DE102021119856A1 - MACHINE CONTROL USING A PREDICTIVE SPEED MAP - Google Patents

Abstract

One or more information cards are obtained from an agricultural work machine. The one or more information maps depict one or more agricultural characteristic values at different geographic locations of a field. An in situ sensor on the agricultural work machine senses an agricultural feature as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural trait at various locations in the field based on a relationship between the values in the one or more information maps and the agricultural trait sensed by the in situ sensor . The predictive map can be output and used in automated machine control.

Description

FIELD OF DESCRIPTION

The present description relates to agricultural machines.

BACKGROUND

There are many different types of agricultural machinery. Some agricultural machines include harvesters such as combine harvesters, sugar cane harvesters, cotton harvesters, forage harvesters, and windrowers. Some harvesters can also be fitted with different types of headers to harvest different types of crops.

A variety of different field conditions have a number of adverse effects on the harvesting process. Therefore, an operator may attempt to change harvester controls when such conditions occur during the harvesting operation.

SHORT VERSION

One or more information cards are obtained from an agricultural work machine. The one or more information maps depict one or more agricultural characteristic values at different geographic locations of a field. An in situ sensor on the agricultural work machine senses an agricultural feature as the agricultural work machine moves through the field. A predictive map generator generates a predictive map that predicts a predictive agricultural feature at various locations in the field based on a relationship between the values in the one or more information maps and the agricultural feature sensed by the in situ sensor . The predictive map can be output and used in automated machine control.

character list

• 1 12 is a partially pictorial, partially schematic representation of an example combine harvester.
• 2 12 is a block diagram showing in more detail some portions of an agricultural harvesting machine according to some examples of the present disclosure.
• the 3a-3b (herein together as 3 ) show a flow chart illustrating an example of the operation of an agricultural harvesting machine in generating a map.
• 4 Figure 12 is a block diagram showing an example of a predictive model generator and a predictive map generator.
• 5 12 is a flow chart showing an example of an operation of an agricultural harvesting machine in receiving a preliminary information map, recognizing a speed characteristic, and generating a functional predictive speed map for use in controlling the agricultural harvesting machine during a harvesting operation.
• 6 Figure 12 is a block diagram showing an example of a predictive model generator and a predictive map generator.
• 7 FIG. 14 is a flow chart illustrating an example of the operation of an agricultural harvester in receiving a velocity map and recognizing an in situ sensor input in generating a functional predictive sensor data map.
• 8th Figure 12 is a block diagram showing some examples of in situ sensors.
• 9 Figure 12 is a block diagram showing an example of a control zone generator.
• 10 is a flowchart showing an example of the operation of the in 9 control zone generator shown.
• 11 Figure 12 illustrates a flow chart showing an example of operation of a control system in selecting a target setting value to control the agricultural harvester.
• 12 Fig. 12 is a block diagram showing an example of an operator interface control.
• 13 Figure 12 is a flow chart illustrating an example operator interface control.
• 14 Figure 12 is a pictorial representation showing an example operator interface display.
• 15 Figure 12 is a block diagram showing an example agricultural harvester in communication with a remote server environment.
• the 16-18 show examples of mobile devices that can be used in an agricultural harvesting machine.
• 19 Figure 12 is a block diagram showing an example of a computing environment implemented in a agricultural harvester and in previous figures.

DETAILED DESCRIPTION

For a better understanding of the principles of the present disclosure, reference will now be made to the examples illustrated in the drawings and specific language will be used to describe them. However, it should be understood that no limitation on the scope of the disclosure is intended. Any alterations and further modifications to the described devices, systems, methods, and any further application of the principles of the present disclosure are fully contemplated as would normally occur to those skilled in the art to which the disclosure pertains. In particular, it is fully contemplated that the features, components, and/or steps described with respect to one example may be combined with the features, components, and/or steps described with respect to other examples of the present disclosure .

The present description relates to the use of in situ data collected concurrently with a farming operation in combination with predicted or historical data to generate a predictive map and more particularly a predictive velocity map. In some examples, the predictive speed map may be used to control an agricultural work machine, such as an agricultural harvester. As discussed above, controlling the speed of the agricultural harvester when the agricultural harvester engages different conditions in the field can improve performance of the agricultural harvester. For example, when the crop has reached maturity, the weeds may still be green, increasing the moisture content of the biomass encountered by the agricultural harvester. This problem can be exacerbated when weed patches are wet (e.g., just after a rain or when weed patches contain dew) and before the weeds have dried. Thus, if the agricultural harvester encounters an area of increased biomass, the operator can slow the speed of the agricultural harvester to maintain a constant rate of advancement of material through the agricultural harvester. Maintaining a constant feed rate can maintain the performance of the agricultural harvester. Agricultural harvester performance can be adversely affected based on a number of different criteria. Such different criteria may include changes in biomass, crop condition, topography, soil properties and seed characteristics, or other conditions. Therefore, it may also make sense to control the speed of the agricultural harvester based on other conditions that may be present in the field. For example, agricultural harvester performance can be maintained at an acceptable level by adjusting the speed of the agricultural harvester based on the biomass encountered by the agricultural harvester, the crop condition of the crop to be harvested, the topography of the field to be harvested, the soil properties of the to soil to be harvested in the field being harvested, seed characteristics in the field to be harvested, yield in the field to be harvested, or other conditions present in the field.

Also, at a specific speed of the agricultural harvesting machine, it may be desirable to control controllable subsystems on the agricultural harvesting machine in a specific manner. For example, when the agricultural harvester is operating at a first speed, it may be desirable to have the header at a first height, while when the agricultural harvester is operating at a second speed, it may be desirable to have the header at a second height, to maintain the rate of advance of the material through the agricultural harvester at a desired rate of advance.

Some current systems provide vegetative index maps. A vegetative index map illustratively maps vegetative index values (which may be indicative of vegetative growth) across various geographic locations in a field of interest. An example of a vegetative index includes a normalized difference vegetative index (NDVI). There are many other vegetative indices that are within the scope of the present disclosure. In some examples, a vegetative index may be derived from sensor readings of one or more bands of electromagnetic radiation reflected from the plants. Without limitation, these bands can be in the microwave, infrared, visible, or ultraviolet portions of the electromagnetic spectrum.

A vegetative index map can be used to identify the presence and location of vegetation. In some examples, these maps allow for vegetation in the presence of bare ground, plant debris identified and georeferenced the or other plants, including crops or other weeds.

In some examples, a biomass map is provided. A biomass map illustratively depicts a measure of biomass on the field harvested at various locations on the field. A biomass map may be generated from vegetative index values, from historically measured or estimated biomass levels, from images or other sensor readings taken during a previous operation in the field, or otherwise. In some examples, biomass may be adjusted by a factor that represents a portion of the total biomass that passes through the agricultural harvester. For corn, this factor is typically around 50%. For moisture in the harvested crop, this factor is typically 10% - 30%. In some examples, the factor may represent a portion of weed material or weed seeds.

In some examples, a crop condition map is provided. The crop condition may define whether the crop is kinked, standing, partially kinked, the orientation of the kinked or partially kinked crop, and other things. A crop condition map illustratively depicts the crop condition on the field being harvested at various locations on the field. A crop condition map may be generated from aerial or other images of the field, from images or other sensor readings taken during a pre-field operation, or otherwise prior to harvest.

In some examples, a seed map is provided. A seed map may map seed characteristics such as seed location, seed variety, or seed population to various locations in the field. The sowing map can be generated during a previous sowing operation in the field. The seed map may be derived from control signals used by a seeder when seed is being planted or from sensors on the seeder that confirm that a seed has been planted. Seeders may also include geographic position sensors that geolocate seed characteristics in the field.

In some examples, a soil property map is provided. A soil property map exemplarily maps a measure of one or more soil properties, such as soil type or soil moisture in the field, harvested at various locations in the field. A soil property map may be generated from vegetative index values, from historically measured or estimated soil properties, from images or other sensor readings taken during a previous operation in the field, or in some other way.

In some examples, other advance information cards are provided. Such pre-information maps may include a topographical map of the field to be harvested, a predictive yield map for the field to be harvested, or other pre-information maps.

The present discussion thus continues with respect to systems that receive a preliminary information map of a field or a map generated during a preliminary operation, and also use an in situ sensor to detect a variable representing one or more of a machine speed and an output from a feed rate control system. The systems generate a model that models a relationship between the preliminary information values on the preliminary information card and the output values of the in situ sensor. The model is used to generate a functional predictive speed map that predicts, for example, an expected machine speed at various positions in the field. The functional predictive speed map generated during the harvesting process may be presented to an operator or other user, or used to automatically control an agricultural harvesting machine during the harvesting process, or both.

The present discussion also continues with respect to systems that receive a speed map mapping predicted machine speed values to various geographic locations in the field and also use an in situ sensor to detect a variable. The systems create a model that models a relationship between values on the velocity map and the values output by the in situ sensor. The model is used to create a functional predictive data map that predicts values at various positions in the array. The functional predictive map generated during the harvesting process can be presented to an operator or other user and used to automatically control an agricultural harvesting machine during the harvesting process.

1 1 is a partially pictorial, partially schematic representation of a self-propelled agricultural harvester 100. In the example illustrated, the agricultural harvest temaschine 100 a combine harvester. Further, while combines are provided as examples throughout this disclosure, it should be understood that the present description is applicable to other types of harvesting machines, such as cotton harvesters, sugarcane harvesters, forage harvesters, windrowers, or other agricultural work machines. Accordingly, the present disclosure is intended to encompass the various types of harvesters described and is thus not limited to combines. Additionally, the present disclosure is directed to other types of work machines, such as agricultural seeders and sprayers, construction machines, forest machines, and lawn care machines, where predictive map generation may be applicable. Accordingly, the present disclosure is intended to encompass these various types of harvesters and other work machines and is thus not limited to combines.

As in 1 1, agricultural harvester 100 illustratively includes an operator's cab 101 that may include a variety of different operator interface mechanisms for controlling agricultural harvester 100 . The agricultural harvester 100 includes headers, such as a header 102 and a cutter, generally indicated at 104. The agricultural harvester 100 also includes a feeder housing 106, a feed accelerator 108, and a thresher, generally indicated at 110. The feeder housing 106 and the Feed accelerators 108 form part of a material handling subsystem 125 . The header 102 is pivotally coupled to a frame 103 of the agricultural header 100 along the pivot axis 105 . One or more actuators 107 power movement of header 102 about axis 105 in the direction generally indicated by arrow 109 . Thus, a vertical position of the header 102 (the header height) above the ground 111 over which the header 102 travels can be controlled by actuating the actuator 107 . Although in 1 not shown, agricultural harvesting machine 100 may also include one or more actuators operable to apply a pitch angle, a roll angle, or both to the header 102 or portions of the header 102 . Pitch refers to an angle at which the cutter assembly 104 engages the crop. The angle of inclination is increased, for example, by controlling the header 102 so that a distal edge 113 of the cutter 104 is directed more towards the ground. The angle of inclination is reduced by controlling the header 102 so that the distal edge 113 of the cutter 104 is directed further away from the ground. The roll angle refers to the orientation of the header 102 about the front-to-back longitudinal axis of the agricultural harvesting machine 100.

The thresher 110 illustratively includes a threshing rotor 112 and a set of concaves 114. Further, the agricultural harvester 100 also includes a separator 116. The agricultural harvester 100 also includes a cleaning subsystem or cleaning shoe (collectively referred to as the cleaning subsystem 118) that a cleaning fan 120, a chopper 122 and a screen 124 includes. The material handling subsystem 125 also includes a discharge drum 126, a tailings elevator 128, a clean grain elevator 130, and an unloading auger 134 and chute 136. The clean grain elevator conveys clean grain into the clean grain tank 132. The agricultural harvester 100 also includes a tailings subsystem 138 that a chopper 140 and a spreader 142. Agricultural harvester 100 also includes a propulsion subsystem that includes an engine that drives ground engaging components 144, such as wheels or tracks. In some examples, a combine may include more than one of the above subsystems within the scope of the present disclosure. In some examples, agricultural harvester 100 may include left and right hand cleaning subsystems, separators, etc., shown in 1 are not shown.

In operation and for overview, agricultural harvester 100 illustratively moves through a field in the direction indicated by arrow 147 . During movement of the agricultural harvesting machine 100, the header 102 (and the associated reel 164) engages the crop to be harvested and collects the crop towards the cutting device 104. An operator of the agricultural harvesting machine 100 can be a local human operator, a remote human operator or be an automated system. The operator of agricultural harvesting machine 100 may specify one or more height settings, pitch angle settings, or roll angle settings for header 102 . For example, the operator enters a setting or settings into a control system, described in more detail below, that controls actuator 107 . The control system may also receive an adjustment from the operator to establish the pitch angle and roll angle of the header 102 and implement the entered adjustments by controlling associated actuators, not shown, the operate to change the pitch angle and roll angle of the header 102. The actuator 107 maintains the header 102 at a height above the ground 111 based on a height adjustment and at desired pitch and roll angles, if any. Each of the elevation, roll, and pitch settings can be implemented independently of the others. The control system responds to header errors (e.g., the difference between the elevation setting and the measured height of the header 104 above the ground 111 and, in some examples, pitch angle and roll angle errors) with a responsiveness that is determined based on a selected sensitivity level. When the Sensitivity Level is set to a higher sensitivity level, the control system will respond to smaller header position errors and attempt to reduce the detected errors faster than when the sensitivity is at a lower sensitivity level.

Returning to the description of the operation of the agricultural harvesting machine 100 m after the crop has been cut by the cutter 104, the separated crop material is moved by a conveyor belt in the feed housing 106 towards the feed accelerator 108, which accelerates the crop into the thresher 110. The crop is fed through threshed by the rotor 112, which rotates the crop against the concaves 114. The threshed crop material is moved by a separator rotor in the separator 116 with a portion of the residue being moved towards the residue subsystem 138 by the discharge drum 126 . The portion of the tailings that is transferred to tailings subsystem 138 is shredded by tailings chopper 140 and spread by spreader 142 on the field. In other configurations, the residue is released from the agricultural harvester 100 in a windrow. In other examples, residue subsystem 138 may include weed control devices (not shown), such as seed baggers or other seed collectors or seed crushers or other seed destroyers.

The grain falls onto the cleaning subsystem 118. The chopper 122 separates a portion of coarser pieces of material from the grain and the screen 124 separates a portion of finer pieces of material from the clean grain. The clean grain falls onto an auger that moves the grain to an inlet end of the clean grain elevator 130 and the clean grain elevator 130 moves the clean grain up, thereby separating the clean grain in the clean grain tank 132 . Debris is removed from the cleaning subsystem 118 by the air flow of the cleaning fan 120 . The cleaning fan 120 directs air along an airflow path up through the screens and choppers. The airflow carries residue rearward in agricultural harvesting machine 100 toward residue handling subsystem 138.

The tailings elevator 128 returns the tailings to the thresher 110 where the tailings are threshed again. Alternatively, the tailings can also be fed to a separate after-threshing mechanism by a tailings elevator or other transport device, where the tailings are also after-threshed.

1 Also shows that in one example, agricultural harvesting machine 100 includes machine speed sensor 146, one or more separator loss sensors 148, a clean grain camera 150, a forward-looking image capture mechanism 151, which may be in the form of a stereo or mono camera, and one or more loss sensors 152 provided in the cleaning subsystem 118 is included.

The machine speed sensor 146 detects the ground speed of the agricultural harvesting machine 100 over the ground. The machine speed sensor 146 may detect the ground speed of the agricultural harvesting machine 100 by sensing the rotational speed of ground engaging components (such as wheels or tracks), a driveshaft, an axle, or other components. In some cases, vehicle speed may be sensed using a positioning system, such as a global positioning system (GPS), dead reckoning system, remote navigation system (LORAN), or a variety of other systems or sensors that provide an indication of vehicle speed.

The loss sensors 152 illustratively provide an output signal indicative of the amount of grain loss occurring on both the right and left sides of the cleaning subsystem 118 . In some examples, the sensors 152 are impact sensors that count grain impacts per unit time or per unit distance to provide an indication of grain loss occurring at the cleaning subsystem 118 . The impact sensors for the right and left sides of the shoe 118 can provide individual signals or a combined or aggregated signal. In some examples, the sensors 152 can include a single sensor, as opposed to separate sensors provided for each cleaning subsystem 118 .

The separator loss sensor 148 provides a signal indicative of grain loss in the left and right separators, in 1 not shown separately. The trap loss sensors 148 can NEN can be associated with the left and right separators and can provide separate grain loss signals or a combined or aggregated signal. In some cases, detecting grain loss in the separators can also be done using a variety of different types of sensors.

Agricultural harvester 100 may also include other sensors and measurement mechanisms. For example, the agricultural harvesting machine 100 may include one or more of the following sensors: a header height sensor that detects a height of the header 102 above the ground 111; stability sensors that detect oscillatory or bouncing motion (and amplitude) of agricultural harvesting machine 100; a residue setting sensor configured to detect whether the agricultural harvesting machine 100 is configured to shred the residue, create a windrow, etc.; a shoe fan speed sensor to detect the speed of the cleaning fan 120; a concave gap sensor that senses the gap between the rotor 112 and the concaves 114; a threshing rotor speed sensor that detects a rotor speed of the rotor 112; a chip gap sensor that senses the size of the openings in the chipper 122; a wire gap sensor that senses the size of the openings in the wire 124; a non-grain material (MOG) moisture sensor that detects a moisture content of the MOG passing through the agricultural harvesting machine 100; one or more machine setting sensors configured to sense various configurable settings of agricultural harvesting machine 100; a machine orientation sensor that detects the orientation of the agricultural harvesting machine 100; and crop property sensors that sense a variety of different types of crop properties, such as crop type, crop moisture, and other properties of the crop. The crop characteristic sensors can also be configured to detect the characteristics of the separated crop during processing by the agricultural harvesting machine 100 . For example, in some cases, the crop property sensors may sense grain quality, such as broken grain, MOG values; grain components such as starches and protein; and grain feed rate as the grain moves through the feeder house 106, the clean grain elevator 130, or elsewhere in the agricultural harvester 100. The crop property sensors may also sense the rate of advance of biomass through the feeder house 106 , through the separator 116 , or elsewhere in the agricultural harvester 100 . The crop property sensors may also sense haul rate as a mass flow rate of grain through the elevator 130 or through other portions of the agricultural harvesting machine 100, or provide other output signals indicative of other sensed quantities.

Before describing how the agricultural harvesting machine 100 generates a functional predictive speed map and uses the functional predictive speed map for control, a brief description of some elements of the agricultural harvesting machine 100 and their operation is first provided. The description of 2 and 3 describes receiving a general type of advance information map and combining information from the advance information map with a georeferenced sensor signal generated by an in situ sensor, the sensor signal representing a feature such as one or more features of the field itself, one or more crop features of harvested material, such as crop or grain, present in the field indicates one or more environmental characteristics of the agricultural harvesting machine or one or more characteristics of the agricultural harvesting machine. Field characteristics include, but are not limited to, characteristics of a field such as slope, weed intensity, weed type, soil moisture, surface quality. Crop characteristics may include one or more crop characteristics such as crop height, crop moisture, crop density, crop condition; as well as characteristics of grain traits such as grain moisture, grain size and grain test weight. Environmental features may include weather features and the presence of standing water. Characteristics of the agricultural harvester may include characteristics indicative of machine settings or operator inputs or machine operation characteristics such as machine speed, outputs from various controls, machine performance such as loss levels, job quality, fuel consumption, and power consumption. A relationship between the feature values obtained from or derived from in situ sensor signals and the velocity map values is identified and this relationship is used to generate a new functional predictive map. A functional predictive map predicts values at various geographic locations in a field, and one or more of these values can be used to control a machine, such as one or more subsystems of an agricultural harvester. In some cases, a functional predictive map may be presented to a user, such as an operator of an agricultural work machine, which may be an agricultural harvester. A functional predictive map can be used by a user be presented visually, such as via a display, haptically or acoustically. The user can interact with the functional predictive map to perform editing operations and other user interface operations. In some cases, a functional predictive map can be used for one or more of: controlling an agricultural work machine, such as an agricultural harvester, presenting to an operator or other user, and presenting to an operator or user for interaction by the operator or user .

After the general approach regarding the 2 and 3 , a more specific approach to generating a functional predictive speed map that can be presented to an operator or user, or used to control agricultural harvesting machine 100, or both, is described with reference to FIG 4 and 5 described. Then the use of a speed map to control the agricultural harvesting machine 100 will be described. Although the present discussion continues with respect to the agricultural harvester, and more particularly a combine harvester, other types of agricultural harvesters or other agricultural work machines are within the scope of the present disclosure.

2 FIG. 12 is a block diagram showing some portions of an exemplary agricultural harvesting machine 100. FIG. 2 shows that the agricultural harvesting machine 100 illustratively includes one or more processors or servers 201, a data store 202, a geographic position sensor 204, a communication system 206 and one or more in situ sensors 208 that one or more features of a field simultaneously with a Record harvesting process. The in situ sensors 208 generate values corresponding to the sensed features. Agricultural harvester 100 also includes a predictive model or relationship generator (hereinafter collectively referred to as "predictive model generator 210"), a predictive map generator 212, a control zone generator 213, a control system 214, one or more controllable subsystems 216, and an operator interface mechanism 218. The Agricultural harvester 100 may also include a variety of other agricultural harvester functions 220 . The in situ sensors 208 include, for example, onboard sensors 222, remote sensors 224, and other sensors 226 that sense characteristics of a field during a farming operation. The predictive model generator 210 illustratively includes an information variable-to-in situ variable model generator 228 , and the predictive model generator 210 may include other elements 230 . The control system 214 includes the communication system control 229, the operator interface control 231, an adjustment control 232, the path planning control 234, the throng speed control 236, the header and reel control 238, the draper belt control 240, the top plate position control 242, the residue system control 244, the machine cleaning control 245, the zone control 247 , and system 214 may include other elements 246 . The controllable subsystems 216 include machine and header actuators 248, the propulsion subsystem 250, the steering subsystem 252, the residue subsystem 138, the machine cleaning subsystem 254, and the subsystems 216 may include a variety of other subsystems 256.

2 Also shows that the agricultural harvester 100 can receive a pre-information card 258 . As described below, the preliminary information map 258 includes, for example, a vegetative index map, a biomass map, a crop condition map, a topographical map, a soil property map, a seeding map, or a map of a preliminary operation. However, the preliminary information map 258 may also include other types of data obtained prior to a harvest operation or a map from a preliminary operation. 2 also shows that an operator 260 can operate the agricultural harvesting machine 100 . The operator 260 interacts with the operator interface mechanisms 218. In some examples, the operator interface mechanisms 218 may include joysticks, levers, a steering wheel, linkages, pedals, buttons, knobs, keypads, user actuable elements (such as icons, buttons, etc.) on a user interface display device, a microphone and speaker (if speech recognition and speech synthesis are provided), as well as a variety of other types of control devices. When a touch-sensitive display system is provided, operator 260 may interact with operator interface mechanisms 218 using touch gestures. These examples described above are provided as illustrative examples and are not intended to limit the scope of the present disclosure. Accordingly, other types of operator interface mechanisms 218 may be used and are within the scope of the present disclosure.

The preliminary information map 258 may be downloaded to the agricultural harvester 100 and stored in the data storage 202 using the communication system 206 or otherwise be cherted. In some examples, communication system 206 may be a cellular communication system, a system for communicating over a wide area network or a local area network, a system for communicating over a near field communication network, or a communication system configured to communicate over any of a variety of other networks or combinations to communicate from networks. The communication system 206 may also include a system that facilitates downloading or transferring information to and from a Secure Digital (SD) card or a universal serial bus (USB) card, or both.

The geographic position sensor 204 illustratively senses or detects the geographic position or location of the agricultural harvesting machine 100. The geographic position sensor 204 may include, but is not limited to, a global navigation satellite system (GNSS) receiver that receives signals from a GNSS satellite transmitter. The geographic position sensor 204 may also include a real-time kinematics (RTK) component configured to improve the accuracy of the position data derived from the GNSS signal. The geographic position sensor 204 may include a dead reckoning system, a cellular triangulation system, or a variety of other geographic position sensors.

The in situ sensors 208 can be any of the sensors described above with respect to FIG 1 act. The in situ sensors 208 include onboard sensors 222 mounted onboard the agricultural harvester 100 . Such sensors may include, for example, any of the sensors discussed above with respect to 1 include a perception sensor (e.g., a forward looking mono or stereo camera system and an image processing system), image sensors located within the agricultural harvesting machine 100 (such as the clean grain camera or cameras mounted to identify material that the agricultural harvester 100 exits through the residue subsystem or from the cleaning subsystem). The in situ sensors 208 also include remote in situ sensors 224 that collect in situ information. In situ data includes data collected by a sensor onboard the harvester or any sensor that detects the data during the harvesting process. Additional examples of in situ sensors 208 are discussed below with respect to FIG 8th described.

The predictive model generator 210 generates a model that indicates a relationship between the values sensed by the in situ sensor 208 and a metric mapped to the field by the prior information map 258 . For example, if the a priori information map 258 maps a vegetative index value to various locations in the field and the in situ sensor 208 senses a value indicative of machine speed, then the a priori information variable-to-in situ variable model generator 228 generates a predictive Speed model that models the relationship between the vegetative index value and the machine speed value. The predictive velocity model may also be generated based on vegetative index values from the advance information map 258 and multiple in situ data values generated by in situ sensors 208 . Then, the predictive map generator 212 uses the predictive speed model generated by the predictive model generator 210 to generate a functional predictive speed map that predicts the target machine speed detected by the in situ sensors 208 at various positions in the field based on the preliminary information map 258.

In some examples, the type of values in functional predictive map 263 may be the same as the type of in situ data sensed by in situ sensors 208 . In some cases, the type of values in the functional predictive map 263 may have different units than the data collected from the in situ sensors 208 . In some examples, the type of values in functional predictive map 263 may be the same as the type of in situ data sensed by in situ sensors 208 but related to the type of data sensed by in situ sensors 208 have data type. For example, the type of data collected from in situ sensors 208 may indicate the type of values in functional predictive map 263 in some examples. In some examples, the data type in functional predictive map 263 may differ from the data type in advance information map 258 . In some cases, the type of data in functional predictive map 263 may have different units than the data in advance information map 258 . In some examples, the type of data in the functional predictive map 263 may be different than the type of data in the prior information map 258 but related to the type of data in the prior information map 258 . For example, the data type in advance information map 258 may indicate the data type in functional predictive map 263 in some examples. In some examples, the data type in functional predictive map 263 differs from one or both of the in situ data type sensed by in situ sensors 208 and the data type in advance information map 258. In some examples, the data type in the functional predictive map 263 is the same as one or both of the in situ data type sensed by in situ sensors 208 and the data type in advance information map 258. In some examples, the data type in functional predictive map 263 is the same as that of one of the in situ data type detected by the in situ sensors 208 or the data type in the prior information map 258 and is different from the other.

Continuing with the previous example where the pre-information map 258 is a vegetative index map and the in situ sensor 208 senses a value indicative of machine speed, the predictive map generator 212 can determine the vegetative index values in the pre-information map 258 and do this through the predictive model generator 210 to generate a functional predictive map 263 that predicts a target machine speed at various positions in the field. The predictive map generator 212 thus outputs the predictive map 264 .

As in 2 As shown, predictive map 264 predicts the value of a detected feature (detected by in situ sensors 208) or a feature related to the detected feature at various locations across the field based on an information value in advance information map 258 these positions and using the predictive model. For example, if the predictive model generator 210 has generated a predictive model indicating a relationship between a vegetative index value and machine speed, then given the vegetative index value at various positions across the field, the predictive map generator 212 generates a predictive map 264 indicative of the target machine speed value different positions across the field. The vegetative index value obtained from the vegetative index map at those positions and the relationship between the vegetative index value and machine speed obtained from the predictive model are used to generate the predictive map 264 .

Some variations in the types of data depicted in the preliminary information map 258, the types of data collected by in situ sensors 208, and the types of data predicted on the predictive map 264 will now be described.

In some examples, the type of data in advance information map 258 differs from the type of data captured by in situ sensors 208, yet the type of data in predictive map 264 is the same as the type of data captured by in situ sensors 208 will. For example, the preliminary information map 258 may be a vegetative index map and the variable sensed by the in situ sensors 208 may be yield. The predictive map 264 may then be a predictive yield map that maps predicted yield values to various geographic locations in the field. In another example, the preliminary information map 258 may be a vegetative index map and the variable sensed by the in situ sensors 208 may be crop height. The predictive map 264 may then be a predictive crop height map that maps predicted crop height values to various geographic locations in the field.

Also, in some examples, the type of data in the advance information map 258 differs from the type of data sensed by in situ sensors 208, and the type of data in the predictive map 264 differs from both the type of data in the advance information map 258 and the type of data , which is detected by the in situ sensors 208 . For example, the preliminary information map 258 may be a vegetative index map and the variable sensed by the in situ sensors 208 may be crop height. The predictive map 264 can then be a predictive biomass map that maps predicted biomass values to various geographic locations in the field. In another example, the preliminary information map 258 may be a vegetative index map and the variable sensed by the in situ sensors 208 may be yield. The predictive map 264 may then be a predictive speed map that maps predicted harvester speed values to various geographic locations in the field.

In some examples, the advance information map 258 is from a previous pass through the field during an advance operation and the type of data is different than the type of data sensed by in situ sensors 208, but the type of data in the predictive map 264 is the same as that Type of data collected by the in situ sensors 208. For example, the preliminary information map 258 may be a seed population map generated during planting and the variable sensed by the in situ sensors 208 may be stem size. The predictive map 264 may then be a predictive stalk size map that maps predicted stalk size values to various geographic locations in the field. In another example, the previous information map 258 may be a planting hybrid map and the variable sensed by the in situ sensors 208 may be crop condition, such as stalled crop or crop kinked. The predictive map 264 may then be a predictive crop condition map showing predicted crops maps soil condition values to different geographic locations in the field.

In some examples, the advance information map 258 is from a previous pass through the field during an advance operation and the data type is the same as the data type sensed by in situ sensors 208 and the data type in the predictive map 264 is also the same such as the type of data captured by the in situ sensors 208 . For example, advance information map 258 may be a yield map generated during a previous year, and the variable sensed by in situ sensors 208 may be yield. The predictive map 264 may then be a predictive yield map that maps predicted yield values to various geographic locations in the field. In such an example, the relative yield differences in the georeferenced pre-information map 258 from the previous year may be used by the predictive model generator 210 to generate a predictive model that models a relationship between the relative yield differences on the pre-information map 258 and the yield values determined by In -situ sensors 208 are detected during the current harvesting process. The predictive model is then used by the predictive map generator 210 to create a predictive yield map.

In another example, the preliminary information map 258 may be a weed intensity map generated during a preliminary operation, such as from a sprayer, and the variable sensed by the in situ sensors 208 may be weed intensity. The predictive map 264 may then be a predictive weed intensity map that maps predicted weed intensity values to various geographic locations in the field. In such an example, a map of weed intensities at the time of spraying is georeferenced and provided to agricultural harvester 100 as a weed intensity information map 258 . The in situ sensors 208 can detect weed intensity at geographic locations in the field, and the predictive model generator 210 can then build a predictive model that models a relationship between weed intensity at the time of harvest and weed intensity at the time of spraying. This is because the sprayer affected weed intensity at the time of spraying, but weeds may reappear in similar areas at harvest. However, weed areas at harvest are likely to vary in intensity based on, among other things, timing of harvest, weather and weed species.

In some examples, a predictive map 264 may be provided to the control zone generator 213 . The control zone generator 213 groups adjacent sections of an area into one or more control zones based on predictive map 264 data values associated with those adjacent sections. A control zone may include two or more contiguous sections of an area, such as a field, for which a control parameter corresponding to the control zone for controlling a controllable subsystem is constant. For example, a response time for changing a setting of controllable subsystems 216 may be insufficient to respond satisfactorily to changes in values contained in a map, such as predictive map 264. In this case, control zone generator 213 analyzes the map and identifies control zones, which have a defined size in order to take the response time of the controllable subsystems 216 into account. In another example, the control zones may be sized to reduce wear from excessive actuator movement resulting from continuous adjustment. In some examples, there may be a different set of control zones for each controllable subsystem 216 or for groups of controllable subsystems 216. The control zones can be added to the predictive map 264 to obtain a predictive control zone map 265 . Thus, the predictive control zone map 265 may be similar to the predictive map 264, except that the predictive control zone map 265 includes control zone information defining the control zones. Thus, a functional predictive map 263 as described herein may or may not include control zones. Both predictive map 264 and predictive control zone map 265 are functional predictive maps 263. In one example, functional predictive map 263 does not include control zones, such as predictive map 264. In another example, functional predictive map 263 includes control zones, such as the predictive control zone map 265. In some examples, multiple crop types may be present simultaneously in a field when a mixed crop production system is implemented. In this case, the predictive map generator 212 and the control zone generator 213 can identify the position and characteristics of the two or more crop types and then generate the predictive map 264 and the predictive control zone map 265 accordingly.

It should also be noted that the control zone generator 213 can group values to generate control zones and the control zones can be added to a predictive tax zone map 265 or a separate map showing only the generated control zones. In some For example, the control zones may be used to control or calibrate agricultural harvester 100, or both. In other examples, the control zones may be displayed to operator 260 and used to control or calibrate agricultural harvester 100, and in other examples, the control zones may be displayed to operator 260 or another user, or saved for later use.

The predictive map 264 or the predictive control zone map 265 or both are provided to the control system 214, which generates control signals based on the predictive map 264 or the predictive control zone map 265 or both. In some examples, the communication system controller 229 controls the communication system 206 to communicate the predictive map 264 or the predictive control zone map 265 or control signals based on the predictive map 264 or the predictive control zone map 265 to other agricultural harvesting machines harvesting in the same field. In some examples, communication system controller 229 controls communication system 206 to send predictive map 264, predictive control zone map 265, or both to other remote systems.

Operator interface controller 231 is operable to generate control signals to control operator interface mechanisms 218 . Operator interface control 231 is also operable to present operator 260 with predictive map 264 or predictive control zone map 265 or other information derived from or based on predictive map 264, predictive control zone map 265, or both. The operator 260 can be a local operator or a remote operator. As an example, controller 231 generates control signals to control a display mechanism to display one or both of predictive map 264 and predictive control zone map 265 to operator 260 . Controller 231 may create operator actuable mechanisms that are displayed and operable by the operator to interact with the displayed map. The operator can edit the map, for example, by correcting a weed type displayed on the map based on the operator's observation. The adjustment controller 232 may generate control signals to control various adjustments on the agricultural harvesting machine 100 based on the predictive map 264, the predictive control zone map 265, or both. For example, the adjustment controller 232 may generate control signals to control the machine and header actuators 248 . In one example, the adjustment controller 232 may control a sensitivity adjustment that controls the responsiveness of the control system 214 in controlling position (such as height, pitch, or roll) in response to a header position error to provide a header position adjustment, such as a header height adjustment, a header tilt adjustment, or a header to comply with In response to the generated control signals, the machine and header actuators 248 operate to adjust, for example, one or more of the sieve and chopper settings, the concave gap, the rotor settings, the cleaning fan speed settings, the header height, the header functionality, the reel speed, the reel position, the Draper functionality (wherein the agricultural harvester 100 is coupled to a draper header), such as the draper belt speed, corn header functionality, internal distribution control, and other actuators 248 that affect the other functions of the agricultural harvester 100 to control. In some examples, the machine and header actuators 248 may be controlled to adjust a rear shaft speed (also referred to as a header drive speed). For example, in the example of a corn header, the rear shaft speed may be adjusted to control the speed of one or more of stalk rollers, gathering chains, and an auger on the corn header. In some examples, machine and header actuators 248 may include a rotatable output mechanism, such as a driveshaft, whose output may be controlled to control rear shaft speed. Path planning controller 234 illustratively generates control signals to control steering subsystem 252 to steer agricultural harvester 100 according to a desired path. Path planning controller 234 may control a path planning system to generate a route for agricultural harvester 100 and may control propulsion subsystem 250 and steering subsystem 252 to steer agricultural harvester 100 along that route. Feed rate controller 236 may receive a variety of different inputs indicative of a feed rate of material through agricultural harvesting machine 100 and may control various subsystems, such as propulsion subsystem 250 and machine actuators 248, to adjust the feed rate based on predictive map 264 or the predictive control zone map 265 or both. For example, when agricultural harvester 100 approaches a weed patch that has an intensity value above a selected threshold, feed rate controller 236 may provide a control signal generate to control the propulsion subsystem 252 to reduce the speed of the agricultural harvester 100 to maintain a constant feed rate of biomass through the agricultural harvester 100 . The header and reel controller 238 may generate control signals to control a header or reel or other header functionality. The draper band controller 240 may generate control signals to control a draper band or other draper functionality based on the predictive map 264, the predictive control zone map 265, or both. Deck position controller 242 may generate control signals to control a position of a deck included in a header based on predictive map 264 or predictive control zone map 265, or both, and tailing system controller 244 may generate control signals to position a tailing subsystem 138 based on a predictive map 264 or a predictive control zone map 265 or both. The machine cleaning controller 245 may generate control signals to control the machine cleaning subsystem 254 . For example, based on the different types of seeds or weeds being passed through the agricultural harvesting machine 100, a particular type of machine cleaning operation or a frequency at which a cleaning operation is performed may be controlled. Other controls included in agricultural harvesting machine 100 may also control other subsystems based on predictive map 264 or predictive control zone map 265 or both.

the 3A and 3B (herein together as 3 ) show a flow chart illustrating an example of the operation of the agricultural harvesting machine 100 in generating a predictive map 264 and a predictive control zone map 265 based on the preliminary information map 258 .

At 280, agricultural harvester 100 receives the advance information card 258. Examples of the advance information card 258 or receiving the advance information card 258 are discussed with respect to blocks 281, 282, 284, and 286. As discussed above, the preliminary information map 258 maps values of a variable corresponding to a first feature to various positions in the field, as indicated at block 282 . As indicated at block 281, receiving the advance information card 258 may include selecting one or more of a plurality of possible advance information cards that are available. For example, a preliminary information map can be a vegetative index map generated from aerial photographs. Another preliminary information map may be a map generated during a previous pass through the field, which may have been performed by another machine performing a preliminary operation on the field, such as a sprayer or other machine. The process of selecting one or more prior information cards may be manual, semi-automated, or automated. The preliminary information map 258 is based on data collected prior to a current harvesting operation. Block 284 indicates this. For example, the data may be collected based on aerial photographs taken during a previous year or earlier in the current growing season or at other times. The data may be based on data detected by means other than aerial photography. For example, agricultural harvester 100 may be equipped with a sensor, such as an internal optical sensor, that identifies weed seeds or other types of material exiting agricultural harvester 100 . The weed seed or other data detected by the sensor during a previous year's harvest may be used as data used to generate preliminary information map 258 . The collected weed data or other data may be combined with other data to generate the preliminary information map 258 . For example, based on a size of the weed seeds exiting the agricultural harvester 100 at various locations and other factors such as whether the seeds are spread through a spreader or dropped in a windrow; weather conditions such as wind when the seeds are dropped or distributed; drainage conditions that can move seeds around the field; or other information, the positions of these weed seeds are predicted such that the advance information map 258 depicts the predicted seed positions in the field. The data for the preliminary information card 258 can be transmitted to the agricultural harvesting machine 100 using the communication system 206 and stored in the data storage device 202 . The data for the preliminary information card 258 can also be provided in other ways using the communication system 206 of the agricultural harvesting machine 100, as indicated by block 286 in the flow chart of FIG 3 is shown. In some examples, advance information card 258 may be received by communication system 206 .

At the beginning of a harvesting operation, the in situ sensors 208 generate sensor signals indicative of one or more in situ data values, the a Display feature, such as a speed feature, as indicated by block 288. Examples of in situ sensors 288 are discussed with respect to blocks 222, 290 and 226. As discussed above, in situ sensors 208 include onboard sensors 222; remote in situ sensors 224, such as UAV-based sensors flown at a time to collect in situ data, as shown in block 290; or other types of in situ sensors, denoted by in situ sensors 226 . In some examples, data from onboard sensors is georeferenced using position, heading, or speed data from geographic location sensor 204 .

The predictive model generator 210 controls the prior information variable-to-in situ variable model generator 228 to generate a model representing a relationship between the mapped values contained in the prior information map 258 and the in situ values that by the in situ sensors 208 are modeled as indicated by block 292 . The features or data types represented by the mapped values in preliminary information map 258 and the in situ values sensed by in situ sensors 208 may be the same features or data types or different features or data types.

The relationship or model generated by the predictive model generator 210 is provided to the predictive map generator 212 . The predictive map generator 212 generates a predictive map 264 that represents a value of the feature sensed by the in situ sensors 208 at various geographic locations in a field to be harvested or another feature that is consistent with the sensed by the in situ sensors 208 feature is predicted using the predictive model and the advance information card 258 as indicated by block 294 .

Note that in some examples, the preliminary information card 258 may include two or more different cards or two or more different card layers of a single card. Each map layer may represent a different type of data than the data type of another map layer, or the map layers may have the same type of data obtained at different points in time. Each map in the two or more different maps, or each layer in the two or more different map layers of a map, maps a different type of variable to the geographic locations in the field. In such an example, the predictive model generator 210 generates a predictive model that models the relationship between the in situ data and each of the various variables depicted by the two or more different maps or the two or more different map layers. Likewise, the in situ sensors 208 may include two or more sensors, each sensing a different type of variable. Thus, the predictive model generator 210 creates a predictive model that models the relationships between each variable type represented by the prior information map 258 and each variable type sensed by the in situ sensors 208 . The predictive map generator 212 may generate a functional predictive map 263 that includes a value for each sensed feature sensed by the in situ sensors 208 (or a feature related to the sensed feature) at different locations in the predicts the field to be harvested using the predictive model and each of the maps or map layers in the advance information map 258 .

The predictive map generator 212 configures the predictive map 264 such that the predictive map 264 is actionable (or consumable) by the control system 214 . Predictive map generator 212 may provide predictive map 264 to control system 214 or control zone generator 213, or both. Some examples of different ways in which predictive map 264 may be configured or issued are described with respect to blocks 296, 295, 299, and 297. For example, the predictive map generator 212 configures the predictive map 264 so that the predictive map 264 includes values that can be read by the control system 214 and used as a basis for generating control signals for one or more of the various controllable subsystems of the agricultural harvesting machine 100, such as indicated by block 296.

The control zone generator 213 may divide the predictive map 264 into control zones based on the values on the predictive map 264 . Continuously geolocated values that are within a threshold of each other can be grouped into a tax zone. The threshold may be a default threshold, or the threshold may be set based on operator input, based on input from an automated system, or based on other criteria. A size of the zones may be based on a responsiveness of the control system 214, the controllable subsystems 216 based on wear considerations, or other criteria, as indicated by block 295. The predictive map generator 212 configures the predictive map 264 for presentation to an operator or other user. The control zone generator 213 can configure a predictive control zone map 265 for presentation to an operator or other user ren. This is indicated by block 299. When presented to an operator or other user, the presentation of predictive map 264 or predictive control zone map 265, or both, may include one or more of the predictive values on predictive map 264 that are correlated to the geographic location, the control zones on the predictive Control zone map 265 correlated to geographic location and containing adjustment values or control parameters used based on the predicted values on map 264 or the zones on predictive control zone map 265. In another example, the presentation may include more abstracted information or more detailed information. The representation may also include a confidence level that indicates an accuracy with which the predicted values on the predictive map 264 or the zones on the predictive control zone map 265 match measured values that can be measured by sensors on the agricultural harvesting machine 100 when moving the agricultural harvesting machine 100 through the field. Furthermore, an authentication and authorization system can be provided that implements authentication and authorization processes when information is presented at multiple locations. For example, there may be a hierarchy of people who are authorized to view and change maps and other presented information. For example, an onboard display device may display the maps locally on the machine in near real time, or the maps may also be generated at one or more remote locations, or both. In some examples, each physical display device at each location may be associated with a person or user permission level. The user permission level can be used to determine
what indicator marks are visible on the physical display device and what values that person can change. For example, a local operator of machine 100 may not be able to view the information corresponding to predictive map 264 or make changes to machine operation. However, a supervisor, such as a supervisor at a remote location, can see the predictive map 264 on the display but be prevented from making changes. A manager, who may be at a separate remote location, may be able to see all of the items on the predictive map 264 and may also be able to change the predictive map 264. In some cases, the predictive map 264, accessible and modifiable by a remote manager, can be used in machine control. This is an example of an authorization hierarchy that can be implemented. The predictive map 264 or the predictive control zone map 265 or both can also be configured in other ways, as indicated by block 297 .

At block 298, inputs from the geographic position sensor 204 and other in situ sensors 208 are received by the control system. In particular, at block 300 the control system 214 detects an input from the geographic position sensor 204 identifying a geographic position of the agricultural harvester 100 . Block 302 represents the receipt by the control system 214 of sensor inputs indicative of the trajectory or heading of the agricultural harvester 100, and Block 304 represents the receipt by the control system 214 of a speed of the agricultural harvester 100. Block 306 represents the receipt of other information from various in situ sensors 208 by the control system 214.

At block 308 the control system 214 generates control signals to control the controllable subsystems 216 based on the predictive map 264 or the predictive control zone map 265 or both and the input from the geographic position sensor 204 and any other in situ sensors 208 . At block 310, the control system 214 applies the control signals to the controllable subsystems. It is understood that the particular control signals that are generated and the particular controllable subsystems 216 that are controlled may vary based on one or more different things. For example, the control signals generated and the controllable subsystems 216 that are controlled may be based on the type of predictive map 264 or predictive control zone map 265 or both used. Likewise, the control signals generated and the controllable subsystems 216 that are controlled and the timing of the control signals may be based on various latencies of crop flow through the agricultural harvesting machine 100 and the responsiveness of the controllable subsystems 216.

For example, a generated predictive map 264 in the form of a predictive velocity map can be used to control one or more subsystems 216 . For example, the predictive velocity map may include velocity values that are georeferenced to positions within the field to be harvested. The speed values from the predictive speed map can be extracted and used to control the propulsion subsystem 250 . By controlling the propulsion subsystem 250, a rate of advance of material caused by agricultural harvesting machine 100 moves, can be controlled. Similarly, the height of the header can be controlled to accommodate more or less material, and thus the height of the header can also be controlled to control the rate of advance of material through the agricultural harvester 100 . In other examples, when the predictive map 264 maps weed height relative to positions in the field, header height control may be implemented. For example, if the values present in the predictive weed map indicate one or more areas of weed height with a first height, then the header and reel controller 238 can control the header height so that the header is above the first height of the weeds within the one or more Areas with weeds are positioned at the first level when the harvesting operation is performed. Thus, the header and reel controller 238 can be controlled using georeferenced values present in the predictive weed map to position the header at a height that is above the predicted height values of weeds obtained from the predictive weed map. Further, the header height may be automatically changed by the header and reel controller 238 as the agricultural harvester 100 travels through the field using georeferenced values obtained from the predictive weed map. The preceding example of weed height and intensity using a predictive weed map is provided as an example only. Consequently, a variety of other control signals may be generated using values obtained from a predictive velocity map or other type of predictive map to control one or more of the controllable subsystems 216 . In some examples, rappeller speed, reel speed, draper speed, or header height sensitivities may be controlled based on a predictive speed map.

At block 312, it is determined whether the harvesting operation has been completed. If harvesting is not complete, processing continues at block 314 where in situ sensor data from geographic location sensor 204 and in situ sensors 208 (and possibly other sensors) continue to be read.

In some examples, at block 316, agricultural harvester 100 may also recognize learning trigger criteria to perform machine learning on one or more of predictive map 264, predictive control zone map 265, the model generated by predictive model generator 210, the zones generated by generated by control zone generator 213, one or more control algorithms implemented by controllers in control system 214, and other triggered learning.

The learning trigger criteria can contain a large number of different criteria. Some examples of detecting trigger criteria are discussed with respect to blocks 318, 320, 321, 322, and 324. For example, in some examples, the triggered learning may include restoring a relationship used to generate a predictive model when a threshold amount of in situ sensor data is obtained from the in situ sensors 208 . In such examples, receipt of an amount of in situ sensor data from in situ sensors 208 that exceeds a threshold triggers or causes predictive model generator 210 to generate a new predictive model used by predictive map generator 212 will. Thus, as agricultural harvester 100 continues a harvesting operation, receipt of the threshold amount of in situ sensor data from in situ sensors 208 triggers the generation of a new relationship represented by a predictive model generated by predictive model generator 210 is produced. Furthermore, the new predictive map 264, the predictive control zone map 265, or both can be regenerated using the new predictive model. Block 318 represents detecting a threshold set of in situ sensor data used to trigger creation of a new predictive model.

In other examples, the learning trigger criteria may be based on how much the in situ sensor data from the in situ sensors 208 is changing, such as over time or compared to previous values. For example, if deviations within the in situ sensor data (or the relationship between the in situ sensor data and the information in the pre-information map 258) are within a selected range, or are less than a defined amount, or are below a threshold, then no new predictive model is generated by the predictive model generator 210. As a result, the predictive map generator 212 does not generate a new predictive map 264, predictive control zone map 265, or both. However, if deviations within the in situ sensor data are outside the selected range, are greater than the defined amount, or are above the threshold, for example, the predictive model generator 210 generates a new predictive model using all or part of the newly received in situ Sensor data that the predictive map generator 212 uses to generate a new predictive map 264 . At block 320, variations of the in situ sen Parameter data, such as a magnitude of an amount by which the data exceeds the selected range, or a magnitude of the variation in the relationship between the in situ sensor data and the information in the preliminary information map 258, can be used as a trigger to facilitate the generation of a predictive model and a predictive map. Keeping the examples described above, the threshold, range and defined amount can be set to default values; set by an operator or user interaction via a user interface; set by an automated system; or adjusted in any other way.

Other learning trigger criteria can also be used. For example, if the predictive model generator 210 switches to a different advance information map (different from the originally selected advance information map 258), switching to the different advance information map may require re-learning by the predictive model generator 210, the predictive map generator 212, the control zone generator 213, the Trigger control system 214 or other elements. In a further example, the transition of the agricultural harvesting machine 100 to a different topography or to a different control zone can also be used as learning trigger criteria.

In some cases, operator 260 may also edit predictive map 264 or predictive control zone map 265, or both. The edits may change a value on predictive map 264, a size, shape, location, or the presence of a control zone on predictive control zone map 265, or both. Block 321 shows that processed information can be used as learning trigger criteria.

Also, in some cases, the operator 260 may observe that automated control of a controllable subsystem is not what the operator desires. In such cases, the operator 260 may provide the controllable sub-system with a manual adjustment that reflects the operator 260 wanting the controllable sub-system to operate differently than is commanded by the control system 214 . Thus, a manual change of a setting by the operator 260 may cause one or more of the predictive model generator 210 to relearn a model, the predictive map generator 212 to regenerate the map 264, the control zone generator 213 to create one or more control zones on the regenerate predictive control zone map 265, and control system 214 to relearn a control algorithm or perform machine learning on one or more of control components 232-246 in control system 214 based on adjustment by operator 260, as shown in block 322. Block 324 represents the use of other triggered learning criteria.

In other examples, relearning may be performed periodically or intermittently, for example based on a selected time interval, such as a discrete time interval or a variable time interval, as indicated by block 326 .

When relearning is triggered, whether based on learning trigger criteria or based on the passage of a time interval, as indicated by block 326, one or more of the predictive model generator 210, the predictive map generator 212, the control zone generator 213 and the control system 214 performs machine learning to generate a new predictive model, map, control zone, or control algorithm based on the learning trigger criteria. The new predictive model, map and control algorithm are generated using additional data collected since the last learning. Performing the relearn is indicated by block 328 .

When the harvesting process has been completed, the process proceeds from block 312 to block 330 where one or more of the predictive map 264, the predictive control zone map 265, and the predictive model generated by the predictive model generator 210 are stored. The predictive map 264, predictive control zone map 265, and predictive model may be stored locally on data storage 202 or sent to a remote system using communication system 206 for later use.

It should be noted that while some examples herein describe the predictive model generator 210 and the predictive map generator 212 showing an information map when generating a predictive model or receiving a functional predictive map, the predictive model generator 210 and the predictive map generator 212 in other examples when generating a predictive model and a functional predictive map, each may receive different types of maps including predictive maps such as a functional predictive map generated during the harvesting process.

4 is a block diagram of a portion of the in 1 shown agricultural chen harvester 100. In particular, shows 4 among other things, examples of the predictive model generator 210 and the predictive map generator 212 in more detail. 4 also illustrates the flow of information between the various components shown. The predictive model generator 210 receives the preliminary information map 258, which can be a vegetative index map 332, a predictive yield map 333, a biomass map 335, a crop condition map 337, a topographical map 339, a soil property map 341 or a seed map 343 as an information map. The predictive model generator 210 also receives a geographic position 334, or an indication of a geographic position, from the geographic position sensor 204 Processing system 338. Processing system 338 processes sensor data generated by machine speed sensor 146, or by sensor 336, or both, to generate processed data, some examples of which are described below.

In some examples, sensor 336 may be a sensor that generates a signal indicative of control outputs from feed rate controller 236 . The control signals may be speed control signals or other control signals applied to the controllable subsystems 216 to control the rate of advancement of material through the agricultural harvester 100 . The processing system 338 processes the signals received via the sensor 336 to generate processed data 340 identifying the speed of the agricultural harvesting machine 100 . The processed data 340 may include a position of the agricultural harvester 100 that corresponds to the speed of the agricultural harvester 100 .

In some examples, raw or processed data from in situ sensor(s) 208 may be presented to operator 260 via operator interface mechanism 218 . The operator 260 may be onboard the agricultural harvester 100 or at a remote location.

The present discussion continues with respect to an example where the in situ sensor 208 is a machine speed sensor 146 . It should be understood that this is just an example and the above sensors are also contemplated herein as other examples of in situ sensor 208 from which machine speed may be derived. As in 4 As shown, the example predictive model generator 210 includes one or more of a vegetative index (VI) value-to-velocity model generator 342, a biomass-to-velocity model generator 344, a topography-to-velocity model generator 345, a yield- to speed model generator 347, a crop condition to speed model generator 349, a soil property to speed model generator 351, and a seed characteristic to speed model generator 346. In other examples, the predictive model generator 210 may have additional, fewer, or different include components than those in the example of 4 shown. Accordingly, in some examples, the predictive model generator 210 may also include other elements 348, which may include other types of predictive model generators to generate other types of models.

The model generator 342 identifies a relationship between the machine speed detected in the processed data 340 at a geographic location corresponding to the location where the processed data 340 was obtained and vegetative index values from the vegetative index map 332 that correspond to the same location in the field , where the weed trait was recorded. Based on this relationship established by the model generator 342, the model generator 342 generates a predictive velocity model. The predictive velocity model is used by velocity map generator 352 to predict target machine velocity at various locations in the field based on the georeferenced vegetative index values contained in vegetative index map 332 at the same locations in the field.

The model generator 344 identifies a relationship between machine speed represented in the processed data 340 at a geographic location corresponding to the processed data 340 and the biomass value at the same geographic location. Again, the biomass value is the georeferenced value contained in the biomass map 335 . The model generator 344 then creates a predictive speed model that is used by the speed map generator 354 to predict the target machine speed at a location in the field based on the biomass value for that location in the field.

The model generator 346 identifies a relationship between machine speed, identified by processed data 340 at a particular location on the field, and that Seed attribute value from seed attribute map 343 at the same location. The model generator 346 creates a predictive speed model that is used by the speed map generator 356 to predict the target machine speed at a particular location in the field based on the seeding characteristic at that location in the field.

In view of the foregoing, predictive model generator 210 is operable to generate a variety of predictive velocity models, such as one or more of the predictive velocity models generated by model generators 342, 344, 345, 346, 347, 349, and 351. In another example, two or more of the predictive speed models described above can be combined into a single predictive speed model that estimates the target machine speed based on two or more of the vegetative index value, biomass value, topography, yield, seeding trait, crop condition, or the predicts soil property at different positions in the field. Each of these velocity models, or combinations thereof, are collectively represented by the predictive model 350 in 4 shown.

The predictive model 350 is provided to the predictive map generator 212 . In the example of 4 For example, predictive map generator 212 includes a velocity map generator 352. In other examples, predictive map generator 212 may include additional, fewer, or different map generators. Thus, in some examples, the predictive map generator 212 may include other elements 358, which may include other types of map generators to generate velocity maps. The speed map generator 352 receives the predictive model 350 that predicts the target machine speed based on a value of one or more advance information maps 258 along with the one or more advance information maps 258 and generates a predictive map that predicts the target machine speed at various locations in the field.

The predictive map generator 212 outputs one or more functional predictive speed maps 360 that predict one or more of the target machine speeds. Functional predictive speed map 360 predicts target machine speed at various locations in a field. Functional predictive velocity maps 360 may be provided to control zone generator 213, control system 214, or both. The control zone generator 213 generates control zones and integrates these control zones into the functional predictive map, i. H. the predictive map to generate the predictive control zone map 265 . The predictive map 264 and/or the predictive control zone map 265 may be provided to the control system 214, which generates control signals to drive one or more of the controllable subsystems 216, such as the propulsion subsystem 250, based on the predictive map 264, the predictive control zone map 265 or both, to control.

5 is a flow chart of an example of the operation of the predictive model generator 210 and the predictive map generator 212 in generating the predictive model 350 and the functional predictive speed map 360. At block 362, the predictive model generator 210 and the predictive map generator 212 receive an information card 258. The preliminary information card 258 can be any of the cards 332, 333, 335, 337, 339, 341 or 343. Additionally, block 361 indicates that the advance notice card received may be a single card. Block 363 indicates that the prior information map may be multiple maps or multiple map layers. Block 365 indicates that the advance information card 258 may take other forms. At block 364, processing system 338 receives one or more signals from machine speed sensor 146 or sensor 336, or both.

At block 372 , the processing system 338 processes the one or more received signals to generate processed data 340 indicative of a machine speed of the agricultural harvesting machine 100 .

At block 382, the predictive model generator 210 also obtains the geographic location 334 corresponding to the processed data. For example, the predictive model generator 210 may obtain the geographic position from the geographic position sensor 204 and determine an accurate geographic position where the processed data was taken or from which the processed data 340 was derived based on machine delays, machine speed, etc.

At block 384, the predictive model generator 210 generates one or more predictive models, such as the predictive model 350, representing a relationship between a value in the one or more advance information cards 258 and a machine speed sensed by the in situ sensor 208 , modeling. The VI value-to-velocity model generator 342 creates a predictive model representing a relationship between VI values in the VI map 332 and machine speed as measured by the in situ sensor 208 is recorded, modeled. Biomass-to-velocity model generator 344 creates a predictive model that models a relationship between biomass values in biomass map 335 and machine speed sensed by in situ sensor 208 . The topography-to-speed model generator 345 creates a predictive model that models a relationship between one or more topography values such as pitch, roll, or grade in the topographic map 339 and machine speed sensed by the in situ sensor 208 . Seeding attribute-to-velocity model generator 346 creates a predictive model that models a relationship between the seeding attributes in seeding map 343 and machine speed sensed by in situ sensor 208 . Yield-to-speed model generator 347 creates a predictive model that models a relationship between yield values in yield map 333 and machine speed sensed by in situ sensor 208 . The crop condition versus speed model generator 342 generates a predictive model that models a relationship between crop condition values in the crop condition map 337 and machine speed sensed by the in situ sensor 208 . The soil property-to-speed model generator 351 creates a predictive model that models a relationship between soil property values in the soil property map 341 and the machine speed detected by the in situ sensor 208 . At block 386 , the predictive model 350 is provided to the predictive map generator 212 , which generates a functional predictive speed map 360 that maps a predictive target machine speed based on the prior information map 258 and the predictive speed model 350 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between VI values in the VI map 332 and machine speed and using the VI map 332 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between yield values in the yield map 333 and machine speed and using the yield map 333 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between biomass values in the biomass map 335 and machine speed and using the biomass map 335 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between crop condition values in the crop condition map 337 and machine speed and using the crop condition map 337 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between topographic values in the topographic map 339 and machine speed and using the topographic map 332 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between soil property values in the soil property map 341 and machine speed and using the soil property map 341 . The speed map generator 352 may generate the functional predictive speed map 360 using a predictive model 350 that models a relationship between seeding feature values in the seeding map 343 and machine speed and using the seeding map 343 .

Thus, as an agricultural harvester moves across a field in which a farming operation is being performed, one or more functional predictive velocity maps 360 are generated as the farming operation is being performed.

At block 394 , predictive map generator 212 outputs functional predictive velocity map 360 . At block 391, the functional predictive velocity map generator 212 outputs the functional predictive velocity map 360 for presentation to and possible interaction by the operator 260. At block 393, the predictive map generator 212 may configure the map 360 for the control system 214 to consume. At block 395, the predictive map generator 212 may also provide the map 360 to the control zone generator 213 for generating control zones. At block 397, predictive map generator 212 configures map 360 in other ways as well. The functional predictive speed map 360 (with or without the control zones) is provided to the control system 214 . At block 396 , the control system 214 generates control signals to control the controllable subsystems 216 based on the functional predictive speed map 360 . Control system 214 may control propulsion subsystem 250 or other subsystems 399 .

6 1 is a block diagram of an exemplary portion of agricultural harvesting machine 100 shown in FIG 1 is shown. In particular shows 6 among other things, examples of the predicti ven model generator 210 and predictive map generator 212. In the illustrated example, information map 259 is one or more of a functional predictive speed map 360, a speed map with control zones 400, or other speed map 401. Information map 259 may be a preliminary information map, such as information map 258, or a predictive map, such as a predictive map generated during operation of agricultural harvesting machine 100 .

Also in the in 6 For example, as shown, the in situ sensor 208 may include one or more of a variety of different sensors 402 and a processing system 406 . Some examples of in situ sensors 208 and sensors 402 are described below with respect to FIG 8th described. Sensors 402 may sense any number of a variety of agricultural characteristics or values indicative of any number of a variety of agricultural characteristics. Thus, in some examples, sensor data generated by sensors 402 may be indicative of, or used to infer an agricultural trait. Thus, in some examples, a relationship between the sensor data and other features or feature values can be identified and modeled. In other examples, the sensor data may be used as an indicator of another feature or feature value, and thus a relationship between the feature or feature value (indicated by the sensor data) and other features or feature values may be identified and modeled. Therefore, as used herein, sensor data may refer to the sensor data itself or to the various characteristics or characteristic values that may be indicated by the sensor data.

In one example, sensors 402 may include an operator input sensor that senses various operator inputs. The inputs may be adjustment inputs for controlling adjustments on the agricultural harvesting machine 100 or other control inputs such as steering inputs and other inputs. Thus, when an agricultural harvester operator changes a setting or provides a commanded input, such as via an operator interface mechanism 218, such input is recognized by the operator input sensor, which provides a sensor signal indicative of that sensed operator input. This is just one example of one of the many different sensors 402.

The predictive model generator 210 may include a velocity feature to in situ sensor data model generator 416 . In other examples, the predictive model generator 210 may include additional, fewer, or different model generators 424 . The predictive model generator 210 may receive a geographic position indication 324 from the geographic position sensor 204 and generate a predictive model 426 that models a relationship between the information in one or more of the information cards and one or more of the in situ sensors 402 . For example, velocity-to-in-situ sensor data model generator 416 creates a relationship between velocity feature values (which may be on map 360, on map 400, or on map 401) and the values sensed by sensor 402. Speed-to-in-situ data model generator 416 illustratively creates a model representing a relationship between vehicle speed or the variable indicative of vehicle speed in information map 259 and the feature sensed by in-situ sensor 402 . The predictive sensor data model 426 generated by the predictive model generator 210 may include the predictive model that may be generated by the velocity to in situ sensor data model generator 416 .

In the example of 6 For example, predictive map generator 212 includes predictive sensor data map generator 428 . In other examples, predictive map generator 212 may include additional, or different, map generators 434 . Predictive sensor data map generator 428 receives a predictive model 426 that models the relationship between machine speed on information maps 259 and the feature sensed by sensor 402 . The predictive sensor data map generator 428 generates a functional predictive sensor data map 436 that predicts sensor data at various positions in the field based on machine speed in one or more of the information maps 259 at those positions in the field and based on the predictive model 426.

The predictive map generator 212 outputs the functional predictive sensor data map 436 . Functional predictive sensor data map 436 may be provided to control zone generator 213, control system 214, or both. The control zone generator 213 generates and integrates control zones to provide a functional predictive sensor data map 436 with control zones. The functional predictive sensor data map 436 (with or without control zones) may be provided to the control system 214, which generates control signals to control one or more of the controllable subsystems 216 based on the functional predictive sensor data map 436 (with or without control zones) to control. The functional predictive sensor data map 436 (with or without control zones) may be presented to the operator 260 or another user.

In one example, sensor 402, such as an operator input sensor, senses operator input indicative of a commanded rear shaft speed setting (or header drive speed) of agricultural harvesting machine 100, for example to control the speed at which one or more stalk rollers, one or more gathering chains, or a or several augers working on a corn header. Thus, in such an example, the speed feature-to-in situ sensor data model generator 416 models a relationship between speed values from one or more of the maps (functional predictive speed map 360, speed map with control zones 400, or other speed map 401) and rear shaft speed settings, as recognized by Given operator inputs, and the predictive sensor data map generator 428 generates a functional predictive sensor data map that predicts values of rear shaft speed settings at various locations across the field based on the velocity values from one or more of the maps at those locations. This is just one example, and various other machine settings specified by operator input commands may also be similarly modeled and predictively mapped, such as draper belt speed settings, reel speed settings, and header sensitivity settings.

7 12 is a flow chart illustrating an example of the operation of the predictive model generator 210 and the predictive map generator 212 in generating the predictive model 426 and the functional predictive sensor data map 436. FIG. At block 442, the predictive model generator 210 and the predictive map generator 212 receive an information map. The information map may be a functional predictive speed map 360, a speed map with control zones 400, or another speed map 406. At block 444 , sensor 402 generates a sensor signal that includes sensor data indicative of the feature sensed by in situ sensor 402 . The in situ sensor 402 may, for example, be one or more of those set forth below with respect to FIG 8th described sensors.

At block 454, the processing system 406 processes the data contained in the sensor signal received from the in situ sensor 402 to obtain processed data 409, as shown in FIG 6 shown. The data contained in the sensor signal may be in a raw format that is processed to receive processed data 409 . For example, a temperature sensor signal contains electrical resistance data. This electrical resistance data can be processed into temperature data. In other examples, processing may include digitizing, encoding, formatting, scaling, filtering, or classifying data.

Coming back to 7 at block 456, the predictive model generator 210 also receives a geographic position 334 from the geographic position sensor 204, as in FIG 6 shown. The geographic location 334 may correlate to the geographic location from which the sensed variable(s) sensed by in situ sensors 402 were taken. For example, the predictive model generator 210 may receive the geographic position 334 from the geographic position sensor 204 and determine an accurate geographic position based on machine delays, machine speed, etc. from which the processed data 409 was derived.

At block 458, the predictive model generator 210 generates a predictive model 426 representing a relationship between a mapped velocity value in an information map and a feature represented in the processed data 409 or a related feature, such as a feature consistent with the in situ -Sensor 402 correlates detected feature, modeled.

The predictive sensor data model 426 is provided to the predictive map generator 212 . At block 466, the predictive map generator 212 generates a functional predictive sensor data map 436. The functional predictive sensor data map 436 predicts sensor data values generated by the in situ sensor 402 on the agricultural harvester 100 at various locations in the field. Thus, as agricultural harvester 100 moves through a field in which a farming operation is being performed, the functional predictive sensor data map 436 is generated while the farming operation is being performed.

At block 468 , the predictive map generator 212 outputs the functional predictive sensor data map 436 . At block 470, the predictive map generator 212 may configure the map for presentation to and possible interaction by an operator 260 or other user. At block 472, the predictive map generator 212 may configure the map for the control system 214 to consume. At block 474, the predictive Map generator 212 provides functional predictive sensor data map 436 to control zone generator 213 for generation and integration of control zones. At block 476, the predictive map generator 212 configures the functional predictive sensor data map 436 in a different manner. The functional predictive sensor data map 436 (with or without control zones) may be presented to the operator 260 or other user, or provided to the control system 214 as well.

At block 478, the control system 214 then generates control signals to control one or more of the controllable subsystems based on the functional predictive sensor data map 436 (or the functional predictive sensor data map 436 having control zones) and an input from the geographic position sensor 204. For example, when functional predictive sensor data map 436 or functional predictive sensor data map 436 containing control zones is provided to control system 214 . The header/reel controller 238 or other controllers 246 responsively generate control signals to control the machine/header actuator 248, which may also include actuators for other headers.

In another example where control system 214 receives functional predictive sensor data map 436 or functional predictive sensor data map 436 with added control zones, adjustment controller 232 controls propulsion subsystem 250 (shown as one of controllable subsystems 216 in FIG 2 ).

In another example where control system 214 receives functional predictive sensor data map 436 or functional predictive sensor data map 436 with added control zones, path planning controller 234 controls steering subsystem 252 to steer agricultural harvester 100 . In another example where control system 214 receives functional predictive sensor data map 436 or functional predictive sensor data map 436 with added control zones, backlog system controller 244 controls backlog subsystem 138. In another example where control system 214 receives functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones, the adjustment controller 232 controls harvester settings of the harvester 110. In another example in which the control system 214 receives the functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones controls the adjustment controller 232 or other controller 246 controls the material handling subsystem 125. In another example where the control system 214 controls the functional predictive sensor data map 436 or the functional predictive sensor da receiving map 436 with control zones added, setup controller 232 controls the crop cleaning subsystem. In another example in which the control system 214 receives the functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones, the machine cleaning controller 245 controls the machine cleaning subsystem 254 on the agricultural harvesting machine 100. In another example in which the control system 214 receives the functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones, the communication system controller 229 controls the communication system 206. In another example in which the control system 214 receives the functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones , operator interface controller 231 controls operator interface mechanisms 218 on agricultural harvesting machine 100. In another example where control system 214 controls the fun receiving functional predictive sensor data map 436 or functional predictive sensor data map 436 with control zones added, deck position controller 242 controls machine/header actuators to control a deck on agricultural harvesting machine 100 . In another example where the control system 214 receives the functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones, the draper belt controller 240 controls machine/header actuators to control a draper belt on the agricultural harvester 100. In another example where the control system 214 receives the functional predictive sensor data map 436 or the functional predictive sensor data map 436 with added control zones, the other controllers 246 control other controllable subsystems 256 on the agricultural harvesting machine 100.

8th FIG. 12 is a block diagram showing some examples of real-time (in situ) sensors 208. FIG. Some of the in 8th The sensors shown, or various combinations thereof, may include both a sensor 402 and a processing system 406, while others may function as the sensor 402 described above with respect to FIGS 6 and 7 is described, wherein the processing system 406 is separate. Some of the possible in situ sensors 208 used in 8th shown and above in relation to the previous ones 1-7 are similarly numbered. 8th shows that the in situ sensors 208 are operator input sensors 480, machine sensors 482, crop property sensors 484, field and soil property sensors 485, environmental feature sensors 487, and they may include a variety of other sensors 226. Operator input sensors 480 may be sensors that detect operator inputs via operator interface mechanisms 218 . Therefore, operator input sensors 480 can detect user movement of linkages, joysticks, a steering wheel, buttons, knobs, or pedals. Operator input sensors 480 may also detect user interactions with other operator input mechanisms, such as a touch-sensitive screen, a microphone that uses speech recognition, or a variety of other operator input mechanisms.

The machine sensors 482 can sense various characteristics of the agricultural harvesting machine 100 . As discussed above, the machine sensors 482 may include, for example, machine speed sensors 146, a separator loss sensor 148, a clean grain camera 150, a forward-looking imaging mechanism 151, loss sensors 152, or a geographic position sensor 204, examples of which are described above. Machine sensors 482 may also include machine setting sensors 491 that sense machine settings. Some examples of machine settings have been given above in relation to 1 described. The header (e.g., header) position sensor 493 may sense the position of the header 102, reel 164, cutter 104, or other header relative to the frame of the agricultural harvesting machine 100. For example, the sensors 493 can detect the height of the header 102 above the ground. Machine sensors 482 may also include header (e.g., header) orientation sensors 495 . The sensors 495 can detect the orientation of the header 102 relative to the agricultural harvester 100 or relative to the ground. Machine sensors 482 may include stability sensors 497 . The stability sensors 497 detect an oscillation or bouncing movement (and amplitude) of the agricultural harvesting machine 100. The machine sensors 482 can also include residue adjustment sensors 499 that are configured to detect whether the agricultural harvesting machine 100 is configured to shred the residue to form a windrow generate or otherwise treat the residue. The machine sensors 482 may include a shoe fan speed sensor 551 that senses the speed of the cleaning fan 120 . The machine sensors 482 may include concave gap sensors 553 that sense the gap between the rotor 112 and the concaves 114 on the agricultural harvesting machine 100 . Machine sensors 482 may include chopper gap sensors 555 that sense the size of the openings in chopper 122 . The machine sensors 482 may include a threshing rotor speed sensor 557 that senses a rotor speed of the rotor 112 . The engine sensors 482 may include a rotor pressure sensor 559 that senses the pressure used to drive the rotor 112 . The machine sensors 482 may include a wire gap sensor 561 that senses the size of the openings in the wire 124 . Machine sensors 482 may include a MOG moisture sensor 563 that senses a moisture content of MOG that passes agricultural harvester 100 . The machine sensors 482 may include a machine orientation sensor 565 that senses the orientation of the agricultural harvesting machine 100 . Machine sensors 482 may include material feed rate sensors 567 that sense material feed rate as material moves through feeder housing 106, clean grain elevator 130, or elsewhere in agricultural harvesting machine 100. Machine sensors 482 may include biomass sensors 569 that sense biomass moving through feeder housing 106 , through separator 116 , or elsewhere in agricultural harvesting machine 100 . The machine sensors 482 may include a fuel consumption sensor 571 that measures the rate of fuel consumption of the agricultural harvesting machine 100 over time. Machine sensors 482 may include a power consumption sensor 573 that senses power consumption in agricultural harvesting machine 100, such as which subsystems are using power, or the rate at which subsystems are using power, or the distribution of power among the subsystems in agricultural harvesting machine 100. Machine sensors 482 may include tire pressure sensors 577 that sense air pressure in tires 144 of agricultural harvesting machine 100 . Machine sensor 482 may include a variety of other machine performance sensors or machine attribute sensors, which are indicated by block 575 . The machine performance sensors and the machine feature sensors 575 may sense machine performance or features of the agricultural harvesting machine 100 .

The crop characteristic sensors 484 may detect characteristics of the separated crop during processing of the crop by the agricultural harvesting machine 100 . The crop characteristics can include things such as the type of Crop moisture, crop moisture, grain quality (such as broken grain), MOG values, which include grain components such as starches and protein, MOG moisture and other properties of the crop.

Field and soil feature sensors 485 can detect the characteristics of the field and soil. The field and soil properties can include soil moisture, soil compactness, the presence and location of standing water, soil type, and other soil and field characteristics.

Environmental feature sensors 487 may sense one or more environmental features. The environmental features can include things like wind direction and speed, precipitation, fog, dust levels or other pollution, or other environmental features.

9 FIG. 12 is a block diagram illustrating an example control zone generator 213. FIG. The control zone generator 213 includes a work machine actuator (WMA) selector 486, a control zone generation system 488, and a regime zone generation system 490. The control zone generator 213 may include other elements 492 as well. The control zone generation system 488 includes the control zone criteria identification component 494, the control zone boundary definition component 496, the target setting identification component 498 and other elements 520. The regime zone generation system 490 includes the regime zone criteria identification component 522, the regime zone boundary definition component 524, the setting resolver identification component 526 and other elements 528. Before describing the overall operation of the control zone generator 213 in more detail , a brief description of some of the elements of the control zone generator 213 and their respective operation is first provided.

The agricultural harvesting machine 100 or other work machine may include a variety of different types of controllable actuators that perform different functions. The controllable actuators on agricultural harvesting machine 100 or other work machines are collectively referred to as work machine actuators (WMAs). Each WMA can be independently controllable based on values on a functional predictive map, or the WMAs can be controlled as sets based on one or more values on a functional predictive map. Therefore, the control zone generator 213 can generate control zones corresponding to each individually controllable WMA or to the sets of WMAs that are controlled in concert with one another.

The WMA selector 486 selects a WMA or set of WMAs for which to create corresponding control zones. The control zone creation system 488 then creates the control zones for the selected WMA or set of WMAs. Different criteria may be used in identifying control zones for each WMA or group of WMAs. For example, for a WMA, the WMA response time can be used as a criterion for defining the boundaries of the control zones. In another example, wear characteristics (e.g., how badly a particular actuator or mechanism wears as a result of its movement) may be used as a criterion for identifying control zone boundaries. The control zone criteria identification component 494 identifies certain criteria to be used in defining control zones for the selected WMA or set of WMAs. The control zone boundary definition component 496 processes the values on a functional predictive map being analyzed to define the boundaries of the control zones on that functional predictive map based on the values in the functional predictive map being analyzed and based on the control zone criteria for the selected WMA or define a set of WMAs.

The target setting identification component 498 sets a value of the target setting used to control the WMA or set of WMAs in different control zones. For example, if the selected WMA is the propulsion system 250 and the functional predictive map analyzed is a functional predictive speed map 438, the target setting in each control zone may be a target speed setting based on speed values contained in the functional predictive speed map 238 within the identified control zone .

In some examples where the agricultural harvester 100 is to be controlled based on a current or future position of the agricultural harvester 100, multiple target settings for a WMA at a particular position may be possible. In this case, the target settings can have different values and compete. Therefore, the target settings must be resolved so that only a single target setting can be used to control the WMA. For example, if the WMA is an actuator in the drive system 250 that is controlled to control the speed of the agricultural harvesting machine 100 several different competing sets of criteria exist that are considered by the control zone generation system 488 in identifying the control zones and the target settings for the selected WMA in the control zones. For example, different target settings for controlling machine speed may be generated based on, for example, a detected or predicted feed rate value, a detected or predicted fuel efficiency value, a detected or predicted grain loss value, or a combination thereof.

However, the agricultural harvester 100 cannot travel across the ground at multiple speeds simultaneously at any given time. Rather, the agricultural harvesting machine 100 travels at a single speed at all times. Thus, one of the competing target settings is selected to control the speed of the agricultural harvesting machine 100 .

In some examples, regime zone generation system 490 generates regime zones to resolve multiple different competing target settings. The regimen zone criteria identification component 522 identifies the criteria used to identify regimen zones for the selected WMA or set of WMAs on the functional predictive map to be analyzed. Some criteria that can be used to identify or define regime zones include, for example, crop type or crop variety based on a stand map or other source of crop type or crop variety, weed type, weed intensity, or crop condition, such as whether the crop is overturned, in part is twisted or standing. Just as each WMA or group of WMAs may have a corresponding control zone, different WMAs or groups of WMAs may have a corresponding regime zone. The regime zone boundary definition component 524 identifies the boundaries of regime zones on the functional predictive map being analyzed based on the regime zone criteria identified by the regime zone criteria identification component 522 .

In some examples, regime zones may overlap. For example, a crop variety regime zone may overlap with some or all of a crop variety regime zone. In such an example, the various regime zones may be assigned a precedent hierarchy such that when two or more regime zones overlap, the regime zone that has been assigned a greater hierarchical position or importance in the precedent hierarchy takes precedence over the regime zones that have a lower hierarchical position position or importance in the precedent hierarchy. The regime zone priority hierarchy may be set manually or automatically using a rule-based system, a model-based system, or some other system. As an example, if a kinked crop regime zone overlaps a crop variety regime zone, the kinked crop regime zone may be assigned greater importance in the hierarchy of precedence than the crop variety regime zone, such that the kinked crop regime zone takes precedence.

In addition, each regime zone may have a unique setting resolver for a specific WMA or set of WMAs. The adjustment resolver identification component 526 identifies a particular adjustment resolver for each regimen zone identified on the functional predictive map to be analyzed and a particular adjustment resolver for the selected WMA or set of WMAs.

• Wenn vorhergesagte Biomassewerte innerhalb von 6 Metern (20 Fuß) vom Erntevorsatz der landwirtschaftlichen Erntemaschine 100 größer als x sind (wobei x ein ausgewählter oder vorbestimmter Wert ist), dann ist der Zieleinstellungswert zu verwenden, der auf Grundlage der Vorschubgeschwindigkeit gegenüber anderen konkurrierenden
• Zieleinstellungen ausgewählt wird, andernfalls ist der Zieleinstellungswert
• auf Grundlage des Kornverlusts gegenüber anderen konkurrierenden Zieleinstellungswerten zu verwenden.

Once the attitude resolver is identified for a particular regime zone, that attitude resolver can be used to resolve competing target attitudes, identifying more than one target attitude based on the control zones. The different types of setting resolvers can have different shapes. For example, the setting resolvers identified for each regime zone may include a human choice resolver in which the competing target settings are presented to an operator or other user for resolution. In another example, the attitude resolver may include a neural network or other artificial intelligence or machine learning system. In such cases, the setting resolvers may resolve the competing target settings based on a predicted or historical quality metric corresponding to each of the different target settings. For example, an increased vehicle speed setting can reduce the time to harvest a field and reduce corresponding time-based labor costs and equipment costs, but can increase grain losses. A reduced vehicle speed setting can increase the time to harvest a field and increase the corresponding time-based labor and equipment costs, but can reduce grain losses. If grain loss or harvest time is selected as a quality metric, the predicted or historical value for the selected quality metric may vary given the two competing Vehicle speed setting values are used to resolve the speed setting. In some cases, the adjustment resolvers can be a set of threshold rules that can be used instead of or in addition to the regime zones. An example of a threshold rule can be expressed as follows:

• If predicted biomass values within 6 meters (20 feet) of the header of agricultural harvester 100 are greater than x (where x is a selected or predetermined value), then use the target setting value, which is based on feed rate versus other competing ones
• Target settings is selected, otherwise is the target setting value
• based on grain loss versus other competing target setting values.

The attitude resolvers can be logical components that execute logical rules in identifying a target attitude. For example, the attitude resolver may resolve target settings while attempting to minimize harvest time, or minimize total harvest cost, or maximize grain harvested, or based on other variables calculated depending on the various target settings in question. Harvest time can be minimized when an amount to complete a harvest is reduced to a selected threshold or below. Total harvesting costs can be minimized when the total harvesting costs are reduced to or below a selected threshold. Crop can be maximized when the amount of crop is increased to or above a selected threshold.

10 12 is a flowchart illustrating an example of the operation of control zone generator 213 in generating control zones and regime zones for a map that control zone generator 213 receives for zone processing (e.g., for a map that is being analyzed).

At block 530, the control zone generator 213 receives a map that is analyzed for processing. In one example, as shown at block 532, the map analyzed is a functional predictive map. For example, the map analyzed may be one of functional predictive maps 436, 437, 438, or 440. Block 534 indicates that the card to be analyzed can be other cards.

At block 536, the WMA selector 486 selects a WMA or set of WMAs for which to create control zones on the analyzed map. At block 538, the control zone criteria identification component 494 obtains control zone definition criteria for the selected WMAs or set of WMAs. Block 540 provides an example where the control zone criteria are or include wear characteristics of the selected WMA or set of WMAs. Block 542 provides an example where the control zone definition criteria is or includes magnitude and variation of input source data, such as magnitude and variation of values on the analyzed map or magnitude and variation of inputs from various in situ sensors 208. Block 544 gives an example where the control zone definition criteria are or include physical machine characteristics, such as the physical dimensions of the machine, a speed at which various subsystems operate, or other physical machine characteristics. Block 546 provides an example where the control zone definition criteria is or includes a responsiveness of the selected WMA or set of WMAs in meeting newly commanded adjustment values. Block 548 provides an example where the control zone definition criteria are or include machine performance metrics. Block 550 provides an example where the control zone definition criteria is or includes operator preferences. Block 552 provides an example where the tax zone definition criteria is or includes other elements. Block 549 provides an example where the tax zone definition criteria are time-based, meaning that agricultural harvester 100 does not cross the boundary of a tax zone until a selected period of time has elapsed since agricultural harvester 100 entered a particular tax zone. In some cases, the selected length of time may be a minimum length of time. Thus, in some cases, the control zone definition criteria may prevent agricultural harvester 100 from crossing a boundary of a control zone until at least the selected period of time has elapsed. Block 551 provides an example where the tax zone definition criteria is based on a selected size value. For example, a tax zone definition criteria based on a selected size value may preclude the definition of a tax zone that is smaller than the selected size. In some cases, the size selected may be a minimum size.

At block 554, regimen zone criteria identification component 522 obtains regimen zone definition criteria for the selected WMA or set of WMAs. Block 556 gives an example in which the regime zone definition criteria ria are based on manual input from operator 260 or another user. Block 558 illustrates an example where the regime zone definition criteria are based on crop type or crop variety. Block 560 illustrates an example where the regimen zone definition criteria are based on weed species or weed intensity or both. Block 562 illustrates an example where the regime zone definition criteria are based on or include crop condition. Block 564 provides an example where the regime zone definition criteria is or includes other criteria.

At block 566, the tax zone boundary definition component 496 creates the boundaries of tax zones on the map to be analyzed based on the tax zone criteria. The regime zone boundary definition component 524 creates the boundaries of regime zones on the map to be analyzed based on the regime zone criteria. Block 568 provides an example in which the zone boundaries for the control zones and regime zones are identified. Block 570 shows that the target setting identification component 498 identifies the target settings for each of the zones of control. The control zones and regime zones may be created in other ways, as indicated by block 572.

At block 574 , the adjustment resolver identification component 526 identifies the adjustment resolver for the selected WMAs in each regime zone defined by the regime zone boundary definition component 524 . As discussed above, the regime zone resolver may be a human resolver 576, an artificial intelligence or machine learning system resolver 578, a predicted or historical quality-based resolver 580 for each competing target setting, a rule-based resolver 582, a performance criteria-based resolver 584, or other resolver 586 be.

At block 588, the WMA selector 486 determines whether there are more WMAs or sets of WMAs to process. If additional WMAs or sets of WMAs remain to be processed, processing returns to block 436 where the next WMA or set of WMAs for which control zones and regime zones are to be defined is selected. If no additional WMAs or sets of WMAs remain for which to generate control zones or regime zones, processing moves to block 590 where the control zone generator 213 outputs a map of control zones, target settings, regime zones, and setting resolvers for each of the WMAs or sets of WMAs . As discussed above, the issued card may be presented to operator 260 or another user; the card issued may be provided to the control system 214; or the issued card may be otherwise issued.

11 12 illustrates an example of the operation of the control system 214 in controlling the agricultural harvesting machine 100 based on a map output from the control zone generator 213 . Thus, at block 592, the control system 214 receives a map of the work site. In some cases, as represented by block 594, the map may be a functional predictive map that may include control zones and regime zones. In some cases, the received map may be a functional predictive map excluding tax zones and regime zones. Block 596 provides an example where the received worksite map may be an information map with tax zones and regime zones identified thereon. Block 598 provides an example where the received map may include multiple different maps or multiple different map layers. Block 610 provides an example where the received map may take other forms as well.

At block 612, the control system 214 receives a sensor signal from the geographic position sensor 204. The sensor signal from the geographic position sensor 204 may include data indicating the geographical position 614 of the agricultural harvester 100, the speed 616 of the agricultural harvester 100, the heading 618 of the agricultural harvester 100 or provide other information 620 . At block 622, the zone controller 247 selects a regime zone, and at block 624, the zone controller 247 selects a control zone on the map based on the geographic position sensor signal. At block 626, the zone controller 247 selects a WMA or set of WMAs to control. At block 628, the zone controller 247 obtains one or more target settings for the selected WMA or set of WMAs. The target settings obtained for the selected WMA or group of WMAs can come from different sources. For example, block 630 depicts an example where one or more of the target settings for the selected WMA or set of WMAs is based on input from the tax zones on the worksite map. Block 632 depicts an example where one or more of the target settings are obtained from human input from the operator 260 or another user. Block 634 shows an example where the target settings are obtained from an in situ sensor 208 . Block 636 depicts an example in which the one or more target settings from one or more Senso data on other machines working in the same field, either simultaneously with the agricultural harvesting machine 100 or from one or more sensors on machines that have worked in the same field in the past. Block 638 shows an example where the target settings are also obtained from other sources.

At block 640, the zone controller 247 accesses the adjustment resolver for the selected regimen zone and controls the adjustment resolver to resolve competing target adjustments into a resolved target adjustment. As discussed above, in some cases, the setting resolver may be a human resolver, with zone controller 247 controlling operator interface mechanisms 218 to present the competing target settings to operator 260 or another user for resolution. In some cases, the attitude resolver may be a neural network or other artificial intelligence or machine learning system, and the zone controller 247 communicates the competing target attitudes to the neural network, artificial intelligence or machine learning system for selection. In some cases, the attitude resolver may be based on a predicted or historical quality metric, threshold rules, or logical components. In one of these latter examples, the zone controller 247 executes the adjustment resolver to obtain a resolved target adjustment based on the predicted or historical quality metric, based on the threshold rules, or using the logical components.

At block 642, if the zone controller 247 has identified the resolved target setting, the zone controller 247 provides the resolved target setting to other controllers in the control system 214, which generate and apply control signals based on the resolved target setting to the selected WMA or set of WMAs. For example, if the selected WMA is a machine or header actuator 248, the zone controller 247 provides the resolved target setting to the adjustment controller 232 or the header/reel controller 238 or both to generate control signals based on the resolved target setting, and these generate control signals are applied to the machine or header actuators 248. If at block 644 additional WMAs or additional sets of WMAs are to be controlled at the current geographic position of agricultural harvester 100 (as detected at block 612), processing returns to block 626 where the next WMA or set of WMAs is selected. The processes represented by blocks 626 through 644 continue until all WMAs or sets of WMAs that are to be controlled at the current geographic position of agricultural harvesting machine 100 have been addressed. If there are no additional WMAs or sets of WMAs to control at the current geographic location of agricultural harvester 100, processing proceeds to block 646 where zone controller 247 determines whether there are additional control zones to consider in the selected regime zone. If there are additional tax zones to consider, processing returns to block 624 where a next tax zone is selected. If there are no more additional control zones to consider, processing transfers to block 648 which determines whether there are any additional regime zones to consider. The zone controller 247 determines whether additional regimen zones are to be considered. If there are more regimen zones to consider, processing returns to block 622 where a next regimen zone is selected.

At block 650, zone controller 247 determines whether the operation that agricultural harvester 100 is performing is complete. If not, as indicated by block 652, the zone controller 247 determines whether a control zone criteria has been met to continue processing. For example, as noted above, the control zone definition criteria may include criteria that define when a control zone boundary may be crossed by agricultural harvesting machine 100 . For example, a selected period of time may define whether a control zone boundary may be crossed by agricultural harvester 100, meaning that agricultural harvester 100 is prevented from crossing a zone boundary until a selected period of time has elapsed. In this case, at block 652, the zone controller 247 determines whether the selected time period has expired. In addition, the zone controller 247 can perform the processing continuously. Thus, the zone controller 247 does not wait a certain period of time before proceeding to determine whether operation of the agricultural harvesting machine 100 is complete. At block 652, zone controller 247 determines that it is time to continue processing and then continues processing at block 612 where zone controller 247 receives input from geographic position sensor 204 again. It should also be noted that the zone controller 247 may control the WMAs and sets of WMAs simultaneously using a multiple-input, multiple-output controller, rather than sequentially controlling the WMAs and sets of WMAs.

12 FIG. 14 is a block diagram showing an example of an operator interface controller 231. FIG. In an illustrated example, the operator interface control 231 includes an operator input command processing system 654, another control interaction system 656, a voice processing system 658, and an action signal generator 660. The operator input command processing system 654 includes the voice processing system 662, the touch gesture manipulation system 664, and other elements 666. The other control interaction system 656 includes the control input processing system 668 and the control output generator 670. The speech processing system 658 includes the trigger detector 672, the recognition component 674, the synthesis component 676, the natural language understanding system 678, the dialogue management system 680 and other elements 682. The action signal generator 660 includes the visual control signal generator 684, the audio control signal generator 686, the haptic control signal generator 688 and other elements 690. Before operation de r in 12 While the example operator interface control 231 shown in the illustration will describe how to handle various operator interface actions, a brief description of some of the elements of the operator interface control 231 and the operation associated therewith will first be provided.

Operator input command processing system 654 recognizes operator inputs at operator interface mechanisms 218 and processes those inputs for commands. Speech processing system 662 recognizes speech input and processes the interactions with speech processing system 658 to process the speech input for commands. Touch gesture handler system 664 recognizes touch gestures on touch-sensitive elements in operator interface mechanisms 218 and processes those inputs for commands.

The other controller interaction system 656 handles interactions with other controllers of the control system 214. The controller input processing system 668 recognizes and processes inputs from other controllers in the control system 214, and the controller output generator 670 generates outputs and provides those outputs to other controllers in the control system 214. Speech processing system 658 recognizes speech inputs, determines the meaning of those inputs, and provides an output that indicates the meaning of the spoken inputs. For example, voice processing system 658 may recognize voice input from operator 260 as a setting change command, in which operator 260 commands control system 214 to change a setting for controllable subsystem 216 . In such an example, voice processing system 658 recognizes the content of the spoken command, identifies the meaning of that command as a setting change command, and provides the meaning of that input back to voice processing system 662. Voice processing system 662, in turn, interacts with control output generator 670 to provide the commanded output to the provide appropriate control in control system 214 to comply with the spoken setting change command.

The language processing system 658 can be invoked in a number of ways. For example, voice processing system 662 continuously provides input from a microphone (which is one of operator interface mechanisms 218) to voice processing system 658 in one example. The microphone detects speech from the operator 260 and the speech processing system 662 provides the speech processing system 658 with the recognized speech. Trigger detector 672 detects a trigger indicating that language processing system 658 is invoked. In some cases, when speech processing system 658 receives continuous speech input from speech processing system 662, speech recognition component 674 performs continuous speech recognition on all speech spoken by operator 260. In some cases, the language processing system 658 is configured to be invoked using a wake-up word. That is, in some cases, operation of the speech processing system 658 may be initiated based on recognition of a selected spoken word, referred to as a wake-up word. In such an example, where the detection component 674 detects the wakeup word, the detection component 674 provides an indication that the wakeup word was detected to trigger the detector 672 . The trigger detector 672 detects that the voice processing system 658 has been invoked or triggered by the wake-up word. In another example, language processing system 658 may be invoked by an operator 260 operating an actuator on a user interface mechanism, such as by touching an actuator on a touch-sensitive display screen, pressing a button, or providing another trigger input. In such an example, trigger detector 672 may detect that language processing system 658 has been invoked when a trigger input is detected via a user interface mechanism. Trigger detector 672 may also detect that speech processing system 658 has been invoked in other ways.

Once the speech processing system 658 is invoked, the speech input from the operator 260 is provided to the speech recognition component 674 . Speech recognition component 674 recognizes linguistic elements in speech input, such as words, phrases, or other linguistic units. The natural language understanding system 678 identifies a meaning of the recognized language. The meaning can be a natural language output, a command output identifying a command reflected in the recognized language, a value output identifying a value in the recognized language, or a variety of other outputs reflecting understanding of the recognized language. For example, the natural language understanding system 678 and the language processing system 568 can more generally understand the meaning of the recognized language in the context of the agricultural harvesting machine 100 .

In some examples, voice processing system 658 may also generate outputs that navigate operator 260 through a user experience based on voice input. For example, the dialog management system 680 can create and manage a dialog with the user to identify what the user wants to do. Dialogue can make a user's command unmistakable; identify one or more specific values required to execute the user's command; or receive other information from the user or provide other information to the user or both. Synthesis component 676 may generate speech synthesis that may be presented to the user through an audio operator interface mechanism, such as a speaker. Thus, the dialogue managed by dialogue management system 680 may be spoken dialogue only or a combination of both visual dialogue and spoken dialogue.

Action signal generator 660 generates action signals to control operator interface mechanisms 218 based on outputs from one or more of operator input command processing system 654, other control interaction system 656, and language processing system 658. Visual control signal generator 684 generates control signals to control visual elements in operator interface mechanisms 218 . The visual elements can be lights, a display screen, warning indicators, or other visual elements. Audio control signal generator 686 generates outputs that control audio elements of operator interface mechanisms 218 . The audio elements include a speaker, audible alarm mechanisms, horns, or other audible elements. The haptic control signal generator 688 generates control signals that are output to control haptic elements of the operator interface mechanisms 218 . The haptic elements include vibration elements that can be used to vibrate, for example, the operator's seat, steering wheel, pedals or joysticks used by the operator. The haptics may include tactile feedback or force feedback elements that provide a tactile feedback or force feedback signal to the operator via operator interface mechanisms. The haptics may also include a variety of other haptics.

13 12 is a flow chart illustrating an example of the operation of operator interface controller 231 in generating an operator interface display on operator interface mechanism 218, which may include a touch-sensitive display screen. 13 also illustrates an example of how operator interface controller 231 may recognize and process operator interactions with the touch-sensitive display screen.

At block 692, operator interface controller 231 receives a card. Block 694 gives an example where the map is a functional predictive map and block 696 gives an example where the map is another map type. At block 698 , operator interface controller 231 receives input from geographic position sensor 204 identifying the geographic position of agricultural harvester 100 . As indicated in block 700 , the input from geographic position sensor 204 may include heading along with the position of agricultural harvester 100 . Block 702 provides an example where the input from geographic location sensor 204 includes the speed of agricultural harvester 100, and block 704 provides an example where the input from geographic location sensor 204 includes other items.

At block 706, visual control signal generator 684 in operator interface controller 231 controls the touch-sensitive display screen in operator interface mechanisms 218 to generate a display showing all or part of a field represented by the received card. Block 708 indicates that the displayed field may include a current position marker showing a current position of agricultural harvesting machine 100 relative to the field. Block 710 provides an example where the displayed field includes a next work unit marker that identifies a next work unit (or area in the field) in which agricultural harvesting machine 100 is operating. Block 712 provides an example in which the displayed field includes an upcoming area display section indicating areas that are yet to be processed by the agricultural harvesting machine 100, and Block 714 provides an example in which the displayed field includes previously visited display sections. represent the areas of the field that the agricultural harvesting machine 100 has already worked. Block 716 provides an example in which the displayed panel displays various features of the georeferenced location panel on the map. For example, if the received map is a weed map, the displayed field may show the different weed species present in the field that are georeferenced within the displayed field. The mapped features may be shown in the previously visited areas (as shown in block 714), in the upcoming areas (as shown in block 712), and in the next work unit (as shown in block 710). Block 718 provides an example where the displayed field also includes other items.

14 FIG. 7 is a pictorial representation showing an example of a user interface display 720 that may be generated on a touch-sensitive display screen. In other implementations, user interface display 720 may be generated on other types of displays. The touch-sensitive screen can be mounted in the cab of the agricultural harvesting machine 100 or on the mobile device or elsewhere. The user interface display 720 will be described prior to the description of the in 13 shown flowchart is continued.

in the in 14 In the example shown, the user interface display 720 illustrates that the touch-sensitive display screen includes a display feature for operating a microphone 722 and a speaker 724 . Thus, the touch-sensitive display may be communicably coupled to microphone 722 and speaker 724 . Block 726 indicates that the touch-sensitive display screen may include a variety of operator interface control actuators, such as buttons, keyboards, soft keyboards, links, icons, switches, etc. The operator 260 may manipulate the operator interface control actuators to perform various functions.

in the in 14 In the example shown, user interface display 720 includes a field display portion 728 that displays at least a portion of the field in which agricultural harvesting machine 100 is operating. Field display portion 728 is shown with a current position marker 708 corresponding to a current position of agricultural harvesting machine 100 in the portion of the field shown in field display portion 728 . In one example, the operator can control the touch-sensitive display to zoom into portions of panel display portion 728 or to pan or scroll panel display portion 728 to view different portions of the panel. A next unit of work 730 is shown as the area of the field just ahead of the current position marker 708 of the agricultural harvester 100 . The current position marker 708 may also be configured to identify the direction of travel of the agricultural harvesting machine 100, a travel speed of the agricultural harvesting machine 100, or both. In 14 the shape of the current position marker 708 provides an indication of the orientation of the agricultural harvester 100 within the field, which can be used as an indication of a direction of travel of the agricultural harvester 100 .

The size of the next work unit 730 highlighted on the panel display portion 728 may vary based on a variety of different criteria. For example, the size of the next work unit 730 may vary depending on the ground speed of the agricultural harvester 100 . Thus, if the agricultural harvester 100 is moving faster, the range of the next working unit 730 may be larger than the range of the next working unit 730 if the agricultural harvester 100 is moving slower. Field display portion 728 is also shown displaying previously visited areas 714A, 714B, 714C, and 714D and upcoming areas 712A, 712B, 712C, 712D, and 712E. Previously visited areas 714A, 714B, 714C, and 714D represent areas that have already been harvested, while upcoming areas 712A, 712B, 712C, 712D, and 712E represent areas that have yet to be harvested. The panel display portion 728 is also shown, displaying various features of the panel. in the in 14 In the illustrated example, the displayed map is a speed map. Therefore, a variety of different speed marks are displayed on the panel display section 728 . There is a set of speed indicator markers 732 that are displayed in areas 714A, 714B, 714C and 714D already visited. There is also a set of speed indicators elements 734 shown in forthcoming areas 712A, 712B, 712C, 712D and 712E and there is a set of speed indicator elements 736 shown in next unit of work 730. 14 12 shows that the speed indicators 732, 734 and 736 consist of different symbols. Each of the symbols represents a speed range. In the in 14 In the example shown, the @ symbol represents a low speed area of <5.6 km/h; the * symbol represents a medium speed range of 5.6 - 8.8 km/h; and the # symbol represents a high speed area of >8.8 km/h. Thus, the panel display section 728 displays different speed areas located at different areas within the panel. As previously described, the indicators 732 may consist of various symbols, and as described below, the symbols may be any display feature, such as different colors, shapes, patterns, intensities, text, symbols, or other display features. In some cases, each position of the field may have an indicator mark associated with it. Thus, in some cases, an indicator mark may be provided at each location of the tile display portion 728 to identify the type of feature being imaged for any particular location of the tile. Accordingly, the present disclosure contemplates providing an indication marker, such as loss level indicator marker 732 (as described in the context of the present example in FIG 11 ) at one or more positions on the field display portion 728 to identify the type, degree, etc. of the displayed feature, thereby identifying the feature at the corresponding position in the displayed field.

In the example of 14 the user interface display 720 also has a current speed display 721 that displays a current speed of the agricultural harvesting machine 100 and a control display section 738 . Control display portion 738 allows the operator to display information and interact with the display of user interface 720 in various ways.

For example, the actuators and indicators in section 738 can be displayed as individual elements, fixed lists, scrollable lists, drop-down menus, or drop-down lists. in the in 14 In the example shown, the display section 738 displays information for the three different speed ranges corresponding to the three symbols mentioned above. The display portion 738 also includes a set of touch-sensitive actuators that the operator 260 can interact with by touch. For example, the operator 260 may touch the touch-sensitive actuators with a finger to activate the respective touch-sensitive actuator.

A flags column 739 shows flags that have been set automatically or manually. Flag actuator 740 allows operator 260 to mark a current location and then add information indicating the speed at which agricultural harvester 100 is traveling at the current location. For example, when the operator 260 operates the flag actuator 740 by touching the flag actuator 740, the touch gesture handler system 664 in the operator interface controller 231 identifies the current position as a position where the speed is in the low speed range. When the operator 260 touches the button 742, the touch gesture handler 664 identifies the current location as a location where the speed is in the medium speed range. When the operator 260 touches the button 744, the touch gesture handler system 664 identifies the current location as a location where the speed is in the high speed range. Touch gesture handler system 664 also controls visual control signal generator 684 to add an icon corresponding to the identified speed on panel display portion 728 at a location identified by the user before, after, or during button 740, 742, or 744 actuation.

Column 746 displays the symbols corresponding to each speed range tracked on panel display portion 728 . The identifier column 748 shows the identifier (which may be a textual identifier or other identifier) that identifies the speed range. Without limitation, the speed range symbols in column 746 and the identifiers in column 748 can include any display feature, such as different colors, shapes, patterns, intensities, text, symbols, or other display features. Column 750 shows speed range values. in the in 14 In the example shown, the speed range values are speed values in kilometers per hour that correspond to each speed range. Column 752 indicates action thresholds. The action thresholds in column 752 may be threshold distances that indicate where actions (described below in column 754) should be taken as agricultural harvester 100 moves through the field. When the agricultural harvester 100 is within a 50 foot range, it enters a range enters the field at low speed, in one example, the action identified in column 754 is taken. In some examples, the operator 260 can select a threshold to change the threshold by touching the threshold in column 752 . Once selected, the operator 260 can change the threshold. The thresholds in column 752 may be configured to perform the designated action when the measured distance value exceeds, equals, or is below the threshold.

Likewise, the operator 260 can touch the action identifiers in column 754 to change the action to be taken. When a threshold is met, multiple actions can be taken. For example, at the bottom of column 754, an "increase fan speed" action and a "raise header" action are identified as actions to be taken when the measured distance value meets the threshold in column 752.

The actions that can be specified in column 754 can be any of a variety of different types of actions. For example, the actions may include a keep away action that, when performed, prevents the agricultural harvester 100 from continuing to harvest in an area. The actions may include a containment activation which, when executed, performs a containment action. The actions may include a change setting action to change a setting of an internal actuator or another WMA or set of WMAs, or to implement a change setting action that changes a setting of a header. These are just examples, and a variety of other actions are contemplated here.

The display elements shown on the user interface display 720 can be controlled visually. Visually controlling the interface display 720 may be performed to capture the operator's 260 attention. For example, the indicators can be controlled to modify the intensity, color, or pattern with which the indicators are displayed. In addition, the display elements can be controlled so that they flash. The changes in the visual appearance of the display elements described are provided as examples. Consequently, other aspects of the visual appearance of the display elements can be altered. Therefore, in various circumstances, the display elements may be modified in a desired manner, for example to attract the operator's 260 attention.

Various functions that may be performed by operator 260 using user interface display 720 may also be performed automatically, such as by other controls in control system 214. For example, agricultural harvester 100 may be operating constantly at a speed of 8.0 - drives at 10.0 km/h. In this case, the operator interface controller 231 can add a new speed range, such as a "high middle range" of 8.0 - 10.0 km/h, and can automatically add a marker at the current position of the agricultural harvesting machine 100 (that of the position of the new speed range) and generate an indication in the marker column, a corresponding icon in the icon column, and an identifier in the identifier column 748. The operator interface control 231 may also generate a speed range value in column 750 and a threshold in column 752 upon identifying a different speed range. Operator interface control 231 or other control may also automatically identify an action to add to column 754.

Returning to the flow chart of 13 the description of the operation of the operator interface controller 231 continues. At block 760 , operator interface controller 231 recognizes an input setting of a flag and controls touch-sensitive user interface display 720 to display the flag on panel display portion 728 . The recognized input may be operator input, as indicated at 762 , or input from another controller, as indicated at 764 . At block 766 , operator interface controller 231 recognizes an in situ sensor input indicative of a measured feature of the field from one of in situ sensors 208 . At block 768, visual control signal generator 684 generates control signals to control user interface display 720 to display actuators, to modify user interface display 720, and to modify machine controls. For example, block 770 represents that one or more of the actuators for setting or modifying the values in columns 739, 746, and 748 may be displayed. Thus, the user can set flags and change the characteristics of those flags. For example, a user can change the speed ranges according to the flags. Block 772 represents that action thresholds in column 752 are displayed. Block 776 represents the actions in column 754 being displayed and block 778 represents shows that the measured in situ data is displayed in column 750. Block 780 indicates that a variety of other information and actuators may be displayed on user interface display 720 as well.

At block 782 , operator input command processing system 654 captures and processes operator inputs corresponding to interactions with user interface display 720 performed by operator 260 . When the user interface mechanism on which user interface display 720 is displayed is a touch-sensitive display screen, interaction inputs with the touch-sensitive display screen by operator 260 may be touch gestures 784 . In some cases, the operator interaction inputs may be inputs using a point and click device 786 or other operator interaction inputs 788 .

At block 790, operator interface controller 231 receives signals indicative of an alarm condition. For example, block 792 indicates that signals may be received from control input processing system 668 indicating sensed values in column 750 meet threshold conditions present in column 752 . As previously explained, the threshold conditions may include values that are below a threshold, at a threshold, or above a threshold. Block 794 shows that in response to receiving an alarm condition, the action signal generator 660 can alert the operator 260 using the visual control signal generator 684 to generate visual alarms, using the audio control signal generator 686 to generate audio alarms, using the haptic control signal generator 688 to generate haptic alerts, or by using any combination thereof. Likewise, as indicated by block 796, controller output generator 670 may generate outputs to other controllers in control system 214 so that those controllers perform the appropriate action identified in column 754. Block 798 indicates that operator interface controller 231 may recognize and process alarm conditions in other ways.

Block 900 shows that language processing system 662 can recognize and process input that calls into language processing system 658 . Block 902 shows that performing language processing may include using dialog management system 680 to perform a dialog with operator 260 . Block 904 shows that speech processing may include providing signals to control output generator 670 so that control operations are performed automatically based on the speech inputs.

Table 1 below shows an example dialog between operator interface control 231 and operator 260 . In the example shown in Table 1, the wake-up word is "Johnny".

table 1

Operator: "Johnny, inform me of the current speed"

Operator interface control: "The current speed is 6.0 km/h in the medium range with a threshold of 6 m. A high speed range is approaching and is 30.5 m away."

Operator: "Johnny, what should I do about the speed change?"

Operator interface controls: "Increase fan speed by 10% and raise header by 10%."

Table 2 shows an example where speech synthesis component 676 provides an output to audio control signal generator 686 to provide audible updates on an intermittent or periodic basis. The interval between updates may be time based, such as every five minutes, or coverage or distance based, such as every two hectares, or exception based, such as when a measured value is greater than a threshold.

Table 2

Operator interface control: "Driving speed was 8.0 km/h for the last 10 minutes."

Operator interface control: "The next 1 hectare is a high speed area."

Operator interface control: “Warning: Current speed is above desired speed range. Reduce machine speed to 8.0 km/h.”

Operator interface control: “Caution: Biomass is too large. Machine speed reduced to 4 miles per hour.”

The example shown in Table 3 illustrates that some actuators or user input mechanisms on touch-sensitive display 720 may be supplemented with voice dialogue. The example in Table 3 illustrates that the action signal generator 660 can generate action signals to automatically mark a high-speed area in the field to be harvested.

Table 3

Human: "Johnny, mark the area at high speed."

Operator Interface Control: "High speed area marked."

The example shown in Table 4 illustrates that the action signal generator 660 may dialogue with the operator 260 to begin and end marking a speed range.

Table 4

Human: "Johnny, start marking the area at high speed."

Operator interface control: "Mark area at high speed."

Human: "Johnny, stop marking the area at high speed."

Operator interface control: "High speed area marking stopped."

The example shown in Table 5 illustrates that action signal generator 160 may generate signals to mark a range of speeds in a manner different from those shown in Tables 3 and 4.

Table 5

Human: "Johnny, mark the next 30 meters as a high speed area."

Operator interface control: "The next 30 meters is marked as a high speed area."

Referring again to 13 Block 906 illustrates that operator interface controller 231 may otherwise detect and process conditions for outputting a message or other information. For example, the other controller interaction system 656 may recognize input from other controllers indicating that the operator 260 should be presented with alarms or output messages. Block 908 shows that the outputs can be audio messages. Block 910 shows that the outputs can be visual messages and block 912 shows that the outputs can be haptic messages. Until the operator interface controller 231 determines that the current harvesting operation is complete, as indicated by block 914, processing returns to block 698 where the geographical position of the harvester 100 is updated and processing continues as described above to the user interface display 720 To update.

Once the process is complete, any desired values that are displayed or have been displayed on the user interface display 720 can be saved. These values can also be used in machine learning to improve various sections of the predictive model generator 210, predictive map generator 212, control zone generator 213, control algorithms, or other elements. Block 916 indicates storage of the desired values. The values can be stored locally on the agricultural harvester 100 or the values can be stored at a remote server location or sent to another remote system.

Thus it can be seen that an information map is obtained from an agricultural harvesting machine showing machine speed values at different geographic positions of a field to be harvested. An in situ sensor on the harvester detects a feature as the agricultural harvester moves through the field. A predictive map generator generates a predictive map that predicts control values for various positions based on the machine speed values in the information map and the feature sensed by the in situ sensor. A control system controls the controllable subsystem based on the control values in the predictive map.

A control value is a value on which an action can be based. A control value, as described herein, may include any value (or characteristics indicated by or derived from the value) that can be used in controlling agricultural harvesting machine 100 . A tax value can be any value that an agricultural significant feature. A control value can be a predictive value, a measured value, or a recognized value. A control value may include any of the values provided by a card, such as any of the cards described herein, for example, a control value may be a value provided by an information card, a value provided by a preliminary information card, or a Value provided by a predictive map, such as a functional predictive map. A control value may also include any of the characteristics indicated by or derived from the values sensed by any of the sensors described herein. In other examples, a control value may be provided by an operator of the agricultural machine, such as a command input by an operator of the agricultural machine.

Processors and servers have been mentioned in this discussion. In one example, the processors and servers include computer processors with associated memory and timing circuitry, not shown separately. The processors and servers are functional parts of the systems or devices that the processors and servers belong to and are activated by, and facilitate the functionality of the other components or elements in those systems.

A number of user interface displays were also discussed. The displays can take a number of different forms and can have a number of different user controlled operator interface mechanisms thereon. For example, the user-actuable operator interface mechanisms may include text boxes, check boxes, icons, links, drop-down menus, search boxes, and so on. The user actuatable operator interface mechanisms can also be actuated in a variety of ways. For example, the user actuable operator interface mechanisms can be operator interface mechanisms such as a point-and-click device, a trackball or mouse, hardware buttons, switches, a joystick or keyboard, thumb switches or thumbpads, etc., a virtual keyboard or other virtual Actuators are actuated. In addition, when the screen on which the user actuable operator interface mechanisms are displayed is a touch-sensitive screen, the user actuable operator interface mechanisms can be actuated with touch gestures. User actuatable operator interface mechanisms can also be actuated using voice commands with speech recognition functionality. Speech recognition can be implemented using a speech recognition device, such as a microphone, and software operable to recognize speech and execute commands based on the received speech.

A number of data stores were also discussed. It is pointed out that the data stores can each be divided into several data stores. In some examples, one or more of the data stores may be local to systems accessing the data stores, one or more of the data stores may be remote from a system using the data store, or one or more data stores may be local while others are remote. All of these configurations are contemplated by the present disclosure.

In addition, the figures show a series of blocks with functions associated with each block. It is noted that fewer blocks may be used to illustrate that functionality assigned to multiple different blocks is performed by fewer components. More blocks can also be used, illustrating that functionality can be distributed across multiple components. In different examples, some functionality may be added and some may be removed.

It should be noted that the discussion above has described a variety of different systems, components, logic and interactions. It is understood that any or all such systems, components, logic, and interactions are powered by hardware elements, such as processors, memory, or other processing components, including but not limited to artificial intelligence components, such as neural networks, some of which are described below can be implemented that perform the functions associated with those systems, components, logics or interactions. In addition, any or all of the systems, components, logic, and interactions may be implemented by software loaded into memory and then executed by a processor or server or other computing component, as described below. Any or all of the systems, components, logic, and interactions may also be implemented through various combinations of hardware, software, firmware, etc., some examples of which are described below. These are some examples of different structures used to implement any or all of the systems, components, logic and interactions described above may be used. Other structures can also be used.

15 12 is a block diagram of agricultural harvester 600 used in FIG 2 shown agricultural harvesting machine 100 may be similar. The agricultural harvester 600 communicates with elements in a remote server architecture 500. In some examples, the remote server architecture 500 provides computing, software, data access, and storage services that do not require end-user knowledge of the physical location or configuration of the system that provides the Services. In various examples, remote servers may provide the services over a wide area network, such as the Internet, using appropriate protocols. For example, remote server applications can be deployed over a wide area network and accessed through a web browser or other computer component. Software or components included in 2 shown and related data may be stored on servers at a remote location. The computing resources in a remote server environment can be consolidated at a remote data center site or distributed to a variety of remote data centers. Remote server infrastructures can provide services across shared data centers, although the services appear to the user as a single point of entry. Thus, the components and functions described herein can be provided from a remote server at a remote site via a remote server architecture. Alternatively, the components and functions may be provided by a server, or the components and functions may be installed directly or otherwise on end devices.

in the in 15 example shown are some elements of the in 2 shown and these items are similarly numbered. 15 FIG. 12 specifically shows that the predictive model generator 210 or the predictive map generator 212 or both may be located at a server location 502 that is remote from the agricultural harvester 600. FIG. Therefore, the one in the example applies 15 shown agricultural harvester 600 via remote server location 502 to systems.

15 also illustrates another example of a remote server architecture. 15 shows that some elements of 2 may be located at a remote server location 502 while others may be located elsewhere. For example, data store 202 may be located at a separate site from site 502 and accessed through the remote server at site 502 . Regardless of where the elements are located, the elements can be accessed directly by the agricultural harvester 600 over a network, such as a wide area network or a local area network; the items may be hosted at a remote location by a service; or the items may be provided as a service or accessed via a connection service located at a remote location. In addition, data can be stored at any location and the stored data can be retrieved or forwarded to operators, users or systems. For example, physical carriers can be used instead of or in addition to electromagnetic radiation carriers. In some examples where network coverage is poor or non-existent, another machine, e.g. a tank truck or other mobile machine or vehicle, have an automatic, semi-automatic or manual information collection system. If the combine 600 is in proximity to the machine containing the information collection system, such as a tanker truck, prior to refueling, the information collection system collects the information from the combine 600 via any ad hoc wireless connection. The information collected may then be forwarded to another network when the machine containing the received information reaches a location where wireless telecommunications service coverage or other wireless coverage is available. For example, a fuel truck may enter an area that has wireless communications coverage when it is traveling to a location to fuel other machines, or when it is at a main fuel depot. All of these architectures are considered herein. Furthermore, the information may be stored in the agricultural harvester 600 until the agricultural harvester 600 reaches an area of wireless communication coverage. The agricultural harvester 600 itself can send the information to another network.

It is also noted that the elements of 2 or portions thereof may be located on a variety of different devices. One or more of these devices may be an on-board computer, an electronic control unit, a display unit, a server, a desktop computer, a laptop computer, a tablet computer or other mobile device, such as a palmtop computer, a mobile phone, a smartphone, a multimedia player, a personal digital assistant, etc.

In some examples, the remote server architecture 500 may include cyber security measures. Without limitation, these measures may include encryption of data on storage devices, encryption of data sent between network nodes, authentication of individuals or processes accessing data, and use of ledgers to record metadata, data, data transfers, data access and involve data transformations. In some examples, the ledgers may be distributed and immutable (eg, implemented as a blockchain).

16 1 is a simplified block diagram of an illustrative example of a portable or mobile computing device that may be used as user or customer handheld device 16 in which the present system (or portions thereof) may be employed. For example, a mobile device may be deployed in the cab of agricultural harvester 100 to generate, process, or display the maps discussed above. the 17-18 are examples of portable or mobile devices.

16 provides a general block diagram of the components of a terminal 16, showing some of the 2 components shown can run, interact with them, or both. A communications link 13 is provided in device 16, enabling the portable device to communicate with other computing devices and, in some examples, providing a channel for automatically receiving information, such as by scanning. Examples of communication links 13 include allowing communication over one or more communication protocols, such as wireless services used to provide cellular access to a network, and protocols that provide local wireless connections to networks.

In other examples, applications may be received on a removable Secure Digital (SD) card connected to an interface 15 . Interface 15 and communications links 13 communicate with a processor 17 (which may also embody the processors or servers of the other FIGS.) via a bus 19 which is also connected to memory 21 and input/output (I/O) components 23 and the clock 25 and the locating system 27 is connected.

I/O components 23 are provided in one example to facilitate input and output operations. I/O components 23 for various examples of terminal device 16 may include input components such as buttons, tactile sensors, optical sensors, microphones, touch screens, proximity sensors, accelerometer sensors, orientation sensors, and output components such as a display, speaker, and/or printer port . Other I/O components 23 can also be used.

Clock 25 illustratively includes a real-time clock component that outputs a time and date. This may also provide timing functions for processor 17, illustratively.

The location system 27 illustratively includes a component that outputs a current geographic position of the device 16 . This may include, for example, a global positioning system (GPS) receiver, a LORAN system, a dead reckoning system, a cellular triangulation system, or other positioning system. For example, location system 27 may also include mapping or navigation software that generates desired maps, navigation routes, and other geographic features.

Memory 21 stores operating system 29, network settings 31, applications 33, application configuration settings 35, data storage 37, communication drivers 39, and communication configuration settings 41. Memory 21 may include all types of tangible volatile and non-volatile computer-readable storage devices. Memory 21 may also include computer storage media (see below). Memory 21 stores computer-readable instructions that, when executed by processor 17, cause the processor to perform computer-implemented steps or functions in accordance with the instructions. The processor 17 can be activated by other components to enhance their functionality as well.

17 FIG. 12 shows an example where the device 16 is a tablet computer 600. FIG. In 17 the computer 601 with the user interface screen 602 is shown. The screen 602 can be a touch screen or a pen-enabled interface that receives input from a pen or stylus. The tablet computer 600 can also have a use virtual on-screen keyboard. Of course, the computer 601 can also be connected to a keyboard or other user input device via any suitable attachment mechanism, such as a wireless connection or a USB port. Computer 601 may illustratively also receive voice input.

18 is similar to that 17 except that the device is a smartphone 71 . The smartphone 71 has a touch-sensitive display 73 that displays icons or graphics or other user input mechanisms 75 . The mechanisms 75 can be used by a user to run applications, make calls, perform data transfer operations, etc. In general, the smartphone 71 is built on top of a mobile operating system and offers more advanced computing power and connectivity than a feature phone.

It should be noted that other shapes of devices 16 are possible.

19 is an example of a computing environment in which elements of 2 can be used. With reference to 19 An exemplary system for implementing some embodiments includes a computing device in the form of a computer 810 programmed to operate as discussed above. The components of the computer 810 may include, but are not limited to, a processing unit 820 (which may include processors or servers from the preceding FIGURES), a system memory 830, and a system bus 821 that connects various system components, including the system memory, to the processing unit 820 couple. The system bus 821 can be any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, and a local bus with a variety of bus architectures. Memory and programs related to 2 can be described in appropriate sections of 19 be used.

Computer 810 typically includes multiple computer-readable media. Computer-readable media can be any available media that can be accessed by the computer 810 and includes both volatile and non-volatile media, removable and non-removable media. By way of example and not limitation, computer-readable media can include computer storage media and communications media. Computer storage media is distinct from and does not include a modulated data signal or carrier wave. Computer-readable media includes hardware storage media, having volatile and non-volatile, 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. Computational storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other storage technology, CD-ROM, digital versatile disk (DVD) or other optical disk storage, magnetic cartridge, tape, disk storage or other magnetic storage device, or any other medium that can be used to store the desired information accessible via computer 810. Communication media may contain 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 adjusted or altered to encode information in the signal.

System memory 830 includes computer storage media in the form of volatile and/or non-volatile memory, or both, such as read-only memory (ROM) 831 and random access memory (RAM) 832. A basic input/output system 833 (BIOS) that contains the basic programs that help To transfer information between elements within the computer 810, such as at startup, is typically stored in ROM 831. RAM 832 typically contains data or program modules, or both, that are immediately accessible to processing unit 820 and/or are currently operating. Illustrated by way of example and not limitation 19 the operating system 834, the application programs 835, further program modules 836 and program data 837.

Computer 810 may also include other removable/non-removable volatile/non-volatile computer storage media. For example shows 19 a hard disk drive 841 that reads from or writes to non-removable, non-volatile magnetic media, an optical disk drive 855, and a non-volatile optical disk 856. Hard disk drive 841 is typically connected to system bus 821 via a non-removable storage interface, such as interface 840, and optical disk drive 855 is typically connected to system bus 821 via a removable storage interface, such as interface 850.

Alternatively or additionally, the functionality described herein may be performed at least in part by one or more hardware logic components. Illustrative types of hardware logic components that may be used include, for example, field-programmable gate arrays (FPGAs), application-specific integrated circuits (e.g., ASICs), off-the-shelf application-specific products (e.g., ASSPs), system -on-a-chip systems (SOCs), "Complex Programmable Logic Devices" (CPLDs), etc.

The drives and associated computer storage media discussed above and in 19 11-11 provide storage for computer 810 of computer-readable instructions, data structures, program modules, and other data. In 19 For example, the hard disk drive 841 is shown as a storing operating system 844, application programs 845, further program modules 846 and program data 847. It should be noted that these components may be either the same as or different from the operating system 834, application programs 835, other program modules 836, and program data 837.

A user may enter commands and information into the computer 810 through input devices such as a keyboard 862, a microphone 863, and a pointing device 861 such as a mouse, trackball, or touchpad. Other input devices (not shown) may include a joystick, gamepad, satellite dish, scanner, or the like. These and other input devices are often connected to the processing unit 820 via a user input interface 860, which is coupled to the system bus, but may also be connected via other interface and bus structures. A visual display 891 or other type of display device is also connected to the system bus 821 via an interface such as a video interface 890 . In addition to the monitor, computers may also include other peripheral output devices, such as speakers 897 and printer 896, which may be connected via an output peripheral interface 895.

Computer 810 operates in a network environment via logical connections (such as CAN, LAN, or WAN) to one or more remote computers, such as remote computer 880.

When used in a LAN network environment, the computer 810 is connected to the LAN 871 via a network interface or adapter 870 . When used in a WAN network environment, the computer 810 typically includes a modem 872 or other means for establishing communication over the WAN 873, such as the Internet. In a networked environment, program modules may be stored on an external storage device. 19 illustrates, for example, that remote application programs 885 can reside on remote computer 880 .

It should also be noted that the various examples described here can be combined in various ways. That is, portions of one or more examples may be combined with portions of one or more other examples. All of these are considered here.

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

• ein Kommunikationssystem, das eine Informationskarte empfängt, die Werte einer Maschinengeschwindigkeit beinhaltet, die verschiedenen geografischen Positionen in einem Feld entsprechen;
• einen geografischen Positionssensor, der eine geografische Position der landwirtschaftlichen Arbeitsmaschine erfasst;
• einen In-situ-Sensor, der einen Wert eines landwirtschaftlichen Merkmals erkennt, der der geografischen Position entspricht;
• einen prädiktiven Kartengenerator, der eine funktionelle prädiktive landwirtschaftliche Karte des Feldes erzeugt, die prädiktive Steuerwerte auf Grundlage der Werte der Maschinengeschwindigkeit in der Informationskarte und auf Grundlage des Werts des landwirtschaftlichen Merkmals auf die verschiedenen geografischen Positionen in dem Feld abbildet;
• ein steuerbares Teilsystem; und
• ein Steuersystem, das ein Steuersignal erzeugt, um das steuerbare Teilsystem auf Grundlage der geografischen Position der landwirtschaftlichen Arbeitsmaschine und auf Grundlage der Steuerwerte in der funktionellen prädiktiven landwirtschaftlichen Karte zu steuern.

Example 1 is an agricultural working machine comprising:

• a communication system that receives an information map that includes machine speed values corresponding to various geographic positions in a field;
• a geographic position sensor that detects a geographic position of the agricultural working machine;
• an in situ sensor that detects a value of an agricultural feature that corresponds to the geographic location;
• a predictive map generator that generates a functional predictive agricultural map of the field that maps predictive control values to the various geographic locations in the field based on the machine speed values in the information map and based on the value of the agricultural feature;
• a controllable subsystem; and
• a control system that generates a control signal to control the controllable subsystem based on the geographical position of the agricultural work machine and based on the control values in the functional predictive agricultural map.

• eine prädiktive Maschinengeschwindigkeitskarte, die als Steuerwerte Maschinengeschwindigkeitswerte abbildet, die die vorhergesagte Geschwindigkeit der landwirtschaftlichen Erntemaschine an den verschiedenen Positionen in dem Feld anzeigen.

Example 2 is the agricultural work machine of any or all of the preceding examples, wherein the information card includes:

• a predictive machine speed map mapping as control values machine speed values indicative of the predicted speed of the agricultural harvesting machine at the various positions in the field.

• einen Geschwindigkeits-zu-In-situ-Sensordaten-Modellgenerator, der ein prädiktives Sensordatenmodell erzeugt, das eine Beziehung zwischen den prädiktiven Maschinengeschwindigkeitswerten und dem landwirtschaftlichen Merkmal auf Grundlage der prädiktiven Maschinengeschwindigkeitswerte in der prädiktiven Maschinengeschwindigkeitskarte an der geografischen Position und dem Wert des landwirtschaftlichen Merkmals modelliert, das der geografischen Position entspricht.

Example 3 is the agricultural work machine of any or all of the preceding examples and further includes:

• a speed-to-in-situ sensor data model generator that generates a predictive sensor data model that models a relationship between the predictive machine speed values and the agricultural feature based on the predictive machine speed values in the predictive machine speed map at the geographic location and the value of the agricultural feature , which corresponds to the geographical position.

• [0242] einen prädiktiven Sensordatenkartengenerator, der eine funktionelle prädiktive Sensordatenkarte erzeugt, die prädiktive Werte des landwirtschaftlichen Merkmals auf die verschiedenen geografischen Positionen in dem Feld abbildet.

Example 4 is the agricultural work machine of any or all of the preceding examples, where the predictive map generator includes:

• [0242] a predictive sensor data map generator that generates a functional predictive sensor data map that maps predictive values of the agricultural feature to the various geographic locations in the field.

• [0244] eine Steuerung, die ein Steuersignal auf Grundlage der geografischen Position und der funktionellen prädiktiven Sensordatenkarte erzeugt und das steuerbare Teilsystem auf Grundlage des Steuersignals steuert.

Example 5 is the agricultural work machine of any or all of the preceding examples, wherein the control system includes:

• [0244] a controller that generates a control signal based on the geographic position and the functional predictive sensor data map and controls the controllable subsystem based on the control signal.

• [0246] eine Bedienerschnittstellensteuerung, die eine Benutzerschnittstellenkartendarstellung der funktionellen prädiktiven landwirtschaftlichen Karte erzeugt, wobei die Benutzerschnittstellenkartendarstellung einen Feldabschnitt umfasst.

Example 6 is the agricultural work machine of any or all of the preceding examples, the control system further comprising:

• [0246] an operator interface controller that generates a user interface map representation of the functional predictive agricultural map, the user interface map representation including a field portion.

• [0248] ein Maschinengeschwindigkeitssymbol, das einen Wert der Maschinengeschwindigkeit an einer oder mehreren geografischen Positionen auf dem Feldabschnitt angibt.

Example 7 is the agricultural work machine of any or all of the preceding examples, wherein the user interface map representation further includes:

• [0248] a machine speed symbol indicating a value of machine speed at one or more geographic locations on the field portion.

Example 8 is the agricultural work machine of any or all of the preceding examples, wherein the operator interface controller generates the user interface map presentation to include an interactive display section displaying a recognized feature display indicative of the recognized agricultural feature, an interactive threshold display section indicative of an action threshold, and an interactive action indicator indicating a control action to be taken when the sensed agricultural characteristic meets the action threshold, wherein the control system generates the control signal to control the controllable subsystem based on the control action.

• [0251] Erhalten einer Informationskarte, die Werte zur Maschinengeschwindigkeit beinhaltet, die verschiedenen geografischen Positionen in einem Feld entsprechen;
• [0252] Erkennen einer geografischen Position der landwirtschaftlichen Arbeitsmaschine;
• [0253] Erkennen eines Werts eines landwirtschaftlichen Merkmals mit einem In-situ-Sensor, der der geografischen Position entspricht;
• [0254] Erzeugen einer funktionellen prädiktiven landwirtschaftlichen Karte des Feldes, die prädiktive Steuerwerte auf Grundlage der Werte der Maschinengeschwindigkeit in der Informationskarte und auf Grundlage des Werts des landwirtschaftlichen Merkmals auf die verschiedenen geografischen Positionen in dem Feld abbildet; und
• [0255] Steuern eines steuerbaren Teilsystems auf Grundlage der geografischen Position der landwirtschaftlichen Arbeitsmaschine und auf Grundlage der Steuerwerte in der funktionellen prädiktiven landwirtschaftlichen Karte.

Example 9 is a computer-implemented method for controlling an agricultural work machine, comprising:

• [0251] obtaining an information map that includes machine speed values corresponding to various geographic locations in a field;
• [0252] detecting a geographical position of the agricultural work machine;
• [0253] detecting a value of an agricultural feature with an in situ sensor that corresponds to the geographic location;
• generating a functional predictive agricultural map of the field mapping predictive control values based on the values of machine speed in the information map and based on the value of the agricultural feature to the different geographic positions in the field; and
• [0255] Controlling a controllable subsystem based on the geographical position of the agricultural work machine and based on the control values in the functional predictive agricultural map.

• Erhalten einer prädiktiven Maschinengeschwindigkeitskarte, die Maschinengeschwindigkeitswerte abbildet, die die vorhergesagte Geschwindigkeit der landwirtschaftlichen Erntemaschine an den verschiedenen Positionen in dem Feld angeben.

Example 10 is the computer-implemented method of any or all of the preceding examples, wherein obtaining an information card comprises:

• Obtaining a predictive machine speed map, the machine speed maps values indicative of the predicted speed of the agricultural harvester at the various positions in the field.

• Erzeugen, mit einem Geschwindigkeit-zu-In-situ-Modellgenerator, eines prädiktiven Sensordatenmodells, das eine Beziehung zwischen den prädiktiven Maschinengeschwindigkeitswerten und dem landwirtschaftlichen Merkmal auf Grundlage des prädiktiven Maschinengeschwindigkeitswerts in der prädiktiven Maschinengeschwindigkeitskarte an der geografischen Position und des Werts des landwirtschaftlichen Merkmals, der der geografischen Position entspricht, modelliert.

Example 11 is the computer-implemented method of any or all of the preceding examples, and further includes:

• Generating, with a speed-to-in-situ model generator, a predictive sensor data model that has a relationship between the predictive machine speed values and the agricultural feature based on the predictive machine speed value in the predictive machine speed map at the geographical position and the value of the agricultural feature, the corresponds to the geographical position.

• Erzeugen, mit einem prädiktiven Sensordatenkartengenerator, einer funktionellen prädiktiven Sensordatenkarte als funktionelle prädiktive landwirtschaftliche Karte, die als prädiktive Steuerwerte prädiktive Werte des landwirtschaftlichen Merkmals auf die verschiedenen geografischen Positionen in dem Feld abbildet.

Example 12 is the computer-implemented method of any or all of the preceding examples, further comprising:

• generating, with a predictive sensor data map generator, a functional predictive sensor data map as a functional predictive agricultural map, which maps predictive values of the agricultural feature to the different geographic positions in the field as predictive control values.

• Erzeugen eines Steuersignals auf Grundlage der geografischen Position und der funktionellen prädiktiven Sensordatenkarte und Steuern des steuerbaren Teilsystems auf Grundlage des Steuersignals.

Example 13 is the computer-implemented method of any or all of the preceding examples, further comprising:

• generating a control signal based on the geographic position and the functional predictive sensor data map and controlling the controllable subsystem based on the control signal.

• Erzeugen einer Benutzerschnittstellenkartendarstellung der funktionellen prädiktiven landwirtschaftlichen Karte, wobei die Benutzerschnittstellenkartendarstellung einen Feldabschnitt umfasst.

Example 14 is the computer-implemented method of any or all of the preceding examples, further comprising:

• generating a user interface map representation of the functional predictive agricultural map, the user interface map representation including a field portion.

• Erzeugen eines Maschinengeschwindigkeitssymbols, das einen Wert der Maschinengeschwindigkeit an einer oder mehreren geografischen Positionen auf dem Feldabschnitt angibt, als Teil der Benutzerschnittstellenkartendarstellung.

Example 15 is the computer-implemented method of any or all of the preceding examples, wherein generating the user interface map representation of the functional predictive agricultural map further comprises:

• generating as part of the user interface map representation a machine speed icon indicating a value of machine speed at one or more geographic locations on the field portion.

• Erzeugen, als Teil der Benutzerschnittstellenkartendarstellung, eines interaktiven Anzeigeabschnitts, der eine erkannte Merkmalsanzeige anzeigt, die das erkannte landwirtschaftliche Merkmal anzeigt, eines interaktiven Schwellenwertanzeigeabschnitts, der einen Aktionsschwellenwert anzeigt, und eines interaktiven Aktionsindikators, der eine Steueraktion anzeigt, die zu ergreifen ist, wenn das erkannte landwirtschaftliche Merkmal den Aktionsschwellenwert erfüllt, wobei das Steuersystem das Steuersignal erzeugt, um das steuerbare Teilsystem auf Grundlage der Steueraktion zu steuern.

Example 16 is the computer-implemented method of any or all of the preceding examples, wherein generating the user interface map representation of the functional predictive agricultural map further comprises:

• Creating, as part of the user interface map presentation, an interactive display section displaying a recognized feature indicator displaying the recognized agricultural characteristic, an interactive threshold display section displaying an action threshold, and an interactive action indicator displaying a control action to be taken if the the recognized agricultural feature meets the action threshold, wherein the control system generates the control signal to control the controllable subsystem based on the control action.

• ein Kommunikationssystem, das eine Informationskarte empfängt, die Werte einer Maschinengeschwindigkeit beinhaltet, die verschiedenen geografischen Positionen in einem Feld entsprechen;
• einen geografischen Positionssensor, der eine geografische Position der landwirtschaftlichen Arbeitsmaschine erfasst;
• einen In-situ-Sensor, der einen Wert eines landwirtschaftlichen Merkmals erkennt, der der geografischen Position entspricht;
• einen prädiktiven Modellgenerator, der ein prädiktives landwirtschaftliches Modell erzeugt, das eine Beziehung zwischen der Maschinengeschwindigkeit und dem landwirtschaftlichen Merkmal auf Grundlage eines Werts der Maschinengeschwindigkeit in der Informationskarte an der geografischen Position und eines Werts des landwirtschaftlichen Merkmals modelliert, der durch den In-situ-Sensor erfasst wird, der der geografischen Position entspricht;
• einen prädiktiven Kartengenerator, der eine funktionelle prädiktive landwirtschaftliche Karte des Feldes erzeugt, die prädiktive Steuerwerte auf Grundlage der Werte der Maschinengeschwindigkeit in der Informationskarte und auf Grundlage des prädiktiven landwirtschaftlichen Modells auf die verschiedenen geografischen Positionen in dem Feld abbildet;
• ein steuerbares Teilsystem; und
• ein Steuersystem, das ein Steuersignal erzeugt, um das steuerbare Teilsystem auf Grundlage der geografischen Position der landwirtschaftlichen Arbeitsmaschine und auf Grundlage der Steuerwerte in der funktionellen prädiktiven landwirtschaftlichen Karte zu steuern.

Example 18 is an agricultural work machine comprising:

• a communication system that receives an information map that includes machine speed values corresponding to various geographic positions in a field;
• a geographic position sensor that detects a geographic position of the agricultural working machine;
• an in situ sensor that detects a value of an agricultural feature that corresponds to the geographic location;
• a predictive model generator that generates a predictive agricultural model that models a relationship between the machine speed and the agricultural feature based on a value of the machine speed in the information map at the geographic location and a value of the agricultural feature detected by the in situ sensor is recorded that corresponds to the geographical position;
• a predictive map generator that generates a functional predictive agricultural map of the field that maps predictive control values to the various geographic locations in the field based on the machine speed values in the information map and based on the predictive agricultural model;
• a controllable subsystem; and
• a control system that generates a control signal to control the controllable subsystem based on the geographical position of the agricultural work machine and based on the control values in the functional predictive agricultural map.

• ein Verarbeitungssystem, das das Sensorsignal empfängt und konfiguriert ist, um den Wert des landwirtschaftlichen Merkmals, der der geografischen Position entspricht, auf der Grundlage des Sensorsignals zu identifizieren.

Example 18 is the agricultural work machine of any or all of the preceding examples, wherein the in situ sensor generates a sensor signal indicative of the agricultural characteristic, and further comprises:

• a processing system that receives the sensor signal and is configured to identify the value of the agricultural feature that corresponds to the geographic location based on the sensor signal.

• eine Bedienerschnittstellensteuerung, die eine Benutzerschnittstellenkartendarstellung der funktionellen prädiktiven landwirtschaftlichen Karte erzeugt, wobei die Benutzerschnittstellenkartendarstellung einen Feldabschnitt und ein Maschinengeschwindigkeitssymbol umfasst, das einen Wert der Maschinengeschwindigkeit an einer oder mehreren geografischen Positionen auf dem Feldabschnitt angibt.

Example 19 is the agricultural work machine of any or all of the preceding examples, the control system further comprising:

• an operator interface controller that generates a user interface map representation of the functional predictive agricultural map, the user interface map representation including a field portion and a machine speed symbol indicating a value of machine speed at one or more geographic locations on the field portion.

• einen prädiktiven Sensordatenkartengenerator, der als funktionelle prädiktive landwirtschaftliche Karte eine funktionelle prädiktive Sensordatenkarte erzeugt, die als prädiktive Steuerwerte prädiktive Werte des landwirtschaftlichen Merkmals auf die verschiedenen geografischen Positionen in dem Feld abbildet.

Example 20 is the agricultural work machine of any or all of the preceding examples, wherein the predictive map generator includes:

• a predictive sensor data map generator which, as a functional predictive agricultural map, generates a functional predictive sensor data map which, as predictive control values, maps predictive values of the agricultural feature to the different geographic positions in the field.

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

Claims (15)

Agricultural working machine (100), comprising: a communications system (206) receiving an information map (258) containing values of machine speed corresponding to various geographic locations in a field; a geographic position sensor (204) that detects a geographic position of the agricultural work machine; an in situ sensor (208) that detects a value of an agricultural feature that corresponds to the geographic location; a predictive map generator (212) that generates a functional predictive agricultural map of the field that maps predictive control values to the various geographic locations in the field based on the machine speed values in the information map (258) and based on the value of the agricultural feature; a controllable subsystem (216); and a control system (214) that generates a control signal to control the controllable subsystem (216) based on the geographical position of the agricultural work machine (100) and based on the control values in the functional predictive agricultural map. Agricultural working machine after claim 1 wherein the information map comprises: a predictive machine speed map mapping as control values machine speed values indicative of the predicted speed of the agricultural harvesting machine at the different positions in the field. Agricultural working machine after claim 2 and further comprising: a speed in situ sensor data model generator that generates a predictive sensor data model that establishes a relationship between the predictive machine speed values and the agricultural feature based on the predictive machine speed values in the predictive machine speed map at the geographic location and the value of the agricultural Feature is modeled that corresponds to geographic location. Agricultural working machine after claim 3 wherein the predictive map generator comprises: a predictive sensor data map generator that generates a functional predictive sensor data map that maps predictive values of the agricultural feature to the different geographic locations in the field. Agricultural working machine after claim 4 , the control system comprising: a controller that generates a control signal based on the geographic location and the functional predictive sensor data map and controls the controllable subsystem based on the control signal. Agricultural working machine after claim 1 wherein the control system further comprises: an operator interface controller that generates a user interface map representation of the functional predictive agricultural map, the user interface map representation including a field portion. Agricultural working machine after claim 6 wherein the user interface map representation further comprises: a machine speed icon indicating a value of machine speed at one or more geographic locations on the field portion. Computer-implemented method for controlling an agricultural working machine, comprising: obtaining an information map (258) containing machine speed values corresponding to various geographic locations in a field; detecting a geographic position of the agricultural work machine (100); detecting a value of an agricultural feature with an in situ sensor (208) that corresponds to the geographic location; generating a functional predictive agricultural map of the field mapping predictive control values to the various geographic locations in the field based on the values of machine speed in the information map (258) and based on the value of the agricultural feature; and Controlling a controllable subsystem (216) based on the geographical position of the agricultural work machine (100) and based on the control values in the functional predictive agricultural map. Computer-implemented method claim 8 wherein obtaining an information map comprises: obtaining a predictive machine speed map mapping machine speed values indicative of the predicted speed of the agricultural harvesting machine at the various locations in the field. Computer-implemented method claim 9 , further comprising: generating, with a rotational speed in situ model generator, a predictive sensor data model representing a relationship between the predictive machine speed values and the agricultural feature based on the predictive machine speed value in the predictive machine speed map at the geographic location and the value of the agricultural feature , which corresponds to the geographic position, is modeled. Computer-implemented method claim 10 , further comprising: generating, with a predictive sensor data map generator, a functional predictive sensor data map as the functional predictive agricultural map mapping as predictive control values predictive values of the agricultural feature to the different geographical positions in the field. Computer-implemented method claim 11 , further comprising: generating a control signal based on the geographic position and the functional predictive sensor data map, and controlling the controllable subsystem based on the control signal. Computer-implemented method claim 8 , further comprising: generating a user interface map representation of the functional predictive agricultural map, the user interface map representation comprising a field portion. Computer-implemented method Claim 13 wherein generating the user interface map representation of the functional predictive agricultural map further comprises: generating as part of the user interface map representation a machine speed symbol indicating a value of machine speed at one or more geographic locations on the field portion. An agricultural work machine (100) comprising: a communication system (206) receiving an information map (258) containing values of machine speed corresponding to various geographic locations in a field; a geographic position sensor (204) that detects a geographic position of the agricultural work machine (100); an in situ sensor (208) that detects a value of an agricultural feature that corresponds to the geographic location; a predictive model generator (210) that generates a predictive agricultural model that has a relationship between machine speed modeling the agricultural feature based on a machine speed value in the information map (258) at the geographic location and a value of the agricultural feature sensed by the in situ sensor (208) that corresponds to the geographic location; a predictive map generator (212) that generates a functional predictive agricultural map of the field mapping predictive control values to the various geographic locations in the field based on the machine speed values in the information map (258) and based on the predictive agricultural model; a controllable subsystem (216); and a control system (214) that generates a control signal to control the controllable subsystem (216) based on the geographical position of the agricultural work machine and based on the control values in the functional predictive agricultural map.

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