Method and apparatus for determining and mapping crop height

Abstract

A method for mapping crop height in a field divided into a plurality of zones includes determining a height of a cutting bar of an agricultural machine and receiving data from a crop height sensor. The crop height sensed by the crop height sensor is determined based on the height of the cutting bar and the data from the crop height sensor. The crop height is then associated with one of the plurality of zones of the field based on a location of the crop height sensor. In one embodiment, a height of a reel of the agricultural machine is also used to determine the crop height. The crop height data is used to generate a field map, which is used to generate a field treatment plan.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to agricultural operations and more specifically to mapping crop height in a field. BACKGROUND

[0002] Because farmland is a limited resource of finite size, it is desirable to use the farmland efficiently. Farmland is typically utilized to produce the maximum revenue per acre. To produce the maximum economic yield, crops need to be treated in a particular manner. Treatment of crops typically includes applying pesticides, fertilizers, and watering in amounts to promote ideal growth of the crops. Incorrect treatment of crops can result in poor growth that reduces the maximum economic yield. Incorrect treatment of crops can also result in crops growing too tall. When certain crops, such as wheat, grow too tall, the stems of the plants are unable to support the weight of the seeds and the crops can lodge. Many crops also lodge when infected with pests. This pest-induced lodging occurs when pests infect the base area of the stems of the plants. Lodging is a condition of the plant in which the plant will fall over due to the weight of the seeds located near the top of the stem of the plant being too great relative to the strength of the stem. Lodging has adverse effects for a variety of reasons. Lodging reduces the maximum economic yield because it results in reduced harvesting efficiency. Lodging can result in slower harvesting, higher fuel consumption, smaller grain (lower yield), grain loss due to grain remaining on the ground, increased risk of damage to harvesting equipment from rocks and foreign objects, grain spoilage, grain rot, mold and mold-produced toxins, and the cost of drying grain that has become wet from groundwater. A method is needed to determine an ideal treatment plan for crops so that the crops grow in a manner that produces the maximum economic yield. SUMMARY

[0003] A method for mapping the height of crops in a field divided into a plurality of zones includes determining the height of a cutting bar of an agricultural machine and receiving data from a crop height sensor. The height of the crop sensed by the crop height sensor is determined based on the height of the cutting bar and the data from the crop height sensor. The height of the crop is then associated with one of the plurality of zones of the field based on the location of the crop height sensor. In one embodiment, the height of a reel of the agricultural machine is also used to determine the height of the crop. Data from a conveyor tilt meter and a known height of an axis of rotation associated with the conveyor tilt meter are used to determine the height of the cutting bar. Data from a reel tilt meter and a height of an axis of rotation associated with the reel are used to determine the height of the reel. In one embodiment, the crop height data is used to generate a field map which is used to generate a field treatment plan. In one embodiment, a seed size sensor is used to determine the size of the seed harvested and the field treatment plan is also based on the size of the seed. In one embodiment, the field treatment plan includes one of the following: land leveling; changed tillage method; adopted seed rate; adopted seed variety; weeding span; fertilizer application; fertilizer application; pesticide application; growth regulator application; and irrigation. For a particular zone, the field treatment plan can be improved if the results of the plan are checked and compared to previous field treatment plans. BRIEF DESCRIPTION OF DRAWINGS

[0004] Figure 1A An upright plant is shown;

[0005] Figure 1B A lodged plant is shown;

[0006] Figure 2A A cutting height of an upright plant is shown;

[0007] Figure 2B A cutting height of a lodged plant is shown;

[0008] Figure 3A A combine harvester positioned to harvest lodged crops is shown;

[0009] Figure 3B A combine harvester positioned to harvest upright crops is shown;

[0010] Figure 4A shows a reel positioned to harvest upright crops;

[0011] Figure 4B shows a reel positioned to harvest lodged crops;

[0012] Figure 5AA reel is shown positioned relative to a cutting bar for harvesting a standing crop;

[0013] Figure 5B A reel is shown positioned relative to a cutting bar for harvesting a laying crop;

[0014] Figure 6A Components of a combine for determining the height of header elements and a reel are shown;

[0015] Figure 6B Components of a combine for determining the height of header elements and a reel are shown.

[0016] Figure 7 A side view of components of a combine for determining the height of a crop is shown;

[0017] Figure 8 A front view of components of a combine for determining the height of a crop is shown;

[0018] Figure 9 A controller and related components for sensing parameters of a combine and parameters of a crop are shown;

[0019] Figure 10 A field in which a combine harvests a crop is shown; and

[0020] Figure 11 A flowchart of a method according to one embodiment is shown. DETAILED DESCRIPTION

[0021] Figure 1A A healthy and fully grown plant 10A is shown, which is particularly a wheat plant that stands straight up. Figure 1B A laying plant 10B is shown that has fallen over. Laying refers to the falling over of a plant. Laying can occur for various reasons, including a crop being overfed or being infested with pests. Overfed plants can cause seeds located at the top of the plant to grow large and heavy. The weight of the seeds exceeds the plant's ability to remain standing. Pest infestation can weaken the plant's stem and reduce the stem's ability to remain in an upright orientation. Laying affects the method for harvesting the plant.

[0022] Figure 2A A healthy and fully grown plant 10A is shown, in which an arrow 20A indicates where the plant 10A should be cut for harvesting. Figure 2B A laying plant 10B is shown, in which an arrow 20B indicates where the plant 10B should be cut for harvesting. As Figure 2B indicated in FIG. 2B, the required cutting height for the plant 10B is lower than the required cutting height for the plant 10A.

[0023] Lodged crops are densely inverted and less air flows through the crop, making drying slower after exposure to rain and dew and trapping more water evaporated from the ground and wetting the grain itself. Longer periods of wetness can cause the grain to sprout or sprout. Sprouted grain cannot be used for consumption or even for feeding. Grain that starts to sprout cannot be used for seed or malt production. The header of a combine harvester needs to be lowered to harvest lodged crops, which increases the risk of the combine harvester picking up dirt and stones and damaging the combine harvester. The grain flow through the combine harvester needs to pass through small openings for proper processing. Dirt and stones picked up due to the lowered header can damage these small passages and cause machine downtime and repair costs.

[0024] Figure 3A Components of a combine harvester 200 are shown in a position oriented to cut lodged crops. A cutting bar 301 is oriented near the ground 300 to harvest lodged crops, such as plants 10B (as shown in FIG. 3A). A reel 305 rotates counterclockwise (as shown in FIG. 3B, viewed from the left side of the combine harvester) and pushes the top portion of the harvested plants toward an auger 302. In one embodiment, the auger 302 is a helical component that forces the harvested plants toward a grain conveyor 303. The grain conveyor 303 moves the harvested plants toward a threshing cylinder 304. The threshing cylinder rotates and mechanically separates the seeds of the harvested plants from the stem portions of the harvested plants. Figure 1B Figure 3A

[0025] Figure 3B The cutting bar 301 is shown in a position to cut standing crops. The cutting bar 301 is at a height above the ground 300 to cut the plant stems of the crops at a height determined by arrow 20A in FIG. 2A. Figure 2A

[0026] FIG. 4A shows the position of the reel 305 relative to a lodged plant 10A. The reel 305 is at a height relative to the plant 10A such that the tines 310 collide with the top portion of the plant 10A where the plant seeds are located. As the combine harvester moves in the direction indicated by arrow 402 (toward the plant 10A) and the reel 305 rotates counterclockwise, the tines 310 collide with the top portion of the plant 10A.

[0027] ​​​Figure 4B shows the position of the drum 305 relative to the fallen plant 10B. The drum 305 is positioned at a height relative to the plant 10B such that the teeth 310 collide with the top and middle portions of the plant 10B. As the combine harvester moves in the direction indicated by arrow 402 (towards the plant 10B) and the drum 305 rotates counterclockwise, the teeth 310 collide with the top and middle portions of the plant 10B.

[0028] Figure 5A The position of the roll 305 relative to the cutting bar 301 is shown. Figure 5A A reel 305 is shown positioned at a distance from the cutting rod 301, thereby positioning the reel 305 relative to the upright plant being harvested (e.g., Figure 1A The top part of the plant 10A shown in the figure collides.

[0029] Figure 5B The position of the roll 305 relative to the cutting bar 301 is shown. Figure 5B A reel 305 is shown positioned at a distance from the cutting rod 301, thereby positioning the reel 305 relative to the fallen plant (e.g., Figure 1B The top and middle parts of the plant 10B shown collide.

[0030] It should be pointed out that, Figure 5A and Figure 5B The position of the roll 305 relative to the cutting bar 301 is shown. Figure 5A and Figure 5B The position of the cutting rod 301 shown does not indicate the height required for the cutting rod 301 to cut the crop.

[0031] Figure 6A Components of a combine harvester 200 and sensors for determining the position of said components are shown. The conveyor inclinometer 602 can be any type of sensor capable of sensing angles relative to a predetermined axis, such as a sensor capable of sensing angles relative to the direction of the gravity vector or a potentiometer capable of measuring angles relative to a predetermined axis. The conveyor inclinometer 602 determines the tilt of the grain conveyor 303 as the grain conveyor 607 moves about the conveyor rotation axis 604. The drum inclinometer 603 is a sensor for determining the tilt of the drum member 620 attached to the drum 305. The drum inclinometer 603 determines the tilt of the drum member 620 attached to the drum 305 as the drum 305 moves about the rotation axis 605. Data from the conveyor inclinometer 602 and the drum inclinometer 603 can be used to determine the position of the cutting bar 301 and the drum 305.

[0032] like Figure 6AThe height of the cutting bar 609 above the ground 300 as shown in FIG. 6 can be determined as follows. The height of the conveyor rotation axis 606 is known and generally fixed, above the ground 300. The height of the rotation axis 608 can be determined from the height of the conveyor rotation axis 606 and the inclination of the conveyor 607 as determined by the conveyor inclinometer 602. The height of the cutting bar 609 can be determined based on the known spatial relationship between the rotation axis 605 and the cutting bar 301.

[0033] As shown in FIG. 6, the height of the cutting bar 609 above the ground 300 can be determined as follows. The height of the conveyor rotation axis 606 is known and generally fixed, above the ground 300. The height of the rotation axis 608 can be determined from the height of the conveyor rotation axis 606 and the inclination of the conveyor 607 as determined by the conveyor inclinometer 602. The height of the cutting bar 609 can be determined based on the known spatial relationship between the rotation axis 605 and the cutting bar 301. Figure 6B

[0034] A side view of a combine harvester is shown with a sensor 701 for detecting plant height. The sensor 701 is mounted to a sensor carriage 703 that is attached to the reel member 620. The sensor 701 detects the height of the crop within a sensor scan area 702. In one embodiment, the sensor 701 is an acoustic wave sensor, but can also be other types of sensors such as a laser sensor, a LIDAR sensor, and / or an optical sensor. Figure 7

[0035] A front view of a combine harvester 200 is shown with a crop height sensor 804 attached to a sensor carriage 803. As shown in FIG. 8, the sensor 804 is spaced along the sensor carriage 803 to cover the desired portion of the crop that will be cut by the cutting bar 802 attached to the lower portion of the header 801. Although in Figure 8 Figure 8 As shown in FIG. 8, the sensor 804 is spaced along the sensor carriage 803 to cover the desired portion of the crop that will be cut by the cutting bar 802 attached to the lower portion of the header 801. Although in Figure 8 ​Three sensors 804 are shown in the center, but more or fewer sensors 804 can be used depending on the data required for the granularity relative to the size of the field. Each of the sensors 804 has an associated scan area 806. It should be noted that the scan area 806 associated with the sensor 804 is located approximately in the center of the sensor carriage 803. For clarity, the sensor areas associated with the sensors 804 located closer to the ends of the sensor carriage 803 are omitted. In Figure 8 The sensor 804 shown on the left of the field is shown scanning into a lodged crop 805, while the sensor 804 shown on the right of the field is shown scanning into an upright crop 807. Figure 8

[0036] Figure 9 A schematic diagram of components of the combine harvester 200 relating to sensing and mapping crop height according to an embodiment is shown. In one embodiment, the controller 902 is computer implemented. The controller 902 contains a processor 918 which controls the overall operation of the controller 902 by executing computer program instructions. The computer program instructions can be stored in a memory 920 or other computer readable medium (e.g. a disk, a CD ROM, a flash drive, a cloud drive, etc.) and loaded into the memory 920 when required for execution by the processor 918. Thus, Figure 11 The method steps (described below) in the method of Figure 11 may be defined by the computer program instructions stored in the memory 920 and / or the storage 922 and controlled by the processor 918 executing the computer program instructions. For example, the computer program instructions can be implemented as computer executable code programmed by those skilled in the art to perform the algorithms defined by the method steps of Figure 11 Thus, by executing the computer program instructions, the processor 918 performs the algorithms defined by the method steps of A person skilled in the art will recognize that embodiments of the controller can also contain other components and for the purposes of illustration, the controller 902 is a high level representation of some of the components of such a controller.

[0037] Figure 7 The combine harvester 200 also includes sensors 904 for determining the position of the agricultural machine and various parameters of the crop. In one embodiment, the position of the combine harvester 200 is determined using a GPS receiver 924 and / or an inertial measurement unit (IMU). The sensors 904 also include crop height sensors 804 (as Figure 8 ​The crop height sensor 804 is used to detect the height of the crop prior to cutting and processing by the combine 200 (as shown in FIG. 2). In one embodiment, the crop height sensor 804 is an analog sensor that can detect the height of the crop in the vicinity of the sensor. The sensor 904 also includes a seed size sensor 928 that is used to generate data related to the size of the seeds harvested by the combine 200. In one embodiment, the seed size sensor 928 is an optical sensor that is used to detect the size of the seeds harvested by the combine 200. The seed size sensor 928 can be located anywhere the dehulled seeds of the combine 200 are moving while being processed. For example, the seed size sensor 928 can be located downstream of the cylinder and separator. In one embodiment, the seed size sensor 928 can be located at the bottom of the auger that is used to move the seeds. The sensor 904 also includes a weight sensor 930 that is used to determine the weight of the seeds harvested by the combine 200. The weight sensor 930 can be any type of sensor that can directly measure weight, such as a load cell. The weight sensor 930 can also be a sensor that indirectly measures weight, such as a volume sensor or a force sensor. Since the harvested crop is moving through the combine 200 while being processed, the weight sensor 930 can alternatively be located at other locations of the combine 200 where the crop is being processed. For example, the weight sensor 930 can be located on the auger or elevator that is transporting the seeds.

[0038] The sensor 904 also includes a conveyor tilt meter 602 and a reel tilt meter 603. In one embodiment, the sensor 904 can include other sensors (not shown), such as a camera, an infrared scanner, or other types of devices used to determine parameters of the crop in the field where the agricultural machine is located. In one embodiment, the sensor 904 can also include various sensors, such as temperature sensors and pressure sensors associated with various components of the agricultural machine, to monitor the status of the combine 200.

[0039] In one embodiment, the input device 908 includes inputs by a user to operate the combine 200. In one embodiment, the input device 908 can include one or more components used to control the movement of the combine 200. For example, a steering wheel, a gas pedal, and a brake pedal can be used to drive the agricultural machine along a desired path. The input device 908 can also include various buttons, levers, and switches used to control the operation of the reel 305, header 801, and other components of the agricultural machine. The input device 908 can also include inputs by a user via an input device such as a touch screen or other types of inputs.

[0040] In one embodiment, the display 906 is located in the cab of the combine harvester and displays information to the user. The display 906 can be any type of display such as a touch screen, light emitting diode display, liquid crystal display, head-up projection display, etc. The display 906 presents various information to the user related to the combine harvester 200, the field, etc. In one embodiment, no display is used and information related to the crop is captured and then sent to another device, such as a desktop computer, for analysis of the information.

[0041] The controller 902 is also in communication with the reel 932, in one embodiment, the controller 902 is a device for controlling the height of the reel 932. In one embodiment, the user controls the reel 932 and the controller 902 senses various parameters of the operation of the reel 305, such as the rotational speed. In one embodiment, user input received via the input device 908 is received by the controller 902 and used to command the reel 305 to operate in response to the user input.

[0042] The controller 902 is also connected to the header 934, in one embodiment, the controller 902 is a device for controlling the height of the header 801 attached to the cutting bar 301. Thus, the height of the header 801 is related to the height of the cutting bar 301. In one embodiment, the user controls the header 801 and the controller 902 senses various parameters of the operation of the header 801, such as the vertical movement. In one embodiment, user input received via the input device 908 is received by the controller 902 and used to command the header 801 to operate in response to the user input.

[0043] Figure 10A combine harvester 200 during harvesting of crops from a field 1000 is shown according to one embodiment. According to one embodiment, the field 1000 is shown divided into a plurality of grid-like cells (also referred to as a plurality of zones) defined by rows and columns. The combine harvester 200 has traversed the field 1000 from grid-like cell 1002 along a first direction shown by arrow 1050 through grid-like cell 1014 along path 1048. The combine harvester 1000 after traversing grid-like cell 1014 along the first direction turns 180 degrees to traverse the field 1000 from grid-like cell 1016 along a second direction shown by arrow 1052 through grid-like cell 1028. The combine harvester 200 after traversing grid-like cell 1028 turns 180 degrees to traverse the field 1000 from grid-like cell 1030 along the first direction through grid-like cell 1042. The combine harvester 200 after traversing grid-like cell 1042 turns 180 degrees to traverse the field 1000 along the second direction through grid-like cell 1044 and grid-like cell 1046. The combine harvester 200 will continue to traverse the field 1000 along the second direction from the position of the combine harvester 200 shown in FIG. 10B. Figure 10 The combine harvester 200 will continue to traverse the field 1000 along the second direction from the position of the combine harvester 200 shown in FIG. 10B.

[0044] As the combine harvester 200 traverses the field 1000, the crop height sensor 804 determines the height of the crop being traversed in the grid-like cells of the field 1000. The particular grid cell in which the combine harvester 200 is located is determined using the GPS receiver 624. In one embodiment, the crop position detected by the crop height sensor 84 is calculated based on the difference between the position of the GPS receiver 624 and the position of the crop height sensor 804. For example, the GPS receiver 624 can be positioned 10 feet behind and 4 feet to the right of the crop height sensor 804 in the operator's cab of the combine harvester 200. Thus, the crop position detected by the crop height sensor 804 is 10 feet in front of and 4 feet to the left of the position of the GPS receiver 624. In determining the crop position detected by the crop height sensor 804 and the position of the GPS receiver 624, this position difference can be determined and accounted for. In one embodiment, the GPS receiver 624 determines the position of the antenna associated with the GPS receiver 624.

[0045] Similarly, the data from the crop height sensor 804 and the GPS receiver 624 are used to generate a map depicting the height of the crop in various positions of the field 1000. As shown in FIG. 10C, the map 1000 shows the height of the crop in each grid-like cell of the field 1000. The map 1000 is generated by the computer 602 using the data from the crop height sensor 804 and the GPS receiver 624. Figure 10As shown in FIG. 10, the field 1000 has been divided into a plurality of grid-like cells. Each cell in the grid (e.g., 1002-1046) can be associated with an average crop height determined for that particular cell. Thus, information obtained using the GPS receiver 624 and the crop height sensor 804 can be utilized to produce a crop height map. Figure 10 The 4x7 grid shown in FIG. 10 is an example. The size of the grid (i.e., the number of columns and rows used to produce the grid) can be selected based on the solution desired and the size of the field. Figure 10 The size of the grid shown in FIG. 10 (i.e., the number of columns and rows used to produce the grid).

[0046] In one embodiment, the width of the cells of the grid is equal to the width of the crop that the combine harvester can harvest in one pass. For example, as shown in FIG. 10, the width of each column is equal to the width of the crop that the combine harvester 200 can harvest as the combine harvester 200 travels in the field 1000. In one embodiment, the width of the cells of the grid is based on the width of the scan area (e.g., the scan area 806) shown in FIG. 8. For example, when multiple crop height sensors are used, the combine harvester 200 collects data from each of the multiple crop height sensors to produce data associated with grid-like cells, each grid-like cell having a width that is less than the width of the crop harvested by the combine harvester in a single pass. Figure 10 Figure 8 In one embodiment, the shape of each grid-like cell (or area) can be rectangular, triangular, hexagonal, polygonal, etc. In one embodiment, small areas or points can be used to represent the areas that form the density map.

[0047] In one embodiment, other sensors can be used to obtain data related to various parameters. For example, as the seeds move through the combine harvester 200 after the crop has been threshed, a light beam through which the seeds travel can be used to sample the weight of the seeds. Alternatively, a force detection device, such as a load cell, can be used to measure the weight of the seeds. The seed weight can be measured along with the grain moisture. If the moisture content of the seeds can be determined, the true yield (i.e., the true weight of the seeds) can be determined. For example, wheat has a storage moisture of 14%. This is the level at which the wheat can be safely stored and is also used to calculate the amount of money to buy or sell the seeds. If the seeds are harvested under poor conditions, the moisture can be higher. Higher moisture content can result in incorrect yield calculations, resulting in inaccurate cost estimates. A moisture sensor can be used to determine the moisture content of the seeds. The moisture sensor can be combined with a temperature sensor to allow for compensation for errors caused by the temperature of the seeds.

[0048] In one embodiment, other sensors can be used to obtain data related to various parameters. For example, as the seeds move through the combine harvester 200 after the crop has been threshed, a light beam through which the seeds travel can be used to sample the weight of the seeds. Alternatively, a force detection device, such as a load cell, can be used to measure the weight of the seeds. The seed weight can be measured along with the grain moisture. If the moisture content of the seeds can be determined, the true yield (i.e., the true weight of the seeds) can be determined. For example, wheat has a storage moisture of 14%. This is the level at which the wheat can be safely stored and is also used to calculate the amount of money to buy or sell the seeds. If the seeds are harvested under poor conditions, the moisture can be higher. Higher moisture content can result in incorrect yield calculations, resulting in inaccurate cost estimates. A moisture sensor can be used to determine the moisture content of the seeds. The moisture sensor can be combined with a temperature sensor to allow for compensation for errors caused by the temperature of the seeds.

[0049] ​In one embodiment, the generated crop height map is used to determine a field treatment plan for a future planting in the same field. For example, when harvesting the crop in each grid cell, the combine 200 traverses the field 1000, harvesting the crop and collecting data related to the crop height, crop weight, and seed size of the crop in each grid cell. The collected data is then used to generate a crop height map. The crop height map and data related to the crop weight and seed size of the crop harvested from each grid cell is then analyzed to determine whether the crop in each grid cell was over-supplied or under-supplied. In one embodiment, soil samples of each grid cell can also be obtained and analyzed. The analyzed soil samples can be considered in generating the crop treatment plan along with the other crop parameters described above. A field treatment plan for future planting can be generated for each grid cell based on the determined crop height, crop weight, and seed size of each grid cell.

[0050] In one embodiment, a field treatment plan is generated for a particular grid cell as data for that particular grid cell is obtained. For example, a field treatment plan can be generated for a particular grid cell immediately after data for that grid cell is obtained. In one embodiment, a field treatment plan for each grid cell of a field can be generated after data for all grid cells of the field is collected. In one embodiment, the crop height of the grid cells are compared to each other to determine the field treatment plan. It should be noted that the current planting being harvested can be referred to as a first planting and the future planting can be referred to as a second planting.

[0051] Figure 11A flowchart of a method 1100 for mapping crop height in a field is shown. At step 1102, the controller 902 receives data from the conveyor tilt meter. At step 1104, the controller 902 receives data from the reel tilt meter 603. At step 1106, the controller 902 receives data from the crop height sensor 804. At step 1108, the height of the cutting bar 301 is determined based on the conveyor rotational axis height 606 and the tilt of the conveyor 607, which is determined based on the data received from the conveyor tilt meter 602 at step 1102. At step 1110, the height of the reel 305 is determined based on the rotational axis height 608 and the tilt of the reel member 620, which is based on the data received from the reel tilt meter 603 at step 1104. At step 1112, the crop height is determined based on the height of the cutting bar 301, the height of the reel 305, and the crop height data received from the crop height sensor 804. At step 1114, when a crop height is sensed, the crop height is associated with an area based on the location of the crop height sensor 804. As the combine 200 traverses a field (e.g., the field 1000 shown in Figure 10 FIGS. 1-3), steps 1102-1114 are repeated to produce a crop height map of the field (e.g., the field 1000 shown in Figure 10 FIGS. 1-3).

[0052] It should be noted that the crop height can be determined based on various factors. For example, the crop height can be determined based on the cutting bar height alone. However, the crop height determined using the cutting bar height alone can not be accurate enough for some applications. The crop height can also be determined using the cutting bar height and data from the crop height sensor. The crop height determined using the cutting bar height and data from the crop height sensor is more accurate than the crop height determined using the cutting bar height alone. The crop height can also be determined using the cutting bar height, data from the crop height sensor, and the reel height. The determination of the crop height using all three parameters is typically the most accurate of the three determinations. It should be noted that the cutting bar height, the crop height data from the crop height sensor, and the reel height can be used to determine the crop height individually or in any combination.

[0053] In one embodiment, the controller 902 determines whether the crop in a particular grid cell is over-supplied or under-supplied. In one embodiment, information related to a particular grid cell is analyzed to determine whether the crop in the particular grid cell is over-supplied or under-supplied. In one embodiment, the height of the crop, the weight of the harvested agricultural matter, and the seed size are used to determine whether the crop is over-supplied or under-supplied. It should be noted that a well-supplied crop can have a high weight and large grain, but if the seeds grow too large and fall over, the last photosynthesis period is not optimal and grain fill will be reduced, again resulting in smaller grain and less weight. Determining whether the crop is over-supplied or under-supplied can require consideration of other seed and / or crop parameters.

[0054] In one embodiment, crop height information and a field treatment plan for future planting is determined. In one embodiment, the field treatment plan is determined based on whether the crop in a particular grid cell is determined to be over-supplied or under-supplied. For example, if the crop height is low and the seed size and weight of the harvested agricultural matter is high for a grid cell, the amount of fertilizer applied to the grid cell for future planting can be reduced. Alternatively, if the crop height is low and the seed size and weight of the harvested agricultural matter is low for a grid cell, the amount of fertilizer applied to the particular grid cell for future planting can be increased. In one embodiment, the treatment plan can include recommendations for the following: a fertilization plan and a watering plan for a particular grid cell; application of other agricultural matter, such as growth regulators. Additionally, the application of agricultural matter can be increased or decreased. Each plan determines when fertilizer, water, and agricultural matter should be applied to the crop in a particular grid cell.

[0055] In one embodiment, the field treatment plan for future planting in a particular grid cell can be generated based on a previous treatment plan for the particular grid cell. For example, if the previous particular treatment plan resulted in the crop being over-supplied, the previous particular treatment plan can serve as a baseline from which to generate a treatment plan for future planting by reducing the amount of fertilization and watering of the particular treatment plan that resulted in the crop being over-supplied. Similarly, if the previous particular treatment plan resulted in the crop being under-supplied, the previous particular treatment plan can serve as a baseline from which to generate a new treatment plan for future planting by increasing the amount of fertilization and watering of the particular treatment plan that resulted in the crop being under-supplied.

[0056] The foregoing detailed description of implementations should not be construed in a limiting sense, but is presented for purposes of illustration. Those skilled in the art will recognize that many modifications and changes in the described implementations can be made without departing from the scope and spirit of the described implementations. The described implementations should not be construed as limiting, but rather, as illustrating modifications and changes that can be made to well as variations that become apparent to those skilled in the art, judging from the preceding description.

Claims

1. A method for mapping the height of crops in a field, the field being divided into multiple zones, the method comprising: Receive crop height data from the crop height sensor of the agricultural machinery; The conveyor inclination gauge of the agricultural machine is used to measure the inclination angle of the conveyor to generate conveyor inclination angle data; The inclination angle of the drum is measured using the inclination gauge of the agricultural machine to generate drum inclination angle data; The height of the drum of the agricultural machine is determined based on the drum tilt angle data and the height of the axis of rotation around which the component supporting the drum tilt gauge rotates. The height of the cutting rod of the agricultural machine is determined based on the conveyor tilt angle data and the height of the rotation axis around which the conveyor moves. The crop height is determined based on the height of the cutting rod, the crop height data, and the height of the reel; and The crop height is associated with one of the plurality of regions based on the location of the crop height sensor.

2. The method according to claim 1, further comprising: A field processing plan is generated based on the field map produced by correlation.

3. The method according to claim 2, further comprising: The size of the harvested seeds is determined based on data from the seed size sensor of the agricultural machine; The size of the harvested seeds is associated with one of the plurality of regions based on the location of the crop height sensor. The field treatment plan is also based on the size of the seeds.

4. The method according to claim 2, wherein, The field management plan includes one of the following: land leveling; altered farming practices; seed rate; seed variety; weeding span; fertilizer application; pesticide application; growth regulator application; and irrigation.

5. An apparatus for mapping the height of crops in a field, the apparatus comprising: processor; as well as A memory for storing computer program instructions, which, when executed on the processor, cause the processor to perform operations including: Receive crop height data from the crop height sensor of the agricultural machinery; The conveyor inclination gauge of the agricultural machine is used to measure the inclination angle of the conveyor to generate conveyor inclination angle data; The inclination angle of the drum is measured using the inclination gauge of the agricultural machine to generate drum inclination angle data; The height of the drum of the agricultural machine is determined based on the drum tilt angle data and the height of the axis of rotation around which the component supporting the drum tilt gauge rotates. The height of the cutting rod of the agricultural machine is determined based on the conveyor tilt angle data and the height of the rotation axis around which the conveyor moves. The crop height is determined based on the height of the cutting rod, the crop height data, and the height of the reel; and The crop height is associated with one of a plurality of regions based on the location of the crop height sensor.

6. The device according to claim 5, wherein the operation further comprises: A field processing plan is generated based on the field map produced by correlation.

7. The device according to claim 6, wherein the operation further comprises: The size of the harvested seeds is determined based on data from the seed size sensor of the agricultural machine; The size of the harvested seeds is associated with one of the plurality of regions based on the location of the crop height sensor. The field treatment plan is also based on the size of the seeds.

8. The device according to claim 6, wherein, The field management plan includes one of the following: land leveling; altered farming practices; seed rate; seed variety; weeding span; fertilizer application; pesticide application; growth regulator application; and irrigation.

9. A combine harvester, the combine harvester comprising: Cutting rod; reel; Conveyor inclinometer; Roller inclinometer; Crop height sensor; as well as A controller, configured to execute computer program instructions, which, when executed by the controller, cause the controller to perform operations including the following: Receive crop height data from the crop height sensor of the combine harvester; The conveyor inclination gauge of the combine harvester is used to measure the inclination angle of the conveyor to generate conveyor inclination angle data; The drum inclination gauge of the combine harvester is used to measure the drum inclination angle to generate drum inclination angle data; The height of the combine harvester's drum is determined based on the drum tilt angle data and the height of the axis of rotation around which the component supporting the drum tilt gauge rotates. The height of the cutting bar of the combine harvester is determined based on the conveyor tilt angle data and the height of the axis of rotation around which the conveyor moves. The crop height is determined based on the height of the cutting rod, the crop height data, and the height of the reel; and The crop height is associated with one of a plurality of regions based on the location of the crop height sensor.

10. The combine harvester according to claim 9, wherein the operation further comprises: A field processing plan is generated based on the field map produced by correlation.

11. The combine harvester according to claim 10, wherein the operation further comprises: The size of the harvested seeds is determined based on data from the seed size sensor of the combine harvester; The size of the harvested seeds is associated with one of the plurality of regions based on the location of the crop height sensor. The field treatment plan is also based on the size of the seeds.

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