Patent Publication Number: US-2023157209-A1

Title: Agricultural system and method for automatically determining losses for harvesting operations

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of priority to Brazilian Patent Application No. BR 10 2021 023703 1, entitled “AGRICULTURAL SYSTEM AND METHOD FOR AUTOMATICALLY DETERMINING LOSSES FOR HARVESTING OPERATIONS”, filed Nov. 25, 2021, which is hereby incorporated by reference herein in its entirety for all purposes. 
     FIELD OF THE INVENTION 
     The present disclosure relates generally to agricultural systems and methods for automatically determining losses for harvesting operations and, more particularly, to automatically identifying non-height related ground losses, such as one or more of exposed roots, shattered ratoons, fixed stalks, fallen stalks, or fallen stalk segments, and cut height-related ground losses during a harvesting operation. 
     BACKGROUND OF THE INVENTION 
     Typically, agricultural harvesters include an assembly of processing equipment for processing harvested crop materials. For instance, a sugarcane harvester typically includes a base cutter assembly configured to sever sugarcane stalks, the severed sugarcane stalks are then conveyed via a feed roller assembly to a chopper assembly that cuts or chops the sugarcane stalks into pieces or billets (e.g., 6 inch cane sections). The processed crop material discharged from the chopper assembly is then directed as a stream of billets and debris into a primary extractor, within which the airborne debris (e.g., dust, dirt, leaves, etc.) is separated from the sugarcane billets. The separated/cleaned billets then fall into an elevator assembly for delivery to an external storage device. 
     During a harvesting operation with the harvester, different ground losses may occur. For instance, when the base cutter is too high, some of the harvestable stalk is left behind, which reduces the overall yield for the harvesting operation. When the base cutter is too low, the base cutter may cause the stalk to at least partially uproot and/or otherwise damage the ratoon for future growth. When the ground speed of the harvester is too fast and/or the base cutter blades are dull, the ratoons may shatter. Moreover, some stalks may pass below a first roller of a roller assembly of the harvester, leaving partial or full stalks on the ground. Additionally, some stalks may have been knocked down before the harvester, and are thus, left unsevered in the field. Typically, these different losses are only able to be manually evaluated after a harvesting operation is completed. Such manual evaluation is time-consuming and can only be done for a relatively small area and does not allow for losses to be evaluated and prevented during a harvesting operation. 
     Accordingly, an agricultural system and method for automatically determining losses for harvesting operations would be welcomed in the technology. 
     BRIEF DESCRIPTION OF THE INVENTION 
     Aspects and advantages of the invention will be set forth in part in the following description, or may be obvious from the description, or may be learned through practice of the invention. 
     In one aspect, the present subject matter is directed to an agricultural system for automatically determining losses for harvesting operations. The agricultural system includes a loss sensor supported on an agricultural harvester and having a field of view directed toward a portion of a field aft of a base cutter of the agricultural harvester, where the loss sensor is configured to generate data indicative of ground losses. Additionally, the agricultural system includes a computing system communicatively coupled to the loss sensor. The computing system is configured to identify non-height related ground losses during a harvesting operation of the agricultural harvester based at least in part on the data generated by the loss sensor. Additionally, computing system is configured to initiate a control action in response to the non-height related ground losses. 
     In another aspect, the present subject matter is directed to an agricultural method for automatically determining losses for harvesting operations. The agricultural method includes receiving, with a computing system, data from a loss sensor supported on an agricultural harvester, where the loss sensor has a field of view directed toward a portion of a field aft of a base cutter of the agricultural harvester. The agricultural method further includes identifying, with the computing system, ground losses during a harvesting operation of the agricultural harvester based at least in part on the data from the loss sensor. Additionally, the agricultural method includes initiating, with the computing system, a control action in response to the non-height related ground losses. 
     These and other features, aspects and advantages of the present invention will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       A full and enabling disclosure of the present invention, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which: 
         FIG.  1    illustrates a side view of one embodiment of an agricultural harvester in accordance with aspects of the present subject matter; 
         FIGS.  2 A- 2 F  illustrate schematic views of different ground losses that may occur during a harvesting operation in accordance with aspects of the present subject matter; 
         FIG.  3    illustrates a schematic view of a system for automatically determining losses for harvesting operations in accordance with aspects of the present subject matter; 
         FIG.  4    illustrates an example of a loss map indicating ground losses from a harvesting operation in accordance with aspects of the present subject matter; and 
         FIG.  5    illustrates a flow diagram of one embodiment of a method for automatically determining losses for harvesting operations in accordance with aspects of the present subject matter. 
     
    
    
     Repeat use of reference characters in the present specification and drawings is intended to represent the same or analogous features or elements of the present technology. 
     DETAILED DESCRIPTION OF THE INVENTION 
     Reference now will be made in detail to embodiments of the invention, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the invention, not limitation of the invention. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the scope or spirit of the invention. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present invention covers such modifications and variations as come within the scope of the appended claims and their equivalents. 
     In general, the present subject matter is directed to agricultural systems and methods for automatically determining losses of harvesting operations. More particularly, in several embodiments, a loss sensor (e.g., a camera) may be positioned on an agricultural harvester and have a field of view directed rearward of a base cutter of the agricultural harvester such that the loss sensor is configured to generate data indicative of ground losses during the performance of a harvesting operation, particularly those present at the base cutter. A computing system may be configured to identify the ground losses of the harvesting operation based at least in part on the data from the loss sensor. For instance, the computing system may be able to identify non-height related ground losses based on the data from the loss sensor, such as one or more of exposed roots, shattered ratoons, fixed stalks, fallen stalks, or fallen stalk segments. In some instances, the computing system may also be able to identify cut height-related ground losses based at least in part on the data from the loss sensor. Based on the identified ground losses, the computing system may automatically initiate a control action, such as one or more of raising the base cutter, reducing a ground speed of the harvester, or controlling an operation of a user interface. Using the loss sensors allows for the ground losses to automatically be identified during an agricultural operation, which significantly reduces the time it takes to account for ground losses while increasing the accuracy of ground loss estimation, and allows for adjustments to reduce further ground losses, particularly the non-height related ground losses that may affect subsequent harvesting operations. 
     Referring now to the drawings,  FIG.  1    illustrates a side view of one embodiment of an agricultural harvester  10  in accordance with aspects of the present subject matter. As shown, the harvester  10  is configured as a sugarcane harvester. However, in other embodiments, the harvester  10  may correspond to any other suitable agricultural harvester known in the art. 
     As shown in  FIG.  1   , the harvester  10  includes a frame  12 , a pair of front wheels  14 , a pair of rear wheels  16 , and an operator&#39;s cab  18 . The harvester  10  may also include a primary source of power (e.g., an engine mounted on the frame  12 ) which powers one or both pairs of the wheels  14 ,  16  via a transmission (not shown). Alternatively, the harvester  10  may be a track-driven harvester and, thus, may include tracks driven by the engine as opposed to the illustrated wheels  14 ,  16 . The engine may also drive a hydraulic fluid pump (not shown) configured to generate pressurized hydraulic fluid for powering various hydraulic components of the harvester  10 . 
     The harvester  10  may include various components for cutting, processing, cleaning, and discharging sugarcane as the cane is harvested from an agricultural field  20 . For instance, during operation, the harvester  10  is traversed across an agricultural field  20  for harvesting crop, such as sugarcane. The harvester  10  may include a topper assembly  22  positioned at its front end to intercept sugarcane as the harvester  10  is moved in the forward direction. As shown, the topper assembly  22  may include both a gathering disk  24  and a cutting disk  26 . The gathering disk  24  may be configured to gather the sugarcane stalks so that the cutting disk  26  may be used to cut off the top of each stalk. As is generally understood, the height of the topper assembly  22  may be adjustable via a pair of arms  28  hydraulically raised and lowered, as desired, by the operator. After the height of the topper assembly  22  is adjusted via the arms  28 , the gathering disk  24  on the topper assembly  22  may function to gather the sugarcane stalks as the harvester  10  proceeds across the field  20 , while the cutter disk  26  severs the leafy tops of the sugarcane stalks for disposal along either side of harvester  10 . 
     The harvester  10  may further include a crop divider  30  that extends upwardly and rearwardly from the field  20 . In general, the crop divider  30  may include two spiral feed rollers  32 . Each feed roller  32  may include a ground shoe  34  at its lower end to assist the crop divider  30  in gathering the sugarcane stalks for harvesting. As the stalks enter the crop divider  30 , the ground shoes  34  may set the operating width to determine the quantity of sugarcane entering the throat of the harvester  10 . The spiral feed rollers  32  then gather the stalks into the throat to allow a knock-down roller  36  to bend the stalks downwardly in conjunction with the action of a fin roller  38 . The knock-down roller  36  is positioned near the front wheels  14  and the fin roller  38  positioned behind or downstream of the knock-down roller  36 . As the knock-down roller  36  is rotated, the sugarcane stalks being harvested are knocked down. The fin roller  38  may include a plurality of intermittently mounted fins  40  that assist in forcing the sugarcane stalks downwardly. For instance, as the fin roller  38  is rotated, the sugarcane stalks that have been knocked down by the knock-down roller  36  are separated and further knocked down by the fin roller  38  as the harvester  10  continues to be moved in the forward direction relative to the field  20 . 
     Once the stalks are angled downwardly as shown in  FIG.  1   , a base cutter assembly  42  (hereinafter referred to as “the base cutter  42 ”) may then sever the base of the stalks from field  20 . The base cutter  42  is positioned behind or downstream of the fin roller  38 . As is generally understood, the base cutter  42  may include knives or blades  43  for severing the sugarcane stalks as the cane is being harvested. The blades  43 , located on the periphery of the assembly  42 , may be rotated by a hydraulic motor (not shown) powered by the vehicle&#39;s hydraulic system. Moreover, in several embodiments, the blades may be angled downwardly to sever the base of the sugarcane as the cane is knocked down by the fin roller  38 . Additionally, the height of the base cutter  42  (e.g., of the blades  43 ) above the field  20  may be adjustable. For instance, as will be described below in greater detail, it is preferable to sever the sugarcane stalks at or below a particular cutting height above the field  20  such that the maximum amount of sugarcane is harvested during the current harvesting operation and such that the remaining ratoons may regrow during the next growing season. As such, the vertical height of the base cutter  42  may be adjustable to maintain the cutting height for harvesting the sugarcane at or below the particular cutting height. 
     The severed stalks are then, by movement of the harvester  10 , directed to a feed roller assembly  44  located downstream of the base cutter  42  for moving the severed stalks of sugarcane from base cutter  42  along the processing path. As shown in  FIG.  1   , the feed roller assembly  44  may include a plurality of bottom rollers  46  and a plurality of opposed, top pinch rollers  48 . The harvested sugarcane may be pinched between various bottom and top rollers  46 ,  48  to make the sugarcane stalks more uniform and to convey the harvested sugarcane rearwardly (downstream) during transport. As the sugarcane is transported through the feed roller assembly  44 , debris (e.g., rocks, dirt, and/or the like) may be allowed to fall through bottom rollers  46  onto the field  20 . 
     At the downstream end of the feed roller assembly  44  (e.g., adjacent to the rearward-most bottom and top rollers  46 ,  48 ), a chopper assembly  50  may cut or chop the compressed sugarcane stalks. In general, the chopper assembly  50  may be used to cut the sugarcane stalks into pieces or “billets”  51 , which may be, for example, six (6) inches long. The billets  51  may then be propelled towards an elevator assembly  52  of the harvester  10  for delivery to an external receiver or storage device (not shown). 
     As is generally understood, a primary extractor assembly  54  may be provided to help separate pieces of debris  53  (e.g., dust, dirt, leaves, etc.) from the sugarcane billets  51  before the billets  51  are received by the elevator assembly  52 . The primary extractor assembly  54  is located immediately behind or downstream of the chopper assembly  50  relative to the flow of harvested crop and is oriented to direct the debris  53  outwardly from the harvester  10 . The primary extractor assembly  54  may include an extractor fan  56  mounted within a housing  55  for generating a suction force or vacuum sufficient to separate and force the debris  53  through an inlet of the housing  55  into the primary extractor assembly  54  and out of the harvester  10  via an outlet of the housing  55 . The separated or cleaned billets  51  are heavier than the debris  53  being expelled through the extractor  54 , so the billets  51  may fall downward to the elevator assembly  52  instead of being pulled through the primary extractor assembly  54 . 
     As further shown in  FIG.  1   , the elevator assembly  52  may include an elevator housing  58  and an elevator  60  extending within the elevator housing  58  between a lower, proximal end  62  and an upper, distal end  64 . In general, the elevator  60  may include a looped chain  66  and a plurality of flights or paddles  68  attached to and evenly spaced on the chain  66 . The paddles  68  may be configured to hold the sugarcane billets  51  on the elevator  60  as the billets are elevated along a top span of the elevator  70  defined between its proximal and distal ends  62 ,  64 . Additionally, the elevator  60  may include lower and upper sprockets  72 ,  74  positioned at its proximal and distal ends  62 ,  64 , respectively. As shown in  FIG.  1   , an elevator motor  76  may be coupled to one of the sprockets (e.g., the upper sprocket  74 ) for driving the chain  66 , thereby allowing the chain  66  and the paddles  68  to travel in an endless loop between the proximal and distal ends  62 ,  64  of the elevator  60 . 
     Additionally, in some embodiments, pieces of debris or trash  53  (e.g., dust, dirt, leaves, etc.) separated from the elevated sugarcane billets  51  may be expelled from the harvester  10  through a secondary extractor assembly  78  coupled to the rear end of the elevator housing  58 . For example, the debris  53  expelled by the secondary extractor assembly  78  may be debris remaining after the billets  51  are cleaned and debris  53  expelled by the primary extractor assembly  54 . As shown in  FIG.  1   , the secondary extractor assembly  78  may be located adjacent to the distal end  64  of the elevator  60  and may be oriented to direct the debris  53  outwardly from the harvester  10 . Additionally, an extractor fan  80  may be mounted at the base of the secondary extractor assembly  78  for generating a suction force or vacuum sufficient to pick up the debris  53  and force the debris  53  through the secondary extractor assembly  78 . The separated, cleaned billets  51 , heavier than the debris  53  expelled through the extractor  78 , may then fall from the distal end  64  of the elevator  60 . Typically, the billets  51  may fall downwardly through an elevator discharge opening  82  of the elevator assembly  52  into an external storage device (not shown), such as a sugarcane billet cart. 
     In accordance with aspects of the present subject matter, one or more loss sensors  100  may be supported on the harvester  10 . Particularly, the loss sensor(s)  100  may be positioned such that a field of view of the loss sensor(s)  100  is directed toward a portion of the field  20  aft of the base cutter  42 , and forward of where the debris  53  separated out by the harvester  10  (e.g., by the extractor assembly(ies)  54 ,  78 ) falls back to the field. As such, the loss sensor(s)  100  may be able to generate data indicative of different ground loss conditions during a harvesting operation, as the loss sensor(s)  100  have a relatively unobstructed view of the field surface behind the base cutter  42  and before where the debris  53  is deposited back on the field surface. Preferably, the loss sensor(s)  100  may be configured to generate images or image-like data of the field  20 , including ratoons or stumps within the field, fallen stalks or billets, and/or the like, which may be used to determine different ground loss conditions during a harvesting operation, such as non-height related ground losses and, optionally, cut height-related ground losses. 
     For instance, the loss sensor(s)  100  may correspond to any suitable camera(s), such as single-spectrum camera or a multi-spectrum camera configured to capture images, for example, in the visible light range and/or infrared spectral range. Additionally, in a particular embodiment, the camera(s) may correspond to a single lens camera configured to capture two-dimensional images or a stereo camera(s) having two or more lenses with a separate image sensor for each lens to allow the camera(s) to capture stereographic or three-dimensional images. Alternatively, the imaging device(s)  104  may correspond to any other suitable image capture device(s) and/or other vision sensor(s) capable of capturing “images” or other image-like data of the field. For example, the imaging device(s)  104  may correspond to or include radio detection and ranging (RADAR) sensors and/or light detection and ranging (LIDAR) sensors. 
     As will be described in greater detail below, the data from the sensor(s)  100  may be used to automatically identify ground losses during the harvesting operation, then one or more control actions may be performed based on the identified ground losses, for instance, to automatically account for the ground losses and/or to reduce or prevent further ground losses. 
     Referring now to  FIGS.  2 A- 2 F , schematic views of different ground losses that may occur during a harvesting operation are illustrated in accordance with aspects of the present subject matter. Particularly,  FIG.  2 A  illustrates a series of stumps or ratoons  120  that are left after the base cutter  42  ( FIG.  1   ) works a section of the field  20 , particularly illustrating ratoons  120  with varying heights. As indicated above, the remaining stumps  120  preferably have a height that is below a maximum ratoon height threshold H 1  (e.g., 5 cm) such that a maximum amount of crop is harvested during the harvesting operation and such that the ratoons may regrow over the course of the next season. As such, stumps that are taller than the maximum ratoon height threshold H 1  (e.g., stumps taller than 5 cm), such as the two, right-most stumps  120  in  FIG.  2 A , are considered a cut height-related ground loss, as there is material remaining that could have been harvested in the current harvesting operation. 
     Typically, when the stumps are too tall, the cutting height of the base cutter  42  ( FIG.  1   ) is set too high. Accordingly, as will be described in greater detail below, the cutting height of the base cutter  42  may be lowered when stumps are determined to be too tall. It should be appreciated that the maximum ratoon height threshold H 1  may be predetermined and/or selected in any suitable manner. For instance, the maximum ratoon height threshold H 1  may correspond to the variety of plant being harvested, the field conditions (e.g., moisture content) of the field being harvested, and/or the like. 
       FIG.  2 B  illustrates another series of ratoons  120  that are left after the base cutter  42  ( FIG.  1   ) works a section of the field  20 , particularly illustrating various shattered ratoons  120 . When one or more of the blades  43  ( FIG.  1   ) of the base cutter  42  ( FIG.  1   ) become dull, and/or when a ground speed of the harvester  10  is too fast, the base cutter  42  may hit the stalks instead of just cutting the stalks, which causes the stalks to shatter or burst. When the shatter is too severe, such as shown in  FIG.  2 B , the ratoons may be too damaged to regrow, which affects the yields of subsequent harvesting operations. As such, ratoon shatter is considered a non-height related ground loss. To prevent shattering further ratoons  120  during the harvesting operation, as will be described in greater detail below, the ground speed of the harvester  10  can be reduced and/or the blades  43  ( FIG.  1   ) of the base cutter  42  ( FIG.  1   ) can be replaced. 
       FIG.  2 C  illustrates another example of a non-height related ground loss, particularly a ratoon  120  that has been at least partially uprooted such that at least some roots  120 R of the ratoon  120  are exposed. When the cutting height of the base cutter  42  ( FIG.  1   ) is too low and/or when the ground speed of the harvester  10  is too fast, the roots  120 R may not be able to sufficiently counteract the moment on the stalk caused by the blades  43  ( FIG.  1   ) of the base cutter  42  ( FIG.  1   ) contacting the stalk. As such, the stump  120  may be pushed over as the stalk is cut, exposing some of the roots  120 R, which may affect the ability for the plant to regrow if not replanted and thus, reducing the potential yield for subsequent harvests. To prevent uprooting further ratoons  120  during the harvesting operation, as will be described in greater detail below, the cutting height of the base cutter  42  ( FIG.  1   ) may be raised and/or the ground speed of the harvester  10  may be reduced. 
     In some instances, a stalk  124  may be knocked or bent over in the field  20  before the harvester  10 . The bent over or fixed stalk  124  may not be picked up by the harvester  10  during the harvesting operation, and thus may be left essentially whole within the field, reducing the yield of the harvesting operation. For example, as shown in  FIG.  2 D , the bottom end of the stalk  124  is still at least partially buried or embedded in the ground such that the top end of the stalk  124  is clearly visible. Further, a length of the stalk  124  is greater than the maximum ratoon height H 1 . As such, fixed stalks  124  are another example of non-height related ground losses for the current harvesting operation. 
       FIGS.  2 E and  2 F  illustrate fallen stalks and fallen stalk segments, respectively. After a stalk  124  is severed by the base cutter  42  ( FIG.  1   ), the stalk  124  is directed toward the feed roller assembly  44  ( FIG.  1   ). However, in some instances, the stalk  124  may pass below the first roller of the feed roller assembly  44  ( FIG.  1   ) and drop as a whole stalk  124  onto the field  20 . In such instances, as shown in  FIG.  2 E , the length of the stalk  124  is greater than the maximum ratoon height H 1  and both ends of the stalk  124  may be clearly visible. In other instances, the stalk  124  may break into one or more pieces as it is progressed from the base cutter  42  to the feed roller assembly  44  ( FIG.  1   ), where the pieces of stalk  126  drop onto the field  20 , as shown in  FIG.  2 F . The pieces of stalk  126  may have varying lengths, but typically are much shorter than the whole stalk. As such, fallen stalks and stalk segments also reduce the overall yield of the harvesting operation and are further examples of non-height related ground losses. Fallen stalks and stalk segments may occur when the stalk feeding geometry (e.g., the alignment between the knock-down roller  36  and the base cutter  42 ) is not ideal and/or when the stalk feeding assembly is not properly cleaned. As will be discussed below, the knock-down roller  36  may be automatically adjustable and/or an operator may be alerted to perform a maintenance check depending on the frequency of such fallen stalks and stalk segments. 
     Referring now to  FIG.  3   , a schematic view of a system  200  for automatically determining losses for harvesting operations is illustrated in accordance with aspects of the present subject matter. In general, the system  200  will be described with reference to the agricultural harvester  10  described with reference to  FIG.  1    and to the different examples of ground losses described with reference to  FIGS.  2 A- 2 F . However, it should be appreciated that the disclosed system  200  may be implemented with harvesters having any other suitable configurations, and/or with any other suitable types of ground losses. 
     In several embodiments, the system  200  may include one or more computing systems  202  and various other components configured to be communicatively coupled to and/or controlled by the computing system(s)  202 , such as the loss sensor(s)  100 , one or more position sensors  150 , one or more user interfaces  152 , one or more base cutter actuators  154 , one or more knock-down roller actuators  156 , and/or one or more drive devices  158 . 
     In general, the computing system(s)  202  may correspond to any suitable processor-based device(s), such as a computing device or any combination of computing devices. Thus, as shown in  FIG.  3   , the computing system(s)  202  may generally include one or more processor(s)  204  and associated memory devices  206  configured to perform a variety of computer-implemented functions (e.g., performing the methods, steps, algorithms, calculations and the like disclosed herein). As used herein, the term “processor” refers not only to integrated circuits referred to in the art as being included in a computer, but also refers to a controller, a microcontroller, a microcomputer, a programmable logic controller (PLC), an application specific integrated circuit, and other programmable circuits. Additionally, the memory  206  may generally comprise memory element(s) including, but not limited to, computer readable medium (e.g., random access memory (RAM)), computer readable non-volatile medium (e.g., a flash memory), a floppy disk, a compact disc-read only memory (CD-ROM), a magneto-optical disk (MOD), a digital versatile disc (DVD) and/or other suitable memory elements. Such memory  206  may generally be configured to store information accessible to the processor(s)  204 , including data  208  that can be retrieved, manipulated, created and/or stored by the processor(s)  204  and instructions  210  that can be executed by the processor(s)  204 . 
     In several embodiments, the data  208  may be stored in one or more databases. For example, the memory  206  may include a loss database  212  for storing loss data received from the loss sensor(s)  100 . For instance, the loss sensor(s)  100  may be configured to continuously or periodically capture loss data associated with a portion of a field during a harvesting operation within the field. For instance, as discussed above, the loss sensor(s)  100  may be associated with the harvester  10  configured to perform a harvesting operation within the field  20 . Particularly, the loss sensor(s)  100  are configured to generate loss data  212  indicative of ground losses, such as cut height-related ground losses and non-height related ground losses, that are present aft of the base cutter  42  (and forward of where trash is exhausted from the harvester  10 ). In such an embodiment, the loss data transmitted to the computing system(s)  202  may be stored within the loss database  212  for subsequent processing and/or analysis. It should be appreciated that, as used herein, the term “loss data” may include any suitable type of data received from the loss sensor(s)  100  that allows for the ground losses, particularly the cut height-related ground losses and non-height related ground losses, to be analyzed and/or estimated, as will be described in greater detail below. 
     It should be appreciated that the loss data  212  may be geo-referenced or may otherwise be stored with corresponding location data associated with the specific location at which such data was collected within the field. In one embodiment, the loss data  212  may be correlated to a corresponding position within the field based on location data received from the positioning sensor(s)  150 , which may include a Global Positioning System (GPS) or another similar positioning device(s), configured to transmit a location corresponding to a position of the harvester  10  within the field when the loss data  212  is collected by the loss sensor(s)  100 . 
     Referring still to  FIG.  3   , in several embodiments, the instructions  210  stored within the memory  206  of the computing system(s)  202  may be executed by the processor(s)  204  to implement a control module  214  and/or a mapping module  216 . In general, the control module  214  and/or the mapping module  216  may be configured to analyze the loss data  212  deriving from the loss sensor(s)  100  to determine the locations of different ground losses throughout a field. For instance, as indicated above, the loss data  212  from the loss sensor(s)  100  may include image data and/or image-like data of the portion of the field  20  aft of the base cutter  42 . The computing system(s)  202  (e.g., the module(s)  214 ,  216 ) may be configured to analyze the images or image-like loss data  212  using any suitable processing techniques (e.g., image processing techniques), relationships, and/or algorithms to determine the different types of ground losses present within the field aft of the base cutter  42 . For example, suitable processing or analyzing techniques may include performing spatial analysis on received images or image data. For instance, geometric or spatial processing algorithms, shape detection and/or edge-finding or perimeter-finding algorithms, and/or the like may differentiate the shape, color, edges, and/or the like of ratoons, stalks, or stalk pieces  120 ,  124 ,  126  from the field  20  and to further determine one or more ground losses based on one or more of a height of the ratoons  120 , a presence of exposed roots  120 R, a degree of shatter of the ratoons  120 , a length of a stalk(s)  124  and/or a stalk piece(s)  126 , and/or the like. 
     For instance, as indicated above, when the height of one or more ratoons  120  is above a maximum ratoon height threshold H 1  ( FIG.  2 A ), the computing system(s)  202  may determine that a cut height-related ground loss is present. It should be appreciated that the maximum ratoon height threshold H 1  may be predetermined and stored within the memory  206  of the computing system(s)  202  or may otherwise be provided to the computing system(s)  202 . Further, as indicated above, when a degree of the shatter of one or more ratoons  120  is determined to be too severe (e.g., the ratoons have visibly split down the length and/or have a burst end as shown in  FIG.  2 B ), the computing system(s)  202  may determine that a non-height related ground loss is present, particularly shattered ratoons. Moreover, as indicated above, when roots  120 R are exposed as shown in  FIG.  2 C , the computing system(s)  202  may determine that a non-height related ground loss is present, particularly exposed roots. When a knocked down or bent over stalk  124  is detected that has a length greater than the maximum ratoon height H 1  and an end at least partially embedded in the ground, a fixed stalk type non-related ground loss is determined to be present. Similarly, when a stalk  124  and/or a portion of a stalk  126  is detected behind the base cutter  42 , where, for example, both ends of the stalk  124  or stalk portion  126  are visible, a fallen stalk type and/or a fallen stalk segment type non-related ground loss is determined to be present. 
     The control module  214  may be configured to automatically initiate a control action in response to the identified ground losses. For instance, the control action may include controlling an operation of the user interface(s)  152  to generally indicate the types of identified ground losses, such as the non-height related ground losses and/or the cut height-related ground losses. The control action may additionally, or alternatively, include controlling an operation of the harvester  10  during the harvesting operation to help prevent further ground losses, when possible. 
     For instance, as indicated above with reference to  FIG.  2 A , when the ground losses include a cut height-related ground loss, the control module  214  the control action may include controlling an operation of the base cutter actuator(s)  154  to adjust the cutting height of the base cutter  42 . Particularly, the control module  214  may initiate control of the base cutter actuator(s)  154  to lower the cutting height of the base cutter  42  (i.e., to cut the stalks closer to the ground) and, thus, reduce the amount of harvestable stalk left behind. 
     When the ground losses include shattered ratoons, as indicated above with reference to  FIG.  2 B , the control module  214  may initiate a control action including controlling an operation of the drive device(s)  158  of the harvester  10  (e.g., the engine, the transmission, brakes, etc.) to reduce a ground speed of the agricultural harvester  10  to reduce or prevent shattering of further ratoons. In some instances, the control action may additionally or alternatively include controlling an operation of the user interface(s)  152  associated with the agricultural harvester  10  to request replacement of blades  43  of the base cutter  42  when the ground losses include shattered ratoons, particularly if further ratoon shatter is identified after reducing the ground speed of the harvester  10 . 
     When the ground losses include exposed roots, as discussed above with reference to  FIG.  2 C , the control module  214  may automatically initiate a control action including controlling an operation of the base cutter actuator(s)  154  to raise the base cutter  42 , controlling an operation of the drive device(s)  158  to reduce the ground speed of the agricultural harvester  10 , or both to reduce or prevent ratoons from being knocked over and exposing roots. In some instances, the control action may additionally, or alternatively, include controlling an operation of the user interface(s)  152  associated with the agricultural harvester  10  to request replacement of blades  43  of the base cutter  42 . Particularly, in one embodiment, the control action may additionally include controlling an operation of the user interface(s)  152  associated with the agricultural harvester  10  to request replacement of blades  43  of the base cutter  42  if exposed roots are still occurring after raising the base cutter  42  and/or reducing the ground speed of the agricultural harvester  10 . 
     When the ground losses include fixed stalks, as discussed above with reference to  FIG.  2 D , the control module  214  may initiate a control action including controlling an operation of the user interface(s)  152  to indicate that fixed stalks are present. In some instances, the user interface(s)  152  may only be controlled to indicate that fixed stalks are present when the percentage or number of fixed stalks reaches or exceeds a presence threshold. 
     When the ground losses include fallen stalks and/or fallen stalk segments, as discussed above with reference to  FIGS.  2 E and  2 F , the control module  214  may automatically initiate a control action including controlling an operation of the knock-down roller actuator(s)  156  to adjust the geometry of the feed system of the harvester  10  and/or controlling an operation of the user interface(s)  152  to notify an operator that a maintenance operation needs to be performed of the feed system of the harvester  10 . In some instances, the notifications for the operator may increase in intensity or frequency depending on the intensity or frequency of the presence of fallen stalks and/or fallen stalk segments. 
     Further, in some embodiments, the computing system(s)  202  may be configured to determine at least one of a quantity or a volume of the ground losses. Particularly, the computing system(s)  202  may be configured to determine a quantity or a volume of the non-height related ground losses, of each type of non-height related ground loss, and/or of the cut height-related ground losses. The control module  214  may then be configured to control an operation of the user interface(s)  152  to indicate the quantity and/or volume of the identified ground losses. The computing system(s)  202  may additionally, or alternatively, estimate a percentage of the total ground losses compared to the total harvesting volume, a percentage of each ground loss type compared to the total harvesting volume, and/or the like based at least in part on the loss data  212  and yield data from a harvesting monitor. The control module  214  may then be configured to control an operation of the user interface(s)  152  to indicate the percentage(s). The computing system(s)  202  may further be configured to determine an estimated yield for a subsequent harvesting operation within the field based at least in part on the ground losses, particularly, the non-height related ground losses. For instance, as indicated above, when ratoons are shattered and/or uprooted, they may not be able to grow back into stalks of the previous height. As such, future harvesting operations may have reduced yields when there are certain non-height related ground losses. The control module  214  may then be configured to control an operation of the user interface(s)  152  to indicate the future harvesting yield estimation or future yield reduction estimation. 
     The control action may additionally, or alternatively, include automatically generating a management report based at least in part on the loss data. For instance, the management report may include a quantity or a volume of the ground losses (e.g., a quantity or a volume of the non-height related ground losses and/or the cut height-related ground losses), percentage of the ground losses (e.g., of the non-height related ground losses and/or the cut height-related ground losses), estimated yield, and/or the like for the harvester  10  which may be used to help identifying root cause of the losses. In some embodiments, the management report may be generated based at least in part on loss data from multiple harvesters  10 . In such embodiments, the management report may rank the different harvesters  10 , operators, fields, operation methods, and/or the like based at least in part on the loss data. By aggregating data from multiple harvesters  10 , field maps for subsequent operations in the field(s) may be more easily generated. Such management report may be displayed to an operator of the harvester in real time, may be transmitted to another computing system, and/or stored for later use. 
     The mapping module  216  may also be configured to automatically initiate a control action in response to the identified ground losses. More particularly, the mapping module  216  may be configured to generate a loss map  160  indicating a position of each of the identified ground losses within the field based at least in part the loss data  212 . In one embodiment, the mapping module  216  may indicate the different types of the identified ground losses on the loss map  160 , particularly the different non-height related ground losses and/or the cut height-related ground losses. For example, as shown in  FIG.  4   , shattered ratoons may be shown with an “X,” exposed roots may be shown with an “R,” stumps that are too tall compared to the maximum ratoon height threshold may be shown with a small circle, and fixed or fallen stalks or stalk segments may be shown with lines having corresponding or scaled lengths. However, it should be appreciated that these examples should not be construed as limiting. The generated loss map  160  may be displayed on the user interface(s)  152  and/or on any other suitable device. 
     Referring back to  FIG.  3   , the computing system(s)  202  may also include a communications interface  218  to provide a means for the computing system(s)  202  to communicate with any of the various system components described herein. For instance, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface  218  and the loss sensor(s)  100  to allow loss data transmitted from the loss sensor(s)  100  to be received by the computing system(s)  202 . Similarly, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface  218  and the position sensor(s)  150  to allow the position data transmitted from the position sensor(s)  150  to be received by the computing system(s)  202 . Additionally, as will be described below, one or more communicative links or interfaces (e.g., one or more data buses) may be provided between the communications interface  218  and any system components configured to carry out one or more of the elements of the disclosed method. For example, as illustrated, the computing system(s)  202  may be communicatively coupled via one or more communicative links or interface(s) between the user interface(s)  152 , base cutter actuator(s)  154 , knock-down roller actuator(s)  156 , and drive device(s)  158  and the communications interface(s)  218 . 
     It should be appreciated that the computing system(s)  202  may correspond to an existing controller of the harvester  10 . For instance, the computing device(s)  202  may correspond to a harvester controller of the harvester  10 . However, the computing device(s)  202  may also correspond to a controller of one or more remote control devices separate from the harvester  10 , such as part of a base station local to the field or part of a remote cloud-based computing system located remote to the field. 
     Referring now to  FIG.  5   , a flow diagram of one embodiment of a method  300  for automatically determining losses for harvesting operations is illustrated in accordance with aspects of the present subject matter. In general, the method  300  will be described herein with reference to the harvester  10  described with reference to  FIG.  1   , the example ground losses described with reference to  FIGS.  2 A- 2 F , and the system  200  described with reference to  FIG.  3   . However, it should be appreciated that the disclosed method  300  may be implemented with harvesters  10  having any other suitable configuration, with any other suitable ground losses, and/or with systems having any other suitable system configuration. In addition, although  FIG.  5    depicts steps performed in a particular order for purposes of illustration and discussion, the methods discussed herein are not limited to any particular order or arrangement. One skilled in the art, using the disclosures provided herein, will appreciate that various steps of the methods disclosed herein can be omitted, rearranged, combined, and/or adapted in various ways without deviating from the scope of the present disclosure. 
     As shown in  FIG.  5   , at ( 302 ), the method  300  may include receiving data from a loss sensor supported on an agricultural harvester. For instance, as described above, the computing system(s)  202  may receive data from the loss sensor(s)  100  supported on the agricultural harvester  10 , where the loss sensor(s)  100  have a field of view directed aft of a base cutter  42  of the harvester  10 . 
     Further, at ( 304 ), the method  300  may include identifying non-height related ground losses during a harvesting operation of the agricultural harvester based at least in part on the data from the loss sensor. For example, as discussed above, the computing system(s)  202  may identify non-height related ground losses (e.g., exposed roots, shattered ratoons, fixed stalks, fallen stalks, or fallen stalk segments) during a harvesting operation of the agricultural harvester  10  based at least in part on the data from the loss sensor(s)  100 . 
     Additionally, at ( 306 ), the method  300  may include initiating a control action in response to the non-height related ground losses. For instance, as discussed above, the computing system(s)  202  may initiate a control action in response to the non-height related ground losses, where the control action may include one or more of controlling an operation of the base cutter  42  to raise the base cutter  42 , controlling an operation of the drive device(s)  158  of the harvester  10  to reduce a ground speed of the harvester  10 , or controlling an operation of the user interface(s)  152 . 
     It is to be understood that the steps of the method  300  are performed by the computing system  200  upon loading and executing software code or instructions which are tangibly stored on a tangible computer readable medium, such as on a magnetic medium, e.g., a computer hard drive, an optical medium, e.g., an optical disk, solid-state memory, e.g., flash memory, or other storage media known in the art. Thus, any of the functionality performed by the computing system  200  described herein, such as the method  300 , is implemented in software code or instructions which are tangibly stored on a tangible computer readable medium. The computing system  200  loads the software code or instructions via a direct interface with the computer readable medium or via a wired and/or wireless network. Upon loading and executing such software code or instructions by the computing system  200 , the computing system  200  may perform any of the functionality of the computing system  200  described herein, including any steps of the method  300  described herein. 
     The term “software code” or “code” used herein refers to any instructions or set of instructions that influence the operation of a computer or computing system. They may exist in a computer-executable form, such as machine code, which is the set of instructions and data directly executed by a computer&#39;s central processing unit or by a computing system, a human-understandable form, such as source code, which may be compiled in order to be executed by a computer&#39;s central processing unit or by a computing system, or an intermediate form, such as object code, which is produced by a compiler. As used herein, the term “software code” or “code” also includes any human-understandable computer instructions or set of instructions, e.g., a script, that may be executed on the fly with the aid of an interpreter executed by a computer&#39;s central processing unit or by a computing system. 
     This written description uses examples to disclose the invention, including the best mode, and also to enable any person skilled in the art to practice the invention, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the invention is defined by the claims, and may include other examples that occur to those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.