Harvester Header IMU Control for Stable Cutting Height
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Solution Overview
Problem
Existing agricultural harvesters require substantial operational involvement and control by the operator, with automatic header height control systems causing unwanted movement and vibration due to periodic sensor recalibration needs and inaccurate position adjustments.
Innovation Solution
An agricultural system utilizing implement-based and vehicle-based inertial measurement units (IMUs) to generate inertial movement data, determining relative movement parameters, and controlling actuator operations to accurately adjust the harvesting implement's position, reducing vibrations and improving accuracy.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If automatic header height control systems are used, then the operator's control burden is reduced, but unwanted movement and vibration occur due to periodic sensor recalibration needs
Solution Approach 1:
The patent replaces traditional mechanical height sensors with an inertial measurement unit (IMU) that uses accelerometers and gyroscopes to determine header position and orientation through inertial measurement. This substitution eliminates the need for periodic mechanical sensor recalibration that causes unwanted movements and vibrations, while maintaining automatic header height control functionality.
Solution Approach 2:
The system uses inertial measurement data to create a virtual model of header position and orientation, replacing direct mechanical measurement. The IMU captures acceleration and orientation data that is processed to determine header position, providing a non-contact method that avoids the recalibration issues of physical sensors.
2Manufacturing precision
If traditional height sensors are used for automatic adjustment, then header position control is achieved, but time-consuming periodic recalibration is required
Solution Approach 1:
The patent replaces mechanical height sensors requiring periodic recalibration with an inertial measurement unit that continuously tracks header position through acceleration and orientation measurements. The IMU-based system maintains precision without time-consuming recalibration cycles by using inertial reference frames.
Solution Approach 2:
The inertial measurement system is self-sufficient and does not require external calibration references. The IMU uses its own internal accelerometers and gyroscopes to maintain accurate position tracking autonomously, eliminating the need for periodic recalibration services or external reference points.
3Manufacturing precision
If automatic header adjustment is implemented, then cutting height consistency is improved, but inaccurate position adjustments occur
Solution Approach 1:
The patent replaces traditional mechanical height sensors with an inertial measurement unit that provides more accurate position and orientation data through accelerometers and gyroscopes. The IMU captures six degrees of freedom (position, velocity, orientation, angular velocity, and acceleration) enabling more precise header positioning and cutting height control.
Solution Approach 2:
The system implements continuous feedback control by processing IMU data to determine current header position and orientation, then comparing this with desired position to generate corrective actuator commands. This closed-loop control based on inertial measurement provides accurate real-time position adjustment feedback.
Data Source
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AI summary
An agricultural method for automatically controlling a position of a harvesting implement of an agricultural harvester, where the harvesting implement may be movably supported relative to a chassis of the agricultural harvester, and where a cab may be movably supported relative to the chassis, may include receiving inertial movement data from an implement-based inertial measurement unit (IMU) supported on the harvesting implement and inertial movement data from a vehicle-based IMU supported on at least one of the cab or the chassis of the agricultural harvester. The method may further include determining a relative movement parameter of the harvesting implement relative to the at least one of the cab or the chassis based at least in part on the inertial movement data. Additionally, the method may include controlling an operation of an implement actuator based at least in part on the relative movement parameter.