Yield mapping for an agricultural harvesting machine

A round baler may include a bale chamber having one or more bale forming apparatus which form a bale in the bale chamber. The round baler may include a size sensor which measures a plurality of dimensions of the bale as the bale increases in size from a partial bale to a completed bale. The round baler may include a force sensor which measures an ending weight of the completed bale. The round baler may include a location determining device which establishes a plurality of locations of the round baler corresponding to the plurality of dimensions of the bale. The round baler can determine a plurality of yields for the bale by correlating changes in the plurality of dimensions of the bale with the ending weight of the completed bale and generating a map by correlating the plurality of yields with the plurality of locations.

FIELD OF THE DISCLOSURE

The present disclosure relates to mapping yields for an agricultural harvesting machine.

BACKGROUND

Agricultural balers gather, compress, and shape crop material into a bale. Agricultural round balers create round or cylindrical bales. A baler that produces small rectangular bales is often referred to as a square baler. Another type of baler is one that produces large rectangular bales, often referred to as large square baler. Both round bales and square or rectangular bales can be bound with wrap, netting, strapping, wire, or twine. There is a need to accurately determine crop or harvest yield across an entire field in smaller increments than on a per bale basis.

SUMMARY

This summary is provided to introduce a selection of concepts that are further described below in the detailed description and accompanying drawings. This summary is not intended to identify key or essential features of the appended claims, nor is it intended to be used as an aid in determining the scope of the appended claims.

The present disclosure includes a system which accurately determines incremental crop or harvest yields for an individual bale. In some implementations, the system accurately determines incremental crop or harvest yields for a round bale.

According to an aspect of the present disclosure, a round baler may include a bale chamber having one or more bale forming apparatus which form a bale in the bale chamber; a size sensor which measures a plurality of dimensions of the bale as the bale increases in size from a partial bale to a completed bale; a force sensor which measures a ending weight of the completed bale; and a location determining device which establishes a plurality of locations of the round baler corresponding to the plurality of dimensions of the bale. The round baler can determine a plurality of yields for the bale by correlating changes in the plurality of dimensions of the bale with the ending weight of the completed bale and generating a map by correlating the plurality of yields with the plurality of locations.

The round baler may further determine an area harvested for the bale by aggregating the plurality of locations. The baler may further divide the area harvested into a plurality of portions, and determine the yield for each of the plurality of portions by correlating the change in the plurality of dimensions of the bale with each of the plurality of portions. The round baler may further determine the plurality of yields by multiplying an incremental volumetric change of the partial bale by an average density of the completed bale and then dividing the result by a portion of the area harvested corresponding to the incremental volumetric change.

According to an aspect of the present disclosure, a round baler may include a bale chamber having one or more bale forming apparatus which form a bale in the bale chamber; a size sensor which measures a plurality of dimensions of the bale as the bale increases in size from a partial bale to a completed bale; a force sensor which measures a ending weight of the completed bale; a location determining device which establishes a plurality of locations of the round baler corresponding to the plurality of dimensions of the bale; and a controller configured to determine a plurality of yields for the bale by correlating changes in the plurality of dimensions of the bale with the ending weight of the completed bale and generating a map by correlating the plurality of yields with the plurality of locations.

The controller may further determine an area harvested for the bale by aggregating the plurality of locations. The controller may further divide the area harvested into a plurality of portions, and determine the yield for each of the plurality of portions by correlating the change in the plurality of dimensions of the bale with each of the plurality of portions. The controller may further determine the plurality of yields by multiplying an incremental volumetric change of the partial bale by an average density of the completed bale and then dividing the result by a portion of the area harvested corresponding to the incremental volumetric change.

According to an aspect of the present disclosure, a method of creating a yield map for a round baler may include forming a bale in a bale chamber; measuring a plurality of dimensions of the bale as the bale increases in size from a partial bale to a completed bale; determining a plurality of locations of the round baler corresponding to the plurality of dimensions; measuring a ending weight of the bale upon completion; determining a plurality of yields for the bale by correlating the plurality of dimensions of the bale with the ending weight of the bale; and generating a map by correlating the plurality of yields with the plurality of locations.

The method may further include determining an area harvested for the completed bale by aggregating the plurality of locations; dividing the area harvested into a plurality of regions; and determining the yield for each of the plurality of regions by correlating the change in the plurality of dimensions with each of the plurality of regions. The method may further include determining an area harvested for the completed bale via the plurality of locations; and determining each of the plurality of yields by multiplying an incremental volumetric change of the partial bale by an average density of the completed bale and then dividing the result by a portion of the area harvested corresponding to the incremental volumetric change.

These and other features will become apparent from the following detailed description and accompanying drawings, wherein various features are shown and described by way of illustration. The present disclosure is capable of other and different configurations and its several details are capable of modification in various other respects, all without departing from the scope of the present disclosure. Accordingly, the detailed description and accompanying drawings are to be regarded as illustrative in nature and not as restrictive or limiting.

Like reference numerals are used to indicate like elements throughout the several figures.

DETAILED DESCRIPTION

The embodiments disclosed in the above drawings and the following detailed description are not intended to be exhaustive or to limit the disclosure to these embodiments. Rather, there are several variations and modifications which may be made without departing from the scope of the present disclosure.

FIG. 1illustrates an agricultural harvesting machine100, such as a baler, according to one embodiment. Although a round baler is shown, this disclosure can also be applied to other balers and harvesting machines. The agricultural harvesting machine100may be coupled to an agricultural vehicle, such as a tractor, which provides power to the agricultural harvesting machine100, or the agricultural harvesting machine100may be self-propelled. The agricultural harvesting machine100may be combined or integrated with a cotton harvester, a combine, or other harvesting machines. For ease of reference, the remaining description will refer to the agricultural harvesting machine100as a baler. The baler100may include an electronic control unit180, or ECU, having one or more microprocessor-based electronic control units or controllers, which perform calculations and comparisons and execute instructions. The ECU180may include a processor, a core, volatile and non-volatile memory, digital and analog inputs, and digital and analog outputs. The ECU180may connect to and communicate with various input and output devices including, but not limited to, switches, relays, solenoids, actuators, light emitting diodes (LED's), liquid crystal displays (LCD's) and other types of displays, radio frequency devices (RFD's), sensors, and other controllers. The ECU180may receive communication or signals, via electrically or any suitable electromagnetic communication, from one or more devices, determine an appropriate response or action, and send communication or signals to one or more devices. The ECU180can be a programmable logic controller, also known as a PLC or programmable controller. The ECU180may connect to a baler100electronic control system through a data bus, such as a CAN bus, or the ECU180can be a part of the baler100electronic control system.

With reference toFIGS. 1 and 2, the baler100may move across a field and gather and process crop material to form a crop package, such as a bale B. The baler100may then eject the bale B from the rear of the baler100. The baler100can include a frame102supported on one or more ground engaging devices or wheels104. The baler100can include a draft tongue106coupled to the frame102at one end with a hitch arrangement108at the other end configured to couple the baler100to an agricultural vehicle (not shown). The baler100can include a pair of side walls110fixed to the frame102. The baler100can include a discharge gate112pivotally mounted about a pivot arrangement114. The discharge gate112can include a pair of side walls116. The discharge gate112is selectively operable for moving between a lowered baling position and an opened discharge position. As depicted, the baler100is of variable size chamber bales including a plurality of longitudinally extending side-by-side belts118supported on a plurality of rollers120. A bale forming chamber122is defined by the side walls110,116, the rollers120, and the belts118.

As the baler100moves through a field, a pickup mechanism124feeds crop material126from the ground surface into a crop inlet128of the bale forming chamber122, which rolls the crop material38in spiral fashion into a cylindrical bale B. The pick-up mechanism124may include various pick-up apparatus including, but not limited to, tines, forks, augers, conveyors, baffles, a cutter or pre-cutter assembly, or any combination of the preceding. A belt tensioning device130maintains the appropriate tension in the belts118. The belt tensioning device130rotates around pivot132as the bale B increases in size. The position of the belt tensioning device130provides an indication of bale size. A bale dimension sensor134(e.g., potentiometer) can be coupled to the pivot point132of the tensioning device130and can provide an electrical signal correlating with the size of the bale (e.g., diameter) to an Electronic Control Unit (ECU)180. The ECU180is provided for electronically controlling and monitoring a number of functions of the baler100. For example, the ECU180, in addition to monitoring bale size and other functions, can further be configured to trigger a twine or wrapping cycle, open and close the discharge gate, initiate bale discharge, control the application of preservative to the bale, and communicate crop moisture content and other bale related information to the operator. When the bale B attains a predetermined size, the baler100wraps the bale B with twine, net wrap, or other appropriate wrapping material from a wrapping arrangement138. The baler100then discharges the bale B by opening the discharge gate112, for example by actuation of gate cylinders, which permits the completed bale B to be discharged from the baler100onto the ground or an accumulator.

With continuing reference toFIGS. 1 and 2, the baler100can include one or more load or force sensors140(e.g., load cell) for sensing a weight of the bale B during and after bale formation in the baling chamber122. The baler100can include a load cell140A on the tongue106adjacent to the hitch108. The baler100can also include load cells140B and140C which are positioned between the baler frame102and the axle103. The load cells140can produce a signal varying with their deflection, thereby providing an indication of bale weight. The baler100may also include one or more distance sensors146to measure the size of the bale B in the bale forming chamber122, which will be discussed in more detail below. The baler100may include a position sensor142, for example a GPS satellite antenna, an inclination sensor144, and one or more load cells140in communication with the ECU180. The position sensor142can provide real-time location information of the baler100. The inclination sensor144can provide incline, slope, or gradient information of the baler100.

With reference toFIGS. 3A and 3B, the baler100may include one or more distance sensors146, for example any non-contact sensor such as an ultrasonic, radar, microwave, laser, or other distance measuring apparatus. The distance sensors146can be positioned near the rear upper portion of the discharge gate112. In the embodiment depicted, three sensors146are arranged along the width W of the baler100, with one located near each edge region of the bale B and one located near the center region of the bale B. The one or more sensors146detect the spacing or distance between the bale B and the sensor146. As the bale B increases in size, shown as B′ and B″, the one or more sensors146detect or sense the change in size and communicate these measurements via signals to the ECU180. The sensors146can provide measurement information regarding the change in size for each region of the bale B. The ECU180controls a display arrangement190positioned in the operator cab of the agricultural tractor. The measurement values of the sensors146can be displayed on the display arrangement190in three fields, each of which represents a region of the bale B. The measured values may be provided in graphical, representative, or numerical form.

With reference toFIGS. 4, 5A, and 5Bcrop or harvest yield can be determined for a finite or predetermined area of a field and displayed as yield map150. As shown inFIG. 4, the larger area152represents the area harvested to generate a single bale B. The larger area152includes several smaller areas154, which represent portions or regions of the area harvested corresponding to portions or sections of the single bale B. As the bale B is being generated, changes in the size of the bale (e.g., radius, diameter, volume, etc.) can be measured and stored, for example with bale dimension sensor134, distance sensors146, or both as depicted inFIG. 1. Alternatively or additionally, changes in the weight of the bale can be measured and stored, for example with one or more force sensors140. While the baler100is moving across a field and generating a bale B, the dynamic weight measurement can fluctuate due to movement of the baler100in a vertical direction in response to the terrain or topography of the field. Even with these fluctuations, the dynamic weight measurements can still provide relative or comparative measurements as the bale B increases in size. When the bale B has attained a predetermined size or weight, the bale generation is considered complete. The size and weight of the completed bale B can be measured before exiting the baler100. This final or ending measurement can occur when the baler100is stationary, which can provide a more accurate measurement regarding the weight.

FIG. 5Aillustrates the growth of bale B in the bale forming chamber122as an increasing amount of area is harvested. The growth of the bale B, measured by size or weight or both, varies based upon the amount or quantity of crop material being harvested for a predetermined area. The amount or quantity of crop material can vary during the generation of an individual bale B. As shown in this example, the rate of change in the bale dimension, size or weight or both, varies during the generation of an individual bale B. The change in size of the bale B can be determined by the change in volume of the bale B represented by
Vc=π(r22−r12)2W
where r2is the larger radius of the bale, r1is the smaller radius of the bale, and W is the width of the bale, or

Vc=π⁡((d22)2-(d12)2)⁢W
where d2is the larger diameter of the bale, d1is the smaller diameter of the bale, and W is the width of the bale. When the generation of the bale B is complete, the bale B is weighed and then ejected from the baler100. The average density of the entire bale B can then be determined by the equation
ρt=m/Vt
where m is the mass of the bale and Vtis the volume of the completed or entire bale. For any portion or region of the area harvested for the completed bale, the yield can be determined by multiplying the change in volume of the bale (Vc) for the portion of the area harvested for the bale (Ap) by the average density of the entire bale (ρt), and then divided by the portion of the area harvested for the bale which created the change in volume represented by

Yieldportion=MassportionAreaportion⁢⁢or⁢⁢Yp=Vc⁢ρtAp.
FIG. 5Billustrates the yield rates for different portions or sections of the bale. As shown in this example embodiment, the area harvested for a single bale (At) was divided into ten portions or regions (Ap), and the yield for each portion of the area harvested was calculated based upon the incremental volumetric change of the bale (Vc) for that portion of the area harvested. The yield for each portion (Yp) is determined by multiplying an incremental volumetric change of the partial bale (Vc) by an average density of the completed bale (ρt) and then dividing the result by a portion of the area harvested during the incremental volumetric change Ap.

For example, if the completed bale weighed 900 kg (1,984 lbs) with a width of 1.5 m (4.9 ft) and a diameter of 1.8 m (5.9 ft), then the volume would be

Vt=π·(1.8⁢⁢m2)2·1.5⁢⁢m=3.8⁢⁢m3,
and the average density of the entire bale would be

ρt=massvolume=900⁢⁢kg3.8⁢⁢m3=237⁢⁢kgm3.
Additionally, if the area harvested Atwas 1 acre, or 4,047 m2, then the yield for the bale would be

Yt=total⁢⁢masstotal⁢⁢area=900⁢⁢kg4⁢,⁢047⁢⁢m2=0.222⁢⁢kgm2.
Further, if the predetermined portion or region of the area harvested for the portion or section of the individual bale was 250 m2, which caused the bale to increase in diameter from 1.0 m to 1.1 m, then the change in volume would be

Vc=π·((1.1⁢⁢m2)2-(1.0⁢⁢m2)2)·1.5⁢⁢m=0.247⁢⁢m3,
and the yield for the predetermined portion or region of the area harvested would be

Yieldportion=MassportionAreaportion=Volumeportion·Total⁢⁢Average⁢⁢DensityAreaportion=Vc·ρtAh=0.247⁢⁢m3·237⁢⁢kgm3250⁢⁢m2=0.234⁢⁢kgm2.
For this example, the yield for the portion or section of the bale represented by the change in diameter from 1.0 m to 1.1 m

(0.234⁢⁢kgm2)
is larger than the average yield for the entire bale

For another example using the same completed bale, if the predetermined portion of the area harvested for portion or section of the individual bale was 200 m2, which caused the bale to increase in diameter from 0.5 m to 0.6 m, then the change in volume would be

Vc=π·((0.6⁢⁢m2)2-(0.5⁢⁢m2)2)·1.5⁢⁢m=0.130⁢⁢m3,
and the yield for the predetermined portion or region of the area harvested would be

Yieldportion=MassportionAreaportion=Volumeportion·Total⁢⁢Average⁢⁢DensityAreaportion=Vc·ρtAh=0.130⁢⁢m3·237⁢⁢kgm3200⁢⁢m2=0.154⁢⁢kgm2.
For this example, the yield for the portion of the bale represented by the change in diameter from 1.0 m to 1.1 m

(0.154⁢⁢kgm2)
is smaller man the average yield for the entire bale

FIG. 6illustrates a method of determining the yield for a portion of an entire or completed bale, which may be implemented in one or more of the embodiments described herein and depicted in the various FIGURES. At step200, the method starts.

At step202, the baler100commences the generation of new bale B.

At step204, the baler100measures the growth or increase in dimensions of the bale B from beginning to completion of the bale generation. The ECU180can perform these measurements based upon communication with one or more sensors.

At step206, the baler100determines and tracks the area harvested corresponding to the change in bale dimensions and the area harvested for generation of the bale. The ECU180can perform this operation based upon communication with one or more sensors. Steps204and206can occur concurrently.

At step208, the baler100measures the dimensions of the completed bale B. The ECU180can perform these measurements based upon communication with one or more sensors.

At step210, the baler100determines the yield for the area harvested for the completed bale B, and for any predetermined portion or region of the area harvested. The ECU180can perform these yield determinations and generate a yield map150.

At step212, determining the yield for a portion of a completed bale has occurred, according to one embodiment. In other embodiments, one or more of these steps or operations may be omitted, repeated, or re-ordered and still achieve the desired results.

FIG. 7illustrates a method of determining the yield for a portion of an entire or completed bale, which may be implemented in one or more of the embodiments described herein and depicted in the various FIGURES. At step300, the method starts.

At step302, the ECU180determines whether the baler100has commenced the generation of a new bale B via communication with one or more sensors. If no, the method repeats step302. If yes, then the method continues with step304

At step304, the ECU180determines the growth or increase in dimensions of the bale B from beginning to completion of the bale generation via communication with one or more sensors.

At step306, the ECU180determines the portion of the area harvested corresponding to the change in bale dimensions and the area harvested for the generation of the bale via communication with one or more sensors. The ECU180can perform steps204and206concurrently.

At step308, the ECU180determines whether the baler100has completed the generation of the new bale B via communication with one or more sensors. If no, the method returns to step304. If yes, then the method continues with step310.

At step310, the ECU180determines the dimensions of the completed bale B via communication with one or more sensors.

At step312, the ECU180determines the yield for the area harvested for the completed bale B, and for any predetermined portions of the area harvested. The ECU180can determine a plurality of yields for the bale by correlating changes in the plurality of dimensions of the bale with the ending weight of the completed bale. The ECU180can determine the plurality of yields by multiplying an incremental volumetric change of the partial bale by an average density of the completed bale and then divide the result by a portion of the area harvested corresponding to the incremental volumetric change.

The ECU180can then generate a yield map150including the yields for the predetermined portions of the area harvested. The ECU180can determine the area harvested for the bale by aggregating the plurality of locations. The ECU180can then divide the area harvested for the bale into a plurality of regions and determine the yield for each of the plurality of regions by correlating the change in the plurality of dimensions of the bale with each of the plurality of regions.

At step314, determining the yield for a portion of a completed bale has occurred, according to one embodiment. In other embodiments, one or more of these steps or operations may be omitted, repeated, or re-ordered and still achieve the desired results.

Without in any way limiting the scope, interpretation, or application of the claims appearing below, a technical effect of one or more of the example embodiments disclosed herein is the yield determination for a portion of a bale. Another technical effect of one or more of the example embodiments disclosed herein is the yield determination for a portion of the area harvested corresponding to an individual bale. Another technical effect of one or more of the example embodiments disclosed herein is multiple yield determinations for an individual bale.

The terminology used herein is for the purpose of describing particular embodiments or implementations and is not intended to be limiting of the disclosure. As used herein, the singular forms “a”, “an” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the any use of the terms “has,” “have,” “having,” “include,” “includes,” “including,” “comprise,” “comprises,” “comprising,” or the like, in this specification, identifies the presence of stated features, integers, steps, operations, elements, and/or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

The references “A” and “B” used with reference numerals herein are merely for clarification when describing multiple implementations of an apparatus.

One or more of the steps or operations in any of the methods, processes, or systems discussed herein may be omitted, repeated, or re-ordered and are within the scope of the present disclosure.

While the above describes example embodiments of the present disclosure, these descriptions should not be viewed in a restrictive or limiting sense. Rather, there are several variations and modifications which may be made without departing from the scope of the appended claims.