# US 12,757,827 B2 · Systems and methods for coordinating work machines during material transfer > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,757,827 B2 - Document ID: US12757827B2 - Status: Granted - Kind: B2 - Application number: 18/171,549 - Filed: 2023-02-20 - Published: 2024-02-15 - Granted: 2026-10-13 - Earliest claimed: 2022-08-11 - Assignees: Deere & Company - Applicants: Deere & Company - Inventors: Nathan R. Vandike; Bhanu Kiran Reddy Palla - Web page: https://patentgrep.com/patent/US12757827B2 ## CPC - A01D 41/1274: {for drives} - A01D 43/07: in or into a trailer (A01D43/077 takes precedence) - A01D: HARVESTING; MOWING ## Abstract An agricultural harvesting system includes a control system that is configured to obtain a map that maps values of a speed characteristic of an agricultural harvester to different geographic locations in a worksite. The control system is further configured to generate a control signal to control a receiving machine based on the map. ## Claims ### Claim 1 An agricultural system comprising: a control system that: obtains a map that maps values of a speed characteristic of an agricultural harvester to different geographic locations in a worksite; and generates a control signal to control a receiving machine based on the values of the speed characteristic of the agricultural harvester mapped to the different geographic locations in the worksite, wherein the values of the speed characteristic comprise predictive values of the speed characteristic of the agricultural harvester, and the control signal controls a speed of the receiving machine based on the predictive values of the speed characteristic of the agricultural harvester. ### Claim 2 (depends on 1) The agricultural system of claim 1 and further comprising: a predictive model generator that: obtains an information map that includes values of a characteristic corresponding to different geographic locations in a worksite; obtains, from an in-situ sensor, an in-situ value of a speed characteristic of the agricultural harvester corresponding to a geographic location; and generates a predictive speed model that models a relationship between values of the characteristic and values of the speed characteristic based on the in-situ value of the speed characteristic corresponding to the geographic location and a value of the characteristic in the information map at the geographic location to which the in-situ value of the speed characteristic corresponds; and a predictive map generator that generates, as the map that maps values of the speed characteristic, a functional predictive speed map of the worksite that maps predictive values of the speed characteristic of the agricultural harvester to the different geographic locations in the worksite, based on the values of the characteristic in the information map and based on the predictive speed model. ### Claim 3 (depends on 2) The agricultural system of claim 2, wherein the information map comprises two or more information maps, wherein each one of the two or more information maps includes values of a respective characteristic corresponding to the different geographic locations in the worksite, wherein the two or more information maps comprise two or more of: a vegetative index map that maps, as the values of the respective characteristic, vegetative index values to the different geographic locations in the worksite; a yield map that maps, as the values of the respective characteristic, yield values to the different geographic locations in the worksite; a biomass map that maps, as the values of the respective characteristic, biomass values to the different geographic locations in the worksite; a crop state map that maps, as the values of the respective characteristic, crop state values to the different geographic locations in the worksite; a topographic map that maps, as the values of the respective characteristic, topographic values to the different geographic locations in the worksite; a soil property map that maps, as the values of the respective characteristic, soil property values to the different geographic locations in the worksite; and a seeding map that maps, as the values of the respective characteristic, seed characteristic values to the different geographic locations in the worksite; and wherein the predictive speed model models a relationship between two or more of the vegetative index values, the yield values, the biomass values, the crop state values, the topographic values, the soil property values, and the seeding characteristic values and speed characteristic values based on the in-situ value of the speed characteristic corresponding to the geographic location and two or more of the vegetative index value, the yield value, the biomass value, the crop state value, the topographic value, the soil property value, and the seeding characteristic value, in the two or more information maps, at the geographic location to which the in-situ value of the speed characteristic corresponds, the predictive speed model being configured to receive two or more of a vegetative index value, a yield value, a biomass value, a crop state value, a topographic value, a soil property value, and a seeding characteristic value, as model inputs, and generate a speed characteristic value as a model output. ### Claim 4 (depends on 3) The agricultural system of claim 3, wherein the functional predictive speed map of the worksite maps predictive values of the speed characteristic to the different geographic locations in the worksite based on two or more of the vegetative index values, the yield values, the biomass values, the crop state values, the topographic values, the soil property values, and the seeding characteristic values in the two or more information maps and based on the predictive speed model. ### Claim 5 (depends on 1) The agricultural system of claim 1 and further comprising: a material transfer logistics module that generates, as the map that maps the predictive values of the speed characteristic of the agricultural harvester to different geographic locations in the worksite, a logistics speed map. ### Claim 6 (depends on 5) The agricultural system of claim 5, wherein the material transfer logistics module identifies an operational limit that corresponds to at least one of the agricultural harvester or the receiving machine; and based on the operational limit, generates the logistics speed map that maps the predictive values of the speed characteristic of the agricultural harvester to the different geographic locations in the worksite. ### Claim 7 (depends on 6) The agricultural system of claim 6, wherein the predictive values of the speed characteristic comprise a second set of values of the speed characteristic, and wherein material transfer logistics module: receives a speed map that maps a first set of values of the speed characteristic corresponding to the different geographic locations in the worksite; and alters at least one value of the first set of values of the speed characteristic, based on the operational limit, to generate the second set of values of the speed characteristic. ### Claim 8 (depends on 1) The agricultural system of claim 1 and further comprising: a material transfer logistics module that identifies at least one of: an end point location on the worksite indicative of a location at which a material transfer operation is to end, or a start point location on the worksite indicative of a location at which the material transfer operation is to start based on the end point location, wherein the control signal controls the receiving machine based on the at least one of the end point location or the start point location. ### Claim 9 (depends on 1) The agricultural system of claim 1, wherein the control signal controls the receiving machine during unloading of material from the agricultural harvester to the receiving machine. ### Claim 10 A computer implemented method comprising: obtaining a map that maps predictive values of a speed characteristic of an agricultural harvester to different geographic locations in a worksite; and controlling a speed of a receiving machine based on the predictive values of the speed characteristic of the agricultural harvester mapped to the different geographic locations in the worksite. ### Claim 11 (depends on 10) The computer implemented method of claim 10 wherein obtaining the map comprises: obtaining an information map that indicates values of a characteristic corresponding to different geographic locations in a worksite; obtaining a value of a speed characteristic of the agricultural harvester corresponding to a geographic location; generating a predictive speed model that models a relationship between the characteristic and the speed characteristic; controlling a predictive map generator to generate a functional predictive speed map of the worksite, that maps, as the values of the speed characteristic, predictive values of the speed characteristic to the different geographic locations in the worksite based on the values of the characteristic in the information map and the predictive speed model. ### Claim 12 (depends on 10) The computer implemented method of claim 10, wherein obtaining the map comprises: obtaining data indicative of a characteristic at the worksite; and identifying an operational limit indicative of a parameter limit of a speed characteristic of the agricultural harvester or the receiving machine. ### Claim 13 (depends on 12) The computer implemented method of claim 12, wherein obtaining the map comprises: obtaining a first map that maps a first set of values of the speed characteristic of the agricultural harvester to the different geographic locations in the worksite; altering, based on the operational limit, at least one value of the first set of values of the speed characteristic to obtain at least one altered value; and generating, as the map, a logistics map that maps, as the values of the speed characteristic of the agricultural harvester, a second set of values of the speed characteristic of the agricultural harvester to the different geographic locations based on the at least one altered value. ### Claim 14 (depends on 10) The computer implemented method of claim 10 and further comprising obtaining fill data and wherein controlling the receiving machine comprises controlling a speed characteristic of the receiving machine based on the map and the fill data. ### Claim 15 A material receiving machine comprising: a material receptacle configured to receive harvested material; a controllable subsystem; a communication system configured to obtain data indicative of speed characteristic values of an agricultural harvesting machine at unharvested geographic locations in a worksite; and a control system configured to generate control signals to control the controllable subsystem based on the speed characteristic values of the agricultural harvesting machine at the unharvested geographic locations in the worksite. ### Claim 16 (depends on 15) The material receiving machine of claim 15, wherein the speed characteristic values comprise predictive speed characteristic values, and the data are in the form of a map that maps the predictive speed characteristic values of the agricultural harvesting machine to different geographic locations in the worksite. ### Claim 17 (depends on 15) The material receiving machine of claim 15 and further comprising a material transfer logistics module configured to: identify an operational limit; and identify an end point location on the worksite indicative of a location at which a material transfer operation is to end based on the operational limit. ### Claim 18 (depends on 17) The material receiving machine of claim 17, wherein the material transfer logistics module is further configured to identify a start point indicative of a location at which a material transfer operation is to start based on the end point location. ### Claim 19 (depends on 15) The material receiving machine of claim 15, wherein the speed characteristic values comprise predictive speed characteristic values, and the controllable subsystem comprises a propulsion subsystem that is configured to propel the material receiving machine, and the control signals control the propulsion subsystem based on the predictive speed characteristic values of the agricultural harvesting machine. ### Claim 20 (depends on 15) The material receiving machine of claim 15, and further comprising: a predictive model generator that: obtains an information map that includes values of a characteristic corresponding to different geographic locations in a worksite; obtains, from an in-situ sensor, an in-situ value of a speed characteristic of the agricultural harvesting machine corresponding to a geographic location; and generates a predictive speed model that models a relationship between values of the characteristic and values of the speed characteristic based on the in- situ value of the speed characteristic corresponding to the geographic location and a value of the characteristic in the information map at the geographic location to which the in-situ value of the speed characteristic corresponds; and a predictive map generator that generates, as the map that maps values of the speed characteristic, a functional predictive speed map of the worksite that maps predictive values of the speed characteristic of the agricultural harvesting machine to the different geographic locations in the worksite, based on the values of the characteristic in the information map and based on the predictive speed model.