MOBILE MACHINE AND METHODS FOR ADJUSTING A MOBILE CONTROLLED SUBSYSTEM AND GENERATING A ROUTE FOR A

专利摘要:
an agricultural machine has a communication component configured to receive a first data set and a second data set. The first and second data sets comprise indications of a ground parameter of a workplace. The first data set is captured earlier than the second data set. The farm machine also has a controller configured to receive the first and second data sets and, based on the first and second data sets, generate a workplace map. The agricultural machine also has a controllable subsystem configured to receive a control signal from the controller. The control signal is generated based on both an agricultural machine position within the workplace and the generated map. The control signal is configured to control controllable subsystem operator.
公开号:BR102017017890A2
申请号:R102017017890-0
申请日:2017-08-21
公开日:2018-05-02
发明作者:Sugumaran Ramanathan；W. Anderson Noel
申请人:Deere & Company；
IPC主号:

专利说明:

(54) Title: MOBILE MACHINE AND METHODS TO ADJUST A MOBILE CONTROLLABLE SUBSYSTEM AND TO GENERATE A ROUTE TO A MOBILE VEHICLE (51) Int. Cl .: A01B 79/00; A01C 14/00 (52) CPC: A01B 79/005, A01C 14/00 (30) Unionist Priority: 30/09/2016 US 15/281867 (73) Holder (s): DEERE & COMPANY (72) Inventor (s) ): RAMANATHAN
SUGUMARAN; NOEL W. ANDERSON (74) Attorney (s): KASZNAR LEONARDOS INTELLECTUAL PROPERTY (57) Summary: An agricultural machine has a communication component configured to receive a first set of data and a second set of data. The first and second data sets comprise indications of a workplace soil parameter. The first data set is captured earlier than the second data set. The agricultural machine also has a controller configured to receive the first and second data sets and, based on the first and second data sets, generate a map of the workplace. The agricultural machine also has a controllable subsystem configured to receive a control signal from the controller. The control signal is generated based on both an agricultural machine position within the workplace and the generated map. The control signal is configured to control the controllable subsystem operator.

/ 45 “MOBILE MACHINE AND METHODS TO ADJUST A MOBILE CONTROLLABLE SUBSYSTEM AND TO GENERATE A ROUTE TO A MOBILE VEHICLE”
DESCRIPTION FIELD [001] This description refers to mobile vehicles. More specifically, the present description refers to the detection of soil moisture or other soil parameters and the adjustment of vehicle operation based on the detected parameter.
FUNDAMENTALS [002] Soil moisture can affect many operations, such as agricultural operations, construction operations, forestry and tourism operations, among others. Soil moisture can be severely affected by snow accumulation.
[003] In several areas, farmers consider snow accumulation in the winter months as an important source of soil moisture for planting. The moisture content of the soil is affected based on the amount of snow that has accumulated, where the snow has accumulated and how much snow melts in the soil and how much is lost through evaporation. The moisture content of the soil can vary the timing of when the seeds should be planted and how deep the seeds should be placed, among other things.
[004] The above discussion is purely for general fundamental information and is not intended to be used as an aid in determining the scope of the claimed matter.
SUMMARY [005] An agricultural machine has a communication component configured to receive a first set of data and a second set of data. The first and second data sets comprise indications of a workplace soil parameter. The first data set is captured earlier than the second data set
Petition 870170060847, of 21/08/2017, p. 79/141 / 45 of data. The agricultural machine also has a controller configured to receive the first and second data sets and, based on the first and second data sets, generate a map of the workplace. The agricultural machine also has a controllable subsystem configured to receive a control signal from the controller. The control signal is generated based on both an agricultural machine position within the workplace and the generated map. The control signal is configured to control the operator of the controllable subsystem.
[006] This summary is provided to introduce, in a simplified way, a selection of concepts that are further described below in the detailed description. This summary is not intended to identify key characteristics or essential characteristics of the claimed matter, nor is it intended to be used as an aid in determining the scope of the claimed matter. The claimed matter is not limited to implementations that address any or all of the disadvantages noted in the grounds.
BRIEF DESCRIPTION OF THE DRAWINGS [007] FIG. 1 is an example of an agricultural machine.
[008] FIGS. 2A-2E show an example of snow accumulation from a field with a known topography.
[009] FIG. 3 is a block diagram of an example of an agricultural system.
[0010] FIG. 4 is a flow chart of an example of the operation of the agricultural system in the control of a subsystem based on data collected from the agricultural workplace.
[0011] FIG. 5 is an example of an agricultural system communicating with a remote data source.
[0012] FIG. 6 is a flow chart of an example of the operation of the agricultural system shown in FIG. 5 in the generation of an application map of
Petition 870170060847, of 21/08/2017, p. 80/141 / 45 chemical product.
[0013] FIG. 7 is a flow chart of an example of the operation of the agricultural machine shown in FIG. 5 in the generation of a traffic route for an agricultural machine.
[0014] FIG. 8 shows an example of how the information can be used in a remote server architecture.
[0015] FIGS. 9-11 show examples of mobile devices that can be used in the architectures shown in the previous figures.
[0016] FIG. 12 shows an example of a computing environment that can be used in the architectures shown in the previous figures.
DETAILED DESCRIPTION [0017] Before describing the examples discussed here, a brief discussion of some considerations when performing operations with a mobile machine will first be provided. Considerations can be factors in many different types of operations, such as agricultural operations, construction operations, forestry and tourism operations, etc. They are primarily described here in the context of an agricultural operation, but this is by way of example only. The discussion could also be easily applied to other types of operations.
[0018] A consideration used when planting a field is to ensure that seeds are planted at the right time. Timing a seed planting operation benefits from considering different factors, for example trafficability (the ability to drive a machine) across the field, temperature and soil moisture content and the genetics of the seed to be planted-for example , a cold tolerance of the strain that is planted. Climate forecasts are also a consideration for an upcoming planting operation. For example, it can take up to two days for a seed to germinate and 5-7 days for emergence. Therefore, a farmer can benefit from having a series of current and predicted parameters related to a
Petition 870170060847, of 21/08/2017, p. 81/141 / 45 given field when executing a planting schedule.
[0019] The moisture content of the soil can also be considered in the definition of parameters for implements in contact with the soil, such as a planting machine. For example, a planting machine is set up to deposit seeds at a certain depth. The depth can be selected based on a soil moisture content. Drier soil, for example, can be plowed and planted at a depth different from that of moist soil. In addition, if the soil was too moist, an agricultural machine may not be able to cross the field without risk of getting stuck, or causing damage to the vehicle or to the seeds planted.
[0020] Some soil parameters can be obtained by capturing an image of the soil. The image, for example, can capture soil temperature information for a workplace, or soil moisture information, or snow depth information (which can be used to estimate soil moisture), or residue coverage information of the soil, or any other relevant soil parameter that can be deduced from image data. In addition, multiple images can be obtained at different points in time, such that a soil parameter and how it varies with time is detectable. Knowing how a soil parameter varies by field can allow dynamic adjustment of a coupling element with the soil as the element moves through a field. For example, knowing how soil moisture varies across a field can allow you to adjust a planter's sowing depth as it moves across the field.
[0021] Furthermore, taking into account the variability of soil moisture across a field can improve uniformity across a field throughout an operation in the field, producing a more consistent plant size, among other things.
[0022] Such information can also assist in the efficient application of
Petition 870170060847, of 21/08/2017, p. 82/141 / 45 pesticide or other chemicals. Thus, at least some examples described here can also apply to controlling the application of a chemical to a field. The amount of chemical required may vary across a field, depending, at least in part, on soil parameters that can be measured or deduced from image data. For example, data on thermal inertia and snow cover for a given field can be used to determine how much chemical to apply to fertilize the field or to control pests or weeds. These factors impact the population of a variety of different forms of life. Knowing the way of life of a population allows automatic adjustment of the rate of application of a chemical product to meet the needs of different parts of the field. This can provide cost reductions by avoiding over-application of pesticides in areas where low temperatures have exterminated eggs, larvae, etc. In addition, this may also allow you to adjust nutrient rates early in the season, for example, based on the progress of waste decomposition, to ensure that yield is not limited by immobilized nutrients.
[0023] The topography of the workplace (for example, agricultural land) is another consideration when carrying out operations with a mobile machine. The topography can generally be known to a farmer. Although the earth shifts or erodes over time, it generally remains consistent from one season to the next. However, agricultural land is often not completely flat. Some fields have an at least partial slope, or some hills or other features across them. In addition, snow does not accumulate or melt regularly during the winter months and moisture from at least part of the snow evaporates, rather than melting into the ground. In addition, in the northern hemisphere, fields facing south generally experience higher temperatures than fields facing north. As the
Petition 870170060847, of 21/08/2017, p. 83/141 / 45 snow melting can be a key source of moisture for many areas, it can be useful for a farmer to understand how much snow has accumulated, where snow has accumulated, and therefore how snow is affecting soil moisture . This can be used to influence a wide variety of different decisions such as when the land is dry enough to start planting.
[0024] Some examples of different implementations will now be described. FIG. 1 is an example of an agricultural system 110. Agricultural system 110 includes a tractor 112 and a row crop planter 114. Planter 114 could also be a cereal seed drill, chemical applicator, or any other suitable agricultural vehicle . Tractor 112 provides propulsion power mode for planter 114 and at least some of its controllable subsystems.
[0025] In one example, planter 114 includes an implement loader 120 and row units 124. Each row unit 124 can include a metering device or a metering device can be located at any point. The seed, in one example, is fed to the metering device and then planted at a rate determined by the metering device and at a depth determined by the downward force applied to an opener on the row unit.
[0026] FIGS. 2A-2E illustrate images of a field taken over a period of time showing variations in snow cover for a field, when it refers to different topographic areas of the field. In this example, images are taken at daily intervals in order to show the rate of snow accumulation. As shown in FIG. 2A (the first image taken) snow has accumulated at different depths across an entire field, for example due to drift, melting, evaporation, etc. It can be seen in FIG. 2A that at least some areas of the field currently do not have snow accumulation. However, other areas of the field
Petition 870170060847, of 21/08/2017, p. 84/141 / 45 experienced some snow scattering (which can occur based on the topography of the field, wind, vegetation, etc.), which may indicate that the associated soil in these areas will accumulate more moisture as the snow melts from than the soil in areas with less, or without snow cover.
[0027] Snow melt rates can also be affected by topology, wind and vegetation, with shaded and protected areas melting more slowly than those facing the sun directly (for example, slopes facing south from hills) . If the patterns of depth variation are reasonably consistent for a number of years, the expected snow cover data (depth and / or duration) can be used to control the amount of residue removed from fields after harvest. In areas of snow with greater depth than expected or of longer duration, more residue can be removed than in other areas, because prolonged snow cover and the resulting lower soil temperature can reduce the amount and / or the timing of waste decomposition. This impacts the nitrogen available in the plant for next year's harvest. Also, snow melt information can be important for a farmer to know which areas of his field are dry enough and warm enough for planting.
[0028] FIG. 2B illustrates another image taken one day later than that shown in FIG. 2A where some snow has either melted or evaporated from the field. FIGS. 2C and 2D illustrate later images showing more snow accumulation within the field. In FIG. 2E, almost all of the snow has melted or evaporated out of the field. However, knowing that snow has recently been on the field, as shown in FIGS. 2A-2D, can give a certain indication that it may not yet be time to plant the entire field, because some areas of the field may not yet be dry enough to support an agricultural vehicle. In addition, some areas of the field may not yet be warm enough for planting seeds.
Petition 870170060847, of 21/08/2017, p. 85/141 / 45 [0029] Snow also promotes insulation against loss of heat from the soil in cold weather, thus moderating temperature extremes. Areas with lower snow cover are likely to have greater depth of frost. Winter temperatures can affect waste decomposition rates as well as pest survival rates. For example, temperatures below -7.5 ° C (18.5 ° F) kill worm eggs at the root. Therefore, simply having visual confirmation that snow is removed from a field (for example, the contrast between FIGS. 2A and 2E, without knowing the depth of the snow) may not provide enough information to know if it is time to plant, which areas of the field received sufficient moisture and which areas would benefit from additional pesticide and / or fertilizer before, during or after planting.
[0030] In one example, a farmer can increase his knowledge about the field (for example previous planting habits and harvest results from the previous season) with additional data sets that are collected and are indicative of varying soil parameters across the entire field. An example of a method for collecting field data is the use of an unmanned aerial vehicle (UAV). A UAV can be useful for collecting field data regarding snow depth, snow cover and melting, soil moisture and soil temperature, etc. [0031] FIG. 3 is a block diagram of an example of an agricultural system 290. Agricultural system 290 includes an agricultural vehicle 300, a UAV 350 and a remote source system 380 in one example. FIG. 3 also shows that vehicle 300 can generate operator interface (s) 315 for interaction by operator 317. Operator 317 can interact with interfaces 315 to control and manipulate vehicle 300.
[0032] Each of the vehicle 300, the UAV 350 and the remote source
380 is shown with several items. However, although FIG. 3 illustrate an example of how items are separated between vehicle 300, UAV 350 and the source
Petition 870170060847, of 21/08/2017, p. 86/141 / 45 remote 380, this is by way of example only and other arrangements are also contemplated here.
[0033] Agricultural vehicle 300 may be a planting system, such as that described above with respect to FIG. 1, or a different vehicle. In one example, it comprises a propulsion system 302, a controller 310, which is coupled to one or more controllable subsystems 304. Controllable subsystems 304 comprise, for example, one or more depth adjustment mechanisms, such that the Controller 310 can generate a control signal to adjust a depth (such as planting depth) in response to detected soil parameters. In other examples, agricultural vehicle 300 may have other controllable subsystems 304, such as a waste cleaner, a chemical sprayer, etc., some of which are described in more detail below. [0034] Agricultural vehicle 300 also comprises a data store 320 configured to store temperature maps 322, soil moisture maps 328, prior knowledge 324, as well as other relevant data 326. However, although data store 320 is illustratively shown in FIG. 3 as part of the agricultural vehicle 300, this information can also be stored in a remote source 380, within the UAV memory 358, or in another appropriate location accessible via a cloud-based or networked infrastructure.
[0035] Controller 310 can itself include logic to generate a prescription 312 and map generating logic 309, which can be used to generate a map, as described in more detail below. Controller 310 is also illustratively coupled to one or more sensors 306. Sensors 306 can detect a wide variety of different detected variables. For example, sensors 306 can include one or more temperature sensors, soil moisture sensors, as well as sensors related to 304 controllable subsystems. For example, they
Petition 870170060847, of 21/08/2017, p. 87/141 / 45 may include a downward force sensor, a planting depth sensor or a depth sensor for another hitch attachment.
[0036] The agricultural vehicle 300 may also include a positioning system 308, which, for example, provides an indication of the geographical location and orientation of the agricultural vehicle 300. For example, positioning system 308 can be a global positioning system (GPS ) or another system. Agricultural vehicle 300 also comprises a communication component 330 that is configured to communicate with UAV 350 and remote source 380. Communication can occur over a wired or wireless connection using any of a variety of different techniques. In another example, the communication component 330 is part of a mobile device used by an operator 317 of agricultural vehicle 300, such as a smartphone, tablet computer, etc.
[0037] Vehicle 300 may include user interface mechanisms
311. The 311 mechanisms can be levers, pedals, a steering wheel, joystick, buttons or other mechanical mechanisms. They can include a display device, audio and / or haptic devices, electrical or electronic input devices, or also a wide variety of other devices. Vehicle 300 may include further items 313.
[0038] The UAV 350, in one example, includes a 354 controller that controls a 352 propulsion system. The 354 controller can be coupled with one or more 356 sensors. The 356 sensors can include, in one example, a geolocation sensor that detects a position of the UAV 350 and one or more cameras configured to take images within a visual range, a infrared range or another wavelength range. For example, the UAV 350 can take an infrared image of a field to determine the current soil temperature. This can be used, for example, to determine which areas of the field are still frozen and
Petition 870170060847, of 21/08/2017, p. 88/141 / 45 which thawed. Data captured from sensors 356, in one example, are stored within memory 358 of UAV 350. However, sensor data 356 can also be transmitted to agricultural vehicle 300 using 360 communication component. In addition, sensor information can be transmitted to remote source 308 where it can be stored in remote source memory 384. UAV 350 can also include other items 319.
[0039] The remote system / source (a) 380 can be a remote service (for example, a cloud-based service or another service that is remotely accessible), a remote location, or another remote system. It may include a communication component 382 and a data or memory store 384 and other items 321. As with the other communication components, components 382 illustratively communicate with vehicles 300 and 350. Although FIG. 3 illustrate different functionality attributed to each one of the agricultural vehicle 300, the UAV 350 and the remote source 380, it should be understood that in at least some examples, the functionality is differently divided between the agricultural vehicle 300, the UAV 350 and the source remote 380.
[0040] Before describing the operation of the 290 system in more detail, a brief overview of its operation will first be provided. The UAV 350 can obtain at least one georeferenced image of a field using 356 sensors. The image, once taken by the UAV 350, can be sent to vehicle 300 where it is processed, for example by controller 310, along with prior knowledge 324 , to generate a specific prescription from site 312. Prior knowledge 324 may include, for example, at least some specific knowledge for known soil conditions, seed genetics, etc. The specific prescription for site 312 may, for example, comprise a depth prescription for a row unit on a planter that indicates a
Petition 870170060847, of 21/08/2017, p. 89/141 / 45 prescribed seed depth across the field. Based on prescription 312, the map generating logic 309 in controller 310 can generate a map that shows how the seed depth should vary at different locations in the field and controller 310 can generate a signal to control a row unit 304 in a manner such that the planting depth specified by prescription 312 is obtained according to the map. In one example, the agricultural vehicle 300 includes a closed loop control system in such a way that the actual depth measured by a depth sensor of the row unit 306 is then reported back to controller 310 which adjusts a depth controller mechanism ( such as a down force actuator) on the row unit 304 consequently, based on the measured depth and the prescribed depth.
[0041] Although FIG. 3 has been discussed in the context of a planter depth control example, there are many other examples in which the systems and methods described here can be used. Some include seeding, fertilizer applications, application of other material, incorporation of crop residue, preparation of the seed bed, preparation of the construction site, preparation of the tourist site as well as the preparation of the forest site.
[0042] FIG. 4 is a flow chart of an example of system operation 290, shown in FIG. 3, in the control of a 304 controllable subsystem based on data collected from the agricultural workplace. The operation shown in FIG. 4 is an example for capturing and applying a variety of workplace data to fit a controllable 304 subsystem across an entire agricultural application. Although this is discussed in the context of capturing data related to snow depth and temperature in order to implement a planting operation, additional or different data can also be captured in anticipation of other agricultural operations. Additionally, although FIG. 4 is discussed in the context of the system
Petition 870170060847, of 21/08/2017, p. 90/141 / 45 agricultural illustrated in FIG. 3, it can also be used in other systems. [0043] In block 410, a first set of workplace data is obtained. For example, UAV 350 can obtain a georeferenced image of a field, as indicated in block 412. The UAV image obtained in block 412 can, in one example, be an image taken within the visual spectrum. However, the UAV image can also be an image in the infrared (IR) spectrum, as indicated in block 414. In another example, a first workplace data set is obtained using Lidar, as indicated in block 416. One The first workplace data set may also include other data as indicated in block 418, for example data from known field-related topography, or data obtained through another mechanism, such as a 306 machine-based sensor or another sensor or data source.
[0044] The data set obtained in block 410 can refer to a series of different parameters. In one example, the first workplace data set obtained in block 410 comprises snow depth data, as indicated in block 422. Snow depth can be determined by combining a measured height of the snow surface with topographic information to that same location. By subtracting the altitude of the ground (as indicated by the topographic information) from the measured or detected altitude of the snow surface (as indicated by the captured snow depth data), the depth of the snow can be determined for that particular geographical location of the field. This can be repeated at a plurality of different locations in the field.
[0045] In another example, the first workplace data set comprises temperature data, as indicated in block 424. Other data, as indicated in block 426, can also be obtained as part of a first data set of workplace. For example, soil moisture content can be obtained, or deducted, based on
Petition 870170060847, of 21/08/2017, p. 91/141 / 45 snow depth 422, or temperature data 424, or a combination of these and / or other data. The first data set obtained in block 410 can cover an entire field, or a portion of a field. This can include multiple georeferenced measurements taken from various sensors, or other information.
[0046] In block 430, a second set of workplace data is obtained. In one example, the second workplace data set is obtained at a later time than the first workplace data set (for example, on a different day). This allows variation in the two data sets (for example, the two images) to be captured for processing. For example, as described above, the variation or differences between two images that represent snow depth data can be captured. This can indicate how much snow has accumulated (for example, melted, sublimated or evaporated).
[0047] However, in another example, a first set of workplace data and a second set of workplace data are separated by a longer interval. For example, the first workplace data set can be obtained at the end of a previous harvest season and the second workplace data set more recently.
[0048] The second set of workplace data can be obtained, for example, as an image in the visual spectrum of the UAV using a camera, as indicated by block 432, an infrared (IR) image of UAV using an IR sensor , as indicated in block 434, using Lidar, as indicated in block 436, or using another mechanism, as indicated in block 438.
[0049] The second set of workplace data obtained in block 430 can also relate to one or more soil parameters. For example, as mentioned above, the second set of workplace data
Petition 870170060847, of 21/08/2017, p. 92/141 / 45 work can represent snow depth data, as indicated in block 442, temperature data as indicated in block 444, and / or other data, as indicated in block 446. As described above with respect to block 426, data can be measured or deducted to represent things such as soil moisture or other parameters. In one example, the first data set and the second data set include data that represents the same information as the soil parameter. Thus, the variation of this parameter over time can be obtained. In at least one example, each of the first data set and the second data set includes data that represents at least two or more soil parameters. All of these scenarios are covered here.
[0050] In block 450, a differential workplace map is generated. Generating a differential workplace map comprises combining the second workplace data set, obtained in block 430, with the first workplace data set, obtained in block 410. For example, in order to determine an equivalent of snow water (SWE) absorbed by a field, a current snow depth (which can be represented by data in the second data set - for example snow depth 442), is subtracted from a previous snow depth (for example depth 422) to determine the amount of snow that has accumulated in the field. This can be used to generate an equivalent of snow-water that has accumulated from various geographical areas of the field for the duration between the first image and the second image and thus the amount of moisture that has melted in the soil or evaporated during that time. Such information can then be used to calculate or estimate the soil moisture content for these areas of the field.
[0051] In some examples, multiple parameters are incorporated into a single differential workplace map. For example, part of the difference between snow depths 422 and 442 can arise from
Petition 870170060847, of 21/08/2017, p. 93/141 / 45 evaporation, or sublimation, as opposed to melting and absorption in the field. Temperature information 444 and / or 424 can provide an indication that some snow has melted and moisture has been absorbed into the soil, for example, showing that a soil temperature was above 0 ° C for a given period of time between when the depths 422 and 442 were measured.
[0052] Generating a differential workplace map, as indicated in block 450, may also include applying prior knowledge to obtained workplace data sets, as indicated in block 452. For example, prior knowledge could help to compensate factors contributing to the data set obtained, but not depending on the soil parameters of interest. Some examples of prior knowledge that can be applied include: soil type, position of the land panorama, topography and position in relation to the sun (for example, the portion of the workplace that is flat, tilted towards the sun, tilted away the sun, etc.).
[0053] Generating a differential workplace map, as indicated in block 450, may also include applying thermodynamic knowledge, as indicated in block 454. The change in soil temperature can be strongly affected by soil moisture. Thus, temperature differences can be primarily attributed to differences in soil moisture based on the effect that soil moisture has on thermal inertia, as shown in Table 1.
Table 1: Typical Values for Specific Heat and Density
Constituent Specific Heat, a (J kg ' ¹ “CA Density (kg m ' ³ ) Specific Heat, c (MJ m ' ³ ° C' ³ ) Soil Minerals 733 2650 1.94 Organic Soil Matter 1926 1300 2.5 Water 4182 1000 4,184 Air 1005 1.2 0.0012
[0054] As the specific heat of water is much higher than that of soil minerals, soil organic matter or air (which can be discounted because of their negligible contribution to the heat capacity
Petition 870170060847, of 21/08/2017, p. 94/141 / 45 volumetric) temperature differences are strongly related to differences in soil moisture.
[0055] Generating a differential workplace map, as indicated in block 450, may include generating a data set that indicates soil moisture through the workplace, as indicated in block 462. Soil moisture can be detected or deduced in a variety of ways.
[0056] Generating a differential workplace map, as indicated in block 450, may also include detecting soil residue coverage, as indicated in block 464. There may be at least some insulating effects in a field due to crop residue . A soil residue map can provide some assistance in determining which portions of the workplace have differences in temperature impacted by the waste. The sensors of the UAV 356, in one example, have spatial resolution in the range of millimeter to centimeter and can capture wavelength data that allows a comparison of temperature difference in covered and uncoated portions with residue from a workplace, which they are very small and are in close proximity to each other. Such spatial comparisons allow the mass or thickness of the residue to be estimated.
[0057] In another example, generating a differential workplace map includes generating a data set indicating soil temperature 466 across the entire workplace. This can also be measured or deducted. Additionally, in one example, generating a differential workplace map also includes a projected future soil temperature 468 based on available workplace data and expected weather conditions, for example within the next 7-10 days. These are all examples of differential workplace maps and others are also covered here.
[0058] In block 470, a controllable subsystem is adjusted, for example based on information from one or more site maps
Petition 870170060847, of 21/08/2017, p. 95/141 / 45 working differentials. In one example, multiple workplace data sets are generated and accessible by controller 310, such that the adjustment of several different controllable subsystems 304 is carried out simultaneously or substantially simultaneously. For example, as planter 114 moves through a field from a drier area to a more humid area, controller 310 can generate a signal to modify the force exerted by a downforce actuator. This can vary the planting depth as indicated by block 474. In another example, a waste cleaning member can be adjusted, as indicated in block 472, based on a soil cover map. In yet another example, a propulsion system 302 can be controlled to vary the travel speed of the vehicle 300, in block 472, in response to an indication of a variation in the soil moisture content. Other controllable subsystems can also be controlled, as indicated by block 476.
[0059] Adjustments of controllable subsystems 304, as indicated in block 470, can be pre-computed or computed dynamically in near real time. They can also occur periodically as an agricultural machine moves across an entire workplace. For example, as the agricultural machine approaches an area of high soil moisture, the depth of the row unit, as indicated in block 474, may be decreased. In addition, adjusting a residue cleaner, as indicated in block 472, may comprise adjusting an operating parameter such as the angle of a contact member with residue in relation to the direction of travel, the height above the ground, or the speed of rotation. These adjustments can be made based on the residual coverage map on the differential soil generated in block 464. Additionally, in at least one example, adjusting a controllable subsystem comprises taking into account a sensor that is detecting during the planting operation as measured
Petition 870170060847, of 21/08/2017, p. 96/141 / 45 that the agricultural vehicle moves across an entire field. This may include, for example, communication with one of the sensors 306 that is connected to the farm vehicle 300, or communication with a remote sensor (such as a remote contact soil temperature sensor, a non-contact soil temperature sensor, a soil moisture sensor, a soil residue cover sensor, a soil type sensor, a soil organic matter sensor or any other sensor in contact with the soil at the workplace). [0060] Although FIG. 4 has been discussed in the context of various soil parameters, for example snow depth, temperature, soil moisture and soil residue cover, it should be understood that the discussion established here can also be used for other soil parameter information obtained . The relationship between temperature variation, snow depth variation, or other measured or deduced variations and a variety of soil parameters can be determined empirically. Additionally, although the controllability of controllable subsystems has been discussed, for example with respect to block 470, it should be understood that the particular values for the adjustments can be obtained using a variety of mechanisms. These may include, for example, applying the obtained soil parameters to known equations, using query tables, fuzzy logic, neural networks, rules-based systems, etc. In addition, the best fit values for a detected condition can be determined empirically, or otherwise as they may depend on the genetics of the seed, the environment of the seed, the capacity of the machine, etc. For example, Table 2 shows an example of a seed depth prescription for a field with variable soil temperature, given a seed type, soil type, particulars etc.
Table 2: Temperature-Based Seed Depth Prescription
Projected from the Ground
Future soil temperature Seed depth Temperature below 4.4 ° C (40 ° F) 3.17 cm (1.25 inches) 4.4 ° C (40 ° F) <Temperature <7.2 ° C (45 ° F) 3.8 cm (1.5 inches)
Petition 870170060847, of 21/08/2017, p. 97/141 / 45
7.2 ° C (45 ° F) <Temperature <10 ° C (50 ° F) 4.44 cm (1.75 inches) 10 ° C (50 ° F) <Temperature 5.0 cm (2.0 inches)
[0061] Additionally, in one example, the seed depth can be defined as a function of the future temperature of the soil. The future soil temperature, in one example, is estimated from the temperature measured in a base time (for example the time when the first workplace data set is obtained in block 410), the length of the sample period ( for example the time between obtaining the first workplace data set and the second data set obtained) and then extrapolating the tendency to increase the temperature based on when planting will occur. For example, the first and second workplace data sets obtained in blocks 410 and 430 can be obtained before or near sunrise (to allow transient surface temperature effects, being in direct sunlight, if dissipate) and a mid-afternoon temperature obtained by extrapolating an expected temperature variation from mid-morning until mid-afternoon. The future temperature of the soil can also be obtained, for example, from an accuracy of the air temperature and a predefined application of equations relating to the soil temperature and air temperature taking thermal inertia into account. These are just examples.
[0062] In another example, the desired seed depth can be determined as a function of two variables, such as future soil temperature and estimated soil moisture using thermal inertia. In another example, soil type is also used in conjunction with soil temperature and soil moisture as variables to determine an appropriate planting depth. Planting depths based on known temperature and humidity conditions can also be deduced using other information available for a specific farmer's soil and climate conditions.
[0063] FIG. 5 is a block diagram of an example of a
Petition 870170060847, of 21/08/2017, p. 98/141 / 45 agricultural system 590 which includes an agricultural vehicle 500 communicating with a remote data source 380. Agricultural system 590 can be used to treat a workplace (such as spreading or spraying chemicals such as fertilizer, pesticides, herbicides, etc.). The agricultural system 590, in some examples, is similar to the agricultural system 390, shown above in FIG. 3, with similar components numbered similarly. The 590 agricultural system can be configured to assist a farmer in applying site-specific, for example, chemicals on a job site based on a soil parameter, for example snow depth, temperature, soil moisture, cover waste, etc. Chemicals that can be applied to a field can include fertilizers, pesticides, herbicides, fungicides, nematicides, or any other chemical applied to a workplace.
[0064] The agricultural vehicle 500 may include a propulsion system
302, configured to provide power to move agricultural vehicle 500 across a field. The propulsion system 302 can be coupled to, and controlled by, controller 310. Controller 310 is also coupled to a positioning system 308 that is configured to provide an indication of a location of the agricultural vehicle 500 within a workplace. The 308 positioning system, in one example, is a GPS, or any other positioning system.
[0065] Controller 310 is also coupled to a communication component 330 that allows communication between the agricultural vehicle 500 and remote source 380. Controller 310 is also coupled to a series of sensors 306, including, as examples, a snow depth 534, a soil moisture sensor 536, a temperature sensor 538 and any other sensors 540. Controller 310 is also, in one example, coupled to one or more controllable subsystems 304, for example controllable items on units of row, residue cleaners, etc.
Petition 870170060847, of 21/08/2017, p. 99/141 / 45 [0066] Controller 310 can also be coupled to a local data store 320, in one example, which may include information such as a soil parameter map 522, an operating route 524, as well as another information 526 relevant to the operation of agricultural vehicle 500. The soil parameter map 522 can include georeferenced data for a workplace. The data can be indicative of soil moisture, temperature, snow depth, residue cover, etc. Also, although data store 320 is illustrated as part of agricultural vehicle 500, it should be understood that data store 320 could be implemented in another arrangement. For example, it can be partially over agricultural vehicle 500 and partially over remote source 380, completely stored within remote source 380, or completely stored elsewhere, such as within a cloud-based infrastructure. In addition, although sensors 306 are shown to be specific to the agricultural vehicle 500, it should be understood that at least some of the sensors 306 may be stationary sensors not configured to move with the agricultural vehicle 500, but to remain in place within the working location. and accessed through the communication component 320, in one example.
[0067] Remote source 380, in one example, includes a communication component 382 configured to allow communication between remote source 380 and agricultural vehicle 500. Remote source 380 may also include a data store 384 with historical information and / or data recently obtained about a workplace and / or agricultural vehicle 500. For example, data store 384 may include topology data 592 for a given workplace, snow depth data 594 and weather data 596 that may include projected historical, current and future weather data. The data can indicate air temperature, precipitation, or other items. Remote source 380 can
Petition 870170060847, of 21/08/2017, p. 100/141 / 45 also include 588 chemical data, including historical data on chemical application to a workplace, as well as information about chemicals by hand and an advance chemical application plan.
[0068] Remote source 380 may also contain organism data
598, including historical data on the presence of pests throughout the workplace, for example weeds, fungi and other organic pests. 598 organism data may also include mortality rates or reproduction rates under various environmental conditions and life cycle stages for relevant organisms. Relevant organisms may include, for example, bacteria, fungi, nematodes and plants (including weeds), insects or any other organism that is potentially found within a given workplace. This information can also be correlated with temperature or other data and an expected population of organisms. For example, temperatures below -7.5 ° C (18.5 ° F) can exterminate corn ganglion larvae and 50% of third instar corn ganglion larvae die in saturated soils after 24 hours at 24 ° C (77 ° F). Such information is useful in determining which chemicals are required to be applied and how much should be applied in order to control a desired pest population.
[0069] Residue data 578, in one example, comprises georeferenced data indicative of the amount of residue on, or in, the soil of a workplace. The amount of waste can be directly measured or inferred from yield data from a previous harvest, for example. Waste data can also include the amount of waste removed from a workplace through a process such as baling. In some examples, the amount of waste in the field can be determined from a total amount of waste and an incorporation factor related to the type of crop used
Petition 870170060847, of 21/08/2017, p. 101/141 / 45 in a given workplace.
[0070] Remote source 380 may also include any other information 586 relevant to agricultural vehicle 500, or maintenance or treatment of a given workplace.
[0071] At least some of the data stored within data store 384 can be captured by a remote sensor, for example a UAV as described above with respect to FIG. 3, a vehicle based on the ground, or another suitable source, such as Lidar, radar or satellite imagery. In at least some examples, remotely detected data can be compared to data collected from soil-based sensors, such as sensors 306 connected to the agricultural vehicle 500, or other sensors located across an entire workplace, to verify data from a remote site. Additionally, although data has been discussed as being able to be obtained from a UAV, in other examples at least some of the data within the 384 data store can be collected from a sensor mounted on the ground, a land vehicle, an aircraft manned, balloon, satellite or any other mounting location. In addition, although 594 snow depth data may indicate a depth calculated as the difference between a snow surface and the ground surface, some sensors or processors may provide (or estimate) a water content based on the depth of the snow, or a water-snow equivalent measurement.
[0072] Although at least some examples described here relate to data obtained while snow partially covers a field, some methods and systems are also useful after the snow has completely evaporated or melted. For example, when planting in summer, information on soil moisture content or soil saturation is also detectable in a variety of ways, including thermal inertia calculations applied to data
Petition 870170060847, of 21/08/2017, p. 102/141 / 45 collected from the workplace.
[0073] Based on information obtained from a remote source
380, controller 310 can be configured to create a plan 514. Plan 514, in one example, is a chemical application plan with a generated map for a given workplace, along with corresponding application rates for chemicals . Vehicle 300 can be any suitable agricultural vehicle, such as a spreader, a sprayer or any other suitable chemical applicator. Agricultural vehicle 500, in one example, can control the rate of a chemical applied to a workplace as the vehicle moves through the location based on a designated application rate indicated by plan 514.
[0074] FIG. 6 is a flowchart showing an example of the 590 system's operation in generating a chemical application map. The map can be used to determine where and how much of a given chemical is needed in different locations in a workplace, for example. It will also be noted that the map can be pre-computed by another system and loaded into the 590 system, or it can be generated by the 590 system itself.
[0075] In block 610, data from the workplace are obtained. Some workplace data obtained comprise historical data, as indicated in block 612 and some data obtained comprise more recent data (for example, current) 614. Historical data and the most recent data may comprise data obtained on different days, data obtained with weeks of separation, or, for example, data obtained from a last harvest compared with data currently obtained. Workplace data can include such things as snow depth data, as indicated in block 616, soil moisture data or soil saturation, as indicated in block 618, or soil temperature data, as indicated in block 608 Workplace data can be obtained from, in a
Petition 870170060847, of 21/08/2017, p. For example, a remote source such as remote source 380, from an agricultural vehicle, such as agricultural vehicle 500, or another suitable source, such as UAV 350.
[0076] In block 620, a soil parameter map is obtained. The soil parameter can be, for example, a field temperature map, as indicated in block 622, a field soil moisture map, as indicated in block 624, or a field soil residue map, as indicated in block 626, or a map of one or more other relevant parameters, as indicated in block 628. The soil parameter map, in one example, is generated by map generating logic 309 or other controller portions 310, based on workplace data obtained in block 610. In another example, the soil parameter map is retrieved from data store 384.
[0077] In block 630, a chemical application map is generated. In one example, the chemical application map is generated based on georeferenced information from the soil parameter to the workplace. The application map indicates where and how much of a chemical should be applied to different locations in a workplace. For example, it can indicate how much fertilizer, as indicated in block 632, pesticide, as indicated in block 637, herbicide, as indicated in block 636, fungicide, as indicated in block 638, and / or other chemicals, as indicated in block 640. The application map generated in block 630, in one example, can also indicate application rates or quantities for simultaneous application of multiple chemicals across a workplace.
[0078] FIG. 7 is a flowchart showing an example of the operation of the 590 system in the generation of a traffic route for an agricultural machine. Again, the route can be pre-computed and loaded into the 590 system, or generated by the 590 system itself. Various methods and
Petition 870170060847, of 21/08/2017, p. 104/141 / 45 systems have been described here to determine parameters for one or more controllable subsystems within an agricultural machine based on soil parameters. In at least some examples, such information is useful when applied to identify a route to cross a given workplace. For example, while it is useful to know that soil moisture is high in a given area of the field and therefore seeds should be planted at a shallower depth, such information can also be useful in determining whether a route is really available, or if it is too moist to guide it n, based on the moisture content of the soil. If the soil contains too much moisture, it may not be possible for an agricultural vehicle or forestry vehicle or construction vehicle to even travel along a given route. The operation shown in FIG. 7 illustrates an example for generating a route and also indicating whether it can be crossed by the vehicle. The generated route could be used by the agricultural vehicle or 300 or 500 to conduct a planting operation or a chemical application operation or any other operation. It can also be used by other vehicles to conduct operations or just to move through a location.
[0079] In block 710, a sensor input is received. The sensor input can include historical and / or current information about any of a wide variety of soil parameters that can be based on route calculation. Therefore, it can include soil moisture content within a workplace, as indicated in block 712, soil temperature, as indicated in block 714, or a wide variety of other information as indicated in block 716, for example information about chemicals to be applied to the workplace, etc.
[0080] In block 720, route specifications are received. In one example, this involves receiving, via user input, information about a route desired by the operator. Route specifications may comprise at least one starting point 722, an end point 724
Petition 870170060847, of 21/08/2017, p. 105/141 / 45 and one or more points on route 726. Additional or different route specifications are also covered. For example, an operator may be trying to determine whether it is possible to apply chemicals, or plant seeds, across an entire workplace, or a portion of a workplace. In such an example, in block 720 the operator launches route specifications that include an indication that the operator is going to be traversing an entire workplace, or a specified portion of a workplace. However, in another example, receiving route specifications comprises an operator indicating a desire to move an agricultural vehicle from a starting point to an end point, with one or more points on the route between them. The specification can also include a wide variety of other things, such as machine specifications for the vehicle (for example, weight, tire or track configurations, etc.) or other information. [0081] In block 730, a route is generated by the route generator or route 512. In one example, generating a route comprises generator 512 determining whether a route is even available, for agricultural vehicle 500, given the route specifications received and based on known information about the field. This is indicated by block 732. For example, there may be an area within a workplace where the soil moisture content is so high that it prevents the agricultural vehicle 500 from moving on a route that meets all route specifications. . In one example, generator 512 takes into account information about agricultural vehicle 500, for example weight, tire width, associated attachments, etc., which can affect whether vehicle 500 can traverse any given portion of the field, given the topography of the field, moisture content, soil temperature, etc.
[0082] In block 760, an operator may receive an indication that the desired route is unavailable, or partially unavailable, if generator 512 is unable to generate a route meeting all conditions or route specifications. For example, it may not be possible to move to
Petition 870170060847, of 21/08/2017, p. 106/141 / 45 all points on the route desired because of too many areas within the field that are too wet to support the agricultural vehicle 500, or a towed implement. In another example, a route is unavailable because an operator has indicated a desire to plant seeds in areas where the soil is too cold to plant, such as where the soil is still frozen. [0083] The indication that the route is unavailable can take many forms and include a variety of different types of information. For example, the operator may receive an indication that areas of the field cannot be traversed, or are not suitable for the desired application and reason. It can also suggest an alternative route that conforms to most specifications, but deviates in certain areas that are not trafficable. It can also take many other forms.
[0084] In block 762, in one example, the operator is prompted to remove one or more points on route 726, select a different starting point 722, or a different end point 724, remove a portion of the workplace, select one different agricultural operation, or modify the route specifications. If the operator does this, processing reverts to block 720.
[0085] If, in block 730, an available route is generated, then in block
740, the generated route is communicated to the agricultural vehicle 500. In one example, the generated route is communicated to the controller 310, which, using the positioning system 308, positions the agricultural vehicle 500 at a desired starting point and guides the vehicle's navigation farm 500 along the generated route. The generated route, in one example, is sent from remote source 380 (for example an operator's mobile computing device) or another computing device with access to information about the workplace. In another example, the generated route is provided by generator 512 in controller 310 to an operator over an interface 315 within agricultural vehicle 500, such as over a display device or other device.
Petition 870170060847, of 21/08/2017, p. 107/141 / 45
In one example, the route comprises a set of instructions for the operator. In another example, the route is communicated to the 308 positioning system, which provides directions to the operator on a display. In yet another example, the route is used by controller 310 to automatically control the steering and drive functions in propulsion system 302 to navigate vehicle 500.
[0086] In block 750, compliance with the provided route is monitored. Controller 510, in one example, indicates when a deviation is observed, for example over a display inside an agricultural vehicle 500. In another example, monitoring compliance comprises remote source 380 tracking an agricultural vehicle position 500, provided by positioning system 308, against the generated route and providing an indication of a deviation and remedial action. In another example, monitoring compliance comprises controller 310 automatically receiving an agricultural vehicle position 500, from positioning system 308 and comparing it with the generated route and adjusting a controllable subsystem 304 to correct for a detected deviation. For example, controller 310 can adjust a propulsion or steering system 304.
[0087] It will be noted that the discussion above described a variety of different systems, components and / or logics. It will be recognized that such systems, components and / or logic can be composed of hardware items (such as processors and associated memory or other processing components, some of which are described below) that perform the functions associated with those systems, components and / or logical. In addition, systems, components and / or logic can be composed of software that is loaded into memory and is subsequently run by a processor or server, or another computing component, as described below. Systems, components
Petition 870170060847, of 21/08/2017, p. 108/141 / 45 and / or logic can also be composed of different combinations of hardware, software, firmware, etc., some examples of which are described below. These are just a few examples of different structures that can be used to form the systems, components and / or logic described above. Other structures can also be used.
[0088] This discussion mentioned processors and servers.
In one example, processors and servers include computer processors with associated memory and timing circuitry, not shown separately. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of, other components or items in those systems.
[0089] Also, a number of user interface displays were discussed. They can take a wide variety of different forms and can have a wide variety of different user-actuable input mechanisms arranged on them. For example, the input mechanisms that can be used by the user can be text boxes, check boxes, icons, links, downloadable menus, search boxes, etc. They can also be performed in a wide variety of different ways. For example, they can be operated using a point-and-click device (such as a rolling ball or mouse). They can be actuated using hardware such as buttons, switches, a joystick or keyboard, finger switches or finger pads, etc. They can also be operated using a virtual keyboard or other virtual actuators. In addition, when the screen on which they are displayed is a touch screen, they can be actuated using touch gestures. Also, when the device displaying them has speech recognition components, they can be actuated using speech commands. [0090] A number of data stores were also discussed.
It will be noted that each of them can be broken into multiple data stores. Everyone can be local to the systems that
Petition 870170060847, of 21/08/2017, p. 109/141 / 45 access, all can be remote or some can be local while others are remote. All of these configurations are covered here.
[0091] Also, the figures show a series of blocks with functionality assigned to each block. It will be noted that fewer blocks can be used so that functionality is performed by fewer components. Also, more blocks can be used with the functionality distributed among more components.
[0092] FIG. 8 is a block diagram of one or both agricultural machines 300, 500, communicating with elements in a remote server architecture 800. In one example, the remote server architecture 800 can provide computing, software, access and storage services that do not require knowledge of the end user of the configuration or physical location of the system providing the services. In many ways, remote servers can provide services over a wide area network, such as the internet, using appropriate protocols. For example, remote servers can deliver applications over a wide area network and they can be accessed via a network browser or any other computing component. Software or components shown in the previous figures, as well as the corresponding data, can be stored on servers in a remote location. The computing resources in a remote server environment can be consolidated into a remote data center location or they can be dispersed. Remote server infrastructures can provide services through shared data centers, even though they appear as a single point of access for the user. Thus, the components and functions described here can be provided from a remote server at a remote location using a remote server architecture. Alternatively, they can be provided from a conventional server, or they can be installed on client devices directly, or in other media.
Petition 870170060847, of 21/08/2017, p. 110/141 / 45 [0093] FIG. 8 illustrates an example of a remote server architecture. FIG. 8 also shows that it is contemplated that at least some elements are arranged in a remote server location (which can be a cloud or another location) 802 while others are not. For example, data stores 320, 358, 384 or a third party system 807 can be arranged in a separate location from the remote server location 802. Other parts of agricultural machinery 300, 500 (eg parts of a system control) can also be stored at a remote 802 server location, or elsewhere. In addition, remote service / system 380 can also be implemented at site 802. Regardless of where they are located, they can be accessed directly by agricultural vehicles 300, 500 (or a user 317) over a network (or an area network) broadband or a local area network). They can be hosted at a remote location by a service, or they can be provided as a service, or accessed by a connection service that resides at a remote location. Also, data can be stored in substantially any location and intermittently accessed by or forwarded to interested parties. For example, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such a modality, where cellular coverage is poor or non-existent, another mobile machine (such as a fuel truck) may have an automated information collection system. As 300, 500 vehicles (or any 350 UAVs) approach the fuel truck for refueling, the system automatically collects information from the vehicle (or UAV) using any type of wireless ad-hoc connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For example, the fuel truck may enter a covered location when moving to fuel other machines or
Petition 870170060847, of 21/08/2017, p. 111/141 / 45 when at a primary fuel storage location. All of these architectures are covered here. In addition, the information can be stored on agricultural vehicles 300, 500 until vehicles 300, 500 enter a covered location. The 300, 500 vehicles themselves can then send the information to the main network.
[0094] It will also be noted that the elements of FIGS. 3 and 5, or portions thereof, can be arranged on a wide variety of different devices. Some of these devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smartphones, multimedia players, personal digital assistants, etc.
[0095] FIG. 9 is a simplified block diagram of an illustrative example of a hand or mobile switching device that can be used as a user or client handheld device 916, in which the present system (or parts thereof) can be implemented. For example, a mobile device can be implemented in the operator component of an agricultural machine, for example machines 300, 500, for use in generating, processing or displaying the data. FIGS. 10-11 are examples of handheld or mobile field devices.
[0096] FIG. 9 provides a general block diagram of a 916 client device that can rotate some components shown in the previous figures, which interact with them, or both. In the device 916, a communications link 913 is provided that allows the handheld device to communicate with other computing devices and under some modalities establishes a channel to receive information automatically, such as by scanning. Examples of a 913 communication link include allowing communication through one or more communication protocols, such as wireless services used to establish cellular access to a network, as well as protocols that establish local wireless connection to networks.
Petition 870170060847, of 21/08/2017, p. 112/141 / 45 [0097] In other examples, applications can be received on a removable secure disk (SD card) that is connected to a 915 interface. The 915 interface and 913 communication links communicate with a 917 processor (which can incorporate processors or servers of the previous figures) along a bus 919 which is connected to memory 921 and an input / output (I / O) component 923 as well as a clock 925 and a location system 927.
[0098] The I / O 923 components in a modality are designed to facilitate entry and exit operations. The 923 I / O components for various modalities of the 916 device can include input components such as buttons, touch screens, optical sensors, microphones, touch sensors, proximity sensors, accelerometers, orientation sensors and output sensors such as a display device, a speaker, and / or a printer port. Other 923 I / O components can also be used.
[0099] The 925 watch illustratively comprises a real time clock component that emits a time and a date. It can also provide illustrative timing functions for 917 processors. [00100] Location system 927 illustratively includes a component that emits a current geographic location 916. This may include, for example, a global positioning system (GPS) receiver ), a LORAN system, a dead counting system, a cell triangulation system or another positioning system. It can also include, for example, mapping software and navigation software that generate desired maps, navigation routes and other geographic functions. [00101] Memory 921 stores operating system 929, network settings 931, applications 933, (which may include configuration settings for application 935 and contact applications or phonebook 943) data store 937, communication triggers 939 and
Petition 870170060847, of 21/08/2017, p. 113/141 / 45 communication configuration settings 941. It can include a 924 client system that is a client component of another system that operates remotely. The 921 memory can include all types of volatile and non-volatile tangible computer-readable devices. It can also include computer storage media (described below). Memory 921 stores computer-readable instructions that, when executed by the 917 processor, cause the processor to perform steps or functions implemented by the computer according to the instructions. The 917 processor can be activated by other components to facilitate its functionality as well.
[00102] FIG. 10 shows an example in which device 916 is a tablet computer 1000. In FIG. 10, computer 1000 is shown with a user interface display screen 1002. Screen 1002 can be a touch screen or pen enabled interface that receives input from a pen or stylus. He can also use a virtual keyboard on the screen. Of course, it can also be connected to a keyboard or other user input device via an appropriate connection mechanism, such as a wireless link or USB port, for example. Computer 1000 can also illustratively receive voice inputs as well.
[00103] FIG. 11 shows that the device is a 1071 smartphone. The 1071 smartphone has a 1073 touchscreen display that displays icons or blocks or other 1075 user input mechanisms. The 1075 mechanisms can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, the 1071 smartphone is built on a mobile operating system and offers more advanced computing power and connectivity than a conventional phone.
[00104] Note that other forms of device 916 are possible. [00105] FIG. 12 is an example of a computing device in
Petition 870170060847, of 21/08/2017, p. 114/141 / 45 which elements of the previous figures or parts thereof can be implemented. With reference to FIG. 12, an example of a system for implementing some embodiments includes a general purpose computer device in the form of a computer 1110. Computer components 1110 may include, but are not limited to, the processing unit 1120 (which may comprise processors or servers of the previous figures), a system memory 1130, a system bus 1121 that couples various system components including the system memory to the processing unit 1120. The system bus 1121 can be any one of several types of bus structures including a memory bus or memory controller, peripheral bus and a local bus using any of a variety of bus architectures. The memory in the programs described with reference to the previous figures can be implemented in corresponding portions of FIG. 12. [00106] The 1110 computer typically includes a variety of computer-readable media. Computer-readable media can be any available media that can be accessed by the 1110 computer and includes both volatile and non-volatile memory, and removable and non-removable media. For example, non-limiting, removable computer media can comprise computer storage media and communication media. Computer storage media is different from and does not include a modulated data signal or wave carrier. It includes hardware storage media including both volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information such as computer-readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD / ROM, digital versatile discs (DVD) or other
Petition 870170060847, of 21/08/2017, p. 115/141 / 45 optical disk storage, magnetic tapes, magnetic tape, magnetic disk storage or other magnetic storage devices or other media that can be used to store the desired information and that can be accessed by the 1110 computer. Communication can incorporate computer-readable instructions, data structures, program modules or other data into a transport mechanism and includes information delivery media. The term "modulated data signal" means a signal that has one or more of its characteristics defined or varied in such a way as to encode information in the signal.
[00107] System memory 1130 includes computer storage media in the form of volatile and / or non-volatile memory such as read-only memory (ROM) 1131 and random access memory (RAM) 1132. An input / basic output 1133 (BIOS), containing the basic routines that help transfer information between elements inside the computer 1110 such as during startup, as typically stored in ROM 1131. A RAM 1132 typically contains data and / or program modules that are immediately accessible to, and / or are presently being operated by, the processing unit 1120. By way of example and not by way of limitation, FIG. 12 illustrates an operating system 1134, application programs 1135, other program modules 1136 and program data 1137.
[00108] Computer 1110 may also include other removable / non-removable, volatile / non-volatile computer storage media. By way of example only, FIG. 12 illustrates an 1141 hard disk drive that reads from or writes to non-removable, non-magnetic media, an 1135 optical disk drive, and 1156 non-volatile optical disk. The 1141 hard disk drive can be connected to the 1121 system bus. through a non-removable memory interface such as the interface
Petition 870170060847, of 21/08/2017, p. 116/141 / 45
1140, an optical disc drive 1155 as typically connected to the system bus 1121 by a removable memory interface such as the 1150 interface.
[00109] Alternatively, or in addition, the functionality described here can be performed, at least in part, by one or more logical hardware components. For example and without limitation, illustrative types of logical hardware components that can be used include field programmable port assemblies (FPGAs), application specific integrated circuits (eg ASCIs), standard application specific products (eg , ASSPs), systems on a chip (SOCs), complex programmable logic devices (CPLDs), etc.
[00110] The drives on their associated computer storage media discussed above and illustrated in FIG. 12 provide computer-readable storage instructions, data structures, program modules and other data for computer 1110. In FIG. 12, for example, hard drive 1141 is illustrated as storing operating system 1144, application programs 1145, other program data 1147. Note that these components may be the same or different than the operating system 1134, the application program 1135, other program modules 1136 and program data 1137.
[00111] A user can launch commands and information on the computer 1110 through input devices such as a keyboard 1162, a microphone 1163 and a pointing device 1161, such as a mouse, mobile sphere or touch-sensitive device. Other input devices (not shown) may include a joystick, game panel, satellite card, scanner or similar. These and other input devices are often connected to the processing unit 1120 via an 1160 user input interface that is coupled to the system bus, but can be connected by other interfaces and control structures.
Petition 870170060847, of 21/08/2017, p. 117/141 / 45 bus. A 1191 visual display or other type of display device is also connected to the 1121 system bus via an interface, such as an 1190 video interface. In addition to the monitor, computers can also include other peripheral output devices such as 1197 speakers. and 1196 printers that can be connected via an outbound 1195 peripheral interface. Computer 1110 is operated in a networked environment using logical connections (such as local area network LAN, or wide area network WAN) to one or more remote computers, such as the remote computer 1180.
[00112] When used in a LAN networked environment, computer 1110 is connected to LAN 1171 via an 870 network interface or adapter. When used in a WAN networked environment, computer 1110 typically includes a model 1172 or other means to connect over WAN 1173, such as the Internet. In a networked environment, program modules can be stored on a remote memory storage device. FIG. 12 illustrates, for example, that remote application programs 1185 may reside on remote computer 1180.
[00113] It should also be noted that the different modalities described here can be combined in different ways. That is, parts of one or more modalities can be combined with parts of one or more other modalities. All of this is covered here.
[00114] Example 1 is a mobile machine comprising: a controllable subsystem; and a controller configured to receive a first data set and a second data set, where the first and second data sets comprise indications of a workplace soil parameter and where the first data set is captured in a moment before the second data set, a
Petition 870170060847, of 21/08/2017, p. 118/141 / 45 map generating logic and, based on the first and second data sets, generate a map of the workplace and further configured to generate a control signal based on both an agricultural machine position within the workplace work and in the generated map, the control signal controlling the application of the controllable subsystem.
[00115] Example 2 is the mobile machine of any or all of the previous examples, further comprising a sensor detecting, as the soil parameter, showing depth in various locations in the workplace.
[00116] Example 3 is the mobile machine of any or all of the previous examples, in which the controller is configured to estimate soil moisture based on the depth of snow indicated by the first and second data sets.
[00117] Example 4 is the mobile machine of any or all of the previous examples, in which the controllable subsystem comprises a hitch attachment and where the control signal controls a contact depth of the hitch attachment based on the estimated soil moisture.
[00118] Example 5 is the mobile machine of any or all of the previous examples in which the first and second data sets are detected by an image capture component in an unmanned aerial vehicle (UAV) and further comprising:
a communication component configured to receive the first and second data sets from the UAV.
[00119] Example 6 is the mobile machine of any or all of the previous examples, in which the controllable subsystem comprises:
a depth control system over a planting machine that controls a planting depth.
[00120] Example 7 is the mobile machine of any or all
Petition 870170060847, of 21/08/2017, p. 119/141 / 45 previous examples, where the controllable subsystem comprises a chemical applicator and where the control signal comprises an application rate control system that controls an application rate for the chemical applicator.
[00121] Example 8 is the mobile machine of any or all of the previous examples, in which the soil parameter is soil temperature and in which the map generating logic generates the map as a soil temperature map of the workplace.
[00122] Example 9 is the mobile machine of any or all of the previous examples, in which the map-generating logic generates the map by accessing prior knowledge about the workplace for the first and second data sets.
[00123] Example 10 is the mobile machine of any or all of the previous examples, in which the image capture component comprises a camera and the first and second data sets comprise image data corresponding to the workplace.
[00124] Example 11 is the mobile machine of any or all of the previous examples, where the controller is configured to generate a third data set, where the third data set is an estimated future ground parameter value, the controller generating the control signal based on the estimated future soil parameter value.
[00125] Example 12 is a method of adjusting a controllable subsystem on a mobile vehicle comprising:
receive a first image of a workplace, captured in the first time;
receiving a second image of a workplace, captured in the second half, in which the second half is different from the first half;
generate, using a processor, a soil parameter map
Petition 870170060847, of 21/08/2017, p. 120/141 / 45 differential of the workplace, in which the differential soil parameter map is generated by combining the first and second images and deducing information from the soil parameter for the workplace;
generate a prescription to control a controllable subsystem, based on the differential map, where the prescription prescribes operation of the controllable subsystem within the workplace; and generate a control signal based on the prescription and based on a mobile machine location in the workplace.
[00126] Example 13 is the method of any or all of the previous examples and further comprising:
identify a variation of snow depth in the workplace based on the first and second images.
[00127] Example 14 is the method of any or all of the previous examples, where generating a differential soil parameter map comprises:
estimate soil moisture based on the identified snow depth variation; and generate a soil moisture map for the workplace based on the estimated soil moisture.
[00128] Example 15 is the method of any or all of the previous examples, in which the controllable subsystem comprises a depth control mechanism over a ground hitch implement and in which generating the control signal comprises:
generate the control signal to control the depth control mechanism.
[00129] Example 16 is the method of any or all of the previous examples and further comprising:
identify a soil temperature in the workplace, where generating the prescription involves generating the prescription to control the
Petition 870170060847, of 21/08/2017, p. 121/141 / 45 controllable subsystem based on the identified soil temperature.
[00130] Example 17 is the method of any or all of the previous examples, in which the controllable subsystem comprises a chemical applicator and generating the control signal comprises:
generate the control signal to control an application rate for the chemical applicator.
[00131] Example 18 is a method for generating a route for a mobile vehicle through a workplace, the method comprising:
receive a georeferenced indication of a soil moisture content for the workplace;
receiving a route specification corresponding to the mobile vehicle, wherein the route specification comprises a starting point and an end point;
generate the route based on the georeferenced indication of the soil moisture content and the route specification;
control the mobile vehicle to navigate through the workplace based on the generated route.
[00132] Example 19 is the method of any or all of the previous examples and further comprising:
determine if the generated route is one available for the mobile vehicle; and if not, raise a user notification that the generated route is unavailable.
[00133] Example 20 is the method of any or all of the previous examples in which raising comprises:
identify suggested changes to the route specification; and prompt the user to modify the route specification using the suggested modifications.
Petition 870170060847, of 21/08/2017, p. 122/141 / 45 [00134] Although the matter has been described in specific language for structural characteristics and / or methodological acts, it should be understood that the matter defined in the attached claims is not necessarily limited to the specific characteristics or acts described above. Instead, the specific characteristics and acts described above are revealed as examples of ways to implement the claims.
Petition 870170060847, of 21/08/2017, p. 123/141 / 5

权利要求:
Claims (20)
[1]
1. Mobile machine, characterized by the fact that it comprises: map generating logic configured to receive a first data set and a second data set, in which the first and second data sets comprise indications of a soil parameter of a location work, in which the first data set is captured at a time prior to the second data set and, based on the first and second data sets, generate a map of the workplace;
a controllable subsystem; and a controller configured to generate a control signal based on both an agricultural machine position within the workplace and the generated map, the control signal controlling the operation of the controllable subsystem.
[2]
2. Mobile machine according to claim 1, characterized by the fact that it also comprises:
a sensor that detects, as the soil parameter, snow depth at various locations in the workplace.
[3]
3. Mobile machine according to claim 2, characterized by the fact that the controller is configured to estimate soil moisture based on the depth of snow indicated by the first and second data sets.
[4]
4. Mobile machine according to claim 3, characterized by the fact that the controllable subsystem comprises a hitch attachment to the ground and the control signal controls a contact depth of the hitch attachment to the ground based on soil moisture estimated.
[5]
5. Mobile machine according to claim 4, characterized by the fact that the first and second data sets are
Petition 870170060847, of 21/08/2017, p. 124/141
2/5 detected by an image capture component in an unmanned aerial vehicle (UAV) and further comprising:
a communication component configured to receive the first and second data sets from the UAV.
[6]
6. Mobile machine according to claim 4, characterized by the fact that the controllable subsystem comprises:
a depth control system over a planting machine that controls a planting depth.
[7]
7. Mobile machine according to claim 3, characterized by the fact that the controllable subsystem comprises a chemical applicator and in which the control signal comprises an application rate control system that controls an application rate for the applicator of chemical product.
[8]
8. Mobile machine according to claim 1, characterized by the fact that the soil parameter is the soil temperature and in which the map generating logic generates the map as a soil temperature map of the workplace.
[9]
9. Mobile machine according to claim 1, characterized by the fact that the map-generating logic generates the map by accessing prior knowledge about the workplace to generate the soil parameter from the first and second data sets.
[10]
10. Mobile machine according to claim 5, characterized by the fact that the image capture component comprises a camera and the first and second data sets comprise image data, captured by the camera, corresponding to the workplace.
[11]
11. Mobile machine according to claim 10, characterized by the fact that the controller is configured to generate a third data set, where the third data set is a value of
Petition 870170060847, of 21/08/2017, p. 125/141
3/5 estimated future ground parameter, the controller generating the control signal based on the estimated future ground parameter value.
[12]
12. Method for adjusting a controllable subsystem on a mobile vehicle, characterized by the fact that it comprises:
receiving a first image of a workplace, captured in the first time;
receiving a second image of the workplace, captured in a second half, in which the second half is different from the first half;
generate, using a processor, a differential soil parameter map of the workplace, in which the differential soil parameter map is generated by analyzing the first and second images and deducing information from the soil parameter for the workplace;
generate a prescription to control a controllable subsystem, based on the differential map, where the prescription prescribes operation of the controllable subsystem within the workplace; and generate a control signal based on the prescription and based on a location of the mobile machine in the workplace.
[13]
13. Method according to claim 12, characterized by the fact that it further comprises:
identify a variation of snow depth in the workplace based on the first and second images.
[14]
14. Method according to claim 13, characterized by the fact that generating a differential soil parameter map comprises:
estimate soil moisture based on the identified variation in snow depth; and generate a soil moisture map for the workplace based on the estimated soil moisture.
[15]
15. Method according to claim 14, characterized
Petition 870170060847, of 21/08/2017, p. 126/141
4/5 due to the fact that the controllable subsystem comprises a depth control mechanism over a hitch attachment to the ground and where generating the control signal comprises:
generate the control signal to control the depth control mechanism.
[16]
16. Method according to claim 12, characterized by the fact that it further comprises:
identifying a soil temperature in the workplace, where generating the prescription comprises generating the prescription to control the controllable subsystem based on the identified soil temperature.
[17]
17. Method according to claim 13, characterized in that the controllable subsystem comprises a chemical applicator and generating the control signal comprises:
generate the control signal to control an application rate for the chemical applicator.
[18]
18. Method for generating a route for a mobile vehicle through a workplace, the method characterized by the fact that it comprises:
receive a georeferenced indication of a soil moisture content for the workplace;
receiving a route specification corresponding to the mobile vehicle, wherein the route specification comprises a starting point and an end point;
generate the route based on the georeferenced indication of the soil moisture content and the route specification; and control the mobile vehicle to navigate through the workplace based on the generated route.
[19]
19. Method according to claim 18, characterized by the fact that it further comprises:
determine if the generated route is available for the vehicle
Petition 870170060847, of 21/08/2017, p. 127/141
5/5 mobile; and if not, raise a notification from the user that the generated route is unavailable.
[20]
20. Method according to claim 19, characterized by the fact that raising a notification from the user comprises:
identify suggested changes to the route specification; and prompt the user to modify the route specification using the suggested modifications.
Petition 870170060847, of 21/08/2017, p. 128/141
1/12
110

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法律状态:
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2021-09-21| B06W| Patent application suspended after preliminary examination (for patents with searches from other patent authorities) chapter 6.23 patent gazette]|

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2022-02-22| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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US15/281867|2016-09-30|

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