Patent ID: 12245537

DETAILED DESCRIPTION

Some agricultural machines attempt to perform location-based operations. For instance, some agricultural machines implement section control features which allow different sections or portions of the machine to be controlled (e.g., turned on or off) independently of other sections on the machine. An independently controllable section of an agricultural machine can include any controllable system, equipment, component, part, etc. of the machine.

For instance, a planting machine can have planting equipment arranged across an implement in independently controllable sections. The term “planting machine” refers to a machine configured to plant or seed a field. For example, a planting machine can include a row crop planter, an air seeder, a grain drill, etc.

On an example row crop planting machine, each section includes one (or more) of the row units and can be turned on or off independently of row unit(s) in other sections. Thus, a section can be one row, or multiple rows. Accordingly, section control includes individual row control. This control can be performed in a of a variety of ways. For instance, seed meter(s) that deliver seed to ground engaging components (e.g., furrow openers, seed boots) can be controlled to selectively plant seed at desired locations. Alternatively, or in addition, the row unit(s) on a section can be raised and lowered into or out of ground engaging position. Therefore, when the planting machine reaches an end row, or is reaching an area of the field that has already been planted, the planting machine may attempt to turn off one or more sections of the planter so that they do not perform an overlapping planting operation in which the seeds are planted over an area that has already been planted or are planted outside the boundary of the field.

Similarly, an agricultural product application machine, such as a spraying machine, can have a section control system that independently controls spray nozzles spaced across the width of the spraying machine. Each section on the spraying machine includes one or more of the spray nozzle(s) and is controllable independent from spray nozzles in other sections, e.g., to prevent overlapping spray areas, spraying outside the boundary of the field, etc. Thus, a section can be one nozzle, or multiple nozzles. Accordingly, section control includes individual nozzle control

Section control features can also be implemented on other types of agricultural machines, such as harvesting machines (e.g., controlling header components to selectively harvest areas of a field, generate accurate yield maps, etc.).

An example section control system for such machines requires a pre-defined field boundary that is used with live coverage or pass data (e.g., a current coverage map that identifies areas of the field that have already been operated upon), to determine how to control each section of the machine. However, such field boundaries are often not defined, or are not accurately defined, by the operator. Also, field boundaries may be variable, as the change from year to year. For instance, waterways on or adjacent to a field may expand or recede, thereby changing the actual physical area of the field from one year to the next.

The present description thus proceeds with respect to a control system that utilizes location-based section control based on field map data representing a prior agricultural operation or agricultural machine passes on the field. Using this field map data, the control system is configured to generate control signals to independently control sections of the machine. This can be done without requiring pre-defined or identified field boundaries. This not only removes the requirement of the operator to accurately define, or otherwise identify, field boundaries, it facilitates improved operation and performance of the section control of the agricultural machine.

FIG.1illustrates one example of an agricultural architecture100for location-based section control of an agricultural machine102. It is noted that machine102can be any of a wide variety of different types of agricultural machines. Examples include, but are not limited to, a tilling machine, a planting machine, a product application (e.g., spraying) machine, a harvesting machine (also referred to as a “harvester” or “combine”), to name a few. Also, while machine102is illustrated with a single box inFIG.1, machine102can comprise multiple machines (e.g., a towed implement towed by a towing machine104). In this example, the elements of machine102illustrated inFIG.1can be distributed across a number of different machines (represented by the dashed blocks inFIG.1).

Machine102includes a control system106configured to control other components and systems of architecture100. For instance, control system106includes location-based section control logic108and a communication controller110configured to control a communication system112to communicate between components of machine102and/or with other machines or systems in architecture100, such as machine104, remote computing system114, machine(s)116, and/or a priori data collection system118, either directly or over a network120.

Machine(s)116can be a similar type of machine as machine102, and they can be different types of machines as well. Further, machine(s)116can include a machine simultaneously operating in a field (e.g., machines102and116are in a fleet of machines performing the same or different operations) and/or a machine that operates at a different time (before or after machine102). For sake of illustration, in an example in which machine102is a spraying machine that sprays fertilizer, herbicide, or other agricultural product, machine(s)116include a planting machine that planted the field being sprayed by machine102, another spraying machine working in conjunction with machine102, and/or a harvesting machine that will subsequently harvest the field.

Network120can be any of a wide variety of different types of networks including, but not limited to, a wide area network, such as the Internet, a cellular communication network, a local area network, a near field communication network, or any of a wide variety of other networks or combinations of networks or communication systems.

A remote user122is illustrated interacting with remote computing system114. Remote computing system114can be a wide variety of different types of systems. For example, remote system114can be a remote server environment, remote computing system that is used by remote user122. Further, it can be a remote computing system, such as a mobile device, remote network, or a wide variety of other remote systems. Remote system114can include one or more processors or servers, a data store, and it can include other items as well.

Communication system112can include wired and/or wireless communication logic, which can be substantially any communication system that can be used by the systems and components of machine102to communicate information to other items, such as between control system106, sensor(s)124, and controllable subsystem(s)126. In one example, communication system112communicates over a controller area network (CAN) bus (or another network, such as an Ethernet network, etc.) to communicate information between those items. This information can include the various sensor signals and output signals generated by the sensor variables and/or sensed variables.

Control system106also includes a user interface component128configured to control interfaces, such as operator interface(s)130that include input mechanisms configured to receive input from an operator132and output mechanisms that render outputs to operator132. The user input mechanisms can include mechanisms such as hardware buttons, switches, joysticks, keyboards, etc., as well as virtual mechanisms or actuators such as a virtual keyboard or actuators displayed on a touch sensitive screen. The output mechanisms can include display screens, speakers, etc.

Control system106also includes sensor logic129configured to interact with and control sensor(s)124, which can include any of a wide variety of different types of sensors. In the illustrated example, sensor(s)124include position sensor(s)134, speed sensor(s)136, environmental sensor(s)138, and can include other types of sensors140as well. Position sensor(s)134are configured to determine a geographic position of machine102on the field, and can include, but are not limited to, a Global Navigation Satellite System (GNSS) receiver that receives signals from a GNSS satellite transmitter. It can also include a Real-Time Kinematic (RTK) component that is configured to enhance the precision of position data derived from the GNSS signal. Speed sensor(s)136are configured to determine a speed at which machine102is traveling the field during the spraying operation. This can include sensors that sense the movement of ground-engaging elements (e.g., wheels or tracks) and/or can utilize signals received from other sources, such as position sensor(s)134.

Control system106is also illustrated as including field data receiving logic139and field metric logic141. Field data receiving logic139is configured to receive the field data, that is utilized to control machine102, and field metric logic141is configured to generate field metrics represent the operation of machine102(such as estimated yield, remaining crop to be processed, remaining operation time, etc.). This is discussed in further detail below.

Control system106can includes other control logic142and can include other items as well. Control logic142is configured to generate control signals to control sensors124, controllable subsystems126, communication system112, or any other items in architecture100. Controllable subsystems126include machine actuators146, a propulsion subsystem148, a steering subsystem150, a field operation subsystem152and can include other items154as well.

In one example, control of the traversal of machine102over the field can be automated or semi-automated, for example using a automated guidance system. An example guidance system is configured to guide machine102along a path across the field using the geographic position sensed by sensor(s)134.

Subsystem152is configured to perform field operations (e.g., field preparation, crop care, harvesting, etc.) while machine102traverses the field (or other worksite). A field operation refers to any operation performed on a worksite or field. Examples include, but are not limited to, field preparation (e.g., tilling), crop seed placement (e.g., planting), crop care (e.g., fertilizer spraying), harvesting, etc.

For instance, in the case of a planting machine, subsystem152includes seed metering and distributions components, such as row units on a row unit planter. In the case of a spraying machine, subsystem152includes pumps, valves, lines, spray nozzles, etc. In the case of a harvesting machine, subsystem152includes front-end equipment (e.g., a header), thresher, spreader, etc.

Machine102includes a data store156configured to store data for use by machine102, such as field data. Examples include, but are not limited to, field location data that identifies a location of the field to be operated upon by a machine102, field shape and topography data that defines a shape and topography of the field, crop location data that is indicative of a location of crops in the field (e.g., the location of crop rows), or any other data. Machine102is also illustrated as including one or more processors or servers158, and it can include other items160as well. Further, where machine102is towed by a towing machine104, machine104can include a data store162, one or more processors or servers164, and it can include other items166as well.

A priori data collection system182illustratively collects a priori data corresponding to a target or subject field, that can be used by logic108for section control of field operation subsystem152while machine102operates on the target field. This is discussed in further detail below. Briefly, by a priori, it is meant that the data is formed or obtained beforehand, prior to the operation by machine102. The data generated by system118can be sent to machine102directly and/or can be stored in a data store168as georeferenced a prior data170. The data identifies prior machine operations (georeferenced to their corresponding locations) performed in the field, prior to the current operation of machine102. For instance, data170can identify areas of the field that were tilled by a tilling machine, areas planted by a planting machine, areas sprayed by a spraying machine, and/or areas harvested by a harvesting machine. Machine102uses this data to determine which areas of the field are to be operated upon by subsystem152. Logic108is configured to generate control signals for subsystems126to implement section control, so that machine102operates on the desired areas.

For example, in the case of a planting machine, control logic108is configured to independently control sections of row units (e.g., a plurality of sections each having one or more row units) to selectively plant the field as machine102traverses the field. Each row unit can be controlled by, for example, turning a seed meter on or off, raising and lowering the row unit, etc. In the case of an agricultural spraying machine, sections of the machine include one or more spray nozzles that are independently controllable, independent from the spray nozzles in other sections. Section control includes selectively spraying areas of the field, such as turning spray nozzles on the left-hand side of the machine off, while spray nozzles on the right-hand side of the machine are turned on. In one example of an agricultural harvesting machine, the header can be controlled to selectively harvest only a portion of the width of the machine or identify at the current header location which rows are already harvested or empty, and which rows are unharvested. This information can be utilized, for example, to improve accuracy of a yield map, etc.

Before describing the system and operation in more detail, a number of different examples of agricultural machines will be described.

FIG.2is a top view of one example of an agricultural machine200, in the form of a row planter or planting machine. Machine200illustratively includes a toolbar202that is part of a frame204.FIG.2also shows that a plurality of row units206are mounted to the toolbar. As noted above, machine200can be towed behind towing machine104. A control system106is described in greater detail below, and it can be on one of machines102or104, or elsewhere, and it can be distributed across various locations.

FIG.3illustrates one example of an agricultural machine210, in the form of a sprayer or spraying machine. Machine210includes a spraying system212having a tank214containing a liquid that is to be applied to field216. Tank214is fluidically coupled to spray nozzles218by a delivery system comprising a set of conduits. A fluid pump is configured to pump the liquid from tank214through the conduits through nozzles218. Spray nozzles218are coupled to, and spaced apart along, boom220. Boom220includes arms222and224which can articulate or pivot relative to a center frame226. Thus, arms222and224are movable between a storage or transport position and an extended or deployed position (shown inFIG.3).

In the example illustrated inFIG.3, machine210comprises a towed implement228that carries the spraying system, and is towed by a towing or support machine230(e.g., machine104) having an operator compartment or cab232. Machine210includes a set of traction elements, such as wheels234. The traction elements can also be tracks, or other traction elements as well. It is noted that in other examples, machine210is self-propelled. That is, rather than being towed by a towing machine, the machine that carries the spraying system also includes propulsion and steering systems.

FIG.4illustrates one example of an agricultural spraying machine250that is self-propelled. That is, spraying machine250has an on-board spraying system252, that is carried on a machine frame256having an operator compartment258, a steering system260(e.g., wheels or other traction elements), and a propulsion system262(e.g., internal combustion engine).

Another example agricultural machine is shown inFIG.5, which is a partial pictorial, partial schematic, illustration of an agricultural harvesting machine300(or combine). It can be seen inFIG.5that combine300illustratively includes an operator compartment301, which can have a variety of different operator interface mechanisms, for controlling combine300, as will be discussed in more detail below. Combine300can include a set of front-end equipment that can include header302, and a cutter generally indicated at304. It can also include a feeder house306, a feed accelerator308, and a thresher generally indicated at310. Thresher310illustratively includes a threshing rotor312and a set of concaves314. Further, combine300can include a separator316that includes a separator rotor. Combine300can include a cleaning subsystem (or cleaning shoe)318that, itself, can include a cleaning fan320, chaffer322and sieve324. The material handling subsystem in combine300can include (in addition to a feeder house306and feed accelerator308) discharge beater326, tailings elevator328, clean grain elevator330(that moves clean grain into clean grain tank332) as well as unloading auger334and spout336. Combine300can further include a residue subsystem338that can include chopper340and spreader342. Combine300can also have a propulsion subsystem that includes an engine that drives ground engaging wheels344or tracks, etc. It will be noted that combine300may 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, combine300illustratively moves through a field in the direction indicated by arrow346. As it moves, header302engages the crop to be harvested and gathers it toward cutter304. After it is cut, it is moved through a conveyor in feeder house306toward feed accelerator308, which accelerates the crop into thresher310. The crop is threshed by rotor312rotating the crop against concave314. The threshed crop is moved by a separator rotor in separator316where some of the residue is moved by discharge beater326toward the residue subsystem338. It can be chopped by residue chopper340and spread on the field by spreader342. 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)318. Chaffer322separates some of the larger material from the grain, and sieve324separates some of the finer material from the clean grain. Clean grain falls to an auger in clean grain elevator330, which moves the clean grain upward and deposits it in clean grain tank332. Residue can be removed from the cleaning shoe318by airflow generated by cleaning fan320. That residue can also be moved rearwardly in combine300toward the residue handling subsystem338.

FIG.5also shows that, in one example, combine300can include ground speed sensor347, one or more separator loss sensors348, a clean grain camera350, one or more cleaning shoe loss sensors352, forward looking camera354, rearward looking camera356, a tailings elevator camera358, and a wide variety of other cameras or image/video capture devices. Ground speed sensor347illustratively senses the travel speed of combine300over 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 can also be sensed by a positioning system, such as a global positioning system (GPS), a dead reckoning system, a LORAN system, or a wide variety of other systems or sensors that provide an indication of travel speed. In one example, optical sensor(s) capture images and optical flow is utilized to determine relative movement between two (or more) images taken at a given time spacing.

FIG.6is a flow diagram400illustrating an example operation of location-based section control on an agricultural machine using previous field pass map data. For sake of illustration, but not by limitation,FIG.6will be described in the context of control system106controlling agricultural machine102, shown inFIG.1.

At block402, a target field on which to perform an agricultural operation with machine102is identified. The target field can be identified in any of a number of ways. For instance, the target field can be automatically identified based on the detected location of machine102prior to or during the operation. Alternatively, or in addition, the target field can be identified based on input from operator132, input from remote system114, or otherwise.

As noted above, the agricultural operation performed with machine102can comprise a wide variety of different types of operations, depending on the type of machine. For instance, the operation performed with machine102can be a planting operation. This is represented at block404. In another example, the operation can be a product application, such as spraying or otherwise applying a fertilizer, herbicide, pesticide, fungicide, or other product. This is represented at block406. In another example, the operation performed by machine102is a harvesting operation. This is represented at block408. Of course, other types of operations can be performed by machine102. This is represented at block410.

At block412, field map data is obtained that represents a prior agricultural operation performed on the target field. Illustratively, the prior agricultural operation is a different type of agricultural operation than the operation to be performed by machine102. For instance, the prior agricultural operation can include a tilling operation (block414), a planting operation (block416), a product application operation (block418—such as those described above with respect to block406), and can include other types of operations as well (block420). For example, in the case of the planting operation at block416, the field map data includes a planting map that can be used for follow up operations of crop care and/or harvest.

The field map data can be obtained at block412in any of a number of ways. For instance, the data can be obtained directly, or indirectly, from the machine that performed the prior operation (block422), from a remote system (such as remote system114) (block424), or otherwise. In one example, the field map data includes data170generated by system118.

For sake of illustration,FIG.7represents an example operation that generates the field map data, obtained at block412.FIG.7illustrates an example field500on which an agricultural machine502, in the form of a row crop planter, performs a planting operation to plant seeds through a plurality of passes over field500. While the example inFIG.7includes a planting operation, in other examples the operation can include tilling, spraying, etc.

The dashed lines inFIG.7illustrate the rows corresponding to row units on machine502during passes504-1,504-2,504-11, etc. (collectively referred to as passes504). Machine502can be configured to perform location-based section control to selectively turn on and off sections of machine502. As shown inFIG.7, as machine502reaches the end of pass504-1, near a boundary of field500, row units on the machine are selectively turned off to avoid planting in an area outside the boundary of field500.

It is noted that the field map data can be generated at any of a variety of different levels of detail or granularity. For instance, the field map data can represent the areas of field500traversed by machine502, as well as machine state data indicating whether machine502(e.g., the particular row units) was actively planting at those locations. That is, the machine state can be a binary signal indicating whether the row unit(s) were turned on or off at those locations. The machine state data is correlated to the areas of the field to form the field map data. In another example, the field map data can identify the actual planting locations of the seeds, by detecting the operation of the row units during the planting operation. In any case, the field map data identifies areas that were planted during the prior operation.

For sake of illustration, in the example ofFIG.7the field map data indicates that, for pass504-1, machine502was actively planting in areas512, but was deactivated (e.g., not actively planting) in area514(e.g., because area514is wet).

Referring again toFIG.6, at block426a location sensor signal is received that indicates the geographic location of machine102. For example, a location signal is received from position sensor134indicating a current location of machine102on the target field.

At block428, a buffer or offset zone relative of the mapped field area is identified. The buffer zone indicates an area proximate a mapped field area in which to perform the field operation. For instance, in the case of the field map ofFIG.5, the buffer zone can identify an area surrounding the map to sprayed with fertilizer, herbicide, etc. In one example, the buffer zone can be set to a default value of zero (no buffer zone), and adjusted by operator132so that machine102is controlled to spray within a specified distance (e.g., five feet, ten feet, etc.). This can include positive distances (i.e., outside the field map area) as well as negative distances (i.e., inside the field map area).

At block430, section control of machine102is performed using control logic108. This is discussed in further detail below with respect toFIG.8. Briefly, however, section control can be based on the field map data obtained at block412. This is represented at block432. Also, the section control can be based on a current coverage map. This is represented at block434. An example coverage map represents the current operation of machine102on the target field. For instance, the current coverage map identifies areas that machine102has already planted, sprayed, harvested, etc. Also, the section control can be based on the buffer zone identified at block428. This is represented at block436. Of course, the section control can be performed in other ways as well. This is represented at block438.

At block440, the current coverage map is updated based on operation of machine102. At block442, field totals can be generated based on the field map data and the current coverage map. For example, block442can include determining a total area remaining to be operated on by machine102(block444), a total remaining time446, or other operational metrics (block448).

At block450, control signals can be generated to control machine102, or other machines or systems in architecture100. For example, this can include automatically controlling controllable subsystem(s)126, controlling communication system112to send operational data, such as the field total generated at block442, to remote system114, generating operator interfaces130, etc. Examples of user interface displays are discussed below. At block452, if operation of machine102is continued, the operation returns to block426.

FIG.8is a flow diagram550illustrated in example section control operation. For sake of illustration, but not by limitation,FIG.8will be described in the context of control system106controlling machine102in the form of a spraying machine (e.g., machine210,250, etc.). At block552, one (or more) of the control zones are selected to dynamically determine their on/off state. As noted above, a control zone on a spraying machine can include one or more spray nozzles that independently controllable, independent from the spray nozzle(s) in other sections of the machine.

At block554, a machine speed signal is received, that indicates the speed of machine102. At block556, an area of the field in the path of the selected control zone(s) is identified. This can be based on the geographic location of the control zone (block558), the direction of travel of machine102(block560), the machine speed and/or action time period for controlling the control zone (block562), and it can be based on other considerations (block564) as well.

The geographic location at block558can be determined based on a geographic location signal that is specific to the control section. Alternatively, or in addition, the geographic location and be determined based on a geographic location of machine102(i.e., the location of a receiver on machine102), that is correlated to the position of the control section. In other words, for each control section, the location can be determined based on determining the location of the receiver of machine102and the positional offset of the control section from that receiver location.

In one example of block562, the action time period represents a minimum time period between control section switching operations. That is, it can represent a minimum time required between switching the control section from an on state to an off state, and vice versa.

In any case, block556identifies an area on the target field in front of the control section, in a direction of travel. Block566determines whether the identified area is already covered. That is, block566determines whether machine102has already operated on that area. In the present example, block566determines whether machine102has already sprayed the area. If so, operation proceeds to block568in which control logic108generates a control signal to turn off or deactivate the control section(s).

If the area has not already been covered, operation proceeds to block570in which control system106determines whether the area corresponds to an area on the field map, representing the prior operation on the field (e.g., the field map data obtained at block412). For example, this can include determining whether the area has been tilled or is untilled (block572), has been planted or is unplanted (block574), and/or whether the area has been sprayed or has not been sprayed (block576). Of course, the field map data can identify other types of prior operations as well. This is represented by block578.

In the present example of a spraying machine, block570determines whether the area in the path of the selected control section was planted during the prior planting operation. If not, operation proceeds to block568, in which the selected control section(s) are turned off or deactivated and the operation proceeds to block580, in which operation returns to block552for any additional control sections on machine102.

If the identified area does correspond to the field map (e.g., it was planted during the prior planting operation), operation proceeds to block582in which the control section is turned on or activated.

For sake of illustration,FIG.9illustrates machine102, in the form of a sprayer operating on the field500illustrated inFIG.7to spray fertilizer to the crop plants. In the example ofFIG.9, machine102has a plurality of sections602, each having one or more spray nozzles. While seven sections are illustrated, it is noted that machine102can have more, or less, control sections. For each section, an area in the path of the control section is identified. For instance, for a first control section, an area604-1is identified. Similarly, areas604-2,604-3,604-4,604-5,604-6, and604-7are identified, respectively, as corresponding to the other control sections of machine102.

In the present example, control logic108determines that the control sections corresponding to areas604-6through604-7are all in areas that have not already been covered by machine102and are within the previously planted area512of field500. Accordingly, control logic108turns on or activates those sections to spray field500. Control logic108also determines that the control section corresponding to area604-5is within the buffer or offset zone610(represented by the dashed line inFIG.9), and also turns on or activates that control section as well. However, control logic108determines that the sections corresponding to areas604-1,604-2,604-3, and604-4are will pass over area514(which was not planted by the operation inFIG.7) and is outside the buffer area of the planting map (i.e., those sections will be operating on unplanted areas). Control logic108deactivates or turns off those sections.

FIGS.10-12illustrate example user interface displays that can be displayed to operation132, or another user such as remote user122.

User interface display650illustrated inFIG.10displays a representation of the field along with the position and heading of the machine. The position of the machine is represented by display element652. Display650includes user input mechanisms654for setting guidance controls and user input mechanism656to configure section control. Actuation of mechanism656displays a user interface display700illustrated inFIG.11. As shown inFIG.11, display700includes a user input mechanism702for enabling or disabling field map-based section control. Display700also includes an offset user input mechanism704for defining the offset or buffer zone, as discussed above. In the present example, operator132has set the buffer zone to four feet, so that machine102is configured to spray a four foot buffer zone around the area of the field that has been planted, as determined by the field map data.FIG.12illustrates a display750showing the coverage of machine102as it performs the example spraying operation on the field. In the present example, the buffer zone was changed from four feet at area752to eight feet at area754.

It can thus be seen that the present features provide a control system with section control that does not require pre-defined field boundaries. The control system uses field map data representing a prior agricultural operation to control the operation of the agricultural machine. This improves operation of the machine, such as by preventing or limiting overspray, while accommodating changing field conditions and/or agricultural operations from year to year.

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.

Also, a number of user interface displays have been discussed. They can take a wide variety of different forms and can have a wide variety of different user actuatable input mechanisms disposed thereon. For instance, the user actuatable input mechanisms can be text boxes, check boxes, icons, links, drop-down menus, search boxes, etc. They can also be actuated in a wide variety of different ways. For instance, they can be actuated using a point and click device (such as a track ball or mouse). They can be actuated using hardware buttons, switches, a joystick or keyboard, thumb switches or thumb pads, etc. They can also be actuated using a virtual keyboard or other virtual actuators. In addition, where the screen on which they are displayed is a touch sensitive screen, they can be actuated using touch gestures. Also, where the device that displays them has speech recognition components, they can be actuated using speech commands.

A number of data stores have also been discussed. It will be noted they can each be broken into multiple data stores. All can be local to the systems accessing them, all can be remote, or some can be local while others are remote. All of these configurations are contemplated herein.

Also, the figures show a number of blocks with functionality ascribed to each block. It will be noted that fewer blocks can be used so the functionality is performed by fewer components. Also, more blocks can be used with the functionality distributed among more components.

FIG.13is a block diagram of one example of agricultural architecture100, shown inFIG.1, where machine102communicates with elements in a remote server architecture800. In an example, remote server architecture800can 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 inFIG.13, some items are similar to those shown in previous FIGS. and they are similarly numbered.FIG.13specifically shows system106and/or system118from previous FIGS. can be located at a remote server location802. Therefore, machine102, machine104, machine116, and/or system114can access those systems through remote server location802.

FIG.13also depicts another example of a remote server architecture.FIG.13shows that it is also contemplated that some elements of previous FIGS. are disposed at remote server location802while others are not. By way of example, one or more of data store156, data store168, system106, and system118can be disposed at a location separate from location802, and accessed through the remote server at location802. Regardless of where they are located, they can be accessed directly by machines102,104, and/or116through 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. All of these architectures are contemplated herein.

It will also be noted that the elements of the 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.14is 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 device16, 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 machine102and/or104for use in generating, processing, or displaying the overspray data and position data.FIGS.15-16are examples of handheld or mobile devices.

FIG.14provides a general block diagram of the components of a client device16that can run some components shown inFIG.1, that interacts with them, or both. In the device16, a communications link13is 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 link13include 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 interface15. Interface15and communication links13communicate with a processor17(which can also embody processors or servers from other FIGS.) along a bus19that is also connected to memory21and input/output (I/O) components23, as well as clock25and location system27.

I/O components23, in one embodiment, are provided to facilitate input and output operations. I/O components23for various embodiments of the device16can 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 components23can be used as well.

Clock25illustratively comprises a real time clock component that outputs a time and date. It can also, illustratively, provide timing functions for processor17.

Location system27illustratively includes a component that outputs a current geographical location of device16. This can include, for instance, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. It can also include, for example, mapping software or navigation software that generates desired maps, navigation routes and other geographic functions.

Memory21stores operating system29, network settings31, applications33, application configuration settings35, data store37, communication drivers39, and communication configuration settings41. Memory21can include all types of tangible volatile and non-volatile computer-readable memory devices. It can also include computer storage media (described below). Memory21stores computer readable instructions that, when executed by processor17, cause the processor to perform computer-implemented steps or functions according to the instructions. Processor17can be activated by other components to facilitate their functionality as well.

FIG.15shows one example in which device16is a tablet computer850. InFIG.15, computer850is shown with user interface display screen852. Screen852can 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. Computer600can also illustratively receive voice inputs as well.

FIG.16shows that the device can be a smart phone71. Smart phone71has a touch sensitive display73that displays icons or tiles or other user input mechanisms75. Mechanisms75can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, smart phone71is built on a mobile operating system and offers more advanced computing capability and connectivity than a feature phone.

Note that other forms of the devices16are possible.

FIG.17is one example of a computing environment in which elements of previous FIGS., or parts of them, (for example) can be deployed. With reference toFIG.17, an example system for implementing some embodiments includes a general-purpose computing device in the form of a computer910programmed to operate as discussed above. Components of computer910may include, but are not limited to, a processing unit920(which can comprise processors or servers from previous FIGS.), a system memory930, and a system bus921that couples various system components including the system memory to the processing unit920. The system bus921may 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 ofFIG.17.

Computer910typically includes a variety of computer readable media. Computer readable media can be any available media that can be accessed by computer910and includes both volatile and nonvolatile media, removable and non-removable media. By way of example, and not limitation, computer readable media may comprise computer storage media and communication media. Computer storage media is different from, and does not include, a modulated data signal or carrier wave. It includes hardware storage media including both volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by computer910. Communication media may embody computer readable instructions, data structures, program modules or other data in a transport mechanism and includes any information delivery media. The term “modulated data signal” means a signal that has one or more of its characteristics set or changed in such a manner as to encode information in the signal.

The system memory930includes computer storage media in the form of volatile and/or nonvolatile memory such as read only memory (ROM)931and random access memory (RAM)932. A basic input/output system933(BIOS), containing the basic routines that help to transfer information between elements within computer910, such as during start-up, is typically stored in ROM931. RAM932typically contains data and/or program modules that are immediately accessible to and/or presently being operated on by processing unit920. By way of example, and not limitation,FIG.17illustrates operating system934, application programs935, other program modules936, and program data937.

The computer910may also include other removable/non-removable volatile/nonvolatile computer storage media. By way of example only,FIG.17illustrates a hard disk drive941that reads from or writes to non-removable, nonvolatile magnetic media, an optical disk drive955, and nonvolatile optical disk956. The hard disk drive941is typically connected to the system bus921through a non-removable memory interface such as interface940, and optical disk drive955are typically connected to the system bus921by a removable memory interface, such as interface950.

Alternatively, or in addition, the functionality described herein can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Application-specific Integrated Circuits (e.g., ASICs), Application-specific Standard Products (e.g., ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

The drives and their associated computer storage media discussed above and illustrated inFIG.17, provide storage of computer readable instructions, data structures, program modules and other data for the computer910. InFIG.17, for example, hard disk drive941is illustrated as storing operating system944, application programs945, other program modules946, and program data947. Note that these components can either be the same as or different from operating system934, application programs935, other program modules936, and program data937.

A user may enter commands and information into the computer910through input devices such as a keyboard962, a microphone963, and a pointing device961, such as a mouse, trackball or touch pad. Other input devices (not shown) may include a joystick, game pad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit920through a user input interface960that is coupled to the system bus, but may be connected by other interface and bus structures. A visual display991or other type of display device is also connected to the system bus921via an interface, such as a video interface990. In addition to the monitor, computers may also include other peripheral output devices such as speakers997and printer996, which may be connected through an output peripheral interface995.

The computer910is 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 computer980.

When used in a LAN networking environment, the computer910is connected to the LAN971through a network interface or adapter970. When used in a WAN networking environment, the computer910typically includes a modem972or other means for establishing communications over the WAN973, such as the Internet. In a networked environment, program modules may be stored in a remote memory storage device.FIG.17illustrates, for example, that remote application programs985can reside on remote computer980.

It should also be noted that the different examples described herein can be combined in different ways. That is, parts of one or more examples can be combined with parts of one or more other examples. All of this is contemplated herein.

Example 1 is a computer-implemented method of controlling a mobile agricultural machine, the method comprising:receiving field map data representing a first agricultural operation performed on a field;receiving a location sensor signal indicative of a sensed geographic location of the mobile agricultural machine on the field, the mobile agricultural machine having a plurality of sections that are independently controllable to perform a second agricultural operation on the field that is different than the first agricultural operation; andgenerating a control signal to control the plurality of sections based on the field map data and the location sensor signal.

Example 2 is the computer-implemented method of any or all previous examples, wherein the field data comprises a field pass map that represents an input application of a first agricultural machine to the field during the first agricultural operation.

Example 3 is the computer-implemented method of any or all previous examples, wherein the first and second agricultural operations are performed during a same crop growing season.

Example 4 is the computer-implemented method of any or all previous examples, wherein each of the first and second agricultural operations comprises one of:a field preparation application;a planting application;an agricultural product application; ora harvesting application.

Example 5 is the computer-implemented method of any or all previous examples, wherein the mobile agricultural machine comprises an agricultural product application machine configured to apply an agricultural product to the field.

Example 6 is the computer-implemented method of any or all previous examples, wherein the mobile agricultural machine comprises a spraying machine, and each section comprises a set of spray nozzles configured to spray the agricultural product.

Example 7 is the computer-implemented method of any or all previous examples, wherein the first agricultural operation comprises a planting operation performed by a planting machine.

Example 8 is the computer-implemented method of any or all previous examples, wherein the mobile agricultural machine comprises an agricultural harvesting machine.

Example 9 is the computer-implemented method of any or all previous examples, and further comprising:defining a buffer area; andcontrolling the plurality of sections based on the defined buffer area.

Example 10 is the computer-implemented method of any or all previous examples, and further comprisinggenerating a user interface having a buffer zone user input mechanism; anddefining the buffer zone based on user actuation of the buffer zone user input mechanism.

Example 11 is the computer-implemented method of any or all previous examples, and further comprising: generating a field metric based on the field data and performance of the second agricultural operation.

Example 12 is the computer-implemented method of any or all previous examples, wherein the field metric represents one or more of:a total area of the field;an estimate amount of remaining crop to be processed for the second agricultural operation;an estimate amount of remaining field area for the second agricultural operation; oran estimate amount of remaining time for the second agricultural operation.

Example 13 is a mobile agricultural machine comprisinga field operation subsystem comprising a plurality of sections that are independently controllable to perform a given agricultural operation on a field; anda control system configured to:receive field data representing a prior agricultural operation performed on the field that is different than the given agricultural operation; andreceive a location sensor signal indicative of a sensed geographic location of the mobile agricultural machine on the field; andgenerate a control signal to control the plurality of sections based on the field data and the location sensor signal.

Example 14 is the mobile agricultural machine of any or all previous examples, wherein the field data comprises a field pass map that represents an input application of a first agricultural machine to the field during the first agricultural operation.

Example 15 is the mobile agricultural machine of any or all previous examples, wherein the first and second agricultural operations are performed during a same crop growing season.

Example 16 is the mobile agricultural machine of any or all previous examples, wherein each of the first and second agricultural operations comprises one of:a field preparation application;a planting application; oran agricultural product application; ora harvesting application.

Example 17 is the mobile agricultural machine of any or all previous examples, wherein the control system is configured to:define a buffer area; andcontrol the plurality of sections based on the defined buffer area.

Example 18 is the mobile agricultural machine of any or all previous examples, wherein the control system is configured to:generate a field metric based on the field data and performance of the second agricultural operation.

Example 19 is a control system for a mobile agricultural machine, the control system comprisingfield data receiving logic configured to receive field data representing a first agricultural operation performed on a field;sensor logic configured to receive a location sensor signal indicative of a sensed geographic location of the mobile agricultural machine on the field, the mobile agricultural machine having a plurality of sections that are independently controllable to perform a second agricultural operation on the field that is different than the first agricultural operation; andcontrol logic configured to generate a control signal to control the plurality of sections based on the field data and the location sensor signal.

Example 20 is the control system of any or all previous examples, whereinthe field data comprises a field pass map that represents an input application of a first agricultural machine to the field during the first agricultural operation, andthe first and second agricultural operations are performed during a same growing seasonand each comprise one of:a field preparation application;a planting application;an agricultural product application; ora harvesting application.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.