Crop loss detection, positioning and improvement system and method

Abstract

An agricultural machine for reducing crop loss during a harvesting operation comprises: front ground engaging mechanisms coupled to a front axle; a chassis supported above the ground by the front ground engaging mechanisms; a cutting head positioned forward of the front ground engaging mechanisms and configured to harvest crop material at a work location; an image sensor; and a controller operatively coupled to the image sensor. The image sensor captures images of a field of view encompassing an area rearward of the front axle. The controller receives data corresponding to the images from the image sensor, determines the amount of grain shown in the images, and adjusts an operating characteristic of the agricultural machine based on the determined amount of grain shown in the images of the field of view.

Description

Area of ​​Revelation

[0001] This description relates to agricultural machinery and, in particular, to systems and methods for reducing crop loss from agricultural machinery. Background of the Revelation

[0002] There are a variety of different types of agricultural machinery. Agricultural machinery includes, among others, combine harvesters, sugarcane harvesters, cotton harvesters, self-propelled forage harvesters, and windrowers. Crop losses can occur during harvesting operations with agricultural machinery. Accurately detecting, categorizing, and reducing crop losses can be beneficial for various applications. Brief description

[0003] In an example implementation, an agricultural machine configured to reduce crop loss during a harvesting operation comprises: front ground engaging mechanisms coupled to a front axle; rear ground engaging mechanisms coupled to a rear axle; a chassis supported by the front ground engaging mechanisms and the rear ground engaging mechanisms over a surface; a cutting head positioned forward of the front ground engaging mechanisms and configured to harvest crop at a work site; at least one image sensor configured to capture one or more images of a field of view, wherein the field of view is external to the agricultural machine and includes an area rearward of a centerline of the front axle;and a controller configured to receive data corresponding to one or more images of the field of view from the at least one image sensor, determine the amount of grain shown in the one or more images of the field of view based on the received data, and adjust at least one operating characteristic of the agricultural machine based on the determined amount of grain shown in the one or more images of the field of view. In some implementations, the field of view includes an area below a portion of the chassis.;

[0004] In some implementations, the agricultural machine further comprises: at least one light-emitting device configured to emit light into the field of view. In some implementations, the at least one light-emitting device comprises at least one laser. In some implementations, the controller is configured to adjust at least one of the following operational characteristics of the agricultural machine based on the determined amount of grain shown in the one or more images of the field of view: the speed of the agricultural machine, the direction of travel of the agricultural machine, at least one operational characteristic of the header, and at least one operational characteristic of a threshing assembly of the agricultural machine configured to process crop harvested by the header.

[0005] In some implementations, the field of view comprises an area forward of a centerline of the rear axle. In some implementations, the agricultural machine further comprises: a threshing assembly positioned rearward of the header; and a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; and the at least one image sensor is positioned below the threshing assembly and / or the clean crop guide assembly. In some implementations, the at least one image sensor is directed laterally inward toward a lateral centerline of the agricultural machine.

[0006] In some implementations, the agricultural machine further comprises: a threshing assembly positioned behind the cutting head; a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; and sidewalls between which the threshing assembly and the clean crop guide assembly are positioned; wherein the at least one image sensor is positioned on at least one of the sidewalls. In some implementations, the cutting head extends laterally from a first end to a second end; and the at least one image sensor is positioned on at least one of the first end and the second end of the cutting head.

[0007] In some implementations, the agricultural machine further comprises: a threshing assembly positioned behind the cutting head; a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; a distributor configured to dispense the non-grain component from the agricultural machine; and an additional image sensor configured to capture one or more images of an additional field of view comprising an area configured to receive the non-grain component of the crop dispensed from the agricultural machine.

[0008] In some implementations, the controller is configured to: receive an indication of pre-harvest grain loss; and generate a header harvest loss map indicating the grain loss that occurred during the harvesting operation and one or more corresponding locations at the worksite where grain loss occurred during the harvesting operation, based on the pre-harvest grain loss indication and based on the determined amount of grain shown in the one or more images of the field of view.

[0009] In another exemplary implementation, an agricultural machine for reducing crop loss during a harvesting operation comprises: front soil engaging mechanisms configured to rotate during movement of the agricultural machine; rear soil engaging mechanisms configured to rotate during movement of the agricultural machine; a chassis supported by the pair of front soil engaging mechanisms and the pair of rear soil engaging mechanisms over a surface; a cutting head positioned forward of the pair of front soil engaging mechanisms and configured to harvest crop material; a feeder house positioned rearward of the cutting head and forward of an inlet of a threshing assembly, the threshing assembly configured to process crop material;at least one image sensor configured to capture one or more images of a field of view located outside the agricultural machine and including an area below the threshing assembly; and a controller configured to receive data corresponding to one or more images of the field of view from the at least one image sensor and to determine the amount of grain shown in the one or more images of the field of view according to the one or more images of the field of view.

[0010] In some implementations, the controller is configured to adjust at least one operating characteristic of the header based on the amount of grain shown in the one or more images of the field of view. In some implementations, the controller is configured to adjust at least one operating characteristic of the threshing assembly based on the amount of grain shown in the one or more images of the field of view.

[0011] In some implementations, the field of view includes an area forward of the rear ground engaging mechanisms. In some implementations, the agricultural machine further comprises: a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; and a first sidewall and a second sidewall between which the threshing assembly and the clean crop guide assembly are positioned; wherein the at least one image sensor is positioned on at least one of the first sidewall and the second sidewall.

[0012] In some implementations, the controller is configured to: receive an indication of pre-harvest crop loss; and determine a header grain loss value based on the indication of pre-harvest crop loss and based on the determined amount of grain shown in the one or more images of the field of view.

[0013] In another example implementation, a method for reducing crop loss of an agricultural machine during a harvesting operation comprises: capturing one or more images of a field of view that is exterior to the agricultural machine and includes an area below a threshing assembly of the agricultural machine, the threshing assembly configured to process crop material received from a feederhouse positioned behind a header harvesting crop material and in front of an inlet of the threshing assembly; receiving, via a controller, data corresponding to one or more images of the field of view from the at least one image sensor; and determining, via the controller, the amount of grain shown in the one or more images of the field of view based on the received data corresponding to one or more images of the field of view.

[0014] In some implementations, the method further comprises: adjusting at least one operating characteristic of the agricultural machine based on the amount of grain, determined via the controller, shown in the one or more images of the field of view. Short description of the drawings

[0015] With reference to the following description of the implementations of the disclosure together with the accompanying drawings, the above-mentioned aspects of the present disclosure and the manner in which they are achieved will become clearer, and the disclosure itself will be more easily understood; in the figures: Fig. 1 is a side view of an exemplary agricultural machine configured to harvest and process crops at a work site; Fig. 2a a perspective view of an exemplary cutting attachment for the agricultural machine; Fig. 2b a perspective view of another exemplary cutting attachment for the agricultural machine; Fig. 3 is a schematic view of an exemplary control system for the agricultural machine configured to measure and analyze data related to crops at the worksite and to effect adjustments to operating characteristics of the agricultural machine based on the measured and analyzed data; Fig. 4 is a flowchart illustrating an exemplary method associated with reducing header crop loss of the agricultural machine; Fig. 5 is a flowchart illustrating an exemplary calibration method for an exemplary light emission variable, the calibration method being associated with reducing a header crop loss of the agricultural machine; Fig. 6 is a flowchart illustrating an exemplary calibration method applicable to multiple light emission variables, the calibration method being related to reducing a header harvest loss of the agricultural machine; and Fig. 7 is a flowchart illustrating another exemplary method associated with reducing header crop loss of the agricultural machine.

[0016] In all of the different views, corresponding reference numerals are used to indicate corresponding parts. Detailed description

[0017] The implementations of the present disclosure described below are not intended to be exhaustive or to limit the disclosure to the precise forms disclosed in the following detailed description. Rather, the implementations are chosen and described so that others skilled in the art may recognize and understand the principles and practices of the present disclosure.

[0018] In Fig. 1, an implementation of an agricultural machine 10 is shown. The agricultural machine 10 includes a chassis 12, one or more front ground engagement mechanisms 13, and one or more rear ground engagement mechanisms 14. The front and rear ground engagement mechanisms 13, 14 may be wheels or tracks that contact an underlying ground surface and support the chassis 12 above the ground. In the exemplary implementation, the front ground engagement mechanisms 13 are coupled to a front axle 11 that extends laterally, and the rear ground engagement mechanisms 14 are coupled to a rear axle 15 that extends laterally. The front and rear axles 11, 15 each have respective centerlines, which in the exemplary implementation are defined as the axial centers thereof, the axial direction being indicated by the double-headed arrow 114 in Fig. 1. In the exemplary implementation, the axial direction and the lateral direction are perpendicular to each other. As shown in Fig. 1, the double arrow 116 represents the vertical direction, which in the exemplary implementation is perpendicular to the axial and lateral directions.

[0019] In the exemplary implementation, the ground engaging mechanisms 13, 14 are coupled to the chassis 12 and configured to move the agricultural machine 10 in a forward operating direction (which is shown in Fig. 1 to the left) and to rotate in other directions. In some implementations, the operation of the agricultural machine 10 is controlled from an operator cab 16. The operator cab 16 may include any number of controls for controlling the operation of the agricultural machine 10, such as a user interface 220. In some implementations, operation of the agricultural machine 10 may be performed by an operator in the operator cab 16, a remote operator, or an automated system.

[0020] A cutting attachment 18 is disposed at a front end of the agricultural machine 10 and is configured to harvest crop and feed the crop to a feederhouse 20. The term "crop," as used herein, includes grain (e.g., corn, wheat, soybeans, rice, oats) and a non-grain component (NCR). The cutting attachment 18 may be a belt cutter, a belt conveyor and pickup assembly, a corn header as shown in Fig. 2a, a cutting platform with a reel arrangement as shown in Fig. 2b or any other cutting attachment configured to harvest crops at a work site. Upon receiving the crop from the cutting attachment 18, the feeder house 20 directs the crop to a guide drum 22. The guide drum 22 directs the crop to an inlet 24 of a threshing assembly 26, as shown in Fig. 1. In the exemplary implementation, various subsystems of the agricultural machine 10, such as the threshing assembly, a clean crop guide assembly 28, a crop residue guide assembly 60, and a residue assembly 82, cooperate to process the crop.

[0021] The threshing assembly 26 comprises a housing 34 and one or more threshing rotors. A single threshing rotor 36 is Fig. 1. The threshing rotor 36 includes a drum 38 arranged along a threshing axis 100, and the threshing rotor 36 rotates about the threshing axis 100. The threshing assembly 26 further includes a feeding section 40, a threshing section 42, and a separating section 44. The feeding section 40 is arranged at a front end of the threshing assembly 26, the separating section 44 is arranged at a rear end of the threshing assembly 26, and the threshing section 42 is arranged between the feeding section 40 and the separating section 44. The threshing assembly 26 further comprises a threshing concave 43 positioned in the threshing area 42 and below the threshing rotor 36, guide vanes 47 positioned above the threshing rotor 36, and a separating grate 45 positioned in the separating area 44 and below the threshing rotor 36.In the exemplary implementation, guide vanes 47 direct crop material rearward through threshing assembly 26, and the crop material is separated and spread as it engages guide vanes 47. Crop material falls through concave 43 and through separating grate 45.

[0022] The crop can be directed to the clean crop guide assembly 28 with a fan 46 and louvered sieves 48, 50. The sieves 48, 50 can be axially oscillated. The clean crop guide assembly 28 removes NKB and directs the grain via a screw conveyor 52 to a grain elevator 94. The grain elevator 94 deposits the grain in a grain tank 30, as shown in Fig. 1. The agricultural machine 10 includes a sensor 230, positioned, for example, on the grain elevator 94 and configured to measure a grain yield of the crop. In the exemplary implementation, the yield sensor 230 measures the force with which the grain contacts the sensor 230 to determine the yield. The grain in the grain tank 30 can be unloaded by an unloading conveyor 32, for example, onto a grain cart, trailer, or truck.

[0023] Crop remaining at a rear end of the sieve 50 is transported again by a screw conveyor 54 to the threshing assembly 26, where the crop is further processed by the threshing assembly 26. Crop remaining at a rear end of the sieve 48 is conveyed by a vibrating plate conveyor 56 to a lower inlet 58 of a crop residue guide assembly 60. Crop at the threshing assembly 26 is processed by the separation area 44, resulting in straw being separated from other crop material. The straw is ejected via an outlet 62 of the threshing assembly 26 and directed to a discharge drum 64. The discharge drum 64 cooperates with a plate 66 arranged below the discharge drum 64 to move the straw rearward. A wall 68 is located behind the discharge drum 64 and guides the straw into an upper inlet 70 of the crop residue guide assembly 60.In the crop residue guide arrangement 60, blades of a rotary chopper interact with knives to chop the straw into smaller crop residues.

[0024] The crop residues move from the crop residue guide assembly 60 to the residue assembly 82 for optional further processing and ejection from the agricultural machine 10. For example, the residue assembly as shown in Fig. 1 one or more distributors provided downstream of an outlet 80 of the crop residue guide assembly 60. A distributor 84 is provided in Fig. 1. Rotation of blades of the distributor 84 about an axis 88 distributes the chopped straw as the chopped straw exits the agricultural machine 10. The agricultural machine 10 includes a sensor 212, such as a camera, positioned at the rear end of the agricultural machine 10 and configured to capture one or more images of an additional field of view, including, for example, chopped straw discharged from the agricultural machine 10 through the residue assembly 82. It should be understood that in some implementations, the additional field of view associated with the sensor 212 is separate from the field of view (e.g., FOV - Field Of View) associated with the at least one sensor 210, described below.

[0025] It will be understood that although an exemplary agricultural machine 10 is described with reference to Fig. 1, aspects of the disclosure (e.g., the control system and methods mentioned herein) are applicable to various agricultural machines configured to harvest crops.

[0026] In some implementations, the agricultural machine 10 includes at least one image sensor 210 configured to capture one or more images of a field of view located outside the agricultural machine 10. In Fig. 1, the at least one image sensor 210 is designed as a camera. It will be appreciated that in some implementations, the at least one image sensor 210 may be embodied as one or more cameras (e.g., optical or visual radiation sensing cameras or RGB (red, green, blue) cameras), LiDAR sensors, radar sensors (e.g., long-range terahertz radar, mmWave radar, ultra-wideband radar, frequency-modulated continuous wave (FMCW) radar, ground penetrating radar), ultrasonic sensors, thermal sensors (e.g., thermal cameras), stereo cameras, laser vibrometers, NMR (nuclear magnetic resonance) infrared cameras, SWIR (short-wave infrared) infrared cameras, terahertz infrared sensors, or other sensors operable to capture or generate one or more images or data corresponding to the one or more images of the field of view.

[0027] In Fig. 1, an example field of view is depicted as a FOV. In the example implementation, the one or more images of the field of view are one or more images of portions of the worksite, which may include images of crops of the type planted at the worksite during the current agricultural cycle (e.g., grain and NKB), crops of other types, soil, debris, and any other material at the worksite. If grain is depicted in the field of view images, this may be indicative of crop loss (i.e., grain loss during harvest), pre-harvest loss (i.e., grain loss before harvest), or both. Thus, in some implementations, it is advantageous to position the field of view at one or more desired locations relative to the agricultural machine 10 to ensure that images of the field of view are indicative of crop loss and not pre-harvest loss.Furthermore, in some implementations, it is advantageous to position the field of view at one or more desired locations relative to specific components of the agricultural machine 10 to ensure that images of the field of view are indicative of crop loss associated with the desired components of the agricultural machine 10 and not other components of the landscape machine 10. Specifically, in some implementations, it is desirable to determine crop loss associated with the header 18, as opposed to crop loss associated with components of the agricultural machine downstream of the header 18. Furthermore, in some implementations, it is advantageous to restrict the field of view to a specific area to prevent ambient light from reaching the field of view, as ambient light may obscure the images captured by the at least one sensor 210.

[0028] For at least these reasons, in some implementations, the field of view includes an area behind the centerline of the front axle 11. In some implementations, the field of view is limited to areas behind the centerline of the front axle 11. In some implementations, the field of view includes an area in front of the centerline of the rear axle 15. In some implementations, the field of view is limited to areas in front of the centerline of the rear axle 15.

[0029] In some implementations, the field of view includes an area below a portion of the chassis 12, where the term below means vertically below and axially and laterally aligned. In some implementations, the at least one image sensor 210 includes, as shown in Fig. 1 an image sensor 210a positioned below the threshing assembly 26 and / or the clean crop guide assembly 28. In some implementations, the field of view is defined to exclude an area below the cutting head 18. In some implementations, the field of view is defined to exclude an area in front of crop cutting devices (e.g., cutting blades) of the cutting head 18, which in some implementations are positioned at a front end of the cutting head 18. In some implementations, the field of view is defined to exclude an area below, or otherwise axially aligned with, the feedhouse 20, the cutting head 18, or both. In some implementations, the field of view is defined to exclude an area below, or otherwise axially aligned with, the residue assembly 82.In some implementations, the field of view is defined to exclude any area configured to receive crop material (e.g., straw) discharged from the residue assembly 82.

[0030] In some implementations, the at least one image sensor 210a is directed vertically downward (i.e., toward the ground) and laterally inward (i.e., toward a lateral center of the agricultural machine 10) to define the field of view. In the Fig. 1, the agricultural machine 10 includes side walls 19, which are shown transparently to show components of the agricultural machine that are laterally adjacent to the side walls 19. In the exemplary implementation, the side walls 19 terminate at a lower edge 17. It is understood that the threshing assembly 26 and the clean crop guide assembly 28 are positioned laterally between opposite side walls 19 of the agricultural machine 10. As shown in Fig. 1, the at least one image sensor 210a is coupled to one or more of the side walls 19 in some implementations. Although the at least one image sensor 210a in Fig. 1 is positioned at the lower edge 17, the at least one image sensor 210a may be recessed and positioned above the lower edge 17 in further implementations.

[0031] With continued reference to Fig. 1, the agricultural machine 10 in the exemplary implementation includes a sensor 214, such as a camera, positioned at a front portion of the agricultural machine 10 and configured to capture images associated with an additional field of view that is separate from the field of view (e.g., FOV) associated with the at least one sensor 210. For example, because the sensor 214 is directed toward an area in front of the landscaping machine 10, the sensor 214 is configured to capture images associated with the additional field of view that indicates pre-harvest loss. In contrast, the placement and orientation of the at least one sensor 210a of Fig. 1 ensure that the one or more images of the field of view (e.g., FOV) captured by the at least one sensor 210a exclude any crop loss not associated with the cutting attachment 18 (e.g., pre-harvest loss exclusion).

[0032] With reference now to Fig. 2a and Fig. 2b shows examples of the cutting attachment 18. In Fig. 2a, the cutting attachment 18 is designed as a corn picker 18a, and in Fig. 2b, the cutting attachment 18 is embodied as a cutting platform 18b with a reel assembly 25. It is understood that the disclosure is applicable to a belt cutter, a belt conveyor and pickup, or any other cutting attachment for harvesting crops at a worksite. In the exemplary implementations, each cutting attachment 18a, 18b extends laterally from a first end 21 to a second end 23, and the at least one image sensor 210 includes a first sensor 210b positioned at the first end 21 and a second sensor 210c positioned at the second end 23 of the cutting attachment 18a, 18b. In the exemplary implementations Fig. 2a, Fig. 2b, the image sensors 210b, 210c are directed laterally inwardly to the field of view. In the exemplary implementations, the field of view includes an area in front of the centerline of the front wheel axle 11, such as an area axially aligned with the cutting attachment 18, an area axially aligned with the feederhouse 20, or both. In contrast, in implementations associated with the at least one image sensor 210a of Fig. 1 the field of view (e.g., FOV) may exclude an area axially aligned with the cutting attachment 18, an area axially aligned with the feederhouse 20, or both, for example, to ensure that images of the field of view captured by the at least one image sensor 210c exclude crop loss not associated with the cutting attachment 18 (e.g., pre-harvest loss exclusion).

[0033] In some implementations where the at least one image sensor 210 includes a first sensor 210b positioned at the first end 21 and a second sensor 210c positioned at the second end 23 of the cutting attachment 18a, 18b, the image sensors 210b, 210c are directed laterally inward toward a field of view that includes an area behind the centerline of the front axle 11. In some implementations where the at least one image sensor 210 includes a first sensor 210b positioned at the first end 21 and a second sensor 210c positioned at the second end 23 of the cutting attachment 18a, 18b, the image sensors 210b, 210c are directed laterally inward toward a field of view that is limited to an area behind the centerline of the front axle 11.

[0034] With further reference to Fig. 1, in the exemplary implementation, the agricultural machine 10 includes at least one light-emitting device 216 configured to emit light into the field of view. In the exemplary implementation, the at least one light-emitting device 216 includes at least one of the following: one or more lasers (e.g., infrared lasers, ultraviolet lasers, x-ray lasers, gamma-ray lasers, or any other laser configured to emit light into the field of view); one or more light-emitting diodes (LEDs) (e.g.,Single-color LEDs, white LEDs, RGB LEDs, phosphor-based LEDs, blended-to-white LEDs, other white LEDs, perovskite LEDs (PeLEDs), or any other type of LED array configured to emit light into the field of view; one or more incandescent bulbs, halogen bulbs, or compact fluorescent lamps; or any other type of light emitter configured to emit light into the field of view. The at least one light-emitting device 216 may be coupled to the chassis 12, the sidewalls 19, or positioned elsewhere on the agricultural machine 10 and directed toward the field of view. In some implementations, the at least one light-emitting device 216 includes multiple light sources spaced apart from one another such that the at least one light-emitting device 216 is configured to emit light into the field of view from multiple locations.In some implementations, the at least one light-emitting device 216 is configured to emit light in multiple wavelength ranges. Each range includes one or more wavelengths of light. In some implementations, one or more wavelength ranges of the multiple wavelength ranges are associated with one or more specific colors of visible light (e.g., red, orange, yellow, green, blue, violet). In some implementations, the at least one light-emitting device 216 is configured to emit white light. In some implementations, the at least one light-emitting device 216 is configured to emit light at multiple intensities.

[0035] In some implementations, the agricultural machine 10 includes at least one light filter configured to filter the emitted light captured by the at least one image sensor 210. In some implementations, the at least one light filter of the agricultural machine 10 is at least one polarizer 218 configured to filter light received from the at least one image sensor 210 into one or more light beams with adjusted (e.g., enhanced) polarization. In the example implementation, the at least one polarizer 218 is embodied as at least one of the following: one or more linear polarizers (e.g., absorbing polarizers, beam splitter polarizers) and one or more circular polarizers. In an example implementation, the at least one polarizer may be embodied as a fiber polarization controller (e.g., coiled fiber or crimped fiber).In some implementations, the at least one light filter (e.g., the at least one polarizer 218) may be as shown in FIG. Fig. 1 may be coupled to or otherwise positioned adjacent to the at least one light-emitting device 216 (e.g., in the path of the emitted light) to polarize the wavelengths of light emitted by the at least one light-emitting device 216. In some implementations, the at least one light filter (e.g., the at least one polarizer 218) may be as shown in Fig. 1 may be coupled to or otherwise positioned adjacent to the at least one image sensor 210 (e.g., in the path of the received light) to filter the light received by the at least one image sensor 210.

[0036] With reference now to Fig. 3, an exemplary control system 200 is shown. The control system 200 includes one or more memories 208 included in or accessible by the controller 202 and one or more processors 206 included in or accessible by the controller 202. The one or more processors 206 are configured to execute instructions (e.g., one or more algorithms) stored in the one or more memories 208. The controller 202 may be a single controller or multiple controllers operatively coupled to one another. The controller 202 may be located on the agricultural machine 10 or remotely from the agricultural machine 10. The controller 202 may be coupled to other components of the agricultural machine 10 and to one or more remote devices via a wired connection or wirelessly.In some cases, the controller 202 may be wirelessly connected to other components of the agricultural machine 10 and to one or more remote devices via Wi-Fi, Bluetooth, near field communication, or another wireless communication protocol.

[0037] With continued reference to Fig. 3, in the exemplary implementation, the controller 202 is operatively coupled to at least one property sensor 204, the at least one image sensor 210, the sensor 212, the sensor 214, and the sensor 230. In the exemplary implementation, the controller 202 is configured to receive data corresponding to the one or more images of the field of view (e.g., FOV) from the at least one image sensor 210 and data corresponding to the one or more images of the additional fields of view from the image sensors 212, 214. In some implementations, the controller 202 includes or is operatively coupled to a spectrophotometer configured to measure the reflectivity of material in the field of view (e.g., FOV).

[0038] In the exemplary implementation, the controller 202 is operatively coupled to the at least one light-emitting device 216 and configured to send one or more signals to the at least one light-emitting device 216 that cause the at least one light-emitting device 216 to emit light into the field of view at a plurality of different wavelength ranges, at a plurality of different intensities, from different types of light emitters (e.g., lasers, LEDs), or from another light source location. In some implementations, the controller 202 is operatively coupled to the at least one light filter and configured to send one or more signals to the at least one light filter that cause the at least one light filter to filter the light received from the at least one image sensor 210.In some implementations, the light filter is adjusted between ON / OFF modes, and in some implementations, the degree or amount of light being filtered is adjusted. In some implementations, the controller 202 is operatively coupled to the at least one polarizer 218 and configured to send one or more signals to the at least one polarizer 218 that cause the at least one polarizer 218 to modify the polarization state of the light received by the at least one image sensor 210.

[0039] With continued reference to Fig. 3, in some implementations, the controller 202 is operatively coupled to a display, such as the display 222 of the user interface 220, and configured to send one or more signals to the display based on a determination of the amount of grain shown in the one or more images of the field of view. In the example implementation, the controller 202 is operatively coupled to the user interface 220 and configured to receive one or more signals from the user interface 220 that include inputs for operating characteristics of the agricultural machine 10, such asSpeed ​​of the agricultural machine 10, direction of travel of the agricultural machine 10, operating characteristics of the header 18, operating characteristics of the threshing assembly 26, operating characteristics of the clean crop guide assembly 28, operating characteristics of the crop residue guide assembly 60, and operating characteristics of the residue assembly 82. Operating characteristics of the header 18 include the header angle along its axial extent, the header height relative to the ground, the header speed, the reel speed, the reel position, the reel tine angle, the corn header-to-picking plate spacing, the belt cutter belt speed, the header output force, and the header lateral inclination. Operating characteristics of the threshing assembly 26 include the threshing rotor speed, the position of the concave relative to the threshing rotor, and the orientation of the guide vanes.Operating characteristics of the clean crop guide assembly 28 include the fan speed and sieve position. Operating characteristics of the crop residue guide assembly 60 include the chopper speed and the position of the knives relative to the chopper. Operating characteristics of the residue assembly 82 include the spreader speed and spreader orientation.

[0040] In some implementations, the operating characteristics of agricultural machine 10 are input by a user via user interface 220 based on the displayed determination of the amount of grain shown in the one or more images of the field of view. It should be understood that in some implementations, controller 202 is configured to automatically adjust one or more of the operating characteristics of agricultural machine 10 (e.g., based on a determination of the amount of grain shown in the one or more images of the field of view and without instruction from user interface 220).

[0041] In some implementations, the controller 202 is configured to receive one or more signals indicative of one or more environmental conditions of a work site at which the harvesting operation is performed by the agricultural machine 10. In the illustrated implementation, the environmental characteristics include one or more wind characteristics (e.g., speed, direction), one or more sunlight characteristics (e.g., degree, intensity, direction, wavelength), one or more crop residue characteristics (e.g., crop residue color, crop residue volume, crop residue arrangement), and one or more soil properties (e.g., moisture content, nutrient content, pH, texture, compaction). As used herein, crop residue includes NCR and non-harvesting plant material.In some implementations, the controller 202 is configured to receive one or more signals indicative of one or more crop characteristics of a worksite at which the harvesting operation is being performed by the agricultural machine 10. In the example implementation, the crop characteristics include crop type (e.g., corn, wheat, soybeans), constituent contents (e.g., moisture contents, protein contents, starch contents, fiber contents, sugar contents, oil contents), standing crop color, standing crop size, amount of down crop, grain shape, grain size, grain color. In some implementations, the one or more environmental characteristics, the one or more crop characteristics, or both may be received by the user interface 220, may be accessed through private or public data stores associated with the worksite (e.g.,If the data is accessed remotely (e.g., via the Internet), it may be retrieved from the memory 208, received via at least one property sensor 204, or received via another sensor associated with the agricultural machine 10. In example implementations, the at least one property sensor 204 may be positioned on or off the agricultural machine 10 and is configured to measure one or more environmental properties associated with the work location, one or more crop properties associated with the work location, or both.

[0042] In some implementations, agricultural machine 10 is part of a fleet of agricultural machines that may operate at the same work location as agricultural machine 10, or at a different work location and at the same time as the agricultural operation being performed by agricultural machine 10, or at a different time. In some implementations, controller 202 is configured to receive an indication of at least one environmental characteristic, at least one crop characteristic, or both from another agricultural machine that is part of the fleet, for example.

[0043] For example, in some implementations, to initiate an agricultural operation at a worksite, the controller 202 is configured to cause the at least one light-emitting device 216 to emit light into the field of view at a selected range of wavelengths based on the at least one environmental characteristic, the at least one crop characteristic, or both. In some implementations, the controller 202 is configured to select a listed value of another light emission variable, such as the intensity of light emitted by the at least one light-emitting device 216, the degree or amount of filtering (e.g., the polarization state of the light), the type of light emitter of the light-emitting device 216 emitting light, and the position of one or more active light sources of the at least one light-emitting device 216.In some implementations, the controller 202 is configured to cause the at least one light-emitting device 216 to emit light into the field of view at a selected range of wavelengths based on the received indication of at least one environmental characteristic, at least one crop characteristic, or both from the other agricultural machine. In some implementations, the controller 202 is configured to select a listed value of another light emission variable based on the received indication of at least one environmental characteristic, at least one crop characteristic, or both from the other agricultural machine.

[0044] With continued reference to Fig. 3, in some implementations, the controller 202 is operatively coupled to at least one cutting attachment actuator 224, at least one ground engagement mechanism actuator 226, or both. The at least one cutting attachment actuator 224 and the at least one ground engagement mechanism actuator 226 may each be embodied as at least one of a control valve, a motor, a linear (e.g., cylindrical) actuator, a rotary actuator, or another actuator configured to effect adjustment of an operating characteristic of the agricultural machine 10. As shown in Fig. 3, in some implementations, the controller 202 is operatively coupled to a prime mover 228 of the agricultural machine and configured to send one or more signals to the prime mover 228 to adjust the speed of the agricultural machine 10. In some implementations, the controller 202 is operatively coupled to one or more additional subsystem actuators 225 (e.g., control valve, motors, linear actuators, rotary actuators) configured to effect adjustment of one or more operating characteristics of the threshing assembly 26, the clean crop guide assembly 28, the crop residue guide assembly 60, and the residue assembly 82.

[0045] In an exemplary method 300 shown in Fig. As shown in Figure 4, the control system 200 is usable to determine a grain loss indication for a portion of a worksite being harvested. In some implementations, the grain loss indication includes a grain loss amount and / or a grain loss as a percentage of yield and / or a monetary value of the grain loss.

[0046] With reference to Fig. 4, in some implementations, at block 302, the at least one light-emitting device 216 emits light into the field of view (e.g., FOV). In some implementations, at block 303, the at least one light filter filters the light after emission. In some implementations, at block 304, the at least one image sensor 210 captures one or more images of the field of view. In some implementations, the one or more captured images are polarized. At block 306, the controller 202 receives data corresponding to the one or more images in the field of view from the at least one image sensor 210. At block 308, the controller 202 determines one or more reflectivity values ​​based on the received data corresponding to the one or more images.In the example implementation, each reflectivity value determined by the controller 202 is associated with a portion of an image of the one or more images of the field of view. At block 310, the controller 202 determines the amount of grain shown in the one or more images of the field of view based on the one or more determined reflectivity values. In some implementations, at block 312, the controller 202 determines the grain loss indication (e.g., the amount of grain lost, the grain loss as a percentage of yield, and the monetary value of the grain loss) for a portion of a worksite being harvested based on the amount of grain shown in the one or more images of the field of view, the area of ​​the portion of the worksite being harvested, and the area of ​​the field of view.In some implementations, at block 314, the controller 202 causes an adjustment of one or more operating characteristics of the agricultural machine 10 based on the grain loss indication. For example, the controller 202 sends one or more signals to the at least one header actuator 224 and / or the at least one ground engaging mechanism actuator 226 and / or the prime mover 228 to cause an adjustment of an associated operating characteristic. For example, in some implementations, the controller 202 compares the grain loss indication to a grain loss threshold (e.g.,may be created in part based on one or more environmental characteristics associated with the work location, one or more crop characteristics associated with the work location, or both), and the controller 202 sends the one or more signals to at least one header actuator 224 and / or at least one ground engaging mechanism actuator 226 and / or the prime mover 228 when the grain loss indication exceeds the grain loss threshold.

[0047] In some implementations, the controller 202 is configured to determine the area of ​​the portion of the worksite being harvested (e.g., based on a lateral length of the cutting head from a first end 21 to a second end 23 and at least one of: (i) the distance traveled by the agricultural machine 10 while harvesting the portion of the worksite, and (ii) the speed of the agricultural machine 10 and the time elapsed while harvesting the portion of the worksite). In some implementations, the controller 202 is configured to determine the area of ​​the field of view (e.g., based on information retrieved from the memory 202, received via the user interface 220, or received via the at least one image sensor 210).In some implementations, the controller 202 is configured to determine the amount of grain loss based on the amount of grain shown in the one or more images of the field of view, the area of ​​the portion of the worksite being harvested, and the area of ​​the field of view.

[0048] In some implementations, controller 202 is configured to obtain a yield value (e.g., bushels per acre) for the portion of the worksite being harvested (e.g., based on one or more signals received from yield sensor 230). In some implementations, controller 202 is configured to determine grain loss as a percentage of yield based on the amount of grain loss for the portion of the worksite being harvested and the yield value for the portion of the worksite being harvested.

[0049] In some implementations, controller 202 is configured to obtain a grain market value (e.g., dollars per bushel) of the crop type being harvested. In some implementations, controller 202 is configured to determine the monetary value of grain loss based on the amount of grain loss for the portion of the worksite being harvested and the grain market value.

[0050] In some implementations, at block 316, the controller 202 receives one or more signals indicative of one or more crop characteristics associated with the work location. In some implementations, the controller 202 determines the amount of grain shown in the one or more images of the field of view based further on one or more received crop characteristics associated with the work location. In some implementations, at block 318, the controller 202 receives one or more signals indicative of one or more environmental characteristics associated with the work location. In some implementations, the controller 202 determines the amount of grain shown in the one or more images of the field of view based further on the one or more received environmental characteristics associated with the work location.For example, the appearance of grain in the one or more images in the field of view (and the associated corresponding data) may vary based on environmental characteristics and crop characteristics, so that evaluation of the environmental characteristics and crop characteristics is advantageous for accurately determining the amount of grain shown in the one or more images in the field of view. For example, a change in the amount of sunlight may cause grain to appear a slightly different color.

[0051] In some implementations, the controller 202 determines the amount of grain shown in the one or more images of the field of view based on one or more relationships between reflectivity values ​​and grain. For example, in some implementations, the controller 202 compares the determined reflectivity value to predetermined reflectivity values ​​of one or more grain types (e.g., stored in the memory 208) to determine whether the determined reflectivity value indicates the presence of grain in the one or more images of the field of view. Crop characteristics and environmental characteristics affect the relationship between the reflectivity values ​​and grain.For example, the predetermined reflectance values ​​of the one or more grain types may vary based on the presence, absence, or degree of one or more crop characteristics, one or more environmental characteristics, or both. For example, a change in the amount of sunlight may cause grain to have a different reflectance value.

[0052] In some implementations, the control system 200 utilizes machine learning to more accurately determine the amount of grain shown in the one or more images of the field of view. For example, the controller 202 may rely on data from other harvesting operations, other agricultural machines, or other work locations (e.g., where the same crop type is harvested) to obtain predetermined grain reflectivity values. Thus, the controller 202 is as shown in Fig. 4 is configured to compare, at block 320, the data corresponding to the one or more captured images with data corresponding to the one or more additional images comprising grain of a crop type associated with the work location, and the controller 202 is configured to determine, at step 322, the amount of grain shown in the one or more images of the field of view further based on a comparison between the data corresponding to the one or more captured images and the data corresponding to the one or more additional images.

[0053] With reference now to Fig. 5, in an exemplary method 400, the control system 200 is operable to perform a calibration operation regarding the range of wavelengths of light. Thereafter, the controller 202 determines the grain loss indication for the portion of the worksite being harvested using the calibrated range of wavelengths of light. For example, at block 402, the controller 202 sends one or more signals to the at least one light-emitting device 216 that cause the at least one light-emitting device 216 to emit light into the field of view having multiple wavelength ranges. In some implementations, the at least one light filter filters the light after emission at block 403. In some implementations, light from the field of view may be polarized by the at least one polarizer 218. At block 404, the at least one image sensor 210 captures one or more images of the field of view for each wavelength range.In some implementations, the one or more captured images are polarized. At block 406, the controller 202 receives data corresponding to the one or more images in the field of view from the at least one image sensor 210 for each wavelength range. At block 408, the controller 202 determines one or more reflectivity values ​​for each range based on the received data corresponding to the one or more images. In the example implementation, each reflectivity value is associated with a portion of an image of the one or more images. At block 410, the controller 202 determines, for each range, the amount of grain shown in the one or more images of the field of view based on the one or more determined reflectivity values.At block 412, the controller 202 causes the at least one light-emitting device 216 to emit light into the field of view in the wavelength range associated with the highest amount of grain shown in the one or more images determined by the controller 202.

[0054] It is understood that in some implementations, in method 400, the controller 202 receives one or more crop characteristics and one or more environmental characteristics and determines, for each wavelength range, the amount of grain shown in the one or more images of the field of view based further on the one or more received crop characteristics and the one or more environmental characteristics. It is understood that in some implementations, in method 400, the controller 202 utilizes machine learning for a more accurate determination of the amount of grain shown in the one or more images of the field of view for each wavelength range, as described at blocks 320, 322. After performing the calibration method 400, the control system 200 performs blocks associated with the method 300 using the wavelength range determined by the calibration method 400.

[0055] The wavelength range emitted by the at least one light-emitting device 216 is an example of a light emission variable. Other light emission variables include: the intensity of the light emitted by the at least one light-emitting device 216, the degree or amount of filtering (e.g., the polarization state of the light, which in some implementations is adjustable by the at least one polarizer 218), the type of light emitter of the light-emitting device 216 (e.g., LEDs, lasers, or both) emitting light, and the position of one or more active light sources of the at least one light-emitting device 216. Method 400 is an example of calibrating a light emission variable.In some implementations, in addition to calibrating the range of wavelengths of light, the control system 200 (in an example method 500) is usable to calibrate other light emission variables.

[0056] For example, the controller 202 sends as shown in Fig. 6 For each light emission variable, at block 502, one or more signals are sent to the at least one light-emitting device 216 (or the at least one light filter, e.g., the at least one polarizer 218 in the case of the polarization state of the light) to cause the light emission variable to be recorded for a plurality of different values ​​(e.g., different intensities, degrees, or amounts of filtering (e.g., different polarization states), different types of light emitters, different light source positions). In some implementations, at block 503, the at least one light filter filters the light after emission. In some implementations, light from the field of view may be polarized by the at least one polarizer 218. At block 504, the at least one image sensor 210 captures one or more images of the field of view for each recorded value of the light emission variable. In some implementations,the one or more captured images are polarized. At block 506, the controller 202 receives data corresponding to the one or more images in the field of view from the at least one image sensor 210 for each listed value of the light emission variable. At block 508, the controller 202 determines, for each listed value of the light emission variable, one or more reflectance values ​​based on the received data corresponding to the one or more images. At block 510, the controller 202 determines, for each listed value of the light emission variable, the amount of grain shown in the one or more images of the field of view based on the one or more determined reflectance values. At block 512, the controller 202 causes the at least one light-emitting device 216 (or the at least one light filter, e.g.the at least one polarizer 218 in the case of the polarization state of the light) represents the light emission variable for the listed value associated with the highest amount of grain determined by the controller 202 shown in the one or more images.

[0057] It is understood that in some implementations, in method 500, the controller 202 receives one or more crop characteristics and one or more environmental characteristics and, for each listed value of the light emission variable, determines the amount of grain shown in the one or more images of the field of view based further on the one or more received crop characteristics and the one or more environmental characteristics. It is also understood that in some implementations, in method 500, the controller 202 utilizes machine learning for a more accurate determination of the amount of grain shown in the one or more images of the field of view for each listed value of the light emission variable, as described at blocks 320, 322.After performing the calibration method 500, the control system 200 performs blocks associated with the method 300 using the listed value of the light emission variable determined by the calibration method 500.

[0058] In some implementations, the controller 202 is configured to receive one or more signals from the user interface 220 indicative of a selected value for one or more of the light emission variables. In such implementations, the controller 202 is configured to cause the at least one light-emitting device 216 or the at least one light filter (e.g., the at least one polarizer 218) to output the corresponding one or more light emission variables for the selected value. It should be understood that in some implementations, the control system 200 performs blocks associated with the method 300 using the selected value for the one or more light emission variables.

[0059] In some implementations, the controller 202 is configured to determine a target wavelength range among the plurality of wavelength ranges based on at least one environmental characteristic, at least one crop characteristic, or both. In some implementations, the target wavelength range is the wavelength range that, when emitted, results in the highest amount of grain visible (e.g., to an operator) or shown as determined (e.g., by the controller 202) in the one or more images of the field of view; in some implementations, the target wavelength range is the wavelength range that, when emitted, results in the most accurate amount of grain shown as determined (e.g., by the controller 202) in the one or more images of the field of view; in some implementations, the target wavelength range is based on both the highest amount of grain visible as determined (e.g.,by the controller 202) and the most accurate amount of grain shown in the one or more images of the field of view, as determined. For example, the controller 202 may determine the target wavelength range based on: (1) receiving at least one environmental characteristic, at least one crop characteristic, or both, and (2) data (e.g., stored in the memory 208) representing a relationship between: (i) the at least one environmental characteristic, the at least one crop characteristic, or both, (ii) the plurality of wavelength ranges, and (iii) the amount of grain shown in the one or more images of the field of view, as determined. In such implementations, the controller 202 is configured to cause the at least one light-emitting device 216 to emit light into the field of view at the target wavelength range.

[0060] It will be appreciated that in some implementations, the controller 202 is configured to determine a setpoint for each light emission variable based on at least one environmental characteristic, at least one crop characteristic, or both. In some implementations, the setpoint for each light emission variable is the value that, when rendered, results in the highest amount of grain visible (e.g., to an operator) or shown as determined (e.g., by the controller 202) in the one or more images of the field of view; in some implementations, the setpoint for each light emission variable is the value that, when rendered, results in the most accurate amount of grain shown as determined (e.g.,by the controller 202) in the one or more images of the field of view; in some implementations, the setpoint for each light emission variable is based on both the highest amount of grain shown as determined (e.g., by the controller 202) and the most accurate amount of grain shown as determined in the one or more images of the field of view. For example, the controller 202 may determine the setpoint for each light emission variable based on: (1) receiving at least one environmental characteristic, at least one crop characteristic, or both, and (2) data (e.g.,stored in memory 208) representing a relationship between: (i) the at least one environmental characteristic, the at least one crop characteristic, or both, (ii) the listed values ​​of the light emission variables, and (iii) the amount of grain shown in the one or more images of the field of view, as determined. In such implementations, the controller 202 is configured to cause the at least one light-emitting device 216 to emit light into the field of view at the desired wavelength range.

[0061] With reference now to Fig.7, in an exemplary method 600, the control system 200 is usable to determine grain loss occurring during the harvesting operation, excluding pre-harvest grain loss. At block 602, the controller 202 receives a pre-harvest grain loss indication (e.g., via sensor 214, via user interface 220, via private or public data stores (e.g., Internet-based) associated with the worksite). At block 604, the controller 202 determines the pre-harvest crop loss for the portion of the worksite being harvested. As described with reference to the exemplary method 300, at block 312, the controller 202 determines (based on the amount of grain determined at block 310) the grain loss indication for the portion of the worksite being harvested.In the exemplary implementation, at block 606, the controller 202 determines the header grain loss indication based on the determined pre-harvest grain loss for the portion of the worksite being harvested and the determined grain loss indication for the portion of the worksite being harvested. Similar to the grain loss indication, in some implementations, the header grain loss indication is listed as an amount of grain loss during harvest, grain loss during harvest as a percentage of yield, and a monetary value of grain loss during harvest. It is understood that the header grain loss indication associated with grain loss results from the operation of the header 18.

[0062] In some implementations, at block 608, the controller 202 sends one or more signals to a display operatively coupled to the controller 202 (e.g., display 222) that cause the header grain loss indication to be displayed. In some implementations, at block 610, the controller 202 generates a header harvest loss map indicating one or more header grain loss indications at one or more corresponding locations at the worksite. For example, the one or more header grain loss indications may be color-coded based on the degree of grain loss at corresponding locations at the worksite. In some implementations, the controller 202 causes the header grain loss map to be displayed on a display operatively coupled to the controller 202 (e.g., display 222).In some implementations, at block 612, the controller 202 causes an adjustment of one or more operating characteristics of the agricultural machine 10 based on the header grain loss indication. For example, the controller 202 sends one or more signals to the at least one header actuator 224 and / or the at least one ground engaging mechanism actuator 226 and / or the prime mover 228 to cause an adjustment of an associated operating characteristic. For example, in some implementations, the controller 202 compares the header grain loss indication to a header grain loss threshold (e.g.,based on one or more environmental characteristics associated with the work location, one or more crop characteristics associated with the work location, or both), and the controller 202 sends the one or more signals to at least one header actuator 224 and / or at least one ground engaging mechanism actuator 226 and / or the prime mover 228 when the header grain loss indication exceeds the header grain loss threshold.

[0063] Although the disclosure has been illustrated and described in detail in the drawings and the foregoing description, such illustration and description are exemplary and not limiting, it being understood that exemplary implementation(s) have been shown and described, and that all changes and modifications that come within the spirit of the disclosure are intended to be protected. It is noted that alternative implementations of the present disclosure may not include all of the described features, but may still benefit from at least some of the advantages of such features. Those of ordinary skill in the art can readily devise their own implementations that incorporate one or more of the features of the present disclosure and are within the spirit and scope of the present disclosure as defined by the appended claims.

Claims

[1] Agricultural machine designed to reduce crop loss during a harvesting operation, comprising: front ground engagement mechanisms coupled to a front axle; rear ground engagement mechanisms coupled to a rear axle; a chassis supported by the front ground engagement mechanisms and the rear ground engagement mechanisms over a surface; a cutting attachment positioned forward of the front ground engaging mechanisms and configured to harvest crops at a work site; at least one image sensor configured to capture one or more images of a field of view, the field of view being outside the agricultural machine and comprising an area behind a centerline of the front axle; and a controller configured to receive data corresponding to one or more images of the field of view from the at least one image sensor, determine the amount of grain shown in the one or more images of the field of view based on the received data, and adjust at least one operating characteristic of the agricultural machine based on the determined amount of grain shown in the one or more images of the field of view. [2] An agricultural machine according to claim 1, wherein the field of view comprises an area below a portion of the chassis. [3] An agricultural machine according to claim 1, further comprising: at least one light-emitting device configured to emit light into the field of view. [4] An agricultural machine according to claim 3, wherein the at least one light-emitting device comprises at least one laser. [5] The agricultural machine of claim 3, wherein the at least one light-emitting device comprises at least one LED. [6] The agricultural machine of claim 1, wherein the controller is configured to adjust at least one of the following operating characteristics of the agricultural machine based on the determined amount of grain shown in the one or more images of the field of view: the speed of the agricultural machine, the direction of travel of the agricultural machine. [7] The agricultural machine of claim 1, wherein the controller is configured to adjust at least one operating characteristic of the cutting attachment and at least one operating characteristic of a threshing assembly of the agricultural machine configured to process crop harvested by the cutting attachment. [8] An agricultural machine according to claim 1, wherein the field of view comprises an area in front of a centerline of the rear axle. [9] An agricultural machine according to claim 1, further comprising: a threshing arrangement positioned behind the cutting attachment; and a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; wherein the at least one image sensor is positioned below the threshing arrangement and / or the clean crop guide arrangement. [10] The agricultural machine of claim 1, wherein the at least one image sensor is directed laterally inwardly toward a lateral centerline of the agricultural machine. [11] An agricultural machine according to claim 10, further comprising: a threshing assembly positioned behind the cutting attachment; a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; and Side walls between which the threshing assembly and the guide assembly for clean crop are positioned; wherein the at least one image sensor is positioned on at least one of the side walls. [12] An agricultural machine according to claim 10, wherein the cutting attachment extends laterally from a first end to a second end; and wherein the at least one image sensor is positioned at the first end and / or the second end of the cutting attachment. [13] An agricultural machine according to claim 1, further comprising: a threshing assembly positioned behind the cutting attachment; a clean crop guide assembly configured to cooperate with the threshing assembly to separate grain from a non-grain component of the crop; a distributor configured to dispense the non-grain component from the agricultural machine; and an additional image sensor configured to capture one or more images of an additional field of view comprising an area configured to receive the non-grain component of the crop discharged from the agricultural machine. [14] The agricultural machine of claim 1, wherein the controller is configured to receive an indication of grain loss prior to harvest. [15] An agricultural machine according to claim 14, wherein the controller is configured to: generate a header harvest loss map indicating the grain loss that occurred during the harvesting operation with respect to locations at the work site, based on the pre-harvest grain loss indication and based on the determined amount of grain shown in the one or more images of the field of view.

Images