Crop attribute map input for vehicle guidance

• US 7,725,233 B2
• Filed: 10/25/2005
• Issued: 05/25/2010
• Est. Priority Date: 10/25/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Faivre, Stephen Michael, Hendrickson, Larry Lee, Pickett, Terence Daniel
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): Sriraman; Nikhil
• Application Number:
  US11/258,574
• Publication Number:
  US 20070089390A1
• Time in Patent Office: 1,673 Days
• Field of Search: 701/50, 701/23, 180/401, 340/990, 340/995.1, 340/995.12, 340/995.14, 340/995.19, 340/995.22, 340/995.24, 340/995.27, 56/102.D, 56/105, 56/108, 56/102.H
• US Class Current: 701/50
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: A01D 91/00 Methods for harvesting agricultural products
• CPC Class Codes: Y02A 40/22 Improving land use; Improving water use or availability; Controlling erosion

Abstract

A method for dividing a field into zones with similar crop attributes and developing a mission plan for steering the harvester to selectively harvest crops based on one or more of the attributes. The attributes include protein level, starch level, oil level, sugar content, moisture level, digestible nutrient level, or any other crop characteristic of interest. The method can be applied to selectively harvest and/or segregate according to attribute any crop, including grains such as wheat, corn, or beans, fruits such as grapes, and forage crops. Directed crop sampling provides absolute value and variance information for segregated batches of harvested crop.

Claims

1. A method for controlling a harvester for harvesting a crop in a field, the method comprising:

a) providing site specific information comprising ground elevation information of the field and a multi-spectral image of the field, the site specific information related to one or more attributes of the crop;

b) inputting the site specific information to a processor;

c) providing an attribute map of an estimated crop attribute level for the at least one crop attribute utilizing the site specific information and a plurality of samples taken at a plurality of sampling points, the providing of the attribute map comprising;

determining a plurality of zones of the crop attributes;

generating the sampling points within a homogenous area of each zone;

excluding sample points in one or more transition areas between different zones of crop attribute levels, where the transition areas are defined by a slope, the slope determined based on a ratio between a change in a number of the zones and the distance between the zones,

and analyzing the samples from the sampling points; and

d) during harvesting, controlling the harvester utilizing the attribute map to steer the harvester and segregate harvested crop according to the estimated crop attribute level based on the elevation information of the field and the multi-spectral image of the field.

2. The method as set forth in claim 1 further comprising the step of providing a preferred steering path based on the attribute map, and the step of controlling the harvester includes steering the harvester according to the preferred steering path.

3. The method as set forth in claim 1 wherein the site specific information further includes one or more of the following:

previous crop yield;

estimated crop yield; and

environmental conditions.

4. The method as set forth in claim 1 wherein the step of controlling the harvester includes directing the harvested crop to a selected storage area, wherein the storage area selected is dependent on the estimated crop attribute level.

5. The method as set forth in claim 1 further comprising the step of determining a preferred harvesting path to minimize attribute variability during harvesting.

6. The method as set forth in claim 5 wherein the step of determining a preferred harvesting path includes minimizing harvest time while maintaining the minimized attribute variability.

7. A method for determining a path of a steerable harvester for harvesting a crop in a field, the method comprising:

a) providing site specific information related to one or more attributes of the crop, the site specific information comprising ground elevation information of the field and a multi-spectral image of the field;

b) inputting the site specific information to a processor;

c) providing an attribute map of an estimated crop attribute level for the at least one crop attribute utilizing the site specific information and a plurality of samples taken at a plurality of sampling points, the providing of the attribute map comprising;

determining a plurality of zones of the crop attributes;

generating the sampling points within a homogenous area of each zone;

excluding sample points in one or more transition areas between different zones of crop attribute levels, where the transition areas are defined by a slope, the slope determined based on a ratio between a change in a number of the zones and the distance between the zones,

and analyzing the samples from the sampling points; and

d) during harvesting of the crop, steering the harvester utilizing the attribute map to segregate harvested crop according to the estimated crop attribute level based on the elevation information of the field and the multi-spectral mage of the field.

8. The method set forth in claim 7 wherein the step of providing the attribute map comprises providing a remote image of the field and converting the images into zones of similar characteristics.

9. The method as set forth in claim 7 including the step of assigning GPS location information to the sampling points.

10. The method as set forth in claim 7 including the step of providing a preferred harvest path utilizing the attribute map, and wherein the step of steering the harvester includes steering the harvester along the preferred path.

11. The method as set forth in claim 10 wherein the step of steering includes automatically steering the harvester based on the preferred path.

12. The method as set forth in claim 10 wherein the step of providing the preferred path includes providing a path that minimizes both crop attribute variability of the harvested crop and harvest time for harvesting the crop.

13. The method as set forth in claim 7 wherein the site specific information further includes one or more of the following:

previous crop yield;

estimated crop yield; and

environmental conditions.

14. The method as set forth in claim 7 wherein the attributes of the crop include one or more of the following:

protein level, starch level, oil level, sugar content, moisture level, digestible nutrient level.

15. The method as set forth in claim 7 wherein the steerable harvester comprises one of the following:

a combine;

a cotton picker;

a hay baler;

a grape harvester; and

forage harvesting equipment.

16. A method for segregating harvested product for a harvester, the method comprising:

a) providing site specific information related to one or more attributes of the crop, the site specific information comprising ground elevation information of the field and a multi-spectral image of the field;

b) providing an attribute map of an estimated crop attribute level for the at least one crop attribute utilizing the site specific information and a plurality of samples taken at a plurality of sampling points, the providing of the attribute map comprising;

determining a plurality of zones of the crop attributes;

generating the sampling points within a homogenous area of each zone;

excluding sample points in one or more transition areas between different zones of crop attribute levels, where the transition areas are defined by a slope, the slope determined based on a ratio between a change in a number of the zones and the distance between the zones,

and analyzing the samples from the sampling points; and

c) during harvesting of the crop, controlling the harvester utilizing the attribute map to segregate the crop being harvested according to the estimated crop attribute level, the step of controlling including steering the harvester in dependence on the attributes of the crop based on the elevation of the field and the multi-spectral image of the field.

17. The method as set forth in claim 16 wherein the step of controlling the harvester further includes directing harvested product to a selected storage area, wherein the storage area selected is dependent on the estimated crop attribute level.

18. The method as set forth in claim 17 wherein the step of directing harvested product to a selected storage area includes directing product to one or more of the following:

one of a plurality of storage locations on the harvester;

a transport truck used to haul crop from a field;

one of two or more baling chambers;

produce containers on the harvester;

produce containers adjacent the harvester; and

a crop discharge hauling device receiving crop immediately discharged from the harvester as the harvester moves through the field.

19. The method as set forth in claim 16 wherein the step of controlling the harvester comprises steering the harvester utilizing the attribute map to minimize crop attribute variations of harvested crop.

20. The method as set forth in claim 19 wherein the step of steering comprises determining a preferred harvester path utilizing the attribute map and automatically steering the harvester over the preferred path.

21. A method for segregating harvested product for a harvester, the method comprising:

a) providing site specific information related to crop attributes of a crop, the site specific information comprising ground elevation information of the field and a multi-spectral image of the field;

b) determining a plurality of zones of the crop attributes from the site specific information;

c) generating a plurality of sampling points within a generally homogenous area of each zone,

d) taking a plurality of attribute samples at a plurality of identified sampling locations that exclude sampling locations in transition areas between different zones of crop attribute levels, where the transition areas are defined by a slope, the slope determined based on a ratio between a change in number of zones and the distance between the zones;

e) providing an attribute map of an estimated crop attribute level for the at least one crop attribute level utilizing the site specific information and attribute samples;

the attribute map comprising the determined zones of the crop attributes, and analyzing the samples from the sampling points; and

f) controlling the harvester utilizing the attribute map to segregate harvested crop according to the estimated crop attribute level based on the elevation information of the field and the multi-spectral image of the field.

22. The method as set forth in claim 21 wherein the step of determining transition areas comprises isolating pixels within a transition area and excluding the pixels from sampling points for the crop.

23. The method as set forth in claim 22 wherein the step of isolating pixels comprises determining rate of change of the zones over distance.

24. The method as set forth in claim 21 including the step of identifying pixels within homogenous clumps of similar zones.

25. The method as set forth in claim 21 including the step of determining the mean and/or variance for the attributes of the segregated harvested crop.

26. The method as set forth in claim 21 including the step of determining the mean and/or variance for the attributes of the segregated harvested crop comprises utilizing a sampler located at the harvester.