Patent Grant
12295288
The present description relates to agricultural machines, forestry machines, construction machines and turf management machines.
There are a wide variety of different types of agricultural machines. Some agricultural machines include harvesters, such as combine harvesters, sugar cane harvesters, cotton harvesters, self-propelled forage harvesters, and windrowers. Some harvesters can also be fitted with different types of heads to harvest different types of crops.
The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter.
An information map is obtained by an agricultural system. The information map maps values of a characteristic to different geographic locations in a field. An in-situ sensor detects machine setting values as a mobile machine moves through the field. A predictive map generator generates a predictive map that predicts the machine setting at different locations in the field based on a relationship between the values of the characteristic and the machine setting values detected by the in-situ sensor. The predictive map can be output and used in automated machine control.
Example 1 is an agricultural system comprising:
Example 2 is the agricultural system of any or all previous examples, wherein the predictive map generator configures the functional predictive machine setting map for consumption by a control system that generates control signals to control a controllable subsystem on the mobile machine based on the functional predictive machine setting map.
Example 3 is the agricultural system of any or all previous examples, wherein the in-situ sensor is an input sensor that detects, in detecting the machine setting value, an input into an input mechanism.
Example 4 is the agricultural system of any or all previous examples, wherein the in-situ sensor is a control system output sensor that detects, in detecting the machine setting value, an output of a control system that controls the mobile machine.
Example 5 is the agricultural system of any or all previous examples, wherein the machine setting value is indicative of a commanded operational set point of a component of the mobile machine.
Example 6 is the agricultural system of any or all previous examples, wherein the information map is one of:
Example 7 is the agricultural system of any or all previous examples, wherein the information map comprises two or more information maps, each of the two or more information maps mapping values of a respective characteristic to the different geographic locations in the field,
Example 8 is the agricultural system of any or all previous examples, wherein the in-situ sensor detects, as the machine setting value, a machine setting value corresponding to a first component of the mobile machine,
Example 9 is the agricultural system of any or all previous examples and further comprising:
Example 10 is the agricultural system of any or all previous examples, wherein the second component of the mobile machine is downstream of the first component of the mobile machine.
Example 11 is a computer implemented method comprising:
Example 12 is the computer implemented method of any or all previous examples and further comprising:
Example 13 is the computer implemented method of any or all previous examples and further comprising:
Example 14 is the computer implemented method of any or all previous examples, wherein obtaining in-situ sensor data indicative of the machine setting value comprises obtaining in-situ sensor data indicative of a machine setting value corresponding to a first component of the mobile machine,
Example 15 is the computer implemented method of any or all previous examples, wherein controlling the controllable subsystem comprises controlling a controllable subsystem corresponding to a second component based on the functional predictive machine setting map.
Example 16, is a mobile agricultural machine, comprising:
Example 17 is the mobile agricultural machine of any or all previous examples and further comprising:
Example 18 is the mobile agricultural machine of any or all previous examples, wherein controllable subsystem comprises an actuator that is actuatable to adjust operation of a component of the mobile agricultural machine.
Example 19 is the mobile agricultural machine of any or all previous examples, wherein the predictive machine setting values correspond to a first component of the mobile agricultural machine and wherein the actuator corresponds to a second component of the mobile agricultural machine.
Example 20 is the mobile agricultural machine of any or all previous examples, wherein the control system generates a control signal to control an interface mechanism to generate a display indicative of the functional predictive machine setting map.
This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to examples that solve any or all disadvantages noted in the background.
For the purposes of promoting an understanding of the principles of the present disclosure, reference will now be made to the examples illustrated in the drawings, and specific language will be used to describe the same. It will nevertheless be understood that no limitation of the scope of the disclosure is intended. Any alterations and further modifications to the described devices, systems, methods, and any further application of the principles of the present disclosure are fully contemplated as would normally occur to one skilled in the art to which the disclosure relates. In particular, it is fully contemplated that the features, components, and/or steps described with respect to one example may be combined with the features, components, and/or steps described with respect to other examples of the present disclosure.
In one example, the present description relates to using in-situ data taken concurrently with an operation, in combination with prior or predicted data, such as prior or predicted data represented in a map, to generate a predictive model and a predictive map, such as a predictive machine setting model and predictive machine setting map. In some examples, the predictive machine setting map can be used to control a mobile machine.
In one example, the present description relates to obtaining a map, such as a topographic map. A topographic map illustratively maps topographic characteristics (e.g., elevation, slope, ground profile, etc.) across different geographic locations in a field of interest. Since ground slope is indicative of a change in elevation, having two or more elevation values allows for calculation of slope across the areas having known elevation values. Greater granularity of slope can be accomplished by having more areas with known elevation values. As an agricultural harvester travels across the terrain in known directions, the pitch and roll of the agricultural harvester can be determined based on the slope of the ground (i.e., areas of changing elevation). Topographic characteristics, when referred to below, can include, but are not limited to, the elevation, slope (e.g., including the machine orientation relative to the slope), and ground profile (e.g., roughness). The topographic map can be derived from aerial survey of the field of interest, such as by aerial vehicles (e.g., satellites, drones, etc.) having one or more sensors (e.g., lidar) that detect the elevation across the worksite. The topographic map can be derived from sensor data during from previous operations at the field. For instance, the machine(s) performing the previous operations may be outfitted with one or more sensors that can detect the topographic characteristics of the field. These are merely some examples. The topographic map can be generated in a variety of other ways.
In one example, the present description relates to obtaining a map, such as a vegetative index (VI) map. A VI map illustratively maps vegetative index values across different geographic locations in a field of interest. VI values may be indicative of vegetative growth or vegetation health, or both. One example of a vegetative index includes a normalized difference vegetation index (NDVI). There are many other vegetative indices that are within the scope of the present disclosure, for instance a leaf area index (LAI). In some examples, a vegetative index may be derived from sensor readings of one or more bands of electromagnetic radiation reflected by the plants or plant matter. Without limitations, these bands may be in the microwave, infrared, visible, or ultraviolet portions of the electromagnetic spectrum. A VI map can be used to identify the presence and location of vegetation (e.g., crop, weeds, plant matter, such as residue, etc.). The VI map may be generated based on sensor readings during previous operations at the field or during an aerial survey of the field performed by aerial vehicles. These are merely some examples. The VI map can be generated in a variety of other ways.
In one example, the present description relates to obtaining a map, such as an optical map. An optical map illustratively maps electromagnetic radiation values (or optical characteristic values) across different geographic locations in a field of interest. Electromagnetic radiation values can be from across the electromagnetic spectrum. This disclosure uses electromagnetic radiation values from infrared, visible light and ultraviolet portions of the electromagnetic spectrum as examples only and other portions of the spectrum are also envisioned. An optical map may map datapoints by wavelength (e.g., a vegetative index). In other examples, an optical map identifies textures, patterns, color, shape, or other relations of data points. Textures, patterns, or other relations of data points can be indicative of presence or identification of vegetation on the field (e.g., crops, weeds, plant matter, such as residue, etc.). Additionally, or alternatively, an optical map may identify the presence of standing water or wet spots on the field. The optical map can be derived using satellite images, optical sensors on flying vehicles such as UAVS, or optical sensors on a ground-based system, such as another machine operating in the field prior to the current operation. In some examples, optical maps may map three-dimensional values as well such as vegetation height when a stereo camera or lidar system is used to generate the map. These are merely some examples. The optical map can be generated in a variety of other ways.
In one example, the present description relates to obtaining a map, such a seeding map. A seeing map illustratively maps seeding characteristic values across different geographic locations in a field of interest. Seeding characteristics can include seed location, seed spacing, seed population, seed row spacing, seed genotype (e.g., species, hybrid, cultivar, etc.), as well as various other characteristics. The seeding map may be derived from sensor readings during a planting operation performed on the field of interest in the same season as the current operation. In some examples, the seeding map may be derived from a prescriptive seeding map that was used in the control of a planting machine during a planting operation in the same season. These are merely some examples. The seeding map can be generated in a variety of other ways.
In one example, the present description relates to obtaining a map, such as a soil property map. A soil property map illustratively maps soil property values (which may be indicative of soil type, soil moisture, soil structure, as well as various other soil properties) across different geographic locations in a field of interest. The soil property maps thus provide geo-referenced soil properties across a field of interest. Soil type can refer to taxonomic units in soil science, wherein each soil type includes defined sets of shared properties. Soil types can include, for example, sandy soil, clay soil, silt soil, peat soil, chalk soil, loam soil, and various other soil types. Soil moisture can refer to the amount of water that is held or otherwise contained in the soil. Soil moisture can also be referred to as soil wetness. Soil structure can refer to the arrangement of solid parts of the soil and the pore space located between the solid parts of the soil. Soil structure can include the way in which individual particles, such as individual particles of sand, silt, and clay, are assembled. Soil structure can be described in terms of grade (degree of aggregation), class (average size of aggregates), and form (types of aggregates), as well as a variety of other descriptions. These are merely examples. Various other characteristics and properties of the soil can be mapped as soil property values on a soil property map.
These soil property maps can be generated on the basis of data collected during another operation corresponding to the field of interest, for example, previous agricultural operations in the same season, such as planting operations or spraying operations, as well as previous agricultural operations performed in past seasons, such as a previous harvesting operation. The agricultural machines performing those agricultural operations can have on-board sensors that detect characteristics indicative of soil properties, for example, characteristics indicative of soil type, soil moisture, soil cover, soil structure, as well as various other characteristics indicative of various other soil properties. Additionally, operating characteristics, machine settings, or machine performance characteristics of the agricultural machines during previous operations along with other data can be used to generate a soil property map. For instance, header height data indicative of a height of an agricultural harvester's header across different geographic locations in the field of interest during a previous harvesting operation along with weather data that indicates weather conditions such as precipitation data or wind data during an interim period (such as the period since the time of the previous harvesting operation and the generation of the soil property map) can be used to generate a soil moisture map. For example, by knowing the height of the header, the amount of remaining plant residue, such as crop stalks, can be known or estimated and, along with precipitation data, a level of soil moisture can be predicted. This is merely an example.
In other examples, surveys of the field of interest can be performed, either by various machines with sensors, such as imaging systems, or by humans. The data collected during these surveys can be used to generate a soil property map. For instance, aerial surveys of the field of interest can be performed in which imaging of the field is conducted, and, on the basis of the image data, a soil property map can be generated. In another example, a human can go into the field to collect various data or samples, with or without the assistance of devices such as sensors, and, on the basis of the data or samples, a soil property map of the field can be generated. For instance, a human can collect a core sample at various geographic locations across the field of interest. These core samples can be used to generate soil property maps of the field. In other examples, the soil property maps can be based on user or operator input, such as an input from a farm manager, which may provide various data collected or observed by the user or operator.
Additionally, the soil property map can be obtained from remote sources, such as third-party service providers or government agencies, for instance, the USDA Natural Resources Conservation Service (NRCS), the United States Geological Survey (USGS), as well as from various other remote sources.
In some examples, a soil property map may be derived from sensor readings of one or more bands of electromagnetic radiation reflected by the soil (or surface of the field). Without limitation, these bands may be in the microwave, infrared, visible or ultraviolet portions of the electromagnetic spectrum.
The soil property map can be generated in a variety of other ways.
In one example, the present description relates to obtaining a map, such as a prior operation map. The prior operation map includes geolocated values of prior operation characteristics across different geographic locations in a field of interest. Prior operation characteristics can include characteristics detected by sensors during prior operations at the field, such as characteristics of the field, characteristics of vegetation on the field, characteristics of the environment, as well as operating parameters of the machines performing the prior operations. In other examples, the prior operation map can be based on data provided by an operator or user. These are merely some examples. The prior operation map can be generated in a variety of other ways.
In one example, the present description relates to obtaining a map, such as a historical setting map. The historical setting map includes geolocated historical machine setting values across different geographic locations in a field of interest. Historical machine setting values can be the setpoint operating parameter values of items of a mobile machine. For example, in the case of harvesters, historical machine setting values may include the historical travel speed set point values, the historical header set point values (e.g., the historical height set point values, the historical tilt set point values, the historical roll set point values), the historical deck plate spacing set point values, the historical gathering chain speed set point values, the historical stalk rollers speed set point values, the historical conveying mechanism position set point values, the historical conveying mechanism speed set point values, the historical rotor speed set point values, the historical concave clearance set point values, the historical cleaning fan speed set point values, the historical chopper speed set point values, the historical chopper counter-knife position set point values, the historical chaffer position set point values (e.g., the size of chaffer openings), the sieve position set point values (e.g., the size of sieve openings), as well as historical set point values of various other items of the harvester. It will be understood that other machines may have different items. Thus, in other examples, historical setting map may have historical set point values that correspond to the particular items of the machines. For example, for a harvester having a different type of header, such as reel-type header, the historical setting map may also include historical reel position set point values (e.g., historical reel height values and historical reel fore-to-aft position values), historical reel speed set point values, and historical reel finger position set point values. The historical setting map may be derived from sensor readings during a previous operation on the field. For example, a machine performing a prior operation at the field may be equipped with machine setting sensors that detect setting values of various items of the machine. These are merely some examples. The historical setting map can be generated in a variety of other ways.
While the various examples described herein proceed with respect to certain example maps, it will be appreciated that various other types of maps that map various other types of characteristics are contemplated herein and are applicable with the systems and methods described herein.
The present discussion thus proceeds with respect to systems that receive one or more maps of a field and also use an in-situ sensor to detect a value indicative of a characteristic, such as a machine setting, during an operation. The systems generate a model that models a relationship between the one or more characteristics derived from the one or more maps and the output values from the in-situ sensor. The model is used to generate a functional predictive map that predicts the characteristic (or an output value of the in-situ sensor) at different locations in the field, such as functional predictive machine setting map that predicts the machine setting (or an output value of the in-situ machine setting sensor) at different locations in the field. The functional predictive map, generated during the operation, can be used in automatically controlling a mobile machine, such as an agricultural harvester, during an operation.
While the various examples described herein proceed with respect to certain example agricultural machines, such as agricultural harvesters, it will be appreciated that the systems and methods described herein are applicable to various other types of machines, including various other types of agricultural machines.
Reference will now be drawn to
As illustrated, agricultural harvester 100 illustratively includes an operator compartment 101, which can have a variety of different operator interface mechanisms, for controlling agricultural harvester 100 as well as for interacting with various items. Agricultural harvester 100 includes front-end equipment, such as a header 102. Header 102, in the illustrated example, is a corn header. Though, in other examples, other types of headers, such as reel-type headers, draper headers, etc. can be used. Header 102 includes row divider units 104 and a conveying mechanism 109, illustratively a cross auger, that is actuatable (e.g., rotatable) to convey harvested material towards feeder house 106.
Each row divider unit 104 includes a crop handling subsystem that includes gathering chains, deck plates, and stalk rollers. Each row divider unit 104 includes a left and right gathering chain, deck plate, and stalk roller, with the exception of left (as shown in
Agricultural harvester 100 also includes a feeder house 106, a feed accelerator 108, and a thresher generally indicated at 110. Header 102 is pivotally coupled to a frame 103 of agricultural harvester 100 along pivot axis 105. One or more actuators 107 drive movement of header 102 about axis 105 in the direction generally indicated by arrow 190. Thus, a vertical position of header 102 (the header height) above ground 111 over which the header 102 travels is controllable by actuating actuator 107. While not shown in
Thresher 110 illustratively includes a threshing rotor 112 and a set of concaves 114. Further, agricultural harvester 100 also includes a separator 116. Agricultural harvester 100 also includes a cleaning subsystem or cleaning shoe (collectively referred to as cleaning subsystem 118) that includes a cleaning fan 120, chaffer 122, and sieve 124. Agricultural harvester 100 also includes discharge beater 126, tailings elevator 128, clean grain elevator 130, as well as unloading auger 134 and spout 136. The clean grain elevator 130 moves clean grain into clean grain tank 132. Agricultural harvester 100 also includes a residue subsystem 138 that can include chopper 140 and spreader 142. Chopper 140 includes a set of knives and is rotatable to engage and break down (chop) material other than grain (e.g., crop residue) that is conveyed to spreader 142 to be spread on field 111. Agricultural harvester 100 also includes a propulsion subsystem that includes an engine that drives ground engaging components 144, such as wheels or tracks. In some examples, a combine harvester within the scope of the present disclosure may have more than one of any of the subsystems mentioned above. In some examples, agricultural harvester 100 may have left and right cleaning subsystems, separators, etc., which are not shown in
In operation, and by way of overview, agricultural harvester 100 illustratively moves through a field in the direction indicated by arrow 147. As agricultural harvester 100 moves, header 102 engages the crop to be harvested. An operator of agricultural harvester 100 can be a local human operator, a remote human operator, or an automated system. The operator of agricultural harvester 100 may determine one or more of a height setting, a tilt angle setting, or a roll angle setting for header 102. For example, the operator inputs a setting or settings to a control system, described in more detail below, that controls actuator 107. The control system may also receive a setting from the operator for establishing the tilt angle and roll angle of the header 102 and implement the inputted settings by controlling associated actuators, not shown, that operate to change the tilt angle and roll angle of the header 102. The actuator 107 maintains header 102 at a height above ground 111 based on a height setting and, where applicable, at desired tilt and roll angles. Each of the height, roll, and tilt settings may be implemented independently of the others. The control system responds to header error (e.g., the difference between the height setting and measured height of header 104 above ground 111 and, in some examples, tilt angle and roll angle errors) with a responsiveness that is determined based on a sensitivity level. If the sensitivity level is set at a greater level of sensitivity, the control system responds to smaller header position errors, and attempts to reduce the detected errors more quickly than when the sensitivity is at a lower level of sensitivity.
Further, the operator may set the spacing of the deck plates, as well as the parameters of the gathering chains, the stalk rollers, and the conveying mechanism 109. The deck plates are generally spaced apart based on the size of the crop stalks or the size of the crop ears. The deck plate spacing is generally tapered from the front to the back. The deck plate spacing may be adjusted to account for variation in stalk size or ear size during the operation, as well as when ear loss at the header is detected (e.g., ear loss due to ears slipping between the deck plates). The speed of the gathering chains and stalk rollers may be synchronized with the forward travel speed of the harvester 100. In some examples, the speed of the gathering chains and stalk rollers may be adjusted based on detected characteristics, such as crop loss (e.g., butt shelling) at the header 102. The conveying mechanism 109 speed and position may be adjusted. For instance, the speed of the conveying mechanism 109 may be adjusted based on the biomass. The position (e.g., height) of the conveying mechanism 109 may adjusted based on the size of the corn ears or based on detected characteristics such as crop loss (e.g., ear shatter) at the header 102 due to pinching of the corn ears between the conveying mechanism 109 and the header 102.
After crops material is separated from the gathered crops and conveyed, by conveying mechanism 109 towards the feeder house 106, the severed crop material is moved through a conveyor in feeder house 106 toward feed accelerator 108, which accelerates the crop material into thresher 110. The crop material is threshed by rotor 112 rotating the crop against concaves 114. The operator may set the speed of the rotor 112 as well as the spacing between the rotor 112 and the concaves 114 (concave clearance). For instance, the speed of the rotor as well as the spacing between the rotor and the concaves may be increased with an increase in biomass.
The threshed crop material is moved by a separator rotor in separator 116 where a portion of the residue is moved by discharge beater 126 toward the residue subsystem 138. The portion of residue transferred to the residue subsystem 138 is chopped by residue chopper 140 and spread on the field by spreader 142. The speed of the chopper 140 can be set by the operator based on various characteristics, such as the amount of biomass being processed. In other configurations, the residue is released from the agricultural harvester 100 in a windrow. In other examples, the residue subsystem 138 can include weed seed eliminators (not shown) such as seed baggers or other seed collectors, or seed crushers or other seed destroyers.
Grain falls to cleaning subsystem 118. Chaffer 122 separates some larger pieces of material from the grain, and sieve 124 separates some of finer pieces of material from the clean grain. The sieve 124 and the chaffer 122 are actuatable between a range of openness (or closedness) to separate clean grain from other material. The operator may set the openness of the sieve 124 or the chaffer 122 based on various characteristics, such as the cleanliness of grain in the grain tank 132. Clean grain falls to an auger that moves the grain to an inlet end of clean grain elevator 130, and the clean grain elevator 130 moves the clean grain upwards, depositing the clean grain in clean grain tank 132. Residue is removed from the cleaning subsystem 118 by airflow generated by cleaning fan 120. Cleaning fan 120 directs air along an airflow path upwardly through the sieves and chaffers. The airflow carries residue rearwardly in agricultural harvester 100 toward the residue handling subsystem 138. The operator may set the speed (and thus the air output) of the cleaning fan 120 based on various characteristics.
Tailings elevator 128 returns tailings to thresher 110 where the tailings are re-threshed. Alternatively, the tailings also may be passed to a separate re-threshing mechanism by a tailings elevator or another transport device where the tailings are re-threshed as well.
The illustrated example also shows that, in one example, agricultural harvester 100 can include a one or more in-situ sensors 308, some of which are shown in
Ground speed sensor 146 senses the travel speed of agricultural harvester 100 over the ground. Ground speed sensor 146 may sense the travel speed of the agricultural harvester 100 by sensing the speed of rotation of the ground engaging components (such as wheels or tracks), a drive shaft, an axle, or other components. In some instances, the travel speed may be sensed using a positioning system, such as a global positioning system (GPS), a dead reckoning system, a long range navigation (LORAN) system, a Doppler speed sensor, or a wide variety of other systems or sensors that provide an indication of travel speed. Ground speed sensors 146 can also include direction sensors such as a compass, a magnetometer, a gravimetric sensor, a gyroscope, GPS derivation, to determine the direction of travel in two or three dimensions in combination with the speed. This way, when agricultural harvester 100 is on a slope, the orientation of agricultural harvester 100 relative to the slope is known. For example, an orientation of agricultural harvester 100 could include ascending, descending or transversely travelling the slope. Machine or ground speed, when referred to in this disclosure, can also include the two or three dimension direction of travel.
Loss sensors 152 illustratively provide an output signal indicative of the quantity of grain loss occurring in both the right and left sides of the cleaning subsystem 118. In some examples, sensors 152 are strike sensors which count grain strikes per unit of time or per unit of distance traveled to provide an indication of the grain loss occurring at the cleaning subsystem 118. The strike sensors for the right and left sides of the cleaning subsystem 118 may provide individual signals or a combined or aggregated signal. In some examples, sensors 152 may include a single sensor as opposed to separate sensors provided for each cleaning subsystem 118.
Separator loss sensor 148 provides a signal indicative of grain loss in the left and right separators, not separately shown in
Observation sensor systems 151 may include one or more sensors, such as one or more imaging systems (e.g., mono or stereo cameras), optical sensors, radar, lidar, thermal or infrared sensors, ultrasonic sensors, as well as a variety of other types of sensors. Observation sensor systems 151 may be configured to detect one or more areas around (e.g., in front of, behind, to the sides of) harvester 100. Alternatively, or additionally, observation sensor systems 151 may detect components of harvester 100, such as header 102.
Agricultural harvester 100 may also include various other in-situ sensors 308. For instance, agricultural harvester 100 may include one or more of the following sensors: header height sensors 171 that senses a height of header 102 above ground 111; stability sensors (e.g., accelerometers) that sense oscillation or bouncing motion (and amplitude) of agricultural harvester 100; a residue setting sensor that is configured to sense whether agricultural harvester 100 is configured to chop the residue, produce a windrow, etc.; a chopper speed sensor that is configured to sense the speed of chopper 140; a cleaning shoe fan speed sensor to sense the speed of fan 120; a concave clearance sensor that senses clearance between the rotor 112 and concaves 114; a threshing rotor speed sensor that senses a rotor speed of rotor 112; a chaffer clearance sensor that senses the size of openings in chaffer 122; a sieve clearance sensor that senses the size of openings in sieve 124; one or more machine setting sensors configured to sense various configurable settings of agricultural harvester 100; a machine orientation sensor (e.g., inertial measurement unit) that senses the orientation of agricultural harvester 100; a material other than grain (MOG) moisture sensor (e.g., capacitive moisture sensor) that senses a moisture level of the MOG passing through agricultural harvester 100; and crop property sensors that sense a variety of different types of crop properties, such as crop type, crop moisture, crop biomass, crop height, and other crop properties. Crop property sensors may also be configured to sense characteristics of the severed crop material as the crop material is being processed by agricultural harvester 100. For example, in some instances, the crop property sensors may sense grain quality such as broken grain; MOG levels; grain constituents such as starches and protein; grain moisture (e.g., capacitive moisture sensor); and grain feed rate as the grain travels through the feeder house 106, clean grain elevator 130, or elsewhere in the agricultural harvester 100. The crop property sensors may also sense the feed rate of biomass through feeder house 106, through the separator 116 or elsewhere in agricultural harvester 100. The crop property sensors may also sense the feed rate as a mass flow rate of grain through elevator 130 or through other portions of the agricultural harvester 100 or provide other output signals indicative of other sensed variables.
It should be noted that crop moisture can broadly refer to the moisture of the crop plant (e.g., corn plant) which includes both grain (e.g., corn kernels) and material other than grain (e.g., leaves, stalk, etc.) Thus, crop moisture can be inclusive of both grain moisture and moisture of material other than grain (e.g., MOG moisture).
Prior to describing how an agricultural system generates a functional predictive machine setting map and uses the functional predictive machine setting map for control, a brief description of machine settings will be described. Machine settings may include the setpoint operating parameters of items of a mobile machine, such as agricultural harvester 100. For example, machine settings may include the travel speed set point and the heading set point. In the example of agricultural harvester 100, machine settings may include the header 102 position (e.g., height, tilt, roll) setpoints, the deck plate spacing set point, the gathering chain speed set point, the stalk rollers speed set point, conveying mechanism 109 position set point, the conveying mechanism 109 speed set point, the rotor 112 speed set point, the concave clearance (e.g. space between rotor 112 and concaves 114) set point, the cleaning fan 120 speed set point, the chopper 140 speed set point, the chopper 140 counter-knife position set point, and the chaffer/sieve position set points (size of opening in chaffer and sieve), as well as set points of various other items of agricultural harvester 100. It will be understood that other machines may have different items. Thus, in other examples, machine settings may correspond to the particular items of the machine. For example, a harvester having a different type of header, such as reel-type header, may consider parameters of the reel, such as reel position setpoints (e.g., height set point and fore-to-aft position set point), reel speed set point, reel finger position set point, etc. In any case, it will be understood that machine settings include the set point operating parameter of an items of a machine. The machine settings can be sensed (or otherwise detected) by a variety of sensors. For instance, where the set point is established by a human operator (e.g., 360) or user (e.g., 366), an input into an input mechanism (e.g., 318 or 364) can be detected. Where the set point is established by an automated control system (e.g., control system 304) an output of the control system 304 (e.g., control signal) establishing the setting (or controlling an item to operate at the setting) can be detected.
A relationship between the machine setting values obtained from in-situ sensor data and the information map values is identified, and that relationship is used to generate a functional predictive map. A functional predictive map predicts values at different geographic locations in a field, and one or more of those values can be used for controlling a machine. In some instances, a functional predictive map can be presented to a user, such as an operator of an agricultural work machine, which may be an agricultural harvester, or another user, or both. A functional predictive map can be presented to a user visually, such as via a display, haptically, or audibly. The operator or user, or both, can interact with the functional predictive map to perform editing operations and other user interface operations. In some instances, a functional predictive map can be used for one or more of controlling an agricultural work machine, such as an agricultural harvester, presentation to an operator or other user, and presentation to an operator or user for interaction by the operator or user.
As will be described further below, in some examples, the functional predictive machine setting map predicts machine setting values for an item of the machine, such as a first component of the machine, and those values are used to control settings of one or more other items of the machine, such as a second component of the machine. In some examples, the other items, such as the second component, are downstream (e.g., downstream relative to the flow of material through the machine or downstream relative to the direction of travel of the machine) of the item to which the map corresponds, such as the first component. In some examples, depending on the machine that is being controlled, an item may be downstream to another item relative to the direction of travel of the machine or relative to the direction of material (e.g., crop material) flowing through the machine. In some examples, an item may be upstream in a first instance and then downstream in a second instance. For example, a threshing rotor (e.g., 112) and concaves (e.g., 114) may be upstream of a cleaning shoe (e.g., sieve 124 and chaffer 122) as the crop material first passes through the machine, but some of the crop material may pass back to the threshing rotor to be re-threshed, in which case, the threshing rotor and concaves may be downstream of the cleaning shoe relative to the flow of the crop material that is to be re-threshed. Thus, a rotor and concaves can be both upstream and downstream of the cleaning shoe depending on the instance. This is merely an example. In some examples, a component is only downstream relative to the flow of material but not relative to the direction of travel. In some examples, a component is only downstream relative to the direction of travel.
The in-situ sensors 308 can be on-board mobile machine 100, remote from mobile machine 100, such as deployed at fixed locations on the worksite or on another machine operating in concert with mobile machine 100, such as an aerial vehicle, and other types of sensors, or a combination thereof. In-situ sensors 308 sense characteristics at the worksite during the course of an operation. In-situ sensors 308 illustratively include machine setting sensors 370, geographic position sensors 304, heading/speed sensors 325, and can include various other sensors 328, such as the various other sensors described in
Machine setting sensors 370 include input setting input sensors 372, control system setting output sensors 374, and can include various other items 376, including other types of machine setting sensors.
Machine setting sensors 370 illustratively detect values of machine settings, such as set point values, that are use in the control of components of mobile machine 100. Machine setting sensors 370 can detect a variety of machine settings values, such as header 102 position (e.g., height, tilt, roll) set point values, deck plate spacing set point values, gathering chain speed set point values, stalk roller speed set point values, conveying mechanism 109 position set point values, conveying mechanism 109 speed set point values, the rotor 112 speed set point values, concave clearance (e.g., space between rotor 112 and concaves 114) set point values, cleaning fan 120 speed set point values, the chopper 140 speed set point values, the chopper 140 counter-knife position set point, and the chaffer/sieve position set points (size of opening in chaffer and sieve), as well as set point values of various other set points of various other components of agricultural harvester 100. As discussed previously, in other examples, the machine 100 may be a different type of machine, and thus, machine settings sensors 370 will detect machine settings values of the particular components of the other types of machines. For example, a harvester having a different type of header, such as reel-type header, may consider parameters of the reel, such as reel position setpoints (e.g., height set point and fore-to-aft position set point), reel speed set point, reel finger position set point, etc. This is merely an example.
Input setting sensors 372 illustratively detect an input by an operator 360 or user 366 that establishes a machine setting. For instance, an operator 360 may interact with one or more operator interface mechanisms 318 to establish a machine setting, and such an input can be detected by input setting sensors 372. A user 366 may interact with one or more user interface mechanisms 364 to establish a machine setting, and such an input can be detected by input setting sensors 372.
Control system setting output sensors 374 illustratively detect an output (e.g., control signal) of control system 314 (or of a remote control system, such as a remote control system on remote computing systems 368) that establishes a machine setting. For instance, the control system 314 may automatically generate control signals to control (e.g., adjust) various machine settings of mobile machine 100 during the operation, such as in response to sensed characteristics. These control signals can be detected by control system setting output sensors 374.
Geographic position sensors 304 illustratively sense or detect the geographic position or location of mobile harvesting machine 100. Geographic position sensors 304 can include, but are not limited to, a global navigation satellite system (GNSS) receiver that receives signals from a GNSS satellite transmitter. Geographic position sensors 304 can also include a real-time kinematic (RTK) component that is configured to enhance the precision of position data derived from the GNSS signal. Geographic position sensors 304 can include a dead reckoning system, a cellular triangulation system, or any of a variety of other geographic position sensors.
Heading/speed sensors 325 detect a heading and speed at which mobile machine 100 is traversing the worksite during the operation. This can include sensors that sense the movement of ground-engaging elements (e.g., wheels or tracks 144), such as sensors 146, or can utilize signals received from other sources, such as geographic position sensor 304, thus, while heading/speed sensors 325 as described herein are shown as separate from geographic position sensor 304, in some examples, machine heading/speed is derived from signals received from geographic positions sensor 304 and subsequent processing. In other examples, heading/speed sensors 325 are separate sensors and do not utilize signals received from other sources.
Other in-situ sensors 328 may be any of a wide variety of other sensors, including the other sensors described above with respect to
In-situ data includes data taken from a sensor on-board the mobile harvesting machine 100 or taken by any sensor where the data are detected during the operation of mobile harvesting machine 100 at a field.
Processing system 338 processes the sensor data (e.g., signals, images, etc.) generated by in-situ sensors 308 to generate processed sensor data indicative of one or more characteristics. For example, processing system generates processed sensor data indicative of characteristic values based on the sensor data generated by in-situ sensors 308, such as machine setting values (e.g., set point values, etc.) based on sensor data generated by machine setting sensors 370. Processing system 338 also processes sensor data generated by other in-situ sensors 308 to generate processed sensor data indicative of other characteristic values, machine speed characteristic (travel speed, acceleration, deceleration, etc.) values based on sensor data generated by heading/speed sensors 325, machine heading values based on sensor data generated by heading/speed sensors 325, geographic position (or location) values based on sensor data generated by geographic position sensors 304, as well as various other values based on sensors signals generated by various other in-situ sensors 328.
It will be understood that processing system 338 can be implemented by one or more processers or servers, such as processors or servers 301. Additionally, processing system 338 can utilize various sensor signal filtering functionalities, noise filtering functionalities, sensor signal categorization, aggregation, normalization, as well as various other processing functionalities. Similarly, processing system 338 can utilize various image processing functionalities such as, sequential image comparison, RGB, edge detection, black/white analysis, machine learning, neural networks, pixel testing, pixel clustering, shape detection, as well any number of other suitable processing and data extraction functionalities.
Remote computing systems 368 can be a wide variety of different types of systems, or combinations thereof. For example, remote computing systems 368 can be in a remote server environment. Further, remote computing systems 368 can be remote computing systems, such as mobile devices, a remote network, a farm manager system, a vendor system, or a wide variety of other remote systems. In one example, mobile machine 100 can be controlled remotely by remote computing systems 368 or by remote users 366, or both. As will be described below, in some examples, one or more of the components shown being disposed on mobile machine 100 in FIG. can be located elsewhere, such as at remote computing systems 368.
Information maps 358 may be downloaded onto mobile harvesting machine 100 over network 359 and stored in data store 302, using communication system 306 or in other ways. In some examples, communication system 306 may be a cellular communication system, a system for communicating over a wide area network or a local area network, a system for communicating over a near field communication network, or a communication system configured to communicate over any of a variety of other networks or combinations of networks. Network 359 illustratively represents any or a combination of any of the variety of networks. Communication system 306 may also include a system that facilitates downloads or transfers of information to and from a secure digital (SD) card or a universal serial bus (USB) card or both.
As described above, the present description relates to the use of models to predict machine settings of agricultural harvester 100. The models 311 can be generated by predictive model generator 310, during the current operation.
In one example, predictive model generator 310 generates a predictive model 311 that is indicative of a relationship between the values sensed by the in-situ sensors 308 and values mapped to the field by the information maps 358. For example, if the information map 358 maps topographic values to different locations in the worksite, and the in-situ sensor 308 are sensing values indicative of machine settings, then model generator 310 generates a predictive machine setting model that models the relationship between the topographic values and the machine setting values. In another example, if the information map 358 maps vegetative index values to different locations in the worksite, and the in-situ sensors 308 are sensing values indicative of machine settings, then model generator 310 generates a predictive machine setting model that models the relationship between the vegetative index values and the machine setting values. These are merely some examples.
In some examples, the predictive map generator 312 uses the predictive models generated by predictive model generator 310 to generate functional predictive maps that predict the value of a characteristic, sensed by the in-situ sensors 308, at different locations in the field based upon one or more of the information maps 358.
For example, where the predictive model 311 is a predictive machine setting model that models a relationship between machine setting values sensed by in-situ sensors 308 and one or more of topographic characteristics values from a topographic map, vegetative index values from a vegetative index map, optical characteristic values from an optical map, seeding characteristic values from a seeding map, soil property value from a soil property map, prior operation characteristic values from a prior operation map, historical setting values from a historical setting map, and other characteristic values from an other map, then predictive map generator 312 generates a functional predictive machine setting map that predicts machine setting values at different locations at the worksite based on one or more of the mapped values at those locations and the predictive machine setting model.
In some examples, the type of values in the functional predictive map 263 may be the same as the in-situ data type sensed by the in-situ sensors 308. In some instances, the type of values in the functional predictive map 263 may have different units from the data sensed by the in-situ sensors 308. In some examples, the type of values in the functional predictive map 263 may be different from the data type sensed by the in-situ sensors 308 but have a relationship to the type of data type sensed by the in-situ sensors 308. For example, in some examples, the data type sensed by the in-situ sensors 308 may be indicative of the type of values in the functional predictive map 363. In some examples, the type of data in the functional predictive map 363 may be different than the data type in the information maps 358. In some instances, the type of data in the functional predictive map 263 may have different units from the data in the information maps 358. In some examples, the type of data in the functional predictive map 263 may be different from the data type in the information map 358 but has a relationship to the data type in the information map 358. For example, in some examples, the data type in the information maps 358 may be indicative of the type of data in the functional predictive map 263. In some examples, the type of data in the functional predictive map 263 is different than one of, or both of, the in-situ data type sensed by the in-situ sensors 308 and the data type in the information maps 358. In some examples, the type of data in the functional predictive map 263 is the same as one of, or both of, of the in-situ data type sensed by the in-situ sensors 308 and the data type in information maps 358. In some examples, the type of data in the functional predictive map 263 is the same as one of the in-situ data type sensed by the in-situ sensors 308 or the data type in the information maps 358, and different than the other.
As shown in
Some variations in the data types that are mapped in the information maps 358, the data types sensed by in-situ sensors 308, and the data types predicted on the predictive map 264 will now be described.
In some examples, the data type in one or more information maps 358 is different from the data type sensed by in-situ sensors 308, yet the data type in the predictive map 264 is the same as the data type sensed by the in-situ sensors 308. For instance, the information map 358 may be an optical map, and the variable sensed by the in-situ sensors 308 may be a machine setting. The predictive map 264 may then be a predictive machine setting map that maps predictive machine setting values to different geographic locations in the in the worksite.
Also, in some examples, the data type in the information map 358 is different from the data type sensed by in-situ sensors 308, and the data type in the predictive map 264 is different from both the data type in the information map 358 and the data type sensed by the in-situ sensors 308.
In some examples, the information map 358 is from a prior pass through the field during a prior operation and the data type is different from the data type sensed by in-situ sensors 308, yet the data type in the predictive map 264 is the same as the data type sensed by the in-situ sensors 308. For instance, the information map 358 may be a seeding map generated during a previous planting operation on the field, and the variable sensed by the in-situ sensors 308 may be a machine setting. The predictive map 264 may then be a predictive machine setting map that maps predictive machine setting values to different geographic locations in the field.
In some examples, the information map 358 is from a prior pass through the field during a prior operation and the data type is the same as the data type sensed by in-situ sensors 308, and the data type in the predictive map 264 is also the same as the data type sensed by the in-situ sensors 308. For instance, the information map 358 may be a machine setting map generated during a previous year, and the variable sensed by the in-situ sensors 308 may be a machine setting. The predictive map 264 may then be a predictive machine setting map that maps predictive machine setting values to different geographic locations in the field. In such an example, the relative machine setting differences in the georeferenced information map 358 from the prior year can be used by predictive model generator 310 to generate a predictive model that models a relationship between the relative machine setting differences on the information map 358 and the machine setting values sensed by in-situ sensors 308 during the current operation. The predictive model is then used by predictive map generator 310 to generate a predictive machine setting map.
In another example, the information map 358 may be a map, such as a topographic map, generated during a prior operation in the same year, and the variable sensed by the in-situ sensors 308 during the current operation may be a machine setting. The predictive map 264 may then be a predictive machine setting map that maps predictive machine setting values to different geographic locations in the field. In such an example, a map of the topographic characteristic values at time of the prior operation is geo-referenced, recorded, and provided to mobile machine 100 as an information map 358 of topographic characteristic values. In-situ sensors 308 during a current operation can detect machine setting values at geographic locations in the field and predictive model generator 310 may then build a predictive model that models a relationship between machine setting values at the time of the current operation and topographic characteristic values at the time of the prior operation. This is because the topographic characteristic values at the time of the prior operation are likely to be the same as at the time of the current operation or may be more accurate or otherwise may be more reliable (or fresher) than topographic characteristic values obtained in other ways. For instance, a sprayer that operated on the field previously may provide topographic characteristic values that are fresher (closer in time) or more accurate than topographic characteristic values detected in other ways, such as satellite or other aerial-based sensing. For instance, vegetation on the field, meteorological conditions, as well as other obscurants, may obstruct or otherwise create noise that makes topographic characteristic values unavailable or unreliable. Thus, the topographic map generated during the prior spraying operation may be more preferable. This is merely one example.
In some examples, predictive map 264 can be provided to the control zone generator 313. Control zone generator 313 groups adjacent portions of an area into one or more control zones based on data values of predictive map 264 that are associated with those adjacent portions. A control zone may include two or more contiguous portions of a worksite, such as a field, for which a control parameter corresponding to the control zone for controlling a controllable subsystem is constant. For example, a response time to alter a setting of controllable subsystems may be inadequate to satisfactorily respond to changes in values contained in a map, such as predictive map 264. In that case, control zone generator 313 parses the map and identifies control zones that are of a defined size to accommodate the response time of the controllable subsystems 316. In another example, control zones may be sized to reduce wear from excessive actuator movement resulting from continuous adjustment. In some examples, there may be a different set of control zones for each controllable subsystem 316 or for groups of controllable subsystems 316. The control zones may be added to the predictive map 264 to obtain predictive control zone map 265. Predictive control zone map 265 can thus be similar to predictive map 264 except that predictive control zone map 265 includes control zone information defining the control zones. Thus, a functional predictive map 263, as described herein, may or may not include control zones. Both predictive map 264 and predictive control zone map 265 are functional predictive maps 263. In one example, a functional predictive map 263 does not include control zones, such as predictive map 264. In another example, a functional predictive map 263 does include control zones, such as predictive control zone map 265.
It will also be appreciated that control zone generator 313 can cluster values to generate control zones and the control zones can be added to predictive control zone map 265, or a separate map, showing only the control zones that are generated. In some examples, the control zones may be used for controlling or calibrating mobile machine 100 or both. In other examples, the control zones may be presented to the operator 360 and used to control or calibrate mobile machine 100, and, in other examples, the control zones may be presented to the operator 360 or another user, such as a remote user 366, or stored for later use.
Predictive map 264 or predictive control zone map 265 or both are provided to control system 314, which generates control signals based upon the predictive map 264 or predictive control zone map 265 or both. In some examples, communication system controller 329 controls communication system 306 to communicate the predictive map 264 or predictive control zone map 265 or control signals based on the predictive map 264 or predictive control zone map to other mobile machines (e.g., other mobile harvesting machines) that are operating at the same worksite or in the same operation. In some examples, communication system controller 329 controls the communication system 306 to send the predictive map 264, predictive control zone map 265, or both to other remote systems, such as remote computing systems 368.
Control system 314 includes communication system controller 329, interface controller 330, one or more subsystem controllers 331, one or more zone controllers 336, and control system 314 can include other items 339. Controllable subsystems 316 include actuators 340 can include a wide variety of other controllable subsystems 356.
Control system 314 can control various items of agricultural system 300 based on sensor data detected by sensors 308, models 311, predictive map 264 or predictive map 265 with control zones, operator or user inputs, as well as various other bases.
Interface controllers 330 are operable to generate control signals to control interface mechanisms, such as operator interface mechanisms 318 or user interface mechanisms 364, or both. While operator interface mechanisms 318 are shown as separate from controllable subsystems 316, it will be understood that operator interface mechanisms 318 are controllable subsystems. The interface controllers 330 are also operable to present the predictive map 264 or predictive control zone map 265 or other information derived from or based on the predictive map 264, predictive control zone map 265, or both, to operator 360 or a remote user 366, or both. Operator 360 may be a local operator or a remote operator. As an example, interface controller 330 generates control signals to control a display mechanism to display one or both of predictive map 264 and predictive control zone map 265 for the operator 360 or a remote user 366, or both. Interface controller 330 may generate operator or user actuatable mechanisms that are displayed and can be actuated by the operator or user to interact with the displayed map. The operator or user can edit the map by, for example, correcting a value displayed on the map, based on the operator's or the user's observation.
Subsystem controllers 331 illustratively generate control signals, indicative of machine settings, to control one or actuators 340 of agricultural harvester 100 to control one or more components of agricultural harvester 100 to operate at the machine setting.
Actuators 340 can include a variety of different types of actuators such as hydraulic, pneumatic, electromechanical actuators, motors, pumps, valves, as well as various other types of actuators. Actuators 340 can include propulsion actuators (e.g., internal combustion engine, motors, etc.) to control speed characteristics of mobile machine 100, such as the travel speed, the acceleration, or deceleration of mobile machine 100. Actuators 340 can include steering actuators that control the heading of mobile machine 100. Actuators 340 can include header position actuators to control the position (e.g., height, tilt, and/or roll) of header 102. Actuators 340 can include deck plate actuators that control the spacing of deck plates. Actuators 340 can include gathering chain actuators that control the speed of gathering chains. Actuators 340 can include stalk roller actuators that control the speed of stalk rollers. Actuators 340 can include conveying mechanism speed actuators that control the speed of conveying mechanism (e.g., cross auger) 109. Actuators 340 can include conveying mechanism position actuators that control the position (e.g., height) of conveying mechanism (e.g., cross auger) 109 above the platform of header 102. Actuators 340 can include rotor speed actuators that control the speed of rotor 112, Actuators 340 can include concave clearance actuators that control the spacing between rotor 112 and concaves 114. Actuators 340 can include cleaning fan actuators that control the speed of cleaning fan 120. Actuators 340 can include chopper actuators that control the speed of chopper 140. Actuators 340 can include chaffer actuators that control the size of openings of chaffer 122. Actuators 140 can include sieve actuators that control the size of openings of sieve 124. Actuators 140 can include a variety of other actuators that control a variety of other components of mobile machine 100 or settings of components of mobile machine 100.
Zone controller 336 illustratively generates control signals to control one or more controllable subsystems 316 to control operation of the one or more controllable subsystems 316 based on the predictive control zone map 265.
Other controllers 339 included on the mobile machine 100, or at other locations in agricultural system 300, can control other subsystems 356.
While the illustrated example of
In some examples, control system 314 may remain local to mobile machine 100, and a remote system (e.g., 368 or 364) may be provided with functionality (e.g., such as a control signal generator) that communicates control commands to mobile machine 100 that are used by control system 314 for the control of mobile harvesting machine 100.
Similarly, where various components are located remotely from mobile machine 100, those components can receive data from components of mobile machine 100 over network 359. For example, where predictive model generator 310 and predictive map generator 312 are located remotely from mobile machine 100, such as at remote computing systems 368, data generated by in-situ sensors 308 and geographic position sensors 304, for instance, can be communicated to the remote computing systems 368 over network 359. Additionally, information maps 358 can be obtained by remote computing systems 368 over network 359 or over another network.
In-situ sensors 308 illustratively include machine setting sensors 370, as well as processing system 338. In some examples, processing system 338 is separate from in-situ sensors 308 (such as the example shown in
As shown in
Machine setting-to-topographic characteristic model generator 1441 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and topographic characteristic value(s) from the topographic map 430 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-topographic characteristic model generator 1441, machine setting-to-topographic characteristic model generator 1441 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced topographic characteristic values contained in the topographic map corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the topographic characteristic value, from the topographic map 430, corresponding to that given location.
Machine setting-to-vegetative index model generator 1442 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and vegetative index value(s) from the vegetative index map 433 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-vegetative index model generator 1442, machine setting-to-vegetative index model generator 1442 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced vegetative index values contained in the vegetative index map 433 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the vegetative index value, from the vegetative index map 433, corresponding to that given location.
Machine setting-to-optical characteristic model generator 1443 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and optical characteristic value(s) from the optical map 434 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-optical characteristic model generator 1443, machine setting-to-optical characteristic model generator 1443 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced optical characteristic values contained in the optical map 434 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the optical characteristic value, from the optical map 434, corresponding to that given location.
Machine setting-to-seeding characteristic model generator 1444 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and seeding characteristic value(s) from the seeding map 435 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-seeding characteristic model generator 1444, machine setting-to-seeding characteristic model generator 1444 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced seeding characteristic values contained in the seeding map 435 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the seeding characteristic value, from the seeding map 435, corresponding to that given location.
Machine setting-to-soil property model generator 1445 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and soil property value(s) from the soil property map 436 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-soil property model generator 1445, machine setting-to-soil property model generator 1445 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced soil property values contained in the soil property map 436 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the soil property value, from the soil property map 436, corresponding to that given location.
Machine setting-to-prior operation characteristic model generator 1446 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and prior operation characteristic value(s) from the prior operation map 437 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-prior operation characteristic model generator 1446, machine setting-to-prior operation characteristic model generator 1446 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced prior operation characteristic values contained in the prior operation map 437 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the prior operation characteristic value, from the prior operation map 437, corresponding to that given location.
Machine setting-to-historical setting model generator 1447 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and historical setting value(s) from the historical setting map 438 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-historical setting model generator 1447, machine setting-to-historical setting model generator 1447 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced historical setting values contained in the historical setting map 438 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the historical setting value, from the historical setting map 438, corresponding to that given location.
Machine setting-to-other characteristic model generator 1448 identifies a relationship between machine setting value(s) detected in in-situ sensor data 1440, at geographic location(s) to which the machine setting value(s) detected in the in-situ sensor data 1440, correspond, and other characteristic value(s) from an other map 439 corresponding to the same geographic location(s) to which the detected machine setting value(s) correspond. Based on this relationship established by machine setting-to-other characteristic model generator 1448, machine setting-to-other characteristic model generator 1448 generates a predictive machine setting model. The predictive machine setting model is used by predictive machine setting map generator 1452 to predict a machine setting at different locations in the field based upon the georeferenced other characteristic values contained in the other map 439 corresponding to the same locations in the field. Thus, for a given location in the field, a machine setting value can be predicted at the given location based on the predictive machine setting model and the other characteristic value, from the other map 439, corresponding to that given location.
In light of the above, the predictive model generator 310 is operable to produce a plurality of predictive machine setting models, such as one or more of the predictive machine setting models generated by model generators 1441, 1442, 1443, 1444, 1445, 1446, 1447, 1448, and 1449. In another example, two or more of the predictive models described above may be combined into a single predictive machine setting model, such as a predictive machine setting model that predicts a machine setting based upon two or more of the topographic values, the vegetative index (VI) values, the optical characteristic values, the seeding characteristic values, the soil property values, the prior operation characteristic values, the historical setting values, and the other characteristic values at different locations in the field. Any of these machine setting models, or combinations thereof, are represented collectively by predictive machine setting model 1450 in
The predictive machine setting model 1450 is provided to predictive map generator 312. In the example of
Predictive machine setting map generator 1452 receives one or more of the topographic map 430, the vegetative index (VI) map 433, the optical map 434, the seeding map 435, soil property map 436, prior operation map 437, historical setting map 438, and an other map 439, along with the predictive machine setting model 1450 which predicts a machine setting based upon one or more of a topographic value, a VI value, an optical characteristic value, a seeding characteristic value, a soil property value, a prior operation characteristic value, a historical setting value, and an other characteristic value, and generates a predictive map that predicts a machine setting at different locations in the field, such as functional predictive machine setting map 1460.
Predictive map generator 312 thus outputs a functional predictive machine setting map 1460 that is predictive of a machine setting. The functional predictive machine setting map 1460 is a predictive map 264. The functional predictive machine setting map 1460 predicts a machine setting at different locations in a field. The functional predictive machine setting map may be provided to control zone generator 313, control system 314, or both. Control zone generator 313 generates control zones and incorporates those control zones into the functional predictive machine setting map 1460 to produce a predictive control zone map 265, that is a functional predictive machine setting control zone map 1461. One or both of functional predictive machine setting map 1460 and functional predictive machine setting control zone map 1461 may be provided to control system 314, which generates control signals to control one or more of the controllable subsystems 316 based upon the functional predictive machine setting map 1460, the functional predictive machine setting control zone map 1461, or both. In some examples, the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both, maps predictive machine setting values, corresponding to a first component of the machine 100, to different geographic locations in the field. The control system 314 may then generate control signals to control one or more other components of the machine 100 based on the predictive machine setting values of the first component contained in the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both. In some examples, the one or more other components of the machine 100 may be downstream of the first component.
At block 602, agricultural system 300 receives one or more information maps 358. Examples of information maps 358 or receiving information maps 358 are discussed with respect to blocks 604, 606, 608, and 609. As discussed above, information maps 358 map values of a variable, corresponding to a characteristic, to different locations in the field, as indicated at block 606. As indicated at block 604, receiving the information maps 358 may involve selecting one or more of a plurality of possible information maps 358 that are available. For instance, one information map 358 may be a topographic map, such as topographic map 430. Another information map 358 may be a vegetative index (VI) map, such as VI map 433. Another information map 358 may be an optical map, such as optical map 434. Another information map 358 may be a seeding map, such as seeding map 435. Another information map 358 may be a soil property map, such as soil property map 436. Another information map 358 may be a prior operation map, such as prior operation map 437. Another information map 358 may be a historical setting map, such as historical setting map 438. Information maps 358 may include various other types of maps that map various other characteristics, such as other maps 439.
The process by which one or more information maps 358 are selected can be manual, semi-automated, or automated. The information maps 358 can be based on data collected prior to a current operation or based on data collected during a current operation as indicated by block 608. For instance, the data may be collected based on aerial images taken during a previous year, or earlier in the current season, or at other times. The data may be based on data detected in ways other than using aerial images. For instance, the data may be collected during a previous operation on the worksite, such an operation during a previous year, or a previous operation earlier in the current season, or at other times. The machines performing those previous operations may be outfitted with one or more sensors that generate sensor data indicative of one or more characteristics. For example, the sensed characteristics during a previous operation be used as data to generate the information maps 358. In other examples, and as described above, the information maps 358 may be predictive maps having predictive values. The predictive information map 358 can be generated by predictive map generator 312 based on a model generated by predictive model generator 310. The data for the information maps 358 can be obtained by agricultural system 300 using communication system 306 and stored in data store 302. The data for the information maps 358 can be obtained by agricultural system 300 using communication system 306 in other ways as well, and this is indicated by block 609 in the flow diagram of
As mobile harvesting machine 100 is operating, in-situ sensors 308 generate sensor data indicative of one or more in-situ data values indicative of one or more characteristics, as indicated by block 610. For example, machine setting sensors 370 generate sensor data indicative of one or more in-situ data values indicative of a machine setting, as indicated by block 611. In some examples, data from in-situ sensors 308 is georeferenced using position, heading, or speed data, as well as sensor parameter information, such as sensor delay, etc.
At block 614, predictive model generator 310 controls one or more of the model generators 1441, 1442, 1443, 1444, 1445, 1446, 1447, 1448, and 1449 to generate a model that models the relationship between the mapped values, such as the topographic values, the vegetative index (VI) values, the optical characteristic values, the seeding characteristic values, the soil property values, the prior operation characteristic values, the historical setting values, and the other characteristic values contained in the respective information map and the machine setting values sensed by the in-situ sensors 308. Predictive model generator 310 generates a predictive machine setting model 1450 that predicts machine setting values based on one or more of topographic values, VI values, optical characteristic values, seeding characteristic values, soil property values, prior operation characteristic values, historical setting values, and other characteristic values, as indicated by block 615.
At block 616, the relationship(s) or model(s) generated by predictive model generator 310 is provided to predictive map generator 312. Predictive map generator 312 generates a functional predictive machine setting map 1460 that predicts machine setting values (or sensor values indicative of machine settings) at different geographic locations in a field at which mobile machine 100 is operating using the predictive machine setting model 1450 and one or more of the information maps 358, such as topographic map 430, VI map 433, optical map 434, seeding map 435, soil property map 436, prior operation map 437, historical setting map 438, and an other map 439.
It should be noted that, in some examples, the functional predictive machine setting map 1460 may include two or more different map layers. Each map layer may represent a different data type, for instance, a functional predictive machine setting map 1460 that provides two or more of a map layer that provides predictive machine settings based on topographic characteristic values from topographic map 430, a map layer that provides predictive machine settings based on VI values from VI map 433, a map layer that provides predictive machine settings based on optical characteristic values from optical map 434, a map layer that provides predictive machine settings based on seeding characteristic values from seeding map 435, a map layer that provides predictive machine settings based on soil property values from soil property map 436, a map layer that provides predictive machine settings based on prior operation characteristic values from prior operation map 437, a map layer that provides predictive machine settings based on historical setting values from historical setting map 438, and a map layer that provides predictive machine settings based on other characteristic values from an other map 439. Additionally, or alternatively, functional predictive machine setting map 1460 can include a map layer that provides predictive machine settings based on two or more of topographic characteristic values from topographic map 430, VI values from VI map 433, optical characteristic values from optical map 434, seeding characteristic values from seeding map 435, soil property values from soil property map 436, prior operation characteristic values from prior operation map 437, historical setting values from historical setting map 438, and other characteristic values from an other map 439.
Providing a predictive machine setting map, such as functional predictive machine setting map 1460 is indicated by block 617.
At block 618, predictive map generator 312 configures the functional predictive machine setting map 1460 so that the functional predictive machine setting map 1460 is actionable (or consumable) by control system 314. Predictive map generator 312 can provide the functional predictive machine setting map 1460 to the control system 314 or to control zone generator 313, or both. Some examples of the different ways in which the functional predictive machine setting map 1460 can be configured or output are described with respect to blocks 618, 620, 622, and 623. For instance, predictive map generator 312 configures functional predictive machine setting map 1460 so that functional predictive machine setting map 1460 includes values that can be read by control system 314 and used as the basis for generating control signals for one or more of the different controllable subsystems of mobile machine 100, as indicated by block 618.
At block 620, control zone generator 313 can divide the functional predictive machine setting map 1460 into control zones based on the values on the functional predictive machine setting map 1460 to generate functional predictive machine setting control zone map 1461. Contiguously-geolocated values that are within a threshold value of one another can be grouped into a control zone. The threshold value can be a default threshold value, or the threshold value can be set based on an operator input, based on an input from an automated system, or based on other criteria. A size of the zones may be based on a responsiveness of the control system 314, the controllable subsystems 316, based on wear considerations, or on other criteria.
At block 622, predictive map generator 312 configures functional predictive machine setting map 1460 for presentation to an operator or other user. At block 622, control zone generator 313 can configure functional predictive machine setting control zone map 1461 for presentation to an operator or other user. When presented to an operator or other user, the presentation of the functional predictive machine setting map 1460 or of functional predictive machine setting control zone map 1461, or both, may contain one or more of the predictive values on the functional predictive machine setting map 1460 correlated to geographic location, the control zones of functional predictive machine setting control zone map 1461 correlated to geographic location, and settings values or control parameters that are used based on the predicted values on functional predictive machine setting map 1460 or control zones on functional predictive machine setting control zone map 1461. The presentation can, in another example, include more abstracted information or more detailed information. The presentation can also include a confidence level that indicates an accuracy with which the predictive values on functional predictive machine setting map 1460 or the control zones on functional predictive machine setting control zone map 1461 conform to measured values that may be measured by sensors on mobile machine 100 as mobile machine 100 operates at the worksite. Further where information is presented to more than one location, an authentication and authorization system can be provided to implement authentication and authorization processes. For instance, there may be a hierarchy of individuals that are authorized to view and change maps and other presented information. By way of example, an on-board display device may show the maps in near real time locally on the machine, or the maps may also be generated at one or more remote locations, or both. In some examples, each physical display device at each location may be associated with a person or a user permission level. The user permission level may be used to determine which display elements are visible on the physical display device and which values the corresponding person may change. As an example, a local operator of mobile machine 100 may be unable to see the information corresponding to the functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both, or make any changes to machine operation. A supervisor, such as a supervisor at a remote location, however, may be able to see the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 161, or both, on the display but be prevented from making any changes. A manager, who may be at a separate remote location, may be able to see all of the elements on functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both, and also be able to change the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both. In some instances, the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both, accessible and changeable by a manager located remotely may be used in machine control. This is one example of an authorization hierarchy that may be implemented. The functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both, can be configured in other ways as well, as indicated by block 623.
At block 624, input from geographic position sensor 304 and other in-situ sensors are received by the control system 314. Particularly, at block 626, control system 314 detects an input from the geographic position sensor 304 identifying a geographic location of mobile harvesting machine 100. Block 628 represents receipt by the control system 314 of sensor inputs indicative of trajectory or heading of mobile harvesting machine 100, and block 630 represents receipt by the control system 314 of a speed of mobile harvesting machine 100. Block 631 represents receipt by the control system 314 of other information from various other in-situ sensors 308.
At block 632, control system 314 generates control signals to control the controllable subsystems based on the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both, and the input from the geographic position sensor 304 and any other in-situ sensors 308. At block 634, control system 314 applies the control signals to the controllable subsystems. It will be appreciated that the particular control signals that are generated, and the particular controllable subsystems that are controlled, may vary based upon one or more different things. For example, the control signals that are generated and the controllable subsystems that are controlled may be based on the type of functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both, that is being used. Similarly, the control signals that are generated and the controllable subsystems that are controlled and the timing of the control signals can be based on various latencies of mobile machine 100 and the responsiveness of the controllable subsystems.
By way of example, subsystem controller(s) 331 of control system 314 can generate control signals to control one or more actuators 340 to control one or more operating components of mobile machine 100, based on the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both. In one example, subsystem controllers 331 generate control signals to control one or more actuators 340 to control one or more items that are downstream of the component for which the predictive machine setting values are provided on the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both. For instance, the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both, may map predictive machine setting values in the form of predictive concave clearance setting values (indicative of a set point spacing between the rotor 112 and concaves 114). In such an example, subsystem controllers 331 can generate control signals to control one or more of chaffer actuators to control a size of openings of chaffer 122, sieve actuators 340 to control a size of openings of sieve 124, cleaning fan actuators 340 to control a speed of cleaning fan 120, and chopper actuators 340 to control a speed of chopper 140. This is merely one example.
In another example, interface controller 330 of control system 314 can generate control signals to control an interface mechanism (e.g., 318 or 364) to generate a display, alert, notification, or other indication based on or indicative of functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both.
In another example, communication system controller 329 of control system 314 can generate control signals to control communication system 306 to communicate functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both, to another item of agricultural system 300 (e.g., remote computing systems 368 or user interfaces 364) or to another machine operating at the field.
In some examples, the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both, maps predictive machine setting values, corresponding to a first component of the machine 100, to different geographic locations in the field. The control system 314 may then generate control signals to control one or more other components of the machine 100 based on the predictive machine setting values of the first component contained in the functional predictive machine setting map 1460 or the functional predictive machine setting control zone map 1461, or both. In some examples, the one or more other components of the machine 100 may be downstream of the first component.
These are merely examples. Control system 314 can generate various other control signals to control various other items of mobile machine 100 (or agricultural system 300) based on functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both.
At block 636, a determination is made as to whether the operation has been completed. If the operation is not completed, the processing advances to block 638 where in-situ sensor data from geographic position sensor 304 and in-situ sensors 308 (and perhaps other sensors) continue to be read.
In some examples, at block 640, agricultural system 300 can also detect learning trigger criteria to perform machine learning on one or more of the functional predictive machine setting map 1460, functional predictive machine setting control zone map 1461, predictive machine setting model 1450, the zones generated by control zone generator 313, one or more control algorithms implemented by the controllers in the control system 314, and other triggered learning.
The learning trigger criteria can include any of a wide variety of different criteria. Some examples of detecting trigger criteria are discussed with respect to blocks 642, 644, 646, 648, and 649. For instance, in some examples, triggered learning can involve recreation of a relationship used to generate a predictive model when a threshold amount of in-situ sensor data are obtained from in-situ sensors 308. In such examples, receipt of an amount of in-situ sensor data from the in-situ sensors 308 that exceeds a threshold triggers or causes the predictive model generator 310 to generate a new predictive model that is used by predictive map generator 312. Thus, as mobile machine 100 continues an operation, receipt of the threshold amount of in-situ sensor data from the in-situ sensors 308 triggers the creation of a new relationship represented by a new machine setting model 1450 generated by predictive model generator 310. Further, a new functional predictive machine setting map 1460, a new functional predictive machine setting control zone map 1461, or both, can be generated using the new predictive machine setting model 1450. Block 642 represents detecting a threshold amount of in-situ sensor data used to trigger creation of a new predictive model.
In other examples, the learning trigger criteria may be based on how much the in-situ sensor data from the in-situ sensors 308 are changing, such as over time or compared to previous values. For example, if variations within the in-situ sensor data (or the relationship between the in-situ sensor data and the information in the one or more information maps 358) are within a selected range or is less than a defined amount, or below a threshold value, then a new predictive model is not generated by the predictive model generator 310. As a result, the predictive map generator 312 does not generate a new functional predictive machine setting map 1460, a new functional predictive machine setting control zone map 1461, or both. However, if variations within the in-situ sensor data are outside of the selected range, are greater than the defined amount, or are above the threshold value, for example, then the predictive model generator 310 generates a new predictive machine setting model 1450 using all or a portion of the newly received in-situ sensor data that the predictive map generator 312 uses to generate a new functional predictive machine setting map 1460 which can be provided to control zone generator 313 for the creation of a new functional predictive machine setting control zone map 1461. At block 644, variations in the in-situ sensor data, such as a magnitude of an amount by which the data exceeds the selected range or a magnitude of the variation of the relationship between the in-situ sensor data and the information in the one or more information maps, can be used as a trigger to cause generation of one or more of a new predictive machine setting model 1450, a new functional predictive machine setting map 1460, and a new functional predictive machine setting control zone map 1461. Keeping with the examples described above, the threshold, the range, and the defined amount can be set to default values; set by an operator or user interaction through a user interface; set by an automated system; or set in other ways.
Other learning trigger criteria can also be used. For instance, if predictive model generator 310 switches to a different information map (different from the originally selected information map), then switching to the different information map may trigger re-learning by predictive model generator 310, predictive map generator 312, control zone generator 313, control system 314, or other items. In another example, transitioning of mobile machine 100 to a different topography, or to a different crop type area, or to a different control zone may be used as learning trigger criteria as well.
In some instances, operator 360 or user 366 can also edit the functional predictive machine setting map 1460 or functional predictive machine setting control zone map 1461, or both. The edits can change a value on the functional predictive machine setting map 1460, change a size, shape, position, or existence of a control zone on functional predictive machine setting control zone map 1461, or both. Block 646 shows that edited information can be used as learning trigger criteria.
In some instances, it may also be that operator 360 or user 366 observes that automated control of a controllable subsystem 316, is not what the operator or user desires. In such instances, the operator 360 or user 366 may provide a manual adjustment to the controllable subsystem 316 reflecting that the operator 360 or user 366 desires the controllable subsystem 316 to operate in a different way than is being commanded by control system 314. Thus, manual alteration of a setting by the operator 360 or user 366 can cause one or more of predictive model generator 310 to generate a new predictive machine setting model 1450, predictive map generator 312 to generate a new functional predictive machine setting map 1460, control zone generator 313 to generate one or more new control zones on functional predictive machine setting control zone map 1461, and control system 314 to relearn a control algorithm or to perform machine learning on one or more of the controller components 329 through 339 in control system 314 based upon the adjustment by the operator 360 or user 366, as shown in block 648. Block 649 represents the use of other triggered learning criteria.
In other examples, relearning may be performed periodically or intermittently based, for example, upon a selected time interval such as a discrete time interval or a variable time interval, as indicated by block 650.
If relearning is triggered, whether based upon learning trigger criteria or based upon passage of a time interval, as indicated by block 650, then one or more of the predictive model generator 310, predictive map generator 312, control zone generator 313, and control system 314 performs machine learning to generate a new predictive model, a new predictive map, a new control zone, and a new control algorithm, respectively, based upon the learning trigger criteria. The new predictive model, the new predictive map, the new control zone, and the new control algorithm are generated using any additional data that has been collected since the last learning operation was performed. Performing relearning is indicated by block 652.
If the operation has been completed, operation moves from block 652 to block 654 where one or more of the functional predictive machine setting map 1460, functional predictive machine setting control zone map 1461, the predictive machine setting model 1450, the control zone(s), and the control algorithm(s), are stored. The functional predictive machine setting map 1460, functional predictive machine setting control zone map 1461, predictive machine setting model 1450, control zone(s), and control algorithm(s), may be stored locally on data store 302 or sent to a remote system using communication system 306 for later use.
If the operation has not been completed, operation moves from block 652 to block 618 such that the one or more of the new predictive model, the new functional predictive map, the new functional predictive control zone map, the new control zone(s), and the new control algorithm(s) can be used in the control of mobile harvesting machine 100.
The examples herein describe the generation of a predictive model and, in some examples, the generation of a functional predictive map based on the predictive model. The examples described herein are distinguished from other approaches by the use of a model which is at least one of multi-variate or site-specific (i.e., georeferenced, such as map-based). Furthermore, the model is revised as the work machine is performing an operation and while additional in-situ sensor data is collected. The model may also be applied in the future beyond the current worksite. For example, the model may form a baseline (e.g., starting point) for a subsequent operation at a different worksite or the same worksite at a future time.
The revision of the model in response to new data may employ machine learning methods. Without limitation, machine learning methods may include memory networks, Bayes systems, decisions trees, Eigenvectors, Eigenvalues and Machine Learning, Evolutionary and Genetic Algorithms, Cluster Analysis, Expert Systems/Rules, Support Vector Machines, Engines/Symbolic Reasoning, Generative Adversarial Networks (GANs), Graph Analytics and ML, Linear Regression, Logistic Regression, LSTMs and Recurrent Neural Networks (RNNSs), Convolutional Neural Networks (CNNs), MCMC, Random Forests, Reinforcement Learning or Reward-based machine learning. Learning may be supervised or unsupervised.
Model implementations may be mathematical, making use of mathematical equations, empirical correlations, statistics, tables, matrices, and the like. Other model implementations may rely more on symbols, knowledge bases, and logic such as rule-based systems. Some implementations are hybrid, utilizing both mathematics and logic. Some models may incorporate random, non-deterministic, or unpredictable elements. Some model implementations may make uses of networks of data values such as neural networks. These are just some examples of models.
The predictive paradigm examples described herein differ from non-predictive approaches where an actuator or other machine parameter is fixed at the time the machine, system, or component is designed, set once before the machine enters the worksite, is reactively adjusted manually based on operator perception, or is reactively adjusted based on a sensor value.
The functional predictive map examples described herein also differ from other map-based approaches. In some examples of these other approaches, an a priori control map is used without any modification based on in-situ sensor data or else a difference determined between data from an in-situ sensor and a predictive map are used to calibrate the in-situ sensor. In some examples of the other approaches, sensor data may be mathematically combined with a priori data to generate control signals, but in a location-agnostic way; that is, an adjustment to an a priori, georeferenced predictive setting is applied independent of the location of the work machine at the worksite. The continued use or end of use of the adjustment, in the other approaches, is not dependent on the work machine being in a particular defined location or region within the worksite.
In examples described herein, the functional predictive maps and predictive actuator control rely on obtained maps and in-situ data that are used to generate predictive models. The predictive models are then revised during the operation to generate revised functional predictive maps and revised actuator control. In some examples, the actuator control is provided based on functional predictive control zone maps which are also revised during the operation at the worksite. In some examples, the revisions (e.g., adjustments, calibrations, etc.) are tied to regions or zones of the worksite rather than to the whole worksite or some non-georeferenced condition. For example, the adjustments are applied to one or more areas of a worksite to which an adjustment is determined to be relevant (e.g., such as by satisfying one or more conditions which may result in application of an adjustment to one or more locations while not applying the adjustment to one or more other locations), as opposed to applying a change in a blanket way to every location in a non-selective way.
In some examples described herein, the models determine and apply those adjustments to selective portions or zones of the worksite based on a set of a priori data, which, in some instances, is multivariate in nature. For example, adjustments may, without limitation, be tied to defined portions of the worksite based on site-specific factors such as topography, soil type, crop variety, soil moisture, as well as various other factors, alone or in combination. Consequently, the adjustments are applied to the portions of the field in which the site-specific factors satisfy one or more criteria and not to other portions of the field where those site-specific factors do not satisfy the one or more criteria. Thus, in some examples described herein, the model generates a revised functional predictive map for at least the current location or zone, the unworked part of the worksite, or the whole worksite.
As an example, in which the adjustment is applied only to certain areas of the field, consider the following. The system may determine that a detected in-situ characteristic value varies from a predictive value of the characteristic, such as by a threshold amount. This deviation may only be detected in areas of the field where the elevation of the worksite is above a certain level. Thus, the revision to the predictive value is only applied to other areas of the worksite having elevation above the certain level. In this simpler example, the predictive characteristic value and elevation at the point the deviation occurred and the detected characteristic value and elevation at the point the deviation cross the threshold are used to generate a linear equation. The linear equation is used to adjust the predictive characteristic value in areas of the worksite (which have not yet been operated on in the current operation, such as unharvested areas) in the functional predictive map as a function of elevation and the predicted characteristic value. This results in a revised functional predictive map in which some values are adjusted while others remain unchanged based on selected criteria, e.g., elevation as well as threshold deviation. The revised functional map is then used to generate a revised functional control zone map for controlling the machine.
As an example, without limitation, consider an instance of the paradigm described herein which is parameterized as follows.
One or more maps of the field are obtained, such as one or more of a topographic map, a vegetative index (VI) map, an optical map, a seeding map, a soil property map, a prior operation map, a historical setting map, and another type of map.
In-situ sensors generate sensor data indicative of in-situ characteristic values, such as in-situ machine setting values
A predictive model generator generates one or more predictive models based on the one or more obtained maps and the in-situ sensor data, such as a predictive machine setting model.
A predictive map generator generates one or more functional predictive maps based on a model generated by the predictive model generator and the one or more obtained maps. For example, the predictive map generator may generate a functional predictive machine setting map that maps predictive machine setting values to one or more locations on the worksite based on a predictive machine setting model and the one or more obtained maps.
Control zones, which include machine settings values, can be incorporated into the functional predictive machine setting map to generate a functional predictive machine setting map with control zones.
As the mobile machine continues to operate at the worksite, additional in-situ sensor data is collected. A learning trigger criteria can be detected, such as threshold amount of additional in-situ sensor data being collected, a magnitude of change in a relationship (e.g., the in-situ characteristic values varies to a certain [e.g., threshold] degree from a predictive value of the characteristic), and operator or user makes edits to the predictive map(s) or to a control algorithm, or both, a certain (e.g., threshold) amount of time elapses, as well as various other learning trigger criteria. The predictive model(s) are then revised based on the additional in-situ sensor data and the values from the obtained maps. The functional predictive maps or the functional predictive control zone maps, or both, are then revised based on the revised model(s) and the values in the obtained maps.
The present discussion has mentioned processors and servers. In some examples, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. They are functional parts of the systems or devices to which they belong and are activated by and facilitate the functionality of the other components or items in those systems.
Also, a number of user interface displays have been discussed. The displays can take a wide variety of different forms and can have a wide variety of different user actuatable operator interface mechanisms disposed thereon. For instance, user actuatable operator interface mechanisms may include text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. The user actuatable operator interface mechanisms can also be actuated in a wide variety of different ways. For instance, they can be actuated using operator interface mechanisms such as a point and click device, such as a track ball or mouse, hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc., a virtual keyboard or other virtual actuators. In addition, where the screen on which the user actuatable operator interface mechanisms are displayed is a touch sensitive screen, the user actuatable operator interface mechanisms can be actuated using touch gestures. Also, user actuatable operator interface mechanisms can be actuated using speech commands using speech recognition functionality. Speech recognition may be implemented using a speech detection device, such as a microphone, and software that functions to recognize detected speech and execute commands based on the received speech.
A number of data stores have also been discussed. It will be noted the data stores can each be broken into multiple data stores. In some examples, one or more of the data stores may be local to the systems accessing the data stores, one or more of the data stores may all be located remote form a system utilizing the data store, or one or more data stores may be local while others are remote. All of these configurations are contemplated by the present disclosure.
Also, the figures show a number of blocks with functionality ascribed to each block. It will be noted that fewer blocks can be used to illustrate that the functionality ascribed to multiple different blocks is performed by fewer components. Also, more blocks can be used illustrating that the functionality may be distributed among more components. In different examples, some functionality may be added, and some may be removed.
It will be noted that the above discussion has described a variety of different systems, components, logic and interactions. It will be appreciated that any or all of such systems, components, logic and interactions may be implemented by hardware items, such as processors, memory, or other processing components, some of which are described below, that perform the functions associated with those systems, components, or logic, or interactions. In addition, any or all of the systems, components, logic and interactions may be implemented by software that is loaded into a memory and is subsequently executed by a processor or server or other computing component, as described below. Any or all of the systems, components, logic and interactions may also be implemented by different combinations of hardware, software, firmware, etc., some examples of which are described below. These are some examples of different structures that may be used to implement any or all of the systems, components, logic and interactions described above. Other structures may be used as well.
In the example shown in
It will also be noted that the elements of
In some examples, remote server architecture 700 may include cybersecurity measures. Without limitation, these measures may include encryption of data on storage devices, encryption of data sent between network nodes, authentication of people or processes accessing data, as well as the use of ledgers for recording metadata, data, data transfers, data accesses, and data transformations. In some examples, the ledgers may be distributed and immutable (e.g., implemented as blockchain).
In other examples, applications can be received on a removable Secure Digital (SD) card that is connected to an interface 15. Interface 15 and communication links 13 communicate with a processor 17 (which can also embody processors or servers from other FIGS.) along a bus 19 that is also connected to memory 21 and input/output (I/O) components 23, as well as clock 25 and location system 27.
I/O components 23, in one example, are provided to facilitate input and output operations. I/O components 23 for various examples of the device 16 can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/O components 23 can be used as well.
Clock 25 illustratively comprises a real time clock component that outputs a time and date. It can also, illustratively, provide timing functions for processor 17.
Location system 27 illustratively includes a component that outputs a current geographical location of device 16. This can include, for instance, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. Location system 27 can also include, for example, mapping software or navigation software that generates desired maps, navigation routes and other geographic functions.
Memory 21 stores operating system 29, network settings 31, applications 33, application configuration settings 35, data store 37, communication drivers 39, and communication configuration settings 41. Memory 21 can include all types of tangible volatile and non-volatile computer-readable memory devices. Memory 21 may also include computer storage media (described below). Memory 21 stores computer readable instructions that, when executed by processor 17, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor 17 may be activated by other components to facilitate their functionality as well.
Note that other forms of the devices 16 are possible.
Computer 810 typically includes a variety of computer readable media. Computer readable media may be any available media that can be accessed by computer 810 and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer storage media is different from, and does not include, a modulated data signal or carrier wave. Computer readable media includes hardware storage media including both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computer 810. Communication media may embody computer readable instructions, data structures, program modules or other data in a transport mechanism and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.
The system memory 830 includes computer storage media in the form of volatile and/or nonvolatile memory or both such as read only memory (ROM) 831 and random access memory (RAM) 832. A basic input/output system 833 (BIOS), containing the basic routines that help to transfer information between elements within computer 810, such as during start-up, is typically stored in ROM 831. RAM 832 typically contains data or program modules or both that are immediately accessible to and/or presently being operated on by processing unit 820. By way of example, and not limitation,
The computer 810 may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only,
Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (e.g., ASICs), Application-specific Standard Products (e.g., ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.
The drives and their associated computer storage media discussed above and illustrated in
A user may enter commands and information into the computer 810 through input devices such as a keyboard 862, a microphone 863, and a pointing device 861, such as a mouse, trackball or touch pad. Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit through a user input interface 860 that is coupled to the system bus, but may be connected by other interface and bus structures. A visual display 891 or other type of display device is also connected to the system bus 821 via an interface, such as a video interface 890. In addition to the monitor, computers may also include other peripheral output devices such as speakers 897 and printer 896, which may be connected through an output peripheral interface 895.
The computer 810 is operated in a networked environment using logical connections (such as a controller area network—CAN, local area network—LAN, or wide area network WAN) to one or more remote computers, such as a remote computer 880.
When used in a LAN networking environment, the computer 810 is connected to the LAN 871 through a network interface or adapter 870. When used in a WAN networking environment, the computer 810 typically includes a modem 872 or other means for establishing communications over the WAN 873, such as the Internet. In a networked environment, program modules may be stored in a remote memory storage device.
It should also be noted that the different examples described herein can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples. All of this is contemplated herein.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of the claims.
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| Number | Date | Country | |
|---|---|---|---|
| 20230309449 A1 | Oct 2023 | US |
