Mission and path planning using images of crop wind damage

• US 9,696,162 B2
• Filed: 09/17/2015
• Issued: 07/04/2017
• Est. Priority Date: 09/17/2015
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel W.
• Primary Examiner(s): ARTHUR JEANGLAUDE, GERTRUDE
• Application Number:
  US14/856,884
• Publication Number:
  US 20170082442A1
• Time in Patent Office: 656 Days
• Field of Search: 701 36, 701 50, 172 45, 172 9, 34235731, 382110, 56 102 R
• CPC Class Codes: A01B 69/00 Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2300/158 Harvesters
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/408 Radar; Laser, e.g. lidar
• CPC Class Codes: B60W 2710/20 Steering systems
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence

Abstract

A harvest route generator system generates a harvest route for a harvesting machine. The harvest route generator system has a route generator that receives lodged crop information, from a sensor system, indicative of a characteristic of a lodged crop in a field and generates a harvesting route through the field for the harvesting machine, based on the lodged crop information. The harvest route generator system also has a communication component that communicates the harvesting route through the field to the harvesting machine.

Claims

1. A harvest route generator system that generates a harvest route for a harvesting machine, the harvest route generator comprising:

a route generator that receives lodged crop information, from a sensor system, indicative of a characteristic of a lodged crop in a field and generates;

a communication component that communicates the harvesting route through the field to the harvesting machine; and

a grouping component that accesses a set of grouping rules and groups areas of the field together based on the lodged crop information and the grouping rules, and provides an indication of the grouped areas of the field to the route generator the route generator generating a harvesting route through the field for the harvesting machine, based on the lodged crop information and the grouped areas.

2. The harvest route generator system of claim 1 wherein the lodged crop information comprises a lodging magnitude and a lodging orientation in the field, and wherein the grouping component is configured to group the areas of the field into the grouped areas based on a similarity of lodging information for the grouped areas.

3. The harvest route generator system of claim 2 wherein the route generator is configured to generate the harvesting route through the field based on the grouped areas and the lodging information corresponding to the grouped areas.

4. The harvest route generator system of claim 2 wherein the grouping component is configured to correlate the grouped areas to geographic position in the field and generate a field lodging map with the grouped areas correlated to lodging magnitude and orientation and correlated to geographic position in the field.

5. The harvest route generator system of claim 4 wherein the grouping component identifies a set of excluded areas that are excluded from the harvesting route based on the lodging information for the excluded areas and based on the grouping rules.

6. The harvest route generator of claim 2 and further comprising:

a lodging sensor that senses the lodging magnitude and lodging orientation.

7. The harvest route generator system of claim 6 wherein the lodging sensor comprises:

an image sensor that senses an image of the crop and generates the lodging magnitude and lodging orientation based on the sensed image.

8. The harvest route generator system of claim 6 wherein the lodging sensor comprises at least one of:

a field texture sensor that senses a texture of the field or a field surface sensor that senses characteristics of a surface of the crop on the field.

9. The harvest route generator system of claim 6 and further comprising at least one of:

an aerial vehicle that carries the lodging sensor or a terrestrial vehicle that carries the lodging sensor.

10. The harvest route generator system of claim 2 wherein the lodging sensor further comprises:

a snap height sensor that senses a snap height of the lodged crop.

11. A harvesting machine, comprising:

a propulsion and steering subsystem that propels and steers the harvesting machine through a field;

a set of harvesting subsystems that perform harvesting and material handling operations to harvest a crop from the field; and

a controller that receives lodging information indicative of lodging characteristics of a lodged crop in the field and that generates a subsystem control signal based on the lodging information to control at least one of the subsystems; and

a position sensor that senses a position of the harvesting machine in the field and generates a position signal indicative of the position of the harvester in the field, wherein the controller receives the lodging information as lodging orientation and lodging magnitude, correlated to geographic position in the field, and generates the subsystem control signal based on the lodging information and the position of the harvesting machine in the field.

12. The harvesting machine of claim 11 wherein the controller generates the subsystem control signal to adjust power to the subsystems based on the lodging information, as the harvesting machine moves through the field.

13. The harvesting machine of claim 11 wherein the controller further comprises:

a route controller that generates a route through the field based on the lodging information.

14. The harvesting machine of claim 13 wherein the controller is configured to generate the subsystem control signal to control the propulsion and steering subsystem to guide the harvesting machine through the field based on the route.

15. The harvesting machine of claim 13 wherein the controller is configured to generate the subsystem control signal to surface the route on a user interface for an operator of the harvesting machine.

16. The harvesting machine of claim 11 wherein one of the set of subsystems includes a crop harvesting head and wherein the controller is configured to generate the subsystem control signal to control operation of the crop harvesting head as the harvesting machine moves through the field, based on the lodging information.

17. The harvesting machine of claim 13 and further comprising:

a harvesting machine sensor that senses a characteristic of the field or crop as the harvesting machine is moving through the field, wherein the route controller is configured to adjust the route through the field based on the sensed characteristic.

18. A computer implemented method of generating a harvest route for a harvesting machine, the method comprising:

receiving lodged crop information, indicative of lodging magnitude and a lodging orientation of a lodged crop in a field;

generating a harvesting route through the field for the harvesting machine, based on the lodged crop information;

communicating the harvesting route through the field to the harvesting machine;

accessing a set of grouping rules and grouping areas of the field together based on a similarity in the lodged crop information and based on the grouping rules;

correlating the grouped areas to geographic position in the field;

generating a field lodging map with the grouped areas correlated to lodging magnitude and orientation and correlated to geographic position in the field; and

providing the field lodging map to the route generator, wherein generating the harvesting route comprises generating the harvesting route through the field based on the field lodging map.