Mowing Head Contour Sensing for Terrain Adaptation

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Solution Overview

Problem

Current ground contour sensing systems for crop mowing heads are limited in response time and do not provide adequate tilt control, leading to scalping of crops and wear on the mowing head, as they only control vertical downforce and not attitude or height effectively.

Innovation Solution

A system that includes a tilt cylinder for adjusting the mowing head's attitude and lift cylinders for height control, combined with sensor systems to generate contour measurement signals, allowing the controller to send movement commands to these cylinders based on ground contour readings, thereby enabling accurate following of terrain and preventing damage.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a hydraulic float system is used to control vertical downforce, then the mowing head can float across the ground, but the response time is delayed causing scalping of crop and wear on cutterbar

Engineering Contradiction:

Improveground contour following accuracyVSAvoidresponse time

Core Design Contradiction:

ReliabilityVSLoss of time

Solution Approach 1:

The ground contour sensing system detects terrain features ahead of the mowing head and sends advance warnings to the control system. The controller then proactively adjusts the hydraulic float system and tilt cylinder before the mowing head encounters the terrain change, eliminating delayed response and preventing scalping.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

Instead of reacting to ground contact forces after the mowing head hits terrain variations, the system inverts the approach by using forward-looking sensors to detect contours before contact occurs. This allows preemptive control adjustments rather than reactive corrections.

Inventive Principle:

Principle #13The other way round (Inversion)

2Adaptability or versatility

If float systems are used to control vertical downforce, then the mowing head can adapt to terrain, but tilt control is not provided leading to scalping and head wear

Engineering Contradiction:

Improveterrain adaptation capabilityVSAvoidtilt control capability

Core Design Contradiction:

Adaptability or versatilityVSEase of operation

Solution Approach 1:

The control system is segmented into independent vertical control (float system) and angular control (tilt cylinder) functions. The float system manages downforce while the tilt cylinder independently adjusts the mowing head's attitude, allowing both functions to operate optimally without interference.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The ground contour sensing system and controller serve multiple functions: they provide both vertical position control through the float system and angular orientation control through the tilt cylinder, making the system universally capable of handling various terrain conditions with a single integrated solution.

Inventive Principle:

Principle #6Universality (Multi-functionality)

3Manufacturing precision

If the mowing head moves close to the ground to avoid crop buildup, then cutting precision improves, but risk of hitting ground and damaging head increases

Engineering Contradiction:

Improvecutting precisionVSAvoidground damage risk

Core Design Contradiction:

Manufacturing precisionVSObject-affected harmful factors

Solution Approach 1:

The ground contour sensing system continuously provides feedback about upcoming terrain variations to the controller. The controller adjusts the mowing head position and attitude in real-time based on this feedback, maintaining optimal cutting clearance while avoiding ground contact that would cause damage.

Inventive Principle:

Principle #23Feedback

Solution Approach 2:

The forward-looking sensors detect ground contours before the mowing head reaches them, allowing the control system to make preliminary position and attitude adjustments. This proactive approach enables precise cutting while preventing ground contact and associated damage.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentEP3695703B1Windrower with ground contour sensing system and ground contour sensing method

Publication Date: 2022.11.23 DEERE & CO

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AI summary

A ground contour sensing system (420, 520) and method for a vehicle with a mowing head (150, 400). The system includes a sensor system that measures a ground contour in front of the mowing head (150, 400), and generates contour measurement signals; and a controller (600) that determines whether to move the mowing head (150, 400) based on the contour measurement signals, and generates movement commands for the mowing head (150, 400) when it determines to move the mowing head (150, 400). The mowing head (150, 400) can include tilt and lift cylinders (210, 220, 610, 630), and the controller (600) can determine whether to move the mowing head (150, 400) using the tilt or lift cylinders (210, 220, 610, 630). The sensor system can include a pivot arm (436, 536) that moves in response to changes in the ground contour, and an angle sensor (434, 534) that measures an angle of the pivot arm (436, 536). There can be one or more sensor systems positioned between the right and left sides of the mowing head (150, 400).