Stalk sensor apparatus, systems, and methods

• US 9,894,835 B2
• Filed: 04/25/2016
• Issued: 02/20/2018
• 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 ERIC
• Application Number:
  US15/137,989
• Publication Number:
  US 20160235002A1
• Time in Patent Office: 666 Days
• Field of Search: 56 102 A- 102 F, 56 102 R, 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 of measuring stalk diameter as an agricultural combine traverses a field, comprising:

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

determining a yield value based on said quantity of grain;

associating said yield value with a region of the field;

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

storing said first signal in memory;

determining a first stalk diameter of said first stalk based on said first signal;

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

storing said subsequent signal in memory;

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

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

displaying a yield map associating a graphical representation of said subset of said region of the field with said subset of said yield value.

2. The method of claim 1, further comprising:

recording a geo-referenced position of a global positioning receiver, said global positioning receiver disposed at a first offset from said first stalk sensor;

determining a geo-referenced position of said first stalk based on said first offset; and

storing in memory a first association.

3. The method of claim 2, further comprising:

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

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

measuring a first displacement of said first feeler;

measuring a second displacement of said second feeler; and

determining said first stalk diameter based on said first displacement and said second displacement.

4. The method of claim 2, further comprising:

generating an electromagnetic field;

detecting said electromagnetic field;

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

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

5. The method of claim 2, further comprising:

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

storing said second signal in memory;

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

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

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

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

determining a yield value based on said quantity of grain;

associating said yield value with a region of the field;

storing in memory a partial allotment of said yield value to a subset of said region of the field based on said first stalk diameter, said subset of said region including said geo-referenced position of said first stalk; and

displaying a yield map associating a graphical representation of said subset of said region of the field with said partial allotment of said yield value.

6. The method of claim 2, further comprising:

displaying harvest data to a user on a display screen located in the agricultural combine, said harvest data based on said first stalk diameter.

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

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

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

10. The method of claim 6, wherein said harvest data includes a statistical variation in said determined stalk diameters.

11. A method of measuring a diameter of a stalk processed by an agricultural combine as the agricultural combine traverses a field, comprising:

providing a stalk sensor associated with a row unit of the agricultural combine;

moving said stalk sensor past a stalk in the field;

generating a signal using said stalk sensor, said signal related to a position of the stalk sensor relative to said stalk;

storing said signal in memory;

adding to a stalk count based on said signal, said stalk count representing a number of stalks harvested by the row unit during a sampling period; and

displaying harvest data to a user in the agricultural combine, said harvest data based on said stalk count.

12. The method of claim 11,

wherein said harvest data is related to the number of stalks harvested by the agricultural combine;

wherein the method further comprises;

displaying an as-planted population value recorded during planting to the user in the agricultural combine, wherein said harvest data includes an actual population.

13. The method of claim 11, wherein said harvest data includes an emergence value.

14. The method of claim 11, further comprising:

displaying an indication of a planter row that planted the stalks being harvested by the row unit of the agricultural combine.

15. A stalk sensor system for use with an agricultural combine harvester while the agricultural combine harvester traverses a field, comprising:

a first stalk sensor associated with a first combine row unit;

a second stalk sensor associated with a second combine row unit;

a yield sensor configured to generate a signal related to a quantity of grain harvested by the agricultural combine harvester;

a global positioning receiver mounted to the agricultural combine harvester and configured to generate a position signal, said position signal related to a position of the agricultural combine harvester; and

processing circuitry in electrical communication with said first stalk sensor, said second stalk sensor, said yield sensor and said global positioning receiver,

said processing circuitry configured to determine stalk diameter measurements and stalk measurement locations based on signals generated by said first and second stalk sensors,

said processing circuitry further configured to generate a map, said map associating said stalk measurement locations with said stalk diameter measurements.

16. The stalk sensor system of claim 15, wherein said processing circuitry is further configured to calculate a harvest metric based on said stalk diameter measurements, and further comprising:

a monitor in electrical communication with said processing circuitry, said monitor having a graphical user interface, said monitor configured to display said harvest metric to a user in the agricultural combine harvester.

17. The stalk sensor system of claim 15, wherein said stalk measurement locations of said first stalk sensor are based on a first offset between said global positioning receiver to said first stalk sensor and said stalk measurement locations of said second stalk sensor are based on a second offset between said global positioning receiver to said second stalk sensor, wherein said first stalk sensor includes a feeler disposed to contact stalks passing through the first combine row unit, and wherein said first stalk sensor is configured to generate a displacement signal related to a displacement of said feeler.

18. The stalk sensor system of claim 15, wherein said first stalk sensor includes an electromagnetic field transmitter and an electromagnetic field detector, said electromagnetic field transmitter disposed to generate an electromagnetic field intercepting a path traveled by stalks entering the first combine row unit.

19. The stalk sensor system of claim 15, wherein said processing circuitry is configured to associate a yield value with a region of the field, wherein said yield value is based on said stalk diameter measurements, said stalk diameter measurements associated with said region of the field, and wherein said yield value is based on a correlation between measurements of stalk diameters and yield.

20. The stalk sensor system of claim 19, further comprising:

a monitor in electrical communication with said processing circuitry, said monitor having a graphical user interface, wherein said monitor is configured to display a yield map based on said yield value.