# Patent

## Title
Agricultural spatial data processing systems and methods

## Abstract

Systems and methods are provided for correlating data from agricultural operations and displaying the resulting correlations. In some embodiments, data is gathered during two agricultural operations, a bitmap is rendered of the first operation, and second operation data from a live location is associated with a bitmap value at coordinates associated with the live location.

## Background
BACKGROUND
Precision farming practices have been implemented in recent years in order to effectively modify farming practices by location within fields in order to maximize yield and economic return. Existing mapping technology is capable of displaying various maps of agricultural application and yield data. However, there is a need in the art for systems and methods for more effectively displaying such yield data, particularly during operations in the field.



BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 illustrates an embodiment of a monitor screen displaying a live harvesting map and a prior planting map.
FIG. 2 is a top view of an embodiment of a planting implement drawn by a tractor.
FIG. 3 illustrates an embodiment of a process for correlating data between two agricultural operations.
FIG. 4 illustrates another embodiment of a process for correlating data between two agricultural operations.
FIG. 5 illustrates an embodiment of a monitor screen displaying a report correlating planting data and harvest data.
FIG. 6 illustrates an embodiment of a planter monitoring system.
FIG. 7 illustrates an embodiment of a harvest data collection system.
FIG. 8 illustrates another embodiment of a monitor screen displaying a live harvesting map and numerical planting metrics.
FIG. 9 illustrates an embodiment of a planter row unit.



DESCRIPTION
Planter Data Collection System
Referring now to the drawings, wherein like reference numerals designate identical or corresponding parts throughout the several views, FIG. 2 illustrates a tractor 5 drawing an agricultural implement, e.g., a planter 10, comprising a toolbar 14 operatively supporting multiple row units 200. An implement monitor 50 preferably including a central processing unit (“CPU”), memory and graphical user interface (“GUI”) (e.g., a touch-screen interface) is preferably located in the cab of the tractor 10. A global positioning system (“GPS”) receiver 52 is preferably mounted to the tractor 10.
Turing to FIG. 9, an embodiment is illustrated in which the row unit 200 is a planter row unit. The row unit 200 is preferably pivotally connected to the toolbar 14 by a parallel linkage 216. An actuator 218 is preferably disposed to apply lift and/or downforce on the row unit 200. A solenoid valve 690 is preferably in fluid communication with the actuator 218 for modifying the lift and/or downforce applied by the actuator. An opening system 234 preferably includes two opening discs 244 rollingly mounted to a downwardly-extending shank 254 and disposed to open a v-shaped trench 38 in the soil 40. A pair of gauge wheels 248 is pivotally supported by a pair of corresponding gauge wheel arms 260; the height of the gauge wheels 248 relative to the opener discs 244 sets the depth of the trench 38. A depth adjustment rocker 268 limits the upward travel of the gauge wheel arms 260 and thus the upward travel of the gauge wheels 248. A depth adjustment actuator 680 is preferably configured to modify a position of the depth adjustment rocker 268 and thus the height of the gauge wheels 248. The actuator 680 is preferably a linear actuator mounted to the row unit 200 and pivotally coupled to an upper end of the rocker 268. In some embodiments the depth adjustment actuator 680 comprises a device such as that disclosed in International Patent Application No. PCT/US2012/035585, the disclosure of which is hereby incorporated herein by reference. An encoder 682 is preferably configured to generate a signal related to the linear extension of the actuator 680; it should be appreciated that the linear extension of the actuator 680 is related to the depth of the trench 38 when the gauge wheel arms 260 are in contact with the rocker 268. A downforce sensor 692 is preferably configured to generate a signal related to the amount of force imposed by the gauge wheels 248 on the soil 40; in some embodiments the downforce sensor 692 comprises an instrumented pin about which the rocker 268 is pivotally coupled to the row unit 200, such as those instrumented pins disclosed in Applicant's co-pending U.S. patent application Ser. No. 12/522,253 (Pub. No. US 2010/0180695), the disclosure of which is hereby incorporated herein by reference.
Continuing to refer to FIG. 9, a seed meter 230 such as that disclosed in Applicant's co-pending International Patent Application No. PCT/US2012/030192, the disclosure of which is hereby incorporated herein by reference, is preferably disposed to deposit seeds 42 from a hopper 226 into the trench 38, e.g., through a seed tube 232 disposed to guide the seeds toward the trench. In some embodiments, the meter is powered by an electric drive 615 configured to drive a seed disc within the seed meter. In other embodiments, the drive 615 may comprise a hydraulic drive configured to drive the seed disc. A seed sensor 605 (e.g., an optical or electromagnetic seed sensor configured to generate a signal indicating passage of a seed) is preferably mounted to the seed tube 232 and disposed to send light or electromagnetic waves across the path of seeds 42. A closing system 236 including one or more closing wheels is pivotally coupled to the row unit 200 and configured to close the trench 38.
Turning to FIG. 6, a planter monitoring system 600 is schematically illustrated. The monitor 50 is preferably in electrical communication with components associated with each row unit 200 including the drives 315, the seed sensors 605, the GPS receiver 52, the downforce sensors 692, the valves 690, the depth adjustment actuator 680, the depth actuator encoders 682, and the solenoid valves 690. In some embodiments, particularly those in which each seed meter 230 is not driven by an individual drive 615, the monitor 50 is also preferably in electrical communication with clutches 610 configured to selectively operably couple the seed meter 230 to a hydraulic drive or other seed meter drive.
Continuing to refer to FIG. 6, the monitor 50 is also preferably in electrical communication with one or more temperature sensors 660 such as one of the embodiments described in Applicant's U.S. Provisional Patent Application No. 61/783,591 (“the '591 application”) and Applicant's International Patent Application No. PCT/US2012/035563, the disclosures of both of which are hereby incorporated herein in their entirety by reference. The monitor 50 is preferably in electrical communication with one or more moisture sensors 650 such as those disclosed in the '591 application, incorporated by reference above. In some embodiments the monitor 50 is in electrical communication with planting depth sensors 685.
Harvest Data Collection System
A harvest data collection system 700 is illustrated in FIG. 7 schematically superimposed on a combine harvester 7, indicating preferred component mounting locations on the combine harvester. The harvest data collection system 700 preferably includes a yield sensor assembly 790. The yield sensor assembly 790 is preferably one of the embodiments disclosed in Applicant's International Patent No. PCT/US2012/050341 or U.S. Pat. No. 5,343,761,the disclosures of both of which are hereby incorporated herein in their entirety by reference. The harvest data collection system 700 preferably further includes a further a grain height sensor 710, a moisture sensor 720, a global positioning system (GPS) receiver 730, a processing board 750, and the monitor 50. The processing board 750 is preferably in data communication with the monitor 50, the yield sensor assembly 790, the grain height sensor 710, the moisture sensor 720, and the GPS receiver 730. In a preferred embodiment the monitor 50 is the same monitor used in the planter monitor system 600. In other embodiments, a second monitor having a processor, memory and graphical user interface may be used in the harvest data collection system 700 to replace the monitor 50.
The grain height sensor 710 preferably comprises a sensor configured and disposed to measure the height of grain being lifted by the clean grain elevator. The grain height sensor 710 is preferably mounted to the sides of a clean grain elevator housing adjacent the location where grain piles are lifted vertically before reaching the top of the clean grain elevator. It should be appreciated that the grain height sensor 710 is not required for operation of the harvest data collection system 700 or the yield sensor assembly 790.
The moisture sensor 720 preferably comprises a sensor disposed to measure the moisture of grain being lifted by the clean grain elevator. For example, in some embodiments the moisture sensor 720 comprises a capacitive moisture sensor such as that disclosed in U.S. Pat. No. 6,285,198, the disclosure of which is hereby incorporated by reference herein in its entirety.
The GPS receiver 730 preferably comprises a receiver configured to receive a signal from a GPS or similar geographical referencing system. The global positioning receiver 730 is preferably mounted to the top of the combine 7.
The processing board 750 preferably comprises a central processing unit (CPU) and a memory for processing and storing signals from the system components 710, 720, 790, 730 and transmitting data to the monitor 50. The monitor 50 is preferably mounted inside a cab of the combine 7.
Monitoring Methods
Correlations
In operation, a first monitoring system (e.g., the planter monitoring system 600) preferably collects data during a first operation (e.g., a planting operation) and stores data (e.g., spatial planting data) collected during the first operation. A second monitoring system (e.g., the harvest data collection system 700) preferably collects data during a second operation (e.g., a harvesting operation) and stores data (e.g., spatial harvest data) collected during the second operation. During the second operation, the second monitoring system preferably displays visual and numerical correlations between the data collected during the first operation and the data collected during the second operation.
One such visual correlation between data collected during first and second agricultural operations is illustrated in FIG. 1. The monitor 50 is preferably configured to display a map screen 100 (similar to the map screen 1600 disclosed in International Patent Appplication No. PCT/US2013/054506, incorporated herein in its entirety by reference) including a completed planting map window 150 and a live yield map window 160.
The completed planting map window 150 preferably includes a map layer 155 comprising display tiles 140. Each display tile 140 preferably includes map blocks 122, 124, 126 representing live planting data (e.g., hybrid type) associated with the location of the block. The spatial extent of each display tile 140 is preferably circumscribed by a unique geo-referenced boundary (e.g., a rectangular boundary); depending on the geo-referenced area displayed by the map layer 155, only a portion of any given display tile 140 may be displayed in the map layer 155 and the map window 150. The pattern, symbol or color of each map block corresponds to a legend 110 preferably displayed in the completed planting map window 150. The legend 110 preferably includes a set of legend ranges (e.g., legend ranges 112, 114, 116) including a pattern, symbol or color and a corresponding value range. In FIG. 1, the legend ranges 112, 114, 116 correspond to population ranges. It should be appreciated that the legend ranges 112, 114, 116 correspond to map blocks 122, 124, 126, respectively. An annotation 170-1 preferably remains at the same position with respect to the map boundary as the orientation and zoom level of map window 150 are manipulated.
The live yield map window 160 preferably includes a map layer 165 comprising yield map polygons 132, 134, 136 (or blocks similar to those used in the planting maps described herein) corresponding to ranges 182, 184, 186 of a yield legend 180. As the combine traverses the field, a combine annotation 12 preferably indicates the current location of the combine within the map Annotations 15 preferably indicate the locations of each combine row unit when using a combine having a header (e.g., a corn header) configured to harvest a crop in discrete rows. An annotation 170-2 preferably remains at the same position with respect to the map boundary as the orientation and zoom level of map window 160 are manipulated.
A second correlation between data collected during first and second agricultural operations is illustrated in FIG. 8. The monitor 50 is preferably configured to display a map screen 800 including live yield map window 160 (similar to that described above with respect to FIG. 1) and an array 810 of planting data windows. Each planting data window preferably displays a value of planting data corresponding to the location (the “current location”) of the combine harvester 7 (indicated on the map by the annotation 12). A downforce window 811 preferably displays a downforce applied at the current location during the planting operation. A seed spacing window 812 preferably displays a seed spacing quality—preferably determined as disclosed in U.S. Pat. No. 8,078,367 (“the '367 patent”), incorporated herein by reference—of seeds planted at and/or the current location during the planting operation. A singulation window 813 preferably displays a seed singulation quality—preferably determined as disclosed in the '367 application—of seeds planted at and/or near the current location during the planting operation. A hybrid window 814 preferably identifies a variety (i.e., type) of seeds planted at and/or near the current location during the planting operation. A population window 815 preferably displays a population value—preferably determined as disclosed in the '367 application—of seeds planted at and/or near the current location during the planting operation.
A third correlation between data collected during first and second agricultural operations is illustrated in FIG. 5. The monitor 50 is preferably configured to display a correlation screen 500 including a plurality of correlation charts 510, 520. Each correlation chart 510, 520 preferably correlates data accumulated during the harvesting operation with subsets of data accumulated during the prior planting operation. Correlation chart 510 preferably contains a plurality of rows correlating population ranges 512 with acreages 514, yields 516, and moistures 518 in areas planted at each population range. Correlation chart 520 preferably contains a plurality of rows correlating hybrid types 522 with acreages 524, yields 526, and moistures 528 in areas planted with each hybrid type. The correlation charts 512, 522 are preferably repeatedly or continuously populated with data accumulated during the harvest operation such that the operator may navigate to the correlation screen 500 in order to view correlated data for all of the harvest data (e.g., acreage, yield, and moisture) accumulated thus far during the operation.
Each correlation chart preferably includes an “Unknown” row in which harvest data is accumulated for locations which could not be satisfactorily associated with harvest data; e.g., where yield was measured at a location associated with multiple populations. A common example of such multiple associations may occur when one set of combine header row units is harvesting an area planted at a first population while another set of combine header row units is harvesting an area planted at a second population. Each correlation chart preferably includes a “Totals” row in which all the harvest data is accumulated for each subset of planting data including the “Unknown” subset. In other embodiments, the correlation charts are replaced and/or supplemented with visual correlations such as bar charts or scatter plots.
In addition to population and seed hybrid, other correlation embodiments similar to those above may correlate other planting data including planting depth, planting downforce, planting temperature, and planting moisture.
Data Access and Correlation Methods
Referring to FIG. 3, in order to display each of the correlations described above between first and second agricultural operations, the monitor 50 is preferably configured to carry out a process 300. At step 310 the monitor 50 preferably gathers data during a first agricultural operation. At step 320 the monitor 50 preferably begins gathering data while performing a second agricultural operation. At step 330 the monitor 50 preferably renders a bitmap of the data gathered during the first operation. At step 340 the monitor 50 preferably associates the data gathered at a live location (e.g., the current location of the implement) during the second operation with a bitmap value at bitmap coordinates corresponding to the live location.
Turning to FIG. 4, a detailed process 400 for accessing data collected during a first (e.g., planting) operation during a second (e.g., harvesting) operation is illustrated. At step 402, an operator preferably carries out a first agricultural operation while a monitor collects spatial data. In the illustrated example the first agricultural operation comprises planting a field while the planter monitor system 600 collects the planting data described herein. At step 404, an operator preferably begins harvesting a field while the harvest data collection system 700 collects local harvest metrics and position information. At step 410, the monitor 50 preferably receives data packets at regular intervals (e.g., at 5 Hz frequency) from the sensors in the harvest data collection system 700; each data packet preferably includes harvest metrics (e.g., yield and moisture) as well as geo-referenced positions associated with the metrics. The geo-referenced positions preferably correspond to the positions of the combine header row units (referred to herein as “swath locations”) at the time of (or at an offset time from) the harvest metric measurements in the packet. At step 420, the monitor 50 preferably associates each swath location with a planting map tile. Each planting map tile preferably includes multiple sets of planting data (e.g., population, singulation, downforce, depth, moisture, temperature) collected during the planting operation at a single set of coordinates, e.g., defined by a rectangular boundary as illustrated in FIG. 1. The display tiles 140 illustrated in FIG. 1 preferably comprise visual representations of one or more sets of spatial data in a map tile.
At step 430, the monitor 50 preferably identifies any map tiles that have not been rendered as a desired bitmap or bitmaps.
At step 435 the monitor 50 preferably renders the identified map tiles as a bitmap or bitmaps. In a preferred embodiment, each bitmap comprises a 256 by 256 pixel bitmap, each pixel having a value corresponding to a value or range of values in a data set within the map tile, and the coordinates of each pixel corresponding to a geo-referenced location. As a representative example, a population data set in the map tile is rendered as a population bitmap in which each range of population is assigned a unique color index. As another representative example, a hybrid (seed variety) data set in the map tile is rendered as a hybrid bitmap in which each hybrid type or index is mapped to a color index value. The generated bitmaps are preferably stored in the memory cache of the monitor 50.
At step 440, the monitor 50 preferably converts each swath location (received at step 410) to a bitmap space coordinated in the map tile with which the swath location was associated at step 420. At step 445, the monitor 50 preferably obtains bitmap color values at each swath location bitmap coordinate. At step 450 the monitor 50 preferably stores the bitmap color values in an array for each data packet received (i.e., for all the swath locations in the data packet).
At step 460, the monitor 50 preferably determines the usability of data in each array. In a preferred embodiment, the monitor 50 determines whether the percentage of swath locations successfully associated with a color value in the bitmap (e.g., the population bitmap) exceeds a threshold percentage, e.g. 90%. If the threshold is not met, the data in the array is preferably ignored or added to a “Bad” data set not used for display or correlation purposes by the monitor 50.
At step 470, the monitor 50 preferably determines a combined planting data value applicable to all the swath locations represented in the array. As an example, the population bitmap color values for each swath location are averaged such that the combined planting data value comprises an average value of all the swath locations represented in the array. As another example, the hybrid bitmap color values at each swath location are preferably used to identify a hybrid combination applicable to the entire combine head; for example, an “A” hybrid combination if each swath location was planted with seed variety A, a “B” hybrid combination if each swath location was planted with seed variety B, and an “A/B” hybrid combination if some swath locations were planted with seed variety A and others with seed variety B.
If no desired combination exists for a planting data set, then at step 472 the monitor 50 preferably ignores that planting data set or adds it to an “Unknown” data set. For example, if the hybrid data set in a given array includes a combination of hybrids not corresponding to any hybrid combination recognized by the monitor 50 (i.e., existing in a list of combinations stored in the memory of the monitor), then the hybrid data in that array is preferably ignored or added to an “Unknown” hybrid data set.
At step 475, the monitor 50 preferably associates the combined planting data value determined at step 470 with a planting data set comprising multiple ranges of planting data values. For example, in an illustrative embodiment an averaged population value of 30,010 seeds per acre is associated with a planting data set containing all population values between 30,000 seeds per acre and 30,500 seeds per acre.
At step 480, the monitor 50 preferably adds the harvest metric from the data packet to a cumulative harvest metric in the planting data set associated with the combined planting value. For example, in an illustrative embodiment a yield measurement (e.g., grain mass flow rate or bushels per acre) in a data packet having an averaged population value of 30,010 seeds per acre is added to an accumulated yield value associated with a planting data set containing all population values between 30,000 seeds per acre and 30,500 seeds per acre.
At step 490, the monitor 50 preferably displays a correlation (i.e., one of the visual or numerical correlations described above) between planting data sets (e.g., ranges of population) and cumulative harvest metrics (e.g., total harvested bushels per acre in each range of population).
The foregoing description is presented to enable one of ordinary skill in the art to make and use the invention and is provided in the context of a patent application and its requirements. Various modifications to the preferred embodiment of the apparatus, and the general principles and features of the system and methods described herein will be readily apparent to those of skill in the art. Thus, the present invention is not to be limited to the embodiments of the apparatus, system and methods described above and illustrated in the drawing figures, but is to be accorded the widest scope consistent with the spirit and scope of the appended claims.

## Claims

1. A method of correlating data during a first agricultural operation and a second agricultural operation, comprising:
receiving, from one or more sensors mounted in a planter unit, first data at a first plurality of geo-referenced locations during the first agricultural operation, wherein the receiving occurs while a planting operation is in progress, and wherein said first data comprises planting data from the one or more sensors mounted in the planter unit;
rendering a first bitmap of said first data comprising planting data associated with said first plurality of geo-referenced locations of said first data; and
while a harvesting operation is in progress during the second agricultural operation:
receiving, at regular intervals, from one or more sensors mounted in a harvest unit performing a harvesting operation, second data comprising a set of data packets at a second plurality of geo-referenced location, wherein said second data comprises live harvest yield data from the one or more sensors mounted in the harvest unit performing the harvesting operation, and wherein the second plurality of geo-referenced locations corresponds to combine head swath locations;
rendering a second bitmap of said second data, wherein, at bitmap coordinates corresponding to said second plurality of geo-referenced locations, bitmap values correspond to said second data received at said second plurality of geo-referenced locations;
determining usability of said bitmap values, wherein the usability is based on whether, for a bitmap value corresponding to a geo-referenced location in the first bitmap, there is at least a threshold number of combine head swath locations associated with the bitmap value; and
generating a display map screen comprising the rendered first and second bitmaps, wherein, for bitmap locations that are determined to have usable bitmap values, the values of the received planting data and the received live harvest yield data are displayed in adjacent windows for a same set of geo-referenced locations.

2. The method of claim 1, wherein said harvest yield data includes a plurality of combine head swath locations.

3. The method of claim 2, further comprising:
associating each of said plurality of combine head swath locations with a planting map tile.

4. The method of claim 2, further comprising:
converting each of said plurality of combine head swath locations to bitmap space coordinates.

5. The method of claim 4, further comprising:
obtaining bitmap values at said bitmap space coordinates.

6. The method of claim 5, further comprising:
determining a combined planting data value applicable to all of said combine head swath locations for a single combine head position.

7. The method of claim 6, further comprising:
associating said combined planting data value with a planting data set.

8. The method of claim 7, further comprising:
adding a harvest metric to a cumulative harvest metric associated with said combined planting data value.

9. The method of claim 8, further comprising:
displaying a correlation of planting data sets with cumulative harvest metrics.

10. A method of correlating data during a first agricultural operation and a second agricultural operation, comprising:
receiving, from one or more sensors mounted in a planter unit, first data associated with a first plurality of geo-referenced locations during the first agricultural operation, wherein the receiving occurs while a planting operation is in progress, and wherein said first data comprises planting data from the one or more sensors mounted in the planter unit;
rendering a first map of said first data comprising planting data associated with said first plurality of geo-referenced locations of the said first data; and
while a harvesting operation is in progress during the second agricultural operation:
receiving, at regular intervals, from one or more sensors mounted in a harvest unit performing a harvesting operation, second data comprising a set of data packets at a second plurality of geo-referenced locations, wherein said second data comprises live harvest yield data from the one or more sensors mounted in the harvest unit performing the harvesting operation, and wherein the second plurality of geo-referenced locations corresponds to combine head swath locations;
rendering a second map of said second data, wherein, at map coordinates corresponding to said second plurality of geo-referenced locations, map values correspond to said second data received at said second plurality of geo-referenced locations;
determining the usability of said map values, wherein the usability is based on whether, for a map value corresponding to a geo-referenced location in the first map, there is at least a threshold value of combine head swath locations associated with the map value; and
generating a display map screen comprising the rendered first and second maps, wherein, for map locations that are determined to have usable map values, the values of the received planting data and the received live harvest yield data are displayed in adjacent windows for a same set of geo-referenced locations.

11. The method of claim 10, further comprising:
associating each of said first plurality of locations with a map tile of said map.

12. The method of claim 11, further comprising:
determining a combined second operation data value applicable to all of said first plurality of locations for a single position reached during said second operation.

13. The method of claim 12, further comprising:
associating said combined second operation data value with a first operation data set.

14. The method of claim 13, further comprising:
displaying a correlation of said combined second operation data value with said first operation data set.

15. The method of claim 10, wherein said harvest data includes a plurality of combine head locations.

16. A method of correlating data during a first agricultural operation and a second agricultural operation, comprising:
receiving, from one or more sensors mounted in a planter unit, first data at a first plurality of geo-referenced locations during the first agricultural operation, wherein the receiving occurs while a planting operation is in progress, and wherein said first data comprises planting data from the one or more sensors mounted in the planter unit;
while a harvesting operation is in progress during the second agricultural operation:
receiving, at regular intervals, from one or more sensors mounted in a harvest unit performing a harvesting operation, second data comprising a set of data packets at a second plurality of geo-referenced locations, wherein said second data comprises live harvest yield data from the one or more sensors mounted in the harvest unit performing the harvesting operation, and wherein the second plurality of geo-referenced locations corresponds to combine head swath locations;
determine the usability of said first data, wherein the usability is based on whether, for a first data value corresponding to a geo-referenced location in the first plurality of geo-referenced locations, there is at least a threshold number of combine head swath locations associated with the first data value; and
determining, for geo-referenced locations that are determined to have usable first data values:
a correlation between the said first data and said second data, wherein the correlation associates values of the received planting data and the received live harvest yield data for a same geo-referenced location; and
generating a display of the correlated planting data and live harvest yield data for said geo-referenced location.