Stalk sensor apparatus, systems, and methods

• US 10,537,060 B2
• Filed: 12/22/2017
• Issued: 01/21/2020
• Est. Priority Date: 11/22/2011
• Status: Active Grant

• Current Assignee: Climate Pty., Ltd.
• Original Assignee: The Climate Corporation (Bayer AG)
• Inventors: Sauder, Timothy A., Sauder, Derek A., Koch, Justin L., Plattner, Troy L., Huber, David
• Primary Examiner(s): Pezzuto, Robert E
• Application Number:
  US15/853,371
• Publication Number:
  US 20180116113A1
• Time in Patent Office: 760 Days
• Field of Search: 56 102 A- 102 G, 56 102 R, 701 22, 701 50, 701408, 701538
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01D 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 43/00 Mowers combined with apparatus performing additional operations while mowing A01D37/00, A01D39/00, A01D41/00, take precedence
• CPC Class Codes: A01D 45/021 Cornheaders
• CPC Class Codes: A01D 75/00 Accessories for harvesters or mowers
• CPC Class Codes: G01B 21/10 for measuring diameters
• CPC Class Codes: G01B 2210/00 Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
• CPC Class Codes: G01B 5/10 of objects while moving
• CPC Class Codes: G01N 33/0098 Plants or trees wood G01N33/46
• CPC Class Codes: G01S 19/42 Determining position

Abstract

Systems, methods and apparatus for detecting stalks processed by a combine harvester, for measuring stalk diameters, and for displaying harvest metrics and yield data to a user based on stalk locations and stalk diameters.

Claims

1. A method providing improvements in agricultural science by determining yield values based on stalk-specific measurements collected by an agricultural combine harvester while traversing a field, the method comprising:

receiving, from a first stalk sensor associated with a first combine row unit of an agricultural combine harvester, a first signal that indicates a position of the first stalk sensor relative to a first stalk;

receiving, from a second stalk sensor associated with a second combine row unit of the agricultural combine harvester, a second signal that indicates a position of the second stalk sensor relative to a second stalk;

determining stalk diameter measurements and stalk measurement locations based on, at least in part, the first signal and the second signal;

based on, at least in part, the stalk diameter measurements and the stalk measurement locations, determining at least one yield value for a region of the field;

wherein the at least one yield value are determined by correlating the stalk diameter measurements and the stalk measurement locations;

generating, and displaying using a computer display device, a first yield map that depicts associations between the stalk diameter measurements, the stalk measurement locations and the at least one yield value.

2. The method of claim 1, further comprising:

moving the second stalk sensor associated with a second combine row unit of the agricultural combine harvester past the second stalk in the field, the second stalk sensor generating the second signal related to a position of the second stalk sensor relative to the second stalk;

storing the second signal in memory;

determining a second stalk diameter of the second stalk based on the second signal;

determining a geo-referenced position of the second stalk based on a second offset from the second stalk sensor to a global positioning receiver;

storing in memory a second association between the second stalk diameter and the geo-referenced position of the second stalk;

measuring a quantity of grain harvested by the agricultural combine harvester with a yield sensor;

determining a yield amount based on the quantity of grain;

associating the yield amount with a region of the field;

storing in memory a partial allotment of the yield amount to the region of the field based on the stalk diameter measurements, wherein the region is specified using the geo-referenced position of the first stalk; and

generating, and displaying, a second yield map associating a graphical representation of the region of the field and the partial allotment of the yield amount.

3. The method of claim 1, further comprising:

contacting the first stalk from a first side with a first feeler, the first feeler rotatably mounted to the first stalk sensor;

contacting the first stalk from a second side with a second feeler, the second feeler rotatably mounted to the first stalk sensor;

measuring a first displacement of the first feeler;

measuring a second displacement of the second feeler; and

determining a first stalk diameter based on the first displacement and the second displacement.

4. The method of claim 1, further comprising:

generating an electromagnetic field;

detecting the electromagnetic field;

intercepting the electromagnetic field with the first stalk over a time interval; and

determining a first stalk diameter based on speed of the agricultural combine harvester during the time interval or a position of the agricultural combine harvester during the time interval.

5. The method of claim 1, further comprising:

using with a yield sensor, measuring a quantity of grain harvested by the agricultural combine harvester;

determining a yield amount based on the quantity of grain;

associating the yield amount with a region of the field;

moving the first stalk sensor past a subsequent stalk of a row unit, the first stalk sensor;

generating a subsequent signal, the subsequent signal related to a position of the first stalk sensor relative to the subsequent stalk;

storing the subsequent signal in memory;

determining a diameter of the subsequent stalk based on the subsequent signal;

associating the yield amount with the region of the field based on a first stalk diameter and a subsequent stalk diameter; and

generating, and displaying, a third yield map that provides a graphical representation of the region of the field and the at least one yield value.

6. The method of claim 5, further comprising:

displaying harvest data on a display screen located in the agricultural combine harvester, wherein the harvest data is determined based on the first stalk diameter.

7. The method of claim 6, wherein the harvest data includes the first stalk diameter.

8. The method of claim 6, wherein the harvest data includes a portion of yield attributable to the row unit associated with the first stalk sensor.

9. The method of claim 6, wherein the harvest data includes an economic loss value;

wherein the harvest data includes a statistical variation in the stalk diameter measurements.

10. The method of claim 6, further comprising:

associating the at least one yield value with a region of the field, wherein the at least one yield value is determined based on the stalk diameter measurements.

11. A stalk sensor system providing improvements in agricultural science and for use with an agricultural combine harvester while traversing a field, comprising:

a first stalk sensor;

a second stalk sensor;

a yield sensor; and

processing circuitry configured to;

receive, from the first stalk sensor associated with a first combine row unit of an agricultural combine harvester, a first signal that indicates a position of the first stalk sensor relative to a first stalk;

receive, from the second stalk sensor associated with a second combine row unit of the agricultural combine harvester, a second signal that indicates a position of the second stalk sensor relative to a second stalk;

determine stalk diameter measurements and stalk measurement locations based on, at least in part, the first signal and the second signal;

determine at least one yield value for a region of the field based on, at least in part, the stalk diameter measurements and the stalk measurement locations;

wherein the at least one yield value are determined by correlating the stalk diameter measurements and the stalk measurement locations;

generate, and display, a first yield map that depicts associations between the stalk diameter measurements, the stalk measurement locations and the at least one yield value.

12. The stalk sensor system of claim 11, wherein the processing circuitry is further configured to:

move the second stalk sensor associated with a second row unit of the agricultural combine harvester past the second stalk in the field, the second stalk sensor generating the second signal related to a position of the second stalk sensor relative to the second stalk;

store the second signal in memory;

determine a second stalk diameter of the second stalk based on the second signal;

determine a geo-referenced position of the second stalk based on a second offset from the second stalk sensor to a global positioning receiver;

store in memory a second association between the second stalk diameter and the geo-referenced position of the second stalk;

measure a quantity of grain harvested by the agricultural combine harvester with a yield sensor;

determine a yield amount based on the quantity of grain;

associate the yield amount with a region of the field;

store in memory a partial allotment of the yield amount to the region of the field based on the stalk diameter measurements, wherein the region is specified using the geo-referenced position of the first stalk; and

generate, and display, a second yield map associating a graphical representation of the region of the field with the partial allotment of the yield amount.

13. The stalk sensor system of claim 11, wherein the processing circuitry is further configured to:

contact the first stalk from a first side with a first feeler, the first feeler rotatably mounted to the first stalk sensor;

contact the first stalk from a second side with a second feeler, the second feeler rotatably mounted to the first stalk sensor;

measure a first displacement of the first feeler;

measure a second displacement of the second feeler; and

determine a first stalk diameter based on the first displacement and the second displacement.

14. The stalk sensor system of claim 11, wherein the processing circuitry is further configured to:

generate an electromagnetic field;

detect the electromagnetic field;

intercept the electromagnetic field with the first stalk over a time interval; and

determine a first stalk diameter based on speed of the agricultural combine harvester during the time interval or a position of the agricultural combine harvester during the time interval.

15. The stalk sensor system of claim 11, wherein the processing circuitry is further configured to:

using with a yield sensor, measure a quantity of grain harvested by the agricultural combine harvester;

determine a yield amount based on the quantity of grain;

associate the yield amount with a region of the field;

move the first stalk sensor past a subsequent stalk of a row unit, the first stalk sensor;

generate a subsequent signal, the subsequent signal related to a position of the first stalk sensor relative to the subsequent stalk;

store the subsequent signal in memory;

determine a diameter of the subsequent stalk based on the subsequent signal;

associate the yield amount with the region of the field based on a first stalk diameter and a subsequent stalk diameter; and

generate, and display, a third yield map that provides a graphical representation of the region of the field and the at least one yield value.

16. The stalk sensor system of claim 15, wherein the processing circuitry is further configured to:

display harvest data on a display screen located in the agricultural combine harvester, wherein the harvest data is determined based on the first stalk diameter.

17. The stalk sensor system of claim 16, wherein the harvest data includes the first stalk diameter.

18. The stalk sensor system of claim 16, wherein the harvest data includes a portion of yield attributable to the row unit associated with the first stalk sensor.

19. The stalk sensor system of claim 16, wherein the harvest data includes an economic loss value;

wherein the harvest data includes a statistical variation in the stalk diameter measurements.

20. The stalk sensor system of claim 16, wherein the processing circuitry is configured to associate the at least one yield value with a region of the field, wherein the at least one yield value is determined based on the stalk diameter measurements.