Windrow center line detection for mapping and controlling operation
Mowing characteristics of a mowing operation are detected. The mowing characteristics indicate that the mower is engaged and also whether a merger component is engaged. A center line of a windrow is identified based upon a location of the mower and the mowing characteristics. An action signal is generated based upon the center line of the mower.
1 . A computer implemented method, comprising:
detecting whether a merger component is engaged on a windrower to obtain a merger state;
detecting a location of the windrower as the windrower moves through a field cutting material;
identifying a pass type based on the location of the windrower and a location of a previous pass;
identifying a windrow type based on the merger state and the pass type;
generating a windrow location signal indicative of a center of the windrow based on the location of the windrower and the windrow type; and
performing a machine action based on the windrow location signal indicative of the center of the windrow.
2 . The computer implemented method of claim 1 wherein detecting a location of the windrower comprises:
detecting a location of a travel path of the windrower as the windrower travels through the field.
3 . The computer implemented method of claim 1 wherein detecting a location of a windrower comprises:
detecting a location of a guidance line, generated by a guidance system, that guides steering of the windrower through the field.
4 . The computer implemented method of claim 1 wherein identifying a windrower type comprises:
identifying the windrow type as a single windrow based on detecting that the merger component is disengaged.
5 . The computer implemented method of claim 4 wherein generating a windrow location signal comprises:
identifying a location of a longitudinal axis of the single windrow based on the location of the windrower; and
generating a location signal identifying the longitudinal axis of the single windrow.
6 . The computer implemented method of claim 1 wherein identifying a windrower type comprises:
identifying the windrow type as a double windrow based on the merger component being engaged on two adjacent passes of the windrower through the field.
7 . The computer implemented method of claim 6 wherein generating a windrow location signal comprises:
identifying a location of a longitudinal axis of the double windrow based on the location of the windrower and an offset from the location of the windrower to a discharge end of the merger component; and
generating a location signal identifying the longitudinal axis of the double windrow.
8 . The computer implemented method of claim 1 wherein identifying a windrower type comprises:
identifying the windrow type as a triple windrow based on the merger component being engaged on two passes of the windrower through the field, each of the two passes being adjacent, and on opposite sides of, a pass during which the merger component is disengaged.
9 . The computer implemented method of claim 8 wherein generating a windrow location signal comprises:
identifying a location of a longitudinal axis of the triple windrow based on the location of the windrower along the pass during which the merger component is disengaged; and
generating a location signal identifying the longitudinal axis of the triple windrow.
10 . The computer implemented method of claim 1 and further comprising:
detecting a quantity of material in the windrow at different locations in the windrow; and
generating a windrow location/quantity signal indicative of the quantity of material at different locations of the windrow based on the detected quantity of material in the windrow.
11 . The computer implemented method of claim 10 wherein detecting a quantity of material in the windrow comprises:
detecting a quantity of material in each of a plurality of different windrows that are merged into a single windrow; and
aggregating the quantity of material detected in each of a plurality of different windrows.
12 . The computer implemented method of claim 1 wherein generating an action signal comprises at least one of:
generating a route planning signal indicative of a route of an agricultural machine that performs a subsequent operation in the field;
generating a map of the windrow;
generate a steering control signal to control a steering subsystem of a harvester that harvests the windrow;
generating a propulsion control signal to control a speed of the harvester; or
generating a control signal to control a mass flow of material through the agricultural machine performing the subsequent operation.
13 . The computer implemented method of claim 1 and further comprising:
detecting a mower engagement state indicative of whether a mower is engaged;
detecting a mower position indicative of whether the mower is in a mowing position; and
determining whether the windrower is cutting the material and generating the windrow based on the mower engagement state and the detected mower position.
14 . An agricultural system, comprising:
a merger state detector detecting a merger state indicating whether a merger component is engaged on a windrower;
a position detection system detecting a location of the windrower as the windrower moves through a field cutting material;
a windrow type identifier identifying a windrow type based on the merger state and a pass type that is based on the location of the windrower and a location of a previous pass;
a location output generator generating a windrow location signal indicative of a center of the windrow based on the location of the windrower and the windrow type; and
a control signal generator performing a machine action based on the windrow location signal indicative of the center of the windrow.
15 . The agricultural system of claim 14 wherein the windrower type identifier is configured to identify the windrow type as a single windrow based on the merger state detector detecting that the merger component is disengaged and further comprising:
a windrow center identifier that identifies, as the location of the windrow, a longitudinal axis of the single windrow based on the location of the windrower.
16 . The agricultural system of claim 15 wherein the windrow type identifier identifies the windrow type as a double windrow based on the merger component being engaged on two adjacent passes of the windrower through the field and wherein the windrow center identifier identifies, as the location of the windrow, a location of a longitudinal axis of the double windrow based on the location of the windrower and an offset from the location of the windrower to a discharge end of the merger component.
17 . The agricultural system of claim 16 wherein the windrow type identifier identifies the windrow type as a triple windrow based on the merger component being engaged on two passes of the windrower through the field, each of the two passes being adjacent, and on opposite sides of, a pass during which the merger component is disengaged.
18 . The agricultural system of claim 17 wherein the windrow center identifier identifies the windrow location by identifying a location of a longitudinal axis of the triple windrow based on the location of the windrower along the pass during which the merger component is disengaged.
19 . The agricultural system of claim 14 and further comprising:
a material quantity detector detecting a quantity of material in the windrow at different locations in the windrow, wherein the location output generator generates a windrow quantity signal indicative of the quantity of material at different locations of the windrow based on the detected quantity of material in the windrow.
20 . An agricultural system, comprising:
at least one processor; and
a data store storing computer executable instructions which, when executed by the at least one processor, cause the at least one processor to perform steps, comprising:
receiving a merger state signal indicative of whether a merger component is engaged on a windrower;
detecting a location of the windrower as the windrower moves through a field cutting material;
identifying a pass type based on the location of the windrower and a location of a previous pass;
identifying a windrow type based on the merger state signal and the pass type;
generating a windrow location signal indicative of a center of the windrow based on the location of the windrower and the windrow type; and
performing a machine action based on the windrow location signal indicative of the center of the windrow.