U.S. patent application number 17/688726 was filed with the patent office on 2022-06-16 for system and method for residue detection and implement control.
The applicant listed for this patent is Deere & Company. Invention is credited to Kirti Balani, Robert T. Casper, Jeremy D. Krantz, Lucas B. Larsen, Ranjit Nair, Vishal Rane, John M. Schweitzer, Adam D. Sporrer, David L. Steinlage, Ricky B. Theilen.
Application Number | 20220183206 17/688726 |
Document ID | / |
Family ID | |
Filed Date | 2022-06-16 |
United States Patent
Application |
20220183206 |
Kind Code |
A1 |
Nair; Ranjit ; et
al. |
June 16, 2022 |
SYSTEM AND METHOD FOR RESIDUE DETECTION AND IMPLEMENT CONTROL
Abstract
A residue detection and implement control system and method are
disclosed for an agricultural implement. The system includes a
source of environment data and image data of an imaged area of a
crop field containing residue. The system includes a data store
containing a plurality of image processing methods and at least one
controller that processes the image data according to one or more
image processing instruction sets. The controller selects one or
more of the image processing methods based on the environment data,
and processes the image data using the selected image processing
instruction(s) to determine a value corresponding to residue
coverage in the imaged area of the field. The controller adjusts
the configuration of the agricultural implement to respond to the
amount and type of residue detected.
Inventors: |
Nair; Ranjit; (Pune, IN)
; Sporrer; Adam D.; (Ankeny, IA) ; Balani;
Kirti; (Amravat, IN) ; Theilen; Ricky B.;
(Bettendorf, IA) ; Larsen; Lucas B.; (Ankeny,
IA) ; Rane; Vishal; (Pune, IN) ; Steinlage;
David L.; (Centralia, KS) ; Casper; Robert T.;
(Mingo, IA) ; Schweitzer; John M.; (Ankeny,
IA) ; Krantz; Jeremy D.; (Polk City, IA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Deere & Company |
Moline |
IL |
US |
|
|
Appl. No.: |
17/688726 |
Filed: |
March 7, 2022 |
Related U.S. Patent Documents
|
|
|
|
|
|
Application
Number |
Filing Date |
Patent Number |
|
|
14940801 |
Nov 13, 2015 |
11266056 |
|
|
17688726 |
|
|
|
|
62245682 |
Oct 23, 2015 |
|
|
|
International
Class: |
A01B 63/00 20060101
A01B063/00; G05B 15/02 20060101 G05B015/02; A01B 33/08 20060101
A01B033/08; A01B 41/06 20060101 A01B041/06; A01B 17/00 20060101
A01B017/00; A01B 33/16 20060101 A01B033/16 |
Claims
1. A system for residue detection and implement control, the system
comprising: an agricultural implement with access to a source of
environmental data having an indication of environmental factors; a
sensor that obtains image data of a field; a data store containing
image processing methods to detect residue; a controller
operatively coupled to the sensor and to the source of
environmental data and to the data store, the controller processing
the image data according to one or more of the image processing
methods; wherein the controller: selects one or more of the image
processing methods based on the environmental data; processes the
image data using the selected one or more of the image processing
methods to determine a value of residue coverage in the imaged area
of the field; and generates one or more control signals that
includes an adjustment to the agricultural implement based on the
value of residue coverage.
2. The system of claim 1, wherein the sensor is at least one of a
portable electronic device, a camera, an unmanned aerial vehicle,
and a ground scout.
3. The system of claim 2, wherein the camera mounted to at least
one of a frame of the agricultural implement and a cab of a tractor
towing the agricultural implement.
4. The system of claim 1, wherein the environmental data includes
one or more of: a time of day, an ambient light, a geographical
location, a residue coverage density, a ground type and a crop
type.
5. The system of claim 1, wherein the controller determines an
environmental contrast based on the environmental data, and the
controller selects the one or more of the image processing methods
based on the environmental contrast.
6. The system of claim 5, wherein the image processing methods
include a thresholding image processor, and the controller selects
the thresholding image processor based on the environmental
contrast being past a threshold.
7. The system of claim 5, wherein the image processing methods
include a color based classification image process, and the
controller selects the color based classification image process
based on the environmental contrast being past a threshold.
8. The system of claim 5, wherein the plurality of image processing
instructions includes a watershed segmentation image process, and
the controller selects the watershed segmentation image process
based on the environmental contrast being past a threshold.
9. The system of claim 5, wherein the plurality of image processing
instructions includes an automatic marker color classification
image process, and the controller selects the automatic marker
color classification image process based on the environmental
contrast being past a threshold.
10. The system of claim 5, wherein the plurality of image
processing instructions includes a morphological image process, and
the controller selects the morphological image process based on the
environmental contrast being past a threshold.
11. The system of claim 5, wherein the environmental data includes
a ground type and a crop type, and the controller determines the
environmental contrast based on the ground type and the crop
type.
12. The system of claim 1, wherein the environmental data includes
a geographical location associated with the implement, and the
controller determines a ground type for the field based on the
geographical location.
13. The system of claim 1, further comprising circuits to send the
value of residue coverage to a remote human-machine interface;
wherein the circuits receive instructions from the remote
human-machine interface to adjust a physical tool on the
agricultural implement based on the value of residue coverage.
14. The system of claim 1, wherein the adjustment includes changing
at least one of a level of the agricultural implement, a gang angle
of the agricultural implement, an angle of ground engaging tools of
the agricultural implement, a depth of ground engaging tools of the
agricultural implement, a distance between ground engaging tools of
the agricultural implement, and a speed of a vehicle towing the
agricultural implement.
15. A method to detect residue and control an implement, the method
comprising: receiving environmental data having an indication of
environmental factors; receiving image data having an imaged area
of a field containing residue; selecting, by a controller, one or
more of image processing methods for processing the image data
based on the environmental data; processing, by the controller, the
image data based on the selected one or more of the image
processing methods; determining, by the controller, a value
corresponding to residue coverage in the imaged area of the field
based on the processing; and performing at least one of: generating
one or more control signals to adjust the implement based on the
value; displaying an indication of the value on a hand-held
interface device; and displaying an indication of the value on a
computer console in an agricultural vehicle.
16. The method of claim 15, further comprising: receiving a portion
of the environmental data from a human-machine interface operably
coupled to the controller; and receiving the image data from at
least one of a portable electronic device, a camera, a drone and a
ground scout.
17. The method of claim 15, further comprising: determining, by the
controller, an environmental contrast based on the environmental
data, and wherein the selecting of the one or more of the image
processing methods is based on the environmental contrast.
18. A system for residue detection and implement control, the
system comprising: a source of environmental data having an
indication of environmental factors, the environmental data
including at least a crop type associated with a field and a
geographical location; a sensor that captures image data having an
imaged area of the field containing residue; a data store
containing image processing instruction sets; and a controller
operatively coupled to the source of environmental data and to the
sensor and the data store, the controller processing the image data
according to one or more of the image processing instruction sets;
wherein the controller that: determines of a ground type based on
the geographical location; determines an environmental contrast
based on the crop type and the ground type; selects one or more of
the image processing instruction sets based at least in part on the
environmental contrast; analyzes the image data using the selected
one or more of the image processing instruction sets to determine a
value corresponding to residue coverage in the imaged area of the
field; and generates a command to adjust a configuration of an
agricultural implement.
19. The system of claim 18, wherein the agricultural implement is a
harrow including a harrow tool coupled to an actuator in
communication with the controller; and wherein the controller
generates one or more control signals for the implement based on
the value, and wherein the harrow tool is movable by the actuator
based on the command.
20. The system of claim 18, wherein the image processing
instruction sets include a thresholding method, a color based
classification, a watershed segmentation, an automatic marker color
classification, and a morphological image process.
Description
RELATED APPLICATIONS
[0001] This disclosure relates generally to fluid operation systems
such as used in agricultural sprayers. This patent application also
claims priority to U.S. Provisional Patent Application Ser. No.
62/245682, filed Oct. 23, 2015, and entitled, SYSTEM AND METHOD FOR
RESIDUE DETECTION AND IMPLEMENT CONTROL, the contents of which are
incorporated herein by reference.
FIELD
[0002] This disclosure relates to detecting residue coverage in an
imaged area of an agricultural field and the control of an
implement based on the detected residue coverage.
BACKGROUND
[0003] Various agricultural or other operations may result in
residue covering a portion of the area addressed by the operation.
In an agricultural setting, for example, residue may include straw,
corn stalks, or various other types of plant material, which may be
either cut or un-cut, and either loose or attached to the ground to
varying degrees. Agricultural residue may result, for example,
after harvesting and cutting down the corn crop, which may result
in residue of various sizes covering the ground to various
degrees.
SUMMARY
[0004] This disclosure provides embodiments of a residue detection
in an imaged area of a field and implement control to maintain a
desired amount of residue coverage.
[0005] In one embodiment, the system includes a source of
environment data having an indication of environmental factors, and
a source of image data having an imaged area of a field containing
residue. The system also includes a data store containing a
plurality of image processing instructions and at least one
controller operatively coupled to the sources of environmental and
image data and the data store. The at least one controller
processes the image data according to one or more of the plurality
of image processing instructions. The at least one controller
selects one or more of the plurality of image processing
instructions based on the environment data, and processes the image
data using the selected one or more of the plurality of image
processing instructions to determine a value corresponding to
residue coverage in the imaged area of the field. The at least one
controller generates one or more control signals for the implement
based on the determined value of residue coverage.
[0006] In another embodiment, the method includes receiving
environmental data having an indication of environmental factors,
and receiving image data having an imaged area of a field
containing residue. The method also includes selecting, by at least
one controller, one or more of a plurality of image processing
methods for processing the image data based on the environmental
data, and processing, by the at least one controller, the image
data based on the selected one or more of the plurality of image
processing methods. The method includes determining, by the at
least one controller, a value corresponding to residue coverage in
the imaged area of the field based on the processing and generating
one or more control signals for the implement based on the
determined value of residue coverage. Other operation modes,
features and embodiments are disclosed in the detailed description,
accompanying drawings and claims.
BRIEF DESCRIPTION OF THE DRAWINGS
[0007] The details of one or more implementations are set forth in
the accompanying example drawings, the description and claims
below.
[0008] FIG. 1 is a perspective view of an example work machine in
the form of a tractor towing an implement in which the disclosed
residue detection and control system and method may be used.
[0009] FIG. 1A is a detail view of a portion of the implement of
FIG. 1;
[0010] FIG. 2 is a dataflow diagram illustrating a residue
detection and control system in accordance with various
embodiments;
[0011] FIG. 3 is a dataflow diagram illustrating an image
processing method selection control system in accordance with
various embodiments;
[0012] FIG. 4 is a flowchart illustrating a control method of the
disclosed residue detection and control system of FIG. 1 in
accordance with various embodiments;
[0013] FIG. 5 is a flowchart illustrating a control method for
selecting an image processing method in accordance with various
embodiments; and
[0014] FIG. 6 is a flowchart illustrating a control method for
controlling an implement in accordance with various
embodiments.
DETAILED DESCRIPTION
[0015] Embodiments of a system and method are described to assess
the amount or size of residue in a crop field when conducting
tillage or planting operations, and then the agricultural or crop
care implement can automatically respond, self-adjust or be
manually (e.g. by command) adjusted to work with the amount and
type of residue detected. After harvesting much residue is left
after all the crops are cut down. Afterwards or next season, an
agricultural implement drives through and works the field. A seed
planter or tillage cultivator, vertical tillage, or mulcher, etc.,
self adjusts and responds to the amount of residue detected and can
selectively leave a desired amount of residue or even completely
overturn the residue in the field depending on inputs from the
operator or type of crop being planted. Adjustments include:
changing a speed of the tractor, depth of furrow to plant the
seeds, changing a depth and level of the disks, shanks and other
ground engaging tools mounted to a frame of the tillage implement,
changing the gang angle; changing disk angles, changing a distance
between disks and shanks or other parts of the crop care implement,
adjusting an overall level of the implement, changing an
aggressiveness of the cutters or closing disks, changing a harrow
down pressure or other field finisher, and so on. In order for the
crop care implement to automatically or manually make an
appropriate physical tool adjustment based on the residue, the
residue is detected by mounting sensors and image cameras on the
tractor (e.g. cab or hood) and/or also in the rear on the crop care
implement frame. In some embodiments, the residue detection is
conducted from drones overhead, satellite or ground scouts. The
detected residue data or information may be transmitted to a cloud
server or to a remote computing device so that operators elsewhere
can receive the information to make decisions or to simply observe
the on-going physical operations.
[0016] The size and percentage of residue may vary from location to
location even within a single field, depending on factors such as
the local terrain and soil conditions of the field, local plant
coverage, residue characteristics before the instant tillage (or
other) operation, and so on. Residue on a field is characterized at
least by a percent coverage (i.e., a percentage of a given area of
ground that is covered by residue) and a characteristic residue
size or hardness (e.g., an average, nominal, or other measurement
of the length, width or area of particular pieces of residue).
[0017] In certain applications, it may be useful to understand the
characteristics of residue coverage with relative accuracy. For
example, certain regulatory standards addressing erosion and other
issues may specify a target percent coverage for residue after a
particular operation, such as a primary or secondary tillage
operation, a planting operation, a spraying operation, and so on.
In various instances, it may also be useful to understand the
characteristic (e.g., average) size of residue over a given area of
a field. In certain operations, it is useful to understand both
percent coverage and residue size. For example, in order to execute
an effective primary tillage operation an operator may endeavor to
leave at least 30% residue coverage, with no more than 10% of
residue material being larger than 4 inches long.
[0018] In example operation, for a primary tillage (or other), it
may be useful to provide a control system that determines the
percent coverage and characteristic size of residue on a portion of
field that has already been tilled (or otherwise addressed), then
utilize the determined percent coverage and characteristic size to
guide the continuing tillage (or other) operation or a future
operation (e.g., a secondary tillage operation or planting
operation) on the same field. In some embodiments, one or more
camera assemblies are provided for a tillage (or other) implement,
capable of capturing visible, infrared, or other images of a field
on which the implement is operating. In some embodiments, at least
one camera is mounted to the top of the tractor cab or tractor hood
or to the tillage implement so as to capture images of an area of
ground ahead or behind the tractor and tillage implement. In some
embodiments, at least one other camera may be mounted to a work
vehicle so as to capture images of an area of ground between the
disks or after the closing disks. Tillage implements include
cultivators, vertical tillage, compact disks, coulters, and so on.
Aside from tillage, planting machines can similarly benefit from
residue monitoring so that seeds can be planted at more optimal
depths. For instance, if there is more residue, the cutters can dig
deeper in the soil so that the seeds are deposited at a desired
depth in the soil.
[0019] In some embodiments, the various camera assemblies may
capture images in the visible spectrum, in color or in grayscale,
in infrared, based upon reflectance or fluorescence, or otherwise.
One or more camera assemblies may include stereo image camera
assemblies capable of capturing stereo images of the field. For
example, one or more camera assemblies may include a stereo camera
with two or more lenses and image sensors, or one or more camera
assemblies may include multiple cameras arranged to capture
stereoscopic images of the field.
[0020] In some embodiments, images from behind an implement (i.e.,
"aft" images) may be analyzed, in order to determine indicators of
residue coverage for areas of a field that have already been tilled
(or otherwise addressed by the relevant operation). In some
embodiments, images from ahead of a tractor or an implement (i.e.,
"forward" images) may also be analyzed, in order to determine
indicators of residue coverage for areas of field that have not yet
been tilled (or otherwise addressed) in the current pass of the
implement. The forward images (or residue coverage information
derived therefrom) may then be compared with aft images of the same
(or similar) areas of the field (or residue coverage information
derived therefrom) in order to assess the change in residue
coverage due to the instant operation.
[0021] Once a residue coverage value has been determined, the
indicator may be utilized to control aspects of a future operation
over the field. For example, in an ongoing tillage operation, if a
residue value from an aft image indicates insufficient residue
coverage or size, various aspects of the relevant tillage implement
(e.g., disk, shank or tine depth) may be automatically adjusted in
order to provide greater residue coverage or size. Similarly, if a
comparison of residue values from forward and aft images indicates
that an ongoing tillage operation is decreasing residue coverage or
size too aggressively, various aspects of the relevant implement
may be automatically adjusted accordingly.
[0022] The following describes one or more example implementations
of the disclosed system for residue detection and implement
control, as shown in the accompanying figures of the drawings
described briefly above. The disclosed control systems (and work
vehicles on which they are implemented) provide for improved
residue detection and implement control by selecting one or more
image processing methods to process an imaged area of a field based
on the environmental conditions or factors associated with the
field. By selecting the one or more image processing methods based
on the environmental factors, the residue coverage is more
accurately detected in the imaged area of the field. By more
accurately detecting the value of residue coverage, the implement
may be controlled to more accurately remove or reduce the residue
coverage on the field to a desired value of residue coverage.
[0023] In some embodiments, the controller may be included on the
relevant implement (e.g., as part of an embedded control system).
In some embodiments, the controller may be included on another
platform (e.g., a tractor towing the implement or a remote
ground-station) and may communicate with various devices on the
implement (e.g., various control devices) via various known means.
In some embodiments, the controller may be in communication with a
CAN bus associated with the implement or an associated work
vehicle, in order to send and receive relevant control and data
signals.
[0024] The example system and method described herein may be
employed with respect to a variety of implements, including various
agricultural or other work implements. In some embodiments, the
described system and method may be implemented with respect to a
tillage implement. The system and method disclosed herein may be
used with various other work implements, such as to control a row
cleaner associated with a planter. Referring to FIG. 1, in some
embodiments, the disclosed system and method may be used with a
tillage implement 10, which is towed by a work vehicle 12, such as
a tractor. The configuration of the tillage implement 10 coupled to
the work vehicle 12 is presented as an example only. Embodiments of
the disclosed system and method detects a value of residue in an
imaged area of a field 14 and controls the tillage implement 10 to
maintain a desired value for the residue coverage on the field 14.
In some embodiments, the tillage instrument 10 also includes one or
more ground-engaging instruments, such as a tine harrow assembly,
which may be adjustable from a cab of the work vehicle 12.
[0025] In the embodiment depicted, tillage implement 10 includes a
coupling mechanism 16 for coupling the tillage implement 10 to the
work vehicle 12. This may allow tillage implement 10 to be towed
across a field 14 in forward direction F in order to execute a
tillage operation. Other embodiments may include self-driven
implements that may execute various operations without being towed
by a separate vehicle. Moreover, the depicted embodiment
illustrates the work vehicle 12 as a tractor, such as a four wheel
drive tractor. The work vehicle 12 may comprise any suitable
vehicle for towing the tillage implement 10, and thus, the use of
the tractor is merely an example.
[0026] Tillage implement 10 may further include a frame 20, which
may be connected to the coupling mechanism 16 and extends in an aft
direction away from the coupling mechanism 16. In other
embodiments, the tillage implement 10 may include multiple frame
sections coupled together via one or more hinges to enable folding
or relative movement between adjacent frame sections, if
desired.
[0027] A first set of ground-engaging tools may be coupled to the
frame 20. For example, one or more sets of shanks 22 may be coupled
to the frame 20. Other tools may additionally (or alternatively) be
utilized. In some embodiments a plurality of wheel assemblies 24
may also be coupled to the frame 20, in order to support the frame
20 above the field 14.
[0028] The example tillage implement 10 includes (or may be in
communication with) one or more controllers, which may include
various electrical, computerized, electro-hydraulic, or other
controllers. In some embodiments, for example, an electrohydraulic
controller 26 is mounted to the coupling mechanism 16. The
controller 26 may include various processors (not shown) coupled
with various memory architectures (not shown), as well as one or
more electrohydraulic valves (not shown) to control the flow of
hydraulic control signals to various devices and tools included on
the tillage implement 10. In some embodiments, the controller 26 is
in communication with a CAN bus associated with the tillage
implement 10 or the work vehicle 12.
[0029] In some embodiments, one or more hydraulic cylinders 28 (or
other lift devices) are coupled to the frame 20 and to the wheel
assemblies 24. The hydraulic cylinders 28 are in hydraulic (or
other) communication with the controller 26, such that the
controller 26 may signal the hydraulic cylinders 28 to raise or
lower the frame 20 relative to the field 14 in order to move the
various shanks 22 or disks 34 to various orientations relative to
the field 14 soil. In some embodiments, activation of the hydraulic
cylinders 28 by the controller 26 may result in the disks 34 or
shanks 22 being moved over a range of sixteen inches or more. Such
movement of the shanks 22 relative to the field 14 may be useful
with regard to residue management. For example, deeper penetration
of the shanks 22 into the field 14 may tend to bury more plant
matter and therefore result in smaller percentage coverage of
residue remaining after the movement of the tillage implement 10
over the field 14.
[0030] In some embodiments, the hydraulic cylinders 28 (or another
lift device) are coupled directly to the disks 34 and shanks 22 (or
associated support components) rather than the wheel assemblies 24,
in order to directly adjust the angle of the disks and the shanks
22 relative to the agricultural implement frame or to the field
14.
[0031] In some embodiments, a second set of ground-engaging tools
are coupled to the frame 20. For example, a set of disk gang
assemblies 32 is coupled to the frame 20. Other tools may
additionally (or alternatively) be utilized. In some embodiments,
disks 34 of the forward disk gang assembly 32 are angled outward.
In this way, the disks 34 may auger soil and plant matter
(including residue) outward away from the centerline of the tillage
implement 10. Other example configurations include adjusting an
angle of the disks 34, configurations with a different number or
arrangement of disk gang assemblies 32, and so on.
[0032] In some embodiments, depending on the amount or type of
residue detected, one or more hydraulic cylinders 36 (or other lift
devices) are coupled to the frame 20 in order to respond to move
the disk gang assemblies 32 relative to the frame 20. Example
adjustments include changing the disk cutting depth, a gang angle,
disk angle, and so on, by adjusting the hydraulics or an
electro-mechanical motor attached to the implement. The hydraulic
cylinders 36 are in hydraulic (or other) communication with the
controller 26, such that the controller 26 may signal the hydraulic
cylinders 36 to move the disk gang assemblies 32 relative to the
frame 20. In this way, controller 26 may adjust the down-pressure
of the disk gang assemblies 32 on the field 14 as well as the
penetration depth of the disks 34 of the disk gang assemblies 32
into the field 14. In some embodiments, activation of the hydraulic
cylinders 36 by the controller 26 may result in the disk gang
assemblies 32 being moved over a range of eight inches or more.
Such movement of the disk gang assemblies 32 relative to the field
14 is useful with regard to residue management. For example, deeper
penetration of the disks 46 into the field 14 may tend to bury more
plant matter and therefore result in smaller percentage coverage of
residue. Similarly, greater down-pressure of the disks 46 on the
field 14 may result in a greater amount of plant material being cut
by the disks 46 and, accordingly, in a smaller characteristic
residue size.
[0033] The tillage implement 10 may also include a rear frame
portion 40, which is pivotally coupled to the frame 20 (e.g., at
one or more pivot points aft of the shanks 22). The rear frame
portion 40 of the tillage implement 10 may also include a third set
of ground engaging tools, such as a tine harrow assembly 700. With
reference to FIG. 1A, the tine harrow assembly 700 is coupled to
the rear frame portion 40 via a first linkage 702 and a second
linkage 704. In some embodiments, one or more ground engaging
tools, such as tines 706, are coupled to a harrow frame section
708. It should be noted that the use of a tine harrow assembly is
merely an example, as the rear frame portion 40 may alternatively
include a similarly configured spike harrow assembly.
[0034] The example harrow frame section 708 is positioned
underneath the rear frame portion 40, and is pivotally coupled to
the first linkage 702 and the second linkage 704. Thus, the harrow
frame section 708 is movable relative to the rear frame portion 40.
In some embodiments, one or more hydraulic cylinders 710 (or other
lift devices) are coupled to the rear frame portion 40 and to the
first linkage 702, and one or more hydraulic cylinders 712 (or
other lift devices) are coupled to harrow frame section 708 and the
first linkage 702. The hydraulic cylinders 710 are movable to
adjust a downforce or down pressure of the tines 706 into the field
14, and hydraulic cylinders 712 are movable to adjust an angle
between the tines 706 and the field 14.
[0035] The hydraulic cylinders 710, 712 are in hydraulic (or other)
communication with the controller 26, such that the controller 26
may signal the hydraulic cylinders 710, 712 to pivot the first
linkage 702 relative to the rear frame portion 40 and/or harrow
frame section 708 relative to the second linkage 704 in order to
move the tines 706 relative to the field 14. In this way,
controller 26 may adjust the down-pressure of the tines 706 on the
field 14 as well as the angle of the tines 706 into the field 14.
Such movement of the tines 706 relative to the field 14 may be
useful with regard to residue management. For example, a steeper
angle of penetration for the tines 706 into the field 14 may result
in a greater amount of plant material being cut by the tines 706.
Similarly, a greater down-pressure of the tines 706 on the field 14
may tend to bury more plant matter and therefore result in smaller
percentage coverage of residue.
[0036] Moreover, in some embodiments, the controller 26 is
operatively coupled to a controller 70 associated with the work
vehicle 12. The controller 26 is responsive to one or more control
signals from the controller 70 to drive the hydraulic cylinders
710, 712 to move the tines 706 such that the angle and
down-pressure of the tines 706 are adjusted from within the cab 92.
In this instance, a human-machine interface 104 disposed in the cab
92 of the work vehicle 12 may include one or more switches,
buttons, levers, a touchscreen interface having graphical icons,
etc. to enable the operator to adjust the angle and/or
down-pressure of the tines 706 without leaving the cab 92. In some
embodiments, the tines 706 are adjusted by the operator via the
human-machine interface 104 independently or separate from a
residue detection and control system 200 (FIG. 2).
[0037] In some embodiments, the hydraulic cylinders 710, 712 (or
another lift device) are coupled directly to the tines 706 (or
associated support components) rather than the rear frame portion
and/or first linkage 702, in order to directly move individual ones
of the tines 706 relative to the field 14.
[0038] In some embodiments, a fourth set of ground-engaging tools
is coupled to the rear frame portion 40. For example, a closing
disk assembly 42 is coupled to the rear frame portion 40. Other
tools may additionally (or alternatively) be utilized. In some
embodiments, one or more hydraulic cylinders 44 (or other lift
devices) are coupled to the frame 20 and the rear frame portion 40.
The hydraulic cylinders 44 may be in hydraulic (or other)
communication with the controller 26, such that the controller 26
may signal the hydraulic cylinders 44 to pivot the rear frame
portion 40 relative to the frame 20 in order to move the closing
disk assembly 42 relative to the frame 20. In this way, controller
26 may adjust the depth of the disks 46 of the closing disk
assembly 42 relative to the field 14. In some embodiments,
activation of the hydraulic cylinders 44 by the controller 26 may
result in the disks 46 being moved over a range of eight inches or
more. Such movement of the disks 46 may also be useful with regard
to residue management.
[0039] In some embodiments, the hydraulic cylinders 44 (or another
lift device) may be coupled directly to the closing disk assembly
42 (or associated support components) rather than the rear frame
portion 40, in order to directly move or adjust the closing disk
assembly 42 relative to the field 14.
[0040] In some embodiments, again depending on the amount or type
of residue detected, the speed of the tractor or vehicle 12 can be
manually or auto-adjusted. For instance, if an operator or the
central controller 26 desires less residue than the amount
detected, the speed of the tractor is increased, which tends to
throw more soil and thus bury more residue. If the goal is to leave
more residue, then the speed of the vehicle 12 may be kept constant
or even decreased to avoid burying the residue. The operator can
set or program in a desired amount of residue, either at the cab
console, or from a remote location.
[0041] Various other control devices and systems may be included on
or otherwise associated with the tillage implement 10. For example,
a depth control device 50 is mounted to the frame 20 and is in
hydraulic, electronic or other communication with controller 26,
and hydraulic cylinders 28, 36, 710, 712 and 44. The depth control
device 50 may include various sensors (e.g., rotational sensors,
potentiometers, pressure transducers, hall-effect rotational
sensors, and so on) to sense indications (e.g., pressure, relative
position, or combination of pressure and relative position) of the
relative location (e.g., relative depth with respect to field 14,
relative angle with respect to the field 14 and/or relative
down-pressure with respect to the field 14) of the shanks 22, the
disks 34, the tines 706, the disks 46, or various other tools (not
shown). A control module (e.g., a control module included in the
controller 26 or included in the controller 70 associated with the
work vehicle 12) may receive signals from the various sensors
associated with the depth control device 50 that may indicate a
particular orientation (e.g., depth, angle, down-pressure) of
shanks 22, disks 34, tines 706 or disks 46. The control module may
then, using open loop, closed loop,
proportional-integral-derivative "PID," or other control
methodologies, determine an appropriate control signal to cause the
hydraulic cylinders 28, 36, 710, 712 and 44, to adjust,
respectively, the orientation the shanks 22, disks 34, tines 706
and disks 46, as appropriate. In this way, for example, the
combined system of controller 26, the sensors of the depth control
device 50 and the hydraulic cylinders 28, 36, 710, 712 and 44 may
move the shanks 22, disks 34, tines 706 and disks 46 to, and
maintain these devices at, any desired orientation.
[0042] In some embodiments, one or more location-sensing devices
may also be included on or associated with the tillage implement 10
and/or work vehicle 12. For example, a GPS device 52 may use GPS
technology to detect the location of the tillage implement 10 along
the field 14 at regular intervals (e.g., during a tillage
operation). The detected locations may then be communicated via
various known means to the controller 26 and/or the controller 70
associated with the work vehicle 12. In some embodiments, the
detected locations may additionally (or alternatively) be
communicated to one or more remote systems. For example, GPS device
52 may wirelessly transmit location information for the tillage
implement 10 to a remote monitoring system for tracking of various
aspects of the operation of the tillage implement 10. In some
embodiments, the GPS device 52 is mounted to tillage implement 10.
In some embodiments, the GPS device 52 is mounted in other ways,
including to the work vehicle 12. In example remote applications,
an operator can be at his house or at a remote site (e.g. another
farm), receive the monitored residue data and location information
on his computer (e.g. laptop of tablet). The operator has the
choice of adjusting the tillage implement 10 to respond to the
amount of residue.
[0043] In some embodiments, one or more camera assemblies may also
be associated with the tillage implement 10 and/or work vehicle 12.
It should be noted that while the following description refers to
"camera assemblies" any suitable visual sensor any be employed to
obtain an imaged area of the field 14. In some embodiments, an aft
camera assembly 54 is mounted to the tillage implement 10 (or
otherwise positioned) in order to capture images at least of an
area 56 behind the tillage implement 10 (i.e., "aft images"). In
some embodiments, a forward camera assembly 58 may additionally (or
alternatively) be mounted to or associated with the work vehicle 12
(or otherwise positioned) in order to capture images at least of an
area 60 forward of the work vehicle 12 (i.e., "forward" images).
The camera assemblies 54 and 58 may be in electronic (or other)
communication with the controller 70 (or other devices) and may
include various numbers of cameras of various types. In some
embodiments, one or both of the camera assemblies 54 and 58 may
include a color camera capable of capturing color images. In other
embodiments, one or both of the camera assemblies 54 and 58 may
include an infrared camera to capture infrared images. In some
embodiments, one or both of the camera assemblies 54 and 58 may
include a grayscale camera to capture grayscale images. In some
embodiments, one or both of the camera assemblies 54 and 58 may
include a stereo camera assembly capable of capturing stereo
images. For example, one or both of the camera assemblies 54 and 58
may include a stereo camera with two or more lenses and image
sensors, or multiple cameras arranged to capture stereoscopic
images of the areas 56 and 60.
[0044] Images may be captured by camera assemblies 54 and 58
according to various timings or other considerations. In some
embodiments, for example, the respective camera assemblies 54 and
58 may capture images continuously as tillage implement 10 executes
a tillage (or other) operation on the field 14. In some
embodiments, embedded control system (not shown) for each camera
assembly 54 and 58 may cause the respective camera assemblies 54
and 58 to capture images of the areas 56 and 60, respectively, at
regular time intervals as tillage implement 10 executes a tillage
(or other) operation on the field 14.
[0045] In some embodiments, the timing of image capture by aft
camera assembly 54 is offset from the timing of image capture by
forward camera assembly 58 such that the portion of the field 14
within the image area 56 when the aft camera assembly 54 captures
an image substantially overlaps with the portion of the field 14
that was within the image area 60 when the forward camera assembly
58 captured a prior image. As such, for example, the relative
timing of image capture for the two camera assemblies 54 and 58 is
varied by a control system (e.g., controller 70) based upon the
wheel speed of tillage implement 10.
[0046] The aft camera assembly 54 and the forward camera assembly
58 provide two sources of local image data for the controller 70
associated with the work vehicle 12. Other sources of image data
for the controller 70 is available. For example, a portable
electronic device 62 may provide a source of image data for the
controller 70 (i.e. as a source of remote image data). The portable
electronic device 62 is in communication with the work vehicle 12
to transmit data to a vehicle communication device 72 associated
with the work vehicle 12 and to receive the data from the vehicle
communication device 72. The portable electronic device 62 is any
suitable electronic device external to the work vehicle 12,
including, but not limited to, a hand-held portable electronic
device, such as a tablet computing device, mobile or smart phone,
personal digital assistant; a laptop computing device, etc.
[0047] The portable electronic device 62 includes a device
communication component 66, a device user interface 68, a mobile
camera assembly 74 and a device controller or control module 76.
The device communication component 66 comprises any suitable system
for receiving data from and transmitting data to the vehicle
communication device 72. For example, the device communication
component 66 includes a radio to receive data transmitted by
modulating a radio frequency (RF) signal from a remote station or
remote farm field or cloud server (not shown). For example, the
remote station or farm field or cloud server (not shown) is part of
a cellular telephone network and the data may be transmitted
according to the long-term evolution (LTE) standard. The device
communication component 66 also transmits data to the remote
station or farm field (not shown) to achieve bi-directional
communications. However, other techniques for transmitting and
receiving data may alternately be utilized. For example, the device
communication component 66 may achieve bi-directional
communications with the vehicle communication device 72 over
Bluetooth or by utilizing a Wi-Fi standard, i.e., one or more of
the 802.11 standards as defined by the Institute of Electrical and
Electronics Engineers ("IEEE").
[0048] The device communication component 66 may also encode data
or generate encoded data. The encoded data generated by the device
communication component 66 is encrypted. A security key is utilized
to decrypt and decode the encoded data. The security key is a
"password" or other arrangement of data that permits the encoded
data to be decrypted.
[0049] In some embodiments, portable electronic device 62 is
coupled directly to the work vehicle 12 via a docking station 90
disposed within the cab 92 of the work vehicle 12. The docking
station 90 is in wired or wireless communication with the
controller 70 to enable the image data from the mobile camera
assembly 74 to be transmitted directly to the controller 70. Thus,
the docking station 90 may comprise a suitable interface, such as
USB, microUSB, Apple.RTM. Lightning.TM., etc. that cooperates with
an interface associated with the portable electronic device 62 to
enable data transfer from the portable electronic device 62 to the
controller 70.
[0050] The device user interface 68 allows the user of the portable
electronic device 62 to interface with the portable electronic
device 62. In one example, the device user interface 68 includes a
user input device 78 and a display 80. The user input device 78 is
any suitable device capable of receiving user input, including, but
not limited to, a keyboard, a microphone, a touchscreen layer
associated with the display 80, or other suitable device to receive
data and/or commands from the user. Of course, multiple user input
devices 78 can also be utilized. The display 80 comprises any
suitable technology for displaying information, including, but not
limited to, a liquid crystal display (LCD), organic light emitting
diode (OLED), plasma, or a cathode ray tube (CRT).
[0051] The mobile camera assembly 74 associated with the portable
electronic device 62 captures images at least of an area 74a in
front of the portable electronic device 62. The mobile camera
assembly 74 is in electronic (or other) communication with the
device control module 76 and may include various numbers of cameras
of various types. In some embodiments, mobile camera assembly 74
comprises a color camera to capture color images. It should be
noted, however, that the mobile camera assembly 74 may comprise any
suitable camera assembly for image capture, such as a grayscale
camera, infrared camera, etc.
[0052] The device control module 76 is in communication with the
device communication component 66, the device user interface 68 and
the mobile camera assembly 74 over a suitable interconnection
architecture or arrangement that facilitates transfer of data,
commands, power, etc. The device control module 76 receives input
from the device user interface 68 and sets data, such as image data
from the mobile camera assembly 74, for transmission by the device
communication component 66 to the work vehicle 12 based on the
input from the device user interface 68. The device control module
76 may also receive data from the device communication component 66
and sets this data as output for display on the display 80 of the
device user interface 68. Thus, the device control module 76
enables two way data transfer with the work vehicle 12 and may
enable a user remote from the work vehicle 12 to interface with the
systems of the work vehicle 12. The device control module 76 may
also be configured to execute the residue detection and control
system 200, as will be discussed below.
[0053] As a further alternative, the controller 70 may receive
image data from various other remote sources of image data. For
example, image data is captured by a drone camera assembly 82
coupled to a drone 84 or other unmanned aerial vehicle (e.g.
satellite). Image data captured by the drone camera assembly 82 is
transmitted by a drone control module 86 of the drone 84 through a
drone communication component 88 to the vehicle communication
device 72 according to various communication protocols. The drone
communication component 88 comprises any suitable system for
receiving data from and transmitting data to the vehicle
communication device 72. For example, the drone communication
component 88 may include a radio to receive data transmitted by
modulating a radio frequency (RF) signal from a remote station (not
shown). For example, the remote station (not shown) is part of a
cellular telephone network and the data may be transmitted
according to the long-term evolution (LTE) standard. The drone
communication component 88 also transmits data to the remote
station (not shown) to achieve bi-directional communications.
However, other techniques for transmitting and receiving data may
alternately be utilized. For example, the drone communication
component 88 may achieve bi-directional communications with the
vehicle communication device 72 over Bluetooth or by utilizing a
Wi-Fi standard.
[0054] The drone communication component 88 may also encode data or
generate encoded data. The encoded data generated by the drone
communication component 88 may be encrypted. A security key is
utilized to decrypt and decode the encoded data. The security key
may be a "password" or other arrangement of data that permits the
encoded data to be decrypted. Alternatively, the image data
captured by the drone camera assembly 82 is downloaded from the
drone 84 via a wired connection, USB, etc., upon landing of the
drone 84.
[0055] The drone camera assembly 82 associated with the drone 84
captures images at least of an area 82a in front of the drone 84.
The drone camera assembly 82 is in electronic (or other)
communication with the drone control module 86 and may include
various numbers of cameras of various types. In some embodiments,
drone camera assembly 82 comprises a color camera to capture color
images. It should be noted, however, that the drone camera assembly
82 may comprise any suitable camera assembly for image capture,
such as a grayscale camera, infrared camera, etc. Moreover, while
the drone 84 is illustrated herein as including a single camera
assembly, the drone 84 may include any number of drone camera
assemblies 82, which may be mounted at any desired location on the
drone 84, such as in a forward location and an aft location.
[0056] In some embodiments, the source of remote image data may
comprise a satellite having one or more camera assemblies. The
satellite is in communication with the vehicle communication device
72 over a suitable communication protocol to provide captured
images to the controller 70. Further, a source of image data remote
from the work vehicle 12 is provided by a camera assembly coupled
to a ground scout or other ground based imaging device. Moreover,
the ground scout or ground based imaging device may include any
number and configuration of camera assemblies for capturing images
of the field 14. In addition, while the controller 70 is described
herein as receiving image data from one or more camera assemblies
54, 58, 74, 82, the controller 70 may receive image data from any
suitable visual sensor, and the use of the one or more camera
assemblies 54, 58, 74, 82 is merely an example.
[0057] The work vehicle 12 includes a source of propulsion, such as
an engine 94. The engine 94 supplies power to a transmission 96.
The transmission 96 transfers the power from the engine 94 to a
suitable driveline coupled to one or more driven wheels 98 (and
tires) of the work vehicle 12 to enable the work vehicle 12 to
move. In one example, the engine 94 is an internal combustion
engine that is controlled by an engine control module 94a. As will
be discussed further herein, the engine control module 94a receives
one or more control signals or control commands from the controller
70 to adjust a power output of the engine 94. It should be noted
that the use of an internal combustion engine is merely example, as
the propulsion device can be a fuel cell, electric motor, a
hybrid-electric motor, etc., which is responsive to one or more
control signals from the controller 70 to reduce a power output by
the propulsion device.
[0058] The work vehicle 12 also includes one or more pumps 100,
which may be driven by the engine 94 of the work vehicle 12. Flow
from the pumps 100 is routed through various control valves 102 and
various conduits (e.g., flexible hoses) to the controller 26 in
order to drive the hydraulic cylinders 28, 36, 710, 712 and 44.
Flow from the pumps 100 may also power various other components of
the work vehicle 12. The flow from the pumps 100 is controlled in
various ways (e.g., through control of the various control valves
102 and/or the controller 26), in order to cause movement of the
hydraulic cylinders 28, 36, 710, 712 and 44, and thus, the shanks
22, disks 34, tines 706 and disks 46 of the tillage implement 10.
In this way, for example, a movement of a portion of the tillage
implement 10 is implemented by various control signals to the pumps
100, control valves 102, controller 26 and so on.
[0059] The central controller 70 (or multiple controllers) controls
various aspects of the operation of the work vehicle 12. The
controller 70 (or others) includes a computing device with
associated processor devices and memory architectures, a hard-wired
computing circuits, a programmable circuit, a hydraulic, electrical
or electro-hydraulic controller, or otherwise. As such, the
controller 70 may execute various computational and control
functionality with respect to the work vehicle 12 (or other
machinery). In some embodiments, the controller 70 receives input
signals in various formats (e.g., as hydraulic signals, voltage
signals, current signals, and so on), and to transmit or output
command signals in various formats (e.g., as hydraulic signals,
voltage signals, current signals, mechanical movements, and so on).
In some embodiments, the controller 70 (or a portion thereof) is an
assembly of hydraulic components (e.g., valves, flow lines, pistons
and cylinders, and so on), such that control of various devices
(e.g., pumps or motors) is effected with, and based upon,
hydraulic, mechanical, or other signals and movements.
[0060] In some embodiments, the controller 70 is in electronic,
hydraulic, mechanical, or other communication with various other
systems (e.g. cloud server, remote computers) or devices of the
work vehicle 12 (or other machinery, such as the tillage implement
10). For example, the controller 70 is in electronic or hydraulic
communication with various actuators, sensors, and other devices
within (or outside of) the work vehicle 12, including various
devices associated with the pumps 100, control valves 102,
controller 26, sensors of the depth control device 50, GPS device
52, and so on. The controller 70 may communicate with other systems
or devices (including other controllers, such as the controller 26)
in various known ways, including via a CAN bus (not shown) of the
work vehicle 12, via wireless or hydraulic communication means, or
otherwise. An example location for the controller 70 is depicted in
FIG. 1. Other locations are possible including other locations on
the work vehicle 12, or various remote locations. For example, the
controller 70 is implemented on the portable electronic device
62.
[0061] In some embodiments, the controller 70 receives input
commands and to interface with an operator via the human-machine
interface 104, which is disposed inside the cab 92 of the work
vehicle 12 for easy access by the operator. The human-machine
interface 104 may be configured in a variety of ways. In some
embodiments, the human-machine interface 104 includes one or more
joysticks, various switches or levers, one or more buttons, a
touchscreen interface that is overlaid on a display 106, a
keyboard, a speaker, a microphone associated with a speech
recognition system, or various other human-machine interface
devices.
[0062] Various sensors may also be provided to observe various
conditions associated with the work vehicle 12 and/or the tillage
implement 10. In some embodiments, various sensors 108 (e.g.,
pressure, flow or other sensors) is disposed near the pumps 100 and
control valves 102, or elsewhere on the work vehicle 12. For
example, sensors 108 may comprise one or more pressure sensors that
observe a pressure within the hydraulic circuit, such as a pressure
associated with at least one of the one or more hydraulic cylinders
28, 36, 710, 712 and 44. The sensors 108 may also observe a
pressure associated with the pumps 100. In some embodiments,
various sensors may be disposed near the cab 92. For example,
sensors 110 (e.g. ambient condition sensors) may be disposed on or
coupled near the cab 92 in order to measure parameters including an
amount of ambient light the work vehicle 12 is exposed to and so
on. The work vehicle 12 may also include a clock 112 in order to
inform the residue detection and control system and method
described herein.
[0063] The vehicle communication device 72 enables communication
between the controller 70 and the portable electronic device 62
and/or the drone 84. The vehicle communication device 72 comprises
any suitable system for receiving data from and transmitting data
to the portable electronic device 62 and/or the drone 84. For
example, the vehicle communication device 72 may include a radio
configured to receive data transmitted by modulating a radio
frequency (RF) signal from a remote station (not shown). For
example, the remote station (not shown) is part of a cellular
telephone network and the data is transmitted according to the
long-term evolution (LTE) standard. The vehicle communication
device 72 also transmits data to the remote station (not shown) to
achieve bi-directional communications. However, other techniques
for transmitting and receiving data may alternately be utilized.
For example, the vehicle communication device 72 may achieve
bi-directional communications with the portable electronic device
62 and/or the drone 84 over Bluetooth or by utilizing a Wi-Fi
standard, i.e., one or more of the 802.11.
[0064] In some embodiments, the vehicle communication device 72 is
configured to encode data or generate encoded data. The encoded
data generated by the vehicle communication device 72 is encrypted.
A security key is utilized to decrypt and decode the encoded data.
The security key is a "password" or other arrangement of data that
permits the encoded data to be decrypted. Alternatively, the remote
station (not shown) may implement security protocols to ensure that
communication takes place between the appropriate work vehicles 12
and portable electronic device 62 and/or the drone 84. The vehicle
communication device 72 may also be in communication with the
satellite, ground scout and ground based imaging devices over
various communication protocols to acquire image data.
[0065] The various components noted above (or others) may be
utilized to detect residue and control the tillage implement 10 via
control of the movement of the one or more hydraulic cylinders 28,
36, 710, 712 and 44, and thus, the shanks 22, disks 34, tines 706
and disks 46, and/or the engine 94 of the work vehicle 12.
Accordingly, these components may be viewed as forming part of the
residue detection and control system for the work vehicle 12 and/or
tillage implement 10. Each of the sensors of the depth control
device 50, GPS device 52, sensors 108 and 110 and the clock 112 may
be in communication with the controller 70 via a suitable
communication architecture.
[0066] In various embodiments, the controller 70 outputs one or
more control signals to the hydraulic cylinders 28, 36, 710, 712
and 44 to move the shanks 22, disks 34, tines 706 and disks 46
associated with the tillage implement 10 based on one or more of
the sensor signals received from the sensors of the depth control
device 50, GPS device 52, sensors 108 and 110, input received from
the human-machine interface 104, image data received from one or
more of the camera assemblies 54, 58, 74, 82 and further based on
the residue detection and control systems and methods of the
present disclosure. The controller 70 outputs the one or more
control signals to the pumps 100 and/or control valves 102
associated with hydraulic cylinders 28, 36, 710, 712 and 44 to move
the shanks 22, disks 34, tines 706 and disks 46 of the tillage
implement 10 based on one or more of the sensor signals received
from the sensors of the depth control device 50, GPS device 52,
sensors 108 and 110, input from the clock 112, image data from the
camera assemblies 54, 58, 74, 82, and input received from the
human-machine interface 104. In some embodiments, the controller 70
outputs the one or more control signals to the engine control
module 94a to reduce a speed of the engine 94 based on one or more
of the sensor signals received from the sensors of the depth
control device 50, GPS device 52, sensors 108 and 110, input from
the clock 112, image data from the camera assemblies 54, 58, 74, 82
and input received from the human-machine interface 104. By
controlling the hydraulic cylinders 28, 36, 710, 712 and 44 to move
the shanks 22, disks 34, tines 706 and disks 46 of the tillage
implement 10, a value of residue remaining on the field 14 is
controlled within a desired range. Moreover, by reducing a speed of
the engine 94 associated with the work vehicle 12, the tillage
implement 10 may till the field 14 at a slower pace, which may also
reduce an amount of residue coverage remaining on the field 14
after a tillage operation is performed by the tillage implement
10.
[0067] Referring now to FIG. 2, and with continued reference to
FIG. 1, a dataflow diagram illustrates various embodiments of the
residue detection and control system 200 for the work vehicle 12,
which is embedded within the controller 70. It should be noted,
however, that the residue detection and control system 200 may also
be embedded within the device control module 76, if desired. Stated
another way, the residue detection and control system 200 is
embedded within the device control module 76, such that the residue
detection and control system 200 is executed on the portable
electronic device 62. In certain instances, the residue detection
and control system 200 may comprise an application or "app," which
is executed by the device control module 76 based on the receipt of
user input via the user input device 78.
[0068] Various embodiments of the residue detection and control
system 200 according to the present disclosure can include any
number of sub-modules embedded within the controller 70 and/or
device control module 76. As can be appreciated, the sub-modules
shown in FIG. 2 can be combined and/or further partitioned to
similarly control the hydraulic cylinders 28, 36, 710, 712 and 44
for moving the shanks 22, disks 34, tines 706 and disks 46 of the
tillage implement 10 and to control the speed of the work vehicle
12 via the engine control module 94a. Inputs to the residue
detection and control system 200 may be received from the sensors
of the depth control device 50, GPS device 52, sensors 108 and 110
(FIG. 1), received from the camera assemblies 54, 58, 74, 82,
received from the human-machine interface 104 (FIG. 1), received
from other control modules (not shown) associated with the work
vehicle 12 and/or tillage implement 10, and/or determined/modeled
by other sub-modules (not shown) within the controller 70 and/or
device control module 76. In various embodiments, the controller 70
includes a user interface (UI) control module 202, a method
determination module 204, a residue determination module 206, a
stored image data store 208, a method data store 210, a residue
control module 212 and a movement data store 214.
[0069] The UI control module 202 receives input data 216 from the
human-machine interface 104. The input data 216 comprises one or
more user inputs to an initialization user interface 218, for
example. The initialization user interface 218 comprises one or
more graphical or textual interfaces for display on the display
106, which cooperates with the human-machine interface 104 to
enable the user to customize the settings for the residue detection
and control system 200. For example, the initialization user
interface 218 may include one or more prompts, graphical icons,
buttons, text boxes, etc. that enable the operator to enter a type
of crop on the field 14, a coverage density for the residue on the
field 14, a type of implement attached to the work vehicle 12, a
desired amount of residue coverage on the field 14 and to select
one or more image processing instruction set for detecting the
value of residue coverage on the imaged area of the field 14. The
initialization user interface 218 may also comprise one or more
prompts, graphical icons, buttons, text boxes, etc. that enable the
operator to search through stored images of the field 14 and stored
in a suitable memory associated with the controller 70 and/or
device control module 76, and to select a stored image for
processing by the residue determination module 206.
[0070] The UI control module 202 interprets the input data 216, and
sets a crop type 220 and a residue coverage density value 222 for
the method determination module 204. The UI control module 202 also
interprets the input data 216 and sets an implement type 224 and a
desired residue value 226 for the residue control module 212. The
UI control module 202 interprets the input data 216 and sets a user
selection 228 for the residue determination module 206. The crop
type 220 comprises the type of crop on the field 14, such as corn,
soybeans, lettuce, wheat, etc. The residue coverage density value
222 comprises an amount of residue on the field 14, as observed by
the operator. In one example, the residue coverage density value
222 may comprise a percentage of residue covering the field 14 or
other numeral value associated with an amount of residue covering
the field 14. The implement type 224 comprises the type of
implement, such as the tillage implement 10, primary tillage
instrument, secondary tillage instrument, etc., coupled to the work
vehicle 12. The desired residue value 226 comprises the desired
value corresponding to residue coverage in the imaged area of the
field 14, as entered by the operator. Stated another way, the
desired residue value 226 may comprise an acceptable range, such as
a minimum amount and a maximum amount, for residue coverage to
remain on the field after a tillage operation by the tillage
implement 10. Alternatively, the desired residue value 226 may
comprise a pre-mapped image of the field 14, which indicates the
desired amount of residue coverage to remain on various portions of
the field after the tillage operation by the tillage implement 10.
The user selection 228 comprises a selection from the operator of
one or more image processing methods to use to detect a value that
corresponds to residue coverage in an imaged area of the field 14.
In some embodiments, the UI control module 202 may also interpret
the input data 216 and set a harrow adjustment value for the
residue control module 212. The harrow adjustment value may
comprise an amount of an adjustment for the angle and/or
down-pressure of the tines 706.
[0071] The UI control module 202 also receives as input a residue
value 230. The residue value 230 indicates a value corresponding to
residue coverage in an imaged area of the field 14. In some
embodiments, the residue value 230 is a percentage of residue
coverage in the imaged area of the field 14, and in other
embodiments, the residue value 230 comprises a classification of
the residue coverage, an indication of the size of the residue or
any other suitable scale for classifying an amount of residue
coverage in an imaged area of the field 14. Based on the receipt of
the residue value 230, the UI control module 202 outputs a residue
user interface 232 to the human-machine interface 104. The residue
user interface 232 comprises a graphical user interface for display
on the display 106 that indicates the value corresponding to
residue coverage in the imaged area of the field 14. For example,
the residue user interface 232 may comprise a textual message such
as "Residue: X," in which X is the residue value 230. In addition,
the residue user interface 232 may also include the imaged area of
the field (or image data 242) along with the residue value 230.
[0072] In some embodiments, the UI control module 202 may also
output a harrow user interface. The harrow user interface may
include one or more graphical or textual interfaces for display on
the display 106, which cooperates with the human-machine interface
104 to enable the user to adjust the angle and/or down-pressure of
the tines 706 from the cab 92 of the work vehicle 12. In one
example, the harrow user interface may include one or more
graphical icons, buttons, text boxes, etc. that enable the operator
to enter a value for an adjustment of the tine angle and/or a value
for the adjustment of the down-pressure.
[0073] The method determination module 204 receives as input the
crop type 220, the residue coverage density value 222, ambient
light data 234, GPS data 236 and clock data 238. The ambient light
data 234 comprises sensor data or sensor signals from the sensors
110, which comprises an amount of ambient light the cab 92 is
exposed to. The method determination module 204 interprets the
ambient light data 234 and determines whether the ambient light
data 234 is above a threshold for ambient light. In one example,
the threshold comprises a value that indicates that the cab 92 of
the work vehicle 12 is exposed to full sunlight. The GPS data 236
comprises sensor data or sensor signals from the GPS device 52,
which indicates a geographical location for the work vehicle 12
and/or tillage implement 10. It should be noted that the GPS data
236 need not be from the GPS device 52, but the GPS data 236 may
also be received from the image data captured by the mobile camera
assembly 74 of the portable electronic device 62, for example. The
clock data 238 comprises a signal from the clock 112, which
indicates a time of day.
[0074] Based on the crop type 220, the residue coverage density
value 222, the ambient light data 234, the GPS data 236 and the
clock data 238, the method determination module 204 sets one or
more selected image processing methods 240 for the residue
determination module 206. In this regard, with reference to FIG. 3,
and with continued reference to FIG. 1, a dataflow diagram
illustrates various embodiments of a method selection control
system 300 for the work vehicle 12, which may be embedded within
the method determination module 204. Various embodiments of the
method selection control system 300 according to the present
disclosure can include any number of sub-modules embedded within
the controller 70 and/or device control module 76. As can be
appreciated, the sub-modules shown in FIG. 3 can be combined and/or
further partitioned to similarly select the image processing
method(s) for processing the imaged area of the field 14. Inputs to
the method selection control system 300 may be received from the
sensors of the depth control device 50, GPS device 52, sensors 108
and 110 (FIG. 1), received from the human-machine interface 104
(FIG. 1), received from other control modules (not shown)
associated with the work vehicle 12 and/or tillage implement 10,
and/or determined/modeled by other sub-modules (not shown) within
the controller 70 and/or device control module 76. In various
embodiments, the method determination module 204 includes an
environmental contrast determination module 302, a region data
store 304, a method selection module 306 and a method tables data
store 308.
[0075] The region data store 304 stores one or more tables (e.g.,
lookup tables) that indicate a type of soil or ground associated
with a geographical location. In other words, the region data store
304 stores one or more tables that provide a ground type 310 for
the field 14 based on the geographical location of the work vehicle
12 and/or tillage implement 10. In some embodiments, the ground
type 310 may indicate a color associated with a soil found in the
geographical location. The one or more tables may comprise
calibration tables, which are acquired based on experimental data.
In various embodiments, the tables may be interpolation tables that
are defined by one or more indexes. As an example, one or more
tables can be indexed by various parameters such as, but not
limited to, geographical location, to provide the ground type 310.
It should be noted that the use of the region data store 304 is
merely example, as the ground type 310 is received via input data
216 to the human-machine interface 104 in embodiments where GPS
data 236 is unavailable.
[0076] The environmental contrast determination module 302 receives
as input the crop type 220 and the GPS data 236. Based on the GPS
data 236, the environmental contrast determination module 302
queries the region data store 304 and retrieves the ground type 310
that corresponds with the geographical region in the GPS data 236.
The ground type 310 may also be set for the residue determination
module 206. Based on the crop type 220 and the ground type 310, the
environmental contrast determination module 302 determines an
environmental contrast value 312. The environmental contrast value
312 comprises an amount of contrast between the crop on the field
14 and the ground of the field 14 itself. Stated another way, the
environmental contrast value 312 comprises a value that indicates a
contrast in color between the crop (and thus, the residue from the
crop) and the soil of the ground of the field 14. The environmental
contrast value 312 may comprise any suitable indicator of a
contrast value, such as 1 to 100, with 1 being low contrast and 100
being high contrast. For example, with the crop type 220 of corn,
and the ground type 310 of black, the environmental contrast value
312 may be about 75 or more (high contrast between crop color and
ground/soil color). As a further example, with the crop type 220 of
corn and the ground type 310 of red, the environmental contrast
value 312 is about 25 to about 75 (medium contrast value). In
another example, with the crop type 220 of soybeans and the ground
type 310 of light brown, the environmental contrast value 312 is
about 1 to about 25 (low contrast value). The method selection
control system 300 sets the environmental contrast value 312 for
the method selection module 306.
[0077] The method tables data store 308 have one or more tables
(e.g., lookup tables) that indicate one or more image processing
instructions or instruction sets to select for processing an image
of the field 14 based on the environmental contrast value 312, the
ambient light data 234, the clock data 238 and the residue coverage
density value 222. In other words, the method tables data store 308
contain tables that provide one or more selected image processing
instruction sets 240 for processing an imaged area of the field 14
based on environmental factors. The one or more tables may comprise
calibration tables, which are acquired based on experimental data.
As an example, one or more tables can be indexed by various
parameters such as, but not limited to, environmental contrast
value, amount of ambient light, time of day and residue contrast
density, to provide the selected image processing instruction sets
240 for processing the image data. It should be noted that the one
or more tables may also be indexed based on other environmental
factors associated with the field 14, such as residue size, residue
shape, etc. to enable selection of an appropriate image processing
instruction set.
[0078] The method selection module 306 receives as input the
environmental contrast value 312, the ambient light data 234, the
clock data 238 and the residue coverage density value 222. The crop
type 220, the residue coverage density value 222, the GPS data 236,
the ambient light data 234, the clock data 238 and the ground type
310 comprise environmental data, which indicates environmental
factors associated with the field 14. Based on the environmental
data, the method selection module 306 queries the method tables
data store 308 to retrieve the selected method(s) 240. The selected
method(s) 240 are set for the residue determination module 206. The
method selection module 306 may retrieve one or more image
processing methods based on the environmental factors. The
retrieved one or more image processing methods is executed by the
residue determination module 206 in series or in parallel to arrive
at the residue value 230. Moreover, the method selection module 306
may retrieve a single one of the one or more image processing
methods, and thus, while one or more of the image processing
methods may be described herein as being executed in series, the
image processing methods are selected independently based on
various environmental factors associated with the field 14.
[0079] With reference to FIG. 2, the method data store 210 stores
the image processing methods 250 for processing an imaged area of
the field 14. Thus, the method data store 210 corresponds with the
method tables data store 308 such that the selected image
processing methods 240 are contained as image processing methods
250 within the method data store 210 so that the residue
determination module 206 may retrieve the one or more image
processing methods based on the selected image processing methods
240 to process image data. In one example, the method tables data
store 308 stores the following image processing methods 250: a
thresholding image processing method, a morphological image
processing method, a color based classification image processing
method, an automatic marker color classification image processing
method, a region merging image processing method and a watershed
segmentation image processing method. It should be noted that the
above listed image processing methods are merely example, as the
image processing methods 250 and the method tables data store 308
may comprise any number of image processing methods capable of
processing an image to determine a residue coverage.
[0080] The example thresholding image processing method provides
instructions or a method for processing image data in which each
pixel in the image data is replaced with a black pixel if an
intensity of the pixel is less than a threshold or replaced with a
white pixel if the intensity is greater than a threshold. Thus, the
thresholding image processing method results in a black and white
image, in which the ground or soil is represented by black pixels
and the residue is represented by white pixels.
[0081] The example morphological image processing method provides
instructions or a method for processing image data in which the
image data is eroded with a structuring element to remove a layer
of pixels from inner and outer regions of pixels to result in an
eroded image in which small residue is removed. The morphological
image processing method dilates the eroded image with a structuring
element to create a dilated image, in which the remaining residue
is diluted back to its original shape. The thresholding image
processing method processes the diluted image to arrive at a black
and white image, in which the ground or soil is represented by
black pixels and the residue is represented by white pixels. Thus,
in some embodiments, the morphological image processing method is
used in conjunction with the thresholding image processing method
to process the image data.
[0082] The example color based classification image processing
method provides instructions or a method for processing image data
in which each pixel in the image data is classified based on color.
In the color based classification image processing method, pixels
with the same color are grouped together to differentiate between
soil/ground and residue. Each pixel is assigned a number
(intensity), and the difference between the numbers distinguishes
the soil/ground from the residue.
[0083] The example automatic marker color classification image
processing method provides instructions or a method for processing
image data in which each pixel is grouped with other pixels based
on similar colors. The automatic marker color classification image
processing method converts the light colored pixels to white pixels
and the dark colored pixels to black pixels. The white pixels
represent residue, and the black pixels represent soil/ground.
[0084] The example region merging image processing method provides
instructions or a method for processing image data in which similar
regions in the image data are merged based on color, color
intensity and geometry. The region merging image processing method
results in regions in the image data of similar pixels, which are
analyzed based on shape. For example, the region merging image
processing method may analyze the regions for a rectangular shape
as most residue can be resolved into a rectangle.
[0085] The example watershed segmentation image processing method
provides instructions or a method for processing image data in
which areas in the image data are flooded one surface at a time to
leave boundaries and peaks. The areas remaining in the image data
after the image is flooded are segmented into soil, rock and
residue. In certain instances, the areas may be flooded based on
color intensity, in which areas with a great color intensity (e.g.
residue) are elevated as compared to areas of low color intensity
(e.g. ground/soil). As ground/soil is flat in color intensity and
in elevation after the flooding of the image data, the remaining
elevated regions are rock and/or residue. The watershed
segmentation image processing method converts the remaining
elevated regions to grayscale and determines the residue from the
resultant grayscale image. For example, residue is represented by a
light or white pixel, with soil and rock represented by a gray or
black pixel.
[0086] The residue determination module 206 receives as input the
selected image processing methods 240 and the ground type 310. The
residue determination module 206 also receives as input image data
242 from a source of image data. The image data 242 comprises an
imaged area of the field 14, which contains residue. In some
embodiments, the image data 242 comprises local image data 244
received from the aft camera assembly 54 and the forward camera
assembly 58. In this example, the imaged area of the field 14
comprises the areas 56 and 60, respectively. In this example, the
local image data 244 may also comprise a feedback image, or an
image taken from the aft camera assembly 54 that provides an imaged
area of the field 14 after tillage by the tillage implement 10. The
feedback image provided by the local image data 244 may assist in
substantially real-time adjustments of the tillage implement 10 to
control the residue coverage in the field 14.
[0087] In other embodiments, the image data 242 comprises remote
image data 246 received from the mobile camera assembly 74 and/or
the drone camera assembly 82. In this example, the imaged area of
the field 14 comprises the areas 74a and 82a, respectively. The
image data 242 may also comprise stored image data 248, which may
be received from an image data store associated with the controller
70 and/or the portable electronic device 62. The stored image data
248 comprises a previously captured image of the field 14, which is
saved in memory or in a suitable data store of the controller 70
and/or the portable electronic device 62.
[0088] In some embodiments, the residue determination module 206
processes a single image at a time to determine the residue value
230. Thus, in certain examples, while the residue determination
module 206 may receive a substantially real-time feed of image data
(such as local image data 244), the residue determination module
206 may select a single image frame from the live stream to process
for the determination of the residue value 230.
[0089] The residue determination module 206 also receives as input
the user selection 228, which comprises one or more operator
selected image processing method for processing the image data 242
as received from the human-machine interface 104. The user
selection 228 may comprise a single one of the available image
processing methods or may comprise more than one or all of the
available image processing methods. Based on the user selection 228
or the selected image processing methods 240, the image data 242
and optionally the ground type 310, the residue determination
module 206 processes the image data 242 based on the selected image
processing method to determine the residue value 230. The example
residue determination module 206 processes the image data 242 in
accordance with the user selection 228 when provided instead of the
selected image processing methods 240. In this regard, the user
selection 228 enables the residue detection and control system 200
to operate in a "manual" mode, in which the image processing
methods are manually selected by the operator in contrast to an
"automatic" mode, in which the residue detection and control system
200 selects the image processing methods automatically via the
method determination module 204.
[0090] In the example of the thresholding image processing method,
the morphological image processing method and the automatic marker
color classification image processing method, the residue value 230
may be a number or a percentage of white pixels (residue) to black
pixels (soil). It should be noted that this is merely an example
determination for the residue value 230 based on the thresholding
image processing method, the morphological image processing method
and the automatic marker color classification image processing
method, as the residue value 230 may comprise the ratio of residue
pixels to total pixels, etc. In the example of the color based
classification image processing method, the residue value 230
comprises a number or percentage of pixels that are of a different
numerical value than the numerical value associated with the ground
type 310. In the region merging image processing method, the
residue value 230 comprises a number or percentage of regions
having a similar shape when compared to the remainder of the image
in the image data 242. In the example of the watershed segmentation
image processing method, the residue value 230 comprises a number
or percentage of light or white pixels (residue) to gray or dark
pixels (soil). The residue determination module 206 sets the
residue value 230 for the UI control module 202 and for the residue
control module 212.
[0091] The movement data store 214 stores one or more tables (e.g.,
lookup tables) that indicate a movement of the hydraulic cylinders
28, 36 and 44 to achieve a desired amount of residue coverage on
the field 14 based on the current value of residue coverage on the
field 14 and the type of implement. In other words, the movement
data store 214 stores one or more tables that provide an amount of
hydraulic fluid to be applied to the hydraulic cylinders 28, 36,
710, 712 and 44 from the pumps 100 and/or the control valves 102
based on the desired residue value 226 and the implement type 224.
The one or more tables comprise calibration tables, which are
acquired based on experimental data. In various embodiments, the
tables are interpolation tables that are defined by one or more
indexes. A movement value 252 provided by at least one of the
tables indicates an amount of hydraulic fluid to be applied to the
hydraulic cylinders 28, 36, 710, 712 and 44 by the pumps 100 and/or
the control valves 102 to adjust, in the example of the tillage
implement 10, the orientation the shanks 22, disks 34, tines 706
and disks 46. As an example, one or more tables are associated with
each implement type 224 and can be indexed by various parameters
such as, but not limited to, current position of the hydraulic
cylinders 28, 36, 710, 712 and 44 and the difference between the
current residue value and the desired residue value, to provide the
movement value 252.
[0092] The residue control module 212 receives as input the desired
residue value 226, the implement type 224, the residue value 230
and location data 254. The location data 254 comprises sensor data
or sensor signals from the sensors of the depth control device 50,
which indicate a current position or relative location (e.g.,
relative depth with respect to field 14) of the shanks 22, the
disks 34, and the disks 46, or various other tools (not shown)
associated with the implement type 224. The location data 254 also
comprises sensor data or sensor signals from the sensors of the
depth control device 50, which indicate a current position or
relative location (e.g., relative down-pressure and/or angle with
respect to field 14) of the tines 706.
[0093] Based on the desired residue value 226 and the residue value
230, the residue control module 212 determines a difference between
the desired residue value 226 and the residue value 230. If the
difference is within a range, for example, within about .+-.10% of
the desired residue value 226, the residue control module 212 does
not output one or more control signals to adjust the tillage
implement 10 and/or the work vehicle 12. If the residue control
module 212 determines the difference is outside of the range, the
residue control module 212 queries the movement data store 214 to
retrieve a movement value 252 for the hydraulic cylinders 28, 36,
710, 712 and 44 based on the implement type 224, the location data
254 and the difference. Based on the movement value 252, the
residue control module 212 outputs implement control data 256,
which comprises one or more control signals for the pumps 100, the
control valves 102 and/or the controller 26 to drive the hydraulic
cylinders 28, 36, 710, 712 and/or 44 to move the shanks 22, disks
34, tines 706 and/or disks 46 of the tillage implement 10 to
achieve the desired residue value 226.
[0094] In some embodiments, based on the determination that the
difference is outside of the range by a threshold amount, such as
greater than about .+-.25%, the residue control module 212 may also
output vehicle control data 258, which comprises one or more
control signals for the engine control module 94a to adjust or
reduce the speed of the engine 94, and thus, the work vehicle 12.
By reducing the speed of the work vehicle 12, the tillage implement
10 may more thoroughly manipulate or till the field 14, thereby
reducing the residue coverage on the field 14. The residue control
module 212 may output one or both of the implement control data 256
and the vehicle control data 258 based on the difference between
the desired residue value 226 and the residue value 230.
[0095] In some embodiments, the residue control module 212 may
receive as input the harrow adjustment value from the UI control
module 202. Based on the harrow adjustment value and the location
data 254, the residue control module 212 queries the movement data
store 214 and retrieves the movement value 252. Based on the
movement data 252, the residue control module 212 outputs the
implement control data 256, which comprises one or more control
signals for the pumps 100, the control valves 102 and/or the
controller 26 to drive the hydraulic cylinders 710 and/or 712 to
move the tines 706 of the tillage implement 10 to achieve the
desired harrow adjustment value.
[0096] Referring now to FIG. 4, and with continued reference to
FIGS. 1-3, a flowchart illustrates a control method 400 that is
performed by the controller 70 and/or device control module 76 of
FIGS. 1-3. The order of operation within the method is not limited
to the sequential execution as illustrated in FIG. 4, but may be
performed in one or more varying orders as applicable.
[0097] In various embodiments, the method is scheduled to run based
on predetermined events, and/or can run based on the receipt of
input data 216. In one example, with reference to FIG. 4, the
method begins at 402. At 404, the method determines whether the
input data 216 has been received, such as one or more inputs to the
initialization user interface 218. Based on the receipt of the
input data 216, the method proceeds to 406. Otherwise, the method
continues to determine whether the input data 216 has been
received. At 406, the method receives sensor data, such as ambient
light data 234 and GPS data 236, and clock data 238. At 408, the
method selects one or more of the image processing methods based on
the sensor data (ambient light data 234 and GPS data 236) and the
input data 216. In one example, with reference to FIG. 5, a
flowchart illustrates a control method 500 for selecting the one or
more image processing methods that are performed by the controller
70 and/or the device control module 76 of FIGS. 1-3 in accordance
with the present disclosure. It should be noted that the control
method 500 is merely an example of a control method for selecting
the one or more image processing methods. In this regard, the
controller 70 and/or the device control module 76 may select one or
more of the image processing methods based on any combination of
environmental factors, such as the crop type 220, the residue
coverage density value 222, the GPS data 236, the ambient light
data 234, the clock data 238 and the ground type 310, and further,
the controller 70 and/or the device control module 76 may select
one or more of the image processing methods based on other factors
associated with the field 14, such as residue size, residue shape,
etc. which may be received as input to the initialization user
interface 218 (FIG. 2). Moreover, while the control method 500
illustrated in FIG. 5 indicates a single selection of an image
processing method, the controller 70 and/or the device control
module 76 may make multiple selections of image processing methods
to process image data 242 in parallel to determine the residue
value 230.
[0098] Referring to FIG. 5, the method begins at 502. At 504, the
method determines the time of day based on the clock data 238;
determines the amount of ambient light based on the ambient light
data 234; and determines the geographical location of the work
vehicle 12 and/or tillage implement 10 based on the GPS data 236.
At 506, the method retrieves the ground type 310 from the region
data store 304 based on the geographical location. At 508, the
method determines the environmental contrast value 312 based on the
ground type 310 and the crop type 220 received via the input data
216. Based on the environmental contrast value 312, the amount of
ambient light, the time of day and the residue coverage density
value 222, the method queries the method tables data store 308 and
retrieves the one or more selected image processing methods
240.
[0099] Blocks 510-532 represent an example method for selecting the
one or more image processing methods from method tables data store
308. At 510, the method determines whether the environmental
contrast value 312 is greater than a threshold value. If true, at
512, the method determines whether the time of day indicates
daylight hours. If the time of day associated with daylight hours,
at 514, the method determines whether the ambient light surrounding
the work vehicle 12 is greater than an ambient light threshold. If
the ambient light is greater than the ambient light threshold, such
that the work vehicle 12 is in full daylight conditions, at 516,
the method selects the morphological image processing method and
the thresholding image processing method. The method ends at
518.
[0100] If, at 512, the time of day is associated with daylight
hours, such as hours associated with dusk or night, the method
proceeds to 520. At 520, the method selects the thresholding image
processing method and ends at 518. If, at 514, the ambient light is
less than the ambient light threshold (i.e. the work vehicle 12 is
in reduced daylight conditions), the method proceeds to 520.
[0101] Otherwise, if the environmental contrast value 312 is less
than the threshold at 510, the method proceeds to 522. At 522, the
method determines whether the time of day indicates daylight hours.
If the time of day is not associated with daylight hours, the
method proceeds to 524. If, however, the time of day is associated
with daylight hours, the method proceeds to 526 and determines
whether the ambient light is greater than the ambient light
threshold. If the ambient light is greater than the ambient light
threshold, at 528, the method selects the color based
classification image processing method and ends at 518.
[0102] Otherwise, at 526, if the ambient light is less than the
ambient light threshold, the method proceeds to 524. At 524, the
method determines whether the residue coverage density is greater
than a threshold for residue coverage density, such as greater than
about 50% covered. If the residue coverage density is greater than
the threshold, the method, at 530, selects the watershed
segmentation image processing method and the region merging image
processing method and ends at 518.
[0103] If the residue coverage density is not greater than the
threshold, at 532, the method selects the automatic marker color
classification image processing method and ends at 518.
[0104] With reference back to FIG. 4, with the one or more image
processing methods selected at 408, the method proceeds to 410. At
410, the method determines whether image data 242 has been
received. If image data 242 has been received, the method proceeds
to 412. Otherwise, the method proceeds to wait for image data 242.
At 412, the method processes the image data 242 according to the
selected one or more image processing methods. At 414, the method
determines a value corresponding to the residue coverage (i.e.
residue value 230) based on the results of the image processing. At
416, the method generates one or more control signals for the
tillage implement 10 and/or work vehicle 12 (i.e. implement control
data 256 and/or vehicle control data 258) based on the residue
value 230 to arrive at the desired residue value 226. Block 414 is
optional if the control method 400 is implemented on the device
control module 76 of the portable electronic device 62.
[0105] With reference to FIG. 6, a flowchart illustrates a control
method 600 for controlling an implement that may be performed by
the controller 70 and/or the device control module 76 of FIGS. 1-3
in accordance with the present disclosure. Referring to FIG. 6, the
method begins at 602. At 604, the method receives the determined
value that corresponds to the residue coverage in the imaged area
of the field 14, or the residue value 230. At 606, the method
interprets the desired amount of residue coverage for the field 14
and the implement type 224 from the input data 216. At 608, the
method determines the difference between the determined amount of
residue coverage and the desired amount of residue coverage for the
field 14. At 610, the method retrieves the movement value 252 for
the type of tillage implement 10 based on the determined difference
and the data from the sensors of the depth control device 50 (i.e.
location data 254). At 612, the method outputs one or more control
signals to the controller 26 based on the movement value 252.
[0106] At 614, the method determines whether additional image data
242 is received, such as local image data 244, which comprises a
feedback image. In this regard, the local image data 244 may
comprise an aft image taken from the aft camera assembly 54, which
provides an imaged area of the field 14 after tillage by the
tillage implement 10. If the feedback image is received, the method
proceeds to 616. Otherwise, the method ends at 618.
[0107] At 616, the method processes the feedback image according to
the selected one or more image processing methods to determine the
value of residue coverage for the imaged area of the field 14 in
the feedback image. At 618, the method determines whether the value
of the residue coverage in the feedback image is above a range,
such as about 10%. If the value is above the range, the method
proceeds to 610. Otherwise, at 620, the method determines whether
the value of the residue coverage in the feedback image is below a
range, such as about negative 10%. If the value is below the range,
the method proceeds to 610. Otherwise, the method loops to 614.
[0108] With reference back to FIG. 4, the method at 418, determines
whether additional image data 242 has been received. For example,
the additional image data 242 may comprise a different portion of
the field 14. If additional image data 242 has been received, the
method proceeds to 412. Otherwise, the method ends at 420.
[0109] In some embodiments, the controller 70 and/or device control
module 76 may process image data 242 from the camera assemblies 58,
74, 82 to determine a levelness of the field or a quality of the
tillage operation by the tillage implement 10, and may generate one
or more control signals to control the tillage implement 10 based
on the determined levelness or quality. Example controller 70
include a computer usable or computer readable medium such as an
electronic circuit, magnetic, optical, electromagnetic, infrared,
or semiconductor system, apparatus, or device, or any suitable
combination of the foregoing. More specific examples (a
non-exhaustive list) of the computer-readable medium would include
the following: an electrical connection having one or more wires, a
portable computer diskette, a hard disk, a random access memory
(RAM), a read-only memory (ROM), an erasable programmable read-only
memory (EPROM or Flash memory), an optical fiber, a portable
compact disc read-only memory (CD-ROM), an optical storage device.
In the context of this document, a computer-usable, or
computer-readable, storage medium can be any tangible medium that
can contain, or store a program for use by or in connection with
the instruction execution system, apparatus, or device.
[0110] Finally, the orientation and directions stated and
illustrated in this disclosure should not be taken as limiting.
Many of the orientations stated in this disclosure and claims are
with reference to the direction of travel of the equipment. But,
the directions, e.g. "behind" can also are merely illustrative and
do not orient the embodiments absolutely in space. That is, a
structure manufactured on its "side" or "bottom" is merely an
arbitrary orientation in space that has no absolute direction.
Also, in actual usage, for example, the cultivator may run on a
side hill, in which case "top" may be pointing to the side or
upside down. Thus, the stated directions in this application may be
arbitrary designations.
[0111] In the present disclosure, the descriptions and example
embodiments should not be viewed as limiting. Rather, there are
variations and modifications that may be made without departing
from the scope of the appended claims.
* * * * *