An agricultural system

Abstract

a system comprising a radar sensor (210) configured to acquire radar data (212) representative of the strip (104) in an agricultural field (102); and a controller (214) configured to determine strip property data (216) based on the radar data (212).

Description

1 / 16 “AGRICULTURAL SYSTEM” Fundamentals of the Invention

[001] Determining the properties of the swath that must be collected / picked up by an agricultural vehicle, such as a baler, a forage harvester or a rake, can be beneficial to improve the swath collection operation. Summary of the Invention

[002] According to a first aspect of the invention, a system is provided comprising: A radar sensor configured to acquire radar data representative of the strip in an agricultural field; and a controller configured to determine strip ownership data based on the radar data.

[003] Advantageously, radar waves that are generated by the radar sensor are able to penetrate obscurants, such as dust, which are frequently present in agricultural environments. In this way, the radar sensor is able to generate radar data that are better representative of the range.

[004] The radar sensor may comprise a directional radar sensor. The lane property data may comprise lane area data that are representative of a lane cross-sectional area.

[005] The controller can be configured to: To process the radar data in order to determine: (i) strip profile data, which are representative of the location of the strip's outer surface; and (ii) soil profile data, which are representative of the location of the soil surface; and process the strip profile data and the soil profile data in order to determine the strip area data. Petition 870250057418, dated 07 / 07 / 2025, page 15 / 53 2 / 16

[006] Lane property data may include lane volume data that are representative of a lane volume.

[007] The track property data may include foreign object indicator data. The controller may be configured to define foreign object indicator data as representative of a foreign object being detected if the power of a reflected radar signal, as represented by the radar data, is greater than a power threshold level.

[008] Strip property data may comprise strip moisture data and / or strip density data that is / are representative of the strip moisture and / or density.

[009] The controller can be configured to set the swath moisture data and / or swath density data based on the phase and / or amplitude of the radar data.

[010] The radar sensor can be associated with an agricultural vehicle, and can be configured to acquire radar data that are representative of the swath in the agricultural field in the vicinity of the agricultural vehicle.

[011] The controller can be configured to determine vehicle control instructions for the agricultural vehicle, based on track property data.

[012] Vehicle control instructions may include: vehicle driving instructions to automatically control the direction of travel of the agricultural vehicle; and / or vehicle speed instructions to automatically control the speed of the agricultural vehicle.

[013] The vehicle control instructions can be configured to have an output device provide instructions to an agricultural vehicle operator to set a speed and / or direction of travel for the agricultural vehicle.

[014] The system may also include an agricultural vehicle that is Petition 870250057418, dated 07 / 07 / 2025, page 16 / 53 3 / 16 configured to be operated according to the vehicle's control instructions. The agricultural vehicle may comprise a tractor, a baler, a forage harvester, or a rake.

[015] A computer program may be provided which, when run on a computer, causes the computer to configure any apparatus, including a controller, processor, machine, vehicle or device disclosed herein, or to perform any method disclosed herein. The computer program may be a software implementation, and the computer may be considered to be any suitable hardware, including a digital signal processor, a microcontroller, and an implementation in read-only memory (ROM), erasable programmable read-only memory (EPROM), or electronically erasable programmable read-only memory (EEPROM), as non-limiting examples.

[016] The computer program may be provided on a computer-readable medium, which may be a physical computer-readable medium such as a disk or a memory device, or it may be embodied as a transient signal. Such a transient signal may be a network download, including an internet download. Brief Description of the Drawings

[017] Embodiments of the present invention will now be described by way of example and with reference to the accompanying drawings in which:

[018] Figure 1a shows an example of an agricultural field;

[019] Figure 1 b shows schematically a cross-section of the strip;

[020] Figure 2 schematically shows a system that is associated with the determination of strip property data;

[021] Figures 3a and 3b show examples of positions where a radar sensor can be placed on an agricultural vehicle;

[022] Figure 4 shows an example of how the lane can be visually represented by a radar sensor; Petition 870250057418, dated 07 / 07 / 2025, page 17 / 53 4 / 16

[023] Figure 5 shows another example of how the lane can be visually represented by a radar sensor; and

[024] Figure 6 schematically shows a system that can determine vehicle control instructions for an agricultural vehicle based on track ownership data. Detailed Description of the Drawings

[025] Figure 1a schematically shows an agricultural field 102. The field 102 includes rows of harvested material, which may be hay, straw, or similar products that have been left in the field 102 in the form of strips 104. The strips 104 are elongated rows of the products in question that are stacked in the transverse center and tend to flatten at their respective transverse edges. Typically, a field 102 that has been harvested contains many, essentially mutually parallel, strips 104, as shown in Figure 1a. The strips 104 are spaced from each other by widely compatible gaps. The harvested material in the strips 104 may be collected by an agricultural machine, such as a baler, a forage harvester, or a rake, as non-limiting examples.

[026] Figure 1b shows schematically a cross-section of a track 104, which is on ground 106.

[027] Figure 2 schematically shows a system for determining strip property data 216, which are representative of one or more strip properties that are in a field. The system includes a radar sensor / radar system 210 that can acquire radar data 212 that are representative of the strip in the agricultural field. As will be discussed in more detail below, the radar sensor 210 can be mounted on an agricultural machine (not shown), and can be operational while the agricultural machine is collecting the strip from the field. That is, the radar sensor 210 can have a field of view that Petition 870250057418, dated 07 / 07 / 2025, page 18 / 53 5 / 16 covers portions of the strip that must be collected.

[028] The system also includes a controller 214 that can determine the property data of the 216 range based on the 212 radar data. It will be assessed whether the controller 214 can be located on the agricultural machine, or remotely from the agricultural machine. For example, the functionality of the controller 214 can be performed on a remote server, such as “in the cloud”.

[029] Advantageously, the radar waves generated by the 210 radar sensor are able to penetrate obscurants, such as dust, which are frequently present in agricultural environments. Therefore, the use of a 210 radar sensor can be considered beneficial when compared to optical sensor systems. This may be because the 210 radar sensor can use electromagnetic waves with a sufficiently long wavelength, so that there is less scattering by obscurants. In this way, the 210 radar sensor is able to generate 212 radar data that are better representative of the objects of interest (including the track and / or the ground, as will be discussed below) than is possible with optical sensors. Therefore, improved reliability can be obtained in challenging environmental conditions.

[030] Also advantageously, the 210 radar sensor can be used at night and in fog, which may not be possible or convenient with optical systems.

[031] Radar data 212 may be representative of: (i) a distance to a detected object; and optionally (ii) a power / amplitude of a reflected radar signal; and / or (iii) a phase difference between a transmitted radar signal and a received radar signal. Any of the radar sensors described herein may be two-dimensional or three-dimensional radar sensors.

[032] In some examples, the radar sensor 210 comprises a directional radar sensor. That is, it can generate radar data 212 that are representative of both: (i) a distance to a detected object; and (iv) a direction to the object. Petition 870250057418, dated 07 / 07 / 2025, page 19 / 53 6 / 16 detected from radar sensor 210. Radar data 212 can be provided as a plurality of coordinates that are representative of the locations from which the reflected radar signals were received, and in this example they are provided as polar coordinates.

[033] A directional radar sensor can be implemented as a MIMO (Multiple Input, Multiple Output) radar sensor, or a phased array radar sensor. Both of which are well known in the art. A phased array radar sensor can be implemented: for beamforming signals transmitted by the radar transmitting antenna; and / or for beamforming signals received at the radar receiving antenna. (As is known in the art, the radar transmitting antenna can be the same physical antenna as the radar receiving antenna.) (Beamforming is also possible with MIMO radars).

[034] The property data for strip 216 may include strip area data that are representative of a cross-sectional area of ​​the strip. The cross-section may be in a direction that is transverse to the longitudinal direction of an elongated strip row, which may also be transverse to a direction of movement of the agricultural vehicle that is to collect the strip. Such a cross-section is shown in Figure 1b.

[035] Lane 216 property data may include lane width data that is representative of the lane's side width.

[036] Lane 216 property data may include lane height data that is representative of the lane height.

[037] Lane 216 property data may include lane center data that is representative of the lane center. Lane center data may be one-dimensional, where it may be representative of a lane side center (from side to side as the lane is shown in Figure 1b), or a lane height center. Petition 870250057418, dated 07 / 07 / 2025, page 20 / 53 7 / 16 (from top to bottom as the strip is shown in Figure 1b), or the central data of the strip can be two-dimensional, where they can be representative of either a lateral center of the strip or a center of the height of the strip.

[038] Lane 216 property data may include lane end data that is representative of the lane end location. Lane end data may be one-dimensional, in which it may be representative of lane side ends, or lane height ends. Also, lane end data may be two-dimensional, in which it may be representative of both lane side ends and lane height ends. Lane property data may also include lane profile data, which is representative of the lane perimeter.

[039] The property data of strip 216 may include strip volume data that are representative of a strip volume. Further details of an example of how controller 214 may determine strip area data, and also strip volume data, will be described below with reference to Figure 4.

[040] In some examples, the property data of track 216 includes foreign object indicator data, which are representative of whether or not a foreign object has been detected. Advantageously, through appropriate selection of the radar wave frequency, radar data 212 can be representative of objects within the track. That is, objects present within the track can provide additional reflections that are represented by radar data 212. Thus, it may be possible to identify in advance the presence of foreign objects within the track, and appropriate actions can be taken for the agricultural vehicle before collecting the track containing the foreign object.

[041] Controller 214 can set foreign object indicator data as representative of a foreign object being present if the power / amplitude of a reflected radar signal is greater than a threshold level. Petition 870250057418, dated 07 / 07 / 2025, page 21 / 53 8 / 16 power. This can be particularly useful for detecting strange metal objects because metal objects are known to give off reflected radar signals with high power.

[042] Advantageously, controller 214 can process radar data 212 to detect the presence of non-ferromagnetic foreign objects. Therefore, radar sensor 210 can be used to detect objects that are not detectable by a metal detector, such as stainless steel and aluminum objects. As will be assessed, collecting such foreign objects can be very damaging to the agricultural machine collecting the track and / or any machine or person subsequently handling the processed track, for example, in the form of a bale.

[043] Also, controller 214 can define foreign object indicator data as representative of a foreign object based on a distance to the detected object. In particular, based on a difference between the detected object and the distance to the ground and / or track, as will be described below with reference to Figure 5.

[044] In some examples, the property data of lane 216 may include lane moisture data that are representative of the lane moisture. Controller 214 may set the lane moisture data based on the phase and / or amplitude of the radar data 212. For example, one or more calibration operations may be performed to determine how lane moisture affects the phase and / or amplitude of the reflected radar signals, so that algorithm parameter values ​​may be stored in memory, or a database may be loaded with appropriate reference values. Then, when in use, controller 214 may apply an appropriate algorithm (with the parameter values ​​set), or use data stored in the database, to determine the lane moisture data based on the received radar data.

[045] In some examples, property data from range 216 may Petition 870250057418, dated 07 / 07 / 2025, page 22 / 53 9 / 16 include swath density data that are representative of swath moisture. Controller 214 can set the swath density data based on the phase and / or amplitude of the radar data 212, in the same way as for the swath moisture data as discussed above.

[046] Figures 3a and 3b show examples of positions where a radar sensor 310a, 310b can be positioned on an agricultural vehicle. In this example, the agricultural vehicle is a tractor towing a baler. In other examples, the agricultural vehicle may be a baler, a forage harvester, a tractor, or a windrower. Any of these vehicles may or may not be self-propelled.

[047] In Figure 3a, radar sensor 310a is located in a lower portion of the agricultural vehicle so that it has a low field of view 318a. In Figure 3b, radar sensor 310b is located in an upper portion of the agricultural vehicle so that it has a high field of view 318b. An advantage associated with placing the radar in a higher position is that the field of view can be increased. However, this may involve a compromise with reduced cross-band resolution, which is the ability to detect objects in a plane perpendicular to the wave. Cross-band resolution may depend on angular resolution and distance.

[048] The radar sensor can be associated with an agricultural vehicle in any way so that it acquires radar data that are representative of the swath in the agricultural field in the vicinity of the agricultural vehicle. As shown in Figures 3a and 3b, the radar sensor has a field of view 318a, 318b that is in front of the agricultural machine (in a direction that the vehicle is moving when collecting the swath), so that the radar data are representative of the swath that is in front of the agricultural vehicle. In other examples, the radar sensor may have a field of view that is to the side of the agricultural machine (in a direction that is Petition 870250057418, dated 07 / 07 / 2025, page 23 / 53 10 / 16 transverse to the direction the vehicle is moving when collecting the strip), so that the radar data is representative of the strip that is next to the agricultural vehicle. Such an example can be used to scan a parallel strip that will subsequently be collected by the agricultural vehicle. That is, strip property data can be acquired for a strip that is different from one that is in the process of being collected by the agricultural vehicle. This can allow future planning and control operations to be determined before the agricultural machine collects the parallel strip.

[049] In some examples, the radar sensor may be located on another vehicle (not shown), which is different from the agricultural machine that is to collect the track, but may still be considered to be associated with the agricultural machine. For example, because the other vehicle may be controlled so as to follow a route that is associated with the agricultural machine, or is otherwise positioned with reference to the agricultural vehicle. The other vehicle may be a manned or unmanned vehicle, and may be a ground vehicle or an aerial vehicle (an unmanned aerial vehicle may be termed a drone). The use of an aerial vehicle may allow radar data to be acquired from a radar sensor at a relatively high altitude to obtain an overview of the field, thus providing a wide field of view. Subsequently or in addition, the aerial vehicle may remain with the agricultural vehicle at a lower altitude.For example, when flying above or ahead of the agricultural vehicle. The radar data collected can be transmitted to the controller and / or "the cloud".

[050] Figure 4 shows an example of a directional radar sensor 410 for acquiring radar data that are representative of a track on the ground. The radar data represent two distinct profiles: (i) a track profile 404 (as represented by portions of the radar data that can be considered as track profile data), which is representative of the location of a surface. Petition 870250057418, dated 07 / 07 / 2025, page 24 / 53 11 / 16 outside the band; and (ii) a ground profile 406 (as represented by portions of the radar data that can be considered as ground profile data), which is representative of the location of the ground / soil surface. By appropriate selection of the operating frequencies of the radar signals 422, 424, the radar waves can penetrate the band. In this way, reflected radar signals 423, 425 can be detected due to both the band profile and the ground.

[051] Thus, the controller can process lane profile data and ground profile data in order to determine lane area data, which are representative of a lane cross-sectional area. Also, in examples where a 410 three-dimensional radar sensor is used, lane profile data and ground profile data can be representative of three-dimensional profiles, and the controller can process lane profile data and ground profile data in order to determine lane volume data, which are representative of a lane volume.

[052] Figure 5 shows an example of a directional radar sensor 510 for acquiring radar data that are representative of a track on the ground, where a foreign object is located in the track. In the same way as Figure 4, the radar data represent a track profile 504 and a ground profile 506. In this example, the radar data also includes foreign object data, as represented by reflected radar signals 527 that are reflected back to the radar sensor 510 by a foreign object 526 within the track. As discussed above, the controller can determine portions of the radar data as foreign object data (and therefore set foreign object indicator data consequently) if the power / amplitude of a reflected radar signal 527 is greater than a power threshold level.

[053] In some examples, the controller can determine portions of the radar data as foreign object data (and therefore define indicator data of Petition 870250057418, dated 07 / 07 / 2025, p. 25 / 53 12 / 16 foreign objects consequently) based on a distance to the detected object 526. For example, the controller can determine a distance to the ground 506 and / or to the outer surface of the track 504 for a specific direction. The controller can associate the reflected radar signals as associated with the track ground based on their correlation (e.g., in terms of one or more distance / power / phase factors) with radar signals received in other directions. Then, if the radar data also includes a reflected radar signal 527 that is not sufficiently correlated with the track profile data or the ground profile data, then the controller can determine that the reflected radar signal 527 is associated with a foreign object.In one example, the reflected radar signal 527 may be considered not sufficiently correlated with the track profile data or the ground profile data if it represents a reflection from an object that is more than a limit distance from the track profile 504 and / or the ground profile 506.

[054] In some examples, the controller may apply different power threshold levels to determine whether or not to classify the detected object as a foreign object. For example, if the reflected radar signal 527 is representative of a reflection from an object that is: • If the distance is less than a limit from the track profile 504 or the ground profile 506, then the controller can compare the reflected radar signal power 527 with a first power limit; and • If the distance is greater than a limit from the track profile 504 and / or the ground profile 506, then the controller can compare the reflected radar signal power 527 with a second power limit.

[055] The second power limit (applied when the potential foreign object is not near the outer edge of the track) may be lower than the first power limit, on the basis that it is less likely to be detected by the radar signal. Petition 870250057418, dated 07 / 07 / 2025, page 26 / 53 13 / 16 reflected 527 either from a discontinuity on the track surface or in the ground.

[056] Figure 6 schematically shows a system that can determine vehicle control instructions 628 for an agricultural vehicle 630 based on track ownership data 616.

[057] The system includes a radar sensor 610, which may be any radar sensor described herein. The radar sensor 610 provides radar data 612 to a controller 614. The controller 614 processes the radar data 612 and determines track property data 616, which may be any type of track property data 616 described herein. The controller 614 also processes the track property data 616 in order to determine vehicle control instructions 628 for the agricultural machine 630. As discussed above, the agricultural machine 630 may be a baler, a forage harvester, a tractor, or a rake, and may or may not be self-propelled, as non-limiting examples.

[058] The vehicle control instructions 628 may include vehicle driving instructions to automatically control the direction of travel of the agricultural machine 630. In this way, if the controller 614 determines that the agricultural machine 630 is not centered in the lane (for example, by identifying a deviation between (i) the lateral center of the lane, as defined by the central lane data, for example, and (ii) the lateral center of a collector / cutting platform of the agricultural machine 630), then the controller 614 may provide vehicle control instructions 628 that cause the driving of the agricultural machine 630 to be adjusted so as to center the agricultural vehicle 630 with reference to the lane (for example, by reducing the deviation).In some examples, the controller 614 can determine the center of a harvester / cutting platform of the agricultural machine 630 and / or the deviation, using a known relationship between the field of view of the radar sensor 610 and the center of a harvester / cutting platform of the agricultural machine 630. For example, the lateral center of the field of view of the radar sensor 610 can correspond with the lateral center of the... Petition 870250057418, dated 07 / 07 / 2025, page 27 / 53 14 / 16 agricultural machine collection / cutting platform 630.

[059] In this way, the 630 agricultural machine can be autonomously controlled so that it collects the swath in an improved manner, for example, in a manner that results in less swath being wasted / lost. That is, swath guidance can be provided, for example, by identifying the swath profile.

[060] The vehicle control instructions 628 may also or alternatively include vehicle speed instructions to automatically control the speed of the agricultural machine 630. For example, the controller 614 may determine crop area data or crop volume data (such as the property data of the range 616) and provide vehicle speed instructions based on the crop area data or crop volume data. In one example, the controller 614 may provide vehicle speed instructions to automatically increase the speed of the agricultural machine 630 when the radar data 612 is representative of a decreasing value for the crop area data or crop volume data, and vice versa. In some examples, the controller 614 may apply an algorithm to the crop area data or crop volume data in order to determine the vehicle speed instructions.In other examples, the 614 controller may use a database or lookup table to determine vehicle speed instructions based on crop area data or crop volume data.

[061] In this way, the forward speed control of the agricultural vehicle 630 (which may be a tractor towing a baler) can be carried out, for example, based on the volume or cross-sectional area of ​​the strip.

[062] In some examples, controller 614 can determine vehicle control instructions 628 based on foreign object indicator data (which is an example of track property data 616). For example, controller 614 can determine vehicle speed instructions to automatically stop the Petition 870250057418, dated 07 / 07 / 2025, page 28 / 53 15 / 16 agricultural vehicle 630 before the foreign object is detected. In some examples, the controller 614 may also cause an output device (such as a monitor or an audio device) to provide information to an operator of the agricultural vehicle 630 that is representative of the detected foreign object. For example, its location in the range or its size, or any other information that assists the operator in removing the foreign object.

[063] In some examples, the controller 614 may determine vehicle driving instructions to automatically drive the agricultural vehicle 630 around the detected foreign object. Also, in some examples, the controller 614 may determine vehicle collection instructions to automatically control a collector / cutting platform of the agricultural machine 630 so that it does not collect the track in the vicinity of the foreign object. For example, the vehicle collection instructions may automatically control a collector / cutting platform so that it is raised (or the agricultural vehicle 630 is otherwise placed in a non-collection mode) before the detected foreign object; and subsequently lowered (or the agricultural vehicle 630 is otherwise placed in a collection mode) after the detected foreign object.

[064] In some examples, the vehicle control instructions 628 may cause an output device (such as a monitor or audio device in the agricultural vehicle cab 630) to provide instructions for an agricultural vehicle operator 630 to set a speed and / or direction of travel of the agricultural vehicle 630.

[065] In this way, foreign object detection (such as stones or metal objects) can be performed before the foreign object is harvested. This can be especially useful for self-propelled forage harvesters, where stainless steel or aluminum objects may not be detected by a metal detection system. It can be particularly advantageous to detect such foreign objects before they are harvested. Petition 870250057418, dated 07 / 07 / 2025, page 29 / 53 16 / 16 because it can be much quicker and easier for an agricultural machine operator to remove the foreign object from the track, rather than from inside the agricultural machine. Therefore, this can result in the crop harvesting operation being much more efficient than would be the case if the foreign object were carried into the agricultural machine 630.

[066] It will be assessed from the above description that by appropriate post-processing of the radar data, it is possible to understand the distance related to each reflection. Furthermore, using MIMO radars, it is also possible to obtain information from the spatial location of the reflection points (distance and angles of arrival). In addition, by processing the shape of a radar signal waveform (e.g., amplitude, phase), a controller can determine physical and / or chemical information about the track (e.g., density, humidity).

[067] It will be assessed that any of the control operations disclosed herein, such as setting the speed or direction of travel of the baler or an associated tractor, can be performed by comparing data with one or more limit values, applying an algorithm to data, or using a lookup table / database to determine a control value based on received / determined data. Petition 870250057418, dated 07 / 07 / 2025, page 30 / 53

Claims

1 / 2 CLAIMS 1. System comprising: a radar sensor (210) associated with an agricultural vehicle, wherein the radar sensor (210) is configured to acquire radar data (212) representative of a strip (104) in an agricultural field (102) in the vicinity of the agricultural vehicle; and a controller (214) configured to determine strip property data (216) based on the radar data (212), wherein the strip property data comprises strip area data that are representative of a cross-sectional area of ​​the strip (104); and foreign object indicator data; wherein the controller is configured to define the foreign object indicator data as representative of a foreign object being detected if the power of a reflected radar signal, as represented by the radar data, is greater than a power threshold level;CHARACTERIZED in that the controller is configured to determine vehicle control instructions (628) for the agricultural vehicle, based on track ownership data (616) and foreign object indicator data, wherein the vehicle control instructions (628) comprise vehicle collection instructions to automatically control an agricultural machine collection / cutting platform device (630) so that it does not collect the track in the vicinity of a detected foreign object, wherein the controller (214) is configured to: process radar data in order to determine: (i) track profile data, which are representative of the location of the outer surface of the track (404); and (ii) ground profile data, which are representative of the location of the ground surface (406);and Petition 870260041364, dated 04 / 05 / 2026, page 12 / 16 2 / 2 process the strip profile data and the soil profile data in order to determine the strip area data.; 2. System according to claim 1, CHARACTERIZED in that the radar sensor (210) comprises a directional radar sensor.

3. System according to claim 2, CHARACTERIZED in that the property data of the strip (616) comprise strip volume data that are representative of a strip volume.

4. System according to claim 1, CHARACTERIZED in that the property data of the strip (616) comprise strip moisture data and / or strip density data that is / are representative of the strip moisture and / or density.

5. System according to claim 4, CHARACTERIZED in that the controller (214) is configured to set the swath moisture data and / or swath density data based on the phase and / or amplitude of the radar data.

6. System according to claim 1, CHARACTERIZED in that the vehicle control instructions (628) comprise: vehicle driving instructions to automatically control the direction of travel of the agricultural vehicle; and / or vehicle speed instructions to automatically control the speed of the agricultural vehicle.

7. System according to claim 1, CHARACTERIZED in that the system further comprises an agricultural vehicle (630) that is configured to be operated in accordance with the vehicle control instructions (628).

8. System according to claim 7, CHARACTERIZED in that the agricultural vehicle (630) comprises a tractor, a baler, a forage harvester or a windrower. Petition 870260041364, dated 04 / 05 / 2026, p. 13 / 16

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