Systems and methods for predictive end divider control
A map is obtained by an agricultural system. The map maps values of a characteristic to different geographic locations in a field. A control system generates a control signal to control operation of one or more end dividers on an agricultural harvester based on the map.
1 . An agricultural system comprising:
a control system that:
receives, from a geographic position sensor, a geographic position of an agricultural harvester in a field;
receives a map that maps values of a characteristic corresponding to different geographic locations in the field; and
generates, based on the map and the geographic position of the agricultural harvester, a control signal to control an end divider actuator to move an end divider on a head of the agricultural harvester while the agricultural harvester travels over the field, the head being configured to engage and harvest crop from the field and having at least a first end, wherein the end divider is positioned on and movable relative to the first end of the head.
2 . The agricultural system of claim 1 , wherein the map comprises one or more maps, each map, of the one or more maps, mapping values of a respective characteristic corresponding to the different geographic locations in the field, wherein the one or more maps comprise one or more of:
a harvest coverage map that maps, as values of the respective characteristic, harvest coverage values to the different geographic locations in the field;
a genotype map that maps, as values of the respective characteristic, genotype values to the different geographic locations in the field;
a crop state map that maps, as values of the respective characteristic, crop state values to the different geographic locations in the field; and
a weed map that maps, as values of the respective characteristic, weed values to the different geographic locations in the field.
3 . The agricultural system of claim 1 , wherein the map comprises a functional predictive ear characteristic map that maps, as the values of the characteristic, predictive values of an ear characteristic, the agricultural system further comprising:
an in-situ sensor that detects a value of the ear characteristic corresponding to a geographic location in the field;
a predictive model generator that:
receives an information map that maps values of a characteristic to the different geographic locations in the field; and
generates a predictive ear characteristic model that models a relationship between the characteristic mapped in the information map and the ear characteristic based on the value of the ear characteristic detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic in the information map at the geographic location; and
a predictive map generator that generates the functional predictive ear characteristic map that maps the predictive values of the ear characteristic to the different geographic locations in the field based on the values of the characteristic in the information map and based on the predictive ear characteristic model.
4 . The agricultural system of claim 1 , wherein the map comprises a functional predictive control input map that maps, as the values of the characteristic, predictive control input values, the agricultural system further comprising:
an in-situ sensor that detects a control input value corresponding to a geographic location in the field;
a predictive model generator that:
receives an information map that maps values of a characteristic to the different geographic locations in the field; and
generates a predictive control input model that models a relationship between the characteristic mapped in the information map and control input based on the control input value detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic in the information map at the geographic location; and
a predictive map generator that generates the functional predictive control input map that maps the predictive control input values to the different geographic locations in the field based on the values of the characteristic in the information map and based on the predictive control input model.
5 . The agricultural system of claim 1 , wherein the map comprises a functional predictive hair pinning map that maps, as the values of the characteristic, predictive hair pinning values, the agricultural system further comprising:
an in-situ sensor that detects a hair pinning value corresponding to a geographic location in the field;
a predictive model generator that:
receives an information map that maps values of a characteristic to the different geographic locations in the field; and
generates a predictive hair pinning model that models a relationship between the characteristic mapped in the information map and hair pinning based on the hair pinning value detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic in the information map at the geographic location; and
a predictive map generator that generates the functional predictive hair pinning map that maps the predictive hair pinning values to the different geographic locations in the field based on the values of the characteristic in the information map and based on the predictive hair pinning model.
6 . The agricultural system of claim 1 , wherein the map comprises a functional predictive wrapping map that maps, as the values of the characteristic, predictive wrapping values, the agricultural system further comprising:
an in-situ sensor that detects a wrapping value corresponding to a geographic location in the field;
a predictive model generator that:
receives an information map that maps values of a characteristic to the different geographic locations in the field; and
generates a predictive wrapping model that models a relationship between the characteristic mapped in the information map and wrapping based on the wrapping value detected by the in-situ sensor corresponding to the geographic location and a value of the characteristic in the information map at the geographic location; and
a predictive map generator that generates the functional predictive wrapping map that maps the predictive wrapping values to the different geographic locations in the field based on the values of the characteristic in the information map and based on the predictive wrapping model.
7 . The agricultural system of claim 1 , wherein the control system generates the control signal to control the end divider actuator to at least one of:
raise the end divider on the agricultural harvester; or
lower the end divider on the agricultural harvester.
8 . The agricultural system of claim 1 , wherein the control system generates the control signal to control the end divider actuator to adjust rotation of the end divider on the agricultural harvester.
9 . The agricultural system of claim 1 , wherein the end divider actuator is configured to move the end divider, relative to the first end of the head, between a fully extended position and a fully retracted position in which at least a portion of the end divider is retracted into a body of the head.
10 . A method of controlling an agricultural harvester comprising:
receiving a map that maps values of a characteristic to different geographic locations in a field;
identifying a geographic position of the agricultural harvester at the field; and
while the agricultural harvester travels over the field, controlling an end divider actuator to move an end divider on a head of the agricultural harvester based on the map and the geographic position of the agricultural harvester, the head being configured to engage and harvest crop from the field and having at least a first end, wherein the end divider is positioned on and movable relative to the first end of the head.
11 . The method of claim 10 , wherein receiving the map comprises receiving one or more maps, each map, of the one or more maps, mapping values of a respective characteristic corresponding to the different geographic locations in the field, wherein the one or more maps comprise one or more of:
a harvest coverage map that maps, as values of the respective characteristic, harvest coverage values to the different geographic locations in the field;
a genotype map that maps, as values of the respective characteristic, genotype values to the different geographic locations in the field;
a crop state map that maps, as values of the respective characteristic, crop state values to the different geographic locations in the field; and
a weed map that maps, as values of the respective characteristic, weed values to the different geographic locations in the field.
12 . The method of claim 10 , wherein receiving the map comprises receiving a functional predictive map that maps, as the values of the characteristic, predictive values of the characteristic to the different geographic locations in the field, wherein the method further comprises:
receiving an information map that maps values of an additional characteristic corresponding to the different geographic locations in the field;
detecting, with an in-situ sensor, a value of the characteristic corresponding to a geographic location;
generating a predictive model that models a relationship between the additional characteristic and the characteristic; and
controlling a predictive map generator to generate the functional predictive map that maps the predictive values of characteristic to the different geographic locations in the field based on the values of the additional characteristic in the information map and the predictive model.
13 . The method of claim 10 , wherein controlling the end divider actuator comprises controlling the end divider actuator to at least one of:
raise the end divider on the head of the agricultural harvester; or
lower the end divider on the head of the agricultural harvester.
14 . The method of claim 10 , wherein controlling the end divider actuator comprises controlling the end divider actuator to adjust rotation of the end divider on the agricultural harvester.
15 . The method of claim 10 , wherein the end divider actuator comprises a first end divider actuator and the end divider comprises a first end divider, and further comprising:
controlling a second end divider actuator to control a second end divider on a second end of the head of the agricultural harvester.
16 . The method of claim 10 and further comprising controlling an interface mechanism to display the map.
17 . The method of claim 10 , wherein controlling the end divider actuator comprises controlling the end divider actuator to actuate the end divider between an active state and an inactive state in which at least a portion of the end divider is retracted into a body of the head.
18 . An agricultural harvester comprising:
a geographic position sensor that detect a geographic position of the agricultural harvester in a field;
a head configured to engage and harvest crop from the field, the head having a first end and a second end;
an end divider positioned on the first end of the head;
an end divider actuator configured to move the end divider, relative to the first end of the head, from an extended position to a retracted position; and
a control system that:
receives a map that maps values of a characteristic to different geographic locations in the field; and
generates, based on the map and the geographic position of the agricultural harvester, a retract control signal to control the end divider actuator to move the end divider from the extended position to the retracted position.
19 . The agricultural harvester of claim 18 , wherein the map comprises one of:
a harvest coverage map that maps, as values of the characteristic, harvest coverage values to the different geographic locations in the field;
a genotype map that maps, as values of the characteristic, genotype values to the different geographic locations in the field;
a crop state map that maps, as values of the characteristic, crop state values to the different geographic locations in the field; and
a weed map that maps, as values of the characteristic, weed values to the different geographic locations in the field.
20 . The agricultural harvester of claim 18 , wherein the map comprises a functional predictive map that maps, as the values of the characteristic, predictive values of the characteristic to the different geographic locations;
wherein the functional predictive map is generated based on a predictive model that models a relationship between the characteristic and an additional characteristic; and
wherein the predictive model models the relationship based on an in-situ value of the characteristic, detected by an in-situ sensor, corresponding to a geographic location and a value of the additional characteristic at the geographic location in an information map.