Crop yield determining apparatus

Abstract

A cotton harvester uses sensor devices to estimate the mass of cotton as it is harvested and compares the mass of each module to the estimated mass of the module determined by the sensors so that a calibration factor can be determined and actively updated to more accurately determine crop yield. Mass flow of a particular module is accumulated and processed during harvesting using a base calibration factor and the module is weighed using the base calibration factor and compared to an expected mass to form a candidate updated calibration factor. Based on machine feedback information related to the operation of the harvester, the base calibration factor is selectively replaced by the candidate updated calibration factor for processing subsequent modules. Harvested crop data determined using the calibration factor is used to generate highly accurate yield maps.

Description

Technical Field

[0001] This disclosure generally relates to crop harvesting, and more specifically, to devices and methods for providing yield outcome information for estimating, monitoring, reporting and managing crop production. Background Technology

[0002] Some harvesters sense the yield of the crop being harvested across the width of the header. The data obtained helps determine crop yield and can also be used to assist in controlling selected functional systems of the harvester. Unfortunately, data collection is often inaccurate, especially since the state or condition of the crop is not taken into account when processing the data, as it is processed by various subsystems of the harvester. Inaccuracies can also result when data is aggregated across the width of the header from multiple sensors that are not perfectly matched or precisely calibrated, or have inherent characteristics that may change over time or during use. Summary of the Invention

[0003] The embodiments described herein provide a crop yield determination device and a method for determining crop yield.

[0004] The embodiments described herein also provide a method and apparatus for determining crop yield based on crop calibration at harvest time.

[0005] The embodiments described herein also provide a method and apparatus for determining crop yield based on automatic crop calibration at harvest time.

[0006] The embodiments described herein also provide a method and apparatus for determining crop yield based on automatic and continuous calibration at harvest.

[0007] The embodiments described herein also provide a method and apparatus for determining crop yield based on automatic and continuous self-calibration of the crop at harvest.

[0008] The embodiments described herein also provide a cotton harvester for determining crop yield at the time of harvesting.

[0009] The embodiments described herein also provide a crop yield determination device for a cotton harvester that is calibrated based on the crop at harvest time.

[0010] The embodiments described herein also provide a crop yield determination device in a cotton harvester that automatically calibrates based on the crop at harvest time.

[0011] The embodiments described herein also provide a crop yield determination device for a cotton harvester that automatically and continuously calibrates based on the crop during harvest.

[0012] The embodiments described herein also provide a crop yield determination device for a cotton harvester that automatically and continuously self-calibrates the crop yield during harvest.

[0013] In one aspect, a cotton harvester is provided, comprising a chassis supported by a ground engagement member operably coupled to the chassis for movement relative to the ground below the harvester, a picking head operably coupled to the chassis, a crop container operably coupled to the chassis, an air duct system including a plurality of individual air ducts, and equipment for determining the yield of harvested cotton. The picking head includes a plurality of cotton picking row units operable to harvest cotton from plants entering the picking head as the harvester moves forward relative to the ground via the ground engagement member. The crop container includes a module constructor configured to form the harvested cotton into cotton modules. Each individual air duct of the air duct system is associated with a cotton picking row unit for conveying the cotton harvested from the cotton picking row unit to the crop container. A cotton harvester device for determining the yield of harvested cotton includes: a harvesting sensor operable to generate a production signal indicating the productivity of the cotton being harvested; a accumulating crop sensor operable to generate a clump crop signal indicating measured parameters of the cotton harvested during a selected time period; and a crop sensing control system. The crop sensing control system includes a processor, a memory device operably coupled to the processor, operational data stored in the memory device representing the operating characteristics of the cotton harvester, reference calibration factor data stored in the memory device representing a basic calibration factor, and control logic stored in the memory device and executable by the processor to determine the yield of harvested cotton. The control logic system, executable by a processor, receives production signals and block crop signals, determines an estimated quality of cotton harvested during a first time period in response to applying a base calibration factor to the production signals, determines a measured quality of cotton harvested during the first time period in response to the block crop signals, determines an updated calibration factor candidate in response to the ratio between the estimated quality and the measured quality, and determines the yield of cotton harvested during the second time period by selectively applying either the base calibration factor or the updated calibration factor candidate to a production signal generated by a harvest sensor during a second time period, representing the productivity of cotton harvested during that second time period, in response to operational data.

[0014] According to another aspect, a method for determining crop yield during crop harvesting is provided. Operational data is stored in a memory device of a crop sensing control system, the crop sensing control system including a processor and a memory device operably coupled to the processor, wherein the operational data includes harvester data representing the operational characteristics of the harvesting harvester related to the harvested crop. Basic calibration factor data and control logic system are stored in the memory device, the basic calibration factor data representing basic calibration factors. A production signal representing the productivity of the crop being harvested is generated by a harvesting sensor operably coupled to the crop sensing control system. A block crop signal representing measured parameters of the crop harvested during a selected time period is generated by a accumulating crop sensor operably coupled to the crop sensing control system. The control logic system is executed by the processor to: determine the estimated quality of the crop harvested during a first time period in response to applying a basic calibration factor to a production signal; and determine the measured quality of the crop harvested during the first time period in response to a block crop signal; and determine an updated calibration factor candidate in response to the ratio between the estimated quality and the measured quality; and determine the crop yield during the second time period by selectively applying either the basic calibration factor or the updated calibration factor candidate to a production signal representing the productivity of the crop harvested during the second time period generated by the harvest sensor during a second time period following the first time period in response to operational data.

[0015] In another aspect, a crop sensing device includes a crop sensing control system, a harvesting sensor operably coupled to the crop sensing control system, and a crop accumulation sensor operably coupled to the crop sensing control system. The crop sensing control system includes a processor, a memory device operably coupled to the processor, operational data stored in the memory device, basic calibration factor data stored in the memory device, and a control logic system. The operational data includes harvester data representing the operational characteristics of the harvested crop and the basic calibration data representing basic calibration factors. The control logic system can be executed by the processor to determine crop yield. The harvesting sensor is operable to generate a production signal representing the productivity of the harvested crop during a selected time period, and the crop accumulation sensor is operable to generate a block crop signal representing measured parameters of the harvested crop during the selected time period. The control logic system can be executed by the processor to determine an estimated mass of the harvested crop during a first time period based on the production signal, and to determine a measured mass of the harvested crop during the first time period based on the block crop signal. The control logic system can also be executed by the processor to determine updated calibration factor candidates based on the ratio between the estimated mass and the measured mass. The control logic system can also be executed by the processor to determine the crop yield during the second time period by selectively applying one of the basic calibration factor or an updated calibration factor candidate to a production signal generated by the harvest sensor system during the second time period, which represents the productivity of the crop harvested during the second time period, based on the operational data.

[0016] According to another aspect, a non-transient computer-readable storage medium is provided, which stores a set of control logic system instructions for determining crop yield during crop harvesting. When executed by one or more processors, the control logic system instructions cause a crop sensing control system, including a processor and a memory device operatively coupled to the processor, to perform the following steps: storing operational data in the memory device of the crop sensing control system, the operational data including harvester data representing the operational characteristics of a harvester related to the harvested crop; storing basic calibration factor data in the memory device, the basic calibration data representing a basic calibration factor; storing the control logic system in the memory device, wherein the control logic system is executable by a processor to determine crop yield; generating a production signal representing the productivity of the crop being harvested via a harvest sensor operatively coupled to the crop sensing control system; and generating a production signal representing the productivity of the crop being harvested via a harvest sensor operatively coupled to the crop sensing control system; and performing the following steps via the crop sensing control system: The system, operably connected to a crop collection sensor, generates a block crop signal representing measured parameters of the crop harvested during a selected time period; in response to applying a base calibration factor to the production signal, it determines an estimated quality of the crop harvested during a first time period; in response to the block crop signal, it determines a measured quality of the crop harvested during the first time period; in response to the ratio between the estimated quality and the measured quality, it determines an updated calibration factor candidate; and in response to operational data, it determines the crop yield during the second time period by selectively applying either the base calibration factor or the updated calibration factor candidate to a production signal representing the productivity of the crop harvested during the second time period, generated by the harvest sensor, during a second time period following the first time period.

[0017] According to another aspect, a non-transient computer-readable storage medium is provided that stores a control logic system executable by a computer for performing a method to determine crop yield during crop harvesting. In this example, the method executed by logic stored in the non-transient computer-readable storage medium and executed by a computer includes: storing operational data in a memory device of a crop sensing control system, the crop sensing control system including a processor and a memory device operably coupled to the processor, the operational data including harvester data representing the operational characteristics of a harvester related to the harvested crop; storing basic calibration factor data in the memory device, the basic calibration data representing a basic calibration factor; storing a control logic system in the memory device, wherein the control logic system is executable by a processor to determine crop yield; generating a production signal representing the productivity of the crop being harvested via a harvest sensor operably coupled to the crop sensing control system; and generating a production signal representing the productivity of the crop being harvested via a harvest sensor operably coupled to the crop sensing control system. The operation mode involves a crop sensor connected to a harvesting system generating a block crop signal representing measured parameters of the crop harvested during a selected time period; and a control logic system executed by a processor to: determine an estimated quality of the crop harvested during a first time period in response to applying a base calibration factor to the production signal; determine a measured quality of the crop harvested during the first time period in response to the block crop signal; determine an updated calibration factor candidate in response to the ratio between the estimated quality and the measured quality; and determine the crop yield during the second time period by selectively applying either the base calibration factor or the updated calibration factor candidate to a production signal representing the productivity of the crop harvested during the second time period generated by the harvesting sensor during a second time period following the first time period in response to operational data.

[0018] According to another aspect, the method executed by logic stored in a non-transient computer-readable storage medium and executed by a computer further includes: generating a production signal representing the productivity of the harvested crop by generating a block crop module quality signal representing the measured quality of the crop harvested and bundled into crop modules during a first time period by a module quality feedback device; executing a control logic system by a processor to determine the block crop module quality of the crop harvested during the first time period in response to the block crop module quality signal; storing the required quality data of the crop bundles representing the required quality range of the crop modules in a memory device; and executing a calibration management logic system by a processor to determine the crop yield during a second time period by: applying an updated calibration factor candidate to the production signal generated by the harvest sensor during the second time period in response to the determined block crop module quality of the crop harvested during the first time period being within the required quality range of the crop modules, or applying a basic calibration factor to the production signal generated by the harvest sensor during the second time period in response to the determined block crop module quality of the crop harvested during the first time period being outside the required quality range of the crop modules.

[0019] According to another aspect, the method executed by logic stored in a non-transient computer-readable storage medium and executed by a computer further includes: generating a crop module diameter signal by a module diameter feedback device, the crop module diameter signal representing the measured diameter of a crop module formed by a relevant harvester using crops harvested and bundled into crop modules during a first time period; executing a control logic system by a processor to determine the crop module diameter of the crop module in response to the crop module diameter signal; storing the required diameter data of the crop bundle representing the minimum required diameter of the crop module in a memory device; and executing a calibration management logic system by the processor to determine the crop yield during a second time period by: applying an updated calibration factor candidate to the production signal generated by the harvest sensor during the second time period in response to the determined crop module diameter being greater than the minimum required diameter, or applying a basic calibration factor to the production signal generated by the harvest sensor during the second time period in response to the determined crop module diameter being less than the minimum required diameter.

[0020] According to another aspect, the method executed by logic stored in a non-transient computer-readable storage medium and executed by a computer further includes: generating an accumulator level signal by an accumulator level feedback device, the accumulator level signal representing the measured level of crop harvested and received in the accumulator of a relevant harvester during a first time period; executing a control logic system by a processor to determine the crop filling level of the crop harvested and received in the accumulator of the relevant harvester during the first time period in response to the accumulator level signal; and storing the required crop filling level of the accumulator, representing the minimum required stack height of the crop harvested and stacked in the accumulator of the relevant harvester during the first time period. In the memory device; and by the processor executing the calibration management logic system to determine the crop yield during the second time period by: in response to a determined crop fill degree greater than the minimum required pile height of the crop harvested and received in the accumulator of the relevant harvester during the first time period, applying an updated calibration factor candidate to a quality signal representing the measured quantity of the crop harvested during the second time period, or in response to a determined crop fill degree less than the minimum required pile height of the crop harvested and received in the accumulator of the relevant harvester during the first time period, applying a base calibration factor to a quality signal representing the measured quantity of the crop harvested during the second time period.

[0021] According to another aspect, the method executed by logic stored in a non-transient computer-readable storage medium and executed by a computer further includes: storing ratio range data, which represents a desired ratio range between the estimated quality of crops harvested during a first time period and the measured quality of crops harvested during the first time period; and having a processor execute a calibration management logic system to determine the crop yield during a second time period by: applying updated calibration factor candidates to a quality signal representing the measured quantity of crops harvested during the second time period in response to the ratio between the estimated quality of crops harvested during the first time period and the measured quality of crops harvested during the first time period being within the desired ratio range, or applying a base calibration factor to a quality signal representing the measured quantity of crops harvested during the second time period in response to the ratio between the estimated quality of crops harvested during the first time period and the measured quality of crops harvested during the first time period not being within the desired ratio range.

[0022] According to another aspect, the method executed by logic stored in a non-transient computer-readable storage medium and executed by a computer further includes: storing multiple historical ratios between estimated quality and measured quality determined during multiple time periods prior to the first time period; storing a statistical control logic system executable by a processor to determine a ratio standard deviation value based on the stored multiple historical ratios between estimated quality and measured quality determined during the multiple time periods prior to the first time period; and executing the statistical control logic system by the processor to determine a desired ratio range based on the determined ratio standard deviation value.

[0023] According to another aspect, the method executed by logic stored in a non-transient computer-readable storage medium and executed by a computer further includes: generating production signals using multiple mass flow sensors operably coupled to multiple separate air ducts of an associated harvester, wherein each mass flow sensor is operable to generate a cotton mass flow signal representing the mass flow rate of cotton harvested and flowing through a corresponding one of the separate air ducts of the associated harvester; and executing a control logic system by a processor to normalize the cotton mass flow signals generated by the multiple mass flow sensors into normalized cotton mass flow signals, and summing the normalized cotton mass flow signals as a production signal representing the productivity of the cotton being harvested.

[0024] Other features and aspects will become apparent by considering the detailed description and accompanying drawings. Attached Figure Description

[0025] The foregoing aspects of this disclosure and the ways in which they are obtained will become more apparent from the following description of embodiments of this disclosure taken in conjunction with the accompanying drawings, and the disclosure itself will be better understood, wherein:

[0026] Figure 1 This is a perspective view of a cotton harvester.

[0027] Figure 2 yes Figure 1 A side view of the harvester.

[0028] Figure 3 This is a schematic diagram of an example crop sensing system.

[0029] Figure 4 This is a functional block diagram illustrating the process of flow yield estimation and harvester control using active crop flow sensing calibration according to an exemplary embodiment.

[0030] Figure 5 This is a functional flowchart illustrating crop yield quality flow estimation according to an exemplary implementation.

[0031] Figure 6aThis is an illustration of a signal received from a sensor according to an exemplary embodiment.

[0032] Figure 6b yes Figure 6a The signal is illustrated and normalized according to an exemplary embodiment.

[0033] Figure 7 This is a functional flowchart illustrating the steps for managing calibration factors according to an exemplary implementation.

[0034] Figure 8 This illustrates a method for management according to an exemplary embodiment. Figure 7 The flowchart shows the method for determining the calibration factor.

[0035] Figure 9a and 9b This is a functional flowchart illustrating the application of managed calibration factors to crop flow data according to an exemplary embodiment.

[0036] Figure 10a and 10b This is a functional flowchart illustrating the application of managed calibration factors to crop flow data according to an exemplary embodiment.

[0037] Figure 11a and 11b This is a flowchart illustrating a functional process for generating a yield map by applying selected data to crop yield data formed using managed calibration factors, according to an exemplary implementation. Detailed Implementation

[0038] The embodiments of this disclosure described below are not intended to be exhaustive or to limit this disclosure to the precise forms described in the following detailed description. Rather, the embodiments were chosen and described so that others skilled in the art can appreciate and understand the principles and practice of this disclosure.

[0039] Figure 1 and Figure 2A harvester 10 suitable for harvesting crops such as cotton is shown. The illustrated harvester 10 is a cotton harvester 15. The harvester 10 includes a machine for harvesting crops. In one embodiment (e.g., the embodiment shown), the harvester 10 is self-propelled. In another embodiment, the harvester 10 is towed. The harvester 10 removes multiple portions of a plant (crop) from the growing medium or field. In one embodiment, the harvester 10 includes a holding box for holding the crop. In another embodiment, after the harvester 10 has shaped the crop into a desired shape (e.g., into cotton modules, etc.), it conveys the removed crop to a temporary holding box for subsequent processing, wherein the collected or otherwise shaped crop can then be discharged onto the ground for post-harvest collection. In yet another embodiment, the harvester 10 discharges the removed crop into a holding box of another vehicle, where the crop can be shaped, weighed, and then discharged onto the ground for subsequent collection. It should be understood that other types of harvesters 10 besides the cotton harvester 15 of the exemplary embodiment are also contemplated in this disclosure (e.g., cotton strippers, combine harvesters, etc.).

[0040] A cotton harvester 15 according to an exemplary embodiment includes a chassis 20. The chassis 20 is supported by ground-engaging members 22 such as front wheels 25 and rear wheels 30, although other supports (e.g., tracks) are contemplated. The cotton harvester 15 is adapted to move through a field 35 to harvest crops (e.g., cotton, corn, hay, fodder, alfalfa, etc.). An operator station 40 is supported by the chassis 20. An operator interface 45 is located in the operator station 40. A power module 50 may be supported below the chassis 20. The power module 50 may be an engine 55. Generally, 58 ( Figure 2 The water tank, lubricant tank, and fuel tank indicated can be supported on the chassis 20.

[0041] Harvesting structure 60 can be interconnected with chassis 20. The illustrated harvesting structure 60 is configured to remove crops from field 35. Harvesting structure 60 can be a cotton harvesting structure (e.g., as shown in cotton harvester 15) and can include one or more cotton picking rows 61-66, a stripper header, or any other harvesting structure (e.g., a corn header). Alternatively, harvesting structure 60 can be configured to remove corn, hay, fodder, alfalfa, or any other crop.

[0042] In the illustrated embodiment, the harvesting structure 60 can be interconnected with an air duct system 70 located at the front end of the cotton harvester 15, wherein the air duct system 70 is configured to draw the crop processed by the harvesting structure 60 into the cotton harvester 15. Furthermore, a crop container 80 can be interconnected with the air duct system 70 for receiving the crop output from the air duct system 70. The air duct system 70 includes a plurality of individual air ducts 71-76 (only in...) Figure 2 The view shows one (where each individual air duct 71-76 is associated with one of the cotton picking row units 61-66 for conveying the harvested cotton crop from the cotton picking row units 61-66 to the crop container 80. Reference) Figure 2 The illustrated crop container 80 is a modular constructor 85 having a throat 90 and at least one baler belt 95. The modular constructor 85 forms the harvested cotton crop into round bales or "modules". (Reference) Figure 1 A cleaner 100 is provided to clean cotton by removing impurities and debris. The cleaner 100 is typically used in cotton thresher harvesters to clean cotton harvested from the thresher header by removing impurities and debris. A front chamber, such as an accumulator 105, is provided between the air duct system 70 and the crop container 80. The accumulator 105 is configured to receive cotton or other crop harvested by the cotton picking row units 61-66 as an intermediate step between the processing performed by the modular constructor 85 of the air duct system 70 and the crop container 80.

[0043] A cotton harvester 15 in an exemplary embodiment includes a harvesting sensor 320 typically disposed at or within a harvesting structure 60 and / or an air duct system 70, and a crop accumulator sensor 330 typically disposed at or within an accumulator 105 and / or a crop container 80. The harvesting sensor 320 is operable to generate a production signal indicating the productivity of the crop being harvested. The crop accumulator sensor 330 is operable to generate a block crop signal indicating a measurement parameter of the crop harvested during a selected time period. In an exemplary embodiment, device 300 ( Figure 3 The device 300 is provided for use with or in combination with a cotton harvester 15 to determine crop yield outcome information during crop harvesting. This yield outcome information is used to estimate, monitor, report, and manage crop production, and can also assist in controlling selected functional systems of the harvester. As will be described in more detail below, the device 300 is calibrated in response to signals generated by the harvest sensor 320 and the crop accumulation sensor 330 to provide highly accurate crop harvesting production results. The calibration can be automatic, and further, the calibration can be both automatic and continuous.

[0044] refer to Figure 2A moisture feedback device 110 is disposed in the crop container 80. In an exemplary embodiment, the moisture feedback device 110 is operable to generate or otherwise provide a moisture level signal indicating the moisture content of the crop contained in the crop container 80. The moisture feedback device 110 may be a moisture sensor device configured to generate an electrical signal having a magnitude indicating the moisture content of the crop. The moisture feedback device 110 may also be a moisture sensor device capable of wired and / or wireless communication with a network of the cotton harvester (e.g., a controller area network (CAN)) and configured to generate data representing the moisture content of the crop that can be recognized by other devices on the network. It should be understood that although the moisture feedback device 110 of the exemplary embodiment is shown as a single device disposed at the crop container 80, the moisture feedback device 110 may be located at any location on the cotton harvester 15 where it is desirable to determine the moisture content of the cotton crop during harvesting and processing, and further, several moisture feedback devices may be provided at different locations on the cotton harvester 15 where it is deemed necessary or desirable to determine the moisture content of the cotton crop during harvesting and processing at different locations on the cotton harvester 15.

[0045] Furthermore, the module quality feedback device 112 can be coupled to the module handling section of the crop container 80. In an exemplary embodiment, the module quality feedback device 112 can be any device capable of generating a signal representing the quality of each crop bale after harvest, such as a weight sensor, torsion sensor, spring meter, or any similar and / or equivalent device. In this example, the module quality feedback device 112 is operable to generate or otherwise provide a block crop module quality signal indicating or otherwise representing the quality of each cotton module after it has been completed or otherwise constructed by the module builder 85. The module quality feedback device 112 can be, for example, a quality sensor device configured to generate an electrical signal whose magnitude indicates the quality after the harvested cotton crop has been baled into a selected form (e.g., a cotton module form). The modules can be weighed as they exit from the module builder 85 of the cotton harvester 15 via the module handling arm 113. The module quality feedback device 112 can also be a quality sensor device capable of wired and / or wireless communication with the cotton harvester's network (e.g., CAN) and configured to generate data representing the quality of the baled crop (e.g., the quality of the cotton module) that can be recognized by other devices on the network. The module quality feedback device 112 can be operatively coupled to one or more mechanisms disposed, for example, between the crop container 80 and the chassis 20 of the cotton harvester 15, or anywhere suitable for measuring the quality of the baled crop.

[0046] Furthermore, the module diameter feedback device 114 can also be coupled to the cotton harvester 15 in the crop container 80 area. In an exemplary embodiment, the module diameter feedback device 114 is coupled to a rocker arm shaft (not shown) that can move with the module builder 85, and is operable in such a way as to generate or otherwise provide a crop module diameter signal representing the measured diameter of the crop harvested and processed into the desired bale or suitable for other easily handled shapes (e.g., cotton module form). The module diameter feedback device 114 can be a sensor device capable of generating a signal having a quantitative value indicating the diameter of the crop after it has been baleed into a selected form (e.g., in cotton module form). The module diameter feedback device 114 can also be a sensor device capable of wired and / or wireless communication with a network (e.g., CAN) of the cotton harvester and configured to generate data representing the diameter of the baleed crop (e.g., the diameter of the cotton module) that is recognized by other devices on the network. The module diameter feedback device 114 can be operatively connected to one or more mechanisms located, for example, between the crop container 80 and the chassis 20 of a cotton harvester 15, or anywhere suitable for measuring the diameter of the baled crop.

[0047] Furthermore, the accumulator level feedback device 116 may also be coupled to the crop container 80. In an exemplary embodiment, the accumulator level feedback device 116 is operable to generate or otherwise provide an accumulator level signal representing the measured level of the harvested crop filling in the accumulator 105 of the cotton harvester 15. The accumulator level feedback device 116 may be a sensor device capable of generating a signal having a quantitative value indicating the level of filling in the accumulator 105. The accumulator level feedback device 116 may also be a sensor device capable of wired and / or wireless communication with a network (e.g., CAN) of the cotton harvester and configured to generate data on the network representing the level of harvested crop filling the accumulator 105, as recognized by other devices on the network. The accumulator level feedback device 116 may be operable to be coupled to one or more mechanisms disposed, for example, between the accumulator 105 and the chassis 20 of the cotton harvester 15, or anywhere suitable for measuring the level of harvested crop filling the accumulator 105.

[0048] In addition, multiple crop sensor devices 171-176 can be connected to multiple air ducts 71-76 (in Figure 2(Only one connection is shown in the view) where each of the crop sensor devices 171-176 is connected to one of the air ducts 71-76 to provide a signal indicating parameters of the harvested crop as it flows through one of the air ducts 71-76. For example, the crop sensor devices 171-176 can provide a signal indicating the amount of harvested crop as it flows through one of the air ducts 71-76. As described above, each individual air duct 71-76 is associated with one of the cotton picking row units 61-66 for conveying the harvested crop from the cotton picking row units 61-66 to the crop container 80. Thus, each of the plurality of crop sensor devices 171-176 can generate a crop signal indicating parameters of the harvested crop as it flows through the corresponding one of the air ducts 71-76 to which the crop sensor device is connected. In one example, each of the plurality of crop sensor devices 171-176 can generate a signal indicating the amount of harvested crop when the harvested crop flows through a corresponding one of the air ducts 71-76 to which the crop sensor device is connected.

[0049] Continue to refer to Figure 2 The feeder 115 can be interconnected with the chassis 20. The feeder 115 is configured to receive cotton crop or other crops in other embodiments from the accumulator 105. The feeder 115 includes a plurality of metering rollers 120 configured to compress the cotton or other crop and transfer the compressed cotton or other crop to the module constructor 85 at a desired controlled feed rate. A first motor 125 is positioned to rotate the plurality of metering rollers 120. The first motor 125 can be hydraulic or electric.

[0050] At least one feed roller 130 is configured to cooperate with a plurality of metering rollers 120 to convey crop at a desired controlled feed rate. A second motor 135 is positioned to rotate the feed roller 130. The second motor 135 may be hydraulic or electric.

[0051] The feeder belt 140 is configured to receive crop from a plurality of metering rollers 120 and at least one chaff roller 130 and transfer cotton or other crop to the throat 90 at a desired controlled feed rate. A third motor 145 is positioned to rotate the feeder belt 140. The third motor 145 may be hydraulic or electric.

[0052] Figure 3A crop sensing device 300 according to an exemplary embodiment is schematically illustrated. The crop sensing device 300 collects, processes, and outputs data, including, for example, crop data with enhanced resolution, to improve the operational efficiency of a harvester and to generate a field map with enhanced resolution. In an exemplary embodiment, the crop sensing device 300 collects and processes crop data to control one or more functional systems of the harvester, including, for example, active calibration of sensors for sensing harvest yield during crop harvesting. Calibration can be automatic; furthermore, calibration can be both automatic and continuous. In an exemplary embodiment, the term "resolution" refers to the level of detail regarding the crop data and / or field map. The resolution of the crop data or field map is determined by the smallest unit in which attributes are sensed or derived. Generally, the smaller the unit, the higher the resolution. The crop sensing device 300 outputs crop data and uses sensed or derived attributes and / or identified conditions to map the field for individual units or portions of the field whose width is smaller than the crop harvesting width used by the harvester. For example, even though the cotton harvester 15 may have a harvesting width of six (6) rows, assuming there are six (6) cotton picking row units 61-66 in the example shown, the crop sensing device 300 can output crop data or field maps that provide crop attributes such as yield based on row-by-row or even plant-by-plant for fewer than six (6) rows. The crop sensing device 300 can be similarly implemented for non-row crops and non-row harvesters. The greater crop data resolution provided by the crop sensing device 300 facilitates more advanced and complex crop management.

[0053] A crop sensing device 300 in an exemplary embodiment includes a crop sensing control system 310 configured to be installed in any suitable agricultural machinery, an example of which is the illustrated cotton harvester 15. The crop sensing control system 310 includes a processor 312, a memory device 314 operatively coupled to the processor 312, a control logic system 316 stored in the memory device 314, a harvesting sensor 320 disposed at the header 340 of the harvester 15, and a crop accumulation sensor 330 disposed in an area of ​​the harvester for processing the crop during harvesting (e.g., in an area of ​​the harvester for baling, weighing, and discharging processed crop bales). In the exemplary application of the embodiment, the crop bale is often referred to as a cotton “module.” Each of the harvesting sensor 320 and the crop accumulation sensor 330 may include one or more sensor devices.

[0054] According to an exemplary embodiment of this document, one or more sensor devices of the harvest sensor 320 include a plurality of crop sensor devices 171-176, and one or more sensor devices of the storage crop sensor 330 include a moisture feedback device 110, a module quality feedback device 112, a module diameter feedback device 114, and a storage device degree feedback device 116.

[0055] As described above, the moisture feedback device 110 of the crop storage sensor 330 is operatively coupled to the crop container 80 of the cotton harvester 15 and is operable to generate or otherwise provide a moisture level signal indicating the moisture content of the crop contained in the crop container 80. Similarly, the module mass feedback device 112 of the crop storage sensor 330 is coupled to the crop container 80 of the cotton harvester 15 and is configured to generate or otherwise provide a block crop module weight signal indicating the mass of each module after it has been completed or otherwise constructed by the module builder 85. The module diameter feedback device 114 of the crop storage sensor 330 may be coupled to the crop container 80 and is configured to generate or otherwise provide a crop module diameter signal indicating the measured diameter of the cotton modules. The accumulator level feedback device 116 of the crop storage sensor 330 is coupled to the crop container 80 and is configured to generate or otherwise provide an accumulator level signal indicating the measured level of the harvested crop filler of the accumulator 105. Multiple crop sensor devices 171-176 of the harvest sensor 320 are located at the air duct system 70 of the cotton harvester 15.

[0056] Further according to an exemplary embodiment herein, a control logic system 316 stored in memory device 314 may be executed by processor 312 to: sense crops during harvesting by cotton harvester 15; perform crop yield estimation during and / or after harvesting; control one or more functions of the harvester; and, according to an exemplary embodiment, perform active calibration of one or more crop sensing devices 322 of harvest sensor 320, as will be described in more detail below. As described, active calibration may be automatic, and furthermore, calibration may be both automatic and continuous.

[0057] The crop sensing and control system 310 typically includes a processor 312 and a memory device 314 operatively coupled to the processor. Operational data 313 is stored in the memory device, including harvester data representing the operational characteristics of the cotton harvester 15. Additionally, basic calibration factor data 315 is stored in the memory device, whereby the basic calibration data represents the reference calibration factor CF. 基础 In one example, the basic calibration factor data 315 may include multiple basic calibration factor data 315 that an operator can select based on crop variety, location of harvesting, time of harvesting season / year, one or more physical parameters of the harvester (e.g., header width), and / or combinations of these or other parameters. Furthermore, the control logic system 316 is stored in a memory device and can be executed by a processor to determine the yield of the harvested cotton as described herein.

[0058] As described above, the cotton harvester 15 includes a mobile machine configured to traverse fields or plots while harvesting crops. The cotton harvester 15 includes a header 340 and header components 342 disposed on and / or inside the header 340. In a particular exemplary embodiment, the cotton harvester 15 includes a header 340 comprising the harvesting structure 60 described above, and the header component 342 includes cotton picking row units 61-66 and an air duct system 70 comprising the plurality of individual air ducts 71-76 described above. In other embodiments, the header 340 and header component 342 may include other types of agricultural machinery.

[0059] The header 340 includes a mechanism configured to collect and harvest crops such as cotton along its raft. When harvesting the crop, the raft of the header 340 has a usable width Wu. In an exemplary embodiment, the usable width Wu constitutes the portion of the length or raft width used for harvesting the crop at a given time. Although in most cases the usable width Wu is equal to the physical length of the raft of the header 340, in some cases the usable width Wu may constitute only a portion of the raft of the header 340, such as along end rows, waterways, previously harvested transport channels, and / or the like.

[0060] Harvesting component 342 includes various mechanisms for harvesting, such as mechanisms for cutting or separating crops from the remainder of the plant. In an exemplary embodiment, harvesting component 342 includes picking spindles, strippers, picking ribs, plant lifters, spindle cleaning systems, etc., commonly found in typical row unit structures of cotton harvesters. Such mechanisms may also include knives or blades, stripping plates, rollers, picking devices, screw conveyors, collection chains or collection belts, and / or the like. In one embodiment, header 340 includes cotton picking row units 61-66 for separating cotton from the cotton plant. In another embodiment, header 340 includes components for separating the stems of sugar- or oil-bearing plants from the plant leaves. In another embodiment, header 340 may include a grain header for a combine harvester, wherein the grain, along with the stems, is cut and subsequently threshed by the combine harvester. In another embodiment, header 340 includes a corn header for a combine harvester, wherein the corn header separates corn ears from the remaining stems. In another embodiment, header 340 includes a stripping plate or other mechanism for cutting other types of ears from the associated stem. In one embodiment, the term "ear" refers to the seed-bearing portion of a plant, such as a corn ear, a seed-bearing flower (e.g., a sunflower, a bean pod, etc.). In other embodiments, header 340 and component 342 may have other configurations. For example, while header 340 is illustrated as being located at the front end of cotton harvester 15 and is interchangeable with other headers (facilitating changes to cotton, corn, and grain headers), in other embodiments, header 340 may be supported by cotton harvester 15 in other locations and / or may be a permanent, non-interchangeable component of cotton harvester 15.

[0061] One or more sensor devices of the harvest sensor 320 and the crop-harvesting sensor 330 include mechanisms for sensing or detecting one or more characteristics of the crop being harvested. Each of the one or more sensor devices outputs a signal based on these sensed characteristics. Examples of the one or more sensor devices of the harvest sensor 320 and the crop-harvesting sensor 330 include, but are not limited to, voltage sensors, current sensors, torque sensors, hydraulic pressure sensors, hydraulic flow sensors, magnetic sensors, force sensors, bearing load sensors, rotation sensors, mass sensors, mass flow sensors, radar sensors, ultrasonic sensors, radio detection and ranging (RADAR) sensors, light detection and ranging (LIDAR) sensors, frequency modulated continuous wave (FMCW) radar sensors, imaging and / or vision sensors, stimulated emission light amplification (LASER) sensors, etc. The measured parameters may vary based on the characteristics of the crop currently being harvested and based on the location of the measurement within the harvester. For example, in the cotton harvester 15 of the exemplary embodiment, crop sensor devices 171-176 may include mass flow sensors 171′-176′, each configured to generate one or more signals, such as electrical signals representing the mass flow rate of the harvested cotton column as it flows toward the accumulator 105 through a corresponding air duct among a plurality of individual air ducts 71-76. Mass flow sensors 171′-176′ may use any of the techniques identified above, such as RADAR or other techniques, to sense the mass of the crop while it is being harvested, and may also be configured to generate one or more electrical signals representing raw data signals of the mass, velocity, direction, etc., of the harvested cotton column as it flows toward the accumulator 105 through the corresponding air ducts among the plurality of individual air ducts 71-76. One or more raw data signals are converted into cotton mass flow rates using suitable transformations for use in the processing described herein according to the embodiment. It should be understood that, in addition to or as a supplement to the original data signals of mass, velocity, direction, etc., the mass flow sensors 171′-176′ can also directly generate and output a mass flow signal representing the mass flow rate of the cotton column after harvest when the cotton flows toward the accumulator 105 through the corresponding air pipes in the multiple individual air pipes 71-76.For example, in the cotton harvester 15 of the exemplary embodiment, the moisture feedback device 110 includes a humidity sensor 110' configured to generate an electrical signal indicating the degree of moisture in the harvested cotton; the module quality feedback device 112 includes a strain gauge 112 configured to generate an electrical signal indicating the quality of the cotton module after the cotton module is formed by the module builder 85; the module diameter feedback device 114 may be a position sensor 114' connected to an arm member capable of engaging the outside of the cotton module and generating a signal with a magnitude indicating the diameter of the cotton module based on the position of the arm member relative to the crop container 80; and the accumulator level feedback device 116 may be an optical sensor device 116' capable of generating a signal with a magnitude indicating the filling level of the accumulator 105.

[0062] Each of the crop sensors 171-176 senses one or more crop attribute values ​​or parameters of the crop harvested using a corresponding different section of the width Wu. In the illustrated example, each of the crop sensors 171-176 senses a characteristic of the crop attribute of the plant along a separate row, thus providing a “per-row” crop attribute. As indicated by partition 380, the width Wu is partitioned or divided into six (6) equal sections P1-P6, such as row units, where each of the crop sensors 171-176 senses a characteristic of the crop or plant collected from section P1-P6 respectively. In the illustrated example, each section or each row unit includes a dedicated mass flow sensor 171′-176′. In other embodiments, components may be shared between different sections or row units. Similarly, sensors may be shared between multiple components or multiple row units. In some embodiments, instead of providing a per-row crop attribute, the inter-row shared crop sensors 171-176 alternately sense their characteristics as the crop or plant is harvested to determine the crop attribute of a group of rows smaller than the total harvest width Wu. Crop attributes may also include grain yield and / or biomass yield, etc.

[0063] Although the header 340 is illustrated to include six (6) sensors, in other embodiments, the header 340 may include more or fewer such sensors along the physical width or raft of the header 340. For example, a crop row harvester may have more or fewer six (6) rows, wherein the header of the harvester may similarly be divided with more or fewer rows of sensing sensors. Although the header 340 is shown to be divided into equal portions, in other exemplary embodiments, the header 340 is divided into unequal portions, wherein the sensors sense characteristics of the harvested crop in the unequal portions. For example, in another embodiment, one of the crop sensors 171-176 senses or detects characteristics of the crop or plant when harvested from a single row, while another of the crop sensors 171-176 senses or detects characteristics of the crop or plant when harvested from multiple rows.

[0064] In some embodiments, crop sensors 171-176 sense characteristics of the harvested crop over time based on time, distance, number of plants, and / or the like to detect trends in the data. This can also help reduce the amount of data processed or stored. In some embodiments, each of the crop sensors 171-176 may additionally or alternatively provide a degree of crop sensing resolution by being configured to detect characteristics of each individual plant as the cotton harvester 15 passes through the field, thereby providing an indication of determining an estimate of the grain or biomass yield for each plant. Summarizing individual plant data and / or trends from the collected data can also improve data usability by eliminating noise in the data.

[0065] The operator interface 45 is coupled to the processor 312 shown and, in an exemplary embodiment, includes a display 324. The display 324 includes means by which information can be visually presented to the operator of the cotton harvester 15 or a remotely located monitor / manager / operator of the cotton harvester 15. The display 324 may include a monitor or screen that is essentially stationary or essentially mobile. In one embodiment, the display 324 is carried by the cotton harvester 15 along with a human operator. In another embodiment, the display 324 includes a fixed monitor located remotely from the cotton harvester 15. In yet another embodiment, the display 324 may be essentially mobile, provided as part of a tablet computer, smartphone, personal data assistant (PDA), and / or the like. In other embodiments, the display 324 may be provided as part of a computer network for data transmission using the Internet and / or cloud connections for displaying and using information, for example, in applications and / or websites or the like, at remote monitoring facilities.

[0066] The operator interface 45 of the exemplary embodiment also includes input 326, which includes one or more devices through which control and input can be provided to the processor 312. Examples of input 326 include, but are not limited to, a keyboard, touchpad, touchscreen, steering wheel or steering control device, joystick, microphone with associated voice recognition software, and / or the like. Input 326 facilitates input of selections, commands, or controls. In embodiments where the cotton harvester 15 is remotely controlled or remotely operated, input 326 can facilitate such remote operation and / or control. The operator interface 45 of the exemplary embodiment can be used by the operator using input 326 for the operator to select an initial base calibration factor from a plurality of calibration factor data 315 from a memory device 314 based on, for example, crop variety, location of harvesting, time of harvesting season / year, one or more physical parameters of the harvester (e.g., width of the harvester header), and / or combinations of these or other parameters. A control logic system 316 stored in the memory device can be executed by the processor to determine the yield of harvested cotton based on factors including the initial base calibration factor selected by the operator and as described herein.

[0067] Memory device 314 includes a non-transient computer-readable medium or permanent memory for storing data used by and / or generated by processor 312. In one embodiment, memory device 314 may additionally store instructions in the form of code or software for execution by processor 312. Instructions may be loaded from read-only memory (ROM), mass storage devices, or some other permanent memory device into random access memory (RAM) for execution by processor 312. In other embodiments, hardwired circuitry may be used in place of or in conjunction with software instructions to implement the described functionality. For example, at least a portion of memory device 314 and processor 312 may be implemented as part of one or more application-specific integrated circuits (ASICs). In one embodiment, memory device 314 is carried by cotton harvester 15. In other embodiments, memory device 314 may be configured to be remote from cotton harvester 15 and communicate wirelessly with cotton harvester 15.

[0068] In the illustrated example, memory device 314 includes a data storage section 350 and a logical storage section 352. The data storage section 350 contains historical data (e.g., lookup tables) that facilitate the analysis of data and information sensed by sensors 110, 112, 114, 116, and 171-176. The data storage section 350 is also configured to store crop characteristic values ​​directly sensed by sensors 110, 112, 114, 116, and 171-176, and crop attribute values ​​used to associate various types of harvested crops with the determined crop characteristic values ​​during harvest. This stored information can be in various formats, such as tables, field maps, and / or similar formats. The data storage section 350 can also additionally store various settings and operator preferences. The logic storage section 352 includes a control logic system 316, which can be executed by the processor 312 to: sense the crop and perform crop yield estimation while the cotton harvester 15 is harvesting the crop; control one or more functions of the harvester; perform active calibration of one or more crop sensing devices 322 of the harvest sensor 320 according to the exemplary embodiments described herein; and perform any other functions that may be necessary or desired. The data storage section 350 may additionally store various settings and operator preferences and / or selections, such as crop variety, location of the harvest, time of the harvest season / year, one or more physical parameters of the harvester (e.g., width of the harvester header), and / or combinations of these parameters or other parameters related to the crop sensed by the cotton harvester 15 while harvesting the crop. This is useful, for example, for performing highly precise crop yield estimation, for controlling one or more functions of the harvester, for performing active calibration of one or more crop sensing devices 322 of the harvest sensor 320 according to the exemplary embodiments described herein, and for performing any other functions that may be necessary or desired.

[0069] Control logic system 316 instructs processor 312 to generate control signals that cause display 324 to present various information and / or prompts to the operator. For example, control logic system 316 may cause processor 312 to prompt the operator on: whether and how to summarize individual crop characteristic data, how to display the data (graphics, charts, field maps), what conditions are identified, how the operator is notified or warned of these conditions, where the data will be stored, how the data is stored, and / or similar aspects. For example, control logic system 316 may cause processor 312 to store data related to the sensed crop when the crop is harvested by cotton harvester 15, which is associated with various settings and operator preferences and / or selections (such as, for example, crop variety, location of harvesting, time of harvesting season / year, one or more physical parameters of the harvester (such as, for example, width of the harvester header, and / or combinations of these parameters or other parameters)). Harvested crop data associated with one or more other parameters, settings, preferences, etc., may be stored in tables (e.g., in a database) in memory device 314. Control logic system 316 may further instruct processor 312 to display data according to operator preferences.

[0070] The control logic system 316 includes code or program that guides the processor 312 to automatically generate control signals that adjust the operating parameters of the cotton harvester 15 based on directly sensed crop feature values ​​and / or derived crop attribute values. In one embodiment, the operation of the control logic system 316 generates control signals that independently adjust the operating parameters of different portions of the header 340 along its usable width Wu. For example, the control logic system 316 may adjust the operating parameters of one or more of the cotton picking rows 61-66 independently of or relative to another cotton picking row unit of the header 340 based on directly sensed or derived crop feature values. For example, the control logic system 316 may automatically generate control signals for actuators of stripping plates coupled to the row units in response to sensed or derived crop feature values ​​of one or more specific row units 61-66 to adjust the spacing of the stripping plates. This adjustment of the stripping plates for a specific row unit may be independent of and different from the spacing adjustment of other stripping plates for other row units. As a result, the enhanced crop sensing resolution provides enhanced and finer control over the operation of the cotton harvester 15 for better crop harvesting.

[0071] Figure 4This is a functional block diagram illustrating a process 400 for flow yield estimation and harvester control using active crop flow sensing calibration according to an exemplary embodiment. Referring now to this figure, process 400 includes, at functional block 410, sensing the flow rate of crop harvested by each cotton picking row unit 61-66 using suitable means such as a plurality of crop sensor devices 171-176. The raw sensor responses from each crop sensor are combined at functional block 420 in a manner described in more detail below to form an estimated machine seed cotton wet mass flow rate.

[0072] As described above, cotton is baleed into modules after harvesting. The cotton harvester is operable to continue harvesting cotton and guiding it into the accumulator 105, while the cotton is baleed into modules at the module builder 85 section of the harvester. According to the embodiments described herein, the mass of each module is compared with an estimated mass of the module determined using crop sensor devices 171-176, thereby determining a calibration factor and actively updating the calibration factor for more accurate crop yield determination. Process 400 performs active calibration at function block 430 using inputs obtained from the harvester 15 (e.g., one or more of machine information 442, module mass information 444, and module moisture information 446), details of which will be described in more detail below. Machine information 442 may include information relating to the module bale status, accumulator low level, and / or any other information obtained from the harvester 15, which can be used to calibrate the system to obtain highly accurate crop yield information. However, in general, the mass flow rate of a particular module is accumulated and processed using a base calibration factor, and the module mass is measured using the base calibration factor and compared with the expected mass to form an updated calibration factor. The updated calibration factor is used during processing in subsequent modules until it is selectively updated as described herein.

[0073] At function block 450, using inputs 460 obtained from harvester 15 (e.g., moisture information 462 and yield information 464), the dry mass flow rate of cotton lint is determined, the details of which will be described in more detail below. However, in general, the determination of dry mass of cotton lint benefits from the active adjustment of the calibration factor (CF) at function block 430 for more accurate yield determination.

[0074] At function block 470, machine information 471 is used to determine module and yield information. Machine information 471 may include information relating to the forward speed of harvester 15, the width of the crop picking head, the width of the crop row, and / or any other information obtained from harvester 15, which may be useful to the system in obtaining highly accurate crop module and yield information. For example, module and yield information may be stored in memory device 314. Module and yield information includes crop data with enhanced resolution for improving the operating efficiency of the harvester and for generating field maps with enhanced resolution. In an exemplary embodiment, crop data may also be used to control one or more functional systems of the harvester.

[0075] As described above, the harvesting structure 60 can be, for example, the cotton harvesting structure used in the cotton harvester 15, and can include one or more cotton picking row units 61-66, stripping headers, or any other harvesting structure (e.g., a corn header). In this regard, it should be understood that, in the exemplary embodiment, the process 400 of flow yield estimation and harvester control using active crop flow sensing calibration can be performed on a per-crop-row basis or on a aggregate basis of two or more crop rows (e.g., six (6) rows as in the example). For this purpose, flow yield estimation and harvester control based on per-crop-row active crop flow sensing calibration using the present disclosure is indicated by processing at function blocks 420-470 and arrow 480 designated with " / 1," wherein multiple such individual sets of information associated with a single cotton picking row unit among the multiple cotton picking row units 61-66 are identified, processed, stored, or otherwise transmitted. This provides a highly accurate and detailed yield map. The processing at function blocks 420-470 and arrow 482 (indicated by " / n") represent flow yield estimation and harvester control using the active crop flow sensing calibration based on aggregated crop rows of this disclosure, wherein individual sets of information associated with multiple cotton picking row units 61-66 are identified, processed, stored, or otherwise transmitted. This also provides a highly accurate and detailed yield map.

[0076] The active calibration described herein creates highly accurate yield maps at a line-by-line level with minimal manual operation. In the exemplary embodiment, this is achieved by processor 312 executing control logic system 316 and using selected statistics to manage the outputs of individual sensors 171-176. Typically, calibration is implemented in a logic section or part, and includes, for example, normalizing varying mass flow sensor signal values ​​and adjusting calibration factors based on onboard processor mass and module moisture calculations. According to the exemplary embodiment, the system continues to run in the background to provide accurate data during harvesting, requiring virtually no operator input.

[0077] In example Figure 5In the exemplary embodiment shown, the raw sensor readings of crop sensor devices 171-176 are normalized 511 to compare signals from multiple sensors, where sensor responses vary due to circuitry, sensitivity, and mounting. Through the normalization process, the sensor responses are assumed to be normally distributed signals. Normalization of the sensor responses results in an average signal of 0 and a standard deviation of 1 at 520.

[0078]

[0079] -in:

[0080] ·x′=normalized signal

[0081] ·x = signal

[0082] ·

[0083] σ = Standard deviation of the signal

[0084] Then, at 512, the normalized signal 520 with a mean of 0 and a standard deviation of 1 is rescaled. Figure 5 The mean is 0.5 and the standard deviation is 1.

[0085]

[0086] -in:

[0087] ·x″ = rescaled normalized signal

[0088] ·x′=normalized signal

[0089] In exemplary embodiments, the ability to normalize the signal in real time relies on the theory of a normal signal distribution and ensures the capture of a wide range of sensor responses. Therefore, the exemplary embodiments described herein capture data over long periods to understand the sensor's response under both low and high flow conditions. This theory is used to estimate the signal mean and standard deviation, which can be applied to the normalization process.

[0090] The average signal value is estimated at 513 using the optimal real-time equation, which reduces the need for a very large array of past data to be stored.

[0091]

[0092] -in:

[0093] ·

[0094] ·x = signal

[0095] ·

[0096] ·n = signal count

[0097] The signal variation is estimated at 514 using the optimal real-time equation, which reduces the need for storing very large arrays of past data. The square root of the variance is then calculated to obtain the standard deviation.

[0098]

[0099] -in:

[0100] ·σ 2 =Signal variance

[0101] ·

[0102] ·

[0103] ·x = signal

[0104] ·

[0105] ·n = signal count

[0106] ·

[0107] For physical systems, signal counts (n) can be explored from 500 to 1,000,000, for example, in mean and variance estimation. In this way, a balance can be found where there is enough data to homogenize the sensor under all conditions, while allowing some flexibility, in contrast to having too little data and optimizing for specific field conditions rather than optimizing the sensor's true response.

[0108] As described above, crop sensor devices 171-176 can be configured to generate one or more electrical signals representing raw data signals of the mass, velocity, direction, etc., of a harvested cotton column as it flows toward the accumulator 105 through the respective air ducts of a plurality of individual air ducts 71-76. According to an exemplary embodiment, one or more raw data signals are converted into cotton mass flow rate using a suitable transform 515 for use in the processing described herein according to the embodiment. The normalized and rescaled signal 530 is further processed by transform 515 to correlate the sensor response with the mass flow rate 422. This provides a relative mass flow rate estimate utilizing the normalized signal from the mass flow rate sensor. This results in a unique relative mass flow rate estimate 422n for each individual row unit.

[0109] The relative machine mass flow rate 424 is estimated by summing the relative row cell mass flow rates over all row cells. The relative machine mass flow rate 424 is used in the calibration process of converting the relative row cell mass flow rates to absolute mass flow rates.

[0110]

[0111] -in:

[0112] ·

[0113] ·

[0114] ·n = Total number of sensors

[0115] The normalization 511 and rescaling 512 processes can be observed Figure 6a To illustrate, consider three signals 602, 604, and 606 generated by sensor devices 171, 172, and 173, which are subjected to similar crop conditions. The sensor responses are similar between the two row units 61 and 62, but significantly different on the third signal 173'. The larger the average value of the response, the greater the variation that the signal can undergo, which leads to a larger standard deviation. Figure 6b The normalization process for aligning the three (3) signals of the mathematical example to equal mean and standard deviation is shown.

[0116] refer to Figure 7 The relative machine mass flow rate 710 is used in conjunction with the machine (cotton harvester 15) logic 702 (e.g., the module package state of the module builder 85) 700, and the module mass is measured by the module mass feedback device 112 at the module processor 80 on the cotton harvester 15 704.

[0117] The accumulated mass at 710 is based on a relative mass flow rate of 424 (based on a unique module). Figure 5 and 7 The integral calculation of ). The end of a module is usually defined as the beginning of a wrapping cycle. Therefore, the beginning of the next module also occurs at the beginning of a wrapping cycle.

[0118]

[0119] -in:

[0120] ·m 蓄集 = / Mass accumulated over time

[0121] ·t=0, the module begins

[0122] ·t=n, End of module

[0123] ·

[0124] The module quality captured by the processor is considered a fundamental fact of the system and depends on calibrating the relative or uncalibrated mass flow rate 720 to an absolute or calibrated mass flow rate.

[0125]

[0126] -in:

[0127] ·CF = Calibration Factor

[0128] ·m 蓄集的 = The mass accumulated over time

[0129] ·m 模块 = Module quality

[0130] The calibration factor CF is then applied to the relative or uncalibrated mass flow rate to obtain the absolute or calibrated mass flow rate.

[0131]

[0132] -in:

[0133] ·

[0134] ·

[0135] ·CF = Calibration Factor

[0136] Next reference Figure 8 The calibration management 730 uses selected criteria to process or otherwise determine when to update the calibration factor CF, while at the end of each module loop determining whether there is sufficient confidence to utilize that particular module during the calibration process.

[0137] One criterion that can be checked or considered during this process is to verify that the module diameter is greater than 2.2 m using, for example, module diameter feedback device 114. Another criterion that can be checked or considered during the process is to verify the accumulator empty state, as determined based on a lower-level sensor using, for example, accumulator level feedback device 116. Yet another criterion that can be checked or considered during the process is to verify that the module mass is greater than 0 kg and that the module mass is not empty, for example, greater than 60,000 kg, using, for example, module mass feedback device 112.

[0138] The diameter of the cotton module is closely monitored because the accuracy of module quality from the processor is expected to be more advantageous in larger diameter modules. Small diameter modules are not common, but they do occur in situations such as field transitions or production trial studies.

[0139] The status of the accumulator sensors is also closely monitored, as material may remain in the accumulator at the start of the wrapping cycle during the module building process. Material in the accumulator that does not become a module can cause known errors in the calibration factor.

[0140] In the calibration management 730 of the exemplary implementation, the current calibration factor CF is received at step 810. 当前 For example, by retrieving CF from memory device 314 当前 .

[0141] In step 820, when harvesting the crop, sensors 171-176, as described above, are used. Figure 4 and 5 The processes 410 and 420 shown are used to determine the quality of the crop module.

[0142] In step 830, the quality of the modules accumulated during step 820 is determined after harvesting, for example, using a module quality feedback device 112.

[0143] In step 840, a new candidate calibration factor CF is determined using, for example, Equation 8 above. 候选 .

[0144] In step 860, a new candidate calibration factor CF is determined. 候选 The availability and / or feasibility of the new candidate calibration factor CF, according to the exemplary implementation herein. 候选 The availability and / or feasibility are determined based on standards such as those described above. That is, using, for example, the module diameter feedback device 114, a new candidate calibration factor CF is selected based on a module diameter greater than 2.2 m. 候选 Determined as available and / or feasible. Based on the fact that accumulator 105 is not empty (partially full), and as determined by a lower-level sensor, such as using, for example, accumulator level feedback device 116, a new candidate calibration factor CF will be selected. 候选 Determined as unavailable and / or infeasible. Using, for example, a module mass feedback device 112, a new candidate calibration factor CF is selected based on the module mass being greater than 0 kg and not null (e.g., greater than 60,000 kg). 候选 It has been determined to be available and / or feasible.

[0145] If the new candidate calibration factor CF 候选 If all the criteria determined in step 860 are met, then the new candidate calibration factor CF will be... 候选 Stored in, for example, memory device 314. Otherwise, discard the new candidate calibration factor CF. 候选 And repeat the process.

[0146] In step 880, the current calibration factor CF 当前Calibration factor CF 候选 Replace it to serve as the new current (real-time) calibration factor for subsequent and / or ongoing (real-time) crop yield determination.

[0147] Referring next to Figure 9, the same calibration factor CF can be applied to the relative or uncalibrated mass flow rate of a single row cell based on the principle of distribution characteristics, as needed and / or desired.

[0148]

[0149] -in:

[0150] ·

[0151] ·

[0152] ·CF = Calibration Factor

[0153] ·

[0154] ·n = Total number of sensors

[0155] Therefore, the calibration factor CF calculated on the machine mass flow rate can be applied from 910 to 902 to the individual row cell mass flow rates, as shown below:

[0156]

[0157] -in:

[0158] ·

[0159] ·

[0160] ·CF = Calibration Factor

[0161] Therefore, the calibration factor CF calculated on the machine mass flow rate can be applied at 920 to the set of mass flow rates for all row cells, as follows:

[0162]

[0163] -in:

[0164] ·

[0165] ·

[0166] ·CF = Calibration Factor

[0167] refer to Figure 10aThe machine's wet mass output can be calculated as the machine's mass flow rate, header width, and vehicle speed at a value of 1010 (applied to 1012).

[0168]

[0169] -in:

[0170] ·CY 机器 =Crop wet weight yield machine

[0171] ·

[0172] ·W 割台 = Width of the cutting table

[0173] ·v = vehicle speed

[0174] The wet mass yield of the machine can be converted to a dry or standardized basis to reduce the impact of moisture on the actual yield, such as in the application of 1022 at 1020:

[0175]

[0176] -in:

[0177] ·CY 机器标准化后 =Standardized crop quality and yield

[0178] ·CY 湿基 =Wet crop quality and yield

[0179] MC = Moisture content

[0180] ·MC DB =Moisture content on dry basis

[0181] Machine-produced cotton lint yield can be calculated as a function of standardized crop quality yield and output, applied at 1030 to 1032:

[0182] LY machine = CY 标准化后 *GT Equation 14

[0183] -in:

[0184] ·LY = Cotton lint production

[0185] ·CY 标准化后 =Standardized crop quality and yield

[0186] ·GT = Ginning mill output as a percentage and / or fraction

[0187] refer to Figure 10b The wet mass output of a row cell can be calculated as the row cell mass flow rate, row cell width, and vehicle speed at a value of 1040 (applied to 1042).

[0188]

[0189] -in

[0190] ·CY 行单元 =Crop wet weight yield row unit

[0191] ·

[0192] ·W 行单元 = Row cell width

[0193] ·v = vehicle speed

[0194] The wet weight yield based on each row can be converted to a dry weight or standardized basis to reduce the impact of moisture on the actual yield, such as applying 1052 at 1050:

[0195]

[0196] -in:

[0197] ·CY 校准化后 =Standardized crop quality and yield

[0198] ·CY 湿基 =Wet crop quality and yield

[0199] MC = Moisture content

[0200] ·MC DB =Moisture content on dry basis

[0201] The cotton yield can be calculated at position 1060 based on each row as a function of the standardized crop quality yield and output, as shown in Figure 1062.

[0202] LY row unit = CY 标准化后 *GT Equation 17

[0203] -in:

[0204] ·LY = Cotton lint production

[0205] ·CY 标准化后 =Standardized crop quality and yield

[0206] ·GT = Ginning mill output as a percentage and / or fraction

[0207] Now for reference Figure 11a and 11b The exemplary implementation described herein is used to generate highly accurate yield maps. First, refer to... Figure 11aFor example, GPS data and / or time information and / or data 1100 can be received by retrieving GPS and / or time information 1100 from memory device 314, and applied 1110 to calibrated production information M. 机器校准后 To present yield data 1120. GPS data and / or time information and / or data 1100 can also be received, for example, from the network (e.g., CAN network) of the cotton harvester 15, and applied 1110 to the calibrated yield information M. 机器校准后 To provide yield map data 1120. The yield map data 1120 is provided in real time and can be stored in the memory device 314 and / or transmitted via CAN to other devices of the harvester 15 and / or via the wired and / or wireless communication network of the cotton harvester 15 to remote devices, vehicles, systems, etc.

[0208] Next reference Figure 11b For example, GPS data and / or time information and / or data 1100 received by retrieving GPS and / or time information 1100 from memory device 314 can be applied 1130 to the calibrated production information M. 行单元校准后 This provides yield map data 1140 based on each row of cells. Alternatively, GPS data and / or time information and / or data 1100 can be received, for example, from the cotton harvester 15's network (e.g., CAN), and applied 1130 to the calibrated yield information M per row of cells. 行单元校准后 To provide row-based yield map data 1140. The yield map data 1140 is provided in real time and can be stored in memory device 314 and / or transmitted via CAN to other devices of harvester 15 and / or to remote devices, vehicles, systems, etc. via wired and / or wireless communication networks of cotton harvester 15.

[0209] As used herein, the singular forms “a,” “an,” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. Furthermore, the phrases “comprising,” “including,” and similar expressions are intended to specify the presence of the stated feature, step, operation, element, and / or component, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and / or groups thereof.

[0210] While this disclosure has been detailed and described in the accompanying drawings and the foregoing description, such description is not restrictive in nature. It should be understood that one or more illustrative embodiments have been shown and described, and all changes and modifications within the spirit and scope of this disclosure are intended to be protected. Alternative embodiments of this disclosure may not include all the features described, but will still benefit from at least some of the advantages of those features. Those skilled in the art can devise their own embodiments that incorporate one or more features of this disclosure and fall within the spirit and scope of the appended claims.

Claims

1. A cotton harvester (15), comprising: The chassis (20) is supported by a ground engagement member (22) operably connected to the chassis (20) for movement relative to the ground below the cotton harvester (15); The cotton picking head (340) is operably connected to the chassis (20) and includes a plurality of cotton picking row units (61-66) operable to harvest cotton from plants entering the cotton picking head (340) as the cotton harvester (15) moves forward relative to the ground via the ground engagement member (22). A crop container (80) is operably connected to the chassis (20), the crop container (80) including a module builder (85) configured to form harvested cotton into cotton modules; An air duct system (70) comprising a plurality of individual air ducts (71-76), each of which is associated with one of the cotton picking row units (61-66) for conveying cotton harvested from the cotton picking row units (61-66) to the crop container (80); and Device (300) for determining the yield of harvested cotton, said device comprising: A harvest sensor (320) is operable to generate a production signal indicating the productivity of the cotton being harvested; A crop accumulation sensor (330) operable to generate a block crop signal representing measured parameters of cotton harvested during a selected time period; and Crop sensing and control system (310), the crop sensing and control system comprising: Processor (312); A memory device (314) is operatively connected to the processor; Operational data (313) stored in the memory device, the operational data including harvester data representing the operational characteristics of the cotton harvester (15); The basic calibration factor data (315) stored in the memory device represents the basic calibration factor CF. 基础 ;and A control logic system (316), which is stored in the memory device and can be executed by the processor to determine the yield of the harvested cotton. The control logic system (316) described therein can be executed by the processor (312) to: Receive the production signal; Receive the signal from the blocky crop; In response to the basic calibration factor CF 基础 The production signal is applied to determine the estimated mass m of the cotton harvested during the first time period (t1). 估计 ; In response to the blocky crop signal, the measured mass m of cotton harvested during the first time period (t1) is determined. 测得 ; In response to the estimated mass m 估计 The measured module mass m 测得 The ratio between them determines the updated calibration factor candidate CF. 新 ;as well as By responding to the operating data (313), the basic calibration factor CF is adjusted. 基础 or updated calibration factor candidate CF 新 One of the production signals, representing the productivity of cotton harvested during the second time period (t2) generated by the harvest sensor (320) after the first time period (t1), is selectively applied to determine the yield of cotton harvested during the second time period (t2). in: The crop storage sensor (330) includes a module diameter feedback device (114) operable to generate a cotton module diameter signal, which represents the measured diameter of the cotton module formed by the module builder (85) using cotton harvested and bundled into the cotton module during a first time period (t1). The control logic system (316) can be executed by the processor (312) to determine the cotton module diameter in response to the cotton module diameter signal; The operational data (313) includes harvester data, which includes data indicating the minimum required diameter of the cotton bale for the cotton module; and The control logic system (316) includes a calibration management logic system, which can be executed by the processor (312) to determine the yield of cotton harvested during the second time period (t2) in the following manner: In response to the determined cotton module diameter being larger than the minimum required diameter, the updated calibration factor candidate CF is... 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the determined cotton module diameter being smaller than the minimum required diameter, the basic calibration factor CF is adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

2. A cotton harvester (15), comprising: The chassis (20) is supported by a ground engagement member (22) operably connected to the chassis (20) for movement relative to the ground below the cotton harvester (15); The cotton picking head (340) is operably connected to the chassis (20) and includes a plurality of cotton picking row units (61-66) operable to harvest cotton from plants entering the cotton picking head (340) as the cotton harvester (15) moves forward relative to the ground via the ground engagement member (22). A crop container (80) is operably connected to the chassis (20), the crop container (80) including a module builder (85) configured to form harvested cotton into cotton modules; An air duct system (70) comprising a plurality of individual air ducts (71-76), each of which is associated with one of the cotton picking row units (61-66) for conveying cotton harvested from the cotton picking row units (61-66) to the crop container (80); and Device (300) for determining the yield of harvested cotton, said device comprising: A harvest sensor (320) is operable to generate a production signal indicating the productivity of the cotton being harvested; A crop accumulation sensor (330) operable to generate a block crop signal representing measured parameters of cotton harvested during a selected time period; and Crop sensing and control system (310), the crop sensing and control system comprising: Processor (312); A memory device (314) is operatively connected to the processor; Operational data (313) stored in the memory device, the operational data including harvester data representing the operational characteristics of the cotton harvester (15); The basic calibration factor data (315) stored in the memory device represents the basic calibration factor CF. 基础 ;and A control logic system (316), which is stored in the memory device and can be executed by the processor to determine the yield of the harvested cotton. The control logic system (316) described therein can be executed by the processor (312) to: Receive the production signal; Receive the signal from the blocky crop; In response to the basic calibration factor CF 基础 The production signal is applied to determine the estimated mass m of the cotton harvested during the first time period (t1). 估计 ; In response to the blocky crop signal, the measured mass m of cotton harvested during the first time period (t1) is determined. 测得 ; In response to the estimated mass m 估计 The measured module mass m 测得 The ratio between them determines the updated calibration factor candidate CF. 新 ;as well as By responding to the operating data (313), the basic calibration factor CF is adjusted. 基础 or updated calibration factor candidate CF 新 One of the production signals, representing the productivity of cotton harvested during the second time period (t2) generated by the harvest sensor (320) after the first time period (t1), is selectively applied to determine the yield of cotton harvested during the second time period (t2). in: The crop container (80) includes an accumulator (105) operably connected to the chassis (20) and disposed between the air duct system (70) and the modular constructor (85), the accumulator (105) being operable to receive cotton harvested by the cotton picker (340) and selectively deliver the received cotton to the modular constructor (85). Each individual air duct (71-76) of the air duct system (70) transmits cotton harvested from the cotton picking row unit (61-66) to the crop container (80) via the collector (105). The crop storage sensor (330) includes a storage level feedback device (116) operable to generate a storage level signal representing the measured level of cotton harvested and received in the storage device (105) during the first time period (t1). The control logic system (316) can be executed by the processor (312) to determine the cotton filling level of the cotton harvested and received in the accumulator (105) during the first time period (t1) in response to the accumulator level signal; The operation data (313) includes harvester data, which includes data on the required cotton filling level of the accumulator, which represents the minimum required stack height of cotton harvested and stacked in the accumulator (105) during the first time period (t1). The control logic system (316) includes a calibration management logic system, which can be executed by the processor (312) to determine the yield of cotton harvested during the second time period (t2) in the following manner: In response to the determined cotton fill level being greater than the minimum required pile height when cotton harvested and received in the accumulator (105) during the first time period (t1), the updated calibration factor candidate CF is updated. 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the determined cotton filling level being less than the minimum required pile height of cotton harvested and received in the accumulator (105) during the first time period (t1), the basic calibration factor CF is adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

3. A cotton harvester (15), comprising: The chassis (20) is supported by a ground engagement member (22) operably connected to the chassis (20) for movement relative to the ground below the cotton harvester (15); The cotton picking head (340) is operably connected to the chassis (20) and includes a plurality of cotton picking row units (61-66) operable to harvest cotton from plants entering the cotton picking head (340) as the cotton harvester (15) moves forward relative to the ground via the ground engagement member (22). A crop container (80) is operably connected to the chassis (20), the crop container (80) including a module builder (85) configured to form harvested cotton into cotton modules; An air duct system (70) comprising a plurality of individual air ducts (71-76), each of which is associated with one of the cotton picking row units (61-66) for conveying cotton harvested from the cotton picking row units (61-66) to the crop container (80); and Device (300) for determining the yield of harvested cotton, said device comprising: A harvest sensor (320) is operable to generate a production signal indicating the productivity of the cotton being harvested; A crop accumulation sensor (330) operable to generate a block crop signal representing measured parameters of cotton harvested during a selected time period; and Crop sensing and control system (310), the crop sensing and control system comprising: Processor (312); A memory device (314) is operatively connected to the processor; Operational data (313) stored in the memory device, the operational data including harvester data representing the operational characteristics of the cotton harvester (15); The basic calibration factor data (315) stored in the memory device represents the basic calibration factor CF. 基础 ;and A control logic system (316), which is stored in the memory device and can be executed by the processor to determine the yield of the harvested cotton. The control logic system (316) described therein can be executed by the processor (312) to: Receive the production signal; Receive the signal from the blocky crop; In response to the basic calibration factor CF 基础 The production signal is applied to determine the estimated mass m of the cotton harvested during the first time period (t1). 估计 ; In response to the blocky crop signal, the measured mass m of cotton harvested during the first time period (t1) is determined. 测得 ; In response to the estimated mass m 估计 The measured module mass m 测得 The ratio between them determines the updated calibration factor candidate CF. 新 ;as well as By responding to the operating data (313), the basic calibration factor CF is adjusted. 基础 or updated calibration factor candidate CF 新 One of the production signals, representing the productivity of cotton harvested during the second time period (t2) generated by the harvest sensor (320) after the first time period (t1), is selectively applied to determine the yield of cotton harvested during the second time period (t2). in: The memory device (314) is operable to store the estimated quality m determined during multiple time periods prior to the first time period (t1). 估计 With the measured mass m 测得 Multiple historical ratios between; The control logic system (316) includes a statistical control logic system, which can be executed by the processor (312) to determine the estimated quality m based on stored data determined over multiple time periods prior to the first time period (t1). 估计 With the measured mass m 测得 The ratio standard deviation is determined by multiple historical ratios between them; and The statistical control logic system can be executed by the processor (312) to determine the desired ratio range in response to the determined ratio standard deviation value.

4. The cotton harvester (15) according to claim 3, wherein: The crop storage sensor (330) includes a module quality feedback device (112) operable to generate a block cotton module quality signal representing the measured quality of cotton harvested and bundled into cotton modules during the first time period (t1). The control logic system (316) can be executed by the processor (312) to determine the mass quality of the cotton blocks harvested during the first time period (t1) in response to the mass quality signal of the cotton blocks. The operational data (313) includes harvester data, which includes required mass data of cotton bales representing the required mass range of the cotton module; and The control logic system (316) includes a calibration management logic system, which can be executed by the processor (312) to determine the yield of cotton harvested during the second time period (t2) in the following manner: In response to the determined bulk cotton module quality of the cotton harvested during the first time period (t1) being within the desired quality range of the cotton module, the updated calibration factor candidate CF is... 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the determined mass of the cotton clump module harvested during the first time period (t1) being outside the desired mass range of the cotton module, the base calibration factor CF is adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

5. The cotton harvester (15) according to claim 3, wherein: The operation data (313) stored in the memory device includes harvester data, which includes ratio range data representing the desired ratio range; and The control logic system (316) includes a calibration management logic system, which can be executed by the processor (312) to determine the cotton yield during the second time period (t2) in the following manner: In response to the estimated mass m of cotton harvested during the first time period (t1) 估计 The measured mass m of cotton harvested during the first time period (t1) 测得 The ratio between them is within the desired ratio range, and the updated calibration factor candidate CF is... 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the estimated mass m of cotton harvested during the first time period (t1) 估计 The measured mass m of cotton harvested during the first time period (t1) 测得 If the ratio between them is not within the required ratio range, the basic calibration factor CF will be adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

6. The cotton harvester (15) according to claim 3, wherein: The harvest sensor (320) includes a plurality of mass flow sensors (171'-176') operably connected to a plurality of individual air ducts (71-76), each of which is operable to generate a cotton mass flow signal representing the mass flow rate of cotton harvested and flowing through a corresponding air duct in the individual air ducts (71-76); and The control logic system (316) can be executed by the processor (312) to normalize the cotton mass flow signals generated by the plurality of mass flow sensors (171'-176') into normalized cotton mass flow signals, and sum the normalized cotton mass flow signals as a production signal representing the productivity of the cotton being harvested.

7. A method for determining crop yield during crop harvest, the method comprising: Operational data (313) is stored in a memory device (314) of a crop sensing and control system (310), the crop sensing and control system (310) including a processor (312) and a memory device (314) operably connected to the processor (312), the operational data (313) including harvester data representing the operational characteristics of the harvester for harvesting the crop; The basic calibration factor data (315) is stored in the memory device (314), the basic calibration factor data representing the basic calibration factor CF. 基础 ; The control logic system (316) is stored in the memory device (314), wherein the control logic system (316) can be executed by the processor (312) to determine crop yield; A production signal representing the productivity of the crop being harvested is generated by a harvest sensor (320) that is operably connected to the crop sensing and control system (310); A block crop signal representing measured parameters of the crop harvested during a selected time period is generated by a crop-accumulating sensor (330) that is operably connected to the crop sensing and control system (310). and The processor (312) executes the control logic system (316) to: In response to the basic calibration factor CF 基础 Applied to production signals, it determines the estimated quality m of the crop harvested during the first time period (t1). 估计 ; In response to the block crop signal, the measured mass m of the crop harvested during the first time period (t1) is determined. 测得 ; In response to the estimated mass m 估计 and the measured mass m 测得 The ratio between them determines the updated calibration factor candidate CF. 新 ;and By responding to the operating data (313), the basic calibration factor CF is adjusted. 基础 Or the updated calibration factor candidate CF 新 One of the production signals, representing the productivity of the crop harvested during the second time period (t2), generated by the harvest sensor (320) during the second time period (t2) following the first time period (t1), is selectively applied to determine the crop yield during the second time period (t2). in: Generating the block crop signal includes generating a crop module diameter signal via a module diameter feedback device (114), the crop module diameter signal representing the measured diameter of the crop module formed by the crop harvested and bundled into the crop module by the relevant harvester during the first time period (t1); The processor (312) executes the control logic system (316) to determine the crop module diameter of the crop module in response to the crop module diameter signal; The harvester data is stored in the memory device (314), including storing in the memory device (314) data on the required diameter of the crop bundle, representing the minimum required diameter of the crop module; and The control logic system (316) executed by the processor (312) includes the calibration management logic system executed by the processor (312) to determine the crop yield during the second time period (t2) in the following manner: In response to the determined crop module diameter being greater than the minimum required diameter, the updated calibration factor candidate CF is... 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the determined crop module diameter being smaller than the minimum required diameter, the basic calibration factor CF is adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

8. A method for determining crop yield during crop harvest, the method comprising: Operational data (313) is stored in a memory device (314) of a crop sensing and control system (310), the crop sensing and control system (310) including a processor (312) and a memory device (314) operably connected to the processor (312), the operational data (313) including harvester data representing the operational characteristics of the harvester for harvesting the crop; The basic calibration factor data (315) is stored in the memory device (314), the basic calibration factor data representing the basic calibration factor CF. 基础 ; The control logic system (316) is stored in the memory device (314), wherein the control logic system (316) can be executed by the processor (312) to determine crop yield; A production signal representing the productivity of the crop being harvested is generated by a harvest sensor (320) that is operably connected to the crop sensing and control system (310); A block crop signal representing measured parameters of the crop harvested during a selected time period is generated by a crop-accumulating sensor (330) that is operably connected to the crop sensing and control system (310). and The processor (312) executes the control logic system (316) to: In response to the basic calibration factor CF 基础 Applied to production signals, it determines the estimated quality m of the crop harvested during the first time period (t1). 估计 ; In response to the block crop signal, the measured mass m of the crop harvested during the first time period (t1) is determined. 测得 ; In response to the estimated mass m 估计 and the measured mass m 测得 The ratio between them determines the updated calibration factor candidate CF. 新 ;and By responding to the operating data (313), the basic calibration factor CF is adjusted. 基础 Or the updated calibration factor candidate CF 新 One of the production signals, representing the productivity of the crop harvested during the second time period (t2), generated by the harvest sensor (320) during the second time period (t2) following the first time period (t1), is selectively applied to determine the crop yield during the second time period (t2). in: Generating the block crop signal includes generating an accumulator degree signal by an accumulator degree feedback device (116), the accumulator degree signal representing the measured degree of crop harvested and received in the accumulator (105) of the relevant harvester during the first time period (t1); The processor (312) executes the control logic system (316) to determine the crop fill level of the crop harvested and received in the accumulator (105) of the relevant harvester in response to the accumulator level signal; The harvester data is stored in the memory device (314) including storing the required crop filling level data of the accumulator in the memory device (314), which represents the minimum required pile height of crops harvested and stacked in the accumulator (105) of the relevant harvester during the first time period (t1). and The control logic system (316) executed by the processor (312) includes the calibration management logic system executed by the processor (312) to determine the crop yield during the second time period (t2) in the following manner: In response to a determined crop fill level greater than the minimum required pile height of crops harvested during the first time period (t1) and received in the accumulator (105) of the relevant harvester, the updated calibration factor candidate CF is updated. 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to a determined crop fill level of crop harvested during the first time period (t1) and received in the accumulator (105) of the relevant harvester being less than the minimum required pile height, the basic calibration factor CF is adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

9. A method for determining crop yield during crop harvest, the method comprising: Operational data (313) is stored in a memory device (314) of a crop sensing and control system (310), the crop sensing and control system (310) including a processor (312) and a memory device (314) operably connected to the processor (312), the operational data (313) including harvester data representing the operational characteristics of the harvester for harvesting the crop; The basic calibration factor data (315) is stored in the memory device (314), the basic calibration factor data representing the basic calibration factor CF. 基础 ; The control logic system (316) is stored in the memory device (314), wherein the control logic system (316) can be executed by the processor (312) to determine crop yield; A production signal representing the productivity of the crop being harvested is generated by a harvest sensor (320) that is operably connected to the crop sensing and control system (310); A block crop signal representing measured parameters of the crop harvested during a selected time period is generated by a crop-accumulating sensor (330) that is operably connected to the crop sensing and control system (310). and The processor (312) executes the control logic system (316) to: In response to the basic calibration factor CF 基础 Applied to production signals, it determines the estimated quality m of the crop harvested during the first time period (t1). 估计 ; In response to the block crop signal, the measured mass m of the crop harvested during the first time period (t1) is determined. 测得 ; In response to the estimated mass m 估计 and the measured mass m 测得 The ratio between them determines the updated calibration factor candidate CF. 新 ;and By responding to the operating data (313), the basic calibration factor CF is adjusted. 基础 Or the updated calibration factor candidate CF 新 One of the production signals, representing the productivity of the crop harvested during the second time period (t2), generated by the harvest sensor (320) during the second time period (t2) following the first time period (t1), is selectively applied to determine the crop yield during the second time period (t2). in: Storing the operation data (313) in the memory device (314) includes storing the estimated quality m determined during multiple time periods prior to the first time period (t1). 估计 With the measured mass m 测得 Multiple historical ratios between; Storing the control logic system (316) in the memory device (314) includes storing a statistical control logic system, which can be executed by the processor (312) to determine an estimated quality m based on a plurality of time periods prior to the first time period (t1). 估计 With the measured mass m 测得 The ratio standard deviation value is determined by storing the multiple historical ratios between them; and The control logic system (316) executed by the processor (312) includes the statistical control logic system executed by the processor (312) to determine the desired ratio range based on the determined ratio standard deviation value.

10. The method according to claim 9, wherein: The production signal representing the productivity of the crop being harvested includes a block crop module quality signal generated by the module quality feedback device (112) representing the measured quality of the crop harvested and bundled into crop modules during the first time period (t1). The processor (312) executes the control logic system (316) to determine the quality of the block crop module of the crop harvested during the first time period (t1) in response to the block crop module quality signal; The harvester data is stored in the memory device (314), including storing in the memory device (314) the required mass data of the crop bundles representing the required mass range of the crop module; and The control logic system (316) executed by the processor (312) includes the calibration management logic system executed by the processor (312) to determine the crop yield during the second time period (t2) in the following manner: In response to the determined block crop module quality of the crop harvested during the first time period (t1) being within the desired quality range of the crop module, the updated calibration factor candidate CF is... 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the determined block crop module quality of the crop harvested during the first time period (t1) being outside the required quality range of the crop module, the basic calibration factor CF is adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

11. The method according to claim 9, wherein: Storing the operation data (313) in the memory device includes storing ratio range data, which represents the desired ratio range; and Executing the control logic system (316) includes the processor (312) executing a calibration management logic system to determine the crop yield during the second time period (t2) in the following manner: In response to the estimated mass m of the crop harvested during the first time period (t1) 估计 The measured mass m of the crop harvested during the first time period (t1) 测得 The ratio between them is within the desired ratio range, and the updated calibration factor candidate CF is... 新 Applied to the production signal generated by the harvest sensor (320) during the second time period (t2), or In response to the estimated mass m of the crop harvested during the first time period (t1) 估计 The measured mass m of the crop harvested during the first time period (t1) 测得 If the ratio between them is not within the required ratio range, the basic calibration factor CF will be adjusted. 基础 The production signal generated by the harvest sensor (320) during the second time period (t2) is applied.

12. The method according to claim 9, wherein: Generating the production signal includes using multiple mass flow sensors (171'-176') operably connected to multiple individual air ducts (71-76) of the associated harvester, each of the mass flow sensors (171'-176') being operable to generate a cotton mass flow signal representing the mass flow rate of cotton harvested and flowing through the respective air duct in the individual air duct (71-76) of the associated harvester; and The execution of the control logic system (316) includes the processor (312) executing the control logic system to normalize the cotton mass flow signals generated by the plurality of mass flow sensors (171'-176') into normalized cotton mass flow signals, and summing the normalized cotton mass flow signals as a production signal representing the productivity of the cotton being harvested.

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