Mobile work machine control based on control zone map data

Abstract

Control zones are identified on a thematic map, and for each control zone, a working machine actuator setting is identified. The position of the working machine is sensed, and an actuator on the working machine is controlled based on the control zone in which the working machine is located and on the actuator setting corresponding to the control zone. Then, on a near real-time display, the control zones are divided into a harvested part of the control zone on which an observed state value is shown and a not yet harvested control zone on which an estimated value of the state is shown.

Description

Technical Field

[0001] This manual relates to the control of operating machinery. More specifically, this manual relates to a subsystem that controls operating machinery differently in different geographical areas based on parameter settings of control areas in different geographical areas, and displays machine operation in near real-time. Background Technology

[0002] There are various types of mobile work machines. These include, for example, construction machines, lawn management machines, forestry machines, and agricultural machines. In some current systems, prior data is collected and used to generate predictive maps that forecast one or more different variables that may be relevant to controlling the work machine for a specific work site. The maps map the variables to different geographical locations on the work site. Then, as the machine moves around the work site to perform operations, attempts are made to use these maps to control the machine.

[0003] A specific example is controlling agricultural harvesters. Some current systems attempt to collect prior data (e.g., aerial imagery) and generate a predicted yield map from it. The predicted yield map maps the predicted yield values ​​in the field being harvested to the geographical location of that field. As the harvester moves through the field being harvested, the system attempts to control the harvester based on the predicted yield map.

[0004] The above discussion is provided only for general background information and is not intended to help determine the scope of the subject matter for which protection is sought. Summary of the Invention

[0005] Control areas are marked on the thematic map, and the actuator settings for each control area are identified. The position of the machine is sensed, and the actuators on the machine are controlled based on the control area in which the machine is located and the actuator settings corresponding to the control area. Then, on a near real-time display window, a portion of the map is divided into a completed section showing observed state values ​​and an unprocessed future section showing estimated values ​​of those states.

[0006] This summary is provided to introduce some conceptual choices in a simplified form, which will be further described in the detailed embodiments below. This summary is not intended to identify key or essential features of the claimed subject matter, nor is it intended to help determine the scope of the claimed subject matter. The claimed subject matter is not limited to embodiments that address any or all of the shortcomings stated in the background art. Attached Figure Description

[0007] Figure 1This is a partial visual representation and block diagram of a mobile work machine, specifically in the example where the mobile work machine is a combine harvester.

[0008] Figure 2 It is shown Figure 1 The diagram shows an example of a mobile work machine, with several parts illustrated in more detail.

[0009] Figure 3 This is a block diagram showing a more detailed example of an operator interface control system.

[0010] Figures 4 to 8 An example of a display item with an actuating mechanism is shown.

[0011] Figure 9 An example of an operator interface display with multiple display items is shown.

[0012] Figures 10A to 10B (Hereinafter referred to as Figure 10) shows a flowchart illustrating an example of the operation of a mobile work machine and a display when detecting information and controlling the mobile work machine and the display based on the detected information.

[0013] Figure 11 This is a block diagram illustrating an example of a job machine set up in a remote server architecture.

[0014] Figures 12 to 14 Examples of mobile devices that can be used with the working machines or architecture shown in the previous figures are illustrated.

[0015] Figure 15 This is a block diagram illustrating an example of a computing environment that can be used in the operating machines or architectures shown in the previous figures. Detailed Implementation

[0016] As discussed above, some current systems have attempted to use thematic maps (e.g., field maps) created based on prior data (e.g., aerial imagery data or historical data) to control operating machinery (e.g., harvesters). Other systems divide the control model (e.g., thematic map) into multiple control regions by clustering the variable values ​​represented on the thematic map. Each control region has a set of settings for a controllable subsystem or operating machine actuator, such that when the operating machine enters a particular control region, the controllable subsystem (or operating machine actuator) is controlled based on the corresponding settings in that control region.

[0017] It should also be noted that this instruction manual can be continued for many different mobile operating machines (also referred to as operating machines, machines, or vehicles). Such machines can include planters (where observed and estimated state values ​​or control values ​​are soil moisture, planting depth, row unit downforce, etc.), sprayers (where observed and estimated state values ​​or control values ​​are application rate, pest / weed location, etc.), tillage equipment (where observed and estimated state and control values ​​include ground residue coverage, disc angle, surface roughness, tillage depth, etc.), construction compactors (where observed and estimated state and control values ​​include the degree of compaction), and a wide variety of other mobile operating machines. However, this instruction manual continues with operating machines as combine harvesters (where observed and estimated values ​​and control values ​​can be header height, feed rate, sieve and rotor settings, fan speed settings, biomass / yield, etc.). However, it will be understood that this instruction manual can be equally readily applied to other operating machines (or other construction, forestry, agricultural, and turf management operating machines not listed).

[0018] Figure 1 This is a partial schematic illustration of an agricultural machine 100, in which machine 100 is a combine harvester (or combine harvester). Figure 1As can be seen, the combine harvester 100 schematically includes an operator's cab 101, which may have various operator interface mechanisms for controlling the combine harvester 100, including a display mechanism 103, as will be discussed in more detail below. The combine harvester 100 may include a set of front-end devices, which may include a header 102 and a cutter generally indicated by 104. It may also include a feed chamber 106, a feed accelerator 108, and a thresher generally indicated by 110. The thresher 110 schematically includes a threshing rotor 112 and a set of recesses 114. Furthermore, the combine harvester 100 may include a separator 116, which includes a separator rotor. The combine harvester 100 may include a cleaning subsystem (or cleaning device) 118, which itself may include a cleaning fan 120, a screening machine 122, and a sieve 124. The material handling subsystem in combine harvester 100 may include (in addition to feed chamber 106 and feed accelerator 108) a discharge mixer 126, a tail lift 128, a clean grain lift 130 (which moves clean grain into clean grain bin 132), and an unloading screw conveyor 134 and a discharge port 136. Combine harvester 100 may further include a residue subsystem 138, which may include a shredder 140 and a spreader 142. Combine harvester 100 may also have a propulsion subsystem including an engine (or other power source) driving ground-engaging wheels 144 or tracks, etc. It will be noted that combine harvester 100 may also have more than one of any of the subsystems mentioned above (e.g., left and right cleaning devices, separators, etc.).

[0019] In operation, and in an outline manner, the combine harvester 100 moves schematically across the field in the direction indicated by arrow 146. As it moves, the header 102 engages the crop to be harvested and gathers it toward the cutter 104. After it is cut, it moves toward the feed accelerator 108 via a conveyor in the feed chamber 106, which accelerates the crop into the thresher 110. The crop is threshed by the rotor 112, which rotates the crop against the recess 114. The threshed crop is moved by the separator rotor in the separator 116, and some of the residue moves toward the residue subsystem 138 via the discharge agitator 126. It can be shredded by the residue shredder 140 and dispersed on the field by the spreader 142. In other embodiments, the residue simply falls into a pile instead of being shredded and dispersed.

[0020] Grain falls into cleaning device (or cleaning subsystem) 118. Screening machine 122 separates larger pieces from the grain, and sieve 124 separates finer pieces from the clean grain. The clean grain falls into a screw conveyor in clean grain elevator 130, which moves the clean grain upward and deposits it in clean grain bin 132. Residue can be removed from cleaning device 118 by airflow generated by cleaning fan 120. The residue can also be moved backward in combine harvester 100 toward residue treatment subsystem 138.

[0021] Tailings can be moved back by tailings lift 128 to threshing machine 110 where they can be threshed again. Alternatively, tailings can also be conveyed to a separate threshing unit where they can also be threshed again (also using tailings lift or other transport mechanisms).

[0022] Figure 1 It is also shown that, in one example, the combine harvester 100 may include a ground speed sensor 147, one or more separator loss sensors 148, a grain cleaning camera 150, and one or more cleaning device loss sensors 152 and a position sensor 157. The ground speed sensor 147 schematically senses the travel speed of the combine harvester 100 above the ground. This can be achieved by sensing the rotational speed of wheels, drive shafts, axles, or other components. The travel speed and position of the combine harvester 100 may also be sensed by a positioning system 157 (e.g., a Global Positioning System (GPS), dead reckoning system, LORAN system, cellular triangulation, or a variety of other systems or sensors that provide travel speed and / or position indication).

[0023] The cleaning device loss sensor 152 schematically provides output signals indicating the amount of grain loss on the right and left sides of the cleaning device 118. In one example, sensor 152 is an impact sensor (or impact sensor) that counts grain impacts per unit time (or per unit distance traveled) to provide an indication of grain loss in the cleaning device. The impact sensors for the right and left sides of the cleaning device can provide individual signals or combined or integrated signals. It will be noted that sensor 152 may also include only a single sensor, rather than separate sensors for each sieve.

[0024] Separator loss sensor 148 provides a signal indicating grain loss in the left and right separators. The sensors associated with the left and right separators can provide individual grain loss signals or combined or integrated signals. This can also be achieved using a wide variety of different types of sensors. It will be noted that separator loss sensor 148 may also include only a single sensor, rather than separate left and right sensors.

[0025] It will also be understood that sensors and measuring mechanisms (in addition to those already described) may also include other sensors on the combine harvester 100. For example, they may include a residue setting sensor configured to sense whether the machine 100 is configured to shred residue, place a stockpile, etc. They may include a cleaning unit fan speed sensor configured near the fan 120 to sense the fan speed. They may include a threshing gap sensor sensing the gap between the rotor 112 and the recess 114. They may include a threshing rotor speed sensor sensing the rotor speed of the rotor 112. They may include a screening gap sensor sensing the size of the opening in the screening unit 122. They may include a sieve gap sensor sensing the size of the opening in the sieve 124. They may include a moisture sensor for the material other than grain (MOG), configured to sense the moisture level of the MOG passing through the combine harvester 100. These may include machine setting sensors configured to sense various configurable settings on the combine harvester 100. They may also include machine orientation sensors, which can be any of a wide variety of different types of sensors that sense the orientation or posture of the combine harvester 100. Crop attribute sensors can sense various different types of crop attributes, such as crop type, crop moisture, and other crop attributes. They can also be configured to sense crop characteristics as the crop is processed by the combine harvester 100. For example, they can sense the grain feeding rate as the grain travels through the clean grain elevator 130. They can sense the yield (or biomass) as the mass flow rate of the grain passing through the elevator 130 (or the biomass flowing through the machine), or provide additional output signals indicating other sensed variables related to the grain's position at which it was harvested (as indicated by position sensor 157). Some additional examples of sensor types that can be used are described below.

[0026] Figure 2 To show in more detail Figure 1 The diagram shows a block diagram of some parts of the combine harvester (operating machine) 100. Figure 2 The machine 100 is shown to be able to connect to other machines 224 and remote systems 226 via network 228. Therefore, network 228 can be any of a wide area network, local area network, near field communication network, cellular communication network, or a variety of other networks or combinations thereof. Other machines can be other harvesters in the same field or different fields in which the machine 100 is harvesting. Remote system 226 may include farm management systems, remote controller systems, supplier systems, etc.

[0027] Figure 2 The work machine 100 is also shown to include one or more processors 180, positioning systems 157, communication systems 182, and sensors 184 (which may be related to the above-mentioned...). Figure 1 (The sensor described may be the same as or different from the sensor described).

[0028] The machine 100 also includes a control system 186, a data storage system 188, one or more controllable subsystems 190, and an operator interface mechanism 194 (which may include...). Figure 1 The display mechanism 103 and other items 196 are shown. The working machine 100 may also include a variety of other items, as indicated by box 198. The control system 186 itself schematically includes an observation generator 199, a machine position identifier 200, a map selection logic unit 201, a data storage interaction unit 202, a current control area identification system 204, a working machine actuator (WMA) control parameter identification system 206, a control signal generator 208, an operator interface control system 192, and may include other items 210.

[0029] Data storage 188 schematically includes maps 211 to 213 dividing the field in which machine 100 is operating into multiple control zones, multiple different parameter records 214 to 215, and may include other items 216. Controllable subsystem 190 may include multiple different machine actuators 218 to 220, and may include other items 222. Machine actuators 218 to 220 may include those for driving the aforementioned... Figure 1 Any functional actuators or other actuators described. Before describing the overall operation of machine 110, a brief description of some of the items in machine 110 and their operation will be provided first.

[0030] Communication system 182 enables items on work machine 100 to communicate via network 228. Therefore, communication system 182 can vary depending on the type of communication it is enabling.

[0031] In control system 186, map selection logic unit 201 selects maps 211 to 213 to be used to control machine 100. Maps 211 to 213 map control parameters or field / crop state estimates to different areas of the field. The maps can divide the field into different geographical areas based on one or more different criteria. For example, the mapped geographical areas can be control areas, which are generated as geographical areas with similar machine setting values, such that when machine 100 enters a geographical location corresponding to a control area, machine 100 uses the setting values ​​from that control area to control machine 100. These areas can be environmental areas generated as geographical areas with similar environmental (e.g., crop / field) characteristics. Machine control can also be based on environmental characteristics. Areas can also be generated in other ways. The mapped areas are referred to herein as control areas.

[0032] In one example, there may be different maps with data generated from different sources (e.g., aerial imagery, LiDAR, etc.). Data from one data source may have higher quality (e.g., higher confidence or accuracy) than data from other data sources. In one example, there may be a set of NVDI images collected at various times during the growing season. Previous studies may have generated correlation coefficients between NDVI images of the field at a given growth stage and yield. These correlation coefficients can then be used to generate confidence in the estimated yield. In another example, crop stressing events may have occurred in the latter half of the growing season, which would reduce confidence in earlier growing season NDVI images and increase relative confidence in late-season NDVI or lidar or camera images at harvest time to predict yield or biomass. Map selection logic component 201 selects maps 211 to 213 with the highest quality data. It may also select maps for other reasons. Furthermore, different maps may exist for different control parameters or different state value estimates. Additionally, in another example, a single map may have multiple values ​​mapped to a region.

[0033] Machine position identifier 200 receives the position of machine 100 from positioning system 157. For example, it may receive coordinates in a local or global coordinate system. It then identifies the position and orientation of machine 100 in the specific field it is harvesting. Observation generator 199 receives sensor input and generates observations for the harvested portion of the field. For example, if the state variable is the feed rate, inputs from one or more sensors sensing the variable indicating the feed rate are received, and generator 199 generates observed feed rate values ​​associated with the geographic location output by machine position identifier 200. Data storage interaction component 202 interacts with data storage 188 to obtain map 211 with a control area (if it has not already retrieved it) and identifies the position of machine 100 relative to the control area in map 211. Control area identification system 204 identifies the current control area in which machine 100 is operating, and data storage interaction component 202 obtains parameter records 212 to 215 for that specific control area. When a value in the control area is used to control the WMA, the WMA control parameter identification system 206 extracts the WMA setting value (or parameter) from the parameter record (for the current control area) and provides those values ​​to the control signal generator 208. The control signal generator 208 generates control signals based on the specific WMA parameters (or WMA setting values) identified for the current control area in which the machine 100 is operating and applies them to the WMAs 218 to 220 in the controllable subsystem 190. Thus, as the working machine 100 travels across the field, the control system 186 controls the controllable subsystem 198 based on the parameters (or WMA setting values) corresponding to the control area in map 211. It also controls the machine 100 based on any predicted or estimated state of the field and collects data to generate observations for the state.

[0034] In one example, different control zones may correspond to areas where different settings will be most effective. In this case, the control system 186 identifies which control zone the machine 100 is in and what settings to use. The control signal generator 208 then generates control signals to control the controllable subsystem 190 using those settings. When the machine 100 traverses from one control zone to another, it obtains the parameters or settings of the new control zone corresponding to the WMA, and controls the working machine actuator based on the new parameters or settings.

[0035] Similarly, as machine 100 travels across an area, it generates observations of the field conditions within that area. These observations can then be used to correct estimates in map 211. The difference between the two values ​​(estimates and observations) can be characterized. In some examples, map 211 is implemented as a set of layers, where each layer is dedicated to a separate set of georeferenced data or information. Exemplary map layers are not limited to including field boundaries, harvest yield, predicted yield, predicted biomass, past food losses, predicted food losses, and others.

[0036] The operator interface control logic unit 192 generates output on the operator interface mechanism 194 and detects operator input or interaction with the operator interface mechanism. The operator interface mechanism may include a display mechanism 103, which may be a touch-sensitive display or a display that the operator 230 can interact with using a clicking device, etc. Mechanism 194 may include a variety of other mechanisms, such as microphones and speakers using speech recognition and speech synthesis. Mechanism 194 may include foot pedals, joysticks, steering wheels, control levers, linkages, buttons, switches, etc.

[0037] As described in more detail below, the operator interface control logic unit 192 can generate a representation of a near real-time display window showing at least a portion of the field in which the machine 100 is operating, as well as the position and orientation of the machine 100. The near real-time display window can also display an area of ​​a map that includes control zones. In one example, the operator can zoom in and out of the map, thus displaying more or less map data in the near real-time display window. Depending on the zoom level, the display window can show portions of fewer than one control zone, one control zone, more than one control zone, or multiple control zones. It can output a representation of the near real-time display for display on display mechanism 103. The display window also shows various parameter settings and / or estimated and observed state values ​​currently in use in the current control zone. As the machine 100 passes through an area in the field, it generates observations based on sensor signals received in that area. The following section discusses… Figures 4 to 1 0. Some examples of near real-time displays will be discussed in more detail.

[0038] This specification pertains to a system in which the status of a work site and control areas can be displayed in near real-time. The display window is divided into: an observed status area, which indicates the actual value of the work site status sensed or observed by machine 100; and an estimated status area, which corresponds to a location on the map that machine 100 has not yet traversed. The estimated status area of ​​the display window shows an estimated value of the work site status. The display window also shows the current position of the mobile work machine relative to the observed and estimated status areas. This system can also be used to allow operators to change the display window to modify the scale of the display window used for the observed status area relative to the estimated status area. Furthermore, various other information and functionalities are discussed herein. Depending on the zoom level, the observed and estimated status areas can be shown from the map as portions of fewer than one control area, one control area, more than one control area, or multiple control areas.

[0039] Figure 3 This is a block diagram illustrating an example of an operator interface control system 192 in more detail. Figure 3 In the example shown, system 192 includes a current location display generator 232, an observation status area display component 234, an estimated status area display component 236, a scaled area display controller 238, a multi-value overlay component 240, an area zoom component 242, a neighboring area display component 244, a supplementary map display system 246, an alternative data source scrolling component 248, a data source switching logic component 250, and an alarm signal generator 252, and may include a variety of other items 254. The supplementary map display system 246 itself schematically includes a map descriptor display component 256, an observation quality metric display component 258, an estimated area data source display component 260, an estimated area data quality display component 262, an alternative estimated data source display component 264, and an alternative estimated area quality metric display component 266, and may include other items 268. The data source switching logic component 250 itself may include a switching trigger detector 270, a verification component 272, a change effect component 274, an authentication / authorization system 276, and a data source switching component 277, and may include other items 278. Again, before describing the overall operation of machine 100 in more detail, a brief description of some of the items in the interface control system 192 will be given first.

[0040] The current location display generator 232 schematically obtains the current location of machine 100 from machine location identifier 200 and generates a display item indicating that location. The observation status area display component 234 and the estimated status area display component 236 receive observation values ​​from observation value generator 199 and estimated status values ​​from map 211, and together display area display items in a display window. These area display items have: an observation status area portion corresponding to areas in the field that have been traversed by machine 100 and for which the observation status value has been displayed; and an estimated status area portion corresponding to areas in the field that machine 100 has not yet traversed and for which the estimated status value has been displayed. The current location display generator 232 generates a display item at the junction of those two area portions in the near real-time display window to display the location of machine 100.

[0041] The scaling area display controller 238 allows operator 230 to shift the amount of display surface on the factored estimation state area portion and the observed state area portion of the display window. Therefore, if the operator wants the display window to show more observed state values, the operator can scale the display window to show more observed state values ​​than the estimated state values. Alternatively, if the operator wants to see more estimated state values, operator 230 can modify the display window to do so.

[0042] The multi-value overlay component 240 can overlay multiple values ​​on an area displayed in the display window, as described in more detail below. The area zoom component 242 allows the operator 230 to zoom in on the estimated state area portion, or the observed state area portion, or both, to see those portions of the area in more detail in the display window. The adjacent area display component 244 can display in the display window the estimated state and / or observed state values ​​for a map area adjacent to the observed state area portion or the estimated state area portion in the field where the machine 100 is operating.

[0043] In addition to the mapped current location of vehicle 100 and the estimated and observed areas, supplementary map display system 246 can display supplementary information in a near real-time display window. Map descriptor display component 256 generates display items describing the areas displayed in the near real-time display window. Observation area quality metric display component 258 generates display items indicating how well the observed state value matches the estimated state value. Estimated area data source display component 260 identifies the data source for the estimated state value displayed in the estimated state area section. Estimated area data quality display component 262 generates display items indicating the quality of the estimated data. Alternative estimated area data source display component 264 generates display items indicating that one or more alternative data sources exist for the estimated state value, which the operator can switch to. It also identifies those data sources. For example, data source display component 264 can generate display items indicating that the data was generated from NDVI data, LiDAR data, etc. Alternative estimated area quality metric display component 266 generates quality metrics indicating the quality of data generated from alternative data sources. For example, data generated based on NDVI data may have a relatively higher quality metric than data generated based on LiDAR. Generate and display a metric indicating that quality level.

[0044] In the example where an alternative data source is displayed in a near real-time display window, there may be more alternative data sources than conveniently displayed in the display window. In this case, a scrolling mechanism can be provided. In response, the alternative data source scrolling component 248 detects interaction with the scrolling mechanism and scrolls the value information displayed in the display window to show additional alternative data sources. In other examples, the alternative data source scrolling component 248 may present the alternative data sources as drop-down menus, carousels, or other formats.

[0045] The data source switching logic unit 250 detects whether to switch to an alternative data source. If so, for the purpose of controlling the WMA and also for the purpose of generating a near real-time display window, the logic unit 250 switches to the alternative data source. The switching trigger detector 270 detects a trigger indicating that the operator wants to switch data sources or that an automatically triggered trigger has been detected. This can be done by detecting the operator's interaction with the interface mechanism representing the alternative data source, by the machine performance metric falling below a threshold, or in other ways.

[0046] Verification component 272 verifies that the operator wishes to switch data sources. For example, in the work machine 100, the terrain it travels over may be rugged, uneven, or non-uniform. This could cause the operator to inadvertently actuate an interface mechanism that instructs the user to switch data sources. Therefore, instead of immediately switching data sources, verification component 272 may prompt the operator to verify that he or she wishes to switch to an alternative data source. For example, the prompt could be a secondary interface mechanism that the operator wishes to actuate, or in some other form.

[0047] A change-of-effect component 274 can be provided to notify the operator of the effects of the change. For example, the change-of-effect component 274 can generate a pop-up window or another display item. As an example, suppose that selecting an alternative data source might cause an increase in the ground speed of machine 100. In this case, the change-of-effect component 274 could display a message indicating that by switching to the alternative data source, the combine harvester's speed will increase, which could result in an additional 0.5 bushels of loss per acre (e.g., the effect of the switch could lead to increased crop loss). This is just one example.

[0048] An authentication / authorization system 276 can be provided to implement the authentication and authorization process. For example, there may be a hierarchy of individuals authorized to view and modify alternative data sources. As an example, a near real-time display window may be generated locally only on the machine, or it may be generated at one or more remote locations. In some examples, each physical display device may be associated with a person or user permission level. User permission levels can be used to determine which display items are visible on the physical display device and which values ​​the corresponding person can change. As an example, the local operator of machine 100 may not be able to see the information corresponding to the alternative data source or make any changes to the machine's operation. However, a manager at a remote location may be able to see the alternative data information on the display but cannot make changes. A manager at a separate remote location may be able to see all elements and also change the data source used in machine control. This is an example of an authorization hierarchy that can be implemented.

[0049] Therefore, system 276 ensures that operator 230 (or anyone attempting to switch to an alternative data source) is properly authorized to see the data corresponding to the alternative data source and to switch to it. Similarly, system 276 can provide authentication logic, in which case the operator is authenticated. This could include using a password, biometrics, etc.

[0050] Figures 4 to 9 Several different examples of display items that can be shown on a near real-time display window are shown. Some of these display items may be actuated by operator 230 or by other users who can see the near real-time display from a remote location.

[0051] Figure 4 A map display item 280 that can be displayed in a near real-time display window on a display device is shown. Current location display generator 232 (in...) Figure 3 As shown in the diagram, a current position icon (or display item) 282 is generated, which indicates the current position of machine 100 within a control area 284 in the field where machine 100 is operating. It will be noted that at any given moment, depending on the zoom level, the generated display window may show less than one full control area, a single control area, or more than one control area. Figure 4 An example of a single control area is shown.

[0052] exist Figure 4 In the example illustrated, it is assumed that machine 100 moves within control area 284 in the direction indicated by arrow 286. Display item 282 may be an icon, a visual depiction of machine 100, or another display item. Figure 4 In the example shown, the current position display item 282 separates the predicted state region portion 288 from the observed state region portion 290. The predicted state region portion 288 represents the region along the predicted path of the mobile machine 100 within region 284. Therefore, the predicted state region portion 288 visually represents the predicted value of a state variable based on prior or measured data. As an example, the predicted state region portion 288 can represent the predicted feed rate of region portion 288. In this example, the predicted feed rate value is displayed at different locations within the predicted state region portion 288 to represent the predicted feed rate encountered at different geographical locations within the controlled area as the machine 100 travels through the field. When the feed rate changes significantly in a certain area of ​​the field, causing the feed rate machine setting to change, this will be represented as a separate controlled area corresponding to that area in the field.

[0053] The observation state area portion 290 shows a visual representation of the observed value for a specific state. Thus, in the example where the state represented is the feeding rate, when the mobile machine 100 travels through a portion of the area represented by the area portion 290, the observation state area portion 290 represents the feeding rate value observed by the mobile machine 100 based on the sensor values ​​it receives.

[0054] It will be noted that, for the purposes of this specification, display item 280 is shown on the display device in a generally horizontal orientation, with the machine traversing the area from left to right in the direction indicated by arrow 286. However, the direction of travel can be different, for example, from right to left. In this case, areas 288 and 290 are interchanged to reflect the predicted and observed values. In yet another example, display item 280 can have its elongated axis extending from... Figure 4The axis is rotated as shown in the diagram (e.g., rotated 90° counterclockwise).

[0055] On the display shown, the movement of machine 100 across the field can be represented in several different ways. In one example, the current position indicator 282 remains fixed, and the area sections 288 and 290 scroll across the display window in the direction opposite to that indicated by arrow 286. This gives the impression that the current position indicator 282 is moving above the area sections. As the area sections 288 and 290 scroll, the values ​​represented in the area sections 288 and 290 are updated accordingly.

[0056] Similarly, display item 280 is typically displayed in a rectangular shape, but it can also represent the control area in other ways. For example, Figure 5 A generally circular display item 292 is shown. The display portion on display item 292 is similar to... Figure 4 The display portions shown on the central display item 280 are similarly numbered. The current position display item 282 can be fixed, with area portions 288 and 290 rotating around element 282 in the display window. In another example, the current position display item 282 moves around the circular display item 292, and the area portions are updated accordingly. A delimiter area portion 294 is shown to separate the two area portions 288 and 290.

[0057] Figure 6 and Figure 4 Similar items are numbered similarly. However, Figure 6 The proportional area display controller 238 is shown to provide functionality that allows an operator to move the current position display item 282 along an elongated axis of the control area 284 within the display window, such that more of the predicted state area portion 288 is displayed relative to the observation state area portion 290 in the display window, or to move it from left to right, such that less of the predicted state area portion 288 is displayed and more of the observation state area portion 290 is displayed. In one example, the operator can actuate this feature by providing appropriate operator input. As an example, on a touchscreen display, the operator can simply touch and drag the current position display item 282. In another example, the operator can provide a trigger (e.g., by tapping the display item 282), and the proportional area display controller 238 then displays a handle display item 296, which the operator 230 can grasp and move left or right by touching and dragging. In yet another example, the operator 230 can move display items 282 or 296 using a clicking device or by using a voice command (e.g., “Move the current position display item to 25%”). In such an example, the currently displayed item 282 is moved to the left in the display window, so that it is positioned from... Figure 6The leftmost edge of the display window in the middle Figure 6 It is located at the far right 25% of the display window.

[0058] It should also be noted that, Figures 4 to 6 In the example shown, regions 288 and 290 are depicted as solid and cross-shaded portions, respectively. In such an example, the solid portion represents one value of the predicted state, while the cross-shaded portion represents another value of the observed state. However, it should be noted that variations in visual markings may exist within each region 288 and 290 to reflect the fact that the estimated and observed states will change at different locations within these two regions.

[0059] The visual markers used to represent different values ​​can vary greatly. For example, different values ​​can be depicted in regions 288 and 290 by changing the color of the region, the pattern shown in the region, the visual intensity shown in the region, by displaying numerical values ​​in different locations in the region, by displaying alphanumeric levels (e.g., high, medium, low, etc.), or in a variety of other ways.

[0060] Similarly, the predicted state region 288 and the observed state region 290 can use different visual schemes to represent different values. In one example, the predicted state region 288 can use patterns to represent different values, while the observed state region 290 can use different colors. These are just examples.

[0061] It will also be noted that, in one example, the multi-value overlay component 240 can display multiple values ​​for multiple different variables in the display window for regions 288 and 290. For example, the predicted biomass value in region 288 can be shown in different colors, while the predicted value for the feeding rate in region 288 can be overlaid as a series of patterns (reflecting different values ​​at different locations), and the numerical value can be displayed in region 288 to represent the value used to control the harvester speed. To do this, the multi-value overlay component 240 graphically extracts these values ​​from map 211 and one or more parameter records 214 to 215. It then generates display items (colors, patterns, numerical values, etc.) and correlates them with positions in region 284 based on the map and based on the current position of the mobile machine 100, and then displays them at the appropriate locations in the region portion 288 of the display window. This can be done for the observation state region portion 290. For example, the observed biomass value can be shown in different colors in region portion 290, while the observed feeding rate can be overlaid as different patterns. The numerical value can be represented or displayed in section 290 as the actual harvester speed.

[0062] In another example, the region scaling component 242 enables the functionality to allow user 230 to scale the predicted state region 288 and the observed state region 290 independently of each other. In one example, scaling is accomplished by using touch gestures, scroll bars, zoom in and out buttons, or other mechanisms to zoom in or out of the corresponding region. The region is schematically scaled in at least one dimension (e.g., along the direction of travel indicated by arrow 286). In one example, the dimension perpendicular to the machine's direction of travel may be fixed, and only the path dimension (along the direction of travel) changes scale. This is just one example, and other examples may be used.

[0063] For example, suppose one inch on the display window corresponds to 100 feet in the field. For instance, the scale could be changed so that one inch on the display window corresponds to 500 feet in the field. Operator 230 could have various reasons for changing the scale. For example, if the observed or predicted value is relatively constant, the operator could change the scale so that one inch of the display window space corresponds to a larger travel length of the machine. However, if the observed or predicted value changes relatively frequently, the operator could scale the displayed area so that one inch of the display window space corresponds to a relatively low linear travel value of machine 100.

[0064] Figure 7 Another example of display item 296 is shown. Display item 296 includes display items corresponding to control area 284, and the elements in control area display item 284 are... Figure 4 and Figure 6 The elements shown are numbered similarly. However, Figure 7 It is also shown that, in one example, the neighboring area display component 244 obtains predicted and observed state values ​​of the locations of the past or predicted paths of the neighboring machines 100 (in the field where the machines 100 are operating) and displays them on the display window. Figure 7 The user interface display item 296 shows a neighboring predicted status display area portion 298 and a neighboring observed status display area portion 300. Machine 100 has traversed the neighboring portion of the field corresponding to area 300, but has not yet traversed the neighboring portion of the field corresponding to area 298. Therefore, it can be seen that areas 298 and 300 correspond to data of the neighboring passages (adjacent to the current passage) of machine 100 in the field. The neighboring area data may be helpful to operator 230 because it shows the values ​​of neighboring passages near the operator on machine 100. This allows operator 230 to anticipate settings changes, etc. The neighboring area display component 244 can access the neighboring area data by accessing the values ​​of the neighboring field portions in map 211 and the corresponding parameter records.

[0065] Figure 8Another example of a user interface display 302 that can be displayed in a display window is shown. Display 302 includes features similar to... Figure 4 , Figure 6 and Figure 7 The area display item shown is area display item 284, and similar items are numbered similarly. However, Figure 8 The supplementary map display system 246 is shown to now display additional or supplementary information and area display items 284. Figure 8 The diagram illustrates how map descriptor display component 256 generates map descriptor display item 304. Map descriptor display item 304 graphically names the control parameters or operational attributes associated with area display item 284. Figure 8 In the example shown, map descriptor display item 304 shows area display item 284 displaying the predicted value (in area portion 288 of the display window) and the observed value (in area portion 290) of the feeding rate.

[0066] It will be noted that the control parameters or operating attributes displayed in the area display items (e.g., 284) of the display window can include a wide variety of different control parameters or operating attributes. When the mobile machine 100 is a harvester, such values ​​can be values ​​for header height, feed rate, sieve settings, rotor settings, fan speed settings, chaff spreader settings, biomass, yield, and a wide variety of other items. When the machine 100 is a tillage machine, such control parameters or operating attributes can include values ​​for surface roughness, residue coverage, tillage depth, disc angle, and a wide variety of other items. When the machine 100 is a planting or seeding machine, control parameters or operating attributes can include planting depth, seed orientation (which may be obtained from other applications), and a wide variety of other items.

[0067] Figure 8 The observation area quality metric display component 258 also generates observation area quality metric display item 306. Element 306 schematically provides a measurement of the predictive accuracy of the values ​​in region portion 288 compared to the measured or observed values ​​in region portion 290. Figure 8 In the example illustrated, the 95% value represents the accuracy of the predicted feed rate (e.g., a calculated error of 5% of the actual feed rate). In one example, component 258 can compare an observed state area quality metric to a threshold and generate a visual indicator indicating how well the area quality compares to the threshold. For instance, the background color of the observed state area quality display item 306 could indicate that the value (or 95%) is within the threshold corresponding to a "good" accuracy level. Other colors or visual markers might indicate that the comparison falls into a different category.

[0068] As discussed above, alternative data sources may also exist from which the predicted values ​​in region 288 can be obtained. The estimated region data source display component 260 generates a predicted region data source identifier 308. Identifier 308 provides a visual marker identifying the data source for which the current predicted value in region 288 is obtained. In one example, element 308 uses alphanumeric characters to name the data source itself. Figure 8 In the example shown, element 308 includes the alphanumeric identifier “NDVI8”. This indicates that the data originated from an NDVI image of the field taken at growth stage V8. Element 308 can identify any of a variety of other data sources, such as the name of the sensor that collected the data (e.g., LIDAR) or a custom-weighted name based on multiple inputs (e.g., “Jupiter 2”).

[0069] The estimated region data quality display component 262 generates a predicted region data quality display item 310. Display item 310 displays a visual indicator corresponding to the quality metric or confidence level of the data in the predicted state region portion 288. The predicted quality metric can be based entirely or partially on the past performance of the data from the data source in terms of quality (e.g., accuracy). In another example, the predicted quality metric is based on criteria other than past performance. Figure 8 In the example shown, the value "89%" is displayed. The background color (or other visual markers on element 310) can also indicate the marginal goodness of the displayed value relative to one or more thresholds (89%).

[0070] Furthermore, as discussed above, alternative data sources may exist for the predicted values ​​shown in region 288. The Alternative Estimation Region Data Source Display Unit 264 can generate display items corresponding to those alternative data sources. The Alternative Estimation Region Quality Measurement Display Unit 266 graphically generates display sections indicating the quality of the data provided by the alternative data sources. Figure 8 In the example shown, component 264 generates and displays display items 312 and 314 corresponding to alternative data sources generated from LIDAR and "ALT source".

[0071] Component 266 generates display items 316 and 318, respectively, indicating the quality of data from the alternative data sources identified by elements 312 and 314. Figure 9 As can be seen, the quality of the data from the data source represented by element 308 is 89%, while the quality of the data from the alternative data source is 72% and 57%, respectively.

[0072] In one example, there may be more alternative data sources than can be displayed in the display window on the display mechanism. In this case, the alternative data source scrolling component 248 generates alternative data source scrolling elements 320 that can be actuated by the operator 230. The operator 230 can actuate the display items 320 to scroll the list of possible alternative data sources.

[0073] The data source switching logic unit 250 schematically provides functionality such that the data source used to generate the value in area section 288 (and therefore the value displayed in area section 288, and the value used to control machine 100 when machine 100 travels on the field corresponding to display section 288) can be switched from the current data source to an alternative data source. In such an example, the data source switching logic unit 250 detects when the data source switching has been triggered and completes the switch to the alternative data source.

[0074] Switching trigger detector 270 detects a switching trigger indicating that the data source should switch from the current data source to an alternative data source. In one example, this could be an automatic trigger based on switching criteria. For example, the quality value in display item 310 corresponding to the current data source might drop below the quality value in display item 316 corresponding to the alternative data source. In this case, switching trigger detector 270 could detect a trigger indicating a switch to the alternative data source represented by display item 312. In another example, if a performance parameter or the quality value in display item 306 drops below a threshold, this could be a trigger detected by switching trigger detector 270 indicating a switch to a different data source. In yet another example, switching trigger detector 270 detects operator input indicating that the operator wishes to switch to an alternative data source. For example, on a touch-sensitive display, the operator could touch display item 312 to select the alternative data source the operator wishes to switch to. In another example, the alternative data source could be triggered by a button click, voice command, etc.

[0075] In one example, the switch to the new data source is verified before it actually occurs. In such an example, verification component 272 performs a verification operation to ensure that operator 230 (or another user who provided the switch trigger) intends to switch to the alternative data source. The prompt could be, for example, a visual or synthesized voice prompt, such as, "Are you sure you want to switch from data source A to data source B?" Verification component 272 can then detect an affirmative response. This type of verification can reduce the possibility of accidental data source switching.

[0076] The change effect component 274 also graphically generates output that can be displayed to operator 230 (or another user who made the change to the data source) to indicate the impact of the change. Therefore, before confirming the change to the alternative data source, component 274 can visually communicate the impact of the change through audio output or other means. In one example, component 274 generates a pop-up window showing one or more displayed items that have been changed to indicate how they will appear if the change is performed. For example, component 274 can generate a display showing that elements 312 and 308 have been swapped. It can generate a display showing that displayed items 310 and 316 have been swapped. Furthermore, component 274 can generate a display showing that the estimated values ​​in the predicted state area section 288 have been swapped to show the values ​​derived from the alternative data source. Additionally, component 274 can generate text output or different outputs indicating other effects. For example, if switching to an alternative data source would cause an increase in the speed of machine 100, and this would negatively impact some other performance characteristics, this type of impact might be shown to operator 230 (or another user who invoked the data change). As an example, component 274 can generate text output such as, “Changing to alternative data source B will increase the speed of the machine, resulting in an additional crop loss of 0.5 bushels per acre.” Again, this is just one example, and a wide variety of other impact indicators can be used.

[0077] The authentication / authorization system 276 implements authentication and authorization processes as needed. For example, as discussed above, some operators or users may only have the right to view certain display items and invoke certain functionalities (e.g., change to an alternative data source). Therefore, before any changes or displays are made, the authentication / authorization system 276 ensures that the operator or other user initiating such an operation or viewing the display is authenticated and authorized to do so.

[0078] Once the data source switching process has been triggered, verified, and authenticated / authorized, the data source switching unit 277 performs the data source switching. It provides the control system 186 with an output indicating that the data source on which the control is based has been switched to an alternative data source. The data storage interaction unit 202 then obtains data from this data source via the data storage unit 188. The control system 186 then uses the data from the alternative data source to generate a near real-time display and control the controllable subsystem 190.

[0079] It will be noted that an alarm state may occur at any time during processing. In one example, an alarm may be generated based on a value crossing a threshold. For instance, if the value of the quality metric of the observation area shown in display item 306 drops below a threshold of 90%, alarm signal generator 252 may generate an alarm signal that drives a speech synthesis system to announce an alarm message, such as, “Observation area quality has decreased.” In another example, the background color of the display item that triggers the alarm may change color. In yet another example, the background may change from a static background to a flashing red background (or another shimmering or flashing background). In still some examples, alarm signal generator 252 may generate an alarm signal that causes another visual effect, such as an ordered pattern of a visual object. It may generate audio effects, such as a prompt, a verbal alarm, or other audio output. It may generate control signals that drive tactile outputs (e.g., vibration of the display or another surface, vibration of the operator’s seat, or another operator interface mechanism, etc.). Alarm signal generator 252 may generate alarm signals to control these or different alarm mechanisms or combinations thereof.

[0080] Figure 9 An example of a user interface display 320 including multiple display items of the form already described is shown. Figure 9 In the example shown, the displayed items are oriented approximately vertically rather than horizontally on the display surface. Some items are similar to those shown in the previous figures, and they are similarly numbered. For example, in Figure 9 The left side of the illustration shows a region display item 284 with corresponding additional elements. Region display item 284 is showing the value of the feeding rate. Another region display item 322 for grain loss is shown. Map descriptor display component 256 generates map descriptor display item 324, and observation region quality metric display component 258 generates observation region quality display item 326. Estimated region data source display component 260 generates estimated region data source display item 328, while estimated region data quality display component 262 generates estimated region quality display item 330. Current position display generator 232 generates current position display item 332. Observation status region display component 234 generates observation status region display portion 334, and estimated status region display component 236 generates estimated status region portion 336.

[0081] Figure 9 The display for sieve settings also includes a map descriptor display item 338, an observation area quality metric display item 340, a current location display item 342, an observation status area display section 344, an estimation status area display section 346, an estimation area data source display item 348, and an estimation area data quality display item 350. Figure 9The corresponding set of display items 352, 354, 356, 358, 360, 362 and 364 are shown for grain quality.

[0082] Figure 9 The operator interface control system 292 also shows a scrolling mechanism 366. Operator 230 or a user can actuate the scrolling mechanism 366 to scroll and display additional control map items. For example, when one area item (e.g., 284) scrolls to the left off the screen, another area item scrolls onto the screen from the right.

[0083] Figure 9 The user interface display 320 is also shown to be typically divided into two parts: a scrollable display section 368, in which the operator 230 can use a scrolling mechanism 366 to scroll the displayed items off and onto the screen; and a fixed display section 370, in which the items displayed there are permanently displayed. Figure 10A In the example shown, a circular display item 372 for output is shown, as indicated by map descriptor display item 374. Quality display item 376 also shows the quality value. For the circular display item 372, the observed state region portion is represented at 378. The predicted state region portion is indicated by 380, and the current position of machine 100 is indicated by current position element 382.

[0084] The circular display 384 shows the estimated and observed values ​​of crop humidity content. This is indicated by the map descriptor display item 386, and it has a 92% quality value, as indicated by the quality display item 388. The observed humidity value is shown in the area section 390, the predicted humidity value is shown in the area section 392, and the current position of the machine 100 is illustrated by the current position display item 394.

[0085] As can be seen, display items 372 and 384 also include additional display items 396 and 398, respectively. Display items 396 and 398 include numerical and unit values. Display item 396 shows that the current yield is 220 bushels per acre, while the humidity display item 384 shows that the current crop moisture content is 14%.

[0086] Figure 10B and Figures 4 to 9 (Hereinafter referred to as Figure 10) shows a flowchart illustrating an example of the operation of machine 100 when generating, for example, the near real-time display window described above, and when controlling machine 100.

[0087] First, assume that map selection logic unit 201 selects one or more maps 212-213 from data storage 188 for use in controlling machine 100. The maps may contain machine actuator control values, estimated state values, and control areas. Data storage interaction unit 202 also schematically retrieves one or more parameter records 214-215 corresponding to control areas in the selected maps. This is indicated by box 400 in the flowchart of Figure 10. In one example, map selection logic unit 201 may select multiple maps based on the number and type of WMAs used for map control and based on the observations and estimates to be displayed in different display areas and region sections of the display window. This is indicated by box 402. Furthermore, map selection logic unit 201 may evaluate multiple different data sources to select a map. It schematically selects a map with data values ​​from the data source that produces the highest quality data. This is indicated by box 404. As indicated by box 406, the values ​​may be based on prior or measured data. Maps and parameter records may also be obtained in a variety of other ways, and this is indicated by box 408.

[0088] Machine position identifier 200 receives input from positioning system 157 and identifies the geographic location, orientation, and speed of the working machine 100. This is indicated by box 410. This can be identified by one or more position / orientation / route sensors 412. Machine position identifier 200 also identifies machine speed from speed sensor 414. It can also identify the position / orientation / speed of the working machine 100 in a variety of other ways, and this is indicated by box 416.

[0089] The current control area identification system 204 then identifies which control area (current control area) the machine 100 is operating in. This is based on the geographic coordinates corresponding to the control area in the selected map and the geographic location of the machine 100. This is indicated by box 418. The WMA control parameter identification system 206 then identifies the WMA control settings and area display values ​​or parameter values ​​corresponding to the current control area. This is indicated by box 420. The WMA control signal generator 208 then generates control signals to control the controllable subsystem 190 based on the parameter and setting values ​​corresponding to the control area in the selected map. This is indicated by box 422 in the flowchart of Figure 10. The operator interface control system 192 then generates a near real-time display in the display window based on the control area values.

[0090] As machine 100 travels through the field, observation value generator 199 generates observation state values ​​for the observation state displayed in the observation state area portion of the display window of the current control area in which machine 100 is operating. The generation of observation state values ​​is indicated by box 424 in the flowchart of Figure 10. This can be based on sensor input, as indicated by box 426. Observation value generator 199 can also generate values ​​indicating the deviation from the estimated (or predicted) state values ​​in the area in which machine 100 is operating. This is indicated by box 428. Observation value generator 199 can also perform other operations, and this is indicated by box 430.

[0091] The estimated state area display component 236 obtains a set of estimated state values, which will be displayed in the predicted state area portion of the display window. This is indicated by box 432. The current position display generator 232, the observed state area display component 234, and the estimated state area display component 236 then generate a near real-time display in the display window, for example... Figure 6 As shown, the near real-time display illustrates the displayed area within the current control region, which includes an observation state area, a prediction state area, and the current position of machine 100. This is indicated by box 434.

[0092] As discussed above, the multi-value overlay component 240 can also overlay the values ​​of multiple different variables on the displayed area. This is indicated by box 436. The neighboring area display component 244 can acquire and display the predicted and observed state values ​​of neighboring areas adjacent to the currently controlled area in the field where machine 100 is operating. This is indicated by box 438. As discussed above, the supplementary map display system 246 can acquire and display supplementary information. This is indicated by box 440. Near real-time displays with other display items can also be generated in a variety of other ways. This is indicated by box 442.

[0093] The operator interface control system 192 then detects any operator interaction (or other user interaction) with the near real-time display. This is indicated by box 444. It then controls the near real-time display and provides output value numbers to other items in the control system 186 to control the machine 100 based on the detected operator interaction. This is indicated by box 446 in the flowchart of Figure 10.

[0094] As discussed above, operator actions can take many different forms, resulting in different forms of display control operations and machine control operations. (As discussed above...) Figure 11 As discussed, the scaling area display controller 238 can detect operator or user interactions that change the scaling of the display windows dedicated to areas 288 and 290. Changing the display scaling of the two areas 288 and 290 is indicated by box 448 in the flowchart of Figure 10.

[0095] The area zoom component 242 can detect user or operator zoom input in one or both of the area portions 288 and 290 of the zoom display window. This has also been described above and is indicated by box 450 in the flowchart of Figure 10.

[0096] Furthermore, as described above, operator 230 or another user may wish to change the display window and control the operations performed on machine 100, making them based on an alternative data source. In this case, switch trigger detector 270 detects a data source switch trigger. As discussed above, this can be manual input or automatic triggering. This is indicated by box 452. Verification unit 272 can perform input verification, and authentication / authorization system 276 can authenticate the operator or user and perform an authorization process, by which the authorized user or operator is authorized to perform data switching. Input verification and authentication / authorization are indicated by box 454. Change effect unit 274 generates a display (or other output) for the operator that identifies the effect of the change. This is indicated by box 456. Data source switching logic unit 277 then generates a source change output signal indicating that the data source for which it generates near real-time displays and controls machine 100 is to be switched to the identified alternative data source. This is indicated by box 458. This output is provided to control system 186.

[0097] The data storage interaction component 202 then accesses data from an alternative data source in the data storage 188. This may include obtaining individual maps 212-213, or different sets of parameter records 214-215, or other data. The access to data from the alternative data source is indicated by box 460 in the flowchart of Figure 10. The WMA control signal generator 208 then generates control signals based on the values ​​from the alternative data source to control the controllable subsystem 190 of machine 100. This is indicated by box 462. The operator interface control system 192 then also uses the data from the alternative data source to generate a near real-time display in the display window. This is indicated by box 464.

[0098] At box 446, the detected operator interaction may include a wide variety of other operator inputs. For example, operator 230 may actuate a scroll actuator, in which case elements on the near real-time display window may scroll horizontally or vertically across the display window. Operator input may also include other operator inputs, and this is indicated by box 466.

[0099] Until the operation is complete, as indicated in box 468, the operation then returns to box 410, where the machine position identifier 200 continues to update the machine's current position, allowing the near real-time display and control signals to be updated accordingly. Furthermore, the alarm signal generator 252 can generate an alarm at any time. Some examples of this have also been discussed above.

[0100] Processors and servers have been mentioned in this discussion. In one example, processors and servers include computer processors with associated memory and timing circuitry, not shown separately. They are functional components of the system or apparatus to which they belong, and are activated by and facilitate the functionality of other components or objects in those systems.

[0101] Furthermore, numerous user interface displays have been discussed. They can take a wide variety of forms and can have a wide variety of user-actuable input mechanisms mounted on them. For example, user-actuable input mechanisms can be text boxes, checkboxes, icons, links, drop-down menus, search boxes, etc. They can also be actuated in a wide variety of ways. For example, they can be actuated using a clicking device (e.g., a trackball or mouse). They can be actuated using hardware buttons, switches, joysticks or keyboards, thumb switches or thumb pads, etc. They can also be actuated using a virtual keyboard or other virtual actuators. Additionally, if the screen displaying them is a touch-sensitive screen, they can be actuated using touch gestures. Furthermore, if the device displaying them has a voice recognition component, they can be actuated using voice commands.

[0102] Many data storage methods have already been discussed. It will be noted that they can each be divided into multiple data storages. All of these can be local to the system accessing them, all of these can be remote, or some can be local while others are remote. All of these configurations are anticipated in this paper.

[0103] Furthermore, the diagram illustrates multiple blocks where functionality is attributed to each block. It should be noted that fewer blocks can be used, thus requiring fewer components to perform the functionality. Conversely, more blocks can be used when functionality is distributed across more components.

[0104] This specification also refers to a window or display window. In one example, a window or display window is an area on a display screen in which information is viewed. There may be one or more contiguous, overlay, or layered windows forming the area used for display. All of these possibilities, as well as others, are contemplated herein when referring to a window or display window.

[0105] Figure 2This is a block diagram of the harvester 100 shown in the previous figures, except that it communicates with elements in the remote server architecture 500. In this example, the remote server architecture 500 can provide computing, software, data access, and storage services that do not require the end user to know the physical location or configuration of the system delivering the services. In various examples, the remote server can deliver services over a wide area network (e.g., the Internet) using appropriate protocols. For instance, the remote server can deliver applications over a wide area network, and these applications can be accessed through a web browser or any other computing component. Figure 3 and Figure 11 The software or components shown, along with the corresponding data, can be stored on servers at remote locations. Computing resources in a remote server environment can be consolidated at a remote data center location, or they can be distributed. Remote server infrastructure can deliver services through a shared data center, even if they appear as a single access point to the user. Therefore, the components and functions described herein can be provided from remote servers at remote locations using a remote server architecture. Alternatively, they can be provided from traditional servers, or they can be installed directly or otherwise on client devices.

[0106] exist Figure 2 In the example shown, some items are similar to Figure 3 and Figure 11 The items shown are similarly numbered. Figure 11 Specifically, map selection logic component 201, remote system 226, and data storage 188 (and other items 504) can be located at remote server location 502. Therefore, harvester 100 accesses those systems via remote server location 502.

[0107] Figure 11 Another example of a remote server architecture is also described. Figure 12 The illustration also shows that some components of the previously shown figures are intended to be located at a remote server location 502, while others are not. By way of example, data storage 188 or other parts of control system 186 may be located at a location separate from location 502 and accessed via a remote server at location 502. Regardless of their location, they can be directly accessed by the harvester 100 via a network (WAN or LAN), they may be hosted as a service at a remote site, or they may be provided as a service or accessed by a connectivity service residing at a remote location. Furthermore, data can be stored in virtually any location and accessed intermittently by interested parties or forwarded to interested parties. All these architectures are contemplated herein.

[0108] It will also be noted that the elements or portions thereof in the previous figures can be mounted on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as handheld computers, cellular phones, smartphones, multimedia players, personal digital assistants, etc.

[0109] Figures 13 to 14 This is a simplified block diagram illustrating a handheld or mobile computing device 16, which can be used as a user or customer, and may be used as part of the system (or a portion thereof). For example, the mobile device may be deployed in the operator's compartment of the harvester 100 for generating, processing, or displaying data and detecting operator interactions. Figure 12 Examples are handheld or mobile devices.

[0110] Figure 13 A general block diagram of the components of a client device 16 that can operate, interact with, or both of the components shown in the previous figures is provided. In device 16, a communication link 13 is provided, which allows the handheld device to communicate with other computing devices and, in some embodiments, provides a channel for automatically (e.g., by scanning) receiving information. Examples of the communication link 13 include allowing communication via one or more communication protocols, such as wireless services used to provide cellular access to a network and protocols used to provide local wireless connectivity to a network.

[0111] In other examples, the application can be received on a removable secure digital (SD) card connected to interface 15. Interface 15 and communication link 13 communicate with processor 17 (which may also include processors from other figures) along bus 19, which is also connected to memory 21 and input / output (I / O) components 23, as well as clock 25 and position system 27.

[0112] In one example, I / O components 23 are provided to facilitate input and output operations. I / O components 23 for various examples of device 16 may include input components (e.g., buttons, touch sensors, optical sensors, microphones, touchscreens, proximity sensors, accelerometers, orientation sensors) and output components (e.g., display devices, speaker and / or printer ports). Other I / O components 23 may also be used.

[0113] Clock 25 schematically includes a real-time clock component that outputs the time and date. It may also schematically provide timing functions for processor 17.

[0114] Location system 27 schematically includes components that output the current geographic location of device 16. This may include, for example, a Global Positioning System (GPS) receiver, a Loran system, a dead reckoning system, a cellular triangulation system, or other positioning systems. For example, it may also include mapping or navigation software that generates desired maps, navigation routes, and other geographic functions.

[0115] Memory 21 stores operating system 29, network settings 31, application programs 33, application configuration settings 35, data storage 37, communication drivers 39, and communication configuration settings 41. Memory 21 may include all types of tangible volatile and non-volatile computer-readable storage devices. It may also include computer storage media (described below). Memory 21 stores computer-readable instructions that, when executed by processor 17, cause the processor to perform computer-implemented steps or functions. Processor 17 may also be activated by other components to facilitate their functionality.

[0116] Figure 13 The illustration shows an example where device 16 is a tablet computer 600. Figure 14 In the illustration, computer 600 shows a user interface display screen 602. Screen 602 may be a touchscreen or a pen-enabled interface that receives input from a pen or stylus. It may also utilize a virtual keyboard on the screen. Of course, it may also be attached to a keyboard or other user input device via a suitable attachment mechanism (e.g., a wireless link or USB port, for example). Computer 600 may also schematically receive voice input.

[0117] Figure 15 The device shown can be a smartphone 71. The smartphone 71 has a touch-sensitive display 73 that displays icons or tiles, or other user input mechanisms 75. Users can use the mechanisms 75 to run applications, make calls, perform data transfer operations, etc. Typically, the smartphone 71 is built on a mobile operating system and offers more advanced computing power and connectivity than a feature phone.

[0118] Note that other forms of device 16 are also possible.

[0119] Figure 15 This is an example of a computing environment in which elements or parts thereof from the previously shown figures can be deployed (for example). Reference Figure 15An exemplary system for implementing some embodiments includes a general-purpose computing device in the form of a computer 810 programmed to operate as described above. Components of the computer 810 may include, but are not limited to, a processing unit 820 (which may include a processor 180), a system memory 830, and a system bus 821 that connects various system components, including the system memory, to the processing unit 820. The system bus 821 may be any of several types of bus architectures, including a memory bus or memory controller, a peripheral bus, and a local bus using any of various bus architectures. The memory and programs described with respect to the previously attached figures can be deployed in… Figure 15 In the corresponding part.

[0120] Computer 810 typically includes a variety of computer-readable media. Computer-readable media can be any available medium accessible by computer 810, and includes volatile and non-volatile media, removable and non-removable media. By way of example, and not limitation, computer-readable media can include computer storage media and communication media. Computer storage media are distinct from and do not include modulated data signals or carriers. It includes hardware storage media, which includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to: RAM, ROM, EEPROM, flash memory or other storage technologies, CD-ROM, digital versatile optical disc (DVD) or other optical disc storage, cassette tape, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible by computer 810. Communication media can embody computer-readable instructions, data structures, program modules, or other data in a transmission mechanism and include any information transmission medium. The term "modulated data signal" refers to one or more of the characteristics of a signal that are set or altered in a manner that encodes information in the signal.

[0121] System memory 830 includes computer storage media in the form of volatile and / or non-volatile memory, such as read-only memory (ROM) 831 and random access memory (RAM) 832. A basic input / output system 833 (BIOS) containing basic routines is typically stored in ROM 831, which, for example, facilitates the transfer of information between components within computer 810 during startup. RAM 832 typically contains data and / or program modules that can be immediately accessed by processing unit 820 and / or are currently being operated by processing unit 820. By way of example, and not limitation, Figure 15The diagram illustrates the operating system 834, application program 835, other program modules 836, and program data 837.

[0122] Computer 810 may also include other removable / non-removable volatile / non-volatile computer storage media. This is by way of example only. Figure 15 The illustration depicts a hard disk drive 841 that reads from or writes to a non-removable, non-volatile magnetic medium, an optical disk drive 855, and a non-volatile optical disk 856. The hard disk drive 841 is typically connected to the system bus 821 via a non-removable memory interface (e.g., interface 840), and the optical disk drive 855 is typically connected to the system bus 821 via a removable memory interface (e.g., interface 850).

[0123] Alternatively or additionally, the functionality described herein may be performed at least in part by one or more hardware logic components. Examples, but not limited to, of the types of hardware logic components that may be used include field-programmable gate arrays (FPGAs), application-specific integrated circuits (e.g., ASICs), application-specific standard products (e.g., ASSPs), system-on-a-chip (SoCs), complex programmable logic devices (CPLDs), and the like.

[0124] The above discussion and Figure 15 The driver and its associated computer storage media illustrated in the diagram provide storage for computer-readable instructions, data structures, program modules, and other data for the computer 810. Figure 15 For example, hard disk drive 841 is illustrated as storing operating system 844, application program 845, other program modules 846, and program data 847. Note that these components may be the same as or different from operating system 834, application program 835, other program modules 836, and program data 837.

[0125] Users can type commands and information into computer 810 using input devices such as keyboard 862, microphone 863, and clicking devices 861 (e.g., mouse, trackball, or touchpad). Other input devices (not shown) may include joysticks, game pads, satellite TV antennas, scanners, or the like. While these and other input devices are typically connected to processing unit 820 via user input interface 860, which is coupled to the system bus, they can be connected via other interfaces and bus structures. Visual display 891 or other types of display devices are also connected to system bus 821 via, for example, video interface 890. In addition to a monitor, the computer may also include other peripheral output devices, such as speakers 897 and printers 896, which can be connected via peripheral output interface 895.

[0126] Computer 810 operates in a networked environment using logical connections (e.g., controller area network – CAN, local area network – LAN, or wide area network – WAN) to one or more remote computers (e.g., remote computer 880).

[0127] When used in a LAN networked environment, computer 810 connects to LAN 871 via a network interface or adapter 870. When used in a WAN networked environment, computer 810 typically includes a modem 872 or other devices for establishing communication via WAN 873 (e.g., the Internet). In a networked environment, program modules may be stored in remote memory storage devices. For example, ​ The illustration shows that remote application 885 can reside on remote computer 880.

[0128] It should also be noted that the different examples described in this article can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples. All of these are anticipated in this article.

[0129] Example 1 is a computer-implemented method for controlling a mobile work machine, comprising:

[0130] Obtain a map of the work site, the map dividing the work site into control areas;

[0131] Identify the current control area in which the mobile work machine is operating;

[0132] Detect the current position of the mobile work machine in the current control area;

[0133] A set of observation state values ​​is determined, each observation state value indicating an observation value of a variable characterizing the state of the geographic portion of the current control area on which the mobile operating machine has performed operations;

[0134] Obtain a set of estimated state values, each estimated state value indicating an estimated value of the variable characterizing the state of the mobile work machine in the current control area, where the operation has not yet been performed; and

[0135] A near real-time display of at least a portion of the current control area is generated in the display window. The near real-time display shows an estimated value area portion with visual markers indicating the set of estimated state values, an observed value area portion with visual markers indicating the set of observed state values, and a current position indicator indicating the current position of the mobile operating machine in the current control area.

[0136] Example 2 is a computer-implemented method according to any or all of the preceding examples, and further includes:

[0137] The actuator of the mobile work machine is controlled based on the set of estimated state values ​​and the current position of the mobile work machine.

[0138] Example 3 is a computer-implemented method according to any or all of the previous examples, wherein generating a near real-time display of a portion of the current control region includes:

[0139] The current control area is displayed using a region display item, the first part of which displays the estimated value region, the second part of which displays the observed value region, and the third part of which displays the current position indicator, which is displayed between the first and second parts of the region display item.

[0140] Example 4 is a computer-implemented method according to any or all of the previous examples, and further includes:

[0141] The detection indicates that the scale of at least one of the first and second portions of the area display item can be changed by the user input; and

[0142] The near real-time display in the display window is modified based on the detected proportional display user input to change the size of the first and second portions of the area display item relative to each other.

[0143] Example 5 is a computer-implemented method according to any or all of the preceding examples, wherein displaying at least a portion of the current control area includes:

[0144] The first portion of the area display item is displayed according to a first scale value, the first portion having estimated state values ​​corresponding to a plurality of positions along a first length in the current control area at the work site, the first scale value indicating the relationship between the linear distance corresponding to the first portion of the area display item in the current control area at the work site and the linear distance of the display window occupied by the first portion of the area display item; and

[0145] The second portion of the area display item is displayed according to the second scale value, the second portion having observation state values ​​at multiple locations along a second length in the current control area in the work site, the second scale value indicating the relationship between the linear distance corresponding to the second portion of the area display item in the current control area in the work site and the linear distance in the display window occupied by the second portion of the area display item.

[0146] Example 6 is a computer-implemented method according to any or all of the preceding examples, and further includes:

[0147] Detect user input regarding region scaling in relation to one of the first and second portions of the region display item;

[0148] Modify the first or second scale value corresponding to one of the first and second portions of the displayed area to obtain a modified scale value, wherein the modification of the first or second scale value corresponding to the one portion is performed independently of the other of the first or second scale value; and

[0149] The modified scale values ​​are used to display the area display items.

[0150] Example 7 is a computer-implemented method according to any or all of the previous examples, wherein obtaining a set of estimated state values ​​includes:

[0151] The set of estimated state values ​​is obtained from a first data source having a first data quality indicated by a first quality metric.

[0152] Example 8 is a computer-implemented method according to any or all of the preceding examples, and further includes:

[0153] The detection indicates that the data source has switched to an alternative data source, triggering a data source switchover.

[0154] Access alternative data indicating alternative estimated state values ​​from the alternative data source; and

[0155] The near real-time display is generated based on the alternative estimated state values.

[0156] Example 9 is a computer-implemented method according to any or all of the preceding examples, and further includes:

[0157] Before accessing the alternative data, display an impact indicator that indicates the effect of switching to the alternative data source.

[0158] Example 10 is a computer-implemented method according to any or all of the previous examples, wherein generating the near real-time display includes:

[0159] At the same time, visual markers are generated to indicate various different types of states in the current control area.

[0160] Example 11 is a computer-implemented method according to any or all of the previous examples, wherein generating the near real-time display includes:

[0161] A neighboring region display item is generated, which shows at least one of an estimated region portion and an observed region portion of the region adjacent to the current control area in the work site.

[0162] Example 12 is a computer-implemented method according to any or all of the previous examples, wherein generating the near real-time display includes:

[0163] Generate an alternative data source display item that identifies the alternative data source; and

[0164] Generate an alternative data source quality metric display item that indicates the quality of the alternative data from the alternative data source.

[0165] Example 13 is a computer-implemented method according to any or all of the preceding examples, wherein the alternative data source display item is a user-actuable display item, and wherein detecting the data source switching trigger includes:

[0166] Detect user activation of the alternative data source display item.

[0167] Example 14 is a computer-implemented method according to any or all of the preceding examples, and further includes:

[0168] A first set of observation state values ​​is determined, which represents a first variable in the geographic portion of the current control area on which the mobile work machine has performed operations.

[0169] A second set of observation state values ​​is determined, which represents a second state of a second variable in the geographic portion of the current control area on which the mobile work machine has performed operations.

[0170] Obtain a first set of estimated state values, which represent a set of estimates of the first variable in the geographic portion of the current control area where the mobile operating machine has not yet performed the operation;

[0171] Obtain a second set of estimated state values, which indicate a set of estimates of the second variable characterizing the second state in the geographic portion of the current control area on which the mobile operating machine has not yet performed the operation;

[0172] A first near-real-time display of at least a portion of the current control area is generated in the display window. This first near-real-time display shows a first estimated value area portion with visual markers indicating the first set of estimated state values, a first observed value area portion with visual markers indicating the first set of observed state values, and a current position indicator indicating the current position of the mobile work machine within the current control area.

[0173] While generating the first real-time display of at least a portion of the current control area in the display window, a second near-real-time display of at least a portion of the current control area is generated in the display window. The second near-real-time display shows a second estimated value area portion with visual markers indicating the second set of estimated state values, a second observed value area portion with visual markers indicating the second set of observed state values, and a current position indicator indicating the current position of the mobile operating machine in the current control area.

[0174] Example 15 is a control system for a mobile work machine, comprising:

[0175] A data storage interaction component that obtains a map of the workplace that geographically divides the workplace into multiple areas;

[0176] A current area identification system identifies the current control area in which the mobile work machine is operating;

[0177] A machine position identifier that detects the current position of the mobile operating machine in the current control area;

[0178] An observation state value generator determines a set of observation state values, each observation state value indicating an observation value of a variable characterizing the state of the geographic portion of the current control area on which the mobile work machine has performed operations.

[0179] An estimated status display unit obtains a set of estimated status values, each estimated status value indicating an estimated value of the variable characterizing the status of the geographic portion of the current control area on which the mobile work machine has not yet performed the operation; and

[0180] An operator interface control system generates a near real-time display of at least a portion of the current control area in a display window. The near real-time display shows an estimated value area portion with visual markers indicating the set of estimated state values, an observed value area portion with visual markers indicating the set of observed state values, and a current position indicator indicating the current position of the mobile work machine in the current control area.

[0181] Example 16 is a control system according to any or all of the preceding examples, wherein the estimated state display component obtains the set of estimated state values ​​from a first data source having a first data quality indicated by a first quality metric, and further includes:

[0182] A data source switching logic component is configured to detect a data source switching trigger indicating a switch from a data source to an alternative data source, and to obtain alternative data indicating an estimated alternative state value from the alternative data source, wherein the operator interface control system generates the near real-time display based on the estimated alternative state value.

[0183] Example 17 is a control system according to any or all of the preceding examples, wherein the operator interface control system generates a near real-time display of at least a portion of the current control area by displaying a region display item, wherein a first portion of the region display item displays the estimated value region portion, a second portion of the region display item displays the observed value region portion, and a third portion of the region display item displays the current position indicator, the current position indicator being displayed between the first and second portions of the region display item, and further includes:

[0184] A proportional area display controller detects proportional display user input that instructs a change in the size of at least one of the first and second portions of the area display item in the display window, and modifies the near real-time display based on the detected proportional display user input to change the size of both the first and second portions of the area display item in the display window relative to each other.

[0185] Example 18 is a control system according to any or all of the previous examples, wherein the operator interface control system includes:

[0186] An estimated state area display component displays a first portion of an area display item according to a first scale value. The first portion has estimated state values ​​corresponding to a plurality of positions along a first length corresponding to the current control area in the work area. The first scale value indicates the relationship between a linear distance in the current control area of ​​the work area corresponding to the first portion of the area display item in the current control area and a linear distance of the display window occupied by the first portion of the area display item.

[0187] An observation state area display component displays a second portion of an area display item according to a second scale value. The second portion has observation state values ​​at multiple positions along a second length corresponding to the current control area at the work site. The second scale value indicates the relationship between a linear distance within the current control area at the work site corresponding to the second portion of the area display item and a linear distance within the display window occupied by the second portion of the area display item.

[0188] A region scaling component detects region scaling user input related to one of the first and second portions of the region display item, and modifies the first or second scale value corresponding to the one of the first and second portions of the region display item to obtain a modified scale value. The modification of the first or second scale value corresponding to the one portion is performed independently of the other of the first or second scale value. The operator interface control system uses the modified scale value to display the region display item.

[0189] Example 19 is a computer-implemented method for controlling a mobile work machine, comprising:

[0190] Obtain a map of the workplace, the map dividing the workplace into multiple areas corresponding to different geographical regions of the workplace;

[0191] Identify the current control area in which the mobile work machine is operating;

[0192] Detect the current position of the mobile work machine in the current control area;

[0193] A set of observation state values ​​is determined, each observation state value indicating an observation value of a variable characterizing the state of the geographic portion of the current control area on which the mobile operating machine has performed operations;

[0194] A set of estimated state values ​​is obtained from a first data source, each estimated state value indicating an estimated value of the variable characterizing the state in the geographic portion of the current control area where the mobile operating machine has not yet performed the operation;

[0195] A near real-time display of at least a portion of the current control area is generated, the near real-time display showing an estimated value area portion with visual markers indicating the set of estimated state values, an observed value area portion with visual markers indicating the set of observed state values, and a current position indicator indicating the current position of the mobile work machine in the current control area.

[0196] Generate an alternative data source display item that identifies the alternative data source and an alternative data source quality metric display item that indicates the quality of the alternative data from the alternative data source; and

[0197] The actuator of the mobile work machine is controlled based on the set of estimated state values ​​and the current position of the mobile work machine.

[0198] Example 20 is a computer-implemented method according to any or all of the previous examples, wherein generating the near real-time display includes:

[0199] A neighboring region display item is generated, which shows at least one of an estimated value region portion and an observed value region portion of the control region adjacent to the current control region at the work site.

[0200] Although the subject matter has been described using language specific to structural features and / or methodological actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. Rather, the specific features and actions described above are disclosed as exemplary forms for implementing the claims.

Claims

1. A computer-implemented method for controlling a mobile work machine, the computer-implemented method comprising: Obtain a map of the work site, which divides the work site into multiple control areas; Identify the current control area in which the mobile work machine is operating; Detect the current position of the mobile work machine in the current control area; A set of observation state values ​​is determined, each of which indicates an observed value of a variable that characterizes the state of the geographic portion of the current control area on which the mobile work machine has performed operations. A set of estimated state values ​​is obtained, each of which indicates an estimated value of the variable, which characterizes the state of the portion of the current control area where the mobile operating machine has not yet performed the operation. and Generate a near real-time display of at least a portion of the current control area in the display window, wherein generating the near real-time display includes: Displaying at least a portion of the current control area using a region display item, wherein displaying at least a portion of the current control area using the region display item includes: The first portion of the area display item is displayed according to a first scale value. This first portion indicates an estimated value area portion with visual markers indicating a set of estimated state values ​​corresponding to a plurality of positions along a first length within the current control area. The first scale value indicates the relationship between the linear distance in the current control area at the work site corresponding to the first portion of the area display item within the current control area and the linear distance of the display window occupied by the first portion of the area display item. The second portion of the area display item is displayed according to a second scale value. This second portion displays an observation value area with visual markers indicating a set of observation state values ​​corresponding to multiple positions along a second length within the current control area at the work site. The second scale value indicates the relationship between the linear distance corresponding to the second portion of the area display item within the current control area at the work site and the linear distance occupied by the second portion of the area display item in the display window. The third part of the area display item is displayed, and the third part of the area display item displays a current position indicator, which indicates the current position of the mobile working machine in the current control area. The current position indicator is displayed between the first part and the second part of the area display item.

2. The computer-implemented method according to claim 1, further comprising: The actuator of the mobile work machine is controlled based on the set of estimated state values ​​and the current position of the mobile work machine.

3. The computer-implemented method according to claim 1, further comprising: The user input is displayed by detecting the proportion of a change in the size of at least one of the first and second portions of the area display item; and Based on the detected proportional display user input, the near real-time display in the display window is modified to change the size of the first and second portions of the area display item relative to each other.

4. The computer-implemented method according to claim 1, further comprising: Detect user input regarding region scaling in relation to one of the first and second portions of the region display item; Modify the first scale value or the second scale value corresponding to one of the first and second portions of the area display item to obtain a modified scale value. The modification of the first scale value or the second scale value corresponding to the one portion is performed independently of the other of the first scale value or the second scale value. and The modified scale values ​​are used to display the area display items.

5. The computer-implemented method according to claim 1, wherein, A set of estimated state values ​​is obtained, including: The set of estimated state values ​​is obtained from a first data source having a first data quality indicated by a first quality metric.

6. The computer-implemented method according to claim 5, further comprising: The detection indicates that the data source has switched to an alternative data source, triggering a data source switchover. Access alternative data indicating alternative estimated state values ​​from the alternative data source; and The near real-time display is generated based on the alternative estimated state values.

7. A control system for a mobile work machine, the control system comprising: A data storage interaction component obtains a map of the work site, which geographically divides the work site into multiple control areas. A current area identification system identifies the current control area in which the mobile work machine is operating; A machine position identifier that detects the current position of the mobile operating machine in the current control area; An observation state value generator determines a set of observation state values, each indicating an observed value of a variable that characterizes the state of the geographic portion of the current control area on which the mobile work machine has performed operations. An estimated state display component obtains a set of estimated state values ​​from a first data source having a first data quality indicated by a first quality metric. Each estimated state value in the set indicates an estimated value of the variable, which characterizes the state of the geographic portion of the current control area on which the mobile work machine has not yet performed the operation. A data source switching logic component is configured to detect a data source switching trigger indicating a switch from a data source to an alternative data source, and to access alternative data from the alternative data source indicating a set of alternative estimated state values, each of which represents the state in a geographic portion of the current control area where the mobile work machine has not yet performed the operation. and The operator interface control system generates a near real-time display in a display window, the near real-time display including: A region display item, wherein the region display item represents at least a portion of the current control region; In the estimated value area portion of the area display item, the estimated value area portion has visual markers indicating the set of estimated state values ​​or the set of alternative estimated state values; The observation value area portion in the area display item that has visual markers indicating the set of observation state values; and The current position indicator in the area display item indicates the current position of the mobile operating machine in the current control area.

8. A computer-implemented method for controlling a mobile work machine, comprising: Obtain a map of the workplace, the map dividing the workplace into multiple areas corresponding to different geographical regions of the workplace; Identify the current control area in which the mobile work machine is operating; Detect the current position of the mobile work machine in the current control area; A set of observation state values ​​is determined, each observation state value indicating an observed value of a variable, which characterizes the state of the geographic portion of the current control area on which the mobile operating machine has performed operations; A set of estimated state values ​​is obtained from a first data source, each estimated state value indicating an estimated value of the variable, which characterizes the state of the geographic portion of the current control area on which the mobile operating machine has not yet performed the operation; A near real-time display of at least a portion of the current control area is generated, the near real-time display showing an estimated value area portion with visual markers indicating the set of estimated state values, an observed value area portion with visual markers indicating the set of observed state values, and a current position indicator indicating the current position of the mobile working machine in the current control area; Generate an alternative data source display item that identifies the alternative data source and an alternative data source quality metric display item that indicates the quality of the alternative data from the alternative data source; and The actuator of the mobile work machine is controlled based on the set of estimated state values ​​and the current position of the mobile work machine.

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