Header position control with forward contour prediction

A method of controlling position of a harvester header to maintain the header within a preselected operating height range, the header adjustably supported on a frame of a harvester for positioning by motor structure, the frame supported by ground wheel structure for traversing a field having a ground surface contour, the method comprising:

• detecting contour of a crop area at a location offset forwardly of the header;
• utilizing the detected contour for controlling the motor structure to initiate header movement prior to the header reaching the crop area and facilitate positioning of the header for operating within a range of positions in the crop area, wherein the step of utilizing the detected contour improves response of the header and reduces incidences of improper header position resulting from rapidly changing contours;
• and
• wherein the step of utilizing the detected contour includes initiating a header tilt movement to facilitate movement of the header to a position generally parallel to the ground in the area prior to the header reaching the area.

A harvester having a frame supported on the surface of the ground by wheel structure for forward movement through a field of crop with changing ground contour, a header of preselected width supported for movement relative to the frame to maintain a generally constant position of the header relative to the ground, a header control system for automatically moving the header as the ground contour changes, and a ground contour detection system connected to the header control system, the ground contour detection system including:

• a transmitter radiating a signal towards an area forwardly of the header;
• a detector receiving reflected signals from the area and providing an indication of the ground contour in the area prior to the header reaching the area;
• and
• wherein the header control system is responsive to the indication of ground contour to facilitate automatic movement of the header towards a preselected position for the area prior to the header reaching the area so that a predictive and power-reducing response of the lift system to rapid changes in ground contour is facilitated.

A harvester having a frame supported on the surface of the ground by wheel structure for forward movement through a field of crop with changing ground contour, a header of preselected width supported for vertical movement relative to the frame for harvesting the crop generally across the width of the header, the crop to be harvested lying in a path to be traversed by the header, and a header control system for automatically adjusting the header vertically as the ground contour changes to maintain the header within a range of heights for efficient harvesting and prevention of grounding of the header, the header control system including:

• a transmitter radiating signals towards an area on the path forwardly of the header over a width generally corresponding to the preselected width;
• a detector receiving reflected signals from the path and providing an indication of the ground contour over a substantial portion of the width of the path;
• and
• a header lift system connected to the header and responsive to the indication of ground contour to automatically initiate movement of the header towards a position within a desired range of heights for the location on the path before the header reaches the location.

In a harvester having a frame supported on the surface of the ground by wheel structure for forward movement through a field of crop with changing ground contour and crop height contour, a header supported for vertical movement relative to the frame for harvesting the crop generally across a preselected operating width, and a header control system for automatically adjusting the header vertically as the contours change to thereby maintain the header within a range of positions for efficient harvesting and prevention of grounding of the header, the header control system including:

• a transmitter radiating signals towards a location on the path forwardly of the header over a width generally corresponding to the preselected width;
• a detector receiving reflected signals from the path and providing an indication of at least one of the contours over a substantial portion of the entire width of the path;
• and
• a header positioning system connected to the header and responsive to the indication to automatically initiate movement of the header towards a position within a desired range for the location on the path before the header reaches the location.