) used in predicting future positions and alignments. This may include identifying and applying calibration values, identifying and applying compensation values, updating a model or function, as well as various other updates. In this way, the operation of active alignment system 215 can improve over the course of a single operation and over multiple operations.Learning (or updating) can be implemented during the course of operation, so that updated data (e.g., updated machine alignment data 606) is generated and used during the course of an operation.

[0097] The machine learning system 646 is operable to perform machine learning functionality to verify and improve proactive machine adjustments identified by the proactive machine adjustment identification system 644 based on one or more data items 205 / 305. For example, the machine learning system 646 is operable to detect material flow characteristics after the adjustment(s) issued by the proactive machine adjustment identification system 644 are instituted to determine the impact of the adjustments on machine performance (e.g., the impact of the adjustments on material flow performance). For example, the 646 machine learning system is operable to determine whether the adjustment(s) result(s) in an acceptable material flow (e.g., relative to a threshold, etc.) and, through this, can determine which adjustment(s) (e.g., alignments (or relative positions, etc.)) are acceptable and which are not.This learning can be conducted during the course of an operation to continuously learn and improve adjustments throughout the operation. This learning can be stored so that it can be used in future operations. Petition 870250081340, dated 10 / 09 / 2025, page 50 / 153 40 / 58 future operations. This learning can be generated and used by the 644 proactive machine adjustment identification system to identify future adjustments.

[0098] As can be seen, the active alignment system 215 is operable to generate, based on one or more data items 205 / 305, one or more active alignment emissions 660 (also referred to as emissions 660 in this document). Emissions 660 may include one or more current header positions (or current header reference point positions), one or more future header positions (or future header reference point positions), one or more current feeder channel (or fixture frame) positions (or current feeder channel (or fixture frame) reference point positions), one or more future feeder channel (or fixture frame) positions (or future feeder channel (or fixture frame) reference point positions),one or more future alignments (or relative positions) between a header and feeder channel (or clamping frame) (or future alignments (or relative positions) between a header reference point and a feeder channel (or clamping frame) reference point), one or more feeder channel (or clamping frame) adjustments, one or more header adjustments, one or more alignment (or relative positioning) adjustments, as well as other items or information.

[0099] Emissions 660 can be provided to a control system 214 to control items of a work machine, such as one or more controllable subsystems 216 or one or more interface mechanisms 218 (for example, to generate presentations, such as displays, based on or indicative of emissions 660), as well as other items of a work machine. For example, but not by limitation, an emission 660, such as a feeder channel (or clamping frame) adjustment, can be provided to the control system 214 to control one or more feeder channel position actuators 250 to adjust the position of a feeder channel (or clamping frame). In another example, but Petition 870250081340, dated 10 / 09 / 2025, page 51 / 153 41 / 58 not by limitation, an output 660, such as a header adjustment, may be provided to the control system 214 to control one or more header position actuators 252 to adjust the position of a header. For example, but not by limitation, an output 660, such as an alignment (or relative positioning) adjustment, may be provided to the control system 214 to control one or more feeder channel position actuators 250 to adjust the position of a feeder channel (or fixture frame) or to control one or more header position actuators 252 to adjust the position of a header, or both.

[00100] Emissions 660 can be provided to various other items 362 of the system 500, such as one or more interface mechanisms 364 (for example, to generate presentations, such as displays, based on or indicative of emissions 660).

[00101] FIG. 7 shows a flow diagram illustrating an exemplary operation 700 of the agricultural system 500 in the execution of active alignment control.

[00102] In block 702, the active alignment system 215 obtains one or more data items. As indicated by block 704, the one or more data items may include workplace data 601. As indicated in block 706, the one or more data items may include historical data 602. As indicated by block 708, one or more data items may include sensor data 603. As indicated in block 710, the one or more data items may include machine data 604. As indicated by block 712, the one or more data items may include control data 605. As indicated in block 714, the one or more data items may include machine alignment data 606. As indicated in block 716, the one or more data items may include various other data 610.

[00103] In block 720, the active alignment system 215 (e.g., the future land identification system 636) identifies the data of the next (or future) land (e.g., the next (or future) land and one or more Petition 870250081340, dated 10 / 09 / 2025, page 52 / 153 42 / 58 topographic features thereof) based on at least one or more items of the data obtained in block 702. As discussed earlier, the next (or future) terrain refers to the terrain at the work site ahead of work machine 100 relative to a planned travel direction or route of work machine 100. As indicated in block 722, one or more topographic features of the next (or future) terrain may include slope. As indicated in block 724, one or more topographic features of the next (or future) terrain may include elevation. As indicated in block 726, one or more topographic features of the next (or future) terrain may include other topographic features. Some examples of identifying next (or future) terrain are described in FIG. 6.For example, but not as a limitation, the active alignment system 215 (e.g., the future terrain identification system 636) can identify the next (or future) terrain and one or more topographic features thereof based on job site data 601, historical data 602, or sensor data 603.

[00104] In block 728, the active alignment system 215 (e.g., the future header position prediction system 638, the feeder channel (or fixture frame) future position prediction system 640, and the future alignment prediction system 642) identifies (e.g., predicts) alignment data based at least on the next (or future) data identified in block 720. As indicated by block 730, future alignment data may include a future header position (e.g., 104) or a future header reference point (e.g., 196). As indicated by block 732, future alignment data may include a future feeder channel position (e.g., 106) or fixture frame position (e.g., 111) or a future feeder channel (or fixture frame) reference point position (e.g., 194).As indicated by block 734, future alignment data may include a future alignment (or relative positioning) between a header (e.g., 104) and channel. Petition 870250081340, dated 10 / 09 / 2025, page 53 / 153 43 / 58 feeder (e.g., 106) or fixture frame (e.g., 111) or a future alignment (or relative positioning) between a header reference point (e.g., 196) and a feeder channel reference point (or fixture frame) (e.g., 194). Some examples of future alignment data identification are described in FIG. 6.

[00105] For example, but not as a limitation, a future header position may be identified (e.g., predicted) based on terrain data identified as nearby (or future), as well as machine 604 data, control 605 data, and machine 606 alignment data. For example, but not as a limitation, a future header reference point position may be identified (e.g., predicted) based on terrain data identified as nearby (or future), as well as machine 604 data, control 605 data, and machine 606 alignment data.

[00106] For example, but not limited to, a future feeder channel (or fixing frame) position may be identified (e.g., predicted) based on data from the terrain identified as nearby (or future), as well as data from machine 604 and alignment data from machine 606. For example, but not limited to, a future feeder channel (or fixing frame) reference point position may be identified (e.g., predicted) based on data from the terrain identified as nearby (or future), as well as data from machine 604 and alignment data from machine 606.

[00107] For example, but not limited to, a future alignment (or relative positioning) between the header and the feeder channel (or clamping frame) can be identified (e.g., predicted) based on an identified future position of the header and an identified future position of the feeder channel (or clamping frame). For example, but not limited to, a future alignment (or relative positioning) between the header reference point and the feeder channel (or clamping frame) reference point can be identified (e.g., predicted) based on a future position Petition 870250081340, dated 10 / 09 / 2025, page 54 / 153 44 / 58 identified from the header reference point and a future identified position of the feeder channel (or fixture frame) reference point.

[00108] In block 736, the active alignment system 215 (e.g., the proactive machine adjustment identification system 644) identifies one or more proactive adjustments based on at least the future alignment data identified (e.g., predicted) in block 728 or the next (future) terrain identified in block 720, or both. In block 736, the active alignment system 215 generates one or more proactive adjustments as 660 emissions. As indicated in block 738, the one or more proactive adjustments may include an identified feeder channel (or fixture frame) position adjustment, which may include a target feeder channel (or fixture frame) position.As indicated in block 740, one or more proactive adjustments may include an identified header position adjustment, which may include a target header position. As indicated in block 741, one or more proactive adjustments may include an identified alignment (or relative positioning) adjustment, which may include a target (or desired) alignment (or relative positioning) adjustment between the header and the feeder channel (or clamping frame). As indicated in block 742, one or more proactive adjustments may include a combination of a feeder channel (or clamping frame) position adjustment, a header position adjustment, and an alignment (or relative positioning) adjustment.As indicated in block 744, the identification of one or more proactive adjustments may include the identification of one or more proactive adjustments (e.g., header position adjustment, feeder channel (or clamping frame) position adjustment) based on a target alignment (or relative positioning) (or threshold) between the header and the feeder channel (or clamping frame) or a target alignment (or relative positioning) (or threshold) between the header reference point and the feeder channel (or clamping frame) reference point. As explained earlier, control data 605 may include target alignments (or relative positions) (or thresholds). As indicated by block 745, the identification of one or more proactive adjustments may... Petition 870250081340, dated 10 / 09 / 2025, p. 55 / 153 45 / 58 include the identification of one or more proactive adjustments based on one or more data items 205 / 305 or based on other information identified by the system 215, or both, for example, but not limited to, based on learning emissions generated by the system 215 (e.g., machine learning system 646). Some examples of identifying one or more proactive adjustments are described in FIG. 6.

[00109] In block 746, system 500 (e.g., control system 214) proactively controls one or more controllable subsystems 216 based on one or more proactive adjustments identified in block 736. The one or more proactive adjustments identified in block 736 may be issued by the active alignment system 215 as emissions 660 and provided to other items in system 500, such as control system 214. As indicated by block 748, system 500 (e.g., control system 214) may generate control signals to control one or more feeder channel position actuators 250 based on an identified proactive adjustment (e.g., an identified feeder channel (or fixture frame) position adjustment or an identified alignment (or relative positioning) adjustment).As indicated by block 750, system 500 (e.g., control system 214) may additionally or alternatively generate control signals to control one or more header position actuators 252 based on an identified proactive adjustment (e.g., an identified header position adjustment or an identified alignment (or relative positioning) adjustment). As indicated by block 752, system 500 (e.g., control system 214) may control other controllable subsystems based on one or more identified proactive adjustments.

[00110] In block 753, system 215 (e.g., machine learning system 646) executes machine learning functionality based on proactive adjustments made and one or more data items 205 / 305, such as observation sensor data generated by observation sensors 227 indicative of material flow characteristics, to generate emissions of Petition 870250081340, dated 10 / 09 / 2025, page 56 / 153 46 / 58 learnings indicative of the effectiveness or acceptability of proactive adjustments. For example, system 215 can determine whether or not proactive adjustments result in an acceptable material flow and generate learning emissions indicative of that determination. Learning emissions can be used in the future generation of proactive adjustments (for example, they can be used in block 745).

[00111] In block 754, it is determined whether operation 700 is complete (e.g., work machine 100 has finished operating at the workstation, active alignment system 215 has been deactivated, etc.). If, in block 754, it is determined that operation 700 is not complete, then processing will return to block 702. If, in block 754, it is determined that operation 700 is complete, then processing ends (at least until work machine 100 starts operating again at the workstation or at another workstation, or until active alignment system 215 is activated).

[00112] The present discussion has mentioned processors and servers. In some examples, processors and servers include computer processors with associated memory and timing circuits, not shown separately. They are functional parts of the systems or devices to which they belong and are activated by and facilitate the functionality of other components or items in those systems.

[00113] In addition, a number of user interface displays were discussed. Displays can take on a wide variety of different forms and can have a wide variety of user-operated operator interface mechanisms arranged within them. For example, user-operated operator interface mechanisms can include text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. User-operated operator interface mechanisms can also be activated in several different ways. For example, they can be activated using operator interface mechanisms such as a point-and-click device like a trackball or mouse, hardware buttons, Petition 870250081340, dated 10 / 09 / 2025, page 57 / 153 47 / 58 switches, a joystick or keyboard, thumb switches or thumb pads, etc., a virtual keyboard or other virtual actuators. Furthermore, when the screen on which the user-operated operator interface mechanisms are displayed is a touchscreen, the user-operated operator interface mechanisms can be actuated using touch gestures. Additionally, user-operated operator interface mechanisms can be actuated using speech commands and speech recognition functionality. Speech recognition can be implemented using a speech detection device, such as a microphone, and software that works to recognize the detected speech and execute commands based on the received speech.

[00114] A number of data stores were also discussed. It should be noted that data stores can be divided into several data stores. In some examples, one or more of the data stores may be local to the systems accessing the data stores, one or more of the data stores may all be located remotely on a system using the data store, or one or more data stores may be local while others are remote. All such configurations are contemplated by the present disclosure.

[00115] In addition, the figures show several blocks with the functionality assigned to each block. It should be noted that fewer blocks can be used to illustrate that the functionality assigned to several different blocks is performed by fewer components. Furthermore, more blocks can be used, illustrating that the functionality can be distributed among more components. In different examples, some functionalities may be added and others may be removed.

[00116] It should be noted that the discussion above described a variety of different systems, controllers, components, and interactions. It would be appreciated if any or all of these systems, controllers, components, and interactions were discussed. Petition 870250081340, dated 10 / 09 / 2025, page 58 / 153 48 / 58 can be implemented by hardware items, such as one or more processors, one or more processors executing computer executable instructions stored in memory, memory or other processing components, some of which are described below, that perform the functions associated with such systems, controllers, components, and interactions. In addition, any or all of the systems, controllers, components, and interactions can be implemented by software that is loaded into memory and subsequently executed by one or more processors or one or more servers or other computing component(s), as described below. Any or all of the systems, controllers, components, and interactions can also be implemented by different combinations of hardware, software, firmware, etc., some examples of which are described below.These are some examples of different frameworks that can be used to implement any or all of the systems, controllers, components, and interactions described above. Other frameworks can also be used.

[00117] FIG. 8 is a block diagram of a remote server architecture 1000. FIG. 8 also shows the worker machine 100, one or more remote computing systems 300, and one or more remote user interface mechanisms 364, communicating with the remote server environment. The worker machine 100, the remote computing systems 300, and the remote user interface mechanisms 364 communicate with elements in a remote server architecture 1000. In some examples, the remote server architecture 1000 provides computing, software, data access, and storage services that do not require the end user to know the physical location or configuration of the system providing the services. In several examples, remote servers can provide the services over a wide area network, such as the Internet, using appropriate protocols.For example, remote servers can fulfill requests over a wide area network and can be accessed through a web browser or any other means. Petition 870250081340, dated 10 / 09 / 2025, page 59 / 153 49 / 58 another computing component. The software or components shown in the preceding figures, as well as the data associated with them, may be stored on servers in a remote location. Computing resources in a remote server environment may be consolidated in a remote data center location, or computing resources may be dispersed across a plurality of remote data centers. Remote server infrastructures may provide services through shared data centers, even if the services appear as a single access point to the user. Thus, the components and functions described in this document may be provided from a remote server in a remote location using a remote server architecture. Alternatively, the components and functions may be provided by a server, or the components and functions may be installed directly on client devices, or in other ways.

[00118] In the example shown in FIG. 8, some items are similar to those shown in previous figures, and these items are numbered similarly. FIG. 8 specifically shows that the active alignment system 215, the data stores 204 or 304, or a combination thereof, may be located at a server location 1002 that is remote from the worker machine 100, the remote computing systems 300, and the remote user interface mechanisms 364. Therefore, in the example shown in FIG. 8, the worker machine 100, the remote computing systems 300, and the remote user interface mechanisms 364 access the systems through the remote server location 1002. In other examples, several other items may also be located at the server location 1002, so that several other items of the agricultural system architecture 500.

[00119] FIG. 8 also shows another example of a remote server architecture. FIG. 8 shows that some elements from the previous figures may be located at a remote server location 1002, while others may be located elsewhere. For example, one or more of the Petition 870250081340, dated 10 / 09 / 2025, page 60 / 153 50 / 58 data stores 204 or 304 can be arranged in a location separate from location 1002 and accessed via the remote server at location 1002. Similarly, the active alignment system 215 can be arranged in a location separate from location 1002 and accessed via the remote server at location 1002. Regardless of where the elements are located, they can be accessed directly by the worker machine 100, by the remote computing systems 300, and by the remote user interface mechanisms 364 through a network, such as a wide area network or a local area network; the elements can be hosted at a remote location by a service; or the elements can be provided as a service or accessed by a connection service that resides at a remote location.Furthermore, data can be stored in any location, and stored data can be accessed by, or routed to, operators, users, or systems. For example, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In some examples, when wireless telecommunications service coverage is poor or nonexistent, another machine, such as a fuel truck or other mobile machine or vehicle, may have an automated, semi-automated, or manual information gathering system. As a mobile machine (e.g., work machine 100) approaches the machine containing the information gathering system, such as a fuel truck before refueling, or another mobile machine or vehicle, the information gathering system collects information from the mobile machine (e.g., work machine 100) using any type of ad-hoc wireless connection.The collected information can then be forwarded to another network when the machine containing the received information reaches a location where wireless telecommunications service coverage or other wireless coverage is available. For example, a fuel truck might enter an area with wireless communication coverage while traveling to a location to refuel other machines or while it is in one. Petition 870250081340, dated 10 / 09 / 2025, page 61 / 153 51 / 58 main fuel storage location. Other machines or mobile vehicles may enter an area with wireless communication coverage while traveling to other locations or when they are in another location. All these architectures are contemplated in this document. Furthermore, information can be stored on a mobile machine (e.g., work machine 100) until the mobile machine enters an area with wireless communication coverage. The mobile machine itself (e.g., work machine 100) can send the information to another network.

[00120] It should also be noted that the elements of the preceding figures, or portions thereof, may be arranged in a wide variety of different devices. One or more of these devices may include an onboard computer, an electronic control unit, a display unit, a server, a desktop computer, a laptop, a tablet, or other mobile device such as a palmtop computer, a mobile phone, a smartphone, a multimedia player, a digital personal assistant, etc.

[00121] In some instances, the 1000 remote server architecture may include cybersecurity measures. Without limitation, these measures may include data encryption on storage devices, encryption of data sent between network nodes, authentication of individuals or processes accessing data, as well as the use of ledgers to record metadata, data, data transfers, data accesses, and data transformations. In some instances, the ledgers may be distributed and immutable (e.g., implemented as blockchain).

[00122] FIG. 9 is a simplified block diagram of an illustrative example of a portable or mobile computing device that can be used as a user's or client's portable device 16, in which the present system (or parts thereof) can be deployed. For example, a mobile device can be deployed in the operator compartment of a mobile machine (e.g., work machine 100) or can be communicatively coupled. Petition 870250081340, dated 10 / 09 / 2025, page 62 / 153 52 / 58 to a mobile machine (e.g., work machine 100) to be used in the generation, processing, or display of the emissions (e.g., 660) discussed above. FIGS. 10 and 11 are examples of portable or mobile devices.

[00123] FIG. 9 provides a general block diagram of the components of a client device 16 that may execute some of the components shown in the preceding figures, interact with them, or both. In the device 16, a communication link 13 is provided that allows the portable device to communicate with other computing devices and, in some examples, provides a channel for receiving information automatically, such as by scanning. Examples of communication links 13 include enabling communication through one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks.

[00124] In other examples, applications may be received on a removable Secure Digital (SD) card that is connected to an interface 15. The interface 15 and the communication links 13 communicate with a processor 17 (which may also have processor or server modes of other figures) along with a bus 19 that is also connected to memory 21 and input / output (I / O) components 23, as well as the clock 25 and the location system 27.

[00125] I / O components 23, in one example, are provided to facilitate input and output operations. I / O components 23 for various device examples 16 may include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors, and output components such as a display device, a speaker, and / or a printer port. Other I / O components 23 may also be used.

[00126] Clock 25 comprises a real-time clock component that Petition 870250081340, dated 10 / 09 / 2025, page 63 / 153 53 / 58 displays the time and date. It can also, for example, provide timing functions for processor 17.

[00127] The location system 27 illustratively includes a component that provides a current geographic location of the device 16. This may include, for example, a global positioning system (GPS) receiver, a LORAN system, a position estimation system, a cellular triangulation system, or another positioning system. The location system 27 may also include, for example, mapping software or navigation software that generates desired maps, navigation routes, and other geographic functions.

[00128] Memory 21 stores the operating system 29, network settings 31, applications 33, application settings 35, client system 24, data storage 37, communication drivers 39, and communication configuration settings 41. Memory 21 may include all types of tangible, volatile, and non-volatile computer-readable memory devices. Memory 21 may also include computer storage media (described below). Memory 21 stores computer-readable instructions that, when executed by the processor 17, cause the processor to perform computer-implemented steps or functions according to the instructions. The processor 17 may be enabled by other components to facilitate its functionality as well.

[00129] FIG. 10 shows an example in which device 16 is a tablet computer 1100. In FIG. 10, the computer 1100 is shown with the user interface display screen 1102. The screen 1102 can be a touch screen or a pen-enabled interface that receives input from a pen or stylus. The tablet computer 1100 can also use an on-screen virtual keyboard. Obviously, the computer 1100 can also be connected to a keyboard or other user input device via a suitable connection mechanism, such as a wireless link or a USB port, for example. The computer 1100 can also receive voice input. Petition 870250081340, dated 10 / 09 / 2025, page 64 / 153 54 / 58

[00130] FIG. 11 is similar to FIG. 10, except that the device is a smartphone 71. The smartphone 71 has a touch screen 73 that displays icons, tiles, or other user input mechanisms 75. The mechanisms 75 can be used by a user to execute orders, make calls, perform data transfer operations, etc. In general, the smartphone 71 is built on a mobile operating system and offers more advanced computing and connectivity capabilities than a telephone feature.

[00131] Note that other forms of devices 16 are possible.

[00132] FIG. 12 is an example of a computing environment in which the elements of the preceding figures described in this document can be deployed. Referring to FIG. 12, an example system for implementing some embodiments includes a computing device in the form of a computer 1210 programmed to operate as discussed above. The components of the computer 1210 may include, but are not limited to, a processing unit 1220 (which may comprise processors or servers of the preceding figures), a system memory 1230, and a system bus 1221 comprising various system components, including the system memory for the processing unit 1220. The system bus 1221 may be any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus using any of several bus architectures.The memory and programs described in relation to the previous figures in this document can be implemented in corresponding parts of FIG. 12.

[00133] Typically, the 1210 computer includes a variety of computer-readable media. Computer-readable media can be any available media that can be accessed by the 1210 computer, including volatile and non-volatile media, removable and non-removable media. By way of example, and not limitation, computer-readable media may comprise media of Petition 870250081340, dated 10 / 09 / 2025, page 65 / 153 55 / 58 Computer storage and communication media. Computer storage media is different from, and does not include, a modulated data signal or a carrier wave. Computer-readable media includes hardware storage media, including volatile and non-volatile, removable and non-removable media, implemented in any method or technology for storing information, such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile discs (DVDs) or other optical disc storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other means that can be used to store the desired information and that can be accessed by the computer 1210.Communication media can incorporate computer-readable instructions, data structures, program modules, or other data into a transport mechanism and includes any information delivery medium. The term modulated data signal means a signal that has one or more of its characteristics defined or altered so that information is encoded in the signal.

[00134] System memory 1230 includes computer storage media in the form of volatile and / or non-volatile memory, or both, such as read-only memory (ROM) 1231 and random-access memory (RAM) 1232. A basic input / output system 1233 (BIOS), which contains the basic routines that help transfer information between the computer elements 1210, such as during initialization, is typically stored in ROM 1231. Typically, RAM 1232 contains data or program modules, or both, that are immediately accessible and / or are being operated by the processing unit 1220, or both are immediately accessible and are being operated by the processing unit 1220. By way of example, and not limitation, FIG. 12 illustrates the operating system 1234, the programs of Petition 870250081340, dated 10 / 09 / 2025, page 66 / 153 56 / 58 applications 1235, other program modules 1236 and program data 1237.

[00135] The 1210 computer may also include other removable / non-removable, volatile / non-volatile computer storage media. By way of example only, FIG. 12 illustrates a hard disk drive 1241 that reads or writes to non-removable, non-volatile magnetic media, an optical disk drive 1255, and a non-volatile optical disk 1256. The hard disk drive 1241 is typically connected to the system bus 1221 via a non-removable memory interface, such as interface 1240, and the optical disk drive 1255 is typically connected to the system bus 1221 via a removable memory interface, such as interface 1250.

[00136] Alternatively, or in addition, the functionality described herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that may be used include Field Programmable Gate Arrays (FPGAs), Application-Specific Integrated Circuits (e.g., ASICs), Application-Specific Standard Products (e.g., ASSPs), System-on-a-Chip (SOCs), Complex Programmable Logic Devices (CPLDs), quantum computers, etc.

[00137] The computer units and their associated storage media, discussed above and illustrated in FIG. 12, provide storage of computer-readable instructions, data structures, program modules, and other data for the computer 1210. In FIG. 12, for example, the hard disk drive 1241 is illustrated storing the operating system 1244, application programs 1245, other program modules 1246, and program data 1247. Note that these components may be the same as or different from the operating system 1234, application programs 1235, other program modules 1236, and program data 1237.

[00138] A user can enter commands and information into the computer 1210 Petition 870250081340, dated 10 / 09 / 2025, page 67 / 153 57 / 58 through input devices, such as a keyboard 1262, a microphone 1263, and a pointing device 1261, such as a mouse, trackball, or touchpad. Other input devices (not shown) may include a joystick, a gamepad, a satellite dish, a scanner, or similar devices. These and other input devices are frequently connected to the processing unit 1220 via a user input interface 1260 coupled to the system bus, but may be connected via other interface and bus structures. A visual display 1291 or other type of display device is also connected to the system bus 1221 via an interface, such as a video interface 1290. In addition to the monitor, computers may also include other peripheral output devices, such as speakers 1297 and a printer 1296, which may be connected via a peripheral output interface 1295.

[00139] Computer 1210 is operated in a network environment using logical connections (such as a controller area network - CAN, local area network - LAN, or wide area network - WAN) to one or more remote computers, such as remote computer 1280.

[00140] When used in a LAN network environment, computer 1210 is connected to the LAN 1271 via a network interface or adapter 1270. When used in a WAN network environment, computer 1210 typically includes a modem 1272 or other systems to establish communications over the WAN 1273, such as the Internet. In a network environment, program modules can be stored on a remote memory storage device. FIG. 12 illustrates, for example, that remote application programs 1285 can reside on the remote computer 1280.

[00141] It should also be noted that the different examples described in this document can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples. All of this is contemplated in this document.

[00142] Although the object has been described in language specific to Petition 870250081340, dated 10 / 09 / 2025, page 68 / 153 58 / 58 structural resources, methodological acts, or both, it should be understood that the object defined in the appended claims is not necessarily limited to the specific resources or acts described above. Instead, the specific resources and acts described above are disclosed as illustrative forms of the claims. Petition 870250081340, dated 10 / 09 / 2025, page 69 / 153

Claims

1 / 5 CLAIMS 1. Agricultural harvester (100) characterized by comprising: a header (104); a feeder channel (106); one or more processors (202); and memory (204) that stores instructions (205), executable by one or more processors, which, when executed by one or more processors, cause one or more processors to: identify (720) one or more topographic features of the next terrain at a work site based on data (601, 602, 603) indicative of one or more topographic features of the next terrain at the work site; identify (728) a future alignment between the header and the feeder channel at the next terrain at the work site based on at least one or more identified topographic features of the next terrain at the work site; identify (736) one or more adjustments (660) based on the identified future alignment between the header and the feeder channel at the next terrain at the work site;and control (746) one or more controllable subsystems (216) of the agricultural combine harvester based on one or more identified adjustments.; 2. Agricultural harvester, according to claim 1, and characterized by further comprising a fixing frame (110) coupled to the feeder channel and movable control arms (172, 174) coupled to the fixing frame and to the header, wherein the future alignment between the header and the feeder channel comprises a future alignment between a reference point on the header and a reference point on the fixing frame.

3. Agricultural harvester, according to claim 1, characterized in that the indicative data of one or more topographic features comprise one of: aerial images of the work site; a map of the work site; data generated during a historical operation at the work site; or sensor data generated by an observation sensor system on the agricultural harvester.

4. Agricultural harvester, according to claim 1, characterized in that one or more adjustments (660) include a feeder channel position adjustment, wherein one or more controllable subsystems include one or more feeder channel position actuators (250) and wherein the instructions, when executed by one or more processors, cause one or more processors to control one or more feeder channel position actuators based on the feeder channel position adjustment.

5. Agricultural harvester, according to claim 1, characterized in that one or more adjustments (660) include a header position adjustment, wherein one or more controllable subsystems include one or more header position actuators (252) and wherein the instructions, when executed by one or more processors, cause one or more processors to control one or more header position actuators based on the header position adjustment.

6. Agricultural harvester, according to claim 1, characterized in that one or more adjustments (660) include a feeder channel position adjustment and a header position adjustment, wherein one or more controllable subsystems include one or more feeder channel position actuators (250) and one or more header position actuators (252), and wherein the instructions, when executed by one or more processors, cause one or more processors to control one or more feeder channel position actuators based on the feeder channel position adjustment and to control one or more header position actuators based on the header position adjustment.

7. Agricultural harvester, according to claim 1, characterized in that one or more adjustments (660) include an alignment adjustment that indicates a target alignment set between the header and the feeder channel, wherein one or more controllable subsystems include one or more operable actuators (250, 252, 260) to adjust the alignment between the header and the feeder channel, and wherein the instructions, when executed by one or more processors, cause one or more processors to control one or more actuators based on the alignment adjustment.

8. Agricultural harvester, according to claim 1, characterized in that the instructions, when executed by one or more processors, cause one or more processors to: compare (744) the identified future alignment between the header and the feeder channel on the next terrain at the work site with a target alignment between the header and the feeder channel; and identify one or more adjustments based on the comparison between the identified future alignment between the header and the feeder channel on the next terrain at the work site and the target alignment between the header and the feeder channel.

9. Computer-implemented method for controlling an agricultural combine harvester (100), the computer-implemented method being characterized by comprising: obtaining (702) data (601, 602, 603) relating to the next terrain at a work site; identifying (720) one or more topographic features of the next terrain at the work site based on the data; identifying (728) a future alignment between a header (104) of the agricultural combine harvester and a feeder channel (106) of Petition 870250081340, dated 10 / 09 / 2025, page.72 / 153 4 / 5 agricultural combine harvester on the next site at the work site based on at least one or more identified topographic features of the next site at the work site; identify (736) one or more adjustments (660) based on the future identified alignment between the header and the feeder channel on the next site at the work site; and control (746) one or more controllable subsystems (216) of the agricultural combine harvester based on the one or more identified adjustments.

10. Computer-implemented method according to claim 9, characterized in that the identification of the future alignment comprises the identification (728) of a future alignment between a reference point corresponding to the header and a reference point corresponding to the feeder channel on the next terrain at the work site, based on at least one or more identified topographic features of the next terrain at the work site.

11. A computer-implemented method according to claim 9, characterized in that obtaining data relating to the next site at the work site comprises one of: obtaining aerial images of the work site; obtaining a map of the work site; obtaining data generated during a historical operation at the work site; or obtaining sensor data generated by an observation sensor system on the agricultural combine harvester.

12. Computer-implemented method according to claim 9, characterized in that the identification of one or more adjustments includes the identification of a feeder channel position adjustment, wherein the control of one or more controllable subsystems includes the control of one or more feeder channel position actuators (250) based on the identified feeder channel position adjustment.

13. Computer-implemented method according to claim 9, characterized in that the identification of one or more adjustments includes the identification of a header position adjustment, wherein the control of one or more controllable subsystems includes the control of one or more header position actuators (252) based on the identified header position adjustment.

14. Computer-implemented method according to claim 9, characterized in that the identification of one or more adjustments includes the identification of an alignment adjustment indicating a target alignment set between the header and the feeder channel, wherein the control of one or more controllable subsystems includes the control of one or more actuators (250, 252, 260) to adjust the alignment between the header and the feeder channel based on the alignment adjustment.

15. Computer-implemented method according to claim 9, characterized by further comprising: comparing (744) the identified future alignment between the header and the feeder channel on the next site at the work location with a target alignment between the header and the feeder channel; and wherein the identification of one or more adjustments comprises the identification of one or more adjustments based on the comparison between the identified future alignment between the header and the feeder channel on the next site at the work location and the target alignment between the header and the feeder channel. Petition 870250081340, dated 10 / 09 / 2025, p. 74 / 153

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