Patent Description:
There are a wide variety of different types of mobile work machines. They include machines such as construction machines, turf management machines, forestry machines, agricultural machines, etc. In some current systems, a priori data is collected and used to generate a predictive map that predicts one or more different variables, that may be relevant to controlling the work machine, for a particular worksite. The map maps the variables to different geographic locations on the worksite. The maps are then used in an attempt to control the machine as it travels about the worksite performing an operation.

One particular example is in controlling an agricultural harvester. Some current systems attempt to collect a priori data (such as aerial imagery) and generate a predictive yield map from the a priori data. The predictive yield map maps predicted yield values, in a field being harvested, to geographic locations in that field. The systems attempt to control the work machine based upon the predictive yield map, as it travels through the field being harvested.

<CIT> describes automatic control of agricultural machines on fields dependent on their actual position and a map in order to avoid that chemicals are sprayed on undesired areas. Further on, water allocation credits assigned to farms can be changed dependent on how much water a farm consumes.

<CIT> shows an agricultural machine controlled dependent on the topographical zone in which is operates, based on learned operating parameters for the particular zone. An operator can overwrite recalled parameter, with the new parameter used for subsequent operation in the particular zone.

As discussed above, some current systems have attempted to use a thematic map (such as a yield map) created from a priori data (such as aerial imagery data or historical data) in order to control the work machine (such as a harvester). Other systems break the control model (e.g., the thematic map) into control zones by clustering the variable values represented on the thematic map. Each control zone has a set of settings for the controllable subsystems, or work machine actuators, so that, as the work machine enters a particular control zone, the controllable subsystems (or work machine actuators) are controlled based upon the corresponding settings in that control zone.

However, as the machine is operating (e.g., as the harvester is harvesting) conditions may change so that the predetermined setting value for the control zone in which the harvester is operating may be less desirable than a different setting value. In that case, the operator may change the setting value, or an automated system may automatically modify the setting value, for one or more work machine actuators. The present system proceeds with respect to a description in which the machine detects such a modification, and modifies the field map by breaking the current control zone into two separate control zones, one representing the area that has already been harvested using the old setting value, and the other representing the area, with the new setting value, that has yet to be harvested. The system generates a parameter record for both the control zone corresponding to the harvested area, and the new control zone corresponding to the unharvested area. In one example, the system can also identify other, similar control zones in the field and prompt the operator to determine whether the operator wishes to modify the setting value in the similar control zones in a similar way as in the current control zone. These and other examples are discussed herein.

It will also be noted that the present description could proceed with respect to a number of different mobile work machines also referred to as work machines, machines or vehicles). Such machines can include a planter (with machine parameters including planting depth, seed population, row unit down pressure, etc.), a sprayer (with machine parameters including application rate), tillage equipment (with machine parameters including ground-engaging element depth), a construction compactor (with machine parameters including the degree of impaction), a mower (with the machine parameter being cut height), and a wide variety of other mobile work machines. However, the present description proceeds with respect to the work machine being a combine harvester. It will be appreciated, though, that the present description could just as easily apply to the other work machines (or other construction, forestry, agricultural, and turf management work machines that are not listed).

<FIG> is a partial pictorial, partial schematic, illustration of an agricultural machine <NUM>, in an example where machine <NUM> is a combine harvester (or combine). It can be seen in <FIG> that combine <NUM> illustratively includes an operator compartment <NUM>, which can have a variety of different operator interface mechanisms, for controlling combine <NUM>, including display mechanism <NUM>, as will be discussed in more detail below. Combine <NUM> can include a set of front end equipment that can include header <NUM>, and a cutter generally indicated at <NUM>. It can also include a feeder house <NUM>, a feed accelerator <NUM>, and a thresher generally indicated at <NUM>. Thresher <NUM> illustratively includes a threshing rotor <NUM> and a set of concaves <NUM>. Further, combine <NUM> can include a separator <NUM> that includes a separator rotor. Combine <NUM> can include a cleaning subsystem (or cleaning shoe) <NUM> that, itself, can include a cleaning fan <NUM>, chaffer <NUM> and sieve <NUM>. The material handling subsystem in combine <NUM> can include (in addition to a feeder house <NUM> and feed accelerator <NUM>) discharge beater <NUM>, tailings elevator <NUM>, clean grain elevator <NUM> (that moves clean grain into clean grain tank <NUM>) as well as unloading auger <NUM> and spout <NUM>. Combine <NUM> can further include a residue subsystem <NUM> that can include chopper <NUM> and spreader <NUM>. Combine <NUM> can also have a propulsion subsystem that includes an engine (or other power source) that drives ground engaging wheels <NUM> or tracks, etc. It will be noted that combine <NUM> 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, combine <NUM> illustratively moves through a field in the direction indicated by arrow <NUM>. As it moves, header <NUM> engages the crop to be harvested and gathers it toward cutter <NUM>. After it is cut, it is moved through a conveyor in feeder house <NUM> toward feed accelerator <NUM>, which accelerates the crop into thresher <NUM>. The crop is threshed by rotor <NUM> rotating the crop against concaves <NUM>. The threshed crop is moved by a separator rotor in separator <NUM> where some of the residue is moved by discharge beater <NUM> toward the residue subsystem <NUM>. It can be chopped by residue chopper <NUM> and spread on the field by spreader <NUM>. In other implementations, the residue is simply dropped in a windrow, instead of being chopped and spread.

Grain falls to cleaning shoe (or cleaning subsystem) <NUM>. Chaffer <NUM> separates some of the larger material from the grain, and sieve <NUM> separates some of the finer material from the clean grain. Clean grain falls to an auger in clean grain elevator <NUM>, which moves the clean grain upward and deposits it in clean grain tank <NUM>. Residue can be removed from the cleaning shoe <NUM> by airflow generated by cleaning fan <NUM>. That residue can also be moved rearwardly in combine <NUM> toward the residue handling subsystem <NUM>.

Tailings can be moved by tailings elevator <NUM> back to thresher <NUM> where they 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 they can be re-threshed as well.

<FIG> also shows that, in one example, combine <NUM> can include ground speed sensor <NUM>, one or more separator loss sensors <NUM>, a clean grain camera <NUM>, and one or more cleaning shoe loss sensors <NUM>, and position sensor <NUM>. Ground speed sensor <NUM> illustratively senses the travel speed of combine <NUM> over the ground. This can be done by sensing the speed of rotation of the wheels, the drive shaft, the axel, or other components. The travel speed and position of combine <NUM> can also be sensed by positioning system <NUM>, such as a global positioning system (GPS), a dead reckoning system, a LORAN system, a cellular triangulation system, or a wide variety of other systems or sensors that provide an indication of travel speed and/or position.

Cleaning shoe loss sensors <NUM> illustratively provide an output signal indicative of the quantity of grain loss by both the right and left sides of the cleaning shoe <NUM>. In one example, sensors <NUM> are strike sensors (or impact 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 <NUM> can comprise only a single sensor as well, instead of separate sensors for each shoe.

Separator loss sensor <NUM> 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. This can be done using a wide variety of different types of sensors as well. It will be noted that separator loss sensors <NUM> 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 combine <NUM> as well. For instance, they can include a residue setting sensor that is configured to sense whether machine <NUM> is configured to chop the residue, drop a windrow, etc. They can include cleaning shoe fan speed sensors that can be configured proximate fan <NUM> to sense the speed of the fan. They can include a threshing clearance sensor that senses clearance between the rotor <NUM> and concaves <NUM>. They include a threshing rotor speed sensor that senses a rotor speed of rotor <NUM>. They can include a chaffer clearance sensor that senses the size of openings in chaffer <NUM>. They can include a sieve clearance sensor that senses the size of openings in sieve <NUM>. They 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 combine <NUM>. They can include machine setting sensors that are configured to sense the various configurable settings on combine <NUM>. They can also include a machine orientation sensor that can be any of a wide variety of different types of sensors that sense the orientation or pose of combine <NUM>. Crop property sensors can sense a variety of different types of crop properties, such as crop type, crop moisture, and other crop properties. They can also be configured to sense characteristics of the crop as they are being processed by combine <NUM>. For instance, they can sense grain feed rate, as it travels through clean grain elevator <NUM>. They can sense yield as mass flow rate of grain through elevator <NUM>, correlated to a position from which it was harvested, as indicated by position sensor <NUM>, 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> is a block diagram showing some parts of the combine (work machine) <NUM>, illustrated in <FIG>, in more detail. <FIG> shows that machine <NUM> can be connected to other machines <NUM>, and remote systems <NUM> over network <NUM>. Therefore, network <NUM> can be a wide area network, a local area network, near field communication network, a cellular communication network, or any of a wide variety of other networks or combinations of networks. Other machines can be other harvesters in the same field in which work machine <NUM> is harvesting, or in different fields. Remote systems <NUM> can include farm manager systems, remote controller systems, vendor systems, etc..

<FIG> also shows that work machine <NUM> can include one or more processors <NUM>, communication system <NUM>, and sensors <NUM> (which can be the same or different sensors from those described above with respect to <FIG>).

Work machine <NUM> also includes control system <NUM>, data store <NUM>, one or more controllable subsystems <NUM>, operator interface mechanisms <NUM> (which can include display mechanism <NUM>, shown in <FIG> and other items <NUM>). Work machine <NUM> can include a wide variety of other items as well, and this is indicated by block <NUM>. Control system <NUM>, itself, illustratively includes machine location identifier <NUM>, data store interaction component <NUM>, current control zone identification system <NUM>, work machine actuator (WMA) control parameter identification system <NUM>, control signal generator <NUM>, display generator <NUM>, modification control system <NUM>, and it can include other items <NUM>.

Data store <NUM> illustratively includes a map <NUM> that divides the field in which machine <NUM> is operating into control zones, a plurality of different parameter records <NUM>-<NUM>, and it can include other items <NUM>. Controllable subsystems <NUM> can include a plurality of different work machine actuators <NUM>-<NUM>, and it can include other items <NUM>. The work machine actuators <NUM>-<NUM> can include actuators to drive any of the functionality described above with respect to <FIG>, or other actuators. The work machine actuators also include such things as mechanisms and/or logic used to set calibration parameters (e.g., parameters used in performing sensor calibration, etc.). Prior to describing the overall operation of machine <NUM>, a brief description of some of the items in machine <NUM>, and their operation, will first be provided.

Communications system <NUM> enables communication among items on work machine <NUM>, and over network <NUM>. Therefore, communication system <NUM> may vary, based on the type of communication that it is enabling.

In control system <NUM>, machine location identifier <NUM> receives the position of machine <NUM> from positioning system <NUM>. For instance, it can receive coordinates in a local or global coordinate system. It then identifies a location and heading of the machine <NUM> in a particular field where it is harvesting. Data store interaction component <NUM> interacts with data store <NUM> to obtain the map <NUM> with control zones (if it has not already retrieved it) and identify a location of machine <NUM> relative to the control zones in map <NUM>. Control zone identification system <NUM> identifies a current control zone that machine <NUM> is operating in, and data store interaction component <NUM> obtains the parameter records <NUM>-<NUM> for that particular control zone. WMA control parameter identification system <NUM> extracts the values of the WMA settings (or parameters) from the parameter records and provides those values to control signal generator <NUM>. Control signal generator <NUM> generates control signals and applies them to WMAs <NUM>-<NUM> in controllable subsystems <NUM>, based upon the particular WMA parameters (or WMA settings values) identified for the current control zone that machine <NUM> is operating in. Thus, control system <NUM> controls the controllable subsystems <NUM> based upon the parameters (or WMA settings values) corresponding the control zones in the map <NUM>, as work machine <NUM> travels through the field.

In one example, the different control zones may correspond to areas where different settings values would work best. In that case, control system <NUM> identifies which control zone machine <NUM> is in, and what settings values are to be used. Control signal generator <NUM> then generates control signals to control the controllable subsystems <NUM> using those settings values. As machine <NUM> traverses from one control zone to another control zone, the parameter or settings values for the new control zone for the corresponding WMA are obtained and the work machine actuators are controlled based upon the new parameters or settings values.

Display generator <NUM> can generate outputs on operator interface mechanisms <NUM> and detect operator inputs or interactions with the operator interface mechanisms. The operator interface mechanisms can include display mechanism <NUM>, which may be a touch sensitive display or a display that operator <NUM> can interact with a point and click device, etc. Mechanisms <NUM> can include a wide variety of other mechanisms such as a microphone and speakers where speech recognition and speech synthesis are used. Mechanisms <NUM> can include foot pedals, joysticks, steering wheel, levers, linkages, buttons, switches, etc..

As is described in greater detail below with respect to <FIG>, display generator <NUM> can generate a representation of a near real-time display showing the field in which work machine <NUM> is operating and the location and heading of work machine <NUM>. The near real time display can also map the control zones onto the field display. It can provide that indication for display on display mechanism <NUM>. The display map also shows the various different parameter settings values that are currently being used, in the current control zone. Some examples of the near real time map displays are discussed in more detail below with respect to <FIG>.

It may be that either operator <NUM> wishes to change one of the parameters or settings values, or such a change is automatically triggered. Operator <NUM> can illustratively initiate a change by interacting with display mechanism <NUM> to modify the desired value. In that case, display generator <NUM> detects the interaction and provides the modified value to control system <NUM> where WMA control parameter identification system <NUM> can provide that information to control signal generator <NUM>, which generates a control signal based on the modified parameter or settings value. In an example in which a change is automatically triggered, modification control system <NUM> can detect that, identify the modified value, and provide it to control system <NUM> so control is performed based on the modified value. In addition, modification control system <NUM> can interact with data store <NUM> to modify the map <NUM> so that it now shows the current control zone broken into two zones. One zone is for the already-harvested area with the old settings value, and the other zone is for the unharvested area with the new settings value. Logic <NUM> can generate a parameter record <NUM>-<NUM> for the new parameter value (or settings value) as well. Display generator <NUM> can, in one example, update the near real time display based on the modifications. This is described in greater detail below.

In the example shown in <FIG>, parameter record <NUM> includes a work machine actuator identifier <NUM> that identifies the particular work machine actuator <NUM>-<NUM> that the record <NUM> is for. It may identify one or more control zones <NUM>, in map <NUM>, that corresponds to this particular parameter record. It can identify the parameter value (or settings value) <NUM> for the corresponding work machine actuator <NUM> in this particular control zone. It also identifies similarity criteria <NUM> and modification criteria <NUM>. Similarity criteria <NUM> are evaluated by modification control system <NUM> in identifying other, similar, control zones on map <NUM>. Modification criteria <NUM> can be used to determine whether the parameter value <NUM> should be automatically modified.

For instance, there may be a performance metric that has a threshold value. If the performance of machine <NUM> (or a component of machine <NUM>) falls below the threshold value, then this may meet the modification criteria <NUM> for automatically modifying the parameter value or settings value <NUM> for the work machine actuator identified by work machine actuator ID <NUM>.

Parameter record <NUM> also illustratively includes calibration parameters <NUM>, scaling factors <NUM>, and thresholds <NUM>. Calibration parameters <NUM> identify the parameters that were set during calibration of machine <NUM>, or one or more different components of machine <NUM>. Calibration parameters <NUM> may also identify parameters that, when present, indicate that an in-field calibration process is to be performed. Scaling factor <NUM> may identify a scaling factor that is to be used in determining a particular modification that is to be made. For instance, assume that the modification criteria <NUM> indicate that the predicted biomass for this control zone in map <NUM> differs from an estimated value by <NUM>%. In that case, scaling factor <NUM> may indicate that the parameter value (or settings value) <NUM> is to be increased or decreased by <NUM>%. The scaling factors <NUM> can include other items as well.

Thresholds <NUM> can be set for the similarity criteria <NUM>, the modification criteria <NUM>, or other items. For instance, if the modification criteria <NUM> have been surpassed by a threshold amount indicated by thresholds <NUM>, then this may indicate that a certain modification to parameter value <NUM> is to be made.

Parameter record <NUM> also includes current selections <NUM> and alternate selections <NUM>. It can include other items <NUM> as well. Current selections may be operator selections that were made in setting the initial parameter value <NUM>. For instance, an operator selection <NUM> may indicate an expected crop moisture level. However, parameter record <NUM> may include alternate selections <NUM> as well. The alternate selections may be selectable by the operator to indicate a different moisture level, in which case the other values in record <NUM> (or at least the parameter value <NUM>) may change.

<FIG> are block diagrams showing one example of display generator <NUM> and modification control system <NUM>, respectively, in more detail. System <NUM> may include parameter modification value identifier <NUM>, similar zone processing system <NUM>, modification trigger detection system <NUM>, current zone modification processing system <NUM>, and it can include other items <NUM>. Display generator <NUM>, itself, can include control zone display component <NUM>, machine display component <NUM>, finished/unfinished display component <NUM>, parameter value display component <NUM>, UI (User Interface) actuator display component <NUM>, operator interaction detector <NUM>, and it can include other items <NUM>.

Modification trigger detection system <NUM> can include operator initiation detector <NUM>, automatic trigger detector <NUM> (which can, itself, include criteria extraction component <NUM>, evaluation component <NUM>, and other items <NUM>), as well as other components or items <NUM>. Similar zone processing system <NUM> can include similar control zone identification system <NUM> (which can include criteria identifier <NUM>, criteria evaluation component <NUM> and other items <NUM>), automated modification component <NUM>, similar zone prompt generator component <NUM>, similar zone record modification component <NUM>, and it can include other items <NUM>. Current zone modification processing system <NUM> can include zone divider component <NUM>, finished control zone record identifier <NUM>, unfinished control zone record generator <NUM>, zone boundary modification component <NUM>, and it can include other items <NUM>. Before describing the overall operation of display generator <NUM> and modification control system <NUM> in more detail, a brief description of some of the items, and their operation, will first be provided.

Display generator <NUM> illustratively generates a near real-time map display on display mechanism <NUM>. The map display displays the field, or a portion of the field, in which machine <NUM> is working, the various control zones in the field, the location of the machine in a control zone, within the field, among other things. Therefore, control zone display component <NUM> obtains the locations of the control zones <NUM> and displays them on the display mechanism <NUM>. Machine display component <NUM> identifies the location and heading of machine <NUM>, within the displayed map of the field, and displays the machine in its proper orientation, and at its proper location, on the map. Finished/unfinished display component <NUM> identifies areas that have already been harvested relative to areas that have not yet been harvested. It generates a display providing visual indicia showing the difference. Parameter value display component <NUM> illustratively displays the values of the parameters (or settings) at the current location of machine <NUM>. For instance, it can identify the settings or parameter values for the current control zone (the control zone in which machine <NUM> is operating) and display those on display mechanism <NUM>. UI mechanism display component <NUM> illustratively displays actuatable user interface mechanisms so that operator <NUM> can interact with the display.

Operator interaction detector <NUM> can detect operator interactions with the display. It can generate a signal indicative of those interactions and pass it to other items in display generator <NUM>, in modification control system <NUM>, or control system <NUM>, or other items in machine <NUM>.

By way of example, it may be that operator <NUM> wants to select a control zone. The operator may tap on the control zone (or select it using another touch gesture) on the map, and the various parameter values (for controlling the various work machine actuators) can be displayed for that control zone. It may also be that the different work machine actuators have control zones that are not perfectly aligned with the control zones corresponding to other actuators. In that case, operator <NUM> may be able to use interface mechanisms to scroll among the various work machine actuators so the near real time map displays the control zones for the currently selected work machine actuator. Further, there may be interface mechanisms that allow operator <NUM> to change the current settings value. The operator <NUM> may be able to interact with such a mechanism in order to increase the setting value, decrease it, change it to a separate value, etc. There may be other UI actuators displayed as well.

As discussed above, it may be that a parameter settings value is to be changed for the current control zone. Modification trigger detection system <NUM> detects when a modification has been initiated. Operator initiation detector <NUM> detects an operator-initiated modification. This may be done by detecting that operator <NUM> is interacting with an actuatable UI mechanism on the display, to change a parameter or WMA settings value.

Automatic trigger detector <NUM> can detect when a modification is initiated automatically. By automatically, it is meant, for example, that the operation is performed without further human interaction except, perhaps to initiate or authorize it.

For instance, criteria extraction component <NUM> can extract the modification criteria <NUM> from a parameter record <NUM>. The modification criteria <NUM> can be any of a wide variety of different types of criteria. For instance, it may be a performance metric (such as fuel efficiency, etc.). Evaluation component <NUM> evaluates whether the modification criteria are met. For instance, if the fuel efficiency falls below a desired level by a threshold amount, this may trigger an automated modification to the propulsion system to speed up or slow down machine <NUM>.

Parameter modification value identifier <NUM> identifies the value of the modification. For instance, if the operator <NUM> is interacting with a UI mechanism to increase or decrease the value of the parameter, then that value is identified based on the operator input. In another scenario, however, it may be that the value modification is triggered automatically and the value of the modification is to be identified using a scaling factor <NUM> or thresholds <NUM> or alternate selections <NUM> in the parameter record <NUM>. Based upon the initiation of the modification, and the parameter record, then parameter modification value identifier <NUM> identifies the value of the modification to the parameter value. These items are described in greater detail below.

Current zone modification processing system <NUM> then processes the modification to the current control zone to create new control zones and parameter records for the modified parameter value. Zone divider component <NUM> divides the current control zone that machine <NUM> is operating in into two zones. The first has a boundary coterminous with the location of the machine <NUM> in the field. It is a control zone corresponding to the already-harvested part of the current control zone, as of the time the modification was made. This already-harvested control zone has the old parameter settings value, prior to the modification. The second zone corresponds to the unharvested portion of the field that will be harvested by controlling machine <NUM> using the new settings or parameter value. The boundary between the already-harvested control zone and the unharvested control zone corresponds to the location of machine <NUM> when the modification to the parameter or settings value is made.

Finished control zone record generator <NUM> generates a control zone record in map <NUM> corresponding to the already-harvested area. The control zone record includes the machine settings and parameter values that were used when that harvesting occurred. Unfinished control zone record generator <NUM> generates a record in map <NUM> for the unharvested part of the current control zone, and it uses the settings value or parameter value that reflects the modification. Record generators <NUM> and <NUM> can also generate separate parameter records for the two different parameter values. Zone boundary modification component <NUM> identifies the boundary between the two zones and thus modifies the boundary so that it can be accurately displayed using map <NUM>.

Similar zone processing system <NUM> identifies similar control zones on map <NUM>, that are similar to the current control zone, to determine whether the modification should be made to those similar control zones as well. The modifications to similar control zones can be made in different ways. For instance, they can be made automatically without notifying operator <NUM>. They can be made automatically while notifying operator <NUM>. They can be suggested and provided for authorization by operator <NUM>, or they can be suggested and operator <NUM> can be allowed to make them manually, if desired. To identify similar control zones, criteria identifier <NUM> identifies the similarity criteria <NUM> to determine which criteria are to be used to identify similar control zones. They can be zones that have a parameter value <NUM> that is within a threshold amount of the parameter value for the current control zone. They can be crop parameters or soil parameters. They can be defined by a rule or other logic, etc. Criteria evaluation component <NUM> evaluates the similarity criteria for the other zones in the field to identify whether any of them are sufficiently similar that the modification should perhaps be made to those control zones as well.

Automated modification component <NUM> makes those modifications automatically, where the machine is configured to automatically make modifications to similar control zones. Similar zone record modification component <NUM> then modifies the parameter records and other records in map <NUM> to reflect the modification. Similar zone prompt generator component <NUM> prompts the operator for interaction when that is used for modification. For instance, when the operator is to authorize the modification before it is automatically made, a prompt and a user input mechanism are provided so the operator can authorize the modification or dismiss it. When the operator is to perform a manual modification, then UI mechanisms can be displayed that allow the operator to manually modify the parameter values in the similar control zones. Again, similar zone record modification component <NUM> modifies the control zones on map <NUM> and its parameter records to reflect the modification.

<FIG> (collectively referred to herein as <FIG>) illustrate a flow diagram showing one example of the operation of work machine <NUM> in controlling work machine actuators based upon control zones, and processing modifications to those control zones. Machine <NUM> first receives or generates a map <NUM> of work machine actuator (WMA) control zones and parameter records <NUM>-<NUM> with control parameter values. This is indicated by block <NUM> in <FIG>. As discussed above, there may be multiple different maps based upon the number of different WMAs that are to be controlled. This is indicated by block <NUM>. The maps may be based on a priori data or in situ data, or both, as indicated by block <NUM>. The maps may be generated or received in other ways as well, and this is indicated by block <NUM>.

Control zone display component <NUM> then identifies the work machine actuator (WMA) control zones in the field, based upon the map. This is indicated by block <NUM>. Machine location identifier <NUM> receives the location signal from positioning system <NUM> and identifies the location of the machine <NUM> within the field and on the map <NUM>. Current zone identification system <NUM> then identifies the current control zone that machine <NUM> is operating in. Detecting the work machine location/route/speed is indicated by block <NUM>. It can identify the location/orientation and heading or route using a positioning system <NUM>, and/or using speed sensors <NUM>, or in other ways <NUM>. By detecting the work machine location and heading, current control zone identification system <NUM> can access map <NUM> to identify the current control zone that the machine is operating in. This is also indicated by block <NUM>.

WMA control parameter identification system <NUM> then identifies the value of the control setting or parameter for this control zone, for the corresponding WMA. It controls the WMA based on the identified control setting (parameter) values. This is indicated by block <NUM>.

If the control zones are to be displayed, as indicated by block <NUM>, then display generator <NUM> generates a near real-time display on display mechanism <NUM>. This is indicated by block <NUM>. Machine display component <NUM> illustratively displays the machine at a detected position and heading in the field on the display mechanism <NUM>. This is indicated by block <NUM>. Control zone display component <NUM> illustratively displays visual indicia delineating the control zones on the display. This is indicated by block <NUM>. Parameter value display component <NUM> illustratively generates a display indicative of one or more parameters or settings values for the various WMAs. This is indicated by block <NUM>. Finished/unfinished display component <NUM> generates the display delineating the harvested portions of the map relative to the unharvested portions. This is indicated by block <NUM>. UI mechanism display component <NUM> generates a display of UI mechanism that operator <NUM> can interact with. This is indicated by block <NUM>. The near real-time display can be generated in other ways, with other elements as well, and this is indicated by block <NUM>.

At some point, it may be that the parameter value or settings value for a control zone is to be modified. In that case, for an operator - initiated modification, operator interaction detector <NUM> detects operator interaction with, or selection of, the control zone to be modified. Operator initiation detector <NUM> detects that the operator has initiated a modification. This can be by operator interaction detector <NUM> detecting that operator <NUM> touched or otherwise interacted with the control zone on the display mechanism <NUM>.

Automatic trigger detector <NUM> can detect that a settings or parameter value change has been initiated automatically. It can do this by having criteria extraction component extract the modification trigger criteria and evaluation component <NUM> evaluate them. Detecting selection of the current control zone for parameter modification is indicated by block <NUM>. Detecting initiation of a modification to the parameter is indicated by block <NUM>. Detecting it based on a user input or automatically is indicated by block <NUM>. It may be that the settings or parameter value for a single WMA is to be modified. This is indicated by block <NUM>. It may also be that the parameter or settings value for multiple WMAs is to be modified. This is indicated by block <NUM>. The initiation of a modification to the parameter or settings value can be detected in other ways as well, and this is indicated by block <NUM>.

Parameter modification value identifier <NUM> then accesses the parameter record corresponding to the current control zone. This is indicated by block <NUM>. It can do this by interacting with data store <NUM> using proper security measures as indicated by block <NUM>, or in other ways, as indicated by block <NUM>. If the parameter is to be displayed and modified by the operator, then parameter value display component <NUM> displays the parameter value for the WMA for the current control zone. This is indicated by block <NUM> in the flow diagram of <FIG>. Operator interaction detector <NUM> then detects operator interaction with a modification UI mechanism to modify the parameter value or setting value. It is modified from a current value, to a different value (or from a first value to a second value). This is indicated by block <NUM> in the flow diagram of <FIG>. Again, the value can be automatically modified as indicated by block <NUM>, or manually modified by parameter modification value identifier <NUM>, as indicated by block <NUM>, or modified in other ways (such as automatically but only after operator authorization, etc.). This is indicated by block <NUM>.

Once the modification value is input (whether manually or automatically), parameter modification value identifier <NUM> provides the modified value to WMA control parameter identification system <NUM> which provides an output to control signal generator <NUM> so that control signal generator <NUM> generates a control signal, for the corresponding WMA, based upon the modified parameter or settings value. Controlling the corresponding WMA based upon the modified parameter value is indicated by block <NUM> in the flow diagram of <FIG>. The control signal modifies the position or operation of at least one WMA, as indicated by block <NUM>. Controlling the corresponding WMA can be done in other ways as well, and this is indicated by block <NUM>.

Current zone modification processing system <NUM> then processes the modification to ensure that the near real time display shown on display mechanism <NUM> (if the zone is displayed), and the map and parameter records in data store <NUM>, are accurate. Thus, zone divider component <NUM> divides the current zone into an already-harvested (or finished) control zone and an unharvested (or unfinished) control zone. This is indicated by block <NUM> in the flow diagram of <FIG>. Zone boundary modification component <NUM> modifies the geographic boundary between the zones, and (if the zone is displayed) this information is provided to control zone display component <NUM> which now displays, in near real time, the operation of machine <NUM>, visually delineating the finished control zone from the unfinished control zone. This is indicated by block <NUM>.

Finish control zone record generator <NUM> generates a separate record for the finished control zone so that it is accurately represented on map <NUM>. It also illustratively generates a separate parameter record for the finished control zone, which includes the old (pre-modified) parameter or settings value. The unfinished control zone record generator <NUM> modifies map <NUM> so that it shows the unfinished control zone, and it also generates an unfinished parameter record for the unfinished control zone. The unfinished parameter record will include the modified value of the parameter. Modifying the map and generating the separate parameter records is indicated by block <NUM> in the flow diagram of <FIG>. Record generators <NUM> and <NUM> then store the modified parameter records for the finished control zone and the unfinished control zone in data store <NUM>. This is indicated by block <NUM>.

Similar zone processing system <NUM> then identifies any similar zones in the field where machine <NUM> is harvesting, to determine whether the modification reflected in the parameter record should also be made in those similar control zones. Identifying unfinished control zones that are similar to the unfinished current control zone is indicated by block <NUM>. The similarity can be identified in a number of different ways. For instance, there may be a rule or other similarity criteria <NUM> in the parameter record that defines whether another zone is similar to the current zone. Criteria identifier <NUM> identifies the similarity criteria and criteria evaluation component <NUM> evaluates them to determine whether any other control zones are similar. This is indicated by block <NUM>.

For example, where another control zone has similarity criteria that are within a threshold amount of that same criteria in the current control zone, then the zones may be identified as similar. This is indicated by block <NUM>. The similarity criteria may be based on the control parameter value, or settings value. This is indicated by block <NUM>. The similarity may be determined based on crop properties, such as crop moisture, or soil parameters, such as soil moisture or texture. Evaluating similarity based on a crop parameter is indicated by block <NUM> and evaluating it based on a soil parameter is indicated by block <NUM>. Of course, the similarity can be determined in a wide variety of other ways as well, and this is indicated by block <NUM>.

If there is no operator involvement in the modification to the similar control zones, and they are to be modified automatically, then automated modification component <NUM> automatically modifies the parameter or settings value for the similar control zones. This is indicated by blocks <NUM> and <NUM> in <FIG>. However, if operator <NUM> is to be involved in the modification, then similar zone prompt generator component <NUM> generates visual indicia on the display mechanism <NUM> showing the similar control zones. This is indicated by block <NUM>. The visual indicia are used to prompt the operator to indicate whether parameter values in the similar control zones should be modified as well. The prompt can show other information, such as a confidence value indicating how confident the system is that the two zones are similar and the modification should be made. It can show other information as well. Prompting the operator is indicated by block <NUM>. Showing a confidence value or other information is indicated by blocks <NUM> and <NUM>, respectively.

Operator interaction detector <NUM> then detects an operator response to the prompt. This is indicated by block <NUM>. The parameter records corresponding to the similar control zones are then processed based upon the operator response. This is indicated by block <NUM>. For example, if the similar zone has a finished (harvested) portion and an unfinished (unharvested) portion, then it is broken into two zones, as described above. This is indicated by block <NUM>. Similar zone record modification component <NUM> can modify the parameter or settings values in the parameter records corresponding to the similar control zones. This is indicated by block <NUM>. When it was determined that no modifications are to be made, then the parameter records remain unchanged, as indicated by block <NUM>. The parameter records can be processed in other ways as well, and this is indicated by block <NUM>.

<FIG> show examples of operator interface displays that can be generated on display mechanism <NUM>, and that show how a settings value or parameter value can be modified by an operator. It will be noted that the operator can be a local operator, a remote operator, a farm manager at a remote site, etc. <FIG> shows an example in which an operator interface display <NUM> shows a field <NUM> that machine <NUM> is operating in. It can be seen that field <NUM> is broken into a plurality of different control zones <NUM>, <NUM>, <NUM>, and <NUM>. Each of the control zones is represented in map <NUM> and has its own, corresponding parameter records. The parameter records show parameter values that are used to control the various different WMAs on machine <NUM>. In one example, the current parameter values are also displayed, such as is illustrated at <NUM> in display <NUM>. The display shows that WMA1 has a parameter value of XXX, while WMA2 has a parameter value of YYY. In another example, a scroll mechanism <NUM> is provided that allows the operator to scroll through the parameter values for other WMAs on machine <NUM>. In examples where each WMA has its own separate control zones, then the control zones shown on map <NUM> are those for a selected WMA. In the example illustrated in <FIG>, WMA1 is shown as a selected WMA, so that the control zones <NUM>-<NUM> are those for the parameter value corresponding to WMA1.

<FIG> is similar to <FIG>, and similar items are similarly numbered. However, it is now assumed that the operator has indicated that a modification is to be made. In one example, where the display mechanism is a touch sensitive display mechanism, the operator can touch the current control zone to change the parameter or settings values corresponding to that zone. In the example shown in <FIG>, it is assumed that the operator has touched control zone <NUM>, and has selected the WMA1 parameter value for modification. <FIG> shows that the value of the parameter corresponding to WMA1 is now shown in editable form. It can be displayed in a text box <NUM> that can be edited by the operator <NUM>. For instance, when the operator touches text box <NUM>, the operator may be shown another mechanism (such as a keypad, a number picker or scroll wheel) that can be used to set a new value for the parameter value. In another example, modification actuators <NUM> can be actuated to increase or decrease the parameter value. In addition, a save actuator <NUM> is shown. That the operator <NUM> can actuate save actuator <NUM> in order to save the new parameter value.

<FIG> shows a display that is similar to that shown in <FIG>, and similar items are similarly numbered. However, in <FIG>, it is now assumed that the operator has modified the parameter value for WMA1 to a value of ZZZ. In that case, it can be seen that zone divider component <NUM> has now divided zone <NUM> into two separate zones <NUM> and <NUM>. Zone <NUM> represents an already harvested area of old zone <NUM>. Finished control zone record generator <NUM> generates a new parameter record or control zone record for that control zone <NUM> showing that it was harvested with the parameter value for WMA1 at the value of XXX. Zone divider component <NUM> has also generated the unharvested portion of old zone <NUM> as new, unfinished control zone <NUM>. Unfinished control zone record generator <NUM> generates new records for zone <NUM> showing that it to be harvested using the parameter value for WMA1 of ZZZ, instead of the old value of XXX. Zone boundary modification component <NUM> has modified the boundaries of the zones for field <NUM>, for WMA1, to include a boundary line between zones <NUM> and <NUM>.

<FIG> also shows that similar control zone identification system <NUM> has identified zone <NUM> as being similar to zone <NUM>. Therefore, similar zone prompt generator component <NUM> has generated a similar zone modification prompt <NUM>. Prompt <NUM> illustratively displays a similarity indicator <NUM> that shows operator <NUM> that the two zones have been identified as similar, and some measure of that similarity. Suggested prompt <NUM> also illustratively suggests a new parameter value for the control parameter used for WMA1, in zone <NUM>. The suggested new parameter value is indicated by block <NUM>. In addition, the prompt <NUM> can display other information, such as a confidence level <NUM> that shows how confident the system is that the modification should be made in zone <NUM>. It can include a wide variety of other information <NUM>. The prompt may also indicate a set of yes/no actuators <NUM> that can be actuated by operator <NUM> in order to modify the parameter value in zone <NUM> to the new value ZZZ, from its old value, or to dismiss the prompt.

<FIG> is similar to <FIG>, and similar items are similarly numbered. However, <FIG> shows that zone boundary modification component <NUM> has now modified the boundary line <NUM> to shows that the two zones <NUM> and <NUM> have been modified within map <NUM>.

<FIG> shows an example in which zone <NUM> (shown in <FIG>) is a similar zone. In the example shown, zone <NUM> has a finished (harvested) area and an unfinished (unharvested) area. The finished area is converted into a finished zone <NUM> with the old parameter value, while the unfinished area is converted into an unfinished zone <NUM> with the new parameter value.

The present description thus shows that, once control zones and parameter values are provided on a map, the machine <NUM> can be controlled using those parameter values in the different control zones, but they can be easily modified to accommodate different conditions. The modification can result in the near real time display being modified to show the new zones, and the underlying map and parameter records being modified to reflect the new zones and the new parameter values. Also, the description describes identifying other similar control zones and suggesting modification for their parameter values as well. The machine is then controlled based upon the modified parameter values.

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. They are functional parts of the systems or devices to which they belong and are activated by, and facilitate the functionality of the other components or items in those systems.

<FIG> is a block diagram of harvester <NUM>, shown in <FIG>, except that it communicates with elements in a remote server architecture <NUM>. In an example, remote server architecture <NUM> 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 they can be accessed through a web browser or any other computing component. Software or components shown in previous FIGS. 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 they can be dispersed. Remote server infrastructures can deliver services through shared data centers, even though they 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, they can be provided from a conventional server, or they can be installed on client devices directly, or in other ways.

In the example shown in <FIG>, some items are similar to those shown in previous FIGS. and they are similarly numbered. <FIG> specifically shows that similar zone processing system <NUM>, remote system(s) <NUM>, and other items <NUM> from previous FIGS. can be located at a remote server location <NUM>. Therefore, harvester <NUM> accesses those systems through remote server location <NUM>.

<FIG> also depicts another example of a remote server architecture. <FIG> shows that it is also contemplated that some elements of previous FIGS. are disposed at remote server location <NUM> while others are not. By way of example, data store <NUM> or similar zone processing system <NUM> can be disposed at a location separate from location <NUM>, and accessed through the remote server at location <NUM>. Regardless of where they are located, they can be accessed directly by harvester <NUM>, 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 embodiment, where cell coverage is poor or nonexistent, another mobile machine (such as a fuel truck) can have an automated information collection system. As the harvester 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 the harvester until the harvester enters a covered location. The harvester, itself, can then send the information to the main network.

It will also be noted that the elements of previous FIGS. , 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> is a simplified block diagram of one illustrative example of a handheld or mobile computing device that can be used as a user's or client's hand held device <NUM>, 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 harvester <NUM> for use in generating, processing, or displaying the operator interfaces. <FIG> are examples of handheld or mobile devices.

<FIG> provides a general block diagram of the components of a client device <NUM> that can run some components shown in previous FIGS. , that interacts with them, or both. In the device <NUM>, a communications link <NUM> is provided that allows the handheld device to communicate with other computing devices and under some embodiments provides a channel for receiving information automatically, such as by scanning. Examples of communications link <NUM> 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 <NUM>. Interface <NUM> and communication links <NUM> communicate with a processor <NUM> (which can also embody processors from previous FIGS. ) along a bus <NUM> that is also connected to memory <NUM> and input/output (I/O) components <NUM>, as well as clock <NUM> and location system <NUM>.

I/O components <NUM>, in one example, are provided to facilitate input and output operations. I/O components <NUM> for various examples of the device <NUM> 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/O components <NUM> can be used as well.

Memory <NUM> stores operating system <NUM>, network settings <NUM>, applications <NUM>, application configuration settings <NUM>, data store <NUM>, communication drivers <NUM>, and communication configuration settings <NUM>. Memory <NUM> can include all types of tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory <NUM> stores computer readable instructions that, when executed by processor <NUM>, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor <NUM> can be activated by other components to facilitate their functionality as well.

<FIG> shows one example in which device <NUM> is a tablet computer <NUM>. In <FIG>, computer <NUM> is shown with user interface display screen <NUM>. Screen <NUM> can be a touch screen or a pen-enabled interface that receives inputs from a pen or stylus. It can also use an on-screen virtual keyboard. Of course, it 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 <NUM> can also illustratively receive voice inputs as well.

<FIG> is one example of a computing environment in which elements of previous FIGS. , or parts of them, (for example) can be deployed. With reference to <FIG>, an example system for implementing some embodiments includes a general-purpose computing device in the form of a computer <NUM> programmed to operate as described above. Components of computer <NUM> may include, but are not limited to, a processing unit <NUM> (which can comprise processor <NUM>), a system memory <NUM>, and a system bus <NUM> that couples various system components including the system memory to the processing unit <NUM>. The system bus <NUM> 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 previous FIGS can be deployed in corresponding portions of <FIG>.

The computer <NUM> is operated in a networked environment using logical connections (such as a controller area network - CAN, a local area network - LAN, or wide area network WAN) to one or more remote computers, such as a remote computer <NUM>.

Claim 1:
A computer implemented method of controlling a mobile work machine (<NUM>), the method comprising:
obtaining a representation of a portion of a worksite divided into control zones (<NUM>), each control zone (<NUM>) corresponding to a control parameter value for a control parameter of a work machine (<NUM>) actuator (WMA) on the mobile work machine (<NUM>);
identifying a position of the mobile work machine (<NUM>) in a current control zone (<NUM>) on the worksite;
controlling the WMA based on the control parameter value corresponding to the current control zone (<NUM>); wherein controlling the WMA based on the control parameter value comprises identifying the current control zone (<NUM>) in which the mobile work machine (<NUM>) is operating; accessing a first parameter record corresponding to the current control zone (<NUM>) and the WMA; and identifying, in the first parameter record, the control parameter value;
detecting initiation of a parameter value modification operation;
detecting modification of the control parameter value from a first value to a second value; and
controlling the WMA based on the second value for the control parameter;
characterized by modifying the representation to include a finished control zone (<NUM>) corresponding to a portion of the current control zone (<NUM>) that was already operated on by the mobile work machine (<NUM>) and that corresponds to the first value of the control parameter, and an unfinished current control zone (<NUM>) corresponding to a portion of the current control zone (<NUM>) that has not been processed by the mobile work machine (<NUM>) and that corresponds to the second value of the control parameter; by modifying the first parameter record to correspond to the finished control zone (<NUM>), and by generating a second parameter record, corresponding to the unfinished current control zone (<NUM>), including the second value for the control parameter value.