Patent Publication Number: US-2023143718-A1

Title: Harvesting machine haulage vehicle coordination control

Description:
FIELD OF THE DESCRIPTION 
     The present description generally relates to agricultural harvesting machines. More specifically, but not by limitation, the present description relates to a harvesting machine control system configured to coordinate operation with a haulage vehicle or other support machine. 
     BACKGROUND 
     There are many different types of mobile machines. There are also many different types of mobile machines that have local material storage repositories that store material that is gathered, or that is distributed, by the machine. 
     For instance, in one example, an agricultural harvester harvests material, such as grain. In harvesting grain, the harvester processes the grain and stores the grain in a clean grain tank. When the clean grain tank is full, or nearing full capacity, the combine harvester unloads the clean grain into a haulage vehicle or unit, which may be a grain cart pulled by a tractor. The haulage unit then often transports the harvested grain to another vehicle, such as a semi-truck for transport to a different location. 
     Other examples of mobile work machines that collect material include machines such as a sugarcane harvester, a forage harvester, a baler, a timber harvester, an asphalt milling machine, a scraper, among a wide variety of other machines. 
     The discussion above is merely provided for general background information and is not intended to be used as an aid in determining the scope of the claimed subject matter. 
     SUMMARY 
     An agricultural harvesting machine includes a harvested crop repository and a crop processing system configured to engage crop in a field, perform a crop processing operation on the crop, and move the processed crop to the harvested crop repository. The crop processing system includes a transfer mechanism configured to transfer the processed crop to a support machine. The agricultural harvesting machine includes a control system configured to identify a turn to be performed by the agricultural harvesting machine in the field, determine a harvesting machine turn path for the agricultural harvesting machine to perform the turn on the field, generate a support machine turn path based on the harvesting machine turn path, and communicate an indication of the support machine turn path to a communication device associated with the support machine. 
     Example 1 is an agricultural harvesting machine comprising: 
     a harvested crop repository; 
     a crop processing system configured to engage crop in a field, perform a crop processing operation on the crop, and move the processed crop to the harvested crop repository, the crop processing system including a transfer mechanism configured to transfer the processed crop to a support machine; and 
     a control system configured to:
         identify a turn to be performed by the agricultural harvesting machine in the field;   determine a harvesting machine turn path for the agricultural harvesting machine to perform the turn on the field;   generate a support machine turn path based on the harvesting machine turn path; and   communicate an indication of the support machine turn path to a communication device associated with the support machine.       

     Example 2 is the agricultural harvesting machine of any or all previous examples, wherein the control system is configured to: 
     determine that the turn has a turning rate above a threshold; and 
     generate the support machine turn path based on the determination. 
     Example 3 is the agricultural harvesting machine of any or all previous examples, wherein the control system is configured to: 
     identify a set of guidance lines representing passes on the field based on a machine path definition; and 
     identify the turn between a set of the passes. 
     Example 4 is the agricultural harvesting machine of any or all previous examples, wherein the control system is configured to: 
     generate operational instructions for the support machine in a real-time coordination mode; 
     deactivate the real-time coordination mode based on the determination that the turn has a turning rate above the threshold; 
     detect completion of the turn; and 
     reactivate the real-time coordination mode based on the detected completion of the turn. 
     Example 5 is the agricultural harvesting machine of any or all previous examples, wherein the turn comprises a turn between successive passes over the field. 
     Example  6  is the agricultural harvesting machine of any or all previous examples, wherein the support machine is configured to perform automated steering control based on the indication of the support machine turn path. 
     Example 7 is the agricultural harvesting machine of any or all previous examples, wherein the control system is configured to: 
     operate the transfer mechanism to transfer the processed crop to the support machine during execution of the turn. 
     Example 8 is the agricultural harvesting machine of any or all previous examples, wherein the control system is configured to: 
     identify a path offset; and 
     generate the support machine turn path based on the harvesting machine turn path and the offset. 
     Example 9 is the agricultural harvesting machine of any or all previous examples, wherein the control system is configured to: 
     identify a curvature of a portion of harvesting machine turn path; and 
     generate the support machine turn path that corresponds to the curvature and has a distance from the harvesting machine turn path based on the offset. 
     Example 10 is a method performed by an agricultural harvesting machine, the method comprising: 
     controlling a crop processing system to engage crop in a field, perform a crop processing operation on the crop, and move the processed crop to a harvested crop repository; 
     identifying a turn to be performed by the agricultural harvesting machine in the field; 
     determining a harvesting machine turn path for the agricultural harvesting machine to perform the turn on the field; 
     generating a support machine turn path based on the harvesting machine turn path; and 
     communicating an indication of the support machine turn path to a communication device associated with the support machine. 
     Example 11 is the method of any or all previous examples, and further comprising: 
     determining that the turn has a turning rate above a threshold; and 
     generating the support machine turn path based on the determination. 
     Example 12 is the method of any or all previous examples, and further comprising: 
     generating operational instructions for the support machine in a real-time coordination mode; 
     deactivating the real-time coordination mode based on the determination that the turn has a turning rate above the threshold; 
     detecting completion of the turn; and 
     reactivating the real-time coordination mode based on the detected completion of the turn. 
     Example 13 is the method of any or all previous examples, and further comprising: 
     operating the transfer mechanism to transfer the processed crop to the support machine during execution of the turn. 
     Example 14 is the method of any or all previous examples, and further comprising: 
     identifying a path offset; and 
     generating the support machine turn path based on the harvesting machine turn path and the offset. 
     Example 15 is the method of any or all previous examples, and further comprising: 
     identifying a curvature of a portion of harvesting machine turn path; and 
     generating the support machine turn path that corresponds to the curvature and has a distance from the harvesting machine turn path based on the offset. 
     Example 16 is a control system for an agricultural harvesting machine, the control system comprising: 
     at least one processor; and 
     memory storing instructions executable by the at least one processor, wherein the instructions, when executed, provide:
         an automated machine coordination component configured to:
           communicate with a support machine configured to receive harvested crop from the agricultural harvesting machine; and   send a control instruction to the support machine to coordinate operation of the support machine with the agricultural harvesting machine;   
           a turn automation component configured to:
           receive a machine path definition;   control the agricultural harvesting machine to traverse a plurality of turns in the field based on the machine path definition; and   identify a particular turn having a turning rate above a threshold;   
           an unloading mode selection configured to select an unloading mode corresponding to the particular turn based on a selection criterion; and   a control signal generator configured to generate a control signal to control operation of the agricultural harvesting machine based on the selected unloading mode.       

     Example 17 is the control system of any or all previous examples, wherein the selection criterion comprises one or more of: 
     a connection status of a communication channel between the agricultural harvesting machine and the support machine; 
     an unloading status of a transfer mechanism that transfers harvested crop from the agricultural harvesting machine to the support machine; and 
     a user preference setting indicating unloading mode prioritization. 
     Example 18 is the control system of any or all previous examples, wherein the unloading mode comprises at least one of: 
     a stop and finish mode that prioritizes unloading prior to the turn; 
     an unloading cutoff mode that prioritizes turn traversal; 
     a turn sharing mode that generates and communicates an indication of a support machine turn path to the support machine; or 
     a delayed machine coordination that delays implementation of a real-time coordination control mode until after traversal of the turn. 
     Example 19 is the control system of any or all previous examples, wherein the unloading mode configures the control system to: 
     determine a harvesting machine turn path for the agricultural harvesting machine to perform the turn on the field; 
     generate a support machine turn path based on the harvesting machine turn path; and 
     communicate an indication of the support machine turn path to a communication device associated with the support machine. 
     Example 20 is the control system of any or all previous examples, wherein the control signal controls a communication system to send an indication of the selected unloading mode to the support machine. 
     This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve any or all disadvantages noted in the background. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a partial pictorial, partial schematic view of one example of an agricultural harvesting machine. 
         FIG.  2    is a block diagram showing one example an agricultural harvesting machine. 
         FIG.  3    illustrates one example of an agricultural harvesting machine harvesting lands in a field in accordance with a machine path definition. 
         FIG.  4 A  illustrates one example of a support machine positioned in an unloading position relative to an agricultural harvesting machine. 
         FIG.  4 B  is a schematic diagram illustrating one example operation of an agricultural machine and a support machine in which turn automation is utilized along with real-time coordination control. 
         FIG.  4 C  is a schematic diagram illustrating one example operation of an agricultural machine and a support machine utilizing turn sharing. 
         FIG.  5    is a block diagram showing one example of a support machine. 
         FIGS.  6 A,  6 B, and  6 C  (collectively referred to herein as  FIG.  6   ) show a flow chart illustrating one example of operation of an agricultural harvesting machine with support machine coordination control. 
         FIG.  7    shows a user interface display illustrating one example of an unloading mode. 
         FIGS.  8 A and  8 B  (collectively referred to as  FIG.  8   ) show a user interface display illustrating one example of an unloading mode. 
         FIGS.  9 A,  9 B, and  9 C  (collectively referred to as  FIG.  9   ) show a user interface display illustrating one example of an unloading mode. 
         FIG.  10    is a flow diagram illustrating one example of operation of an agricultural machine in an unloading mode. 
         FIG.  11    shows a user interface display illustrating an example harvesting machine turn path and corresponding support machine turn path. 
         FIG.  12    is a flow diagram illustrating one example of operation of a support machine during an unloading mode. 
         FIG.  13    is a block diagram showing one example of an agricultural harvesting machine deployed in a remote server environment. 
         FIGS.  14 - 16    show examples of mobile devices that can be used in the architectures shown in the previous figures. 
         FIG.  17    is a block diagram showing one example of a computing environment that can be used in the architectures shown in the previous figures. 
     
    
    
     DETAILED DESCRIPTION 
     The present description generally relates to agricultural harvesting machines that include crop processing functionality, such as a header that engages a crop (grain, corn, etc.) from a field, and moves the processed crop to a harvested crop repository. An example harvesting machine includes a transfer mechanism configured to transfer the harvested crop from the repository to a support vehicle, such as a grain cart or other haulage vehicle. In some harvesting machine operations, unloading can occur when the machines are stationary or while the machines are moving across the field. Thus, the harvesting machine can simultaneously harvest crop from the field while unloading the process crop into a haulage vehicle. The present description proceeds with respect to a harvesting machine control system configured to coordinate operation of the harvesting machine with a haulage vehicle or other support machine. 
     Similar types of operations can be performed with work other machines that collect material, such as other harvesters, asphalt milling machines, scrapers, etc. Similar types of operations can also be performed with respect to machines that distribute material, such as fertilizer or chemical application equipment. 
       FIG.  1    is a partial pictorial, partial schematic, illustration of an agricultural machine  100 , in an example where machine  100  is a combine harvester (also referred to as harvester or combine  100 ). It can be seen in  FIG.  1    that machine  100  illustratively includes an operator compartment  101 , which can have a variety of different operator interface mechanisms, for controlling machine  100 . Machine  100  can include a set of front end equipment that can include header  102 , and a cutter generally indicated at  104 . Machine  100  can also include a feeder house  106 , a feed accelerator  108 , and a thresher generally indicated at  110 . Thresher  110  illustratively includes a threshing rotor  112  and a set of concaves  114 . Further, machine  100  can include a separator  116  that includes a separator rotor. Machine  100  can include a cleaning subsystem (or cleaning shoe)  118  that, itself, can include a cleaning fan  120 , chaffer  122  and sieve  124 . The material handling subsystem in machine  100  can include (in addition to a feeder house  106  and feed accelerator  108 ) discharge beater  126 , tailings elevator  128 , clean grain elevator  130  (that moves clean grain into clean grain tank  132 ) as well as unloading auger  134  and spout  136 . Machine  100  can further include a residue subsystem  138  that can include chopper  140  and spreader  142 . Machine  100  can also have a propulsion subsystem that includes an engine that drives ground engaging wheels  144  or tracks, etc. It will be noted that machine  100  may also have more than one of any of the subsystems mentioned above (such as left and right cleaning shoes, separators, etc.). 
     In operation, and by way of overview, machine  100  illustratively moves through a field in the direction indicated by arrow  146 . As machine  100  moves, header  102  engages the crop to be harvested and gathers the crop toward cutter  104 . After the crop is cut, the crop is moved through a conveyor in feeder house  106  toward feed accelerator  108 , which accelerates the crop into thresher  110 . The crop is threshed by rotor  112  rotating the crop against concaves  114 . The threshed crop is moved by a separator rotor in separator  116  where some of the residue is moved by discharge beater  126  toward the residue subsystem  138 . The residue can be chopped by residue chopper  140  and spread on the field by spreader  142 . In other configurations, the residue is simply chopped and dropped in a windrow, instead of being chopped and spread. 
     Grain falls to cleaning shoe (or cleaning subsystem)  118 . Chaffer  122  separates some of the larger material from the grain, and sieve  124  separates some of the finer material from the clean grain. Clean grain falls to an auger in clean grain elevator  130 , which moves the clean grain upward and deposits the clean grain in clean grain tank  132 . Residue can be removed from the cleaning shoe  118  by airflow generated by cleaning fan  120 . Cleaning fan  120  directs air along an airflow path upwardly through the sieves and chaffers and the airflow carries residue can also be rearwardly in machine  100  toward the residue subsystem  138 . 
     Tailings can be moved by tailings elevator  128  back to thresher  110  where the tailings can be re-threshed. Alternatively, the tailings can also be passed to a separate re-threshing mechanism (also using a tailings elevator or another transport mechanism) where the tailings can be re-threshed as well. 
       FIG.  1    also shows that, in one example, machine  100  can include ground speed sensor  147 , one or more separator loss sensors  148 , a clean grain camera  150 , and one or more cleaning shoe loss sensors  152 . Ground speed sensor  147  illustratively senses the travel speed of machine  100  over the ground. Travel speed sensing can be done by sensing the speed of rotation of the wheels, the drive shaft, the axel, or other components. The travel speed can also be sensed by a positioning system, such as a global positioning system (GPS), a dead reckoning system, a LORAN system, or a wide variety of other systems or sensors that provide an indication of travel speed. 
     Cleaning shoe loss sensors  152  illustratively provide an output signal indicative of the quantity of grain loss by both the right and left sides of the cleaning shoe  118 . In one example, sensors  152  are strike sensors which count grain strikes per unit of time (or per unit of distance traveled) to provide an indication of the cleaning shoe grain loss. The strike sensors for the right and left sides of the cleaning shoe can provide individual signals, or a combined or aggregated signal. It will be noted that sensors  152  can comprise only a single sensor as well, instead of separate sensors for each shoe. 
     Separator loss sensor  148  provides a signal indicative of grain loss in the left and right separators. The sensors associated with the left and right separators can provide separate grain loss signals or a combined or aggregate signal. Loss detection can be done using a wide variety of different types of sensors as well. It will be noted that separator loss sensors  148  may also comprise only a single sensor, instead of separate left and right sensors. 
     It will also be appreciated that sensor and measurement mechanisms (in addition to the sensors already described) can include other sensors on machine  100  as well. For instance, sensors can include a residue setting sensor that is configured to sense whether machine  100  is configured to chop the residue, drop a windrow, etc. The sensors can include cleaning shoe fan speed sensors that can be configured proximate fan  120  to sense the speed of the fan. The sensors can include a threshing clearance sensor that senses clearance between the rotor  112  and concaves  114 . The sensors can include a threshing rotor speed sensor that senses a rotor speed of rotor  112 . The sensors can include a chaffer clearance sensor that senses the size of openings in chaffer  122 . The sensors can include a sieve clearance sensor that senses the size of openings in sieve  124 . The sensors can include a material other than grain (MOG) moisture sensor that can be configured to sense the moisture level of the material other than grain that is passing through machine  100 . The sensors can include machine setting sensors that are configured to sense the various configurable settings on machine  100 . The sensors can also include a machine orientation sensor that can be any of a wide variety of different types of sensors that sense the orientation of machine  100 . Crop property sensors can sense a variety of different types of crop properties, such as crop type, crop moisture, and other crop properties. The sensors can also be configured to sense characteristics of the crop as the crop is being processed by machine  100 . For instance, the sensors can sense grain feed rate, as the grain travels through clean grain elevator  130 . The sensors can sense mass flow rate of grain through elevator  130 , or provide other output signals indicative of other sensed variables. Some additional examples of the types of sensors that can be used are described below. 
       FIG.  2    is a block diagram showing one example of an agricultural machine  200 . Some examples of agricultural machine  200  include, but are not limited to, a tilling machine, a planting machine, a product application (e.g., spraying) machine, a harvesting machine (also referred to as a “harvester” or “combine”), and a windrower, to name a few. For instance, machine  200  can include combine  100  illustrated in  FIG.  1   . For sake of discussion, but not by limitation, some examples will be described below in the context of a harvesting operation, and machine  200  will also be referred to as harvesting machine  200 . 
     Machine  200  includes a control system  202 , one or more sensors  204 , and one or more controllable subsystems  206 . Machine  200  can also include a data store  208 , and can include one or more other items  210 . In an example, control system  202  can be configured to operate machine  200  in autonomous or semi-autonomous modes, e.g., in which an operator  212  is on-board or nearby to perform one or more functions. These functions may include, for example without limitation, one or more of guidance, safeguarding, diagnosis, task monitoring, task control, or data recording. 
     Control system  202  can receive input from a yield estimation system  214  and an error estimation system  216 . Control system  202  can also receive a capacity indicator  218  indicating the capacity of a local harvested crop repository  219  (e.g., clean grain tank  132 ) on machine  200 . It will be appreciated that systems  214  and  216 , and capacity indicator  218 , can all be on machine  200 . The items are shown separately for the sake of example only. 
     In the example of  FIG.  2   , control system  202  includes one or more processor(s)  220 , a yield and corresponding error map generation component  222 , a remaining capacity identifier component  224 , a machine path processing and control system  226  (also referred to as path processing system  226 ), and a control signal generator  228 . Control system  202  can include other items  230  as well. 
     Path processing system  226  illustratively includes a machine path definition component  234 , a cumulative yield identifier component  236 , a georeferenced probability distribution generator component  238 , a surfacing/interaction component  240 , and a measured yield identifier component  242 . System  226  also includes a turn automation component  244 , a support machine (e.g., haulage vehicle) identification component  246 , an automated machine coordination component  248 , a support machine path generator component  250 , and an unloading mode selector component  252 . System  226  can include other items  254  as well. 
     Turn automation component  244  includes a turn detection component  256 , and can include other items as well. Automated machine coordination component  248  includes a connection status monitor  258 , an unloading status monitor  260 , and a real-time coordination control mode component  263 , and can include other items as well. Unloading mode selector component  252  includes a mode prioritization component  264 , and can include other items as well. 
     Sensors  204  include material sensors  268 , position/route sensors  270 , speed sensors  272 , worksite imaging sensors  274 , a current fill level sensor  276 , and can include other sensors  277  as well. 
     Material sensors  268  are configured to sense material being moved, processed, or otherwise worked on by machine  200 . For example, material sensors  268  include yield sensors. Position/route sensors  270  are configured to identify a position of machine  200  and/or a corresponding route (e.g., heading) of machine  200  as machine  200  traverses the field. A position sensor can be any of a wide variety of different types of position sensors such as a global positioning system (GPS) receiver, a dead reckoning system, or a wide variety of other systems that provide an indication of a current geographic location of harvesting machine  200 . The systems can provide orientation, ground speed and other information as well. Speed sensors  272  are configured to output a signal indicative of a speed of machine  200 . Worksite imaging sensors  274  are configured to obtain images of the field, which can be processed, for example to identify conditions of the field. Examples of conditions include, but are not limited to, terrain topology, terrain roughness, terrain soil conditions, obstacles that inhibit operation of machine  200 , etc. In an example agricultural harvester, signals from worksite imaging sensors  274  can be used to identify crop characteristics, such as an expected yield, whether the crop being harvested is “downed”, etc. 
     Current fill level sensor  276  illustratively senses a fill level in the local material repository (e.g., the clean grain tank) on harvesting machine  200 . Sensor  276  can be any of a wide variety of different level sensors, such as an optical sensor, a weight or mass sensor, a mass flow sensor that measures the amount of material entering clean grain tank  132  since tank  132  was last emptied, etc. 
     Controllable subsystems  206  can include a propulsion subsystem  278 , a steering subsystem  280 , a communication subsystem  282 , an operator interface component  284 , and a material handling subsystem  286 . Examples of subsystem  286  includes a threshing subsystem, a cleaning subsystem, and a residue subsystem, such as those discussed above with respect to  FIG.  1   . The harvested crop is stored in harvested crop repository  219 . Subsystems  206  can include other items  288  as well. 
     Control signal generator  228  can generate control signals to control operator interface component  284 . The operator interface component  284  can control operator interface mechanisms  290 , and receive operator interactions through mechanisms  290 . Operator interface mechanisms  290  may include such things as a steering wheel, joystick, levers, pedals, linkages, buttons, switches, and other such mechanisms. Mechanisms  290  can also include such things as a touch sensitive display screen so that user input mechanisms can be displayed, and actuated by operator  212 , using touch gestures. Mechanisms  290  can include a microphone and corresponding speech recognition system, as well as a speaker and corresponding speech synthesis system. Operator interface mechanisms  290  can include a wide variety of other mechanical, electromechanical, visual, audio or haptic systems as well. These, of course, are for sake of example only. 
     Control signal generator  228  can also control communication subsystem  282  to communicate with other systems or machines. For example, communication subsystem  282  can communicate with one or more support machine (e.g., haulage vehicles or units)  292 , other machines  294 , and remote computing system(s)  296 , either directly or over a network  298 . For sake of illustration, but not by limitation, support machine  292  will also be referred to as haulage vehicle  292 . 
     Network  298  can be any of a wide variety of different types of networks. For instance, network  298  can be a wide area network, a local area network, a near field communication network, a cellular communication network, or any of a wide variety of other networks, or combinations of networks. Machines  294  can include other machines operating in the field along with machine  200 . Machines  294  can be of a same type, or different type, as machine  200 . 
     Communication subsystem  282  can include wired and/or wireless communication components, which can be substantially any communication system that can be used by the systems and components of machine  200  to communicate information to other items, such as between control system  202 , sensors  204 , and controllable subsystems  206 . In one example, communication subsystem  282  communicates over a controller area network (CAN) bus (or another network, such as an Ethernet network, etc.) to communicate information between those items. This information can include the various sensor signals and output signals generated by the sensor variables and/or sensed variables. 
     A remote user  299  is illustrated as interacting with remote computing system  296 , such as to receive communications from or send communications to machine  200  through communication subsystem  282 . For example, but not by limitation, remote user  299  can receive communications, such as notifications, requests for assistance, etc., machine  200  on a mobile device. 
     Before describing the operation of harvesting machine  200  in more detail, a brief description of some of the items illustrated in  FIG.  2   , and their operation, will first be provided. 
     Yield estimation system  214  illustratively generates an estimate of yield at different geographic locations in the field being harvested by machine  200 . The yield estimation system  214  can take a wide variety of different forms and illustratively provides a georeferenced prior estimate of yield. Briefly, by prior, it is meant that the data is formed or obtained beforehand, prior to the operation by machine  200 . 
     The estimating techniques can include a wide variety of different techniques such as in-season remote sensing, sampling ears from individual plants and extrapolating results across the field, and crop modeling. Yield estimation system  214  may include near real time sensing which may include, for instance, on-board image capture devices (which capture images ahead of machine  200 , or to the sides of machine  200 ) and corresponding image processing logic that processes the images to identify an estimated yield. The on-board system may include other types of perception systems as well, such as LIDAR, stereo cameras, etc. In another example, yield estimation system  214  can include a system that receives aerial images that are processed to generate normalized different vegetative index (NDVI) or leaf area index (LAI) at a particular growth stage, and uses one or more of those indices to estimate harvested yield. Yield estimation system  214  can also include real time yield sensors, which sense the current yield (such as the mass flow rate of grain through machine  200 , or other sensors indicative of yield) and correct the forward-looking yield estimates in the field, and particularly in the path over which machine  200  is traveling. These and other types of yield estimation systems are contemplated herein. 
     Error estimation system  216  illustratively estimates an error corresponding to the yield estimate generated by system  214 . Capacity indicator  218  can include a value that is stored on harvesting machine  200 , itself. The value is illustratively indicative of the overall capacity of the clean grain tank on machine  200 . Capacity indicator  218  can also include a value that is stored at a remote location, and accessed by communication subsystem  282  when harvesting machine  200  starts, or is about to start, operation. 
     Yield and corresponding error map generation component  222  illustratively generates a georeferenced yield estimate, along with a georeferenced error estimate. The georeferenced yield estimate is illustratively a georeferenced predicted yield map for at least a portion of the field over which machine  200  is traveling, along with an error estimate corresponding to the georeferenced predicted yield. In one example, the georeferenced yield and corresponding error map is generated with a resolution that corresponds to segments along a travel path of harvesting machine  200 . The yield and corresponding error map are output by component  222  to path processing system  226 . 
     Remaining capacity identifier component  224  illustratively generates a value indicative of a remaining capacity in the local material repository (e.g., the clean grain tank  132 ) on harvesting machine  200 . The remaining capacity value is illustratively updated as machine  200  continues to operate, performing the harvesting operation and filling repository  219 . 
     Machine path definition component  234  is configured to define or otherwise obtain a machine path definition  263 . Machine path definition  263  can be obtained in any of a number of ways. For example, machine path definition  263  can be received by machine  200 , as represented at block  265 . Machine path definition  263  can be generated by another machine or system, such as system  296 , and transmitted to machine  200 . Alternatively, or in addition, machine path definition  263  can be generated by component  234  based on input from operator  212  through mechanisms  290 . 
     Machine path definition  263  provides a pre-defined machine path for operation of machine  200  on the target field. Machine path definition  263  can be utilized by control system  202  to automatically navigate machine  200  along the predefined machine path. For instance, when harvesting corn, a combine harvester often has an unload auger that is only positionable over one side of the combine harvester. Therefore, in order to perform unloading while harvesting, the combine harvester must be controlled so that the unloading auger is always over an already-harvested portion of the machine (except, perhaps, during an initial pass opening up a field or a land). Such control can ensure that a grain cart can always operate next to the combine harvester without running over crop. 
     In one example, machine path definition  263  defines a navigation path for machine  200  through “lands”, or sections of the field made up of some number of passes. The navigation path is predefined, in that the path of machine  200  is defined prior to the current operation. 
     For sake of illustration, but not by limitation,  FIG.  3    illustrates an example machine path definition for machine  200  on a field  300 , that includes twenty-eight passes (labeled passes  0 - 27 ) to be completed by machine  200 . Machine  200  is shown harvesting a first land  302 , which includes passes  0 - 5 , in a “spiral-in” pattern so that the first navigation pass through land  302  is along navigation path  0  in the direction indicated by arrows  304 . The second pass through land  302  is along navigation path  5  in the direction indicated by arrows  306 . The third pass through land  302  is along navigation path  1  in the direction indicated by arrows  308 . The fourth pass through land  302  is along navigation path  4  in the direction indicated by arrow  310 , fifth pass through land  302  is along navigation path  2  in the direction indicated by arrows  312 , and the sixth pass through land  302  is along navigation path  3  in the direction indicated by arrows  314 . Thus, in this example, the machine path definition includes a land size of six passes, a spiral-in turn pattern, and a left turn direction. 
     Alternatively, an example “spiral-out” pattern for machine  200  in land  302  includes a first pass along navigation path  2 , a second pass along navigation path  3 , a third pass along navigation path  1 , a fourth pass along navigation path  4 , a fifth pass along navigation path  0 , and a sixth pass along navigation path  5 . 
     After completing the six passes through land  302 , machine  200  is navigated along a path  316  through already-harvested end rows to a different land  318  in field  300  beginning at path  6 . Then, after completing land  318 , machine  200  continues along path  320  to begin another land  322  along path  12 . 
     Referring again to  FIG.  2   , machine path definition  263  includes a turn pattern (e.g., spiral-in or spiral-out) and/or a turn direction (e.g., left or right). Machine path definition  263  also includes a land size in the field (e.g., a number of passes to be made with the turn pattern before moving on to the next land or section in the field). 
     Control system  202  is configured to determine whether the current land that machine  200  is operating on will be completed after the present pass. If not, control system  202  then identifies the next pass through the field. To determine whether the land is completed, control system  202  can detect the number of paths that have been skipped in a spiral-in pattern to determine the number of paths that are left to harvest. Control system  202  can identify the number of paths skipped in a spiral-out pattern, and compare that to the land size, to determine whether the land size has been completed. 
     Once control system  202  detects that the land will be completed after the current pass, control system  202  identifies a next land that the machine  200  should proceed to, within the field. Control system  202  can detect when the field is completed so that a next land need not be harvested. 
     When conducting a spiral-out pattern, for instance, machine  200  does not skip any unharvested paths but instead proceeds to the next unharvested path and harvests the next unharvest path. When conducting a spiral-in pattern, the number of paths will include the land size (in terms of the number of paths) less one. 
     Cumulative yield identifier component  236  identifies the cumulative yield that machine  200  will encounter, as machine  200  travels over the machine path. Georeferenced probability distribution generator component  238  generates a georeferenced probability distribution indicative of the probability that the repository  219  (e.g., the clean grain tank) will reach capacity at different geographic locations along the machine path. 
     Measured yield identifier component  242  measures the actual yield encountered by machine  200 . The measured yield value can be fed back to yield estimation system  214  or error estimation system  216  in order to correct the yield estimate or the error estimate. These corrected values can then be used by component  222  to generate an updated yield and corresponding error map. 
     Machine path processing system  226  is configured to process path information for machines  200  and  292 . Turn automation component  244  is configured to automate turns made by machine  200  between adjacent passes in the field. For instance, component  244  can receive or create guidance lines for the field, and then stitch together the guidance lines to create a set of turning directions or paths. The guidance lines can be defined by operator  212  and/or based on machine path definition  263 . 
     Turn detection component  256  is configured to detect turns in the machine path, as well as characteristics (e.g., an inflection point, a radius, an expected rate of turn (i.e., degrees per second (deg/sec)), among other characteristics. In one example, the turns and corresponding turn characteristics are identified from machine path definition  263 . It is noted that an identified turn can include, but is not limited to, a turn between successive passes (e.g., adjacent paths over the field), as well as changes in heading during a given path (e.g., the field has a curvature with non-linear passes). 
     Support machine identification component  246  is configured to identify one or more haulage vehicles (or other support machines) on or in the vicinity to the current field being operated upon by machine  200 . Component  246  can also determine the current location of the haulage vehicle(s), for example based on location data received from the haulage vehicle(s). 
     Automated machine coordination component  248  is configured to facilitate coordinated operation of machines  200  and  292 . For example, an operation mode for the support machine  292  is identified based on a mode priority defined or otherwise identified by component  264 . This is discussed in further detail below. Briefly, however, an unloading mode can be selected by mode selector component  252  based on a mode priority that prioritized one or more of turn automation or support machine coordination. The selected unloading mode can be communicated to support machine  292 . For example, support machine  292  can operate in a first mode in which support machine  292  is in a following position that follows machine  200  and a second mode in which support machine  292  is in an unloading position (e.g., to the side of machine  200 ) in which support machine  292  is configured to receive harvested crop from the harvested crop repository via a spout of machine  200 . A mode transition control signal can be sent to support machine  292  to transition from the first mode to the second mode 
     In one example, the coordination mode is based on a connection status between machines  200  and  292 , as identified by connection status monitor  258 . Alternatively, or in addition, the coordination mode can be based on the unloading status of machine  200  (e.g., whether machine  200  is currently unloading repository  219  into machine  292 ), as identified by unloading status monitor  258 . 
     Based on the mode selection, real-time coordination control mode component  262  can place machines  200  and  292  in a real-time coordination mode, which is configured to operate machine  292  in substantially real-time. By “real-time” coordination, it is meant that machines  200  and  292  have an active communication channel in which current operational aspects (e.g., location, speed, heading, distance, relative machine position, etc.) are being shared in one or more directions between machines  200  and  292 .  FIG.  4 A  illustrates one example of a real-time coordination mode. 
     As shown in  FIG.  4 A , support machine  292  (illustratively a haulage vehicle) is positioned next to agricultural harvesting machine  200  and travelling in the same direction of travel  330  such that a transfer mechanism  332  (e.g., a spout having an auger) of agricultural harvesting machine  200  can unload agricultural material into support machine  292 . Collectively, agricultural harvesting machine  200  and support machine  292  can be considered an agricultural material transfer system. For purposes of explanation, agricultural harvesting machine  200  is shown as a combine with a harvesting head  334  and support machine  292  is shown as a tractor  336  and a storage portion  338  (illustratively a grain cart) towed by tractor  336 . As agricultural harvesting machine  200  and support machine  292  move in direction  330 , the machines maintain a relative state of alignment or coordination in order to achieve the transfer of the agricultural material from agricultural harvesting machine  200  to support machine  292 . The heading and/or speed of agricultural harvesting machine  200  and support machine  292  may vary occasionally to generate changes in relative position in order to cause transfer mechanism to deposit the agricultural material into different locations of storage portion  338 . 
     One of the ways that agricultural harvesting machine  200  and support machine  292  generate relative movement is by employing wireless communication. In one example, agricultural harvesting machine  200  and support machine  292  both utilize a wireless network (e.g., a radio-frequency (RF) network), indicated diagrammatically at reference numeral  340 . Thus, when agricultural harvesting machine  200  needs to generate a change in relative position, machine  200  will issue such a command (termed a “nudge”) to support machine  292  via network  340 . Support machine  292  received the nudge and momentarily changes speed and/or heading in order to effect the relative position change. While it is possible to have agricultural harvesting machine  200  generate its own speed/heading change, in one example support machine  292  performs speed/heading changes. 
     One example of a wireless automated machine coordination system is sold under the trade designation Machine Sync, available from John Deere and Company of Moline, Ill. Machine Sync creates a wireless network between the support machine and the harvester to enable on-the-go unloading through synchronization of support machine speed and direction of travel with the harvester. Machine Sync facilitates: communication between operators of the harvester and the support machine; matching speeds between harvester and the support machine; awareness of upcoming waterways and field contour and agreement how to navigate; and awareness of equipment size and position. Further, Machine Sync guides an approaching grain cart tractor to a predetermined “Home” position for unloading. This is a unique home point for that specific grain cart tractor/combine. Individual home points allow combines, tractors, and grain carts to have different configurations (duals, cart sizes, and unloading auger lengths). While examples described herein are particularly suited for use in combination with Machine Sync, examples can be practiced with any suitable communication system or techniques can be used to communicate between the harvester and support machine. 
       FIG.  4 B  is a schematic diagram illustrating one example operation of machines  200  and  292  in which turn automation is utilized along with real-time coordination control. In such instances, inflection points in relatively sharp turns (i.e., turns having a turn rate above a threshold, such as ten degrees per second) can result in poor machine following performance of machine  292 . For instance, at locations  342 ,  343 , and  344 , machine  292  can move out of alignment with the unloading spout of machine  200 , resulting in spilled crop. In another instances, machine  292  can run into and physically contact machine  200 , which can result in damage to the machine. 
     Accordingly, turns are often unproductive, as the support machine is taking out of operation until after the harvesting machine has completed the turn. Further, this often requires manual operation of the support machine to reposition the support machine before beginning the next portion of the field after the turn. 
     As discussed in further detail below, support machine path generator component  250  is configured to generate path information that defines a path for support machine  292  to follow during relatively sharp turns. As such, real-time coordination control can be disengaged or suspended, or otherwise deactivated for a period of time, and machine  292  can be controlled based on the path information to complete the turn while remaining in an unloading position, such that crop can be unloading during the turn. For sake of illustration, but not by limitation,  FIG.  4 C  is a schematic diagram illustrating one example operation of agricultural machine  200  and support machine  292  utilizing turn sharing in which turn path information is generated by machine  200  and transmitted to machine  292 . Machine  200  identifies a harvesting machine turn path  346  to be traversed by machine  200  for the turn. Machine  200  can identify a path offset, representing a distance  347  to be maintained between the machines during the turn. Based on the path offset and a curvature of path  346 , machine  200  generates a support machine turn path  348  that corresponds to (e.g., mirrors) the curvature and has the distance  347  from the harvesting machine turn path  346 . 
     Based on the various information generated by path processing system  226 , control signal generator  228  generates control signals that are applied to controllable subsystems  206 . For instance, control signal generator  228  can generate control signals to control propulsion subsystem  278  to control the speed of harvesting machine  200 . By way of example, if harvesting machine  200  is going to be full relatively quickly, but it will take a haulage unit a longer amount of time to reach and unload machine  200 , then control signal generator  228  can control propulsion subsystem  278  to slow down harvesting machine  200 . Such control may reduce grain losses and may increase the likelihood that the haulage unit will be able to travel to harvesting machine  200  before harvesting machine  200  has reached the capacity of machine  200 . In another example, if the georeferenced probability distribution indicates that, given the path harvesting machine  200  is taking, machine  200  will not be full before a haulage unit reaches machine  200 , then control signal generator  228  may generate control signals to control propulsion subsystem  278  to increase the speed of harvesting machine  200  so that machine  200  can harvest more crop, and be closer to the capacity of repository  219 , when a haulage unit reaches machine  200 . These are examples only. 
     Control signal generator  228  can also generate control signals to control steering subsystem  280 . For instance, control signal generator  228  can control steering subsystem  280  to steer harvesting machine  200  along the predefined machine path. 
     Control signal generator  228  is configured to control communication subsystem  282  to communicate various information within harvesting machine  200  to other machines or systems. In one example, communication subsystem  282  is configured to communicate an indication of a selected unloading mode, turn path, and/or a route to support machine  292 , remote computing system  296 , or any other machine or system. In another example, communication subsystem  282  can communicate an indication of the selected unloading mode, turn path, and/or route to a mobile device associated with a user of support machine  292 . That user can utilize the information to navigate the support machine  292  with machine  200 . 
     Control signal generator  228  can also generate control signals to control operator interface component  284 , for example to render an indication of the rendezvous point and/or route. 
       FIG.  5    is a block diagram illustrating one example of support machine  292 . As discussed above, machines  200  and  292  can communicate either directly (e.g., network  340 ), or through network  298 . Machine  292  is configured to operate in a coordinated control mode in which machine  292  is controlled, either automatically or based on operator inputs, to operate in a field along with machine  200 . 
     In the example of  FIG.  5   , machine  292  includes a control system  352 , one or more sensors  354 , controllable subsystems  356 , a data store  358 , and can include other items  360  as well. Control system  352  is configured to control operation of machine  292  automatically, and/or based on inputs from an operator (i.e., user  299 ) through operator interface mechanisms  364 . Control system  352 , in one example, includes one or more components and functionality similar to that described above with respect to control system  202 . As shown in  FIG.  5   , control system  352  includes one or more processors  366 , a control signal generator  368 , an automated machine coordination component  370 , a leading machine path processing system  374 , and can include other items  375  as well. 
     Sensors  354 , in one example, are similar to sensors  204  discussed above with respect to  FIG.  2   . Illustratively, sensors  354  include one or more material sensors  376 , position/route sensors  378 , speed sensors  380 , worksite imaging sensors  382 , a current fill level sensor  384 , and can include other sensors  386  as well. 
     Controllable subsystem  356  include a propulsion subsystem  388 , a steering subsystem  390 , a communication subsystem  392 , an operator interface component  394 , a material handling subsystem  396  (which can include a harvested crop repository  398  such as storage portion  338 ), and can include other items  399  as well. 
     Automated machine coordination component  370  includes a real-time coordination component  372  configured to interface with component  262  of machine  200 , and to operate machine  292  in a real-time coordinated control mode in which operation of machine  292  is coordinated, in real-time, with machine  200 . In one example, automated machine coordination component  370  utilizes Machine Sync, discussed above. Automated machine coordination component  370  utilizes a wireless network between machines  200  and  292  to enable on-the-go unloading through synchronization of machine speed and/or direction of travel. 
     Leading machine path processing system  374  is configured to receive, from machine  200 , an indication of a path for machine  292 . This is discussed in further detail below. Briefly, however, in one example control system  352  is configured to operate machine  292  in a second mode in which the real-time machine coordination control is deactivated (e.g., disabled, suspended, etc.) for a period of time. In the second mode, a machine path for machine  292  to traverse the field is received from machine  292  through the wireless network. This can include, but is not limited to, a machine path for machine  292  to traverse turns between crop rows in the field. 
       FIGS.  6 A,  6 B, and  6 C  (collectively referred to as  FIG.  6   ) provide a flow diagram illustrating one example of operation of an agricultural harvesting machine. For sake of illustration, but not by limitation,  FIG.  6    will be described in the context of harvesting machine  200  discussed above with respect to  FIG.  2   . 
     At block  402 , the harvesting machine  200  and the worksite location (e.g., the field to be harvested) are identified. In one example, the information identifying the particular harvesting machine  200  also includes capacity indicator  218 , as represented at block  404 . The information can also include the geographic location of the field to be harvested, as represented at block  406 , and the information can include a wide variety of other information, as indicated by block  408 . A machine path definition is obtained at block  410 . As noted above, machine path definition  263  can be remotely received from another machine or system, as represented at block  412 . For example, machine path definition  263  can be received from remote computing system  296 . Alternatively, or in addition, as represented at block  414  machine path definition  263  can be generated by control system  202 , for example based on operator inputs from operator  212  through operator interface mechanisms  290 . In one example, operator  212  can provide inputs that map the machine path through the field to be harvested using any of a wide variety of different types of input mechanisms. Of course, the machine path definition can be obtained in other ways as well, as represented at block  416 . 
     The machine path definition identifies a land size of a land in the field to be harvested, as represented at block  418 . As discussed above with respect to  FIG.  3   , the land size  418  can indicate a number of passes in the field to be completed (e.g., six passes in the example of  FIG.  3   ) before moving onto the next land (e.g., moving from land  302  to land  318 ). Also, the machine path definition can include a turn pattern (block  420 ), a turn direction (block  422 ), or other path attributes (block  424 ). The turn pattern and turn direction indicate how harvesting machine  200  will traverse the land, to complete that section of the field before moving onto the next land. For instance, the turn pattern can include a spiral-in, spiral-out, or any other pattern. The turn direction can indicate whether left turns, right turns, or some combination of left and right turns will be performed to achieve the turn pattern on the land size. 
     At block  426 , map generation component  222  can receive or obtain a predicted yield corresponding to the machine path. In one example, component  222  outputs a georeferenced predicted yield map which identifies predicted yield at different geographical locations within the field, as represented at block  428 . The yield map can be based on the yield estimate received from yield estimation system  214 . Also, component  222  can output a georeferenced yield error estimate which identifies an estimate of error at the geographic locations with the field, for which the yield has been estimated. The georeferenced yield and corresponding error map can be output for the machine path of harvesting machine  200  through the field where machine  200  is harvesting. The yield estimates can be generated for segments of the field along the current pass of machine  200  and one or more subsequent passes corresponding to the land size, turn pattern, and turn direction defined in the machine path definition. Thus, the yield map identifies the predicted yield that will be encountered by machine  200  as machine  200  traverses the field along the machine path defined by machine path definition  263 . 
     Of course, the predicted yield can be received and obtained in other ways as well, as represented by block  430 . 
     At block  432 , operator preference settings are acquired. The operator preference settings can be received from operator  212  through operator interface mechanisms  290 , obtained from data store  208 , or obtained in any of a number of other ways. The operator preference settings can be associated with the identity of the particular operator  212 , so that the operator preference settings for the particular operator can be retrieved based on obtaining the identity of the operator  212  for the current operation of machine  200 . 
     As represented by block  434 , the operator preference settings can indicate an unloading mode prioritization, that can be utilized by mode prioritization component  264  to identify which unloading mode is to be utilized for a particular scenario. For example, the mode prioritization can prioritize turn automation performed by turn automation component  244  over real-time coordination control performed by coordination component  248 . In other examples, the machine coordination can be prioritized over turn automation. This is discussed in further detail below. Briefly, however, depending on the mode prioritization, control system  202  can determine whether stationary or on-the-go unloading is to be performed at a given location on the field. Of course, the operator preference settings can indicate other preferences as well, as represented at block  436 . 
     At block  438 , component  246  identifies one or more support vehicles (e.g., haulage vehicles  292 ) and their corresponding locations. For example, a location of the vehicles can be identified based on location data (e.g., GPS coordinates, etc.) received from the support vehicles, as represented at block  440 . Of course, the support vehicles and their corresponding locations can be identified in other ways as well, as represented at block  442 . 
     At block  444 , coordination component  248  activates real-time coordination control mode component  262  to perform real-time coordination of support machine  292  with harvesting machine  200 . The real-time coordination mode establishes a communication link between machines  200  and  292  through which machine  200  can generate control signals to maintain machine  292  in an unloading position (such as that illustrated above with respect to  FIG.  4 A ) as machine  200  traverses the field. Machine coordination control can include, but is not limited to, machine  200  sending a nudge signal (block  446 ) to nudge and momentarily change the speed of machine  292 . Also, the real-time coordination mode component can generate signals to control the steering of machine  292  (block  448 ), the speed of machine  292  (block  450 ), as well as other controls (block  452 ). 
     Machine  200  is operated along the machine path as represented at block  454 . For example, harvesting machine  200  can be automatically controlled, by control system  202  controlling steering subsystem  280  and/or propulsion subsystem  278 , as represented by block  456 . Alternatively, or in addition, control system  202  can control operator interface component  284  to render an indication of the machine path, to display or otherwise render guidance to operator  212 , as represented at block  458 . For example, operator interface component  284  can display or otherwise render a representation of a map with guidance lines that identify the machine path. Alternatively, or in addition, operator interface component  284  can output operator control inputs (e.g., suggested machine speed, turn inputs, etc.) to be provided by operator  212  to control harvesting machine  200  to traverse the field along the machine path. Also, control signals can be sent to support machine  292  based on real-time relative position detection, as represented at block  460 . For example, agricultural machine  200  can detect the position of support machine  292 , relative to the transfer mechanism (e.g., mechanism  332  shown in  FIG.  4 A ), and generate a nudge signal to move support machine  292  so that the transfer mechanism is located over a particular area of the repository of support machine  292 . The relative position detection can be performed using sensors  204  and/or communication subsystem  282 . For instance, imaging sensors  274  can obtain images that are processed to identify the location of support machine  292 . In another example, an indication of the position can be received through, or obtained based on an indication of, the communications between machines  200  and  292 . 
     At block  462 , turn automation is performed by turn automation component  244 , based on machine path definition  263 . An example turn automation includes controlling machine  200  so that the header of the harvesting machine follows the harvesting paths through the various passes over the field, as well as performing turns in between the passes, which operate to stitch together guidance lines representing the passes defined in the machine path definition  263 . 
     The machine can be operated in other ways as well, as represented at block  464 . 
     As harvesting machine  200  traverses the field, at block  466  material handling subsystem  286  engages crop in the field, performs crop processing operations on the crop, and moves the processed crop to harvested crop repository  219 . 
     At block  468 , material handling subsystem  286  is controlled to unload the harvested crop into support machine  292 . As noted above, unloading can be done while the machines are stationary as well as while the machines are moving through control of coordination component  248  and/or turn automation component  244 . 
     At block  470 , remaining capacity identifier component  224  receives a current fill level of repository  219 . The current fill level can be based on a sensor input (block  472 ), or the current fill level can be obtained in other ways as well, as indicated by block  474 . Remaining capacity identifier component  224  then identifies the available capacity (or remaining capacity) in repository  219  (in the grain tank), as represented at block  476 . For instance, the current fill level (or measured amount) of material in the grain tank can be subtracted from the capacity of repository  219  to give the remaining capacity. 
     Path processing system  226  identifies the machine path through the field being harvested and correlates the path with the yield and corresponding error map generated by component  222 . Cumulative yield identifier component  236 , in one example, identifies the cumulative yield, for different sections along the path. Generating a georeferenced estimative yield is indicated by block  478 . Identifying cumulative expected yield across different segments for the machine path is indicated by block  480 . Of course, the georeferenced estimative yield can be generated in other ways as well, as represented at block  482 . 
     Generator component  238  generates the georeferenced probability distribution of repository  219  becoming full. For instance, component  238  generates a probability distribution identifying different probabilities, at different geographic locations, where those probabilities are indicative of the probability that the grain tank on machine  200  will be full, at that particular geographic location, as represented at block  484 . 
     At block  486 , turn detection component  256  detects an upcoming turn to be performed by agricultural machine  200  on the field. In one example, detection of the turn is based on determining an estimated turn rate that machine  200  will experience during the turn (e.g., degrees per second), and comparing that turn rate to a turn rate threshold, as represented at block  488 . The turn rate threshold can be predefined, defined based on operator input by operator  212 , determined dynamically by control system  202  based on operator of machine  200 , or determined in other ways as well. 
     One or more unloading mode selection criterion are obtained at block  490 . An unloading mode selection criterion can be based on any of a number of operational characteristics. For example, as represented at block  492 , a status of the connection of coordination component  248  with support machine  292  can be identified by connection status monitor  258 . For instance, monitor  258  can determine that an active connection between machines  200  and  292  is established, as represented at block  494 . Also, monitor  258  can determine that an active connection is not currently established, but component  248  is attempting to connect with machine  292  to enter the real-time coordination control mode, as represented at block  496 . Of course, other connection statuses can be detected as well, as represented at block  498 . 
     Also, an unloading mode selection criterion can include detecting an unloading status, as represented at block  500 . For example, an unloading status can include determining the current fill level of repository  219 , as represented at block  502 . Also, the unloading status can indicate whether the transfer mechanism of machine  200  is actively unloading into support machine  292 , as represented at block  504 . For instance, a signal can be received that indicates whether an auger of an unloading spout is active. Of course, the other unloading statuses can be detected, as represented at block  506 . 
     Also, the unloading mode selection criteria can include a mode priority, detected at block  508 . The mode priority can be generated based on operator preferences, and can be predefined or dynamically determined during operation of machine  200 . In one example, the mode priority prioritizes active machine coordination as represented at block  510 . For instance, block  510  can prioritize or weight unloading into support machine  292  more than turn automation performed by component  244 . Put another way, in one example block  510  weights a stationary unloading prior to entering a turn higher relative to turn automation that continues to control machine  200  through the turn. 
     In another example, turn automation can be prioritized at block  512 . Thus, in one example, active control by turn automation component  244  to control machine  200  through a turn can be prioritized over a stationary unloading prior to the turn. Of course, the mode priority can be detected in other ways as well, as represented at block  514 . 
     Also, an unloading mode selection criterion can be based on the predicted yield in a path of machine  200 , as represented at block  516 . The predicted yield at block  516  and the current fill level at block  502  can be used as an indication as to where repository  219  is likely to become full in the path ahead of machine  200 . 
     At block  518 , an unloading mode is selected based on the one or more selection criterion obtained at block  490 . The unloading mode includes one or more corresponding actions to be performed to execute the unloading mode. 
     In one example, an unloading mode includes a “stop and finish” unloading mode as represented at block  520 . In one example, the stop and finish unloading mode is based on monitor  258  determining an active connection status between machines  200  and  292  and that the transfer mechanism (e.g., the auger in a spout) is actively unloading into support machine  292 . In this case, the real-time coordination control mode can be maintained to slow both machines while the transfer mechanism continues to unload repository  219 . The machines can be stopped, as needed, before reaching the upcoming turn. 
       FIG.  7    shows an example user interface display  522  illustrating an example of the unloading mode at block  520 . Here, machines  200  and  292  are stopped when the machines reach a field location, represented by icon  524 , prior to the turn represented by path line  526 . Upon monitor  260  determining that the unloading process has completed, turn automation component  244  can continue execution of the turn to enter a subsequent pass  528 . 
     Referring again to  FIG.  6   , another example of an unloading mode, represented at block  532 , includes an early unload cutoff where the unloading process is suspended, before repository  219  is completely unloaded. In one example, mode  532  is selected based on the current fill level and/or the mode priority at block  508  indicating that turn automation is to be prioritized over machine coordination. 
       FIGS.  8 A and  8 B  (collectively referred to as  FIG.  8   ) show an example user interface  534  illustrating operation of the unloading mode represented at block  522 . As shown in  FIG.  8   , when machines  200  and  292  reach a point represented by display element  536  prior to the turn represented by line  538 , the coordination mode that controls machine  292  is suspended or deactivated, as represented by display element  540 . Here, the transfer mechanism of machine  200  is turned off and turn automation component  244  continues to control machine  200  through the turn into the subsequent path represented by guidance line  541 . In one example, an operator of support machine  292  manually drives support machine  292  to a position alongside machine  200  in the subsequent path, upon which real-time coordination control mode component  262  can resume the real-time coordination control mode. 
     Referring again to  FIG.  6   , another example of an unloading mode is represented at block  542 , where the automated machine coordination is delayed until after the turn is completed by the machines. In one example, the control mode at block  542  is selected based on monitor  258  determining that a connection between the machines is not yet established (e.g., machine  200  is not actively unloading into support machine  292 ). 
       FIGS.  9 A,  9 B, and  9 C  (collectively referred to as  FIG.  9   ) show an example user interface  544  illustrating the mode at block  542 . As shown, support machine  292  is not currently in an unloading position and the coordinated mode has not been established between the machines. Turn automation component  244  commands machine  200  through the turn and into the subsequent pass. Machine  292  is controlled (automatically or through operator input) into the unloading position, shown in  FIG.  9 C , where the connection between the machines can be established for subsequent coordination control in the subsequent pass. 
     Referring again to  FIG.  6   , another example of an unloading mode is represented at block  550 , where turn information is shared by machine  200  to support machine  292 . In one example, the unloading mode at block  550  is selected based on operator preferences that indicate that coordinated machine operation should occur in conjunction with turn automation performed by component  244 . 
     One example of the unloading mode at block  550  is discussed below with respect to  FIGS.  10 ,  11 , and  12   . Briefly, however, in one example machine  200  determines a turn path for support machine  292  based on the turn path machine  200  will take to execute the turn in the field. Machine  200  communicates the support machine turn path to support machine  292 , which can be controlled based on that path information. 
     Of course, other unloading modes can be selected as well, as represented at block  552 . 
     A block  554 , control signal generator  228  generates a control signal based on the selected unloading mode. In one example, the control signal can perform automatic control of machine  200 , as represented at block  556 . For example, control system  202  can control subsystems  206  to execute the unloading mode. Alternatively, or in addition, at block  558  options can be surfaced to operator  212  to perform the selected unloading mode. As represented at block  560 , the control signals can control communication subsystem  282  to communicate an indication of the unloading mode and/or corresponding actions to a communication device associated with the support machine. For example, the indication can be sent to a control system of support machine  292  for automated control of support machine  292  and/or to render the indication on operator interface devices. In another example, the indication can be communicated to a mobile device associated with user  299 , who can manually control support machine  292 . 
     Of course, control signals can be generated to control machine  200  in other ways as well, as represented by block  562 . 
     At block  564 , if the operation is continued for subsequent areas of the field. 
       FIG.  10    is a flow diagram illustrating one example of operation of agricultural machine  200  for the unloading mode represented at block  550 . 
     At block  602 , machine path definition  263  is obtained. At block  604 , a harvesting machine turn path is calculated based on the machine path definition. As noted above, a turn can occur during a given pass over the field, as well as in between successive passes, such as when machine  200  is turning in a headlands area of the field. 
     The harvesting machine turn path can include start and end points of the turn to be performed by machine  200  (block  606 ), a radius of the turn or a portion of the turn (block  608 ), and/or a speed (block  610 ) of machine  200  during the turn. Of course, the harvesting machine turn path can identify other aspects associated with the turn as well, as represented at block  612 . 
     At block  614 , machine dimensions can be obtained. For instance, machine dimensions can include a width of agricultural machine  200 , as represented at block  616 . For instance, block  616  can indicate a width of the header. Also, the machine dimensions can indicate a position and/or length of the transfer mechanism (e.g., mechanism  332  shown in  FIG.  4 A ) as represented at block  618 . Also, the machine dimensions can include dimensions of the support machine, as represented at block  620 . Of course, other machine dimensions can be obtained as well, as represented at block  622 . 
     At block  624 , system  226  calculates a support machine turn path based on the harvesting machine turn path identified at block  604  and/or the machine dimensions obtained at block  614 . In one example, the support machine turn path corresponds to the harvesting machine turn path, such as by being portions of respective concentric circles, offset from one another based on a distance that support machine  292  maintains when being unloaded by the transfer mechanism of machine  200 . 
       FIG.  11    shows an example user interface  626  illustrating a harvesting machine turn path  628  and a corresponding support machine turn path  630 . As shown, both machines  200  and  292  enter the turn in an area represented at reference numeral  632 , and are controlled along the respective turn paths such that machine  200  can unload into support machine  292  during the turn, and into the subsequent pass represented by guidance line  634 . 
     Referring again to  FIG.  10   , the support machine turn path can indicate the start and end point (block  640 ) for the support machine turn, a radius (block  642 ) of the turn path or portion of the turn path, a speed (block  644 ) for support machine  292 , and can indicate other aspects of the turn as well, as represented at block  646 . 
     At block  648 , a command is sent to the support machine to deactivate the automated real-time coordination mode and to enter a turn sharing mode. At block  650 , an indication of the support machine turn path is sent to a communication device associated with support machine  292 . For example, the indication can be sent to a control system of support machine  292  (block  652 ), to a display device associated with a support machine (block  654 ) (such as a display device in an operator compartment) and/or a mobile device (block  656 ) associated with the operator of support machine  292 . Of course, the indication could be sent in other ways as well, as represented at block  658 . 
     At block  660 , when the turn is completed, a command to reengage the real-time automated coordination mode is sent to support machine  292 , as represented at block  662 . 
       FIG.  12    is a flow diagram illustrating one example of operation of support machine  292  during the unloading mode at block  550 . 
     At block  702 , a command to disengage the automated real-time coordination mode is received. At block  704 , support machine  292  receives a support machine turn path for the upcoming turn from machine  200 . At block  706 , support machine  292  is controlled based on the received path information. For example, the control can include performing automated steering control at block  708  and/or rendering path instructions to the operator at block  710 . Of course, support machine  292  can be controlled in other ways as well, as represented at block  712 . 
     At block  714 , the operation determines whether a command to reengage the coordination mode is received. If so, the automated real-time coordination mode is reactivated at block  716 . 
     It can thus be seen that the present features provide a system that controls coordinated operation of a haulage vehicle, or other support machine, with a harvesting machine as the machines approach field turns. The present system improves unloading operations, for example by providing on-the-go unloading during turns in the field. This can improve harvesting performance and allow for unloading operations to be performed during field operations that are otherwise unproductive or have sub-optimal productivity. 
     The present discussion has mentioned processors and servers. In one example, the processors and servers include computer processors with associated memory and timing circuitry, not separately shown. The processors and servers are functional parts of the systems or devices to which the parts belong and are activated by, and facilitate the functionality of the other components or items in those systems. 
     Also, a number of user interface displays have been discussed. The user interface displays can take a wide variety of different forms and can have a wide variety of different user actuatable input mechanisms disposed thereon. For instance, the user actuatable input mechanisms can be text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. The user actuatable input mechanisms can be actuated in a wide variety of different ways. For instance, user actuatable input mechanisms can be actuated using a point and click device (such as a track ball or mouse). The user actuatable input mechanisms can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. The user actuatable input mechanisms can also be actuated using a virtual keyboard or other virtual actuators. In addition, where the screen on which the user actuatable input mechanisms are displayed is a touch sensitive screen, the user actuatable input mechanisms can be actuated using touch gestures. Also, where the device that displays them has speech recognition components, the user actuatable input mechanisms can be actuated using speech commands. 
     A number of data stores have also been discussed. It will be noted the data stores can each be broken into multiple data stores. All of the data stores can be local to the systems accessing the data stores, all of the data stores can be remote, or some data stores can be local while others can be remote. All of these configurations are contemplated herein. 
     Also, the figures show a number of blocks with functionality ascribed to each block. It will be noted that fewer blocks can be used so the functionality is performed by fewer components. Also, more blocks can be used with the functionality distributed among more components. 
     It will be noted that the above discussion has described a variety of different systems, components, logic, and interactions. It will be appreciated that any or all of such systems, components, logic and interactions may be implemented by hardware items, such as processors, memory, or other processing components, including but not limited to artificial intelligence components, such as neural networks, some of which are described below, that perform the functions associated with those systems, components, logic, or interactions. In addition, any or all of the systems, components, logic and interactions may be implemented by software that is loaded into a memory and is subsequently executed by a processor or server or other computing component, as described below. Any or all of the systems, components, logic and interactions may also be implemented by different combinations of hardware, software, firmware, etc., some examples of which are described below. These are some examples of different structures that may be used to implement any or all of the systems, components, logic and interactions described above. Other structures may be used as well. 
       FIG.  13    is a block diagram of machine  200 , shown in  FIG.  2   , where machine  200  communicates with elements in a remote server architecture  800 . In an example, remote server architecture  800  can provide computation, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that delivers the services. In various examples, remote servers can deliver the services over a wide area network, such as the internet, using appropriate protocols. For instance, remote servers can deliver applications over a wide area network and the remote servers can be accessed through a web browser or any other computing component. Software or components shown in  FIG.  2    as well as the corresponding data, can be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center location or the computing resources can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though the infrastructures appear as a single point of access for the user. Thus, the components and functions described herein can be provided from a remote server at a remote location using a remote server architecture. Alternatively, the components and functions can be provided from a conventional server, or the components and functions can be installed on client devices directly, or in other ways. 
     In the example shown in  FIG.  13   , some items are similar to those shown in  FIG.  2    and the items are similarly numbered.  FIG.  13    specifically shows that path processing system  226 , and yield estimation system  214  can be located at a remote server location  802 . Therefore, machine  200  accesses those systems through remote server location  802 . Further, one or more haulage vehicles  804 ,  806  can access machine  200  and/or the corresponding systems through remote server location  802 . 
       FIG.  13    also depicts another example of a remote server architecture.  FIG.  13    shows that it is also contemplated that some elements of  FIG.  2    are disposed at remote server location  802  while others are not. By way of example, path processing system  226 , yield estimation system  214 , and/or other systems or logic can be disposed at a location separate from location  802 , and accessed through the remote server at location  802 . Regardless of the systems or logic are located, they can be accessed directly by machine  200 , through a network (either a wide area network or a local area network), they can be hosted at a remote site by a service, or they can be provided as a service, or accessed by a connection service that resides in a remote location. Also, the data can be stored in substantially any location and intermittently accessed by, or forwarded to, interested parties. For instance, physical carriers can be used instead of, or in addition to, electromagnetic wave carriers. In such an example, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As machine  200  comes close to the fuel truck for fueling, the system automatically collects the information from the harvester using any type of ad-hoc wireless connection. The collected information can then be forwarded to the main network as the fuel truck reaches a location where there is cellular coverage (or other wireless coverage). For instance, the fuel truck may enter a covered location when traveling to fuel other machines or when at a main fuel storage location. All of these architectures are contemplated herein. Further, the information can be stored on machine  200  until the machine  200  enters a covered location. The machine  200 , itself, can then send the information to the main network. 
     It will also be noted that the elements of  FIG.  2   , or portions of them, can be disposed on a wide variety of different devices. Some of those devices include servers, desktop computers, laptop computers, tablet computers, or other mobile devices, such as palm top computers, cell phones, smart phones, multimedia players, personal digital assistants, etc. 
       FIG.  14    is a simplified block diagram of one example of a handheld or mobile computing device that can be used as a user&#39;s or client&#39;s handheld device  16 , in which the present system (or parts of it) can be deployed. For instance, a mobile device can be deployed in the operator compartment of machine  200  and/or machine  292  for use in generating, processing, or displaying the yield estimation data, path processing data, and/or obstacle avoidance data.  FIGS.  15 - 16    are examples of handheld or mobile devices. 
       FIG.  14    provides a general block diagram of the components of a client device  16  that can run some components shown in  FIG.  2   , that interacts with them, or both. In the device  16 , a communications link  13  is provided that allows the handheld device to communicate with other computing devices and under some examples provides a channel for receiving information automatically, such as by scanning. Examples of communications link  13  include allowing communication though one or more communication protocols, such as wireless services used to provide cellular access to a network, as well as protocols that provide local wireless connections to networks. 
     In other examples, applications can be received on a removable Secure Digital (SD) card that is connected to an interface  15 . Interface  15  and communication links  13  communicate with a processor  17  (which can also embody processors from previous FIGS.) along a bus  19  that is also connected to memory  21  and input/output (I/ 0 ) components  23 , as well as clock  25  and location system  27 . 
     I/O components  23 , in one example, are provided to facilitate input and output operations. I/O components  23  for various examples of the device  16  can include input components such as buttons, touch sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometers, orientation sensors and output components such as a display device, a speaker, and or a printer port. Other I/ 0  components  23  can be used as well. 
     Clock  25  illustratively comprises a real time clock component that outputs a time and date. Clock  25  can also, illustratively, provide timing functions for processor  17 . 
     Location system  27  illustratively includes a component that outputs a current geographical location of device  16 . Location system  27  can include, for instance, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. Location system  27  can also include, for example, mapping software or navigation software that generates desired maps, navigation routes and other geographic functions. 
     Memory  21  stores operating system  29 , network settings  31 , applications  33 , application configuration settings  35 , data store  37 , communication drivers  39 , and communication configuration settings  41 . Memory  21  can include all types of tangible volatile and non-volatile computer-readable memory devices. Memory  21  can also include computer storage media (described below). Memory  21  stores computer readable instructions that, when executed by processor  17 , cause the processor to perform computer-implemented steps or functions according to the instructions. Processor  17  can be activated by other components to facilitate their functionality as well. 
       FIG.  15    shows one example in which device  16  is a tablet computer  850 . In  FIG.  15   , computer  850  is shown with user interface display screen  852 . Screen  852  can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. Computer  850  can also use an on-screen virtual keyboard. Of course, computer  850  might also be attached to a keyboard or other user input device through a suitable attachment mechanism, such as a wireless link or USB port, for instance. Computer  850  can also illustratively receive voice inputs as well. 
       FIG.  16    shows that the device can be a smart phone  71 . Smart phone  71  has a touch sensitive display  73  that displays icons or tiles or other user input mechanisms  75 . Mechanisms  75  can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, smart phone  71  is built on a mobile operating system and offers more advanced computing capability and connectivity than a feature phone. 
     Note that other forms of the devices  16  are possible. 
       FIG.  17    is one example of a computing environment in which elements of  FIG.  2   , or parts of it, (for example) can be deployed. With reference to  FIG.  17   , an example system for implementing some examples includes a general-purpose computing device in the form of a computer  910 . Components of computer  910  may include, but are not limited to, a processing unit  920  (which can comprise processors from pervious FIGS.), a system memory  930 , and a system bus  921  that couples various system components including the system memory to the processing unit  920 . The system bus  921  may be any of several types of bus structures including a memory bus or memory controller, a peripheral bus, and a local bus using any of a variety of bus architectures. Memory and programs described with respect to  FIG.  2    can be deployed in corresponding portions of  FIG.  17   . 
     Computer  910  typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by computer  910  and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer storage media is different from, and does not include, a modulated data signal or carrier wave. Computer storage media includes hardware storage media including both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computer  910 . Communication media may embody computer readable instructions, data structures, program modules or other data in a transport mechanism and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal. 
     The system memory  930  includes computer storage media in the form of volatile and/or nonvolatile memory such as read only memory (ROM)  931  and random access memory (RAM)  932 . A basic input/output system  933  (BIOS), containing the basic routines that help to transfer information between elements within computer  910 , such as during start-up, is typically stored in ROM  931 . RAM  932  typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processing unit  920 . By way of example, and not limitation,  FIG.  17    illustrates operating system  934 , application programs  935 , other program modules  936 , and program data  937 . 
     The computer  910  may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only,  FIG.  17    illustrates a hard disk drive  941  that reads from or writes to non-removable, nonvolatile magnetic media, an optical disk drive  955 , and nonvolatile optical disk  956 . The hard disk drive  941  is typically connected to the system bus  921  through a non-removable memory interface such as interface  940 , and optical disk drive  955  are typically connected to the system bus  921  by a removable memory interface, such as interface  950 . 
     Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (e.g., ASICs), Application-specific Standard Products (e.g., ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc. 
     The drives and their associated computer storage media discussed above and illustrated in  FIG.  17   , provide storage of computer readable instructions, data structures, program modules and other data for the computer  910 . In  FIG.  17   , for example, hard disk drive  941  is illustrated as storing operating system  944 , application programs  945 , other program modules  946 , and program data  947 . Note that these components can either be the same as or different from operating system  934 , application programs  935 , other program modules  936 , and program data  937 . 
     A user may enter commands and information into the computer  910  through input devices such as a keyboard  962 , a microphone  963 , and a pointing device  961 , such as a mouse, trackball or touch pad. Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit  920  through a user input interface  960  that is coupled to the system bus, but may be connected by other interface and bus structures. A visual display  991  or other type of display device is also connected to the system bus  921  via an interface, such as a video interface  990 . In addition to the monitor, computers may also include other peripheral output devices such as speakers  997  and printer  996 , which may be connected through an output peripheral interface  995 . 
     The computer  910  is operated in a networked environment using logical connections (such as a local area network—LAN, or wide area network WAN) to one or more remote computers, such as a remote computer  980 . 
     When used in a LAN networking environment, the computer  910  is connected to the LAN  971  through a network interface or adapter  970 . When used in a WAN networking environment, the computer  910  typically includes a modem  972  or other means for establishing communications over the WAN  973 , such as the Internet. In a networked environment, program modules may be stored in a remote memory storage device.  FIG.  17    illustrates, for example, that remote application programs  985  can reside on remote computer  980 . 
     It should also be noted that the different examples described herein can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples. All of this is contemplated herein. 
     Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.