Agricultural system and method for automatically determining losses of harvesting operations

Abstract

The present disclosure relates to agricultural systems and methods for automatically determining losses of a harvesting operation. An agricultural system for automatically determining losses of a harvesting operation includes a loss sensor supported on an agricultural harvester and having a field of view directed to a field portion behind a bottom cutter of the agricultural harvester, wherein the loss sensor is configured to generate data indicative of ground losses. Further, the agricultural system includes a computing system communicatively coupled to the loss sensor. The computing system is configured to identify non-height correlated ground losses during a harvesting operation of the agricultural harvester based at least in part on the data generated by the loss sensor. Further, the computing system is configured to initiate a control action in response to the non-height correlated ground losses.

Description

Technical Field

[0001] This disclosure generally relates to agricultural systems and methods for automatically determining losses during harvesting operations, and more specifically, to automatically identifying non-highly relevant ground losses (such as one or more of exposed roots, broken rootstocks, fixed stems, fallen stems or fallen stem segments) and cutting-highly relevant ground losses during harvesting operations. Background Technology

[0002] Typically, agricultural harvesters include components of processing equipment for handling the harvested crop material. For example, a sugarcane harvester typically includes a bottom cutter assembly configured to cut sugarcane stalks. The cut sugarcane stalks are then conveyed via a feed roller assembly to a cutter assembly for cutting or dicing the sugarcane stalks into segments or billets (e.g., 6-inch segments). The processed crop material exiting the cutter assembly is then guided as a stream of segments and debris into a main extractor, where airborne debris (e.g., dust, dirt, leaves, etc.) is separated from the sugarcane segments. The separated / cleaned segments then fall into a lifting assembly for transport to an external storage device.

[0003] During harvesting operations using a combine harvester, various ground losses can occur. For example, when the bottom cutter is too high, some harvestable stalks are left behind, reducing the overall yield of the harvesting operation. When the bottom cutter is too low, it may cause stalks to be at least partially uprooted and / or otherwise damage pruning seedlings intended for future growth. Pruning seedlings may break when the combine harvester's ground speed is too high and / or the bottom cutter blades are dull. Furthermore, some stalks may pass under the first roller of the combine harvester's roller assembly, leaving some or all of them on the ground. Additionally, some stalks may have been knocked down before the combine harvester, leaving them uncut in the field. Typically, these different losses can only be assessed manually after the harvesting operation has concluded. Such manual assessments are time-consuming, can only be performed on relatively small areas, and do not allow for the assessment and prevention of losses during the harvesting operation.

[0004] Therefore, agricultural systems and methods for automatically determining losses during harvesting operations would be technically welcome. Summary of the Invention

[0005] Aspects and advantages of the invention will be set forth in part in the description which follows, or may become apparent from the description, or may be learned by practice of the invention.

[0006] In one aspect, this subject matter relates to an agricultural system for automatically determining losses during harvesting operations. The agricultural system includes a loss sensor supported on an agricultural harvester, the loss sensor having a field of view pointing towards a portion of the field behind the bottom cutter of the agricultural harvester, wherein the loss sensor is configured to generate data indicating ground loss. Furthermore, the agricultural system includes a computing system communicatively coupled to the loss sensor. The computing system is configured to identify non-highly correlated ground loss during harvesting operations of the agricultural harvester, at least in part based on the data generated by the loss sensor. Furthermore, the computing system is configured to initiate control actions in response to the non-highly correlated ground loss.

[0007] In another aspect, this topic relates to an agricultural method for automatically determining losses during harvesting operations. The agricultural method includes using a computing system to receive data from loss sensors supported on an agricultural harvester, wherein the loss sensors have a field of view pointing towards the field portion behind the bottom cutter of the agricultural harvester. The agricultural method also includes using the computing system during harvesting operations of the agricultural harvester to identify ground damage based at least in part on the data from the loss sensors. Furthermore, the agricultural method includes using the computing system to initiate control actions in response to the non-highly correlated ground damage.

[0008] These and other features, aspects, and advantages of the invention will become more readily understood by referring to the following description and the appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. Attached Figure Description

[0009] The invention is fully and easily implemented (including its best mode) for those skilled in the art, as illustrated in the accompanying drawings, in which:

[0010] Figure 1 The illustration shows a side view of one embodiment of an agricultural harvester according to aspects of this subject matter;

[0011] Figures 2A-2F The illustrations show different ground losses that may occur during harvesting operations, based on aspects of this topic;

[0012] Figure 3 The diagram illustrates a system for automatically determining losses in harvesting operations, based on aspects of this topic.

[0013] Figure 4 An example of a loss map illustrating ground loss from harvesting operations, based on aspects of this topic, is illustrated; and

[0014] Figure 5 The illustration shows a flowchart of an embodiment of a method for automatically determining the loss of a harvesting operation, according to aspects of this subject matter.

[0015] The repeated use of reference symbols in this specification and accompanying drawings is intended to indicate the same or similar features or elements of the art. Detailed Implementation

[0016] Reference will now be made in detail to embodiments of the invention, one or more examples of which are illustrated in the accompanying drawings. Each example is provided by way of explanation rather than limitation of the invention. Indeed, it will be apparent to those skilled in the art that various modifications and variations can be made to the invention without departing from its scope and spirit. For example, features shown or described as part of one embodiment may be used in conjunction with another embodiment to produce further embodiments. Therefore, the invention is intended to cover such modifications and variations within the scope of the appended claims and their equivalents.

[0017] In general, this subject matter relates to agricultural systems and methods for automatically determining losses during harvesting operations. More specifically, in several embodiments, a loss sensor (e.g., a camera) may be placed on an agricultural harvester, and the loss sensor has a field of view pointing behind the bottom cutter of the agricultural harvester, such that the loss sensor is configured to generate data indicating ground loss (particularly ground loss present at the bottom cutter) during the execution of the harvesting operation. A computing system may be configured to identify ground losses of the harvesting operation at least in part based on the data from the loss sensor. The computing system may be able to identify one or more of non-highly correlated ground losses based on the data from the loss sensor, such as exposed roots, broken rootstocks, fixed stems, fallen stems, or fallen stem segments. In some embodiments, the computing system may also be able to identify cut-highly correlated ground losses at least in part based on the data from the loss sensor. Based on the identified ground losses, the computing system may automatically initiate one or more control actions, such as raising the bottom cutter, reducing the ground speed of the harvester, or controlling the operation of the user interface. Using loss sensors enables the automatic identification of ground loss during agricultural operations, which significantly reduces the time spent identifying ground loss, increases the accuracy of ground loss estimation, and allows for adjustments to reduce further ground loss, especially non-highly correlated ground loss that may affect subsequent harvesting operations.

[0018] Now refer to the attached diagram, Figure 1A side view of one embodiment of an agricultural harvester 10 according to aspects of this subject matter is illustrated. As shown, the harvester 10 is configured as a sugarcane harvester. However, in other embodiments, the harvester 10 may correspond to any other suitable agricultural harvester known in the art.

[0019] like Figure 1 As shown, the harvester 10 includes a frame 12, a pair of front wheels 14, a pair of rear wheels 16, and an operator's cab 18. The harvester 10 may also include a main power source (e.g., an engine mounted on the frame 12) that powers one or both pairs of wheels 14, 16 via a transmission (not shown). Alternatively, the harvester 10 may be a tracked harvester, thus including engine-driven tracks different from the wheels 14, 16 shown. The engine may also drive a hydraulic fluid pump (not shown) configured to generate pressurized hydraulic fluid to power the various hydraulic components of the harvester 10.

[0020] The harvester 10 may include various components for cutting, handling, cleaning, and discharging sugarcane during harvesting from the field 20. For example, during operation, the harvester 10 traverses the field 20 to harvest crops such as sugarcane. The harvester 10 may include a topping assembly 22 positioned at its front end to cut the sugarcane as the harvester 10 moves in the forward direction. As shown, the topping assembly 22 may include both a collection disc 24 and a cutting disc 26. The collection disc 24 may be configured to collect sugarcane stalks so that the cutting disc 26 can be used to cut off the top of each stalk. As generally understood, the height of the topping assembly 22 can be adjusted by the operator as needed via a pair of hydraulically raised and lowered arms 28. After the height of the topping assembly 22 is adjusted via the arms 28, the collection disc 24 on the topping assembly 22 can act to collect the sugarcane stalks as the harvester 10 advances through the field 20, while the cutting disc 26 cuts off the tops of the multi-leaved sugarcane stalks for disposal along both sides of the harvester 10.

[0021] The harvester 10 may further include a divider 30 extending upward and backward from the field 20. Typically, the divider 30 may include two auger feed rollers 32. Each feed roller 32 may include a ground shoe 34 at its lower end to assist the divider 30 in collecting sugarcane stalks for harvesting. As the stalks enter the divider 30, the ground shoe 34 may be set with an operating width to determine the amount of sugarcane entering the passage of the harvester 10. The auger feed rollers 32 then collect the stalks into the passage to allow the action of the knockdown roller 36, in conjunction with the finned roller 38, to bend the stalks downward. The knockdown roller 36 is positioned near the front wheel 14, while the finned roller 38 is positioned behind or downstream of the knockdown roller 36. As the knockdown roller 36 rotates, the sugarcane stalks being harvested are knocked down. The finned roller 38 may include a plurality of discontinuously mounted fins 40 that assist in forcing the sugarcane stalks downward. For example, as the finned roller 38 rotates, the sugarcane stalks that have already been knocked down by the knocking roller 36 are separated and further knocked down by the finned roller 38 as the harvester 10 continues to move forward relative to the field 20.

[0022] like Figure 1 As shown, once the stalk is tilted downwards, the bottom cutter assembly 42 (hereinafter referred to as "bottom cutter 42") can then cut the bottom of the stalk from the field 20. The bottom cutter 42 is positioned behind or downstream of the finned roller 38. As generally understood, the bottom cutter 42 may include a knife or blade 43 for cutting the sugarcane stalk as the sugarcane is harvested. The blade 43, located on the periphery of the assembly 42, can be rotated by a hydraulic motor (not shown) powered by the vehicle's hydraulic system. Furthermore, in several embodiments, the blade may be tilted downwards to cut the bottom of the sugarcane as it is knocked down by the finned roller 38. Additionally, the height of the bottom cutter 42 (e.g., the blade 43) above the field 20 is adjustable. For example, as will be explained in more detail below, it is preferable to cut the sugarcane stalk at or below a specific cutting height above the field 20 to maximize the harvest of sugarcane during the current harvesting operation and allow any remaining pruned seedlings to regrow during the next growing season. Therefore, the vertical height of the bottom cutter 42 can be adjusted to maintain the cutting height for harvesting sugarcane at or below a specific cutting height.

[0023] The cut stalks are then fed by the movement of the harvester 10 to a feed roller assembly 44 located downstream of the bottom cutter 42, the feed roller assembly 44 being used to move the cut sugarcane stalks from the bottom cutter 42 along the processing path. Figure 1As shown, the feed roller assembly 44 may include a plurality of bottom rollers 46 and a plurality of opposing top pressing rollers 48. Harvested sugarcane can be pressed between the various bottom rollers, top rollers 46, 48 to make the sugarcane stalks more evenly distributed and to transport the harvested sugarcane downstream during transport. As the sugarcane is transported through the feed roller assembly 44, debris (e.g., rocks, dust, etc.) can be allowed to fall onto the field 20 via the bottom rollers 46.

[0024] Downstream of the feed roller assembly 44 (e.g., adjacent to the rearmost bottom and top rollers 46, 48), the cutter assembly 50 can cut or sever the compressed sugarcane stalks. Typically, the cutter assembly 50 can be used to cut the sugarcane stalks into segments or “blanks” 51, for example, the blades 51 may be six (6) inches long. The blades 51 can then be advanced toward the lift assembly 52 of the harvester 10 for delivery to an external receiver or storage device (not shown).

[0025] As commonly understood, a main extractor assembly 54 may be provided to help separate debris 53 (e.g., dust, dirt, leaves, etc.) from the sugarcane stalk 51 before it is received by the elevator assembly 52. ​​The main extractor assembly 54 is located directly behind or downstream of the cutter assembly 50 relative to the flow of the harvested crop and is oriented to guide the debris 53 outward from the harvester 10. The main extractor assembly 54 may include an extractor fan 56 mounted within a housing 55 for generating suction or vacuum sufficient to separate the debris 53 and force it into the main extractor assembly 54 through an inlet of the housing 55 and out of the harvester 10 via an outlet of the housing 55. The separated or cleaned stalk 51 is heavier than the debris 53 being discharged through the extractor 54, so the stalk 51 may fall downward to the elevator assembly 52 instead of being extracted through the main extractor assembly 54.

[0026] like Figure 1 As further shown, the lifting assembly 52 may include a lifting housing 58 and a lifting mechanism 60 extending within the lifting housing 58, the lifting mechanism 60 extending between a lower proximal end 62 and an upper distal end 64. Typically, the lifting mechanism 60 may include an annular chain 66 and a plurality of scrapers or blades 68 attached to and evenly spaced along the chain 66. The blades 68 may be configured to hold the sugarcane slab 51 on the lifting mechanism 60 as the slab is raised along the top section 70 defined between the proximal and distal ends 62, 64 of the lifting mechanism. Furthermore, the lifting mechanism 60 may include a lower sprocket and an upper sprocket 72, 74 located at its proximal and distal ends 62, 64, respectively. Figure 1 As shown, the elevator motor 76 can be coupled to one of the sprockets (e.g., upper sprocket 74) to drive the chain 66, thereby allowing the chain 66 and the blade 68 to travel indefinitely between the near end, far end 62, 64 of the elevator 60.

[0027] Furthermore, in some embodiments, fragments 53 of chips or waste (e.g., dust, dirt, leaves, etc.) separated from the raised sugarcane stubble 51 can be discharged from the harvester 10 via a secondary extractor assembly 78 coupled to the rear end of the elevator housing 58. For example, the chips 53 discharged by the secondary extractor assembly 78 may be residual chips after the stubble 51 has been cleaned and the chips 53 have been discharged by the main extractor assembly 54. Figure 1 As shown, the auxiliary extractor assembly 78 can be positioned adjacent to the distal end 64 of the elevator 60 and can be oriented to guide the debris 53 outward from the harvester 10. Furthermore, an extractor fan 80 can be mounted at the bottom of the auxiliary extractor assembly 78 to generate suction or vacuum sufficient to draw in the debris 53 and force it through the auxiliary extractor assembly 78. The separated, cleaned billet segments 51, heavier than the debris 53 discharged through the extractor 78, can then fall from the distal end 64 of the elevator 60. Typically, the billet segments 51 may fall downward through the elevator discharge port 82 of the elevator assembly 52 into an external storage device (not shown), such as a sugarcane billet cart.

[0028] According to aspects of this subject matter, one or more loss sensors 100 may be supported on the harvester 10. Specifically, the loss sensor 100 may be positioned such that its field of view points towards the portion of the field 20 behind the bottom cutter 42 and in front of the location where the debris 53 separated by the harvester 10 (e.g., by the extractor assemblies 54, 78) falls back onto the field. Thus, the loss sensor 100 is able to generate data indicating different ground loss conditions during the harvesting operation because it has a relatively unobstructed field of view of the field surface behind the bottom cutter 42 and before the location where the debris 53 settles back onto the field surface. Preferably, the loss sensor 100 may be configured to generate data of an image or similar image of the field 20, including cut roots or stubble, fallen stems or fragments, etc., which can be used to determine different ground loss conditions during the harvesting operation, such as non-height-dependent ground loss and optionally cut height-dependent ground loss.

[0029] For example, the loss sensor 100 can correspond to any suitable camera, such as a monospectral camera or a multispectral camera (e.g., configured to capture images in the visible and / or infrared spectral ranges). Furthermore, in certain embodiments, the camera can correspond to a single-lens camera configured to capture two-dimensional images, or a stereo camera with two or more lenses, each having a separate image sensor to allow the camera to capture stereoscopic photographic images or three-dimensional images. Alternatively, the imaging device 104 can correspond to any other suitable image capture device and / or other visual sensors capable of capturing data of an "image" of a field or other similar images. For example, the imaging device 104 can correspond to or include a radio detection and ranging (RADAR) sensor and / or a light detection and ranging (LIDAR) sensor.

[0030] As will be explained in more detail below, data from sensor 100 can be used to automatically identify ground loss during harvesting operations, and one or more control actions can then be performed based on the identified ground loss, such as automatically identifying ground loss and / or reducing or preventing further ground loss.

[0031] Now refer to Figures 2A-2F , Figures 2A-2F This paper illustrates various ground losses that may occur during harvesting operations, based on aspects of this topic. Specifically, Figure 2A The illustration shows the bottom cutter 42 ( Figure 1 A series of crop residues or pruned seedlings 120 left after work on a portion of field 20 are illustrated, particularly pruned seedlings 120 of varying heights. As indicated above, the remaining pruned seedlings 120 preferably have a height below the maximum pruned seedling height threshold H1 (e.g., 5 cm) to maximize crop harvesting during the harvesting operation and to allow the pruned seedlings to regrow in the next season. Therefore, crop residues higher than the maximum pruned seedling height threshold H1 (e.g., crop residues higher than 5 cm), such as... Figure 2A The two rightmost stalks 120 are considered ground losses related to cutting height because there is remaining material that could have been harvested in the current harvesting operation. Typically, when stalks are too high, the bottom cutter 42 ( Figure 1 The cutting height of the stalks is set too high. Therefore, as will be explained in more detail below, when it is determined that the stalks are too high, the cutting height of the bottom cutter 42 can be reduced. It should be understood that the maximum pruning height threshold H1 can be predetermined and / or selected in any suitable manner. For example, the maximum pruning height threshold H1 can correspond to the various crops being harvested, the field conditions of the field being harvested (e.g., moisture content), etc.

[0032] Figure 2B The illustration shows the bottom cutter 42 ( Figure 1 A further series of root-cut seedlings 120 left after work on a portion of field 20, particularly illustrated in various fragmented root-cut seedlings 120. When the bottom cutter 42 ( Figure 1 One or more blades 43 ( Figure 1 When the bottom cutter 42 becomes blunt, and / or when the ground speed of the harvester 10 is too high, it may impact the stalk instead of simply cutting it, causing the stalk to break or fracture. When the fracture is too severe, such as... Figure 2B As shown, root-cut seedlings may be excessively damaged and unable to regrow, which affects yield in subsequent harvesting operations. Therefore, root-cut seedling breakage is considered a non-highly correlated ground loss. As will be explained in more detail below, to prevent further breakage of root-cut seedlings 120 during harvesting operations, the ground speed of the harvester 10 can be reduced, and / or the bottom cutter 42 can be replaced. Figure 1 ) blade 43 ( Figure 1 ).

[0033] Figure 2C The illustration shows another example of non-height-related ground loss, specifically, where the root-pruned seedling 120 has been at least partially uprooted, exposing at least some of the roots 120R of the root-pruned seedling 120. When the bottom cutter 42 ( Figure 1 When the cutting height is too low, and / or when the ground speed of the harvester 10 is too high, the root 120R may not be able to adequately offset the cut on the stalk by the bottom cutter 42. Figure 1 ) blade 43 ( Figure 1 The torque caused by contact with the stem. Therefore, as the stem is cut, the root-cut seedling 120 may be knocked down, exposing some roots 120R. If not replanted, this may affect the crop's ability to regrow, thus reducing the potential yield of subsequent harvests. As will be explained in more detail below, to prevent more root-cut seedlings 120 from being uprooted during harvesting operations, the bottom cutter 42 ( Figure 1 The cutting height can be adjusted, and / or the ground speed of the harvester 10 can be reduced.

[0034] In some instances, the stalk 124 may be knocked down or bent in the field 20 before the harvester 10. Bent or fixed stalks 124 may not be retrieved by the harvester 10 during the harvesting operation, and may thus remain substantially intact in the field, thereby reducing the yield of the harvesting operation. For example, as... Figure 2D As shown, the bottom end of stem 124 remains at least partially buried or embedded in the ground, making the top end of stem 124 clearly visible. Furthermore, the length of stem 124 is greater than the maximum height of the pruned seedling H1. Therefore, the fixed stem 124 is another example of non-height-related ground loss in current harvesting operations.

[0035] Figure 2E and 2F The illustrations show the fallen stem and the fallen stem segment, respectively. The stem 124 is cut by the bottom cutter 42 (…). Figure 1 After being cut, the stem 124 is directed toward the feed roller assembly 44. Figure 1 ) guide. However, in some instances, the stalk 124 may be guided from the feed roller assembly 44 ( Figure 1 The first roller passes beneath the stalk, and the stalk falls as a complete stem 124 onto the field 20. In such examples, as... Figure 2E As shown, the length of stem 124 is greater than the maximum root-cut seedling height H1, and both ends of stem 124 may be clearly visible. In other instances, as stem 124 travels from the bottom cutter 42 to the feed roller assembly 44 ( Figure 1 The stem 124 may break into one or more segments, and the stem segments 126 fall onto the field 20 in the feed roller assembly 44, such as... Figure 2F As shown in the diagram, stalk segments 126 may have varying lengths, but are typically much shorter than whole stalks. Therefore, fallen stalks and stalk segments also reduce the overall yield of the harvesting operation and are a further example of non-highly correlated ground loss. Fallen stalks and stalk segments may occur when the stalk feeding geometry (e.g., the alignment between the knockdown roller 36 and the bottom cutter 42) is not ideal and / or when the stalk feeding assembly is not properly cleaned. As will be discussed below, the knockdown roller 36 may be automatically adjustable, and / or may alert the operator to perform maintenance checks based on the frequency of such fallen stalks and stalk segments.

[0036] Now refer to Figure 3 , Figure 3 A schematic diagram of a system 200 for automatically determining losses in harvesting operations is illustrated according to aspects of this topic. In general, reference will be made to... Figure 1 The description of the agricultural harvester 10 is provided for reference. Figures 2A-2F The different examples of ground loss are used to illustrate system 200. However, it should be understood that the disclosed system 200 can be implemented with harvesters having any other suitable configuration and / or with any other suitable type of ground loss.

[0037] In various embodiments, system 200 may include one or more computing systems 202 and various other components configured to be communicatively coupled to and / or controlled by computing system 202, such as loss sensor 100, one or more position sensors 150, one or more user interfaces 152, one or more bottom cutter actuators 154, one or more knockdown roller actuators 156 and / or one or more drive devices 158.

[0038] Typically, computing system 202 can correspond to any suitable processor-based device, such as a computing device or any combination of computing devices. Therefore, as... Figure 3 As shown, computing system 202 typically includes one or more processors 204 and associated memory devices 206 configured to perform various computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations, etc. disclosed herein). As used herein, the term "processor" refers not only to an integrated circuit included in a computer in the art, but also to a controller, microcontroller, microcomputer, programmable logic controller (PLC), application-specific integrated circuit, and other programmable circuits. Furthermore, memory 206 typically includes memory elements, including but not limited to computer-readable media (e.g., random access memory (RAM)), computer-readable non-volatile media (e.g., flash memory), floppy disks, optical disc read-only memory (CD-ROM), magneto-optical disc (MOD), digital versatile optical disc (DVD), and / or other suitable memory elements. Such memory 206 is typically configured to store information accessible to processor 204, including data 208 that can be retrieved, manipulated, created, and / or stored by processor 204, and instructions 210 that can be executed by processor 204.

[0039] In several embodiments, data 208 may be stored in one or more databases. For example, memory 206 may include a loss database 212 for storing loss data received from loss sensor 100. For example, loss sensor 100 may be configured to continuously or periodically capture loss data associated with a portion of the field during harvesting operations. For example, as discussed above, loss sensor 100 may be associated with harvester 10 configured to perform harvesting operations within field 20. In particular, loss sensor 100 may be configured to generate loss data 212 indicating ground loss (such as cut height-related ground loss and non-height-related ground loss) present behind the bottom cutter 42 (and in front of the location where waste is discharged from harvester 10). In such embodiments, loss data transmitted to computing system 202 may be stored in loss database 212 for subsequent processing and / or analysis. It should be understood that, as used herein, the term “loss data” can include any suitable type of data received from loss sensor 100 that allows for the analysis and / or estimation of ground loss, particularly ground loss that is height-dependent and non-height-dependent, as will be explained in more detail below.

[0040] It should be understood that the loss data 212 may be stored geographically, or may otherwise be stored together with corresponding location data associated with the specific location in the field where such data was collected. In one embodiment, the loss data 212 may be associated with a corresponding location in the field based on location data received from a location sensor 150, which may include a Global Positioning System (GPS) or another similar positioning device, and is configured to transmit the location corresponding to the position of the harvester 10 in the field when the loss sensor 100 collects the loss data 212.

[0041] Still refer to Figure 3 In several embodiments, instructions 210 stored in memory 206 of computing system 202 can be executed by processor 204 to implement control module 214 and / or mapping module 216. Typically, control module 214 and / or mapping module 216 can be configured to analyze loss data 212 from loss sensor 100 to determine the location of different ground losses throughout the field. For example, as indicated above, loss data 212 from loss sensor 100 may include image data and / or similar image data of a portion of field 20 behind bottom cutter 42. Computing system 202 (e.g., modules 214, 216) can be configured to analyze the image or similar image loss data 212 using any suitable processing techniques (e.g., image processing techniques), relationships, and / or algorithms to determine different types of ground losses present in the field behind bottom cutter 42. For example, suitable processing or analysis techniques may include performing spatial analysis on the received image or image data. For example, geometric or spatial processing algorithms, shape detection and / or edge finding or outer edge finding algorithms can distinguish the shape, color, edge, etc. of the root-cut seedlings, stems or stem segments 120, 124, 126 from the field 20, and further determine one or more ground losses based on one or more of the following: the height of the root-cut seedling 120, the presence of exposed roots 120R, the degree of fragmentation of the root-cut seedling 120, the length of the stem 124 and / or stem segment 126.

[0042] For example, as indicated above, when the height of one or more root-pruned seedlings 120 exceeds the maximum root-pruned seedling height threshold H1 ( Figure 2A When the maximum pruning height threshold H1 is determined, the calculation system 202 can determine that there is ground loss related to the cutting height. It should be understood that the maximum pruning height threshold H1 can be predetermined and stored in the memory 206 of the calculation system 202, or can be otherwise provided to the calculation system 202. Furthermore, as indicated above, when it is determined that the degree of fragmentation of one or more pruning seedlings 120 is too severe (e.g., as...), the calculation system 202 can determine that there is ground loss related to the cutting height. Figure 2BAs shown, when the root-pruned seedling has clearly split along its length and / or has a broken end, the calculation system 202 can determine that there is a non-height-related ground loss, specifically, a broken root-pruned seedling. Furthermore, as indicated above, when root 120R as... Figure 2C When exposed as shown, the calculation system 202 can determine the presence of non-height-related ground loss, specifically, exposed roots. When a knocked-down or bent stem 124 is detected to have a length greater than the maximum pruning height H1 and an end at least partially embedded in the ground, a fixed stem-type non-related ground loss is determined. Similarly, when stem 124 and / or a portion of stem 126 is detected behind the bottom cutter 42, for example, where both ends of stem 124 or a portion of stem 126 are visible, a fallen stem-type and / or fallen stem segment-type non-related ground loss is determined.

[0043] Control module 214 can be configured to automatically initiate control actions in response to identified ground damage. For example, control actions may include operating the user interface 152 to broadly indicate the type of identified ground damage, such as non-height-related ground damage and / or cutting height-related ground damage. Where possible, control actions may additionally or alternatively include controlling the operation of harvester 10 during harvesting operations to help prevent further ground damage.

[0044] For example, as mentioned above Figure 2A As indicated, when ground loss includes ground loss related to cutting height, the control actions of the control module 214 may include controlling the operation of the bottom cutter actuator 154 to adjust the cutting height of the bottom cutter 42. Specifically, the control module 214 may initiate control of the bottom cutter actuator 154 to reduce the cutting height of the bottom cutter 42 (i.e., cut the stalk closer to the ground), thereby reducing the amount of harvestable stalk left.

[0045] When ground damage includes broken, root-cut seedlings, refer to the above. Figure 2B As indicated, control module 214 can initiate control actions, including controlling the operation of the harvester 10's drive equipment 158 ​​(e.g., engine, transmission, brakes, etc.) to reduce the ground speed of the harvester 10, thereby reducing or preventing further breakage of the rooted seedlings. In some instances, when ground damage includes broken rooted seedlings, particularly if further breakage of the rooted seedlings is detected after reducing the ground speed of the harvester 10, control actions may additionally or alternatively include controlling the operation of the user interface 152 associated with the harvester 10 to request replacement of the blades 43 of the bottom cutter 42.

[0046] When ground loss includes exposed roots, as referred to above. Figure 2C As discussed, control module 214 can automatically initiate control actions, including controlling the operation of bottom cutter actuator 154 to raise bottom cutter 42, controlling the operation of drive device 158 to reduce the ground speed of harvester 10, or both, to mitigate or prevent root-cut seedlings from being knocked over and exposing roots. In some instances, control actions may additionally or alternatively include controlling the operation of user interface 152 associated with harvester 10 to request replacement of blade 43 of bottom cutter 42. Specifically, in one embodiment, if exposed roots still appear after raising bottom cutter 42 and / or reducing the ground speed of harvester 10, control actions may additionally include controlling the operation of user interface 152 associated with harvester 10 to request replacement of blade 43 of bottom cutter 42.

[0047] When ground loss includes fixed stems, as referred to above. Figure 2D As discussed, control module 214 can initiate control actions, including controlling the operation of user interface 152 to indicate the presence of fixed stems. In some instances, user interface 152 can be controlled solely to indicate the presence of fixed stems when the percentage or number of fixed stems reaches or exceeds a presence threshold.

[0048] When ground loss includes fallen stems and / or fallen stem segments, as referred to above. Figure 2E and 2F As discussed, control module 214 can automatically initiate control actions, including controlling the operation of the knockdown roller actuator 156 to adjust the geometry of the harvester 10's feeding system and / or controlling the operation of the user interface 152 to notify the operator that maintenance operations on the harvester 10's feeding system are required. In some instances, the notification to the operator can be increased in intensity or frequency depending on the intensity or frequency of the fallen stalks and / or fallen stalk segments present.

[0049] Furthermore, in some embodiments, the calculation system 202 may be configured to determine at least one of the quantity or volume of ground loss. Specifically, the calculation system 202 may be configured to determine the quantity or volume of non-height-related ground loss, the quantity or volume of non-height-related ground loss for each type, and / or the quantity or volume of cutting height-related ground loss. The control module 214 may then be configured to control the operation of the user interface 152 to indicate the quantity and / or volume of identified ground loss. The calculation system 202 may additionally or alternatively estimate, at least in part, the percentage of total ground loss relative to total harvest volume, the percentage of each ground loss type relative to total harvest volume, etc., based on the loss data 212 and yield data from the harvest monitor. The control module 214 may then be configured to control the operation of the user interface 152 to indicate this percentage. The calculation system 202 may be further configured to determine the estimated yield for subsequent harvesting operations in the field, at least in part, based on ground loss, particularly non-height-related ground loss. For example, as indicated above, when root-pruned seedlings are broken and / or uprooted, they may not be able to regrow to stems of the previous height. Therefore, when certain non-highly correlated ground losses exist, future harvesting operations may result in reduced yields. The control module 214 can then be configured to control the operation of the user interface 152 to indicate an estimate of future harvest yield or an estimate of future yield reduction.

[0050] Control actions may additionally or alternatively include automatically generating management reports based at least in part on loss data. For example, management reports may include the quantity or volume of ground loss (e.g., the quantity or volume of non-height-related ground loss and / or cut-height-related ground loss), the percentage of ground loss (e.g., non-height-related ground loss and / or cut-height-related ground loss), estimated yield, and / or analogies for harvester 10 that can help identify the root cause of the loss. In some embodiments, management reports may be generated based at least in part on loss data from multiple harvesters 10. In such embodiments, management reports may be categorized at least in part based on loss data for different harvesters 10, operators, fields, operating methods, etc. By aggregating data from multiple harvesters 10, field maps for subsequent operations in the field can be more easily generated. Such management reports can be displayed to harvester operators in real time and can be transferred to another computing system and / or stored for later use.

[0051] The mapping module 216 can also be configured to automatically initiate control actions in response to identified ground losses. More specifically, the mapping module 216 can be configured to generate a loss map 160 indicating the location of each identified ground loss within the field, based at least in part on the loss data 212. In one embodiment, the mapping module 216 can indicate different types of identified ground losses on the loss map 160, particularly different non-height-dependent ground losses and / or cut-height-dependent ground losses. For example, as... Figure 4 As shown, a broken, pruned seedling can be represented by an "X", an exposed root by an "R", a small circle by a residual plant that is too tall compared to the maximum pruned seedling height threshold, and a fixed or fallen stem or stem segment can be represented by a line with a corresponding or proportional length. However, it should be understood that these examples should not be interpreted as limiting. The generated loss map 160 can be displayed on a user interface 152 and / or any other suitable device.

[0052] Return to reference Figure 3 The computing system 202 may also include a communication interface 218, which provides the computing system 202 with means for communicating with any of the various system components described herein. For example, one or more communication links or interfaces (e.g., one or more data buses) may be provided between the communication interface 218 and the loss sensor 100 to allow the computing system 202 to receive loss data transmitted from the loss sensor 100. Similarly, one or more communication links or interfaces (e.g., one or more data buses) may be provided between the communication interface 218 and the position sensor 150 to allow the computing system 202 to receive position data transmitted from the position sensor 150. Furthermore, as will be explained below, one or more communication links or interfaces (e.g., one or more data buses) may be provided between the communication interface 218 and any system component configured to implement one or more of the disclosed methods. For example, as shown, the computing system 202 may be communicatively coupled to the communication interface 218 via one or more communication links or interfaces between the user interface 152, the bottom cutter actuator 154, the knockdown roller actuator 156, and the drive device 158.

[0053] It should be understood that the computing system 202 may correspond to the existing controller of the harvester 10. For example, the computing device 202 may correspond to the harvester controller of the harvester 10. However, the computing device 202 may also correspond to the controller of one or more remote control devices separate from the harvester 10, such as part of a field-local base station or part of a cloud-based remote computing system located far from the field.

[0054] Now refer to Figure 5 , Figure 5 A flowchart illustrating one embodiment of a method 300 for automatically determining losses in harvesting operations is shown according to aspects of this subject matter. Generally, reference will be made herein to... Figure 1 Harvester 10 (see description) Figures 2A-2F Examples of ground losses and references Figure 3 The method 300 is illustrated using system 200. However, it should be understood that the disclosed method 300 can be implemented with harvester 10 with any other suitable configuration, with any other suitable ground loss, and / or with a system with any other suitable system configuration. Furthermore, although... Figure 5 The steps are described in a specific order for illustrative and discussion purposes, but the methods discussed herein are not limited to any particular order or arrangement. Those skilled in the art will understand, using the disclosure provided herein, that the individual steps of the methods disclosed herein may be omitted, rearranged, combined, and / or modified in various ways without departing from the scope of this disclosure.

[0055] like Figure 5 As shown, at (302), method 300 may include receiving data from a loss sensor supported on an agricultural harvester. For example, as described above, computing system 202 may receive data from a loss sensor 100 supported on an agricultural harvester 10, wherein the loss sensor 100 has a field of view pointing towards the rear of the bottom cutter 42 of the harvester 10.

[0056] Furthermore, at (304), method 300 may include identifying non-highly relevant ground losses during harvesting operations of the agricultural harvester, based at least in part on data from the loss sensors. For example, as discussed above, computing system 202 may identify non-highly relevant ground losses (e.g., exposed roots, broken rootstocks, fixed stems, fallen stems, or fallen stem segments) during harvesting operations of the agricultural harvester 10, based at least in part on data from sensor 100.

[0057] Furthermore, at (306), method 300 may include initiating a control action in response to non-height-related ground loss. For example, as discussed above, computing system 202 may initiate a control action in response to non-height-related ground loss, wherein the control action may include one or more of the following: controlling the operation of bottom cutter 42 to raise bottom cutter 42, controlling the operation of drive device 158 of harvester 10 to reduce ground speed of harvester 10, or controlling the operation of user interface 152.

[0058] It is to be understood that, after loading and executing software code or instructions, the steps of method 300 are performed by computing system 200, said software code or instructions being tangibly stored on a tangible computer-readable medium, such as a magnetic medium (e.g., a computer hard disk drive), an optical medium (e.g., an optical disk), a solid-state memory (e.g., flash memory), or other storage media known in the art. Therefore, any function performed by computing system 200 as described herein (such as method 300) is implemented using software code or instructions tangibly stored on a tangible computer-readable medium. Computing system 200 loads the software code or instructions via a direct interface to the computer-readable medium or via a wired and / or wireless network. After such software code or instructions are loaded and executed by computing system 200, computing system 200 can perform any function of computing system 200 as described herein, including any steps of method 300 as described herein.

[0059] As used herein, the term "software code" or "code" refers to any instruction or set of instructions that affects the operation of a computer or computing system. These can exist in a computer-executable form (such as machine code as a set of instructions and data that is directly executed by the computer's central processing unit or computing system), a human-understandable form (such as source code that can be compiled to be executed by the computer's central processing unit or computing system), or an intermediate form (such as object code generated by a compiler). As used herein, the term "software code" or "code" also includes any computer instructions or set of instructions that are human-understandable, such as scripts that can be executed on the fly with the help of an interpreter executed by the computer's central processing unit or computing system.

[0060] This written description uses examples to disclose the invention, including the best mode, and also enables any person skilled in the art to practice the invention, including making and using any device or system and performing any of the included methods. The patentable scope of the invention is defined by the claims, but may include other examples that would occur to a person skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that are not indistinguishable from the literal language of the claims, or if they include equivalent structural elements that are not substantially indistinguishable from the literal language of the claims.

Claims

1. An agricultural system for automatically determining losses of a harvesting operation, the agricultural system comprising: a loss sensor supported on an agricultural harvester and having a field of view directed at a portion of a field rearward of a bottom cutter of the agricultural harvester, the loss sensor configured to generate data indicative of ground losses; and a computing system communicatively coupled to the loss sensor, the computing system configured to: identify, during a harvesting operation of the agricultural harvester, a non-height- dependent ground loss based at least in part on the data generated by the loss sensor; and initiate a control action in response to the non-height-dependent ground loss.

2. The agricultural system of claim 1, wherein the non-height-dependent ground loss comprises one or more of exposed roots, broken stumps, lodged stalks, fallen stalks, or fallen stalk segments.

3. The agricultural system of claim 1, wherein when the non-height-dependent ground loss comprises exposed roots, the control action comprises automatically controlling operation of the agricultural harvester to at least one of raise the bottom cutter or reduce a ground speed of the agricultural harvester.

4. The agricultural system of claim 1, wherein when the non-height-dependent ground loss comprises broken stumps, the control action comprises automatically controlling operation of the agricultural harvester to reduce a ground speed of the agricultural harvester.

5. The agricultural system of claim 1, wherein when the non-height-dependent ground loss comprises at least one of broken stumps or exposed roots, the control action comprises automatically controlling operation of a user interface associated with the agricultural harvester to request replacement of a knife of the bottom cutter.

6. The agricultural system of claim 1, wherein the computing system is further configured to: identify, during a harvesting operation, a cutting-height-dependent ground loss based at least in part on the data generated by the loss sensor, wherein the cutting-height- dependent ground loss comprises a cutting height of the bottom cutter being too high; and automatically control operation of the agricultural harvester to adjust the cutting height of the bottom cutter in response to the cutting-height-dependent ground loss.

7. The agricultural system of claim 1, wherein the control action comprises automatically generating a report based at least in part on the non-height-dependent ground loss.

8. The agricultural system of claim 1, wherein the computing system is further configured to determine at least one of a quantity or a volume of the non-height-dependent ground loss.

9. The agricultural system of claim 1, wherein the computing system is further configured to determine, based at least in part on the non-height-dependent ground loss, an estimated yield of a subsequent harvesting operation within a field.

10. The agricultural system of claim 1, wherein the control action comprises generating a loss map correlating locations within a field to the non-height-dependent ground loss.

11. The agricultural system of claim 1, wherein the loss sensor comprises at least one camera.

12. An agricultural method for automatically determining losses of a harvesting operation, the agricultural method comprising: receiving, using a computing system, data from a loss sensor supported on an agricultural harvester, the loss sensor having a field of view directed toward a portion of a field behind a bottom cutter of the agricultural harvester; identifying, using the computing system, a non-height-related ground loss during a harvesting operation of the agricultural harvester based at least in part on data from the loss sensor; and initiating, using the computing system, a control action in response to the non-height- related ground loss.

13. The agricultural method of claim 12, wherein the non-height-related ground loss comprises one or more of exposed roots, broken stumps, lodged stalks, fallen stalks, or fallen stalk segments.

14. The agricultural method of claim 12, wherein when the non-height-related ground loss comprises exposed roots, initiating the control action comprises automatically controlling operation of the agricultural harvester to at least one of raise the bottom cutter or reduce a ground speed of the agricultural harvester.

15. The agricultural method of claim 12, wherein when the non-height-related ground loss comprises broken stumps, initiating the control action comprises automatically controlling operation of the agricultural harvester to reduce a ground speed of the agricultural harvester.

16. The agricultural method of claim 12, wherein when the non-height-related ground loss comprises at least one of broken stumps or exposed roots, initiating the control action comprises automatically controlling operation of a user interface associated with the agricultural harvester to request replacement of a knife of the bottom cutter.

17. The agricultural method of claim 12, further comprising identifying, based at least in part on data generated by the loss sensor, a cutting height-related ground loss during a harvesting operation, wherein the cutting height-related ground loss comprises a cutting height of the bottom cutter being too high; and automatically controlling operation of the agricultural harvester to adjust the cutting height of the bottom cutter in response to the cutting height-related ground loss.

18. The agricultural method of claim 12, wherein initiating the control action comprises automatically generating a report based at least in part on the non-height-related ground loss.

19. The agricultural method of claim 12, further comprising determining at least one of a quantity or a volume of the non-height-related ground loss.

20. The agricultural method of claim 12, wherein initiating the control action comprises generating a loss map correlating locations within a field to the non-height-related ground loss.

Images