U.S. patent application number 14/687723 was filed with the patent office on 2015-10-15 for reaping based yield monitoring system and method for the same.
The applicant listed for this patent is John Earl Acheson, Matthew Charles Jones, Jared Ernest Kocer. Invention is credited to John Earl Acheson, Matthew Charles Jones, Jared Ernest Kocer.
Application Number | 20150293068 14/687723 |
Document ID | / |
Family ID | 54264883 |
Filed Date | 2015-10-15 |
United States Patent
Application |
20150293068 |
Kind Code |
A1 |
Acheson; John Earl ; et
al. |
October 15, 2015 |
REAPING BASED YIELD MONITORING SYSTEM AND METHOD FOR THE SAME
Abstract
A reaping based yield monitor system includes one or more
reaping yield instruments configured for coupling with a harvester
head. The one or more reaping yield instruments measure at least
one crop characteristic of a harvested crop in sections of the
harvester head. A yield monitor determines a variable yield of the
harvested crop. An apportionment module apportions the variable
yield of the harvested crop to the sections of the harvester head
based on the at least one crop characteristic measured in each of
the sections of the harvester head. In another example, a stand
counting module counts a harvested standing crop with the one or
more reaping yield instruments and a stand count output module
output a harvested standing crop value based on one or more of the
counted harvested standing crop or filtered measured values of a
stand characteristic measured with the one or more reaping yield
instruments.
Inventors: |
Acheson; John Earl; (Sioux
Falls, SD) ; Kocer; Jared Ernest; (Sioux Falls,
SD) ; Jones; Matthew Charles; (Hartford, SD) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Acheson; John Earl
Kocer; Jared Ernest
Jones; Matthew Charles |
Sioux Falls
Sioux Falls
Hartford |
SD
SD
SD |
US
US
US |
|
|
Family ID: |
54264883 |
Appl. No.: |
14/687723 |
Filed: |
April 15, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61979839 |
Apr 15, 2014 |
|
|
|
Current U.S.
Class: |
702/137 ;
702/156; 702/170; 702/173; 702/190 |
Current CPC
Class: |
G01N 2021/8466 20130101;
G01N 21/84 20130101; G01N 33/0098 20130101; A01D 41/127
20130101 |
International
Class: |
G01N 33/00 20060101
G01N033/00 |
Claims
1. A reaping based yield monitor system comprising: one or more
reaping yield instruments configured for coupling with a harvester
head, the one or more reaping yield instruments measure at least
one crop characteristic of a harvested standing crop including a
stand characteristic; and a reaping instrument controller in
communication with the one or more reaping yield instruments, the
reaping instrument controller includes: a stand counting module
configured to count the harvested standing crop based on measured
values of the stand characteristic by the one or more reaping yield
instruments, a filtering module configured to compare measured
values of the stand characteristic against a filter threshold and
filter measured values of the stand characteristic based on the
comparison, and a stand count output module configured to output a
harvested standing crop value based on one or more of the counted
harvested standing crop or the filtered measured values of the
stand characteristic.
2. The system of claim 1, wherein the one or more reaping yield
instruments include a plurality of reaping yield instruments each
configured for installation in respective sections of a plurality
of sections of the harvester head.
3. The system of claim 2, wherein each of the one or more reaping
yield instruments includes: a beam emitter configured for
installation in a first snout of a section of the harvester head, a
beam receiver configured for installation in a second snout of the
second the harvester head, and wherein the beam emitter is
configured to emit a beam received by the beam receiver.
4. The system of claim 3, wherein the stand counting module counts
the standing crop based on interruptions of reception of the beam
at the beam receiver.
5. The system of claim 1, wherein the one or more reaping yield
instruments include one or more of optical, infrared, ultrasonic,
camera or mechanical sensors.
6. The system of claim 1, wherein the one or more reaping yield
instruments include scanning arc sensors configured for staggered
installation along a grain platform harvesting head.
7. The system of claim 1, wherein the stand characteristic includes
a stalk width and the filter threshold includes a stalk width
threshold, and the filtering module is configured to compare a
measured stalk width with the stalk width threshold and filter
measured values of stalk width below the stalk width threshold.
8. The system of claim 7, wherein the stand count output module is
configured to output the filtered measured values of crop width as
a weed count.
9. The system of claim 1, wherein the stand count output module is
configured to output the harvested standing crop value including a
standing plant density.
10. The system of claim 1, comprising a planting map module in
communication with the reaping instrument controller, the planting
map module includes a planting map of a crop, and the stand count
output module is configured to associate the harvested standing
crop value with the planting map and generate a consolidated
planted and standing crop density map.
11. The system of claim 1 comprising a yield monitor in
communication with the reaping instrument controller, the yield
monitor configured to measure a yield of the harvested standing
crop, and wherein the reaping instrument controller includes a
stand count yield module configured to identify yield per plant
based on the measured yield and the harvested standing crop
value.
12. A method for measuring reaping based yield comprising:
measuring at least one crop characteristic of at least one crop
including a stand characteristic with one or more reaping yield
instruments associated with a harvester head; and generating a
harvested standing crop value for the at least one crop based on at
least the measured stand characteristic, generating including:
counting the at least one crop as it is harvested based on the
measured stand characteristic to determine a standing crop count,
and comparing the measured stand characteristic against a filter
threshold, and filtering the measured stand characteristic based on
the comparison.
13. The method of claim 12, wherein counting the at least one crop
includes counting standing stalks of the at least one crop.
14. The method of claim 12, wherein the one or more reaping yield
instruments includes a beam emitter and a beam receiver, and
counting the at least one crop includes interrupting a beam, the
beam generated by a beam emitter at a first side of a section of a
plurality of sections of the harvester head and received by a beam
receiver at a second side of the section.
15. The method of claim 12, wherein the one or more reaping yield
instruments includes a plurality of reaping yield instruments, and
counting the at least one crop includes counting the at least one
crop in each section of a plurality of sections with a respective
reaping yield instrument of the plurality of reaping yield
instruments.
16. The method of claim 12, wherein the stand characteristic
includes a stalk width and the filter threshold includes a stalk
width threshold, and comparing the measured stand characteristic
includes comparing the measured stalk width against the stalk width
threshold, and filtering the measured stalk width less than the
stalk width threshold.
17. The method of claim 16 comprising generating a weed count based
on filtered stalk widths less than the stalk width threshold.
18. The method of claim 12, wherein generating the harvested
standing crop value includes dividing the standing crop count by
one or more of distance traveled or area covered by one or more
sections of a plurality of sections of a harvester head to generate
a standing crop count per unit of distance or per unit of area.
19. The method of claim 12 comprising determining one or more of a
volumetric or weight yield value of the at least one crop, and
generating the harvested standing crop value for the at least one
crop includes dividing one or more of the volumetric or weight
yield value by the standing crop count, and the harvested standing
crop value includes a volumetric or weight yield per plant
value.
20. The method of claim 12, wherein generating the harvested
standing crop value for the at least one crop includes: comparing
the standing crop count against a planted crop count, and
generating a crop density map based on the comparison of the
standing crop count relative to the planted crop count.
21. The method of claim 12, wherein measuring the at least one crop
characteristic and generating the harvested standing crop value
includes: measuring the at least one crop characteristic of first
and second crops including stand characteristics with one or more
of the reaping yield instruments, and generating first and second
harvested standing crop values for the respective first and second
crops based on at least the measured stand characteristics.
22. The method of claim 21, wherein generating the first and second
harvested standing crop values includes: counting the first crop as
it is harvested based on the measured stand characteristic of the
first crop to determine a first standing crop count, identifying a
first crop density including comparing the first standing crop
count to a first planted crop count, counting the second crop as it
is harvested based on the measured stand characteristic of the
second crop to determine a second standing crop count, and
identifying a second crop density including comparing the second
standing crop count to a second planted crop count.
23. The method of claim 21, wherein generating the first and second
harvested standing crop values includes: counting the first crop as
it is harvested based on the measured stand characteristic of the
first crop to determine a first standing crop count, counting the
second crop as it is harvested based on the measured stand
characteristic of the second crop to determine a second standing
crop count, determining first and second volumetric or weight yield
values of each of the first and second crops, respectively,
dividing one or more of the first volumetric or weight yield values
by the first standing crop count and the first harvested standing
crop value includes a first volumetric or weight yield per plant
value, and dividing one or more of the second volumetric or weight
yield values by the second standing crop count, and the second
harvested standing crop value includes a second volumetric or
weight yield per plant value.
Description
CROSS REFERENCE TO RELATED APPLICATIONS
[0001] This patent application claims the benefit of priority to
U.S. Provisional Application Ser. No. 61/979,839, filed on Apr. 15,
2014, and to Application Number PCT/US15/25801, filed Apr. 14,
2015, which applications are hereby incorporated by reference
herein in their entirety.
COPYRIGHT NOTICE
[0002] A portion of the disclosure of this patent document contains
material that is subject to copyright protection. The copyright
owner has no objection to the facsimile reproduction by anyone of
the patent document or the patent disclosure, as it appears in the
Patent and Trademark Office patent files or records, but otherwise
reserves all copyright rights whatsoever. The following notice
applies to the software and data as described below and in the
drawings that form a part of this document: Copyright Raven
Industries, Sioux Falls, S. Dak. All Rights Reserved.
TECHNICAL FIELD
[0003] This document pertains generally, but not by way of
limitation, sensors and systems associated with yield monitors
BACKGROUND
[0004] Agricultural harvesters (e.g., combines) provide a
combination of functions used in harvesting a crop. In some
examples, harvesters combine the functions of reaping, threshing
and winnowing. Reaping is the cutting and gathering of crops, and
threshing and winnowing is the loosening and subsequent separation
of the edible part of the crop from the chaff.
[0005] Harvesters include interchangeable harvester heads. In some
harvester heads a plurality of row sections are provided to
facilitate the threshing of row based crops, including, but not
limited to, corn, cotton, carrots, cabbage, sugar beets or the
like. Individual rows of the crop are received within corresponding
row sections and then gathered and cut. In a corn harvester head,
for example, each corn stalk of a row is drawn into a channel of
the row section by opposed chains and teeth, and at the same time
the stalk is pulled downwardly through the channel by rotating
spindles to separate the ears from the stalk. Downstream mechanisms
within the harvester continue threshing and winnowing before
delivery to a grain elevator.
[0006] Some harvesters include yield monitors provided near a grain
elevator that lifts the threshed and winnowed crop to a bin at the
rear of the harvester or in an adjacent trailer pulled by a tractor
or truck. The harvested crop from each of a plurality of row
sections of the harvester head is combined together and directed to
the grain elevator. In some examples the yield monitors are
associated with features of the grain elevator and measure the
yield of the combined harvested crop as it is passed by the grain
elevator.
OVERVIEW
[0007] The present inventors have recognized, among other things,
that a problem to be solved can include decreasing inaccuracy of
yield measurements in harvesters. For instance, yield monitors are
in at least some examples associated with the harvester at the
transition from threshing and winnowing to a bin (e.g., at or near
a grain elevator on the harvester). Measuring a variable yield in
an ongoing fashion at this location of the harvester may introduce
error to the indexing of the yield to a corresponding portion of a
field (e.g., a field or yield map). For instance, there is a time
delay that varies between the time the crop is reaped (cut) and
when it is received by a bin and measured with the yield monitor.
During the time delay, the harvester continues to move and
accordingly any indexed location for the variable yield on a field
or yield map is offset according to the time delay and
corresponding movement.
[0008] In an example, the present subject matter can provide a
solution to this problem, such as by providing one or more
harvesting (e.g., reaping) yield instruments and a matching module
that accounts for time discrepancies between reaping from a field
and yield measurements. The one or more reaping yield instruments
are provided at the reaping or cutting station for the harvester,
for instance at the harvester head. Accordingly measurements by the
reaping yield instruments are taken at the location of the
harvested crop and are not subject to a time delay or corresponding
change in location. The one or more reaping yield instruments are
included as part of a reaping based yield monitor system or yield
measurement system. A matching module as part of the yield monitor
(or a separate module communicating with the yield monitor) matches
the measurements or time and location of the measurements of the
one or more reaping yield instruments with a determined variable
yield (an ongoing yield measured by the yield monitor). In one
example, a specified time delay is used by the matching module to
match the yield with one or more of the corresponding measurements,
time or location of the reaping yield instruments. The specified
time delay is determined and updated based on comparisons and
matching of determined variable yield values with corresponding
measurements of crop characteristics by the one or more reaping
yield instruments. Based on the matching the determined variable
yield is accurately associated with a location of the field (e.g.,
on a yield map) where the corresponding harvested crop was
originally reaped.
[0009] In still another example, measurements of the one or more
reaping yield instruments are taken over a window of time and
updated during operation of the harvester. In one example, the
measurements at a particular time (e.g., for a plurality of rows)
are used to generate a characteristic value corresponding to a
quantity or volume of the reaped crop, for instance by way of
measuring impacts of ears of corn on impact sensors associated with
row sections. The characteristic values are compared with
corresponding variable yields of the harvested crop (e.g., measured
with yield instruments at or near the harvester grain elevator).
There is a proportional relationship between the characteristic
values generated from measurements at the harvester head and the
variable yields generated with the yield instruments near to the
grain elevator. Based on this proportional relationship a
corresponding particular characteristic value is matched with a
(later in time generated) particular variable yield. The time and
location of the characteristic value (based on the measurements of
the one or more harvester yield instruments) facilitates indexing
of the particular variable yield to the corresponding portion of
the field where the crops were harvested. This information is
indexed to a yield map to provide accurate yield mapping above and
beyond previous yield monitor systems that failed to account for
such a time discrepancy.
[0010] The present inventors have recognized, among other things,
that another problem to be solved can include decreasing location
based inaccuracy of yield measurements in harvesters (e.g., failure
to map yield laterally). As discussed above, some examples of yield
monitor systems measure yield based on a threshed and winnowed
crop. The harvested crop is gathered from a plurality of sections
of the harvester head and threshed and winnowed to loosen and
remove chaff from the crop. The crop from each of the sections of
the harvester head is then measured in a composite fashion by the
yield monitor to determine a variable yield. The consolidation of
the crop during threshing and winnowing prevents apportionment of
yield between the plurality of sections (e.g., row sections) of the
harvester head and prevents corresponding accurate indexing of the
yield in a lateral manner across the field relative to the
harvester head. Stated another way, yield monitors fail to provide
lateral resolution for apportioned yield values across harvester
heads.
[0011] In an example, the present subject matter can provide a
solution to this problem, such as by providing the one or more
reaping yield instruments (e.g., instruments associated with
reaping tools or features) and an apportionment module that divides
the determined variable yield across the plurality of sections of
the harvester head according to the measurements of the reaping
yield instruments. As discussed herein, the one or more reaping
yield instruments are provided at the reaping or cutting station
for the harvester, for instance at the harvester head. Accordingly,
measurements by the reaping yield instruments are taken at the
location of the harvested crop and are representative of
measurements for each of the harvester head sections (e.g., row
sections of a corn harvesting platform head). The one or more
reaping yield instruments are included as part of a reaping based
yield monitor system or yield measurement system. By matching the
variable yield with the corresponding harvesting yield measurements
taken at the harvester head (as described herein), the variable
yield is apportioned (divided) between the plurality of sections
based on the measurements of the one or more reaping yield
instruments in each of the plurality of sections. Accordingly,
variations in yield measured across a harvester head are determined
and may be indexed to the field, for instance in a yield map. This
variation is indexed to a yield map to provide accurate yield
mapping in a lateral fashion according to the graduation of
harvester head sections and instruments across the entire swath of
the harvester head (e.g., based on a number or harvesting rows for
the head, frequency of instruments on the head or the like).
Indexing of yield values laterally across a harvester swath and
with this degree of precision (e.g., according to sections)
provides increased accuracy (resolution) to yield mapping relative
to previous yield monitors.
[0012] This overview is intended to provide an overview of subject
matter of the present patent application. It is not intended to
provide an exclusive or exhaustive explanation of the invention.
The detailed description is included to provide further information
about the present patent application.
BRIEF DESCRIPTION OF THE DRAWINGS
[0013] In the drawings, which are not necessarily drawn to scale,
like numerals may describe similar components in different views.
Like numerals having different letter suffixes may represent
different instances of similar components. The drawings illustrate
generally, by way of example, but not by way of limitation, various
embodiments discussed in the present document.
[0014] FIG. 1 is a perspective view of a harvester including one
example of a reaping based yield monitor system.
[0015] FIG. 2A is a schematic view of one example of the reaping
based yield monitor system of FIG. 1.
[0016] FIG. 2B is a detailed schematic view of a portion of a
reaping based yield monitor assembly.
[0017] FIG. 3A is a schematic top view of one example of a row
section of a harvester head.
[0018] FIG. 3B is a top view of the row section of FIG. 3A
including one example of a reaping yield instrument.
[0019] FIG. 3C is a bottom view of the row section of FIG. 3A.
[0020] FIG. 3D is a front schematic view of the row section of FIG.
3A.
[0021] FIG. 4 is a top view of another harvester head including
another example of reaping yield instruments.
[0022] FIG. 5A is a schematic diagram of the harvester in a field
harvesting a crop using the reaping based yield monitor system of
FIGS. 1 and 2.
[0023] FIG. 5B is a schematic diagram of a harvester in a field
harvesting a crop using another example of a yield monitor.
[0024] FIG. 6 is a block diagram of one example of a method for
apportioning yield.
[0025] FIG. 7 is a top view of another example of a reaping based
yield monitor system.
[0026] FIG. 8 is a schematic view of one example of the reaping
based yield monitor system of FIG. 7.
[0027] FIG. 9A is a schematic diagram of one example of a planting
map including indexed planted crops.
[0028] FIG. 9B is a schematic diagram of one example of a
consolidated planted and standing crop map.
[0029] FIG. 10 is a block diagram of one example of a method for
counting standing crops.
DETAILED DESCRIPTION
[0030] The reaping based yield monitor system described by way of
the examples herein determines the relative grain yield per section
in a multi-section (e.g., multi-row) harvester. In one example, the
system utilizes sensors coupled with a harvesting head (e.g., a
corn harvesting head) that detect the relative quantity of grain
harvested by each section of a harvester head (e.g., each section
or row section of a harvester head). The relative quantity of a
harvested crop entering each row of the harvester is measured and
used to improve yield placement accuracy of an existing grain yield
monitor or mapping system. The systems described herein are useful
for row based crops including, but not limited to, corn, cotton,
carrots, cabbage, sugar beets or the like. Additionally, the
systems described herein are used with other harvester arrangements
including elongate harvester heads configured for non-row based
harvesting, such as soy beans, wheat or the like, where the
harvester head is divided into sections or zones for instance by
laterally scans available with some instruments (e.g., imaging,
optical, infrared and ultrasonic or the like). For instance a
harvester head has a width, and each of the instruments is
configured to measure a crop characteristic within a portion
(section) of that width.
[0031] There are multiple instruments that are utilized as one or
more reaping yield instruments (e.g., yield instruments configured
to measure a crop characteristic at or near to the time of reaping)
to measure a yield characteristic for each section (e.g., each row
section). Examples of reaping yield instruments include, but are
not limited to, force plates, impact sensors, infrared (IR)
sensors, optical non-contact sensors, non-contact infrared sensors,
video sensor networks, a single camera having a distributed viewing
arc, or the like.
[0032] Load cells or force impact sensors as the one or more
reaping yield instruments are installed near each of a plurality of
sections of the harvester head. For instance, impact sensors or
load cells are coupled with the deck plates of each of the row
sections of a corn harvester head. One or more of the relative
force of impacts or the number of impacts are detected from ears of
com as they contact the deck plates (and the sensors provided
therein) to determine one or more harvested crop characteristics
that corresponding to the relative yield for a section of the
harvester head (e.g., a row section of the harvester head).
[0033] In an example, the one or more reaping yield instruments
include infrared or optical sensors. The sensors are coupled in a
plurality of sections of the harvester head (e.g., in each row
section of a corn harvester head). The sensors measure one or more
characteristics corresponding to a volume of harvested crop
entering each section or row section. These measured
characteristics are used to determine or approximate the relative
quantity of a crop harvested by each section (e.g., a row section
corresponding to a row in a field).
[0034] In another example, the one or more reaping yield
instruments include a video sensor network having, for instance, a
camera mounted on or adjacent to the sections of a harvester head,
such as the row sections of a corn harvester head. The cameras pass
the ongoing images or video footage of harvesting of the crop to a
processing module (e.g., as a measured crop characteristic) for
estimation of the relative flow of the crop for each section (e.g.,
row section). In one example, the processing module is part of a
yield monitor or reaping instrument controller of the reaping based
yield monitor system. The characteristics are used to determine the
relative quantity of a crop harvested by each section (e.g., a row
section corresponding to a row in a field). In still another
example, the one or more reaping yield instruments include a single
stream video camera having a single or (fewer cameras than sections
of the head) mounted on the harvester with a view of each section
of the plurality of sections (in a corn harvester head, each row
section). The single stream video camera passes a video stream of
each of the plurality of sections into a processing module (e.g.,
as a measured crop characteristic). The processing module (e.g., as
part of a yield monitor or a reaping instrument controller)
determines or approximates the relative yield of each row from the
information captured in the video stream.
[0035] Accordingly, the one or more reaping yield instruments
(e.g., configured to measure crop characteristics on a section by
section or lateral basis) is able to provide increased resolution
of yields, for instance according to the yield of each row of a
field. In one example, the generated yield values for each of the
sections is plotted to a yield map to increase the resolution of a
yield map beyond indexing of an overall total yield of a grain
elevator.
[0036] As described herein, in one example, the one or more reaping
yield instruments and a reaping instrument controller communicate
with a yield monitor (e.g., associated with a harvester grain
elevator). The yield monitor generates yield values by way of
instrumentation near to the grain elevator and associates the yield
value with corresponding crop characteristics from the reaping
yield instruments at the harvester head. The overall yield is
apportioned between the sections of the plurality of sections based
on the measured crop characteristics observed by the reaping yield
instruments. In one example, the reaping instrument controller
includes modules configured to interpret the crop characteristics
of the one or more harvesting instrument and transmit the values to
the yield monitor and also apportion the yield values generated by
the yield monitor. In another example, the yield monitor includes
the modules for interpreting the measurements of the reaping yield
instruments and apportioning the yield values between the sections
(e.g., row sections).
[0037] In addition to improved row resolution for yield results,
the reaping based yield monitor systems described herein improve
the allocation of yield totals to accurate position of the
harvester. That is to say, by measuring crop characteristics as the
crop is reaped the yield values are accurately mapped to the
location on the field where the corresponding crops were harvested.
Time delays for threshing and winnowing and subsequent measurement
of yield values are effectively eliminated and indexing of the
yield values occurs accurately to the corresponding portions of the
field (e.g., generally to a previous location of the harvester
based on the time for threshing, winnowing and yield value
measurement).
[0038] For instance, some examples of yield monitoring systems
include a varying yield delay to accommodate the processing time
between when the crop is reaped to when it is threshed, winnowed
and then measured by the yield instruments (e.g., near to or within
the harvester grain elevator). This delay time typically ranges
between 10 and 20 seconds and is dependent on many factors in the
construction of the harvester and its configuration (e.g., type of
harvester head). Any error in this yield delay time estimate leads
to yield placement (indexing) inaccuracies along the direction of
travel of the harvester. The reaping based yield monitor systems
described herein address these inaccuracies by facilitating the
matching of determined variable yield values from the yield monitor
to prior measurements of the one or more reaping yield instruments.
For instance, trends and relationships are detected between the
ongoing yield values generated by the yield monitor and the ongoing
measurements of the one or more reaping yield instruments. By
noting correspondence between both (e.g., yield to measured crop
characteristics, such as volume or flow rate, frequency of impacts
with a contact instrument or the like) the determined variable
yield is accurately indexed to the corresponding measured crop
characteristics at the time the crop characteristics were measured.
Accordingly, the yield is then indexed to that corresponding
portion of the field that was cut at the time the measurements were
taken by the reaping yield instruments. Optionally, indexing allows
for the determination of a time delay in an ongoing accurate
fashion. The time delay is then used to associate the determined
variable yield with measured crop characteristics from the reaping
yield instruments at the appropriate time.
[0039] Optionally, the subject matter described herein is
applicable with, but not limited to, Raven SmartYield Enhancement.
The subject matter described herein provides enhanced yield
resolution in the forward and lateral directions, an ear count
feature for ear count mapping (ears per stalk or area) and an ear
sizing feature for ear size estimation (estimation of size of each
ear). Further, the subject matter described herein is provided in
another example as an aftermarket product configured for
incorporation with third party existing yield monitors. For
instance, the reaping based yield monitor system includes one or
more reaping yield instruments and a reaping instrument controller
that acts as a yield monitor interface. The interface includes the
modules used for interpretation of measurements taken by the
reaping yield instruments and also includes matching and
apportionment modules used to match the determined variable yield
(from the yield monitor) with corresponding measurements of the one
or more reaping yield instruments and accordingly divide the yield
across the sections laterally. In another example, the matching and
apportionment modules (as a reaping instrument controller) are
incorporated into the yield monitor (e.g., by jump drive, uploading
or the like) to configure the yield monitor for use with the
reaping yield instruments. The coupling between the yield monitor,
the one or more reaping yield instruments and the reaping
instrument controller includes one or more of wired or wireless
connection (e.g., cabling, buses, CAN bus, Ethernet, Bluetooth, RF
or the like). Accordingly, existing yield monitors are updated and
enhanced to facilitate the generation of high resolution yield maps
that provide precise and accurate yield values at accurate
locations (e.g., down to individual crop rows or sections of a
field). The high resolution yield maps are used to generate
subsequent high resolution planting and agricultural product
application schemes (e.g., field maps) for use by planters,
spreaders or the like.
[0040] Optionally, the system described herein including the one or
more reaping yield instruments and a reaping instrument controller
(e.g., a harvester header processor or dedicated yield monitor) is
provided as a standalone system to provide real time accurate
estimates of crop characteristics, such as ear counts, unthreshed
and unwinnowed crop flow rates, or the like that are accurately
apportioned between the plurality of sections of the harvester
according to the measurements provided by the reaping yield
instruments.
[0041] Some benefits of these systems (e.g., a yield monitor system
or measuring system for coupling with a yield monitor) include, but
are not limited to:
[0042] Higher accuracy yield placement by a yield monitor in a side
to side (lateral) basis and forward and reverse travel (e.g.,
because of accurate indexing of yield values based on measurements
of the reaping yield instruments).
[0043] Corn ear count numbers are estimated allowing for additional
information to be provided by the yield monitor. In one example,
the one or more reaping yield instruments include one or more
impact or contact sensors associated with deck plates of the row
sections of a harvester. Each contact or impact is measured as an
ear of corn. As discussed herein, such a system is optionally used
in a standalone fashion (without or independently from a yield
monitor of the harvester) to measure crop yield results in the
format of quantity of ears of corn.
[0044] Allows for installation to existing and third party yield
monitors as an enhancement for more accurate yield monitoring and
indexing to yield maps (e.g., lateral accuracy across a swath of
the harvester, and temporal accuracy based on association of the
yield with corresponding crop characteristics measured at the
harvester head as the crop is harvested).
[0045] FIG. 1 shows one example of harvester 100, such as a
combine, used in an agricultural field to harvest one or more crops
and further process the crops by threshing and winnowing the crops
for eventual deposition within a grain bin 108. Referring again to
FIG. 1, the harvester 100 includes a harvester head 102 including a
plurality of tools thereon, for instance one or more row sections
104 configured to reap and thresh crops harvested from a field. In
the example shown in FIG. 1, the row sections 104 are set up on the
harvester head 102 in the manner of a corn harvesting head. Each of
the row sections 104 are bracketed by snouts 106 provided to either
side of the tools used in the row sections 104 for removal of the
stalk from the ears of the corn. The harvester head 102 further
includes one or more augers that carry the ears of corn centrally
toward the harvester 100. As further shown in FIG. 1, in one
example the harvester 100 includes a grain elevator 110. The grain
elevator 110 lifts the harvested crop (ears of corn, wheat,
soybeans, cotton or the like) from a lower position in the
harvester 100 to an upper position such as a spout that empties the
harvested crop into the grain bin 108.
[0046] Referring again to FIG. 1 the harvester 100 is shown in this
example with a yield monitor 112. In one example, and as described
herein the yield monitor 112 communicates with one or more yield
instruments for instance yield instruments that are associated with
the grain elevator 110. The yield monitor 112 with the associated
yield instruments is configured to measure the yield of the
harvested crop at the grain elevator 110 prior to delivery of the
harvested crop to the grain bin 108. In one example, the harvested
crop is measured as the crop enters the grain elevator 110 and
ascends to a spout for delivery to the grain bin 108. As further
shown in FIG. 1, the grain elevator 110 (and the associated yield
instruments) are downstream relative to the harvester head 102. As
further described herein, in one example the harvester head 102 or
components of the harvester 100 adjacent to the harvester head 102
include one or more reaping yield instruments configured to measure
one or more crop characteristics of the harvested crop (e.g.,
volume of crop, quantity of impacts by ears of corn or the like) as
it is reaped by the harvester head 102. The reaping based yield
monitor system described herein works with the determined yield
value, for instance generated by the yield monitor 112 to apportion
the yield value to each of the row sections 104 according to
measurements taken by each of the reaping yield instruments at each
of the row sections 104 (or at one or more sections along the
harvester head 102 in the case of a harvester head like a grain
harvester head). In one example, the apportionment of the variable
yield thereby enhances the resolution of yield values across the
harvester head 102 for instance with a resolution equal to the
number sections or row sections 104. That is to say, the yield
value determined by the yield monitor 112 is apportioned based on
the measured values of the one or more crop characteristics taken
at each of the row sections 104 (or sections where row sections are
not included with the harvester head 102) to thereby apportion the
variable yield into variable yield portions totaling to a value
equal to the yield generated by harvesting at across all of the row
sections 104.
[0047] In one example, the reaping yield monitor system includes a
reaping instrument controller for instance a module or separate
standalone component in communication with each of the reaping
yield instruments provided along the harvester head 102. The
reaping instrument controller is in one example included with the
yield monitor 112 or as a software package or separate add-on
module coupled with the yield monitor 112. In another example, the
reaping instrument controller is a separate module in communication
with the yield monitor 112 for instance with a system bus or
controller area network (CAN) bus. By facilitating communication
between the yield monitor 112 and the reaping instrument controller
(in communication with the reaping yield instruments) the
determined variable yield generated by the yield monitor 112 is
apportioned across the harvester head 102 as described herein.
[0048] Further, in another example the reaping yield instruments at
the harvester head 102 are upstream relative to the yield
instruments provided at the grain elevator 110. Accordingly, the
measurements of the crop characteristic taken by the reaping yield
instruments at the row sections 104 are taken at a contemporaneous
time the harvesting of the crop from the field. In another example,
the reaping based yield monitor system is able to backdate the
variable yield generated by the yield monitor 112 to the time of
the actual harvesting of the crop for instance at the harvester
head 102. By backdating the variable yield to the time of
harvesting of the corresponding crops that are the basis of the
variable yield at the variable yield monitor 112 indexing of the
apportioned variable yield is possible not only across the row
sections 104 but also in an accurate manner to the corresponding
portion of the field (e.g., on a field map). In contrast, previous
yield monitors 112 indexed yield values to the field map at a later
portion of the field for instance according to the lag time between
harvesting at the harvester head 102 and measuring of the yield
value for instance with the yield instruments associated with the
grain elevator 110 (and after processing such as threshing and
winnowing).
[0049] One schematic example of a control system 201 for the
harvester including a reaping based yield monitor system 200 is
shown in FIG. 2A. As shown, the reaping based yield monitor
assembly 200 includes a reaping instrument controller 202
associated with a plurality of reaping yield instruments 204 (e.g.,
one or more reaping yield instruments) associated with sections of
the harvester head 102, such as each of the row sections 104. In
the example shown in FIG. 2A, an exemplary four row sections 104
are provided. In another example, for instance with a harvester
head having 18 or more row sections a corresponding number of
reaping yield instruments 204 for instance 18 yield instruments are
provided for each of the row sections 104.
[0050] In another example, the reaping yield instruments 204 (e.g.,
one or more reaping yield instruments) are provided across a
plurality of sections. For instance the reaping yield instruments
204 include one or more imaging or optical sensors configured to
observe a plurality of sections of the harvester head and thereby
generate corresponding data for each of the sections.
[0051] As will be described herein, in yet another example the
reaping yield instruments 204 include mechanical contact sensors
(e.g., load cells, strain gauges or the like) configured to
register and measure impacts of the crop against one or more sensor
features for instance impact plates. In one example, the reaping
yield instruments 204 include impact plates sized and shaped to
receive impacts from corn ears striking the impact plates as the
stalk is drawn through the row section 104 during harvesting. The
impact plates include sensors, such as load cells, strain gauges or
the like, configured to identify one or more characteristics
including, but not limited to, the number of impacts, force of the
impacts or the like.
[0052] As further shown in FIG. 2A, the reaping based yield monitor
assembly 200 optionally includes a yield monitor 206 (shown in
dashed lines to indicate the optional inclusion of the yield
monitor 206) interfaced with the reaping instrument controller 202
for instance with an interface 208 such as a bus, CAN bus or the
like. As previously described herein, the yield monitor 206 in one
example is coupled with a plurality of yield instruments 208
associated with the grain elevator 110. As previously described the
yield instruments 208 are downstream from the row sections 104 and
the reaping yield instruments 204 provided at each of the row
sections 104. Accordingly yield values generated by the yield
instruments 208 are delayed (by threshing, winnowing, transport and
measurement of the yield values) relative to corresponding
measurements taken by the reaping yield instruments 204 at the
harvester head 104.
[0053] Optionally, the reaping instrument controller 202 is
incorporated with the yield monitor 206. In another example the
reaping instrument controller 202 is a separate module coupled with
each of the reaping yield instruments 204 and separately coupled to
the yield monitor 206 for instance by way of the interface 208. In
still another example the reaping instrument controller 202 is a
software module or software package incorporated with the yield
monitor 206 (e.g., provided by CDROM, jump drive, a network
connection, wireless downloading or the like).
[0054] Referring again to FIG. 2A, in one example the control
system 201 includes a position location system 210 (GPS or RTK
transmitter and receiver or the like) in communication with one or
more of the components of the control system 201 for instance with
the interface 208. In another example, the control system 201
includes a field computer 207 for instance including one or more of
field maps, planting maps, automated steering algorithms or other
control algorithms for use with the harvester. The field computer
207 in one example is configured to communicate with one or more of
the reaping based yield monitor assembly 200 (including the reaping
instrument controller 202 and yield monitor 206) as well as the
position location system 210 by way of the interface 208.
[0055] Optionally the position location system 210 is incorporated
with the field computer for instance as a component of the field
computer configured to operate with the field computer for instance
for automated steering (steering or navigation cues for the
operator) and automated control of the harvester.
[0056] FIG. 2A includes a detailed view of one example of the
reaping instrument controller 202. In the detailed view the reaping
instrument controller 202 includes at least one module, in this
example an apportionment module 212.
[0057] As will be described herein the apportionment module 212 of
the reaping instrument controller 202 associates measurements of
the reaping yield instruments 204 for instance measurements of one
or more crop characteristics (e.g., volume flow rates through the
sections, ear impacts, force of impacts or the like) to yield
values generated by the yield monitor 206 in combination with the
yield instruments 208. As previously described herein the yield
values generated by the yield monitor 206 are generated at a second
later time relative to the corresponding measurements taken by the
reaping yield instruments 204 at the row sections 104. The
apportionment module 212 further divides the generated yield (e.g.,
an ongoing variable yield) across each of the row sections 104
according to the measurements of the crop characteristic at each of
the reaping yield instruments 204. That is to say, the
apportionment module 212 divides the determined variable yield
generated by the yield monitor 206 into variable yield portions
that vary for each of the row sections 104 according to
corresponding crop characteristic measurements taken by the reaping
yield instruments 204 at an earlier time (e.g., reaping of the crop
that serves as the basis for the later yield value).
[0058] In another example the apportionment module 212 of the
reaping instrument controller 202 is configured to index the
variable yield (e.g., the variable yield portions divided across
the row sections 104) according to the association of the generated
yield value at the yield monitor 206 to the corresponding
measurements of the crop characteristic at the reaping yield
instruments 204. For instance, as previously described herein the
reaping yield instruments 204 conduct their measurements at a first
time corresponding to the reaping of the crop from the field while
the yield monitor 206 generates the corresponding yield value at a
second later time (according to threshing, winnowing, transport of
the crop and the like). The association of the measurements of the
reaping yield instruments 204 with the corresponding yield value at
the yield monitor 206 automatically indexes the yield value to the
previous first time corresponding to the measurement of the crop
characteristics by the reaping yield instruments 204 (and reaping).
In another example, the association of the measurements of the
reaping yield instruments 204 to the variable yield determined with
the yield monitor 206 is used to determine a delay time, and the
delay time is used with ongoing variable yield measurements
generated by the yield monitor 206 to accurately apportion the
yield across the section and index the variable yield portions to
the corresponding parts of the field (e.g., a field map).
[0059] By associating the determined variable yield with the one or
more measurements taken by the reaping yield instrument 204 and
processed by the reaping instrument controller 202 the variable
yield is accurately paired to the time of harvesting of the
corresponding crops that generated the variable yield value. By
pairing the later determined variable yield with the measured crop
characteristics of the reaping yield instruments 204 at the earlier
time of the crop harvesting the variable yield (e.g., variable
yield portions apportioned across the row sections 104), is
accurately indexed to a field map contemporaneously to the time of
the actual crop harvesting. Field maps including this enhanced
indexing thereby provide a more accurate representation of the
harvest with yield values accurately located throughout the map.
That is to say, the reaping based yield monitor assembly 200
described herein is able to not only apportion the variable yield
across a plurality of sections such as the row sections 104 and
thereby provide increased lateral resolution for yield values, the
assembly 200 is also able to accurately index the variable yield
determined by the yield monitor 206 to the appropriate time and
location of a field from which the harvested crop that generated
the yield value was reaped.
[0060] The reaping instrument controller 202 optionally includes
additional modules or elements configured to interface with one or
more of the one or more reaping yield instruments 204, the
interface 208 and corresponding other features coupled with the
interface 208 such as the yield monitor 206. For instance, in one
example the reaping instrument controller 202 includes a processing
module in communication with each of the one or more reaping yield
instruments 204. The processing module receives and interprets raw
measurement data corresponding to values of one or more crop
characteristics (volume flowrates, impact counts, impact forces or
the like) measured by the reaping yield instruments 204 and
processes the values into data for use by the controller 202, for
instance with the apportionment module 212. In another example, the
reaping instrument controller 202 includes a time stamping module
configured to apply a time stamp to each of the one or more
measurements conducted by the reaping yield instrument 204
according to the time the measurement is generated at each of the
instruments 204. In one example, the time stamp provided to the
measurements of the reaping yield instruments 204 is used to
consolidate the measurements from the instruments into a
corresponding characteristic value (having a corresponding time)
for comparison with the yield value generated at the yield monitor
206. In another example, the time stamp for the measurements is
used with regard to a supplemental time stamp associated with the
variable yield generated at the yield monitor 206. The time stamps
for corresponding to a first time for the measurements of the
reaping yield instruments 204 and a second time of generation of
the variable yield for instance at the yield monitor 206 are used
to accordingly backdate the variable yield (e.g., for instance
variable yield portions apportioned across the row sections 104) to
the corresponding time of the measurements of the reaping yield
instruments 204. When used in combination with the speed and
location information of the harvester 100 (e.g., with the position
location system), the backdated variable yield value is accurately
indexed to the appropriate portion of the field (e.g., a
corresponding location on a field map).
[0061] FIG. 2B shows one example of the apportionment module 212
previously shown and described in FIG. 2A. As shown the
apportionment module 212 includes a plurality of sub-elements or
modules configured to apportion the variable yield such as the
variable yield generated at the yield monitor 206 to one or more
sections corresponding to the sections of the harvester head 102.
In another example, the apportionment module 212 includes an
indexing module 224 configured to index the apportioned variable
yield (e.g., variable yield portions assigned to sections) to
corresponding sections of a field map for a field.. For instance
,in one example the indexing module 224 indexes the variable yield
portions to corresponding portions of a field map to provide a
graphical or tabular representation of the apportioned variable
yield for a plurality of locations of a field , such as a
continuous plurality of locations to thereby map the entirety of
the variable yield portions throughout the field. The resulting
field map including these variable yield portions provides a high
resolution field map and accordingly provides an enhanced
representation of the variable yield as it is apportioned across
the field for instance with resolution at least as fine as a
section of the harvester head 102, for instance a row section 104
corresponding to one crop row (e.g., a crop row of corn).
[0062] Referring again to FIG. 2B, the apportionment module 212 of
the reaping instrument controller 202 included with the reaping
based yield monitor assembly 200 includes a characteristic value
module 214. In one example the characteristic value module 214
receives a plurality of values corresponding to measurements taken
by the reaping yield instruments 204 at a first time. The
characteristic value module 214 consolidates the plurality of
values (e.g., V.sub.1, V.sub.2, V.sub.3, V.sub.4, V.sub.n and the
like) into an ongoing consolidated value (CV.sub.1) corresponding
to the measurements of the crop characteristics taken with each of
the reaping yield instruments 204. In one example, the ongoing
consolidated values (CV.sub.n) are generated in an ongoing fashion
for instance, automatically and a plurality of times as the
harvester 100 moves through a field and accordingly continues to
harvest crop from the field. The ongoing consolidated values
thereby provide an ongoing (optionally continuous) representation
of the measurements of the reaping yield instruments 204 in a
consolidated fashion. The plurality of values (V.sub.n) and the
corresponding ongoing consolidated values (CV.sub.n) are time
stamped for use in comparison with one or more yield values
generated with the yield monitor 206 and the yield instruments 208
(see FIG. 2A).
[0063] The apportionment module 212 includes in another example a
comparator 216. The comparator 216 compares the determined variable
yield values for instance a yield generated by the yield monitor
206 (YV.sub.n) at a second time with the plurality of ongoing
consolidated values (CV.sub.n) generated with the characteristic
value module 214. As previously described herein the variable yield
generated with the yield monitor 206 with the yield instruments 208
is taken at a second later time relative to the harvesting of the
corresponding crops at the row sections 104. That is to say, the
yield monitor 206 and yield instruments 208 associated in one
example with a grain elevator 110 are positioned at a downstream
location relative to the reaping yield instruments 204.
Accordingly, the variable yield generated by the yield monitor 206
is generated at a second later time relative to the first time the
measurements are taken at the reaping yield instruments 204 (e.g.,
at the time of reaping). In one example, each of the variable yield
values (YV.sub.n) generated in an ongoing fashion by the yield
monitor 206 is compared with a plurality of ongoing consolidated
values (CV.sub.n) generated by the characteristic value module 214.
In one example, one or more of curve fitting, comparative
algorithms or the like are used to compare the ongoing consolidated
values (CV.sub.n) with the variable yield values (YV.sub.n)
generated by the yield monitor 206. Based on this comparison an
instant variable yield value (e.g., a determined variable yield)
generated by the yield monitor 206 is matched to the closest
corresponding ongoing consolidated value generated by the
characteristic value module 214, for instance with the matching
module 218.
[0064] In one example, the yield monitor 206 generates a continuous
or near continuous series of ongoing yield values (e.g., YV.sub.1,
YV.sub.2, YV.sub.3, YV.sub.4, YV.sub.n and on the like). As
previously described herein these yield values YV.sub.n are taken
at later times relative to corresponding ongoing consolidated
values CV.sub.n. The comparator 216 compares each of the yield
values YV.sub.n with each of the ongoing consolidated values
CV.sub.n to accordingly associate or match a determined variable
yield value YV.sub.n with the closest corresponding ongoing
consolidated value CV.sub.n. As discussed herein, the operation of
the characteristic value module 214, the comparator 216 and the
matching module 218 is conducted on a continuous basis to associate
the yield values (YV.sub.n) generated at the yield monitor 206 with
the corresponding measurements taken at the reaping yield
instruments 204 by way of the consolidated values CV.sub.n. In
another example the matching of the determined variable yield
values with the corresponding ongoing consolidated values is
conducted at an infrequent basis and a delay time is measured, for
instance with delay module 226 in communication with the matching
module. The delay time measured by the delay module 226 is used to
automatically backdate the variable yield values generated with the
yield monitor 206 and the yield instruments 208 (see FIG. 2A) to an
estimated time of harvesting for instance harvesting conducted by
the harvester head 102. In such an example the variable yield value
is then apportioned to each of the sections such as the row
sections 104 according to the corresponding measurements of the
reaping yield instruments 204 taken at the backdated time
(determined according to the delay time).
[0065] As further shown in FIG. 2B the apportionment module 212 in
one example includes an assignment module 220. The assignment
module 220 divides the now matched determined variable yield value
(YV.sub.n taken at a second later time) based on the corresponding
measurements of the reaping yield instruments 204 (V.sub.1,
V.sub.2, V.sub.3, V.sub.4, V.sub.n taken at a first time). The
determined variable yield value is divided into each of sections
(e.g., row sections) according to the corresponding measurements.
That is to say, the assignment module 220 divides the matched
determined variable yield value into variable yield portions
(VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4, VYP.sub.n summing to
YV .sub.n) between each section of the plurality of sections of the
harvester head 102 according to the one or more measurements taken
by the reaping yield instruments 204 across the harvester head 102
V.sub.1, V.sub.2, V.sub.3, V.sub.4, V.sub.n). Stated another way,
the variable yield value VYP.sub.1, VYP.sub.2, VYP.sub.3,
VYP.sub.4, VYP.sub.n generated with the yield monitor 206 is a
yield value corresponding to a consolidated yield for the crops
harvested by each of the sections of the harvester head 102 (e.g.,
the row sections 104 with a corn harvester head 102). The yield
value (YV .sub.n) generated by the yield monitor 206 is apportioned
in an accurate and precise manner between each of the row sections
104 (to VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4, VYP.sub.n)
based on the measurements in each section (V.sub.1, V.sub.2,
V.sub.3, V.sub.4, V.sub.n) to accordingly provide varied component
yield values across the harvester head 102 (that sum to the
associated and matched yield value YV.sub.n). The accurately
assigned variable yield portions provided enhanced resolution to a
corresponding field map according to the size of the sections. In
the case of a corn harvester head 102 with row sections 104 and
reaping yield instruments 204 associated with each of the row
sections 104 the reaping based yield monitor assembly 200 has a
lateral resolution across a harvester head of a row section 104
corresponding to a crop row on the field. Accordingly, harvester
heads that have 18 or more row sections 104 are able to provide
lateral resolution of yield corresponding to a section of the head
102, for instance a single row section 104.
[0066] In another example, the reaping instrument controller 202
includes an indexing module 224. The indexing module 224 is in
communication with a field computer such as the field computer 207
including a field map therein. In another example, the indexing
module 224 has access to a field map for instance a field map
associated with or stored by the reaping instrument controller 202.
The indexing module 224 is configured to map the variable yield
portion values (VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4,
VYP.sub.n) assigned to each of the plurality of sections of the
harvester head 102 to corresponding portions of a field map
corresponding to the location of each of the harvester head 102
sections at the time of harvesting of the crop (e.g., a first
time), the same time as measurement of the one or more crop
characteristics with the reaping yield instruments 204.
[0067] In one example, where the delay time is determined with the
delay module 226 the delay time is used by the indexing module 224
in combination with the known speed of the harvester 100 to
associate the variable yield portions (VYP.sub.1, VYP.sub.2,
VYP.sub.3, VYP.sub.4, VYP.sub.n) assigned to each of the
corresponding sections of the harvester head 102 (e.g., row
sections) to corresponding locations on the field (crop rows)
associated with the location of the harvester 100 at the first time
(the time the reaping yield instruments 204 conducted the
measurements of the at least one crop characteristic). Stated
another way, with a combination of the delay time and the speed of
the harvester 100 the variable yield portions of the determined
variable yield value (YV.sub.n) are accurately assigned to areas of
the field map corresponding to the position of the harvester when
the associated crops (resulting in the yield value YV.sub.n) were
harvested. In another example, the indexing module 224 is in
communication with the position location system 210 (e.g., a GPS
system, real time kinematic (RTK) system or the like) and has
access to a series of logged locations of the harvester 100 at a
plurality of times including a first time corresponding to the
first time the values of the at least one crop characteristic
(V.sub.1, V.sub.2, V.sub.3, V.sub.4, V.sub.n taken at a first time)
are measured by the reaping yield instruments 204. After
association of the variable yield with the corresponding ongoing
consolidated value (e.g., as described with the comparator 216 and
the matching module 218) the ongoing consolidated value associated
with the variable yield is known and accordingly the first time is
also known. By matching the first time of the ongoing consolidated
value with the corresponding location of the harvester 100 at the
first time the apportioned variable yield (VYP.sub.1, VYP.sub.2,
VYP.sub.3, VYP.sub.4, VYP.sub.n) apportioned across the row
sections 104 and the harvester head 102 is indexed to the previous
location of the harvester 100 at the first time.
[0068] As described herein and shown for instance in FIGS. 2A and
2B, the reaping based yield monitor system 200 including the
reaping instrument controller 202 and the one or more reaping yield
instruments 204 associated with the harvester head 102 accurately
and with increased resolution plots an apportioned variable yield
(VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4, VYP.sub.n) across the
harvester head 102 (for instance in a manner corresponding to crop
rows on a field map) and does with the variable yield portions
indexed to corresponding portions of the field from which the
harvested crop that generated the variable yield value was
harvested. That is to say the reaping based yield monitor assembly
200 is not only able to provide increased resolution of the
variable yield value, for instance across a plurality of sections
of a harvester head 102, the reaping based yield monitor system 200
also accurately associates the variable yield value to the
corresponding portion of the field from which the crop was
harvested (e.g. through the use of a delay time, association of the
yield value to the consolidated value CV.sub.n or the like in
combination with the known speed of the harvester 100, logged
locations with the position location system 210 or the like).
Accordingly the reaping based yield monitor system 200 described
herein is able to provide enhanced resolution and accuracy for the
mapping of the variable yield of the harvested crop to a field
map.
[0069] FIG. 3A shows one schematic view of a row section 104 of the
harvester head 102 shown in FIG. 1. As shown, the row section 104
includes snouts 106 on either side of a section gap 302. The
section gap 302 allows for the reception of corn stalks therein for
reaping (e.g., to remove ears of corn and cutting of the stalk). As
previously described herein, each of the row sections 104 of the
harvester head 102, in one example, includes a reaping yield
instrument 204. In the example shown in FIGS. 3A-D, the reaping
yield instrument includes a contact instrument 300 provided with at
least one of the strike plates 304 to sides of the section gap 302.
As will be described herein, in one example the contact instruments
300 measure one or more crop characteristics of the crop as the
crop is reaped from the field. For instance as the stalk of the
cornstalk is drawn through the section gap 302 (e.g., into the page
by spindles as described herein) each of the ears on the stalk
strike one or more of the strike plates 304 and generate a force
measured by the contact instruments 300. The force is measured as
one or more of an impact (a count), a variable measured force
(e.g., the force corresponds to the size of the ear) or both. The
measured force is one example of the one or more crop
characteristics measured by the reaping yield instruments 204
(shown in FIG. 2A). The strike plate 304 is in one example a
protective plate provided over top of the contact instrument 300.
Contact between ears of the cornstalk and the strike plate 304 is
transmitted through the strike plate 304 to the contact instrument
300.
[0070] FIGS. 3B and 3C show top and bottom views, respectively, of
one example of a row section 104. Referring first to FIG. 3B, the
row section 104 is shown with dual chain assemblies 308 provided at
the sides of the section gap 302. The chain assemblies 308 include
chain teeth 310, for instance interdigitated chain teeth 310, that
extend from the chains pull a plant, such as a corn stalk, into the
section gap 302 for further processing (e.g., removal of ears of
corn from the stalk). As further shown in FIG. 3B, the strike
plates 304 are provided to the sides of the section gap 302 and
between the chain assemblies 308. The strike plates 304 provide a
tapered opening for the section gap 302 to accordingly guide the
plants therein.
[0071] FIG. 3C shows the row section 104 in a bottom view. The row
section 104 includes one or more spindles 312 provided underneath
the section gap 302. The spindles 312 cooperate to pinch the
cornstalk and draw the cornstalk through the section gap 302 as the
cornstalk moves from a first position near the opening of the
section gap 302 to a second position closer to the end of the
section gap 302. The spindles 312 rotate relative to the remainder
of the row section 104 to accordingly draw the stalk downward
through the section gap 302 while at the same time pinching the
stalk between individual blades or elements of the spindle 312 to
facilitate cutting of the stalk into multiple pieces with the
chopping blade 314. As shown in FIG. 3C the chopping blade 314
rotates relative to the spindles 312 and cuts stalks provided in
the section gap 302 that are pinched by the spindles 312.
[0072] In operation, as the harvester 100 moves through a field for
instance down a plurality of crop rows corresponding to the number
of row sections 104 of the harvester head 102 stalks of corn are
received within the section gap 302 of each of the row sections
104. The chain teeth 310 of the chain assemblies 308 rotate in an
incoming fashion relative to the section gap 302 and accordingly
engage with the corn stalks and draw the stalks into the section
gap 302. As the corn stalks are drawn into the section gap 302 the
spindles 312 the stalks downwardly through the section gap for
instance out of the page as shown in FIG. 3C and into the page as
shown in FIG. 3B. The spindles 312 optionally pinch the stalk as it
is pulled through and allow for chopping by the chopping blade 314
to cut the stalk into a plurality of pieces for deposition in the
field. As discussed herein, the pulling of the stalks pulls the
ears of corn against the strike plates 304 and the contact
instruments 300 register one or more of the impact or the
quantified force of impact.
[0073] FIG. 3D shows a schematic front view of one example of the
row section 104. In the example the chain assemblies 308 are
provided above the contact instruments 300. As previously described
herein, in one example the contact instrument 300 is covered by the
strike plate 304. The contact instrument 300 includes but is not
limited to one or more load cells, piezo elements, magnetic sensors
or the like. Impacting the strike plates 304 (e.g., with the crop
such as ears of corn) generates a measurable signal, current or
voltage that corresponds to one or more crop characteristics (e.g.,
yield per ear, counting of the number of ears on the stalk, a
combination of both or the like). As the stalk is drawn downwardly
the ears strike the strike plates 304 (and the force is counted,
measured, or both) and are separated from the stalk. The spindles
312 pinch the stalk and allow for the chopping blade 314 to cut the
stalk into multiple pieces.
[0074] The contact instrument 300 is an example of the reaping
yield instrument 204 described herein and measures contact for used
with the reaping instrument controller 202. In another example, the
contact instrument 300 measures one or more crop characteristics
(related to yield) including, but not limited to, counting of crops
such as ears of corn impacting the instrument 300, the quantity of
force at contact, length of contact or the like. In one example the
contact instrument 300 measures a combination of these
characteristics and accordingly transmits values corresponding to
these measurements to the reaping instrument controller 202. As
discussed herein, the reaping instrument controller 202 uses the
measured values (e.g., V.sub.1, V.sub.2, V.sub.3, V.sub.4, V.sub.n)
as the measured crop characteristics used to generate a
consolidated characteristic value such as CV.sub.n as previously
described herein.
[0075] In another example, the measured values of the reaping yield
instrument (including the contact instrument, imaging instruments
or the like) is used directly to generate and apportion yield
values to the sections of the harvester head without a yield
monitor (e.g., monitor 206). For instance, the corn ear counts of
each section are measured by the reaping yield instruments 204. The
reaping instrument controller 202 equates each ear counted to a
yield value (such as a portion of a buschel). Accordingly, the ear
counts for each section of the harvester head directly result in a
variable yields (VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4,
VYP.sub.n). In another example, the reaping yield instruments 204
measure one or more of the force of the contact or length of
contact. The reaping instrument controller 202 modifies the yield
for each counted ear of corn based on the force of the contact,
length of contact or both. For instance, the yield of an ear of
corn is proportionately increased for one or more of relatively
higher impact forces and contact lengths, and similarly
proportionately decreased with lesser measured forces and contact
lengths. Accordingly, the reaping based yield monitor system 200
(shown in FIG. 2A) is used in a standalone fashion with the reaping
yield instruments 204 and the reaping instrument controller 202 to
determine yield values for each of a plurality of sections of the
harvester header 102. Because the yield values are determined
directly with the reaping yield instruments at the time of reaping
the yield values are automatically indexed to the sections of the
harvester head 102 and the corresponding portions of a field map
(e.g., without needing to account for a time delay).
[0076] FIG. 4 shows another example of the harvester 100. In the
example shown the harvester 100 includes components similar to at
least some of the components previously shown for the harvester 100
provided in FIG. 1. For instance, the harvester 100 includes a
grain bin 108 and a harvester head 401. In the example shown in
FIG. 4, the harvester head 401 is a grain based harvester head
configured to thresh and winnow a grain crop, for instance wheat,
soy beans, cotton or the like. As further shown in FIG. 4 the grain
harvester head 400 includes a plurality of sections 402 spaced
along the harvester head 400.
[0077] A plurality of reaping yield instruments 404 are associated
with each of the sections 402. The reaping yield instruments 404
measure one or more crop characteristics of the harvested crop
(volume, flow rate of the crop through the sections or the like) as
it is harvested with the harvester head 400. The reaping yield
instruments 404 are in communication with the reaping based yield
monitor assembly 200 including the reaping instrument controller
202 shown in FIG. 2A. The reaping yield instruments 404 cooperate
with the reaping instrument controller 202 and the overall reaping
based yield monitor assembly 200 to measure one or more crop
characteristics of the crop as it is harvested with the harvester
head 400 and apportion yield (e.g., yield generated by the yield
monitor 206 in communication with yield instruments 208). The
reaping yield instruments 404 facilitate the apportionment of the
variable yield generated by the yield monitor 206 across the
harvester head 400. That is to say, the reaping based yield monitor
assembly 200 (including in this example the reaping yield
instruments 404) provides variable yield portions (VYP.sub.1,
VYP.sub.2, VYP.sub.3, VYP.sub.4, VYP.sub.n) to each of the
corresponding sections across the harvester head 400. In this
example the resolution provided by the reaping based yield monitor
assembly 200 corresponds to each of the sections 402 of the
harvester head 400.
[0078] Although FIG. 4 shows one example with a plurality of
reaping yield instruments 404 distributed along the harvester head
400, in another example the reaping yield instruments 404 are
consolidated into a single or fewer instruments 404 than those
shown in FIG. 4. For instance, an imaging instrument is provided in
the cab of the harvester 100, at a position above or along the
harvester head 400, or the like and directed into the sections 402
of the harvester head 400. Imaging or video interpretation modules
(including algorithms and the like) interpret the images or video
taken of the harvester head 400 while harvesting a crop to provide
a corresponding series of measurements for each of the sections 402
of the harvester head 400. The measurements for the one or more
crop characteristics are used by the reaping based yield monitor
assembly 200 in a manner similar to the manner previously described
herein. For instance, the measured values are conveyed to the
reaping instrument controller 202 and used by the apportionment
module 212 to match the measured values with the corresponding
variable yield value generated by the yield monitor 206 for
apportionment of the variable yield value across the plurality of
sections 402. In one example the reaping yield instruments 404
shown in FIG. 4 include but are not limited to one or more imaging
sensors such as infrared (IR), optical, video or ultrasound
instruments.
[0079] Referring now to FIGS. 5A and 5B, two examples of field maps
500, 504 are provided in each of the respective figures. Referring
first to FIG. 5A, one example of a partially completed field map
500 is provided with a harvester such as the harvester 100
positioned at two locations (and times) relative to a single swath
or pass of the harvester through a field. The example shown in FIG.
5A provides one example of section based resolution provided with
the reaping based yield monitor assembly 200 described herein. As
shown in FIG. 5A, the harvester 100 is shown at two positions a
position corresponding to a first time (t.sub.1) and a second later
time (t.sub.2). The harvester head 102 of the harvester 100
accordingly harvests crops and measures one or more crop
characteristics between at least the two locations with the reaping
yield instruments 204 (see FIG. 2A). In the example shown in FIG.
5A at t.sub.2 the harvester 100 has passed the harvested crops
originally harvested at time t.sub.1 and accordingly generates a
yield value YV.sub.1 with the yield monitor 206 in communication
with the yield instruments 208 (downstream from the harvester head
102). As further shown in FIG. 5A, the harvester 100 at the two
times t.sub.1 and t.sub.2 is shown at different positions
corresponding to a distance offset 502 (also shown in FIG. 5B).
[0080] As previously described herein, in one example the reaping
based yield monitor assembly 200 includes an apportionment module
212. In one example the apportionment module 212 (or the reaping
instrument controller 202 itself) includes one or more modules or
elements configured to apportion the variable yield value YV.sub.1,
determined with the yield monitor 206 and the yield instruments
208, across a plurality of sections of the harvester head 102
(e.g., as VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4, VYP.sub.n).
For instance, as previously discussed herein the apportionment
module 212 includes a characteristic value module 214 configured to
provide ongoing consolidated values CV.sub.ncorresponding to
grouped (by time) measured values of crop characteristics taken by
the reaping yield instruments 204. The ongoing consolidated yield
values CV.sub.nare compared, for instance at the comparator 216,
with the later determined variable yield values generated by the
yield monitor 206. Based on the comparison the matching module 218
matches the variable yield (e.g., YV.sub.1) to the appropriate
ongoing consolidated value (e.g., CV.sub.1) and thereby provides an
association between the corresponding values measured with each of
the reaping yield instruments 204 and the variable yield value
determined with the yield monitor 206. An assignment module 220
thereafter proportionately divides the assigned variable yield
YV.sub.1 across the plurality of row sections, such as the row
sections 104, according to each of the measured values for the crop
characteristics taken by each of the corresponding reaping yield
instruments 204 (e.g., V.sub.1, V.sub.2, V.sub.3, V.sub.4,
V.sub.n). As shown in FIG. 5A the variable yield portions (e.g.,
VYP.sub.1-8) are provided in a distributed fashion across the
harvester head and accordingly provide resolution for the variable
yield across the swath of the harvester 100.
[0081] Additionally, with the association of the variable yield
value YV.sub.1 to the earlier measured values of the crop
characteristics with the reaping yield instruments 204 the variable
yield is apportioned and also indexed to a portion of the field
corresponding to sections of the harvester head (shown as plurality
of cells on the field map 500) while the harvester 100 is
positioned at the initial position (t.sub.1) where the crops were
harvested as shown in FIG. 5A. That is to say, by matching the
variable yield value YV.sub.1 to the ongoing consolidated value
CV.sub.1 (generated by the characteristic value module 214) the
variable yield is accurately indexed to the corresponding portion
of the field and field map 500 from which the harvested crop that
generated the variable yield value was harvested. Accordingly, the
variable yield value YV.sub.1 is not errantly offset according to
the offset 502.
[0082] Another example of a field map 504 is provided in FIG. 5B.
In this example a harvester, such as the harvester 100, without the
reaping based yield monitor assembly 200 described herein but
including a yield monitor system is provided in the two locations
similar to the two locations provided in FIG. 5A. That is to say,
the harvester 100 is shown at a first position corresponding to
time t.sub.1 and a second position corresponding to later time
t.sub.2. As shown in FIG. 5B, at time t.sub.1 the harvester head
102 harvests a crop such as corn, wheat or the like and proceeds to
thresh and winnow the crop and eventually deliver it to a grain
elevator 110 shown in FIG. 1. The variable yield value is
determined with a yield monitor system, for instance at t.sub.2 and
with the harvester 100 at the location for t.sub.2. The difference
between times t.sub.2 and t.sub.1 corresponds to the amount of time
the grain takes for processing and movement through the harvester
100 before it is measured by the yield monitor. In this example the
yield value (VY.sub.1) is indexed to the field map 504 at a
location corresponding to the harvester 100 location at time
t.sub.2 and spaced according to the offset 502. However the crop
harvested by the harvester 100 at t.sub.1 is actually the crop used
to generate the variable yield value (VY.sub.1). The example shown
in FIG. 5B thereby errantly indexes the variable yield value
VY.sub.1 to an offset location. Because the harvested crop takes
time to move through the harvester 100 and the harvester continues
to move through the field, for instance as shown by the offset 502,
when the yield value (YV.sub.1) is determined the value is indexed
at the later location corresponding to the offset 502 and the
location of the harvester at time t.sub.2. The yield value VY.sub.1
is thereby errantly offset at least by the amount 502.
[0083] As shown in FIG. 5B and previously discussed above the yield
value (YV.sub.1) is indexed at a location of the field map 502
different than the harvested crop that actually generates the yield
value. For instance, the yield value YV.sub.1 is provided at a
location spaced by the offset 502 relative to the initial position
of the harvester 100 at t.sub.1. Additionally, the yield value
YV.sub.1 is not apportioned across the harvester head or a
corresponding portion of the field as provided on the field map
504. Instead, the yield value YV.sub.1 is provided as a single
value extending across the swath provided by the harvester 100.
That is to say, the yield monitor assembly included with the
harvester 100 shown in FIG. 5B is unable to provide the enhanced
resolution available with the reaping based yield monitor system
200 described herein and graphically plotted in FIG. 5A. Instead,
the yield value YV.sub.1 is provided as a unitary value extending
across the swath provided by the harvester head 102 on the field
map 504 without variation called out between one or more of the
sections 104.
[0084] FIG. 6 shows one example of a method 600 for apportioning
yield. In describing the method 600 reference is made to one or
more components, features, functions and steps previously described
herein. Where convenient, reference is made to the components,
features, steps and the like with reference numerals. The reference
numerals provided are exemplary and are not exclusive. For
instance, components, features, functions, steps and the like
described in the method 600 include, but are not limited to, the
corresponding numbered elements provided herein, other
corresponding features described herein (both numbered and
unnumbered) as well as their equivalents.
[0085] At 602, the method 600 includes measuring at least one crop
characteristic of a harvested crop in each of a plurality of
sections 104 of a harvester head 102 with one or more reaping yield
instruments coupled with the harvester head 102. Optionally, a
harvester head 400, such as a grain harvester head including
sections 402 includes one or more reaping yield instruments 404
that measure at least one crop characteristic. In one example, the
at least one crop characteristic includes, but is not limited to, a
yield related characteristic including volume, flow rate, number of
impacts, length of impact, force of impact or the like.
[0086] At 604, a variable yield value of the harvested crop is
determined In one example, the variable yield value is an ongoing
measured yield measured and output by a yield monitor 206 in
cooperation with yield instruments 208. As shown in FIG. 2A, the
yield instruments 208 (in contrast to the reaping yield instruments
204) are downstream from the harvester head 102, for instance near
the grain elevator 110.
[0087] At 606, the variable yield value of the harvested crop is
apportioned to each of the sections (e.g., row sections 104 or
sections 402) of the plurality of sections of the harvester head
(102, 400) based on the at least one crop characteristic measured
in each section of the plurality of sections of the harvester
head.
[0088] Several options for the method 600 follow. In one example,
measuring the at least one crop characteristic includes observing
the quantity of the harvested crop with the one or more reaping
yield instruments 404 in each section 402 of the plurality of
sections 402 (see FIG. 4). In another example, observing the
quantity of the harvested crop includes one or more of infrared
(IR) sensing, optical sensing, or video sensing.
[0089] In another example, determining the variable yield value of
the harvested crop includes measuring at least another crop
characteristic (e.g., volume, weight, moisture content, temperature
or the like) of the harvested crop the same as or different from
the at least one crop characteristic measured with the one or more
reaping yield instruments, such as counted impacts, force of
impact, length of contact, volume flow rates or the like.
[0090] Apportioning of the variable yield value includes, in
another example, determining an ongoing plurality of characteristic
values (e.g., CV.sub.n), each of the plurality of characteristic
values corresponding to a plurality of measurements of the at least
one crop characteristic (V.sub.1, V.sub.2, V.sub.3, V.sub.4,
V.sub.n) taken at a time, such as a first time t.sub.1, for each of
the plurality of sections of the harvester head 102.
[0091] Apportioning further includes matching the determined
variable yield value YV.sub.2 (e.g., taken at t.sub.2) with a
characteristic value (CV.sub.1 taken at time t.sub.2) of the
plurality of characteristic values (CV.sub.ntaken at a plurality of
times including t.sub.2) based on a comparison of the determined
variable yield value with the plurality of characteristic values.
Apportioning includes (proportionately) dividing the matched and
determined variable yield value YV.sub.2 between each section of
the plurality of sections according to the plurality of
measurements of the at least one crop characteristic taken at the
time (V.sub.1, V.sub.2, V.sub.3, V.sub.4, V.sub.n taken at time
t.sub.1). As described herein, the variable yield value (YV.sub.2)
is thereby proportionately divided into variable yield portions,
such as VYP.sub.1, VYP.sub.2, VYP.sub.3, VYP.sub.4, VYP.sub.n or
the like and assigned to the corresponding sections, such as row
sections 104 or sections 402 of the harvester heads 102, 400. In
another example, the variable yield portions of each of the
plurality of sections (104, 402) to portions of a field map 500
corresponding to each of the harvester head sections at the first
time (e.g., occupying the same location at time t.sub.1).
Optionally, the sections of the harvester head include row sections
104 of the harvester head 102 (sections provided between snouts)
and the portions of the field map include crop rows. Mapping the
variable yield portions includes mapping the variable yield
portions to crop rows of the field map 500 corresponding to each of
the harvester head row sections 102 at the first time (e.g., the
location of the sections 102 on the field at time t.sub.1).
[0092] The method 600 further includes, in an example, measuring a
delay time between the first and second times of the measurements
of the crop characteristics and the matched variable yield.
Optionally, apportioning the variable yield includes matching the
variable yield with measurements of the at least one crop
characteristic in each of the plurality of sections of the
harvester head 102 (or 400) according to the delay time (e.g., the
second time offset by the delay time). Apportioning further
includes dividing the variable yield into variable yield portions
proportionately based on the measured values of the matched at
least one crop characteristic in each section of the plurality of
sections, and assigning the variable yield portions across the
sections of the plurality of sections.
[0093] FIG. 7 shows another example of a row section 104 including
a reaping yield instrument. As shown, the row section 104 includes
first and second snouts 106 provided to the sides of the section
gap 302. A stand count instrument 700 is installed in each of the
snouts 106. For instance, in the example the stand count instrument
700 (e.g., another example of a reaping yield instrument) includes
a beam emitter 702 installed in one of the snouts 106 and a beam
receiver 704 installed in the other snout 106. A beam 706 extends
from the beam emitter 702 and is received by the beam receiver 704.
As will be described herein, the stand count instrument 700
measures interruptions of the beam 706 received at the beam
receiver 704. By measuring the interruptions one or more harvested
crop characteristics are measured for the harvested crop including,
but not limited to, a stand characteristic such as plant count,
rate of plant count, plant width, weed width, leaf width or the
like. The measured one or more crop characteristics by the reaping
based yield monitor system (described herein, and shown in FIG. 8)
to determine one or more yield values including a harvested
standing crop value.
[0094] In operation, as the harvester 100 including the row section
104 of a plurality of row sections 104 (having corresponding stand
count instruments 700 installed in each of the row sections 104)
moves through a field and harvests the crop in rows . As the crop
is received in the section gap 302 between the snouts 106, the beam
706 of the stand count instrument 700 is broken, for instance by
one or more of stalks, leaves, weeds or the like. The reaping
instrument controller 202 received measurements of the at least one
crop characteristic including a stand characteristic (e.g., a stalk
width or the like) and counts the interruptions (width or time of
the interruptions, frequency of interruption corresponding to a
rate of plant count, or the like) to generate a harvested standing
crop value based on the interruptions.
[0095] In another example, the at least one crop characteristic,
including for instance a harvested standing crop value, is compared
with a planting map generated at the beginning of the growing
season having a mapped planting density of the crop prior to
germination (e.g., a seed planting map). By comparing the counted
standing crops and the planted crops yield information including
the density of the standing crop relative to the planted crop
(seeds) is generated and optionally plotted to a field map or a
crop density map as desired.
[0096] Referring again to FIG. 7, in one example the stand count
instrument 700 includes an infrared (IR) or light beam system that
passes the beam 706 from the beam emitter 702 to the beam receiver
704. In another example, an ultrasound generator and receiver are
used as the corresponding beam emitter 702 and beam receiver 704.
In yet another example, the reaping yield instrument includes, but
is not limited to, other examples of reaping yield instruments
including, but not limited to, optical, infrared, ultrasonic,
camera, video camera or mechanical sensors (including impact
sensors such as the impact sensors described herein). Optionally,
the sensors are installed in each of the row sections 104, for
instance in the snouts 106 or along the section gap 302 in the
manner of previously described instruments. The reaping yield
instruments measure the one or more crop characteristics including
a stand characteristic of the harvested crop. In another example,
the reaping yield instruments are installed along the harvester
head 102, for instance in an orientation and a direction that
provides multiple scan lines for one or more instruments to take
measurements in one or more row sections or sections (e.g., of a
grade harvester head) to facilitate the observation and measurement
of the at least one crop characteristic in each of the sections. In
one example a single sensor or a small subset of sensors are
directed across the entire width of the harvester head 102 where
each of the one or more sensors includes a plurality of scan lines
directed toward designated portions of the harvester head 102 to
facilitate the measurement of the at least one crop characteristic
in each of the sections of the harvester head 102.
[0097] As previously described herein, the reaping yield instrument
such as the stand count instrument 700 and other reaping yield
instruments described herein are part of a reaping based yield
monitor system 200 shown in FIG. 2A and the reaping based yield
monitor system 800 shown in FIG. 8. For the purposes of the
discussion herein the harvested standing crop value (e.g., a
standing count of a standing crop) within a particular row section
or a plurality of row sections 104 corresponds to a yield value
generated by the reaping based yield monitor system. In such
examples, the harvested standing crop value is another form of
yield differing from volumetric and weight based yield values
according to the nature of the measurements taken with the reaping
yield instruments (e.g., stand count instruments 700) including,
but not limited to, plant count, rate of plant count, plant width,
weed width, leaf width or the like. In the examples described
herein, the standing counts of the standing crop measured by the
stand count instrument 700 shown in FIG. 7 are optionally used in
combination with yield values, such as volumetric or weight based
yield values, to generate refined values for yield including, but
not limited to, yield by volume per plant and yield by weight per
plant.
[0098] FIG. 8 shows another example of a reaping based yield
monitor system 800 including for instance the reaping instrument
controller 202 and an optional yield monitor 206. As previously
described herein the reaping instrument controller 202 is in one
example incorporated with the yield monitor 206 (e.g., as a
physical add-on component coupled with the yield monitor 206, a
software module installed into the yield monitor 206 or the like).
In another example, the reaping instrument controller 202 is a
standalone component used in cooperation with or separately from
the yield monitor 206. Accordingly, the reaping based yield monitor
system 800, in another example, includes the reaping instrument
controller 202 without a yield monitor 206.
[0099] Referring again to FIG. 8, the reaping based yield monitor
system 800 includes one or more reaping yield instruments, such as
the stand count instruments 700 (previously shown in FIG. 7) shown
as a plurality of instruments across the row sections 104. In
another example the stand count instruments 700 are consolidated
into one or more instruments that scan the entirety or a portion of
a harvester head, such as the harvester head 400 shown in FIG. 4
including for instance a grade harvester head. The stand count
instruments 700 are in communication with the reaping instrument
controller 202 and the reaping instrument controller 202 is
configured to interpret measurement data delivered by the stand
count instruments 700 and accordingly generate one or more values
corresponding to a measured at least one crop characteristic
including a stand characteristic of the crop. As previously
described herein, in one example the stand characteristic includes
but is not limited to a count (counted interruption, length of
interruption, time of interruption or the like) associated with a
stalk of the plant, weed, leaf of the plant or the like.
[0100] As further shown in FIG. 8, in one example the reaping
instrument controller 202 is optionally in communication with the
yield monitor 206 by way of an interface such as the interface 209.
In one example, the interface 209 is a bus such as a CAN bus
(controller area network) provided with the harvester 100 to
facilitate the communication of a plurality of modules. As further
shown in FIG. 8 and previously described herein, in another example
the yield monitor 206 is in communication with one or more yield
instruments 208 (e.g., associated with the grain elevator 110) at a
downstream position relative to the sections of the harvester head
including the stand count instruments 700.
[0101] As further shown in FIG. 8 the control system 201 optionally
includes other components including, but not limited to, a position
locating system 210 and a field computer 207. In one example, the
position location system 210 includes one or more features such as
fiducials, antennas or the like configured to cooperate with a
global positioning system (GPS), real time kinematic (RTK) system
or the like. Accordingly, the position of the harvester 100
including its movement within a field are measured and tracked by
way of the position locating system 210. Optionally, the measured
and tracked location of the harvester 100 is used with a field map
or planting map stored and available by way of the field computer
207 to plot yield values including the harvested standing crop
value generated with the reaping based yield monitor system
800.
[0102] As further shown in FIG. 8, in one example a field computer
207 is configured for communication with one or more of the reaping
based yield monitor system 800 and the position location system 210
by way of the interface 209. The field computer 207 optionally
includes access to a field map, a planting map or the like (e.g., a
map with detailed plots, values or the like for previously planted
seeds). In another example the field computer 207 provides one or
more of automated steering or steering cues to an operator of the
harvester 100 to facilitate the guidance of the harvester 100 for
accurate harvesting of the planted crop.
[0103] Referring again to FIG. 8, in operation the reaping based
yield monitor system 800 provides one or more instruments, stand
count instruments 700 to measure a stand characteristic (e.g., at
least one crop characteristic of a harvested standing crop) and
generate a harvested standing crop value corresponding to one or
more of a stand count of the harvested standing crop, standing crop
density (e.g., relative to planted seeds, area covered by the
harvester 100, distance travelled by the harvester 100) yield on a
per counted plant basis or the like). As shown in FIG. 8, the one
or more stand count instruments 700 for include beam emitters 702
and beam receivers 704. The beams 706 from the beam emitters 702
are broken by the incoming plants and the instruments 700 (e.g.,
beam receivers 704) measure one or more of interruption of the
beam, interruption length, interruption time or the like.
[0104] Measured values such as, interruptions, lengths of
interruption, interruption time or the like are conveyed to the
reaping instrument controller 202 (e.g., by wired or wireless
connections such as Bluetooth, radio frequency transmissions or the
like) for interpretation by the reaping instrument controller 202
to generate one or more harvested standing crop values based on the
measured data. For instance as shown in FIG. 8, in one example the
reaping instrument controller 202 includes a stand counting module
802. The stand counting module is configured to interpret one or
more of the interruption of the beams, the length or time of
interruption of the beams as a corresponding width of one or more
of a stalk, leaf, weed or the like. The reaping instrument
controller 202 including the stand count module 802 generates and
accumulates one or more counts, for instance counts for each of the
row sections 104 of the harvester head 102, to thereby count
harvested crops as they are harvested with each of the row sections
104. In another example where the harvester head does not include
dedicated row sections 104 and instead includes sections
corresponding to various portions of the harvester head 400 (e.g.,
a grain harvester head) each of the stand count instruments 700 is
configured to observe a zone or provide a plurality of scan lines
directed to zones that measure one or more stand characteristics in
each of the respective sections of the harvester head 400.
[0105] In another example the stand counts generated by the stand
counting module 802 are in one example filtered with a filtering
module 804. In one example, the filtering module 804 removes errant
results corresponding to weeds, leaves associated with plant stalks
(such as leaves of a corn plant) or the like from overall stand
counts to provide a refined stand count value closely approximating
or equaling the number of standing crops within a particular row
(corresponding to a row section 104 or section 402 of the harvester
heads 100, 400).
[0106] In one example, the filter module 804 refines the stand
counts or removes values from interpretation by the stand counting
module 802 by comparing the values measured by the one or more of
the stand count instruments 700 against a filter threshold. In one
example, a filter threshold includes a stalk width (e.g., an
average or minimum stalk width for the crop being harvested). The
stalk width is equivalent to the minimum stalk width of a corn
plant at the time of harvesting. The filter module 804 compares
each of the values measured by the stand count instruments 700
against the filter threshold and removes any values less than the
filter threshold (e.g., a stalk width). In yet another example, the
filter threshold 804 is applied alone or in combination with a
filter algorithm. In one example, a filter algorithm ignores
counted values that are adjacent to (in time or position) a
qualifying value of the at least one crop characteristic (an
interruption of a beam for instance) that does satisfy the filter
threshold. That is to say, where a stalk includes a plurality of
leaves if those leaves otherwise trigger a count with the stand
counting module 802 the application of the filter algorithm removes
those values because of the nearby association to a qualifying
measurement corresponding to a stalk having a stalk width greater
than or equal to the filter threshold stalk width.
[0107] As further shown in FIG. 8 in another example the reaping
instrument controller 202 includes a stand count output module 806.
In one example, the stand count output module 806 generates one or
more harvested standing crop values (as a type of yield value)
based on one or more of the counted harvested standing crop or the
filtered measured values of the stand characteristic. For instance,
in one example the harvested standing crop value includes a refined
stand count for one or more of the sections (such as the row
sections 104) based on the application of a filter (filtering
module 804) to rough stand counts generated by the stand counting
module 802. That is to say, errant measurements such as weeds,
leaves or the like are removed from the overall stand count to
provide a refined stand count value as the harvested standing crop
value. In another example, the harvested standing crop value
includes a weed count, such as those measured values of the stand
characteristic that are otherwise filtered by the filtering module,
and generated as a weed count to provide an indication to the
operator of one or more of the frequency, volume or location of
weeds within the field. In yet another example, the standing crop
value includes the basic output of the standing count module
including all measured values of the standing characteristics by
the one or more stand count instruments 700 (e.g., unrefined with
the filtering module 804).
[0108] In other examples, the stand count output module 806
generates one or more other outputs based on the measured values of
the stand characteristic received and interpreted by the reaping
instrument controller 102. Other possible outputs include, but are
not limited to, harvested standing crop value in the form of a
standing crop density relative to a distance travelled by the
harvester 100 (e.g., density is provided in units of plants per
foot, meter or the like). In another example, the harvested
standing crop value is an area based density corresponding to the
area covered by the harvester head 102, 104 during the harvesting
operation (provided in units of plants per square feet, square
meters or the like). Where the field computer 207 includes access
to a planting map providing detailed information on one or more of
the density of the planted crop (e.g., seeds), the actual indexed
locations of the planted seeds or the like the stand count output
module is in one example configured to provide a stand count
density of the standing crop relative to the planted crop (e.g.,
harvested standing plants per seed planted). Accordingly with one
or more of the outputs described herein, the operator is able to
determine by way of the harvested standing crop value the ratio of
standing crops harvested relative to the number of seeds planted
originally. Accordingly with one or more of the outputs described
herein the operator is able to quantitatively review performance of
planted seeds (e.g., one or more hybrids) through a comparison of
the harvested standing crop relative to the planted crop. The
operator may then quantitatively determine which of a plurality of
planted hybrids provides the best germination and harvest potential
and will make enhanced decisions regarding planting of hybrids and
husbandry of the crop (watering, agricultural product application
or the like) in the next season.
[0109] In another example, where the reaping instrument controller
202 is incorporated with or in communication with a yield monitor
206 the harvested standing crop value generated with the stand
count output module is used to provide one or more refined yield
values based on volumetric or weight based yield determined with
the yield instruments 208 in cooperation with the yield monitor
206. In one example, where the yield monitor 206 is configured to
determine the yield for one or more sections discretely or
collectively (as described herein and shown in FIG. 2A), a portion
of the field such as a zone, or the like the yield values of
interest are divided by the harvested plants (within the section or
zone) counted with the reaping instruments controller 202 and the
stand count instruments 700 to determine one or more yield values
including for instance yield as a function of weight per harvested
plant or yield as a function of volume per harvested plant.
Further, with the reaping based yield monitor system 200 described
herein, the resolution and indexing of high resolution yield values
(volume or weight per plant) is possible for each section (crop
row) of a field. Accordingly, the operator readily determines the
yield value for a particular type of crop for instance one or more
differing types of hybrids on a per plant basis. The operator may
then quantitatively determine which of a plurality of hybrids
provides the most yield per plant and is thereby able to make
enhanced decisions regarding planting of hybrids and husbandry of
the crop (watering, agricultural product application or the like)
in the next season.
[0110] In still another example the field computer 207 includes a
planting map that plots the seeds planted at the beginning of the
season for a particular crop, such as corn (or a plurality of
hybrids of a crop). In such an example, the reaping instrument
controller 202 is in communication with the field computer 207. The
stand count output module 806 communicates with the field computer
207 to compare the number of counted and harvested standing crops
relative to the planted seeds and determine the plant density of
the standing crops relative to the planted seeds provided on the
plant map. In another example the stand count output module
generates a harvested standing crop value as a plotted map and
includes not only the planted seeds but also the counts of the
harvested standing crop relative to the planted seeds. In such an
example (shown for instance in FIG. 9B) the reaping based yield
monitor system 800 provides a plot of the actual harvested standing
crop relative to the originally planted seeds. The operator readily
determines which parts of a field or zones of a field have
particular difficulty or ability to grow a crop. In another
example, based on the plotting together of the harvested standing
crop values and the planted seeds (e.g., on a field map) or
comparison of numbers of the harvested standing crop relative to
planted seeds the operator may qualitatively or quantitatively
ascertain the overall germination rate and viability of a
particular hybrid or plant type within a field.
[0111] FIG. 9A shows one example of a planting map 900, such as the
planting map previously described in regard to the field computer
207. As shown, the planting map 900 provides a graphical
representation of each of the planted seeds 904 in a plurality of
crop rows 906. In another example, the planting map 900 provides
the number of planted seeds 904 by way of density measurements
provided across rows, crop rows, zones or the like of a field.
[0112] FIG. 9B shows another example of a map, in this case a
consolidated planting and standing crop density map 902 including
the original data presented by the planting map 900 as well as
values corresponding to the measured values of the stand
characteristic by the one or more reaping yield instruments such as
the stand count instruments 700 shown in FIG. 8. The harvested
standing crops 908 are shown by stars. In a similar manner filtered
measured values 910 (e.g., filtered with the filtering module 804)
are indicated with triangular shapes. As shown in FIG. 9B, not all
of the planted seeds 904 germinate or are harvested. Similarly, the
filtered measured values 910 include, but are not limited to,
measurements of the stand characteristics corresponding to leaves
in a first case where the triangular elements are shown near a
harvested standing crop 908 or weeds where the filtered measured
values 910 and corresponding triangular elements are adjacent to
planted seeds 904 that are not otherwise harvested during the
harvest process (or are remote from other harvested standing crops
908) by the harvester 100.
[0113] Referring again to FIG. 9B, the consolidated planting and
standing crop density map 902 provides a graphical representation
providing consolidated plots of both of the planted and standing
crops as they were originally planted and later harvested (and
counted). The graphical plot provides a representation for the
operator to use for qualitative review of planting and growing
characteristics of one or more particular plants for instance one
or more hybrids of a particular plant (a first and second hybrid of
corn for instance). In another example, the map 902 allows the
operator to note various features of the field including, but not
limited to, exposed regions, elevated regions, depressed regions or
the like that may have difficulty or provide enhanced growing
conditions for a crop. Additionally, the resolution provided by the
consolidated planting and standing crop density map 902 corresponds
to the resolution of the stand count instruments 700. For instance,
in the example shown in FIG. 8 the stand count instruments 700 are
assigned to each of the row sections 104 of a harvester such as the
harvester 100. In another example, the stand count instrument 700
is a single or lesser number of instruments relative to a plurality
of sections of a harvester head such as the harvester head 400
(e.g., a grain or cotton harvester head). In such an example the
stand count instrument 700 includes a plurality of scan lines or
sensors that are directed toward various portions of the harvester
head 400 to accordingly sense the at least one crop characteristic
in each of the sections of the harvester head 400. In either case
the resolution of the stand count instruments 700 provide increased
resolution across the entire swath of a harvester head such as the
harvester heads 102, 400 to thereby provide enhanced section based
resolution (as shown in FIG. 9B) for the harvested standing crop
908. Accordingly, the operator is able to see by the crop rows 906
a representation of the standing crop 908 relative to the planted
seeds 904 to qualitatively review, with increased resolution, the
behavior of the crop relative to its planting.
[0114] Although FIGS. 9A and 9B provide a graphical or pictorial
representation of the planted seeds 904, the standing crop 908 as
well as filtered measured values 910 are, in another example,
provided indexed to the consolidated planted and standing crop
density map and the planting map 900 as numerical representations.
For instance one or more counted standing crops 908 in a particular
zone (a collection of crop rows or a region of a field) relative to
the planted seeds 904 for the same zone are provided in a numerical
format discussed herein (e.g., a harvested crop stand count
relative to the number of planted seeds for the zone). With a
pictorial representation or a numerical representation the stand
count output module 806 by itself or in cooperation with the yield
monitor 206 is able to generate one or more harvested standing crop
values based on the counts of the standing crop 908 and plot or
list the values for later analysis.
[0115] FIG. 10 shows one example of a method 1000 for measuring
reap based yield. In describing the method 1000 reference is made
to one or more components, features, functions and steps previously
described herein. Where convenient, reference is made to the
components, features, steps and the like with reference numerals.
The reference numerals provided are exemplary and are not
exclusive. For instance, components, features, functions, steps and
the like described in the method 1000 include, but are not limited
to, the corresponding numbered elements provided herein, other
corresponding features described herein (both numbered and
unnumbered) as well as their equivalents.
[0116] At 1002, at least one crop characteristic of at least one
crop is measured. The at least one crop characteristic includes a
stand characteristic such as stalk width, a stalk count or the
like. The at least one crop characteristic is measured with one or
more reaping yield instruments 700 associated with a harvester head
102 (see FIG. 8). Optionally, the one or more reaping yield
instruments 700 (e.g., stand count instruments) each include a beam
emitter 702 that generates a beam 706, and a beam receiver 704 that
senses the beam and senses interruptions of the beam 706. In
another example, the one or more reaping yield instruments 700 one
or more of imaging, optical or video sensors (e.g., infrared,
camera, video camera) or the like configured to measure and count a
crop as it is harvested.
[0117] At 1004, a harvested standing crop value is generated for
the at least one crop based on at least the measured stand
characteristic. The harvested standing crop value is a type of
yield value including, but not limited to, a harvested plant count,
plant count as function of distance traveled or area covered by the
harvester 100, yield (volumetric or weight) per harvested plant or
the like. Generating the harvested standing crop value includes
counting the at least one crop as it is harvested based on the
measured stand characteristic to determine a standing crop count.
For instance, interruptions, length of interruption (e.g., time of
interruption) or the like are measured and counted with the stand
count instruments 700 and the reaping instrument controller 202. In
another example, generating the harvested standing crop value
includes comparing the measured stand characteristic, such as a
stalk width measured (e.g., a beam interruption length) against a
filter threshold, such as a stalk width threshold, and filtering
the measured stand characteristic based on the comparison. For
instance, measurements below a stalk width threshold are ignored or
separately counted (e.g., as a weed count).
[0118] Several options for the method 1000 follow. In one example,
one or more reaping yield instruments includes a plurality of
reaping yield instruments, each of the reaping yield instruments
(e.g., stand count instruments) associated with at least one
section of a plurality of sections 104, 402 of a harvester head
102, 400. Counting the at least one crop includes counting the at
least one crop in each section of the plurality of sections with a
respective reaping yield instrument 700 of the plurality of reaping
yield instruments 700. As discussed herein, the corresponding
counts for each section provide resolution on a section (e.g., crop
row) basis.
[0119] In another example, generating the harvested standing crop
values includes dividing the standing crop count (e.g., with
section based resolution) by one or more of the distance traveled
or area covered by one or more sections of a plurality of sections
of a harvester head to generate a standing crop count per unit of
distance or per unit of area. Where the stand crop counts are
indexed according to crop row (e.g., row sections 104) the
resulting standing crop values (crop count per unit distance or
area) have the same enhanced (section based) resolution relative to
a lesser resolution corresponding to the width of a harvester
head.
[0120] In yet another example, the method 1000 includes determining
one or more of a volumetric or weight yield value of the at least
one crop (e.g., with the yield monitor 206 and yield instruments
208). Generating the harvested standing crop value for the at least
one crop includes dividing one or more of the volumetric or weight
yield value by the standing crop count, and the harvested standing
crop value includes a volumetric or weight yield per plant value.
Optionally, where the yield values and stand counts are apportioned
(see discussion herein and exemplary FIGS. 2A, B) by sections, the
harvested standing crop value is in one example apportioned by
sections (e.g., sections corresponding to the row sections 104 and
402 of FIGS. 1 and 4, respectively).
[0121] Accordingly resolution of yield per plant per section is
achieved with section based resolution of yield values and
harvested plant counts.
[0122] In still another example, generating the harvested standing
crop value for the at least one crop includes comparing the
standing crop count against a planted crop count (e.g., planted
seeds indexed to a planting map 900 or tabulated and stored
numerically). The harvested standing crop count based on the
standing crop count and the planted crop count (planted seed count)
is represented as a crop density map based on the comparison of the
standing crop count relative to the planted crop count with either
of plotted elements indicative of planting and harvesting (see FIG.
9B) or indexed values of harvested standing crop counts relative
planted crop counts.
[0123] Optionally, measuring the at least one crop characteristic
and generating the harvested standing crop value is conducted for
first and second crops (e.g., first and second hybrids) for
evaluation of performance of the first and second crops. Measuring
the at least one crop characteristic of the first and second crops
includes measuring stand characteristics with one or more of the
reaping yield instruments 700, and generating first and second
harvested standing crop values for the respective first and second
crops (e.g., respective stand counts) based on at least the
measured stand characteristics.
[0124] In one example, generating the first and second harvested
standing crop values includes counting the first crop as it is
harvested based on the measured stand characteristic of the first
crop to determine a first standing crop count and counting the
second crop as it is harvested based on the measured stand
characteristic of the second crop to determine a second standing
crop count. A first crop density is identified including comparing
the first standing crop count to a first planted crop count. A
second crop density is identified including comparing the second
standing crop count to a second planted crop count. The first and
second crop densities are compared to evaluate the growth and
germination of the first and second crops (e.g., to facilitate
purchasing and planning for planting and husbandry in the next
season).
[0125] In another example, generating the first and second
harvested standing crop values includes counting the first crop as
it is harvested based on the measured stand characteristic of the
first crop to determine the first standing crop count, and counting
the second crop as it is harvested based on the measured stand
characteristic of the second crop to determine a second standing
crop count. First and second volumetric or weight yield values of
each of the first and second crops are determined, respectively.
The reaping based yield monitor system 200 described herein,
optionally including apportionment of variable yield values, is
used to determine the first and second volumetric or weight yield
values. The first volumetric or weight yield values are divided by
the first standing crop count to provide a first harvested standing
crop value including a first volumetric or weight yield per plant
value. The second volumetric or weight yield values are divided by
the second standing crop count to provide a second harvested
standing crop value including a second volumetric or weight yield
per plant value. In a similar manner to the first and second crop
densities the first and second yield per plant values are compared
to evaluate the respective yields of the first and second crops on
a per plant basis (e.g., to facilitate purchasing and planning for
planting and husbandry in the next season).
Various Notes & Examples
[0126] Example 1 can include subject matter, such as can include a
reaping based yield monitor system comprising: one or more reaping
yield instruments configured for coupling with a harvester head,
the one or more reaping yield instruments measure at least one crop
characteristic of a harvested crop in each of a plurality of
sections of the harvester head; and a yield monitor assembly in
communication with the one or more reaping yield instruments, the
yield monitor assembly includes: a yield monitor configured to
determine a variable yield of the harvested crop, and an
apportionment module configured to apportion the variable yield of
the harvested crop to each of the sections of the harvester head
based on the at least one crop characteristic measured in each of
the plurality of sections of the harvester head.
[0127] Example 2 can include, or can optionally be combined with
the subject matter of Example 1, to optionally include wherein the
plurality of sections of the harvester head include a plurality of
row sections of the harvester head.
[0128] Example 3 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1 or 2 to
optionally include wherein the one or more reaping yield
instruments includes a plurality of dedicated reaping yield
instruments each configured for association with a respective row
section of the plurality of row sections, and each of the dedicated
reaping yield instruments is configured to measure the at least one
crop characteristic at the associated respective row section.
[0129] Example 4 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1-3 to
optionally include wherein the one or more reaping yield
instruments includes a contact instrument at each of the plurality
of row sections.
[0130] Example 5 can include, or can optionally be combined with
the subject matter of one or any combination of Examples 1-4 to
optionally include wherein the one or more reaping yield
instruments include one or more imaging instruments.
[0131] Example 6 can include, or can optionally be combined with
the subject matter of Examples 1-5 to optionally include wherein
the one or more imaging instruments includes one or more of
infrared (IR), optical, or video instruments.
[0132] Example 7 can include, or can optionally be combined with
the subject matter of Examples 1-6 to optionally include one or
more yield instruments in communication with the yield monitor, the
one or more yield instruments are different than the one or more
reaping yield instruments, the one or more yield instruments are
configured to measure at least another crop characteristic the same
as or different from the at least one crop characteristic, and the
yield monitor determines the variable yield of the harvested crop
based on the measured at least another crop characteristic.
[0133] Example 8 can include, or can optionally be combined with
the subject matter of Examples 1-7 to optionally include wherein
the one or more yield instruments are configured for coupling with
a grain elevator of the harvester, and the one or more reaping
yield instruments are configured for coupling with the harvester
head upstream from the grain elevator and the one or more yield
instruments.
[0134] Example 9 can include, or can optionally be combined with
the subject matter of Examples 1-8 to optionally include wherein
the apportionment module includes a matching module configured to
match the determined variable yield taken at a second time with at
least one corresponding measurement of the at least one crop
characteristic of the harvested crop measured with the one or more
reaping yield instruments and taken at an earlier first time
relative to the second time.
[0135] Example 10 can include, or can optionally be combined with
the subject matter of Examples 1-9 to optionally include wherein
the one or more reaping yield instruments includes a plurality of
reaping yield instruments, and the apportionment module includes: a
characteristic value module configured to store a plurality of
ongoing consolidated values, each ongoing consolidated value
corresponding to measurements of the crop characteristic measured
with the plurality of reaping yield instruments taken at a first
time for each of the plurality of sections of the harvester head, a
comparator configured to compare the determined variable yield
against the plurality of ongoing consolidated values, the
determined variable yield determined at a second later time
relative to the first time, a matching module configured to match
the determined variable yield with an ongoing consolidated value of
the plurality of ongoing consolidated values based on the
comparison, and an assignment module configured to divide the
matched determined variable yield into variable yield portions
between each section of the plurality of sections of the harvester
head according to the measurements of the at least one crop
characteristic measured with the plurality of reaping yield
instruments.
[0136] Example 11 can include, or can optionally be combined with
the subject matter of Examples 1-10 to optionally include wherein
the apportionment module includes a delay module configured to
measure a delay time between the first and second times of the
measurements of the crop characteristics and the determined
variable yield.
[0137] Example 12 can include, or can optionally be combined with
the subject matter of Examples 1-11 to optionally include wherein
the apportionment module includes an indexing module in
communication with a field map, and the indexing module is
configured to map the variable yield portions of each of the
plurality of sections to portions of the field map corresponding to
each of the harvester head sections at the first time.
[0138] Example 13 can include, or can optionally be combined with
the subject matter of Examples 1-12 to optionally include wherein
the sections of the harvester head include row sections of the
harvester head, and the portions of the field map include crop
rows, and the indexing module is configured to map the variable
yield portions of each of the plurality of row sections to the crop
rows of the field map corresponding to each of the harvester head
row sections at the first time.
[0139] Example 14 can include, or can optionally be combined with
the subject matter of Examples 1-13 to optionally include wherein
the one or more harvesting yield instruments includes a contact
instrument coupled along at least one deck plate of a harvester row
section.
[0140] Example 15 can include, or can optionally be combined with
the subject matter of Examples 1-14 to optionally include wherein
the contact instrument includes a load cell system.
[0141] Example 16 can include, or can optionally be combined with
the subject matter of Examples 1-15 to optionally include wherein
the contact instrument includes a protective plate covering the
load cell system.
[0142] Example 17 can include, or can optionally be combined with
the subject matter of Examples 1-16 to optionally include wherein
the one or more reaping yield instruments includes a plurality of
reaping yield instruments, and the apportionment module includes: a
matching module configured to match the determined variable yield
with measurements of the at least one crop characteristic in each
of the plurality of sections of the harvester head according to a
delay time between the measuring of the at least one crop
characteristic and determining of the variable yield, and an
assignment module configured to divide the matched determined
variable yield into variable yield portions between each of the
sections of the plurality of sections according to the measurements
of the at least one crop characteristic in each of the plurality of
sections with the plurality of reaping yield instruments.
[0143] Example 18 can include, or can optionally be combined with
the subject matter of Examples 1-17 to optionally include a reaping
based yield measuring system comprising: one or more reaping yield
instruments configured for coupling with a harvester head, the one
or more harvesting yield instruments measure at least one crop
characteristic in each of a plurality of sections of the harvester
head; a reaping instrument controller in communication with the one
or more harvesting yield instruments, the reaping instrument
controller configured for communication with a yield monitor; and
wherein the reaping instrument controller is configured to
apportion a determined variable yield generated by the yield
monitor to each of the sections of the plurality of sections
according to measurements of the at least one crop characteristic
in each of the plurality of sections of the harvester head.
[0144] Example 19 can include, or can optionally be combined with
the subject matter of Examples 1-18 to optionally include a yield
monitor in communication with the reaping instrument controller,
the yield monitor is configured to determine the variable yield of
the harvested crop.
[0145] Example 20 can include, or can optionally be combined with
the subject matter of Examples 1-19 to optionally include one or
more yield instruments in communication with the yield monitor, the
one or more yield instruments are different than the one or more
reaping yield instruments, the one or more yield instruments are
configured to measure at least another crop characteristic the same
as or different from the at least one crop characteristic, and the
yield monitor determines the variable yield of the harvested crop
based on the measured at least another crop characteristic.
[0146] Example 21 can include, or can optionally be combined with
the subject matter of Examples 1-20 to optionally include wherein
the one or more yield instruments are configured for coupling with
a grain elevator of the harvester, and the one or more reaping
yield instruments are configured for coupling with the harvester
head upstream from the grain elevator and the one or more yield
instruments.
[0147] Example 22 can include, or can optionally be combined with
the subject matter of Examples 1-21 to optionally include wherein
the plurality of sections of the harvester head include a plurality
of row sections of the harvester head.
[0148] Example 23 can include, or can optionally be combined with
the subject matter of Examples 1-22 to optionally include wherein
the one or more reaping yield instruments includes a plurality of
dedicated reaping yield instruments each configured for association
with corresponding row sections of the plurality of row sections,
and each of the dedicated reaping yield instruments is configured
to measure the at least one crop characteristic at the respective
corresponding row section.
[0149] Example 24 can include, or can optionally be combined with
the subject matter of Examples 1-23 to optionally include wherein
the one or more reaping yield instruments includes a contact
instrument configured for positioning at each row section of the
plurality of row sections.
[0150] Example 25 can include, or can optionally be combined with
the subject matter of Examples 1-24 to optionally include wherein
the one or more reaping yield instruments include one or more
imaging instruments.
[0151] Example 26 can include, or can optionally be combined with
the subject matter of Examples 1-25 to optionally include wherein
the one or more imaging sensors includes one or more of infrared
(IR), optical, or video instruments.
[0152] Example 27 can include, or can optionally be combined with
the subject matter of Examples 1-26 to optionally include wherein
the plurality of sections of the harvester head includes a
plurality of sections of the harvester head, and the one or more
imaging instruments includes a plurality of dedicated imaging
instruments each configured for association with respective
sections of the plurality of sections of a harvester head to
measure the at least one crop characteristic at each of the
sections.
[0153] Example 28 can include, or can optionally be combined with
the subject matter of Examples 1-27 to optionally include wherein
the one or more imaging instruments includes a single stream video
instrument configured to measure the at least one crop
characteristic at each section of the plurality of sections.
[0154] Example 29 can include, or can optionally be combined with
the subject matter of Examples 1-28 to optionally include wherein
the one or more reaping yield instruments include a plurality of
reaping yield instruments, and the reaping instrument controller
includes: a characteristic value module configured to store a
plurality of ongoing consolidated values, each ongoing consolidated
value corresponding to measurements of the crop characteristic
measured with the plurality of reaping yield instruments taken at a
first time for each of the plurality of sections of the harvester
head, a comparator configured to compare the determined variable
yield against the plurality of ongoing consolidated values, the
determined variable yield determined at a second later time
relative to the first time, a matching module configured to match
the determined variable yield with an ongoing consolidated value of
the plurality of ongoing consolidated values based on the
comparison, and an assignment module configured to divide the
determined variable yield into variable yield portions between each
section of the plurality of sections of the harvester head
according to the measurements of the at least one crop
characteristic measured with the plurality of reaping yield
instruments.
[0155] Example 30 can include, or can optionally be combined with
the subject matter of Examples 1-29 to optionally include wherein
the reaping instrument controller includes a delay module
configured to measure a delay time between the first and second
times of the measurements of the crop characteristics and the
determined variable yield.
[0156] Example 31 can include, or can optionally be combined with
the subject matter of Examples 1-30 to optionally include wherein
the reaping instrument controller includes an indexing module in
communication with a field map, and the indexing module is
configured to map the variable yield portions of each of the
plurality of sections to portions of the field map corresponding to
each of the harvester head sections at the first time.
[0157] Example 32 can include, or can optionally be combined with
the subject matter of Examples 1-31 to optionally include wherein
the sections of the harvester head include row sections of the
harvester head, and the portions of the field include crop rows,
and the indexing module is configured to associate the apportioned
variable yield of the harvested crop at each of the row sections of
the harvester head to the portions of crop rows of the field on a
field map corresponding to each location of the row sections of the
harvester head based on the determined delay.
[0158] Example 33 can include, or can optionally be combined with
the subject matter of Examples 1-32 to optionally include wherein
the one or more harvesting yield instruments includes a contact
instrument coupled along at least one deck plate of a harvester row
section.
[0159] Example 34 can include, or can optionally be combined with
the subject matter of Examples 1-33 to optionally include wherein
the contact instrument includes a load cell system.
[0160] Example 35 can include, or can optionally be combined with
the subject matter of Examples 1-34 to optionally include wherein
the contact instrument includes a protective plate covering the
load cell system.
[0161] Example 36 can include, or can optionally be combined with
the subject matter of Examples 1-35 to optionally include wherein
the reaping instrument controller includes: a matching module
configured to match the determined variable yield with measurements
of the at least one crop characteristic in each of the plurality of
sections of the harvester head according to a delay time between
the measuring of the at least one crop characteristic and
determining of the variable yield, and an assignment module is
configured to divide the matched determined variable yield into
variable yield portions between each of the sections of the
plurality of sections according to the measurements of the at least
one crop characteristic in each of the plurality of sections with
the plurality of reaping yield instruments.
[0162] Example 37 can include, or can optionally be combined with
the subject matter of Examples 1-36 to optionally include a method
for apportioning yield comprising: measuring at least one crop
characteristic of a harvested crop in each of a plurality of
sections of a harvester head with one or more reaping yield
instruments coupled with the harvester head; determining a variable
yield of the harvested crop; and apportioning the variable yield of
the harvested crop to each of the sections of the plurality of
sections of the harvester head based on the at least one crop
characteristic measured in each section of the plurality of
sections of the harvester head.
[0163] Example 38 can include, or can optionally be combined with
the subject matter of Examples 1-37 to optionally include wherein
measuring the at least one crop characteristic includes measuring
the number of contacts made with the one or more reaping yield
instruments in each section of the plurality of sections.
[0164] Example 39 can include, or can optionally be combined with
the subject matter of Examples 1-38 to optionally include wherein
the plurality of sections includes a plurality of row sections of a
harvester head, and measuring the at least one crop characteristic
includes measuring the number of contacts made with the one or more
reaping yield instruments in each section of the plurality of row
sections.
[0165] Example 40 can include, or can optionally be combined with
the subject matter of Examples 1-39 to optionally include wherein
measuring the at least one crop characteristic includes observing
the quantity of the harvested crop with the one or more reaping
yield instruments in each section of the plurality of sections.
[0166] Example 41 can include, or can optionally be combined with
the subject matter of Examples 1-40 to optionally include wherein
observing the quantity of the harvested crop includes one or more
of infrared (IR) sensing, optical sensing, or video sensing.
[0167] Example 42 can include, or can optionally be combined with
the subject matter of Examples 1-41 to optionally include wherein
determining the variable yield of the harvested crop includes
measuring at least another crop characteristic of the harvested
crop the same as or different from the at least one crop
characteristic with one or more yield instruments, the one or more
yield instruments are different from the one or more reaping yield
instruments.
[0168] Example 43 can include, or can optionally be combined with
the subject matter of Examples 1-42 to optionally include wherein
apportioning the variable yield of the harvested crop includes:
generating an ongoing plurality of characteristic values, each of
the plurality of characteristic values corresponding to a plurality
of measurements of the at least one crop characteristic taken at a
first time for each of the plurality of sections of the harvester
head, comparing the variable yield against the plurality of ongoing
consolidated values, the variable yield determined at a second
later time relative to the first time, matching the variable yield
with an ongoing characteristic value of the plurality of
characteristic values based on the comparison, and dividing the
matched variable yield between each section of the plurality of
sections according to the plurality of measurements of the at least
one crop characteristic taken at the first time.
[0169] Example 44 can include, or can optionally be combined with
the subject matter of Examples 1-43 to optionally include measuring
a delay time between the first and second times of the measurements
of the crop characteristics and the matched variable yield.
[0170] Example 45 can include, or can optionally be combined with
the subject matter of Examples 1-44 to optionally include mapping
the variable yield portions of each of the plurality of sections to
portions of a field map corresponding to each of the harvester head
sections at the first time.
[0171] Example 46 can include, or can optionally be combined with
the subject matter of Examples 1-45 to optionally include wherein
the sections of the harvester head include row sections of the
harvester head, and the portions of the field map include crop
rows, and mapping the variable yield portions includes mapping the
variable yield portions to crop rows of the field map corresponding
to each of the harvester head row sections at the first time.
[0172] Example 47 can include, or can optionally be combined with
the subject matter of Examples 1-46 to optionally include wherein
apportioning the variable yield of the harvested crop includes:
matching the variable yield with measurements of the at least one
crop characteristic in each of the plurality of sections of the
harvester head according to a delay time between the measuring of
the at least one crop characteristic and determining of the
variable yield, and assigning the variable yield across the
sections of the plurality of sections, assigning includes dividing
the matched variable yield between each section of the plurality of
sections according to the measurements of the at least one crop
characteristic in each of the sections of the plurality of sections
with the one or more reaping yield instruments.
[0173] Example 48 can include, or can optionally be combined with
the subject matter of Examples 1-47 to optionally include a reaping
based yield monitor system comprising: one or more reaping yield
instruments configured for coupling with a harvester head, the one
or more reaping yield instruments measure at least one crop
characteristic of a harvested standing crop including a stand
characteristic; and a reaping instrument controller in
communication with the one or more reaping yield instruments, the
reaping instrument controller includes: a stand counting module
configured to count the harvested standing crop based on measured
values of the stand characteristic by the one or more reaping yield
instruments, a filtering module configured to compare measured
values of the stand characteristic against a filter threshold and
filter measured values of the stand characteristic based on the
comparison, and a stand count output module configured to output a
harvested standing crop value based on one or more of the counted
harvested standing crop or the filtered measured values of the
stand characteristic.
[0174] Example 49 can include, or can optionally be combined with
the subject matter of Examples 1-48 to optionally include wherein
the one or more reaping yield instruments include a plurality of
reaping yield instruments each configured for installation in
respective sections of a plurality of sections of the harvester
head.
[0175] Example 50 can include, or can optionally be combined with
the subject matter of Examples 1-49 to optionally include wherein
each of the one or more reaping yield instruments includes: a beam
emitter configured for installation in a first snout of a section
of the harvester head, a beam receiver configured for installation
in a second snout of the second the harvester head, and wherein the
beam emitter is configured to emit a beam received by the beam
receiver.
[0176] Example 51 can include, or can optionally be combined with
the subject matter of Examples 1-50 to optionally include wherein
the stand counting module counts the standing crop based on
interruptions of reception of the beam at the beam receiver.
[0177] Example 52 can include, or can optionally be combined with
the subject matter of Examples 1-51 to optionally include wherein
the one or more reaping yield instruments include one or more of
optical, infrared, ultrasonic, camera or mechanical sensors.
[0178] Example 53 can include, or can optionally be combined with
the subject matter of Examples 1-52 to optionally include wherein
the one or more reaping yield instruments include scanning arc
sensors configured for staggered installation along a grain
platform harvesting head.
[0179] Example 54 can include, or can optionally be combined with
the subject matter of Examples 1-53 to optionally include wherein
the stand characteristic includes a stalk width and the filter
threshold includes a stalk width threshold, and the filtering
module is configured to compare a measured stalk width with the
stalk width threshold and filter measured values of stalk width
below the stalk width threshold.
[0180] Example 55 can include, or can optionally be combined with
the subject matter of Examples 1-54 to optionally include wherein
the stand count output module is configured to output the filtered
measured values of crop width as a weed count.
[0181] Example 56 can include, or can optionally be combined with
the subject matter of Examples 1-55 to optionally include wherein
the stand count output module is configured to output the harvested
standing crop value including a standing plant density.
[0182] Example 57 can include, or can optionally be combined with
the subject matter of Examples 1-56 to optionally include a
planting map module in communication with the reaping instrument
controller, the planting map module includes a planting map of a
crop, and the stand count output module is configured to associate
the harvested standing crop value with the planting map and
generate a consolidated planted and standing crop density map.
[0183] Example 58 can include, or can optionally be combined with
the subject matter of Examples 1-57 to optionally include a yield
monitor in communication with the reaping instrument controller,
the yield monitor configured to measure a yield of the harvested
standing crop, and wherein the reaping instrument controller
includes a stand count yield module configured to identify yield
per plant based on the measured yield and the harvested standing
crop value.
[0184] Example 59 can include, or can optionally be combined with
the subject matter of Examples 1-58 to optionally include a method
for measuring reaping based yield comprising: measuring at least
one crop characteristic of at least one crop including a stand
characteristic with one or more reaping yield instruments
associated with a harvester head; and generating a harvested
standing crop value for the at least one crop based on at least the
measured stand characteristic, generating including: counting the
at least one crop as it is harvested based on the measured stand
characteristic to determine a standing crop count, and comparing
the measured stand characteristic against a filter threshold, and
filtering the measured stand characteristic based on the
comparison.
[0185] Example 60 can include, or can optionally be combined with
the subject matter of Examples 1-59 to optionally include wherein
counting the at least one crop includes counting standing stalks of
the at least one crop.
[0186] Example 61 can include, or can optionally be combined with
the subject matter of Examples 1-60 to optionally include wherein
the one or more reaping yield instruments includes a beam emitter
and a beam receiver, and counting the at least one crop includes
interrupting a beam, the beam generated by a beam emitter at a
first side of a section of a plurality of sections of the harvester
head and received by a beam receiver at a second side of the
section.
[0187] Example 62 can include, or can optionally be combined with
the subject matter of Examples 1-61 to optionally include wherein
the one or more reaping yield instruments includes a plurality of
reaping yield instruments, and counting the at least one crop
includes counting the at least one crop in each section of a
plurality of sections with a respective reaping yield instrument of
the plurality of reaping yield instruments.
[0188] Example 63 can include, or can optionally be combined with
the subject matter of Examples 1-62 to optionally include wherein
the stand characteristic includes a stalk width and the filter
threshold includes a stalk width threshold, and comparing the
measured stand characteristic includes comparing the measured stalk
width against the stalk width threshold, and filtering the measured
stalk width less than the stalk width threshold.
[0189] Example 64 can include, or can optionally be combined with
the subject matter of Examples 1-63 to optionally include
generating a weed count based on filtered stalk widths less than
the stalk width threshold.
[0190] Example 65 can include, or can optionally be combined with
the subject matter of Examples 1-64 to optionally include wherein
generating the harvested standing crop value includes dividing the
standing crop count by one or more of distance traveled or area
covered by one or more sections of a plurality of sections of a
harvester head to generate a standing crop count per unit of
distance or per unit of area.
[0191] Example 66 can include, or can optionally be combined with
the subject matter of Examples 1-65 to optionally include
determining one or more of a volumetric or weight yield value of
the at least one crop, and generating the harvested standing crop
value for the at least one crop includes dividing one or more of
the volumetric or weight yield value by the standing crop count,
and the harvested standing crop value includes a volumetric or
weight yield per plant value.
[0192] Example 67 can include, or can optionally be combined with
the subject matter of Examples 1-66 to optionally include wherein
generating the harvested standing crop value for the at least one
crop includes: comparing the standing crop count against a planted
crop count, and generating a crop density map based on the
comparison of the standing crop count relative to the planted crop
count.
[0193] Example 68 can include, or can optionally be combined with
the subject matter of Examples 1-67 to optionally include wherein
measuring the at least one crop characteristic and generating the
harvested standing crop value includes: measuring the at least one
crop characteristic of first and second crops including stand
characteristics with one or more of the reaping yield instruments,
and generating first and second harvested standing crop values for
the respective first and second crops based on at least the
measured stand characteristics.
[0194] Example 69 can include, or can optionally be combined with
the subject matter of Examples 1-68 to optionally include wherein
generating the first and second harvested standing crop values
includes: counting the first crop as it is harvested based on the
measured stand characteristic of the first crop to determine a
first standing crop count, identifying a first crop density
including comparing the first standing crop count to a first
planted crop count, counting the second crop as it is harvested
based on the measured stand characteristic of the second crop to
determine a second standing crop count, and identifying a second
crop density including comparing the second standing crop count to
a second planted crop count.
[0195] Example 70 can include, or can optionally be combined with
the subject matter of Examples 1-69 to optionally include wherein
generating the first and second harvested standing crop values
includes: counting the first crop as it is harvested based on the
measured stand characteristic of the first crop to determine a
first standing crop count, counting the second crop as it is
harvested based on the measured stand characteristic of the second
crop to determine a second standing crop count, determining first
and second volumetric or weight yield values of each of the first
and second crops, respectively, dividing one or more of the first
volumetric or weight yield values by the first standing crop count
and the first harvested standing crop value includes a first
volumetric or weight yield per plant value, and dividing one or
more of the second volumetric or weight yield values by the second
standing crop count, and the second harvested standing crop value
includes a second volumetric or weight yield per plant value.
[0196] Each of these non-limiting examples can stand on its own, or
can be combined in any permutation or combination with any one or
more of the other examples.
[0197] The above detailed description includes references to the
accompanying drawings, which form a part of the detailed
description. The drawings show, by way of illustration, specific
embodiments in which the invention can be practiced. These
embodiments are also referred to herein as "examples." Such
examples can include elements in addition to those shown or
described. However, the present inventors also contemplate examples
in which only those elements shown or described are provided.
Moreover, the present inventors also contemplate examples using any
combination or permutation of those elements shown or described (or
one or more aspects thereof), either with respect to a particular
example (or one or more aspects thereof), or with respect to other
examples (or one or more aspects thereof) shown or described
herein.
[0198] In the event of inconsistent usages between this document
and any documents so incorporated by reference, the usage in this
document controls.
[0199] In this document, the terms "a" or "an" are used, as is
common in patent documents, to include one or more than one,
independent of any other instances or usages of "at least one" or
"one or more." In this document, the term "or" is used to refer to
a nonexclusive or, such that "A or B" includes "A but not B," "B
but not A," and "A and B," unless otherwise indicated. In this
document, the terms "including" and "in which" are used as the
plain-English equivalents of the respective terms "comprising" and
"wherein." Also, in the following claims, the terms "including" and
"comprising" are open-ended, that is, a system, device, article,
composition, formulation, or process that includes elements in
addition to those listed after such a term in a claim are still
deemed to fall within the scope of that claim. Moreover, in the
following claims, the terms "first," "second," and "third," etc.
are used merely as labels, and are not intended to impose numerical
requirements on their objects.
[0200] Method examples described herein can be machine or
computer-implemented at least in part. Some examples can include a
computer-readable medium or machine-readable medium encoded with
instructions operable to configure an electronic device to perform
methods as described in the above examples. An implementation of
such methods can include code, such as microcode, assembly language
code, a higher-level language code, or the like. Such code can
include computer readable instructions for performing various
methods. The code may form portions of computer program products.
Further, in an example, the code can be tangibly stored on one or
more volatile, non-transitory, or non-volatile tangible
computer-readable media, such as during execution or at other
times. Examples of these tangible computer-readable media can
include, but are not limited to, hard disks, removable magnetic
disks, removable optical disks (e.g., compact disks and digital
video disks), magnetic cassettes, memory cards or sticks, random
access memories (RAMs), read only memories (ROMs), and the
like.
[0201] The above description is intended to be illustrative, and
not restrictive. For example, the above-described examples (or one
or more aspects thereof) may be used in combination with each
other. Other embodiments can be used, such as by one of ordinary
skill in the art upon reviewing the above description. The Abstract
is provided to comply with 37 C.F.R. .sctn.1.72(b), to allow the
reader to quickly ascertain the nature of the technical disclosure.
It is submitted with the understanding that it will not be used to
interpret or limit the scope or meaning of the claims. Also, in the
above Detailed Description, various features may be grouped
together to streamline the disclosure. This should not be
interpreted as intending that an unclaimed disclosed feature is
essential to any claim. Rather, inventive subject matter may lie in
less than all features of a particular disclosed embodiment. Thus,
the following claims are hereby incorporated into the Detailed
Description as examples or embodiments, with each claim standing on
its own as a separate embodiment, and it is contemplated that such
embodiments can be combined with each other in various combinations
or permutations. The scope of the invention should be determined
with reference to the appended claims, along with the full scope of
equivalents to which such claims are entitled.
* * * * *