Patent Application
20230320249
The present descriptions relates to mobile machines, particularly mobile agricultural machines
There are a wide variety of different types of mobile agricultural machines. A mobile agricultural machine performs an operation at a worksite, such as a field. The mobile agricultural machine may include a propulsion subsystem that propels the agricultural machine across the field.
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 at different geographic locations in a worksite. An in-situ sensor detects tractive characteristic values as a mobile agricultural machine operates at the worksite. A predictive map generator generates a predictive map that maps predictive tractive characteristic values at different geographic locations in the worksite based on a relationship between values of the characteristic in the information map and tractive characteristic 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:
a communication system that receives an information map that maps values of a characteristic to different geographic locations in the field;
an in-situ sensor that detects a tractive characteristic value corresponding to a geographic location;
a predictive model generator that generates a predictive tractive characteristic model indicative of a relationship between the characteristic and the tractive characteristic based on the tractive characteristic value detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic in the information map corresponding to the geographic location; and
a predictive map generator that generates a functional predictive tractive characteristic map of the field that maps predictive tractive characteristic values to the different geographic locations in the field based on the values of the characteristic in the information map and based on the predictive tractive characteristic model.
Example 2 is the agricultural system of any or all previous examples, wherein the predictive map generator configures the functional predictive tractive characteristic map for consumption by a control system that generates control signals to control a controllable subsystem of a mobile machine based on the functional predictive tractive characteristic map.
Example 3 is the agricultural system of any or all previous examples, wherein the tractive characteristic is one of tractive effort, tractive efficiency, wheel slip, or draft.
Example 4 is the agricultural system of any or all previous examples, wherein the information map is one of:
a topographic map that maps, as the values of the characteristic, topographic characteristic values to the different geographic locations in the field;
a soil property map that maps, as the values of the characteristic, soil property values to the different geographic locations in the field;
a prior operation map that maps, as the values of the characteristic, prior operation characteristic values to the different geographic locations in the field; or
a ground cover map that maps, as the values of the characteristic, ground cover values to the different geographic locations in the field.
Example 5 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,
wherein the predictive model generator generates, as the predictive tractive characteristic model, a predictive tractive characteristic model indicative of a relationship between the two or more respective characteristics and the tractive characteristic based on the tractive characteristic value detected by the in-situ sensor corresponding to the geographic location and the values of the two or more respective characteristics in the two or more information maps corresponding to the geographic location, and
wherein the predictive map generator generates, as the functional predictive tractive characteristic map, a functional predictive tractive characteristic map that maps predictive tractive characteristic values to the different geographic locations in the field based on the values of the two more characteristics in the two or more information maps corresponding to the different geographic locations and the predictive tractive characteristic model.
Example 6 is the agricultural system of any or all previous examples, wherein the in-situ sensor comprises two or more in-situ sensors, each of the two or more in-situ sensors detecting a value of a respective tractive characteristic corresponding to the geographic location,
wherein the predictive model generator generates, as the predictive tractive characteristic model, a predictive tractive characteristic model indicative of a relationship between the characteristic and the two or more respective tractive characteristics based on the value of the two or more tractive characteristics detected by two or more in-situ sensors corresponding to the geographic location and the value of the characteristics in the information map corresponding to the geographic location, and
wherein the predictive map generator generates, as the functional predictive tractive characteristic map, a functional predictive tractive characteristic map that maps predictive values of two or more tractive characteristics to the different geographic locations in the field based on the values of the characteristic in the information map corresponding to the different geographic locations and the predictive tractive characteristic model.
Example 7 is the agricultural system of any or all previous examples and further comprising:
a control system that generates a control signal to control a controllable subsystem of a mobile machine based on the functional predictive tractive characteristic map.
Example 8 is the agricultural system of any or all previous examples, wherein the controllable subsystem comprises a steering subsystem and wherein the control signal controls the steering subsystem to control a heading of the mobile machine.
Example 9 is the agricultural system of any or all previous examples, wherein the controllable subsystem comprises a position subsystem and wherein the control signal controls the position subsystem to control a position of a component of the mobile machine.
Example 10 is the agricultural system of any or all previous examples and further comprising
a control system that generates a control signal to control a component of a propulsion subsystem of a mobile machine based on the functional predictive tractive characteristic map, wherein the component comprises one of:
a powerplant, and wherein the control signal controls the powerplant to supply more power;
a gear box, and wherein the control signal selects a gear of the gear box;
a transfer case, and wherein the control signal activates the transfer case to lock a first drive shaft to a second drive shaft; or
a differential lock that is controllable to lock a differential; and wherein the control signal controls the differential lock to lock the differential.
Example 11 is a computer implemented method comprising:
receiving an information map that maps values of a characteristic to different geographic locations in a field;
obtaining in-situ sensor data indicative of a value of a tractive characteristic corresponding to a geographic location at the field;
generating a predictive tractive characteristic model indicative of a relationship between the characteristic and the tractive characteristic; and
controlling a predictive map generator to generate a functional predictive tractive characteristic map of the field, that maps predictive values of the tractive characteristic to the different locations in the field based on the values of the characteristic in the information map and the predictive tractive characteristic model.
Example 12 is the computer implemented method of any or all previous examples and further comprising:
controlling a controllable subsystem of a mobile machine based on the functional predictive tractive characteristic map.
Example 13 is the computer implemented method of any or all previous examples, wherein controlling the controllable subsystem comprises controlling a propulsion subsystem of the mobile machine based on the functional predictive tractive characteristic map.
Example 14 is the computer implemented method of any or all previous examples, wherein controlling the controllable subsystem comprises controlling a steering subsystem of the mobile machine based on the functional predictive tractive characteristic map.
Example 15 is the computer implemented method of any or all previous examples, wherein controlling the controllable subsystem comprises controlling a position subsystem to control a position of a component of the mobile machine based on the functional predictive tractive characteristic map.
Example 16 is a mobile agricultural machine, comprising:
a communication system that receives an information map that maps values of a characteristic to different geographic locations in a field;
a geographic position sensor that detects a geographic location of the mobile agricultural machine;
an in-situ sensor that detects a tractive characteristic value corresponding to a geographic location;
a predictive model generator that generates a predictive tractive characteristic model indicative of a relationship between values of the characteristic and tractive characteristic values based on the tractive characteristic value detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic in the information map corresponding to the geographic location; and
a predictive map generator that generates a functional predictive tractive characteristic map of the field, that maps predictive tractive characteristic values to the different geographic locations in the field, based on the values of the characteristic in the information map corresponding to those different geographic locations and based on the predictive tractive characteristic model.
Example 17 is the mobile agricultural machine of any or all previous examples and further comprising:
a control system that generates a control signal to control a position subsystem of the mobile agricultural machine based on the functional predictive tractive characteristic map and the geographic location of the mobile agricultural machine.
Example 18 is the mobile agricultural machine of any or all previous examples and further comprising:
a control system that generates a control signal to control a propulsion subsystem of the mobile agricultural machine based on the functional predictive tractive characteristic map and the geographic location of the mobile agricultural machine.
Example 19 is the mobile agricultural machine of any or all previous examples and further comprising:
a control system that generates a control signal to control a steering subsystem of the mobile agricultural machine based on the functional predictive tractive characteristic map and the geographic location of the mobile agricultural machine.
Example 20 is the mobile agricultural machine of claim 16 and further comprising:
a control system that generates a control signal to control an interface mechanism to generate an indication indicative of the functional predictive tractive characteristic 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 implementations 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 tractive characteristic model and predictive tractive characteristic map. In some examples, the predictive map can be used to control a mobile machine.
Mobile agricultural machines operate at a worksite, such as a field, to perform an agricultural operation. The mobile agricultural machines may include a towing vehicle and a towed implement. The tractive characteristics, such as the tractive effort, the tractive efficiency, wheel slip, draft, as well as various other tractive characteristics may vary during an operation. For example, the tractive characteristics of the machine may vary as characteristics at the field (such as topographic characteristics, soil properties, ground cover, as well as various other characteristics) vary.
In some cases, sensor technology can be employed to detect tractive characteristics, and subsequent control can be undertaken based on the sensor readings. However, such control can suffer from latencies in sensor readings as well as machine latencies. Thus, it would be desirable to provide a system that allows for proactive control that can maintain desired performance through variable conditions. Proactive control reduces (or eliminates) the problems associated with latency.
In one example, the present description relates to obtaining an information map, such as a topographic map. A topographic map illustratively maps topographic characteristic values across different geographic locations in a field of interest, such as elevations of the ground 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 machine travels across the terrain in known directions, the pitch and roll of the agricultural machine 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 sensor readings taken during a previous operation on the field of interest or from an aerial survey of the field (such as a plane, drone, or satellite equipped with lidar or other distance measuring devices). In some examples, the topographic map can be obtained from third parties. 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 an information 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, soil compaction, soil surface profile, as well as various other soil properties) across different geographic locations in a field of interest. The soil property map thus provides 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. Soil compaction can refer to the density of the soil. Soil surface profile, sometimes referred to a soil surface roughness, can refer to the irregularities of the soil surface. These are merely examples. Various other characteristics and properties of the soil can be mapped as soil property values on a soil property map. The soil property map can be derived in a variety of ways, such as from sensor readings during previous operations at the field of interest, from surveys of the field, such as soil sampling surveys, as well as surveys by aerial machines (e.g., satellites, drones, etc.) that includes sensors that capture sensor information of the field. The soil property map can be generated based on data 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. These are merely some examples. 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. One example of a prior operation map is a historical tractive characteristic map. A historical tractive characteristic map maps, as values of prior operation characteristics, values of historical tractive characteristics across different geographic locations in the field of interest. A machine performing a prior operation at the field may be outfitted with sensors that detect the tractive characteristics at the field. Another example of a prior operation map is a prior irrigation operation map. A prior irrigation operation map maps, as values of prior operation characteristics, irrigation operation characteristic values across different geographic locations in the field of interest. The irrigation operation characteristic values can indicate locations where water was applied, the timing of the application, as well as the amount of water applied. The machine(s) performing the prior irrigation operation may be outfitted with sensors that detect the irrigation operation characteristic values. Another example of a prior operation map is a prior tiling operation map. A tiling operation illustratively refers to an operation in which drainage tiling is installed at the field of interest. A prior tiling operation maps, as values of prior operation characteristics, tiling operation characteristic values across different geographic locations in the field of interest. The tiling operation characteristic values can indicate the locations where tiling was installed, the depths at which the tiling was installed, as well as the dimensions of the tiling installed. The machine(s) performing the prior tiling operation may be outfitted with sensors that detect the tiling operation characteristic values. Another example of a prior operation map is prior traffic map. A prior traffic map maps, as values of prior operation characteristics, traffic characteristic values across different geographic locations in the field of interest. The traffic characteristic values can indicate the travel paths of the machines during the prior operations as well as load characteristics (e.g., weight of the machine) along the travel path. The machine(s) performing the prior operation(s) may be outfitted with sensors that detect the traffic characteristic values. Various other types of prior operation maps are contemplated herein, such as prior harvesting maps, prior planting maps, prior spraying maps, prior tillage maps, as well as various other prior operation maps. 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 an information map, such as a ground cover map. A ground cover map illustratively maps ground cover values (which may be indicative of the amount and distribution of material covering the surface of the ground) across different geographic locations in a field of interest. The ground cover values may indicate whether there is bare dirt or whether some material covers a location of the field. The ground covering material may include live vegetation material which may be planted or otherwise alive (e.g., cover crop, weeds, etc.) as well as dead (or previous) vegetation material, such as vegetation residue (e.g., crop residue) from a previous year or season or earlier in the same year or season. The ground covering material may be dry or may be at least partially coated with water, snow, or ice. The ground covering material may also include various other materials, such as a variety of debris at the field. The ground cover map may be derived from sensor readings during a previous operation at the field. For example, the machine performing the previous operation may be outfitted with sensors that detect ground cover values at different geographic locations in the field. The ground cover map may be derived from sensor readings from sensors on aerial machine (e.g., satellites, drones, etc.) that survey the field of interest. The sensors may read one or more bands of electromagnetic radiation reflected from the ground cover material at the field. These are merely some examples. The ground cover map can be generated in a variety of other ways.
In other examples, one or more other types of information maps can be obtained. The various other types of information maps illustratively map values of various other characteristics across different geographic locations in a field of interest.
In one example, the present description relates to obtaining in-situ data from in-situ sensors on the mobile agricultural machine taken concurrently with an operation. The in-situ sensor data can include tractive characteristic data generated by tractive characteristic sensors.
The present discussion proceeds, in some examples, with respect to systems that obtain one or more maps of a field, such as one or more of a topographic map, a soil property map, a prior operation map, as well as various other types of maps and also use an in-situ sensor to detect a variable indicative of a characteristic value, such as a tractive characteristic value. The systems generate a model that models a relationship between the values on the obtained map(s) and the output values from the in-situ sensor. The model is used to generate a predictive map that predicts characteristic values, such as tractive characteristic values. The predictive map, generated during an operation, can be presented to an operator or other user or used in automatically controlling a mobile agricultural machine during an operation, or both. In some examples, the predictive map can be used to control one or more operating parameters of the mobile agricultural machine during an operation.
While the various examples described herein proceed with respect to certain example mobile agricultural machines, it will be appreciated that the systems and methods described herein are applicable to various other types of mobile agricultural machines.
Planting implement 101-1 is a row crop planting machine that illustratively includes a toolbar 102 that is part of a frame 104.
In one example, sensor system 119 is an observation sensor system that includes one or more sensors, such as one or more imaging systems (e.g., stereo or mono cameras), optical sensors, lidar, radar, ultrasonic sensors, as well as various other types of sensors. Sensor system 119 observes the furrow 162 opened by row unit 106 and can detect various characteristics of the furrow 162, as well as characteristics of the seed in the furrow 162.
Some parts of the row unit 106 will now be discussed in more detail. First, it will be noted that there are different types of seed meters 124, and the one that is shown is shown for the sake of example only. For instance, in one example, each row unit 106 need not have its own seed meter. Instead, metering or other singulation or seed dividing techniques can be performed at a central location, for groups of row units 106. The metering systems can include rotatable disks, rotatable concave or bowl-shaped devices, among others. The seed delivery system can be a gravity drop system (such as seed tube 120 shown in
A downforce generator or actuator 126 is mounted on a coupling assembly 128 that couples row unit 106 to toolbar 102. Downforce actuator 126 can be a hydraulic actuator, a pneumatic actuator, an electromechanical actuator, a spring-based mechanical actuator or a wide variety of other actuators. In the example shown in
In addition, there may be other separate and controllable downforce actuators, such as one or more of a closing wheel downforce actuator 153 that controls the downforce exerted on closing wheels 118. Closing wheel downforce actuator 153 can be a hydraulic actuator, a pneumatic actuator, an electrical actuator, a spring-based mechanical actuator or a wide variety of other actuators. The downforce exerted by closing wheel downforce actuator 153 is represented by arrow 137.
In the illustrated example, arms (or gauge wheel arms) 148 illustratively abut a mechanical stop (or arm contact member or wedge) 150. The position of mechanical stop 150 relative to shank 152 can be set by a planting depth actuator assembly 154. Planting depth actuator assembly 154 can include a hydraulic actuator, a pneumatic actuator, an electrical actuator, or various other types of controllable actuators. Control arms 148 illustratively pivot around pivot point 156 so that, as planting depth actuator assembly 154 actuates to change the position of mechanical stop 150, the relative position of gauge wheels 116, relative to the double disk opener 114, changes, to change the depth at which seeds are planted. Additionally, row unit 106 can include a depth sensor 157, such a potentiometer, hall effect sensor, or other suitable sensor, that detects a displacement of control arms 148 to indicate the position of gauge wheels 116 and thus the operating depth of double disk opener.
In operation, row unit 106 travels generally in the direction indicated by arrow 160. The opener 114 opens the furrow 162 in the soil 138, and the depth of the furrow 162 is set by planting depth actuator assembly 154, which, itself, controls the offset between the lowest parts of gauge wheels 116 and opener 114. Seeds are dropped through seed tube 120 (or otherwise delivered by a different type of seed delivery system, such as an assistive seed delivery system) into the furrow 162 and closing wheels 118 close the soil.
As the seeds are dropped through seed tube 120, they can be sensed by seed sensor 122. Some examples of seed sensor 122 are an optical sensor or a reflective sensor, and can include a radiation transmitter and a receiver. The transmitter emits electromagnetic radiation and the receiver the detects the radiation and generates a signal indicative of the presences or absences of a seed adjacent to the sensor. These are just some examples of seed sensors. Row unit 106 also includes sensor system 119 that can be used in addition to, or instead of, seed sensor 122. Sensor system 119 performs furrow sensing, including in-furrow seed sensing.
In addition to seed sensors, furrow sensors, and observation sensor systems, the individual row units 106 can include a wide variety of different types of in-situ sensors, some examples of which are illustrated in
Row unit 106 can also include one or more closing wheel downforce sensors 133 which can be used to detect force on closing wheels 118.
Mobile agricultural machine 100-1 can include various other types of in-situ sensors 308, which will be described in greater detail in
Agricultural planting implement 101-2 is towed by towing vehicle 10, illustratively in the form of a tractor.
In the example shown in
The commodity cart 208 has a frame 210 upon which a series of product tanks 212, 214, 216, and 218, and wheels 220 are mounted. Each product tank has a door (a representative door 222 is labeled) releasably sealing an opening at its upper end for filling the tank with product, most usually a commodity of one type or another. A metering system 224 is provided at a lower end of each tank (a representative one of which is labeled) for controlled feeding or draining of product (most typically granular material) into a pneumatic distribution system 226. The tanks 212, 214, 216, and 218 can hold, for example, a material or commodity such as seed or fertilizer, or both, to be distributed to the soil. The tanks can be hoppers, bins, boxes, containers, etc. The term “tank” shall be broadly construed herein. Furthermore, one tank with multiple compartments can also be provided instead of separated tanks.
The tilling implement or seeding tool 204 includes a frame 228 supported by ground wheels 230 which include tires. Tilling implement or seeding tool 204 can include a suspension system (not shown), which can include actuators disposed between frame 228 and wheels 230 to raise and lower wheels 230 relative to frame 228, thus raising and lowering frame 228 relative to the ground. Frame 228 is connected to a leading portion of the commodity cart 208, for example by a tongue style attachment (not labeled). The commodity cart 208 as shown is sometimes called a “tow behind cart,” meaning that the cart 208 follows the seeding tool 204. In an alternative arrangement, the cart 208 can be configured as a “tow between cart,” meaning the cart 208 is between the towing vehicle 10 and seeding tool 204. In yet a further possible arrangement, the commodity cart 208 and tilling implement or seeding tool 204 can be combined to form a unified rather than separated configuration. These are just examples of additional possible configurations. Other configurations are even possible and all configurations should be considered contemplated and within the scope of the present description.
In the example shown in
The pneumatic distribution system 226 includes a fan (not shown) connected to a product delivery conduit structure having multiple product flow passages 232. The fan directs air through the flow passages 232. Each product metering system 224 controls delivery of product from its associated tank at a controllable rate to the transporting airstreams moving through flow passages 232. In this manner, each flow passage 232 carries product from the tanks to a secondary distribution tower 234 on the seeding tool 204. Typically, there will be one tower 234 for each flow passage 232. Each tower 234 includes a secondary distributing manifold 236, typically located at the top of a vertical tube. The distributing manifold 236 divides the flow of product into a number of secondary distribution lines 238. Each secondary distribution line 238 delivers product to one of a plurality of row units 239. Each row unit 239 includes, among other things, as ground engaging tools, ground openers 240 (also known as furrow openers, illustratively in the form of shanks) as well as closing (or packing) wheels 242. An example of a row unit 239 will be shown in greater detail in
A packing or closing wheel 242 is associated with each ground opening tool 240 trails the tool 240 and closes or packs the soil over the product deposited in the soil. The tools 240 are typically moveable between a lowered position engaging the ground and a raised position riding above the ground. Each individual tool 240 may be configured to be raised by a separate actuator. Alternatively, multiple tools 240 may be mounted to a common component for movement together. In yet another alternative, the tools 240 may be fixed to the frame 228, the frame being configured to be raised and lowered with the tools 240, such as by controllable actuation of an actuator that raises and lowers wheels 230.
It should be noted that a mobile agricultural machine 100 can include a variety of in-situ sensors 308, some examples of which are shown in
Ground opening tool 240 is pivotally coupled to the bracket 245 at pivot point 233. Closing wheel is coupled to an end of control arm 235. The other end of control arm 235 is pivotally coupled to pivot point 233. A ground opening tool actuator 244 actuates ground opening tool 240 to control a position (e.g., depth) of ground opening tool 240). A closing or packing wheel actuator 246 actuates closing or packing wheel 242 to control a position (e.g., depth) of closing or packing wheel 242.
As illustrated in
As shown tillage implement 101-3 is towed by towing vehicle 10 in the direction indicated by arrow 275 and operates at a field 291. Tillage implement 101-3 includes a plurality of tools that can engage the surface 250 of the ground 291 or penetrate the sub-surface 252 of the ground 292. As illustrated, tillage implement 101-3 may include, as tools, forward disks 262 (which form a disk gang 269), shanks 265, rearward disks 280, and roller basket 282. Alternatively or additionally, tillage implement 101-3 can include various other kinds of tools, such as tines. As illustrated, implement 101-3 may include a connection assembly 249, for coupling to the towing vehicle 10, that includes a mechanical connection mechanism 253 (shown as a hitch) as well as a connection harness 251 which may include a plurality of different connection lines, which may provide, among other things, power, fluid (e.g., hydraulics or air, or both), as well as communication. In some examples, implement 101-3 may include its own power and fluid sources. The connection lines of connection harness 251 may form a conduit for delivering power and/or fluid to the various actuators on implement 101-3.
As illustrated in
Actuators 272 are coupled between a wheel frame 293 and main frame 266 and are controllably actuatable to change a position of the wheels 295 relative to the main frame 266 and thus change a distance between main frame 266 and the surface 250 of the field 291. Thus, actuators 272 can be used to control the depth of the various tools of implement 101-3. Additionally, each wheel 295 can include a respective actuator 272 that is separately controllable such that the implement 101-3 can be leveled across its width. For instance, where the ground near a left wheel 295 is lower than the ground by a right wheel, the left wheel can be extended farther, by controllably actuating a respective actuator 272, than the right wheel 295 to level the implement 101-3 across its width. Additionally, a tillage implement 101-3 may include a plurality of wheels 295 across both its width and across its fore-to-aft length such that both side-to-side leveling and fore-to-aft (e.g., front-to-back, or vice versa) leveling can be achieved by variably controlling the separate wheels. These additional wheels can be coupled to the main frame or to subframes such that wing leveling can also occur.
As shown, hinge or pivot assembly 297 allows for movement of main frame 266 relative to hitch frame 268.
Actuators 274 are coupled between tool frame 267 and main frame 266 and are controllably actuatable to change a position of tools 265. While tools 265 are shown as ripper shanks, in other examples a tillage implement 101 may include other tools, alternatively or in addition to ripper shanks 265, such as tines.
Actuators 276 are coupled between tool frame 281 and main frame 266 and are controllably actuatable to change a position of tools 280. While tools 280 are shown as disks, in other examples a tillage implement 101-3 may include other tools, alternatively or in addition to disks 280, such as tines.
Actuators 278 are coupled between tool frame 283 and main frame 266 and are actuatable to change a position of tools 282. Tools 282 are illustratively roller baskets.
It should be noted that a mobile agricultural machine 100 can include a variety of in-situ sensors 308, some examples of which are shown in
Data store 302, itself, can include one or more data items, some of which are shown in
The in-situ sensors 308 can be on-board mobile machine 100, remote from mobile machine, 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 tractive characteristic sensors 380, heading/speed sensors 325, geographic position sensors 304, and can include various other sensors 328, such as the various other sensors described in
Tractive characteristic sensors 380 provide sensor data indicative of tractive characteristics, such as tractive effort, tractive efficiency, wheel slip, draft, as well as various other tractive characteristics.
Tractive effort sensors 382 illustratively detect characteristics, or values, indicative of the tractive effort of mobile machine 100, that is the tractive effort (power) utilized by mobile machine 100 to propel mobile machine 100 across the worksite. Tractive effort of each driven traction element can be expressed as the force (e.g., torque) at the traction element divided by the radius of the traction element. The tractive effort of the mobile machine 100 is the sum of the tractive effort at the traction elements. In some examples, the force (e.g., torque) at each traction element can be sensed directly by force sensors (e.g., torque sensors) at the traction elements. In other examples, the force at each traction element can be estimated based on the output (e.g., torque) of the powerplant 344 and the total ratio of the powertrain (e.g., gear reduction). Tractive effort sensors 382 can include, for example, force sensors (e.g., torque sensors) that sense the force (e.g., torque) at the traction element or force sensors (e.g., torque sensors) that sense the output of powerplant 344. In other examples, such as where a powerplant 344 utilizes electric generator(s) to drive the traction elements, tractive effort sensors 382 can include voltage sensors and amperage sensors (current sensors). In other examples, such as where the powerplant 344 drives fluid pump(s) to drive the traction elements, tractive effort sensors 382 can include pressure sensors or flow sensors. Flow sensors may directly measure material passing through a conduit over a time interval or flow may be derived indirectly from machine data such as, in one example, pump displacement combined with pump speed (which may be detected by pump speed sensors). The total ratio of the powertrain, gear reduction, traction element dimensions, as well as other data can be obtained from machine data 303. Thus, processing system 338 can generate tractive effort values based on the data generated by tractive effort sensors 382 and machine data 303.
Wheel slip sensors 385 illustratively detect characteristics, or values, indicative of wheel slip. Wheel slip is a ratio of the actual travel speed of the machine and the theoretical or expected speed of the machine. Wheel slip is generally expressed as 1−(Va/Vt) or (Vt−Va)/Vt. Where Va is actual velocity and Vt is theoretical (or expected) velocity. Positive wheel slip can indicate that the wheels are spinning. Negative wheel slip can indicate that the wheels are skidding. In some examples, the movement (e.g., rotation) of the traction element can be sensed or the movement of an associated drivetrain element can be sensed. In other examples, the theoretical or expected speed can be calculated based on the speed of the powerplant 344 and the total powertrain ratio. Thus, wheel slip sensors 385 can include sensors that detect the movement (e.g., rotation) of traction elements, movement (rotation) of an associated drivetrain element, or movement (e.g., rotation) of powerplant 344, some examples of which are Hall effect sensors and variable reluctance sensors. Wheel slip sensors 385 can also include sensors that detect the actual travel speed such as geographic position sensors 304 (e.g., RTK) or other types of sensors, such as radar, lidar, or an accelerometer.
Tractive efficiency sensors 384 illustratively detect characteristics, or values, indicative of the tractive efficiency of mobile machine 100. Tractive efficiency is a ratio of the drawbar power of the machine to the axle power of the machine and can be calculated when wheel slip is known. Drawbar power is the product of the force at the point the implement is attached to the towing vehicle (sometimes referred to as the drawbar pull) and the actual travel speed of the mobile machine. The drawbar pull can, in some examples, be detected by detecting the load at the attachment. This load can be detected by, for example, draft sensors 386, or other type of sensors. The travel speed (actual travel speed) of the mobile machine 100 can be detected based on data from geographic positions sensors 304 (e.g., RTK data) or data from other types of sensors such as radar, lidar, or an accelerometer. Axle power is the product of force at the traction element (e.g., torque) and the speed of the traction element (e.g., rotational speed of the traction element). The force at the traction elements can be, in some examples, sensed directly such as by torque sensors at the traction elements. In other examples, the force at the traction elements can be detected based on the output (e.g., torque) of the powerplant 344 and the total powertrain ratio (e.g., gear ratio of the drive train elements, such as transmission or gear box and differential(s)). The speed of the traction elements can be, in some examples, sensed by sensors that detect the movement (e.g., rotation) of the traction elements or movement of an associated drivetrain element, such as heading/speed sensors 325 or wheel slip sensors 385, or other types of sensors. In other examples, the theoretical or expected speed can be calculated based on the speed of the powerplant 344 and the total powertrain ratio. As can be seen, tractive efficiency of mobile machine 100 can be determined based, at least in part, on the detected wheel slip. Tractive efficiency sensors 384 can include, for example, force sensors (e.g., torque sensors) that sense the force (e.g., torque) at the traction elements or force sensors (e.g., torque sensors) that sense the output of powerplant 344. Tractive efficiency sensors 384 can include actual travel speed sensors (e.g., geographic position sensors, radar, lidar, accelerometer, etc.), traction element movement (rotation) sensors, drivetrain element movement (rotation) sensors, or sensors that sense the speed of powerplant 344. Tractive efficiency sensors 385 can include draft sensors, such as draft sensors 386, as well as various other draft sensors. Thus, while tractive efficiency sensors 384 are shown as separate sensors, in some examples, tractive efficiency is derived from data from other sensors, such as tractive effort sensors 382, wheel slip sensors 385, draft sensors 386, geographic position sensors 304, and/or heading/speed sensors 325 and subsequent processing. In other examples, tractive efficiency sensors 384 are separate sensors and do not utilize data received from other sources. In other examples, such as where a powerplant 344 utilizes electric generator(s) to drive the traction elements, tractive efficiency sensors 384 can include voltage sensors and amperage sensors (current sensors). In other examples, such as where the powerplant 344 drives fluid pump(s) to drive the traction elements, tractive efficiency sensors 384 can include pressure sensors or flow sensors or may derive flow from pump speed in combination with pump displacement (which can be indicated by machine data 303). The total ratio of the powertrain, gear reduction or gear ratio, dimensions of the traction elements, as well as other data can be obtained from machine data 303. Thus, processing system 338 can generate tractive efficiency values based on the data generated by tractive efficiency sensors 384 and, in some examples, machine data 303.
Draft sensors 386 illustratively detect the draft of mobile machine 100, that is, the total force required to pull implement 101. The draft of mobile machine 100 is affected by various factors, such as the dimensions of the implement 101, the operating depth of the implement 101 as well as characteristics of the field (e.g., soil properties, topography, etc.). Draft sensors 386 thus illustratively detect the draft (or draft force) required to pull implement 101 across the worksite. Draft sensors 386 can include load sensors (e.g., load cells, strain gauges, etc.) incorporated into the mechanical linkage (e.g., hitch) of mobile machine 100. Thus, processing system 338 can generate draft values based on sensor data generated by draft sensors 386.
Tractive characteristic sensors 380 can include a variety of other types of sensors 387.
Operating parameter sensors 370 provide sensor data indicative of operating parameters of mobile agricultural machine 100. Operating parameter sensors 370 can detect such parameters as tool positions (e.g., tool depth, tool angle, etc.), applied downforce, as well as various other operating parameters. Operating parameter sensors 370 can include a wide variety of different types of sensors, including, for example, the sensor described above with respect to
Geographic position sensors 304 illustratively sense or detect the geographic position or location of mobile agricultural 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. Geographic positions sensors 304 can be on towing vehicle 10 or planting implement 101, or both.
Heading/speed sensors 325 detect a heading and speed at which mobile machine is traversing the worksite during the operation. This can include sensors that sense the movement of ground-engaging elements (e.g., wheels or tracks of towing vehicle 10 or implement 101, or both) or drivetrain elements, such as sensors 46, 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. In some examples, heading/speed sensors 325 can include sensors that detect the movement (e.g., rotation) of traction elements (e.g., wheels or tracks of towing vehicle 10 or implement 101, or both), and other sensors that detect the travel speed of mobile machine 100, such as radar, lidar, as well as other types of sensors.
Other in-situ sensors 328 may be any of the sensors described above with respect to
In-situ data includes data taken from a sensor on-board the mobile agricultural machine 100 or taken by any sensor where the data are detected during the operation of mobile agricultural 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 tractive characteristic values (e.g., tractive effort values, tractive efficiency values, wheel slip values, draft values, etc.) based on sensor data generated by tractive characteristic sensors 380. Processing system 338 also processes sensor signals generated by other in-situ sensors 308 to generate processed sensor data indicative of other characteristic values, such as operating parameter values based on sensor data generated by operating parameter sensors 370, 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 noted that processing system 338, in generating processed sensor data, can also utilize other data, such as machine data 303.
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, such as noise filtering functionality, 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 image 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 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
Information maps 358 may be downloaded onto mobile ground engaging 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 264 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.
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 tractive characteristics, then model generator 310 generates a predictive tractive characteristic model that models the relationship between the topographic values and the tractive characteristic values. In another example, if the information map 358 maps soil property values to different locations in the worksite, and the in-situ sensors 308 are sensing values indicative of tractive characteristics, then model generator 310 generates a predictive tractive characteristic model that models the relationship between the soil property values and the tractive characteristic values. In another example, if the information map 358 maps prior operation characteristic values to different locations in the worksite, and the in-situ sensors 308 are sensing values indicative of tractive characteristics, then model generator 310 generates a predictive tractive characteristic model that models the relationship between the prior operation characteristic values and the tractive characteristic values. In another example, if the information map 358 maps ground cover values to different locations in the worksite, and the in-situ sensors 308 are sensing values indicative of tractive characteristics, then model generator 310 generates a predictive tractive characteristic model that models the relationship between the ground cover values and the tractive characteristic 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 is a predictive tractive characteristic model that models a relationship between tractive characteristic values sensed by in-situ sensors 308 and one or more of topographic characteristic values from a topographic map, soil property values from a soil property map, prior operation characteristic values from a prior operation map, ground cover values from a ground cover map, and other characteristic values from an other map, then predictive map generator 312 generates a functional predictive tractive characteristic map that predicts tractive characteristic values at different locations at the worksite based on one or more of the mapped values at those locations and the predictive tractive characteristic 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 a topographic map, and the variable sensed by the in-situ sensors 308 may be one or more tractive characteristics (e.g., tractive effort, tractive efficiency, wheel slip, draft, etc.). The predictive map 264 may then be a predictive tractive characteristic map that maps predictive tractive characteristic values (e.g., one or more of tractive effort values, tractive efficiency values, wheel slip values, and draft values) to different geographic locations in the in the worksite. This is merely an example.
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 prior operation map generated during a previous operation on the field, and the variable sensed by the in-situ sensors 308 may be one or more tractive characteristics. The predictive map 264 may then be a predictive tractive characteristic map that maps predictive tractive characteristic values to different geographic locations in the field. This is merely one example.
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 tractive characteristic map generated during a previous year or earlier in the same season, and the variable sensed by the in-situ sensors 308 may be one or more tractive characteristics. The predictive map 264 may then be a predictive tractive characteristic map that maps predictive tractive characteristic values to different geographic locations in the field. In such an example, the relative tractive characteristic differences in the georeferenced information map 358 from the prior year or earlier in the same season can be used by predictive model generator 310 to generate a predictive model that models a relationship between the relative tractive characteristic differences on the information map 358 and the tractive characteristic 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 tractive characteristic map. This is merely one example.
In another example, the information map 358 may be a map, such as ground cover map, generated during a prior operation, and the variable sensed by the in-situ sensors 308 during the current operation may be one or more tractive characteristics. The predictive map 264 may then be a predictive tractive characteristic map that maps predictive tractive characteristic values to different geographic locations in the field. In such an example, a map of the ground cover values at time of the prior operation is geo-referenced, recorded, and provided to mobile machine 100 as an information map 358 of ground cover values. In-situ sensors 308 during a current operation can detect one or more tractive characteristics at geographic locations in the field and predictive model generator 310 may then build a predictive model that models a relationship between the tractive characteristic values at the time of the current operation and ground cover values at the time of the prior operation. This is because the ground cover 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 fresh or reliable than ground cover values obtained in other ways. For instance, aerial imaging of the field may not be available or reliable closer in time to the current operation. 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 316 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 (or control values) based on the predictive map 264 or predictive control zone map 265 to other mobile machines (e.g., other mobile ground engaging 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, propulsion controller 331, path planning controller 334, one or more position controllers 335, zone controller 336, and control system 314 can include other items 339. Controllable subsystems 316 include position subsystem 341, propulsion subsystem 342, steering subsystem 352, and subsystem 316 can include a wide variety of other controllable subsystems 356. Propulsion subsystem 342, itself, includes powerplant 344, gearbox/transmission 346, transfer case 348, differential lock 350, and can include various other items 351.
Interface controller 330 is operable to generate control signals to control interface mechanisms, such as operator interface mechanisms 318 or user interface mechanisms 364, or both. The interface controller 330 is 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.
Path planning controller 334 illustratively generates control signals to control steering subsystem 352 to steer mobile machine 100 according to a desired path or according to desired parameters, such as desired steering angles based on one or more of the predictive map 264 and the predictive control zone map 265. Path planning controller 334 can control a path planning system to generate a route for mobile machine 100 and can control propulsion subsystem 342 and steering subsystem 352 to steer mobile machine 100 along that route. Steering subsystem can include one or more controllable actuators that are controllable actuatable to control a steering angle of one or more traction elements (e.g., tires or tracks) of mobile machine 100. Path planning controller 334 can generate control signals based on predictive map 264 or predictive control zone map 265, or both. In some examples, based on predictive map 264 or predictive control zone map 265, or both, path planning controller 334 may control steering subsystem 352 to control a route or heading of mobile machine 100, such as to avoid a given location on the field or to head into a given location on the field from a certain direction.
Propulsion controller 331 illustratively generates control signals to control propulsion subsystem 342 to control operating parameters of propulsion subsystem 342. For example, propulsion controller 331 can control powerplant 344 to increase the output of the powerplant 344, such as by controlling the flow of energy, such as fuel (e.g., throttle up or throttle down) or electrical energy (e.g., current) provided to the powerplant 344. Thus, powerplant 344 can be controlled to adjust its output (e.g., power output) such as to controllably increase or decrease the output (e.g., power) of the powerplant 344 such that the powerplant 344 supplies (or provides) more or less output (e.g., power) to components of mobile machine 100. In another example, propulsion controller 331 can control gear box/transmission to control the gear in which mobile machine 100 is in. In some examples, gear box/transmission may include multiple gear sets (e.g., 4 high and 4 low), in which case, propulsion controller 331 can also control which gear set gear box/transmission is in. In another example, propulsion controller 331 may controllably engage or disengage a transfer case 348, such as when mobile machine 100 has part-time 4-wheel drive. Engaging the transfer case 348 engages four-wheel drive by locking front and rear drive shafts together. In another example, propulsion controller 331 may controllably lock or unlock a differential (e.g., a front differential, a center differential, or a rear differential) by actuation of differential lock 350. Mobile machine 100 may have one or more differentials, depending on the drive mode of the mobile machine (e.g., front wheel drive, rear wheel drive, part-time four-wheel drive, all wheel drive). Differentials allow the traction elements (e.g., tires or tracks) to spin at variable speeds. A differential may be locked, by way of differential lock 350, such that the traction elements (e.g., tires or tracks) are forced to spin at the same speed. In the case of front wheel drive, a front differential may be controllably locked and unlocked by a differential lock 350. In the case of rear-wheel drive, a rear differential may be controllably locked and unlocked by a differential lock 350. In the case of part-time four-wheel drive or all-wheel drive, a center differential may be controllable locked and unlocked by a differential lock 350. Propulsion controller 331 can also illustratively generate control signals to control a speed characteristic of mobile machine 100, such as one or more of travel speed, acceleration, and deceleration. It will be understood that propulsion subsystem 342 may include a powerplant 344, such as an internal combustion engine or electrical generator(s), or both, as well as various other items 351, such as energy sources, (e.g., fuel supply or battery supply, or both), various motors which may be driven by the powerplant, such as electric motor or hydraulic motors (in which case, propulsion subsystem 342 may also include one or more hydraulic pumps that drive the hydraulic motors), as well as various other items. The powerplant 344 can be controlled by propulsion controller 331 to also adjust operating parameters of the other components, such as the electric motors or hydraulic motors (e.g., by adjusting operating parameters of the hydraulic pumps), etc.
Propulsion controller 331 can generate control signals based on predictive map 264 or predictive control zone map 265, or both.
Position controllers 335 illustratively generate control signals to control positions (e.g., height, depth, angle, etc.) of one or more components of machine 100, such as a frame, a tool or tool assembly. For example, the position controllers 335 can generate control signals to control position subsystems 343 to control operation of the position subsystems 343 and thus an operating height, depth or operating angle, of one or more components of mobile machine 100, such as a frame, a tool, or a tool assembly of implement 101. The position subsystems 341 may include various actuators that actuate to control a position of a component of implement 101. Some examples of these actuators are shown in previous FIGS., such as actuators 113, 153, 154, 244, 246, 270, 272, 274, 276, and 278). Some of these actuators have not been previously shown, such as actuators that actuate wheels of implement 101, such as wheels 230. Additionally, some example mobile machines 100 may have front attachments, for example, a mobile machine 100 in the form of a harvester (e.g., combine harvester, self-propelled windrower, etc.). In such an example, position subsystems 341 may include actuators that are controllable to alter the position of the front attachment (e.g., header) relative to the ground. For example, the front attachment may be raised to reduce its engagement with the ground or to take it out of engagement with the ground. In some examples, the actuators that control the position of the front attachment may also include a float circuit, which may include one or more accumulators, for example. The float pressure can be adjusted to reduce the engagement of the attachment with the ground or to take the attachment out of engagement with the ground. The various actuators can be hydraulic actuators, pneumatic actuators, electromechanical actuators, as well as various other types of actuators. In addition, position subsystems 343 can include delivery systems (e.g., fluid, such as hydraulic or air, delivery systems, power deliver systems, etc.), conduits, valves, pumps, motors, and various other items. Position controllers 335 can thus generate control signals to control a position of one or more components of mobile machine 100. Position controllers 335 can generate control signals to control position subsystems 340 based on one or more of the predictive map 264 and the predictive control zone map 265. As an example, based on based on predictive map 264 or predictive control zone map 265, or both, position controllers 335 may generate control signals to reduce an operating depth of implement 101 (or of one or more components of implements 100) to reduce a draft (or draft force).
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 316 based on the predictive map 264 or predictive control zone map 265 or both as well.
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 agricultural 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 tractive characteristic sensors 380, 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
Tractive characteristic(s)-to-topographic characteristic model generator 441 identifies a relationship between tractive characteristic value(s) detected in in-situ sensor data 440, at geographic location(s) to which the tractive characteristic value(s), detected in the in-situ sensor data 440, correspond, and topographic characteristic value(s) from the topographic map 430 corresponding to the same geographic location(s) to which the detected tractive characteristic value(s) correspond. Based on this relationship established by tractive characteristic(s)-to-topographic characteristic model generator 441, tractive characteristic(s)-to-topographic characteristic model generator 441 generates a predictive tractive characteristic model. The predictive tractive characteristic model is used by predictive tractive characteristic map generator 452 to predict one or more tractive characteristics (e.g., one or more of tractive effort, tractive efficiency, wheel slip, and draft) at different locations in the field based upon the georeferenced topographic characteristic values contained in the topographic map 430 at the same locations in the field. Thus, for a given location in the field, a value of one or more tractive characteristics can be predicted at the given location based on the predictive tractive characteristic model and the topographic characteristic value, from the topographic map 430, at that given location.
Tractive characteristic(s)-to-soil property model generator 442 identifies a relationship between tractive characteristic value(s) detected in in-situ sensor data 440, at geographic location(s) to which the tractive characteristic value(s), detected in the in-situ sensor data 440, correspond, and soil property value(s) from the soil property map 431 corresponding to the same geographic location(s) to which the detected tractive characteristic value(s) correspond. Based on this relationship established by tractive characteristic(s)-to-soil property model generator 442, tractive characteristic(s)-to-soil property model generator 442 generates a predictive tractive characteristic model. The predictive tractive characteristic model is used by predictive tractive characteristic map generator 452 to predict one or more tractive characteristics (e.g., one or more of tractive effort, tractive efficiency, wheel slip, and draft) at different locations in the field based upon the georeferenced soil property values contained in the soil property map 431 at the same locations in the field. Thus, for a given location in the field, a value of one or more tractive characteristics can be predicted at the given location based on the predictive tractive characteristic model and the soil property value, from the soil property map 431, at that given location.
Tractive characteristic(s)-to-prior operation characteristic model generator 443 identifies a relationship between tractive characteristic value(s) detected in in-situ sensor data 440, at geographic location(s) to which the tractive characteristic value(s), detected in the in-situ sensor data 440, correspond, and prior operation characteristic value(s) from the prior operation map 432 corresponding to the same geographic location(s) to which the detected tractive characteristic value(s) correspond. Based on this relationship established by tractive characteristic(s)-to-prior operation characteristic model generator 443, tractive characteristic(s)-to-prior operation characteristic model generator 443 generates a predictive tractive characteristic model. The predictive tractive characteristic model is used by predictive tractive characteristic map generator 452 to predict one or more tractive characteristics (e.g., one or more of tractive effort, tractive efficiency, wheel slip, and draft) at different locations in the field based upon the georeferenced prior operation characteristic values contained in the prior operation map 432 at the same locations in the field. Thus, for a given location in the field, a value of one or more tractive characteristics can be predicted at the given location based on the predictive tractive characteristic model and the prior operation characteristic value, from the prior operation map 432, at that given location.
Tractive characteristic(s)-to-ground cover model generator 444 identifies a relationship between tractive characteristic value(s) detected in in-situ sensor data 440, at geographic location(s) to which the tractive characteristic value(s), detected in the in-situ sensor data 440, correspond, and ground cover value(s) from the ground cover map 433 corresponding to the same geographic location(s) to which the detected tractive characteristic value(s) correspond. Based on this relationship established by tractive characteristic(s)-to-ground cover model generator 444, tractive characteristic(s)-to-ground cover model generator 444 generates a predictive tractive characteristic model. The predictive tractive characteristic model is used by predictive tractive characteristic map generator 452 to predict one or more tractive characteristics (e.g., one or more of tractive effort, tractive efficiency, wheel slip, and draft) at different locations in the field based upon the georeferenced ground cover values contained in the ground cover map 433 at the same locations in the field. Thus, for a given location in the field, a value of one or more tractive characteristics can be predicted at the given location based on the predictive tractive characteristic model and the ground cover value, from the ground cover map 433, at that given location.
Tractive characteristic(s)-to-other characteristic model generator 448 identifies a relationship between tractive characteristic value(s) detected in in-situ sensor data 440, at geographic location(s) to which the tractive characteristic value(s), detected in the in-situ sensor data 440, correspond, and other characteristic value(s) from an other map 439 corresponding to the same geographic location(s) to which the detected tractive characteristic value(s) correspond. Based on this relationship established by tractive characteristic(s)-to-other characteristic model generator 448, tractive characteristic(s)-to-other characteristic model generator 448 generates a predictive tractive characteristic model. The predictive tractive characteristic model is used by predictive tractive characteristic map generator 452 to predict one or more tractive characteristics (e.g., one or more of tractive effort, tractive efficiency, wheel slip, and draft) at different locations in the field based upon the georeferenced other characteristic values contained in the other map 439 at the same locations in the field. Thus, for a given location in the field, a value of one or more tractive characteristics can be predicted at the given location based on the predictive tractive characteristic model and the other characteristic value, from the other map 439, at that given location.
In light of the above, the predictive model generator 310 is operable to produce a plurality of predictive tractive characteristic models, such as one or more of the predictive tractive characteristic models generated by model generators 441, 442, 443, 444, 448, and 449. In another example, two or more of the predictive models described above may be combined into a single predictive tractive characteristic model, such as a predictive tractive characteristic model that predicts one or more tractive characteristics based upon two or more of the topographic values, the soil property values, the prior operation characteristic values, the ground cover values, and the other characteristic values at different locations in the field. Any of these tractive characteristic models, or combinations thereof, are represented collectively by predictive tractive characteristic model 450 in
The predictive tractive characteristic model 450 is provided to predictive map generator 312. In the example of
Predictive tractive characteristic map generator 452 receives one or more of the topographic map 430, the soil property map 431, the prior operation map 432, the ground cover map 433, and an other map 439, along with the predictive tractive characteristic model 450 which predicts one or more tractive characteristics based upon one or more of a topographic value, a soil property value, a prior operation characteristic value, a ground cover value, and an other characteristic value, and generates a predictive map that predicts one or more tractive characteristics at different locations in the field, such as functional predictive tractive characteristic map 460.
Predictive map generator 312 outputs a functional predictive tractive characteristic map 460 that is predictive of one or more tractive characteristics (e.g., one or more of tractive effort, tractive efficiency, wheel slip, and draft). The functional predictive tractive characteristic map 460 is a predictive map 264. The functional predictive tractive characteristic map 460 predicts one or more tractive characteristics at different locations in a field. The functional predictive tractive characteristic map 460 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 tractive characteristic map 460 to produce a predictive control zone map 265, that is a functional predictive tractive characteristic control zone map 461. One or both of functional predictive tractive characteristic map 460 and functional predictive tractive characteristic control zone map 461 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 tractive characteristic map 460, the functional predictive tractive characteristic control zone map 461, or both.
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 soil property map, such as soil property map 431. Another information map 358 may be a prior operation map, such as prior operation map 432. Another information map 358 may be a ground cover map, such as ground cover map 433. 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 (e.g., characteristics of the field, characteristics of the vegetation, characteristics of the environment, operating parameters, etc.) 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 agricultural machine 100 is operating, in-situ sensors 308 generate sensor data (e.g., signals, images, etc.) indicative of one or more in-situ data values indicative of a characteristic, as indicated by block 610. For example, tractive characteristic sensors 380 generate sensor data indicative of one or more in-situ data values indicative of one or more tractive characteristics (e.g., one or more of tractive effort values, tractive efficiency values, wheel slip values, draft values, etc.), 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 machine dimension information, sensor position information, sensor parameter information, etc.
At block 614, predictive model generator 310 controls one or more of the model generators 441, 442, 443, 444, 448, and 449 to generate a model that models the relationship between the mapped values, such as the topographic characteristic values, the soil property values, the prior operation characteristic values, the ground cover values, and the other characteristic values contained in the respective information map and the tractive characteristic values (e.g., one or more of tractive effort values, tractive efficiency values, wheel slip values, draft values, and other tractive characteristic values) sensed by the in-situ sensors 308. Predictive model generator 310 generates a predictive tractive characteristic model 450 that predicts tractive characteristic values (e.g., one or more of tractive effort values, tractive efficiency values, wheel slip values, draft values, and other tractive characteristic values) based on one or more of topographic characteristic values, soil property values, prior operation characteristic values, ground cover 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 tractive characteristic map 460 that predicts values of one or more tractive characteristics (or sensor values indicative of tractive characteristic(s)) at different geographic locations in a field at which mobile agricultural machine 100 is operating using the predictive tractive characteristic model 450 and one or more of the information maps 358, such as topographic map 430, soil property map 431, prior operation map 432, ground cover map 433, and an other map 439.
It should be noted that, in some examples, the functional predictive tractive characteristic map 460 may include two or more different map layers. Each map layer may represent a different data type, for instance, a functional predictive tractive characteristic map 460 that provides two or more of a map layer that provides predictive tractive characteristic(s) based on topographic characteristic values from topographic map 430, a map layer that provides predictive tractive characteristic(s) based on soil property values from soil property map 431, a map layer that provides predictive tractive characteristic(s) based on prior operation characteristic values from prior operation map 432, a map layer that provides predictive tractive characteristic(s) based on ground cover values from ground cover map 433, and a map layer that provides predictive tractive characteristic(s) based on other characteristic values from an other map 439. Additionally, or alternatively, functional predictive tractive characteristic map 460 can include a map layer that provides predictive tractive characteristic(s) based on two or more of topographic characteristic values from topographic map 430, soil property value from soil property map 431, prior operation characteristic values from prior operation map 432, ground cover values from ground cover map 433, and other characteristic values from an other map 439.
Providing a predictive tractive characteristic map, such as functional predictive tractive characteristic map 460 is indicated by block 617.
At block 618, predictive map generator 312 configures the functional predictive tractive characteristic map 460 so that the functional predictive tractive characteristic map 460 is actionable (or consumable) by control system 314. Predictive map generator 312 can provide the functional predictive tractive characteristic map 460 to the control system 314 or to control zone generator 313, or both. Some examples of the different ways in which the functional predictive tractive characteristic map 460 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 tractive characteristic map 460 so that functional predictive tractive characteristic map 460 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 316 of mobile agricultural machine 100, as indicated by block 618.
At block 620, control zone generator 313 can divide the functional predictive tractive characteristic map 460 into control zones based on the values on the functional predictive tractive characteristic map 460 to generate functional predictive tractive characteristic control zone map 461. 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 or user 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 tractive characteristic map 460 for presentation to an operator or other user. At block 622, control zone generator 313 can configure functional predictive tractive characteristic control zone map 461 for presentation to an operator or other user. When presented to an operator or other user, the presentation of the functional predictive tractive characteristic map 460 or of functional predictive tractive characteristic control zone map 461, or both, may contain one or more of the predictive values on the functional predictive tractive characteristic map 460 correlated to geographic location, the control zones of functional predictive tractive characteristic control zone map 461 correlated to geographic location, and settings values or control parameters that are used based on the predicted values on functional predictive tractive characteristic map 460 or control zones on functional predictive tractive characteristic control zone map 461. 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 tractive characteristic map 460 or the control zones on functional predictive tractive characteristic control zone map 461 conform to measured values that may be measured by sensors on mobile agricultural machine 100 as mobile agricultural 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 tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, 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 tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, 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 tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, or both, and also be able to change the functional predictive tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, or both. In some instances, the functional predictive tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, 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 tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, 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 308 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 agricultural machine 100. Block 628 represents receipt by the control system 314 of sensor inputs indicative of trajectory or heading of mobile agricultural machine 100, and block 630 represents receipt by the control system 314 of a speed of mobile agricultural 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 316 based on the functional predictive tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, 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 316. It will be appreciated that the particular control signals that are generated, and the particular controllable subsystems 316 that are controlled, may vary based upon one or more different things. For example, the control signals that are generated and the controllable subsystems 316 that are controlled may be based on the type of functional predictive tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, or both, that is being used. Similarly, the control signals that are generated and the controllable subsystems 316 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 316.
By way of example, propulsion controller 331 of control system 314 can generate control signals to control propulsion subsystem 342 to control one or more parameters of propulsion subsystem 342. For example, propulsion controller 331 can generate control signals to control operating parameters of powerplant 344, such as to control an output of powerplant 344, such as by adjusting the speed of powerplant 344, throttling up or throttling down, or providing more or less current. Thus, powerplant 344 can be controlled to adjust its output (e.g., power output) such as to controllably increase or decrease the output (e.g., power) of the powerplant 344 such that the powerplant 344 supplies (or provides) more or less output (e.g., power) to components of mobile machine 100. In another example, propulsion controller 331 can generate control signals to control operating parameters of gear box/transmission 346, such as selecting which gear mobile machine 100 is in or selecting which gear set mobile machine 100 is in. In another example, propulsion controller 331 can generate control signals to control operating parameters of transfer case 348, such as to engage or disengage transfer case 348 (e.g., to engage or disengage 4-wheel drive). In another example, propulsion controller 331 can generate control signals to control a differential lock 350 to lock or unlock a differential. In another example, propulsion controller 331 can generate control signals to control propulsion subsystem 342 to adjust a speed characteristic of mobile machine 100, such as a travel speed, an acceleration, or deceleration. Propulsion controller 331 can generate control signals based on the functional predictive tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, or both.
In another example, path planning controller 334 of control system 314 can generate control signals to control steering subsystem 352 to control a route or heading of mobile machine 100, such as one or more of a commanded path at the worksite over which mobile machine 100 travels, and the steering of mobile machine 100, based on the functional predictive tractive characteristic map 460 or the functional predictive tractive characteristic control zone map 461, or both. As an example, path planning controller 334 may generate a route and/or control the steering of mobile machine 100 such that mobile machine 100 avoids travel over a location. In another example, path planning controller 334 may generate a route and/or control the steering of mobile machine 100 such that mobile machine 100 avoids travels over and into a location from a certain direction.
In another example, one or more position controllers 335 of control system 314 can generate control signals to control one or more position subsystems 340 to control a position (e.g., height, depth, angle, etc.) of one or more components of mobile machine 100, such as a frame, a tool, or tool assembly. Position controller 335 can generate control signals to control position subsystems 340 based on functional predictive tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, or both. For example, tool position controllers 335 can generate control signals to control the position of one or more components of implement 101. For example, tool position controllers 335 may generate control signals to raise one or more of the components of implement 100 (e.g., to reduce operating depth or to take a component out of engagement with the ground altogether) to reduce a draft of mobile machine 100.
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 tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, 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 tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, or both, to another item of agricultural system 300 (e.g., remote computing systems or user interfaces 364).
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 tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, 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 tractive characteristic map 460, functional predictive tractive characteristic control zone map 461, predictive tractive characteristic model 450, 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 tractive characteristic model 450 generated by predictive model generator 310. Further, a new functional predictive tractive characteristic map 460, a new functional predictive tractive characteristic control zone map 461, or both, can be generated using the new predictive tractive characteristic model 450. 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 tractive characteristic map 460, a new functional predictive tractive characteristic control zone map 461, 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 tractive characteristic model 450 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 tractive characteristic map 460 which can be provided to control zone generator 313 for the creation of a new functional predictive tractive characteristic control zone map 461. 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 tractive characteristic model 450, a new functional predictive tractive characteristic map 460, and a new functional predictive tractive characteristic control zone map 461. 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 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 tractive characteristic map 460 or functional predictive tractive characteristic control zone map 461, or both. The edits can change a value on the functional predictive tractive characteristic map 460, change a size, shape, position, or existence of a control zone on functional predictive tractive characteristic control zone map 461, 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 tractive characteristic model 450, predictive map generator 312 to generate a new functional predictive tractive characteristic map 460, control zone generator 313 to generate one or more new control zones on functional predictive tractive characteristic control zone map 461, 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 tractive characteristic map 460, functional predictive tractive characteristic control zone map 461, the predictive tractive characteristic model 450, the control zone(s), and the control algorithm(s), are stored. The functional predictive tractive characteristic map 460, functional predictive tractive characteristic control zone map 461, predictive tractive characteristic model 450, 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 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 agricultural 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) 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 soil property map, a prior operation map, a ground cover map, and another type of map.
In-situ sensors generate sensor data indicative of in-situ characteristic values, such as in-situ tractive characteristic 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 tractive characteristic 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 tractive characteristic map that maps predictive tractive characteristic values to one or more locations on the worksite based on a predictive tractive characteristic model and the one or more obtained maps.
Control zones, which include machine settings values, can be incorporated into the functional predictive tractive characteristic map to generate a functional predictive tractive characteristic 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. UO 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 820 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
