Patent Description:
Silage is a foodstuff for cattle that is most commonly made from grass and maize, but may also be made from alfalfa, vetches, oats, rye or sorghum. It is an effective way of storing these crops from a harvest time in summer months for animal feed in winter when such crops are not available, whilst preserving their nutritional content. Silage is made by compacting the crop to minimise the volume it takes up and to expel air, before enclosing it in an impermeable enclosure and allowing it to ferment over several weeks in this anaerobic environment. The enclosure is then opened and the silage is fed to livestock as required.

One way of forming the impermeable enclosure is to wrap a bale of the crop in plastics sheeting. Another way to form the impermeable enclosure is to deposit a large amount of the crop in a clamp or pit with a base and three walls forming an incomplete rectangle and then covering the exposed surface of the crop in a plastics sheet.

Working machines, specifically material handling machines, of various types such as wheeled loading shovels, telescopic handlers, tractors and the like have traditionally been used in depositing the harvested crop in the clamp and the compaction of harvested crop to form silage. Typically, the working machine passes over the harvested crop, and the weight of the working machine compacts the crop via the wheels. The working machine has a working arm, and an attachment to the working arm, such as forks or a push-off buckrake, which is used to distribute the top layer of harvested crop within the clamp as evenly as possible prior to the compaction operation.

The open side of a silage clamp allows access for the working machine to distribute the crop. The harvested crop is located in the volume defined by the walls of the silage clamp.

To add harvested crop to the silage clamp, typically, a crop transportation vehicle, such as a trailer, transports a load of a harvested crop from a harvest location, e.g. a field, to the vicinity of the silage clamp, where it dumps the load. An operator of the working machine then moves portions of the dumped crop via the working arm and attachment to the silage clamp where the portions are deposited.

The quality of silage is dependent on the quality of the harvested crop that is used to produce the silage. For example, a lower quality harvested crop may contain unsuitable levels of contamination (from soil or manure, for example), moisture/dry matter, and/or sugar. When producing silage, a silage clamp may be filled with harvested crop harvested from different locations, at different times and/or during different weather conditions. As such, the quality of the harvested crop within the silage clamp, and thus the resulting silage, may vary considerably throughout the clamp.

Since it may be difficult to determine the quality of a portion of harvested crop being moved by the working machine by visual inspection alone, the operator may be unaware of the quality of the harvested crop they are depositing in the silage clamp. As such, the quality of the resulting silage and its variation throughout the clamp may be difficult to predict or determine.

The quality of silage can, for example, have a significant effect on cattle weight gain and milk production. As such, without information indicating silage quality and its variation in the clamp, agricultural output may be affected.

<CIT> relates to a system and method for identifying forage in a storage structure on a load by load basis by the field position from where the forage was harvested.

The present teachings seek to overcome or at least mitigate one or more problems associated with the prior art.

According to the present invention, there is provided a system and method for mapping one or more characteristics of a body of a harvested crop stored in a storage space, as defined in claims <NUM> and <NUM>.

According to a first aspect of the present teachings, there is provided a system for mapping one or more characteristics of a body of a harvested crop stored in a storage space, the system comprising:.

Storing the determined one or more characteristics and the corresponding determined locations of each of the portions of the body of the harvested crop in a database, helps a farmer or the like to determine how one or more characteristics of the body of harvested crop varies across the body. This could help said farmer to make more effective feed rationing plans for cattle subsequently being fed with the crop, for example during the winter.

Moreover, determining the one or more characteristics of each of the portions prior to their deposition in the storage space may simplify the process of determining the one or more characteristics relative to if they were determined after deposition of each portion in the storage space. Further, determining the one or more characteristics of each of the portions prior to their deposition in the storage space may enable each portion to be deposited in a desired location based on its determined one or more characteristics.

The system is configured to produce an output indicative of a location at which one or more of said portions is to be deposited in the storage space based on the determined one or more characteristics of said one or more portions.

By providing an output indicative of a location at which each of said portions is to be deposited in the storage space, the system helps to ensure that poorer quality harvested crop is located separately to higher quality harvested crop. For example, when the body of harvested crop is to be used to produce silage, the system may indicate that poorer quality harvested crop is to be placed at the edges of the body, where it tends to be harder to compact and more likely to be exposed to air, and may therefore result in a lower quality feed in any event, and higher quality harvested crop is to be placed in the centre of the body, such that the quality of the resulting silage is improved.

The system may be further configured to produce an output indicating that a portion of a harvested crop is to be deposited separately from the storage space based on one or more characteristics of said portion determined by the controller based on at least the input from the first device assembly.

Advantageously, such an output may help to prevent a poor quality and/or a contaminated portion of harvested crop from being deposited on the body of the harvested crop, which may lead to contamination of the body and/or a reduction in quality of feed produced from the body, e.g. silage.

The second device assembly may be configured to determine the location at which each of said portions is deposited in the storage space in at least one of an x-direction, a y-direction, and/or a z-direction.

The second device assembly may include at least one of: a GNSS receiver, an inertial sensor, a tilt sensor, a steering angle sensor, and a travelling speed sensor, a LIDAR sensor, an electronic compass, and a camera.

Advantageously, these sensors are relatively low cost and simple to install, for example, on a working machine. The use of more than one of the sensors in combination may further improve the accuracy of the determination of the location at which each of the portions of the body of the harvested crop is deposited.

The input provided by the first device assembly to the controller may correspond to characteristics information originating from one or more sensors configured to sense the one or more characteristics of each of said portions.

Advantageously, such an input enables the determination of the one or more characteristics to be automated, which simplifies operation of the system.

The first device assembly may comprise a receiver device configured to receive the characteristics information via wireless communication.

Advantageously, the receiver device enables the system to receive the characteristics information automatically from one or more sensors remote from the system.

The determined one or characteristics of each of said portions may include a harvesting location of each of said portions.

The receiver device may be configured to receive the characteristics information via wireless communication with a harvested crop transport vehicle, such as a trailer or a forage wagon, a harvesting machine, such as a forage harvester, and/or a remote server.

Advantageously, such a configuration of the receiver device enables one or more sensors to obtain the characteristics information at a harvesting location during harvesting, e.g. by a forage harvester or a forage wagon, and then store the characteristics information on the harvested crop transportation vehicle, which may transport the harvested crop from the harvesting location to the storage space, or on a remote server. This enables the system to receive the characteristics information obtained at the harvesting location wirelessly and automatically, simplifying operation of the system.

The first device assembly may comprise a sensor assembly configured to sense one or more characteristics of each of said portions to determine the characteristics information.

Advantageously, the sensor assembly may enable the system to determine the characteristics information directly. This may enable the characteristics information to be determined immediately prior to a portion of the body of the harvested crop being deposited on the body, which may help to improve the accuracy of the mapping of the one or more characteristics of the body of harvested crop.

The sensor assembly may include at least one of: a nutrient sensor for sensing one or more nutrient values of a harvested crop, a moisture content sensor for sensing a moisture content of a harvested crop, a dry matter content sensor for sensing a dry matter content of a harvested crop, and/or a contamination sensor for sensing a level of contamination of a harvested crop.

The sensor assembly may include a near infrared sensor, and/or an image sensor.

According to a second aspect of the present teachings, there is provided a working machine comprising: the system according to the first aspect; a ground engaging structure for moving over the body of the harvested crop; and a load handling apparatus for handling a portion of a harvested crop and depositing said portion in the storage space.

Advantageously, the load handling apparatus may be used to progressively handle and deposit portions of a harvested crop on the body in order to enlarge the body.

The sensor assembly may include at least one sensor mounted to the load handling apparatus and configured to sense one or more characteristics of a portion of a harvested crop being handled by the load handling apparatus.

Advantageously, mounting at least one sensor on the load handling apparatus enables one or more characteristics of a portion of harvested crop to be determined automatically whilst said portion is being moved towards or over the body for deposition.

The load handling apparatus may comprise a working arm and an attachment mounted to a distal end of the working arm, the attachment comprising a load handling implement, such as a fork, configured to handle a portion of a harvested crop. The sensor assembly may comprise at least one sensor mounted to the load handling implement.

Advantageously, mounting at least one sensor to the load handling implement may enable the at least one sensor to be in contact with or adjacent to a portion of harvested crop when sensing the one or more characteristics of said portion, which may improve the accuracy of such sensing.

The working machine may further comprise a weight sensor configured to determine a weight of a portion of a harvested crop being handled by the load handling apparatus, the weight sensor providing an input to the controller, and/or further comprise a volume sensor configured to determine a volume of a portion of a harvested crop being handled by the load handling apparatus, the volume sensor providing an input to the controller.

The volume sensor may comprise an image sensor and/or a lidar device.

Advantageously, the weight/volume sensor may enable the size of each portion of the body of harvested crop to be determined. This may help to indicate a granularity of the mapping of the one or more characteristics of the body of the harvested crop.

According to a third aspect of the present teachings, there is provided an attachment for mounting to a working arm of a working machine, the attachment comprising: a load handling implement, such as a fork, configured to handle a portion of a loose harvested crop; and at least one sensor mounted to the load handling implement, wherein the at least one sensor is configured to determine one or more characteristics of a portion of a harvested crop being handled by the load handling implement, such as dry matter content, moisture content, level of contamination and/or one or more nutrient values.

The at least one sensor may include at least one of: a nutrient sensor for sensing one or more nutrient values of a harvested crop, a moisture content sensor for sensing a moisture content of a harvested crop, a dry matter content sensor for sensing a dry matter content of a harvested crop, and/or a contamination sensor for sensing a level of contamination of a harvested crop.

The at least one sensor may include a near infrared sensor, and/or an image sensor.

The load handling implement may be a fork comprising a back support and a plurality of tines extending from said back support. The at least one sensor may be mounted to said back support and/or at least one of said tines.

The load handling implement may be a silage fork or a buckrake.

The at least one sensor may include a sensor mounted to one of the tines. Said sensor may be mounted to a portion of said tine closer to the back support relative to a free end of said tine.

According to a fourth aspect of the present teachings, there is provided a computer implemented method for mapping one or more characteristics of a body of a harvested crop stored in a storage space, the method comprising:.

The method further comprises: producing an output indicative of a location at which one or more of said portions is to be deposited in the storage space based on the determined one or more characteristics of said one or more portions.

The method may further comprise: producing an output indicating that a portion of a harvested crop is to be deposited separately from the storage space based on one or more characteristics of said portion determined via the first device assembly.

In step (a) of the method, the one or more characteristics of each of said portions may be determined, via the first device assembly, from characteristics information originating from one or more sensors configured to sense the one or more characteristics of each of said portions.

The first device assembly may comprise a receiver device. Step (a) may further comprise: the receiver device receiving the characteristics information via wireless communication. The determined one or characteristics of each of said portions may include a harvesting location of each of said portions.

The receiver device may receive the characteristics information via wireless communication with a harvested crop transport vehicle, such as a trailer or a forage wagon, a harvesting machine, such as a forage harvester, and/or a remote server.

The first device assembly may comprise a sensor assembly. Step (a) may further comprise: sensing, via the sensor assembly, one or more characteristics of each of said portions to determine the characteristics information.

The method may be performed by a working machine comprising: the first device assembly; the second device assembly; a ground engaging structure for moving over the body of the harvested crop; and a load handling apparatus for handling a portion of a harvested crop and depositing said portion in the storage space.

The working machine may comprise a weight sensor. The method may further comprise: determining, via the weight sensor, a weight of a portion of a harvested crop being handled by the load handling apparatus.

The working machine may comprise a volume sensor. The method may further comprise: determining, via the volume sensor, a volume of a portion of a harvested crop being handled by the load handling apparatus.

Embodiments are now disclosed by way of example only with reference to the drawings, in which:.

Referring firstly to <FIG>, an embodiment includes a working machine <NUM> which may be a material handling machine. In this embodiment, the material handling machine <NUM> is a wheeled loading shovel. In alternative embodiments, the working machine <NUM> may be a telescopic handler or a tractor, for example.

The machine <NUM> includes a machine body <NUM>. The body <NUM> may include an operator structure <NUM> to accommodate a machine operator, for example, an enclosed operator structure from which an operator can operate the machine <NUM>. In other embodiments, the working machine <NUM> may have an open canopy structure (not shown) for the operator.

The machine <NUM> has a ground engaging propulsion structure <NUM>, <NUM> comprising a first axle and a second axle, each axle being coupled to a pair of wheels (two wheels <NUM>, <NUM> are shown in <FIG> with one wheel <NUM> connected to the first axle and one wheel <NUM> connected to the second axle). The first axle may be a front axle and the second axle may be a rear axle. One or both of the axles may be coupled to a motor or engine which is configured to drive movement of one or both pairs of wheels <NUM>, <NUM>. Thus, the wheels <NUM>, <NUM> may contact a ground surface and rotation of the wheels <NUM>, <NUM> may cause movement of the working machine <NUM> with respect to the ground surface.

In other embodiments, the ground engaging propulsion structure may comprise tracks or rollers. In other embodiments, the drive transmission may not be operated by the motor via a direct mechanical linkage, but instead the motor may drive a hydraulic pump, which subsequently provides traction via one or more hydraulic motors that are drivingly connected to the wheels or tracks. Alternatively, the drive transmission may comprise an electric motor for providing traction to the wheels or tracks.

A load handling apparatus <NUM> is coupled to the machine body <NUM>. The load handling apparatus <NUM> includes a working arm <NUM> mounted to the front of the machine body <NUM>. The load handling apparatus <NUM> includes an attachment <NUM> mounted to a distal end of the working arm <NUM>. The attachment <NUM> includes a load handling implement <NUM>, in this case a fork, configured to handle a portion of a loose harvested crop. In alternative embodiments, the load handling implement may be any suitable implement, such as a grab or buckrake. The working arm <NUM> raises and lowers the load handling implement <NUM>.

By 'portion of a loose harvested crop', it is intended to mean a portion of a harvested crop in which the individual components of the crop (e.g. blades of grass) are free to move relative to each other; for example, a portion of a harvested crop that has not been bound, bailed, compacted or wrapped.

The working machine <NUM> also include a hydraulic fluid circuit arranged to provide hydraulic fluid to one or more hydraulic actuators for performing working operations such as moving the working arm <NUM> and the load handling implement <NUM> of the working machine <NUM>.

As illustrated in <FIG>, the working machine <NUM> may be used to handle portions of a harvested crop and to deposit said portions in a storage space as part of a silage making process.

With reference to <FIG>, in a first stage of the silage making process, a crop <NUM>, such as grass, is harvested by a harvesting machine <NUM>, such as a forage harvester, in a harvesting location <NUM>, such as a field. In <FIG>, the harvesting machine <NUM> transfers a load <NUM> of the harvested crop <NUM> to a harvested crop transport vehicle <NUM>, such as a trailer. In <FIG>, the load <NUM> is blown in the transport vehicle via a spout <NUM> of the harvesting machine <NUM>.

With reference to <FIG>, in a second stage of the silage making process, the transport vehicle <NUM> transports the load <NUM> of the harvested crop <NUM> from the harvesting location <NUM> to the vicinity of a storage space <NUM>, at which location the transport vehicle <NUM> dumps the load <NUM> of the harvested crop <NUM>. The storage space <NUM> may be a pit or a clamp. The working machine <NUM> handles portions 10i of the dumped load <NUM> of the harvested crop <NUM> via the load handling implement <NUM> and moves each portion 10i to the storage space <NUM>.

In alternative embodiments (not shown), the harvesting machine may additionally or alternatively transport the harvested crop <NUM> from the harvesting location <NUM> to the vicinity of the storage space <NUM>; i.e. the harvesting machine and the harvested crop transport vehicle may be the same vehicle. For example, the harvesting machine/harvested crop transport vehicle may be a forage wagon.

With reference to <FIG>, in a third stage of the silage making process, the working machine <NUM> deposits each portion 10i in the storage space <NUM> to form a body of a harvested crop <NUM>, which is stored in the storage space <NUM>. The ground engaging propulsion structure <NUM>, <NUM> of the working machine <NUM> is suitable for moving over the body <NUM> to enable the working machine <NUM> to deposit portions 10i on top of the body <NUM>.

Although not illustrated, once the body <NUM> has reached a desired volume, the working machine <NUM> may compact the body <NUM> before the body <NUM> is covered in an impermeable sheet to enable silage to be produced via fermentation of the body <NUM>.

In this embodiment, as illustrated in <FIG>, the storage space <NUM> is generally rectangular. The storage space <NUM> includes three walls 17a-c and a floor <NUM>, which define an internal volume for containing the body of the harvested crop <NUM>. The storage space <NUM> includes an opening <NUM> at one side to allow for the working machine <NUM> to enter the storage space <NUM> and access the body of the harvested crop <NUM>. It shall be appreciated that any suitable storage space may be used, for example a non-rectangular storage space, or the walls 17a-c may be omitted and the crop stored in a mound deposited on a surface.

<FIG> is a section view of the body of harvested crop <NUM> through the plane x of <FIG>. <FIG> illustrates that the harvested crop <NUM> is deposited in layers <NUM>, each layer <NUM> formed from one or more portions 10i.

Note that in <FIG> and <FIG>, the portions 10i are represented as substantially cuboidal blocks of harvested crop <NUM> for reasons of clarity. It will be appreciated that in reality, the portions 10i may have complex and non-uniform shapes.

The working machine <NUM> will compact the body of the harvested crop <NUM>, via the ground engaging propulsion structure <NUM>, <NUM>, by passing over the body <NUM> whilst the implement <NUM> distributes an additional top layer of harvested crop <NUM> onto the body <NUM>. Periodically the working machine <NUM> will typically perform a pure compacting operation where it solely passes over the body of harvested crop <NUM> in a more methodical fashion. This process is repeated such that the implement <NUM> progressively deposits more harvested crop <NUM> onto the body of the harvested crop <NUM> as it is harvested in order to enlarge the body <NUM> between compaction operations.

Typically, in the prior art, portions of a harvested crop 10i are deposited in a storage space by a working machine with little or no consideration of the quality of the portions of the harvested crop 10i being deposited. As such, the quality of the resulting silage and its variation within the storage space may be difficult to predict or determine. In addition a contaminated portion of harvested crop may which is deposited amongst uncontaminated harvested crop may leach into and may harm the quality of silage made from the surrounding uncontaminated crop. The present teachings seek to solve or at least mitigate these problems.

With reference to <FIG>, the working machine <NUM> includes a system <NUM> for mapping one or more characteristics of the body of the harvested crop <NUM> stored in the storage space <NUM>. Examples of such characteristics include dry matter content/moisture content, level of contamination, and/or one or more nutrient values. Mapping one of more characteristics of the body of the harvested crop <NUM> may enable a farmer or the like to predict or determine the quality of silage produced from the body <NUM> and its variation within the storage space <NUM>. This may then enable them to pre-emptively plan to mix silage from different locations in the body of the harvested crop <NUM> to achieve suitable quality and/or augment the silage with additional feedstuffs to achieve a suitable level of overall feed quality.

The system <NUM> includes a controller <NUM> (e.g. a suitable microprocessor controller), a first device assembly <NUM> providing an input to the controller <NUM>, and a second device assembly <NUM> providing an input to the controller <NUM>. The controller <NUM> is configured to determine one or more characteristics of each of the plurality of portions 10i of the body of the harvested crop <NUM> based on at least the input from the first device assembly <NUM>. Moreover, the controller <NUM> is configured to determine a location at which each of the plurality of portions 10i of the body of the harvested crop <NUM> is deposited in the storage space <NUM> based on at least the input from the second device assembly <NUM>. Furthermore, the controller <NUM> is configured to store the determined one or more characteristics of each of said portions 10i and the determined location at which each of said portions 10i is deposited in the storage space <NUM> in a database <NUM>.

The controller <NUM> is configured to determine the one or more characteristics of each of the portions 10i prior to the deposition of each of the portions 10i in the storage space <NUM>. Advantageously, determining the one or more characteristics of each of the portions 10i prior to their deposition in the storage space <NUM> enables each portion 10i to be deposited in a desired location based on its one or more determined characteristics.

The input provided by the first device assembly <NUM> to the controller <NUM> corresponds to characteristics information originating from one or more sensors configured to sense the one or more characteristics of each of the portions 10i. In embodiments described in more detail below the one or more sensors may be mounted to the harvesting machine <NUM>, to the transport vehicle <NUM>, and/or to the working machine <NUM>.

In the present embodiment, the first device assembly <NUM> includes a sensor assembly <NUM> configured to sense one or more characteristics of each of the portions 10i. The sensor assembly <NUM> includes at least one of: a nutrient sensor for sensing one or more nutrient values (e.g. protein, fat, fibre, sugar and the like) of a portion 10i, a moisture content sensor for sensing the moisture content of a portion 10i, a dry matter content sensor for sensing the dry matter content of a portion 10i, and/or a contamination sensor for sensing a level of contamination of a portion 10i.

The sensor assembly <NUM> may include a near infrared (NIR) sensor configured to sense, for example, the moisture content and/or one or more nutrient values of a portion 10i. An example of such a NIR sensor is the EvoNIR <NUM> Analyzer provided by Dinamica Generale S. A of Poggio Rusco, Mantua, Italy. It will be appreciated that the dry matter content of a portion 10i may be determined from the sensed moisture content of said portion 10i.

Additionally or alternatively, the sensor assembly <NUM> may include an image sensor configured to capture one or more images of a portion 10i. Said image sensor or the controller <NUM> may compare the one or images captured by the image sensor to reference images of the harvested crop <NUM> forming the portion 10i in order to determine a level of contamination of said portion 10i.

Additionally or alternatively, the sensor assembly <NUM> may include a moisture sensor, such as a moisture probe, configured to sense the moisture content of a portion 10i.

The sensor assembly <NUM> includes at least one sensor mounted to the load handling apparatus <NUM> of the working machine <NUM>, which is configured to sense one or more characteristics of a portion of a harvested crop 10i being handled by the load handling apparatus <NUM>.

With reference to <FIG>, the sensor assembly <NUM> includes at least one sensor mounted to the load handling implement <NUM>. <FIG> shows a perspective view of the attachment <NUM> of the working machine <NUM> according to the present embodiment, in which the load handling implement <NUM> is a fork, and in particular a silage fork. The fork <NUM> includes a back support <NUM> and a plurality of tines <NUM> extending from the back support <NUM>. The spacing between the tines <NUM> is such that the fork <NUM> can handle a portion of a loose harvested crop without losing a significant amount of the crop through the gaps between the tines <NUM>.

The sensor assembly <NUM> includes at least one sensor <NUM> mounted to the back support <NUM>, and/or at least one sensor <NUM> mounted to at least one of the tines <NUM>. The sensors <NUM>, <NUM> are represented schematically by circles in <FIG>.

The at least one sensor <NUM> may be mounted in a substantially central position on the back support <NUM>, as shown in <FIG>, to increase the likelihood that the at least one sensor <NUM> will be adjacent a portion 10i being handled by the fork <NUM> to enable sensing of said portion 10i. For example, the at least one sensor <NUM> may be located at or towards a transverse mid-point of the back support <NUM>. Moreover, the at least one sensor <NUM> may be located at or towards the bottom of a face of the back support <NUM> from which the tines <NUM> extend, just above the tines.

The at least one sensor <NUM> may include a sensor <NUM> mounted to a portion of one of the tines <NUM> that is closer to the back support <NUM> relative to a free end of said tine <NUM>. The free ends of the tines <NUM> may be pointed as shown in <FIG>. Advantageously, mounting the sensor <NUM> to the tine <NUM> such that it is closer to the back support <NUM> relative to the free end of the tine <NUM> may increase the likelihood that the sensor <NUM> will be adjacent a portion 10i being handled by the fork <NUM> to enable sensing of said portion 10i. The at least one sensor <NUM> may be mounted within at least one of the tines <NUM> in order to protect the at least one sensor <NUM> from damage caused by contact with a portion 10i being handled by the fork <NUM>. Moreover, the at least one sensor <NUM> may be located in at least one of the tines <NUM> at or towards a transverse mid-point of the back support <NUM>.

For example, a NIR sensor, a moisture sensor and/or an image sensor may be mounted within at least one the tines <NUM>. Each sensor may be configured to determine one or more characteristics of a portion 10i adjacent to the at least one tine <NUM> when the fork <NUM> handles said portion 10i.

Advantageously, mounting one or more sensors to the load handling implement <NUM> enables one or more characteristics of a portion 10i being handled by the load handling implement <NUM> to be sensed immediately prior to said portion 10i being deposited in the storage space <NUM>. This may help to increase the accuracy of the one or more characteristics determined for each portion 10i.

In alternative embodiments (not shown), the load handling implement may be in the form of a dozer blade, and the sensor assembly <NUM> may include at least one sensor mounted to the dozer blade. Alternatively, the load handling implement may be in the form of a silage spreader including a rotatable drum and a plurality of blades extending radially from said drum, and the sensor assembly <NUM> may include at least one sensor mounted to the silage spreader (e.g. to at least one of the blades).

The sensor assembly <NUM> may include a weight sensor configured to determine a weight of a portion of a harvested crop 10i being handled by the load handling apparatus <NUM>, the weighing sensor providing an input to the controller <NUM>. The weight sensor may be any suitable sensor, such as a load cell mounted to the load handling apparatus <NUM>, for example, or a sensor mounted to the working machine <NUM> that can infer the weight e.g. from hydraulic cylinder pressures or rear axle sensors in conjunction with information relating to the mass of the load handling apparatus <NUM> and its position relative to the working machine <NUM>. An example of such a system is the Loadmaster α100 provided by RDS Technology Limited of Stroud, Gloucestershire, United Kingdom. The controller <NUM> may store the determined weight of each of the portions 10i of the body <NUM> as a characteristic of each of said portions 10i in the database <NUM>.

Additionally or alternatively, the sensor assembly <NUM> may include a volume sensor configured to determine a volume of a portion of a harvested crop 10i being handled by the load handling apparatus <NUM>, the volume sensor providing an input to the controller <NUM>. The volume sensor may be any suitable sensor, and may include an image sensor and/or a lidar device mounted to the load handling apparatus <NUM>, for example. The controller <NUM> may store the determined volume of each of the portions 10i of the body <NUM> as a characteristic of each of said portions 10i in the database <NUM>.

Advantageously, storing the weight and/or volume of each portion 10i of the body <NUM> in the database <NUM> provides an indication of the size of each portion 10i, and thus the size of the body <NUM>.

With reference to <FIG>, the system <NUM> is configured to produce an output <NUM> indicative of a location at which one or more of the portions 10i is to be deposited in the storage space <NUM> based on the determined one or more characteristics of said one or more portions 10i. The system <NUM> provides the output <NUM> to an output device <NUM>, such as a display, for displaying a visual indicator of the output <NUM>. The output device <NUM> may be located in the operator structure <NUM> of the working machine <NUM>, for example. The visual indicator of the output <NUM> may correspond to a marker on a map of the storage space <NUM> indicating a location at which a portion 10i is to be deposited by the working machine <NUM>.

As shown in <FIG>, the system <NUM> is configured to produce an output <NUM> indicating that a portion of the load <NUM> is to be deposited separately from the storage space <NUM> based on one or more characteristics of said portion determined by the controller <NUM> based on at least the input from the first device assembly <NUM>. The system <NUM> provides the output <NUM> to the output device <NUM>. The output device <NUM> displays a visual indicator of the output <NUM>, such as a written message stating that the portion 10i is not to be deposited in the storage space <NUM>, for example.

It shall be appreciated that in alternative embodiments, the output device may be any suitable visual indicator, for example a light. Alternatively, the output device may be any suitable device, such as an audio indicator.

With reference to <FIG>, the second device assembly <NUM> is configured to determine the location at which each of the portions 10i is deposited in the storage space <NUM> in at least one of an x-direction, a y-direction, and/or a z-direction. As shown in <FIG> and <FIG>, the x, y and z directions are mutually orthogonal and enable a location at which each of the portions 10i is deposited in the storage space <NUM> to be specified using a Cartesian coordinate system.

In the present embodiment, the second device assembly <NUM> includes a global navigation satellite system (GNSS) receiver for detecting the absolute position of the working machine <NUM>. The GNSS receiver may be located at any suitable location on the working machine <NUM>, for example in the operator cab <NUM>. The GNSS receiver may be a GNSS real-time kinetic positioning (RTK) receiver, or any other known system of obtaining increased accuracy from a standard GNSS system. GNSS RTK receivers improve the accuracy of the position detection by using a local station, for example a station within <NUM>, to calibrate the absolute position from a GNSS satellite with the position outputted by the receiver. As such accuracy may be within millimetres in the x and y directions and centimetres or at least tens of centimetres in the z direction.

GNSS RTK receivers have accuracy benefits compared to traditional systems such as standard GPS systems, and compared to more simplistic sensors such as inertial sensors, as well as being relatively low cost. This particularly beneficial when determining the position of the working machine <NUM> in the z-direction, because the error associated with alternative sensors and GNSS systems is relatively high compared to the z-displacement of the working machine <NUM>. It shall be appreciated that in alternative embodiments, any suitable GNSS system with a suitable level of accuracy may be used.

To determine the location at which a portion 10i is deposited in the storage space <NUM>, the controller <NUM> receives the absolute position of the working machine <NUM> from the GNSS receiver when the controller <NUM> determines that the portion 10i is deposited. If the GNSS receiver is spaced from the load handling implement <NUM>, the controller <NUM> may correct the location determined by the GNSS receiver to account for the distances in the x, y and/or z directions between the GNSS receiver and the load handling implement <NUM>.

The controller <NUM> may determine when a portion 10i is deposited in the storage space <NUM> via any suitable means. For example, the controller <NUM> may determine when a portion 10i is deposited in the storage space <NUM> based on the input(s) received from the weight sensor and/or volume sensor of the sensor assembly <NUM>. Additionally or alternatively, the system <NUM> may include a camera providing an input to the controller <NUM>, the camera arranged such that the field of view of the camera includes the load handling implement <NUM>. The controller <NUM> may determine when a portion 10i is deposited in the storage space <NUM> based on the input received from said camera.

In addition to or instead of a GNSS receiver, the second device assembly <NUM> may include an inertial sensor for detecting the position of the working machine <NUM> relative to the body of the harvested crop <NUM>. The inertial sensor may detect the relative position of the working machine <NUM> relative to the body of harvested crop <NUM> in the x-direction and the y-direction. The inertial sensor may use an accelerometer to detect the linear acceleration of the working machine <NUM>, and a gyroscope to detect the rotational rate of the working machine <NUM>. The inertial sensor may be located at any suitable location on the working machine <NUM> for example on the underside of the machine body <NUM>. Such sensors are generally low cost, compact and robust, being found in numerous electronic devices such as smartphones.

Additionally or alternatively, the second device assembly <NUM> may include a tilt sensor for measuring the angle of the working machine <NUM> relative to a fixed axis. Tilt sensors are commonly fitted to working machines, and can be utilised by the controller <NUM> to determine when the angle of the working machine <NUM> exceeds a predetermined tilt angle relative to the fixed axis. This can be indicative that the working machine <NUM> has mounted the body of the harvested crop <NUM>. If an initial height of the body of harvested crop <NUM> is inputted into the controller <NUM>, the controller <NUM> can use the height to determine an inclination threshold indicative that the working machine <NUM> has mounted the body <NUM>, as opposed to that the working machine <NUM> is travelling on an uphill gradient. Additionally, the tilt sensor may be used to determine the z-displacement of the working machine <NUM> by storing the input from the tilt sensor indicative of the angle of the ground over which the working machine <NUM> is moving. The tilt sensor may be used in combination with any of the above sensors to detect the z-displacement of the working machine <NUM>.

Additionally or alternatively, the second device assembly <NUM> may include a working machine travelling speed sensor and a steering angle sensor for detecting the position of the working machine <NUM> relative to the body of the harvested crop <NUM>. The input from the travelling speed sensor can be used by the controller <NUM> to determine the displacement of the working machine <NUM> from a datum position, for example the opening <NUM> of the storage space <NUM>. The input from the steering angle sensor can be used by the controller <NUM> to determine the angle at which the working machine <NUM> has travelled relative to a fixed axis, for example the y-axis. The relative position of the working machine <NUM> in polar coordinates is therefore determined from the sensor inputs.

Additionally or alternatively, the second device assembly <NUM> may include a machine vision system such as a light detection and ranging (LIDAR) sensor system to determine the relative position of the working machine <NUM>. The LIDAR system uses the reflection of lasers or light beams off the walls 17a, 17b, 17c of the storage space <NUM> to determine the position of the working machine <NUM>.

Additionally or alternatively, said machine vision system may be configured to determine the location at which a portion 10i is deposited in the storage space <NUM> by tracking the portion 10i as it leaves the load handling implement <NUM> and is deposited in the storage space <NUM>. For example, the machine vision system may include a LIDAR sensor system and/or a camera system.

Additionally or alternatively, the second device assembly <NUM> may include an electronic compass to determine the position of the working machine <NUM> i.e. to provide an orientation of the machine <NUM> relative to the body of the harvested crop <NUM>. This is beneficial to enhance the information provided by the GNSS system.

In some instances, the working machine <NUM> may move with respect to the storage space <NUM> whilst depositing a portion 10i in the storage space <NUM>, causing the portion 10i to be spread along the x and/or y directions of the storage space <NUM>. In such instances, the controller <NUM> may track the spread of the portion 10i based on the inputs received from the second device assembly <NUM> and one or both of the weight sensor and the volume sensor of the sensor assembly <NUM>. For example, based on the reduction in sensed weight/volume of the portion 10i handled by the load handling implement <NUM> and the location of the working machine <NUM> determined by the second device assembly <NUM>, the controller <NUM> may determine an area in the storage space <NUM> over which the portion 10i is spread. Moreover, the controller <NUM> may determine the distribution of weight and/or volume of the portion 10i over the determined area. The controller <NUM> may determine the location at which the portion 10i is deposited in the storage space <NUM> as the centroid of the determined area. Alternatively, the controller <NUM> may determine a plurality of locations at which the portion 10i is deposited in the storage space <NUM> based on the determined area.

<FIG> illustrates an embodiment of a computer implemented method followed by the system <NUM> for mapping one or more characteristics of the body of the harvested crop <NUM> stored in the storage space <NUM>.

Prior to carrying out the method described below, certain parameters need to be obtained or input into the system. These parameters may include the location and dimensions of the storage space <NUM>. These parameters may also include those of the working machine <NUM>/load handling implement <NUM>, such as an offset between the GNSS sensor and the load handling implement <NUM>, which enables the location that a portion 10i is deposited to be accurately determined.

In step <NUM>, the load handling implement <NUM> of the working machine <NUM> picks up a portion 10i of the load of the harvested crop <NUM> which has been dumped by the transport vehicle <NUM> in the vicinity of the storage space <NUM>, as illustrated in <FIG>. The controller <NUM> then determines the one or more characteristics of the portion 10i being handled by the load handling implement <NUM> based on the input received from the sensor assembly <NUM> of the first device assembly <NUM>.

In step <NUM>, the controller <NUM> determines whether, based on the one or more determined characteristics of the portion 10i, the portion 10i is to be deposited separately from the storage space <NUM>.

The controller <NUM> may determine from one or more characteristics of the portion 10i of the load <NUM> being handled by the working machine <NUM> that said portion 10i includes an unsuitable level of contamination. Therefore, to prevent said portion 10i from contaminating the body <NUM>, the output <NUM> may indicate that said portion 10i is to be deposited separately from the storage space <NUM> and thus the body <NUM>.

If the controller <NUM> determines that the portion 10i is to be deposited separately from the storage space ('Y'), the method proceeds to step <NUM>. If the controller <NUM> determines that the portion 10i is not to be deposited separately from the storage space ('N'), i.e. the portion 10i is to be deposited in the storage space <NUM>, the method proceeds to step <NUM>.

In step <NUM>, the system <NUM> produces the output <NUM> indicating that the portion 10i is to be deposited separately from the storage space <NUM>. The output <NUM> may be provided to an operator of the working machine <NUM> via the output device <NUM> as previously described, who may then proceed to deposit the portion 10i in a location separate from the storage space <NUM>. The method then proceeds to step <NUM>, described below.

In step <NUM>, the controller <NUM> determines a location at which the portion 10i is to be deposited in the storage space <NUM> based on the determined one or more characteristics of the portion 10i.

When producing silage using a clamp, the silage produced at the edges of the clamp, i.e. adjacent the walls 17a-c in <FIG>, tends to be of lower nutritional quality relative to the silage produced in the centre of the clamp, i.e. away from the walls 17a-c. This is because, typically, the portions of the body <NUM> adjacent the walls 17a-c are unable to be compacted to the same degree as portions of the body <NUM> away from the walls 17a-c. As such, if an algorithm of the controller <NUM> of the system <NUM> determines that a portion 10i is of lower quality based on its one or more characteristics and should be deposited at an edge of the storage space <NUM>, where it might go to waste anyway, the output <NUM> of the system <NUM> indicates that the portion is to be deposited in such a location.

Further, where portions 10i are of at least acceptable quality, but vary in terms of their moisture and/or nutrient quality, the algorithm may seek to deposit individual portions so as to achieve more homogeneous moisture and/or nutrition across the storage space <NUM>, for example by seeking to place a relatively low moisture or nutrient portion adjacent a relatively high moisture or nutrient portion.

Alternatively, the algorithm may be configured to locate higher nutrient and lower nutrient portions in different locations in the storage space <NUM>. For example, different nutrient levels may be deposited in different locations in the y direction so as to coincide with when lactation periods of cows fed with the silage are anticipated to fall in the consumption of the silage from the front of the space <NUM> to the rear. Alternatively, different nutrient levels may be deposited in different locations in the x direction, so that if a farmer wishes to feed higher quality silage they may obtain that silage from one side of the storage space <NUM>, or lower quality silage from the opposite side.

The system may be provided with one or more pre-set algorithms that may be selected and/or adjusted by the farmer, or by a contractor, prior to a depositing.

Once the controller <NUM> determines a location at which the portion 10i is to be deposited in the storage space <NUM>, the system <NUM> produces the output <NUM> indictive of the determined location. The output <NUM> may be provided to an operator of the working machine <NUM> via the output device <NUM> as previously described, who may then proceed to deposit the portion 10i in the indicated location in the storage space <NUM>. As the operator moves the working machine <NUM> towards the location the output <NUM> may alter to indicate that the location is approaching or has been reached via audible and/or visual indications such a higher pitch sounds, target indicia on a screen, for example.

In step <NUM>, the controller <NUM> determines whether the portion 10i has been deposited in the storage space <NUM>. The method proceeds to step <NUM> only when the controller <NUM> determines that the portion 10i has been deposited in the storage space <NUM>.

In step <NUM>, the controller <NUM> determines the location at which the portion 10i is deposited in the storage space <NUM> based on at least the input from the second device assembly <NUM>.

If an operator ignores the location and deposits the portion 10i in a different location, this is still recorded and the algorithm may adapt to seek to maintain its desired strategy for storing the harvested crop over the entire filling operation. The controller may also log when an operator ignores the instructions, so as to provide feedback for operator training.

In step <NUM>, the controller <NUM> stores the determined one or more characteristics and the determined location of the portion 10i in the database <NUM>. The method then proceeds to step <NUM>.

In step <NUM>, the controller <NUM> determines whether there is another portion of harvested crop 10i to be deposited in the storage space <NUM>. For example, the controller <NUM> may receive a user input indicating whether another portion 10i is to be deposited. Alternatively, the controller <NUM> may determine whether another portion 10i to be deposited in the storage space <NUM> depending on whether the sensor assembly <NUM> detects that the load handling implement <NUM> handles another portion 10i within a predetermined amount of time starting from the time that the previous portion 10i was deposited. If the controller <NUM> determines that there are no other portions 10i to be deposited ('N'), the method terminates. Otherwise, if the controller <NUM> determines that there is another portion 10i to be deposited, the method returns to step <NUM>.

Once the one or more characteristics and the deposition location for each portion 10i of the body of the harvested crop <NUM> has been determined and stored in the database <NUM>, a mapping of the one or more characteristics of the body of the harvested crop <NUM> can be obtained.

As a first example of a mapping produced from the data stored in the database <NUM>, <FIG> shows a schematic of a three-dimensional "heat map" shaped to correspond to the top layer of the body <NUM>. For example, the heat map may indicate the values of one of the determined characteristics of the portions 10i of the body <NUM> averaged along the z-direction. Alternatively, the heat map may indicate the values of one of the determined characteristics of the portions 10i of the body <NUM> for a particular layer <NUM> of the body <NUM>, e.g. the top layer, or averaged values for two or more layers <NUM> of the body <NUM>.

As a second example of a mapping produced from the data stored in the database <NUM>, <FIG> shows a schematic of a y-z slice through the body <NUM>, the slice including N separate bands. The table shown in <FIG> may indicate averaged data for the one or more characteristics of each band such as harvesting location, harvesting time, moisture content, dry matter content and sugar content for example.

Such mappings produced from the data stored in the database <NUM> may enable a farmer or the like to predict or determine the quality of silage produced from the body <NUM>. This may add a new dimension of knowledge to the farmer when it comes to making feed rationing plans for the winter ahead, based on what is expected, as they have a "map" of their silage clamp to work from. Moreover, such mappings may also enable the farmer to make reactive plans around a following year's crop harvest based on what is found in the clamp once it is consumed during the winter, since the farmer may be able to link low or high quality silage to its production attributes when it was grown, harvested and consolidated in the storage space <NUM>.

Such mappings may also be beneficial if a contractor has been paid by a farmer to form the body <NUM> since it enables the contractor to provide evidence to the farmer of the quality of the harvested crop <NUM> forming the body <NUM> and its variation within the storage space <NUM>.

With reference to <FIG>, an alternative embodiment of a system <NUM>' for mapping one or more characteristics of the body of the harvested crop <NUM> stored in the storage space <NUM> will now be described. Features in common with the system <NUM> of <FIG> are denoted with common reference numerals and their description shall not be repeated for brevity. The working machine <NUM> may include the system <NUM>'.

The system <NUM>' includes the controller <NUM>, the second device assembly <NUM>, and the database <NUM> of the system <NUM> of <FIG>. Moreover, like the system <NUM> of <FIG>, the system <NUM>' is configured to produce outputs <NUM>, <NUM> and provide said outputs <NUM>, <NUM> to the output device <NUM>.

The system <NUM>' of <FIG> includes an alternative first device assembly <NUM>' to the system <NUM> of <FIG>. The first device assembly <NUM>' of the system <NUM>' includes a receiver device configured to receive one or more characteristics of each of the portions 10i via wireless communication.

In the illustrated embodiment, the one or more characteristics of each of the portions 10i received by the receiver device originates from one or more sensors <NUM> mounted to the harvesting machine <NUM>. The one or more sensors <NUM> may include a location sensor (e.g. a global navigation satellite system (GNSS) receiver), and/or one or more of the sensors of the sensor assembly <NUM> previously described. The location sensor may sense one or more characteristics of each of the portions 10i. Such one or more characteristics may include an indication of the harvesting location <NUM> where each portion 10i is harvested, e.g. an indication of the field where each portion 10i is harvested, and/or an indication of the specific location within the harvesting location <NUM> where each portion 10i is harvested, e.g. the geographic coordinates of the specific location where each portion 10i is harvested.

In alternative embodiments (not shown), the one or more characteristics of each of the portions 10i received by the receiver device <NUM> may originate from one or more sensors mounted to the transport vehicle <NUM>, or from one or more sensors mounted to the harvesting machine <NUM> and one or more sensors mounted to the transport vehicle <NUM>.

As shown in <FIG>, the harvesting machine <NUM> includes a suitable wireless transmitter device <NUM> in communication with the one or more sensors <NUM>. The receiver device of the first device assembly <NUM>' receives the one or characteristics of each of the portions 10i sensed by the one or more sensors <NUM> via the transmitter device <NUM>. Transmission may be via a suitable short range wireless protocol such as BluetoothRTM or ZigbeeRTM for example.

With reference to <FIG>, a first example of how the receiver device of the first device assembly <NUM>' may receive the one or characteristics of each of the portions 10i sensed by the one or more sensors <NUM> via the transmitter device <NUM> will be described.

With reference to <FIG>, for each load <NUM> transferred from the harvesting machine <NUM> to the transport vehicle <NUM>, the transmitter device <NUM> is configured to transmit the one or more characteristics of each of the portions 10i within said load <NUM> to a transceiver device <NUM> mounted to the transport vehicle <NUM> via wireless communication. The transport vehicle <NUM> subsequently stores the received one or more characteristics of each of the portions 10i in an onboard memory device <NUM>.

The one or more characteristics of the portions 10i of the load <NUM> transmitted to the transceiver device <NUM> and stored in the memory device <NUM> may be averaged across all the portions 10i of the load <NUM>. This is because it may be difficult to determine where a particular portion of harvested crop 10i is located in the transport vehicle <NUM> after being transferred from the harvesting machine <NUM>, e.g. if the harvested crop is transferred from the harvesting machine <NUM> to the transport vehicle <NUM> via blowing as illustrated in <FIG>.

Alternatively, the load <NUM> may be split into two or more sections and the one or more characteristics of the portions 10i transmitted to the transceiver device <NUM> and stored in the memory device <NUM> may be identical for all of the portions 10i forming each section. In such cases, the one or more characteristics stored in the memory device <NUM> for each section of the load <NUM> may be averages of the one or more characteristics of all of the portions 10i forming each section. For example, the load <NUM> may be split into a first section located at the front of the transport vehicle <NUM> and a second section located at the rear of the transport vehicle <NUM>. As such, the memory device <NUM> also stores section identification information for each section, such as a location of each section with respect to the transport vehicle <NUM>, in the memory device <NUM>. In some embodiments, each section may include one or more portions 10i.

The harvesting machine <NUM> or the transport vehicle <NUM> may determine which section each of the portions 10i transferred from the harvesting machine <NUM> to the transport vehicle <NUM> is included in via any suitable means. For example, the determination may be based on the dimensions of the trailer in addition to an azimuthal angle of the spout <NUM> of the harvesting machine <NUM>, and/or a relative position of the transport vehicle <NUM> relative to the spout <NUM>.

As a further example, the harvesting machine <NUM> may include a machine vision system configured to determine which section each of the portions 10i transferred from the harvesting machine <NUM> to the transport vehicle <NUM> is included in. The machine vision system may include a camera which can be aimed at the transport vehicle <NUM>. Based on the images received from said camera, the machine vision system may be able to determine which section each of the portions 10i transferred from the harvesting machine <NUM> to the transport vehicle <NUM> is included in. Such a machine vision system may be of a type similar to the AUTO FILL system provided by Claas KGaA mbH of Harsewinkel, Germany, but in which the machine vision system is linked to a sensor positioned in the spout <NUM>, and/or to the harvesting location <NUM> to link the location of the portions 12i within the transport vehicle <NUM> to one or more characteristics of the harvested crop.

As illustrated in <FIG>, once the transport vehicle <NUM> has transported the load <NUM> from the harvesting location <NUM> to the vicinity of the storage space <NUM>, the transceiver device <NUM> transmits the one or characteristics of each of the portions 10i of the load <NUM> stored in the memory device <NUM>, along with the section identification information, if applicable, to the receiver device of the first device assembly <NUM>' via wireless communication. The first device assembly <NUM>' then provides the received one or characteristics of each of the portions 10i of the load <NUM>, and the section identification information, if applicable, as characteristics information to the controller <NUM>.

In embodiments in which the load <NUM> being transported by the transport vehicle <NUM> is split into two or more sections, the transport vehicle <NUM> may communicate with the controller <NUM> such that the controller <NUM> can determine from which section a portion 10i being handled by the working machine <NUM> belongs, and thus the one or more characteristics of that portion 10i received via the receiver device <NUM>.

With reference to <FIG>, a second example of how the receiver device of the first device assembly <NUM>' may receive the one or characteristics of each of the portions 10i sensed by the one or more sensors <NUM> via the transmitter device <NUM> will be described.

In <FIG>, the transmitter device <NUM> on the harvesting machine <NUM> transmits the one or more characteristics of each of the portions 10i within a given load <NUM> sensed by the one or more sensors <NUM>, along with the section identification information, if applicable, to a remote server <NUM> via wireless communication (e.g. via a suitable cellular wireless communication protocol such as GPRS, UMTS, HSPA, <NUM> etc). The receiver device of the first device assembly <NUM>' subsequently receives the one or characteristics of each of the portions 10i within said load <NUM> and the section identification information, if applicable, from the remote server <NUM> via wireless communication. The first device assembly <NUM>' then provides the received one or characteristics of each of the portions 10i of the load <NUM> and the section identification information, if applicable, as characteristics information to the controller <NUM>.

In instances where more than one transport vehicle <NUM> is used to transport a load of a harvested crop <NUM> from the harvesting machine <NUM> to the storage space <NUM>, the transmitter device <NUM> may transmit a transport vehicle ID to the server <NUM>, which associates a particular load <NUM> with a particular transport vehicle <NUM>. The receiver device <NUM> may then receive the transport vehicle ID for each load <NUM>. As such, when a particular transport vehicle <NUM> arrives at the storage space <NUM>, the system <NUM> can determine the characteristics information of the load <NUM> being transported by that transport vehicle <NUM>. Alternatively, the remote server <NUM> may track the location of each load <NUM>, for example via a global navigation sensor system (GNSS) receiver mounted to the transport vehicle <NUM>, and send the one or more characteristics and section identification information, if applicable, for said load <NUM> to the receiver device <NUM> when the transport vehicle <NUM> transporting the load <NUM> arrives at the vicinity of the storage space <NUM>.

In a further example (not shown), the receiver device of the first device assembly <NUM>' may receive the one or more characteristics of each of the portions 10i sensed by the one or more sensors <NUM> via direct wireless communication with the transmitter <NUM> of the harvesting machine <NUM>.

In an alternative embodiment (not shown), the first device assembly <NUM>' of the system <NUM>' may further include the sensor assembly <NUM> of the system <NUM>. In such an embodiment, certain parameters may be determined from a sensor <NUM> located on the harvesting machine <NUM> and other parameters may be sensed at the attachment <NUM> of the working machine <NUM>.

In the foregoing description, the working machine <NUM> includes the system <NUM>, <NUM>'. In alternative embodiments (not shown), the system <NUM>, <NUM>' may be partially or wholly separate from the working machine <NUM>. In such embodiments, one or more of the first device assembly, the second device assembly, the controller, and the database may be located remotely from the working machine <NUM>. For example, the receiver device, the controller, and the database may be located remote from the working machine <NUM> in a fixed position in the vicinity of the storage space <NUM>, or in a cloud-based computing system. For example, the remote server <NUM> of <FIG> may include one or more of the receiver device, the controller, and the database. The second device assembly may also be located remote from the working machine <NUM>. For example, the second device assembly may include one or more cameras fixed relative to the storage space <NUM> and with a field of view including the storage space <NUM>, and the controller may determine the location at which each of the portions 10i is deposited in the storage space <NUM> from said one or more cameras. Components of the system that are remote from the working machine <NUM> may communicate with components of the working machine <NUM>, for example the output device <NUM>, via wireless communication.

Claim 1:
A system (<NUM>, <NUM>') for mapping one or more characteristics of a body of a harvested crop (<NUM>) stored in a storage space (<NUM>), the system (<NUM>) comprising:
A controller (<NUM>);
a first device assembly (<NUM>, <NUM>') providing an input to the controller (<NUM>); and
a second device assembly (<NUM>) providing an input to the controller (<NUM>),
wherein the controller (<NUM>) is configured to determine one or more characteristics of each of a plurality of portions (10i) of the body of the harvested crop (<NUM>), such as dry matter content, moisture content, level of contamination, and/or one or more nutrient values, prior to the deposition of each of said portions (10i) in the storage space (<NUM>), based on at least the input from the first device assembly (<NUM>, <NUM>'),
wherein the controller (<NUM>) is configured to determine a location at which each of said portions (10i) is deposited in the storage space (<NUM>) based on at least the input from the second device assembly (<NUM>),
characterised in that the controller (<NUM>) is configured to store the determined one or more characteristics and the determined location of each of said portions (10i) in a database (<NUM>), and
in that the system (<NUM>) is further configured to produce an output indicative of a location at which one or more of said portions (10i) is to be deposited in the storage space (<NUM>) based on the determined one or more characteristics of said one or more portions (10i).