CN111814529A - 机械控制的图像选择 - Google Patents
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Abstract
一种植被指数特征被分配给工作现场处的植被的图像。植被指数特征指示植被指数值在相应图像上如何变化。基于植被指数特征选择图像以用于预测地图生成。将该预测地图提供给收割机控制系统,该系统基于该预测地图和收割机的位置生成施加到收割机的可控子系统的控制信号。
Description
技术领域
本说明书涉及收割机。更具体地,本说明书涉及用于控制收割机的图像选择。
背景技术
有各种各样的不同类型的农业机械。一些这样的机械包括收割机,例如联合收割机、草料收割机、棉花收割机、甘蔗收割机等。这样的机械可以收集在机械控制中使用的数据。
一些当前的系统试图预测要由收割机收割(或正在收割)的农田的产量。例如,一些当前的系统使用拍摄的农田的航拍图像,以试图预测该农田的产量。
此外,一些当前系统试图在控制收割机时使用预测的产量。因此,存在相对较大的工作量,其致力于从农田的图像准确地预测产量。
上面的讨论仅是为一般背景信息而提供的,并不旨在用于帮助确定所要求保护的主题的范围。
发明内容
一种控制作业机械的方法包括:接收在工作现场处的多个图像的光谱响应;基于光谱响应识别一组植被指数度量值;识别与每个图像相对应的植被指数特征,该植被指数特征指示该组植被指数度量值在、对应图像中如何变化;基于植被指数特征从多个图像中选择一个图像;从所选择的图像生成预测地图;和基于作业机械的位置和预测地图来控制作业机械的可控制子系统。
提供本发明内容以简化形式介绍一些概念,这些概念将在下面的详细描述中进一步描述。本概述既不旨在标识所要求保护的主题的关键特征或必要特征,也不旨在用于帮助确定所要求保护的主题的范围。所要求保护的主题不限于解决背景技术中指出的任何或所有缺点的实施方式。
附图说明
图1是联合收割机的局部形象化示意图。
图2是示出包括图1所示的联合收割机的计算系统架构的一个示例的框图。
图3A和3B(在本文中统称为图3)示出了流程图,该流程图示出了图2所示的计算系统架构的操作的一个示例。
图4是示出在远程服务器环境中部署的图1所示的架构的一个示例的框图。
图5-7示出了可以在先前附图中所示的架构中使用的移动装置的示例。
图8是示出可以在先前附图中所示的架构中使用的计算环境的一个示例的框图。
具体实施方式
如上所述,已经有相对大量的工作致力于基于该农田的航拍图像来试图预测该农田的产量。举例来说,一些当前系统试图通过将代表植被发育的植被指数值分配给航空照片中所示的不同位置来预测产量。然后基于分配给图像中的农田不同部分的植被指数度量值来预测产量。已使用的植被指数的一个示例称为归一化差异植被指数(NDVI)。已使用的另一种植被指数称为叶面积指数。当前的系统基于对陆基图像或遥感图像的分析来分配指数值(使用上述指数系统之一,或使用不同的指数系统),该指数值倾向于指示图像中被分析的植被的发育。
然而,这会带来问题。例如,在植物的峰值植被特性时(即在生长季节中,农作物植被(叶子等)最充分发育的时间),植物NDVI值通常会从0增加到大约0.6-0.7。在植物的峰值植被特性时,植物光谱响应达到饱和,因此光谱响应在接近最大值的位置处被削波。该饱和度意味着:当尝试基于使用这些图像预测的产量来控制联合收割机时,在产量预测过程中,基于该饱和度和信噪比,控制算法的灵敏度受到限制。
因此,本说明书描述了一种机构,通过该机构,光谱分析被用于在执行机械控制时选择更有用的图像。该机构识别出在图像上显示出足够的产量可变性的那些图像。例如,在生长季节的早期,图像可能没有用,因为在图像中捕获的植物生长太少。但是,在生长季节的各个时间点,图像可能非常有用,因为已经有足够的植物生长并且当前有活跃的植物生长,但是、图像上的植被指数值仍然分布良好。然后,一旦植物完全生长,由于峰值植被生长会导致饱和图像和低产量预测精度,因此图像可能没有用。再次,在存在活跃的植物衰老的季节的后期,图像可能再次在、图像上显示出良好的植被指数变化幅度、可变性和分布,因此在预测产量方面更有用。
因此,本说明书提供一种系统,该系统选择植被指数度量值可变性足够大的图像,从而该图像有助于生成预测地图。预测地图基于所选图像生成,并提供给收割机。收割机控制系统使用预测地图以及收割机的当前位置和路线来控制收割机。
图1是在其中机械100是多用途收割机(或联合收割机)的示例中的农业机械100的局部形象化示意图。在图1中可以看出,联合收割机100示例性地包括驾驶室101,驾驶室101可以具有用于控制联合收割机100的各种不同的操作员接口机构,如将在下面更详细地讨论的。联合收割机100可包括一组前端设备,其可包括割台102,以及通常以104表示的切割器。该联合收割机100还可以包括进料室106,进料加速器108和通常以110表示的脱粒机。脱粒机110示例性地包括脱粒转子112和一组凹部114。此外,联合收割机100可包括分离器116,该分离器116包括分离器转子。联合收割机100可包括清洁子系统(或清洁室)118,清洁子系统本身可包括清洁风扇120,上筛(chaffer)122和下筛(sieve)124。联合收割机100中的物料处理子系统可包括(除进料室106和进料加速器108之外)排料搅拌器126,杂余升降器(tailing elevator)128,清洁谷物升降器130(将清洁谷物移动到清洁粮箱132中),以及卸料搅龙134和出口136。联合收割机100还可包括残渣子系统138,其可包括切碎器140和散布器142。联合收割机100还可具有推进子系统,该推进子系统包括驱动地面接合轮144或履带等的发动机(或其他动力源)。应注意的是在联合收割机100中,上面提到的子系统中的任何一个可以具有多个(例如左右清洁室,左右分离器等)。
在操作中,并且作为概述,联合收割机100沿箭头146所示的方向示意性地移动通过农田。随着其移动,割台102接合待收割的农作物并将其朝向切割器104收集。在农作物被切割之后,将其通过进料室106中的传送带移向进料加速器108,该进料加速器108使得农作物加速进入脱粒机110。通过转子112将农作物逆着凹部114旋转来对农作物进行脱粒。通过分离器转子在分离器116中对脱粒的农作物进行移动。在这里,一些残渣被排料搅拌器126移向残渣子系统138。残渣可被残渣切碎器140切碎,并由散布器142散布在农田上。在其他实施方式中,残渣只是简单地掉落堆成料堆中,而不是切碎并散布。
谷物掉落到清洁室(或清洁子系统)118上。上筛122从谷物中分离出一些较大的材料,而下筛124从清洁谷物中分离出一些较细的材料。清洁谷物落入清洁谷物升降器130中的搅龙,该搅龙将清洁谷物向上移动并将其沉积在清洁粮箱132中。可以通过清洁风扇120产生的气流从清洁室118中排除残渣。该残渣也可以移动在联合收割机100中向后移向残渣处理子系统138。
杂余可以通过杂余升降器128移动回到脱粒机110,在那里可以将它们重新脱粒。替代地,杂余也可以(也使用杂余升降器或另一运输机构)被传递到单独的重脱粒机构,在这里它们也可以被重新脱粒。
图1还示出,在一个示例中,联合收割机100可包括地面速度传感器147,一个或多个分离器损失传感器148,清洁谷物摄像机150和一个或多个清洁室损失传感器152。地面速度传感器147说明性地感测联合收割机100在地面上的行进速度。这可以通过感测车轮,驱动轴,车桥或其他组件的旋转速度来完成。联合收割机100的行进速度和位置也可以由定位系统157(诸如全球定位系统(GPS),航位推算系统,LORAN系统或提供行进速度的指示的多种其他系统或传感器)感测。
清洁室损失传感器152示例性地提供指示清洁室118的右侧和左侧的谷物损失量的输出信号。在一个示例中,传感器152是撞击传感器(或冲击传感器),其对每单位时间(或每单位行驶距离)的谷物撞击进行计数,以提供清洁室的谷物损失的指示。清洁室的右侧和左侧的撞击传感器可以提供单独的信号,也可以提供组合的或汇总的信号。应当注意,传感器152也可以仅包括单个传感器,而不是每个清洁室具有多个分离的传感器。
分离器损失传感器148提供指示左分离器和右分离器中的谷物损失的信号。与左右分离器关联的传感器可以提供单独的谷物损失信号或组合的或汇总的信号。这也可以使用多种不同类型的传感器来完成。应当注意,分离器损失传感器148也可以仅包括单个传感器,而不是分离的左右传感器。
还将意识到,传感器和测量机构(除了已经描述的传感器之外)也可以包括联合收割机100上的其他传感器。例如,它们可以包括残渣设置传感器,该残渣设置传感器被配置为感测机械100是否被配置为切碎残渣,将其丢弃堆成料堆等。它们可以包括清洁室风扇速度传感器,其可以被配置为靠近风扇120以感测风扇的速度。它们可以包括感测转子112和凹部114之间的间隙的脱粒间隙传感器。它们包括感测转子112的转子速度的脱粒转子速度传感器。它们可以包括感测上筛122中的开口尺寸的上筛间隙传感器。它们可以包括感测下筛124中的开口尺寸的下筛间隙传感器。它们可以包括除谷物(MOG)以外的材料的湿度传感器,其可以被配置为感测除通过联合收割机100的谷物之外的材料的水分含量。它们可以包括配置为感测联合收割机100上各种可配置设置的机械设置传感器。它们还可以包括机械方向传感器,该传感器可以是可以检测联合收割机100的方向或姿势的各种不同类型的传感器中的任何一种。农作物特性传感器可以感应多种不同类型的农作物特性,例如农作物类型、农作物水分和其他农作物特性。它们还可以被配置为在联合收割机100正在处理农作物时感测农作物的特性。例如,当谷物行进通过清洁谷物升降器130时,它们可以感测谷物进料速率。它们可以将与如下位置相关的产量感测作为通过升降器130的谷物质量流量:谷物从该位置被收割,并且该位置由位置传感器157指示,或者它们可以提供指示其他感测变量的其他输出信号。下面描述了可以使用的传感器类型的一些其他示例。
同样,将注意的是,图1仅示出了机械100的一个示例。也可以使用其他机械,例如饲料收割机,棉花收割机,甘蔗收割机等。
图2是示出计算系统架构180的一个示例的框图。在图2所示的示例中,架构180示出了航空图像捕获系统182,其捕获一组航空图像,和/或其他图像捕获系统183可以捕获其他图像。图像184表示由图像捕获系统182和183中的一个或多个捕获的光谱响应,并被提供给预测地图生成系统186。预测地图生成系统186选择要在生成预测地图188时使用的图像184。预测地图188然后提供给收割机100的控制系统,在此它用于控制收割机100。
将注意,在图2中,预测地图生成系统186被示为与收割机100分离。因此,它可以放置在远程计算系统上或其他地方。然而,在另一个示例中,预测地图生成系统186也可以设置在收割机100上。本文考虑了这些和其他架构。在更详细地描述架构180的整体操作之前,将首先提供架构180中的某些项目的简短描述及其操作。
航空图像捕获系统182可以是任何类型的系统,其捕获正由收割机100收割或待由收割机100收割的农田的航空图像(或光谱响应)。因此,系统182可以包括基于卫星的系统,其中,卫星图像被生成为图像184。它可以是使用无人飞行器或有人驾驶飞行器以捕获图像184的系统。它也可以是另一种航空图像捕获系统。其他图像捕获系统183可以是也捕获农田的光谱响应的其他类型的基于地面的图像捕获系统。
预测地图生成系统186示意性包括一个或多个处理器或服务器190,通信系统192,数据存储器194,光谱分析系统196,图像选择逻辑电路198,地图生成器逻辑电路200,地图校正逻辑电路202,并且可以包括各种其他项目204。光谱分析系统196可以包括图像质量识别器逻辑电路205,植被指数度量值识别器逻辑电路206(其本身可以包括叶面积指数逻辑电路208,农作物取向检测器逻辑电路209,NDVI逻辑电路210,其他遥感指数逻辑电路211和/或其他逻辑电路212),图像分析逻辑电路214(其本身可以包括足够的植物生长识别器216、幅度识别器215、分布识别器217、可变性识别器218,并且可以包括其他项目220),以及其他项目222。图像选择逻辑电路198本身可以包括多因子优化逻辑电路223,阈值逻辑电路224,排序逻辑电路226和/或其他逻辑电路228。在操作中,通信系统192从系统182和/或183或从可以存储图像的另一个系统接收图像184。它还可以接收有关该农田的其他信息,例如拓扑、农作物类型、环境和农作物条件等。因此,通信系统192可以是被配置为通过广域网、局域网、近场通信网络、蜂窝通信网络或各种各样的不同网络或网络组合中的任何其他网络进行通信的系统。
一旦接收到图像184,光谱分析系统196对图像执行光谱分析,并且图像选择逻辑电路198基于光谱分析选择图像以用于生成地图。在一个示例中,图像质量识别器逻辑电路205执行初始检查以查看图像是否具有足够的质量。例如,它可以寻找云、阴影、遮蔽物等的存在。植被指数度量值识别器逻辑电路206识别与接收到的每个图像相对应的一组植被指数度量值。基于正被计算的特定度量,那些度量值将在图像上变化。例如,在使用叶面积指数的情况下,叶面积指数逻辑电路208将生成与航空图像的不同部分相对应(并因此与农田的不同部分相对应)的叶面积指数值。在使用NDVI的情况下,NDVI逻辑电路210将为图像的不同部分生成NDVI度量值。农作物方向检测器逻辑电路211可以检测农作物方向(例如,倒下的农作物,倒伏的农作物等)。其他遥感指数逻辑电路211可以为图像的不同部分生成其他指数度量值。
图像分析逻辑电路214然后确定植被指数度量值对于该特定图像是否足够。它可以通过识别植被指数度量值的范围的幅度,植被指数度量值在图像中如何变化以及如何分布来实现。这些可以由幅度识别器215,可变性识别器218和分布识别器217执行。如果使用叶面积指数度量,则它针对图像上的那些度量值识别那些特征。如果使用了NDVI度量,它将针对图像上的这些度量值识别那些特征。
然而,首先,适当的植物生长识别器216确定是否在存在适当的植物生长时拍摄图像。如果在季节过早(例如在植物出苗前或植物出苗后不久)时拍摄图像,则可能没有足够的植物生长来充分地产生植被指数值。因此,足够的植物生长识别器216分析图像以确保在图像中反映出足够的植物生长,从而植被指数值是有意义的。
假设所分析的图像反映出适当的植物生长,则幅度识别器215识别植被指数度量值的范围的幅度。分布识别器217识别它们的分布,而可变性识别器218然后识别图像上的植被指数度量值的分布或可变性范围,以识别可变性水平。这可以通过分布分析,平均趋势观察,分布方式的时间序列分析,标准差或使用其他工具来完成。
一旦已将幅度、分布和可变性的指示分配给图像,则图像选择逻辑电路198基于那些值确定是否应选择该图像以用于预测地图生成。
图像选择逻辑电路198可以各种不同方式确定图像是否合适。例如,多因素优化逻辑电路223可以使用幅度、分布和可变性来执行多因素优化。可以基于优化对图像进行排序和选择。阈值逻辑电路224可以将分配给图像的值与阈值进行比较。如果它们满足阈值,则可以将图像选择为待用于预测地图生成的图像。
在另一示例中,排序逻辑电路226可以基于与每个图像相对应的幅度、分布和/或可变性值中的一个或多个来对处理后的图像进行排序。该排序逻辑电路226可以使用前N个图像(幅度、分布和/或可变性为前N个值的那些图像)来生成预测地图。但是,应注意,也可以使用其他机构,其基于分配给图像的幅度、可变性、分布、平均值或其他统计度量值来选择图像。
地图生成器逻辑电路200从图像选择逻辑电路198接收所选择的图像,并基于那些所选择的图像生成预测地图。在一个示例中,预测地图是预测产量地图,其基于所选择的图像针对农田中的不同位置生成预测的产量值。然后,通信系统192将预测地图198提供给收割机100(在系统186与收割机100分开的示例中),以便可以将其用于控制收割机100。
在某个时刻,收割机100可以感测(或得出)实际产量。在那种情况下,可以将实际产量值以及与那些产量值相对应的位置一起提供回系统186,在系统186中,地图校正逻辑电路202基于原位实际产量值来校正预测地图188。然后可以将校正后的预测地图188提供给收割机100以进行持续控制。
图2显示,在一个示例中,收割机100包括一个或多个处理器230,通信系统232,数据存储器234,一组传感器236,控制系统238,可控子系统240,操作员接口机构242,以及该收割机100可以包括各种其他项目244。操作员246与操作员接口机构242交互以便控制和操纵收割机100。因此,操作员接口机构242可以包括控制杆、方向盘、操纵杆、按钮、踏板、连杆等。在操作员接口机构242包括触敏显示屏的情况下,则它们还可以包括操作员可致动元件,诸如可以使用定点装置和点击装置或触摸手势而被致动的链接、图标、按钮等。在操作员接口机构242包括语音处理功能的情况下,则它们可以包括麦克风、扬声器和用于接收语音命令并生成合成语音输出的其他项目。它们可以包括各种各样的其他视觉、音频和触觉机构。
传感器236可以包括上述的位置传感器157,航向传感器248,该航向传感器248识别收割机100正在采取的航向或路线。它可以通过处理多个位置传感器的输出并推断路线或以其他方式来实现。它可以示例性地包括如上所述的速度传感器147、质量流量传感器247和湿度传感器249。质量流量传感器247可以感测进入清洁粮箱的谷物的质量流量。这与由传感器249感测到的农作物水分一起可以用于产生指示产量的产量度量。传感器236也可以包括各种各样的其他传感器250。
可控子系统240可以包括推进子系统252,转向子系统254,机械致动器256,动力子系统258,农作物处理子系统259,并且它可以包括各种各样的其他项目260。推进子系统252可以包括发动机或其他控制收割机100的推进的动力源。转向子系统254可包括可被致动以使得收割机100转向的致动器。机械致动器256可包括多种不同类型的致动器中的任何一种,其可用于改变机械设置,改变机械的配置,升高和降低割台,改变不同的子系统速度(例如,风扇速度)等。动力子系统258可用于控制收割机100的动力利用率。动力子系统258可用于控制将多少动力分配给不同的子系统等。农作物处理子系统259可以包括诸如前端设备,脱粒子系统,清洁子系统,材料处理子系统和残渣子系统之类的事物,所有这些子系统以上均参照图1进行了详细描述。其他子系统260可以包括任何其他子系统。
在操作中,一旦收割机100接收到预测产量地图188,控制系统238就会接收来自位置传感器(或其他指示未来位置的变量)的收割机100的当前位置并接收收割机100的航向或路线,并且产生控制信号以基于预测地图188以及收割机100的当前和将来位置来控制可控子系统240。例如,在预测地图188指示收割机100即将进入该农田的极高产量部分时,则控制系统238可以控制推进子系统252以减慢收割机100的地面速度,以保持大致恒定的进料速度。在指示收割机100即将进入极低产量部分时,它可以使用转向子系统254将收割机100转移到该农田的较高产量部分,或者可以控制推进子系统252以提高收割机100的速度。可以产生控制信号以控制机械致动器256来改变机械设置,或者可以控制动力子系统258来改变动力利用率或在子系统之间以不同方式来重新分配动力等。它还可以控制任何农作物处理子系统259。
图3A和3B(在本文中统称为图3)示出了流程图,该流程图示出了架构180在选择图像184、生成预测地图188和使用该预测地图188以控制收割机100时的操作的一个示例。首先假设航空图像捕获系统182和/或183被部署为捕获所考虑的农田的图像184,这在图3的流程图中由框262指示。如框264所示,可以在一天或另一个时期内捕获图像184,也可以在生长季节的不同时间捕获图像184。也可以用多种其他方式捕获图像184,这由框266指示。
植被指数度量值识别器逻辑电路206然后选择图像以进行处理。这由框268指示。图像质量识别器逻辑电路205然后检查图像质量以确定其是否足以用于进一步处理。图像质量可能由于多种原因而受到影响,例如云、阴影、遮挡物等的存在。由框267指示计算图像质量。由框269指示检查云,并由框271指示检查阴影。在框273中指示检查可能影响图像质量的其他事物(例如灰尘或其他遮蔽物等)。在框275中指示确定图像质量是否足够。如果否,则处理返回到框268,在框268中,另一图像被选择。如果质量足够,则植被指数度量值识别器逻辑电路206说明性地将植被指数度量值分配给图像的不同部分(并因此分配给图像所代表的农田的不同位置)。这由框270指示。如上所述,叶面积指数逻辑电路208可以生成图像的叶面积指数度量值。这由框272指示。NDVI逻辑电路210可以生成图像的NDVI度量值。这由框274指示。也可以如框276所指示的那样测量或建立农作物水分,如框277所指示的农作物取向也可以。或者替代地,也可以分配其他植被指数值,这是由框279指示。
然后,足够的植物生长识别器216确定是否在图像中反映了足够的植物生长的时间点拍摄了航空图像。通过确定与图像相对应的植被指数值是否具有如下的值来完成此操作,该值显示足够的活跃植物生长。图3的流程图中的框278指示确定图像是否显示出足够的植物生长。
图像分析逻辑电路214然后对所选图像执行附加图像分析,以为其分配在图像中展示的幅度、分布和可变性水平。这由图3的流程图中的框280指示。在一个示例中,幅度识别器215识别植被指数值的范围的幅度。这由框282指示。分布识别器217标识那些值的分布。这由框283指示。可变性识别器218计算图像上的植被指数值的变化(或那些值的可变性)。这由框284指示。图像分析也可以以其他方式执行,并且这由框285指示。
光谱分析系统196然后确定是否有更多图像184待处理。这由框286指示。如果是,则处理返回框268,在框268中选择下一图像进行处理。
如果不再需要处理更多图像,则图像选择逻辑电路198基于与每个图像相对应的幅度、分布和/或可变性的水平,选择一个或多个图像以生成预测地图188。这由图3的流程图中的框288指示。
在一个示例中,多因子优化逻辑电路223基于植被指数度量值的幅度、可变性和分布来执行优化。这由框289指示。在另一示例中,阈值逻辑电路224将每个图像的可变性(或其他特征)值与对应的阈值进行比较以确定该图像是否足够。这由框290指示。在另一示例中,排序逻辑电路226通过以上讨论的特征对处理后的图像进行排序,以识别具有最高(例如,最佳)值的那些图像并选择那些图像。这由框292指示。也可以基于幅度、分布和/或可变性值,以其他方式来选择图像。这由框294指示。
地图生成器逻辑电路200然后使用选择的图像生成预测地图188。这由图3的流程图中的框296指示。在一个示例中,地图生成器逻辑电路200也可以使用其他信息来生成地图。该信息可以包括诸如拓扑、农作物类型、农作物特性(例如,农作物水分等)、环境条件(例如土壤水分,天气等)或基于数据建模的预测模型。框298指示在生成地图时考虑其他变量。该地图可以是预测产量地图,其给出了田间不同区域的预测产量值。这由框300指示。预测地图可以以其他方式生成,并且也代表其他农作物特性,例如生物量、水分、蛋白质、淀粉、油等,并且由框302指示。
然后,输出预测地图188以控制收割机100。这由框304指示。
控制系统238然后可以从传感器238接收传感器信号,该传感器信号指示收割机的位置和路线(或指示收割机行进的方向或其他值)。这由框306指示。传感器值可以包括当前位置308,速度310,航向312和/或各种各样的其他值314。
基于收割机的位置,收割机的前进去向以及还基于预测地图中的值,控制系统238生成收割机控制信号以控制一个或多个可控子系统240。由框316指示生成控制信号。然后将控制信号应用到可控子系统以控制收割机100。这由框318指示。它可以以各种不同的方式进行。例如,如框320所示,它可以控制收割机100的推进/速度(例如,以保持恒定的进料速度等)。它可以通过控制转向子系统254来控制收割机100的路线或方向。这由框322指示。它可以控制各种不同类型的机械致动器256中的任何一个,如框324所示。它可以控制动力子系统258,以控制子系统之间的动力利用率或动力分配,如框326所示。如框327所示,它可以控制任何农作物处理子系统259中的任一个。它可以将控制信号施加到不同的可控子系统,从而也以不同的方式控制收割机100。这由框328指示。
如上所述,传感器236可包括质量流量传感器247和水分传感器249,其可用于得出收割机100上的实际产量。这由框330指示。实际产量以及实现该产量的位置可以反馈给地图校正逻辑电路202,该地图校正逻辑电路202基于从传感器247和249感测到的信息得出的实际产量值,对预测地图188进行任何所需的校正。这由框332指示。例如,如果实际产量始终与预测产量相差某个值或函数,则可以将该值或函数应用于预测地图上的其余产量值以作为校正值。这只是一个例子。
当收割机完成农田的收割时,操作完成。在此之前,处理可以返回到框304,在框304,将校正后的地图(如果进行了任何校正)提供回收割机控制系统238,该系统使用该校正后的图来控制收割机。框334指示确定操作是否完成。
将注意,以上讨论已经描述了各种不同的系统、部件和/或逻辑电路。应当理解,这样的系统、部件和/或逻辑电路可以由硬件项目(例如处理器和相关联的存储器或其他处理部件,其中一些在下面描述)组成,这些硬件项目执行与那些系统,部件和/或逻辑电路相关联的功能。另外,如下所述,系统、部件和/或逻辑电路可以由软件组成,该软件加载到存储器中并且随后由处理器或服务器或其他计算部件执行。系统、部件和/或逻辑电路还可以包括硬件、软件、固件等的不同组合,下面描述其一些示例。这些仅仅是可用于形成上述系统、部件和/或逻辑电路的不同结构的一些示例。也可以使用其他结构。
本讨论提到了处理器和服务器。在一个实施例中,处理器和服务器包括具有(未单独示出)的相关存储器和定时电路的计算机处理器。处理器和服务器是它们所属的系统或装置的功能部件,并且由这些系统或装置激活,并且便于这些系统中的其他部件或项目的功能实现。
此外,还讨论了许多用户接口显示。它们可以采用各种不同的形式,并且可以具有设置在其上的各种不同的用户可致动的输入机构。例如,用户可致动的输入机构可以是文本框、复选框、图标、链接、下拉菜单、搜索框等。用户可致动的输入机构也可以以各种不同的方式致动。例如,可以使用点击装置(例如跟踪球或鼠标)来致动用户可致动的输入机构。用户可致动的输入机构可以使用硬件按钮、开关、操纵杆或键盘、拇指开关或拇指垫等来致动。用户可致动的输入机构也可以使用虚拟键盘或其他虚拟执行器来致动。另外,在显示用户可致动的输入机构的屏幕是触敏屏幕的情况下,可以使用触摸手势来致动用户可致动的输入机构。而且,在显示用户可致动的输入机构的装置具有语音识别部件的情况下,可以使用语音命令来致动用户可致动的输入机构。
还讨论了许多数据存储器。将注意到它们可以分成多个数据存储器。所有这些存储器对于访问它们的系统而言都可以是本地的,所有这些存储器都可以是远程的,或者一些存储器可以是本地的,而另一些存储器是远程的。本文考虑了所有这些配置。
此外,附图示出了具有归属于每个框的功能的多个框。应注意,可以使用更少的框,因此功能由更少的部件执行。此外,可以使用更多框,其中功能分布在更多部件中。
图4是图2所示的收割机100的框图,不同之处在于它与远程服务器架构500中的元件通信。在一个示例中,远程服务器架构500可以提供不要求终端用户知晓提供服务的系统的物理位置或配置的计算、软件、数据访问和存储服务。在各种示例中,远程服务器可以使用适当的协议在诸如因特网的广域网上提供服务。例如,远程服务器可以通过广域网提供应用程序,并且可以通过Web浏览器或任何其他计算部件访问远程服务器。图2中所示的软件或部件以及相应的数据可以存储在远程位置的服务器上。远程服务器环境中的计算资源可以合并到远程数据中心位置,也可以分散。远程服务器基础架构可以通过共享数据中心提供服务,即使该远程服务器基础架构作为用户的单一访问点出现。因此,可以使用远程服务器架构从远程位置的远程服务器提供这里描述的部件和功能。或者,这里描述的部件和功能可以从传统服务器提供,或者可以直接或以其他方式安装在客户端装置上。
在图4所示的示例中,一些项目类似于图2中所示的项目,并且它们被类似地编号。图4具体示出了预测地图生成系统186可以位于远程服务器位置502。因此,收割机100通过远程服务器位置502访问那些系统。
图4还描绘了远程服务器架构的另一示例。图4示出了还可以想到图2的一些元件设置在远程服务器位置502,而其他元件没有设置在该远程服务器位置502。举例来说,数据存储器194可以设置在与位置502分开的位置,并且通过位置502处的远程服务器访问。无论它们位于何处,它们都可以通过网络(广域网或局域网)被收割机100直接访问,它们可以通过服务托管在远程站点,或者它们可以作为服务提供,或者被驻留在远程位置的连接服务访问。
而且,数据基本上可以存储在任何位置,并且可以由感兴趣的各方间歇地访问或转发给感兴趣的各方。例如,可以使用物理载波代替电磁波载波或者除了电磁波载波之外还使用物理载波。在这样的示例中,在小区覆盖很差或不存在的情况下,另一个移动机械(例如燃料卡车)可以具有自动信息收集系统。当收割机靠近燃料卡车添加燃料时,系统会使用任何类型的ad-hoc无线连接自动收集来自收割机的信息或者将信息传递给收割机。然后,当燃料卡车到达存在蜂窝覆盖(或其他无线覆盖)的位置时,可以将收集的信息转发到主网络。例如,当燃料卡车行驶以给其他机械添加燃料或行驶到主燃料存储位置时,燃料卡车可以进入被覆盖的位置。本文考虑了所有这些架构。此外,信息可以存储在收割机上,直到收割机进入覆盖位置。收割机本身可以将信息发送到主网络和接收来自主网络的信息。
还应注意,图2的元件或它们的一部分可以设置在各种不同的装置上。这些装置中的一些包括服务器、台式计算机、膝上型计算机、平板计算机或其他移动装置,诸如掌上电脑、手机、智能手机、多媒体播放器、个人数字助理等。
图5是可以用作用户手持装置16或客户手持装置16的手持或移动计算装置的一个说明性示例的简化框图,其中可以部署本系统(或其部分)可以部署在该装置中。例如,移动装置可以部署在收割机100的驾驶室中,以用于生成、处理或显示驾驶座宽度和位置数据。图6-7是手持或移动装置的示例。
图5提供了客户端装置16的部件的总体框图,该客户端装置16可以运行图2中所示的一些部件、与这些部件交互、或上述两者。在装置16中,提供通信链路13,其允许手持装置与其他计算装置通信,并且在一些实施例中,提供用于自动接收信息的信道,例如通过扫描。通信链路13的示例包括允许通过一个或多个通信协议(例如用于提供对网络的蜂窝接入的无线服务,以及提供到网络的本地无线连接的协议)进行通信。
在其他示例中,可以在连接到接口15的可移动安全数字(SD)卡上接收应用程序。接口15和通信链路13沿着总线19与处理器17(其也可以包含来自之前的附图的处理器或服务器)通信,总线19还连接到存储器21和输入/输出(I/O)部件23以及时钟25和定位系统27。
在一个示例中,提供I/O部件23以便于输入和输出操作。用于装置16的各种实施例的I/O部件23可以包括输入部件(诸如按钮、触摸传感器、光学传感器、麦克风、触摸屏、接近传感器、加速计、取向传感器)和输出部件(诸如显示装置、扬声器、和/或打印机端口)。也可以使用其他I/O部件23。
时钟25说明性地包括输出时间和日期的实时时钟部件。它还可以说明性地为处理器17提供定时功能。
定位系统27说明性地包括输出装置16的当前地理位置的部件。这可以包括例如全球定位系统(GPS)接收器、LORAN系统,航位推算系统、蜂窝三角测量系统或其他定位。该定位系统还可以包括例如生成所需图、导航路线和其他地理功能的地图软件或导航软件。
存储器21存储操作系统29、网络设置31、应用程序33、应用程序配置设置35、数据存储器37、通信驱动程序39和通信配置设置41。存储器21可以包括所有类型的有形易失性和非易失性计算机可读存储器装置。存储器21还可以包括计算机存储介质(如下所述)。存储器21存储计算机可读指令,当计算机可读指令由处理器17执行时,使处理器根据上述指令执行计算机实现的步骤或功能。处理器17也可以由其他部件激活以便于它们的功能。
图6示出了一个示例,其中装置16是平板计算机600。在图6中,计算机600显示有用户接口显示屏602。显示屏602可以是触摸屏,或接收来自笔或触笔的输入的笔使能接口。它还可以使用屏幕上的虚拟键盘。当然,它也可以通过合适的附接机构(例如无线链路或USB端口)而附接到键盘或其他用户输入装置。计算机600也可以说明性地接收语音输入。
图7示出了装置可以是智能手机71。智能手机71具有显示图标或图块或其他用户输入机构75的触敏显示器73。用户可以使用用户输入机构75来运行应用程序、拨打电话、执行数据传输等。通常,智能手机71建立在移动操作系统上,并且提供比功能电话更高级的计算能力和连接性。
注意,其他形式的装置16是可能的。
图8是计算环境的一个示例,其中在该计算环境中可以部署图2的元件或这些元件的一部分(例如)。参考图8,用于实现一些实施例的示例性系统包括计算机810形式的计算装置。计算机810的部件可包括但不限于处理单元820(其可包括来自之前的附图的处理器或服务器)、系统存储器830和系统总线821,该系统总线821将包括系统存储器的各种系统部件耦合到处理单元820。系统总线821可以是若干类型的总线结构中的任何一种,这些总线结构包括使用各种总线架构中的任何总线架构的存储器总线或存储器控制器、外围总线和本地总线。关于图2描述的存储器和程序可以部署在图8的相应部分中。
计算机810通常包括各种计算机可读介质。计算机可读介质可以是可由计算机810访问的任何可用介质,并且包括易失性和非易失性介质,可移动和不可移动介质。作为示例而非限制,计算机可读介质可包括计算机存储介质和通信介质。计算机存储介质不同于调制数据信号或载波,并且不包括调制数据信号或载波。计算机存储介质包括硬件存储介质,包括易失性和非易失性、可移动和不可移动介质,所述介质在用于存储信息(诸如计算机可读指令、数据结构、程序模块或其他数据)的任何方法或技术中实现。计算机存储介质包括但不限于RAM、ROM、EEPROM、闪存或其他存储技术、CD-ROM、数字通用盘(DVD)或其他光盘存储器、磁带盒、磁带、磁盘存储器或其他磁存储装置,或可以用于存储所需信息并且可以由计算机810访问的任何其他介质。通信介质可以在传输机构中具体地为计算机可读指令、数据结、程序模块或其他数据,并且包括任何信息传递介质。术语“调制数据信号”表示信号的一个或多个特征被设置或改变从而对信号中的信息进行编码。
系统存储器830包括易失性和/或非易失性存储器形式的计算机存储介质,例如只读存储器(ROM)831和随机存取存储器(RAM)832。基本输入/输出系统833(BIOS)通常存储在ROM 831中,该BIOS包含基本的有助于在计算机810内的元件之间传送信息的例程,例如在启动期间。RAM 832通常包含处理单元820可立即访问的和/或当前正被处理单元820操作的数据和/或程序模块。作为示例而非限制,图8示出了操作系统834、应用程序835、其他程序模块836和程序数据837。
计算机810还可以包括其他可移动/不可移动的、易失性/非易失性计算机存储介质。仅作为示例,图8示出了硬盘驱动器841(其从不可移动的非易失性磁介质进行数据读取或向其写入数据)、光盘驱动器855和非易失性光盘856。硬盘驱动器841通常通过不可移动存储器接口(诸如接口840)连接到系统总线821,以及光盘驱动器855通常通过可移动存储器接口(例如接口850)连接到系统总线821。
替代地或另外地,本文描述的功能可以至少部分地由一个或多个硬件逻辑电路部件执行。例如但不限于,可以使用的说明性类型的硬件逻辑电路部件包括现场可编程门阵列(FPGA)、专用集成电路(例如,ASIC)、专用标准产品(例如,ASSP)、片上系统(SOC)和复杂可编程逻辑电路器件(CPLD)等
上面在图8中讨论并示出的驱动器及其相关的计算机存储介质提供用于计算机810的计算机可读指令、数据结构、程序模块和其他数据的存储。在图8中,例如,硬盘驱动器841被示为存储操作系统844、应用程序845、其他程序模块846和程序数据847。注意,这些部件可以与操作系统834、应用程序835、其他程序模块836和程序数据837相同或不同。
用户可以通过输入装置(诸如键盘862、麦克风863和指示装置861,和诸如鼠标、轨迹球或触摸板)将命令和信息输入到计算机810中。其他输入装置(未示出)可以包括操纵杆、游戏手柄、圆盘式卫星天线,扫描仪等。这些和其他输入装置通常通过用户输入接口860(其联接到系统总线)连接到处理单元820,但是可以被其他接口和总线结构所连接。可视显示器891或其他类型的显示装置也经由诸如视频接口890的接口连接到系统总线821。除了监视器之外,计算机还可以包括其他外围输出装置,例如扬声器897和打印机896,其可以通过输出外围接口895而被连接。
计算机810使用到一个或多个远程计算机(例如远程计算机880)的逻辑电路连接(诸如局域网-LAN或广域网WAN或控制器局域网CAN)在网络环境中操作。
当在LAN网络环境中使用时,计算机810通过网络接口或适配器870连接到LAN871。当在WAN网络环境中使用时,计算机810通常包括调制解调器872或其他装置用于在WAN873(诸如互联网)上建立通信。在联网环境中,程序模块可以存储在远程存储器存储装置中。图8示出了例如远程应用程序885可以驻留在远程计算机880上。
还应注意,本文描述的不同示例可以以不同方式组合。也就是说,一个或多个示例的一部分可以与一个或多个其他示例的部分组合。所有这些都在本文中考虑。
示例1是一种控制作业机械的方法,包括:
接收在工作现场处的多个图像的光谱响应;
基于光谱响应识别一组植被指数度量值;
识别与每个图像相对应的植被指数特征,该植被指数特征指示该组植被指数度量值在、对应图像中如何变化;
基于植被指数特征从多个图像中选择一个图像;
从所选择的图像生成预测地图;和
基于作业机械的位置和预测地图来控制作业机械的可控制子系统。
示例2是根据任何前述示例或前述所有示例所述的方法,其中,识别植被指数特征包括:
确定植被指数度量值的范围的幅度,植被指数度量值的分布和植被指数度量值的可变性。
示例3是根据任何前述示例或前述所有示例所述的方法,其中,选择图像包括:
基于一组图像中的与图像相对应的植被指数特征,从所述多个图像中选择所述一组图像,该选择。
示例4是根据任何前述示例或前述所有示例所述的方法,其中,生成预测地图还包括:
基于所选择的一组图像生成预测产量地图。
示例5是根据任何前述示例或前述所有示例所述的方法,其中,识别植被指数特征包括:
计算对应图像的光谱响应中的一组图像光谱值;和
识别所述一组图像光谱值在一组植被指数度量值上的可变性。
示例6是根据任何前述示例或前述所有示例所述的方法,其中,其中选择所述一组图像包括:
选择具有比未选择图像的植被指数特征表现出更大的变化的植被指数特征的一组图像。
示例7是根据任何前述示例或前述所有示例所述的方法,其中,选择所述一组图像包括:
选择具有满足植被指数特征阈值的植被指数特征的一组图像。
示例8是根据任何前述示例或前述所有示例所述的方法,其中,选择所述一组图像包括:
基于图像中表示的植被分布来选择一组图像,该植被分布会抑制光谱饱和并反映预定水平的植物生长。
示例9是根据任何前述示例或前述所有示例所述的方法,其中,控制可控子系统包括控制机械致动器。
示例10是根据任何前述示例或前述所有示例所述的方法,其中,控制可控子系统包括控制推进子系统。
示例11是根据任何前述示例或前述所有示例所述的方法,其中,控制可控子系统包括控制转向子系统。
示例12是根据任何前述示例或前述所有示例所述的方法,其中,控制可控子系统包括控制农作物处理子系统。
示例13是一种作业机械,包括:
通信系统,其被配置为接收工作现场处的植被的多个图像;
可控子系统;
图像选择器,其被配置为生成植被指数特征并且基于该植被指数特征来选择一组图像,该植被指数特征包括与每个图像相对应的且指示了植被指数度量值在每个图像上如何变化的可变性、分布和幅度;
处理器,其被配置为基于所选择的一组图像生成预测地图;和
子系统控制逻辑电路,其被配置为基于作业机械的位置和预测地图来控制作业机械的可控制子系统。
示例14是根据任何前述示例或前述所有示例所述的方的作业机械,其中,所述图像选择器包括:
可变性识别器逻辑电路,其配置为识别对应图像的一组植被指数度量值并确定植被指数特征在所述一组植被指数度量值上的可变性。
示例15是根据任何前述示例或前述所有示例所述的方的作业机械,其中,所述处理器被配置为基于所选择的一组图像来生成预测产量地图。
示例16是根据任何前述示例或前述所有示例所述的方的作业机械,其中,可变性识别器逻辑电路被配置为识别对应图像的一组叶面积指数度量值,并且识别所述一组叶面积指数度量值在所述一组植被指数度量值上的可变性。
示例17是根据任何前述示例或前述所有示例所述的方的作业机械,其中,可变性识别器逻辑电路被配置为识别对应图像的一组归一化差异植被指数度量值,并识别一组归一化差异植被指数度量值在所述一组植被指数度量值上的可变性。
示例18是根据任何前述示例或前述所有示例所述的方的作业机械,其中,所述图像选择器被配置为选择具有比未选择图像的植被指数特征表现出更大的植被可变性的植被指数特征的一组图像。
示例19是根据任何前述示例或前述所有示例所述的方的作业机械,其中,所述图像选择器被配置为选择具有满足植被指数特征阈值的植被指数特征的一组图像。
示例20是一种图像选择系统,包括:
通信系统,其被配置为接收在工作现场处的植被的多个图像;
图像选择器,其被配置为生成植被指数可变性度量并且基于所述植被指数可变性度量来选择图像,该植被指数可变性度量与每个图像相对应并且指示植被指数值在每个图像上如何变化;和
处理器,其被配置为基于所选择的图像生成至少一个预测地图。
尽管已经用特定于结构特征和/或方法动作的语言描述了主题,但是应该理解,所附权利要求书中定义的主题不必限于上述特定特征或动作。相反,上述特定特征和动作被公开为实现权利要求的示例形式。
Claims (20)
1.一种控制作业机械的方法,包括:
接收在工作现场处的多个图像的光谱响应;
基于光谱响应识别一组植被指数度量值;
识别与每个图像相对应的植被指数特征,该植被指数特征指示该组植被指数度量值在对应图像中如何变化;
基于植被指数特征从多个图像中选择图像;
从所选择的图像生成预测地图;和
基于作业机械的位置和预测地图来控制作业机械的可控制子系统。
2.根据权利要求1所述的方法,其中,识别植被指数特征包括:
确定植被指数度量值的范围的幅度,植被指数度量值的分布和植被指数度量值的可变性。
3.根据权利要求2所述的方法,其中选择图像包括:
基于一组图像中的与图像相对应的植被指数特征,从所述多个图像中选择所述一组图像。
4.根据权利要求3所述的方法,其中,生成预测地图还包括:
基于所选择的一组图像生成预测产量地图。
5.根据权利要求1所述的方法,其中,识别植被指数特征包括:
计算对应图像的光谱响应中的一组图像光谱值;和
识别所述一组图像光谱值在一组植被指数度量值上的可变性。
6.根据权利要求3所述的方法,其中选择所述一组图像包括:
选择具有比未选择图像的植被指数特征表现出更大的变化的植被指数特征的一组图像。
7.根据权利要求3所述的方法,其中选择所述一组图像包括:
选择具有满足植被指数特征阈值的植被指数特征的一组图像。
8.根据权利要求4所述的方法,其中选择所述一组图像包括:
基于图像中表示的植被分布来选择一组图像,该植被分布会抑制光谱饱和并反映预定水平的植物生长。
9.根据权利要求1所述的方法,其中控制可控子系统包括控制机械致动器。
10.根据权利要求1所述的方法,其中,控制可控子系统包括控制推进子系统。
11.根据权利要求1所述的方法,其中,控制可控子系统包括控制转向子系统。
12.根据权利要求1所述的方法,其中,控制可控子系统包括控制农作物处理子系统。
13.一种作业机械,包括:
通信系统,其被配置为接收工作现场处的植被的多个图像;
可控子系统;
图像选择器,其被配置为生成植被指数特征并且基于该植被指数特征来选择一组图像,该植被指数特征包括与每个图像相对应的且指示了植被指数度量值在每个图像上如何变化的可变性、分布和幅度;
处理器,其被配置为基于所选择的一组图像生成预测地图;和
子系统控制逻辑电路,其被配置为基于作业机械的位置和预测地图来控制作业机械的可控制子系统。
14.根据权利要求13所述的作业机械,其中,所述图像选择器包括:
可变性识别器逻辑电路,其配置为识别对应图像的一组植被指数度量值并确定植被指数特征在所述一组植被指数度量值上的可变性。
15.根据权利要求14所述的作业机械,其中,所述处理器被配置为基于所选择的一组图像来生成预测产量地图。
16.根据权利要求15所述的作业机械,其中,可变性识别器逻辑电路被配置为识别对应图像的一组叶面积指数度量值,并且识别所述一组叶面积指数度量值在所述一组植被指数度量值上的可变性。
17.根据权利要求15所述的作业机械,其中,可变性识别器逻辑电路被配置为识别对应图像的一组归一化差异植被指数度量值,并识别一组归一化差异植被指数度量值在所述一组植被指数度量值上的可变性。
18.根据权利要求15所述的作业机械,其中,所述图像选择器被配置为选择具有比未选择图像的植被指数特征表现出更大的植被可变性的植被指数特征的一组图像。
19.根据权利要求15所述的作业机械,其中,所述图像选择器被配置为选择具有满足植被指数特征阈值的植被指数特征的一组图像。
20.一种图像选择系统,包括:
通信系统,其被配置为接收在工作现场处的植被的多个图像;
图像选择器,其被配置为生成植被指数可变性度量并且基于所述植被指数可变性度量来选择图像,该植被指数可变性度量与每个图像相对应并且指示植被指数值在每个图像上如何变化;和
处理器,其被配置为基于所选择的图像生成至少一个预测地图。
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CN110262287A (zh) | 2019-07-14 | 2019-09-20 | 南京林业大学 | 用于收获机械割台高度自动控制的冠层高度在线探测方法 |
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JP2019216744A (ja) | 2019-09-03 | 2019-12-26 | ヤンマー株式会社 | コンバイン |
CN110720302A (zh) | 2019-11-29 | 2020-01-24 | 河南瑞创通用机械制造有限公司 | 一种谷物收获机智能调节系统及其控制方法 |
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CN111406505A (zh) | 2020-04-30 | 2020-07-14 | 江苏大学 | 一种联合收获机粮箱剩余容量及剩余行走距离监测装置和方法 |
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DE102020204363A1 (de) | 2020-10-15 |
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US20210321566A1 (en) | 2021-10-21 |
BR102020002765A2 (pt) | 2020-10-20 |
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