FIELD OF THE INVENTION
[0001] The present disclosure generally relates to agricultural harvesters, such as sugarcane harvesters, and, more particularly, to systems for controlling the roll of an agricultural harvester, such as when the agricultural harvester is traveling across an inclined field surface.
BACKGROUND OF THE INVENTION
[0002] In general, the agricultural harvesters include various suspension components to facilitate travel across a field. For example, an agricultural harvester typically includes a fluid-driven actuator (e.g., a hydraulic cylinder) coupled between each of its wheels and its frame. In this respect, when the agricultural harvester travels across a field surface that is sloped generally perpendicular to the direction of travel of the harvester, the center of gravity of the harvester may shift downhill. This shifting of center of gravity of the harvester increases the amount of weight on the fluid-driven actuator(s) positioned on the downhill side of the harvester and reduces the amount of weight on the fluid-driven actuator(s) positioned on the uphill side of the harvester. This, in turn, may cause the actuator(s) on the downhill side of the harvester to retract and the actuator(s) on the uphill side of the harvester to extend, thereby causing the harvester tilt or roll. As such, systems have been developed to control the roll of agricultural harvesters in such situations. However, further improvements are needed.
[0003] Accordingly, an improved system for controlling roll of an agricultural harvester would be welcomed in the technology.
SUMMARY OF THE INVENTION
[0004] Aspects and advantages of the technology will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the technology.
[0005] In one aspect, the present subject matter is directed to an agricultural harvester including a frame and first and second traction devices. Furthermore, the

agricultural harvester includes a first fluid-driven actuator coupled between the harvester frame and the first traction device, with the first fluid-driven actuator defining first and second fluid chambers. Additionally, the agricultural harvester includes a second fluid-driven actuator coupled between the harvester frame and the second traction device, with the second fluid-driven actuator defining a first fluid chamber fluidly coupled to the first fluid chamber of the first fluid-driven actuator in parallel. The second fluid-driven actuator further defines a second fluid chamber fluidly coupled to the second fluid chamber of the first fluid-driven actuator in parallel. Moreover, the agricultural harvester includes a control valve configured to control a flow of fluid to the first and second fluid-driven actuators. In addition, the agricultural harvester includes a first fluid conduit extending between the control valve and the first fluid chambers of the first and second fluid-driven actuators and a second fluid conduit extending between the control valve and the second fluid chambers of the first and second fluid-driven actuators. Furthermore, the agricultural harvester includes a valve assembly fluidly coupled to the first and second fluid conduits between the control valve and the first and second fluid-driven actuators. The valve assembly, in turn, is configured to selectively occlude the fluid from flowing from the second fluid chambers of the first and second fluid-driven actuators to the control valve based on pressures of the fluid within the first and second fluid conduits to reduce the roll of the agricultural harvester.
[0006] In another aspect, the present subject matter is directed to a system for controlling roll of an agricultural harvester. The system includes a harvester frame and first and second traction devices. Furthermore, the system includes a first fluid-driven actuator coupled between the harvester frame and the first traction device, with the first fluid-driven actuator defining first and second fluid chambers. Additionally, the system includes a second fluid-driven actuator coupled between the harvester frame and the second traction device, with the second fluid-driven actuator defining a first fluid chamber fluidly coupled to the first fluid chamber of the first fluid-driven actuator in parallel. The second fluid-driven actuator further defines a second fluid chamber fluidly coupled to the second fluid chamber of the first fluid-driven actuator in parallel. Moreover, the system includes a control valve configured to control a flow of fluid to the first and second fluid-driven actuators. In addition, the system

includes a first fluid conduit extending between the control valve and the first fluid chambers of the first and second fluid-driven actuators and a second fluid conduit extending between the control valve and the second fluid chambers of the first and second fluid-driven actuators. Furthermore, the system includes a valve assembly fluidly coupled to the first and second fluid conduits between the control valve and the first and second fluid-driven actuators. The valve assembly, in turn, is configured to selectively occlude the fluid from flowing from the second fluid chambers of the first and second fluid-driven actuators to the control valve based on pressures of the fluid within the first and second fluid conduits to reduce the roll of the agricultural harvester.
[0007] These and other features, aspects and advantages of the present technology will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the technology and, together with the description, serve to explain the principles of the technology.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] A full and enabling disclosure of the present technology, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which: [0009] FIG. 1 illustrates a simplified, side view of one embodiment of an agricultural harvester in accordance with aspects of the present subject matter; [0010] FIG. 2 illustrates a schematic view of one embodiment of a system for controlling the roll of an agricultural harvester in accordance with aspects of the present subject matter;
[0011] FIG. 3 illustrates a schematic view of another embodiment of a system for controlling the roll of an agricultural harvester in accordance with aspects of the present subject matter; and
[0012] FIG. 4 illustrates a schematic view of a further embodiment of a system for controlling the roll of an agricultural harvester in accordance with aspects of the present subject matter.

[0013] Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology.
DETAILED DESCRIPTION OF THE DRAWINGS
[0014] Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents. [0015] In general, the present subject matter is directed to a system for controlling the roll of an agricultural harvester, such as a sugarcane harvester. As will be described below, the harvester includes a first fluid-driven actuator (e.g., a hydraulic cylinder) coupled between the frame of the harvester and a first traction device (e.g., a first wheel) of the harvester. The first fluid-driven actuator, in turn, defines first and second fluid chambers. Furthermore, the harvester includes a second fluid-driven actuator coupled between the frame and a second traction device (e.g., a second wheel) of the harvester. The second fluid-driven actuator, in turn, defines a first fluid chamber fluidly coupled to the first fluid chamber of the first fluid-driven actuator in parallel. Additionally, the second fluid-driven actuator defines a second fluid chamber fluidly coupled to the second fluid chamber of the first fluid-driven actuator in parallel. Moreover, the harvester includes a control valve configured to control the flow of fluid to the first and second fluid-driven actuators.
[0016] In several embodiments, the disclosed system includes a valve assembly configured to control the roll of the harvester. Specifically, in such embodiments, the system includes a first fluid conduit extending between the control valve and the first fluid chambers of the first and second fluid-driven actuators. In addition, the system includes a second fluid conduit extending between the control valve and the second

fluid chambers of the first and second fluid-driven actuators. In this respect, the valve assembly is fluidly coupled to the first and second fluid conduits between the control valve and the first and second fluid-driven actuators. As such, the valve assembly selectively occludes fluid from exiting the second fluid chambers of the first and second fluid-driven actuators based on the fluid pressures within the first and second fluid conduits, thereby reducing the roll of the agricultural harvester. For example, the valve assembly may be configured to selectively occlude the fluid from exiting the second fluid chambers based on a first pilot flow indicative of the fluid pressure within the first fluid conduit and a second pilot flow indicative of the fluid pressure within the second fluid conduit. Thus, the valve assembly may be configured as a single counterbalance valve, a dual counterbalance valve, or an electronically controlled locking valve.
[0017] By selectively controlling the flow of the fluid from the second fluid chambers of the first and second fluid-driven actuators, the valve assembly improves the operation of the agricultural harvester. More specifically, when traveling across an inclined surface (particularly one sloped generally perpendicular to the direction of travel), the pressures within the first and second fluid conduits may be such that the valve assembly prevents fluid from exiting the second fluid chambers of the actuators. This, in turn, prevents the actuator on the downhill side of the harvester from retracting and the actuator on the uphill side of the harvester from extending, thereby reducing the downhill roll or tilt of the harvester. Conversely, when traveling across a relatively flat surface, the pressures within the first and second fluid conduits may be such that the valve assembly allows fluid to exit the second fluid chambers of the actuators. In this respect, when the harvester encounters a bump or divot in the field, fluid can be forced out of the second fluid chambers, thereby absorbing the impact caused by the bump/divot. Thus, the valve assembly allows the harvester to safely operate on steeper inclined surfaces, while still allowing the fluid-driven actuators to absorb bumps/divots when traveling across flat surfaces. [0018] Referring now to the drawings, FIG. 1 illustrates a side view of one embodiment of an agricultural harvester 10 in accordance with aspects of the present subject matter. As shown, the harvester 10 is configured as a sugarcane harvester.

However, in other embodiments, the harvester 10 may correspond to any other suitable agricultural harvester known in the art.
[0019] As shown, the harvester 10 includes a frame 12 and a plurality of traction devices coupled to the frame 12. In general, the traction devices may support the harvester 10 relative to the field surface and move the harvester 10 in a forward direction of travel (indicated by arrow 13). For example, in the illustrated embodiment, the traction devices are configured as a pair of front wheels 14 and a pair of rear wheels 16. As will described below, the front wheels 14 are spaced apart from each other in a lateral direction (indicated by arrow 17 in FIG. 2) of the harvester 10, with the lateral direction 17 extending generally perpendicular to the direction of travel 13. Similarly, the rear wheels 16 are also spaced apart from each other in the lateral direction 17. However, in alternative embodiments, the traction devices may be configured as a pair of track assemblies (not shown). [0020] Furthermore, the frame 12 may support one or more components of the harvester 10. For example, the frame 12 may support an operator's cab 18 having various input devices (not shown) for controlling the operation of the harvester 10. Moreover, the frame 12 may support an engine (not shown) and a transmission (not shown). The engine, in turn, generates power, which the transmission transfers to the front wheels 14 and/or the rear wheels 16 of the harvester 10 (or its track assemblies) for propelling the harvester 10 in the direction of travel 13.
[0021] Additionally, the harvester 10 may include various components for cutting, processing, cleaning, and discharging sugarcane as the harvester 10 travels across an agricultural field 20. For instance, the harvester 10 may include a topper assembly 22 positioned at its front end to intercept sugarcane as the harvester 10 moves in the direction of travel 13. As shown, the topper assembly 22 may include both a gathering disk 24 and a cutting disk 26. The gathering disk 24 may be configured to gather the sugarcane stalks to allow the cutting disk 26 to cut off the top of each stalk. The height of the topper assembly 22 may be adjustable via a pair of arms 28 that may be hydraulically raised and lowered, as desired, by the operator. [0022] Additionally, the harvester 10 may include a crop divider 30 extending upwardly and rearwardly from the field 20. In general, the crop divider 30 may include two spiral feed rollers 32. Each feed roller 32 may, in turn, include a ground

shoe 34 at its lower end to assist the crop divider 30 in gathering the sugarcane stalks for harvesting. Moreover, as shown in FIG. 1, the harvester 10 may include a knock-down roller 36 positioned near the front wheels 14 and a fin roller 38 positioned behind the knock-down roller 36. As the knock-down roller 36 is rotated, the sugarcane stalks being harvested are knocked down while the crop divider 30 gathers the stalks from agricultural field 20. Furthermore, as shown in FIG. 1, the fin roller 38 may include a plurality of intermittently mounted fins 40 that assist in forcing the sugarcane stalks downwardly. As the fin roller 38 is rotated during the harvest, the sugarcane stalks knocked down by the knock-down roller 36 are separated and further knocked down by the fin roller 38 as the harvester 10 continued to be moved in the direction of travel 13 across the field 20.
[0023] Referring still to FIG. 1, the harvester 10 may also include a base cutter assembly 42 positioned behind the fin roller 38. In general, the base cutter assembly 42 may include blades (not shown) for severing the sugarcane stalks as the cane is being harvested. The blades, located on the periphery of the assembly 42, may be rotated by a hydraulic motor (not shown) powered by the vehicle's hydraulic system. Additionally, in several embodiments, the blades may be angled downwardly to sever the base of the sugarcane as the cane is knocked down by the fin roller 38. [0024] Moreover, the harvester 10 may include a feed roller assembly 44 located downstream of the base cutter assembly 42 for moving the severed stalks of sugarcane from base cutter assembly 42 along the processing path. As shown in FIG. 1, the feed roller assembly 44 may include a plurality of bottom rollers 46 and a plurality of opposed, top pinch rollers 48. The various bottom and top rollers 46, 48 may be used to pinch the harvested sugarcane during transport. As the sugarcane is transported through the feed roller assembly 44, debris (e.g., rocks, dirt, and/or the like) may be allowed to fall through bottom rollers 46 onto the field 20.
[0025] In addition, the harvester 10 may include a chopper assembly 50 located at the downstream end of the feed roller assembly 44 (e.g., adjacent to the rearward-most bottom and top feed rollers 46, 48). In general, the chopper assembly 50 may cut or chop the severed sugarcane stalks into pieces or billets that may be, for example, six inches long. The billets may then be propelled towards an elevator

assembly 52 of the harvester 10 for delivery to an external receiver or storage device (not shown).
[0026] The pieces of debris (e.g., dust, dirt, leaves, etc.) separated from the sugarcane billets may be expelled from the harvester 10 through a primary extractor 54 located behind the chopper assembly 50 and oriented to direct the debris outward from the harvester 10. Additionally, an extractor fan 56 may be mounted at the base of the primary extractor 54 for generating a suction force or vacuum sufficient to pick up the debris and force the debris through the primary extractor 54. The separated or cleaned billets, heavier than the debris being expelled through the extractor 54, may then fall downward to the elevator assembly 52.
[0027] As shown in FIG. 1, the elevator assembly 52 may generally include an elevator housing 58 and an elevator 60 extending within the elevator housing 58 between a lower, proximal end 62 and an upper, distal end 64. In general, the elevator 60 may include a looped chain 66 and a plurality of flights or paddles 68 attached to and evenly spaced on the chain 66. The paddles 68 may be configured to hold the sugarcane billets on the elevator 60 as the billets travel along a top span 70 of the elevator 60 defined between its proximal and distal ends 62, 64. Additionally, the elevator 60 may include lower and upper sprockets 72, 74 positioned at its proximal and distal ends 62, 64, respectively. As shown in FIG. 1, an elevator motor 76 may be coupled to one of the sprockets (e.g., the upper sprocket 74) for driving the chain 66, thereby allowing the chain 66 and the paddles 68 to travel in an endless loop between the proximal and distal ends 62, 64 of the elevator 60. Furthermore, in one embodiment, the distal end 64 of the elevator 60 may be fixed relative to the elevator housing 58 such that the orientation or angle of the elevator 60 is generally not adjustable relative to the elevator housing 58. However, in alternative embodiments, the distal end 64 of the elevator 60 may be adjustable relative to the elevator housing 58.
[0028] Moreover, pieces of debris (e.g., dust, dirt, leaves, etc.) separated from the sugarcane billets during transport along the elevator 60 may be expelled from the harvester 10 through a secondary extractor 78 positioned at the rear end of the elevator housing 58. For example, as shown in FIG. 1, the secondary extractor 78 may be located adjacent to the distal end 64 of the elevator 60 and oriented to direct

the debris outward from the harvester 10. Additionally, an extractor fan 80 may be mounted at the base of the secondary extractor 78 for generating a suction force or vacuum sufficient to pick up the debris and force the debris through the secondary extractor 78. The separated and cleaned billets, heavier than the debris expelled through the extractor 78, may then fall from the distal end 64 of the elevator 60. Typically, the billets may then be ejected from the harvester 10 through a discharge opening 82 of the elevator assembly 52 into an external receiver or storage device (not shown), such as a sugarcane billet cart. However, in alternative embodiments, the harvester 10 may not include the secondary extractor 78.
[0029] During operation, the harvester 10 travels across the agricultural field 20 to harvest sugarcane growing therein. After the height of the topper assembly 22 is adjusted via the arms 28, the gathering disk 24 on the topper assembly 22 may gather the sugarcane stalks, while the cutter disk 26 severs the leafy tops of the sugarcane stalks for disposal along either side of harvester 10. As the stalks enter the crop divider 30, the ground shoes 34 may set the operating width to determine the quantity of sugarcane entering the throat of the harvester 10. The spiral feed rollers 32 then gather the stalks into the throat to allow the knock-down and fin rollers 36, 38 to bend the stalks downwardly. Once the stalks are angled downwardly as shown in FIG. 1, the base cutter assembly 42 may then sever the base of the stalks from field 20. The severed stalks are then, by movement of the harvester 10, directed to the feed roller assembly 44.
[0030] The severed sugarcane stalks are conveyed rearwardly by the bottom and top feed rollers 46, 48, which compress the stalks, make them more uniform, and shake loose debris to pass through the bottom rollers 46 onto the field 20. At the downstream end of the feed roller assembly 44, the chopper assembly 50 cuts or chops the compressed sugarcane stalks into pieces or billets (e.g., six-inch cane sections). Airborne debris or chaff (e.g., dust, dirt, leaves, etc.) separated from the sugarcane billets during transport through the feed roller assembly 44 is then extracted through the primary extractor 54 using suction created by the extractor fan 56. The separated/cleaned billets then fall downward into the elevator assembly 52 and travel upward via the elevator 60 from its proximal end 62 to its distal end 64. Once the billets reach the distal end 64 of the elevator 60, the billets are carried to the discharge

opening 82 for ejection from the harvester 10 to an external receiver or storage device. Like the primary extractor 54, chaff is blown out from harvester 10 through the secondary extractor 78 with the aid of the extractor fan 80.
[0031] It should be further appreciated that the configuration of the agricultural harvester 10 described above and shown in FIG. 1 is provided only to place the present subject matter in an exemplary field of use. Thus, it should be appreciated that the present subject matter may be readily adaptable to any manner of harvester configuration.
[0032] Referring now to FIG. 2, a schematic view of one embodiment of a system 100 for controlling the roll of an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the system 100 will be described herein with reference to the agricultural harvester 10 described above with reference to FIG. 1. However, it should be appreciated by those of ordinary skill in the art that the disclosed system 100 may generally be utilized with agricultural harvesters having any other suitable harvester configuration. [0033] As shown in FIG. 2, the system 100 includes a plurality of fluid-driven actuators. In general, each fluid-driven actuator is coupled between one of the traction devices and the frame 12 to damp oscillations or vibrations caused when the harvester 10 encounters bumps, divots, or other surface irregularities when traveling across a field. Specifically, as mentioned above, in several embodiments, the harvester 10 includes a pair of front wheels 14 that are spaced apart from each other in the lateral direction 17 of the harvester 10. In such embodiments, a first fluid-driven actuator 102 may be coupled between an axle 84 associated with one of the wheels 14 and a second fluid-driven actuator 104 may be coupled between an axle 86 associated with the other of the wheels 14. The system 100 will be described below in the context the first and second fluid-driven actuators 102, 104 being coupled to the front wheels 14. However, in alternative embodiments, the first and second fluid-driven actuators 102, 104 may be coupled between the frame 12 and the rear wheels 16. Additionally, in further embodiments, the system may include any other suitable number of fluid-driven actuators. For example, in one embodiment, the system 100 may include four fluid-driven actuators, with one actuator being coupled to each of the front and rear wheels 14, 16.

[0034] In general, the first and second fluid-driven actuators 102, 104 may have any suitable construction that allows the actuators 102, 104 to damp oscillations or vibrations of imparted to the harvester 10 by the field surface. As such, in several embodiments, the first and second fluid-driven actuators 102, 104 may include a cylinder 106 inside of which a moveable piston 108 is positioned. A rod 110 is coupled to one side of each piston 108. In this respect, first and second fluid chambers 112, 114 are defined by the cylinders 106 and the pistons 108. In the illustrated embodiment, the first fluid chambers 112 correspond to rod-side chambers and the second fluid chambers 114 correspond to cap-side chambers. Alternatively, the first fluid chambers 112 correspond to cap-side chambers and the second fluid chambers 114 correspond to rod-side chambers. Additionally, as shown, the first fluid chambers 112 of the first and second fluid-driven actuators 102, 104 are fluid coupled together in parallel. Similarly, as shown, the second fluid chambers 112 of the first and second fluid-driven actuators 102, 104 are fluid coupled together in parallel. Moreover, in the illustrated embodiment, the rods 110 are coupled to the frame 12 and the cylinders 106 are coupled to the axles 84, 86. However, in alternative embodiments, the rods 110 may be coupled to the axles 84, 86 and the cylinders 106 may be coupled to the frame 12.
[0035] Controlling the pressure of the fluid within each of the first and second fluid chambers 112, 114, in turn, controls the extension and/or retraction of the rods 110 relative to the corresponding cylinder 106. For example, increasing the pressures within the first fluid chambers 112 of and/or decreasing the pressures within the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 causes the rods 110 to retract into the cylinders 106, thereby moving the front wheels 14 closer to the frame 12. Conversely, decreasing the pressures within the first fluid chambers 112 of and/or increasing the pressures within the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 causes the rods 110 to extend outward from the cylinders 106, thereby moving the front wheels 14 farther from the frame 12.
[0036] Furthermore, the system 100 may include various fluid components for supplying fluid (e.g., hydraulic oil or air) from a reservoir 116 to the first and second fluid-driven actuators 102, 104. For example, the system 100 may include a pump

118 in fluid communication with the reservoir 116 via a pump conduit 120 such that the pump 118 is configured to generate a flow of pressurized fluid. As such, the system 100 includes a control valve 122 configured to control the flow of pressurized fluid generated by the pump 118 to the first and second fluid-driven actuators 102, 104. Additionally, the system 100 may include first and second fluid conduits 124, 126. More specifically, the first fluid conduit 124 may be coupled between the control valve 122 and the first fluid chambers 112 of the first and second fluid-driven actuators 102, 104. Similarly, the second fluid conduit 126 may be coupled between the control valve 122 and the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104. Thus, the control valve 122 may be configured to control the flow of the pressurized fluid through the first and second fluid conduits 124, 126 to adjust the extension/retraction of the first and second fluid-driven actuators 102, 104. Although not shown, the system 100 may, in some embodiments, include one or more additional control valves and associated fluid conduits to supply fluid to other components or systems of the harvester 10, such as the topper assembly 22, the crop divider 30, the base cutter assembly 42, the feed roller assembly 44, the elevator assembly 52, and/or the like.
[0037] In addition, the system 100 includes a valve assembly 128 fluidly coupled to the first and second fluid conduits 124, 126. As shown, the valve assembly 128 is fluidly coupled to the first and second fluid conduits 124, 126 between the control valve 122 and the first and second fluid-driven actuators 102, 104. In this respect, the valve assembly 128 is configured to selectively occlude the fluid from exiting the second fluid chambers 114 (e.g., the cap-side chambers) of the first and second fluid-driven actuators 102, 104 to reduce the roll of the harvester 10. For example, in several embodiments, the valve assembly 128 is configured to selectively prevent fluid from exiting the second fluid chambers 114 based on fluid pressures within the first and second fluid conduits 124, 126. In such embodiments, the valve assembly 128 may controlled based a first pilot flow indicative of the fluid pressure within the first fluid conduit 124 and a second pilot flow indicative of the fluid pressure within the second fluid conduit 126.
[0038] When the harvester 10 travels across a field surface sloped or inclined generally perpendicular to the direction of travel 13, the center of gravity of the

harvester 10 shifts to the downhill side of the harvester 10. For example, assume the first fluid-driven actuator 102 is on the downhill side of the harvester 10 and the second fluid-driven actuator 104 is on the uphill side of the harvester 10. In such instances, this shifting of the center of gravity increases the amount of force applied to the first fluid-driven actuator 102. If fluid were to be forced out of the second fluid chamber 114 of the first fluid-driven actuator 102 and through the second fluid conduit 126 due to this increased force, the first fluid-driven actuator 102 would retract, thereby further lowering the downhill side of harvester 10 and increasing its roll. Roll, in turn, is the rotation of the harvester 10 about its longitudinal centerline (not shown), which extends in a fore/aft direction parallel to the direction of travel 13. [0039] However, as mentioned above, the valve assembly 128 may be configured to reduce the roll of the harvester 10. More specifically, when the first fluid-driven actuator 102 is on the downhill side of the harvester 10 and the second fluid-driven actuator 104 is on the uphill side of the harvester 10, the pressures within the first and second fluid conduits 124, 126 are such that the valve assembly 128 prevents fluid from exiting the second fluid chamber 114 of the first fluid-driven actuator 102. That is, in such instances, and as will be described below, one or more components within the valve 128 prevent fluid from flowing through the second fluid conduit 126 to the control valve 122 and the reservoir 116. Thus, the valve assembly 128 prevents fluid from exiting the second fluid chamber 114 of the downhill fluid-driven actuator when the harvester 10 travels along an inclined field surface. This, in turn, minimizes the shift in the center of gravity of the harvester 10 caused by traveling across an inclined surface from causing further roll of the harvester 10, thereby allowing the harvester 10 travel across steeper inclined surfaces.
[0040] Furthermore, the valve assembly 128 allows the first and second fluid-driven actuators 102, 104 to absorb impact caused when the harvester 10 encounters a bump, divot, or other surface irregularity. Specifically, when the harvester 10 travels across a relatively flat surface, the pressures within the first and second fluid conduits 124, 126 may be such that the valve assembly 128 allows fluid to exit the second fluid chambers of the first and second fluid-driven actuators 102, 104. In this respect, when the harvester 10 encounters a bump or divot in the field, fluid can be forced out of the second fluid chambers 114, thereby absorbing the impact caused by the

bump/divot. Thus, the valve assembly 128 allows the harvester 10 to safely operate on steeper inclined surfaces, while still allowing the first and second fluid-driven actuators 102, 104 to absorb bumps/divots when traveling across flat surfaces. [0041] As shown in FIG. 2, the valve assembly 128 is configured as a single counterbalance valve 130. In general, the single counterbalance valve 130 is configured to selectively occlude fluid flow through the second fluid conduit 126 based on the first and second pilot flows. More specifically, the single counterbalance valve 130 may include a flow regulator 132 on which the first pilot flow acts via a first pilot conduit 134 and the second pilot flow acts via a second pilot conduit 136. In this respect, and as mentioned above, the first pilot flow is associated with the fluid pressure within the first fluid conduit 124. Moreover, the second pilot flow is associated with the fluid pressure within the second fluid conduit 126 between the counterbalance valve 130 and the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104. As such, the flow regulator 132 is moveable between an opened position at which fluid can exit the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 and a closed position at which fluid is prevented from exiting the second fluid chambers 114 based on the pressure differential between the first and second pilot flows.
[0042] Additionally, the single counterbalance valve 130 may include a check valve 138. As shown, the check valve 138 is fluidly coupled to the second fluid conduit 126 in parallel with the flow regulator 132 via a bypass conduit 140. In this respect, the check valve 138 prevents fluid from flowing from the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 toward the control valve 122, thereby preventing such flow from bypassing the flow regulator 132 when the flow regulator 132 is at its closed position. However, the check valve 138 permits fluid to flow from the control valve 122 to the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104, thereby allowing such flow to bypass the flow regulator 132.
[0043] As indicated above, the single counterbalance valve 130 selectively prevents fluid from exiting the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104, thereby reducing the roll of the harvester 10. More specifically, when the harvester 10 is traveling across a field surface that is sloped

generally perpendicular to the direction of travel 13, the fluid pressure within the second fluid conduit 126 increases and the fluid pressure within the first fluid conduit 124 decreases. This pressure differential may move the flow regulator 132 to its closed position. In such instances, the flow regulator 132 and the check valve 138 prevent fluid from exiting the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104. This, in turn, prevents the rod 110 of the fluid-driven actuator on the downhill side of the harvester 10 from retracting into the corresponding cylinder 106 and increasing the roll of the harvester 10. Thus, the single counterbalance valve 130 reduces the roll of the harvester 10 when traveling on inclined field surface.
[0044] Furthermore, the single counterbalance valve 130 allows the first and second fluid-driven actuators 102, 104 to absorb impact caused when the harvester 10 encounters a bump, divot, or other surface irregularity. Specifically, when the harvester 10 travels across a relatively flat surface, the pressures within the first and second fluid conduits 124, 126 may be such that the flow regulator 132 is moved to its opened position. This, in turn, allows fluid to exit the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104. In this respect, when the harvester 10 encounters a bump or divot in the field, fluid can be forced out of the second fluid chambers 114, thereby absorbing the impact caused by the bump/divot. [0045] Referring now to FIG. 3, a schematic view of another embodiment of a system 100 for controlling the roll of an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the embodiment of the system 100 depicted in FIG. 3 is configured similarly to the embodiment of the system 100 depicted in FIG. 2. For example, like the system 100 illustrated in FIG. 2, the system 100 shown in FIG. 3 includes the first and second fluid-driven actuators 102, 104; the control valve 122; the first and second fluid conduits 124, 126; and the valve assembly 128. However, unlike the system 100 of FIG. 2, in the system 100 depicted in FIG. 3, the second fluid conduit 126 includes first and second conduit segments 142, 144. Specifically, the first conduit segment 142 extends between the second fluid chamber 114 of the first fluid-driven actuator 102 and valve assembly 128. Moreover, the second conduit segment 144 extends between the second fluid chamber 114 of the second fluid-driven actuator 104 and the valve assembly 128.

Additionally, the first and second conduit segments 142, 144 are joined at a junction 145 within the valve assembly 128.
[0046] Furthermore, unlike the system 100 of FIG. 2, in the system 100 depicted in FIG. 3, the valve assembly 128 is configured as a dual counterbalance valve 146. Like the single counterbalance valve 130 shown in FIG. 2, the dual counterbalance valve 146 includes the flow regulator 132 on which the first pilot flow acts via the first pilot conduit 134 and the second pilot flow acts via the second pilot conduit 136. However, unlike the single check valve 138 of the single counterbalance valve 130, the dual counterbalance valve 146 includes four check valves 148, 150, 152, 154. More specifically, a first check valve 148 is fluidly coupled to the first conduit segment 142 of the second fluid conduit 126 between the first fluid-driven actuator 102 and the junction 145. Additionally, a second check valve 150 is fluidly coupled to the second conduit segment 144 of the second fluid conduit 126 between the second fluid-driven actuator 104 and the junction 145. As will be described below, the first and second check valve 148, 150 collectively allow fluid from the first or second conduit segment 142, 144 having the greater pressure therein to be supplied to the flow regulator 132 and the second pilot conduit 136. Thus, the second pilot flow is indicative of the greater of the fluid pressures within the first and second conduit segments 142, 144.
[0047] Moreover, a third check valve 152 is fluidly coupled between the first conduit segment 142 of the second fluid conduit 126 and a portion of the second fluid conduit 126 positioned between the flow regulator 132 and the control valve 122 via a bypass conduit 156. In this respect, the third check valve 152 prevents fluid from flowing from the second fluid chamber 114 of the first fluid-driven actuator 102 toward the control valve 122, thereby preventing such flow from bypassing the flow regulator 132 when the flow regulator 132 is at its closed position. However, the third check valve 152 permits fluid to flow from the control valve 122 to the second fluid chamber 114 of the first fluid-driven actuator 102, thereby allowing such flow to bypass the flow regulator 132.
[0048] In addition, a fourth check valve 154 is fluidly coupled between the second conduit segment 144 of the second fluid conduit 126 and a portion of the second fluid conduit 126 positioned between the flow regulator 132 and the control valve 122 via a

bypass conduit 158. In this respect, the fourth check valve 154 prevents fluid from flowing from the second fluid chamber 114 of the second fluid-driven actuator 104 toward the control valve 122, thereby preventing such flow from bypassing the flow regulator 132 when the flow regulator 132 is at its closed position. However, the fourth check valve 154 permits fluid to flow from the control valve 122 to the second fluid chamber 114 of the first fluid-driven actuator 102, thereby allowing such flow to bypass the flow regulator 132.
[0049] As indicated above, the dual counterbalance valve 146 selectively prevents fluid from exiting the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104, thereby reducing the roll of the harvester 10. More specifically, when the harvester 10 travels across a field surface sloped or inclined generally perpendicular to the direction of travel 13, the center of gravity of the harvester 10 shifts to the downhill side of the harvester 10. For example, assume the first fluid-driven actuator 102 is on the downhill side of the harvester 10 and the second fluid-driven actuator 104 is on the uphill side of the harvester 10. In such instances, the fluid pressure within the first conduit segment 142 of the second fluid conduit 126 increases and the fluid pressure within the second conduit segment 144 of the second fluid conduit 126 decreases. As such, the first and second check valves 148, 150 supply fluid from the first conduit segment 142 to the flow regulator 132 and the second pilot conduit 136. Furthermore, in such instances, the fluid pressure within the first fluid conduit 124 decreases. The differential between the pressures in the first conduit segment 142 of the second fluid conduit 126 and the first fluid conduit 124 may move the flow regulator 132 to its closed position. In such instances, the flow regulator 132 and the third and fourth check valves 152, 154 prevent fluid from exiting the second fluid chambersl 14 of the first fluid-driven actuator 102. This, in turn, prevents the rod 110 of such actuator 102 from retracting into its cylinder 106 and increasing the roll of the harvester 10. Thus, the dual counterbalance valve 146 reduces the roll of the harvester 10 when traveling on inclined field surface. [0050] Furthermore, the dual counterbalance valve 146 allows the first and second fluid-driven actuators 102, 104 to absorb impact caused when the harvester 10 encounters a bump, divot, or other surface irregularity. Specifically, when the harvester 10 travels across a relatively flat surface, the pressures within the first fluid

conduit 124 and the first and second conduit segments 142, 144 of second fluid conduit 126 may be such that the flow regulator 132 is moved to its opened position. This, in turn, allows fluid to exit the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104. In this respect, when the harvester 10 encounters a bump or divot in the field, fluid can be forced out of the second fluid chambers 114, thereby absorbing the impact caused by the bump/divot.
[0051] Referring now to FIG. 4, a schematic view of a further embodiment of a system 100 for controlling the roll of an agricultural harvester is illustrated in accordance with aspects of the present subject matter. In general, the embodiment of the system 100 depicted in FIG. 4 is configured similarly to the embodiment of the system 100 depicted in FIG. 3. For example, like the system 100 illustrated in FIG. 3, the system 100 shown in FIG. 4 includes the first and second fluid-driven actuators 102, 104; the control valve 122; the first and second fluid conduits 124, 126; and the valve assembly 128. Moreover, like the system 100 illustrated in FIG. 3, in the system 100 shown in FIG. 4, the second fluid conduit 126 include the first and second conduit segments 142, 144 joined together at the junction 145 within the valve assembly 128.
[0052] However, unlike the system 100 of FIG. 2, in the system 100 depicted in FIG. 3, the valve assembly 128 is configured as an electronically controlled locking valve 160. As shown, the electronically controlled locking valve 160 is configured similarly to the dual counterbalance valve 146. For example, the electronically controlled locking valve 160 includes the flow regulator 132 on which the first pilot flow acts via the first pilot conduit 134 and the second pilot flow acts via the second pilot conduit 136. Moreover, the electronically controlled locking valve 160 includes the first, second, third, and fourth check valves 148, 150, 152, 154 and the bypass conduits 156, 158. However, unlike the dual counterbalance valve 146, in the electronically controlled locking valve 160, the bypass conduit 158 extends from a position on the second fluid conduit 126 between the junction 145 and the flow regulator 132 to a position on the second fluid conduit 126 between the flow regulator 132 and the control valve 122.
[0053] In addition, the electronically controlled locking valve 160 includes an electronically actuated bypass valve 162. As shown, the electronically actuated

bypass valve 162 is fluidly coupled to the second fluid conduit 126 in parallel with the flow regulator 132 via a bypass conduit 164. In this respect, the electronically actuated bypass valve 162 is moveable between first and second positions 166, 168 (e.g., via an electronically controlled solenoid 170). When at the first position 166, the electronically actuated bypass valve 162 permits fluid to flow through the bypass conduit 164 in either direction. Conversely, when at the second position 168, the electronically actuated bypass valve 162 permits fluid to flow through the bypass conduit 164 from the control valve 122 toward the first and second fluid-driven actuators 102, 104, while preventing fluid from flowing through the bypass conduit 164 from the first and second fluid-driven actuators 102, 104 toward the control valve 122. In this respect, and as will be described below, the electronically actuated bypass valve 162 may be actuated to allow fluid to bypass the flow regulator 132 regardless of the pressure and/or direction of the fluid flow through the first and second fluid conduits 124, 126.
[0054] Moreover, the system 100 may include a computing system 172 communicatively coupled to one or more components of the harvester 10 and/or the system 100 to allow the operation of such components to be electronically or automatically controlled by the computing system 172. For instance, the computing system 172 may be communicatively coupled to the electronically actuated bypass valve 162 of the electronically controlled locking valve 160 via a communicative link 174. As such, the computing system 172 may be configured to control the operation of the electronically actuated bypass valve 162 (e.g., its solenoid 170) to control when fluid can bypass the flow regulator 132 within the electronically controlled locking valve 160. In addition, the computing system 172 may be communicatively coupled to any other suitable components of the harvester 10 and/or the system 100. [0055] In general, the computing system 172 may comprise one or more processor-based devices, such as a given controller or computing device or any suitable combination of controllers or computing devices. Thus, in several embodiments, the computing system 172 may include one or more processor(s) 176 and associated memory device(s) 178 configured to perform a variety of computer-implemented functions. As used herein, the term "processor" refers not only to integrated circuits referred to in the art as being included in a computer, but also refers

to a controller, a microcontroller, a microcomputer, a programmable logic circuit (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory device(s) 178 of the computing system 172 may generally comprise memory element(s) including, but not limited to, a computer readable medium (e.g., random access memory RAM)), a computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disk-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disk (DVD) and/or other suitable memory elements. Such memory device(s) 178 may generally be configured to store suitable computer-readable instructions that, when implemented by the processor(s) 176, configure the computing system 172 to perform various computer-implemented functions, such as one or more aspects of the methods and algorithms that will be described herein. In addition, the computing system 172 may also include various other suitable components, such as a communications circuit or module, one or more input/output channels, a data/control bus and/or the like. [0056] The various functions of the computing system 172 may be performed by a single processor-based device or may be distributed across any number of processor-based devices, in which instance such devices may be considered to form part of the computing system 172. For instance, the functions of the computing system 172 may be distributed across multiple application-specific controllers or computing devices, such as a navigation controller, an engine controller, a transmission controller, and/or the like.
[0057] Furthermore, the system 100 may also include a user interface 180. More specifically, the user interface 180 may be configured to receive inputs (e.g., inputs associated with the desired operation of the electronically controlled locking valve 160) from the operator. As such, the user interface 180 may include one or more input devices, such as touchscreens, keypads, touchpads, knobs, buttons, sliders, switches, mice, microphones, and/or the like, which are configured to receive user inputs from the operator. The user interface 180 may, in turn, be communicatively coupled to the computing system 172 via the communicative link 174 to permit the received inputs to be transmitted from the user interface 180 to the computing system 172. In addition, some embodiments of the user interface 180 may include one or more feedback devices (not shown), such as display screens, speakers, warning lights,

and/or the like, which are configured to provide feedback from the computing system 172 to the operator. In one embodiment, the user interface 180 may be mounted or otherwise positioned within the operator's cab 18 of the harvester 10. However, in alternative embodiments, the user interface 180 may mounted at any other suitable location.
[0058] As described above, the electronically controlled locking valve 160 shown in FIG. 4 is configured similarly to the dual counterbalance valve 146 shown in FIG. 3. In this respect, the electronically controlled locking valve 160 may control the fluid flow to and from the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 in a similar manner as described. Thus, the electronically controlled locking valve 160 can be fluidly (e.g., hydraulically) controlled to selectively prevent fluid from exiting the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 based on the pressures within the first and second fluid conduits 124, 126 like the dual counterbalance valve 146 described above. However, as mentioned above, the electronically controlled locking valve 160 includes the electronically actuated bypass valve 162. In this respect, the computing system 172 may control the operation of the electronically actuated bypass valve 162 to allow fluid to exit the second fluid chambers 114 when the flow regulator 132 has otherwise prevented such flow. As such, the fluid-based control of the electronically controlled locking valve 160 may be overridden to allow fluid to exit the second fluid chambers even when such flow is occluded by the flow regulator 132. [0059] In some embodiments, the operator of the harvester 10 can manually control the operation of the electronically controlled locking valve 160 via the user interface 180. More specifically, the operator may provide one or more inputs to the user interface 180, with such inputs being indicative the desired operation of the electronically controlled locking valve 160. The computing system 172 may, in turn, receive the operator input(s) from the user interface 180 via the communicative link 174. Thereafter, the computing system 172 may control the operation of the electronically actuated bypass valve 162 based on the received operator input(s). [0060] For example, in one embodiment, the user interface 180 may include an on/off switch or other interface element (not shown). When the operator moves the on/off switch to the "on" position, the computing system 172 controls the operation of

the electronically actuated bypass valve 162 such that valve 162 is moved to the second position 168. In such instances, the electronically controlled locking valve 160 prevents fluid from exiting the second fluid chambers 114 of the first and second fluid-driven actuators 102, 104 based on the pressures within the first and second fluid conduits 124, 126. Conversely, when the operator moves the on/off switch to the "off' position, the computing system 172 controls the operation of the electronically actuated bypass valve 162 such that valve 162 is moved to the first position 166. In such instances, the electronically actuated bypass valve 162 allows fluid to exit the second fluid chambers 114 when the flow regulator 132 has otherwise prevented such flow. As such, the operator can manually permit or override the fluid-based control of the electronically controlled locking valve 160.
[0061] Alternatively, or in addition, the computing system 172 may be configured to control the operation of the electronically actuated bypass valve 162 based on received sensor data (e.g., from an inclinometer (not shown)). [0062] The term "software code" or "code" used herein refers to any instructions or set of instructions that influence the operation of a computer or controller. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer's central processing unit or by a controller, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer's central processing unit or by a controller, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term "software code" or "code" also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer's central processing unit or by a controller.
[0063] This written description uses examples to disclose the technology, including the best mode, and also to enable any person skilled in the art to practice the technology, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the technology is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they

include equivalent structural elements with insubstantial differences from the literal language of the claims.

WE CLAIM:

1. An agricultural harvester, comprising:
a frame;
first and second traction devices;
a first fluid-driven actuator coupled between the harvester frame and the first traction device, the first fluid-driven actuator defining first and second fluid chambers;
a second fluid-driven actuator coupled between the harvester frame and the second traction device, the second fluid-driven actuator defining a first fluid chamber fluidly coupled to the first fluid chamber of the first fluid-driven actuator in parallel, the second fluid-driven actuator further defining a second fluid chamber fluidly coupled to the second fluid chamber of the first fluid-driven actuator in parallel;
a control valve configured to control a flow of fluid to the first and second fluid-driven actuators;
a first fluid conduit extending between the control valve and the first fluid chambers of the first and second fluid-driven actuators;
a second fluid conduit extending between the control valve and the second fluid chambers of the first and second fluid-driven actuators; and
a valve assembly fluidly coupled to the first and second fluid conduits between the control valve and the first and second fluid-driven actuators, the valve assembly configured to selectively occlude the fluid from flowing from the second fluid chambers of the first and second fluid-driven actuators to the control valve based on pressures of the fluid within the first and second fluid conduits to reduce the roll of the agricultural harvester.
2. The agricultural harvester of claim 1, wherein the valve assembly is configured to selectively occlude the fluid from flowing from the second fluid chambers of the first and second fluid-driven actuators to the control valve based on a first pilot flow indicative of the pressure of the fluid within the first fluid conduit and a second pilot flow indicative of the pressure of the fluid within the second fluid conduit.
3. The agricultural harvester of claim 2, wherein the valve assembly comprises a single counterbalance valve.

4. The agricultural harvester of claim 2, wherein the second fluid conduit comprises a first conduit section fiuidly coupled between the second fluid chamber of the first fluid-driven actuator and the valve assembly, the second fluid conduit further comprising a second conduit section fiuidly coupled between the second fluid chamber of the second fluid-driven actuator and the valve assembly.
5. The agricultural harvester of claim 4, wherein the second pilot flow is indicative of a greater of the pressure of the fluid within the first conduit segment of the second fluid conduit or the pressure of the fluid within the second conduit segment of the second fluid conduit.
6. The agricultural harvester of claim 5, wherein the valve assembly comprises a dual counterbalance valve.
7. The agricultural harvester of claim 1, wherein the valve assembly comprises an electronically controlled locking valve.
8. The agricultural harvester of claim 7, further comprising:
a computing system configured to control an operation of the electronically controlled locking valve such that the roll of the agricultural harvester is reduced.
9. The agricultural harvester of claim 8, further comprising:
a user interface communicatively coupled to the computing system, wherein the computing system is further configured to:
receive an operator input from the user interface; and
control the operation of the electronically controlled locking valve
based the received operator input.
10. The agricultural harvester of claim 1, wherein the first and second traction devices are spaced apart from each other along a lateral direction of the agricultural harvester, the lateral direction extending perpendicular to a direction of travel of the agricultural harvester.
11. The agricultural harvester of claim 1, wherein the first and second traction devices comprise first and second wheels.
12. A system for controlling roll of an agricultural harvester, the system comprising:
a harvester frame;
first and second traction devices;

a first fluid-driven actuator coupled between the harvester frame and the first traction device, the first fluid-driven actuator defining first and second fluid chambers;
a second fluid-driven actuator coupled between the harvester frame and the second traction device, the second fluid-driven actuator defining a first fluid chamber fluidly coupled to the first fluid chamber of the first fluid-driven actuator in parallel, the second fluid-driven actuator further defining a second fluid chamber fluidly coupled to the second fluid chamber of the first fluid-driven actuator in parallel;
a control valve configured to control a flow of fluid to the first and second fluid-driven actuators;
a first fluid conduit extending between the control valve and the first fluid chambers of the first and second fluid-driven actuators;
a second fluid conduit extending between the control valve and the second fluid chambers of the first and second fluid-driven actuators; and
a valve assembly fluidly coupled to the first and second fluid conduits between the control valve and the first and second fluid-driven actuators, the valve assembly configured to selectively occlude the fluid from flowing from the second fluid chambers of the first and second fluid-driven actuators to the control valve based on pressures of the fluid within the first and second fluid conduits to reduce the roll of the agricultural harvester.
13. The system of claim 12, wherein the valve assembly is configured to selectively occlude the fluid from flowing from the second fluid chambers of the first and second fluid-driven actuators to the control valve based on a first pilot flow indicative of the pressure of the fluid within the first fluid conduit and a second pilot flow indicative of the pressure of the fluid within the second fluid conduit.
14. The system of claim 13, wherein the valve assembly comprises a single counterbalance valve.
15. The system of claim 13, wherein the second fluid conduit comprises a first conduit section fluidly coupled between the second fluid chamber of the first fluid-driven actuator and the valve assembly, the second fluid conduit further comprising a second conduit section fluidly coupled between the second fluid chamber of the second fluid-driven actuator and the valve assembly.

16. The system of claim 15, wherein the second pilot flow is indicative of a greater of the pressure of the fluid within the first conduit segment of the second fluid conduit or the pressure of the fluid within the second conduit segment of the second fluid conduit.
17. The system of claim 16, wherein the valve assembly comprises a dual counterbalance valve.
18. The system of claim 12, wherein the valve assembly comprises an electronically controlled locking valve.
19. The system of claim 18, further comprising:
a computing system configured to control an operation of the electronically controlled locking valve such that the roll of the agricultural harvester is reduced.
20. The system of claim 12, wherein the first and second traction devices
are spaced apart from each other along a lateral direction of the agricultural harvester,
the lateral direction extending perpendicular to a direction of travel of the agricultural
harvester.