EP4730986A1 - Control system and control method for controlling operation of an agricultural harvesting machine - Google Patents

Abstract

Systems and methods are provided for controlling operation of an agricultural harvesting machine (10) which includes receiving first sensor data (80) for crop material interacting with a crop engaging component (17) and second sensor data (82) for processed crop material downstream of one or more crop processing components of the harvesting machine. The sensor data is analysed to determine first and second crop characteristics, which are then used to determine a third crop characteristic indicative of a size of one or more crop material components of the harvested crop material. Operation of one or more operable components (30, 31) of or otherwise associated with the harvesting machine can be controlled based on the third crop characteristic.

Description

CONTROL SYSTEM AND CONTROL METHOD FOR CONTROLLING OPERATION OF AN AGRICULTURAL HARVESTING MACHINE

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] Not applicable.

FIELD

[0002] Embodiments of the present disclosure relate generally to systems and methods for monitoring and/or controlling operation of an agricultural harvesting machine, such as a combine harvester.

BACKGROUND

[0003] Agricultural harvesting machines, such as combine harvesters or a "combine" includes or is configured such that a header may be mounted thereto. The header takes the crop from a field and collected into crop processing systems therein which separates grain from other crop material, or material other than grain "MOG". The separated grain is typically transferred to an onboard grain bin where it may be temporarily stored, and the MOG is typically deposited back onto the field. The crop processing systems typically includes a threshing and separating system which may in some instances be formed of a rotary threshing and separating system including one or more rotors which extend axially (front to rear) or transversely within the body of the combine, and which is partially or fully surrounded by a perforated concave. The crop material is threshed and separated by the rotation of the rotor within the concave.

[0004] It is important to be able to conveniently and accurately adjust the running clearance in the region between the one or more rotors and the concave - the "concave clearance" depending on the type of crop being harvested, or indeed on variations in the same crop - size, maturity, etc. to ensure the right level of processing to increase effectiveness and efficiency in separating the grain material from the MOG. A concave clearance that is too small will result in grain damage, whereas an excessive concave clearance will tend to reduce the threshing effectiveness leading to losses.

[0005] Conventionally, threshing and separating efficiency analysis and, e.g. concave clearance adjustment, is a manual task undertaken by the operator of the harvesting machine. For instance, where the crop comprises a corn crop, the operator may periodically stop the machine and inspect the MOG, corn cobs, etc. left on the ground behind the machine to make an assessment of the threshing and separating effectiveness and make any manual adjustments they deem necessary.

[0006] It is an aim of embodiments of the invention to provide a solution for monitoring and/or controlling operation of an agricultural harvesting machine which improves upon known solutions, e.g. in monitoring the effectiveness of the threshing and separating of crop material.

BRIEF SUMMARY

[0007] In an aspect of the invention there is provided a control system for controlling operation of an agricultural harvesting machine, the control system comprising one or more controllers, collectively configured, in use, to: receive first sensor data indicative of crop material interacting with a crop engaging component of or otherwise associated with the harvesting machine; receive second sensor data indicative of processed crop material downstream of one or more crop processing components of the harvesting machine; analyse the first sensor data to determine a first crop characteristic; analyse the second sensor data to determine a second crop characteristic; utilise the first and second crop characteristics to determine a third crop characteristic indicative of a size of one or more crop material components of the harvested crop material; and generate and output one or more control signals for controlling operation of one or more operable components of or otherwise associated with the harvesting machine in dependence on the determined third crop characteristic.

[0008] Advantageously, the present disclosure provides means to analyse crop material prior to and following engagement with a crop processing component of the machine. This enables multiple measures of crop characteristics to be obtained which may otherwise not be possible with measurement at a single location. A further characteristic can then be inferred or determined from the first and second measured characteristics which is not present or readily determinable from either sensor alone. Where used in a corn harvester, the present proposal may provide a means to determine a cob diameter from measurements of an ear diameter and a kernel size, for instance.

[0009] The first sensor data may comprise data received from a first sensor. The first sensor may comprise an optical sensor, which may be a camera. In such embodiments, the camera may provide first sensor data in the form of first image data. The first sensor may comprise a stereoscopic sensor for providing depth information within the sensor data.

[0010] The one or more controllers may be configured to analyse the first sensor data, e.g. through performance of an object recognition process, to identify one or more crop components within the first sensor data. Where the first sensor data comprises image data this may include an image recognition process. The object or image recognition process may comprise a learned process, e.g. a machine learned process, trained with training data for identifying specific crop component types from the sensor data.

[0011] The first crop characteristic may comprise a measure of a size associated with identified crop component(s) within the first sensor data. This may comprise a measure of a diameter of identified crop component(s) within the first sensor data. In embodiments, the harvested crop may comprise a corn crop and the first crop characteristic may comprise a measure of a diameter of corn ears present in the crop material harvested by the harvesting machine.

[0012] The one or more controllers may be configured to determine the size measure directly from the first sensor data. This may include, for example, an estimated length based on a size (e.g. diameter or length) of the identified crop component(s) in the first sensor data and a known spatial relationship between the first sensor and the crop engaging component. Where the first sensor comprises a stereoscopic sensor, or is otherwise capable of providing depth information the one or more controllers may be configured to determine an absolute measure of the length, based on the size of the crop component(s) in the image data and the depth information provided by the first sensor. [0013] The first crop characteristic may comprise an average crop component size, as determined for one or more crop components for a defined time period. The time period may comprise a set time, or may be dependent for example on a distance of travel of the harvesting machine. The time period may be dependent on the number of identified crop components -e.g. a running average for the last X number of components identified.

[0014] In yet further embodiments, the control system may be configured to receive additional sensor data from an additional sensor providing depth information for the sensed region. For example, the additional sensor may comprise a transceiver type sensor, e.g. LIDAR, for providing depth information for the sensed region. In such embodiments, the one or more controllers may be configured to determine the first crop characteristic in dependence on the first sensor data and the additional sensor data.

[0015] The crop engaging component may comprise a header of or otherwise operably coupled to the harvesting machine. Where the harvesting machine is configured for use in harvesting a corn crop, the header may comprise a corn header having a plurality of row units and a crop transferring apparatus for transferring stripped crop material to downstream crop processing components of the harvesting machine. The first sensor data may comprise data indicative of crop material engaging with one or more row units and/or a crop transferring apparatus of the header.

[0016] The second sensor may comprise an optical sensor, which may be a camera. In such embodiments, the camera may provide second sensor data in the form of second image data. The second sensor may comprise a stereoscopic sensor for providing depth information within the sensor data. In embodiments, the second sensor forms a grain quality sensor provided within a flowpath of processed crop material downstream of the one or more crop processing components of the harvesting machine. The grain quality sensor may be provided, for example, in a grain elevator or grain bin of the harvesting machine. The grain quality sensor may comprise a sensing surface against which the processed crop material, or at least a portion thereof, may come into contact when passing. The sensing surface may comprise a substantially transparent cover member over the second sensor forming a boundary between the sensor and the crop material. The second sensor data may comprise second image data of processed crop material on the sensing surface.

[0017] The one or more controllers may be configured to analyse the second sensor data, e.g. through performance of an object recognition process, to identify one or more crop components within the second sensor data. Where the second sensor data comprises image data this may include an image recognition process. The object or image recognition process may comprise a learned process, e.g. a machine learned process, trained with training data for identifying specific crop component types from the sensor data. The specific crop component types to be identified in the image data may comprise kernels, e.g. corn kernels where the harvested crop is a corn crop.

[0018] The second crop characteristic may comprise a measure of a size associated with identified crop component(s) within the second sensor data. This may comprise a measure of a length and/or width of identified crop component(s) within the second sensor data. In embodiments, the harvested crop may comprise a corn crop and the second crop characteristic may comprise a measure of a length and/or width of corn kernels present in the crop material harvested by the harvesting machine.

[0019] The one or more controllers may be configured to determine the size measure directly from the second sensor data. This may include, for example, an estimated length based on a size (e.g. diameter or length) of the identified crop component(s) in the second sensor data and a known spatial relationship between the second sensor and the crop engaging component. This is possible with a grain quality sensor, for example, where material against the sensing surface is at a known distance from the second sensor, thereby providing a consistent spatial relationship between the crop material and the sensor.

[0020] The second crop characteristic may comprise an average crop component size, as determined for one or more crop components for a defined time period. The time period may comprise a set time, or may be dependent for example on a distance of travel of the harvesting machine. The time period may be dependent on the number of identified crop components -e.g. a running average for the last X number of components identified. The time period may be equivalent to a time period applied to the first sensor data. [0021] The one or more crop processing components can include a threshing and/or separating apparatus of the harvesting machine including, for example, a concave. Advantageously, the second sensor data may provide information indicative of a processed crop following passing the collected material through threshing and/or separating apparatus.

[0022] The third crop characteristic may comprise a determination of a size of crop material or components thereof harvested by the harvesting machine. This may comprise a length, width or diameter of crop material components, for example. In embodiments, the third crop characteristic comprises a determination or inference of the diameter of ears of crop material. This may comprise an average ear diameter as determined from the average cob diameter, as determined from the first sensor data and the average kernel length, as determined from the second sensor data.

[0023] The one or more operable components of or otherwise associated with the agricultural harvesting machine may include a user interface. The one or more controllers may be configured to control output of an indicator indicative of the determined third crop characteristic via the user interface. The one or more controllers may be configured to control output of an operational instruction or advisory for the harvesting machine operator for one or more operational adjustments to components of the machine, e.g. a crop processing component of the machine, in dependence on the third crop characteristic. This may include, for example, a recommended adjustment or setting for a threshing and/or separating apparatus of the harvesting machine. This can include a concave clearance setting, or operating boundaries.

[0024] The user interface may comprise a display screen, which may be provided as part of a user terminal of the machine, e.g. in an operator cab of the machine. Additionally or alternatively, the user interface may be provided by a portable user device, e.g. one carried by a user/operator during operation of the machine. The portable user device may comprise a smartphone, tablet computer, laptop or the like.

[0025] The one or more operable components may comprise a crop processing component of the agricultural harvesting machine. In embodiments, the crop processing component may comprise a threshing and/or separating apparatus of the machine, including one or more a rotors and concave. The one or more controllers may be configured for controlling operation of the threshing and/or separating apparatus, which may include control over one or more operational parameters thereof. This may include controlling a concave clearance setting, or operating boundaries.

[0026] The one or more controllers may be configured to control a forward speed of the agricultural harvesting machine in dependence on the determined third crop characteristic. Advantageously, the forward speed of the machine may be utilised to control the feed speed of material into / through the agricultural harvesting machine, in turn controlling a load on the crop processing components thereof.

[0027] In embodiments, the component(s) of the agricultural harvesting machine may comprise a header for the machine. The one or more controllers may be configured for controlling an operational speed of elements of the header, a lift mechanism for the header for controlling an operational position or height of the header, and/or an operational state of the header in dependence on the third crop characteristic. Again, this may control a load on the crop processing components of the harvesting machine.

[0028] The one or more controllers may collectively comprise an input (e.g. an electronic input) for receiving one or more input signals. The one or more input signals may comprise sensor data from the first and/or second sensors. The one or more controllers may collectively comprise one or more processors (e.g. electronic processors) operable to execute computer readable instructions for controlling operational of the control system, for example, to determine the first, second and/or third crop characteristics. The one or more processors may be operable to generate one or more control signals for controlling operation of the one or more operable components. The one or more controllers may collectively comprise an output (e.g. an electronic output) for outputting the one or more control signals.

[0029] A further aspect provides an agricultural machine comprising the control system as described hereinabove. The agricultural machine may comprise a harvesting machine, such as a combine harvester.

[0030] A further aspect provides a method of controlling operation of an agricultural harvesting machine, comprising: receiving first sensor data indicative of crop material interacting with a crop engaging component of or otherwise associated with the harvesting machine; receiving second sensor data indicative of processed crop material downstream of one or more crop processing components of the harvesting machine; analysing the first sensor data to determine a first crop characteristic; analysing the second sensor data to determine a second crop characteristic; utilising the first and second crop characteristics to determine a third crop characteristic indicative of a size of one or more crop material components of the harvested crop material; and controlling operation of one or more operable components of or otherwise associated with the harvesting machine in dependence on the determined third crop characteristic.

[0031] The method may comprise performing any one or more of the functionalities of the one or more controllers of the system described hereinabove.

[0032] A further aspect of the invention provides computer software comprising computer readable instructions which, when executed by one or more electronic processors, causes performance of a method in accordance with any aspect described herein.

[0033] A yet further aspect of the invention provides a computer readable medium having the computer software of the preceding aspect of the invention stored thereon.

[0034] Within the scope of this application it should be understood that the various aspects, embodiments, examples and alternatives set out herein, and individual features thereof may be taken independently or in any possible and compatible combination. Where features are described with reference to a single aspect or embodiment, it should be understood that such features are applicable to all aspects and embodiments unless otherwise stated or where such features are incompatible.

BRIEF DESCRIPTION OF THE DRAWINGS

[0035] One or more embodiments of the invention / disclosure will now be described, by way of example only, with reference to the accompanying drawings, in which:

[0036] FIG. 1 is schematic side view of a combine harvester embodying aspects of the present disclosure;

[0037] FIG. 2 is a schematic front view of an example twin-rotor processor forming part of the harvester shown in FIG. 1, illustrating an example concave adjustment system; [0038] FIG. 3 is a schematic view of an embodiment of a control system embodying aspects of the present disclosure;

[0039] FIG. 4 illustrates sensor data utilised by embodiments described herein;

[0040] FIG. 5 illustrates sensor data utilised by embodiments described herein; and

[0041] FIG. 6 graphically illustrates the operational use of embodiments described herein.

DETAILED DESCRIPTION

[0042] The present disclosure relates to systems and methods for controlling operation of an agricultural harvesting machine, or components thereof, here a harvester 10. First and second sensor data is obtained from sensors 80, 82 mounted or otherwise coupled to the harvester 10. Controller(s) 102 is configured to analyse the first and second sensor data to determine first and second crop material characteristics from identified crop material components in the images. As discussed herein, this may include a measure of a size of identified crop material components within the image, from which a third crop characteristic can be calculated. An operational setting for a crop processing apparatus of the harvester 10, e.g. processor 20, may be inferred from the third crop characteristic. Operation of one or more operable components of or otherwise associated with the harvester 10 (e.g. a user interface 84 or components of a threshing and/or separating apparatus - hereinafter referred to generally as processor 20 of the harvester 10) can be controlled based on determined parameters, in the manner discussed herein.

Harvester

[0043] FIG. 1 illustrates an example harvester 10 embodying aspects of the disclosure. Relative terms such as 'front', 'rear', 'left', 'right', 'vertical', 'horizontal', 'longitudinal' and 'transverse' will be made with reference to the longitudinal axis of a combine harvester travelling in the normal forward direction of travel indicated by arrow F in Figure 1. The terms 'direction of conveyance', 'upstream', and 'downstream' are made with reference to the general flow of crop material through the combine harvester. The terms 'axial', 'radial' and 'tangential' will be used in relation to the rotation axis of the processing rotors. [0044] With reference to FIG. 1, a harvesting machine in the form of a combine harvester 10 includes a frame or chassis 12, front wheels 14 and rear steerable wheels 16. A cutting header 17 is detachably supported on the front of a feederhouse 18 which is pivotable about a transverse axis to lift and lower the header 17 in a conventional manner.

[0045] The combine 10 is driven in a forward direction F across a field of standing crop in a known manner. The header 17 serves to cut and gather the crop material before conveying such into feederhouse 18 and elevator 19 housed therein. At this stage the crop stream is unprocessed. It should be understood that combine harvesters are employed to harvest a host of different crops including cereal, rice, corn and grass seed. The following description will make reference to various parts of the cereal crop stream but it should be understood that this is by way of example only and does not by any means limit the applicability of the invention to harvester other harvesting crops.

[0046] The cut crop stream is conveyed rearwardly from the feederhouse 18 to a processor designated generally at 20. The processor 20 includes a pair of axial flow threshing and separating rotors 21, 22 which are each housed side-by-side inside a respective rotor housing 23 and are fed at their front end by a feed beater 25. The rotors serve to thresh the crop stream in a front 'threshing' region, separate the grain therefrom in a rear 'separating' region, and eject the straw residue through the rear of the machine either directly onto the ground in a windrow or via a straw chopper.

[0047] Each rotor housing 23 is generally cylindrical and is made up of an opaque upper section and a lower section which includes a set of side-by-side arcuate concave grate segments which allow the separated material to fall by gravity onto a grain collection pan located below for onward conveyance to a cleaning system. Guide vanes are secured to the inside of the rotor housing and serve, in conjunction with the crop engaging elements on the rotor, to convey the stream of crop material in a generally rearward spiral path from front to rear.

[0048] The sets 30, 31 of concave grate segments are positioned underneath the respective rotors 21, 22 and wrap around a portion of the cylindrical swept envelope 21', 22'. Individual concave grate segments are carried upon support structures that are movably mounted to the frame 12 so as to allow adjustment of the clearance between the segments and the rotors 21, 22.

[0049] FIG. 2 illustrates a concave support structure and concave adjustment system in schematic form. The swept envelopes 21', 22' of the two crop processing rotors 21, 22 are shown. The rotors 21,22 are arranged side-by-side and each have a substantially longitudinal, or fore and aft, rotation axis 21", 22".

[0050] An inner support structure 32 is positioned between the two rotors 21, 22 and is movably mounted to the frame 12 by a first linkage 34. Two outer support structures 42, 52 are located outboard of the two rotors 21, 22 and are movably mounted to the frame 12 by respective second and third linkages 44, 54.

[0051] The sets of concave grate segments 30, 31 are carried by the inner support structure 32 and two outer support structures 42, 52 at a radial distance C from the respective rotors 21, 22. An adjustment system is provided to control movement of the concave segments. An example adjustment system is discussed in European Patent No. EP3687275 granted to the Applicant, the contents of which are incorporated here in their entirety. It should be noted that the earlier European Patent discussed here provides one example concave adjustment system, and the present disclosure is not limited in this sense. Rather, multiple different adjustment systems may be applicable, and would be readily understood by the skilled person.

[0052] In the specific example shown in FIG. 2, hydraulic actuators are coupled to the respective linkages 34, 44, 54 to raise and lower the inner and outer support structures 32, 42, 52 and, as a result, adjust the concave clearance C. A rotor drive system, represented generically at 60, is operable to drive the rotors 21, 22 in mutually opposite directions. Viewed from the front, the left-hand rotor 21 rotates clockwise (as indicated by the arrow) and the right-hand rotor 22 rotates anticlockwise. As such, the inboard side of the rotors 21, 22 turn upwardly. However, it should be appreciated that the rotors 21, 22 may be operable to rotate in the opposite direction as will be appreciated.

[0053] In use, the crop material enters the space between the concave and the rotor along the outboard side 'a' and exits along the inboard side 'b'. The specific concave adjustment system discussed and illustrated here advantageously permits independent adjustment of the concave clearance C along the concave "inlet" side 'a' and along the concave "outlet" side 'b' thus catering for different crops and harvesting conditions with more flexibility.

[0054] The present disclosure relates to the provision of a first sensor 80 mounted or otherwise coupled to the harvester 10, specifically here mounted on an operator cab of the harvester 10 and having a field of view which incorporates the operating environment of the header 17. Here, the first sensor 80 comprises a camera, which may be a conventional optical RGB camera, although other sensor types may be equally applicable. In addition, a second sensor in the form of a grain quality sensor 82 is provided. The grain quality sensor comprises a camera mounted in a clean grain elevator of the harvester 10 and configured to image clean grain as it is transferred by the elevator to a grain bin of the harvester 10. A user interface 84 is provided in the operator cab, and the processor 20 is provided with a local control unit 86 for controlling operational settings thereof, including, for example, the concave adjustment

Control System

[0055] FIG. 2 illustrates control system 100 of the present disclosure. The control system comprises a controller 102 which includes an electronic processor 104, electronic inputs 106, 114 and electronic outputs 108, 110. The processor 104 is operable to access a memory 112 of the controller 102 and execute instructions stored therein to perform the steps and functionality of the present invention, for example to output control signals 109, 111, via the outputs 108, 110, for controlling operation of operable components of or otherwise associated with the harvester, including the user interface 84 or for controlling operation of the processor settings, here via local control unit 86.

[0056] The processor 104 is operable to receive first sensor data via input 106 which, in the illustrated embodiment, takes the form of input signals 105 received from camera 80 which, as described herein is mounted or otherwise coupled to the operator cab of the harvester 10 and has a field of view which encompasses the header 17 (or at least an operating region thereof). The first sensor data is indicative of crop material interacting with the header 17 as the crop material is collected from the working environment. Using this information, the processor 104 is operable to analyse the data to determine a first crop characteristic therefrom. Specifically, the processor 104 is configured to identify one or more crop material components in the sensor data, e.g. through performance of an object recognition process. A first crop characteristic can then be extracted for the identified crop material component(s). Here, this comprises a measure of the size of individual crop components. Using a known spatial relationship between the sensor 80 and the header 17, and specifically the imaged region of the header 17 negates the need for depth information from the image in order to determine a length or width measure of the identified components. However, in an extension a further sensor may be provided, or sensor 80 may be provided as a stereoscopic imaging sensor for providing depth information for the scene for calculating an absolute dimension value for the identified components. In the illustrated examples, see FIG. 4, for example, individual crop components in the form of corn ears can be identified from the image data and properties thereof analysed here to determine an ear diameter for the identified components. Over a given time period, the processor 104 can thereby generate a measure of an average size for the components, e.g. an average corn ear diameter and provide this as a first crop characteristic for further analysis.

[0057] The processor 104 is additionally operable to receive second sensor data via input 114 which, in the illustrated embodiment, takes the form of input signals 113 received from grain quality sensor 82 which, as described herein comprises a camera mounted in a clean grain elevator of the harvester 10 and configured to image clean grain as it is transferred by the elevator to a grain bin of the harvester 10. The grain quality sensor here comprises a camera 82 mounted behind a transparent sensing surface forming a boundary between the crop material in the grain elevator and the lens or other optics of the sensor 82. As discussed herein, the sensing surface is utilised for determining the second crop characteristic.

[0058] The second sensor data is indicative of crop material downstream of crop processing components of the harvester 10, e.g. after passing through processor 20 and components thereof. Using this information, the processor 104 is operable to analyse the data to determine a second crop characteristic therefrom. Specifically, the processor 104 is configured to identify one or more crop material components in the sensor data, e.g. again through performance of an object recognition process. A second crop characteristic can then be extracted for the identified crop material component(s). Here, this comprises a measure of the size of individual crop components in the image. Using a known spatial relationship between the sensor 82 and the sensing surface of the grain quality sensor setup and hence the crop material in the image - determined to be in contact with the sensing surface - negates the need for depth information from the image in order to determine a length or width measure of the identified components. However, in an extension a further sensor may be provided, or sensor 82 may be provided as a stereoscopic imaging sensor for providing depth information for the scene for calculating an absolute dimension value for the identified components. In the illustrated examples, see FIG. 5, for example, individual crop components in the form of individual grain kernels can be identified from the image data and properties thereof analysed here to determine an kernel length, for example, for the identified components. Over a given time period, the processor 104 can thereby generate a measure of an average size for the components, e.g. an average kernel length and provide this as a second crop characteristic for further analysis.

[0059] The processor 104 utilises the determined first and second crop characteristics to determine a third crop characteristic, specifically indicative of a size of one or more crop material components of the harvested crop material. Here, where the first crop characteristic comprises an average corn ear diameter and the second crop characteristic comprises an average kernel length, the processor 104 is configured to compute a measure of an average corn cob diameter therefrom. Specifically, and referring here to FIG. 6, an average corn cob diameter is determined to be equal to the average corn ear diameter minus two times the average kernel length. In this way, the present disclosure advantageously provides means for identifying a crop characteristic which would not readily be available to the operator unless further sensing means were provided looking specifically at MOG deposited by the machine, or manual inspection.

[0060] This average corn cob diameter is utilised here to control aspects of the harvester, as discussed hereinbelow, for advantageously controlling operation of a threshing and/or separating process by processor 20 for improving threshing efficiency and effectiveness, whilst minimizing grain damage. Specifically, output 108 is operably coupled to the local control unit 86 of the processor 20. The control system 100 is operable to control operation of the processor 20 in dependence on the determined third crop characteristic, determined in the manner discussed herein. Here, where the crop characteristic relates to a measure of a corn cob diameter and hence, the control system 100 is configured to control, through generation and output of control signals 109, the processor 20 and specifically a concave adjustment system such as the one discussed herein with respect to FIGs 1 and 2, to adjust a concave clearance in dependence on the third crop characteristic. As set out above, advantageously, the concave clearance can be automatically adjusted based off real time sensor data to increase efficiency and effectiveness of the separating and threshing process, whilst minimizing grain damage by having the concave clearance too small.

[0061] In the illustrated embodiment, the control system 100 additionally includes an output 110 which is operably coupled to the display terminal 84 of the harvester 10. Here, the control system 100 is operable to control operation of the display terminal 84, e.g. through output of control signals 111 in order to display operational data to an operator of the harvester 10 relating to the operation of the control system 100. Specifically, the control system 100 may be operable to control the display terminal 84 to display to the operator a graphical representation of the third crop characteristic - e.g. an average corn cob diameter, and the operator may utilise this information for manually controlling an adjustment of the processor settings accordingly. The display terminal 84 could be used to display sensor data from the first or second sensors 80, 82, or other useful information. In some variants, the display terminal 84 may also be operable to receive a user input from the operator, and in such instances the output 110 may act as an input for receiving that user input at the processor 104. The user input may relate to a requested or target parameter, for example a desired processing intensity, or the like. The display terminal 84 may be utilised to display a recommended adjustment in the processor settings, for example.

General

[0062] Any process descriptions or blocks in flow diagrams should be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and alternate implementations are included within the scope of the embodiments in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present disclosure. [0063] It will be appreciated that embodiments of the present invention can be realized in the form of hardware, software or a combination of hardware and software. Any such software may be stored in the form of volatile or non-volatile storage such as, for example, a storage device like a ROM, whether erasable or rewritable or not, or in the form of memory such as, for example, RAM, memory chips, device or integrated circuits or on an optically or magnetically readable medium such as, for example, a CD, DVD, magnetic disk or magnetic tape. It will be appreciated that the storage devices and storage media are embodiments of machine-readable storage that are suitable for storing a program or programs that, when executed, implement embodiments of the present invention. Accordingly, embodiments provide a program comprising code for implementing a system or method as set out herein and a machine readable storage storing such a program. Still further, embodiments of the present invention may be conveyed electronically via any medium such as a communication signal carried over a wired or wireless connection and embodiments suitably encompass the same.

[0064] All references cited herein are incorporated herein in their entireties. If there is a conflict between definitions herein and in an incorporated reference, the definition herein shall control.

Claims

CLAIMS What is claimed is:

1. A control system for controlling operation of an agricultural harvesting machine, the control system comprising one or more controllers, collectively configured, in use, to: receive first sensor data indicative of crop material interacting with a crop engaging component of or otherwise associated with the harvesting machine; receive second sensor data indicative of processed crop material downstream of one or more crop processing components of the harvesting machine; analyse the first sensor data to determine a first crop characteristic; analyse the second sensor data to determine a second crop characteristic; utilise the first and second crop characteristics to determine a third crop characteristic indicative of a size of one or more crop material components of the harvested crop material; and generate and output one or more control signals for controlling operation of one or more operable components of or otherwise associated with the harvesting machine in dependence on the determined third crop characteristic.

2. A control system as claimed in claim 1, wherein the one or more controllers are configured to analyse the first sensor data, through performance of an object recognition process, to identify one or more crop components within the first sensor data.

3. A control system as claimed in claim 2, wherein the first crop characteristic comprises a measure of a size associated with identified crop component(s) within the first sensor data.

4. A control system as claimed in claim 3, wherein the harvested crop comprises a corn crop and the first crop characteristic comprises a measure of a diameter of corn ears present in the crop material harvested by the harvesting machine.

5. A control system as claimed in any preceding claim, wherein the crop engaging component comprises a corn header of or otherwise operably coupled to the harvesting machine; the header comprising a plurality of row units and a crop transferring apparatus for transferring stripped crop material to downstream crop processing components of the harvesting machine; and wherein the first sensor data comprises data indicative of crop material engaging with one or more row units and/or a crop transferring apparatus of the header.

6. A control system of any preceding claim, wherein the second sensor forms a grain quality sensor provided within a flowpath of processed crop material downstream of the one or more crop processing components of the harvesting machine.

7. A control system of any preceding claim, wherein the one or more controllers are configured to analyse the second sensor data, through performance of an object recognition process, to identify one or more crop components within the second sensor data.

8. A control system of claim 7, wherein the second crop characteristic comprises a measure of a size associated with identified crop component(s) within the second sensor data.

9. A control system as claimed in claim 8, wherein the harvested crop comprises a corn crop and the second crop characteristic comprises a measure of a length and/or width of corn kernels present in the crop material harvested by the harvesting machine.

10. A control system as claimed in any preceding claim, wherein the first and second crop characteristics comprise an average crop component size, as determined for one or more crop components for a defined time period.

11. A control system of any preceding claim, wherein the third crop characteristic comprises a determination of a size of crop material or components thereof harvested by the harvesting machine.

12. A control system of claim 11, wherein the third crop characteristic comprises a determination or inference of the diameter of ears of crop material.

13. A control system of claim 12, wherein the third crop characteristic comprises an average ear diameter as determined from an average cob diameter determined from the first sensor data and an average kernel length determined from the second sensor data.

14. A control system of any preceding claim, wherein the one or more operable components of or otherwise associated with the agricultural harvesting machine include a user interface; and wherein the one or more controllers are configured to control output of an indicator indicative of the determined third crop characteristic via the user interface.

15. A control system of any preceding claim, wherein the one or more operable components comprise a crop processing component of the agricultural harvesting machine.

16. A control system of claim 15, wherein the crop processing component comprises a threshing and/or separating apparatus of the machine; and wherein the one or more controllers are configured for controlling operation of the threshing and/or separating apparatus, including control over one or more operational parameters thereof.

17. A control system of claim 16, where the one or more controllers are configured to control a concave clearance setting or concave operating boundaries in dependence on the third crop characteristic.

18. An agricultural machine comprising the control system of any preceding claim.

19. A method of controlling operation of an agricultural harvesting machine, comprising: receiving first sensor data indicative of crop material interacting with a crop engaging component of or otherwise associated with the harvesting machine; receiving second sensor data indicative of processed crop material downstream of one or more crop processing components of the harvesting machine; analysing the first sensor data to determine a first crop characteristic; analysing the second sensor data to determine a second crop characteristic; utilising the first and second crop characteristics to determine a third crop characteristic indicative of a size of one or more crop material components of the harvested crop material; and controlling operation of one or more operable components of or otherwise associated with the harvesting machine in dependence on the determined third crop characteristic.