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    • 专利摘要:
    The method for monitoring yield during harvesting with a harvester, the yield monitoring system while harvesting with a harvester, and the method of calibrating a mass flow sensor of a harvester while harvesting the present invention. systems, methods and apparatus to monitor yield during harvest. In one embodiment a mass flow rate sensor measures the mass flow rate of the harvested grain. A weight sensor measures the weight of the harvested grain. The measured mass flow rate correlates with the weight of the harvested grain. The processing circuits calculate any error in the measured mass flow rate using the measured weight. The calculated error is used to correct any inaccuracies in the measured mass flow rate.
    公开号:BR112013016262B1
    申请号:R112013016262-7
    申请日:2011-12-22
    公开日:2019-04-16
    发明作者:Justin L. Koch；Derek A. Sauder
    申请人:Precision Planting Llc；
    IPC主号:
    专利说明:

    Invention Patent Descriptive Report for METHOD FOR MONITORING PRODUCTION DURING GRAIN HARVEST WITH A HARVESTER, PRODUCTION MONITORING SYSTEM WHILE HARVESTING GRAINS WITH A HARVESTER, AND METHOD OF CALIBRATING A MACHINE FLOUR SITTING MACHINE. THE GRAINS.
    BACKGROUND [001] Figure 1 A illustrates a conventional harvester or combine harvester 10. As the operator in cab 12 directs harvester 10 through the field, the crop is pulled through the top 15 which collects the plant material and the feeds on the harvesting feeder 16. The harvesting feeder 16 transports the plant material to the combine harvester where the grain is separated from the other plant material. The separated grain is then taken upwards by the grain elevator 120 (figure 1B) to the feed auger 150 that transports the grain into the grain container 20. The other plant material is discharged at the rear of the combine harvester.
    [002] When the grain tank 20 fills, a transport vehicle such as a grain cart, wagon or truck is driven close to the combine harvester or the combine harvester is headed for the waiting transport vehicle. The discharge auger 30 is swung outward until the end is positioned on the waiting transport vehicle. A transverse auger 35 positioned at the bottom of the grain reservoir 20 feeds the grain to the extended discharge auger 30, which in turn deposits the grains within the waiting vehicle below.
    [003] Monitoring production live or in real time during the harvest is known in the art. A commercially available type of production monitor uses a flow sensor
    Petition 870180142471, of 10/19/2018, p. 6/46
    2/30 mass, such as the mass flow sensor 130 shown in figure 1B, and also shown in US Patent No. 5,343,761, incorporated herein by reference in its entirety. With reference to figure 1B, as soon as the grain 110 is discharged from the elevator 120 it hits an impact plate 140. The sensors associated with the mass flow sensor 130 produce a voltage related to the force applied on the impact plate 140. The volume of grain flow can then be calculated based on the tension in such a way that the mass flow sensor 130 determines a grain flow rate associated with grains within the combine harvester 10. Said systems also employ various methods of registering the speed of the combine harvester in operation. Using the speed and width of the passage being harvested (usually the width of the top), it is possible to obtain a rate of production of bags per acre by dividing the mass of harvested grains over a period of time determined by the harvested area. In addition to reporting the current production rate, said systems often incorporate GPS or other positioning systems in order to associate each reported production rate with a discrete field location. Thus, a production map can be generated for reference in later times.
    [004] Most available systems also use a sensor to determine the moisture in the grain when it is harvested. Sensing the moisture in the grain allows the operator to determine the probable time or expense required to dry the harvested crop and also allows the production monitor to report more useful production data by correcting the water content. Because the grain is dried before long-term storage and sale (for example, to an industrial standard of 15.5% moisture), the moisture level of the harvested grains can be used to calculate the salable grain weight by hectare.
    [005] During the harvest, several factors affect the reliability of the
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    3/30 mass flow sensor. Changes in crop production, type of grains, seed varieties and genetics, grain moisture, and room temperature are known to change the flow characteristics of the grain and, consequently, change the signal produced by the sensor to the same flow rate of mass. Due to these changing conditions during operation, it is well known that mass flow sensors can be inaccurate, without proper calibration.
    [006] For this reason, manuals provided with commercially available production monitors generally instruct the operator to occasionally carry out a calibration routine. Most commonly, when a grain load is unloaded onto a weight wagon or scale, the operator enters the measured weight of the grain, and the production monitor system applies a correction factor to its signal by comparing the weight measurement with its calculated mass accumulation.
    [007] One of the several disadvantages of this load-to-load calibration method is that it is time consuming and is often not carried out simply on a regular basis by the operator.
    [008] Recognizing that many producers do not regularly perform calibrations and in an attempt to automate the calibration process, some grain carts have been adapted to wirelessly transmit the weight of the load to the production monitor system, as disclosed in US Patent No. 7,073,314 to Beck et al. However, when multiple grain carts are used, this method requires the instrumentation of additional machines in order to achieve a load-to-load calibration, and no calibration is likely to be feasible when the operator unloads the grain directly into a grain truck.
    [009] Additionally, load-to-load calibration may not be possible when, for example, the grain deposit may be only
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    4/30 partially discharged. In addition, this method does not eliminate the deficiencies inherent in the load calibration of the load discussed below. [0010] Even if the operator or the production monitor system regularly performed a calibration routine, many of the conditions that affect the mass flow sensor change several times during each load accumulation, so that the routine calibration is unable to correct said changes. In other words, the various changes in conditions that require correction of the mass flow sensor will rarely coincide with a load-to-load calibration scale. For example, a high moisture grain load can be harvested and used to recalibrate the mass flow sensor, just before entering a drier area of the field, making the mass flow sensors more inaccurate than if the calibration had not been performed.
    [0011] As such, there is a need for an accurate system and method of calibrating the mass flow sensor of a production monitor during harvest.
    BRIEF DESCRIPTION OF THE DRAWINGS [0012] Figure 1 A is a perspective view of a conventional combine harvester.
    [0013] Figure 1B illustrates a conventional mass flow sensor.
    [0014] Figure 1C illustrates another modality of a mass flow sensor.
    [0015] The figure ID illustrates yet another modality of a mass flow sensor.
    [0016] Figure 2A illustrates a modality of a process for the calibration of a mass flow sensor.
    [0017] Figure 2B illustrates another modality of a process for the calibration of a mass flow sensor.
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    5/30 [0018] Figure 2C shows a calibration characteristic for a mass flow sensor.
    [0019] Figure 2D illustrates the vehicle weight and the mass flow sensor data.
    [0020] Figure 3 illustrates a modality of a system for the calibration of a mass flow sensor.
    [0021] Figure 4A is a top plan view of a vehicle weight system modality.
    [0022] Figure 4B is a schematic elevation view of the front axle of a combine illustrating the load on the front axle and the vehicle weight system of figure 4A.
    [0023] Figure 4C is a top plan view of a vehicle weight system modality.
    [0024] Figure 4D is a flow diagram that illustrates a process for detecting phantom payment charges.
    [0025] Figure 5A is a cross-sectional view of an extensometer modality.
    [0026] Figure 5B is a cross-sectional view of the sensor support as seen along line B-B in figure 5A.
    [0027] Figure 5C is a perspective view of the magnetic support of figure 5A.
    [0028] Figure 6 is a process flow diagram that illustrates a method of calibrating a vehicle weight system.
    [0029] Figure 7A illustrates a modality of a system for measuring the mass of grains or the change in the weight of the grain reservoir, since it is filled with grains.
    [0030] Figures 7B-7E illustrate different views of another modality for measuring the weight of the grain or for varying the weight of the grain reservoir, since it is filled with grains.
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    6/30 [0031] Figure 8 is a side elevation view of a head pressure sensor modality.
    [0032] Figure 9 illustrates a process to identify the weighing data of unreliable vehicles.
    DETAILED DESCRIPTION
    CALIBRATION METHODS [0033] Referring now to the drawings in which similar reference numbers designate the same parts or the corresponding parts over the various views, figure 2A is a flow diagram showing the oscillations of a preferred process 200 for calibration of a mass flow sensor 130 (figure 1B). When starting the initial step 210, two measurement steps 215 and 220 begin. In step 215, a mass flow rate signal is obtained from a mass flow sensor. In step 220, a vehicle weight signal relative to the vehicle weight of the combine harvester a is obtained from a vehicle weight measurement system. In step 235, a mass flow correction factor is preferably obtained from a previous run and multiplied by the measured mass of grain harvested in order to obtain a corrected mass flow rate. In step 237, the corrected mass flow measurement is preferably demonstrated by time evaluation and stored for further processing. In step 250, an error between the mass flow signal and the vehicle weight signal is determined and a new mass flow correction factor is calculated. The new mass flow correction factor is preferably stored for use in step 235, i.e., the new mass flow correction factor is applied to subsequent measurements of mass flow rates.
    [0034] The determination of the error and the calculation of a new correction factor, in step 250 can be carried out according to various methodsPetition 870180142471, of 10/19/2018, p. 11/46
    7/30 of. One method is to simply divide the integral mass flow signal by changing the total weight of the vehicle. However, a first problem with this method is that the vehicle weight does not change simultaneously with the mass flow signal, that is, the grains reach the impact plate 140 (figure 1B) of the mass flow sensor 130 affecting the total weight of the vehicle at the time of harvest. This problem can be partially corrected by measuring the time during which the mass flow sensor signal continues to read a non-zero value after the combine stops harvesting, and then the change time of the mass flow to better meet the vehicle weight signal. Another problem with this method is that the vehicle weight measurement at any time, or even the change in vehicle weight between two different times, may not be reliable due to the change in vehicle slope and other variable conditions (as discussed with respect to various modalities of the vehicle weight system below).
    [0035] Furthermore, empirical data shows that the mass flow sensors are relatively accurate during operation, except when the combine combines occasional changes in field or crop conditions. When field or harvest conditions change, the slopes of the cumulative mass flow data measured will become significantly different from the slope of the measured vehicle weight data through which the data definitions will begin to track one away from the other. An occasional slope correction for the mass flow sensor data will fit the defined data closely, but the defined data must be monitored almost continuously in order to apply the correction at the appropriate times.
    [0036] In view of the problems and empirical results discussed
    Petition 870180142471, of 10/19/2018, p. 12/46
    8/30 above, another process for weight correction in step 250 is shown by the flow diagram of figure 2B. In the process of figure 2B, the need for a correction factor is determined based on the relative decline in vehicle weight data and cumulative mass flow data. In step 252, a mass flow rate is preferably obtained from a look-up table (described in more detail with respect to figure 2C) as a function of the signal from the mass flow sensor 130. In step 254 the mass rate mass flow, as well as a cumulative sum of the mass flow rate is recorded and preferably time stamped. In step 256 the vehicle weight is recorded and preferably stamped. In step 258, the steps in steps 252, 254 and 256 are preferably repeated until a measurement period T (for example, 10 seconds) is reached. In steps 260 and 262, the slope (i.e., rate of change) of the mass flow over time is compared to the slope (i.e., rate of change) of the vehicle weight over time. If the signs indicating the direction of the slopes are different or the absolute value of the slopes differs by more than a percentage threshold (for example, 1 percent), then a new correction factor is calculated in step 264. Otherwise, the previous correction factor (if any) is preferably maintained at step 266. It should be noted that maintaining the previous correction factor cannot comprise a positive algorithmic step.
    [0037] It should be noted that, in addition to comparing the rates of change, the flow-based weight change estimate can be compared over the T record period to a weight-based weight change estimate (preferably derived from the difference in weight sign at the beginning and at the end of the registration period), so that an appropriate correction factor can be determined.
    [0038] The lookup table, preferably consulted in step 252, preferably comprises a definition of calibration curves
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    9/30
    280 as shown in figure 2C. The response of some types of commercially available mass flow impact sensors is non-linear with the mass flow rate as is well known in the art. The shape of this non-linear relationship can vary with factors such as the type of grain, the inclination of the vehicle and the moisture content. Thus, a definition of calibration curves 280 corresponding to each interval of said factors can be developed empirically and consulted to determine the mass flow rate of the sensor in step 252. [0039] The calculation of a new correction factor in step 264 is performed to better meet the accumulated mass flow rate data for vehicle weight data over the measurement period T or multiple measurement periods T. The correction factor can comprise a single linear multiplier. Figure 2D is an illustrative data definition 270. Data definition 270 includes vehicle weight data 272 (represented by a scatter plot) and cumulative mass flow data 271 (represented by a line graph). Over the measurement period T (in figure 2D, 60 seconds), the slope of the cumulative mass flow data rate 271 differs significantly from the slope of the vehicle weight data 272. Thus, a corrected slope (illustrated by line 271 ') is preferably used. To achieve this objective, a correction factor (k) is calculated as the ratio between the slope of the 270 line and the slope of a line that best fits the 271 mass flow rate data.
    [0040] It should be understood that the most complex correction method can be used to adjust data definitions, instead of multiplying by a constant. For example, an alternative method can determine the coefficients required to enter the mass flow sensor data in a first order, a second order, a third order or a fourth polynomial order that best fits the vehicle weight data during the period of measurement T. Also
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    10/30 It should be noted that in some applications, signal processing methods known in the art (such as smoothing or low-pass filters), can be applied to one or both of the vehicle's weight and rate signals. mass flow in order to avoid writing wrong data.
    CALIBRATION SYSTEMS [0041] Figure 3 is a schematic illustration of a calibration system 300, preferably used to carry out the process 200. The calibration system 300 preferably includes a vehicle weight system 400, a production monitor of plate 310, monitor system 320, humidity sensor 330, auger weight sensor 335, speed sensor 340, one or more gyroscopes 345, one or more accelerometers 350 (preferably three-axis accelerometers), one GPS 355 system, a mass flow sensor 130, a head pressure sensor 380 and a mass flow sensor 130.
    [0042] Monitor system 320 preferably includes a display 324 and processing circuits including a central processing unit (CPU) 322. Display 324 is preferably a graphical user interface configured to allow the operator to enter commands . The monitor system 320 is preferably mounted in the booth 12 (figure 1 A) of the combine 10 so that the user can view the display 324. In some embodiments, the monitor system 320 can also be configured to display information from the plantation as described in copending US Application No. 13/292, 384, of the applicant incorporated herein by reference in its entirety. In said modalities, monitor system 320 is preferably configured to display maps overlaying planting information with production data and comparing planting information to produce production data.
    [0043] The production monitoring board 310 is preferably assembled
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    11/30 to the combine harvester 10. The gyroscope 345 and accelerometer 350 are preferably in electrical communication with the production monitoring board 310 and mounted on it. The speed sensor 340, the humidity sensor 330, the mass flow sensor 130, the head pressure sensor 380 and the vehicle weight system 400 are all preferably in electrical communication with the production monitoring board 310 , which is in turn in electrical communication with the 320 monitor system. The GPS 355 system is also preferably in electrical communication with the 320 monitor system.
    [0044] The speed sensor 340 is preferably configured to measure the speed of an axis of the combine as it is known in the art. After each rotation or each partial rotation of the axis, the speed sensor 340 preferably sends a pulse from the encoder to the production plate of the monitor 310. The monitor system 320 preferably determines the speed of the time axis between each pulse of the encoder.
    VEHICLE WEIGHT MEASUREMENT SYSTEMS [0045] Figure 4A illustrates a modality of the vehicle weight system 400. The vehicle weight system 400 generally includes a definition of 500 strain gauges (described in detail below) connected to the combine harvester 10 As illustrated, the combine harvester 10 includes front tires 410, front axle 422, rear tires 415 and rear axle 427. A vehicle weight system modality 400 includes a pair of front extensors 500fl and 500f2 mounted on front axle 422, and a pair of rear strain gauges 500rl 500r2 mounted on the rear axle 427. Each strain gauges 500 have a right-most and left-hand end and are preferably mounted on the respective axis in two locations near said right-most end and close to said right-most end left. Each extensometer 500 is preferably assembled using the supports 460 (figure 4B) or
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    12/30 another suitable device securely attached to the respective axis. Each extensometer 500 is preferably in substantial alignment with the respective axis to which it is mounted. Each strain gauge 500 is preferably in electrical communication with the production monitor plate 310.
    [0046] When operating the vehicle weight system 400, the weight of the combine harvester 10 is carried by the axles 422, 427 which transfer the load to the front and rear tires 410, 415, respectively. Thus, bending efforts are imposed on the front axle 422 and the rear axle 427. Figure 4B is a schematic illustration of the loads acting on the front axle 422. The portion of the combine harvester weight 10 carried by the front axle 422 is identified as FW. The Fw weight is applied at two points where the combine harvester frame is connected to the axles, resulting in a force of Fw / 2 at each connection point. The load Fw is transferred to the ground by the front tires 410 resulting in a reaction force designated by the forces Fr and Fl on each front tire 410. Although not represented, the corresponding loads and reaction forces, resulting in bending stresses are experienced by the rear axle 427. It should be noted that when the load on the axles 422, 427 increases due to more grain being added to the grain distributor when the crop is harvested, the bending stresses on the axles will increase. This increase in bending stresses will result in the supports 460 moving towards each other, like the axis curves, as shown by the hidden lines exaggerated in figure 4B. As the supports are moved inward, the extensometers 500 generate a corresponding increase in voltage that is communicated to the monitor 310 production plate. The sum of the voltages of the extensometer 500 is proportional to the weight of the combine 10, and the magnitude of the force Fw imposed on each axis.
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    13/30 [0047] In some modalities, the front extensors 500fl and 500f2 can be omitted so that only the rear axle 427 is instrumented with 500rl and 500r2 extensometers. It should be understood that in said modalities the accuracy of the vehicle's weighing system will be compromised; however, after a long period of operation such a modality would still provide a useful indication of how far the mass flow sensor 130 has been derived according to the methods described in relation to FIGURES 2A and 2B. VEHICLE WEIGHT MEASUREMENT DEVICE [0048] Figure 5A illustrates a cross section of an extensometer 500 modality. The extensometer 500 preferably includes a conduit 510, a sensor 530, a support sensor 535, a magnet 520, and a 525 magnetic support.
    [0049] The conduit 510 is mounted on a first end of a first support 460. The support sensor 535 is fixed (for example, by pressure) inside the conduit 510. A tube 515 is preferably mounted inside the sensor support 535. As best seen in figure 5B, sensor 530 is housed inside tube 515, preferably through insulation.
    [0050] Magnetic support 525 is slidable and housed inside conduit 510. Magnetic support 525 is attached to a rod 550. Rod 550 is attached to a second support 460 near a second end of conduit 510. Magnet 520 it is preferably mounted inside the magnetic support 525, as best seen in figure 5C. The magnet 520 preferably includes an opening 522. The magnetic support 525 includes a cavity 527. The tube 515 preferably extends through the opening of the magnet 522 and into the cavity of the magnetic support 527. The tube is preferably radially bounded by a ring seal 532 housed within the magnetic support 525.
    [0051] The 530 sensor can be any sensor configured for
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    14/30 emit a signal proportional to a magnetic field experienced by the sensor. The 530 sensor is preferably a Hall Effect sensor, such as model number A1392 available from Allegro MicroSystems, Inc. in Saitama, Japan. The 530 sensor is in electrical communication with the production monitor board 310.
    [0052] In operation, as the supports 460 move in relation to each other, as described above and illustrated in figure 4B, the magnetic support 525 moves within the conduit 510 in such a way that the magnetic support 525 and the support of the 535 sensor move relative to each other. Thus, sensor 530 moves inside opening 522 in magnet 520. Magnet 520 develops a magnetic field inside opening 522. The magnitude of the magnetic field varies over the width of magnet 520 (from right to left as seen) in figure 5A). As sensor 530 moves within the magnetic field, sensor 530 sends a signal to the production monitor plate 310, the signal voltage that is proportional to the magnitude of the magnetic field at the location of sensor 530. Thus, the voltage produced by the sensor 530 is related to the position of the sensor 530 inside the magnet 520. Likewise, the voltage produced by the sensor 530 is related to the relative displacement of the supports 460.
    [0053] It should be appreciated that other modalities of the extensometer 500 may include a magnet 520 that has a different shape and different places of the sensor 530 in relation to the magnet 520. However, the modality described with respect to figures 5A-5C is preferable, because within the opening 522, the magnitude of the magnetic field adjacent to the magnet 520 varies substantially and with substantial linearity within the opening along the width of the magnet 520.
    [0054] It is preferable to use two 500 strain gauges mounted on each axis due to complex load scenarios experienced by the axes during operation. For example, if one of the axes is placed
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    15/30 in front or behind bending in the direction of the combine harvester action 10 (that is, transversal to the vertical forces Fw illustrated in figure 4B), the supports 460 would experience the relative displacement related to a change in the weight of the harvester 10. In However, with two extensometers 500, said flexions move one pair of supports 460 a greater distance while moving the other pair of supports 460 closer together, so that the sum of the voltages sent by the extensometer 500 remains substantially unchanged. A similar reduction in error is observed if each axis is twisted. It should also be appreciated that the strain gauges 500 can be mounted on the bottom of the shafts 422, 427 in such a way that the supports 460 move more as the weight of the combine 10 increases. PROCESSED MASS FLOW DATA [0055] The calibration system 300 also preferably processes the mass flow data into corrected data within the production data. While the calibration method described in relation to figures 2A and 3 is performed during harvest, the corrected mass flow data is stored by the monitor system 320. The monitor system 320 preferably integrates mass flow data in each period discrete monitoring (T) (for example, five seconds) during operation to obtain the mass (m) of the grain accumulated during this monitoring period T. The user preferably introduces the width of the upper part (that is, the width of the (Wh)) into monitor system 320 prior to operation. The monitor system 320 determines a distance traveled (D) by integrating the speed (measured, for example, by the speed sensor 340) over the monitoring period T. Production (Y) can then be calculated using the following equation:
    m [0056] Production data can be corrected for humidity
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    16/30 using the humidity sensor signal 330 and reported in dry bushels per acre, as is known in the art. Field locations associated with each monitoring period T are established using the GPS 355 system and recorded by the monitoring system 320. The GPS and production data can then be used to produce a production map that illustrates the variation in production.
    VEHICLE WEIGHT SYSTEM CALIBRATION METHODS [0057] In some methods of calibrating the vehicle weight system 400, appropriate multipliers are preferably determined to apply to the signal sent by each extensometer 500 in such a way that the sum of the multiplied signals by its individual multipliers it is substantially proportional to the weight of the combine harvester 10. Figure 6 is a flow diagram showing a process 600 for the calibration of a vehicle weight system. In step 610, monitor system 320 records the Y signals via V n sent by each strain gauge 500. In step 620, the monitor system directs the operator to perform a calibration maneuver in such a way that different types of tires transport different fractions of the combine's weight 10. For example, the monitor system can instruct the operator to drive the combine on a substantially flat surface at a given speed.
    [0058] Because the total weight of the combine 10 does not change substantially through the entire calibration maneuver, the relationship between the V n signals can be modeled by a relationship such as:
    AT n = l [0059] Where: W-is a constant because the weight of the combine is constant (note: W may not represent the actual weight of the combine 10) [0060] V n - represents the signal sent by the nth strain gauge
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    17/30
    500 [0061] Cn - is a coefficient that represents a calibration factor or multiplier associated with the nth 500 extensometer [0062] t - is the time in seconds.
    [0063] Thus, in step 630, the monitor system 320 preferably determines the definition of coefficients Cn that result in a constant value W throughout the calibration maneuver. It should be noted that, in some cases, a constant value W cannot be obtained in practice, in the case where the monitor system preferably determines the definition of Cn coefficients that result in the least variation (for example, the standard deviation) of W during the calibration maneuver. [0064] In step 640, a known weight is added or removed from the system. For example, the upper part 15 can be removed from the combine 10, such that the total weight of the combine decreases the known weight of the upper part. In step 650, the new coefficients Cn are calculated so that the change in W is equal to the known variation in weight of the combine. For example, the Cn coefficients can be multiplied by a single constant equal to the decrease in W divided by the known change in weight (for example, the weight of the top 15). In step 660, monitor system 320 preferably stores the new Cn coefficients for an application for subsequent weight measurements.
    [0065] In an optional configuration phase before the calibration described in the process flow diagram 600, the monitor system 320 preferably instructs the operator to perform a routine similar to the calibration routine 620 so that the weight fraction carried by the various tire changes. As each subroutine is performed, the monitoring system 320 assesses the change in the Vn signals and determines whether the changes in the signals correspond to the expected variation in the weight fraction carried by each of the tires. Per
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    18/30 example, if the monitor system guides the operator to accelerate the vehicle, an increase in front-to-back signals should be observed and 500f2 and 500r2 rear extensometers placed. If this change is not observed, monitor system 320 preferably instructs the operator to ensure that the eliminated rear strain gauges 500f2 and 500r2 are installed correctly.
    [0066] In an evaluation phase of the optional system, the monitor system 320 determines new coefficients C „(as performed in step 630 in process flow 600), while the combine 10 is moving, but not harvesting. As an example, monitor system 320 can initiate process step 630 600, when GPS system 355 indicates that the combine 10 moves faster than 10 miles per hour or any predetermined speed above which the combine combines 10, is probably a means of transport and not a harvest. It should be noted that the calculation of new coefficients C „is preferable in relation to transportation, because the weight of the combine 10 is shifting between the load-bearing members, but the combine is not accumulating grain.
    UN TRUSTED DATA [0067] When operating the vehicle weight system 400, certain environmental and operating parameters occasionally cause inaccuracy of the vehicle weight data. Said data is preferably identified by the monitor system and is preferably not used to calibrate the mass flow rate signal provided by the mass flow sensor 130.
    [0068] Thus, a preferred process 900 for filtering unreliable vehicle weight data is shown in the flow diagram of figure 9. In step 200, monitor system 320 preferably calibrates the mass flow rate signal using vehicle weight according to
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    19/30 with process 200 described with reference to figure 2 A. In step 910, monitor system 320 preferably monitors a data quality criterion. The data quality criterion preferably comprises a signal corresponding to the accuracy of the data generated by the vehicle weight system 400. In step 920, the monitor system 302 compares the quality of the data preferably to a predetermined threshold value. The threshold can comprise a predetermined percentage or the number of standard deviations from the average data quality criterion or simply a predetermined value. The preferred threshold is between an unwanted data quality range and a desired data quality range.
    [0069] If the data quality criterion exceeds the limit, then in step 930 the monitor system preferably calibrates the mass flow rate signal with vehicle weight data. In performing step 930, the monitor system 320 preferably continues to record data from the vehicle weight system 400, but stops using the vehicle weight system. In modalities where the monitor system 320 calibrates the mass flow sensor using a correction factor (for example, as described with respect to figure 2B), the monitor system can continue to use the last correction factor calculated before that the data quality criterion exceeds the reliable data threshold.
    [0070] In step 940 the monitor system determines the preference if the data quality criterion is below the reliable data limit (that is, if the vehicle weight data can be trusted again). If so, in step 950, monitor system 320 preferably summarizes the mass flow rate calibration with vehicle weight data.
    UN TRUSTED DATA - DISCHARGE OPERATIONS
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    20/30 [0071] During the operation of the calibration system 300, the operator will occasionally activate the unloading auger 30 from the combine harvester 10, in order to extract the accumulated grains 110 from the grain container 20 of the combine harvester. This operation is often carried out during harvesting, with a tractor pulling a grain cart or wagon along the combine harvester 10. During these operations, the combine harvester's weight changes due to unloading and thus the vehicle's weight does not change. must be used to calibrate the mass flow sensor 130, as described here. Thus, a weight sensor 335 is preferably included in the mode of the calibration system 300, as illustrated in figure 3.
    [0072] The weight sensor 335 may comprise a strain gauge connected to any load-bearing member of the combine harvester 10, measuring the weight of the discharge auger 30 and configured to measure the strain (eg strain) of the limb load carrier, or any other sensor configured to send a signal proportional to the weight of the auger discharge 30. In an installation phase, monitor system 320 records a signal value from the auger weight sensor 335 when not there is grain in the unloading auger 30. In operation, when the combine harvester unloads grain through the unloading auger 30, the weight of the unloading augers increases and the signal of the auger 335 weight sensor increases. When the signal from the auger 335 weight sensor reaches a limit higher than the value recorded in the installation phase, the monitor system 320 enters the unreliable data mode, as described with respect to figure 9. It must be appreciated that, when the discharge auger 30 is in operation, the frequency content of the auger weight sensor is changed due to the discharge auger being subjected to substantial vertical vibration. Thus, in an alternative method, the frequency spectrum of the weight sensor signal
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    21/30 of the auger is used to determine when the auger turns. When the auger weight sensor signal includes a frequency component within a predetermined range having an amplitude within a predetermined range, monitor system 320 preferably enters unreliable data mode.
    [0073] In addition, the auger weight sensor signal 335 can be used to determine whether the grain tank 20 has been completely emptied. If the operator unloads only a portion of the grain reservoir 20 and stops the unloading auger 30, then the frequency signal of the auger weight sensor will return below its threshold value (which indicates that the unloading auger is not rotating ), but the signal value will remain above its threshold value as the discharge auger cannot empty until the grain container 20 is emptied. Thus, when the auger weight sensor signal returns below its threshold value, monitor system 320 preferably determines that the grain container 20 is empty and can perform any step that requires an empty grain container, said as the comparing the sum of the extensometer signals to the sum measured during installation or visually indicating to the operator that the grain tank is empty.
    UNTRUSTED DATA - VEHICLE DYNAMICS [0074] The accelerometer 350 is preferably oriented and configured to send a signal to the production monitor plate 310 related to the acceleration or deceleration of the combine harvester 10 along the direction of travel. Because excessive acceleration or deceleration may impose excessive loads on the vehicle's weighing apparatus, monitor system 320 preferably enters unreliable data mode when the accelerometer signal exceeds a predefined threshold value. Likewise, the gyroscope 345 is preferably oriented and configured to send
    Petition 870180142471, of 10/19/2018, p. 26/46
    22/30 signals to the production monitor plate 310, of which the signals are related to the oscillation and inclination of the combine 10. As the excessive oscillation and inclination of the combine 10 causes the vehicle weight device to be subjected to loads which cannot be directly related to the combine's weight, the monitor system 320 preferably enters unreliable data mode when any of the gyroscope signals exceed the predefined limit values.
    UN TRUSTED DATA - SOIL-HEAD CONTACT [0075] It should be appreciated that when the upper part 15 contacts the ground, the capacity of a vehicle weight system 400 to weigh the combine 10 is compromised, because a part of the weight of the vehicle is carried out by the head. Thus, the upper part pressure sensor 380 can be used in applications where the upper part 15 occasionally or regularly contacts the ground. The upper pressure sensor 380 can comprise any pressure sensor configured to produce a signal that corresponds to the pressure of one or more hydraulic actuators used to position the upper portion 15. Figure 8 illustrates an upper pressure sensor 380 in fluid communication with working chamber 810 of a hydraulic actuator 800. In the illustrated embodiment, the top pressure sensor 380 is installed in such a way that the fluid from a pressure supply line 820 flows through the part pressure sensor upper 380 before entering working chamber 810. The upper pressure sensor 380 may comprise a pressure transducer, such as those manufactured by Gems Sensors & Controls in Plainville, Connecticut. The upper pressure sensor 380 sends a signal to the production monitor plate 310 which corresponds to the pressure in working chamber 810.
    [0076] In operation, the monitoring system 320 compares
    Petition 870180142471, of 10/19/2018, p. 27/46
    23/30 preferably the signal from the upper pressure sensor 380 to a limit value corresponding to the pressure required to maintain the upper part 15 just above the surface. As the pressure decreases below the pressure threshold, the pressure difference corresponds to the weight of the upper part carried on the floor. During operation, the monitor system 320 preferably subtracts this weight from the vehicle weight, as measured by the vehicle weight system 400. In some applications, especially when the upper part 15 is not expected to come into contact with the ground during In operation, the upper pressure sensor signal 380 can be used simply to determine whether monitor system 310 should enter untrusted data mode.
    UNTRUSTABLE DATA - PHANTOM USEFUL LOAD [0077] In some embodiments, monitor system 320 also preferably enters unreliable data mode when the actual load point of tires 410 moves. Figure 4C illustrates a combine harvester 10 that has double 410 front tires as is common in commercially available combine harvesters. In operation, if the weight of the combine 10 moves out of an inner double tire and onto an outer double tire (such as when the outer double tire encounters a steep slope or obstruction) the effective loading point moves to away from the center of the front axle 422. Thus, the bend of the front axle 422 increases in such a way that the signal of strain gauges 500fl and 500f2 increases, even if the weight of the combination has not been changed. This false signal is described here as a phantom signal and the resulting calculated load is described here as a phantom load.
    [0078] To detect phantom load, the modality of the vehicle weight system 400 illustrated in figure 4C preferably includes two extensometers 500dll and 500dl2 between the left front tires 410l
    Petition 870180142471, of 10/19/2018, p. 28/46
    24/30 and the 500fl and 500f2 extensometers. In addition, the same modality preferably includes double extensometers 500drl and 500dr2 between the front tires 41r and the extensometers 500f2 and 500fl. The double extensometers 500d are preferably mounted on the combine 10 using a support or other suitable device. The double extenders 500d are in electrical communication with the production monitor plate 310. It is observed that, in light of the description of the present application that a single extensometer 500d can be mounted close to each double tire 410, but preferably two extensometers are included (as illustrated in figure 4C) to cancel the effects of non-vertical torsion and bending. When the sum of the signals from any pair of double 500d strain gauges exceeds a threshold value, monitor system 320 preferably enters an unreliable data mode.
    [0079] Using the modalities of the vehicle weight system described here with respect to figure 4C, the monitor system 320 can detect the phantom load when the relationship between the signals coming from each of the pairs of additional double extensometers 500d and the extensometers front ends exceeds a threshold value. In one method, monitor system 320 can simply enter unreliable data mode when phantom load is detected. However, according to another method, as shown in the flowchart of figure 4D, the monitor system 320 can also calculate and subtract the detected phantom load from the measured load. In process flowchart 480 of figure 4D, in step 481, the monitor system preferably determines that the combine harvester 10 is harvesting according to a number of indicators, including: (a) whether the head is lowered using the weight sensor head 380; (b) whether vertical acceleration is detected using the 350 accelerometer; (c) whether the combine is rotating using the 345 gyroscope; or (d) if the
    Petition 870180142471, of 10/19/2018, p. 29/46
    25/30 combine speed is within a predetermined range (for example, two and seven miles per hour), using the GPS 355 system or the 340 speed sensor.
    [0080] If the combine harvester 10 is harvesting, then at the stage
    482 the monitor system 320 determines whether the combine's tilt is within an acceptable predetermined range using the gyroscope 345.
    [0081] If the slope is acceptable, the combine combines the signals of the front axle double strain gauge in the step
    483 for calculated non-oscillation signals by determining the oscillation using the 350 accelerometer, determining an oscillation factor by which the front axle load is affected due to the combine's oscillation, and dividing the signals by the oscillation factor. In step 484 the monitor system 320 preferably determines the predicted double oscillator non-oscillation signals using the mass flow sensor 360 to determine the change in grain weight. In step 485, the monitor system 320 preferably subtracts each predicted double extensometer non-oscillation signal from the corresponding and calculated non-oscillation signal to obtain the phantom signal. In step 486, monitor system 320 preferably applies the multipliers calculated for the two strain gauges 500d (as described with respect to FIG. 6) for each phantom signal, and adds the phantom signals to obtain the total charge ghost. In step 487, monitor system 320 preferably subtracts the phantom load from the total non-oscillating load on the front axle 422 to obtain the corrected non-oscillating load on the front axle. In step 488, monitor system 320 preferably readjustes the non-swing load on front axle 422, multiplying by the swing factor calculated in step 483. Thus, monitor system 320 is able to remove phantom load from the
    Petition 870180142471, of 10/19/2018, p. 30/46
    26/30 vehicle weight measured.
    ALTERNATIVES - VEHICLE WEIGHT SYSTEMS [0082] It should be appreciated that the method of calibrating the mass flow sensor 130 described here, as well as the system for carrying out the method, can be performed with any device configured to measure weight ( or the change in weight) of the combine harvester 10 or the grain container 20 containing clean grain 110. Figure 7A illustrates an alternative embodiment of the vehicle weight system 400 in which the grain container 20 of the combine harvester 10 is supported by the cells load 720. Each load cell 720 is equipped with tension meters or other devices configured to send a signal proportional to the compression of the load cell. In the illustrated embodiment, the grain reservoir 20 includes upper and lower ribs 750u and 750l. The load cells are mounted between the slopes 750 and the frame of the combine harvester. It should be appreciated that other modalities of the vehicle's weight system may include load cells 720 in other locations and the weight support guidelines of the grain container 20.
    [0083] However, as best seen in figure 1A, in most commercially available combine harvesters the grain elevator 120 and the cross auger 35 comprise both the load support and the load members imposed with respect to the grain deposit 20 , in such a way that it is difficult to determine the weight of the grains inside the grain reservoir without changing the structure of the combine harvester 10.
    [0084] Thus, a modified combine harvester 10 incorporating another modality of the vehicle weight system 400 is illustrated in Figs. 7B to 7E. In this embodiment, the weight of the grain tank 20 is isolated from other members of the combine harvester 10 and
    Petition 870180142471, of 10/19/2018, p. 31/46
    27/30 supported by load cells 720. The grain elevator 120 passes through the wall of the reservoir 20 without imposing significant loads on the reservoir, preferably by means of a seal 123, which can be constructed of any material (for example, rubber) suitable for sealing grain in the reservoir, allowing the grain elevator 120 and the grain reservoir 20 to move relative to each other. In addition, the transverse auger 35 is located below a transverse groove 38 in the grain reservoir 20 in such a way that the grain falls from the reservoir to the transverse auger for transport to the discharge auger 30. In said modalities, a gate that it can be selectively closed or door (not shown) on the transverse auger 35 at the bottom of the reservoir 20 is preferably incorporated to retain the grain in the cereal grain reservoir when the grain is not being unloaded. Substantially, the entire weight of the container 20 thus rests on the support legs of the grain container 36. The load cells 720 interpose between the legs supporting the grain container 36 and support members 37 of the combine harvester frame. .
    [0085] It should be noted that, in the modalities described above with respect to figures 7B to 7E, the support structure and the weight measurement system can be modified significantly, while still obtaining a measurement related to the weight of the grain deposit 20. In some embodiments, the support legs 36 can be joined directly (by welding or by joints) to the support members 37 and the support legs 36 instrumented with extensometers. In other embodiments, the support legs 36 could be joined to the support members 37 through the instrumented pins.
    [0086] In the modalities discussed above, with respect to figure 7A or the modalities discussed above in relation to figures 7B-E, each
    Petition 870180142471, of 10/19/2018, p. 32/46
    28/30 load cell 720 is in electrical communication with the production monitor plate 310. It will be appreciated that the sum of the load cell 720 signals sent to the reservoir is proportional to the weight of the grain reservoir and its content. The calibration of the vehicle weight system modality 400 can be carried out by recording a first sum of the signals from the load cells Si when the grain container 20 is empty, adding a known weight W ca i to the grain container, and recording a second sum of the signals from load cells S2 with the known weight in place. The ratio of Wcai to the difference between S2 and S is a calibration characteristic k (in units of, for example, pounds per milli-volts). Thus, as the grain is added to the reservoir during operation, the weight of grains W g can be represented in terms of the sum of the signals currently recorded from load cells S, as follows.
    [0087] In some embodiments, the load cell response may be non-linear as well as the characteristic calibration k should be replaced by a characteristic curve (for example, curve 280 in figure 2C) for a definition of known weights for loading cellular signals. In other embodiments, it may be preferable to perform a calibration maneuver and obtain a definition of multipliers corresponding to each load cell 720, as described with respect to figure 6.
    ALTERNATIVES - MASS FLOW SENSORS [0088] It should also be noted that the mass flow sensor 130 does not need to include the type of impact plate shown in figure IB, but can comprise any sensor configured to send a signal that corresponds to the rate of grain mass flow in the combine harvester 10. For example, figure 1C illustrates a grain elevator 120 driven by a drive shaft 122. Torque sensor 124 is coupled
    Petition 870180142471, of 10/19/2018, p. 33/46
    29/30 to drive shaft 122. Torque sensor 124 is in electrical or wireless communication with production monitor plate 310. Torque sensor 124 can be a rotary torque sensor in line with what is said to be available from FUTEK Advanced Sensor Technology, Inc in Irvine, California. The torque sensor 124 is preferably configured to produce a signal that corresponds to the torque on the drive shaft 122. The torque applied to the drive shaft 122 increases with the grain weight 110 being transported by the grain elevator 120. Thus, the signal from torque sensor 124 can be used to measure the weight of grains 110 in the grain elevator 120 at any given time. According to a method of using the mass flow sensor modality 130, the speed of the drive shaft 122 can be measured using a speed sensor similar to the speed sensor 340 or other suitable apparatus. Using the drive shaft speed 122 and known length of the grain elevator 120, the production monitor plate preferably determines when the grain elevator has made a complete cycle and records the weight of the grain 110 added to the combine in each cycle .
    [0089] In another embodiment of the mass flow sensor 130 illustrated in figure ID, the motor shaft 122 is driven by an electric or hydraulic motor 126. The power absorbed by motor 126 is measured as is known in the art and reported to the production monitor plate 310. Like the torque on the motor shaft 122, the power drawn by the motor 126 is related to the grain weight 110 in the grain elevator 120 and can be used by the monitor system 320 to measure a grain flow 110 according to the method described above.
    [0090] In other embodiments, the mass flow sensor 130 may include an apparatus used to measure the weight of the clean grain 110 as it moves through the combine harvester 110, as is
    Petition 870180142471, of 10/19/2018, p. 34/46
    30/30 described in US Patent No. 5,779,541, the description of which is incorporated herein by reference in its entirety.
    [0091] Other types of mass flow sensors that can be calibrated by the method described in the present invention include optical mass flow sensors, as are known in the art.
    [0092] The previous description is presented, to allow an expert in the art to make and use the systems, methods and apparatus described here, being provided in the context of a patent application and its requirements. Various modifications to the preferred mode of the apparatus, and the general principles and characteristics of the system and methods described herein will be apparent to those skilled in the art. Thus, the invention should not be limited to the modalities of the apparatus, of a system and methods described above and illustrated in the figures of the drawings, but should be given the broadest scope consistent with the spirit and scope of the present description and the attached claims.
    权利要求:
    Claims (20)
    [1]
    1. Method for monitoring production during grain harvest with a combine (10), the method comprising:
    using a mass flow rate sensor (130) arranged to measure a grain mass flow rate in the combine (10), generate a flow rate signal related to a grain flow rate within the combine (10) ;
    characterized by the fact that it also comprises: generating a weight signal related to a weight of a grain container (20) of the combine (10), in which a grain elevator (120) passes through a wall of said grain container (20);
    while harvesting grains, correlate said flow rate signal with said weight signal in order to monitor yield.
    [2]
    2. Method according to claim 1, characterized by the fact that said step of correlating said flow rate signal and said weight signal includes:
    determining a rate of change of said weight signal; and comparing said rate of change of said weight signal to said flow rate signal.
    [3]
    3. Method according to claim 1, characterized by the fact that said step of correlating said flow rate signal and said weight signal includes:
    integrating said rate flow signal over a recording period to obtain an estimated weight change based on flow;
    determining a weight change signal over said recording period to obtain an estimate of weight change based on weight, and
    Petition 870180142471, of 10/19/2018, p. 36/46
    2/6 the comparison of the flow-based weight change estimate to said weight change estimate.
    [4]
    4. Method, according to claim 1, characterized by the fact that it also includes:
    determining an error related to said flow rate signal; and correcting said rate flow signal.
    [5]
    5. Method, according to claim 1, characterized by the fact that the step of generating the said weight signal includes:
    providing a vehicle weight system (400) configured to generate said weight signal, said vehicle weight system (400) including a first weight sensor (500, 720) and a second weight sensor (500, 720) ).
    [6]
    6. Method, according to claim 5, characterized by the fact that the step of generating the said weight signal also includes:
    the realization of a calibration routine while said weight of the grain container (20) of the harvester remains unchanged, and the determination of a first calibration factor associated with said first weight sensor (500, 720) and a second calibration associated with said second weight sensor (500, 720) such that said weight signal remains substantially constant during said calibration routine.
    [7]
    7. Method, according to claim 5, characterized by the fact that the step of generating the said weight signal also includes:
    changing a known weight of said harvester (10) so that the weight signal changes; and determining a first calibration factor associated with said first weight sensor (500, 720) and a second calibration factor associated with said second weight sensor (500, 720) in such a way
    Petition 870180142471, of 10/19/2018, p. 37/46
    3/6 so that a difference from said weight sign corresponds to said known weight.
    [8]
    8. Method, according to claim 1, characterized by the fact that it also includes:
    determining an error associated with said flow rate signal based on said weight signal;
    correcting said rate flow signal using said to generate a corrected mass flow measurement; and displaying said corrected mass flow measurement.
    [9]
    9. Method, according to claim 1, characterized by the fact that it also includes:
    generate a data quality criterion associated with said weight signal;
    comparing said data quality criterion to a desired interval;
    determining an error associated with said flow rate using a value of said recorded weight signal while said data quality criterion is within said desired range;
    correcting said flow rate signal using said error to generate a corrected mass flow measurement; and displaying said corrected mass flow measurement.
    [10]
    10. Production monitoring system while harvesting grain with a combine, comprising:
    a mass flow sensor (130) configured to generate a flow rate signal corresponding to a grain flow rate within the combine (10);
    characterized by the fact that it also comprises: a vehicle weight system (400) comprising an extensometer (500) mounted on an axis (422, 427) of the combine (10), said extensometer (500) configured to generate a signal of Weight
    Petition 870180142471, of 10/19/2018, p. 38/46
    4/6 corresponding to the weight of a portion of the combine (10); and a processing circuit (322) in electrical communication with said mass flow sensor (130) and said vehicle weight system (400), said processing circuit (3220 configured to calculate an error in said signal rate flow using said weight signal.
    [11]
    11. System according to claim 10, characterized by the fact that said processing circuit (322) is further configured to calculate a corrected mass flow rate based on said error.
    [12]
    12. System, according to claim 10, characterized by the fact that it also includes:
    a data quality sensor (335, 340, 350, 355, 380) configured to generate a data quality criterion associated with said vehicle weight system (400), said data quality sensor (335, 340 , 350, 355, 380) in electrical communication with said processing circuit (322).
    [13]
    13. System, according to claim 12, characterized by the fact that said data quality sensor (335, 340, 350, 355, 380) comprises one of: gyroscope (345), an accelerometer (350), a speed sensor (340), auger weight sensor (335), a GPS system (355), and an upper pressure sensor (380).
    [14]
    14. System according to claim 12, characterized by the fact that said processing circuit (322) is further configured to compare said data quality criterion to a limit, and in which said processing circuit (322) ) is further configured to ignore said weight signal when said data quality criterion falls into an unwanted range defined by said limit, in
    Petition 870180142471, of 10/19/2018, p. 39/46
    5/6 that said limit comprises one of: (i) a predetermined percentage or a number of standard deviations from an average of said data quality criterion, or (ii) a predetermined value.
    [15]
    15. System according to claim 10, characterized in that said vehicle weight system (400) includes a load cell (720) having a part of the weight of the combine (10).
    [16]
    16. System according to claim 10, characterized by the fact that said vehicle weight system (400) is configured to measure the deformation of a load support member (422, 427, 36, 37) of the combine (10).
    [17]
    17. Method of calibrating a mass flow sensor (130) of a combine (10) while harvesting the beans, said method including the steps of:
    intercept a grain flow with a mass flow sensor (130);
    measuring the mass flow rate of said grain with said mass flow sensor (130) to obtain a measured mass flow rate;
    storing the grains in a grain reservoir (20) in the combine, in which a grain elevator (120) passes through a wall of said grain reservoir (20), said method characterized by the fact that it also comprises:
    obtaining weight measurements of a portion of said harvester (10) including said grain reservoir (20) in a first time and a second time to obtain a measurement change in the weight of the grain;
    comparing the measured change in grain weight for said measured mass flow rate while harvesting;
    determining an inaccuracy in said mass flow rate measurement based on said change in grain weight; and
    Petition 870180142471, of 10/19/2018, p. 40/46
    6/6 correct the mass flow rates measured later based on said inaccuracy.
    [18]
    18. Method, according to claim 17, characterized by the fact that it also includes:
    perform a calibration routine that corresponds to a known variation in vehicle weight;
    comparing said measured change in grain weight to said known change in vehicle weight; and determining a correction factor to correct said measured change in grain weight for said known change in vehicle weight;
    apply said correction factor for the subsequent weight measurement.
    [19]
    19. Method, according to claim 17, characterized by the fact that it also includes:
    filtering said weight measurements that do not meet a data quality criterion, said data quality criterion corresponding to a predetermined limit, wherein said predetermined limit comprises one of: (i) a predetermined percentage or number of deviations standard of an average of said data quality criterion or (ii) a predetermined value.
    [20]
    20. Method, according to claim 17, characterized by the fact that it also includes:
    determine a rate of change of grain weight, a cumulative sum of said rate of mass flow, and a rate of change of said cumulative sum of said rate of mass flow, and compare said rate of change of grain weight for said rate of change of said cumulative sum of said rate of mass flow.
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    同族专利:
    公开号 | 公开日
    US9668411B2|2017-06-06|
    US10420278B2|2019-09-24|
    PL2654396T3|2018-09-28|
    ES2675393T3|2018-07-11|
    US20170265391A1|2017-09-21|
    EP2654396A1|2013-10-30|
    AU2011348137A1|2013-07-11|
    US20160037720A1|2016-02-11|
    US20200000031A1|2020-01-02|
    CA2822099A1|2012-06-28|
    ZA201304553B|2014-03-26|
    CA2822099C|2019-04-30|
    AU2011348137B2|2016-11-10|
    UA121312C2|2020-05-12|
    BR112013016262A2|2018-06-19|
    EP2654396B1|2018-04-25|
    EP3369300B1|2021-03-10|
    AU2017200593B2|2019-05-30|
    UA114785C2|2017-08-10|
    US9144195B2|2015-09-29|
    US20130317696A1|2013-11-28|
    EP2654396A4|2016-11-23|
    HUE037841T2|2018-09-28|
    EP3369300A1|2018-09-05|
    WO2012088405A1|2012-06-28|
    TR201808973T4|2018-07-23|
    AU2017200593A1|2017-02-23|
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    法律状态:
    2018-07-24| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2019-02-05| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2019-04-16| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 22/12/2011, OBSERVADAS AS CONDICOES LEGAIS. (CO) 20 (VINTE) ANOS CONTADOS A PARTIR DE 22/12/2011, OBSERVADAS AS CONDICOES LEGAIS |
    优先权:
    申请号 | 申请日 | 专利标题
    US201061426376P| true| 2010-12-22|2010-12-22|
    US61/426,376|2010-12-22|
    PCT/US2011/066826|WO2012088405A1|2010-12-22|2011-12-22|Methods, systems, and apparatus for monitoring yield and vehicle|
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