Combine Header Stabilization Control System

Abstract

A system and method for stabilizing a combine harvester header includes receiving a vertical disturbance signal indicative of a vertical disturbance to the header and a lateral tilt disturbance signal indicative of a lateral tilt disturbance to the header from one or more sensors mounted on the header, determining a corrective vertical displacement value based on the vertical disturbance signal, and determining a corrective lateral tilt displacement value based on the lateral tilt disturbance signal, and transmitting one or more control signals to one or more actuators to vertically displace the header based on the corrective vertical displacement value to correct the vertical disturbance and to rotationally displace the header about a pivot joint based on the corrective lateral tilt displacement value to correct the lateral tilt disturbance.

Description

Technical Field

[0001] [Cross - Reference to Related Applications] This application claims priority based on U.S. Application No. 16 / 856,718, filed on April 23, 2020, the entire disclosure of which is incorporated herein by reference.

[0002] The present invention generally relates to header stabilization control for a combine, and more particularly to a header stabilization control system for correcting vertical and lateral disturbances to a header using an inertial measurement unit provided on the header of the combine.

Background Art

[0003] Combines are commonly used in the agricultural field to harvest crops. A header is typically provided at the front of the combine for cutting crops. When the combine harvests crops in the farmland, it is important for the header to maintain a certain header height from the ground. If the header height is too high, it may lead to a reduction in the harvest quantity, and if the header height is too low, the header may be damaged. Maintaining such a specific header height is difficult because the ground of the farmland is uneven.

[0004] Conventional header height control systems automatically raise and lower the header when the combine moves across the farmland based on a height sensor that measures the distance from the header to the ground. However, many of the conventional header height control systems do not consider any other information such as disturbance measurements from the carrier vehicle, or based on tire deflection, or from the influence of other header suspension factors on the header position. Similarly, conventional header height control systems do not consider disturbances due to lateral tilt of the header.

Summary of the Invention

[0005] In one or more embodiments, a system and method for stabilizing a combine header are provided. A vertical disturbance signal indicating a vertical disturbance to the header and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header are received from one or more sensors provided on the header. A corrected vertical displacement value is obtained based on the vertical disturbance signal, and a corrected lateral tilt displacement value is obtained based on the lateral tilt disturbance signal. One or more control signals are transmitted to one or more actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and to displace the header in a rotational direction about a pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance.

[0006] In one embodiment, the vertical disturbance signal indicates the vertical acceleration of the header, and the lateral tilt disturbance signal indicates the angular velocity of the header in the rotational direction about the pivot joint.

[0007] In one embodiment, a first control signal is transmitted to a first set of actuators to displace the header vertically based on the corrected vertical displacement value, and a second control signal is transmitted to a second set of actuators to displace the header in a rotational direction based on the corrected lateral tilt displacement value.

[0008] In one embodiment, the corrected vertical displacement value is calculated by calculating the vertical position of the header based on the acceleration of the header obtained from the vertical disturbance signal, determining the vertical height error of the header, and obtaining the corrected vertical displacement value based on the vertical position and the vertical height error. For example, the corrected vertical displacement value may be calculated by adding the vertical position and the vertical height error.

[0009] In one embodiment, the corrected lateral tilt displacement value is calculated by calculating the lateral tilt position of the head based on the angular velocity of the head obtained from the lateral tilt disturbance signal, obtaining the lateral tilt error of the head, and obtaining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error. For example, the corrected lateral tilt displacement value may be calculated by adding the lateral tilt position and the lateral tilt error.

[0010] In one embodiment, the one or more sensors are inertial measurement units.

[0011] These and other effects of the present invention will become apparent to those skilled in the art by referring to the following detailed description and the accompanying drawings.

Brief Description of the Drawings

[0012]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Embodiments for Carrying Out the Invention

[0013] FIG. 1 shows an example of a combine 100 according to one or more embodiments. The combine 100 includes a self-propelled vehicle 102 and a header 104 provided at the front end of the vehicle 102 via a feeder house 106. The header 104 is pivotally connected to the vehicle 102 (via the feeder house 106) by a pivot joint 108. Generally, during operation, as the combine 100 moves across the farmland, the header 104 cuts and harvests the crops. The cut crops are conveyed to the feeder house 106, and the operation is carried out continuously.

[0014] Conventionally, it has been difficult to maintain a specific header height, for example, due to unevenness of the ground of the farmland or a change in the direction of the combine. The header height means the distance between a point of the header (for example, the tip of the header) and the ground. If the header height is too high, it may lead to a decrease in the yield, and if the header height is too low, the header may be damaged.

[0015] Embodiments of the present invention have an effect of providing a header stabilization control system for correcting both vertical disturbances and lateral inclination disturbances with respect to the header 104. One or more sensors 112 are provided on the header 104 and are configured to provide an output including a vertical disturbance signal indicating a vertical disturbance with respect to the header 104 and a lateral inclination disturbance signal indicating a lateral inclination disturbance with respect to the header 104. The electronic control unit (ECU) 114 transmits a control signal to one or more actuators 110 to displace the header 104 and correct the vertical disturbance and the lateral inclination disturbance.

[0016] Although the embodiments described herein will be described with respect to stabilizing the header of a combine, it will be understood that the present invention is not so limited. Embodiments of the present invention can be applied to the stabilization of any type of boom of any type of vehicle. For example, embodiments of the present invention can be applied to the stabilization of the boom of a spraying vehicle.

[0017] FIG. 2 shows a high-level schematic diagram of a header stabilization control system 200 according to one or more embodiments. FIG. 2 will be described with reference to FIG. 1. The header stabilization control system 200 includes an ECU 114 communicatively connected to one or more sensors 112 disposed on the header 104, and first and second actuator sets 110-A and 110-B (collectively referred to as actuator 110). The ECU 114, the sensor 112, and the actuator 110 may be communicatively connected in any suitable manner (e.g., wired via a cable or wirelessly). FIG. 2 schematically shows the header stabilization control system 200 as viewed from the front of the header 104.

[0018] One or more sensors 112 are disposed or embedded in the header 104 and configured to detect vertical disturbances to the header 104 and lateral tilt disturbances to the header 104. The vertical disturbance to the header 104 refers to a disturbance that displaces the header 104 in the vertical direction 202 (i.e., up or down in the z-direction). The lateral tilt disturbance to the header 104 refers to a disturbance that rotates and displaces the lateral tilt of the header 104 in the rotational direction 204 (e.g., clockwise or counterclockwise) about a pivot joint 108 (i.e., a rotation axis x (not shown in FIG. 2) perpendicular to both the y-axis and the z-axis). Such vertical disturbances and lateral tilt disturbances to the header 104 represent the movement of components of the combine 100 that support the header 104, such as, for example, tire deflection of the combine 100, hydraulic compliance of the header lift circuit or intentional hydraulic suspension (hydraulic accumulator), mechanical deflection of the combine 100, combine adapter (mechanical suspension between the combine 100 and the header 104), or other disturbances that affect the vertical displacement or lateral tilt displacement of the header 104. Such disturbances may occur, for example, when the combine 100 is traveling on uneven ground (e.g., a step in the ground) or when the combine 100 is changing direction.

[0019] Sensor 112 may be any suitable sensor for detecting or quantifying vertical disturbances or lateral tilt disturbances with respect to header 104, and may be, for example, an accelerometer, a gyroscope, other types of sensors, or a combination of sensors. Sensor 112 may be composed of any number of sensors arranged on header 104 at any suitable position along the length of header 104. According to one embodiment, as shown in FIG. 2, sensor 112 may be composed of a single sensor arranged at or near the center of header 104. In other embodiments, sensor 112 is composed of two sensors arranged at both ends of header 104. In some embodiments, sensor 112 may be integrated with ECU 114 and embedded in header 104. Sensor 112 is configured to output a vertical disturbance signal indicating a vertical disturbance with respect to header 104 and a lateral tilt disturbance signal indicating a lateral tilt disturbance with respect to header 104.

[0020] In one embodiment, sensor 112 is an inertial measurement unit (IMU). The IMU is composed of an accelerometer and a gyroscope (and optionally a magnetometer). The accelerometer of the IMU quantifies the vertical disturbance as acceleration, and the gyroscope of the IMU quantifies the lateral tilt disturbance as angular velocity. Thereby, the IMU indicates the acceleration of header 104 in the vertical direction 202, outputs a vertical disturbance signal indicating a vertical disturbance with respect to header 104, indicates the angular velocity of header 104 in the rotational direction 204, and outputs a lateral tilt disturbance signal indicating a lateral tilt disturbance with respect to header 104.

[0021] In one embodiment, sensor 112 is composed of an individual accelerometer that outputs a vertical disturbance signal and an individual gyroscope that outputs a lateral tilt disturbance signal. In one embodiment, sensor 112 includes two accelerometers arranged at both ends of header 104, and the lateral tilt disturbance signal is determined based on the difference in angular acceleration between the two accelerometers. In one embodiment, sensor 112 includes an angular acceleration sensor that outputs a lateral tilt disturbance single representing the angular acceleration of header 104 in the rotational direction 204.

[0022] The ECU 114 receives a vertical disturbance signal and a lateral tilt disturbance signal from the sensor 112. The ECU 114 may be implemented using any suitable arithmetic unit such as the computer 602 shown in FIG. 6, for example. The ECU 114 may be disposed at any suitable location of the combine 100 (e.g., inside the cab of the combine 100 or on the header 104), or may be disposed at a location remote from the combine 100 by performing wireless communication with the sensor 112 and the actuator 110. The ECU 114 obtains a corrected vertical displacement value based on the vertical disturbance signal, obtains a corrected lateral tilt displacement value based on the lateral tilt disturbance signal, and transmits one or more control signals to one or more actuators 110 to displace the header 104 vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displace the header 104 in the rotational direction based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance. In one embodiment, the ECU 114 executes the steps of the method 300 of FIG. 3 described in detail below.

[0023] The actuator 110 may be constituted by any appropriate number of actuators arranged at any appropriate positions in order to displace the header 104 in the vertical direction and to displace the header 104 in the rotational direction. In one embodiment, as shown in FIG. 2, the actuator 110 includes one or more first actuator sets 110-A for displacing the header 104 in the vertical direction in the vertical direction 202, and one or more second actuator sets 110-B for rotating and displacing the header in the rotational direction 204. The first actuator set 110-A and the second actuator set 110-B may be coupled between the chassis of the vehicle 102 and the feeder house 106 (which supports the header 104). In one example, the first actuator set 110-A may be arranged on one or both sides of the feeder house 106, and the second actuator set 110-B may be arranged at a position relatively close to the pivot joint 108. The actuator 110 expands and contracts to displace the header 104. For example, each of the first actuator sets 110-A may be configured to expand and contract to displace the header 104 in the vertical direction to correct vertical disturbances. In addition to or instead of the above configuration, the second actuator set 110-B may be configured to expand or contract to rotate and displace the header 104 in the rotational direction 204 to correct lateral tilt disturbances. For example, as shown in FIG. 2, when the second actuator set 110-B is constituted by one actuator, the actuator may expand and contract to displace the header 104 in the counterclockwise rotational direction 204 or the clockwise rotational direction 204, respectively, in the rotational direction. In another example where the second actuator set 110-B includes a first actuator and a second actuator arranged on opposite sides of the pivot joint 108, respectively, the first actuator expands (or contracts) and the second actuator contracts (or expands) to rotate and displace the header 104 in the rotational direction 204. The actuator 110 may be any appropriate device for controlling the movement of the header 104. For example, the actuator 110 may be based on electric current, hydraulic pressure, pneumatic pressure, etc.Exemplary actuators 110 include linear hydraulic cylinders and linear electric motors.

[0024] FIG. 3 shows a method 300 for stabilizing the header of a combine according to one or more embodiments. FIG. 3 will be described with reference to FIGS. 1 and 2. The method 300 may be executed by any suitable computing device, such as the computer 602 shown in FIG. 6, for example. In one embodiment, the method 300 is executed by the ECU 114 shown in FIGS. 1 and 2.

[0025] In step 302, a vertical disturbance signal indicating a vertical disturbance to the header 104 and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header 104 are received from one or more sensors 112 disposed on the header 104 of the combine 100. According to one embodiment, the vertical disturbance signal indicates the vertical acceleration of the header 104 in the vertical direction 202, and the lateral tilt disturbance signal indicates the angular velocity of the header 104 in the rotational direction 204. According to one embodiment, the vertical disturbance signal and the lateral tilt disturbance signal are voltage signals proportional to acceleration and angular velocity, respectively.

[0026] In step 304, a corrected vertical displacement value is determined based on the vertical disturbance signal. In one embodiment, the corrected vertical displacement value may be determined by the method 400 of FIG. 4.

[0027] In step 306, a corrected lateral tilt displacement value is determined based on the lateral tilt disturbance signal. In one embodiment, the corrected lateral tilt displacement value may be determined by the method 500 of FIG. 5.

[0028] In step 308, one or more control signals are transmitted to one or more actuators 110 to vertically displace the header 104 based on the corrected vertical displacement value to correct the vertical disturbance, and / or to rotationally displace the header 104 about the pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance to the header 104. In one embodiment, a first control signal is transmitted to the first actuator set 110-A to vertically displace the header 104, and a second control signal is transmitted to the second actuator set 110-B to rotationally displace the header 104.

[0029] FIG. 4 shows a method 400 for obtaining a corrected vertical displacement value according to one or more embodiments. FIG. 4 is described with reference to FIGS. 1 and 2. The method 400 may be executed by any suitable computing device, such as the computer 602 shown in FIG. 6, for example. In one embodiment, the method 400 is executed by the ECU 114 of FIGS. 1 and 2 that executes step 304 of FIG. 3.

[0030] In step 402, the vertical position of the header 104 is calculated based on the vertical acceleration of the header 104 obtained from the vertical disturbance signal. The vertical disturbance signal indicates the vertical acceleration of the header 104 and indicates the vertical disturbance of the header 104. The vertical acceleration of the header 104 is preferably the linear acceleration of the header 104, but it is also possible that the vertical acceleration of the header 104 is the angular acceleration. The vertical position of the header 104 is the relative position (distance) with respect to the inertial system.

[0031] The vertical position of the header 104 is estimated from the vertical acceleration of the header 104 by performing an operation to match the dynamic response of the vertical acceleration with the response of the mechanical system and measuring the result. The signal obtained as a result faithfully estimates the influence of the vertical disturbance from the carrier vehicle (such as a combine) and the vertical position change as a result of the movement by the support suspension.

[0032] In step 404, measure the vertical height error of the header. The vertical height error of the header represents the height of the header 104 from the ground surface. The header height of the header 104 may be measured using one or more distance sensors (not shown), such as ultrasonic transducers provided on the header 104. The vertical height error may be calculated as the average value of the header height measured by the distance sensor.

[0033] In step 406, calculate a corrected vertical displacement value based on the vertical position and the vertical height error of the header 104. In one embodiment, the corrected vertical displacement value is calculated by adding the vertical position and the vertical height error. Since the vertical position is with respect to a reference inertial system and the vertical height error is the absolute position from the ground, the corrected vertical displacement value is calculated by adding the vertical position and the vertical height error while considering the known inertial system.

[0034] FIG. 5 shows a method 500 for calculating a corrected lateral tilt displacement value according to one or more embodiments. FIG. 5 will be described with reference to FIGS. 1 and 2. The method 500 may be executed by any suitable computing device, such as the computer 602 shown in FIG. 6, for example. In one embodiment, the method 500 is executed by the ECU 114 of FIGS. 1 and 2 that executes step 306 of FIG. 3.

[0035] In step 502, the lateral tilt position of the header 104 is calculated based on the angular acceleration of the header 104 about the pivot joint, which is calculated from the lateral tilt disturbance signal. The lateral tilt disturbance signal represents the angular velocity of the header 104 about the pivot joint and indicates the disturbance of the lateral tilt with respect to the header 104. The angular acceleration of the header 104 may be calculated as the differential value of the angular velocity of the header 104.

[0036] The horizontal tilt position of the header 104 is estimated from the angular acceleration of the header 104 by operating so as to match the dynamic response of the signal with the response of the mechanical system and measuring the result. The resulting signal faithfully estimates the influence of the horizontal tilt disturbance from the carrier vehicle (such as a combine) and the position change of the horizontal tilt as a result of the movement by the support suspension.

[0037] In step 504, the horizontal tilt error of the header is measured. The horizontal tilt error is calculated as the difference in header height obtained at both ends of the header 104. The header heights at both ends of the header 104 may be measured using a plurality of distance sensors (not shown) such as ultrasonic transducers provided at both ends of the header 104. The horizontal tilt error may be calculated as the difference between the header height at the left end of the header 104 and the header height at the right end of the header 104. In that case, when the header heights at the left end and the right end are equal, the horizontal tilt error becomes zero. In one embodiment, the horizontal tilt error of the header 104 is calculated as described in U.S. Patent No. 6,834,223, the entire disclosure of which is incorporated herein by reference and has the title "Roll control system and method for a suspended boom".

[0038] In step 506, the corrected horizontal tilt displacement value is obtained based on the horizontal tilt position and the horizontal tilt error of the header 104. In one embodiment, the corrected horizontal tilt displacement value is calculated by adding the horizontal tilt position and the horizontal tilt error. Since the horizontal tilt position is based on the distance from the ground and the horizontal tilt error is related to the inertial system, the corrected horizontal tilt displacement value is calculated by adding the horizontal tilt position and the horizontal tilt error while considering the known inertial system.

[0039] It will be understood that additional signal processing steps can be applied to method 400 of FIG. 4 and method 500 of FIG. 5. For example, a dead band release step can be executed in methods 400 and 500 by comparing the corrected vertical displacement value and the corrected horizontal tilt displacement value with a dead band threshold value, and a configuration can be adopted such that corrections are not made to the vertical displacement and the horizontal tilt displacement of header 104 even when the dead band threshold value is not satisfied. In another example, in methods 400 and 500, a filtering step can be executed to filter the signal to reduce noise. For example, a configuration can be adopted in which a high-pass filter or a band-pass filter is applied to the signal from one or more sensors when the target signal exceeds a predetermined frequency or speed. In another example, in method 500, the conversion of speed to acceleration may include a step of calculating a differential value of the angular velocity to calculate the angular acceleration, and a step of providing additional signal processing steps such as phase shifting in accordance with, for example, header dynamics, scaling, polarization, etc. Additional signal processing steps may also be provided.

[0040] The systems, apparatuses, and methods described herein may be implemented using digital circuits or using one or more computers using known computer processors, memory units, storage devices, computer software, and other components. Typically, a computer may be configured to include a processor for executing instructions and one or more memories for storing the instructions and data. Further, the computer may be configured to include one or more mass storage devices such as one or more magnetic disks, internal hard disks and removable disks, magneto-optical disks, optical disks, etc., or may be configured to be connected to one or more mass storage devices.

[0041] The systems, devices, and methods described herein may be implemented using a computer program product tangibly embodied in an information carrier (e.g., a non-transitory machine-readable storage device) so as to be executed on a programmable processor, and each step in the methods and workflows described herein (including one or more of the steps or functions of FIGS. 3 to 5) may be implemented using one or more computer programs executable by such a processor. A computer program is a set of computer program instructions that can be used directly or indirectly in a computer to perform any action or obtain any result. The computer program may be described in any programming language, such as a compiler-type language or an interpreter-type language, and may be deployed in any manner, such as as a stand-alone program or in the form of a module, component, subroutine, or other unit suitable for use in any computing environment.

[0042] FIG. 6 shows a high-level schematic block diagram of an example of a computer 602 that can be used to implement the systems, apparatuses, and methods described herein. Any or all of the systems and apparatuses described herein, including the ECU 114 shown in FIGS. 1 and 2, may be implemented using one or more computers such as computer 602. Computer 602 includes a processor 604 operably connected to a data storage device 612 and a memory 610. The processor 604 controls the overall operation of the computer 602 by executing computer program instructions that define the operation. The computer program instructions may be stored in the data storage device 612 or other computer-readable recording medium and may be loaded into the memory 610 when execution of the computer program instructions is required. Accordingly, the steps or functions in the methods and workflows described in FIGS. 3 to 5 may be defined by computer program instructions stored in the memory 610 and / or the data storage device 612 and controlled by the processor 604 that executes the computer program instructions. For example, the computer program instructions may be implemented as computer-executable code programmed by one of ordinary skill in the art to execute the steps or functions in the methods and workflows described in FIGS. 3 to 5. Accordingly, by executing the computer program instructions, the processor 604 executes the steps or functions in the methods and workflows of FIGS. 3 to 5. Also, the computer 604 may be configured to include one or more network interfaces 606 for communicating with other devices over a network. Also, the computer 602 may be configured to include one or more input / output devices 608 (e.g., display, keyboard, mouse, speaker, button, etc.) that enable user interaction with the computer 602.

[0043] Processor 604 may include both a general-purpose microprocessor and a dedicated microprocessor, and may be the only processor of computer 602 or one of a plurality of processors. Processor 604 may include, for example, one or more central processing units (CPUs). Processor 604, data storage device 612, and / or memory 610 may include, be supplemented by, or be incorporated within one or more application specific integrated circuits (ASICs) and / or one or more field programmable gate arrays (FPGAs).

[0044] Data storage device 612 and memory 610 each comprise a tangible non-transitory computer-readable storage medium. Data storage device 612 and memory 610 may each include high-speed random access memory such as dynamic random access memory (DRAM), static random access memory (SRAM), double data rate synchronous dynamic random access memory (DDR RAM), or other random access solid state memory devices, and may include one or more magnetic disk storage devices such as internal hard disks, removable disks, magneto-optical disk storage devices, optical disk storage devices, flash memory devices, semiconductor memory devices such as erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), non-volatile memory such as compact disk read only memory (CD-ROM), digital versatile disk read only memory (DVD-ROM) disks, or other non-volatile solid state storage devices.

[0045] Input / output device 608 may include peripheral devices such as a printer, scanner, display screen, etc. For example, input / output device 608 may include a cathode ray tube (CRT) or liquid crystal display (LCD) monitor for displaying information to the user, and a pointing device such as a keyboard, mouse, or trackball by which the user can input to computer 602.

[0046] The actual implementation of a computer or computer system may have a different structure and may include different components. It will be understood that FIG. 6 shows some of the components of such a computer for illustrative purposes, with some components shown at a higher level.

[0047] The above detailed description is, in all respects, for purposes of explanation and illustration and is not intended to limit the present invention. Also, the scope of the present invention disclosed herein should not be determined from the detailed description, but rather should be determined from the scope of the claims construed in accordance with the broadest scope permitted by patent law. The embodiments described and shown herein are merely illustrative of the principles of the present invention, and it should be understood that those skilled in the art can make various modifications without departing from the scope and spirit of the present invention. Those skilled in the art will be able to implement various other combinations of features without departing from the scope and spirit of the present invention.

Claims

1. Receiving, from one or more sensors provided on a header for a combine, a vertical disturbance signal indicating a vertical disturbance to the header and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header; Obtaining a corrected vertical displacement value based on the vertical disturbance signal; Obtaining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal; Transmitting one or more control signals to a plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and to displace the header in a rotational direction about a pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance; Obtaining a corrected vertical displacement value based on the vertical disturbance signal includes: Calculating a vertical position of the header based on an acceleration in the vertical direction of the header obtained from the vertical disturbance signal; Obtaining a vertical height error of the header; And obtaining the corrected vertical displacement value based on the vertical position and the vertical height error. Method.

2. The vertical disturbance signal indicates an acceleration in the vertical direction of the header. The method according to claim 1, characterized in that.

3. The lateral tilt disturbance signal indicates an angular velocity of the header in a rotational direction about the pivot joint. The method according to claim 1, characterized in that.

4. Transmitting one or more control signals to a plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and to displace the header in a rotational direction about a pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance includes: Transmitting a first control signal to a first set of actuators, which are a plurality of actuators, to instruct the first set of actuators to displace the header vertically based on the corrected vertical displacement value; And transmitting a second control signal to a second set of actuators, which are a plurality of actuators, to instruct the second set of actuators to displace the header in a rotational direction based on the corrected lateral tilt displacement value. The method according to claim 1, characterized in that.

5. Obtaining the corrected vertical displacement value based on the vertical position and the vertical height error includes: calculating the corrected vertical displacement value by adding the vertical position and the vertical height error; The method according to claim 1, characterized in that.

6. Determining the corrected lateral tilt displacement value based on the lateral tilt disturbance signal includes: calculating the lateral tilt position of the head based on the angular acceleration of the head obtained from the lateral tilt disturbance signal; determining the lateral tilt error of the head; determining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error; The method according to claim 1, characterized in that.

7. Determining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error includes: calculating the corrected lateral tilt displacement value by adding the lateral tilt position and the lateral tilt error; The method according to claim 6, characterized in that.

8. The one or more sensors include an inertial measurement unit; The method according to claim 1, characterized in that.

9. A non-transitory computer-readable storage medium storing computer program instructions, When the computer program instructions are executed by a processor, receiving, from one or more sensors provided on a header for combining, a vertical disturbance signal indicating a vertical disturbance to the header and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header; determining a corrected vertical displacement value based on the vertical disturbance signal; determining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal; transmitting one or more control signals to a plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displace the header in a rotational direction about a pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance; causing the processor to execute an operation including; Determining the corrected vertical displacement value based on the vertical disturbance signal includes: calculating the vertical position of the head based on the vertical acceleration of the head obtained from the vertical disturbance signal; determining the vertical height error of the head; determining the corrected vertical displacement value based on the vertical position and the vertical height error; A non-transitory computer-readable storage medium, characterized in that...

10. The vertical disturbance signal indicates the vertical acceleration of the header. A non-transitory computer-readable storage medium according to claim 9, characterized in that...

11. The lateral tilt disturbance signal indicates the angular velocity of the header in the rotational direction about the pivot joint. A non-transitory computer-readable storage medium according to claim 9, characterized in that...

12. Transmitting one or more control signals to a plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displacing the header in the rotational direction about the pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance, which includes transmitting a first control signal to a first set of actuators, which are a plurality of actuators, to command the first set of actuators to displace the header vertically based on the corrected vertical displacement value; and transmitting a second control signal to a second set of actuators, which are a plurality of actuators, to command the second set of actuators to displace the header in the rotational direction based on the corrected lateral tilt displacement value. A non-transitory computer-readable storage medium according to claim 9, characterized in that...

13. Obtaining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal, which includes calculating the lateral tilt position of the header based on the angular acceleration of the header obtained from the lateral tilt disturbance signal, obtaining the lateral tilt error of the header, and obtaining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error. A non-transitory computer-readable storage medium according to claim 9, characterized in that...

14. One or more sensors provided on the header of a combine, a plurality of actuators, and an electronic control unit, which receives from the one or more sensors a vertical disturbance signal indicating a vertical disturbance to the header and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header, obtains a corrected vertical displacement value based on the vertical disturbance signal, and obtains a corrected lateral tilt displacement value based on the lateral tilt disturbance signal. Transmitting one or more control signals to the plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displacing the header in the rotational direction about the pivot joint based on the corrected lateral tilt displacement value to correct the disturbance of the lateral tilt, and an electronic control unit configured to perform the above, Obtaining a corrected vertical displacement value based on the vertical disturbance signal includes: Calculating the vertical position of the header based on the vertical acceleration of the header obtained from the vertical disturbance signal, Obtaining the vertical height error of the header, Obtaining the corrected vertical displacement value based on the vertical position and the vertical height error, System.

15. The vertical disturbance signal indicates the vertical acceleration of the header, The system according to claim 14, characterized in that.

16. The lateral tilt disturbance signal indicates the angular velocity of the header in the rotational direction about the pivot joint, The system according to claim 14, characterized in that.

17. The plurality of actuators includes a first actuator set and a second actuator set, Transmitting one or more control signals to the plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displacing the header in the rotational direction about the pivot joint based on the corrected lateral tilt displacement value to correct the disturbance of the lateral tilt includes: Transmitting a first control signal for instructing the first actuator set to displace the header vertically based on the corrected vertical displacement value, Transmitting a second control signal for instructing the second actuator set to displace the header in the rotational direction based on the corrected lateral tilt displacement value, The system according to claim 14, characterized in that.

18. Obtaining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal includes: Calculating the lateral tilt position of the header based on the angular acceleration of the header obtained from the lateral tilt disturbance signal, Obtaining the lateral tilt error of the header, Obtaining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error, The system according to claim 14, characterized in that.

19. The one or more sensors include an inertial measurement unit, The system according to claim 14, characterized in that.

20. A vehicle, A header rotatably connected to the vehicle by a pivot joint, One or more sensors provided on the header, A plurality of actuators connecting the vehicle and the header and controlling the height and lateral tilt of the header, An electronic control unit, Receiving from the one or more sensors a vertical disturbance signal indicating a vertical disturbance to the header and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header; Obtaining a corrected vertical displacement value based on the vertical disturbance signal; Obtaining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal; Transmitting one or more control signals to the plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displacing the header in a rotational direction about the pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance, and an electronic control unit configured to perform the above. Obtaining a corrected vertical displacement value based on the vertical disturbance signal includes: Calculating the vertical position of the header based on the vertical acceleration of the header obtained from the vertical disturbance signal; Obtaining the vertical height error of the header; And obtaining a corrected vertical displacement value based on the vertical position and the vertical height error. An agricultural working machine.

21. The vertical disturbance signal indicates the vertical acceleration of the header, The agricultural working machine according to claim 20, characterized in that.

22. The lateral tilt disturbance signal indicates the angular velocity of the header in the rotational direction about the pivot joint, The agricultural working machine according to claim 20, characterized in that.

23. Transmitting one or more control signals to a plurality of actuators to displace the header vertically based on a corrected vertical displacement value to correct the vertical disturbance, and displacing the header in a rotational direction about the pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance, Sending a first control signal to a first actuator set, which is a plurality of actuators, to command the header to be displaced vertically based on the corrected vertical displacement value; Sending a second control signal to a second actuator set, which is a plurality of actuators, to command the header to be displaced in the rotational direction based on the corrected lateral tilt displacement value; and The agricultural working machine according to claim 20, characterized by the above.

24. Obtaining a corrected vertical displacement value based on the vertical position and the vertical height error includes: Calculating the corrected vertical displacement value by adding the vertical position and the vertical height error. The agricultural working machine according to claim 20, characterized by the above.

25. Obtaining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal includes: Calculating the lateral tilt position of the header based on the angular acceleration of the header obtained from the lateral tilt disturbance signal; Obtaining the lateral tilt error of the header; and Obtaining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error. The agricultural working machine according to claim 20, characterized by the above.

26. Obtaining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error includes: Calculating the corrected lateral tilt displacement value by adding the lateral tilt position and the lateral tilt error. The agricultural working machine according to claim 25, characterized by the above.

27. The one or more sensors include an inertial measurement unit. The agricultural machine according to claim 20, characterized by the above.

28. The agricultural working machine is a combine. The agricultural working machine according to claim 20, characterized by the above.

29. Receiving, from one or more sensors provided on a header for a combine, a vertical disturbance signal indicating a vertical disturbance to the header and a lateral tilt disturbance signal indicating a lateral tilt disturbance to the header; Obtaining a corrected vertical displacement value based on the vertical disturbance signal; Obtaining a corrected lateral tilt displacement value based on the lateral tilt disturbance signal; Transmitting one or more control signals to a plurality of actuators to displace the header vertically based on the corrected vertical displacement value to correct the vertical disturbance, and displacing the header in the rotational direction about the pivot joint based on the corrected lateral tilt displacement value to correct the lateral tilt disturbance, The obtaining of the corrected lateral tilt displacement value based on the lateral tilt disturbance signal includes: Calculating the lateral tilt position of the header based on the angular acceleration of the header obtained from the lateral tilt disturbance signal; Obtaining the lateral tilt error of the header; And obtaining the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error. A method.

30. The vertical disturbance signal indicates the vertical acceleration of the header. The method according to claim 29, characterized in that.

31. The lateral tilt disturbance signal indicates the angular velocity of the header in the rotational direction about the pivot joint. The method according to claim 29, characterized in that.

32. The obtaining of the corrected lateral tilt displacement value based on the lateral tilt position and the lateral tilt error includes: Calculating the corrected lateral tilt displacement value by adding the lateral tilt position and the lateral tilt error. The method according to claim 29, characterized in that.

Images