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US 12,730,450 B2Granted
Map based farming for windrow merger operation
AssigneeDeere & Company
InventorsBenjamin M. Lovett, Darin L. Roth, Nathan R. Vandike
Life of this patent
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Abstract
One or more information maps are obtained by an agricultural system. The one or more information maps map one or more characteristic values at different geographic locations in a worksite. An in-situ sensor detects a mass flow value as a mobile machine operates at the worksite. A predictive map generator generates a predictive map that maps predictive mass flow values or predictive yield values at different geographic locations in the worksite based on a relationship between the values in the one or more information maps and the mass flow value detected by the in-situ sensor or the yield value based on the detected mass flow value. The predictive map can be output and used in automated machine control.
Claims20
An agricultural windrowing system comprising:
- a geographic position sensor configured to detect a machine geographic location of a mobile windrowing machine;
- an in-situ sensor configured to detect a value of a mass flow corresponding to a geographic location of a plurality of different geographic locations, in a worksite;
- one or more processors;
- and
- memory storing instructions executable by the one or more processors that, when executed by the one or more processors, configure the one or more processors to:
- obtain an information map that includes values of a first characteristic corresponding to the plurality of different geographic locations in the worksite;
- generate a functional predictive map of the worksite that maps predictive values of a second characteristic to one or more geographic locations of the plurality of different geographic locations in the worksite, based, at least, on a value of the first characteristic in the information map corresponding to the geographic location in the worksite and based on the detected value of mass flow corresponding to the geographic location;
- obtain follow-on machine and operation data representing operational characteristics of a follow-on machine, different than the mobile windrowing machine, configured to perform a windrow processing operation on a windrow formed by the mobile windrowing machine;
- and
- control the mobile windrowing machine to form, on the worksite, the windrow based on the functional predictive map and the follow-on machine and operation data representing the operational characteristics of the follow-on machine.
7 more elements
A computer implemented method of controlling a mobile windrowing machine, the computer implemented method comprising:
- receiving an information map that maps values of a first characteristic to a plurality of different geographic locations in a worksite;
- detecting, with an in-situ sensor, a value of a mass flow corresponding to a geographic location of the plurality of different geographic locations;
- generating a predictive model indicative of a relationship between values of the first characteristic and values of a second characteristic based, at least, on the value of the mass flow detected by the in-situ sensor corresponding to the geographic location and a value of the first characteristic in the information map corresponding to the geographic location;
- generating a functional predictive map of the worksite that maps predictive values of the second characteristic to one or more geographic locations of the plurality of different geographic locations in the worksite based on values of the first characteristic in the information map corresponding to the one or more geographic locations of the plurality of different geographic locations in the worksite and the predictive model;
- obtaining follow-on machine and operation data representing operational characteristics of a follow-on machine, different than the mobile windrowing machine, configured to perform a windrow processing operation on a windrow formed by the mobile windrowing machine;
- and
- controlling the mobile windrowing machine to form, on the worksite, the windrow based on the functional predictive map and the follow-on machine and operation data representing the operational characteristics of the follow-on machine.
4 more elements
A mobile agricultural windrowing machine comprising:
- an in-situ mass flow sensor configured to detect a value of mass flow corresponding to a geographic location of a plurality of different geographic locations in a worksite;
- one or more processors;
- and
- memory storing instructions executable by the one or more processors that, when executed by the one or more processors, cause the one or more processors to:
- obtain an information map that maps values of a first characteristic to the plurality of different geographic locations in the worksite;
- generate a predictive model indicative of a relationship between the first characteristic and a second characteristic based, at least, on the value of mass flow detected by the in-situ mass flow sensor corresponding to the geographic location and a value of the first characteristic in the information map corresponding to the geographic location;
- generate a functional predictive map of the worksite that maps predictive values of the second characteristic to one or more geographic locations of the plurality of different geographic locations in the worksite based on values of the first characteristic in the information map corresponding to the one or more geographic locations of the plurality of different geographic locations in the worksite and based on the predictive model;
- obtain follow-on machine and operation data representing operational characteristics of a follow-on machine, different than the mobile agricultural windrowing machine, configured to perform a windrow processing operation on a windrow formed by the mobile agricultural windrowing machine;
- and
- control the mobile agricultural windrowing machine to form, on the worksite, the windrow based on the functional predictive map and the follow-on machine and operation data representing the operational characteristics of the follow-on machine.
7 more elements
Dependencies are inferred from the claim text.