RESIDUE SPREAD MONITORING

Abstract

Systems and methods for monitoring the distribution of residue material from a spreader tool of an agricultural machine including a sensor, preferably a LIDAR or other scanning transceiver-type sensor mounted or otherwise coupled to the machine and orientated with a sensing region pointing rearwards of the agricultural machine, where operational data indicative of an operational parameter of the spreader tool is obtained and used to control operation of the sensor.

Claims

1. A system for monitoring distribution of residue material from a spreader tool of an agricultural machine, the system comprising: a LIDAR sensor having a sensing region rearwards of the agricultural machine; and at least one controller, configured to: receive operational data indicative of an operational parameter of the spreader tool; and control a scan speed or scan frequency of the LIDAR sensor based upon the operational parameter of the spreader tool.

2. The system of claim 1, wherein the spreader tool comprises a steering mechanism which includes at least one steering vane or deflector; and wherein the operational parameter of the spreader tool comprises a position of the at least one steering vane or deflector.

3. The system of claim 1, wherein a steering mechanism of the spreader tool comprises a first steering unit for controlling the distribution of residue material from the spreader tool in a first direction; and a second steering unit for controlling distribution of residue material from the spreader tool in a second direction; and wherein the operational parameter of the spreader tool comprises an operational speed of the first and/or second steering units.

4. The system of claim 1, wherein the steering mechanism of the spreader tool comprises: a first steering unit comprising a first rotor for controlling movement of residue material through and out of the steering mechanism in a first direction, wherein the operational parameter of the spreader tool comprises: an operational speed of the first rotor; a rotational frequency of the first rotor; a position of the first rotor; and/or a rotational direction of the first rotor.

5. The system of claim 4, wherein the at least one controller is operable to control operation of the LIDAR sensor based on a rotational speed, rotational frequency and/or angular position of the first rotor.

6. The system of claim 5, wherein the at least one controller is operable to control a scan speed of the LIDAR sensor such that the scanning frequency of the LIDAR sensor is substantially synchronised with the rotational frequency of the first rotor.

7. The system of claim 1, wherein a steering mechanism of the spreader tool comprises: a second steering unit comprising a second rotor for controlling movement of residue material through and out of the steering mechanism in a second direction, wherein the operational parameter of the spreader tool comprises: an operational speed of the second rotor; a rotational frequency of the second rotor; a position of the second rotor; and/or a rotational direction of the second rotor.

8. The system of claim 7, wherein the at least one controller is operable to control operation of the LIDAR sensor based on a rotational speed, the rotational frequency, and/or an angular position of the second rotor.

9. The system of claim 8, wherein the at least one controller is operable to control a scan speed of the LIDAR sensor such that the scanning frequency of the LIDAR sensor is substantially synchronised with the rotational frequency of the second rotor.

10. The system as claimed in claim 1, wherein the at least one controller is operable to: receive data from the sensor indicative of a measure of the residue material within the sensing region; determine, from the sensor data, a distribution of the residue material associated with the spreader tool; and output at least one control signal for controlling at least one operational parameter of the agricultural machine or at least one component of the agricultural machine based on the determined distribution.

11. The system of claim 10, wherein at least one system of the agricultural machine includes a user interface which provides information corresponding to the distribution of residue material.

12. The system of claim 10, operable to control at least one operating parameter of the spreader tool based upon the distribution of residue material.

13. An agricultural machine comprising the system of claim 1.

14. A method of monitoring the distribution of residue material from a spreader tool of an agricultural machine using a LIDAR sensor mounted or otherwise coupled to the agricultural machine, the method comprising: receiving operational data indicative of an operational parameter of the spreader tool; and controlling a scan speed or scan frequency of the LIDAR sensor based upon the operational parameter of the spreader tool.

15. A system for monitoring distribution of residue material from a spreader tool of an agricultural machine, the system comprising: a sensor having a sensing region rearwards of the agricultural machine; and at least one controller, configured to: receive operational data indicative of an operational parameter of the spreader tool; and control operation of the sensor based upon the operational data.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0041] One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0042] FIG. 1 is a schematic side cross-sectional view of an agricultural harvester embodying aspects of the invention;

[0043] FIG. 2 is a schematic view of an embodiment of a control system of the invention;

[0044] FIG. 3 is a perspective view illustrating embodiments of a harvester incorporating aspects of the invention;

[0045] FIG. 4 is a schematic view of an arrangement illustrating aspects of the invention; and

[0046] FIG. 5 is a further schematic view of an arrangement illustrating further aspects of the invention.

DETAILED DESCRIPTION

[0047] FIG. 1 illustrates an agricultural machine, and specifically a combine 10, embodying aspects of the present invention.

[0048] The combine 10 is coupled to a header 12 which is operable, in use, to cut and gather a strip of crop material as the combine 10 is driven across a field/area to be harvested during a harvesting operation. A conveyor section 14 conveys the cut crop material from the header 12 into a crop processing apparatus 16 operable to separate grain and non-grain (i.e. material other than grain (MOG) or residue material (used interchangeably herein)) as will be appreciated. It is noted here that apparatus for separating grain and non-grain material are well-known in the art and the present invention is not limited in this sense. The skilled person will appreciate that numerous different configurations for the crop processing apparatus may be used as appropriate. Clean grain separated from the cut crop material is collected in a grain bin 18, which may be periodically emptied, e.g. into a collection vehicle, storage container, etc. utilising unloading auger 20. The remaining non-grain material (MOG)/residue material is separately moved to a spreader tool 22 which is operable in use to eject the non-grain material or MOG from the rear of the combine 10 and onto the ground. In FIG. 1, this is represented by arrow 24 which illustrates the MOG being ejected rearwards from the combine 10. It will be appreciated that in some embodiments the combine 10 may also include a chopper tool positioned, for example, between the crop processing apparatus 16 and the spreader tool 22 and operable, in use, to cut the residue material before it is spread by the spreader tool 22.

[0049] The combine 10 also typically includes, amongst other features, an operator cab 26, wheels 28, engine (not shown) and a user interface 32.

[0050] As will be discussed in detail herein, the combine 10 additionally includes a sensor in the form of a LIDAR unit 30. As will be appreciated, the LIDAR unit 30 is transceiver type sensing unit, having a transmitter component for transmitting measurement signals, and a receiver component for receiving reflected measurement signals from objects within the environment of the combine 10. Specifically, LIDAR unit 30 is a three-dimensional LIDAR sensor having a three-dimensional measurement region. The LIDAR unit 30 is a rotating sensor, and includes a motor (not shown) for controlling the rate at which the sensor (or components thereof) rotate in operation, and a sensor encoder (not shown) for monitoring an orientation or rotational rate of one or more components of the sensor unit 30, in use. The LIDAR unit 30 is used, and the sensor data therefrom for example, may be used to determine a distribution of residue material associated with the spreader tool 22.

[0051] FIG. 2 illustrates control system 100 further. As shown, control system 100 comprises a controller 102 having an electronic processor 104, an electronic transceivers 106, 108, 110. The processor 104 is operable to access a memory 112 of the controller 102 and execute instructions stored therein to perform the steps and functionality of the present invention, for example to output control signals 105 via the transceiver 106 for controlling a scanning operation of the LIDAR unit 30, or outputting control signals 111 via transceiver 110 for controlling the user interface 32, for example to provide an image to an operator of the combine 10 illustrative of the observed residue material distribution as determined from sensor data received from LIDAR unit 30.

[0052] The processor 104 is operable to receive operational data from the spreader tool 22, which in the illustrated embodiment takes the form of input signals 109 received at transceiver 108. Here, and as discussed in detail below, the operational data received is indicative of an operational frequency of first and second rotors 23a, 23b of the spreader tool.

[0053] Output 110 is operably coupled to the user interface 32 of the combine 10. Here, the control system 100 is operable to control operation of the user interface 32, e.g. through output of control signals 111 in order to display operational data to an operator of the combine 10 relating to the operation of the control system 100. Specifically, the control system 100 may be operable to control the user interface 32 to display to the operator a graphical representation of the residue material distribution from the spreader tool 22 as determined by processor 104, image data obtained from a camera on the combine 10, or other useful information. The user interface 32 may also be operable to receive a user input from the operator, and in such instances the output 110 may act as an input for receiving that user input at the processor 104. The user input may relate to a requested or desired distribution of residue material, for example, made by the operator of the combine 10.

[0054] The processor 104 may additionally be operable to receive sensor data via transceiver 106, received from the LIDAR unit 30. From this, the processor 104 is operable to determine a residue material distribution in the manner described hereinbelow.

[0055] Figurers 4 and 5 illustrate operational use of aspects of the invention.

[0056] As discussed herein, aspects of the invention relate to the use of operational data from the spreader tool 22 to control operation of the LIDAR unit 30. Specifically, the control system 100 is configured to control the scanning speed and/or frequency of the LIDAR unit 30 in dependence on operational data from the spreader tool 22.

[0057] The spreader tool 22 includes a steering mechanism which includes a first steering unit in the form of a first rotor 23a for controlling the distribution of residue material from the spreader tool 22 in a first direction (left in the orientation shown in FIGS. 4 and 5), and a second steering unit in the form of a second rotor 23b for controlling distribution of residue material from the spreader tool in a second direction (right in the orientation shown in FIGS. 4 and 5). The first and second directions generally correspond to a left hand side and a right hand side of the agricultural machine. The rotors 23a, 23b are operable to provide a motive force for the residue material through the spreader tool 22, by providing or inducing an airflow through the spreader tool 22, and/or providing a motive force through contacting the residue material with one or more moveable elements of the rotor(s) 23a, 23b. In the illustrated embodiment, the control system 100 is configured to receive operational data from the spreader tool 22 indicative of a rotational frequency of the first and/or second rotors 23a, 23b.

[0058] Processor 10 is operable to control operation of the LIDAR unit 30 in dependence on the rotational frequency of the first and/or second rotors 23a, 23b, and specifically to control a scan speed of the LIDAR unit 30 such that the scanning frequency of the LIDAR unit 30 is substantially synchronised with the rotational frequency of the first and/or second rotors 23a, 23b.

[0059] FIGS. 4 and 5 illustrate two different operational use cases for the control system 100, specifically illustrating that the first and second rotors 23a, 23b may each rotate in either direction as required by the circumstances. Accordingly, the system is configured such that operation of the LIDAR unit 30 may be controlled in dependence on a direction of rotation of the first and/or second rotors 23a, 23b, which includes controlling a scanning direction of the LIDAR unit 30, as well as a scanning frequency and/or speed.

[0060] FIG. 3 illustrates further combine 10, and includes header 12, unloading auger 20, wheels 28 and grain bin 18, and employs a system comprising control system 100 discussed herein, and the associated sensor in the form of LIDAR unit 30. FIG. 3 specifically shows the position of the LIDAR unit 30, with it mounted to the combine 10 above the spreader tool 22, and orientated such that its sensing region 34 is angled downwards towards the ground surface onto which the residue material is ultimately spread by the spreader tool 22. The sensing region 34 is delineated by sensing boundaries 31a, 31b.

[0061] In an extension of the present invention, the processor 104 is operable to receive data from the LIDAR unit 30 indicative of a measure of residue material within the measurement region 34, and be operable to determine, from the sensor data, a distribution of residue material associated with the spreader tool 22. The processor may then be configured to output one or more control signals for controlling one or more operational parameters of the agricultural machine or one or more components thereof in dependence on the determined distribution. For example, the processor 104 may be operable to output control signals 111 via transceiver 110 to the user interface 32 for to graphically illustrate the determined distribution, or to provide an audible or visual indicator to the operator of the observed residue distribution. Additionally or alternatively, the processor 104 may be operable to control one or more operating parameters of the spreader tool 22 in dependence on the observed residue material distribution. This may include controlling one or more operating parameters of a steering mechanism of the spreader tool 22, such as the first and/or second rotors 23a, 23b.

[0062] Any process descriptions or blocks in flow diagrams should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure.

[0063] It will be appreciated that embodiments of the present invention can be realised in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as set out herein and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

[0064] It will be appreciated that the above embodiments are discussed by way of example only. Various changes and modifications can be made without departing from the scope of the present application.