Sensor fusion system for improving accumulator fill level in harvester vehicle

Abstract

One or more techniques and / or systems are disclosed for a harvesting vehicle including a crop processing system having at least an accumulator and a round module builder. The harvesting vehicle has a feedback fusion system operable to provide crop processing data indicative of an estimated accumulator fill level to a crop feed rate control system. The feedback fusion system has a plurality of feedback devices operable to provide feedback signals including data indicative of two or more of: a crop mass flow, a module builder state, a module size, and an accumulator fill level. The feedback fusion system has a control module operable to receive the feedback signals and generate an accumulator fill level signal based on at least two or more of the feedback signals. The accumulator fill level signal is indicative of an estimated fill level in the accumulator.

Description

Background Technology

[0001] When harvesting crops, harvester vehicles typically store the harvested crops temporarily in accumulators. Once the accumulator fills to a threshold level, it is unloaded, and the stored crops are used to form crop modules, such as cotton bales or haystacks. Once the crop modules reach a predetermined size, they are wrapped and ejected from the harvester vehicle.

[0002] The goal of the accumulator control system is to ensure the accumulator is empty when the wrapping and throwing cycle is initiated, providing as much time as possible to complete the cycle and avoid halting harvesting or reducing ground speed during the cycle. The wrapping and throwing cycle is triggered when the target size of the circular module is reached. If the accumulator fill level is inaccurate, it may not be empty when wrapping is initiated, potentially leading to overfilling during the wrapping and throwing cycle and subsequently clogging other crop handling systems on the harvester, resulting in reduced harvesting efficiency. Summary of the Invention

[0003] The summary is provided to present, in a simplified form, the selection of concepts that will be further described in the following detailed description. The summary is not intended to identify key elements or essential features of the claimed subject matter, nor is it intended to limit the scope of the claimed subject matter.

[0004] In one embodiment, a harvester vehicle is provided, comprising: a crop handling system including at least an accumulator and a module builder; and a feedback fusion system operable to provide crop handling data indicating an estimated accumulator fill level to a crop feed rate control system. The feedback fusion system includes a plurality of feedback devices operable to provide feedback signals including data indicating one or more of: crop mass flow rate, module builder status, module size, and accumulator fill level. The harvester vehicle further includes a control module operable to receive the feedback signals and generate an accumulator fill level signal based on at least two or more of the feedback signals, the accumulator fill level signal indicating an estimated fill level in the accumulator.

[0005] In another embodiment, a method for estimating the fill level of an accumulator in a harvester vehicle is provided. The harvester vehicle has a crop handling system and a feedback fusion system. The crop handling system includes at least an accumulator and a module builder operably used to handle harvested crop. The feedback fusion system estimates the fill level in the accumulator of the harvester vehicle by fusing feedback data from multiple feedback devices. The method includes estimating the accumulator fill level in the harvester vehicle by operably providing crop handling data indicating the accumulator fill level to the fused feedback system. The crop handling data indicating the accumulator fill level is used by the feedback fusion system to operably control the activation and deactivation of wrapping and throwing cycles. Estimating the accumulator fill level includes generating an accumulator fill level signal indicating the estimated fill level in the accumulator. The accumulator fill level signal is based on at least two or more feedback signals received from the plurality of feedback devices, the feedback signals including data indicating: crop mass flow rate, module builder status, module size, and accumulator fill level. Estimating the accumulator fill level includes at least based on the estimated accumulator fill level signal, wrapping and ejecting completed crop modules from the module builder.

[0006] In another embodiment, a system for estimating the accumulator fill level of a vehicle harvester is provided. The system includes: a crop processing system comprising at least an accumulator and a circular module builder; and a feedback fusion system operatively providing crop processing data indicating the accumulator fill level to a crop feed rate control system. The feedback fusion system includes a plurality of feedback devices. The plurality of feedback devices includes: at least one of the feedback devices configured to detect the accumulator fill level and operable to provide a feedback signal including data indicating the fill level within the accumulator; at least one of the feedback devices configured to monitor the crop mass flow rate entering the accumulator and operable to provide a feedback signal including data indicating the crop mass flow rate entering the accumulator; at least one of the feedback devices configured to detect the size of the crop module and operable to provide a feedback signal including data indicating the size of the crop module; and at least one of the feedback devices configured to monitor the module builder status and operable to provide a feedback signal including data indicating the module builder status, wherein the module builder status includes data indicating the stage of module formation, and the module builder status can be used to perform module quality correction. The feedback fusion system further includes a control module operable to receive the feedback signals and generate an accumulator fill level signal based on at least two or more of the feedback signals, the accumulator fill level signal indicating an estimated fill level in the accumulator. The crop processing system wraps and ejects completed modules from the module builder based at least on the accumulator fill level signal.

[0007] To achieve the foregoing and related objectives, certain illustrative aspects and embodiments are set forth in the following description and accompanying drawings. These illustrative aspects and embodiments indicate some of a variety of ways in which one or more aspects may be employed. Other aspects, advantages, and novel features of the invention will become apparent from the following detailed description when considered in conjunction with the accompanying drawings. Attached Figure Description

[0008] The contents disclosed herein may take physical form in certain components and component arrangements, and will be described in detail in this specification and illustrated in the accompanying drawings that form a part of this specification, wherein:

[0009] Figure 1 This is a component drawing showing a perspective view of a harvester according to one embodiment.

[0010] Figure 2 This is a component drawing showing a side view of a harvester according to another embodiment.

[0011] Figure 3 The diagram illustrates the process based on... Figure 1 and Figure 2 A component diagram of the crop feeding path of a harvester in an embodiment of the invention.

[0012] Figure 4A The diagram illustrates the basis Figure 1 and Figure 2 A diagram of one or more crop handling systems of a harvester.

[0013] Figure 4B yes Figure 4A The diagram shown in the image is an exploded view of the components.

[0014] Figure 5A The diagram illustrates the information from this disclosure. Figure 1 and Figure 2 A block diagram of one embodiment of a harvester including a feedback fusion system for determining the accumulator fill level.

[0015] Figure 5B The diagram illustrates the information from this disclosure. Figure 1 and Figure 2 A block diagram of another embodiment of a harvester including a feedback fusion system for determining the accumulator fill level.

[0016] Figure 6 This is a flowchart illustrating one implementation of an example method for feedback fusion of accumulator filling level data according to the present disclosure.

[0017] Figure 7 This is a flowchart illustrating one implementation of an example method for estimating module density according to the present disclosure.

[0018] Figure 8 This is a flowchart illustrating one embodiment of an example method for converting volumetric flow rate to mass flow rate according to the present disclosure.

[0019] Figure 9 This is a flowchart illustrating one embodiment of an example method for determining the intermediate mass of an accumulator and the total mass fed into a module according to the present disclosure.

[0020] Figure 10 This is a schematic diagram illustrating an example embodiment of a feedback fusion system for controlling the harvesting rate of a harvester vehicle according to the present disclosure.

[0021] Figure 11 This is a flowchart illustrating one embodiment of a method for estimating the fill level of an accumulator in a harvester vehicle according to the present disclosure. Detailed Implementation

[0022] The claimed subject matter will now be described with reference to the accompanying drawings, wherein similar reference numerals are used to denote similar elements. In the following description, numerous specific details are set forth for purposes of explanation in order to facilitate a thorough understanding of the claimed subject matter. However, it will be apparent that the claimed subject matter can be practiced without these specific details. In other instances, structures and devices are shown in block diagram form to facilitate the description of the claimed subject matter.

[0023] The word “exemplary” is used herein to mean as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as superior to other aspects or designs. Rather, the use of the word “exemplary” is intended to present the concept in a specific manner. As used in this application, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or.” That is, unless otherwise stated or clearly indicated from the context, “X adopts A or B” means any natural inclusive arrangement. That is, if X adopts A; X adopts B; or X adopts both A and B, then “X adopts A or B” is satisfied in any of the foregoing cases. Furthermore, at least one of A and B and / or the like generally refers to A or B, or both A and B. In addition, the article “a / an” used in this application and the appended claims can generally be construed as meaning “one or more” unless otherwise stated or clearly indicated from the context to be in the singular form.

[0024] Although the subject matter has been described in language specific to structural features and / or methodological behavior, it will be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or behaviors described above. Rather, the specific features and behaviors described above are disclosed as exemplary forms for implementing the claims. Of course, those skilled in the art will recognize that many modifications can be made to this configuration without departing from the scope or spirit of the claimed subject matter.

[0025] Furthermore, while this disclosure has been shown and described with respect to one or more embodiments, equivalent changes and modifications will occur to those skilled in the art upon reading and understanding of this specification and the accompanying drawings. This disclosure includes all such modifications and changes and is limited only by the scope of the appended claims. In particular, with respect to the various functions performed by the components described above (e.g., elements, resources, etc.), unless otherwise stated, the terminology used to describe these components is intended to correspond to any component that performs the specified function of the described component (e.g., functionally equivalent), even if the disclosed structure is not structurally equivalent to the functions performed in the illustrated exemplary embodiments of this disclosure herein.

[0026] Furthermore, while a particular feature of this disclosure may have been disclosed with respect to only one of several embodiments, such a feature may be combined with one or more other features of other embodiments, which may be desirable and advantageous for any given or particular application. Moreover, regarding the extent to which the terms “includes,” “having / has / with,” or variations thereof are used in the specific embodiments or claims, these terms are intended to be inclusive rather than encompassing, similar to the term “comprising.”

[0027] A system can be designed to provide improved accuracy in estimating crop levels in a accumulator (also referred to herein as accumulator fill level). The system disclosed herein achieves this by combining inputs from other systems to provide a more accurate and reliable indication of the amount of crop in the accumulator. As an example, the system may incorporate feedback from one or more of the following: existing low-level (low position) and high-level (high position) sensors in the accumulator; one or more mass flow sensors for yield mapping; the size of the crop module and the associated rate of change (e.g., growth rate); and the machine status of the feeder operation. By considering data from multiple inputs above, the crop level in the accumulator can be estimated with greater accuracy and reliability. A more accurate accumulator fill level can provide the most efficient operation of the harvester vehicle, thereby achieving the highest productivity.

[0028] Now for reference Figure 1 and Figure 2 , Figure 1 and Figure 2 Examples of harvester vehicles 100 and 200 are illustrated respectively. In these examples, harvester vehicles 100 and 200 are cotton harvesters (e.g., cotton picker 200 or cotton stripper 100), but this disclosure contemplates other types of harvesters, such as combine harvesters.

[0029] The harvester vehicle 100 includes a chassis 109 supported by front wheels 102 and rear wheels 104, but other supporting components such as tracks are contemplated. The harvester vehicle 100 is adapted to move through fields to harvest crops (e.g., cotton, corn, straw, hay, wheat, alfalfa, etc.).

[0030] Operator station 107 is supported by chassis 109. Operator interface 105 is located in operator station 107. Power module 108 (such as engine 106) can be supported under chassis 109. Water, lubricant and fuel tanks (not shown) can be supported in and on chassis 109.

[0031] The crop harvesting device 114 can be connected to the chassis 109. The crop harvesting device 114 can be configured to remove cotton from the field. The harvesting device 114 may include a cotton stripper header 112. Figure 1 ), one or more cotton picking units 116 ( Figure 2 Alternatively, the harvesting device 114 can be configured to remove corn or other crops. The harvesting device 114 has different configurations (e.g., size, dimensions, etc.) depending on the type of crop being harvested and the method of removing the crop from the field. In some embodiments, the harvester vehicle 100 is a cotton stripper equipped with the crop harvesting device 114, which is adapted to remove or strip cotton (e.g., both open and unopened bolls) from the plant. In other embodiments, the harvester vehicle 200 is a cotton picker equipped with the crop harvesting device 114, which is adapted to remove or pick cotton from open bolls and leave awns on the plant.

[0032] In some embodiments, the harvester vehicle 100 includes a header system 110. The header system 110 may include a crop header component operably used to harvest crops from a target field, a hydraulic or electric motor (not shown), and one or more sensors. In some embodiments, the crop header component may include a header 112 (e.g., a cotton stripper). It should be understood that some embodiments of the cotton harvester may include a header or features equivalent to a header (e.g., Figure 2 (116 in the text). In these embodiments, the concept and operation of the header system (e.g., header system 110 discussed below with respect to the cotton stripper) are generally also applicable to cotton harvesters. However, for the purposes of brevity and ease of understanding, the disclosure provided below relates to an example embodiment of the header system 110 implemented on a cotton stripper.

[0033] In embodiments of the header system 110 that includes a hydraulic motor, a hydraulic pump on the harvester vehicle 100 can drive the hydraulic motor on the header 112. In these embodiments, the hydraulic motor can provide power to rotate the shafts that drive the individual harvesting units and the transverse auger conveyor that transports the cotton to the harvester vehicle 100. In other embodiments, an electric motor can provide power to rotate the shafts that drive the individual harvesting units and the transverse auger conveyor that transports the cotton to the harvester vehicle 100.

[0034] In some embodiments, the harvester vehicle 100 includes an air system 120. The air system 120 may include a crop conveyor component for conveying crops through the harvester vehicle 100, one or more sensors 160, 162, and crop conveyor devices (e.g., one or more air ducts and airflow generators). In some embodiments, the crop conveyor component may include one or more air ducts 122.

[0035] In some embodiments, the air system 120 may be operatively coupled to and communicate with the header system 110. In these embodiments, the air duct 122 is coupled to and aligned with the header 112 such that cotton stripped from the header 112 can be transported through the air duct 122 of the air system 120 driven by an airflow (e.g., an air generator) to the harvester vehicle 100 (e.g., a cleaner).

[0036] One or more sensors 160, 162 may be configured to monitor airflow and / or crop mass flow in air duct 122 of air system 120. In some embodiments, one or more sensors may be positioned within air duct 122. As an example, harvester 100 (such as a cotton stripper) may include a plurality of mass flow sensors 160 (such as four cotton mass flow sensors) mounted across the width of air duct 122. In other embodiments, one or more sensors may be positioned adjacent to air duct 122. As an example, harvester 200 (such as a cotton picker) may include a plurality of mass flow sensors 162 mounted downstream of air duct 122, with one cotton mass flow sensor mounted for each row unit. Various types of sensors may be used to monitor airflow and / or crop mass flow, such as, but not limited to, HarvestDoc. TM (HDOC) yield monitors, vacuum sensors, air velocity sensors, etc. As an example, an HDOC yield monitor is a microwave-based controller that ejects a signal away from the flowing crop to detect changes in speed, where a slowed crop flow indicates that air duct 122 is overloaded.

[0037] In some embodiments, the harvester vehicle 100 includes a cleaning system 130. The cleaning system 130 may include cleaning components operably used to clean the harvested crop, a hydraulic or electric motor (not shown), and one or more sensors. In some embodiments, the crop cleaning components may include a cleaner 132. The cleaner 132 may be provided to clean cotton from the cotton stripper header 112 by removing debris and shreds. For embodiments of the cleaning system 130 that includes a hydraulic motor, a hydraulic pump on the harvester vehicle 100 may drive the hydraulic motor on the cleaner 132.

[0038] In some embodiments, the cleaning system 130 may be operatively coupled to and communicated with the air system 120 and the header system 110 via the air system 120. In these embodiments, the cleaning machine 132 is coupled to and aligned with the air duct 122 such that cotton stripped from the header 112 may be conveyed into the cleaning machine 132 through the air duct 122 of the air system 120, which is driven by an airflow.

[0039] In some embodiments, the crop container 152 may be coupled to the air duct system 120. In some embodiments, the crop container 152 is a module builder 150 having at least one baler strap 154. As an example, the module builder can be used to construct modules of crops, such as cotton bales or hay / straw bales. In other embodiments, the crops may be ejected from the air duct system 120 into an internal hopper and / or from the harvester into an accompanying holding tank.

[0040] Harvester vehicle 100 includes an accumulator system 140. The accumulator system 140 may include a crop accumulator component operatively and temporarily storing harvested crop and one or more sensors 124. In some embodiments, the crop accumulator component may include an accumulator 142 and an accumulator capacity monitor. The accumulator 142 is configured to receive crop harvested by the cotton stripper header 112 (… Figure 1 ) or cotton picking unit 116 ( Figure 2 ) Harvested cotton or other crops.

[0041] In some embodiments, the accumulator system 140 is operatively coupled to and communicates with the cleaning system 130. In these embodiments, harvested crops can be transferred from the cleaning machine 132 (e.g., driven by an airflow from an air generator) to the top of the accumulator 142, such that the accumulator 142 is filled from bottom to top.

[0042] refer to Figure 2Feedback devices or sensors 124 can be coupled to the accumulator 142 to monitor the accumulator fill level and provide an accumulator fill level signal indicating the fill level in the accumulator 142. In some embodiments, the accumulator has two sensors 124a and 124b, which can be arranged, for example, to monitor low and high fill levels in the accumulator and provide an accumulator fill level signal indicating the fill level in the accumulator 142. In other embodiments, the accumulator 142 may have three or more sensors configured to monitor the accumulator fill level and provide an accumulator fill level signal indicating the fill level in the accumulator 142.

[0043] In some embodiments, the accumulator 142 has a lower sensor 124a and an upper sensor 124b. When the upper sensor 124b is triggered, a signal is provided to the accumulator 142 to empty its crop contents. That is, for example, when the upper sensor 124b detects that the accumulator fill level exceeds (e.g., the crop level in the accumulator rises above) a preset sensor threshold level, an accumulator emptying signal is propagated. In some embodiments, the upper sensor 124b may be configured (e.g., by its position in the accumulator 142) to be triggered before the accumulator 142 is completely full (e.g., with a built-in buffer having additional crop storage space). Triggering of the lower sensor 124a (e.g., an IR sensor) indicates that the accumulator 142 has released sufficient crop load and should stop emptying its crop contents. That is, for example, when the lower sensor 124a detects that the accumulator fill level exceeds (e.g., the crop level in the accumulator drops below) a preset sensor threshold level, the emptying of the accumulator 142 can be stopped. The lower sensor 124a can be configured, for example, by its position in the accumulator 142, to reduce the amount of crop from the accumulator 142 to a desired low level.

[0044] In some embodiments, the accumulator system 140 may include additional sensors for determining the accumulator filling rate and / or filling capacity. In some embodiments, multiple sensors may be mounted at the inlet of the accumulator 142 to monitor mass flow rates (e.g., the flow rate of crop through the inlet or other parts of the conveyor system) and accumulator filling rates. These sensors may be configured to measure mass flow rates and measure the time it takes for the accumulator 142 to fill between the lower sensor 124a and the upper sensor 124b (e.g., accumulator filling rate) to determine yield.

[0045] In some implementations, it is beneficial to determine the mass in the accumulator 142 when the fill level is between the lower sensor 124a and the upper sensor 124b. In these implementations, the sensors may monitor the mass flow rate into and out of the accumulator 142 (e.g., this may be based on past accumulator cycles) and combine that data with additional timing data. As an example, the diameter of the package or stack or bundle may be used to determine the bundle growth rate, and the bundle growth rate may be used to determine the amount of mass based on the module diameter, thereby creating a better estimate of the mass in the accumulator 142.

[0046] Continue to refer to Figure 2 The feeder 135 can be connected to the chassis 109. The feeder 135 can be configured to receive cotton or other crops from the accumulator 142. The feeder 135 may include a plurality of metering rollers 134 configured to compress the cotton or other crops and transfer them to the module builder 150 at a feed rate. A first motor 125 is positioned to rotate the plurality of metering rollers 134.

[0047] Multiple agitator rollers 158 can be configured to cooperate with multiple metering rollers 134 to transfer crops (such as cotton) to the module builder 150 at a feed rate. A second motor 159 can be positioned to rotate the multiple agitator rollers 158.

[0048] The feeder belt 156 can be configured to receive crops from multiple metering rollers 134 and agitator rollers 158 and transfer the crops to the module builder 150 at a feed rate. A third motor 157 is positioned to rotate the feeder belt 156.

[0049] Figure 3 The illustration shows harvested crops (such as cotton) being transported by a harvester vehicle 300 (such as...). Figure 1 and Figure 2 The harvester vehicles shown in the diagram form a travel path 302 for the crop module. In this embodiment, the harvester vehicle 300 is a cotton harvester (e.g., a cotton picker), but other types of harvesters are contemplated in this disclosure.

[0050] After being harvested, the cotton travels along path 302 for processing by components of the harvester 300. In some embodiments, an air system 320 receives the harvested crop. The air system 320 may include a crop conveyor component for conveying the crop through the harvester vehicle 300, one or more sensors 362, and a crop conveyor device. In this embodiment, the crop conveyor device includes one or more air ducts 322 through which the crop travels along the cotton processing path 302 with the assistance of an airflow provided by an airflow generator (e.g., a fluid source). The air system 320 is responsible for conveying the crop material along path 302 to an accumulator system 340, in which cotton is fed into the top of an accumulator 342 such that the accumulator 342 is filled with cotton from bottom to top.

[0051] The accumulator system 340 (and in particular the accumulator 342) is configured to receive the cotton stripper header (e.g., Figure 1 112) or cotton picking unit (e.g., Figure 2 116) Harvested cotton or other crops. The accumulator 342 is configured to operatively and temporarily store the harvested crops. In some embodiments, the accumulator 342 may include a screw conveyor to facilitate the distribution of crop material while the accumulator 342 is being filled and emptied. Reference will be made below. Figure 4A and Figure 4B To explain in more detail, the accumulator system 340 includes one or more sensors connected to the accumulator 342.

[0052] In this embodiment, the harvester 300 also includes a plurality of metering rollers 334 and a plurality of agitator rollers 358. The plurality of metering rollers 334 are configured to compress cotton or other crops and transfer the cotton or other crops to the module builder 350 at a feed rate. The plurality of agitator rollers 358 may be configured to cooperate with the plurality of metering rollers 334 to transfer crops to the module builder 350 at a feed rate. A feeder conveyor or feeder belt 356 may be configured to receive crops from the plurality of metering rollers 334 and agitator rollers 358 and transfer the crops to the module builder 350 at a feed rate.

[0053] In some embodiments, crop container 352 includes module builder 350, which can be configured to build crop modules, such as cotton bales or hay bales / straw bales.

[0054] Figure 4AThis is a component diagram illustrating one embodiment of a harvester vehicle 400 according to the present disclosure. In this embodiment, the harvester vehicle 400 includes an accumulator system 440, the accumulator system including an accumulator 442 and a pair of sensors 424a, 424b coupled to the accumulator 442. The sensors 424a, 424b can be configured to monitor crop levels (e.g., accumulator fill level) within the accumulator and provide an accumulator fill level signal indicating the fill level within the accumulator 442. The sensors 424a, 424b can be any type of sensor capable of detecting the fill level in the accumulator 442. In some embodiments, the accumulator 442 includes: a lower sensor 424a disposed in the lower portion of the accumulator 442, the lower sensor being configured to detect when the crop level in the accumulator 442 drops to a low level, i.e., below a low threshold; and an upper sensor 424b disposed in the upper portion of the accumulator 442, the upper sensor being configured to detect when the crop level in the accumulator 442 rises above a high level, i.e., a high threshold.

[0055] In some embodiments, the sensors can divide the accumulator into virtual zones or regions. In this embodiment, the lower sensor 424a and the upper sensor 424b together divide the accumulator 442 into three virtual zones or regions. As an example, the accumulator 442 may include a low-level (low position) region 444, a medium-level (middle position) region 446, and a high-level (high position) region 448. The low position region 444 is formed by the area below the lower sensor 424a in the accumulator 442, defined by the area extending between the bottom of the accumulator 442 (e.g., the floor) and the lower sensor 424a. When the crop fill level in the accumulator 442 is below the lower sensor 424a, the accumulator 442 is considered to indicate a low fill level, such as 0% capacity. The median region 446 is formed by the area extending between the lower sensor 424a (which is considered to indicate a low fill level, e.g., 0% capacity) and the upper sensor 424b (which is considered to indicate a high fill level, e.g., 100% capacity). The mass of crop material disposed in the median region 446 between the lower sensor 424a and the upper sensor 424b is defined as the median mass. The high region 448 is formed by the area extending between the upper sensor 424b and the top (e.g., ceiling) of the accumulator 442. The high region 448 is the area above the high sensor 424b, in which the accumulator is considered to indicate a high fill level (e.g., 100% capacity). In some embodiments, the accumulator 442 has additional available capacity in the area above the upper sensor 424b, making it possible for the accumulator 442 to exceed 100% capacity, depending on the amount of crop material placed above the upper sensor 424b in the high region 448.

[0056] The lower sensor 424a and the upper sensor 424b may each include multiple sensors. In some embodiments, the multiple lower sensors are aligned front to back in the accumulator 442 to promote uniform distribution of cotton at the bottom of the accumulator 442 on the metering roller 434.

[0057] In other embodiments, the accumulator 442 includes three or more sensors arranged within the accumulator 442 and configured to detect crop levels within the accumulator 442. In these embodiments, the sensors can divide the accumulator into three or more virtual zones or areas.

[0058] Figure 5A The figure illustrates a harvester vehicle 500 according to this disclosure (e.g., from...). Figure 1 100 and Figure 2 A block diagram of one embodiment of (200) shows that the harvester vehicle 500 includes a feedback fusion system 510 for determining an accumulator fill level. The harvester vehicle 500 includes a crop handling system comprising at least an accumulator and a module builder. The feedback fusion system 510 is operatively coupled to a crop feed rate control system 530 of the harvester vehicle 500. The feedback fusion system 510 operatively provides crop handling data indicating an accumulator fill level 532 to the crop feed rate control system 530. The crop feed rate control system 530 operatively provides crop handling data indicating a target harvest rate to a vehicle control system 560, wherein the crop handling data indicating the target harvest rate is based at least on the received crop handling data indicating the accumulator fill level 532. The crop handling data indicating the target harvest rate can be used by the vehicle control system 560 to operatively control the harvest rate of the harvester vehicle 500.

[0059] The crop feed rate control system 530 may include one or more control modules (collectively referred to as 534) and one or more feedback devices (e.g., sensors), said one or more control modules being operatively coupled to one or more feedback systems (collectively referred to as 536) of the harvester vehicle 500, said one or more feedback devices being configured to monitor or detect crop processing data (e.g., accumulator level 532, machine mass flow rate, etc.) associated with crop processing components of the harvester vehicle's crop processing system. The crop handling component may include two or more of the following: a crop accumulator component operably and temporarily stores harvested crops, the crop accumulator component including an accumulator capacity monitor; a crop cutter component operably harvests crops from a target field, the crop cutter component including a cutter and a cutter system load monitor; a crop conveyor component conveying crops through a vehicle, the crop conveyor component including one or more air ducts and an air system load monitor; a crop cleaner component operably cleans the harvested crops, the crop cleaner component including a cleaner system load monitor; and a map-based tillage (MBF) component operably guides the movement of the vehicle during harvest, the MBF component including an MBF system monitor.

[0060] One or more feedback systems 536 can operatively provide feedback signals based at least on data detected by the feedback devices, the feedback signals including data indicating the detected load of each crop treatment component of the crop treatment system and data indicating the target load of one or more crop treatment components of the crop treatment system, as described in application No. 17 / 711,384 filed April 1, 2022, the contents of which are incorporated herein by reference in their entirety, except for any definitions, subject matter disclaimers or denials, and the scope of any material contained herein that is inconsistent with the express disclosure, in which case the language of this disclosure shall prevail. The target load or target load (%) can be set as a value that correspondingly sets (i.e., controls) the system capacity of each feedback system. Thus, the target load (%) can also be referred to as the feedback system capacity. In some embodiments, the target load (%) is set to maximize the harvest rate and, by extension, maximize productivity / throughput.

[0061] In some embodiments, one or more control modules 534 may include a first control module and a second control module. The first control module is operable to receive feedback signals and generates a control load signal based at least on the feedback signals. The control load signal may indicate control components of the two or more crop processing units of the crop processing system. In some embodiments, by generating the control load signal indicating the control components, the first control module can help the crop feed rate control system 530 establish a harvest rate that loads the control components close to their maximum throughput (e.g., optimizes the load) while mitigating overload of the control components that could lead to downtime. The second control module is operable to receive a target load signal and a control load signal, wherein the second control module is operable to generate crop processing data indicating a target harvest rate for the vehicle, different from the target harvest rate, based at least on the target load signal and the control load signal, taking into account the accumulator level (capacity) 532.

[0062] In some embodiments, one or more control modules 534 may include one or more controllers. The one or more controllers may include a processor, a storage device operatively coupled to the processor, and a logic unit (e.g., a programmable logic unit) stored in the storage device. In some embodiments, one or more control modules 534 may include a logic unit (e.g., a programmable logic unit) stored on the control device of the crop feed rate control system 530 or on another control unit in the harvester vehicle 500. The control module logic unit may be configured to determine control load and target load based at least on feedback signals operatively provided by one or more feedback systems, and to generate crop handling data indicating a target harvest rate (e.g., ground speed) of the harvester vehicle 500.

[0063] In these embodiments, one or more control modules 534 of the crop feed rate control system 530 determine which feedback system or crop handling component is limiting the harvester's harvest rate (e.g., ground speed). As an example, one or more control modules 534 may be configured to determine, at least based on feedback signals, which corresponding crop handling component (e.g., one or more crop handling components) has the greatest limiting effect on the harvest rate (e.g., slowing down the harvest and reducing throughput). One or more control modules 534 may operable to generate crop handling data that indicates a target harvest rate different from the harvest rate for the harvester vehicle 500. In this way, one or more control modules 534 can assist the crop feed rate control system 530 in establishing a harvest rate that loads the control components close to their maximum throughput (e.g., optimizing the load) while mitigating overload of the control components that could lead to downtime.

[0064] In some embodiments, the crop feed rate control system 530 may be operatively coupled to a user interface 550. The user interface 550 may be configured to display information about the status of the crop feed rate control system 530. In some embodiments, the user interface 550 may be an interactive display. In some embodiments, the operator may view the vehicle speed signal provided to the vehicle control system 560 by the second control module 534 and may manually overshoot the recommended vehicle speed to overcome the automatic adjustment of the harvest rate.

[0065] The feedback fusion system 510 includes a control module 520 operably receiving feedback signals from a plurality of feedback devices and generating an accumulator fill level signal based on at least two or more of the feedback signals. The accumulator fill level signal indicates an estimated fill level (e.g., crop level) in the accumulator. In some embodiments, the crop treatment system wraps and ejects completed modules from the module builder based at least on the accumulator fill level signal.

[0066] In some embodiments, multiple feedback devices or sensors operatively provide feedback signals including data indicating one or more of the following: crop mass flow rate 512, module builder status 514, module size (e.g., module diameter) 516, and accumulator fill level 518. However, those skilled in the art will understand that the number of feedback devices operatively coupled to the control module 520 can vary depending on the specifications of the harvester vehicle 500 (e.g., cotton stripper, cotton picker, combine harvester, etc.). In some embodiments, the feedback fusion system 510 generates an accumulator fill level signal indicating an estimated fill level in the accumulator, based at least on the feedback signals including data indicating crop mass flow rate 512 and accumulator fill level 518.

[0067] The feedback fusion system 510 of this disclosure can provide a more accurate estimate of the crop fill level in the accumulator by combining or fusing data received from each of a plurality of feedback devices. A more accurate estimate of the accumulator fill level is advantageous to help reduce or even prevent overfilling of the accumulator, which can lead to blockages (e.g., blockages in a cleaner) and machine downtime. As an example, during a wrapping and throwing cycle, a user can more confidently rely on the estimated accumulator fill level to manually control (e.g., reduce vehicle ground speed to decrease the harvest rate) the harvesting rate of the harvester 500 to avoid overfilling the accumulator. Alternatively, during a wrapping and throwing cycle, the harvester 500 can rely on a more accurate estimate of the accumulator fill level to automatically control the harvesting rate (e.g., reduce vehicle ground speed to decrease the harvest rate) to maximize productivity and simultaneously avoid overfilling the accumulator.

[0068] In some embodiments, control module 520 may include a controller, such as a microcontroller. The controller may include a processor, a storage device operatively coupled to the processor, and a logic unit (e.g., a programmable logic unit) stored in the storage device, the logic unit being configured to generate an accumulator fill level signal based at least on a feedback signal. In some embodiments, control module 520 may include a logic unit (e.g., a programmable logic unit) stored on the control device of the feedback fusion system 510 or on another control unit in the harvester vehicle 500. Thus, in some embodiments, control module 520 is a standalone controller. In other embodiments, control module 520 is integrated into an existing controller in the harvester vehicle 500.

[0069] In some embodiments, the control module 520 may include one or more accumulator capacity algorithms configured to process feedback signals and generate accumulator fill level capacity feedback signals. In some embodiments, the accumulator capacity algorithms estimate the accumulator fill level capacity by considering crop quality information from current and past data. In some embodiments, the accumulator capacity algorithms monitor the crop flow entering the accumulator via one or more mass flow sensors and monitor the mass flow leaving the accumulator via one or more of the following: crop mass in the accumulator, accumulator sensors (e.g., lower and upper sensors), module size (e.g., diameter), and module growth rate.

[0070] In some embodiments, control module 520 operatively receives feedback signals including data indicating accumulator fill level 518 from one or more feedback devices (e.g., sensors) configured to detect accumulator fill level. In some embodiments, at least one of the plurality of feedback devices in feedback fusion system 510 is configured to detect accumulator fill level 518 (i.e., crop fill level within the accumulator) and operatively provides an accumulator fill level signal including data indicating the detected fill level within the accumulator. In some embodiments, a plurality of feedback devices are coupled to the accumulator and include a lower sensor disposed in the lower portion of the accumulator and an upper sensor disposed in the upper portion of the accumulator. In some embodiments, if the accumulator fill level indicates that the accumulator is near full, the harvester vehicle can automatically slow down (e.g., reduce vehicle speed) to avoid overfilling the accumulator and can initiate a bale and throw cycle in the harvester vehicle (e.g., a cotton harvester). As an example, monitoring the accumulator fill level can help mitigate overfilling of the accumulator, which can cause machine downtime, such as to remove blockages caused by crop overflow from the accumulator.

[0071] In some implementations, the collector includes: a lower sensor (e.g., Figure 4A (424a) In this context, the lower sensor is disposed in the lower portion of the accumulator and configured to detect when the crop level in the accumulator drops to a low level, i.e., below a low threshold; and the upper sensor (e.g., Figure 4A In 424b), the upper sensor is disposed in the upper portion of the accumulator and configured to detect when the crop level in the accumulator exceeds a high level, i.e., a high threshold. As an example, when the upper sensor is triggered (e.g., blocked) during harvest, a signal can be provided to the accumulator to empty / unload its crop contents. That is, for example, when the upper sensor detects that the accumulator fill level exceeds (e.g., rises above) a preset sensor threshold level, an accumulator emptying signal is propagated and an accumulator unloading cycle begins. In some embodiments, the upper sensor can be configured (e.g., by its position in the accumulator) to be triggered before the accumulator is completely full (e.g., with a built-in buffer having additional crop storage space).

[0072] As another example, when the lower sensor is triggered (e.g., not obstructed) during the emptying of the accumulator, a signal can be provided to the accumulator to stop emptying or terminate the unloading cycle. Therefore, triggering the lower sensor indicates that the accumulator has released sufficient crop load (e.g., the amount of crop) and that emptying the crop contents should stop. That is, for example, when the lower sensor detects that the accumulator fill level exceeds (e.g., drops below) a preset sensor threshold level, the emptying of the accumulator can stop.

[0073] In some implementations, the lower sensor (e.g., positioned within the accumulator at a distance from the bottom) can be configured to reduce the emptying of crop from the accumulator to a desired low level, i.e., below the low threshold. Having a residual amount of crop in the accumulator, rather than leaving it completely empty, can be advantageous. The residual crop in the accumulator can mitigate uneven feeding on the feeder belt that would occur if the accumulator were completely empty. The residual crop in the accumulator can also reduce the phenomenon of cotton being blown onto the feeder belt through the metering rollers and agitator rollers due to the positive pressure from the conveyor fan.

[0074] In some implementations, the packing and throwing cycle can be initiated when the crop fill level in the accumulator reaches the lower sensor 424a (e.g., when the lower sensor 424a is triggered) and the crop module size (e.g., module / bundle diameter) reaches a target threshold size (e.g., a predetermined module / bundle diameter). The overall strategy is to initiate the packing and throwing cycle when the crop level in the accumulator is at the lower sensor (e.g., considered to indicate a low fill level, such as 0% capacity), to provide as much time as possible for the completion of the packing and throwing cycle before the accumulator is full, thus mitigating the risk of stopping harvesting or reducing machine ground speed during that cycle. If the accumulator is not empty when the packing and throwing cycle is initiated (e.g., at 0% capacity), it may result in overfilling of the accumulator, which could lead to downtime.

[0075] In some embodiments, the control module 520 is operable to receive a feedback signal including data indicating mass flow rate 512 from one or more feedback devices (e.g., sensors) configured to monitor the mass flow rate of crops entering the accumulator. In some embodiments, at least one of the plurality of feedback devices in the feedback fusion system 510 is configured to monitor the mass flow rate of crops entering the accumulator and is operable to provide a feedback signal including data indicating the mass flow rate of crops entering the accumulator. As an example, the feedback device may include a mass flow sensor (e.g., Figure 1 160 or Figure 2(162) In this embodiment, the mass flow sensor is operatively provided with feedback signals including data indicating the mass flow rate of crop entering the accumulator. In some embodiments, one or more feedback devices may be installed at the inlet of the accumulator and configured to monitor the crop mass flow rate (e.g., the flow rate of crop through the inlet or other parts of the conveyor system) and the accumulator filling rate. In some embodiments, the feedback devices may be configured to measure the mass flow rate and the time it takes for the accumulator to fill between the lower and upper sensors (e.g., the accumulator filling rate) to determine yield. In these embodiments, the feedback devices may be used for yield mapping.

[0076] In some embodiments, the one or more feedback devices may be configured to monitor crop mass flow rates from air ducts in an air system to an accumulator (e.g., into an accumulator). In some embodiments, one or more mass flow sensors may be positioned within the air duct. As an example, a harvester (such as a cotton stripper) may include multiple mass flow sensors (such as four cotton mass flow sensors) mounted across the width of the air duct. In other embodiments, one or more mass flow sensors may be positioned adjacent to the air duct. As an example, a harvester (such as a cotton picker) may include multiple mass flow sensors mounted downstream of the air duct, with one cotton mass flow sensor mounted for each row unit.

[0077] Various types of mass flow sensors can be used to monitor crop mass flow rates, such as, but not limited to, HDOC yield monitors, vacuum / pressure sensors, and optical / laser-based sensors. Mass flow sensors can be radar-based, but are not limited to, them. As an example, an HDOC yield monitor uses a microwave-based controller that ejects a signal away from flowing crop to detect changes in velocity, where a slowed crop flow indicates that the air duct is overloaded. As another example, a vacuum / pressure sensor can measure the pressure difference across an air duct as material flows to estimate the flow rate of material in the air duct. In some embodiments, the feedback fusion system 510 includes active calibration of the mass flow sensor. Those skilled in the art will recognize that active calibration of the mass flow can provide accurate estimates of module density and module weight / mass. However, the feedback fusion system 510 of this disclosure can rely on relative relationships, making active calibration of the mass flow sensor optional and not required.

[0078] In some embodiments, the control module 520 operatively receives a feedback signal including data indicating the size 516 of the crop module from one or more feedback devices (e.g., sensors) configured to detect the size of the crop module. In some embodiments, at least one of the plurality of feedback devices in the feedback fusion system 510 is configured to detect the size of the crop module and operatively provide a feedback signal including data indicating the size of the crop module. In some embodiments, the crop module size includes the diameter of the crop module and the associated growth rate of the crop module. As will be explained in more detail below, the data indicating the size of the crop module can be used to determine the crop mass flow rate leaving the accumulator. As an example, the growth rate of the crop module can be used to determine the mass flow rate leaving the accumulator.

[0079] In some embodiments, control module 520 operatively receives feedback signals from one or more feedback devices, the feedback signals including data indicating the module builder state 514 (such as the circular module builder (RMB) state). In some embodiments, at least one of the plurality of feedback devices in feedback fusion system 510 is configured to monitor the module builder state and operatively provide feedback signals including data indicating the module builder state. The module builder state may include data indicating a stage of module formation (e.g., whether it is the start of a module). As an example, when the module builder determines that it is not the start of a module, feedback fusion system 510 may perform a module initiation mass correction to take into account the mass of material acquired from the accumulator and subsequently incorporated into the module during module formation. As another example, when the module builder determines that it is not the start of a module, feedback fusion system 510 may calculate the module volume growth rate based on the change in diameter over a time interval. In some implementations, the feedback fusion system 510 is configured (e.g., operationally set / programmed) to maximize module size, or bundle size, by building modules with a target size that approximates the maximum module diameter, since a fixed amount of plastic wrapping is available for each crop module. The module builder can more precisely build the maximum-sized module if the module builder state is known. In some implementations, the maximum module diameter is 94 inches.

[0080] Control module 520 can determine the current module diameter and the amount of crop material in the accumulator based on inputs from other feedback devices. By considering the inputs from each feedback device, control module 520 can determine that sufficient mass of crop material remains in the accumulator to complete the module or bale. Therefore, control module 520 can initiate unloading of the accumulator and begin feeding crop material to the module builder without being triggered by the crop fill level in the accumulator reaching the upper sensor (e.g., without triggering the upper sensor).

[0081] In some implementations, control module 520 may initiate the wrapping and throwing cycle based on one or more of the following: reaching a target crop module size (e.g., a threshold module size); and reaching a target crop module mass (e.g., a threshold module mass). Thus, one trigger for initiating wrapping and the cycle is reaching the target size of the crop module (such as a round crop module). An additional trigger for initiating wrapping and the cycle is reaching the target mass of the crop module (such as a round crop module). Providing such an alternative triggering mechanism may be important if the module handling equipment has weight-bearing limitations. Alternatively, target size and target mass can be used in combination. As an example, the primary trigger could be the target size, while the secondary trigger could be the target mass (e.g., a maximum weight target). This feature may be beneficial under high-humidity harvesting conditions where round modules tend to be much heavier. This is possible due to the availability of module or bale weight on the harvester vehicle.

[0082] The benefit of the feedback fusion system 510 presented herein is more robust machine logic that provides a more accurate and reliable indication that the machine accumulator is empty before initiating the wrapping and ejection cycle. Therefore, the feedback fusion system 510 provides finer control by generating a more accurate accumulator fill level attributable to the fusion or combination of data from multiple feedback devices. The feedback fusion system 510 can now determine whether there is sufficient mass in the accumulator to begin feeding the module builder to complete a bundle with a sufficient module diameter, rather than waiting for the upper sensor to be triggered.

[0083] In some implementations, it is beneficial to determine the mass in the accumulator when the fill level is between the lower and upper sensors (also referred to as the median mass). In these implementations, the sensors can monitor the mass flow rate entering and leaving the accumulator (e.g., this can be based on past accumulator cycles) and combine that data with additional timing data. As an example, the module diameter can be used to determine the module growth rate, and the module growth rate can be used to determine the amount of mass leaving the accumulator (e.g., mass outflow) based on the module diameter, thereby creating a better estimate of the mass in the accumulator.

[0084] In some implementations, the feedback fusion system 510 may be operatively coupled to a user interface 550. The user interface 550 may be configured to display information about the status of the feedback fusion system 510. As an example, the user interface 550 may display module density, mass flow rate, module growth rate, accumulator fill level, etc., for operator viewing. In some implementations, the user interface 550 may be an interactive display.

[0085] Figure 5B The figure illustrates a harvester vehicle 500 according to the present disclosure, including an accumulator feedback fusion system 510 (e.g., from...). Figure 1 100 and Figure 2 A block diagram of another embodiment of (200). In this particular embodiment, the feedback fusion system 510 is configured as a subsystem of the crop feed rate control system 530, but is essentially similar. Figure 5A The 510 accumulator feedback fusion system is in operation.

[0086] Figure 6 This is a flowchart illustrating one embodiment 600 of estimating the accumulator fill level (i.e., the crop level in the accumulator) according to the present disclosure. At 602, the harvester is operable and actively harvests crops, wherein the harvested crops (such as cotton) are transported through air ducts of an air system and deposited in the top of the accumulator, such that the accumulator is filled from bottom to top.

[0087] At 604, the feedback fusion system monitors the lower sensor to determine whether the lower sensor has been triggered (e.g., blocked). As an example, the lower sensor can be triggered when the crop level in the accumulator reaches a level sufficient to block the lower sensor.

[0088] At 606, when the lower sensor is not triggered (e.g., not blocked), the feedback fusion system sets the accumulator fill level to zero (e.g., 0% capacity). As an example, when the crop level in the accumulator is below a threshold level detected by the lower sensor, the accumulator fill level is set to 0% capacity. At 608, the feedback fusion system generates a signal indicating that the accumulator fill level is 0% capacity.

[0089] At point 610, the step involves integrating the mass flow rate into the accumulator based on the feedback fusion system's determination that the lower sensor has been triggered. Integrating the mass flow rate relative to time into the accumulator provides a value for the mass of crop material that has entered the accumulator (e.g., in kilograms).

[0090] At 612, the feedback fusion system determines whether the accumulator is being unloaded. At 614, this can be determined, for example, by the control module ( Figure 5A and Figure 5BAt 520, the accumulator fill level is calculated according to the following formula: Accumulator level = (accumulated mass in) / (median mass), where the accumulated mass in represents the mass (kg) of crop material that has entered the accumulator, and the median mass represents the mass (kg) of crop material in the accumulator between the lower and upper sensors. The accumulator level formula provided at 614 can be used to calculate the accumulator fill level when the accumulator is not being unloaded. At 616, a signal indicating the calculated accumulator fill level is generated by the feedback fusion system.

[0091] Once the accumulator actually begins unloading crop material, the feedback fusion system can initiate a module check. At 618, the module check is initiated to determine if accumulator unloading corresponds to the start of a module. The module check initiated at 618 is primarily performed because the feedback fusion system uses the module diameter as a function of the mass flow rate leaving the accumulator. In a harvester, the module builder may include a minimum module diameter, where growth below a certain module diameter is not observed / detected. However, once the feedback fusion system detects a change in module diameter, it considers the mass removed from the accumulator and subsequently incorporates it into the crop module.

[0092] At 620, the feedback fusion system performs module initial quality correction based on the initial module formation. Module initial quality correction takes into account the quality of material extracted from the accumulator and subsequently incorporated into the module. At 622, the feedback fusion system determines whether the detected module diameter meets a desired predetermined size threshold (e.g., a minimum module diameter threshold). At 623, the feedback fusion system determines that the detected module diameter fails to meet the desired size threshold (e.g., the minimum module diameter) and returns to step 622, where it again determines whether the detected module diameter meets the desired size threshold (e.g., the minimum module diameter). The step at 622 determining whether the detected module diameter meets the desired size threshold (e.g., the minimum module diameter) continues to be executed until a condition is met (e.g., the module diameter exceeds the desired (e.g., minimum) size threshold). The module diameter pivot does not move until a certain module diameter threshold is reached. As an example, once the feedback fusion system determines that the module diameter exceeds the minimum size threshold, the module diameter pivot moves.

[0093] Once it is determined that the module diameter has reached the desired size threshold or that module formation is not at the starting point, the feedback fusion system merges the mass flow rates leaving the accumulator. At 624, there is a step of merging the mass flow rates leaving the accumulator (e.g., inputting the value), which can be estimated based on the module diameter. The mass flow rate leaving the accumulator can be a volumetric flow rate using the module growth rate and can be varied in mm / sec. Mathematically, integrating the mass flow rate (kg / s) leaving the accumulator with respect to time provides an estimate of the accumulated mass (kg) leaving the accumulator.

[0094] At point 626, the accumulator fill level can be calculated using the following formula: Accumulator Level = (Accumulated Mass in - Accumulated Mass out) / (Median Mass). In this formula, the accumulator level is a function of the amount of material currently entering the accumulator and the amount of material leaving the accumulator. At point 628, a signal indicating the calculated accumulator fill level is generated by the feedback fusion system. Typically, once it is determined that the accumulator is unloading, the feedback fusion system continuously integrates the mass flow rates in and out.

[0095] Figure 7 This is a flowchart illustrating one embodiment 700 for estimating module density according to the present disclosure. At 702, a harvester operatively and actively harvests crops, wherein the harvester is configured to transfer the harvested crops from an accumulator to a module builder to form modules.

[0096] At position 704, there is a check to determine if the circular module builder is active. Once it is determined that a module is being built and the circular module builder is active, the module check can begin.

[0097] At 706, a module check is initiated. Determining whether it is the start of a module can be based on whether the module size (e.g., bundle diameter) is below a predetermined threshold size and whether a wrapping and throwing loop was recently executed. If it is determined to be the start of a module, the starting module diameter is set to zero at 708. If it is determined not to be the start of a module, the starting module diameter is captured at 710.

[0098] At point 712, a check is performed to determine if the circular module builder is still active. Once it is determined that the circular module builder is no longer active (i.e., it is no longer active), the termination module diameter is captured at point 714. At this point, both the starting and termination module diameters are known. At point 716, the change in module volume can be calculated based on the change in diameter between the starting and termination module diameters.

[0099] At point 718, from Figure 9The method implemented in the paper obtains the mass value fed into the module, as will be described in more detail below. The density of the module can be calculated based on the amount of mass fed into the module and the corresponding change in the module's volume due to the mass.

[0100] At point 720, the density (mass / volume) of the crop modules formed by unloading the cycle from an accumulator is calculated. This calculation provides an estimate of the module density, which can be used to perform other calculations, such as estimating the accumulator fill level. At point 722, a signal indicating the module density is generated by the feedback fusion system. The module density estimation process is advantageous because it provides module density values ​​based on the mass flow rate leaving the accumulator rather than the volume flow rate. Furthermore, the module density estimation described above takes into account the density changes that occur throughout the module formation process. As a result, the module density estimate is accurate and up-to-date. Therefore, while the module density estimation can be simplified by using the total module weight, total module diameter, and total module volume, such an estimate would be less accurate because it does not account for the changes in module density throughout the module formation process.

[0101] Figure 8 This is a flowchart illustrating one embodiment 800 of converting volumetric flow rate to mass flow rate according to the present disclosure. At 802, a harvester operatively and actively harvests crops, wherein the harvester is configured to transfer the harvested crops from an accumulator to a module builder to form crop modules.

[0102] At 804, the step of calculating the instantaneous module volume is performed. The instantaneous module volume represents the amount of crop material in the current module. At 806, the step of estimating the module volume growth rate (e.g., mm^3 / s) is performed, which can be based on a least-squares approximation. The module growth rate changes and is positive whenever a crop module or bale grows. At 808, the estimated module density (e.g., in...) is... Figure 7 The step at 722 (output) is applied to the module volume growth rate. The estimated module density is applied to the module volume growth rate to provide the mass flow rate leaving the accumulator. At 810, a signal indicating the mass flow rate leaving the accumulator is generated by the feedback fusion system. This calculated value of the mass flow rate leaving the accumulator is merged at 624 as the value of the leaving mass flow rate. Figure 6 middle.

[0103] Figure 9 This is a flowchart illustrating an embodiment 900 for determining the median mass of an accumulator and the total mass fed into a module according to the present disclosure. At 902, a harvester operatively and actively harvests crops, wherein the harvester is configured to transfer the harvested crops from the accumulator to a module builder to construct modules.

[0104] At 904, the feedback fusion system monitors the lower sensor in the accumulator to determine if the lower sensor has been triggered. As an example, the lower sensor can be triggered when the crop level in the accumulator reaches a level sufficient to block it. Once the lower sensor is triggered (e.g., blocked), a series of steps may occur to integrate the mass flow rate into the accumulator.

[0105] At position 906, there is a first integral of the mass flow rate into the accumulator. At position 908, there is a check to determine whether the upper sensor of the accumulator has been triggered. As an example, the upper sensor can be triggered when the crop level in the accumulator reaches a level sufficient to block it. Once the upper sensor is triggered, a data acquisition step occurs.

[0106] At 910, the median accumulator mass is captured after the upper sensor is triggered (e.g., blocked). The median mass is defined as the mass of material in the accumulator located between the lower and upper sensors, in kilograms (kg). At 912, a signal indicating the median accumulator mass is generated by the feedback fusion system. Depending on the situation, the median mass value can be substituted at 614 or 626. Figure 6 In the middle, the accumulator filling level is estimated to be 616 or 628 respectively.

[0107] At 914, there is a second integral of the mass flow rate into the accumulator. At 916, there is a check to determine whether the accumulator is unloading. The system continues to integrate the mass flow rate into the accumulator as shown at 914 until the accumulator begins to unload. The second integral of the mass flow rate into the accumulator involves the accumulator region between the upper sensor and the top of the accumulator. Once the accumulator begins to unload, the system still monitors and determines the amount of mass flowing into or entering the accumulator, which may eventually end up in the module.

[0108] Once the accumulator begins unloading, a third integral of the mass flow rate into the accumulator occurs at 918. At 920, a check is performed to determine if the lower accumulator sensor has been triggered. If it is determined that the accumulator is not unloading, the process loops to check if the lower accumulator sensor has been triggered at 904. If it is determined that the accumulator is unloading, a check is performed at 922 to determine if the lower accumulator sensor has been triggered. If the lower accumulator sensor has been triggered, the third integral of the mass flow rate into the accumulator is repeated at 918. If the lower accumulator sensor has not been triggered, a data acquisition step occurs.

[0109] At 924, the total mass fed into the module is captured. The total mass fed into the module includes the first integral of the mass flow rate into the accumulator at 906, the second integral at 914, and the third integral at 918. The total mass fed into the module determined at 924 is then input as the mass value of the mass fed into the module at 718. Figure 7 middle.

[0110] Figure 10 This illustrates the use of controls for harvester vehicles (e.g., Figure 5A and 5B A schematic diagram of an example implementation of a system 1000 for a harvesting rate of 500 (in the example). System 1000 includes a feedback fusion system 1002 for a harvester vehicle, wherein an accumulator fill level control module configured as fill level control module logic 1012 is integrated into a control unit 1010. The control unit 1010 (such as a programmable controller) is operatively coupled to one or more feedback devices (such as sensors) (collectively referred to as 1004). The control unit 1010 is also operatively coupled to a crop feed rate control system 1030.

[0111] In some implementations, one or more feedback devices or sensors S1-S N Monitor data associated with the crop treatment components of the crop treatment system (e.g., accumulator level, mass flow rate, module diameter, etc.). One or more sensors S1-S N It can be configured to generate a feedback signal including data indicating the detected load, and to provide the signal operatively to the control device 1010. The detected component data can be used by the feedback fusion system 1002 to communicate a more accurate accumulator fill level to the crop feed rate control system 1030 in real time.

[0112] In some implementations, one or more sensors S1-S N It may include a mass flow sensor configured to monitor the mass flow rate entering the accumulator. In some embodiments, one or more sensors S1-S N It can be configured to monitor crop levels in the accumulator. As an example, a lower sensor and an upper sensor can be positioned within the accumulator to monitor the fill level. In some embodiments, one or more sensors S1-S N It can be configured to monitor the diameter of the monitoring module and the associated growth rate of the crop module. In some embodiments, one or more sensors S1-S NSensors can be configured to detect the status or activity of system components. As an example, sensors can be configured to detect whether an accumulator has begun unloading, whether a module builder is active, and whether a module has started. In some implementations, one or more sensors S1-S N It can be included in the sensor group.

[0113] In some embodiments, the control device 1010 includes a processor 1014, a storage device 1020 operatively coupled to the processor 1014, and a fill level control module logic unit 1012 stored in the storage device 1020. The control device 1010 (e.g., a programmable controller) may include an input / output unit 1016, the input being for receiving signals from one or more sensors S1-S2. N The feedback signal (collectively referred to as 1004) is used as input and the output is used to provide crop processing data indicating the accumulator fill level (e.g., accumulator capacity) used by the harvester vehicle as output. In some embodiments, the control device 1010 can be programmed to automatically provide crop processing data indicating the accumulator fill level (e.g., accumulator capacity) to the crop feed rate control system 1030.

[0114] In some embodiments, the control device 1010 may include a bus 1026 or other communication mechanism, and a processor 1014 connected to the bus 1026. The bus 1026 or other communication mechanism is used to communicate information (e.g., module growth rate, module diameter, mass flow rate, etc.), and the processor is used to process the information. The control device 1010 includes a storage device 1020 (e.g., main memory), which may include a random access memory (RAM) 1024 or other dynamic storage device for storing information and instructions to be executed by the processor 1014 (e.g., filling level control module logic 1012), and a read-only memory (ROM) 1022 or other static storage device for storing static information and instructions of the processor 1014. The main memory 1020 may be a non-volatile storage device and is operable to store information and instructions that can be executed by the processor 1014.

[0115] The feedback fusion system 1002 may include any type of sensor capable of monitoring data associated with the crop processing components of the crop processing system (e.g., accumulator level, machine mass flow rate, etc.). Sensors S1-S that can be used... N The non-limiting list of types includes: HDOC output sensors, air velocity sensors, vacuum sensors, humidity sensors, weight sensors, IR sensors, and mass flow sensors.

[0116] In some embodiments, the control device 1010 may be operatively coupled to the user interface 1050. In some embodiments, the user interface 1050 may be configured to display information about the status of the feedback fusion system 1002. As an example, the control device 1010 may be programmed to automatically provide crop treatment data (e.g., module density, mass flow rate, module growth rate, etc.) associated with the accumulator fill level and to provide the estimated accumulator fill level to the user interface 1050 for subsequent display and operator viewing.

[0117] In some implementations, the control device 1010 (and in particular the communication interface 1018) may be used to report information about the feedback fusion system 1002 to the local network 1040 and the CAN bus 1042. This information may include any type of information about the feedback fusion system 1002, such as, but not limited to, component data and / or crop treatment data, operating settings / parameters, and current harvest rate (e.g., ground speed).

[0118] Figure 11 The diagram illustrates the method used to estimate the size of a harvester vehicle (e.g., Figure 5A , Figure 5B The flowchart illustrates one embodiment of the method 1100 for determining the fill level of the accumulator in the harvester vehicle (500). The harvester vehicle may include a crop handling system and a feedback fusion system. The crop handling system includes at least an accumulator and a module builder operable to handle the harvested crops. The feedback fusion system estimates the fill level in the accumulator of the harvester vehicle by fusing feedback data from multiple feedback devices.

[0119] At 1110, the method includes estimating the accumulator fill level in the harvester vehicle by operably providing crop treatment data indicating the accumulator fill level to a fusion feedback system. The crop treatment data indicating the accumulator fill level can be used by the feedback fusion system to operably control the activation and deactivation of the wrapping and throwing cycles.

[0120] At 1120, the estimation includes generating an accumulator fill level signal that indicates the estimated fill level in the accumulator. The accumulator fill level signal may be based on at least two or more feedback signals received from the plurality of feedback devices. The feedback signals may include data indicating crop mass flow rate, module builder status, module size, and accumulator fill level.

[0121] At 1130, the estimation includes at least based on the estimated accumulator fill level signal, wrapping and ejecting the completed crop module from the module builder.

[0122] In some embodiments of the method, at least one of the plurality of feedback devices includes a lower sensor and an upper sensor, the lower sensor and the upper sensor being configured to detect the fill level of the accumulator and operable to provide a feedback signal including data indicating the fill level within the accumulator.

[0123] In some embodiments of the method, at least one of the plurality of feedback devices is configured to monitor the crop mass flow rate entering the accumulator and to operable to provide a feedback signal including data indicating the crop mass flow rate entering the accumulator.

[0124] In some embodiments of the method, at least one of the plurality of feedback devices is configured to detect the size of the crop module and operable to provide a feedback signal including data indicating the size of the crop module, wherein the size of the crop module includes the diameter of the crop module and the associated growth rate of the crop module.

[0125] In some embodiments of the method, at least one of the plurality of feedback devices is configured to monitor the module builder state and operable to provide a feedback signal including data indicating the module builder state, wherein the module builder state may include data indicating a stage of module formation for performing module quality correction.

[0126] In some embodiments of the method, the feedback fusion system generates an accumulator fill level signal that indicates the estimated fill level in the accumulator, based at least on a feedback signal that includes data indicating crop mass flow rate and accumulator fill level.

[0127] In some further embodiments of the method, the wrapping and throwing cycle is triggered by any one or more of the following: reaching a target crop module size threshold; and reaching a target crop module quality threshold.

[0128] In some embodiments of the method, the feedback fusion system is operatively coupled to a crop feed rate control system, wherein the crop feed rate control system operatively provides crop treatment data indicating a target harvest rate to a vehicle control system, the crop treatment data indicating the target harvest rate being at least based on crop treatment data indicating the accumulator fill level.

[0129] The feedback fusion system disclosed herein provides a more accurate estimate of the accumulator fill level by combining or fusing data from multiple feedback devices. By combining multiple inputs when estimating the accumulator fill level, the control logic of the feedback fusion system is more robust than conventional systems that rely solely on estimating the time to fill the accumulator and using size as a target to achieve a full accumulator when the wrap and throw cycles are ready. This coarse logic works well at low throughput, but can encounter problems at high throughput when the accumulator fill rate exceeds the wrap and throw cycle speed.

[0130] By considering the crop mass flow rate entering the accumulator tracked via mass flow sensors and the crop mass flow rate leaving the accumulator calculated based on the growth rate of the crop modules, the feedback fusion system described herein is more robust and provides a more accurate determination of the accumulator fill level. Furthermore, the lower and upper sensors included in the system provide different reference points, allowing the harvester and corresponding logic to react to changing field conditions and become intelligent over time through machine learning. In other words, the feedback fusion system is conceived to adapt itself to changing conditions regarding the different types of crops being harvested and / or the conditions of the crops (e.g., variety, humidity level, yield, etc.).

[0131] The embodiments have been described above. Those skilled in the art will understand that the methods and apparatus described above may include changes and modifications without departing from the general scope of the invention. The invention is intended to include all such modifications and variations, provided they fall within the scope of the appended claims or their equivalents.

Claims

1. A harvester vehicle (300 / 400 / 500), comprising: A crop processing system comprising at least an accumulator (342) and a module builder (350), the module builder being operable to form crop modules from crops fed from the accumulator to the module builder; and A feedback fusion system (510) provides crop processing data indicating accumulator fill levels to the crop feed rate control system (530) of the harvester vehicle in an operable manner, the feedback fusion system (510) comprising: Multiple sensors (S1-S) N The plurality of sensors provide feedback signals in an operable manner, the feedback signals including data indicating the following: crop mass flow rate into the accumulator (512), module builder status (514), and crop module size (516), the crop module size including the diameter of the crop module formed by the module builder and the associated growth rate; as well as A control module (520) is operable to generate an accumulator fill level signal (532) based on the module builder state using two or more of the feedback signals, the accumulator fill level signal (532) indicating an estimated fill level in the accumulator (342).

2. The harvester vehicle (300 / 400 / 500) according to claim 1, wherein, At least one of the plurality of sensors (424a, 424b) is configured to detect the fill level of the accumulator and is configured to provide a feedback signal in an operable manner including data indicating the fill level within the accumulator.

3. The harvester vehicle (300 / 400 / 500) according to claim 2, wherein the plurality of sensors includes a lower sensor (424a) disposed in the lower portion of the accumulator (342) and operable to provide a feedback signal indicating the lower fill level of the accumulator, and an upper sensor (424b) disposed in the upper portion of the accumulator (342) and operable to provide a feedback signal indicating the upper fill level of the accumulator.

4. The harvester vehicle (300 / 400 / 500) according to any one of claims 1 to 2, characterized in that... One or more of the following: At least one of the plurality of sensors (462) is configured to monitor the crop mass flow rate (512) entering the accumulator (342) and is configured to provide a feedback signal in an operable manner including data indicating the crop mass flow rate entering the accumulator.

5. The harvester vehicle (300 / 400 / 500) according to claim 3, wherein, The feedback fusion system (510) generates an accumulator fill level signal (532) indicating an estimated fill level in the accumulator, based at least on a feedback signal including data including an accumulator fill level (518) indicating the median regional mass of the crop and a crop mass flow rate (512), the median regional mass including the mass of crop material located between the lower sensor and the upper sensor.

6. The harvester vehicle (300 / 400 / 500) according to claim 1, wherein, The feedback fusion system is operable to trigger the wrapping and throwing loop by any one or more of the following: Reaching the target crop module size threshold; and The target crop module quality threshold has been reached.

7. The harvester vehicle (300 / 400 / 500) according to claim 1, wherein, The crop treatment system is based at least on the accumulator filling level signal wrapping and ejection of completed modules from the module builder (350).

8. The harvester vehicle (300 / 400 / 500) according to claim 1, wherein the harvester vehicle further includes the crop feed rate control system (530), wherein, The crop feed rate control system provides crop processing data indicating a target harvest rate to the vehicle control system (560) in an operable manner so as to operablely control the harvesting rate of the harvester vehicle. The crop processing data indicating the target harvest rate is at least based on the crop processing data indicating the accumulator fill level.

9. A method (1100) for estimating the fill level of an accumulator in a harvester vehicle (300 / 400 / 500), the harvester vehicle having a crop handling system and a feedback fusion system (510), the crop handling system including at least a module builder (350) and an accumulator (342), the module builder being operable to form crop modules from harvested crops fed from the accumulator to the module builder, the feedback fusion system fusing data from multiple sensors (S1-S2). N The method includes using feedback data to estimate the fill level in the accumulator of the harvester vehicle, the method comprising: The fill level of the accumulator in the harvester vehicle is estimated (1110) by providing crop treatment data indicating the accumulator fill level to the feedback fusion system in an operable manner. The crop treatment data indicating the fill level is used by the feedback fusion system to operablely control the activation and deactivation of the wrapping and throwing cycles. The estimation includes: Generate (1120) an accumulator fill level signal indicating an estimated fill level in the accumulator, the accumulator fill level signal being based at least on two or more feedback signals received from the plurality of sensors, the feedback signals including data indicating: crop mass flow rate into the accumulator (512), module builder status (514), and crop module size (516), the crop module size including the diameter of the crop module and the associated growth rate when the crop module is formed by the module builder; and Based at least on the estimated accumulator fill level signal, the completed crop module from the module builder (350) is wrapped and thrown (1130).

10. The method (1100) according to claim 9, characterized in that... One or more of the following: The multiple sensors (S1-S) N At least one sensor in the accumulator includes a lower sensor (424a) providing a feedback signal indicating the lower fill level of the accumulator and an upper sensor (424b) providing a feedback signal indicating the upper fill level of the accumulator, wherein the lower sensor and the upper sensor are configured to detect the fill level of the accumulator and are configured to operably provide feedback signals including data indicating the fill level (518) within the accumulator (342); and / or The multiple sensors (S1-S) N At least one sensor in the module builder is configured to monitor the module builder state and to provide a feedback signal including data indicating the stage of module formation, which is used to perform module quality correction.

11. The method (1100) according to claim 10, wherein, The feedback fusion system (510) generates an accumulator fill level signal (532) indicating an estimated fill level in the accumulator, based at least on a feedback signal including data indicating the median regional quality of the crop, the median regional quality including the mass of the crop material located between the lower sensor and the upper sensor.

12. The method of claim 9 (1100), further comprising triggering the package and throwing loop by any one or more of the following: Reaching the target crop module size threshold; and The target crop module quality threshold has been reached.

13. The method (1100) of claim 9, further comprising providing crop treatment data indicating a target harvest rate to a vehicle control system (560) to control the harvest rate of the harvester vehicle in an operable manner, wherein the crop treatment data indicating the target harvest rate is based at least on crop treatment data indicating the fill level of the accumulator.

14. A system for estimating the accumulator fill level of a harvester vehicle (300 / 400 / 500), the system comprising: A crop processing system, the crop processing system comprising at least an accumulator (342) and a circular module builder (350). A feedback fusion system (510) provides crop treatment data indicating the accumulator filling level to a crop feed rate control system (530) in an operable manner, the feedback fusion system comprising: Multiple sensors (S1-S) N ), which includes: At least one of the sensors (462) is configured to monitor the mass flow rate of crops entering the accumulator and is configured to provide a feedback signal in an operable manner including data indicating the mass flow rate (512) of crops entering the accumulator; The sensor (S1-S) N At least one sensor in the crop module is configured to detect the size and growth rate of the crop module during its formation and is configured to provide a feedback signal in an operable manner including data indicating the size (516) and growth rate of the crop module; The multiple sensors (S1-S) N At least one sensor in the module builder is configured to monitor the module builder state and is configured to provide a feedback signal in an operable manner including data indicating the module builder state (514), wherein the module builder state includes data indicating a stage of module formation, the data indicating the stage of module formation being usable for performing module quality correction; and Control module (520), which operably receives the feedback signal and generates an accumulator fill level signal (532) based at least on the crop module size and growth rate and the module builder state, indicating the estimated fill level in the accumulator. The crop processing system is based at least on the accumulation level signal wrapping and ejection of completed modules from the module builder.

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