Systems and methods for predictive reel control
A predictive map is obtained by an agricultural system. The predictive map maps characteristic values at different geographic locations in a field. A geographic position sensor detects a geographic location of an agricultural harvester at the field. A control system generates a control signal to control a reel subsystem of the agricultural harvester based on the geographic location of the agricultural harvester and the predictive map.
1 . An agricultural system comprising:
a communication system that receives an information map that maps values of a first characteristic corresponding to a plurality of different geographic locations in a field;
a geographic position sensor that detects a geographic location of an agricultural harvester at the field;
an in-situ sensor that detects a value of reel tossing corresponding to a first geographic location of the plurality of different geographic locations in the field, wherein reel tossing comprises tossing of plant material by a reel of a header of the agricultural harvester over a back or a side of the header;
a model generator that generates a predictive model that models a relationship between values of the first characteristic and values of reel tossing based on a value of the first characteristic, in the information map, corresponding to the first geographic location in the field and the value of reel tossing, detected by the in-situ sensor, corresponding to the first geographic location in the field;
a map generator that generates a predictive map of the field that maps predictive values of reel tossing to one or more geographic locations of the plurality of different geographic locations in the field based on the predictive model and the values of the first agricultural characteristic, in the information map, corresponding to the one or more geographic locations in the field, the one or more geographic locations in the field different than the first geographic location; and
a control system that generates a control signal to control a reel subsystem of the agricultural harvester based on the geographic location of the agricultural harvester and the predictive map.
2 . The agricultural system of claim 1 , wherein the reel subsystem comprises an actuator that is controllably actuatable to adjust a position of a reel of the agricultural harvester, and wherein the control signal controls the actuator to adjust the position of the reel based on the geographic location of the agricultural harvester and the predictive map.
3 . The agricultural system of claim 1 , wherein the reel subsystem comprises a reel speed actuator that is controllable to adjust a rotational speed of a reel of the agricultural harvester, and wherein the control signal controls the reel speed actuator to adjust the rotational speed of the reel based on the geographic location of the agricultural harvester and the predictive map.
4 . The agricultural system of claim 1 , wherein the reel subsystem comprises a reel finger position actuator that is controllably actuatable to adjust a position of a reel finger of the agricultural harvester, and wherein the control signal controls the reel finger position actuator to adjust the position of the reel finger based on the geographic location of the agricultural harvester and the predictive map.
5 . The agricultural system of claim 1 , wherein the first characteristic comprises one of: (i) an optical characteristic; (ii) crop state; (iii) crop height; (iv) vegetative index; (v) yield; (vi) a weed characteristic; (vii) crop moisture; or (viii) genotype.
6 . A method of controlling an agricultural harvester comprising:
receiving an information map that maps values of a first characteristic corresponding to a plurality of different geographic locations in the field;
detecting a geographic location of the agricultural harvester at the field during a harvesting operation;
detecting, with an in-situ sensor, during the harvesting operation, a value of shatter corresponding to a first geographic location of the plurality of different geographic locations in the field;
generating, during the harvesting operation, a predictive model that models a relationship between values of the first characteristic and values of shatter based on a value of the first characteristic, in the information map, corresponding to the first geographic location in the field and the value of shatter, detected by the in-situ sensor, corresponding to the first geographic location in the field;
generating, during the harvesting operation, a predictive map of the field that maps predictive values of shatter to one or more geographic locations of the plurality of different geographic locations in the field based on the predictive model and the values of the first agricultural characteristic, in the information map, corresponding to the one or more geographic locations in the field, the one or more geographic locations in the field different than the first geographic location; and
generating, during the harvesting operation, a control signal to control a reel subsystem of the agricultural harvester based on the geographic location of the agricultural harvester and the predictive map.
7 . The method of claim 6 , wherein generating, during the harvesting operation, the control signal comprises generating, during the harvesting operation, the control signal to control a reel height actuator, of the reel subsystem, that is actuatable to adjust a height of a reel of the agricultural harvester based on the predictive map and the geographic location of the agricultural harvester.
8 . The method of claim 6 , wherein generating, during the harvesting operation, the control signal comprises generating, during the harvesting operation, the control signal to control a reel speed actuator, of the reel subsystem, that is actuatable to adjust a rotational speed of a reel of the agricultural harvester based on the predictive map and the geographic location of the agricultural harvester.
9 . The method of claim 6 , wherein generating, during the harvesting operation, the control signal comprises generating the control signal to control a reel finger position actuator, of the reel subsystem, that is actuatable to adjust a position of a reel finger of the agricultural harvester based on the predictive map and the geographic location of the agricultural harvester.
10 . The method of claim 6 , wherein generating, during the harvesting operation, the control signal comprises generating, during the harvesting operation, the control signal to control a reel fore-to-aft position actuator, of the reel subsystem, that is actuatable to adjust a fore-to-aft position of the reel of the agricultural harvester based on the predictive map and the geographic location of the agricultural harvester.
11 . An agricultural system comprising:
a first in-situ sensor configured to detect, during a harvesting operation, a value of a first characteristic corresponding to a first geographic location in a field;
a second in-situ sensor configured to detect, during the harvesting operation, a value of a second characteristic corresponding to the first geographic location in the field, the second characteristic comprising one of shatter or reel tossing, wherein reel tossing comprises tossing of plant material by a reel of a header of an agricultural harvester over a back or a side of the header;
one or more processors; and
memory storing instructions executable by the one or more processors that, when executed by the one or more processors, configure the agricultural system to:
identify, during the harvesting operation, a relationship between the first characteristic and the second characteristic based, at least, on the value of the first characteristic corresponding to the first geographic location detected by the first in-situ sensor and the value of the second characteristic corresponding to the first geographic location detected by the second in-situ sensor;
obtain an expected value of the first characteristic corresponding to a second geographic location in the field;
identify, during the harvesting operation, a predictive value of the second characteristic corresponding to the second geographic location in the field based on the expected value of the first characteristic corresponding to the second geographic location and the relationship; and
control, during the harvesting operation, a controllable subsystem of an agricultural harvester based on the predictive value of the second characteristic corresponding to the second geographic location.
12 . The agricultural system of claim 11 , wherein the expected value of the first characteristic corresponding to the second geographic location is provided by operator or user input.
13 . The agricultural system of claim 11 , wherein the expected value of the first characteristic corresponding to the second geographic location is provided by a map of the field.
14 . The agricultural system of claim 11 , wherein the expected value of the first characteristic corresponding to the second geographic location is a current value of the first characteristic.
15 . The agricultural system of claim 11 , wherein the controllable subsystem comprises a reel subsystem of the agricultural harvester.
16 . The agricultural system of claim 11 , wherein the first characteristic comprises one of reel speed, reel height, reel fore-to-aft position, or reel finger position.
17 . The agricultural system of claim 11 , wherein the instructions, when executed by the one or more processors, configure the one or more processors to:
obtain, from an information map, a value of a third characteristic corresponding to the first geographic location; and
identify the relationship as being between the first characteristic, the second characteristic, and the third characteristic based, at least, on the value of the first characteristic corresponding to the first geographic location detected by the first in-situ sensor, the value of the second characteristic corresponding to the first geographic location detected by the second in-situ sensor, and the value of the third characteristic corresponding to the first geographic location obtained from the information map.
18 . The agricultural system of claim 17 , wherein the first characteristic is one of reel speed, reel height, reel fore-to-aft position, or reel finger position.
19 . The agricultural system of claim 18 , wherein the third characteristic is one of crop state, an optical characteristic, genotype, crop moisture, vegetative index, yield, a weed characteristic, or crop height.