Patent Description:
While harvesting a crop material from a field, a harvester implement follows a harvest path. The harvest path is the path or route that the harvester implement follows while harvesting the crop material. The harvest path may be followed during crop cutting, mowing, raking, collecting, or other harvest operations. Often, the harvest path consists of following a generally back-and-forth route that parallels at least one edge of the field. The harvest path may be determined by the operator based on prior experience and knowledge. In other implementations, particularly when automated and/or autonomous operation of the harvester implement is utilized, a computing device may analyze the perimeter and/or boundary of the field, and define the harvest path. The computing device may define the harvest path using an algorithm that minimizes a horizontal and/or overall travel distance and/or that minimizes vehicle movement across the harvest area. <CIT>, <CIT>, <CIT>, <CIT> and <CIT> disclose path planning systems as well as methods related to path planning.

A path planning system for harvesting a crop material is provided. The path planning system includes a computing device including a processor and a memory having a path planning algorithm stored thereon. The processor is operable to execute the path planning algorithm. The path planning algorithm receives a harvest swath width input, and a boundary input. The harvest swath width input defines a desired harvest width for each pass of a harvester implement. The boundary input defines a boundary of a harvest area to be harvested. The path planning algorithm determine a surface elevation of the harvest area within the boundary. The surface elevation includes at least one elevation contour establishing a line of constant elevation. The path planning algorithm then defines a harvest path for the harvester implement to follow while harvesting the crop material. The harvest path is defined to substantially parallel the at least one elevation contour, and is based on the harvest swath width input.

In one aspect of the disclosure, the processor may be operable to execute the path planning algorithm to define a line segment that extends across the surface elevation in a direction substantially perpendicular to the at least one elevation contour. The path planning algorithm may then calculate a slope of the line segment, and compare the slope of the line segment to a maximum allowable slope threshold. The slope of the line segment generally represents a cross slope of the ground surface. The maximum allowable slope threshold may represent a maximum cross slope on which the harvester implement may safely operate. The slope of the line segment is compared to the maximum allowable slope threshold to determine if the slope of the line segment is equal to or less than the maximum allowable slope threshold, or if the slope of the line segment is greater than the maximum allowable slope threshold. When the slope of the line segment is greater than the maximum allowable slope threshold, the path planning algorithm may re-define the harvest path to traverse one of a more uphill route or a more downhill route relative to the at least one elevation contour. The path planning algorithm may redefine the harvest path so that the harvest path does not traverse a cross slope that is greater than the maximum allowable slope threshold.

In one implementation of the disclosure, the computing device may include a portable handheld device. The portable handheld device may include, but is not limited to, a smart phone, a tablet, a laptop computer, or a specialized computing device. In one aspect of the disclosure, the computing device may include a data transmitter. The processor may be operable to execute the path planning algorithm to communicate the harvest path to the harvester implement. In another implementation of the disclosure, the computing device may be integrated into the harvester implement.

In one implementation of the disclosure, the memory may include elevation data of a region including the harvest area. The elevation data may be stored in the memory of the computing device. The memory may further include geographic data of the region including the harvest area stored thereon. The path planning algorithm may receive a geographic location input from an operator. The geographic location input includes a geographic location associated with and/or identifying the location of the boundary and/or the harvest area. Using the geographic location input, the path planning algorithm may access the elevation data and the geographic data stored on the memory of the computing device to determine the surface elevation of the harvest area.

In one implementation, the computing device may include a position sensor. The processor is operable to execute the path planning algorithm to receive a position signal from the position sensor. The position signal includes data indicating a current geographic location of the computing device, which may be used to locate the harvest area and/or the boundary of the harvest area. The computing device may further include a data receiver. The processor is operable to execute the path planning algorithm to receive elevation data via the data receiver. The elevation data provides the surface elevation or data enabling the computing device to calculate or otherwise determine the surface elevation of the harvest area.

In one aspect of the disclosure, the processor is operable to execute the path planning algorithm to define the harvest path to include an overall elevation gain of the harvest path that is less than an overall elevation gain of an alternative harvest path arranged substantially perpendicular to the at least one elevation contour. The alternative harvest path arranged substantially perpendicular to the at least one elevation contour may result in the harvester implement ascending and descending a hill multiple times. By defining the harvest path to parallel the at least one elevation contour, and incrementally increasing or decreasing the elevation of the harvest path while remaining substantially parallel with the at least one contour, the harvester implement may only ascend a hill once. Accordingly, the total or overall elevation gain of the harvester implement along the defined harvest path may be less than the elevation gain along the alternative harvest path. Because it requires more energy to ascend a hill than to traverse flat ground or to descend a hill, reducing the overall elevation gain of the harvester implement reduces the energy, e.g., carbon based fuel or electric energy, required to harvest the crop material from the harvest area.

In one aspect of the disclosure, the path planning algorithm may define the harvest path to increment from substantially parallel to a first elevation contour to substantially parallel to a second elevation contour. The second elevation contour is generally parallel with the first elevation contour and is spaced one desired harvest width from the first elevation contour. As such, the harvest path on the second elevation contour is positioned immediately adjacent to the harvest path on the first elevation contour, such that the desired harvest width of each pass does not overlap each other.

A method of harvesting a crop material from a harvest area with a harvester implement is also provided. The method includes receiving a harvest swath width input with a computing device. The harvest swath width input defines a desired harvest width for each pass of the harvester implement. A boundary input is also received with the computing device. The boundary input defines a boundary or perimeter of a harvest area. The computing device may then determine a surface elevation of the harvest area within the boundary. The surface elevation includes at least one elevation contour establishing a line of constant elevation. The computing device may then define a harvest path for the harvester implement. The harvest path is a path or route the harvester implement may follow while harvesting the crop material within the harvest area. The harvest path is defined to substantially parallel the at least one elevation contour based on the harvest swath width input.

In one aspect of the disclosure, the computing device may define a line segment that extends across the surface elevation in a direction substantially perpendicular to the at least one elevation contour. The computing device may then calculate a slope of the line segment, and compare the slope of the line segment to a maximum allowable slope threshold. The slope of the line segment is compared to the maximum allowable slope threshold to determine if the slope of the line segment is equal to or less than the maximum allowable slope threshold, or if the slope of the line segment is greater than the maximum allowable slope threshold. When the slope of the line segment is greater than the maximum allowable slope threshold, the computing device may re-define the harvest path to traverse one of a more uphill route or a more downhill route relative to the at least one elevation contour.

In one aspect of the disclosure, the step of defining the harvest path includes defining the harvest path to include an overall elevation gain of the harvest path that is less than an overall elevation gain of an alternative harvest path arranged substantially perpendicular to the at least one elevation contour. By doing so, because ascending a hill requires significantly more energy than traversing flat ground and/or descending a hill, an amount of energy required to move the harvester implement through the harvest area to harvest the crop material may be reduced.

In one aspect of the disclosure, the step of defining the harvest path includes defining the harvest path to increment from substantially parallel to a first elevation contour to substantially parallel to a second elevation contour. The second elevation contour is generally parallel with the first elevation contour, and is spaced one desired harvest width from the first elevation contour so that the edge of the desired harvest width associated with the first elevation contour does not overlap the desired harvest width associated with the second elevation contour.

In one aspect of the disclosure, the computing device may include a portable handheld device having a data transmitter. The portable handheld device may include, but is not limited to, a smart phone, a tablet, a laptop computer or some other specialized computing device. The method may further include communicating the harvest path to the harvester implement with the data transmitter.

Accordingly, the path planning system and method of harvesting the crop material described herein may reduce the amount of energy required to move the harvester implement through the harvest area, by reducing the overall elevation gain of the harvest path. Additionally, in some applications in which the crop material is gathered and formed into a bale, particularly a round bale, the bale may be discharged from the baler implement in a direction that is parallel with the elevation contour, i.e., in a direction perpendicular to a cross slope of the ground surface, thereby reducing the chance that the bale may roll down hill.

Referring to the Figures, wherein like numerals indicate like parts throughout the several views, a path planning system is generally shown at <NUM>. Referring to <FIG>, the path planning system <NUM> defines a harvest path <NUM> for a harvester implement <NUM> to follow when harvesting a crop material <NUM> from a harvest area <NUM> of a field. The harvest path <NUM> may be followed for any number of harvest operations. For example, the harvest path <NUM> may be defined and followed for cutting, mowing, raking, collecting, and/or processing the crop material <NUM>. In one implementation, the crop material <NUM> may be cut, collected and processed in a single pass following the harvest path <NUM>. In another implementation, the crop material <NUM> may be cut in a first pass following the harvest path <NUM>, raked and/or merged into a windrow in a second pass following the harvest path <NUM>, and/or collected and/or baled in a third pass following the harvest path <NUM>. Additionally, the harvest path <NUM> may be redefined between passes, such as if the crop material <NUM> is raked and/or merged into a windrow located in a different position then when the crop material <NUM> was originally positioned.

Referring to <FIG>, the path planning system <NUM> includes a computing device <NUM>. In one implementation, the computing device <NUM> is a portable handheld device. For example, the portable handheld device may include, but is not limited to, a smart phone, a tablet, a laptop computer, or some other specialized computer that is easily transportable. In other implementations, the computing device <NUM> may be integral with and directly incorporated into the harvester implement <NUM>.

In one implementation, the computing device <NUM> may include a position sensor <NUM>. The position sensor <NUM> may be configured to receive a location signal <NUM> providing data related to a location of the computing device <NUM>. For example, the position sensor <NUM> may include, but is not limited to, a Global Positioning System (GPS) sensor, a cellular receiver, a radio wave receiver, etc. The data related to the location of the computing device <NUM> may include, but is not limited to, geographic locating data, such as a latitude and longitude or other similar geographic locating data. The computing device <NUM> may use the geographic location provided by the position sensor <NUM> to determine or identify elevation data of the harvest area <NUM>, described in greater detail below. The specific manner, process, signal type, etc. used by the position sensor <NUM> to obtain and process the location signal <NUM> and/or determine the associated location are known to those skilled in the art and are therefore not described in greater detail herein.

In one implementation, the computing device <NUM> may further include a data receiver <NUM>. The data receiver <NUM> may be configured to receive a data signal <NUM> providing elevation data related to ground surface elevation <NUM> of the harvest area <NUM>. The data receiver <NUM> may include, but is not limited to, a cellular receiver, a radio wave receiver, etc. The data receiver <NUM> and the position sensor <NUM> may be combined into a single sensor/receiver unit, or may be separate components of the computing device <NUM>. The data signal <NUM> includes information related to the elevation of the ground surface of the harvest area <NUM>. The specific manner, process, signal type, etc. used by the data receiver <NUM> to obtain and process the data signal <NUM> and/or determine the elevation of the ground surface are known to those skilled in the art and are therefore not described in greater detail herein.

In one implementation, the computing device <NUM> may further include a data transmitter <NUM>. The data transmitter <NUM> may be configured to send or emit a communication signal for communicating data to the harvester implement <NUM>. For example, the data transmitter <NUM> may send or communicate the harvest path <NUM> to the harvester implement <NUM>. As such, the communication signal may include data providing geographic coordinates describing the harvest path <NUM>. The harvester implement <NUM> may then be controlled to follow the harvest path <NUM>, either manually or autonomously, as understood by those skilled in the art. The data transmitter <NUM> may include, but is not limited to, a cellular transmitter, a radio wave transmitter, etc. The data transmitter <NUM>, the data receiver <NUM>, and the position sensor <NUM> may be combined into a single unit, or may be separate components of the computing device <NUM>. The specific manner, process, signal type, etc. used by the data transmitter <NUM> to send or communicate the communication signal are known to those skilled in the art and are therefore not described in greater detail herein.

While the computing device <NUM> is generally described herein as a singular device, it should be appreciated that the computing device <NUM> may include multiple devices linked together to share and/or communicate information therebetween. Furthermore, it should be appreciated that the computing device <NUM> may be located on the harvester implement <NUM>, or may be located remotely from the harvester implement <NUM>. In one implementation, the computing device <NUM> is configured as a portable handheld device.

The computing device <NUM> may alternatively be referred to as a computer, a controller, a control unit, a control module, a module, etc. The computing device <NUM> includes a processor <NUM>, a memory <NUM>, and all software, hardware, algorithms, connections, sensors, etc., necessary to define the harvest path <NUM>. As such, a method may be embodied as a program or algorithm operable on the computing device <NUM>. It should be appreciated that the computing device <NUM> may include any device capable of analyzing data from various sensors, comparing data, making decisions, and executing the required tasks.

As used herein, "computing device <NUM>" is intended to be used consistent with how the term is used by a person of skill in the art, and refers to a computing component with processing, memory <NUM>, and communication capabilities, which is utilized to execute instructions (i.e., stored on the memory <NUM> or received via the communication capabilities) to control or communicate with one or more other components. In certain embodiments, the computing device <NUM> may be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals), and to output command or communication signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).

The computing device <NUM> may be in communication with other components on the harvester implement <NUM>, such as hydraulic components, electrical components, and operator inputs within an operator station of an associated work vehicle. The computing device <NUM> may be electrically connected to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between the computing device <NUM> and the other components. Alternatively, the computing device <NUM> may be electrically connected to these other components by a wireless communication system. Although the computing device <NUM> is referenced in the singular, in alternative embodiments the configuration and functionality described herein can be split across multiple devices using techniques known to a person of ordinary skill in the art.

The computing device <NUM> may be embodied as one or multiple digital computers or host machines each having one or more processor <NUM>, read only memory <NUM> (ROM), random access memory <NUM> (RAM), electrically-programmable read only memory <NUM> (EPROM), optical drives, magnetic drives, etc., a high-speed clock, analog-to-digital (A/D) circuitry, digital-to-analog (D/A) circuitry, and any required input/output (I/O) circuitry, I/O devices, and communication interfaces, as well as signal conditioning and buffer electronics.

The computer-readable memory <NUM> may include any non-transitory/tangible medium which participates in providing data or computer-readable instructions. The memory <NUM> may be non-volatile or volatile. Non-volatile media may include, for example, optical or magnetic disks and other persistent memory <NUM>. Example volatile media may include dynamic random access memory <NUM> (DRAM), which may constitute a main memory <NUM>. Other examples of embodiments for memory <NUM> include a floppy, flexible disk, or hard disk, magnetic tape or other magnetic medium, a CD-ROM, DVD, and/or any other optical medium, as well as other possible memory <NUM> devices such as flash memory <NUM>.

The computing device <NUM> includes the tangible, non-transitory memory <NUM> on which are recorded computer-executable instructions, including a path planning algorithm <NUM>. The processor <NUM> of the computing device <NUM> is configured for executing the path planning algorithm <NUM>. The path planning algorithm <NUM> implements a method of harvesting the crop material <NUM> from the harvest area <NUM> with the harvester implement <NUM>, and more particularly, a method of defining the harvest path <NUM> for the harvester implement <NUM> to follow while harvesting the crop material <NUM> from the harvest area <NUM>.

Referring to <FIG>, the method described herein may include the computing device <NUM> receiving a harvest swath width input. The step of inputting the desired harvest width <NUM> is generally indicated by box <NUM> shown in <FIG>. The computing device <NUM> may receive the harvest swath width input via an input device associated with the computing device <NUM>. The input device may include, but is not limited to, a touchscreen display, a camera, a keyboard, etc. The harvest swath width input may be entered manually by an operator, may be automatically detected in response to a command entered by the operator, or may automatically detected via autonomous operation of the computing device <NUM>. The harvest swath width input defines a desired harvest width <NUM> for each pass of a harvester implement <NUM>.

The computing device <NUM> may further receive a boundary <NUM> input. The step of inputting the boundary <NUM> is generally indicated by box <NUM> shown in <FIG>. The computing device <NUM> may receive the boundary <NUM> input via the input device associated with the computing device <NUM>. The boundary <NUM> input may be entered manually by an operator, may be automatically detected in response to a command entered by the operator, or may automatically detected via autonomous operation of the computing device <NUM>. The boundary <NUM> input defines a perimeter or boundary <NUM> of the harvest area <NUM>. The boundary <NUM> may be defined by the boundary <NUM> input by selecting a pre-defined field, region of a field, area, space, etc., which is stored in the memory <NUM> of the computing device <NUM>. Alternatively, the boundary <NUM> may be defined by the boundary <NUM> input by entering multiple vertices of a polygonal shape defining or outlining the boundary <NUM>. In yet other alternative implementations, the boundary <NUM> input may include geographic coordinates describing the boundary <NUM>. It should be appreciated that the boundary <NUM> input may include data describing the boundary <NUM> in any suitable manner.

In one implementation, the computing device <NUM> may receive a location signal <NUM> via the position sensor <NUM>. As described above, the location signal <NUM> includes data providing information related to the geographic location and/or coordinates of the computing device <NUM>. The information may be used to select and/or define the boundary <NUM>, and/or to geo-reference the boundary <NUM> input to specific geographic coordinates.

The computing device <NUM> may then determine a surface elevation <NUM> of the harvest area <NUM> within the boundary <NUM>. The step of determining the surface elevation <NUM> is generally indicated by box <NUM> shown in <FIG>. The surface elevation <NUM> may include, but is not limited to, a three-dimensional map or geographic coordinate list describing the geographic location and elevation of multiple locations throughout the harvest area <NUM>. For example, the surface elevation <NUM> may include an elevation map showing at least one elevation contour <NUM>. As is understood by those in the art, and elevation counter establishes defines a geographic location of a line having constant, unchanging ground surface elevation <NUM>. It should be appreciated that the surface elevation <NUM> may include multiple elevation contours <NUM>, with each elevation contour <NUM> defining a different ground surface elevation <NUM>. Alternative, the surface elevation <NUM> may include a data set <NUM> describing multiple geographic point locations, including for example, a latitude, a longitude, and an elevation for each point location. The computing device <NUM> may use the data set <NUM> to generate one or more elevation contours <NUM> as is understood by those skilled in the art.

In one implementation, the computing device <NUM> may determine the surface elevation <NUM> by referencing maps and/or data sets <NUM> stored in the memory <NUM> of the computing device <NUM>. For example, the computing device <NUM> may include three dimensional maps and/or data sets <NUM> for a region or area including the harvest area <NUM>. The computing device <NUM> may access the data from the memory <NUM> to determine the surface elevation <NUM> of the harvest area <NUM>.

In another implementation, the computing device <NUM> may determine the surface elevation <NUM> by receiving the data signal <NUM> with the data receiver <NUM>. As described above, the computing device <NUM> may be equipped with the data receiver <NUM> configured for receiving the data signal <NUM>. The data signal <NUM> includes elevation data related to the ground surface elevation <NUM> of the harvest area <NUM>. The data receiver <NUM> may receive the data signal <NUM> from a remote source <NUM>, such as but not limited to the internet, a cloud based storage system <NUM>, a central computing location, etc. The elevation data included in the data signal <NUM> may include, but is not limited to, a three-dimensional map of the harvest area <NUM> and/or a data set <NUM> describing multiple geographic point locations within the harvest area <NUM>, including for example, a latitude, a longitude, and an elevation for each point location.

The computing device <NUM> may then define the harvest path <NUM>. The step of defining the harvest path <NUM> is generally indicated by box <NUM> shown in <FIG>. As described above, the harvest path <NUM> is the path or route the harvester implement <NUM> may follow while harvesting the crop material <NUM> within the harvest area <NUM>. The harvest path <NUM> is defined to substantially parallel the at least one elevation contour <NUM> based on the harvest swath width input. As used herein, the term "substantially parallel" and similar phrases used to describe the harvest path <NUM> should be interpreted to include orientations that are closer to parallel than perpendicular. It should be appreciated that the ground surface elevation <NUM> throughout the harvest area <NUM> is not consistent, and that it may not be possible to remain precisely parallel with the ground contour for each pass of the harvester implement <NUM> at the harvest width. As such, the computing device <NUM> may define the harvest path <NUM> to be as close as possible to parallel to the elevation contours <NUM>, while still maintaining an optimum harvest coverage throughout the harvest area <NUM>. Additionally, because the elevation contour <NUM> may vary left or right from the harvest path <NUM>, it should be appreciated that the harvest path <NUM> may be generally straightened relative to the elevation contours <NUM>. The computing device <NUM> may define the harvest path <NUM> using a path planning algorithm <NUM>, as understood by those skilled in the art, that is programmed to emphasize orientation of the harvest path <NUM> to be parallel to the elevation contours <NUM> while establishing multiple passes at the desired harvest width <NUM>.

The computing device <NUM> may define the harvest path <NUM> to include multiple side-by-side passes for the harvester implement <NUM>. For example, referring to <FIG>, a first pass <NUM> is shown adjacent to a second pass <NUM>. It should be appreciated that the number of passes will vary, and is dependent upon the size of the harvest area <NUM> and the desired harvest width <NUM>. Each of these respective passes may be offset the desired harvest width <NUM> so that the harvester implement <NUM> does not overlap with portions of the harvest area <NUM> that have been previously harvested, or so that no crop material <NUM> is left un-harvested or standing in the harvest area <NUM>. In order to define the multiple passes of the harvest path <NUM>, the computing device <NUM> may define the harvest path <NUM> to increment from being substantially parallel to a first elevation contour 52A to being substantially parallel to a second elevation contour 52B that is spaced one desired harvest width <NUM> from the first elevation contour <NUM>. Each subsequent pass of the harvest path <NUM> may be oriented to as to be either uphill or downhill from the previous pass, while also being adjacent to the previous pass. In other words, the harvest path <NUM> may be slowly incremented uphill or downhill while remaining substantially parallel with the elevation contours <NUM>.

By defining the harvest path <NUM> as described herein, the computing device <NUM> may define the harvest path <NUM> such that the harvester implement <NUM> may only need to ascend a hill once. By doing so, the harvest path <NUM> may be defined to include an overall elevation gain that is less than an overall elevation gain of an alternative harvest path <NUM> arranged substantially perpendicular to the elevation contours <NUM>. Because more energy is required to ascend a hill then traverse across flat ground or descent a hill, reducing the overall elevation gain of the harvest path <NUM> may reduce the amount of energy required to power the harvester implement <NUM>, thereby reducing operating costs to harvest the crop material <NUM>.

Referring to <FIG> and <FIG>, the path planning algorithm <NUM> may be configured to avoid excessive cross slopes <NUM> along the harvest path <NUM>. In order to do so, the computing device <NUM> may define multiple line segments 64A, 64B, 64C extending across the harvest area <NUM>, with each line segment 64A, 64B, 64C extending across the surface elevation <NUM> in a direction substantially perpendicular to the elevation contours <NUM>. The step of defining the line segments 64A, 64B, 64C is generally indicated by box <NUM> shown in <FIG>. The computing device <NUM> may then calculate a slope <NUM> of each respective one of the line segments 64A, 64B, 64C. The step of calculating the slope <NUM> of each line segment is generally indicated by box <NUM> shown in <FIG>. The slope <NUM> of each respective line segment 64A, 64B, 64C may generally reflect the cross slope <NUM> of the harvest path <NUM> at the point where the line segment 64A, 64B, 64C crosses the harvest path <NUM>.

The computing device <NUM> may then compare the respective slope <NUM> of each of the line segments 64A, 64B, 64C to a maximum allowable slope threshold <NUM>. The step of comparing the slope <NUM> of each of the line segments 64A, 64B, 64C to the maximum allowable slope threshold <NUM> is generally indicated by box <NUM> shown in <FIG>. The maximum allowable slope threshold <NUM> may include a value indicating a risk of overturning if exceeded. In other words, exceeding the maximum allowable slope threshold <NUM> may present a risk of the harvester implement <NUM> overturning. The value of the maximum allowable slope threshold <NUM> will vary depending upon each specific application and/or configuration of the harvester implement <NUM>. Referring to <FIG> and <FIG>, the point <NUM> represents a location at which line segment 64A crosses the harvest path <NUM>. The slope <NUM> at point <NUM> is generally shown in <FIG>.

The computing device <NUM> may compare the respective slope <NUM> of each line segment 64A, 64B, 64C to the maximum allowable slope threshold <NUM> to determine if the slope <NUM> of the line segment 64A, 64B, 64C is equal to or less than the maximum allowable slope threshold <NUM>, such as shown below the maximum allowable slope threshold <NUM> in region <NUM> in <FIG>,or if the slope <NUM> of the line segment 64A, 64B, 64C is greater than the maximum allowable slope threshold <NUM>, such as shown above the maximum allowable slope threshold <NUM> in region <NUM> in <FIG>. When computing device <NUM> determines that the respective slope <NUM> of any one of the line segments 64A, 64B, 64C is greater than the maximum allowable slope threshold <NUM>, then the path planning algorithm <NUM> may re-define the harvest path <NUM> to traverse either a more uphill route or a more downhill route relative to the at least one elevation contour <NUM>. The step of re-defining the harvest path <NUM> is generally indicated by box <NUM> shown in <FIG>. The computing device <NUM> may re-define the harvest path <NUM> such that the cross slope <NUM> along the harvest path <NUM> is less than the maximum allowable slope threshold <NUM>. By doing so, the harvest path <NUM> may no longer be precisely parallel with the elevation contours <NUM>, but is still substantially parallel with the elevation contours <NUM> while minimizing the risk of the harvester implement <NUM> overturning on an excessive cross slope <NUM>.

Referring to <FIG>, once the computing device <NUM> has defined the harvest path <NUM>, the method may include the computing device <NUM> communicating the harvest path <NUM> to the harvester implement <NUM> with the data transmitter <NUM>. The step of communicating the harvest path <NUM> to the harvester implement <NUM> is generally indicated by box <NUM> shown in <FIG>. For example, if the computing device <NUM> is embodied as a portable handheld device, such as but not limited to a smart phone, then the computing device <NUM> may be equipped with the data transmitter <NUM> for communicating or sending the harvest path <NUM> to the harvester implement <NUM>. The harvester implement <NUM> may be equipped with a respective controller for receiving the harvest path <NUM>. An operator may then maneuver the harvester implement <NUM> along the harvest path <NUM>. In other implementations, the harvester implement <NUM> may autonomously control the harvester implement <NUM> to follow the harvest path <NUM>.

Claim 1:
A path planning system (<NUM>) for harvesting a crop material (<NUM>), the path planning system (<NUM>) comprising:
a computing device (<NUM>) including a processor (<NUM>) and a memory (<NUM>) having a path planning algorithm (<NUM>) stored thereon, wherein the processor (<NUM>) is operable to execute the path planning algorithm (<NUM>) to:
receive a harvest swath width input defining a desired harvest width (<NUM>) for each pass of a harvester implement (<NUM>);
receive a boundary (<NUM>) input defining a boundary (<NUM>) of a harvest area (<NUM>);
determine a surface elevation (<NUM>) of the harvest area (<NUM>) within the boundary (<NUM>), wherein the surface elevation (<NUM>) includes at least one elevation contour (<NUM>, 52B) establishing a line of constant elevation; and
define a harvest path (<NUM>) for the harvester implement (<NUM>) to follow while harvesting the crop material (<NUM>), wherein the harvest path (<NUM>) is defined to substantially parallel the at least one elevation contour (<NUM>) based on the harvest swath width input.