SYSTEMS AND METHODS TO SUPPORT THE APPLICATION OF ATTACHMENTS

Abstract

Systems and methods for automatically aligning an agricultural machine with an implement to be attached to the agricultural machine may include moving an inclined conveyor of the agricultural machine in a first way, detecting an alignment of a first laser located on the inclined conveyor with a first target located on the implement, moving the inclined conveyor of the agricultural machine in a second way, and detecting an alignment of a second laser on the inclined conveyor with a second target on the implement.

Description

[0001] The present disclosure generally relates to an engagement between a work machine and an attachment. Background of the Revelation

[0002] Some work machines, such as agricultural implements (e.g., combine harvesters), are used in combination with an attachment, such as an agricultural header, to perform work. The work may involve harvesting in a field. In this example, a combine harvester connected to an agricultural header is moved across a field where the header is working to harvest crops. The crop is fed into the combine harvester, where it is processed, for example, to separate grain from other crops. Brief description of Revelation

[0003] A first aspect of the present disclosure is directed to a system for automatically aligning an implement with an agricultural machine. The system may include one or more processors and a non-transitory computer-readable storage medium coupled to the one or more processors and storing programming instructions for execution by the one or more processors. The programming instructions may instruct the one or more processors to move a feederhouse of the agricultural machine in a first manner; detect alignment of a first laser located on the feederhouse with a first target located on the implement; move the feederhouse of the agricultural machine in a second manner; and detect alignment of a second laser on the feederhouse with a second target on the implement.

[0004] A second aspect of the present disclosure is directed to a computer-implemented method, performed by one or more processors, for automatically aligning a feederhouse of an agricultural harvesting vehicle with an agricultural header. The method may include: moving a feederhouse of the agricultural machine in a first manner; detecting an alignment of a first laser located on the feederhouse with a first target located on the attachment; moving the feederhouse of the agricultural machine in a second manner while maintaining the alignment between the first laser and the first target; and detecting an alignment of a second laser on the feederhouse with a second target on the attachment.

[0005] A third aspect of the present disclosure is directed to a system for aligning an implement with a feederhouse of an agricultural machine. The system may include: a plurality of lasers mounted on the feederhouse of the agricultural machine; a plurality of laser sensors mounted on the feederhouse, each of the plurality of lasers being in a relationship with one of the plurality of lasers; an actuator connected to the feederhouse; and a controller.The controller may be configured to actuate the actuator to move the feederhouse in a first manner; detect radiation from a first laser of the plurality of lasers by a first laser sensor of the plurality of laser sensors corresponding to the first laser; actuate the actuator to move the feederhouse in a second manner; and detect radiation from a second laser of the plurality of lasers by a second laser sensor of the plurality of laser sensors corresponding to the second laser.

[0006] The various aspects of the present disclosure may include one or more of the following features. The programming instructions that instruct the one or more processors to move the feederhouse of the agricultural machine in the first manner may include programming instructions that instruct the one or more processors to move the feederhouse orthogonally. The programming instructions that instruct the one or more processors to move the feederhouse of the agricultural machine in a second manner may include programming instructions that instruct the one or more processors to move the feederhouse while maintaining an alignment between the first laser and the first target.The programming instructions that instruct the one or more processors to move the feederhouse while maintaining an alignment between the first laser and the first target may include programming instructions to instruct the one or more processors to rotate the feederhouse about a pivot point defined by the aligned first laser and the first target. The programming instructions that instruct the one or more processors to detect an alignment of the first laser located on the feederhouse with the first target located on the attachment may include programming instructions to instruct the one or more processors to detect reflected radiation from the first laser through a laser sensor. Programming instructions may instruct the one or more processors to detect a distance between the feederhouse and the attachment.The programming instructions may instruct the one or more processors to move the agricultural machine at least a portion of the distance toward the implement when the first laser is aligned with the first target and the second laser is aligned with the second target.

[0007] The one or more aspects of the present disclosure may include one or more of the following features. Moving the feederhouse of the agricultural machine in the first manner may include moving the feederhouse orthogonally. Moving the feederhouse of the agricultural machine in a second manner while maintaining alignment between the first laser and the first target may include moving the feederhouse while maintaining alignment between the first laser and the first target. Moving the feederhouse while maintaining alignment between the first laser and the first target may include rotating the feederhouse about a pivot point defined by the aligned first laser and the first target.Detecting an alignment of the first laser located on the feederhouse with the first target located on the attachment may comprise detecting reflected radiation from the first laser by a laser sensor. A distance between the feederhouse and the attachment may be detected. The agricultural machine may be moved at least a portion of the distance toward the attachment when the first laser is aligned with the first target and the second laser is aligned with the second target. Engagement between the feederhouse and the attachment may be detected. The attachment may be coupled to the feederhouse.

[0008] The controller may be configured to actuate the actuator to move the feederhouse orthogonally. The controller may be configured to actuate the actuator to rotate the feederhouse about a pivot point defined by the aligned first laser. The plurality of lasers may comprise four lasers, and each of the lasers may be positioned adjacent a corner of the feederhouse.

[0009] Further features and aspects will become apparent upon review of the detailed description and the accompanying drawings. Brief description of the drawings

[0010] The detailed description of the drawings refers to the enclosed figures; where: Fig. 1 is a schematic view of an exemplary combine harvester according to some implementations of the present disclosure. Fig. 2 is a schematic plan view of an exemplary harvesting vehicle and a header to be connected to the harvesting vehicle according to some implementations of the present disclosure. Fig. 3 is a detailed view of a portion of an exemplary harvesting vehicle according to some implementations of the present disclosure. Fig. 4 is a schematic view illustrating misalignment of a mounting surface of a feederhouse and a mounting structure of a header according to some implementations of the present disclosure. Fig. 5 is a schematic view of an exemplary electronic control system for automatically controlling a connection of a harvesting vehicle feederhouse to a header in accordance with some implementations of the present disclosure. Fig. 6 is a schematic view of an exemplary harvesting vehicle including a control system for automatically controlling a connection of the harvesting vehicle to a header, according to some implementations of the present disclosure. Fig. 7 is a flowchart of an example method for automatically coupling a header to a feederhouse according to some implementations of the present disclosure. Fig. 8 is an example image of a header illustrating a tilt of the header, according to some implementations of the present disclosure. Fig. 9 is a front view of an exemplary harvesting vehicle with a side-tilted feederhouse according to some implementations of the present disclosure. Fig. 10 is a schematic view showing an example of a header with an attachment structure configured to engage a feederhouse of a harvesting vehicle, according to some embodiments of the present disclosure. Fig. 11 is a schematic view of another example control system according to some implementations of the present disclosure. Fig. 12 is a flowchart of an exemplary method for using lasers to automatically align a feederhouse of a harvesting vehicle with a header in accordance with some implementations of the present disclosure. Fig. 13 is a block diagram illustrating an example computer system used to provide computational functionality in connection with described algorithms, methods, functions, processes, flows, and procedures as described in the present disclosure, according to some implementations of the present disclosure. Detailed description

[0011] For a better understanding of the principles of the present disclosure, reference is now made to the examples illustrated in the drawings, which are described in concrete embodiments. It is to be understood, however, that these are not to be construed as limiting the scope of the disclosure. Any changes and further modifications to the described devices, systems and methods as well as any further application of the principles of the present disclosure that are conceivable for a person skilled in the art to which the disclosure relates are fully contemplated. In particular, it is entirely conceivable that the features, components and / or steps described with respect to one implementation can be combined with the features, components and / or steps described with respect to other implementations of the present disclosure.

[0012] The present disclosure is directed to systems and methods for connecting an implement to a work machine. For example, the present disclosure is directed to connecting an agricultural implement to an agricultural work machine. The present disclosure includes automatically controlling a feature of the agricultural work machine while connecting the work machine to the agricultural header. In the example of a combine harvester, the combine harvester includes a feederhouse extending from a front end of the combine harvester. The agricultural implement engages the feederhouse to connect the agricultural header to the combine harvester.

[0013] Orientation-related terms such as "upward," "downward," "upper," "lower," "over," "under," "front," "rear," "forward," and "rearward" are used in the context of the illustrated examples as they would be understood by one of ordinary skill in the art and are not intended to limit the disclosure. For example, for a particular type of vehicle with a conventional configuration and orientation, one of ordinary skill in the art would understand these terms to be appropriate for that particular vehicle.

[0014] For example, the term "forward" (and the like) refers to a forward direction of travel of a header or combine, such as during a harvesting operation. Similarly, the term "rearward" (and the like) corresponds to a direction opposite to the forward direction of travel. For example, a "forward-facing" feature on a header may generally point in the direction the header travels during normal operation, while a "rearward-facing" feature generally points opposite that direction.

[0015] The term "front" (and the like), as used herein, with respect to a header (or components thereof), unless otherwise defined or limited, indicates a direction of travel of the header during normal operation (e.g., the forward direction of travel of a harvesting vehicle carrying a header). Similarly, the term "rear" (and the like) indicates a direction opposite the forward direction of travel. In this context, for example, a "front edge" of a harvesting header may generally be located at the front of the header with respect to the direction of travel of the header during normal operation (e.g., in a combine harvester). Similarly, a "rear" edge of a header may generally be located at the rear of the header, opposite the front edge, with respect to the direction of travel of the header during normal operation.

[0016] Although the present disclosure is made in the context of agriculture, the scope of the disclosure is not limited thereto. Rather, the scope of the disclosure extends to other industries, particularly those where the connection of an attachment to a work machine is required or otherwise desired.

[0017] Fig. 1 is a schematic view of an exemplary combine harvester 10 including a base 12 with wheels 14 rotatably coupled thereto and a cab 16 mounted on the base 12. In some implementations, other types of ground-engaging components, such as tracks, may be used instead of or in combination with the wheels 14. The wheels 14 enable the combine harvester 10 to move over the ground 18. A header 20, which is used to harvest and transport crop material to the combine harvester 10, is connected to a feeder house 22 of the combine harvester 10. The feeder house 22 includes a conveyor belt that transports the crop material into the combine harvester 10 for further processing. For example, the crop material may be threshed, and the grains of the crop material may be separated from a material other than grain (MOG) in the combine harvester 10.The separated grain is stored in a grain bin 24, and the MOG is ejected from the combine 10. Although a combine harvester is described, other types of harvesting vehicles are also within the scope of the present disclosure, e.g., a self-propelled forage harvester.

[0018] Connecting an agricultural header to a harvesting vehicle can be challenging. Typically, a header is mounted on the ground or on a platform, such as a movable platform (e.g., a trailer), which allows the header to be moved from one location to another over conventional roads. Connecting the harvesting vehicle to the header requires longitudinal alignment between the harvesting vehicle and the header. As described in Fig. 2, for example, a harvesting vehicle 200, similar to harvesting vehicle 10, includes a longitudinal axis 202 and a header 204, similar to header 20, which includes a longitudinal axis 206. The longitudinal axes 202 and 206 are aligned to connect the header 204 to the harvesting vehicle 200.

[0019] In addition, connecting a header to a harvesting vehicle is further complicated by the fact that the header and a feeder house of the harvesting vehicle must be aligned vertically. As described in Fig. 3, a feederhouse 208 of the harvesting vehicle 200 is vertically positioned such that a mounting structure 210 (e.g., a frame, a bracket, etc.) of the feederhouse 208 is aligned with a corresponding mounting structure 212 (e.g., a frame, a bracket, etc.) on the header 204. As shown in Fig. 3, the header 204 is located on a platform 214 that raises the header 204 from the ground 216. Therefore, the feederhouse 208 is positioned vertically, e.g., by rotating the feederhouse 208 about a pivot axis 218, to align the mounting structure 210 with the mounting structure 212 to enable coupling of the header 204 to the harvesting vehicle 200.

[0020] Furthermore, connecting the header 200 to the harvesting vehicle may also mean that an incline of a feeder house of a harvesting vehicle is aligned with an incline of a header. Fig. 4 is a schematic view illustrating a misalignment of the mounting surface 210 of the feederhouse 218 and the mounting structure 212 of the attachment 204. As shown, the attachment 204 has a lateral inclination that defines an angle θ between a lateral axis 220 of the attachment 204 and a horizontal plane 222. In some cases, to laterally align the mounting structures 210 and 212, a lateral inclination of the feederhouse 208 is achieved using one or more actuators, such as the actuator shown in Fig. 2 and Fig. 3, the actuators 224 are pivoted sideways. As in the example of Fig. 3, one of the actuators 224 is located on a first side 226 of the feederhouse 208, and another of the actuators 224 is located on a second side 228 of the feederhouse 208, opposite the first side 226.

[0021] To change an inclination of the inclined conveyor 208 and thus the mounting structure 210, the actuators 224 can be actuated to change a lateral orientation of the inclined conveyor 208. In this way, the lateral orientation of the inclined conveyor 208 can be aligned with the lateral orientation of the attachment 204 and thus the mounting structure 212 of the attachment 204.

[0022] Connecting a header to a harvester is further complicated by the restricted visibility of an operator in the harvester's cab. The position within the cab provides the operator with a restricted view and thus limited information about the position and orientation of the header relative to the harvester. Furthermore, the operator's position can cause difficulties in assessing the position and orientation of the feederhouse in order to control the position of the feederhouse, e.g., height, inclination, and lateral position, and achieve satisfactory engagement with the header.

[0023] To overcome these difficulties, the present disclosure provides an automatic control of the feederhouse of a harvesting vehicle to align the feederhouse with a header, thus reducing the time and effort required to manually connect the harvesting vehicle and header.

[0024] Fig. 5 is a schematic view of an exemplary electronic control system 500 for automatically controlling a connection of a feederhouse (such as the exemplary feederhouse 208) of a harvesting vehicle (such as the exemplary harvesting vehicle 200) to a header (such as the exemplary header 204). The control system 500 includes an electronic controller 502, a sensor 504, a display 506, an input device 508, and a first actuator 510, a second actuator 512, a third actuator 514, and a drive system 516. In some implementations, the sensor 504 is one or more image sensors. In some cases, the image sensor 504 includes, for example, an optical camera, such as a mono camera or a stereo camera. In other implementations, the sensor 504 includes one or more laser transceivers. The first and second actuators 510 and 512 may be similar to the previously described actuators 224.The first and second actuators 510 and 512 are capable of adjusting a pitch (and consequently a vertical height of the feederhouse) and a lateral tilt of the feederhouse in response to an output of the controller 502. In some cases, the actuators 510 and 512 are connected to opposite lateral sides of the feederhouse, such as in FIG. Fig. 2 shown.

[0025] The third actuator 514 can be used to adjust a direction of movement of the harvesting vehicle. The third actuator 514 is, for example, part of a steering system and is used to adjust a steering angle of the harvesting vehicle (e.g., by changing an angle of the harvesting vehicle's wheels) in order to control a direction of travel of the harvesting vehicle. The third actuator 514 can be actuated in response to an output of the controller 502. The drive system 516 can be used to control a travel speed of the harvesting vehicle. For example, the drive system 516 can control a speed of the harvesting vehicle in response to an output of the controller 502. The controller 502 controls the third actuator 514 and the drive system 516 to control a direction and speed of movement of the harvesting vehicle and thus a distance traveled by the harvesting vehicle.

[0026] The control system 500 also includes a proximity sensor 518. The proximity sensor 518 is located on the harvesting vehicle and can measure a distance of an object from the harvesting vehicle. For example, the proximity sensor 518 can detect the distance of the header from the harvesting vehicle, and this distance information is provided to the controller 502. Example proximity sensors 518 include laser sensors and ultrasonic sensors. The control system 500 can also include a tilt sensor 530 that can detect a lateral roll of the harvesting vehicle. In some implementations, the tilt sensor 530 is a tilt sensor, a roll and pitch sensor, an inertial measurement sensor, or another type of sensor that can detect a tilt of an object. As previously mentioned, the sensor 530 can detect at least a lateral roll of the harvesting vehicle.

[0027] The control system 500 may also include or be communicatively coupled to a remote database 520, which may be configured as cloud storage, a remote server, or another type of electronic storage for storing information. The various components of the control system 500 are communicatively coupled to the controller 802, e.g., via a wired or wireless connection.

[0028] In some implementations, the controller 502 is an electronic computer, such as the computer 1002 described in more detail below. The controller 502 includes a processor 522 communicatively coupled to a memory 524. Additional details of the controller 502, such as the processor 522 and the memory 524, are described below in connection with the computer 1002. In some implementations, the controller 502 is communicatively coupled to a network, for example, in a manner described below in connection with Fig. 10. Memory 524 communicates with processor 522 and is used to store programs and other software, information, and data. Processor 522 is capable of executing programs and software and of sending and receiving information from memory 524. Although a single memory 524 and processor 522 are illustrated, in other implementations, a plurality of memories, processors, or both may be used. Although processor 522 and memory 524 are shown as local components of controller 502, in other implementations, processor 522 and / or memory 524 may be remotely located. Software 526, such as in the form of an application or program, is executed by processor 522 to control operation of control system 500 as described herein.In particular, the software 526 includes executable instructions that control operation of the various components coupled to the controller 502 and thereby control orientation of the header and movement of the harvesting vehicle to automatically connect the feederhouse to the header.

[0029] The input device 508 is communicatively coupled via a wired or wireless connection. Example input devices 508 include a keyboard, a keypad, one or more buttons, a slider, a dial, a button, a mouse, or a joystick. The display 506 is communicatively coupled to the controller 502 via a wired or wireless connection. Information is displayed on the display 506, such as information about the operation of the control system 500. Information displayed on the display 506 may include, for example, a position of the header (e.g., pitch and roll), a speed and direction of travel of the harvesting vehicle, and a distance between the harvesting vehicle (and in some cases, the feederhouse) and the header. In some cases, the information displayed on the display 506 is presented via a graphical user interface (GUI) 528.Example displays include cathode ray tubes (CRTs), liquid crystal displays (LCDs), or plasma screens. Other types of displays are also within the scope of the present disclosure. In some implementations, display 506 is a touch-sensitive screen that accepts input from a user via touch. In some implementations where display 506 is a touch-sensitive screen, input device 508 is omitted.

[0030] Fig. 6 is a schematic view of an exemplary harvesting vehicle 600 including a control system similar to the control system 500 described above. For example, the harvesting vehicle 600 includes an image sensor 602 located at an elevated location 604 on the harvesting vehicle 600. The image sensor 602 is located, for example, on a roof 606 of a cab 608 of the harvesting vehicle 600. In other implementations, in addition to or instead of the image sensor 602, the harvesting vehicle 600 includes an image sensor 610 at a lower elevation position 611 (compared to the elevated position 604) on the harvesting vehicle 600. The image sensor 610 may, for example, be positioned to provide an image of a mounting structure 612 located on a header 614. The image sensors 602 and 610 are positioned to view an area in front of the harvesting vehicle 600, for example the header 614 to be coupled to the harvesting vehicle 600.The harvesting vehicle 600 also includes a proximity sensor 616 configured to detect a distance between the harvesting vehicle 600. In some implementations, the proximity sensor 616 may detect, for example, a distance between a feederhouse 618 of the harvesting vehicle and, in some cases, a mounting structure 620 of the feederhouse 618.

[0031] The harvesting vehicle 600 further includes actuators 622, which may be similar to actuators 224, 510, and 512, and with which a position of the feederhouse 618 can be adjusted. For example, the actuators 224 can change a pitch (height) of the feederhouse 618 and a lateral inclination of the feederhouse 618. The harvesting vehicle further includes an actuator 624, which may be similar to actuator 514 and serves to change a direction of travel of the harvesting vehicle 600. The actuator 624 may, for example, be part of a steering system and is used to change a steering angle of a wheel or track of the harvesting vehicle 600 in order to change their direction of travel. The harvesting vehicle 600 further includes a drive device 626 (e.g., a motor, engine, or other drive device) that serves to move the harvesting vehicle 600 across the ground 628. The harvesting vehicle 600 also includes an electronic control 630, which receives inputs from sensors (e.g.Image sensors 602 and 610 and proximity sensor 616), determines an orientation of the attachment 614, and actuates the actuators 622, 624 and the drive device 626 to connect the attachment 614 to the feederhouse 618. The harvesting vehicle 600 also includes an inclination sensor 632 that can detect a lateral inclination of the harvesting vehicle 600.

[0032] Fig. 7 is a flowchart of an exemplary method 700 for automatically coupling a header to a feederhouse. At 702, a harvesting vehicle is approached to a header to be coupled to the harvesting vehicle. In some implementations, an operator of the harvesting vehicle steers it to a location adjacent to the header. In other implementations, the harvesting vehicle is autonomously moved to a position adjacent to the header. At 704, an image of the header is captured with an image sensor, e.g., image sensor 602 or 610. In some implementations, the captured image shows an orientation of the header relative to the harvesting vehicle, including, e.g., a roll angle of the header relative to the harvesting vehicle. In some implementations, an image is captured from multiple image sensors or a plurality of images are captured from one or more image sensors on the harvesting vehicle. An example of a captured image is shown in Fig. 8 shown.

[0033] In Fig. 8, the captured image shows an attachment 800 with an inclination relative to a horizontal line 802 in the context of Fig. 8. The tilt angle, represented by angle α, represents a lateral misalignment between the header and the harvesting vehicle. Angle α may be determined from the image, e.g., using graphics or object recognition techniques. For example, a controller, such as controller 502 or 630, analyzes the image to detect one or more objects or points in the image. For example, the controller may detect a portion of a mounting structure 804 used to connect the header 800 to a corresponding structure on a feederhouse of the harvesting vehicle. In the example shown, the controller identifies an upper portion 806 of the mounting structure 804, and this upper portion 806 is generally linear and generally aligned with a lateral axis 808 of the header 800. Using a horizontal reference, e.g., horizontal line 802, a tilt angle of the header 800, i.e., angle α, is determined.

[0034] In other implementations, the controller determines the tilt angle of the header 800 based on detected points on the header. For example, the controller may detect two or more points on the header, such as corners 810. The controller then generates a line 812 using the points 810. The generated line 812 is then used to determine the tilt angle using a horizontal reference, such as the horizontal line 802.

[0035] The angle α represents a precise angular inclination of the header 800 relative to the combine harvester, since the image sensor used for image acquisition is positioned on the combine harvester in alignment with a lateral axis that is horizontal when the harvester is on a level surface. However, in other implementations where the image sensor may not be aligned with a lateral axis of the harvester, the angle α can be determined using a correction angle that accounts for the angular offset of the image sensor relative to a lateral axis of the harvester.

[0036] The approaches described for determining the lateral tilt of the attachment in the context of the captured image are intended only as examples. Other types of image analysis can also be used to detect the lateral tilt of the attachment 800.

[0037] At 706, a side tilt angle of the header is determined. The tilt angle of the header may, for example, be determined as described herein. At 708, an angular tilt of the feederhouse of the header relative to the harvesting vehicle is determined. For example, the angular tilt of the feederhouse may be determined relative to another part of the harvesting vehicle, such as the base (which may be similar to the base 12) or the cab of the harvesting vehicle. In particular, as in Fig. 9, an angular tilt of an exemplary feederhouse 900 of a harvesting vehicle 902 is determined based on an angle β defined by a lateral axis 904 of the feederhouse 900 and a lateral axis defined by another part of the harvesting vehicle, such as a line defined by a rotational axis 906 of a wheel 908 of the harvesting vehicle 902. However, a different lateral axis of the harvesting vehicle 902 may also be used. In some cases, the angle β is determined based on an actuation degree of the actuators 910, which are coupled, for example, to opposite lateral sides 912 of the feederhouse 900. Based on the individual actuation degree of each actuator 910, a controller, such as controller 502 or 630, may determine a lateral tilt degree of the feederhouse 900 and thus the angle β.

[0038] In some implementations, a lateral inclination of the feederhouse relative to the harvesting vehicle (e.g., a lateral axis defined by the harvesting vehicle, such as a rotational axis of a wheel of the harvesting vehicle) may be determined using an incline sensor. For example, a pitch or roll sensor may be used to determine a lateral inclination of the feederhouse. In some cases where the harvesting vehicle is on an inclined surface, the lateral inclination of the feederhouse relative to the harvesting vehicle may be determined using a first incline sensor provided on the feederhouse and a second incline sensor attached to the harvesting vehicle, e.g., to a base of the harvesting vehicle. The outputs of the first and second incline sensors may be used to determine a lateral inclination of the feederhouse relative to the harvesting vehicle.

[0039] In some implementations, a pitch position of the feederhouse can be changed to align the feederhouse with the header. In some cases, one or more pitch position sensors on the harvester can be used. For example, a pitch position of the feederhouse can be determined using a first tilt sensor on the harvester that detects an overall pitch position of the harvester, and a second pitch position sensor on the feederhouse that determines a pitch position of the feederhouse. The outputs of the first and second pitch position sensors can be used to control a pitch position of the feederhouse. In some implementations, a first roll position sensor that detects an overall pitch position of the harvester and an extension degree of the actuators used to position the feederhouse is used to determine the pitch position of the feederhouse relative to the harvester.This information can be used to control a pitch position of the feederhouse to align the pitch position of the feederhouse with a pitch position of the header.

[0040] At 710, the side tilt of the header is compared with the side tilt of the feederhouse. Specifically, angles α and β are compared, and a correction angle value is determined, for example, by the controller. In some implementations, comparing angles α and β includes, for example, determining a difference between angles α and β. At 712, it is determined whether the header and the feederhouse are misaligned. At 714, if the feederhouse and header are misaligned, the feederhouse is moved based on the comparison of angles α and β to align the feederhouse with the header. For example, the side tilt of the feederhouse is changed. In some implementations, the feederhouse is moved with actuators such as actuators 224, 510, 512, and 622 to change an angular orientation of the feederhouse to match the angular position of the header.

[0041] At 716, a distance between the feederhouse (e.g., between a mounting structure of the feederhouse) and the header is determined. For example, a proximity sensor may be used to measure a distance between the harvesting vehicle and the header, and the sensor outputs a signal representing the separation distance to a controller, which uses the sensor output to determine the distance between the feederhouse and the header. At 718, it is determined whether there is space between the feederhouse and the header. At 720, if there is space between the feederhouse and the header, the harvesting vehicle is moved toward the header. In some implementations, the controller uses the separation distance to control operation of the drive device to move the harvesting vehicle toward the header. At 722, one or more additional images of the header are acquired.At 724, the one or more additional images are used to determine a longitudinal alignment between the harvesting vehicle and the header. For example, the controller analyzes the one or more additional images to identify a central location 814 on the header and determine whether the central location 814 is laterally offset in the one or more additional images (see . Fig. 8). In some implementations, the image captured at 704 may be used to determine the longitudinal alignment, and in such cases, 724 may be omitted. If a longitudinal misalignment is detected, a direction of travel of the harvesting vehicle is adjusted at 726 to align the harvesting vehicle longitudinally with the header. For example, the controller outputs a signal to an actuator of a steering system of the harvesting vehicle to change a steering angle of wheels of the harvesting vehicle to change the direction of travel.

[0042] At 728, it is determined whether interference has occurred between the feederhouse and the header. The interference may be determined based on an accelerometer detecting an impact or vibration that would occur upon contact between the feederhouse and the header. If interference is detected at 730, movement of the harvester is stopped, and at 732, the header is connected to the feederhouse, for example, by actuating a lock that secures the header to the feederhouse. If interference is not detected, method 700 returns to 704 to maintain angular alignment, longitudinal alignment, and movement of the harvester toward the header.

[0043] Method 700 is presented merely as an example. Method 700 may be modified without departing from the scope of the present disclosure. For example, in some implementations, the image acquired at 704 is used to determine a longitudinal alignment between the header and the harvesting vehicle, and this comparison may be used to change a direction of travel of the harvesting vehicle, for example, by changing a steering angle of the harvesting vehicle. For example, the order of the described features may be changed, one or more features may be omitted, one or more features may be added, or a combination thereof, without method 700 departing from the scope of the present disclosure.For example, method 700 may include determining a currently selected steering angle and an amount of change in the steering angle based on the currently selected steering angle required to move the harvesting vehicle in a direction to achieve connection of the header to the harvesting vehicle. Furthermore, method 700 may include detecting a currently selected orientation of the feederhouse and determining an amount of movement of the feederhouse based on the currently selected orientation to adjust an orientation of the header and achieve connection of the header to the harvesting vehicle.

[0044] In some implementations, one or more aspects of the method 700 described above may be displayed to an operator, e.g., on a display in the cab of a harvesting vehicle. In some cases, the information may be displayed, for example, on a display similar to display 506. In some cases, a determination of a header roll, a feederhouse roll, or both may be displayed on the display. Further, a controller, such as controller 702, may display instructions to the operator on how to move the feederhouse so that the feederhouse roll is aligned with the header roll. In some cases, misalignment of the harvesting vehicle relative to the header and guidance on aligning the harvesting vehicle and header may be displayed on a display with guidance lines. The guidance lines indicate to an operator how to maneuver, e.g.,Rotate the harvesting vehicle to align the harvesting vehicle's feederhouse with the header, thus ensuring successful coupling between the header and the feederhouse. Therefore, within the scope of the disclosure, both automatic alignment and coupling of a harvesting vehicle and a header and providing information to an operator to manually perform all or part of the steps of aligning the feederhouse with the header and coupling the feederhouse with the header are provided.

[0045] In some cases, the alignment of a header and a feederhouse is performed using two or more lasers. Fig. 10 is a schematic view illustrating an exemplary header 1000 with a mounting structure 1002 configured to engage a feederhouse of a harvesting vehicle. The header includes target areas 1004 configured to prevent reflection of laser light. Each target area 1004 corresponds to an individual laser positioned on the harvesting vehicle. In other cases, while a header may include a plurality of target areas 1004, the harvesting vehicle may include fewer lasers than the plurality of target areas 1004.

[0046] In the illustrated example, the target areas 1004 are arranged symmetrically relative to the mounting structure 1002. In some implementations, the target areas 1004 are arranged adjacent to corners defined by the mounting structure 1002. However, in other implementations, the target areas 1004 may be arranged in any desired configuration. Furthermore, while four target areas 1004 are shown, in other implementations, fewer target areas may be present, corresponding to fewer lasers on the harvesting vehicle.

[0047] Fig. 10 also includes a representation 1006 of a harvesting vehicle feederhouse overlaid on the header 1000, wherein the representation 1006 is shown with its position relative to the mounting structure 1002 of the header 1000. As can be seen from the representation 1006, the feederhouse has a side tilt relative to the mounting structure 1002. In the example shown, the feederhouse includes lasers located adjacent to the four corners shown in the feederhouse representation 1006, e.g., the side dimensions of the feederhouse. In other implementations, the positions of the lasers may be anywhere, and the target areas 1004 on the header 1000 corresponding to these positions of the lasers are aligned when the feederhouse and the header 1000 are aligned.When a laser is aligned with a target area 1004, in some implementations, light from the laser is not reflected back to a sensor that detects laser light. The lack of reception of laser light by the sensor indicates alignment between the laser and the target area 1004. In such implementations, locations of the attachment 1000 near the target areas 1004 reflect laser light, so that a controller, such as controller 502 or 632, can determine whether alignment exists between a target area 1004 and a laser. In other implementations, the target area 1004 reflects laser light, while locations of the attachment 1000 near the target areas 1004 do not reflect laser light. In this configuration, a controller can also use the reflected laser light to determine alignment between the laser and the target area 1004.

[0048] Fig. 11 is a schematic view of another exemplary control system 1100. The control system 1100 is similar to the control system 500 except as described. The control system 1100 includes an electronic controller 1102 similar to the controller 502; a display 1104 similar to the display 506; an input device 1106 similar to the input device 508; a first actuator 1108 similar to the first actuator 510; and a second actuator 1110 similar to the second actuator 512; and a proximity sensor 1112 similar to the proximity sensor 518. The control system 1100 also includes lasers 1114 through 1120 and laser sensors 1122 through 1128. The laser sensors 1122 through 1128 can detect the presence or absence of laser light. As previously explained, the controller 1102 uses the output of the laser sensors 1122 through 1128 to detect alignment between one or more of the lasers 1114 through 1120 and one or more of the laser sensors 1122 through 1128.The controller 1102 uses this information to adjust a position of the feederhouse using the first and second actuators 1108 and 1110 to align the feederhouse with the header, as described in more detail below.

[0049] The control system 1100 may also include or be communicatively coupled to a remote database 1130 (similar to the remote database 520), which may be configured as cloud storage, a remote server, or other type of electronic storage for storing information. The various components of the control system 1100 are communicatively coupled to the controller 502, e.g., via a wired or wireless connection. Similar to the controller 502, the controller 1102 includes a processor 1132 similar to the processor 522 and a memory 1134 similar to the memory 524. The processor 1132 executes software 1136 to control operation of the control system 1100, as described herein.For example, in some cases, software 1136 includes executable instructions for performing a method for aligning a feederhouse with a header, such as method 1200 described below. Display 1104 includes a GUI 1138, which may be similar to GUI 528.

[0050] Fig. 12 is a flowchart of an exemplary method 1200 for using lasers to automatically align a feederhouse of a harvesting vehicle with a header. At 1202, a harvesting vehicle is approached to a header. In some implementations, an operator of the harvesting vehicle steers it to a location adjacent to the header. In other implementations, the harvesting vehicle is autonomously moved to a position adjacent to the header, for example, 1000. At 1204, two or more lasers on the feederhouse are activated. In some implementations, two or more lasers are used to determine an alignment between the feederhouse and the header, and in particular, the mounting structure of the header. In some cases, the alignment is detected using lasers (e.g., lasers 1114 to 1120), laser sensors capable of detecting reflected laser light (e.g., sensors 1122 to 1128), and target areas formed on the header, such asTarget areas configured to prevent or reduce reflection of laser light from the lasers. At 1206, it is determined whether a laser is aligned with a target area on the header. If no alignment is detected, at 1208 the feederhouse is moved relative to the header. In some cases, the feederhouse is moved cyclically relative to the header. For example, in some implementations the feederhouse is moved orthogonally. For example, the feederhouse is moved vertically or generally vertically in a first direction relative to the header. If no alignment between a laser and a laser target is detected during this movement of the feederhouse, e.g., due to a lack of reception of laser light by a laser sensor, the feederhouse is moved laterally by a certain amount.If alignment between a laser and a target area is still not indicated, the attachment is moved vertically again, or generally vertically, in a second direction opposite the first direction. This cyclical movement of vertical and lateral movement continues until at least one laser is aligned with a target area. Throughout this movement, a controller (e.g., controller 1102) detects whether alignment between a laser and a target area occurs. As explained above, alignment is determined when at least one laser sensor does not detect reflected laser light—that is, when the laser light strikes the target area rather than reflecting off the target area. Although cyclical vertical movement with lateral offset is described, this is only an example.Other types of movements of the inclined conveyor for aligning a laser with a target area are also within the scope of the present disclosure, such as cyclic horizontal movements with vertical offsets.

[0051] At 1210, alignment of a laser and a target area is detected. At 1212, the feederhouse is moved with a pivoting motion, where a center of rotation is the laser for which alignment with a target area was determined. In some implementations, the feederhouse is moved with the pivoting motion in a first radial direction with a selected amount of rotation. If no alignment between another laser and the target area is detected, the direction of rotation about the pivot point is reversed and the feederhouse is pivoted about the pivot point by a selected amount. At 1214, alignment of another laser and a target area is determined, indicating that the feederhouse and the attachment mounting structure are aligned. At 1216, pivoting of the feederhouse is stopped when it is determined that another laser is aligned with a target area.

[0052] In some implementations, method 1000 includes additional features. For example, at 1218, a distance between the feederhouse and the header is detected. The distance may be measured, for example, using a proximity sensor such as proximity sensor 1112. At 1220, if space is detected between the harvesting vehicle and the header, the harvester is moved toward the header. At 1222, it is determined whether an engagement has occurred between the feederhouse and the header. The engagement may be determined based on an accelerometer detecting an impact or vibration that would occur if contact were made between the feederhouse and the header. If an engagement is detected at 1224, movement of the harvesting vehicle is stopped, and at 1226 the header is connected to the feederhouse, for example, by actuating a lock that secures the header to the feederhouse.If no intervention is detected, the method 1200 returns to 1218 where a distance is detected and the harvester is moved toward the header.

[0053] In some implementations, one or more aspects of the method 1200 described above may be performed by a harvester operator. For example, in some implementations, visible lasers are used. The location where the laser light strikes the header may therefore be visible to the harvester operator. As a result, the operator may use the reflected laser light to adjust an orientation of the feederhouse and, in some cases, the harvester itself, to align the side tilt of the feederhouse with the side tilt of the header, as well as a longitudinal position of the harvester with a longitudinal position of the header.

[0054] Without limiting the scope, interpretation, or application of the claims below in any way, a technical effect of one or more of the presently disclosed example implementations is to reduce or eliminate the difficulties of attaching a header to a harvesting vehicle. Attaching a header to a harvesting vehicle is a skill that develops with experience. Therefore, coupling a header to a harvesting vehicle can become problematic when inexperienced operators are responsible for this connection, and damage to the harvesting vehicle, the header, or both can occur if a coupling task is performed improperly. Accordingly, a further technical effect of one or more of the presently disclosed example implementations is a reduced risk of damage to the harvesting vehicle, the header, or both.Another technical effect of one or more of the example implementations disclosed herein is a reduction in the time and cost associated with successfully connecting a header to a harvesting vehicle.

[0055] Fig. 13 is a block diagram of an exemplary computer system 1300 used to provide computational functionality in connection with described algorithms, methods, functions, processes, flows, and procedures as described in the present disclosure, according to some implementations of the present disclosure. The illustrated computer 1302 is intended to include any computing device, such as a server, a desktop computer, a laptop / notebook computer, a wireless data port, a smartphone, a personal data assistant (PDA), a tablet computing device, or one or more processors within these devices, including physical instances, virtual instances, or both. The computer 1302 may include input devices such as keypads, keyboards, and touch-sensitive screens that can accept user information.Computer 1302 may also include output devices that can convey information related to the operation of computer 1302. The information may include digital data, visual data, audio information, or a combination of information. The information may be presented in a graphical user interface (UI).

[0056] Computer 1302 may function as a client, a network component, a server, a database, a persistence component, or a component of a computer system for performing the subject matter described in the present disclosure. Computer 1302 is depicted communicatively coupled to a network 1330. In some implementations, one or more components of computer 1302 may be configured to operate in various environments, including cloud computing-based environments, local environments, global environments, and combinations of environments.

[0057] At a higher level, computer 1302 is an electronic data processing device capable of receiving, transmitting, processing, storing, and managing data and information related to the described subject matter. According to some implementations, computer 1302 may also include or be communicatively coupled to an application server, an email server, a web server, a caching server, a streaming data server, or a combination of servers.

[0058] Computer 1302 may receive requests from a client application (e.g., executing on another computer 1302) over network 1330. Computer 1302 may respond to the received requests by processing the received requests using software applications. Requests may also be sent to computer 1302 from internal users (e.g., from a command console), external (or third) parties, automated applications, facilities, people, systems, and computers.

[0059] The components of computer 1302 may each communicate with each other via a system bus 1303. In some implementations, any or all components of computer 1302, including hardware or software components, may be connected to each other or to interface 1304 (or a combination of both) via system bus 1303. Interfaces may use an application programming interface (API) 1312, a service layer 1313, or a combination of API 1312 and service layer 1313. API 1312 may include specifications for routines, data structures, and object classes. API 1312 may be either independent of or dependent on a computer language. API 1312 may refer to an entire interface, a single function, or a set of APIs.

[0060] Service layer 1313 may provide software services to computer 1302 and other components (whether depicted or not) communicatively coupled to computer 1302. The functionality of computer 1302 may be accessible to all service users through this service layer. Software services provided by service layer 1313 may provide reusable, defined functionality through a defined interface. The interface may, for example, be software written in JAVA or C++, or in a language that exposes data in Extensible Markup Language (XML) format. Although depicted as an integrated component of computer 1302, in alternative implementations, API 1312 or service layer 1313 may be standalone components with respect to other components of computer 1302 and other components communicatively coupled to computer 1302.Furthermore, any or all portions of the API 1312 or the service layer 1313 may be implemented as child modules or sub-modules of another software module, enterprise application, or hardware module without departing from the scope of the present disclosure.

[0061] The computer 1302 includes an interface 1304. Although in Fig. 10, a single interface 1304 is illustrated, two or more interfaces 1304 may be used depending on the need, desire, or particular implementation of the computer 1302 and the functionality described. The interface 1304 may be used by the computer 1302 to communicate with other systems connected to the network 1330 (whether depicted or not) in a distributed environment. In general, the interface 1304 may include, or be implemented using, logic encoded in software or hardware (or a combination of software and hardware) that may be employed to communicate with the network 1330. In particular, the interface 1304 may include software that supports one or more communication protocols associated with communication.Thus, the network 1330 or the hardware of the interface can be used to transmit physical signals inside and outside the illustrated computer 1302.

[0062] The computer 1302 includes a processor 1305. Although in Fig. 13 illustrates a single processor 1305, two or more processors 1305 may be used depending on the need, desire, or particular implementation of the computer 1302 and the functionality described. In general, the processor 1305 may execute instructions and may manipulate data to perform the operations of the computer 1302, including operations using algorithms, methods, functions, processes, sequences, and procedures as described in the present disclosure.

[0063] The computer 1302 also includes a database 1306 in which data for the computer 1302 and other components connected to the network 1330 can be stored (whether mapped or not). The database 1306 can be, for example, an in-memory, a conventional, or a database in which data is stored within the meaning of the present disclosure. In some implementations, the database 1306 can be a combination of two or more different database types (e.g., hybrid in-memory and conventional databases), depending on the particular needs, desires, or particular implementations of the computer 1302 and the described functionality. Although in Fig. 13 illustrates a single database 1306, two or more databases (of the same type, different types, or a combination of different types) may be used depending on the need, desire, or particular implementation of computer 1302 and the functionality described. While database 1306 is illustrated as an internal component of computer 1302, in alternative implementations, database 1306 may be external to computer 1302.

[0064] The computer 1302 also includes a memory 1307 in which data for the computer 1302 or a combination of components connected to the network 1330 (whether depicted or not) can be stored. Any data consistent with the present disclosure can be stored in the memory 1307. In some implementations, the memory 1307 may be a combination of two or more different memory types (e.g., a combination of semiconductor and magnetic memory), depending on the particular needs, desires, or particular implementations of the computer 1302 and the described functionality. Although in Fig.13 illustrates a single memory 1307, two or more memories 1307 (of the same type, different types, or a combination of different types) may be used depending on the need, desire, or particular implementation of computer 1302 and the functionality described. While memory 1307 is illustrated as an internal component of computer 2402, in alternative implementations, memory 1307 may be external to computer 2402.

[0065] Application 1308 may be an algorithmic software engine that provides functionality according to the particular needs, desires, or particular implementations of computer 1302 and the described functionality. Application 1308 may, for example, serve as one or more components, modules, or applications. Furthermore, although illustrated as a single application 1308, application 1308 may be implemented as multiple applications 1308 on computer 1302. Furthermore, although illustrated as internal to computer 1302, application 1308 may, in alternative implementations, reside external to computer 1302.

[0066] Computer 1302 may also include a power supply 1314. Power supply 1314 may include a rechargeable or non-rechargeable battery pack that may be configured to be either user-replaceable or non-user-replaceable. In some implementations, power supply 1314 may include power conversion and management circuitry, including recharging, standby, and power management functions. In some implementations, power supply 1314 may include a power plug to allow computer 1302 to be connected to an electrical outlet or power source, for example, to power computer 1302 or to charge a rechargeable battery pack.

[0067] There may be any number of computers 1302 connected to or external to a computer system including a computer 1302, with each computer 1302 communicating via the network 1330. Furthermore, the terms "client," "user," and other suitable terms may be used interchangeably without departing from the scope of the present disclosure. Furthermore, the present disclosure contemplates that multiple users may use one computer 1302, and one user may use multiple computers 1302.

[0068] Implementations of the subject matter and functional operations described in this specification may be implemented in digital electronic circuits, in tangible computer software or firmware, in computer hardware, including the structures disclosed in this specification and their structural equivalents, or in combinations of one or more of the foregoing. Software implementations of the described subject matter may be implemented as one or more computer programs. Each computer program may comprise one or more modules of computer program instructions encoded on a tangible, non-transitory, computer-readable computer storage medium for execution by a data processing device or for controlling the operation of such a device. Alternatively or additionally, the program instructions may be encoded in / on an artificially generated, propagated signal.The signal may, for example, be a machine-generated electrical, optical, or electromagnetic signal generated to encode information for transmission to receiving devices for execution by a data processing device. The computer storage medium may be a machine-readable storage device, a machine-readable storage substrate, a random or serial access storage device, or a combination of computer storage media.

[0069] The terms "data processing device," "computer," and "electronic computing device" (or equivalents known to those skilled in the art) refer to data processing hardware. For example, a data processing device may include all types of devices, apparatus, and machines for processing data, including, for example, a programmable processor, a computer, or multiple processors or computers. The device may also include special-purpose logic circuitry, such as a central processing unit (CPU), a field-programmable gate array (FPGA), or an application-specific integrated circuit (ASIC). In some implementations, the data processing device or special-purpose logic circuitry (or a combination of the data processing device or the special-purpose logic circuitry) may be hardware- or software-based (or a combination of hardware- and software-based).The device may optionally include code that provides an execution environment for computer programs, for example, code representing processor firmware, a protocol stack, a database management system, an operating system, or a combination of execution environments. The present disclosure contemplates the use of data processing devices with or without conventional operating systems, for example, LINUX, UNIX, WINDOWS, MAC OS, ANDROID, or IOS.

[0070] A computer program, which may also be called or described as a program, software, software application, module, software module, script, or code, can be written in any programming language. Examples of programming languages ​​include compiled languages, interpreted languages, declarative languages, or procedural languages. Programs can be provided in any form, such as stand-alone programs, modules, components, subroutines, or units for use in a computing environment. A computer program may, but need not, correspond to a file in a file system.A program may be stored in a portion of a file that also contains other programs or data, for example, one or more scripts stored in a markup language document, in a single file dedicated to the program in question, or in multiple coordinated files storing one or more modules, subroutines, or portions of code. A computer program may be deployed for execution on one computer or on multiple computers, located, for example, at one site or distributed across multiple sites interconnected by a communications network.While parts of the programs illustrated in the various figures can be represented as individual modules implementing various features and functions through different objects, methods, or processes, the programs may instead comprise a number of submodules, third-party services, components, and libraries. Conversely, the features and functions of different components may be combined into individual components, if necessary. Thresholds used for data processing can be determined statically, dynamically, or both statically and dynamically.

[0071] The methods, processes, or logic sequences described in this specification may be performed by one or more programmable computers executing one or more computer programs to perform functions by operating on input data and generating output. The methods, processes, or logic sequences may also be performed by special-purpose logic circuitry, such as a CPU, FPGA, or ASIC, and devices may also be implemented as such.

[0072] Computers suitable for executing a computer program may be based on one or more general-purpose or special-purpose microprocessors and other types of CPUs. The elements of a computer are a CPU for executing instructions and one or more memory devices for storing instructions and data. In principle, a CPU can receive instructions and data from (and write data to) memory. A computer may also include or be operatively coupled to one or more mass storage devices for storing data. In some implementations, a computer can receive data from and transfer data to the mass storage devices, such as magnetic, magneto-optical, or optical disks.In addition, a computer may be embedded in another device, such as a mobile phone, a personal digital assistant (PDA), a mobile audio or video player, a game console, a GPS (Global Positioning System) receiver, or a portable storage device such as a USB (Universal Serial Bus) flash drive.

[0073] Computer-readable media (volatile or non-volatile) suitable for storing computer program instructions and data can include all forms of permanent / non-permanent and volatile / non-volatile memory, media, and storage devices. Computer-readable media can include, for example, semiconductor storage devices such as random-access memory (RAM), read-only memory (ROM), phase-change memory (PRAM), static random-access memory (SRAM), dynamic random-access memory (DRAM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), and flash memory devices. Computer-readable media can also include, for example, magnetic devices such as tapes, cartridges, and internal / removable disks.Computer-readable media may also include magneto-optical disks and optical storage devices and technologies, including, for example, Digital Video Disc (DVD), CD-ROM, DVD+ / -R, DVD-RAM, DVD-ROM, HD-DVD, and Blu-ray. Memory may store various objects or data, including caches, classes, frameworks, applications, modules, backup data, jobs, web pages, web page templates, data structures, database tables, repositories, and dynamic information. The types of objects and data stored in memory include parameters, variables, algorithms, instructions, rules, constraints, and references. Memory may also include protocols, policies, security or access data, and report files. The processor and memory may be supplemented by or integrated with special-purpose logic circuitry.

[0074] Implementations of the subject matter described in the present disclosure may be implemented on a computer having a display device to enable interaction with a user, including displaying information to (and receiving input from) the user. Display devices may include, for example, cathode ray tubes (CRTs), liquid crystal displays (LCDs), light-emitting diodes (LEDs), and plasma monitors. Display devices may include a keyboard and pointing devices, such as a mouse, trackball, or trackpad. User input may also be provided via a touchscreen, such as a pressure-sensitive surface of a tablet computer or a multi-touchscreen using capacitive or electrical sensing.Other types of devices may also be used to enable interaction with a user, for example, to obtain user feedback, including sensory feedback such as visual, audio, or tactile feedback. User input may be in the form of auditory, verbal, or tactile input. In addition, a computer may interact with a user by sending and receiving documents to and from a device used by the user. For example, the computer may send web pages to a web browser on a user's client device when the web browser requests them.

[0075] The term "graphical user interface" or "GUI" can be used in the singular or plural to describe one or more graphical user interfaces and each of the displays of a particular graphical user interface. Therefore, a graphical user interface (GUI) can represent any graphical user interface, including but not limited to a web browser, a touchscreen, or a command-line interface (CLI), that processes information and efficiently presents the information results to the user. In principle, a GUI can include a variety of user interface (UI) elements that are partially or fully associated with a web browser, such as interactive fields, pull-down lists, and buttons. These and other UI elements may be related to or represent the functionality of the web browser.

[0076] Implementations of the subject matter described in this specification may be implemented in a data processing system that includes a backend component, such as a data server, or a middleware component, such as an application server. Furthermore, the data processing system may include a frontend component, such as a client computer with a graphical user interface or a web browser, through which a user can interact with the computer. The components of the system may be interconnected by any form or medium of wired or wireless digital data communication (or a combination of data communications) in a communications network.Examples of communications networks include a local area network (LAN), a radio access network (RAN), a metropolitan area network (MAN), a wide area network (WAN), Worldwide Interoperability for Microwave Access (WIMAX), a wireless local area network (WLAN) (e.g., using 802.11 a / b / g / n or 802.20 or a combination of protocols), all or part of the Internet, or any other communications system or systems at one or more locations (or a combination of communications networks). The network can communicate using, for example, IP (Internet Protocol) packets, Frame Relay frames, ATM (Asynchronous Transfer Mode) cells, voice, video, data, or a combination of communication types between network addresses.

[0077] Wireless connections within the scope of this disclosure include wireless protocols such as 802.15 protocols (e.g., BLUETOOTH®), 802.11 protocols, 802.20 protocols (e.g., WI-FI®), or a combination of different wireless protocols.

[0078] The data processing system can comprise clients and servers. A client and a server can, in principle, be located far apart and communicate with each other via a communications network. The relationship between client and server can arise from computer programs running on the respective computers, creating a client-server relationship.

[0079] Clustered file systems can be any file system type that can be accessed for reading and updating from multiple servers. Locking or consistency tracking may not be required because locking an Exchange file system can be done at the application level. Furthermore, Unicode data files can be different from non-Unicode data files.

[0080] While this specification includes many specific implementation details, these should not be construed as limitations on the scope of what may be claimed, but rather as descriptions of features that may be specific to particular implementations. Certain features described in this specification in the context of separate implementations may also be realized in combination in a single implementation. Conversely, various features described in the context of a single implementation may also be implemented in multiple implementations, individually or in any suitable subcombination.Furthermore, although previously described features are described as operating in certain combinations and even originally claimed as such, one or more features from a claimed combination may in some cases be dropped from the combination, and the claimed combination may be directed to a sub-combination or a variant of a sub-combination.

[0081] Specific implementations of the subject matter have been described. Other implementations, modifications, and permutations of the described implementations are within the scope of the following claims, as would be obvious to one of ordinary skill in the art. Although operations are illustrated in the drawings in a particular order, this should not be understood to imply that these operations must be performed in the order shown or in any particular order, or that all of the operations shown must be performed (some operations may be considered optional) to achieve the desired results. Under certain circumstances, multitasking or parallel processing (or a combination of multitasking and parallel processing) may be advantageous and may be performed as needed.

[0082] Furthermore, the separation or integration of various system modules and components in the previously described implementations should not be understood to mean that such separation or integration is required in all implementations, and it should be assumed that the described program components and systems can generally be integrated into a single software product or packaged into multiple software products.

[0083] Accordingly, the example implementations described above do not define or limit the present disclosure. Other changes, substitutions, and modifications are also possible without departing from the spirit and scope of the present disclosure.

[0084] Furthermore, each claimed implementation is deemed applicable to at least one computer-implemented method; a non-transitory, computer-readable medium storing computer-readable instructions for performing the computer-implemented method; and a computer system comprising computer memory interoperably coupled to a hardware processor configured to execute the computer-implemented method or the instructions stored on the non-transitory, computer-readable medium.

[0085] While the foregoing describes exemplary implementations of the present disclosure, these descriptions are not intended to be limiting. Rather, other variations and modifications may be made without departing from the scope and spirit of the present disclosure as defined in the appended claims.

Claims

[1] System for automatically aligning an attachment with an agricultural machine, the system comprising: one or more processors; a non-transitory, computer-readable storage medium coupled to the one or more processors and storing programming instructions for execution by the one or more processors, the programming instructions instructing the one or more processors to: Moving an inclined conveyor of the agricultural machine in a first manner; Detecting an alignment of a first laser located on the feederhouse with a first target located on the attachment; Moving the agricultural machine’s feederhouse in a second manner; and Detecting an alignment of a second laser on the feederhouse with a second target on the attachment. [2] The system of claim 1, wherein the programming instructions that instruct the one or more processors to move the feederhouse of the agricultural machine in the first manner include programming instructions to instruct the one or more processors to move the feederhouse orthogonally. [3] The system of claim 1, wherein the programming instructions that instruct the one or more processors to move the feederhouse of the agricultural machine in a second manner include programming instructions to instruct the one or more processors to move the feederhouse while maintaining an alignment between the first laser and the first target. [4] The system of claim 3, wherein the programming instructions that instruct the one or more processors to move the feederhouse while maintaining an alignment between the first laser and the first target include programming instructions to instruct the one or more processors to rotate the feederhouse about a pivot point defined by the aligned first laser and the first target. [5] The system of claim 1, wherein the programming instructions that instruct the one or more processors to detect alignment of the first laser located on the feederhouse with the first target located on the attachment include programming instructions to instruct the one or more processors to detect reflected radiation of the first laser by a laser sensor. [6] The system of claim 1, further comprising programming instructions to instruct the one or more processors to detect a distance between the feederhouse and the attachment. [7] The system of claim 6, further comprising programming instructions to instruct the one or more processors to move the agricultural machine at least a portion of the distance toward the implement when the first laser is aligned with the first target and the second laser is aligned with the second target. [8] A computer-implemented method executed by one or more processors for automatically aligning a feederhouse of an agricultural harvesting machine with an agricultural header, the method comprising: Moving an inclined conveyor of the agricultural machine in a first manner; Detecting an alignment of a first laser located on the feederhouse with a first target located on the attachment; Moving the agricultural machine's feederhouse in a second manner while maintaining an alignment between the first laser and the first target; and Detecting an alignment of a second laser on the feederhouse with a second target on the attachment. [9] The computer-implemented method of claim 8, wherein moving the feederhouse of the agricultural machine in the first manner comprises orthogonally moving the feederhouse. [10] The computer-implemented method of claim 8, wherein moving the feederhouse of the agricultural machine in a second manner while maintaining an alignment between the first laser and the first target comprises moving the feederhouse while maintaining the alignment between the first laser and the first target. [11] The computer-implemented method of claim 10, wherein moving the feederhouse while maintaining an alignment between the first laser and the first target comprises rotating the feederhouse about a pivot point defined by the aligned first laser and the first target. [12] The computer-implemented method of claim 8, wherein detecting an alignment of the first laser located on the feederhouse with the first target located on the attachment comprises detecting reflected radiation of the first laser by a laser sensor. [13] The computer-implemented method of claim 8, further comprising detecting a distance between the feederhouse and the attachment. [14] The computer-implemented method of claim 13, further comprising moving the agricultural machine at least a portion of the distance toward the implement when the first laser is aligned with the first target and the second laser is aligned with the second target. [15] The computer-implemented method of claim 13, further comprising detecting an engagement between the feederhouse and the attachment.

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