Harvester Crop Drawing

Abstract

A control system for a harvester for harvesting crop stalks, each stalk having a base and a top. The harvester includes a topper for cutting the stalks between the top and base, and a base cutter for cutting the stalks near the ground. The control system includes a sensor for sensing a first height between a top end of the base and the ground, and a second height between a bottom end of the base and the ground. A controller receives signals from the sensor indicating the sensed first and second heights, determines an average first and second heights of the stalks over a set time, sends a first signal to the topper to cause the topper to move to the average first height, and sends a second signal to the base cutter to cause the base cutter to move to the average second height.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application is a continuation-in-part of U.S. application No. 15 / 882,907, filed on January 29, 2018, the contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to crop mapping and position prediction. Summary of the Invention

[0004] In one embodiment, the present disclosure provides a control system for a harvester for harvesting crops comprising a plurality of crop stalks. Each crop stalk has a base and a top. The base extends between a lower end adjacent to the root and the ground and an upper end adjacent to the top. The harvester includes a topper that cuts the stalk between the top and the base of the stalk; and a base cutter that cuts the stalk near the ground between the base and the root to separate the base from the root. The control system includes at least one sensor and a controller that sends and receives signals. The at least one sensor senses a first height between the upper end of the base and the ground for each of the plurality of stalks, and senses a second height between the lower end of the base and the ground for each of the plurality of stalks. The controller receives a signal from the at least one sensor indicating the sensed first height and a signal from the at least one sensor indicating the sensed second height. The controller also determines an average first height of each of the plurality of stalks within a set time period, and determines an average second height of each of the plurality of stalks within a set time period. The controller also sends a first signal to the topper to cause the topper to move to an average first height, so that the topper is configured to cut multiple straws adjacent to the upper end of the bottom, and sends a second signal to the base cutter to cause the base cutter to move to an average second height, so that the base cutter is configured to cut multiple straws adjacent to the lower end of the bottom.

[0005] In another embodiment, the present disclosure provides a control system for a harvester for harvesting crops comprising a plurality of crop stalks. Each crop stalk has a base and a top. The base extends between a lower end adjacent to the root and the ground and an upper end adjacent to the top. The harvester includes: a topper that cuts the stalk between the top and the base of the stalk; and a base cutter that cuts the stalk near the ground between the base and the root of the stalk to separate the base from the root. The control system includes at least one sensor and a processor. The at least one sensor senses a first height between the upper end of the base and the ground for each of the plurality of stalks, senses a second height between the lower end of the base and the ground for each of the plurality of stalks, senses a first distance between the harvester and the upper end of the base of each stalk, and senses a second distance between the harvester and the lower end of the base of the stalk. The processor receives a signal representing the sensed first height from the at least one sensor, and receives a signal representing the sensed second height from the at least one sensor. The processor further determines an average first height of each of the plurality of stalks within a set travel distance, and determines an average second height of each of the plurality of stalks within the set travel distance. The processor further sends a first signal to the topper to cause the topper to move to the average first height, such that the topper is configured to cut the plurality of stalks adjacent to the upper end of the base, and sends a second signal to the base cutter to cause the base cutter to move to the average second height, such that the base cutter is configured to cut the plurality of stalks adjacent to the lower end of the base.

[0006] Other aspects of the disclosure will become apparent by consideration of the detailed description and accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0007] Figure 1 is a side view of a harvester according to some embodiments.

[0008] Figure 2 It is a bird's-eye view of a harvester and a truck next to it.

[0009] Figure 3 is a schematic side view of a harvester including various reference points.

[0010] Figure 4 is a flow chart of operations according to some embodiments. DETAILED DESCRIPTION

[0011] Before describing any embodiments of the present disclosure in detail, it is to be understood that the present disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the drawings. The present disclosure is capable of other embodiments and of being practiced or carried out in various ways.

[0012] Figure 1 and Figure 2A harvester 10 (e.g., a sugarcane chopping harvester) is shown comprising a main frame 12 supported on wheels 14 having continuous tracks 16, tires, or other traction devices that engage a support surface 18 (e.g., the ground or a field). The tracks 16 interact directly with the ground 18 and are responsible for movement and traction of the harvester 10 in the direction of travel. In other embodiments, the harvester 10 is provided with wheels having tires (rather than tracks as shown). During operation, the harvester 10 travels in a forward direction of travel A toward uncut crops 24 in an unharvested area of ​​the field 18. The front 20 of the harvester 10 generally faces the forward direction of travel A, while the rear 22 of the harvester 10 generally faces in a rearward direction B, away from the forward direction A, toward the harvesting area of ​​the field 18. A cab 26 is mounted on the frame 12 and includes a seat (not shown) for the operator. In some embodiments, other harvesters may be used instead of the sugar cane harvester 10 shown.

[0013] The uncut crop 24 includes a base or stalk 24a and a top or tip 24b. The stalk 24a extends from a lower end adjacent to the roots in the field 18 to an upper end adjacent to the tip 24b. A pair of crop lifters 28 having side-by-side augers or scrolls are mounted to the front 20 of the frame 12 and operate on opposite sides of the row of crops to be harvested.

[0014] The base cutter 30 includes counter-rotating disks that cut near the lower ends of the stalks 24a near the ground 18. The disks of the base cutter 30 are located at a base cutter height 32 above the ground 18. The base cutter height 32 is adjustable by raising and lowering the base cutter 30.

[0015] A topper 34 extends from the front 20 of the frame 12 on a boom 36. The topper 34 cuts the crop 24 generally between the stalks 24a and the tops 24b. The topper 34 shown includes two counter-rotating wheels (see FIG. 1 ) configured to cut the crop 24. Figure 2 In some embodiments, three counter-rotating wheels are utilized. A boom 36 extends forward from the front 20 of the frame 12 to position the topper 34 relative to the ground 18 at a topper height 38. The topper height 38 is adjustable so that the topper 34 is movable relative to the ground 18.

[0016] The harvester 10 also includes a processing assembly 40. The processing assembly 40 may include a shredder that cuts the crop within the harvester 10 and a separator that receives the cut crop from the shredder and roughly separates the cut crop. The shredder may include counter-rotating drum cutters (not shown) with overlapping blades that are used to cut the stalks of the crop (e.g., sugarcane) into billets (cut pieces of stalk). In other configurations, the shredder may include any suitable (one or more) blades for cutting the stalks of the crop. Typically, the crop may include sugarcane or any other type of plant, and the cut crop may include billets and foreign leafy matter. The shredder directs the cut crop stream (cut stalks or billets, and cut foreign plant matter) to an unloading assembly 42.

[0017] An unloader assembly 42 is coupled to the frame 12 and is located downstream of the processing assembly 40 for receiving cut crop from the processing assembly 40. The illustrated unloader assembly 42 includes a primary extractor 46, an elevator 48, and a secondary extractor 50.

[0018] The main extractor 46 includes a main hood 52 having a dome shape or other suitable shape and including an opening that flares outwardly at an angle from the harvester 10 and faces slightly downwardly toward the ground 18. The main hood 52 is pivotable to direct leaves to a headland or previously harvested portion of the field 18. The main extractor 46 also includes a main fan (not shown) configured to separate any leafy matter from the straw and direct the leafy matter out of the main hood 52 onto the ground 18.

[0019] The elevator 48 is coupled to the frame 12 for receiving the cleaned crop from the processing assembly 40. The elevator 48 terminates in a discharge port 56 that is elevated to a position suitable for discharging the cleaned crop into a container 62 that follows alongside the harvester 10 (see FIG. Figure 2 ) in the collector. In some embodiments, the elevator 48 is a conveyor that includes a plurality of slats to move the crop upward to the conveyor. In some embodiments, the elevator 48 is a screw conveyor.

[0020] The secondary extractor 50 is coupled to the elevator 48 and is configured to discharge any remaining leafy material located on the elevator 48 before reaching the material outlet 56. In the illustrated implementation, the secondary extractor 50 includes a secondary hood 58 that is rotatable relative to the elevator 48 to direct and discharge a portion of the separated crop (e.g., foreign leafy matter) onto the field 18 rather than into the container 62. The secondary extractor 50 also includes a secondary fan (not shown) that is configured to facilitate separation of the crop (e.g., leafy matter from the billet) and discharge the leafy matter onto the field 18.

[0021] The harvester 10 also includes a control system 64, which includes at least one sensor 66, a processor 68, and a controller 70. The at least one sensor 66 is in electrical communication with the processor 68 to send signals to the processor 68. The at least one sensor 66 includes one or more of a visual sensor and a light detection and ranging (LiDAR) sensor. In some embodiments, both a visual sensor and a LiDAR sensor are used.

[0022] The controller 70 is in electrical communication with various components of the harvester 10, such as the base cutter 30 and the topper 34. The controller 70 is configured to send appropriate signals to the base cutter 30 to change the base cutter height 32, and the controller 70 is configured to send appropriate signals to the topper 34 to adjust the topper height 38.

[0023] Reference Figure 1 and Figure 2 , at least one sensor 66 is configured to detect various attributes of the uncut crop 24. The attributes of the uncut crop 24 detected may include, among others, a stalk height 72, a lay angle 74, and a lay orientation 76. For purposes of the present application, the lay angle 74 of the uncut crop 24 includes the angle formed between the stalk 24a of the uncut crop 24 and the ground 18, and is configured to quantify how "upright" the stalk 24a is relative to the ground 18 it stands on. For example, a stalk 24a lying flat on the ground 18 defines a lay angle 74 of 0 degrees, while a stalk 24a standing completely upright defines a lay angle 74 of 90 degrees. Additionally, the lay orientation 76 of the uncut crop 24 includes the angle formed between a vertical projection of the stalk 24a onto the ground 18 and the direction of travel A (see Figure 2 The laying orientation 76 is configured to measure the direction in which the stalks 24a of the uncut crop 24 are tilted. For example, stalks 24a tilted parallel to the direction of travel A define a laying orientation 76 of 0 degrees, while stalks 24a tilted toward the port side of the harvester 10 (e.g., Figure 2 ) defines a negative lay orientation 76. Although not shown, the stalks 24a tilted toward the starboard side of the harvester 10 define a positive lay orientation 76. Finally, the stalk height 72 of the uncut crop 24 includes the length of the stalks 24a of the uncut crop 24.

[0024] Processor 68 compares the sensed orientation of uncut crop 24 to a range of acceptable orientations. If the sensed orientation of uncut crop 24 is downward (e.g., at a relatively small angle relative to the ground), the sensed orientation is outside the range of acceptable orientations. If the sensed orientation is outside the range of acceptable orientations, controller 70 sends a signal to topper 34 to deactivate topper 34.

[0025] Reference Figure 2, the harvester 10 is configured to travel in a harvesting direction A. At least one sensor 66 is shown to the left of the cab 26 spaced from the centerline of the harvester 10 extending in the harvesting direction A. The at least one sensor 66 is slidably mounted on a rod 80 to allow the sensor 66 to be moved to the right of the cab 26, as indicated by sensor 66'. The sensor 66 can be moved by an operator within the cab 26 between the position of the sensor 66 and the position of the sensor 66'.

[0026] In some embodiments, at least one sensor 66 is mounted on an upper portion of the lift 48, as indicated by identifier 66". In some embodiments, at least one sensor 66 is mounted on the wagon 62, as indicated by identifier 66'". The wagon 62 is shown being pulled by a separate vehicle (e.g., tractor 63). In some embodiments, sensor 66"" is mounted to the front of the tractor 63. Each of the sensors 66, 66', 66", 66'" and 66"" is mounted with a clear line of sight to the uncut crop 24, as indicated by the dashed arrows. Various combinations of these mounting locations may be used in any given application. In other embodiments, other mounting locations are possible.

[0027] Reference Figure 3 , sensor 66 detects a first position 84 along uncut crop 24 between the upper portion of stalk 24a and top portion 24b and a first distance 86 between position 84 and harvester 10. Sensor 66 also detects a second position 88 of the bottom portion of stalk 24a and a second distance 90 between position 88 and harvester 10. Sensor 66 also detects a third position 92 at the upper end of top portion 24b and a third distance between third position 92 and harvester 10. Sensor 66 also detects a first angle 96 between the vectors of first distance 86 and second distance 90 and a second angle 98 between the vectors of second distance 90 and third distance 94. At least one sensor 66 also senses the contour of ground surface 18.

[0028] Sensor 66 transmits all sensed attributes to processor 68. Processor 68 calculates a first height H1 between location 84 and ground 18, a second height H2 between location 88 and ground 18, and a total height H3 between the top of uncut crop 24 and ground 18 based on the sensed attributes.

[0029] like Figure 4As shown, the first sensor 66a is a LiDAR sensor and the second sensor is a vision sensor. The first sensor 66a and the second sensor 66b are configured to sense various attributes of the uncut crop 24, such as the positions 84, 88, and 92, the density of the uncut crop 24, the thickness of the uncut crop 24, and the contour of the ground 18. The first sensor 66a and the second sensor 66b transmit the sensed attributes to the processor 68.

[0030] Processor 68 compiles all sensed attributes as well as data about vehicle speed and data from a global positioning system (GPS) and generates one or more crop maps including information about the density of the crop and the thickness of the crop. The one or more maps generated also include information about the total height of the crop, a first height H1 of the top of a group of stalks, and a second height H2 of the bottom of a group of stalks. The one or more maps generated further identify a first distance 86 between a first position 84 of each stalk of a group of stalks and the harvester 10, and a second distance 90 between a second position 88 of each stalk of a group of stalks and the harvester 10. The one or more maps generated also identify the straw height 72, laying angle 74, and laying orientation 76 of each stalk of a group of stalks.

[0031] The processor 68 uses the generated graph(s) to determine the average first height H1 over a set time period. avg , and determine the average second height H2 within the set time period avg In some embodiments, the set time period is based on vehicle speed, such that the average altitude is calculated based on a set distance traveled.

[0032] The processor 68 is further configured to calculate a predicted yield based at least on the generated map and the vehicle speed.The predicted yield and the generated map may be displayed to an operator in the cab 26 to allow the operator to manually adjust various harvesting parameters.

[0033] Processor 68 communicates the generated map(s) and predicted yield to controller 70. Controller 70 is configured to send a signal to topper 34, causing topper 34 to move to an average first height H1. avg The controller 70 is further configured to send a signal to the base cutter 30 so that the base cutter 30 moves to the average second height H2 avg .

[0034] The controller 70 is also configured to send a signal to the base cutter 30 to adjust the rotational speed of the base cutter 30 based on at least crop density, thickness, vehicle speed, and predicted yield.

[0035] The controller 70 is also configured to send signals to the harvester 10 so that the speed of the harvester 10 is adjusted based on the crop density and crop thickness.

[0036] The controller 70 is also configured to send appropriate signals to the various elements of the harvester 10 and provide appropriate notifications to the operator to optimize the operation of the harvester 10 .

[0037] The sensors 66a, 66b, the processor 68 and the controller 70 continue to operate during the harvesting process to automatically adjust the height of the base cutter 30 and the height of the topper 34 to the corresponding average height H1. avg 、H2 avg , to optimize the operation of the harvester 10.

Claims

1. A control system for a harvester, the harvester being configured to harvest a crop comprising a plurality of crop stalks, each crop stalk having a bottom portion and a top portion, the bottom portion extending between a lower end adjacent to a root portion and the ground and an upper end adjacent to the top portion, the harvester comprising a topper and a base cutter, the topper being configured to cut the crop stalks between the top portion and the bottom portion of the crop stalks, the base cutter being configured to cut the crop stalks near the ground between the bottom portion and the root portion of the crop stalks to separate the bottom portion from the root portion, the control system comprising: at least one sensor configured to sensing a first height between an upper end of the bottom portion and the ground for each of the plurality of crop stalks, and sensing a second height between a lower end of the bottom portion and the ground for each of the plurality of crop straws, and A controller configured to send and receive signals, the controller configured to receiving a signal representing the sensed first altitude from the at least one sensor, receiving a signal representing the sensed second altitude from the at least one sensor, determining an average first height of the plurality of crop straws within a set time, determining an average second height of the plurality of crop straws within a set time, sending a first signal to the topper to cause the topper to move to an average first height such that the topper is configured to cut the plurality of crop stalks adjacent to the upper end of the base, and A second signal is sent to the base cutter to cause the base cutter to move to an average second height such that the base cutter is configured to cut the plurality of crop stalks adjacent the lower end of the base.

2. The control system according to claim 1, wherein: The at least one sensor is further configured to sense the density of the crop within a set time and transmit a signal representing the sensed density to the controller, and wherein the controller is further configured to receive the signal representing the sensed density, generate a density map of the crop, and send a signal to the harvester to adjust the speed of the harvester in response to the density map of the crop.

3. The control system according to claim 2, wherein: The at least one sensor is also configured to sense the thickness of the crop within a set time and transmit the sensed thickness to the controller, and the controller is also configured to receive the sensed thickness and generate a thickness map of the crop, and send a signal to the harvester to adjust the speed of the harvester in response to the generated thickness map of the crop.

4. The control system according to claim 1, wherein: The at least one sensor is further configured to sense the thickness of the crop within a set time and transmit the sensed thickness to the controller, wherein the controller is further configured to determine a predicted throughput of the crop and send a signal to the harvester to adjust the rotational speed of the base cutter in response to the predicted throughput of the crop.

5. The control system according to claim 1, wherein: The at least one sensor is further configured to sense a density of the crop within a set time and transmit the sensed density to the controller, wherein the controller is further configured to determine a predicted yield of the crop and send a signal to the harvester to adjust the rotational speed of the base cutter in response to the predicted yield of the crop.

6. The control system according to claim 1, wherein: The at least one sensor is configured to sense an orientation of each crop stalk relative to the ground and transmit the sensed orientation to the controller, Wherein the controller is configured to determine whether the sensed orientation is outside of an acceptable range of orientations, and if the sensed orientation is outside of the acceptable range of orientations, the controller is configured to send a third signal to the topper to deactivate the topper.

7. The control system according to claim 1, wherein: The harvester is configured to travel in a harvesting direction and includes a centerline extending in the harvesting direction, the harvester includes a first portion located on a first side of the centerline and a second portion located on a second side of the centerline opposite to the first side, and the at least one sensor is configured to be mounted on the first portion spaced apart from the centerline.

8. The control system according to claim 1, wherein: The at least one sensor includes a vision sensor and a light detection and ranging (LiDAR) sensor, both the vision sensor and the LiDAR sensor being configured to obtain data regarding the location and density of the crop, and The controller is configured to receive input from both the vision sensor and the LiDAR sensor and generate a crop map including information regarding the total height of the crop, a first height of the top of the crop stalks, and a second height of the bottom of the crop stalks.

9. The control system according to claim 8, wherein: The generated crop map also includes information about the density of the crop and the thickness of the crop, and The generated crop map further identifies a first distance between the upper end of the bottom of each crop stalk and the harvester, and a second distance between the harvester and the lower end of the bottom of the crop stalk.

10. The control system according to claim 1, wherein: The at least one sensor is configured to move to a first position while the crop is on a first side of the harvester and to move to a second position while the crop is on a second side of the harvester.

11. The control system according to claim 1, in, The at least one sensor is further configured to sensing a first height between an upper end of a bottom portion of each of the plurality of crop straws and the ground, sensing a second height between a lower end of a bottom portion of each of the plurality of crop stalks and the ground, The control system further includes a processor configured to determining an average first height of each of the plurality of crop straws within a set travel distance, and An average second height of each of the plurality of crop stalks within the set travel distance is determined.

12. The control system according to claim 11, wherein: The at least one sensor is further configured to sense the density of crops within a set travel distance and transmit the sensed density to the processor, and the processor is further configured to receive the sensed density and generate a density map of the crops, and send a signal to the harvester to adjust the speed of the harvester in response to the generated crop map.

13. The control system according to claim 11, wherein: The at least one sensor is further configured to sense a thickness of the crop within a set travel distance and transmit the sensed thickness to the processor, wherein the processor is further configured to determine a predicted throughput of the crop and send a signal to the harvester to adjust the rotational speed of the base cutter in response to the predicted throughput of the crop.

14. The control system according to claim 13, wherein: The at least one sensor is further configured to sense a density of the crop within a set travel distance and transmit the sensed density to the processor, wherein the processor is further configured to determine a predicted yield of the crop and send a signal to the harvester to adjust the rotational speed of the base cutter in response to the predicted yield of the crop.

15. The control system according to claim 11, wherein: The harvester is configured to travel in a harvesting direction and transport the crops to a truck located near the harvester and traveling together with the harvester in the harvesting direction, and the at least one sensor is configured to be mounted on the truck.

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