Crop quality monitoring and mapping

Abstract

Methods and systems for monitoring one or more crop characteristics of crop material harvested by a harvesting machine in a working environment. Sensor data indicative of a cutting force applied by one or more cutting members of a header operably coupled to the harvesting machine is obtained by a sensing arrangement. The sensor data is analysed to determine a measure of staik strength, with the stalk strength being used to determine a crop condition metric. A crop condition metric map may be generated.

Description

TITLECROP QUALITY MONITORING AND MAPPINGCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] Not applicable.FELD

[0002] Embodiments of the present disclosure relate generally to systems and methods for monitoring crop characteristics of crop material harvested by a harvesting machine,BACKGROUND

[0003] To maximize corn grain yield the crap must have an abundance of readily accessible water, sunlight, and nutrients. Plant stress caused by nutrient deficiencies, prolonged drought and heavy pest pressure for example will negatively impact crop development and reduce grain yield. Stalk quality near harvest time is an excellent indicator of stalk rot which is largely driven by hybrid genetics and how the plant tolerated these different stress factors throughout the growing season, Today an agronomist or farmer is required to physically examine the rigidness or strength of the crops main stalk at harvest in order to determine the severity of stalk rat and overall risk for lodging and harvest loss. However, this process is time consuming and only conducted in a couple isolated areas of a few fields at best.

[0004] It is therefore an aim of embodiments of the present disclosure to overcome or at least partly address the problems discussed herein.BRIEF SUMMARY

[0005] An aspect of the invention provides a system for monitoring one or more crop characteristics of crop material harvested by a harvesting machine in a workingenvironment, comprising: a sensing arrangement; and one or more controllers configured to: receive sensor data from the sensing arrangement; analyse the sensor data to determine a measure of stalk strength; and determine a crop condition metric in dependence on the measured stalk strength; wherein the sensing arrangement is configured to measure a parameter indicative of a cutting force applied by one or more cutting members of a header operably coupled to the harvesting machine,

[0006] Advantageously, the present disclosure provides a means for determining a crop condition metric based off a measure of cutting force required / provided to cut the standing crop material. When compared with prior art systems, the present disclosure advantageously directly measures a parameter indicative of a cutting force applied by the cutting members, e.g. on the crop stalks, rather than measuring across the whole crop. This may provide information relating to the stalk health which may otherwise he masked when assessing across the whole crop material which may be affected by other factors, such as crop density etc. Conditions such as a stalk rot may bo advantageously determined utilising the presently disclosed setup.

[0007] The sensing arrangement may be configured to obtain a measure of a torque associated with one or more of the cutting members), e.g. due to engagement with crop material during performance of a harvesting process. The measure of torque may comprise an absolute value or a change or torque, e.g. compared with a baseline value. The baseline value may be a stored or expected value far a given crop quality, or may be derived in relation to other measurements within the working environment. This may include, for example, an average torque measurement across the working environment.

[0008] The sensing arrangement may comprise one or more strain gauges. The strain gauge(s) may be configured for obtaining a measure of a strain at the one or more cutting members or one or more operable components associated with the cutting memberfs). For example, this may include one or more strain gauges provided on or operably connected to a control shaft, transmission or the like for each of the cutting members.The sensing arrangement may comprise one or more pressure sensors. The pressure sensor(s) may be operable to monitor a pressure associated with a controlarrangement for the cutting member(s), e.g. a hydraulic circuit for one or more cutting members.

[0010] The measure of stalk strength may correlate with the cutting force parameter measured by the sensing arrangement. For instance, a higher cutting force may be indicative of a greater stalk strength when compared with a lower cutting force. Accordingly, where the sensing arrangement is configured to obtain a measure of a torque associated with the cutting member(s) or components associated therewith, a higher relative torque measurement may be indicative of a high stalk strength compared with a iower relative torque measurement.

[0031] The crop condition metric may comprise a health metric for the crop material. For instance, a relatively higher stalk strength may be determined as a healthier or higher quality crop compared with a lower stalk strength, as determined from the sensor data in the manner discussed herein. The health metric may comprise a classification for the health of the crop material being harvested. For example, the one or more controllers may be configured to classify a given crop or region of crop material being processed in dependence on the determined stalk strength. The classification may include two or more classes, e.g. healthy, unhealthy, etc.

[0012] The one or more controllers may be configured to generate a health metric map. The health metric map may include an indication of the determined health metric at each of a plurality of locations within a mapped environment, in such embodiments, the system may include a positioning system, or the one or more controllers may be communicatively coupled to a positioning system of the machine for correlating the determined health metric with a location within the mapped environment.[0]13] The one or more controllers may be configured to generate and output one or more control signals for controlling the output of a representation of the health metric map, e.g. to an operator of the machine. In such embodiments, the system may comprise, or may be communicatively coupled with, a user interface for displaying the generated representation. The user interface may, for example, comprise display terminal of themachine. in other embodiments, the user interface may comprise a display on a user device, such as a smartphone or tablet computer, or on a desktop computer, for example.

[0014] The one or more controllers may be communicable with a remote or cloud based server. For example, the one; or more controllers may be operable to store the generated health metric map or data therefor in a location accessible by, for example, the user device for retrieval of the data - e.g. for generation of the representation remote from the machine.

[0015] The one or more controllers may collectively comprise an input (e.g. an electronic input) for receiving one or more input signals. The one or more input signals may comprise the sensor data from the sensing arrangement. The one or more controllers may collectively comprise one or more processors (e.g. electronic processors) operable to execute computer readable instructions for controlling operational of the control system, for example, to determining the stalk strength measurement and / or the crop condition metric. The one or more processors may be operable to generate one or more control signals for controlling operation of one or more operational components, e.g. in dependence on the determined crop condition metric. The one or more controllers may collectively comprise an output (e.g. an electronic output) for outputting the one or more control signals.

[0016] According to a further aspect of the invention there is provided header for a harvesting machine comprising a system as described herein.

[0017] The header may comprise a grain header, a draper header or a corn header, for example. For example, where the header comprises a corn header, the system may comprise a sensing arrangement which includes sensing elements on otherwise associated with cutting members of each row unit.

[0018] A further aspect of the invention provides an agricultural machine comprising or being operably coupieable to the header and / or the system of any preceding aspect.

[0001] ] According to a further aspect of the invention there is provided a method of monitoring one or more crop characteristics of crop material harvested by a harvesting machine In a working environment, comprising: receiving sensor data from a sensingarrangement, the sensor data being indicative of a cutting force applied by one or more cutting members of a header operably coupled to the harvesting machine; analysing the sensor data to determine a measure of stalk strength; and determining a crop condition metric in dependence on the measured stalk strength.

[0020] The method of the present aspect of the invention may comprise performance of any one or more of the functional features of the system of a preceding aspect discussed herein,

[0021] A further aspect of the invention comprises computer software which, when executed by one or more processors, causes performance of the method of the preceding aspect of the invention,

[0022] An aspect' of the invention provides a computer readable storage medium comprising the computer software of the preceding aspect of the invention.

[0023] Within the scope of this application it should be understood that the various aspects, embodiments, examples and alternatives set out herein, and individual features thereof may be taken Independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to ail aspects and embodiments unless otherwise stated or where such features are incompatible.BRIEF DESCRIPTION OF THE DRAWINGS

[0024] One or more embodiments of the invention / disclosure will now be described, by way of exampie only, with reference to the accompanying drawings, in which;

[0025] FIG. 1 is a simplified side view illustrating a harvesting machine embodying aspects of the present disclosure;

[0026] FIG . 2 is a perspective view of a header for the harvesting machine of FIG 1;

[0027] FIG 3, Is a schematic view of a section of the header of FIG, 2;

[0028] FIG 4 is a schematic illustrating a system of the present disclosure; and

[0029] FIG. 5 is a graphical representation of a mapped environment Illustrating the operational use of embodiments of the present disclosure.DETAILED DESCRIPTION

[0030] Systems and methods are provided for monitoring one or more crop characteristics of crop material harvested by a harvesting machine, here in the form of a combine harvester 10, in a working environment. Sensor date from a sensing arrangement operatively coupled to a header 16 of the harvester 10 is utilised to determine crop characteristic(s) including a condition of crop processed by the header 16. As discussed herein the present disclosure, illustrated by the examples discussed hereinbelow, incorporates a sensing arrangement which is configured to measure a parameter indicative of a cutting force applied by cutting members 58 of the header 16.Harvester

[0031] FIG. 1 illustrates an agricultural harvester 10, which includes a chassis 12 supported and propelled along the ground G by ground-engaging wheels 14. Although the harvester ID is Illustrated as being supported and propelled on ground-engaging wheels 14, the harvester 10 can also be supported and propelled by full tracks or half tracks. A harvesting header IS carried by the chassis 12 is used to gather crop and to conduct the crop material to a feederhouse 18 of the harvester 10. A processing system 20, which is configured to separate grain from material other than grain (MOG), and deliver the grain to a grain tank 28 carried by the harvester 10. The operation of the harvester 10 is controlled from an operator cab 30. A user interface 32 Is provided within ths operator cab 30 for displaying or otherwise providing information to an operator of the harvester 10 data indicative of the operation of the harvester 10 or other associated components, e.g. the header 16. In the illustrated embodiment, the harvester 10, and specifically the header 16 coupled to the harvester 10 is additionally provided with a sensing arrangement in the form of strain gauges 29 operably mounted to components of the header 16 and configured to obtain sensor data representative of a cutting force applied by cutting members 53 of the header for monitoring operation thereof In the manner discussed herein.

[0032] FIGs 2 and 3 illustrate harvesting header 16 further, which in the illustrated embodiment is a com header, although it will be appreciated that the present disclosure is equally applicable to other header types. The illustrated corn header 16 includes a header frame 36 carrying an auger 40 and eight row units 50. The row units SO are separated by seven row dividers 52 and surrounded by end dividers 54. As will be appreciated, in use, ears of corn are stripped from each of eight crop rows planted along row paths P by the row units SO and then carried by the auger 40 toward the feederhouse 18 of the harvester 10. Harvesting corn in a harvester 10 is described generally in U.S. Patent 0,322,829, "Stalk Sensor .Apparatus, Systems, and Methods / ' issued April 28, 2016.

[0033] Row units 50 are delineated by row dividers 52. Crop material which moves into the header 16 is guided by the row dividers 52 towards processing elements of the header 16. Here, this includes gathering chains 56 having teeth 57 thereon. The gathering chains are powered by a motor unit to provide a drive to the chains. The teeth 57 engage ths crop material and pull material towards further processing elements of the header 16 (e.g. for stripping ears of the crop material from the stalks / Header IS further incorporates cutting members, here in the form of knife rolls 58 for engaging and cutting the stalks of the crop material during a harvesting process. The knife roils are operably connected via respective control shafts 59 to a motor SO for providing a rotational drive to the knife rolls 58. It will be appreciated that alternative arrangements of cutting members may be provided, including knife bars, rotational blades and the like for providing a cutting force to the stalks of the crop material, in use.

[0034] As discussed, the header 16 incorporates a sensing arrangement including strain gauges 2.9 operably connected to the control shafts 59 which are operable, in use, to obtain measurements indicative of a cutting force applied by the knife rolls 53. Specifically here, the strain gauges 29 are configured to measuring a strain applied to said control shafts 59 in use due to variations in torque applied through the shaft for cutting material. For instance, for "stronger" crop material - i.e. material requiring a higher cutting force to cut ~ an increase In torque at the control shafts 59 can be identified. Conversely, for "weaker" material, a relatively lower torque will be present / detectable at the controlshafts 59 via strairs gauges 29. Accordingly, the present disclosure utilises this variation as a measure of the cutting force applied by the knife rolls 58 at any given time, and hence a measure of stalk strength of the respective crop material. As discussed in detail below, the stalk strength can be used to determine a crop condition metric, e.g. a crop health or quality, for the crop. This can, for instance, be used to identify areas within the working environment of crop rot or other conditions affecting crop quality, This can be mapped ~ see FIG 5, e.g, for informing future farming decisions for the working environment.Control System

[0035] FIG 4 illustrates system 100 further, including a control system 101 which is provided and configured to perform operational steps discussed herein for determining a measure of stalk strength from sensor data received from strain gauges 29. In an extension of this, the control system 101 may be able to control operation of one or more operable components associated with the harvester 10 (e.g. the user interface 32).

[0036] Control system 101 comprises a controller 102 having an electronic processor 104, electronic input 106 electronic outputs 108, 112 and electronic input / output 110. The processor 104 is operable to access a memory 114 of the controller 102 and execute instructions stored therein to perform the steps and functionality of the present invention discussed herein, e.g. to analyse the sensor data, determine a measure of stalk strength therefrom and / or by controlling operation of the user interface 32 to display information indicative of a determined stalk strength or a measure based thereon ■■■ e.g, a crop condition metric,

[8037] The processor 104 is operable to receive via input 106 which, in the illustrated embodiment, takes the form of input signals 105 received from a control unit associated with strain gauges 29, sensor data representative of the operation of the header 16, Specifically, and as discussed herein, the sensor data is representative of a cutting force applied by the knife roils 28 of header 16. The processor 104 is configured to analyse the sensor data and determine therefrom a measure of stalk strength. This can be a direct comparison of the torque or strain at the control shafts 59 with stored data, or through a determination of a change in torque / strain observed for the control shaft(s). The measureof stalk strength is used to determine s crop condition metric for the crop gathered by the harvester IQ. In embodiments, the crap condition metric quantifies the quality or strength of the crop and this can, for example, be mapped to provide an overview of the crop condition for a wider working environment.

[0038] The electronic output 108 configured to output control signals 109 generated by the processor 104. Specifically, in the Illustrated embodiment, the processor 104 Is operable to generate, and the controller 102 operable then to output via output 108, control signals 109 to a remote memory means In the form of a remote server 62. Hence, output 108 serves as a communication module for communicating off board with the remote server 62 for staring information therein, e.g. storing data indicative of the raw sensor data from strain gauges 29, and / ordata indicative of the determined stalk strength and / or crop condition metric(s). Advantageously, the data can be retrieved from a location remote from the harvester 10, for example, in farm management planning at a later time.[0]39] Output 110 is operably connected to user interface 32. The control system 100 is operable to control operation of the user interface 32, e.g. through output of control signals 111 In order to display data to an operator of the harvester 10 Indicative of the stalk strength and / or crop condition metric, as determined by processor 104. This can include simply providing an Indication to the operator of the determined stalk strength / crop condition metric, in some use cases, this may include providing a representation via the user interface of a crop condition map as determined utilising the crop condition metric(s) - see below.Mapping

[0040] As discussed herein, the determined crop condition metric can be used to generate a crop condition map indicative of the crop condition across the working / monitored environment. This is illustrated figuratively in FIG 5, which shows a representation R, of a working environment F in which harvester 10 has operated. Representation R illustrates what may be displayed, for example, by user interface 32 or which may be generated from data stored on sewer 62.

[0041] Representation R includes 3 separate regions, A, 8, C therein indicated by a given pattern. It will be appreciated that the paterns shown here are purely for illustration, and alternatively these could be shown in different colours, textures and / or with different labels,, for example. Differing patterns here illustrate regions with different crop conditions metrics, as determined in the manner discussed herein. In the illustrated embodiment, regions A and B have been determined to have the same or at least similar (e.g. within a given range of each other) stalk strength, and hence have been classified with the same crop condition metric. Accordingly, each region A, B has been highlighted In the representation R with the same highlighting. Region C has been assigned a separate classification on the basis that the stalk strength for that region, C, being substantially different to that determined for regions A and 8. This may be greater or lower stalk strength, as will be appreciated.

[0042] Representation R, and the present disclosure configured in this manner provides an easily accessible representation of the crop condition across a working environment, This can be quickly interpreted by a user, e.g. for determining future farming decisions for, for example, regions with lower stalk strength (inferring an issue, e.g. disease, crop rot etc. in that area).GeneraI

[0043] Any process descriptions or blocks in flow diagrams should be understood as representing modules, segments, or portions of code which Include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure.

[0044] It will bo appreciated that embodiments of the present invention can be realized in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or In the form ofmemory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape, it will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as set out herein and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

[0045] Ail references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

Claims

CLAIMSWhat Is claimed Is:1, A system for monitoring one or more crop characteristics of crop material harvested by a harvesting machine in a working environment, comprising: a sensing arrangement; and one or more controllers configured to: receive sensor data from the sensing arrangement; analyse the sensor data to determine a measure of stalk strength; and determine a crop condition metric in dependence on the measured stalk strength; wherein the sensing arrangement is configured to measure a parameter indicative of a cutting force applied by one or more cutting members of a header operably coupled to the harvesting machine.

2. A system as claimed in claim 1, wherein the sensing arrangement is configured to obtain a measure of a torque associated with one or more of the cutting member(s).

3. A system as claimed in claim 2, wherein the measure of torque comprises an absolute value or a change or torque.

4. A system of any preceding claim, wherein the sensing arrangement comprises one or more strain gauges configured for obtaining a measure of a strain at the one or more cutting members or one or more operable components associated with the cutting member(s).

5. A system as claimed in claim 4, comprising one or more strain gauges provided on or operably connected to a control shaft or transmission for each of the one or more cutting members.

6. A system of any preceding claim., comprising one or more pressure sensors operable to monitor a pressure associated with a control arrangement for the cutting member(s).

7. A system of any preceding claim,, wherein the crop condition metric comprises a health metric for the crop material8. A system as claimed in claim 7, wherein the health metric comprises a classification for the health of the crop material being harvested; and wherein the one or more controllers are configured to classify a given crop or region of crap material being processed in dependence on the determined stalk strength.

9. A system as claimed in claim 7 or claim 8, wherein the one or more controllers are configured to generate a health metric map, the health metric map including an indication of the determined health metric at each of a plurality of locations within a mapped environment.

10. A system of claim 9, wherein the one or more controllers are configured to generate and output one or more control signals for controlling the output of a representation of the health metric map.

11. A system of claim 10, comprising or being communicatively coupled with, a user interface for displaying the generated representation.

12. A system of claim 11, wherein the user interface comprises a display terminal of the machine; or a display on a user device.

13. A system of claim 9 or any claim dependent thereon, wherein the one or more controllers are communicable with a remote or cloud based server and are operable to store the generated health metric map or data therefor.

14. A header for a harvesting machine comprising a system of any preceding claim.

15. A header as claimed in daim 14, comprising a corn header; and wherein the system comprises a sensing arrangement which Includes sensing elements on otherwise associated with cutting members of each of a plurality of row units of the corn header.

16. An agricultural machine comprising or being operably coupleable to the header of claim 14 or 15, and / or the system of any of claims 1 to 13.

17. A method of monitoring one or more crop characteristics of crop material harvested by a harvesting machine in a working environment, comprising: receiving sensor data from a sensing arrangement, the sensor data being indicative of a cutting force applied by one or more cutting members of a header operably coupled to the harvesting machine; analysing the sensor data to determine a measure of stalk strength; and determining a crop condition metric in dependence on the measured stalk strength.

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