Residue spread control
A sensor senses wind direction and generates a sensor signal. A wind processor processes the sensor signal to identify a wind direction at a location of an agricultural harvester. An action signal is generated to control the agricultural harvester to avoid discharging residue from the agricultural harvester into unharvested crop, based upon the wind direction.
1 . A method of controlling a harvester, the method comprising:
detecting wind direction;
identifying harvest coverage data for a field indicative of an unharvested location in the field; and
generating a control signal to control the harvester to direct residue to areas of the field that have been harvested based on the wind direction and the harvest coverage data indicative of the unharvested location in the field.
2 . The method of claim 1 wherein generating a control signal comprises:
generating a harvesting route based on the wind direction and coverage data; and
controlling the harvester to travel along the harvesting route.
3 . The method of claim 1 wherein the harvester comprises a residue subsystem that discharges residue from the harvester and wherein generating a control signal comprises:
generating a residue subsystem control signal to control the residue subsystem.
4 . The method of claim 3 wherein generating a residue subsystem control signal comprises:
generating the residue subsystem control signal to control a trajectory of residue as the residue exits the harvester.
5 . The method of claim 1 and further comprising:
detecting a residue characteristic indicative of a landing point of residue after the residue is discharged from the harvester;
determining whether the residue is landing at a location in the unharvested location in the field based on the landing point; and
if so, adjusting the control signal based on the determination.
6 . The method of claim 2 and further comprising:
sensing a crop characteristic indicative of crop height; and
generating the harvesting route based on the crop characteristic.
7 . The method of claim 1 and further comprising:
detecting a location and heading of another agricultural vehicle and wherein generating a control signal comprises generating the control signal based on the location and heading of the other agricultural vehicle.
8 . The method of claim 1 wherein detecting wind direction comprises:
detecting a first wind signal, indicative of a first wind direction, from a first weather station at a first location;
detecting a second wind signal, indicative of a second wind direction, from a second weather station at a second location; and
detecting the wind direction based on at least one of the first or second wind signals.
9 . The method of claim 8 wherein detecting the wind direction based on at least one of the first or second wind signals, comprises:
selecting, as a selected weather station, the first or second weather station based on a location of the harvester and the first and second locations;
detecting the wind direction using the wind signal from the selected weather station.
10 . The method of claim 8 wherein detecting the wind direction based on at least one of the first or second wind signals, comprises:
interpolating between the first wind signal and the second wind signal to obtain the wind direction at a location of the harvester.
11 . The method of claim 1 wherein detecting wind direction comprises:
detecting a wind value at a location remote from the harvester; and
identifying timing information indicative of when the wind value will reach the harvester, wherein generating the control signal comprises generating the control signal based on the detected wind value and the timing information.
12 . The method of claim 1 wherein detecting wind data comprises:
detecting the wind data with a wind sensor on the harvester.
13 . The method of claim 9 wherein selecting the first or second weather station comprises:
selecting, as the selected weather station, a weather station closest to the harvester.
14 . The method of claim 9 wherein selecting the first or second weather station comprises:
identifying a location of an obstruction relative to the first and second locations and relative to the location of the harvester; and
selecting the first or second weather station based on the location of obstruction relative to the first and second locations and relative to the harvester.
15 . An agricultural system, comprising:
a wind processor configured to detect wind direction;
a coverage processor configured to identify harvest coverage data for a field indicative of an unharvested location in the field;
a controllable subsystem on a harvester; and
a control signal generator configured to generate a control signal to control the controllable subsystem on the harvester to direct residue to areas of the field that have been harvested based on the wind direction and the harvest coverage data.
16 . The agricultural system of claim 15 wherein the controllable subsystem comprises a navigation subsystem, and further comprising:
a route planning system configured to generate a harvesting route based on the wind direction and coverage data, the control signal generator being configured to generate the control signal to control the navigation subsystem to navigate the harvester along the harvesting route.
17 . The agricultural system of claim 15 wherein the controllable subsystem comprises a residue subsystem that discharges residue from the harvester and further comprising:
a residue discharge control system configured to identify a characteristic of the residue subsystem indicative of a landing point of the residue and wherein generating a control signal comprises generating a residue subsystem control signal to control the residue subsystem based on the landing point of the residue.
18 . The agricultural system of claim 15 wherein the wind processor comprises:
a wind analyzer configured to detect a first wind signal, indicative of a first wind direction, from a first weather station at a first location and a second wind signal, indicative of a second wind direction, from a second weather station at a second location and to detect the wind direction based on at least one of the first or second wind signals.
19 . The agricultural system of claim 18 wherein the wind processor further comprises:
a gust processor configured to detect a wind gust at a location remote from the harvester and to identify timing information indicative of when the wind gust will reach the harvester, wherein the control signal generator is configured to generate the control signal based on the detected wind gust and the timing information.
20 . An agricultural harvester, comprising:
a wind sensor that generates a sensor signal;
a wind processor configured to detect wind direction based on the sensor signal;
a coverage processor configured to identify harvest coverage data for a field indicative of an unharvested location in the field;
a controllable subsystem on a harvester; and
a control signal generator configured to generate a control signal to control the controllable subsystem on the harvester to direct residue to areas of the field that have been harvested based on the wind direction and the harvest coverage data.